1206 lines
34 KiB
C
1206 lines
34 KiB
C
#include "protocol.h"
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#include <string.h>
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static DeviceStatus deviceStatus = {
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.deviceStatus = 1,
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.valves = {210, 120},
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.pumps = {0, 0, 50, 50},
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.bubbleStatus = 0,
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.stopStatus = 0,
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.errorCode = 0,
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.initStatus = 1
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};
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DeviceDefaultParam dp = {{
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{"pump1", 1, 100, 100, 100},
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{"pump2", 2, 100, 100, 100},
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{"valve1", 3, 100, 100, 100},
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{"valve2", 4, 100, 100, 100}
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}};
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// CRC16 查表法实现
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static const uint16_t crcTable[] = {
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0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
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0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
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0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
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0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
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0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
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0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
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0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
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0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
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0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
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0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
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0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
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0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
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0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
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0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
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0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
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0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
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0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
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0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
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0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
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0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
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0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
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0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
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0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
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0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
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0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
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0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
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0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
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0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
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0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
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0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
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0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
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0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
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};
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/**
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* 计算数据的CRC16校验值
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*
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* @param data 需要计算CRC的数据缓冲区
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* @param length 数据长度
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* @return 计算得到的CRC16校验值
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*/
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uint16_t CalculateCRC16(uint8_t *data, uint16_t length) {
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uint16_t crc = 0xFFFF;
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for (uint16_t i = 0; i < length; i++) {
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uint8_t index = (crc ^ data[i]) & 0xFF;
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crc = (crc >> 8) ^ crcTable[index];
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}
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return crc;
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}
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/**
