G-CAMS-DATU/applications/Modbus/DATU.c

/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2024-05-16     lijian       the first version
 */
#include <DATU.h>
#define POLY 0x1021  // CRC-16-CCITT多项式

DATU_t DATU;

//CRC校验
static const rt_uint16_t CRC16_LIST[256] =
{
    0x0000, 0x3096, 0x612C, 0x51BA, 0xC419, 0xF48F, 0xA535, 0x95A3,
    0x8832, 0xB8A4, 0xE91E, 0xD988, 0x4C2B, 0x7CBD, 0x2D07, 0x1D91,
    0x1064, 0x20F2, 0x7148, 0x41DE, 0xD47D, 0xE4EB, 0xB551, 0x85C7,
    0x9856, 0xA8C0, 0xF97A, 0xC9EC, 0x5C4F, 0x6CD9, 0x3D63, 0x0DF5,
    0x20C8, 0x105E, 0x41E4, 0x7172, 0xE4D1, 0xD447, 0x85FD, 0xB56B,
    0xA8FA, 0x986C, 0xC9D6, 0xF940, 0x6CE3, 0x5C75, 0x0DCF, 0x3D59,
    0x30AC, 0x003A, 0x5180, 0x6116, 0xF4B5, 0xC423, 0x9599, 0xA50F,
    0xB89E, 0x8808, 0xD9B2, 0xE924, 0x7C87, 0x4C11, 0x1DAB, 0x2D3D,
    0x4190, 0x7106, 0x20BC, 0x102A, 0x8589, 0xB51F, 0xE4A5, 0xD433,
    0xC9A2, 0xF934, 0xA88E, 0x9818, 0x0DBB, 0x3D2D, 0x6C97, 0x5C01,
    0x51F4, 0x6162, 0x30D8, 0x004E, 0x95ED, 0xA57B, 0xF4C1, 0xC457,
    0xD9C6, 0xE950, 0xB8EA, 0x887C, 0x1DDF, 0x2D49, 0x7CF3, 0x4C65,
    0x6158, 0x51CE, 0x0074, 0x30E2, 0xA541, 0x95D7, 0xC46D, 0xF4FB,
    0xE96A, 0xD9FC, 0x8846, 0xB8D0, 0x2D73, 0x1DE5, 0x4C5F, 0x7CC9,
    0x713C, 0x41AA, 0x1010, 0x2086, 0xB525, 0x85B3, 0xD409, 0xE49F,
    0xF90E, 0xC998, 0x9822, 0xA8B4, 0x3D17, 0x0D81, 0x5C3B, 0x6CAD,
    0x8320, 0xB3B6, 0xE20C, 0xD29A, 0x4739, 0x77AF, 0x2615, 0x1683,
    0x0B12, 0x3B84, 0x6A3E, 0x5AA8, 0xCF0B, 0xFF9D, 0xAE27, 0x9EB1,
    0x9344, 0xA3D2, 0xF268, 0xC2FE, 0x575D, 0x67CB, 0x3671, 0x06E7,
    0x1B76, 0x2BE0, 0x7A5A, 0x4ACC, 0xDF6F, 0xEFF9, 0xBE43, 0x8ED5,
    0xA3E8, 0x937E, 0xC2C4, 0xF252, 0x67F1, 0x5767, 0x06DD, 0x364B,
    0x2BDA, 0x1B4C, 0x4AF6, 0x7A60, 0xEFC3, 0xDF55, 0x8EEF, 0xBE79,
    0xB38C, 0x831A, 0xD2A0, 0xE236, 0x7795, 0x4703, 0x16B9, 0x262F,
    0x3BBE, 0x0B28, 0x5A92, 0x6A04, 0xFFA7, 0xCF31, 0x9E8B, 0xAE1D,
    0xC2B0, 0xF226, 0xA39C, 0x930A, 0x06A9, 0x363F, 0x6785, 0x5713,
    0x4A82, 0x7A14, 0x2BAE, 0x1B38, 0x8E9B, 0xBE0D, 0xEFB7, 0xDF21,
    0xD2D4, 0xE242, 0xB3F8, 0x836E, 0x16CD, 0x265B, 0x77E1, 0x4777,
    0x5AE6, 0x6A70, 0x3BCA, 0x0B5C, 0x9EFF, 0xAE69, 0xFFD3, 0xCF45,
    0xE278, 0xD2EE, 0x8354, 0xB3C2, 0x2661, 0x16F7, 0x474D, 0x77DB,
    0x6A4A, 0x5ADC, 0x0B66, 0x3BF0, 0xAE53, 0x9EC5, 0xCF7F, 0xFFE9,
    0xF21C, 0xC28A, 0x9330, 0xA3A6, 0x3605, 0x0693, 0x5729, 0x67BF,
    0x7A2E, 0x4AB8, 0x1B02, 0x2B94, 0xBE37, 0x8EA1, 0xDF1B, 0xEF8D,
};

