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136 lines
5.7 KiB
136 lines
5.7 KiB
/*
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* msp_ground_management.c
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*
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* Created on: 2026年1月15日
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* Author: xsq
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*/
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#include "msp_ground_management.h"
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#include "msp_strain_gauge.h"
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uint8_t ground_management_slave_id = 0x34;
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struct UARTHandler *ground_management_handler;
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ground_management_struct *ground_management_value;
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DispacherController *ground_management_dispacherController;
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void decode_ground_management(uint8_t *buffer, uint16_t length);
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void ground_management_intialize(struct UARTHandler *Handler)
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{
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ground_management_handler = Handler;
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ground_management_handler->Wait_time = 10; //等待10ms 最低不要低于4；
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ground_management_dispacherController = Handler->dispacherController;
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ground_management_dispacherController->Dispacher_Enable = 1;
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//不周期性发送
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ground_management_dispacherController->Add_Dispatcher_List(
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ground_management_dispacherController, ground_management_inquiry);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
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"ground_management", 0, ComError_Ground_Management);
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LOG("battery_intialize");
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}
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void ground_management_intialize_with_slaveid(struct UARTHandler *Handler,
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int slave_id)
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{
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ground_management_intialize(Handler);
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ground_management_slave_id = slave_id;
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}
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uint16_t dataToSend[10];
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uint16_t g_m_read_count= 10;
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uint16_t decoded_ground_management_holdingReg_value[20];
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void ground_management_inquiry()
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{
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// void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
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// uint16_t _reg, uint16_t _num, uint8_t *_databuf)
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dataToSend[0] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K1);
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dataToSend[1] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K2);
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dataToSend[2] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K3);
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dataToSend[3] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K4);
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dataToSend[4] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K5_Default);
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dataToSend[5] = SWAP_ENDIAN_16(
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(uint16_t ) ground_management_value->MaualControlPower);
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dataToSend[6] = SWAP_ENDIAN_16(
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(uint16_t ) ground_management_value->MaualPowerState);
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ground_management_value->Time_Out_Period=400;
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dataToSend[7] = SWAP_ENDIAN_16(
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(uint16_t ) ground_management_value->Time_Out_Period);
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MB_WriteNumHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
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(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id, 0,
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8, (uint8_t *)dataToSend);
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ground_management_handler->AddSendList(ground_management_handler,
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ground_management_handler->Tx_Buf,
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ground_management_handler->TxCount, OneLineWaitTime, NULL);
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/***********寄存器8写德玛克电机速度*****************************/
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MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
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(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
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8, GV.GroundManagementValue.DMK_Speed);
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ground_management_handler->AddSendList(ground_management_handler,
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ground_management_handler->Tx_Buf,
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ground_management_handler->TxCount, OneLineWaitTime, NULL);
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/***********寄存器9写德玛克电机状态*****************************/
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MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
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(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
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9, GV.GroundManagementValue.DMK_WorkState);
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ground_management_handler->AddSendList(ground_management_handler,
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ground_management_handler->Tx_Buf,
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ground_management_handler->TxCount, OneLineWaitTime, NULL);
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/********************************************************************/
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if (ground_management_value->Save_To_Flash == 1)
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{
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/******************写寄存器7超时时间**************************/
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MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
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(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
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7, (uint16_t)ground_management_value->Time_Out_Period);
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ground_management_handler->AddSendList(ground_management_handler,
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ground_management_handler->Tx_Buf,
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ground_management_handler->TxCount, OneLineWaitTime, NULL);
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/***************************寄存器10 写入55保存数据*************************************/
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MB_WriteHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf,
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(uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id,
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10, 55);
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ground_management_handler->AddSendList(ground_management_handler,
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ground_management_handler->Tx_Buf,
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ground_management_handler->TxCount, OneLineWaitTime, NULL);
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/*****************************************************/
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ground_management_value->Save_To_Flash=0;
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}
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MB_ReadHoldingReg((uint8_t *)&ground_management_handler->Tx_Buf, (uint8_t *)&ground_management_handler->TxCount, ground_management_slave_id, 0,
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g_m_read_count);
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ground_management_handler->AddSendList(ground_management_handler, ground_management_handler->Tx_Buf,
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ground_management_handler->TxCount, OneLineWaitTime, decode_ground_management);
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}
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void decode_ground_management(uint8_t *buffer, uint16_t length)
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{
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// uint8_t data1[length];
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// memcpy(data1, buffer, length);
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uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value);
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int decoded_result = MB_Decode_HoldingRegs(buffer, length, g_m_read_count,
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&decoded_ground_management_holdingReg_value[0]);
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if (decoded_result == 1)
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{
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ground_management_value->Read_Time_Out_Period = decoded_ground_management_holdingReg_value[7];
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"ground_management", 1);
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// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
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}
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else
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{
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LOGFF(DL_ERROR, "ground_management decoding failed");
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}
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}
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