289 lines
7.3 KiB
C
289 lines
7.3 KiB
C
/*
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* Copyright (c) 2006-2021, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2024-05-16 lijian the first version
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*/
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#include <DATU.h>
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#define POLY 0x1021 // CRC-16-CCITT多项式
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DATU_t DATU;
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//CRC校验
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rt_uint16_t CRC16_Calculate(rt_uint8_t *data, rt_uint8_t len)
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{
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rt_uint16_t CRC16in = 0xFFFF;
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rt_uint16_t CPoly = 0xA001; /*0x8005高低位交换*/
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while (len--)
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{
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CRC16in ^= *(data++);
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for(rt_uint8_t i = 0;i < 8;i++)
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{
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if(CRC16in & 0x01)
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CRC16in = (CRC16in >> 1) ^ CPoly;
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else
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CRC16in = CRC16in >> 1;
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}
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}
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CRC16in = CRC16in % 256 * 256 + CRC16in / 256; /*调换高低Byte*/
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return (CRC16in);
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}
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//阅读命令
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rt_uint8_t read_cmd(rt_uint8_t read_buf[], rt_uint8_t read_len)
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{
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uint8_t correct_header[] = { 0x44, 0x41, 0x54, 0x55 };
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if (memcmp(read_buf, correct_header, sizeof(correct_header)) == 0){
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if (read_buf[4] == 0x03) {
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return 3;
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}
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else if (read_buf[4] == 0x06){
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return 6;
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}
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else{
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return -2;
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}
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}
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else{
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return -1;
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}
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}
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void datu_init()
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{
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rs485_inst_t *hinst = rs485_create(RS485_SAMPLE_MASTER_SERIAL, RS485_SAMPLE_MASTER_BAUDRATE,
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RS485_SAMPLE_MASTER_PARITY, RS485_SAMPLE_MASTER_PIN, RS485_SAMPLE_MASTER_LVL);
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if (hinst == RT_NULL)
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{
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rt_kprintf("create rs485 instance fail.\n");
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return;
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}
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rs485_set_recv_tmo(hinst, 1000);
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if (rs485_connect(hinst) != RT_EOK)
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{
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rs485_destory(hinst);
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rt_kprintf("rs485 connect fail.\n");
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return;
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}
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// rt_kprintf("Running.");
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rt_int8_t send_len;
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// rt_uint8_t send_buf[128];
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rt_uint8_t send_buf[16] = { 'D', 'A', 'T', 'U' };
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rt_uint8_t read_buf[10];
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rt_int8_t read_len;
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rt_uint8_t i;
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rt_int8_t rc;
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while (1)
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{
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/** 数据识别序列 数据内容 校验字
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44 41 54 55 00 00 00 00 00 00 00 00 00 00 CRC
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B0,B1,B2,B3 B4--B7 B8,B9 B10,B11 B12,B13 B14,B15
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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
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*
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*/
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rt_thread_mdelay(100);
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// 主机命令或者有针数时发一条数据上去
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if (DATU.send_data || get_IO_NeedleCountUpdateFlag()) {
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rt_uint32_t temp = get_IO_NeedleCount_sum();
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send_buf[4] = (temp >> 24) & 0xFF; // 获取最高8位
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send_buf[5] = (temp >> 16) & 0xFF; // 获取次高8位
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send_buf[6] = (temp >> 8) & 0xFF; // 获取次低8位
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send_buf[7] = temp & 0xFF; // 获取最低8位
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send_buf[8] = get_ADC1_0_H_ZL();
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send_buf[9] = get_ADC1_0_L_ZL();
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send_buf[10] = get_ADC2_4_H_ZL();
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send_buf[11] = get_ADC2_4_L_ZL();
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send_buf[13] = get_IO_Value(); //端口传感器状态
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rt_uint16_t crc = CRC16_Calculate(send_buf + 4, 10);
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// rt_kprintf("CRC %x\n ", crc);
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send_buf[14] = crc >> 8;
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send_buf[15] = crc & 0xFF;
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send_len = rs485_send(hinst, (void *) send_buf, sizeof(send_buf));
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DATU.send_data =0;
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}
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if (DATU.log)
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{
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rt_kprintf("rs485 send %d datas : ", send_len);
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for (i = 0; i < send_len; i++)
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{
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rt_kprintf("%02X ", send_buf[i]);
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}
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rt_kprintf("\n");
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send_len = 0;
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}
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// read_len = rs485_send_then_recv(hinst, (void *) send_buf, sizeof(send_buf), read_buf, sizeof(read_buf));
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//接收主机发送的命令
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read_len = rs485_recv(hinst, (void *) read_buf, sizeof(read_buf));