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* 更新下挂设备状态
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*
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* @param status 设备状态值(在线/离线)
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*/
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void updateDeviceStatus(DeviceStatus_t status) {
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deviceStatus.deviceStatus = status;
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}
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/**
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* 更新三通阀状态
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*
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* @param index 阀门索引(1或2)
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* @param angle 阀门角度值(0-360，绝对角度)
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*/
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void updateValveStatus(uint8_t index, ValveAngle_t angle) {
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if (index == 1) {
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deviceStatus.valves.angle1 = angle;
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} else if (index == 2) {
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deviceStatus.valves.angle2 = angle;
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}
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}
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/**
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* 更新泵运行状态
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*
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* @param index 泵索引(1或2)
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* @param status 泵状态值(停止/顺时针/逆时针)
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*/
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void updatePumpStatus(uint8_t index, PumpStatus_t status) {
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if (index == 1) {
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deviceStatus.pumps.status1 = status;
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} else if (index == 2) {
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deviceStatus.pumps.status2 = status;
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}
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}
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/**
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* 更新泵速度状态
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*
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* @param index 泵索引(1或2)
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* @param speed 泵速度值(0-100%)
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*/
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void updatePumpSpeedStatus(uint8_t index, uint8_t speed) {
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if (index == 1) {
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deviceStatus.pumps.speed1 = speed;
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} else if (index == 2) {
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deviceStatus.pumps.speed2 = speed;
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}
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}
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/**
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* 更新气泡传感器状态
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*
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* @param value 气泡传感器状态值(有/无气泡)
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*/
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void updateBubbleSensor(BubbleStatus_t value) {
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deviceStatus.bubbleStatus = value;
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}
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/**
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* 更新急停状态
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*
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* @param status 急停状态值(正常/按下)
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*/
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void updateEmergencyStop(EstopStatus_t status) {
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deviceStatus.stopStatus = status;
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}
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/**
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* 更新错误码
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*
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* @param errorCode 错误码值
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*/
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void updateErrorCode(ErrorCode_t errorCode) {
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deviceStatus.errorCode = errorCode;
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}
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/**
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* 更新初始化状态
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*
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* @param status 初始化状态值(进行中/成功/失败)
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*/
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void updateInitStatus(InitStatus_t status) {
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deviceStatus.initStatus = status;
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}
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/**
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* ModBUS RTU写命令
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* 通过串口发送ModBUS RTU格式的命令
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*
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* @param txBuf 发送数据缓冲区
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* @param txLen 发送数据长度
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*/
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void writeCMD(uint8_t *txBuf, uint16_t txLen) {
