update

components/huacheng_sensor/dp600_pressure_sensor.cpp

@@ -0,0 +1,26 @@
+#include "dp600_pressure_sensor.hpp"
+
+using namespace iflytop;
+
+DP600PressureSensor::DP600PressureSensor(/* args */) {}
+DP600PressureSensor::~DP600PressureSensor() {}
+void DP600PressureSensor::initialize(UART_HandleTypeDef *huart, uint8_t id) {
+  modbusBlockHost.initialize(huart);
+  this->id = id;
+}
+bool DP600PressureSensor::readVal(sensor_data_t *data) {
+  int16_t val[5] = {0};
+
+  bool suc = modbusBlockHost.readReg03Muti(id, 0x02, (uint16_t *)val, 5, 50);
+  if (!suc) {
+    return false;
+  }
+
+  data->precision        = val[1];
+  data->pressure_unit    = val[0];
+  data->value            = val[2];
+  data->zero_point       = val[3];
+  data->range_full_point = val[4];
+
+  return true;
+}

components/huacheng_sensor/dp600_pressure_sensor.hpp

@@ -0,0 +1,60 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include "sdk\components\modbus\modbus_block_host.hpp"
+#include "sdk\hal\zhal.hpp"
+
+/**
+ * @brief
+ *
+ * service: M3078
+ *
+ * 监听事件:
+ * 依赖状态:
+ * 依赖服务:
+ * 作用:
+ *
+ * 推荐配置:
+ *  1.  识读模式:按键保持
+ *  2.  波特率:9600
+ *  3.  单次扫码时长:无限时
+ *
+ */
+namespace iflytop {
+using namespace std;
+
+class DP600PressureSensor {
+ public:
+  typedef struct {
+    uint8_t precision;
+    uint8_t pressure_unit;
+    int16_t value;
+    int16_t zero_point;
+    int16_t range_full_point;
+  } sensor_data_t;
+
+ private:
+  /* data */
+
+  ModbusBlockHost modbusBlockHost;
+  uint8_t         id;
+
+  typedef enum {
+    kreg_precision        = 0x03,
+    kreg_pressure_unit    = 0x02,
+    kreg_value            = 0x04,
+    kreg_zero_point       = 0x05,
+    kreg_range_full_point = 0x06,
+  } add_t;
+
+ public:
+  DP600PressureSensor(/* args */);
+  ~DP600PressureSensor();
+
+  void initialize(UART_HandleTypeDef *huart, uint8_t id);
+  bool readVal(sensor_data_t *data);
+};
+
+}  // namespace iflytop

components/modbus/modbus_basic.hpp

@@ -1,4 +1,4 @@
-#pragma ocne
+#pragma once
 #include <stdbool.h>
 #include <stdint.h>
 

components/modbus/modbus_block_host.cpp

@@ -61,6 +61,32 @@ bool ModbusBlockHost::readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t *r
   }
   return false;
 }
+
+bool ModbusBlockHost::readReg03Muti(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int regNum, int overtimems) {
+  txbuff[0] = slaveAddr;
+  txbuff[1] = 0x03;
+  txbuff[2] = regAddr >> 8;
+  txbuff[3] = regAddr & 0xff;
+  txbuff[4] = 0x00;
+  txbuff[5] = regNum;
+  modbus_pack_crc_to_packet(txbuff, 6 + 2);
+
+  cleanRxBuff();
+
+  uarttx(txbuff, 6 + 2);
+
+  bool status;
+  status = uartrx(rxbuff, 7 + regNum * 2, overtimems);
+
+  if (status && modbus_checkcrc16(rxbuff, 7 + regNum * 2)) {
+    for (int i = 0; i < regNum; i++) {
+      regVal[i] = rxbuff[3 + i * 2] << 8 | rxbuff[4 + i * 2];
+    }
+    return true;
+  }
+  return false;
+}
+
 bool ModbusBlockHost::writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems) {
   txbuff[0] = slaveAddr;
   txbuff[1] = 0x06;
@@ -105,4 +131,4 @@ bool ModbusBlockHost::writeReg10(uint8_t slaveAddr, uint16_t regAddr, uint16_t r
     return true;
   }
   return false;
-}
+}

