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99 lines
2.7 KiB
99 lines
2.7 KiB
/*
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* map_DH_Remote_Controller.c
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*
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* Created on: Jul 31, 2024
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* Author: akeguo
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*
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* this file is targeted to DCH-D24
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* SN23080533
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* IP 65
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*
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*/
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#include "msp_DH_Remote_Controller.h"
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#include <bsp_Log.h>
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#include "bsp_MB_host.h"
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#include "BHBF_ROBOT.h"
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uint16_t De_Chi_For_Back_Wards_Speed; //dechi 前进后退速度
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uint16_t De_Chi_Left_Rigth_Wards_Speed; //dechi 左转右转速度
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struct DeChiMoveState *DeChiMoveCurrentState;
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struct DeChiFunctionState *DeChiFunctionCurrentState;
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DispacherController *DeChi_dispacherController;
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struct UARTHandler *DH_Remote_Controller_UART_Handler;
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void DH_Remote_Controller_intialize(struct UARTHandler *Handler)
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{
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DH_Remote_Controller_UART_Handler = Handler;
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DH_Remote_Controller_UART_Handler->Wait_time = 6; //等待10ms 最低不要低于4；
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DeChi_dispacherController=Handler->dispacherController;
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DeChi_dispacherController->DispacherCallTime=100;
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DeChi_dispacherController->Add_Dispatcher_List(DeChi_dispacherController,read_DeChi_Data);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"DH_Remote",0,DH_Remote);
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LOG(DL_ERROR,"angle encoder decoding failed");
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}
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void read_DeChi_Data(void)
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{
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LOGFF(DL_ERROR,"read data from DeChi");
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DH_Remote_Controller_UART_Handler->UART_Decode = decode_DeChi;
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MB_ReadInputReg(&DH_Remote_Controller_UART_Handler->Tx_Buf,
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&DH_Remote_Controller_UART_Handler->TxCount, 3, 0, 6);
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DH_Remote_Controller_UART_Handler->UART_Tx(
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DH_Remote_Controller_UART_Handler);
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}
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uint16_t Decoded_Reg_Value[6];
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void decode_DeChi(uint8_t *buffer, uint16_t length)
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{
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int decoded_result;
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decoded_result = MB_Decode_InputRegs(buffer, length, 6, Decoded_Reg_Value);
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if (decoded_result == 1)
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{
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De_Chi_For_Back_Wards_Speed = Decoded_Reg_Value[0];
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De_Chi_Left_Rigth_Wards_Speed = Decoded_Reg_Value[1];
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DeChiMoveCurrentState = &Decoded_Reg_Value[2];
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DeChiFunctionCurrentState = &Decoded_Reg_Value[3];
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LOG("DeChi decoding succeeded");
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
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"DH_Remote", 1);
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} else
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{
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//log_error("DeChi decoding failed");
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LOGFF(DL_ERROR,"DeChi decoding failed");
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}
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}
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MB_REG_DATA mb_reg_value_DH;
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void set_DeChi_Display(uint16_t Angle, uint16_t Speed)
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{
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DH_Remote_Controller_UART_Handler->UART_Decode = NULL; //表示不需要解析读回来的数据
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mb_reg_value_DH.DATA_10H[0] = (Angle >> 8) & 0xff;
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mb_reg_value_DH.DATA_10H[1] = (Angle) & 0xff;
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mb_reg_value_DH.DATA_10H[2] = (Speed >> 8) & 0xff;
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mb_reg_value_DH.DATA_10H[3] = Speed & 0xff;
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MB_WriteNumHoldingReg(&DH_Remote_Controller_UART_Handler->Tx_Buf,
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&DH_Remote_Controller_UART_Handler->TxCount, 3, 0, 2,
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mb_reg_value_DH.DATA_10H);
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//read from the data;
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DH_Remote_Controller_UART_Handler->UART_Tx(
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DH_Remote_Controller_UART_Handler);
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}
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