#include "protocol.h" #include static DeviceStatus deviceStatus = {0}; // CRC16 查表法实现 static const uint16_t crcTable[] = { 0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241, 0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440, 0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40, 0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841, 0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40, 0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41, 0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641, 0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040, 0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240, 0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441, 0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41, 0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840, 0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41, 0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40, 0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640, 0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041, 0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240, 0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441, 0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41, 0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840, 0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41, 0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40, 0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640, 0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041, 0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241, 0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440, 0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40, 0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841, 0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40, 0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41, 0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641, 0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040 }; uint16_t CalculateCRC16(uint8_t *data, uint16_t length) { uint16_t crc = 0xFFFF; for (uint16_t i = 0; i < length; i++) { uint8_t index = (crc ^ data[i]) & 0xFF; crc = (crc >> 8) ^ crcTable[index]; } return crc; } // 更新下挂设备状态 void updateDeviceStatus(DeviceStatus_t status) { deviceStatus.deviceStatus = status; } // 更新三通阀状态 void updateValveStatus(uint8_t index, ValveAngle_t angle) { if (index == 1) { deviceStatus.valves.angle1 = angle; } else if (index == 2) { deviceStatus.valves.angle2 = angle; } } // 更新泵状态 void updatePumpStatus(uint8_t index, PumpStatus_t status) { if (index == 1) { deviceStatus.pumps.status1 = status; } else if (index == 2) { deviceStatus.pumps.status2 = status; } } // 更新泵速度状态 void updatePumpSpeedStatus(uint8_t index, uint8_t speed) { if (index == 1) { deviceStatus.pumps.speed1 = speed; } else if (index == 2) { deviceStatus.pumps.speed2 = speed; } } // 更新气泡传感器读数 void updateBubbleSensor(BubbleStatus_t value) { deviceStatus.bubbleStatus = value; } // 更新急停状态 void updateEmergencyStop(EstopStatus_t status) { deviceStatus.stopStatus = status; } // 更新错误码 void updateErrorCode(ErrorCode_t errorCode) { deviceStatus.errorCode = errorCode; } // 更新初始化状态 void updateInitStatus(InitStatus_t status) { deviceStatus.initStatus = status; } // 初始化设备状态 void InitDeviceStatus() { // 初始化泵 WriteJogAcc(1, 100); WriteJogDec(1, 100); WriteJogSpeed(1, 10); WriteStepAcc(1, 100); WriteStepDec(1, 100); WriteStepSpeed(1, 10); // 更新设备状态 updateDeviceStatus(DEVICE_ONLINE); updateValveStatus(1, 120); updateValveStatus(2, 210); updatePumpStatus(1, PUMP_CLOCKWISE); updatePumpStatus(2, PUMP_ANTICLOCKWISE); updatePumpSpeedStatus(1, 100); updatePumpSpeedStatus(2, 100); updateBubbleSensor(BUBBLE_DETECTED); updateEmergencyStop(ESTOP_NORMAL); updateInitStatus(INIT_SUCCESS); } //modBUS RTU 写命令 void writeCMD(uint8_t *txBuf, uint16_t *txLen) { } uint8_t SendToHost(uint8_t *txBuf, uint16_t txLen) { // 发送数据到主机 // 具体实现 return 0; } // 判断系统大端序还是小端序 static uint8_t IsBigEndian() { uint32_t num = 0x12345678; return ((*(uint8_t*)&num) == 0x12); } // 将数据按大端序填充 static void FillBigEndian32(uint8_t *data, uint32_t value) { if(!IsBigEndian()) { for(uint16_t i = 0; i < 4; i++) { data[i] = (value >> ((4 - i - 1) * 8)) & 0xFF; } } else { for(uint16_t i = 0; i < 4; i++) { data[i] = (value >> (i * 8)) & 0xFF; } } } static void FillBigEndian16(uint8_t *data, uint16_t value) { if(!IsBigEndian()) { for(uint16_t i = 0; i < 2; i++) { data[i] = (value >> ((2 - i - 1) * 8)) & 0xFF; } } else { for(uint16_t i = 0; i < 2; i++) { data[i] = (value >> (i * 8)) & 0xFF; } } } /* +----------+--------+------------+------------+------------+ | 从机地址 | 功能码 | 寄存器地址 | 寄存器数量 | CRC校验值 | +----------+--------+------------+------------+------------+ | 1字节 | 1字节 | 2字节 | 2字节 | 2字节 | +----------+--------+------------+------------+------------+ */ // pump 读寄存器 uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) { uint8_t data[8] = {0}; data[0] = index; data[1] = RTU_PUMP_FUNC_READ_REG; FillBigEndian16(&data[2], reg); FillBigEndian16(&data[4], 1); uint16_t crc = CalculateCRC16(data, 6); // 小端序填充 memcpy(&data[6], &crc, 2); writeCMD(data, 8); } /* +----------+--------+------------+----------+------------+ | 从机地址 | 功能码 | 寄存器地址 | 寄存器值 | CRC校验值 | +----------+--------+------------+----------+------------+ | 1字节 | 1字节 | 2字节 | 2字节 | 2字节 | +----------+--------+------------+----------+------------+ */ // 写泵1个寄存器 uint8_t WritePump1Reg(uint8_t index, uint16_t reg, uint16_t value) { // 写一个寄存器不需要指定寄存器长度 uint8_t data[8] = {0}; data[0] = index; data[1] = RTU_PUMP_FUNC_WRITE_REG; FillBigEndian16(&data[2], reg); FillBigEndian16(&data[4], value); uint16_t crc = CalculateCRC16(data, 6); // 小端序填充 memcpy(&data[6], &crc, 2); writeCMD(data, 8); } /* +----------+--------+------------+------------+----------+----------+------------+ | 从机地址 | 功能码 | 寄存器地址 | 寄存器数量 | 数据长度 | 寄存器值 | CRC校验值 | +----------+--------+------------+------------+----------+----------+------------+ | 1字节 | 1字节 | 2字节 | 2字节 | 1字节 | 4字节 | 2字节 | +----------+--------+------------+------------+----------+----------+------------+ */ // 写泵2个寄存器 uint8_t WritePump2Reg(uint8_t index, uint16_t reg, uint32_t value) { // 写2个寄存器需要指定寄存器长度 uint8_t data[13] = {0}; data[0] = index; data[1] = RTU_PUMP_FUNC_WRITE_MULTI_REG; FillBigEndian16(&data[2], reg); FillBigEndian16(&data[4], 