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;

rt_uint16_t CRC16_Calculate(rt_uint8_t *data, rt_uint8_t len)
{
    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);
}


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', 0x01, 0x02, 0x03, 0x04, 0x05 };
    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(100);

        // || 有针数
         if (DATU.send_data ) {
             rt_uint16_t crc = CRC16_Calculate(send_buf + 4, 10);
//             rt_kprintf("CRC %x\n ", crc);
             send_buf[14] = crc >> 8;
             send_buf[15] = 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));

        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_kprintf("CRC %x\n ", received_crc);
        rt_uint16_t calculated_crc = CRC16_Calculate(read_buf+4, 3);
        rt_kprintf("CRC %x\n ", calculated_crc);
        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;
        }

        rc = read_cmd(read_buf, read_len);

        if (rc == -1)
        {
            if (DATU.log)
            {
                rt_kprintf("read header is not DATU.\n");
            }
            continue;
        }
        else if (rc == -2)
        {
            if (DATU.log)
            {
                rt_kprintf("read cmd is not 0x03 / 0x06.\n");
            }
            continue;
        }
        else if (rc == 3)
        {
            if (DATU.log)
            {
                rt_kprintf("read cmd is 0x03.\n");
            }
            DATU.send_data =1;
            continue;
        }
        else if (rc == 6)
        {
            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
                    break;
                case 2:
                    //闪灯
//                    IO_key(1, argv);
                    break;
                case 3:
                    //开锁1
                    break;
                case 4:
                    //开锁2
                    break;
                case 5:
                    //开锁3
                    break;
                case 6:
                    //报警灯开
                    break;
                case 7:
                    //报警灯关
                    break;
                default:
                    break;
            }


        }

    }

}



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