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76 lines
2.2 KiB
76 lines
2.2 KiB
1 week ago
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/*
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* msp_Force_Sensor.c
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*
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* Created on: Oct 8, 2024
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* Author: akeguo
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*/
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#include "msp_Force_Sensor.h"
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#include "bsp_Error.pb.h"
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#include "BHBF_ROBOT.h"
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void decode_force(uint8_t *buffer, uint16_t length);
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void GF_FS_Inquiry();//inqure data from the, in fact this is a modbus 03 function;
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int32_t* ForceValue_in;
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struct UARTHandler *Force_sensor;
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DispacherController *Force_sensor_dispacherController;
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void force_sensor_intialize(struct UARTHandler *Handler)
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{
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//uartHandler_intialize(&Force_sensor,Handler,10);
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Force_sensor = Handler;
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Force_sensor->UART_Decode=decode_force;
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Force_sensor->Wait_time = 10; //等待10ms 最低不要低于4；
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Force_sensor_dispacherController=Handler->dispacherController;
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Force_sensor_dispacherController->DispacherCallTime = 50;//10 是100ms 难道这个2ms的定时器是10ms的？
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LOG("angle_encoder_intialize");
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Force_sensor_dispacherController->Dispacher_Enable = 1;
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//log_info("angle_encoder_intialize");
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Force_sensor_dispacherController->Add_Dispatcher_List(Force_sensor_dispacherController,GF_FS_Inquiry);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"force_sensor",0,force_sensor);
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//uartHandler->Insert_HardWare_Entry_UART
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LOG("steering_engine_intialize");
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}
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uint8_t Inquiry_Order[8]={0X01, 0X03, 0X07, 0XD0, 0X00, 0X02, 0XC4, 0X86};
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void GF_FS_Inquiry()
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{
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MB_ReadHoldingReg(&Force_sensor->Tx_Buf,
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&Force_sensor->TxCount, 1, 0x07D0, 2); //03 command ; read 2 registers
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Force_sensor->UART_Tx(Force_sensor);//send the data from the modbus command;
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LOG("GF_FS_Inquiry Second Version");
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}
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uint8_t data[20];
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void decode_force(uint8_t *buffer, uint16_t length)
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{
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memcpy(data,buffer,length);
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LOG("start decoding and the length is %d",length);
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/* CRC 校验 */
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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 (crc_check == MB_CRC16(buffer, length - 2))
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{
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*ForceValue_in = (int32_t)((int32_t)buffer[3]<<24|buffer[4]<<16|buffer[5]<<8|buffer[6]);
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"force_sensor",1);
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LOG("decode_force succeeded and the force is %d",*ForceValue_in);
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}
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else
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{
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//Decode Error；
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//log_error("wire sensor decoding failed");
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LOGFF(DL_ERROR,"force_sensor decoding failed");
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}
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}
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