509 lines
14 KiB
C
509 lines
14 KiB
C
#include "protocol.h"
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#include <string.h>
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static DeviceStatus deviceStatus = {0};
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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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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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// 更新下挂设备状态
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void updateDeviceStatus(DeviceStatus_t status) {
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deviceStatus.deviceStatus = status;
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}
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// 更新三通阀状态
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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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// 更新泵状态
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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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// 更新泵速度状态
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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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// 更新气泡传感器读数
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void updateBubbleSensor(BubbleStatus_t value) {
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deviceStatus.bubbleStatus = value;
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}
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// 更新急停状态
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void updateEmergencyStop(EstopStatus_t status) {
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deviceStatus.stopStatus = status;
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}
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// 更新错误码
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void updateErrorCode(ErrorCode_t errorCode) {
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deviceStatus.errorCode = errorCode;
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}
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// 更新初始化状态
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void updateInitStatus(InitStatus_t status) {
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deviceStatus.initStatus = status;
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}
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// 初始化设备状态
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void InitDeviceStatus() {
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// 更新设备状态
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updateDeviceStatus(DEVICE_ONLINE);
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updateValveStatus(1, 120);
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updateValveStatus(2, 210);
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updatePumpStatus(1, PUMP_CLOCKWISE);
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updatePumpStatus(2, PUMP_ANTICLOCKWISE);
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updatePumpSpeedStatus(1, 100);
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updatePumpSpeedStatus(2, 100);
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updateBubbleSensor(BUBBLE_DETECTED);
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updateEmergencyStop(ESTOP_NORMAL);
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updateInitStatus(INIT_SUCCESS);
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}
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//modBUS RTU 写命令
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void writeCMD(uint8_t *txBuf, uint16_t *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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// 泵加速、减速处理
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static uint8_t WritePumpAccDec(uint8_t index, uint8_t acc, uint8_t dec) {
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// 实现泵加速、减速逻辑
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RTU_Frame frame;
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frame.data_cnt = 2;
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uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);
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frame.device_id = 1;
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frame.func = RTU_PUMP_FUNC_WRITE_REG;
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FillBigEndian16(&frame.reg_addr[0], RTU_PUMP_CMD_AC);
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FillBigEndian16(&frame.reg_cnt[0], 2);
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FillBigEndian32(&frame.data[0], acc);
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FillBigEndian32(&frame.data[4], dec);
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uint16_t crc = CalculateCRC16(&frame, len - sizeof(frame.crc));
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// 大端序填充
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FillBigEndian16(&frame.crc[0], crc);
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writeCMD((uint8_t*)&frame, len);
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}
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// 泵速度设置处理
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static uint8_t WritePumpSpeed(uint8_t index, uint8_t speed) {
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// 实现泵速度设置逻辑
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RTU_Frame frame;
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frame.data_cnt = 2;
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uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);
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frame.device_id = 1;
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frame.func = RTU_PUMP_FUNC_WRITE_REG;
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FillBigEndian16(&frame.reg_addr[0], RTU_PUMP_CMD_VE);
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FillBigEndian16(&frame.reg_cnt[0], 2);
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FillBigEndian32(&frame.data[0], speed);
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uint16_t crc = CalculateCRC16(&frame, len - sizeof(frame.crc));
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// 大端序填充
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FillBigEndian16(&frame.crc[0], crc);
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writeCMD((uint8_t*)&frame, len);
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}
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// 泵步进设置处理
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static uint8_t WritePumpStep(uint8_t index, int32_t step) {
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// 实现泵步进设置逻辑
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RTU_Frame frame;
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frame.data_cnt = 2;
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uint8_t len = sizeof(RTU_Frame)+frame.data_cnt*sizeof(uint8_t);
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frame.device_id = 1;
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frame.func = RTU_PUMP_FUNC_WRITE_REG;
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FillBigEndian16(&frame.reg_addr[0], RTU_PUMP_CMD_DI);
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FillBigEndian16(&frame.reg_cnt[0], 2);
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// step为int32_t，正负表示方向，绝对值表示步数，0表示停止
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if(step != 0) {
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FillBigEndian32(&frame.data[0], step);
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}
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else {
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// 停止
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}
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uint16_t crc = CalculateCRC16(&frame, len - sizeof(frame.crc));
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// 大端序填充
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FillBigEndian16(&frame.crc[0], crc);
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writeCMD((uint8_t*)&frame, len);
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return 1;
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}
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// pump 读寄存器
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uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) {
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// 读取保存寄存器不能直接使用RTU_Frame，因为无数据位
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uint8_t data[8] = {0};
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data[0] = index;
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data[1] = RTU_PUMP_FUNC_READ_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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// 大端序填充
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FillBigEndian16(&data[6], crc);
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writeCMD(data, 8);
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}
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// 获取泵状态
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void ReadPumpStatus(uint8_t index) {
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ReadPump1Reg(index, RTU_PUMP_CMD_SC);
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}
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// 获取泵告警信息
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void ReadPumpAlarm(uint8_t index) {
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ReadPump1Reg(index, RTU_PUMP_CMD_AL);
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}
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// 解码告警信息
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void DecodePumpAlarmMsg(uint16_t reg4001) {
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static AlarmCode_t alarmCode = {0};
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// 与上次告警信息相同，则不更新，仅打印一次
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if (alarmCode.all == reg4001)
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{
