update functions
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CSSC-WORK\murmur
parent
90d7bed5b4
commit
dee9ff6204
85
protocol.c
85
protocol.c
@ -11,12 +11,16 @@ DeviceStatus deviceStatus = {
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.initStatus = 1
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};
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DeviceParam dp = {{
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{"pump1", 4, 60, 100, 100},
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{"pump2", 3, 10, 100, 100},
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{"valve1", 3, 10, 100, 100},
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{"valve2", 4, 10, 100, 100}
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}};
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DeviceParam dp = {
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.pump = {
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{"pump1", 4, 60, 100, 100},
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{"pump2", 3, 10, 100, 100}
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},
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.valve = {
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{"valve1", 1, 10, 100, 100},
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{"valve2", 2, 10, 100, 100}
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}
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};
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@ -206,7 +210,7 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
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void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
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// 发送数据
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// HAL_UART_Transmit_DMA(&huart1, txBuf, txLen);
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transDataToHost(txBuf, txLen);
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// transDataToHost(txBuf, txLen);
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}
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@ -688,7 +692,7 @@ void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
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WritePump1Reg(index, RTU_VALVE_CMD_CTL_MODE, mode);
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WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_CTL_MODE, mode);
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}
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/**
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@ -699,7 +703,7 @@ static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
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WritePump1Reg(index, RTU_VALVE_CMD_RUN_MODE, mode);
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WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_RUN_MODE, mode);
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}
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// PP=轮廓位置模式
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@ -711,7 +715,7 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
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writeValve2Reg(index, RTU_VALVE_CMD_PP_POS, pos);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_POS, pos);
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}
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/**
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@ -722,7 +726,7 @@ static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
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writeValve2Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_SPEED, speed);
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}
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/**
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@ -733,7 +737,7 @@ static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
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writeValve2Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_ACCEL, acc);
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}
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/**
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@ -744,7 +748,7 @@ static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
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writeValve2Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_DECEL, dec);
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}
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// HM=原点回归模式
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@ -756,7 +760,7 @@ static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
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writeValve1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
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writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_MODE, mode);
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}
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/**
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@ -767,7 +771,7 @@ static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
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writeValve2Reg(index, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
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}
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/**
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@ -778,7 +782,7 @@ static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
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writeValve2Reg(index, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
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}
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/**
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@ -789,7 +793,7 @@ static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
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writeValve2Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
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writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ACCEL, acc);
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}
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/**
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@ -800,7 +804,7 @@ static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
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writeValve1Reg(index, RTU_VALVE_CMD_FUNC, func);
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writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_FUNC, func);
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}
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/**
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@ -811,7 +815,7 @@ static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
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writeValve1Reg(index, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
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writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
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}
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/**
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@ -822,7 +826,7 @@ static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
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writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time*10);
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writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TIME, time*10);
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}
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/**
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@ -836,9 +840,11 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
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// 1.设置原点回归方式
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// (0416h)=37;17=负限位，18=正限位
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if(direction) {
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printf("back to Origin, +\r\n");
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SetValveHomeDetectMode(index, 37);//正方向堵转
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}
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else {
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printf("back to Origin, -\r\n");
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SetValveHomeDetectMode(index, 38);//反方向堵转
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}
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// 2.设置堵转检测力矩和堵转检测时间
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@ -846,8 +852,8 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
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SetValveHomeTorque(index, 600);//60%
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SetValveHomeTime(index, 10000);//1000ms
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// 3.写 (00B1h)=0、运行模式 (03C2h)=0x06，使其工作在原点回归模式；
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// SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
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// SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