rt_uint16_t CRC16_Calculate(rt_uint8_t *data, rt_uint8_t len)
{
    rt_uint16_t crcword = 0x0000;

    for (rt_uint8_t i = 0; i < len; i++)
    {
        crcword = (crcword >> 8) ^ CRC16_LIST[((crcword ^ data[i]) & 0xFF)];
    }

    return crcword;
}
//    rt_uint16_t CRC16in = 0xFFFF;
//    rt_uint16_t CPoly = 0xA001; /*0x8005高低位交换*/
//
//    while (len--)
//    {
//        CRC16in ^= *(data++);
//        for(rt_uint8_t i = 0;i < 8;i++)
//        {
//            if(CRC16in & 0x01)
//                CRC16in = (CRC16in >> 1) ^ CPoly;
//            else
//                CRC16in = CRC16in >> 1;
//        }
//    }
//
//    CRC16in = CRC16in % 256 * 256 + CRC16in / 256; /*调换高低Byte*/
//
//    return (CRC16in);


//阅读命令
rt_uint8_t read_cmd(rt_uint8_t read_buf[], rt_uint8_t read_len)
{

    uint8_t correct_header[] = { 0x44, 0x41, 0x54, 0x55 };

    if (memcmp(read_buf, correct_header, sizeof(correct_header)) == 0){

        if (read_buf[4] == 0x03) {
            return 3;
        }
        else if (read_buf[4] == 0x06){
            return 6;
        }
        else{
            return -2;
        }
    }
    else{
        return -1;

    }

}



void datu_init()
{
    rs485_inst_t *hinst = rs485_create(RS485_SAMPLE_MASTER_SERIAL, RS485_SAMPLE_MASTER_BAUDRATE,
    RS485_SAMPLE_MASTER_PARITY, RS485_SAMPLE_MASTER_PIN, RS485_SAMPLE_MASTER_LVL);

    if (hinst == RT_NULL)
    {
        rt_kprintf("create rs485 instance fail.\n");
        return;
    }

    rs485_set_recv_tmo(hinst, 1000);
    if (rs485_connect(hinst) != RT_EOK)
    {
        rs485_destory(hinst);
        rt_kprintf("rs485 connect fail.\n");
        return;
    }

    //    rt_kprintf("Running.");
    rt_int8_t send_len;
//     rt_uint8_t send_buf[128];
    rt_uint8_t send_buf[16] = { 'D', 'A', 'T', 'U' };
    rt_uint8_t read_buf[10];
    rt_int8_t read_len;
    rt_uint8_t i;
    rt_int8_t rc;
    while (1)
    {

        /** 数据识别序列                                           数据内容                                                      校验字
         44 41 54 55   00 00 00 00   00 00     00 00    00 00    CRC
         B0,B1,B2,B3   B4--B7        B8,B9    B10,B11  B12,B13   B14,B15
         D, A, T, U    主轴针数                   面线1张力值    面线2张力值   传感器状态     B4--B13的16位CRC
         *
         */
        rt_thread_mdelay(10);

        // 主机命令或者有针数时发一条数据上去
         if (DATU.send_data || get_IO_NeedleCountUpdateFlag()) {
             rt_uint32_t temp = get_IO_NeedleCount_sum();

             send_buf[7] = (temp >> 24) & 0xFF; // 获取最高8位
             send_buf[6] = (temp >> 16) & 0xFF; // 获取次高8位
             send_buf[5] = (temp >> 8) & 0xFF;  // 获取次低8位
             send_buf[4] = temp & 0xFF;         // 获取最低8位

//             send_buf[8] = get_ADC1_0_H_ZL();
//             send_buf[9] = get_ADC1_0_L_ZL();
//             send_buf[10] = get_ADC2_4_H_ZL();
//             send_buf[11] = get_ADC2_4_L_ZL();

