From dee9ff6204323d27e974179b46a69e652926887a Mon Sep 17 00:00:00 2001
From: "CSSC-WORK\\murmur" <work@hhilp>
Date: Mon, 23 Dec 2024 11:13:24 +0800
Subject: [PATCH] update functions

---
 protocol.c | 85 ++++++++++++++++++++++++++++++------------------------
 protocol.h |  5 ++--
 2 files changed, 51 insertions(+), 39 deletions(-)

diff --git a/protocol.c b/protocol.c
index 6db4b81..6b2fb24 100644
--- a/protocol.c
+++ b/protocol.c
@@ -11,12 +11,16 @@ DeviceStatus deviceStatus = {
     .initStatus = 1
 };
 
-DeviceParam dp = {{
-    {"pump1", 4, 60, 100, 100},
-    {"pump2", 3, 10, 100, 100},
-    {"valve1", 3, 10, 100, 100},
-    {"valve2", 4, 10, 100, 100}
-}};
+DeviceParam dp = {
+    .pump = {
+        {"pump1", 4, 60, 100, 100},
+        {"pump2", 3, 10, 100, 100}
+    },
+    .valve = {
+        {"valve1", 1, 10, 100, 100},
+        {"valve2", 2, 10, 100, 100}
+    }
+};
 
 
 
@@ -206,7 +210,7 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
 void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
     // 发送数据
     // HAL_UART_Transmit_DMA(&huart1, txBuf, txLen);
-    transDataToHost(txBuf, txLen);
+    // transDataToHost(txBuf, txLen);
 }
 
 
@@ -688,7 +692,7 @@ void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
-    WritePump1Reg(index, RTU_VALVE_CMD_CTL_MODE, mode);
+    WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_CTL_MODE, mode);
 }
 
 /**
@@ -699,7 +703,7 @@ static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
-    WritePump1Reg(index, RTU_VALVE_CMD_RUN_MODE, mode);
+    WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_RUN_MODE, mode);
 }
 
 // PP=轮廓位置模式
@@ -711,7 +715,7 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
-    writeValve2Reg(index, RTU_VALVE_CMD_PP_POS, pos);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_POS, pos);
 }
 
 /**
@@ -722,7 +726,7 @@ static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
-    writeValve2Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_SPEED, speed);
 }
 
 /**
@@ -733,7 +737,7 @@ static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
-    writeValve2Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_ACCEL, acc);
 }
 
 /**
@@ -744,7 +748,7 @@ static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
-    writeValve2Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_DECEL, dec);
 }
 
 // HM=原点回归模式
@@ -756,7 +760,7 @@ static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
-    writeValve1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
+    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_MODE, mode);
 }
 
 /**
@@ -767,7 +771,7 @@ static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
-    writeValve2Reg(index, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
 }
 
 /**
@@ -778,7 +782,7 @@ static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
-    writeValve2Reg(index, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
 }
 
 /**
@@ -789,7 +793,7 @@ static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
-    writeValve2Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
+    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ACCEL, acc);
 }
 
 /**
@@ -800,7 +804,7 @@ static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
-    writeValve1Reg(index, RTU_VALVE_CMD_FUNC, func);
+    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_FUNC, func);
 }
 
 /**
@@ -811,7 +815,7 @@ static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
-    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
+    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
 }
 
 /**
@@ -822,7 +826,7 @@ static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
-    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time*10);
+    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TIME, time*10);
 }
 
 /**
@@ -836,9 +840,11 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
 // 1.设置原点回归方式
 // (0416h)=37;17=负限位，18=正限位
     if(direction) {
+        printf("back to Origin, +\r\n");
         SetValveHomeDetectMode(index, 37);//正方向堵转
     }
     else {
+        printf("back to Origin, -\r\n");
         SetValveHomeDetectMode(index, 38);//反方向堵转
     }
     // 2.设置堵转检测力矩和堵转检测时间
@@ -846,8 +852,8 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
     SetValveHomeTorque(index, 600);//60%
     SetValveHomeTime(index, 10000);//1000ms
     // 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);
+    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, 20000);
     SetValveHomeOriSpeed(index, 20000);
@@ -855,9 +861,9 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
     SetValveHomeAcc(index, 200000);
     // 6.写控制字
     //  (0380h)= 0x06→0x07→0x0F→0x1F，电机运行
-    // SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
-    // SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
-    // SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
+    SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
+    SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
+    SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
     SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
 }
 