components/modbus/modbus_block_host.hpp

@@ -1,4 +1,4 @@
-#pragma ocne
+#pragma once
 #include "sdk/hal/zhal.hpp"
 //
 
@@ -16,6 +16,7 @@ class ModbusBlockHost {
   void initialize(UART_HandleTypeDef *huart);
 
   bool readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int overtimems);
+  bool readReg03Muti(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int regNum, int overtimems);
   bool writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems);
   bool writeReg10(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems);
 

components/zcan_module/huacheng_pressure_sensor.cpp

@@ -0,0 +1,90 @@
+#include "huacheng_pressure_sensor.hpp"
+
+#include <stdio.h>
+#include <string.h>
+
+#ifdef HAL_CAN_MODULE_ENABLED
+
+using namespace iflytop;
+using namespace zcr;
+#define TAG "HuachengPressureSensor"
+
+void HuachengPressureSensor::initialize(ZCanReceiver* zcanReceiver) {
+  zcanReceiver->registerListener(this);
+  m_zcanReceiver = zcanReceiver;
+}
+
+void HuachengPressureSensor::regSubmodule(int id, UART_HandleTypeDef* huart, uint8_t modbusid) {
+  ZASSERT(huart != NULL);
+
+  Submodule* submodule = new Submodule();
+  ZASSERT(submodule != NULL);
+  submodule->id = id;
+  submodule->sensor.initialize(huart, modbusid);
+  m_submodules.push_back(submodule);
+}
+
+void HuachengPressureSensor::onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len) {
+  Cmdheader_t* cmdheader = (Cmdheader_t*)packet;
+  if (cmdheader->cmdid == kcmd_read_huacheng_pressure_sensor && cmdheader->subcmdid == 0) {
+    /**
+     * @brief 通断控制(0)
+     *  cmd         : b0:sensorid
+     *  ack         : b0:boardid b2:5:presure pa
+     *  ack_datalen : 6
+     */
+#if 0
+    [0]:传感器ID
+[2] 精度
+  0,1,2,3
+[3] 单位
+  0-Mpa
+  1-Kpa
+  2-Pa
+  3-Bar
+  4-Mbar
+  5-kg/cm2
+  6-psi
+  7-mh2o
+  8-mmh2o
+[4:5] 数值
+[6:7] 零点
+[8:9] 满量程
+#endif
+    uint8_t    id   = cmdheader->data[0];
+    Submodule* subm = find(id);
+    if (subm) {
+      uint8_t txbuff[10] = {};
+      txbuff[0]          = id;
+      DP600PressureSensor::sensor_data_t data;
+      bool                               suc = subm->sensor.readVal(&data);
+
+      if (suc) {
+        txbuff[0] = id;
+        txbuff[1] = 0;
+        txbuff[2] = data.precision;
+        txbuff[3] = data.pressure_unit;
+        memcpy(txbuff + 4, &data.value, 2);
+        memcpy(txbuff + 6, &data.zero_point, 2);
+        memcpy(txbuff + 8, &data.range_full_point, 2);
+        m_zcanReceiver->sendAck(cmdheader, txbuff, sizeof(txbuff));
+      } else {
+        int16_t errcode = 1002;  // 设备不在线
+        m_zcanReceiver->sendErrorAck(cmdheader, errcode);
+      }
+
+      return;
+    }
+  }
+}
+
+HuachengPressureSensor::Submodule* HuachengPressureSensor::find(int id) {
+  for (auto it = m_submodules.begin(); it != m_submodules.end(); it++) {
+    if ((*it)->id == id) {
+      return *it;
+    }
+  }
+  return NULL;
+}
+
+#endif

