21 changed files with 460 additions and 197 deletions
@ -0,0 +1,16 @@ |
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syntax = "proto3"; |
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//从机地址0x32； |
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message Strain_Gauge_Struct |
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{ |
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int32 MotorControl=1;//寄存器0： 电机控制，=0 停止，=1 前进，=2 后退 |
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int32 Pressure=2;// 寄存器1： 输出的传感器最终数据 |
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int32 HX711_K=3; //寄存器2 HX711_K |
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int32 HX711_D=4; //寄存器3 HX711_D |
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int32 Save=5;//寄存器9： 设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 |
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int32 RawPressure=6;// 寄存器1： 输出的传感器原始数据 |
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int32 Read_K=7; |
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int32 Read_D=8; |
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}; |
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//protoc --nanopb_out=. *.proto |
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@ -0,0 +1,176 @@ |
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/*
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* msp_strain_gauge.c |
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* |
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* Created on: 2025年11月25日 |
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* Author: akeguo |
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*/ |
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#include "msp_strain_gauge.h" |
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//应变片采集模块
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Strain_Gauge_Struct *strainGaugeValue; |
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uint8_t strain_gauge_slave_id = 0x32; //默认为1
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struct UARTHandler *strain_gauge_handler; |
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uint16_t to_send_bytes[50]; |
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DispacherController *strain_gauge_dispacherController; |
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void strain_gauge_loop(); |
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void decode_strain_gauge_01(uint8_t *buffer, uint16_t length); |
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void decode_strain_gauge_09(uint8_t *buffer, uint16_t length); |
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void decode_strain_gauge_56(uint8_t *buffer, uint16_t length); |
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void strain_gauge_intialize(struct UARTHandler *Handler) |
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{ |
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//strain_gauge_slave_id=slave_id;
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strain_gauge_handler = Handler; |
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strain_gauge_handler->Wait_time = 10; //等待10ms 最低不要低于4；
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strain_gauge_dispacherController = Handler->dispacherController; |
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strain_gauge_dispacherController->Dispacher_Enable = 1; |
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//不周期性发送
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strain_gauge_dispacherController->Add_Dispatcher_List( |
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strain_gauge_dispacherController, strain_gauge_loop); //Dispatcher_List_Add_t bsp com helper.c
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, |
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"strain_gauge", 0, ComError_Strain_Gauge); |
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LOG("strain_gauge_intialize"); |
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} |
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void strain_gauge_intialize_with_slaveid(struct UARTHandler *Handler, |
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int slave_id) |
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{ |
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strain_gauge_intialize(Handler); |
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strain_gauge_slave_id = slave_id; |
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} |
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int SAVE_Register9=0; |
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int SAVE_Register23=0; |
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void strain_gauge_loop() |
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{ |
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// 必须要初始化 strainGaugeValue
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//读取力
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MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf, |
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&strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers 从1 开始 读取1个
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strain_gauge_handler->AddSendList(strain_gauge_handler, |
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strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, |
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OneLineWaitTime, decode_strain_gauge_01); |
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//推杆控制
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MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
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&strain_gauge_handler->TxCount, strain_gauge_slave_id, 0, |
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strainGaugeValue->MotorControl); //strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退
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strain_gauge_handler->AddSendList(strain_gauge_handler, |
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strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, |
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OneLineWaitTime, |
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NULL); |
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/*写寄存器2 3 KD**/ |
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if (SAVE_Register23 == 1) |
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{ |
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/*写寄存器2 K**/ |
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MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
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&strain_gauge_handler->TxCount, strain_gauge_slave_id, 2, |
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(uint16_t) strainGaugeValue->HX711_K); |
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strain_gauge_handler->AddSendList(strain_gauge_handler, |
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strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, |
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OneLineWaitTime, |
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NULL); |
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/*写寄存器3 and 4 D**/ |
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memcpy(&to_send_bytes[3],&strainGaugeValue->HX711_D,4); |
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to_send_bytes[3]=SWAP_ENDIAN_16(to_send_bytes[3]); |
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to_send_bytes[4]=SWAP_ENDIAN_16(to_send_bytes[4]); |
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MB_WriteNumHoldingReg(&strain_gauge_handler->Tx_Buf, |
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&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3, 2, |
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&to_send_bytes[3]); |
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strain_gauge_handler->AddSendList(strain_gauge_handler, |
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strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, |
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OneLineWaitTime, |
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NULL); |
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// read 5 -6 holidng registers
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MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf, |
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&strain_gauge_handler->TxCount, strain_gauge_slave_id, 5, 2); //03 command ; read 2 registers 从1 开始 读取1个
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strain_gauge_handler->AddSendList(strain_gauge_handler, |
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strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, |
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OneLineWaitTime, decode_strain_gauge_56); |
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SAVE_Register23 = 0; |
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} |
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/*写寄存器9 设置为55保存KD**/ |
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if (SAVE_Register9 == 1) |
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{ |
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strainGaugeValue->Save=55; |
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MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
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&strain_gauge_handler->TxCount, strain_gauge_slave_id, 9, |
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strainGaugeValue->Save); |
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strain_gauge_handler->AddSendList(strain_gauge_handler, |
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strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, |
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OneLineWaitTime, |
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NULL); |
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SAVE_Register9 = 0; |
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} |
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} |
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int16_t decoded_strain_gauge_holdingReg_value[20]; |
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//读取 00-02的寄存器
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void decode_strain_gauge_01(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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int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1, |
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&decoded_strain_gauge_holdingReg_value[1]); |
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if (decoded_result == 1) |
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{ |
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strainGaugeValue->Pressure = (int16_t)decoded_strain_gauge_holdingReg_value[1]; |
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
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"strain_gauge", 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, "strain_gauge_decoding failed"); |
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} |
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} |
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/*origin value*/ |
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void decode_strain_gauge_56(uint8_t *buffer, uint16_t length) |
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{ |
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int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2, |
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&decoded_strain_gauge_holdingReg_value[5]); |
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if (decoded_result == 1) |
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{ |
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// decoded_strain_gauge_holdingReg_value[5]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[5]);
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// decoded_strain_gauge_holdingReg_value[6]=SWAP_ENDIAN_16(decoded_strain_gauge_holdingReg_value[6]);
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memcpy(&strainGaugeValue->RawPressure,&decoded_strain_gauge_holdingReg_value[5],4); |
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
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"strain_gauge", 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, "strain_gauge_decoding failed"); |
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} |
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} |
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//读取 09的寄存器
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void decode_strain_gauge_09(uint8_t *buffer, uint16_t length) |
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{ |
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// uint8_t data1[100];
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// memcpy(data1, buffer, length);
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int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1, |
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&decoded_strain_gauge_holdingReg_value[9]); |
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if (decoded_result == 1) |
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{ |
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strainGaugeValue->Save = decoded_strain_gauge_holdingReg_value[9]; |
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
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"strain_gauge", 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, "strain_gauge_decoding failed"); |
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} |
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} |
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