厚度传感器代码

厚度传感器ch文件/thickness_sensor.c

@@ -0,0 +1,78 @@
+/*
+ * thickness_sensor.c
+ *
+ *  Created on: Mar 21, 2025
+ *      Author: SQ-X
+ */
+
+#include "thickness_sensor.h"
+#include "BHBF_ROBOT.h"
+#include "bsp_Error.pb.h"
+
+void decode_thickness(uint8_t *buffer, uint16_t length);
+void GF_TS_Inquiry();
+
+int32_t* ThicknessValue;
+struct UARTHandler *Thickness_sensor;
+DispacherController *Thickness_sensor_dispacherController;
+void thickness_sensor_intialize(struct UARTHandler *Handler)
+{
+	//uartHandler_intialize(&Force_sensor,Handler,10);
+	Thickness_sensor = Handler;
+	Thickness_sensor->UART_Decode=decode_thickness;
+	Thickness_sensor->Wait_time = 10; //等待10ms 最低不要低于4；
+	Thickness_sensor_dispacherController=Handler->dispacherController;
+	Thickness_sensor_dispacherController->DispacherCallTime = 50;//10 是100ms 难道这个2ms的定时器是10ms的？
+	LOG("angle_encoder_intialize");
+		//log_info("angle_encoder_intialize");
+	Thickness_sensor_dispacherController->Add_Dispatcher_List(Thickness_sensor_dispacherController,GF_TS_Inquiry);
+
+
+	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"thickness_sensor",0,Thickness_sensor);
+		//uartHandler->Insert_HardWare_Entry_UART
+	 LOG("steering_engine_intialize");
+}
+
+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,
+		0x45,0x4D,0x32,0x34,0x31,0x31,0x31,0x38,0x53,0x30,0x30,0x31,0xC8,0x43,0x0D,0x90,0xE1,0xFE };//40个
+void GF_TS_Inquiry()
+{
+
+//	MB_ReadHoldingReg(&Thickness_sensor->Tx_Buf,
+//			&Thickness_sensor->TxCount, 1, 0x07D0, 2); //03 command ; read 2 registers
+	for(int i=0;i<40;i++)
+	{
+		Thickness_sensor->Tx_Buf[i]=Inquiry_Order1[i];
+	}
+
+	Thickness_sensor->TxCount=40;
+	Thickness_sensor->UART_Tx(Thickness_sensor);//send the data from the modbus command;
+	LOG("GF_TS_Inquiry Second Version");
+
+}
+
+uint8_t data1[42];
+void decode_thickness(uint8_t *buffer, uint16_t length)
+{
+	memcpy(data1,buffer,length);
+	LOG("start decoding and the length is %d",length);
+	/* CRC 校验 */
+	uint16_t crc_check = ((buffer[36] << 8) | buffer[37]);
+	/* CRC 校验正确 */
+	if (crc_check == MB_CRC16(&buffer[22], 14))
+	{
+		*ThicknessValue= (int32_t)((int32_t)buffer[34]<<8|buffer[35]);
+
+		HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"thickness_sensor",1);
+		LOG("decode_force  succeeded and the thickness is %d",*ForceValue);
+
+	}
+	else
+	{
+		//Decode Error；
+		//log_error("wire sensor decoding failed");
+		LOGFF(DL_ERROR,"thickness_sensor decoding failed");
+
+	}
+
+}

厚度传感器ch文件/thickness_sensor.h

@@ -0,0 +1,17 @@
+/*
+ * thickness_sensor.h
+ *
+ *  Created on: Mar 21, 2025
+ *      Author: SQ-X
+ */
+
+#ifndef INC_THICKNESS_SENSOR_H_
+#define INC_THICKNESS_SENSOR_H_
+
+#include "bsp_MB_host.h"
+extern void thickness_sensor_intialize(struct UARTHandler *Handler);
+extern int32_t* ThicknessValue;
+
+
+
+#endif /* INC_THICKNESS_SENSOR_H_ */