BingooRobot_pro/Bingoo/base/msp_ground_management.c

/*
 * msp_ground_management.c
 *
 *  Created on: 2026年1月15日
 *      Author: xsq
 */

#include "msp_ground_management.h"
#include "msp_strain_gauge.h"
uint8_t ground_management_slave_id = 0x34;

struct UARTHandler *ground_management_handler;
ground_management_struct *ground_management_value;
DispacherController *ground_management_dispacherController;

void decode_ground_management(uint8_t *buffer, uint16_t length);

void ground_management_intialize(struct UARTHandler *Handler)
{

	ground_management_handler = Handler;
	ground_management_handler->Wait_time = 10; //等待10ms 最低不要低于4；
	ground_management_dispacherController = Handler->dispacherController;
	ground_management_dispacherController->Dispacher_Enable = 1;
	//不周期性发送
	ground_management_dispacherController->Add_Dispatcher_List(
	        ground_management_dispacherController, ground_management_inquiry);

	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
	        "ground_management", 0, ComError_Ground_Management);
	LOG("battery_intialize");
}
void ground_management_intialize_with_slaveid(struct UARTHandler *Handler,
        int slave_id)
{
	ground_management_intialize(Handler);
	ground_management_slave_id = slave_id;
}
uint16_t dataToSend[10];
uint16_t g_m_read_count= 10;
uint16_t decoded_ground_management_holdingReg_value[20];
void ground_management_inquiry()
{
//	 void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
//	 		uint16_t _reg, uint16_t _num, uint8_t *_databuf)
	dataToSend[0] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K1);
	dataToSend[1] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K2);
	dataToSend[2] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K3);
	dataToSend[3] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K4);
	dataToSend[4] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K5_Default);
	dataToSend[5] = SWAP_ENDIAN_16(
	        (uint16_t ) ground_management_value->MaualControlPower);
	dataToSend[6] = SWAP_ENDIAN_16(
	        (uint16_t ) ground_management_value->MaualPowerState);

	ground_management_value->Time_Out_Period=400;
	dataToSend[7] = SWAP_ENDIAN_16(
	        (uint16_t ) ground_management_value->Time_Out_Period);

	MB_WriteNumHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
			(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id, 0,
	        8, (uint8_t *)dataToSend);

	ground_management_handler->AddSendList(ground_management_handler,
	        ground_management_handler->Tx_Buf,
	        ground_management_handler->TxCount, OneLineWaitTime, NULL);

	/***********寄存器8写德玛克电机速度*****************************/
	MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
			(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
			        8, GV.GroundManagementValue.DMK_Speed);
	ground_management_handler->AddSendList(ground_management_handler,
			ground_management_handler->Tx_Buf,
			ground_management_handler->TxCount, OneLineWaitTime, NULL);

	/***********寄存器9写德玛克电机状态*****************************/
	MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
			(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
			        9, GV.GroundManagementValue.DMK_WorkState);
	ground_management_handler->AddSendList(ground_management_handler,
			ground_management_handler->Tx_Buf,
			ground_management_handler->TxCount, OneLineWaitTime, NULL);
/********************************************************************/

	if (ground_management_value->Save_To_Flash == 1)
	{
		/******************写寄存器7超时时间**************************/
		MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
				(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
			        7, (uint16_t)ground_management_value->Time_Out_Period);
		ground_management_handler->AddSendList(ground_management_handler,
				ground_management_handler->Tx_Buf,
				ground_management_handler->TxCount, OneLineWaitTime, NULL);

		/***************************寄存器10 写入55保存数据*************************************/
		MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
				(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
		        10, 55);
		ground_management_handler->AddSendList(ground_management_handler,
		        ground_management_handler->Tx_Buf,
		        ground_management_handler->TxCount, OneLineWaitTime, NULL);
        /*****************************************************/
		ground_management_value->Save_To_Flash=0;
	}


	MB_ReadHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf, (uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id, 0,
			g_m_read_count);
	ground_management_handler->AddSendList(ground_management_handler, ground_management_handler->Tx_Buf,
			ground_management_handler->TxCount, OneLineWaitTime, decode_ground_management);

}
void decode_ground_management(uint8_t *buffer, uint16_t length)
{
	//	uint8_t data1[length];
	//	memcpy(data1, buffer, length);
	uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value);
		int decoded_result = MB_Decode_HoldingRegs(buffer, length, g_m_read_count,
		        &decoded_ground_management_holdingReg_value[0]);
		if (decoded_result == 1)
		{

			ground_management_value->Read_Time_Out_Period = decoded_ground_management_holdingReg_value[7];



			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
			        "ground_management", 1);
			//	LOG("Battery_sensor  succeeded and the force is %d", *CMCU06_ForceValue);
		}
		else
		{
			LOGFF(DL_ERROR, "ground_management decoding failed");
		}
}