robot/project/Spoolend/Spoolend.c

/******************************************************************************

                  版权所有 (C), 2018-2099, Radkil

 ******************************************************************************
  文 件 名   : Spoolend.c
  版 本 号   : 初稿
  作    者   : radkil
  生成日期   : 2026年6月10日
  最近修改   : 移植自 Spoolold
  功能描述   : 线轴端控制板 — Modbus 从机/主机 + DMK 电机 + 继电器 + 电源管理

  修改历史   :
  1.日    期   : 2026年6月10日
    作    者   : radkil
    修改内容   : 创建文件
  2.日    期   : 2026年7月2日
    作    者   : radkil
    修改内容   : 从 Spoolold 移植完整功能

******************************************************************************/
#include "bsp_uart.h"
#include "bsp_CAN.h"
#include "com.h"
#include "fdcan.h"
#include "modbus.h"
#include "dmk.h"
#include "flash_operation.h"
#include "iwdg.h"
#include "gpio.h"

/*----------------------------------------------*
 * 全局变量                                     *
 *----------------------------------------------*/
TComCtrl *g_ptRS485_1;  /* Modbus 从机 */
TComCtrl *g_ptRS485_2;  /* Modbus 主机（连 DMK 驱动器）*/
TComCtrl *g_ptFDCAN1;

/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/
static uint32_t s_uwRxPreTime = 0;

/*----------------------------------------------*
 * RS485 硬件发送函数                           *
 *----------------------------------------------*/
static int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
{
    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_RESET);
    return iRet;
}

static int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
{
    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_RESET);
    return iRet;
}

/*----------------------------------------------*
 * UART 接收中断回调                            *
 *----------------------------------------------*/
#ifndef CONFIG_UART_IT_IDLEDMA
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if (huart->Instance == USART1)
    {
        UART_RX_IRQHandler(g_ptRS485_1);
    }
    else if (huart->Instance == USART3)
    {
        UART_RX_IRQHandler(g_ptRS485_2);
    }
    else if (huart->Instance == LPUART1)
    {
        // 预留
    }
}
#endif

/*----------------------------------------------*
 * CAN 回调                                     *
 *----------------------------------------------*/
static int check_Spoolend(char *_pBuffer, uint32_t _iSize)
{
    return _iSize;
}

static void decode_Spoolend(const char *_pBuffer, uint32_t _iSize)
{
    TCANUserData *ptCANUserData = (TCANUserData *)g_ptFDCAN1->m_pUserData;
    uint32_t iCANId = (uint32_t)ptCANUserData->m_canrx->Identifier;
    rd_ComIDWrite(g_ptFDCAN1, iCANId, (char *)_pBuffer, _iSize);
}

static int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
{
    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer, _iSize);
}

void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
    if (hfdcan->Instance == FDCAN1)
    {
        MX_FDCAN1_Init();
    }
}

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
    if (hfdcan->Instance == FDCAN1)
    {
        CAN_RX_IRQHandler(g_ptFDCAN1);
    }
}

/*----------------------------------------------*
 * 电源管理                                     *
 *----------------------------------------------*/
static void handle_power_on_off(void)
{
    if (holdingRegisters[5] != 0)  /* 手动模式 */
    {
        if (holdingRegisters[6] == 0)
        {
            if (holdingRegisters[4] == 0)
                HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
            else
                HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
        }
        else
        {
            if (holdingRegisters[4] == 0)
                HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
            else
                HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
        }
        return;
    }

    /* 自动模式：根据通信超时判断 */
    if (HAL_GetTick() >= s_uwRxPreTime &&
        HAL_GetTick() - s_uwRxPreTime > holdingRegisters[7])
    {
        if (holdingRegisters[4] == 0)
            HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
        else
            HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
    }
    else
    {
        if (holdingRegisters[4] == 0)
            HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
        else
            HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
    }
}

/*----------------------------------------------*
 * 初始化                                       *
 *----------------------------------------------*/
void SpoolendInit(void)
{
    /* RS485_1: Modbus 从机 — check/decode 回调由 rd_ComRead 自动调用 */
    TUartUserData *ptUartUserData = UART_userdata_init(1, 115200, 4096);
    g_ptRS485_1 = rd_ComCreate(Modbus_Slave_Check, Modbus_Slave_Decode,
                               RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
    UART_IT_init(g_ptRS485_1);