             //直接发4096值
             send_buf[9] = (get_ADC1_0_Value()>> 8) & 0xFF;
             send_buf[8] = get_ADC1_0_Value() & 0xFF;
             send_buf[11] = (get_ADC2_4_Value()>> 8) & 0xFF;
             send_buf[10] = get_ADC2_4_Value() & 0xFF;


             send_buf[13] = get_IO_Value(); //端口传感器状态
             rt_uint16_t crc = CRC16_Calculate(send_buf + 4, 10);
//             rt_kprintf("CRC %x\n ", crc);
             send_buf[15] = crc >> 8;
             send_buf[14] = crc & 0xFF;
             send_len = rs485_send(hinst, (void *) send_buf, sizeof(send_buf));
             DATU.send_data =0;
        }

        if (DATU.log)
        {
            rt_kprintf("rs485 send %d datas : ", send_len);
            for (i = 0; i < send_len; i++)
            {
                rt_kprintf("%02X ", send_buf[i]);
            }

            rt_kprintf("\n");
            send_len = 0;

        }

//        read_len = rs485_send_then_recv(hinst, (void *) send_buf, sizeof(send_buf), read_buf, sizeof(read_buf));

        //接收主机发送的命令
        read_len = rs485_recv(hinst, (void *) read_buf, sizeof(read_buf));

        if (read_len < 0)
        {
            if (DATU.log)
            {
                rt_kprintf("rs485 read datas error.\n");
            }
            continue;
        }
        else if (read_len == 0)
        {
            if (DATU.log)
            {
                rt_kprintf("rs485 read timeout.\n");
            }
            continue;
        }

        //read_buf[read_len] = 0;



        if (DATU.log)
        {
            rt_kprintf("rs485 read %d datas : ", read_len);
            for (i = 0; i < read_len; i++)
            {
                rt_kprintf("%2X ", read_buf[i]);
            }

            rt_kprintf("\n");

        }


        //CRC校验
        rt_uint16_t received_crc = (read_buf[7] << 8) | read_buf[8];
        rt_uint16_t calculated_crc = CRC16_Calculate(read_buf+4, 3);
        if (DATU.log)
        {
            rt_kprintf("CRC %x\n ", received_crc);
            rt_kprintf("CRC %x\n ", calculated_crc);
        }
        //判断CRC是否一致
        if (calculated_crc == received_crc) {
            if (DATU.log)
            {
                rt_kprintf("read datas CRC OK\n");
            }
        } else {
            if (DATU.log)
            {
                rt_kprintf("read datas CRC ERR\n");
            }
            continue;
        }

        //命令通过验证，读取命令细节
        rc = read_cmd(read_buf, read_len);

        if (rc == -1) //DATTU开头错误
        {
            if (DATU.log)
            {
                rt_kprintf("read header is not DATU.\n");
            }
            continue;
        }
        else if (rc == -2) //命令不是03和06
        {
            if (DATU.log)
            {
                rt_kprintf("read cmd is not 0x03 / 0x06.\n");
            }
            continue;
        }
        else if (rc == 3) //命令为03读取数据
        {
            if (DATU.log)
            {
                rt_kprintf("read cmd is 0x03.\n");
            }
            DATU.send_data =1;
            continue;
        }
        else if (rc == 6) //06命令执行细节
        {
            if (DATU.log)
            {
                rt_kprintf("read cmd is 0x06.\n");
                rt_kprintf("read cmd is %d .\n",read_buf[6]);
            }

            switch (read_buf[6]) {
                case 1:
                    //主轴针数清零
                    set_IO_NeedleCount_sum(0);
                    DATU.send_data=1;
                    break;
                case 2:
                    //闪灯
//                    IO_key(1, argv);
                    DATU.toggle_led = ~DATU.toggle_led;
                    break;
                case 3:
                    //开锁1
                    rt_pin_write(OUT1, 0);
                    break;
                case 4:
                    //开锁2
                    rt_pin_write(OUT2, 0);
                    break;
                case 5:
                    //开锁3
                    rt_pin_write(OUT3, 0);
                    break;
                case 6:
                    //报警灯开
                    rt_pin_write(OUT4, 0);
                    break;
                case 7:
                    //报警灯关
                    rt_pin_write(OUT4, 1);
                    break;
                default:
                    break;
            }


        }

    }

}



void set_DATU_log(rt_uint8_t log)
{
    DATU.log = log;
}

rt_uint8_t get_DATU_toggle_led()
{
   return DATU.toggle_led;
}