2); data[6] = 8; FillBigEndian32(&data[7], value); uint16_t crc = CalculateCRC16(data, 11); // 小端序填充 memcpy(&data[11], &crc, 2); writeCMD(data, 13); } /* +--------------+--------------------------------+ | jogging设置顺序 | +--------------+--------------------------------+ | 1. | 设置加速度JA、减速度JL、速度JS | +--------------+--------------------------------+ | 2. | 启动Jog-CJ | +--------------+--------------------------------+ | 3. | 停止Jog-SJ | +--------------+--------------------------------+ */ static uint8_t WriteJogAcc(uint8_t index, uint16_t acc) { WritePump1Reg(index, RTU_PUMP_CMD_JA, acc); } static uint8_t WriteJogDec(uint8_t index, uint16_t dec) { WritePump1Reg(index, RTU_PUMP_CMD_JL, dec); } static uint8_t WriteJogSpeed(uint8_t index, uint16_t speed) { WritePump1Reg(index, RTU_PUMP_CMD_JS, speed); } // Jog=慢跑 // CJ=start jogging // 写入命令操作码寄存器(40125)数据0x0096(CJ),即执行启动Jog控制 static uint8_t StartJogControl(uint8_t index) { WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0096); } // SJ=stop jogging // 写入命令操作码寄存器(40125)数据0x00D8(SJ),即执行停止Jog控制 // CJ与SJ一一对应,单次SJ无法停止所有全部CJ // 直接停止泵需要使用SK命令 static uint8_t StopJogControl(uint8_t index) { WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00D8); } /* +--------------+--------------------------------+ | step设置顺序 | +--------------+--------------------------------+ | 1. | 设置加速度AC、减速度DE、速度VE | +--------------+--------------------------------+ | 2. | 设置步进DI | +--------------+--------------------------------+ | 3. | 启动相对位置FL,或绝对位置FP | +--------------+--------------------------------+ | 4. | 停止泵SK | +--------------+--------------------------------+ */ static uint8_t WriteStepAcc(uint8_t index, uint16_t acc) { WritePump1Reg(index, RTU_PUMP_CMD_AC, acc); } static uint8_t WriteStepDec(uint8_t index, uint16_t dec) { WritePump1Reg(index, RTU_PUMP_CMD_DE, dec); } static uint8_t WriteStepSpeed(uint8_t index, uint16_t speed) { WritePump1Reg(index, RTU_PUMP_CMD_VE, speed); } static uint8_t WriteStepTarget(uint8_t index, uint32_t target) { WritePump2Reg(index, RTU_PUMP_CMD_DI, target); } // FL=feed length // 写入命令操作码寄存器(40125)数据0x0066(FL),即执行相对位置控制 static uint8_t RelativePositionControl(uint8_t index) { WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0066); } // FP=feed position // 写入命令操作码寄存器(40125)数据0x0067(FP),即执行绝对位置控制 static uint8_t AbsolutePositionControl(uint8_t index) { WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067); } // SK=Stop Move & Kill Buffer, Max Decel // 写入命令操作码寄存器(40125)数据0x00E1(SK),即执行停止控制 static uint8_t StopPump(uint8_t index) { WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00E1); } // 获取固件版本 uint8_t ReadHWReg(uint8_t index) { ReadPump1Reg(index, RTU_PUMP_CMD_HW); } // 设置波特率 uint8_t WriteBRReg(uint8_t index, uint16_t br) { WritePump1Reg(index, RTU_PUMP_CMD_BR, br); } // 设置通信协议 uint8_t WritePRReg(uint8_t index, uint16_t pr) { WritePump1Reg(index, RTU_PUMP_CMD_PR, pr); } // 获取泵状态 void ReadPumpStatus(uint8_t index) { ReadPump1Reg(index, RTU_PUMP_CMD_SC); } // 获取泵告警信息 void ReadPumpAlarm(uint8_t index) { ReadPump1Reg(index, RTU_PUMP_CMD_AL); } // 解码告警信息 void DecodePumpAlarmMsg(uint16_t reg4001) { static AlarmCode_t