    /* RS485_2: Modbus 主机（DMK 驱动器）*/
    TUartUserData *ptUartUserData2 = UART_userdata_init(3, 115200, 4096);
    g_ptRS485_2 = rd_ComCreate(NULL, NULL, RS485_2_Send,
                               ptUartUserData2->m_buf_size, ptUartUserData2);
    UART_IT_init(g_ptRS485_2);
    Modbus_Master_Init(g_ptRS485_2);

    /* FDCAN1 */
    TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
    g_ptFDCAN1 = rd_ComCreate(check_Spoolend, decode_Spoolend,
                              FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
    CAN_IT_init(g_ptFDCAN1);

    /* 从 Flash 恢复参数 */
    ReadParametersFromFlash((int16_t *)holdingRegisters);
    holdingRegisters[8] = 2000;  /* 默认电机速度 */

    s_uwRxPreTime = HAL_GetTick();
}

/*----------------------------------------------*
 * 主任务                                       *
 *----------------------------------------------*/
void SpoolendTask(void)
{
    char pcBuffer1[52] = {0};
    char pcBuffer2[52] = {0};

    /* 喂狗 */
    HAL_IWDG_Refresh(&hiwdg);

    /* 通信错误恢复：DMA 被 HAL 错误路径杀死后，在这里（主循环/线程上下文）
     * 检测 CR3.DMAR 位并重启，绝不在中断里重启 DMA，避免死循环。 */
    UART_RX_CheckError(g_ptRS485_1);
    UART_RX_CheckError(g_ptRS485_2);

    /* 读取 Modbus 从机帧（rd_ComRead 内部自动调用 Modbus_Slave_Decode）*/
    __disable_irq();
    int i485_1 = rd_ComRead(g_ptRS485_1, pcBuffer1, sizeof(pcBuffer1));
    int i485_2 = rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
    rd_ComRead(g_ptFDCAN1, pcBuffer2, sizeof(pcBuffer2));
    __enable_irq();

    (void)i485_1;
    (void)i485_2;

    /* K1-K4 继电器控制 */
    HAL_GPIO_WritePin(K1_GPIO_Port, K1_Pin,
                      holdingRegisters[0] ? GPIO_PIN_SET : GPIO_PIN_RESET);
    HAL_GPIO_WritePin(K2_GPIO_Port, K2_Pin,
                      holdingRegisters[1] ? GPIO_PIN_SET : GPIO_PIN_RESET);
    HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin,
                      holdingRegisters[2] ? GPIO_PIN_SET : GPIO_PIN_RESET);
    HAL_GPIO_WritePin(K4_GPIO_Port, K4_Pin,
                      holdingRegisters[3] ? GPIO_PIN_SET : GPIO_PIN_RESET);

    /* 通信接收标志处理 */
    if (RS485_1_RX)
    {
        RS485_1_RX = 0;
        s_uwRxPreTime = HAL_GetTick();
        HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
    }

    if (RS485_1_Host_Existed)
    {
        RS485_1_Host_Existed = 0;
        s_uwRxPreTime = HAL_GetTick();
    }

    /* 通信超时判断 + 电机控制 */
    if (HAL_GetTick() >= s_uwRxPreTime &&
        HAL_GetTick() - s_uwRxPreTime > holdingRegisters[7])
    {
        MB_WriteHoldingReg(1, 0x033, 0x00);  /* 超时停止电机 */
    }
    else
    {
        handle_dmk_motor(holdingRegisters[8], holdingRegisters[9]);
    }

    /* 电源管理 */
    handle_power_on_off();

    /* Flash 保存触发 */
    if (holdingRegisters[10] == 55)
    {
        WriteParametersToFlash((int16_t *)holdingRegisters);
        holdingRegisters[10] = 1;
    }

    /* 通信错误恢复（中断里只设标志，重启在这里做，避免中断死循环）*/
    UART_RX_CheckError(g_ptRS485_1);
    UART_RX_CheckError(g_ptRS485_2);

    /* 发送处理 */
    rd_ComSendProc(g_ptRS485_1);
    rd_ComSendProc(g_ptRS485_2);
    rd_ComSendProc(g_ptFDCAN1);
}