BingooRobot_pro/Bingoo/base/msp_strain_gauge.c

/*
 * msp_strain_gauge.c
 *
 *  Created on: 2025年11月25日
 *      Author: akeguo
 */
#include "msp_strain_gauge.h"
//应变片采集模块

Strain_Gauge_Struct *strainGaugeValue;
uint8_t strain_gauge_slave_id = 0x32; //默认为1
int SAVE_Register9=0; //设置55 保存KD
int SAVE_Register23=0; //设置KD
struct UARTHandler *strain_gauge_handler;

DispacherController *strain_gauge_dispacherController;
void strain_gauge_loop();
void decode_strain_gauge_01(uint8_t *buffer, uint16_t length);
void decode_strain_gauge_09(uint8_t *buffer, uint16_t length);
void strain_gauge_intialize(struct UARTHandler *Handler)
{
	//strain_gauge_slave_id=slave_id;
	strain_gauge_handler = Handler;
	strain_gauge_handler->Wait_time = 10; //等待10ms 最低不要低于4；
	strain_gauge_dispacherController = Handler->dispacherController;
	strain_gauge_dispacherController->Dispacher_Enable = 1;
	//不周期性发送
	strain_gauge_dispacherController->Add_Dispatcher_List(
	        strain_gauge_dispacherController, strain_gauge_loop);//Dispatcher_List_Add_t bsp com helper.c

	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
	        "strain_gauge", 0, ComError_Strain_Gauge);

	LOG("strain_gauge_intialize");
}
void strain_gauge_intialize_with_slaveid(struct UARTHandler *Handler,
        int slave_id)
{
	strain_gauge_intialize(Handler);
	strain_gauge_slave_id = slave_id;
}

void strain_gauge_loop()
{
	// 必须要初始化 strainGaugeValue

	//读取力
	MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf,
	        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers  从1 开始 读取1个
	strain_gauge_handler->AddSendList(strain_gauge_handler,
	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
	        decode_strain_gauge_01);

	//推杆控制
	MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
	        &strain_gauge_handler->TxCount, strain_gauge_slave_id, 0,
	        strainGaugeValue->MotorControl);//strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退
	strain_gauge_handler->AddSendList(strain_gauge_handler,
	        strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
	        NULL);

	/*写寄存器2 3 KD**/
	if(SAVE_Register23==1)
	{
		/*写寄存器2 K**/
		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 2,
				strainGaugeValue->HX711_K);
		strain_gauge_handler->AddSendList(strain_gauge_handler,
				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
				NULL);
		/*写寄存器3 D**/
		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3,
				strainGaugeValue->HX711_D);
		strain_gauge_handler->AddSendList(strain_gauge_handler,
				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
				NULL);
		SAVE_Register23=0;
	}

	/*写寄存器9 设置为55保存KD**/
	if(SAVE_Register9==1)
	{

		MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf,
				&strain_gauge_handler->TxCount, strain_gauge_slave_id, 9,
				strainGaugeValue->Save);
		strain_gauge_handler->AddSendList(strain_gauge_handler,
				strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime,
				NULL);
		SAVE_Register9=0;
	}

}
int16_t decoded_strain_gauge_holdingReg_value[20];
//读取 00-02的寄存器
void decode_strain_gauge_01(uint8_t *buffer, uint16_t length)
{

//	uint8_t data1[length];
//	memcpy(data1, buffer, length);

	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1,
	        &decoded_strain_gauge_holdingReg_value[1]);
	if (decoded_result == 1)
	{
		strainGaugeValue->Pressure = decoded_strain_gauge_holdingReg_value[1];
		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
		        "strain_gauge", 1);
		//	LOG("Battery_sensor  succeeded and the force is %d", *CMCU06_ForceValue);
	}
	else
	{
		LOGFF(DL_ERROR, "strain_gauge_decoding failed");
	}
}
//读取 09的寄存器
void decode_strain_gauge_09(uint8_t *buffer, uint16_t length)
{

//	uint8_t data1[100];
//	memcpy(data1, buffer, length);
	int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2,
	        &decoded_strain_gauge_holdingReg_value[9]);
	if (decoded_result == 1)
	{
		strainGaugeValue->Save = decoded_strain_gauge_holdingReg_value[9];
		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
		        "strain_gauge", 1);
		//	LOG("Battery_sensor  succeeded and the force is %d", *CMCU06_ForceValue);
	}
	else
	{
		LOGFF(DL_ERROR, "strain_gauge_decoding failed");
	}
}