fix bugs

protocol.c

@@ -2,12 +2,12 @@
 #include <string.h>
 
 static DeviceStatus deviceStatus = {0};
-DeviceDefaultParam dp = {
+DeviceDefaultParam dp = {{
     {"pump1", 1, 100, 100, 100},
     {"pump2", 2, 100, 100, 100},
     {"valve1", 3, 100, 100, 100},
     {"valve2", 4, 100, 100, 100}
-};
+}};
 
 
 
@@ -108,41 +108,7 @@ void updateInitStatus(InitStatus_t status) {
     deviceStatus.initStatus = status;
 }
 
-uint8_t InitPump(void) {
-    // 初始化泵
-    WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
-    WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
-    WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
-    WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
-    WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
-    WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
 
-    WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
-    WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
-    WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
-    WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
-    WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
-    WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
-}
-
-// 初始化设备状态
-void InitDeviceStatus() {
-    // 初始化泵
-    InitPump();
-
-
-    // 更新设备状态
-    updateDeviceStatus(DEVICE_ONLINE);
-    updateValveStatus(1, 120);
-    updateValveStatus(2, 210);
-    updatePumpStatus(1, PUMP_CLOCKWISE);
-    updatePumpStatus(2, PUMP_ANTICLOCKWISE);
-    updatePumpSpeedStatus(1, 100);
-    updatePumpSpeedStatus(2, 100);
-    updateBubbleSensor(BUBBLE_DETECTED);
-    updateEmergencyStop(ESTOP_NORMAL);
-    updateInitStatus(INIT_SUCCESS); 
-}
 
 
 //modBUS RTU 写命令
@@ -515,10 +481,6 @@ static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
     writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time);
 }
 
-uint8_t updateValveStatus(uint8_t index, uint16_t status) {
-    // writeValve1Reg(index, RTU_VALVE_CMD_STATUS, status);
-}
-
 uint8_t ValveBackToOrigin(uint8_t index) {
 // 1.设置原点回归方式
 // (0416h)=37;17=负限位，18=正限位
@@ -555,7 +517,7 @@ uint8_t ValveRunInit(uint8_t index) {
 // 2.4设置位移的减速度 (03FEh)(用户单位/s2)；
     SetValvePPDec(index, 40000);
 // 3.写控制字使电机使能
-// (0380h)= 0x06→0x07→ 0x0F，电机使能：
+// (0380h)= 0x06→0x07→ 0x0F 电机使能：
     SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
     SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
     SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
@@ -597,9 +559,42 @@ void UpdatePumpStatus() {
     ReadPumpAlarm(1);
 }
 
+uint8_t InitPump(void) {
+    // 初始化泵
+    log_e("InitPump");
+    WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
+    WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
+    WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
+    WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
+    WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
+    WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
 
+    WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
+    WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
+    WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
+    WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
+    WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
+    WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
+}
+// 初始化设备状态
+void InitDeviceStatus() {
+    // 初始化泵
+
+
+    // 更新设备状态
+    updateDeviceStatus(DEVICE_ONLINE);
+    updateValveStatus(1, 120);
+    updateValveStatus(2, 210);
+    updatePumpStatus(1, PUMP_CLOCKWISE);
+    updatePumpStatus(2, PUMP_ANTICLOCKWISE);
+    updatePumpSpeedStatus(1, 100);
+    updatePumpSpeedStatus(2, 100);
+    updateBubbleSensor(BUBBLE_DETECTED);
+    updateEmergencyStop(ESTOP_NORMAL);
+    updateInitStatus(INIT_SUCCESS); 
+}
 // 初始化处理
-static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
+static uint8_t HandleInit(void) {
     // 实现初始化逻辑
     InitDeviceStatus();
     return 1;
@@ -620,18 +615,18 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
     // 实现三通阀控制逻辑
 
     if(len != 8) {
-        printf("三通阀控制错误\r\n");
+        log_e("三通阀控制错误");
         return 0;
     }
     uint8_t index = Buff[0];
     uint8_t direction = Buff[1];
     uint16_t angle = (Buff[2]<<8) | Buff[3];
     if(angle > 360) {
-        printf("三通阀控制错误\r\n");
+        log_e("三通阀控制错误");
         return 1;
     }
     if (angle != VALVE_ANGLE_120 && angle != VALVE_ANGLE_210) {
-        printf("三通阀控制错误\r\n");
+        log_e("三通阀控制错误");
         return 1;
     }
     
@@ -647,7 +642,7 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
 static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
     // 实现泵时长控制逻辑
     
-    // 暂未知控制方法，是直接设置泵运行时间，还是设置泵运行步数
+    // 使用定时器更靠谱
 
     return 1;
 }
@@ -656,13 +651,13 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
 static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
     // 实现泵速度设置逻辑
     if(len != 4) {
-        printf("泵速度设置错误\r\n");
+        log_e("泵速度设置错误");
         return 0;
     }
     uint8_t index = Buff[0];
     uint16_t speed = Buff[1];
     if (speed > 100) {
-        printf("泵速度设置错误\r\n");
+        log_e("泵速度设置错误");
         return 0;
     }    
     WriteJogSpeed(index, speed);
@@ -670,7 +665,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
     index = Buff[2];
     speed = Buff[3];
     if (speed > 100) {
-        printf("泵速度设置错误\r\n");
+        log_e("泵速度设置错误");
         return 0;
     }
     WriteJogSpeed(index, speed);
@@ -680,7 +675,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
 
 static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
     if(len != 10) {
-        printf("泵步进设置错误\r\n");
+        log_e("泵步进设置错误");
         return 0;
     }
     uint8_t index = Buff[0];
@@ -693,7 +688,7 @@ static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
 // 软急停功能处理
 static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
     if(rxLen != 1) {
-        printf("软急停设置错误\r\n");
+        log_e("软急停设置错误");
         return 1;
     }
     // 实现软急停功能逻辑
@@ -767,7 +762,7 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
             error = HandlePumpStep(data, dataLen);
             break;
         case CMD_SYSTEM_INIT:
-            error = HandleInit(data, dataLen);
+            error = HandleInit();
             break;
         default:
             error = CMD_FRAME_CMD_ERROR;

protocol.h

@@ -2,6 +2,8 @@
 #define PROTOCOL_H
 
 #include <stdint.h>
+#define LOG_TAG    "motor"
+#include <elog.h>
 
 // 帧头帧尾定义
 #define FRAME_HEADER            0xA55A5AA5