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}
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/**
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* 发送数据到主机
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*
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* @param txBuf 发送数据缓冲区
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* @param txLen 发送数据长度
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* @return 0:成功 其他:失败
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*/
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void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
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// 发送数据
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HAL_UART_Transmit_DMA(&huart2, txBuf, txLen);
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}
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// 判断系统大端序还是小端序
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static uint8_t IsBigEndian() {
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uint32_t num = 0x12345678;
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return ((*(uint8_t*)&num) == 0x12);
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}
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// 将数据按大端序填充
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static void FillBigEndian32(uint8_t *data, uint32_t value) {
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if(!IsBigEndian()) {
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for(uint16_t i = 0; i < 4; i++) {
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data[i] = (value >> ((4 - i - 1) * 8)) & 0xFF;
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}
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}
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else {
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for(uint16_t i = 0; i < 4; i++) {
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data[i] = (value >> (i * 8)) & 0xFF;
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}
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}
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}
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static void FillBigEndian16(uint8_t *data, uint16_t value) {
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if(!IsBigEndian()) {
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for(uint16_t i = 0; i < 2; i++) {
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data[i] = (value >> ((2 - i - 1) * 8)) & 0xFF;
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}
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}
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else {
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for(uint16_t i = 0; i < 2; i++) {
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data[i] = (value >> (i * 8)) & 0xFF;
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}
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}
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}
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/*
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+----------+--------+------------+------------+------------+
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| 从机地址 | 功能码 | 寄存器地址 | 寄存器数量 | CRC校验值 |
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+----------+--------+------------+------------+------------+
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| 1字节 | 1字节 | 2字节 | 2字节 | 2字节 |
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+----------+--------+------------+------------+------------+
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*/
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// pump 读寄存器
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uint8_t ReadPump1Reg(uint8_t index, uint16_t reg) {
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uint8_t data[8] = {0};
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data[0] = index;
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data[1] = RTU_FUNC_READ_HOLD_REG;
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FillBigEndian16(&data[2], reg);
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FillBigEndian16(&data[4], 1);
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uint16_t crc = CalculateCRC16(data, 6);
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// 小端序填充
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memcpy(&data[6], &crc, 2);
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writeCMD(data, 8);
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}
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uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
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uint8_t data[8] = {0};
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data[0] = index;
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data[1] = RTU_FUNC_READ_HOLD_REG;
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FillBigEndian16(&data[2], reg);
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FillBigEndian16(&data[4], 2);
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uint16_t crc = CalculateCRC16(data, 6);
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// 小端序填充
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memcpy(&data[6], &crc, 2);
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writeCMD(data, 8);
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}
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/*
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+----------+--------+------------+----------+------------+
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| 从机地址 | 功能码 | 寄存器地址 | 寄存器值 | CRC校验值 |
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+----------+--------+------------+----------+------------+
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| 1字节 | 1字节 | 2字节 | 2字节 | 2字节 |
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+----------+--------+------------+----------+------------+
