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update define

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CSSC-WORK\murmur 2024-12-12 11:35:40 +08:00
parent 2c83a66633
commit b3f8fc555f
2 changed files with 54 additions and 14 deletions
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59
protocol.c
View File

@ -432,7 +432,11 @@ void DecodePumpStatusMsg(uint16_t reg4002) {
(0380h)= 0x06→0x07→0x0F→0x1F，电机运行
*/
static uint8_t SetValveMode(uint8_t index, uint16_t mode) {
// 与pump通用
void (*writeValve1Reg)(uint8_t index, uint16_t reg, uint16_t value) = WritePump1Reg;
void (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2Reg;
static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
WritePump1Reg(index, RTU_VALVE_CMD_CTL_MODE, mode);
}
static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
@ -441,30 +445,63 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
// PP=轮廓位置模式
static uint8_t SetValvePPPos(uint8_t index, uint16_t pos) {
WritePump1Reg(index, RTU_VALVE_CMD_PP_POS, pos);
writeValve1Reg(index, RTU_VALVE_CMD_PP_POS, pos);
}
static uint8_t SetValvePPSpeed(uint8_t index, uint16_t speed) {
WritePump1Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
writeValve1Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
}
static uint8_t SetValvePPAcc(uint8_t index, uint16_t acc) {
WritePump1Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
writeValve1Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
}
static uint8_t SetValvePPDec(uint8_t index, uint16_t dec) {
WritePump1Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
writeValve1Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
}
// HM=原点回归模式
static uint8_t SetValveHomeMode(uint8_t index, uint16_t mode) {
WritePump1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
}
static uint8_t SetValveHomeSpeed(uint8_t index, uint16_t speed) {
WritePump1Reg(index, RTU_VALVE_CMD_HOME_SPEED, speed);
static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint16_t speed) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
}
static uint8_t SetValveHomeOriSpeed(uint8_t index, uint16_t speed) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
}
static uint8_t SetValveHomeAcc(uint8_t index, uint16_t acc) {
WritePump1Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
writeValve1Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
}
static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
WritePump1Reg(index, RTU_VALVE_CMD_FUNC, func);
writeValve1Reg(index, RTU_VALVE_CMD_FUNC, func);
}
static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_TORQUE, torque);
}
static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time);
}
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
SetValveHomeDetectMode(index, 37);
// 2.设置堵转检测力矩和堵转检测时间
// （0170h）=300，（0172h）=50
SetValveHomeTorque(index, 300);//30%
SetValveHomeTime(index, 50);//50ms
// 3.写 （00B1h）=0、运行模式 （03C2h）=0x06，使其工作在原点回归模式；
SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
// 4.写寻找限位开关速度和寻找原点信号速度（0417h）= 10000 (0419h)=1000;
SetValveHomeSwtSpeed(index, 10000);
SetValveHomeOriSpeed(index, 1000);
// 5.设置回零加速度
SetValveHomeAcc(index, 200000);
// 6.写控制字
// (0380h)= 0x06→0x07→0x0F→0x1F，电机运行
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
SetValveFunc(index, RTU_VALVE_CFG_RUN);
SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
}
// 定时1s更新设备状态

9
protocol.h
View File

@ -278,11 +278,14 @@ const uint8_t statusInfo[16][32]={
#define RTU_VALVE_CMD_PP_DECEL 0x03FE // 阀门轮廓减速度
#define RTU_VALVE_CMD_HOME_MODE 0x0416 // 阀门原点回归方式
#define RTU_VALVE_CMD_HOME_SPEED 0x0417 // 阀门原点回归速度
#define RTU_VALVE_CMD_HOME_ACCEL 0x041B // 阀门原点回归加速度
#define RTU_VALVE_CMD_HOME_SWT_SPEED 0x0417 // 阀门回归寻找开关的速度
#define RTU_VALVE_CMD_HOME_ORI_SPEED 0x0419 // 阀门回归寻找原点的速度
#define RTU_VALVE_CMD_HOME_ACCEL 0x041B // 阀门回归加速度
#define RTU_VALVE_CMD_FUNC 0x0380 // 阀门控制
#define RTU_VALVE_CMD_HOME_TORQUE 0x0170 // 阀门原点回归堵转检测力矩
#define RTU_VALVE_CMD_HOME_TIME 0x0172 // 阀门原点回归堵转检测时间
#define RTU_VALVE_CFG_CTL_CIA402 0x0000 // 为CIA402模式
#define RTU_VALVE_CFG_COMM_CIA402 0x0000 // 为CIA402模式
#define RTU_VALVE_CFG_MODE_HM 0x0001 // 原点回归模式(HM)
#define RTU_VALVE_CFG_MODE_PP 0x0006 // 轮廓位置模式(PP)
#define RTU_VALVE_CFG_ENABLE 0x0006 // 准备