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141 lines
3.5 KiB
141 lines
3.5 KiB
/*
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* DMK_485_Motor.c
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*
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* Created on: Jan 21, 2025
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* Author: akeguo
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*/
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//DMKE Motor
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#include "msp_DMKE_485_Motor.h"
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DMKE_struct_define *DMKE_Motors[3];
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struct UARTHandler *DMAKE_UART_Handler;
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DispacherController *DMAKE_dispacherController;
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char Is_First_Run = 0;
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void decode_DMAKE(uint8_t *buffer, uint16_t length);
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void DMAKE_Set();
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void DMAKE_intialize(struct UARTHandler *Handler)
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{
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//TL720D_UART_Handler->UART_Decode = NULL;
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DMAKE_UART_Handler = Handler;
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DMAKE_UART_Handler->Wait_time = 30;
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DMAKE_UART_Handler->UART_Decode = decode_DMAKE;
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"DMAKE_1",0,DMAKE_1);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"DMAKE_2",0,DMAKE_2);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"DMAKE_3",0,DMAKE_3);
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DMAKE_dispacherController = Handler->dispacherController;
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DMAKE_dispacherController->DispacherCallTime = 20;
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DMAKE_dispacherController->Add_Dispatcher_List(DMAKE_dispacherController,
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DMAKE_Set);
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//log_info("TL720D_intialize");
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LOGFF(DL_ERROR, "TL720D_intialize");
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}
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void decode_DMAKE(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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if (buffer[0] == 1)
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{
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"DMAKE_1", 1);
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}
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else if (buffer[0] == 2)
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{
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"DMAKE_2", 1);
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}
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else if (buffer[0] == 3)
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{
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"DMAKE_3", 1);
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}
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}
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else
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{
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}
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}
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uint8_t DMAKE_UART_Tx_Buf[200];
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uint8_t DMAKE_UART_TxCount = 0;
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void DMAKE_Set()
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{
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if (Is_First_Run == 0)
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{
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for (int i = 0; i < 3; i++)
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{
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//clear faults
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MB_WriteHoldingReg(&DMAKE_UART_Tx_Buf, &DMAKE_UART_TxCount, (uint8_t)(DMKE_Motors[i]->Slave_ID),
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0x0131, 0x08);
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DMAKE_UART_Handler->AddSendList(DMAKE_UART_Handler,
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DMAKE_UART_Tx_Buf, DMAKE_UART_TxCount, 80, NULL);
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////set paramters
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MB_WriteHoldingReg(&DMAKE_UART_Tx_Buf, &DMAKE_UART_TxCount, (uint8_t)(DMKE_Motors[i]->Slave_ID),
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0x0131, 0x23);
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DMAKE_UART_Handler->AddSendList(DMAKE_UART_Handler,
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DMAKE_UART_Tx_Buf, DMAKE_UART_TxCount, 80, NULL);
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}
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Is_First_Run = 1;
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}
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else
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{
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for (int i = 0; i < 3; i++)
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{
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//set speed
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MB_WriteHoldingReg(&DMAKE_UART_Tx_Buf, &DMAKE_UART_TxCount, (uint8_t)(DMKE_Motors[i]->Slave_ID),
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0x06a, DMKE_Motors[i]->TargetSpeedRpm);
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DMAKE_UART_Handler->AddSendList(DMAKE_UART_Handler,
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DMAKE_UART_Tx_Buf, DMAKE_UART_TxCount, 40, NULL);
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//set direction
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}
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for (int i = 0; i < 3; i++)
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{
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//set direction
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if (DMKE_Motors[i]->Command == -1)
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{
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//正转
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MB_WriteHoldingReg(&DMAKE_UART_Tx_Buf, &DMAKE_UART_TxCount, (uint8_t)(DMKE_Motors[i]->Slave_ID),
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0x033, 0x01);
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}
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else if (DMKE_Motors[i]->Command == 0)
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{
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//stop
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MB_WriteHoldingReg(&DMAKE_UART_Tx_Buf, &DMAKE_UART_TxCount, (uint8_t)(DMKE_Motors[i]->Slave_ID),
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0x033, 0);
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}
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else if (DMKE_Motors[i]->Command == 1)
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{
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//reverse
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MB_WriteHoldingReg(&DMAKE_UART_Tx_Buf, &DMAKE_UART_TxCount, (uint8_t)(DMKE_Motors[i]->Slave_ID),
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0x033, 0x14);
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}
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DMAKE_UART_Handler->AddSendList(DMAKE_UART_Handler,
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DMAKE_UART_Tx_Buf, DMAKE_UART_TxCount, 40, NULL);
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}
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}
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}
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