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return 0;
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}
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alarmCode.all = reg4001;
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if(alarmCode.all == 0) {
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//暂时屏蔽，避免刷屏
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// printf("\r\n%s无报警信息\r\n", pumpName[index]);
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return 0;
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}
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// 打印表格头部
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printf("\r\n+--------+------------------+\r\n");
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printf("| 告警位 | 告警信息 |\r\n");
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printf("+--------+------------------+\r\n");
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for(uint16_t i = 0; i < 16; i++) {
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if(alarmCode.all & (1 << i)) {
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printf("| %6d | %-14s |\r\n", i, alarmInfo[i]);
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printf("+--------+------------------+\r\n");
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}
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}
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return 1;
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}
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// 解码状态信息
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void DecodePumpStatusMsg(uint16_t reg4002) {
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static StatusCode_t statusCode = {0};
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// 与上次状态信息相同，则不更新，仅打印一次
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if (statusCode.all == reg4002)
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{
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return 1;
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}
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statusCode.all = reg4002;
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printf("\r\n+--------+------------------+\r\n");
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printf("| 状态位 | 状态信息 |\r\n");
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printf("+--------+------------------+\r\n");
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for(uint16_t i = 0; i < 16; i++) {
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if(statusCode.all & (1 << i)) {
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printf("| %6d | %-14s |\r\n", i, statusInfo[i]);
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printf("+--------+------------------+\r\n");
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}
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}
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return 0;
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}
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// 定时1s更新设备状态
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// 活度计通过网口获取
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// 下挂设备通过485获取
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void UpdatePumpStatus() {
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// 更新设备状态
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ReadPumpStatus(0);
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ReadPumpStatus(1);
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ReadPumpAlarm(0);
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ReadPumpAlarm(1);
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}
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// 初始化处理
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static uint8_t HandleInit(uint8_t *rxBuf, uint8_t *txBuf, uint16_t *txLen) {
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// 实现初始化逻辑
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InitDeviceStatus();
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return 1;
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}
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// 状态查询处理
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static uint8_t HandleStatusQuery(uint8_t *txBuf) {
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// 填充并返回数据
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memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus));
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return sizeof(DeviceStatus);
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}
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// 三通阀控制处理
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static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
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// 实现三通阀控制逻辑
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if(len != 8) {
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printf("三通阀控制错误\r\n");
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return 0;
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}
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uint8_t index = Buff[0];
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uint8_t direction = Buff[1];
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uint16_t angle = (Buff[2]<<8) | Buff[3];
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if(angle > 360) {
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printf("三通阀控制错误\r\n");
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return 1;
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}
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if (angle != VALVE_ANGLE_120 && angle != VALVE_ANGLE_210) {
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printf("三通阀控制错误\r\n");
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return 1;
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}
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// 具体实现
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// 更新三通阀状态
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updateValveStatus(index, angle);
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return 0;
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}
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// 泵时长控制处理
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static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
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// 实现泵时长控制逻辑
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// 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
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return 1;
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}
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// 泵速度设置处理
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static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
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// 实现泵速度设置逻辑
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if(len != 4) {
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printf("泵速度设置错误\r\n");
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return 0;
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}
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uint8_t index = Buff[0];
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uint8_t speed = Buff[1];
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if (speed > 100) {
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printf("泵速度设置错误\r\n");
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return 0;
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}
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WritePumpSpeed(index, speed);
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index = Buff[2];
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speed = Buff[3];
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if (speed > 100) {
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printf("泵速度设置错误\r\n");
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return 0;
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}
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WritePumpSpeed(index, speed);
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return 1;
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}
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static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
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if(len != 10) {
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printf("泵步进设置错误\r\n");
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return 0;
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}
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uint8_t index = Buff[0];
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int32_t step = (Buff[1]<<24) | (Buff[2]<<16) | (Buff[3]<<8) | Buff[4];
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WritePumpStep(index, step);
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index = Buff[5];
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step = (Buff[6]<<24) | (Buff[7]<<16) | (Buff[8]<<8) | Buff[9];
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WritePumpStep(index, step);
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return 1;
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}
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// 软急停功能处理
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static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
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if(rxLen != 1) {
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printf("软急停设置错误\r\n");
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return 1;
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}
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// 实现软急停功能逻辑
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if(rxBuf[0] == 0) {
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// 正常状态
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updateEmergencyStop(ESTOP_NORMAL);
|
||
}
|
||
else {
|
||
// 急停状态
|
||
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(data, dataLen);
|
||
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;
|
||
}
|