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274 lines
8.9 KiB
274 lines
8.9 KiB
/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : Spoolend.c
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年6月10日
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最近修改 : 移植自 Spoolold
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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
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修改历史 :
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1.日 期 : 2026年6月10日
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作 者 : radkil
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修改内容 : 创建文件
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2.日 期 : 2026年7月2日
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作 者 : radkil
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修改内容 : 从 Spoolold 移植完整功能
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******************************************************************************/
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#include "bsp_uart.h"
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#include "bsp_CAN.h"
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#include "com.h"
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#include "fdcan.h"
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#include "modbus.h"
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#include "dmk.h"
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#include "flash_operation.h"
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#include "iwdg.h"
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#include "gpio.h"
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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TComCtrl *g_ptRS485_1; /* Modbus 从机 */
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TComCtrl *g_ptRS485_2; /* Modbus 主机（连 DMK 驱动器）*/
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TComCtrl *g_ptFDCAN1;
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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static uint32_t s_uwRxPreTime = 0;
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/*----------------------------------------------*
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* RS485 硬件发送函数 *
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*----------------------------------------------*/
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static int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
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{
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HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
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TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
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int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
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HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_RESET);
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return iRet;
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}
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static int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
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{
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HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
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TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
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int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
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HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_RESET);
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return iRet;
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}
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/*----------------------------------------------*
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* UART 接收中断回调 *
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*----------------------------------------------*/
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#ifndef CONFIG_UART_IT_IDLEDMA
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void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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{
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if (huart->Instance == USART1)
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{
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UART_RX_IRQHandler(g_ptRS485_1);
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}
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else if (huart->Instance == USART3)
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{
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UART_RX_IRQHandler(g_ptRS485_2);
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}
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else if (huart->Instance == LPUART1)
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{
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// 预留
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}
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}
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#endif
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/*----------------------------------------------*
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* CAN 回调 *
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*----------------------------------------------*/
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static int check_Spoolend(char *_pBuffer, uint32_t _iSize)
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{
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return _iSize;
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}
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static void decode_Spoolend(const char *_pBuffer, uint32_t _iSize)
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{
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TCANUserData *ptCANUserData = (TCANUserData *)g_ptFDCAN1->m_pUserData;
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uint32_t iCANId = (uint32_t)ptCANUserData->m_canrx->Identifier;
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rd_ComIDWrite(g_ptFDCAN1, iCANId, (char *)_pBuffer, _iSize);
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}
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static int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
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{
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return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer, _iSize);
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}
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void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
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{
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if (hfdcan->Instance == FDCAN1)
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{
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MX_FDCAN1_Init();
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}
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}
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void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
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{
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if (hfdcan->Instance == FDCAN1)
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{
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CAN_RX_IRQHandler(g_ptFDCAN1);
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}
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}
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/*----------------------------------------------*
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* 电源管理 *
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*----------------------------------------------*/
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static void handle_power_on_off(void)
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{
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if (holdingRegisters[5] != 0) /* 手动模式 */
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{
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if (holdingRegisters[6] == 0)
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{
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if (holdingRegisters[4] == 0)
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
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else
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
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}
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else
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{
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if (holdingRegisters[4] == 0)
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
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else
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
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}
