update crc

protocol.c

@@ -12,8 +12,8 @@ static DeviceStatus deviceStatus = {
 };
 
 DeviceParam dp = {{
-    {"pump1", 1, 100, 100, 100},
-    {"pump2", 2, 100, 100, 100},
+    {"pump1", 4, 100, 100, 100},
+    {"pump2", 4, 100, 100, 100},
     {"valve1", 3, 100, 100, 100},
     {"valve2", 4, 100, 100, 100}
 }};
@@ -57,7 +57,7 @@ static const uint16_t crcTable[] = {
 };
 
 /**
- * 计算数据的CRC16校验值
+ * 计算数据的CRC16校验值,CRC16校验多项式为:X16+X15+X2+1
  * 
  * @param data 需要计算CRC的数据缓冲区
  * @param length 数据长度
@@ -172,6 +172,7 @@ void updateInitStatus(InitStatus_t status) {
  * @param txLen 发送数据长度
  */
 void writeCMD(uint8_t *txBuf, uint16_t txLen) {
+    HAL_UART_Transmit(&huart2, txBuf, txLen, 1000);
 }
 
 /**
@@ -183,7 +184,8 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
  */
 void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
     // 发送数据
-    HAL_UART_Transmit_DMA(&huart2, txBuf, txLen);
+    // HAL_UART_Transmit_DMA(&huart1, txBuf, txLen);
+    transDataToHost(txBuf, txLen);
 }
 
 
@@ -917,10 +919,8 @@ static uint8_t HandleInit(void) {
  * @return 0:成功 其他:失败
  */
 static uint8_t HandleStatusQuery(void) {
-    // 填充并返回数据
-    uint8_t txBuf[sizeof(DeviceStatus)] = {0};
-    memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus));
-    sendMsgToHost(txBuf, sizeof(txBuf));
+
+    packMsgToHost(HOST_CMD_STATUS_QUERY, 0);
     return 0;
 }
 
@@ -1088,7 +1088,7 @@ void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
     uint8_t len = 0;
     uint8_t dlen = 0;
     uint8_t index = 0;
-    FillBigEndian32(msgBuf+4, FRAME_HEADER);
+    FillBigEndian32(msgBuf, FRAME_HEADER);
     FillBigEndian16(msgBuf+sizeof(FRAME_HEADER), funcCode);
     
     if(funcCode == HOST_CMD_STATUS_QUERY) {
@@ -1128,7 +1128,7 @@ void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
  * @param rxLen 接收到的数据长度
  * @return 命令帧错误码
  */
-CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) {
+CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint8_t rxLen) {
     // 检查命令是否正确
     // FRAME_HEADER是按小端序存储的，而rxBuf是按大端序存的
     uint8_t header[sizeof(FRAME_HEADER)];
@@ -1138,16 +1138,19 @@ CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) {
 
     if(memcmp(rxBuf, header, sizeof(FRAME_HEADER)) != 0)
     {
+        printf("CMD_FRAME_HEADER_ERROR\r\n");
         return CMD_FRAME_HEADER_ERROR;
     }
     
     if (memcmp(rxBuf + rxLen - sizeof(FRAME_TAIL), tail, sizeof(FRAME_TAIL)) != 0)
     {
+        printf("CMD_FRAME_TAIL_ERROR\r\n");
         return CMD_FRAME_TAIL_ERROR;
     }
-    uint16_t crc = CalculateCRC16(rxBuf+sizeof(FRAME_HEADER), rxLen - sizeof(FRAME_HEADER)-sizeof(FRAME_TAIL))-2;// 计算crc，不包含帧头和帧尾和crc自身
-    if ((rxBuf[rxLen-sizeof(FRAME_TAIL)-6]<<8) | rxBuf[rxLen-sizeof(FRAME_TAIL)-5] != crc)
+    uint16_t crc = CalculateCRC16(rxBuf+sizeof(FRAME_HEADER), rxLen - sizeof(FRAME_HEADER)-sizeof(FRAME_TAIL)-2);    // 计算crc，不包含帧头和帧尾和crc自身
+    if (((rxBuf[rxLen-sizeof(FRAME_TAIL)-2]<<8) | rxBuf[rxLen-sizeof(FRAME_TAIL)-1]) != crc)
     {
+        printf("CMD_FRAME_CHECK_ERROR\r\n");
         return CMD_FRAME_CHECK_ERROR;
     }   
     return CMD_FRAME_OK;
@@ -1162,7 +1165,7 @@ CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) {
  * @param rxLen 接收到的数据长度
  * @return 命令帧错误码
  */
-CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
+CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
 
     CmdFrameError_t error = checkHostCmd(rxBuf, rxLen);
     if (error != CMD_FRAME_OK)
@@ -1203,3 +1206,25 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) {
 
     return error;
 } 
+
+
+void runPumpDemo(void) {
+    printf("runPumpDemo\n");
+    printf("InitPump\n");
+    InitPump();
+    // 泵1正转100步
+    printf("SetPumpStepTarget(0, 100)\n");
+    SetPumpStepTarget(0, 100);
+    printf("StartPumpRelativeMove(0)\n");
+    StartPumpRelativeMove(0);
+    HAL_Delay(1000);
+    // 泵1反转100步
+    printf("SetPumpStepTarget(0, -100)\n");
+    SetPumpStepTarget(0, -100);
+    printf("StartPumpRelativeMove(0)\n");
+    StartPumpRelativeMove(0);
+    HAL_Delay(1000);
+    printf("StopPump(0)\n");
+    StopPump(0);
+    HAL_Delay(1000);
+}

protocol.h

@@ -408,11 +408,12 @@ typedef struct {
 extern DeviceParam dp;
 
 // 函数声明
-CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen);
+CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen);
 // uint16_t CalculateCRC16(uint8_t *data, uint16_t length);
 void InitDeviceStatus();
 void DecodePumpAlarmMsg(uint16_t reg4001);
 void DecodePumpStatusMsg(uint16_t reg4002);
 void UpdatePumpStatus();
 void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen);
+void runPumpDemo(void);
 #endif // PROTOCOL_H