#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() { // 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); } // 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 UpdateDeviceStatus() { // 更新设备状态 } // 状态查询处理 static uint8_t HandleStatusQuery(uint8_t *txBuf) { // 填充并返回数据 memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus)); return sizeof(DeviceStatus); } //modBUS RTU 写命令 void writeCMD(uint8_t *txBuf, uint16_t *txLen) { } // 三通阀控制处理 static uint8_t HandleValveControl(uint8_t index, ValveAngle_t angle) { // 实现三通阀控制逻辑 updateValveStatus(index, angle); return 1; } // 泵时长控制处理 static uint8_t HandlePumpTimeControl(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) { // 实现泵时长控制逻辑 *txLen = 1; return 1; } // 泵速度设置处理 static uint8_t HandlePumpSpeedControl(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) { // 实现泵速度设置逻辑 *txLen = 1; return 1; } // 软急停功能处理 static uint8_t HandleSoftStop(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) { // 实现软急停功能逻辑 *txLen = 1; return 1; } // 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, uint16_t len, uint32_t value) { if(!IsBigEndian()) { for(uint16_t i = 0; i < len; i++) { data[i] = (value >> ((len - i - 1) * 8)) & 0xFF; } } } static void FillBigEndian16(uint8_t *data, uint16_t len, uint16_t value) { if(!IsBigEndian()) { for(uint16_t i = 0; i < len; i++) { data[i] = (value >> ((len - i - 1) * 8)) & 0xFF; } } } // 泵步进设置处理 static uint8_t HandlePumpStep(uint8_t index, int32_t step) { // 实现泵步进设置逻辑 RTU_Frame frame; frame.data_cnt = 2; uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t); frame.device_id = 1; frame.func = RTU_PUMP_FUNC_WRITE_REG; frame.reg_addr[0] = RTU_PUMP_CMD_DI>>8; frame.reg_addr[1] = RTU_PUMP_CMD_DI&0xFF; frame.reg_cnt[0] = 0; frame.reg_cnt[1] = 2; // step为int32，正负表示方向，绝对值表示步数 if(step > 0) { frame.data[0] = step>>24; frame.data[1] = step>>16; frame.data[2] = step>>8; frame.data[3] = step; } else { frame.data[0] = 0; frame.data[1] = 0; frame.data[2] = 0; frame.data[3] = 0; } uint16_t crc = CalculateCRC16(&frame.func, len -sizeof(frame.device_id)-sizeof(frame.crc)); // 大端序填充 frame.crc[0] = (crc >> 8) & 0xFF; frame.crc[1] = crc & 0xFF; writeCMD(&frame, len); return 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 *txLen = 1; return 1; } // 主命令处理函数 uint8_t ProcessCommand(uint8_t *rxBuf, uint16_t rxLen, uint8_t *txBuf, uint16_t *txLen) { uint16_t cmdCode = (rxBuf[0] << 8) | rxBuf[1]; uint8_t dataLen = rxBuf[2]; uint8_t *data = &rxBuf[3]; uint8_t result = 0; switch(cmdCode) { case CMD_STATUS_QUERY: result = HandleStatusQuery(data, txBuf, txLen); break; case CMD_VALVE_CTRL: result = HandleValveControl(data, txBuf, txLen); break; case CMD_PUMP_RUN_TIME: result = HandlePumpTimeControl(data, txBuf, txLen); break; case CMD_PUMP_RUN_SPEED: result = HandlePumpSpeedControl(data, txBuf, txLen); break; case CMD_SOFT_STOP: result = HandleSoftStop(data, txBuf, txLen); break; case CMD_PUMP_RUN_STEP: result = HandlePumpStep(data, txBuf, txLen); break; case CMD_SYSTEM_INIT: result = HandleInit(data, txBuf, txLen); break; default: *txLen = 1; txBuf[0] = 0; result = 0; break; } return result; }