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79 lines
2.5 KiB
79 lines
2.5 KiB
1 year ago
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/*
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* thickness_sensor.c
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*
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* Created on: Mar 21, 2025
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* Author: SQ-X
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*/
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#include "thickness_sensor.h"
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#include "BHBF_ROBOT.h"
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#include "bsp_Error.pb.h"
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void decode_thickness(uint8_t *buffer, uint16_t length);
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void GF_TS_Inquiry();
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int32_t* ThicknessValue;
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struct UARTHandler *Thickness_sensor;
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DispacherController *Thickness_sensor_dispacherController;
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void thickness_sensor_intialize(struct UARTHandler *Handler)
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{
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//uartHandler_intialize(&Force_sensor,Handler,10);
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Thickness_sensor = Handler;
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Thickness_sensor->UART_Decode=decode_thickness;
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Thickness_sensor->Wait_time = 10; //等待10ms 最低不要低于4；
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Thickness_sensor_dispacherController=Handler->dispacherController;
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Thickness_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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//log_info("angle_encoder_intialize");
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Thickness_sensor_dispacherController->Add_Dispatcher_List(Thickness_sensor_dispacherController,GF_TS_Inquiry);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"thickness_sensor",0,Thickness_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_Order1[40]={0XFE, 0XE1, 0X90, 0X0D, 0X00, 0X01, 0X00, 0X00,0x01,0x01,0x06, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00,0x0C,
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0x45,0x4D,0x32,0x34,0x31,0x31,0x31,0x38,0x53,0x30,0x30,0x31,0xC8,0x43,0x0D,0x90,0xE1,0xFE };//40个
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void GF_TS_Inquiry()
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{
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// MB_ReadHoldingReg(&Thickness_sensor->Tx_Buf,
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// &Thickness_sensor->TxCount, 1, 0x07D0, 2); //03 command ; read 2 registers
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for(int i=0;i<40;i++)
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{
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Thickness_sensor->Tx_Buf[i]=Inquiry_Order1[i];
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}
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Thickness_sensor->TxCount=40;
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Thickness_sensor->UART_Tx(Thickness_sensor);//send the data from the modbus command;
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LOG("GF_TS_Inquiry Second Version");
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}
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uint8_t data1[42];
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void decode_thickness(uint8_t *buffer, uint16_t length)
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{
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memcpy(data1,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[36] << 8) | buffer[37]);
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/* CRC 校验正确 */
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if (crc_check == MB_CRC16(&buffer[22], 14))
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{
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*ThicknessValue= (int32_t)((int32_t)buffer[34]<<8|buffer[35]);
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"thickness_sensor",1);
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LOG("decode_force succeeded and the thickness is %d",*ForceValue);
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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,"thickness_sensor decoding failed");
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}
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}
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