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*/
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// 写泵1个寄存器
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uint8_t WritePump1Reg(uint8_t index, uint16_t reg, uint16_t value) {
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// 写一个寄存器不需要指定寄存器长度
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uint8_t data[8] = {0};
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data[0] = index;
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data[1] = RTU_FUNC_WRITE_REG;
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FillBigEndian16(&data[2], reg);
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FillBigEndian16(&data[4], value);
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uint16_t crc = CalculateCRC16(data, 6);
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// 小端序填充
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memcpy(&data[6], &crc, 2);
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writeCMD(data, 8);
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}
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/*
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+----------+--------+------------+------------+----------+----------+------------+
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| 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 |
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+----------+--------+------------+------------+----------+----------+------------+
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| 1字节 | 1字节 | 2字节 | 2字节 | 1字节 | 4字节 | 2字节 |
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+----------+--------+------------+------------+----------+----------+------------+
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*/
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// 写泵2个寄存器
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uint8_t WritePump2Reg(uint8_t index, uint16_t reg, uint32_t value) {
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// 写2个寄存器需要指定寄存器长度
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uint8_t data[13] = {0};
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data[0] = index;
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data[1] = RTU_FUNC_WRITE_MULTI_REG;
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FillBigEndian16(&data[2], reg);
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FillBigEndian16(&data[4], 2);
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data[6] = 8;
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FillBigEndian32(&data[7], value);
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uint16_t crc = CalculateCRC16(data, 11);
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// 小端序填充
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memcpy(&data[11], &crc, 2);
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writeCMD(data, 13);
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}
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/*
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+--------------+--------------------------------+
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| jogging设置顺序 |
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+--------------+--------------------------------+
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| 1. | 设置加速度JA、减速度JL、速度JS |
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+--------------+--------------------------------+
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| 2. | 启动Jog-CJ |
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+--------------+--------------------------------+
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| 3. | 停止Jog-SJ |
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+--------------+--------------------------------+
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*/
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/**
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* 设置泵的步进加速度
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*
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* @param index 泵索引
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* @param acc 加速度值
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) {
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WritePump1Reg(index, RTU_PUMP_CMD_JA, acc);
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}
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/**
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* 设置泵的步进减速度
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*
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* @param index 泵索引
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* @param dec 减速度值
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) {
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WritePump1Reg(index, RTU_PUMP_CMD_JL, dec);
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}
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/**
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* 设置泵的步进速度
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*
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* @param index 泵索引
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* @param speed 速度值
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetPumpJogSpeed(uint8_t index, uint16_t speed) {
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WritePump1Reg(index, RTU_PUMP_CMD_JS, speed);
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}
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// Jog=慢跑
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// CJ=start jogging
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// 写入命令操作码寄存器(40125)数据0x0096(CJ)，即执行启动Jog控制
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static uint8_t StartPumpJog(uint8_t index) {
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WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0096);
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}
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// SJ=stop jogging
