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72 lines
2.0 KiB
72 lines
2.0 KiB
11 months ago
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/*
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* wire_sensor.c
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*
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* Created on: Jul 16, 2024
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* Author: akeguo
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*/
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#include <bsp_Log.h>
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#include "msp_wire_sensor.h"
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#include "BHBF_ROBOT.h"
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//MB_REG_DATA wire_sensor_mb_reg_value; 10H的时候用
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struct UARTHandler* wire_sensor_UART_Handler;
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DispacherController* wire_sensor_dispacher;
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int32_t* Desulfurizer_Wire_Length;
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int32_t *Desulfurizer_Thickness;
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void decode_Length(uint8_t *buffer, uint16_t length)
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{
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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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*Desulfurizer_Wire_Length = buffer[3] << 8 | buffer[4] ;
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//log_info("wire sensor decoding succeeded, and the length is %d",wire_length);
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LOG("wire sensor decoding succeeded, and the length is %d",*Desulfurizer_Wire_Length);
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//wire_sensor_UART_Handler->Set_PCOMHardWare(wire_sensor_UART_Handler,"wire_sensor",1);
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"wire_sensor",1);
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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,"wire sensor decoding failed");
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"wire_sensor",1);
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}
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}
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void wire_sensor_intialize(struct UARTHandler* Handler)
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{
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wire_sensor_UART_Handler = Handler;
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wire_sensor_UART_Handler->Wait_time = 10; //等待10ms 最低不要低于4；
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wire_sensor_dispacher=Handler->dispacherController;
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wire_sensor_dispacher->Add_Dispatcher_List(wire_sensor_dispacher,read_wire_sensor_length);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"wire_sensor",0,wire_sensor);
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LOG("wire_sensor_intialize");
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//log_info("wire_sensor_intialize");
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}
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void read_wire_sensor_length()
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{
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//LOG("read_wire_sensor_length");
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LOG("read_wire_sensor_length");
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wire_sensor_UART_Handler->UART_Decode = decode_Length;
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MB_ReadHoldingReg(&wire_sensor_UART_Handler->Tx_Buf,
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&wire_sensor_UART_Handler->TxCount, 2, 0, 2); //read from the data;
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wire_sensor_UART_Handler->UART_Tx(wire_sensor_UART_Handler);
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}
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