回退成之前的电机变频器

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/BASE/Src/MSP/msp_Strong_grinding_machine.c

@@ -31,24 +31,31 @@ void strong_grinding_machine_intialize(struct UARTHandler *Handler)
 
 // 测试，转速20rpm
 const uint8_t strong_grinding_machine_set_speed_cmd[8] = {0x01, 0x06, 0x00, 0x02, 0x00, 0x14, 0x28, 0x05};
-const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x20, 0x00, 0x00, 0x01, 0x43, 0xCA};
-const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x20, 0x00, 0x00, 0x00, 0x82, 0x0A};
+const uint8_t strong_grinding_machine_start_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x82, 0x5F, 0xAB};
+const uint8_t strong_grinding_machine_stop_cmd[8] = {0x01, 0x06, 0x00, 0x01, 0x08, 0x81, 0x1F, 0xAA};
 
+static uint8_t strong_grinding_machine_cmd_flag = 0;
 uint8_t strong_grinding_machine_cmd = 0;
 // 测试，转速20rpm
 int32_t strong_grinding_machine_speed = 10;
 
 void Strong_grinding_machine_cmd(void)
 {
-	strong_grinding_machine_speed = GV.PV.main_axis_speed / 15;//公式是转速除以60/p,是极对数，极对数是极数的一半。当前电机极数是8，所以是除以15
+	strong_grinding_machine_speed = GV.PV.main_axis_speed;
+
+	switch(strong_grinding_machine_cmd_flag)
+	{
+		case 0:
 
-    //发速度
 			MB_WriteHoldingReg(&Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
-			0x01, 0x4000, strong_grinding_machine_speed);
+					0x01, 0x0002, strong_grinding_machine_speed);
+//			Strong_grinding_machine_handler->TxCount = 8;
+//			memcpy(&Strong_grinding_machine_handler->Tx_Buf, &strong_grinding_machine_set_speed_cmd, Strong_grinding_machine_handler->TxCount);
 			Strong_grinding_machine_handler->AddSendList(Strong_grinding_machine_handler, Strong_grinding_machine_handler->Tx_Buf, Strong_grinding_machine_handler->TxCount,
 					inquiry_interval, NULL);
-
-   //发是否旋转
+			strong_grinding_machine_cmd_flag = 1;
+			break;
+		case 1:
 			if(strong_grinding_machine_cmd == 0)
 			{
 				Strong_grinding_machine_handler->TxCount = 8;
@@ -66,6 +73,9 @@ void Strong_grinding_machine_cmd(void)
 			else{
 
 			}
+			strong_grinding_machine_cmd_flag = 0;
+			break;
+	}
 
 }