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// 写入命令操作码寄存器(40125)数据0x00D8(SJ)，即执行停止Jog控制
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// CJ与SJ一一对应，单次SJ无法停止所有全部CJ
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// 直接停止泵需要使用SK命令
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static uint8_t StopPumpJog(uint8_t index) {
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WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00D8);
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}
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/*
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+--------------+--------------------------------+
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| step设置顺序 |
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+--------------+--------------------------------+
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| 1. | 设置加速度AC、减速度DE、速度VE |
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+--------------+--------------------------------+
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| 2. | 设置步进DI |
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+--------------+--------------------------------+
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| 3. | 动相对位置FL，或绝对位置FP |
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+--------------+--------------------------------+
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| 4. | 停止泵SK |
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+--------------+--------------------------------+
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*/
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/**
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* 设置泵的步进加速度
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*
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* @param index 泵索引
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* @param acc 加速度值
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) {
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WritePump1Reg(index, RTU_PUMP_CMD_AC, acc);
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}
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/**
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* 设置泵的步进减速度
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*
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* @param index 泵索引
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* @param dec 减速度值
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
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WritePump1Reg(index, RTU_PUMP_CMD_DE, dec);
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}
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/**
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* 设置泵的步进速度
|
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* 将百分比速度转换为实际速度值
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*
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* @param index 泵索引
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* @param speed 速度百分比(0-100)
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* @return 0:成功 其他:失败
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*/
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static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
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// 目标速度转换为实际速度
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speed = (uint16_t)(speed * dp.pump[index].maxSpeed / 100);
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WritePump1Reg(index, RTU_PUMP_CMD_VE, speed);
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}
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/**
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* 设置泵的步进目标位置
|
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*
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* @param index 泵索引
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* @param target 目标位置值
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* @return 0:成功 其他:失败
|
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*/
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static uint8_t SetPumpStepTarget(uint8_t index, uint32_t target) {
|
||
WritePump2Reg(index, RTU_PUMP_CMD_DI, target);
|
||
}
|
||
|
||
/**
|
||
* 执行相对位置移动，目前协议仅用到相对移动
|
||
* 写入FL(feed length)命令到操作码寄存器
|
||
*
|
||
* @param index 泵索引
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t StartPumpRelativeMove(uint8_t index) {
|
||
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0066);
|
||
}
|
||
|
||
/**
|
||
* 执行绝对位置移动，目前无使用
|
||
* 写入FP(feed position)命令到操作码寄存器
|
||
*
|
||
* @param index 泵索引
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t StartPumpAbsoluteMove(uint8_t index) {
|
||
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067);
|
||
}
|
||
|
||
/**
|
||
* 停止泵运行
|
||
* 写入SK(Stop & Kill)命令到操作码寄存器
|
||
*
|
||
* @param index 泵索引
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t StopPump(uint8_t index) {
|
||
WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00E1);
|
||
}
|
||
|
||
/**
|
||
* 读取泵的硬件版本
|
||
*
|
||
* @param index 泵索引
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t ReadPumpHWReg(uint8_t index) {
|
||
ReadPump1Reg(index, RTU_PUMP_CMD_HW);
|
||
}
|
||
/**
|
||
* 设置泵的通信波特率
|
||
*
|
||
* @param index 泵索引
|
||
* @param br 波特率值
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t SetPumpBR(uint8_t index, uint16_t br) {
|
||
WritePump1Reg(index, RTU_PUMP_CMD_BR, br);
|
||
}
|
||
/**
|
||
* 设置泵的通信协议
|
||
*
|
||
* @param index 泵索引
|
||
* @param pr 协议类型值
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t SetPumpPR(uint8_t index, uint16_t pr) {
|
||
WritePump1Reg(index, RTU_PUMP_CMD_PR, pr);
|
||
}
|
||
|
||
/**
|
||
* 读取泵的运行状态
|
||
*
|
||
* @param index 泵索引
|
||
*/
|
||
void ReadPumpStatus(uint8_t index) {
|
||
ReadPump1Reg(index, RTU_PUMP_CMD_SC);
|
||
}
|
||
|
||
/**
|
||
* 读取泵的告警信息
|
||
*
|
||
* @param index 泵索引
|
||
*/
|
||
void ReadPumpAlarm(uint8_t index) {
|
||
ReadPump1Reg(index, RTU_PUMP_CMD_AL);
|
||
}
|
||
|
||
/**
|