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if (read_len < 0)
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{
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if (DATU.log)
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{
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rt_kprintf("rs485 read datas error.\n");
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}
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continue;
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}
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else if (read_len == 0)
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{
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if (DATU.log)
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{
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rt_kprintf("rs485 read timeout.\n");
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}
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continue;
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}
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//read_buf[read_len] = 0;
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if (DATU.log)
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{
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rt_kprintf("rs485 read %d datas : ", read_len);
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for (i = 0; i < read_len; i++)
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{
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rt_kprintf("%2X ", read_buf[i]);
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}
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rt_kprintf("\n");
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}
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//CRC校验
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rt_uint16_t received_crc = (read_buf[7] << 8) | read_buf[8];
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rt_uint16_t calculated_crc = CRC16_Calculate(read_buf+4, 3);
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if (DATU.log)
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{
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rt_kprintf("CRC %x\n ", received_crc);
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rt_kprintf("CRC %x\n ", calculated_crc);
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}
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//判断CRC是否一致
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if (calculated_crc == received_crc) {
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if (DATU.log)
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{
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rt_kprintf("read datas CRC OK\n");
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}
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} else {
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if (DATU.log)
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{
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rt_kprintf("read datas CRC ERR\n");
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}
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continue;
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}
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//命令通过验证，读取命令细节
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rc = read_cmd(read_buf, read_len);
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if (rc == -1) //DATTU开头错误
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{
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if (DATU.log)
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{
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rt_kprintf("read header is not DATU.\n");
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}
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continue;
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}
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else if (rc == -2) //命令不是03和06
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{
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if (DATU.log)
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{
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rt_kprintf("read cmd is not 0x03 / 0x06.\n");
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}
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continue;
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}
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else if (rc == 3) //命令为03读取数据
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{
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if (DATU.log)
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{
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rt_kprintf("read cmd is 0x03.\n");
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}
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DATU.send_data =1;
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continue;
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}
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else if (rc == 6) //06命令执行细节
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{
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if (DATU.log)
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{
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rt_kprintf("read cmd is 0x06.\n");
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rt_kprintf("read cmd is %d .\n",read_buf[6]);
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}
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switch (read_buf[6]) {
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case 1:
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//主轴针数清零
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set_IO_NeedleCount_sum(0);
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break;
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case 2:
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//闪灯
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// IO_key(1, argv);
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DATU.toggle_led = ~DATU.toggle_led;
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break;
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case 3:
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//开锁1
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rt_pin_write(OUT1, 0);
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break;
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case 4:
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//开锁2
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rt_pin_write(OUT2, 0);
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break;
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case 5:
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//开锁3
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rt_pin_write(OUT3, 0);
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break;
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case 6:
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//报警灯开
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rt_pin_write(OUT4, 0);
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break;
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case 7:
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//报警灯关
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rt_pin_write(OUT4, 1);
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break;
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default:
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break;
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}
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}
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}
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}
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void set_DATU_log(rt_uint8_t log)
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{
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DATU.log = log;
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}
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rt_uint8_t get_DATU_toggle_led()
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{
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return DATU.toggle_led;
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}
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