@@ -869,6 +875,7 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
  * @return 0:成功 其他:失败
  */
 uint8_t ValveRunInit(uint8_t index) {
+    printf("set mode to PP\r\n");
 //     1.配置模式：
 // 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
     SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
@@ -894,6 +901,7 @@ uint8_t ValveRunInit(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
+    printf("set angel to %d\r\n",angle);
     // 限制角度的逻辑不在这里，此处只执行控制逻辑
     if(angle > 360) {
         log_e("阀门角度设置错误");
@@ -916,13 +924,14 @@ uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
  * @return 0:成功 其他:失败
  */
 uint8_t InitValve(void) {
-    SetValvePPSpeed(dp.valve[0].id, dp.valve[0].maxSpeed);
-    SetValvePPAcc(dp.valve[0].id, dp.valve[0].maxAccel);
-    SetValvePPDec(dp.valve[0].id, dp.valve[0].maxDecel);
+    printf("InitValve\n");
+    SetValvePPSpeed(0, dp.valve[0].maxSpeed);
+    SetValvePPAcc(0, dp.valve[0].maxAccel);
+    SetValvePPDec(0, dp.valve[0].maxDecel);
 
-    SetValvePPSpeed(dp.valve[1].id, dp.valve[1].maxSpeed);
-    SetValvePPAcc(dp.valve[1].id, dp.valve[1].maxAccel);
-    SetValvePPDec(dp.valve[1].id, dp.valve[1].maxDecel);
+    SetValvePPSpeed(1, dp.valve[1].maxSpeed);
+    SetValvePPAcc(1, dp.valve[1].maxAccel);
+    SetValvePPDec(1, dp.valve[1].maxDecel);
 }
 
 /**
@@ -1253,29 +1262,31 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
 void runPumpDemo(void) {
     printf("runPumpDemo\r\n");
     // printf("InitPump\n");
-    InitPump();
+    // InitPump();
     // 泵1正转100步
     printf("SetPumpStepTarget(0, 100)\n");
     SetPumpStepTarget(0, 200000);
     printf("StartPumpRelativeMove(0)\n");
     StartPumpRelativeMove(0);
-    HAL_Delay(1000);
+    // HAL_Delay(1000);
     // 泵1反转100步
     printf("SetPumpStepTarget(0, -100)\n");
     SetPumpStepTarget(1, -300000);
     printf("StartPumpRelativeMove(0)\n");
     StartPumpRelativeMove(1);
-    HAL_Delay(1000);
+    // HAL_Delay(1000);
     printf("StopPump(0)\n");
     StopPump(0);
-    HAL_Delay(1000);
+    // HAL_Delay(1000);
 }
 
 void runValveDemo(void) {
-    InitValve();
-    ValveBackToOrigin(0);
     printf("runValveDemo\r\n");
+    InitValve();
+    ValveBackToOrigin(0,1);
+    
     // 阀门1正转120度
     printf("ValveRunToAngle(0, 120)\n");
+    ValveRunInit(0);
     ValveRunToAngle(0, 120);
 }
diff --git a/protocol.h b/protocol.h
index 960b975..bd5ee52 100644
--- a/protocol.h
+++ b/protocol.h
@@ -102,7 +102,7 @@ typedef union {
 }AlarmCode_t;
 
 // 用于输出具体的告警信息字符串
-static const uint8_t alarmInfo[16][32]={
+static const uint8_t alarmInfo[16][50]={
     "位置误差超限",
     "CCW方向禁止限位",
     "CW方向禁止限位",
@@ -166,7 +166,7 @@ typedef union {
     } bits;
     uint16_t all;
 } StatusCode_t;
-static const uint8_t statusInfo[16][32]={
+static const uint8_t statusInfo[16][60]={
     "使能",
     "采样中（软件示波器功能开启）",
     "驱动器报故障",
@@ -423,4 +423,5 @@ void DecodePumpStatusMsg(uint16_t reg4002);
 void UpdatePumpStatus();
 void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen);
 void runPumpDemo(void);
+void runVavleDemo(void);
 #endif // PROTOCOL_H 
\ No newline at end of file