||
* 解码泵的告警信息
|
||
*
|
||
* @param reg4001 告警寄存器值
|
||
*/
|
||
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;
|
||
}
|
||
|
||
/**
|
||
* 解码泵的状态信息
|
||
*
|
||
* @param reg4002 状态寄存器值
|
||
*/
|
||
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;
|
||
}
|
||
|
||
|
||
|
||
/**
|
||
* 定时更新泵的状态
|
||
* 读取泵的运行状态和告警信息
|
||
*/
|
||
void UpdatePumpStatus() {
|
||
// 更新设备状态
|
||
ReadPumpStatus(0);
|
||
ReadPumpStatus(1);
|
||
ReadPumpAlarm(0);
|
||
ReadPumpAlarm(1);
|
||
}
|
||
|
||
/**
|
||
* 初始化泵参数
|
||
* 设置最大速度、加速度和减速度
|
||
*
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t InitPump(void) {
|
||
// 初始化泵
|
||
log_e("InitPump");
|
||
SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
|
||
SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
|
||
SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
|
||
SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
|
||
SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
|
||
SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
|
||
|
||
SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
|
||
SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
|
||
SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
|
||
SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
|
||
SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
|
||
SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
|
||
}
|
||
|
||
|
||
// 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
|
||
*/
|
||
|
||
// 与pump通用
|
||
void (*writeValve1Reg)(uint8_t index, uint16_t reg, uint16_t value) = WritePump1Reg;
|
||
void (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2Reg;
|
||
void (*readValve1Reg)(uint8_t index, uint16_t reg) = ReadPump1Reg;
|
||
void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
|
||
|
||
/**
|
||
* 设置阀门通信模式
|
||
*
|
||
* @param index 阀门索引
|
||
* @param mode 通信模式(如CIA402模式)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门运行模式
|
||
*
|
||
* @param index 阀门索引
|
||
* @param mode 运行模式(如原点回归模式HM、轮廓位置模式PP)
|
||
* @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);
|
||
}
|
||
|
||
// PP=轮廓位置模式
|
||
/**
|
||
* 设置阀门轮廓位置
|
||
*
|
||
* @param index 阀门索引
|
||
* @param pos 目标位置(用户单位)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门轮廓速度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param speed 运行速度(用户单位/s)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门轮廓加速度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param acc 加速度值(用户单位/s²)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门轮廓减速度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param dec 减速度值(用户单位/s²)
|
||
* @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);
|
||
}
|
||
|
||
// HM=原点回归模式
|
||
/**
|
||
* 设置阀门原点检测模式
|
||
*
|
||
* @param index 阀门索引
|
||
* @param mode 检测模式(如负限位、正限位)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门寻找限位开关速度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param speed 寻找速度值
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门寻找原点信号速度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param speed 寻找速度值
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门回零加速度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param acc 加速度值
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门功能控制字
|
||
*
|
||
* @param index 阀门索引
|
||
* @param func 功能控制字(如准备、使能、运行等)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门原点回归堵转检测力矩
|
||
*
|
||
* @param index 阀门索引
|
||
* @param torque 力矩值
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 设置阀门原点回归堵转检测时间
|
||
*
|
||
* @param index 阀门索引
|
||
* @param time 检测时间(ms)
|
||
* @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);
|
||
}
|
||
|
||
/**
|
||
* 阀门回归原点控制
|
||
* 包含设置原点回归方式、堵转检测、运行模式等配置
|
||
*
|
||
* @param index 阀门索引
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t ValveBackToOrigin(uint8_t index) {
|
||
// 1.设置原点回归方式
|
||
// (0416h)=37;17=负限位，18=正限位
|
||
SetValveHomeDetectMode(index, 37);
|
||
// 2.设置堵转检测力矩和堵转检测时间
|
||
// (0170h)=300，(0172h)=50
|
||
SetValveHomeTorque(index, 300);//30%
|
||
SetValveHomeTime(index, 50);//50ms
|
||
// 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);
|
||
// 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, 10000);
|
||
SetValveHomeOriSpeed(index, 1000);
|
||
// 5.设置回零加速度
|
||
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_RUN_ORIGIN);
|
||
}
|
||
|
||
/**
|
||
* 阀门运行初始化
|
||
* 配置通信模式、运行模式、速度和加减速等参数
|
||
*
|
||
* @param index 阀门索引
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t ValveRunInit(uint8_t index) {
|
||
// 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);
|
||
SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
|
||
// 2.2写当前段位移指令匀速运行速度 (03F8h) (用户单位/s)；
|
||
SetValvePPSpeed(index, 10000);
|
||
// 2.3设置位移的加速度 (03FCh)(用户单位/s2)
|
||
SetValvePPAcc(index, 40000);
|
||
// 2.4设置位移的减速度 (03FEh)(用户单位/s2)；
|
||
SetValvePPDec(index, 40000);
|
||
// 3.写控制字使电机使能
|
||
// (0380h)= 0x06→0x07→ 0x0F 电机使能：
|
||
SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
|
||
SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
|
||
SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
|
||
}
|
||
|
||
/**
|
||
* 控制阀门运行到指定角度
|
||
*
|
||
* @param index 阀门索引
|
||
* @param angle 目标角度（0-360，绝对角度）
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
uint8_t ValveRunToAngle(uint8_t index, uint32_t 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");
|
||
return 1;
|
||
}
|
||
|
||
// 其它配置不变的情况下只需要写3个控制字
|
||
SetValvePPPos(index, (uint32_t)(angle*VALVE_PULSE_PER_ROUND/360));
|
||
// 电机以绝对位置，立即更新的方式运行
|
||
// (电机是以控制字 6040h(0380h)的 bit4 的上升沿接收新的位置命令，
|
||
// 所以每次执行完一次运行后需 要把此位清零。)
|
||
SetValveFunc(index, 0x2F);
|
||
SetValveFunc(index, 0x3F);
|
||
}
|
||
|
||
/**
|
||
* 初始化阀门参数
|
||
* 设置最大速度、加速度和减速度
|
||
*
|
||
* @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);
|
||
|
||
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);
|
||
}
|
||
|
||
/**
|
||
* 初始化设备状态
|
||
* 设置设备在线状态、阀门角度、泵运行状态等
|
||
*/
|
||
void InitDeviceStatus() {
|
||
// 初始化泵
|
||
|
||
|
||
// 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);
|
||
}
|
||
|
||
// 初始化处理
|
||
static uint8_t HandleInit(void) {
|