alarmCode = {0}; // 与上次告警信息相同,则不更新,仅打印一次 if (alarmCode.all == reg4001) { return 0; } alarmCode.all = reg4001; if(alarmCode.all == 0) { //暂时屏蔽,避免刷屏 // printf("\r\n%s无报警信息\r\n", pumpName[index]); return 0; } // 打印表格头部 printf("\r\n+--------+------------------+\r\n"); printf("| 告警位 | 告警信息 |\r\n"); printf("+--------+------------------+\r\n"); for(uint16_t i = 0; i < 16; i++) { if(alarmCode.all & (1 << i)) { printf("| %6d | %-14s |\r\n", i, alarmInfo[i]); printf("+--------+------------------+\r\n"); } } return 1; } // 解码状态信息 void DecodePumpStatusMsg(uint16_t reg4002) { static StatusCode_t statusCode = {0}; // 与上次状态信息相同,则不更新,仅打印一次 if (statusCode.all == reg4002) { return 1; } statusCode.all = reg4002; printf("\r\n+--------+------------------+\r\n"); printf("| 状态位 | 状态信息 |\r\n"); printf("+--------+------------------+\r\n"); for(uint16_t i = 0; i < 16; i++) { if(statusCode.all & (1 << i)) { printf("| %6d | %-14s |\r\n", i, statusInfo[i]); printf("+--------+------------------+\r\n"); } } return 0; } // valve /* # 轮廓位置模式,配置流程 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; 1.1(设置为 CIA402 模式) 1.2(设置为轮廓位置模式) 2.参数配置: 2.1写目标位置 (03E7h)(用户单位); 2.2写当前段位移指令匀速运行速度 (03F8h) (用户单位/s); 2.3设置位移的加速度 (03FCh)(用户单位/s2) 2.4设置位移的减速度 (03FEh)(用户单位/s2); 3.写控制字使电机使能 (0380h)= 0x06→0x07→ 0x0F,电机使能: 4.使电机运行 (0380h)= 0x2F→0x3F,电机运行 5.监控参数: 实际位置反馈:(03C8h) (用户单位) # 堵转找寻原点方式,配置流程 1.设置原点回归方式 (0416h)=37;17=负限位,18=正限位 2.设置堵转检测力矩和堵转检测时间 (0170h)=300,(0172h)=50 3.设置模式 写 (00B1h)=0、运行模式 (03C2h)=0x06,使其工作在原点回归模式; 4.写寻找限位开关速度和寻找原点信号速度 (0417h)= 10000 (0419h)=1000; 5.设置回零加速度 (041Bh)=200000; 6.写控制字 (0380h)= 0x06→0x07→0x0F→0x1F,电机运行 */ static uint8_t SetValveMode(uint8_t index, uint16_t mode) { WritePump1Reg(index, RTU_VALVE_CMD_CTL_MODE, mode); } static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) { WritePump1Reg(index, RTU_VALVE_CMD_RUN_MODE, mode); } // PP=轮廓位置模式 static uint8_t SetValvePPPos(uint8_t index, uint16_t pos) { WritePump1Reg(index, RTU_VALVE_CMD_PP_POS, pos); } static uint8_t SetValvePPSpeed(uint8_t index, uint16_t speed) { WritePump1Reg(index, RTU_VALVE_CMD_PP_SPEED, speed); } static uint8_t SetValvePPAcc(uint8_t index, uint16_t acc) { WritePump1Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc); } static uint8_t SetValvePPDec(uint8_t index, uint16_t dec) { WritePump1Reg(index, RTU_VALVE_CMD_PP_DECEL, dec); } // HM=原点回归模式 static uint8_t SetValveHomeMode(uint8_t index, uint16_t mode) { WritePump1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode); } static uint8_t SetValveHomeSpeed(uint8_t index, uint16_t speed) { WritePump1Reg(index, RTU_VALVE_CMD_HOME_SPEED, speed); } static uint8_t SetValveHomeAcc(uint8_t index, uint16_t acc) { WritePump1Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc); } static uint8_t SetValveFunc(uint8_t index, uint16_t func) { WritePump1Reg(index, RTU_VALVE_CMD_FUNC, func); } // 定时1s更新设备状态 // 活度计通过网口获取 // 下挂设备通过485获取 void UpdatePumpStatus() { // 更新设备状态 ReadPumpStatus(0); ReadPumpStatus(1); ReadPumpAlarm(0); ReadPumpAlarm(1); } // 初始化处理 static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) { // 实现初始化逻辑 InitDeviceStatus(); return 1; } // 状态查询处理 static uint8_t