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97 lines
2.8 KiB
97 lines
2.8 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_PaintThickness.h"
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#include "bsp_Error.pb.h"
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#include "BHBF_ROBOT.h"
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#include "stdint.h"
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void decode_PaintThickness(uint8_t *buffer, uint16_t length);
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void GF_PT_Inquiry();//inqure data from the, in fact this is a modbus 03 function;
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int32_t* PaintThickness;
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struct UARTHandler *PaintThickness_sensor;
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DispacherController *PaintThickness_sensor_dispacherController;
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void Paint_Thickness_intialize(struct UARTHandler *Handler)
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{
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//uartHandler_intialize(&Force_sensor,Handler,10);
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PaintThickness_sensor = Handler;
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PaintThickness_sensor->UART_Decode=decode_PaintThickness;
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PaintThickness_sensor->Wait_time = 10; //等待10ms 最低不要低于4；
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PaintThickness_sensor_dispacherController=Handler->dispacherController;
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PaintThickness_sensor_dispacherController->DispacherCallTime = 200;//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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PaintThickness_sensor_dispacherController->Dispacher_Enable = 1;
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//log_info("angle_encoder_intialize");
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PaintThickness_sensor_dispacherController->Add_Dispatcher_List(PaintThickness_sensor_dispacherController,GF_PT_Inquiry);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"PaintThickness_sensor",0,PaintThickness_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_PT[6]={0X2E, 0X64, 0X30, 0X3C, 0X3A, 0X3E};
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void GF_PT_Inquiry()
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{
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memcpy(&PaintThickness_sensor->Tx_Buf, &Inquiry_Order_PT, 6);
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PaintThickness_sensor->TxCount = 6;
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PaintThickness_sensor->UART_Tx(PaintThickness_sensor);//send the data from the modbus command;
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LOG("GF_PT_Inquiry Second Version");
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}
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void decode_PaintThickness(uint8_t *buffer, uint16_t length)
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{
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//memcpy(data_PaintThickness,buffer,length);
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LOG("start decoding and the length is %d",length);
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/* 校验 */
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//;<:>
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uint8_t crc_check[4] = {';','<',':','>'};
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/* CRC 校验正确 */
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if (crc_check[3] == buffer[length - 1]
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&& crc_check[2] == buffer[length - 2]
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&& crc_check[1] == buffer[length - 3]
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&& crc_check[0] == buffer[length - 4])
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{
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int startIndex=0;
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for(int j=5;j<=14;j++)
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{
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if(buffer[length-j] == ';' || buffer[length-j] == 'e')
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{
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startIndex=j;
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break;
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}
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}
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if(startIndex==0)return;
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char PaintThickness_in[startIndex-5];//应该不会超过10个
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memcpy(PaintThickness_in,&buffer[length-startIndex+1],startIndex-5);
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*PaintThickness = atof(PaintThickness_in) * 10;
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"PaintThickness_sensor",1);
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LOG("decode_PaintThickness succeeded and the force is %d",*PaintThickness);
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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,"PaintThickness_sensor decoding failed");
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}
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}
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