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104 lines
2.7 KiB
104 lines
2.7 KiB
2 days ago
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/*
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* msp_T_F4.c
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*
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* Created on: Jun 18, 2025
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* Author: akeguo
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*/
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#include "msp_T_F4.h"
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#include "BHBF_ROBOT.h"
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#include "string.h"
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char Is_T_F4_All_Button_Reset = 0;
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void read_T_F4_Data(void);
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void Write_T_F4_Data(void);
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void decode_T_F4(uint8_t *buffer, uint16_t length);
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DispacherController *T_F4_dispacherController;
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T_F4_Value Current_T_F4_Value;
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T_F4_Value_2 Current_T_F4_Value_2;
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struct UARTHandler *T_F4_Remote_Controller_UART_Handler;
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void T_F4_Remote_Controller_intialize(struct UARTHandler *Handler)
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{
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T_F4_Remote_Controller_UART_Handler = Handler;
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T_F4_Remote_Controller_UART_Handler->Wait_time = 20; //等待10ms 最低不要低于4；
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T_F4_dispacherController = Handler->dispacherController;
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T_F4_dispacherController->DispacherCallTime = 200;
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T_F4_dispacherController->Dispacher_Enable = 1;
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T_F4_dispacherController->Add_Dispatcher_List(T_F4_dispacherController,
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read_T_F4_Data);
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T_F4_dispacherController->Add_Dispatcher_List(T_F4_dispacherController,
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Write_T_F4_Data);
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// HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,
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// "T_F4_Remote", 0, ComError_T_F4_Remote);
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LOG(DL_ERROR, "angle encoder decoding failed");
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}
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uint8_t Write_T_F4[10];
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uint16_t Data[5];
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uint8_t Flag;
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void read_T_F4_Data(void)
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{
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LOGFF(DL_ERROR, "read data from DeChi");
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T_F4_Remote_Controller_UART_Handler->UART_Decode = decode_T_F4;
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MB_ReadInputReg(&T_F4_Remote_Controller_UART_Handler->Tx_Buf,
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&T_F4_Remote_Controller_UART_Handler->TxCount, 1, 0, 6); //addr 3 reg 0 读取6 个
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T_F4_Remote_Controller_UART_Handler->UART_Tx(
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T_F4_Remote_Controller_UART_Handler);
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}
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void Write_T_F4_Data(void)
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{
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Data[0] = GV.Left_Compensation * 100;
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Data[1] = GV.Right_Compensation * 100;
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Data[2] = abs(GV.Robot_Angle.RF_Angle_Roll);
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Data[3] = GV.Robot_Speed_mpm * 100;
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Data[4] = abs(GV.Robot_PaintThickness);
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for (int i = 0; i < 5; i++)
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{
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Write_T_F4[2*i] = ((Data[i] / 256));//高位
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Write_T_F4[2*i+1] = ((Data[i] % 256));//低维
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}
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T_F4_Remote_Controller_UART_Handler->UART_Decode = NULL;
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MB_WriteNumHoldingReg(&T_F4_Remote_Controller_UART_Handler->Tx_Buf,
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&T_F4_Remote_Controller_UART_Handler->TxCount, 1, 5, 5, &Write_T_F4);
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T_F4_Remote_Controller_UART_Handler->UART_Tx(
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T_F4_Remote_Controller_UART_Handler);
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}
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uint16_t Decoded_Reg_Value[6];
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void decode_T_F4(uint8_t *buffer, uint16_t length)
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{
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uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
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/* CRC 校验正确 */
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if (buffer[0] == 0x01 && buffer[1] == 0x04 && crc_check == MB_CRC16(buffer, length - 2))
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{
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memcpy(&Current_T_F4_Value, &buffer[3], 6 * 2);
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"T_F4_Remote", 1);
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}
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else
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{
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LOGFF(DL_ERROR, "DeChi decoding failed");
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}
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}
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