||
// 实现初始化逻辑
|
||
InitDeviceStatus();
|
||
return 1;
|
||
}
|
||
|
||
|
||
// 状态查询处理
|
||
/**
|
||
* 处理状态查询命令
|
||
*
|
||
* @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));
|
||
return 0;
|
||
}
|
||
|
||
// 三通阀控制处理
|
||
/**
|
||
* 处理三通阀控制命令
|
||
*
|
||
* @param Buff 接收到的数据缓冲区
|
||
* @param len 接收到的数据长度
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
|
||
// 实现三通阀控制逻辑
|
||
|
||
if(len != 8) {
|
||
log_e("三通阀控制错误");
|
||
return 0;
|
||
}
|
||
uint8_t index = Buff[0];
|
||
uint8_t direction = Buff[1];//此状态位无效，目前三通阀有硬件限位，且指定角度必须为120或210
|
||
uint16_t angle = (Buff[2]<<8) | Buff[3];
|
||
if(angle > 360) {
|
||
log_e("三通阀控制错误");
|
||
return 1;
|
||
}
|
||
if (angle != VALVE_ANGLE_120 && angle != VALVE_ANGLE_210) {
|
||
log_e("三通阀控制错误");
|
||
return 1;
|
||
}
|
||
|
||
// 具体实现
|
||
ValveRunToAngle(index,angle);
|
||
|
||
// 更新三通阀状态
|
||
updateValveStatus(index, angle);
|
||
return 0;
|
||
}
|
||
|
||
// 泵时长控制处理
|
||
/**
|
||
* 处理泵时长控制命令
|
||
*
|
||
* @param Buff 接收到的数据缓冲区
|
||
* @param len 接收到的数据长度
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
|
||
// 实现泵时长控制逻辑
|
||
|
||
// 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
|
||
|
||
return 1;
|
||
}
|
||
|
||
// 泵速度设置处理
|
||
/**
|
||
* 处理泵速度设置命令
|
||
*
|
||
* @param Buff 接收到的数据缓冲区
|
||
* @param len 接收到的数据长度
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
|
||
// 实现速度设置逻辑
|
||
if(len != 4) {
|
||
log_e("泵速度设置错误");
|
||
return 0;
|
||
}
|
||
uint8_t index = Buff[0];
|
||
uint16_t speed = Buff[1];
|
||
if (speed > 100) {
|
||
log_e("泵速度设置错误");
|
||
return 0;
|
||
}
|
||
SetPumpJogSpeed(index, speed);
|
||
SetPumpStepSpeed(index, speed);
|
||
updatePumpSpeedStatus(index, speed);
|
||
dp.pump[index].maxSpeed = speed;
|
||
|
||
index = Buff[2];
|
||
speed = Buff[3];
|
||
if (speed > 100) {
|
||
log_e("泵速度设置错误");
|
||
return 0;
|
||
}
|
||
SetPumpJogSpeed(index, speed);
|
||
SetPumpStepSpeed(index, speed);
|
||
updatePumpSpeedStatus(index, speed);
|
||
dp.pump[index].maxSpeed = speed;
|
||
|
||
return 1;
|
||
}
|
||
|
||
// 泵步进控制处理
|
||
/**
|
||
* 处理泵步进控制命令
|
||
*
|
||
* @param Buff 接收到的数据缓冲区
|
||
* @param len 接收到的数据长度
|
||
* @return 0:成功 其他:失败
|
||
*/
|
||
static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
|
||
if(len != 10) {
|
||
log_e("泵步进设置错误");
|
||
return 0;
|
||
}
|
||
uint8_t index = Buff[0];
|
||
int32_t step = (Buff[1]<<24) | (Buff[2]<<16) | (Buff[3]<<8) | Buff[4];
|
||
SetPumpStepTarget(index, step);
|
||
StartPumpRelativeMove(index);
|
||
|
||
return 0;
|
||
}
|
||
|
||
/**
|
||
* 处理软急停命令
|
||
*
|
||
* @param rxBuf 接收到的数据缓冲区
|
||
* @param rxLen 接收到的数据长度
|
||
* @return 0:成功 1:失败
|
||
*/
|
||
static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
|
||
if(rxLen != 1) {
|
||
log_e("软急停设置错误");
|
||
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);
|
||
// StopPumpJog(0);
|
||
// StopPumpJog(1);
|
||
updateEmergencyStop(ESTOP_PRESSED);
|
||
}
|
||
return 0;
|
||
}
|
||
|
||
/**
|
||
* 处理电机相关消息
|
||
*
|
||
* @param rxBuf 接收到的数据缓冲区
|
||
* @param rxLen 接收到的数据长度
|
||
*/
|
||
void ProcessMotorMsg(uint8_t *rxBuf, uint16_t rxLen) {
|
||
// 实现电机消息处理逻辑
|
||
log_d("ProcessMotorMsg");
|
||
}
|
||
|
||
/**
|
||
* 将消息打包并发送给上位机
|
||
* 帧格式:帧头+功能码(2Byte)+数据长度(1Byte)+具体数据(NByte)+CRC16校验位+帧尾
|
||
*
|
||
* @param funcCode 功能码
|
||
* @param isOK 执行结果
|
||
*/
|
||
void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
|
||
// 实现打包消息到上位机逻辑
|
||
// 帧头+功能码(2Byte)+数据长度(1Byte)+ 具体数据(NByte)+CRC16校验位+帧尾
|
||
uint8_t msgBuf[64];//最大为4+2+1+15+2+4=28
|
||
uint8_t len = 0;
|
||
uint8_t dlen = 0;
|
||
uint8_t index = 0;
|
||
FillBigEndian32(msgBuf+4, FRAME_HEADER);
|
||
FillBigEndian16(msgBuf+sizeof(FRAME_HEADER), funcCode);
|
||
|
||
if(funcCode == HOST_CMD_STATUS_QUERY) {
|
||
dlen = sizeof(DeviceStatus);
|
||
index = sizeof(FRAME_HEADER)+2;
|
||
msgBuf[index] = dlen;
|
||
index += 1;
|
||
memcpy(msgBuf+index, &deviceStatus, dlen);
|
||
index += dlen;
|
||
uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
|
||
FillBigEndian16(msgBuf+index, crc);
|
||
index += 2;
|
||
FillBigEndian32(msgBuf+index, FRAME_TAIL);
|
||
len = index+4;
|
||
}
|
||
else {
|
||
dlen = 1;
|
||
index = sizeof(FRAME_HEADER)+2;
|
||
msgBuf[index] = dlen;
|
||
index += 1;
|
||
msgBuf[index] = isOK;
|
||
index += 1;
|
||
uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
|
||
FillBigEndian16(msgBuf+index, crc);
|
||
index += 2;
|
||
FillBigEndian32(msgBuf+index, FRAME_TAIL);
|
||
len = index+4;
|
||
}
|
||
// 发送数据
|
||
sendMsgToHost(msgBuf, len);
|
||
}
|
||
|
||
/**
|
||
* 检查接收到的命令帧格式是否正确
|
||
*
|
||
* @param rxBuf 接收到的数据缓冲区
|
||
* @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) {
|
||
// 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)];
|
||
FillBigEndian32(header, FRAME_HEADER);
|
||
uint8_t tail[sizeof(FRAME_TAIL)];
|
||
FillBigEndian32(tail, FRAME_TAIL);
|
||
|
||
if(memcmp(rxBuf, header, sizeof(FRAME_HEADER)) != 0)
|
||
{
|
||
return CMD_FRAME_HEADER_ERROR;
|
||
}
|
||
|
||
if (memcmp(rxBuf + rxLen - sizeof(FRAME_TAIL), tail, sizeof(FRAME_TAIL)) != 0)
|
||
{
|
||
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)
|
||
{
|
||
return CMD_FRAME_CHECK_ERROR;
|
||
}
|
||
return CMD_FRAME_OK;
|
||
}
|
||
|
||
|
||
/**
|
||
* 处理上位机发送的命令
|
||
* 采用自定义协议,非modbus协议
|
||
*
|
||
* @param rxBuf 接收到的数据缓冲区
|
||
* @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 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 HOST_CMD_STATUS_QUERY:
|
||
error = HandleStatusQuery();
|
||
break;
|
||
case HOST_CMD_VALVE_CTRL:
|
||
error = HandleValveControl(data, dataLen);
|
||
break;
|
||
case HOST_CMD_PUMP_RUN_TIME:
|
||
error = HandlePumpTimeControl(data, dataLen);
|
||
break;
|
||
case HOST_CMD_PUMP_RUN_SPEED:
|
||
error = HandlePumpSpeedControl(data, dataLen);
|
||
break;
|
||
case HOST_CMD_SOFT_STOP:
|
||
error = HandleSoftStop(data, dataLen);
|
||
break;
|
||
case HOST_CMD_PUMP_RUN_STEP:
|
||
error = HandlePumpStepControl(data, dataLen);
|
||
break;
|
||
case HOST_CMD_SYSTEM_INIT:
|
||
error = HandleInit();
|
||
break;
|
||
default:
|
||
error = CMD_FRAME_CMD_ERROR;
|
||
break;
|
||
}
|
||
|
||
return error;
|
||
}
|