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return;
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}
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/* 自动模式：根据通信超时判断 */
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if (HAL_GetTick() >= s_uwRxPreTime &&
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HAL_GetTick() - s_uwRxPreTime > holdingRegisters[7])
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{
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if (holdingRegisters[4] == 0)
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
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else
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
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}
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else
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{
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if (holdingRegisters[4] == 0)
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
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else
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HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
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}
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}
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/*----------------------------------------------*
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* 初始化 *
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*----------------------------------------------*/
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void SpoolendInit(void)
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{
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/* RS485_1: Modbus 从机 — check/decode 回调由 rd_ComRead 自动调用 */
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TUartUserData *ptUartUserData = UART_userdata_init(1, 115200, 4096);
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g_ptRS485_1 = rd_ComCreate(Modbus_Slave_Check, Modbus_Slave_Decode,
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RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
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UART_IT_init(g_ptRS485_1);
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/* RS485_2: Modbus 主机（DMK 驱动器）*/
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TUartUserData *ptUartUserData2 = UART_userdata_init(3, 115200, 4096);
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g_ptRS485_2 = rd_ComCreate(NULL, NULL, RS485_2_Send,
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ptUartUserData2->m_buf_size, ptUartUserData2);
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UART_IT_init(g_ptRS485_2);
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Modbus_Master_Init(g_ptRS485_2);
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/* FDCAN1 */
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TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
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g_ptFDCAN1 = rd_ComCreate(check_Spoolend, decode_Spoolend,
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FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
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CAN_IT_init(g_ptFDCAN1);
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/* 从 Flash 恢复参数 */
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ReadParametersFromFlash((int16_t *)holdingRegisters);
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holdingRegisters[8] = 2000; /* 默认电机速度 */
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s_uwRxPreTime = HAL_GetTick();
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}
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/*----------------------------------------------*
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* 主任务 *
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*----------------------------------------------*/
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void SpoolendTask(void)
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{
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char pcBuffer1[52] = {0};
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char pcBuffer2[52] = {0};
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/* 喂狗 */
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HAL_IWDG_Refresh(&hiwdg);
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/* 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）
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* 检测 CR3.DMAR 位并重启，绝不在中断里重启 DMA，避免死循环。 */
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UART_RX_CheckError(g_ptRS485_1);
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UART_RX_CheckError(g_ptRS485_2);
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/* 读取 Modbus 从机帧（rd_ComRead 内部自动调用 Modbus_Slave_Decode）*/
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__disable_irq();
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int i485_1 = rd_ComRead(g_ptRS485_1, pcBuffer1, sizeof(pcBuffer1));
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int i485_2 = rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
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rd_ComRead(g_ptFDCAN1, pcBuffer2, sizeof(pcBuffer2));
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__enable_irq();
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(void)i485_1;
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(void)i485_2;
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/* K1-K4 继电器控制 */
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HAL_GPIO_WritePin(K1_GPIO_Port, K1_Pin,
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holdingRegisters[0] ? GPIO_PIN_SET : GPIO_PIN_RESET);
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HAL_GPIO_WritePin(K2_GPIO_Port, K2_Pin,
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holdingRegisters[1] ? GPIO_PIN_SET : GPIO_PIN_RESET);
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HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin,
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holdingRegisters[2] ? GPIO_PIN_SET : GPIO_PIN_RESET);
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HAL_GPIO_WritePin(K4_GPIO_Port, K4_Pin,
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holdingRegisters[3] ? GPIO_PIN_SET : GPIO_PIN_RESET);
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/* 通信接收标志处理 */
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if (RS485_1_RX)
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{
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RS485_1_RX = 0;
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s_uwRxPreTime = HAL_GetTick();
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HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
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}
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if (RS485_1_Host_Existed)
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{
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RS485_1_Host_Existed = 0;
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s_uwRxPreTime = HAL_GetTick();
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}
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/* 通信超时判断 + 电机控制 */
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if (HAL_GetTick() >= s_uwRxPreTime &&
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HAL_GetTick() - s_uwRxPreTime > holdingRegisters[7])
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{
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MB_WriteHoldingReg(1, 0x033, 0x00); /* 超时停止电机 */
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}
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else
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{
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handle_dmk_motor(holdingRegisters[8], holdingRegisters[9]);
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}
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/* 电源管理 */
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handle_power_on_off();
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/* Flash 保存触发 */
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if (holdingRegisters[10] == 55)
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{
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WriteParametersToFlash((int16_t *)holdingRegisters);
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holdingRegisters[10] = 1;
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}
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/* 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）*/
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UART_RX_CheckError(g_ptRS485_1);
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UART_RX_CheckError(g_ptRS485_2);
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/* 发送处理 */
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rd_ComSendProc(g_ptRS485_1);
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rd_ComSendProc(g_ptRS485_2);
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rd_ComSendProc(g_ptFDCAN1);
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}
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