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SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
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SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
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// 4.写寻找限位开关速度和寻找原点信号速度(0417h)= 10000 (0419h)=1000;
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// SetValveHomeSwtSpeed(index, 20000);
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SetValveHomeOriSpeed(index, 20000);
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@ -855,9 +861,9 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
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SetValveHomeAcc(index, 200000);
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// 6.写控制字
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// (0380h)= 0x06→0x07→0x0F→0x1F，电机运行
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// SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
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// SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
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// SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
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SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
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SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
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SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
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SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
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}
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@ -869,6 +875,7 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
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* @return 0:成功 其他:失败
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*/
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uint8_t ValveRunInit(uint8_t index) {
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printf("set mode to PP\r\n");
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// 1.配置模式：
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// 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
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SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
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@ -894,6 +901,7 @@ uint8_t ValveRunInit(uint8_t index) {
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* @return 0:成功 其他:失败
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*/
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uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
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printf("set angel to %d\r\n",angle);
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// 限制角度的逻辑不在这里，此处只执行控制逻辑
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if(angle > 360) {
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log_e("阀门角度设置错误");
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@ -916,13 +924,14 @@ uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
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* @return 0:成功 其他:失败
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*/
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uint8_t InitValve(void) {
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SetValvePPSpeed(dp.valve[0].id, dp.valve[0].maxSpeed);
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SetValvePPAcc(dp.valve[0].id, dp.valve[0].maxAccel);
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SetValvePPDec(dp.valve[0].id, dp.valve[0].maxDecel);
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printf("InitValve\n");
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SetValvePPSpeed(0, dp.valve[0].maxSpeed);
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SetValvePPAcc(0, dp.valve[0].maxAccel);
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SetValvePPDec(0, dp.valve[0].maxDecel);
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SetValvePPSpeed(dp.valve[1].id, dp.valve[1].maxSpeed);
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SetValvePPAcc(dp.valve[1].id, dp.valve[1].maxAccel);
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SetValvePPDec(dp.valve[1].id, dp.valve[1].maxDecel);
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SetValvePPSpeed(1, dp.valve[1].maxSpeed);
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SetValvePPAcc(1, dp.valve[1].maxAccel);
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SetValvePPDec(1, dp.valve[1].maxDecel);
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}
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/**
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@ -1253,29 +1262,31 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
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void runPumpDemo(void) {
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printf("runPumpDemo\r\n");
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// printf("InitPump\n");
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InitPump();
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// InitPump();
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// 泵1正转100步
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printf("SetPumpStepTarget(0, 100)\n");
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SetPumpStepTarget(0, 200000);
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printf("StartPumpRelativeMove(0)\n");
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StartPumpRelativeMove(0);
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HAL_Delay(1000);
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// HAL_Delay(1000);
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// 泵1反转100步
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printf("SetPumpStepTarget(0, -100)\n");
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SetPumpStepTarget(1, -300000);
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printf("StartPumpRelativeMove(0)\n");
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StartPumpRelativeMove(1);
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HAL_Delay(1000);
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// HAL_Delay(1000);
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printf("StopPump(0)\n");
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StopPump(0);
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HAL_Delay(1000);
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// HAL_Delay(1000);
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}
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void runValveDemo(void) {
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InitValve();
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ValveBackToOrigin(0);
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printf("runValveDemo\r\n");
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InitValve();
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ValveBackToOrigin(0,1);
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// 阀门1正转120度
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printf("ValveRunToAngle(0, 120)\n");
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ValveRunInit(0);
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ValveRunToAngle(0, 120);
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}
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@ -102,7 +102,7 @@ typedef union {
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}AlarmCode_t;
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// 用于输出具体的告警信息字符串
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static const uint8_t alarmInfo[16][32]={
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static const uint8_t alarmInfo[16][50]={
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"位置误差超限",
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"CCW方向禁止限位",
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"CW方向禁止限位",
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@ -166,7 +166,7 @@ typedef union {
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} bits;
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uint16_t all;
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} StatusCode_t;
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static const uint8_t statusInfo[16][32]={
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static const uint8_t statusInfo[16][60]={
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"使能",
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"采样中（软件示波器功能开启）",
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"驱动器报故障",
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@ -423,4 +423,5 @@ void DecodePumpStatusMsg(uint16_t reg4002);
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void UpdatePumpStatus();
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void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen);
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void runPumpDemo(void);
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void runVavleDemo(void);
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#endif // PROTOCOL_H
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