HandleStatusQuery(void) { // 填充并返回数据 uint8_t txBuf[sizeof(DeviceStatus)] = {0}; memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus)); SendToHost(txBuf, sizeof(txBuf)); return 0; } // 三通阀控制处理 static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) { // 实现三通阀控制逻辑 if(len != 8) { printf("三通阀控制错误\r\n"); return 0; } uint8_t index = Buff[0]; uint8_t direction = Buff[1]; uint16_t angle = (Buff[2]<<8) | Buff[3]; if(angle > 360) { printf("三通阀控制错误\r\n"); return 1; } if (angle != VALVE_ANGLE_120 && angle != VALVE_ANGLE_210) { printf("三通阀控制错误\r\n"); return 1; } // 具体实现 // 更新三通阀状态 updateValveStatus(index, angle); return 0; } // 泵时长控制处理 static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) { // 实现泵时长控制逻辑 // 暂未知控制方法,是直接设置泵运行时间,还是设置泵运行步数 return 1; } // 泵速度设置处理 static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) { // 实现泵速度设置逻辑 if(len != 4) { printf("泵速度设置错误\r\n"); return 0; } uint8_t index = Buff[0]; uint16_t speed = Buff[1]; if (speed > 100) { printf("泵速度设置错误\r\n"); return 0; } WriteJogSpeed(index, speed); index = Buff[2]; speed = Buff[3]; if (speed > 100) { printf("泵速度设置错误\r\n"); return 0; } WriteJogSpeed(index, speed); return 1; } static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) { if(len != 10) { printf("泵步进设置错误\r\n"); return 0; } uint8_t index = Buff[0]; int32_t step = (Buff[1]<<24) | (Buff[2]<<16) | (Buff[3]<<8) | Buff[4]; WriteStepTarget(index, step); return 0; } // 软急停功能处理 static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) { if(rxLen != 1) { printf("软急停设置错误\r\n"); return 1; } // 实现软急停功能逻辑 if(rxBuf[0] == 0) { // 正常状态 updateEmergencyStop(ESTOP_NORMAL); } else { // 急停状态 StopPump(0); StopPump(1); StopJogControl(0); StopJogControl(1); updateEmergencyStop(ESTOP_PRESSED); } return 0; } CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) { // 检查命令是否正确 if (memcmp(rxBuf, FRAME_HEADER, 4) != 0) { return CMD_FRAME_HEADER_ERROR; } if (memcmp(rxBuf + rxLen - 4, FRAME_TAIL, 4) != 0) { return CMD_FRAME_TAIL_ERROR; } uint16_t crc = CalculateCRC16(rxBuf+4, rxLen - 8);// 计算crc,不包含帧头和帧尾 if (memcmp(rxBuf + rxLen - 4, &crc, 2) != 0) { return CMD_FRAME_CHECK_ERROR; } return CMD_FRAME_OK; } // 上位机命令处理函数,采用的自定协议,非modbus协议 // rxBuf: 接收到的数据 // rxLen: 接收到的数据长度 CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint16_t rxLen) { CmdFrameError_t error = checkHostCmd(rxBuf, rxLen); if (error != CMD_FRAME_OK) { return error; } uint16_t cmdCode = (rxBuf[sizeof(FRAME_HEADER)] << 8) | rxBuf[sizeof(FRAME_HEADER)+1];//提取命令码 uint8_t dataLen = rxBuf[sizeof(FRAME_HEADER)+2];//提取数据长度 uint8_t *data = &rxBuf[sizeof(FRAME_HEADER)+3];//提取数据 switch(cmdCode) { case CMD_STATUS_QUERY: error = HandleStatusQuery(); break; case CMD_VALVE_CTRL: error = HandleValveControl(data, dataLen); break; case CMD_PUMP_RUN_TIME: error = HandlePumpTimeControl(data, dataLen); break; case CMD_PUMP_RUN_SPEED: error = HandlePumpSpeedControl(data, dataLen); break; case CMD_SOFT_STOP: error = HandleSoftStop(data, dataLen); break; case CMD_PUMP_RUN_STEP: error = HandlePumpStep(data, dataLen); break; case CMD_SYSTEM_INIT: error = HandleInit(data, dataLen); break; default: error = CMD_FRAME_CMD_ERROR; break; } return error; }