Code_Pcakages/BHBF_Robot_Washing/BASE/Src/MSP/msp_DAM0404D.c

/*
 * msp_DAM0404D.c
 *
 *  Created on: Nov 22, 2024
 *      Author: akeguo
 */
#include "msp_DAM0404D.h"
#include "BHBF_ROBOT.h"
#include "bsp_MB_host.h"

void MB_WriteNumsCoilWithOneByte(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
		uint16_t _reg, uint16_t _num, uint8_t _databuf);

int32_t* DMA_DAM0404D_Output_Value[4];
void decode_DAM(uint8_t *buffer, uint16_t length);
void DAM_0_Set();
void DAM_1_Set();
void DAM_2_Set();
void DAM_3_Set();
void DAM040D_Set_ALL();

struct UARTHandler *DAM0404D_Relay;

DispacherController *DAM0404D_Relay_dispacherController;
void DAM0404D_Relay_intialize(struct UARTHandler *Handler)
{
	//uartHandler_intialize(&Force_sensor,Handler,10);
	DAM0404D_Relay = Handler;
	DAM0404D_Relay->UART_Decode = decode040D_DAM;
	DAM0404D_Relay->Wait_time = 6; //等待10ms 最低不要低于4；
	DAM0404D_Relay_dispacherController = Handler->dispacherController;
	DAM0404D_Relay_dispacherController->DispacherCallTime = 100; //10 是100ms 难道这个2ms的定时器是10ms的？



//	DAM0404D_Relay_dispacherController->Add_Dispatcher_List(
//			DAM0404D_Relay_dispacherController, DAM040D_0_Set);
//	DAM0404D_Relay_dispacherController->Add_Dispatcher_List(
//			DAM0404D_Relay_dispacherController, DAM040D_1_Set);
//	DAM0404D_Relay_dispacherController->Add_Dispatcher_List(
//			DAM0404D_Relay_dispacherController, DAM040D_2_Set);
//	DAM0404D_Relay_dispacherController->Add_Dispatcher_List(
//			DAM0404D_Relay_dispacherController, DAM040D_3_Set);
	DAM0404D_Relay_dispacherController->Add_Dispatcher_List(
			DAM0404D_Relay_dispacherController, DAM040D_Set_ALL);
	HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, "DAM040D",
			0,DAM040D_Relay_ErrorBitFlag);

}

void DAM040D_0_Set()
{
	if (*DMA_DAM0404D_Output_Value[0] == 1)
	{
		  MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
				0, 1);
	} else
	{
		  MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
					0, 0);
	}

	DAM0404D_Relay->UART_Tx(DAM0404D_Relay); //send the data from the modbus command;

}
void DAM040D_1_Set()
{
	if (*DMA_DAM0404D_Output_Value[1] == 1)
	{
		MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
			1, 1);

	} else
	{
		MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
				1, 0);
	}

	DAM0404D_Relay->UART_Tx(DAM0404D_Relay); //send the data from the modbus command;

}
void DAM040D_2_Set()
{
	if (*DMA_DAM0404D_Output_Value[2] == 1)
	{
		MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
					2, 1);
	} else
	{
		MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
					2, 0);
	}

	DAM0404D_Relay->UART_Tx(DAM0404D_Relay); //send the data from the modbus command;

}
void DAM040D_3_Set()
{
	if (*DMA_DAM0404D_Output_Value[3] == 1)
	{
		MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
					3, 1);
	} else
	{
		MB_WriteCoil(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
					3, 0);
	}

	DAM0404D_Relay->UART_Tx(DAM0404D_Relay); //send the data from the modbus command;

}
uint8_t sendbufCoils=0;
void DAM040D_Set_ALL()
{
	for(int i=0;i<4;i++)
	{
		sendbufCoils|=(((uint8_t)*DMA_DAM0404D_Output_Value[i])<<i);
	}
	 MB_WriteNumsCoilWithOneByte(DAM0404D_Relay->Tx_Buf, DAM0404D_Relay->TxCount, 0xfe,
			0, 4, sendbufCoils);

	DAM0404D_Relay->UART_Tx(DAM0404D_Relay); //send the data from the modbus command;

}
void decode040D_DAM(uint8_t *buffer, uint16_t length)
{
	/* CRC 校验 */
		uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
		/* CRC 校验正确 */
		if (crc_check == MB_CRC16(buffer, length - 2))
		{
			HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"DAM040D",1);
		}
		else
		{

		}



}


void MB_WriteNumsCoilWithOneByte(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
		uint16_t _reg, uint16_t _num, uint8_t _databuf)
{
	uint16_t TxCount = 0;
	uint16_t crc = 0;
	Tx_Buf[TxCount++] = _addr; /* 从站地址 */
	Tx_Buf[TxCount++] = 0x0F; /* 功能码 */
	Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
	Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
	Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */
	Tx_Buf[TxCount++] = _num; /* 低字节 */
	Tx_Buf[TxCount++] = 1;
	Tx_Buf[TxCount++] = _databuf;
   /* 数据个数 */

	crc = MB_CRC16(Tx_Buf, TxCount);
	Tx_Buf[TxCount++] = crc; /* crc 低字节 */
	Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
	//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
	*TxCount_t = TxCount;
}