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update valveCheckBTOResult

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murmur 2024-12-31 00:21:11 +08:00
parent bbeab43bed
commit bb7ade7025
1 changed files with 5 additions and 2 deletions
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7
protocol.c
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@ -209,7 +209,7 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
uint8_t ret = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
// HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT*4);
// elog_hexdump("ACK", 16, rxBuf, rxLen);
if(memcmp(rxBuf, txBuf, 2) != 0) {//正常情况下，返回的前2个字节应与发送的相同
if(ret != HAL_TIMEOUT && ret != HAL_OK) {
log_e("READ ACK ERROR:[%s]", ackError[ret]);
elog_hexdump("GET DATA", 16, rxBuf, rxLen);
systemStatus.rst += 1;//结果计数
@ -1085,7 +1085,7 @@ static void valveCheckBTOResult(uint8_t index)
uint32_t pos = ReadValvePos(index);
log_d("valve[%d] bto pos: %d",index,pos);
isSuccess = 1;
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
// SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
// if(pos > 200 || pos < (VALVE_PULSE_PER_ROUND-200)) {
// // 位置超出范围
// isSuccess = 0;
@ -1181,6 +1181,9 @@ uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
// 电机以绝对位置，立即更新的方式运行
// (电机是以控制字 6040h(0380h)的 bit4 的上升沿接收新的位置命令，
// 所以每次执行完一次运行后需 要把此位清零。)
SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
SetValveFunc(index, 0x2F);
SetValveFunc(index, 0x3F);