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update HandlePumpTimeControl

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CSSC-WORK\murmur 2025-01-02 15:15:55 +08:00
parent 318b57b2bf
commit f6453f4811
2 changed files with 18 additions and 9 deletions
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19
protocol.c
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@ -1395,8 +1395,14 @@ void initCTLSystem(void)
systemStatus.ds = &deviceStatus; // 赋值地址而不是内容 systemStatus.ds = &deviceStatus; // 赋值地址而不是内容
systemStatus.ds->initStatus = INIT_IN_PROGRESS; systemStatus.ds->initStatus = INIT_IN_PROGRESS;
systemStatus.rst = 0; systemStatus.rst = 0;
//更新参数
for (size_t index = 0; index < 2; index++)
{
//更新参数
systemStatus.pumpsSpeed[index] = transSpeedPercentToSpeed(index, systemStatus.ds->pumps.speedPercent[index]);
}
InitValve(); InitValve();
// InitPump(); InitPump();
} }
@ -1561,13 +1567,15 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
} }
uint16_t time = (Buff[index*3+1]<<8) | Buff[index*3+2]; uint16_t time = (Buff[index*3+1]<<8) | Buff[index*3+2];
if(time == 0) { if(time == 0) {
// 方向控制办法待确定 StopPump(index);
SetPumpJogSpeed(index,-1*dp.pump[index].fullSpeed*dp.pump[index].speedPercent); // The jogging direction is set by the last DI command.
SetPumpStepTarget(index,direction);
StartPumpJog(index); StartPumpJog(index);
continue; continue;
} }
// 使用步数方式更靠谱，通过时间和速度计算步数，结束时不用发送停止命令 // 使用步数方式更靠谱，通过时间和速度计算步数，结束时不用发送停止命令
int32_t step = direction*time*dp.pump[index].fullSpeed*dp.pump[index].speedPercent/100; int32_t step = direction*time*systemStatus.pumpsSpeed[index];
StopPump(index);//stop first
SetPumpStepTarget(index, step); SetPumpStepTarget(index, step);
StartPumpRelativeMove(index); StartPumpRelativeMove(index);
@ -1621,7 +1629,8 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
} }
//更新参数 //更新参数
systemStatus.ds->pumps.speed[index] = speedPercent; systemStatus.pumpsSpeed[index] = speed;
systemStatus.ds->pumps.speedPercent[index] = speedPercent;
} }
return ACK_OK; return ACK_OK;

8
protocol.h
View File

@ -238,7 +238,7 @@ static const uint8_t statusInfo[16][60]={
#define RTU_PUMP_CMD_JA 0x002E // Jog加速度 #define RTU_PUMP_CMD_JA 0x002E // Jog加速度
#define RTU_PUMP_CMD_JL 0x002F // Jog减速度 #define RTU_PUMP_CMD_JL 0x002F // Jog减速度
#define RTU_PUMP_CMD_JS 0x0030 // Jog速度 #define RTU_PUMP_CMD_JS 0x0030 // Jog速度
// The jogging direction is set by the last DI command.
/* 备注： /* 备注：
@ -385,7 +385,7 @@ typedef struct {
// 泵结构体 // 泵结构体
typedef struct { typedef struct {
uint8_t status[2]; // 泵运行状态 (停止/顺时针/逆时针) uint8_t status[2]; // 泵运行状态 (停止/顺时针/逆时针)
uint8_t speed[2]; // 泵速度百分比 (0-100)，设置值 uint8_t speedPercent[2]; // 泵速度百分比 (0-100)，设置值
} PumpStatus_t; } PumpStatus_t;
// 设备状态结构体，用于上报HOST // 设备状态结构体，用于上报HOST
@ -406,8 +406,8 @@ typedef struct
DeviceStatus_t *ds; DeviceStatus_t *ds;
int32_t valvesSpeed[2];//实时速度 int32_t valvesSpeed[2];//实时速度
uint8_t valvesSpeedPercent[2];//实时速度百分比 uint8_t valvesSpeedPercent[2];//实时速度百分比
uint32_t valvesPos[2];//实时位置 uint32_t valvesPos[2];//实时位置，实时角度已有，在DeviceStatus_t
uint32_t pumpsSpeed[2];//实时速度 uint32_t pumpsSpeed[2];//设定速度
uint8_t pumpsSpeedPercent[2];//实时速度百分比 uint8_t pumpsSpeedPercent[2];//实时速度百分比
uint32_t pumpsPos[2];//实时位置 uint32_t pumpsPos[2];//实时位置
uint8_t isValveMovingBackToOrigin[2];//阀门是否在回归原点 uint8_t isValveMovingBackToOrigin[2];//阀门是否在回归原点