components/zcan_module/huacheng_pressure_sensor.hpp

@@ -0,0 +1,46 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include "sdk/hal/zhal.hpp"
+//
+#include "../zcanreceiver/zcanreceiver.hpp"
+#include "sdk/components/huacheng_sensor/dp600_pressure_sensor.hpp"
+
+#ifdef HAL_CAN_MODULE_ENABLED
+namespace iflytop {
+
+class HuachengPressureSensor : public ZCanRceiverListener {
+ public:
+  typedef function<int32_t()> readpresure_t;
+
+  class Submodule {
+   public:
+    int                 id;
+    DP600PressureSensor sensor;
+  };
+
+ private:
+  ZCanReceiver* m_zcanReceiver;
+
+  list<Submodule*> m_submodules;
+
+ public:
+  HuachengPressureSensor(/* args */) {}
+  ~HuachengPressureSensor() {}
+
+ public:
+  void initialize(ZCanReceiver* zcanReceiver);
+  void regSubmodule(int id, UART_HandleTypeDef* huart, uint8_t modbusid);
+
+ public:
+  virtual void onRceivePacket(CanPacketRxBuffer* rxbuf, uint8_t* packet, size_t len);
+  Submodule*   find(int id);
+
+ private:
+  void loop();
+};
+}  // namespace iflytop
+
+#endif

components/zcanreceiver/cmd.hpp

@@ -15,7 +15,8 @@ typedef struct {
 typedef enum {
   kpt_cmd           = 0,
   kpt_ack           = 1,
-  kpt_status_report = 2,
+  kpt_error_ack     = 2,
+  kpt_status_report = 3,
 } PacketType_t;
 
 typedef enum {
@@ -23,11 +24,12 @@ typedef enum {
   kcmd_read_io = 1,
   kcmd_set_io  = 2,
 
-  kcmd_m211887_operation         = 1000,  // 维萨拉压力传感器
-  kcmd_read_presure_sensor       = 1001,
-  kcmd_triple_warning_light_ctl  = 1002,
-  kcmd_high_power_electrical_ctl = 1003,
-  kcmd_peristaltic_pump_ctl      = 1004,
+  kcmd_m211887_operation             = 1000,  // 维萨拉压力传感器
+  kcmd_read_presure_sensor           = 1001,
+  kcmd_triple_warning_light_ctl      = 1002,
+  kcmd_high_power_electrical_ctl     = 1003,
+  kcmd_peristaltic_pump_ctl          = 1004,
+  kcmd_read_huacheng_pressure_sensor = 1005,
 } CmdID_t;
 
 }  // namespace zcr

components/zcanreceiver/zcanreceiver.cpp

@@ -140,6 +140,13 @@ void ZCanReceiver::sendAck(Cmdheader_t *cmdheader, uint8_t *data, size_t len) {
   sendPacket(txbuff, sizeof(Cmdheader_t) + len);
 }
 
+void ZCanReceiver::sendErrorAck(Cmdheader_t *cmdheader, int16_t errcode) {
+  Cmdheader_t *txheader = (Cmdheader_t *)txbuff;
+  memcpy(txheader, cmdheader, sizeof(Cmdheader_t));
+  txheader->packetType = kpt_error_ack;
+  sendPacket(txbuff, sizeof(Cmdheader_t) + 2);
+}
+
 bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
   CAN_TxHeaderTypeDef pHeader;
   uint8_t             aData[8] /*8byte table*/;

components/zcanreceiver/zcanreceiver.hpp

@@ -75,6 +75,7 @@ class ZCanReceiver : public ZCanIRQListener {
   void    registerListener(ZCanRceiverListener *listener);
   void    sendPacket(uint8_t *packet, size_t len);
   void    sendAck(Cmdheader_t *cmdheader, uint8_t *data, size_t len);
+  void    sendErrorAck(Cmdheader_t *cmdheader, int16_t errcode);
   bool    sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
   uint8_t getDeviceId() { return m_config->deviceId; }