diff --git a/components/eq_20_asb_motor/eq20_servomotor.cpp b/components/eq_20_asb_motor/eq20_servomotor.cpp index 34e916b..3a09c3c 100644 --- a/components/eq_20_asb_motor/eq20_servomotor.cpp +++ b/components/eq_20_asb_motor/eq20_servomotor.cpp @@ -3,64 +3,181 @@ #include #include "sdk\components\modbus\modbus_basic.hpp" +#include "sdk\components\zprotocols\errorcode\errorcode.hpp" using namespace std; using namespace iflytop; -static void dumpbuf(const char *mark, const char *buf, int len) { - printf("%s:", mark); - for (size_t i = 0; i < len; i++) { - printf("0x%02x ", (uint8_t)buf[i]); - } - printf("\n"); -} -void Eq20ServoMotor::init(ModbusBlockHost *modbusBlockHost) { +#define TAG "Eq20ServoMotor" + +void Eq20ServoMotor::init(ModbusBlockHost *modbusBlockHost, int id) { // this->com = com; m_modbusBlockHost = modbusBlockHost; + m_deviceId = id; + ZASSERT(m_modbusBlockHost != NULL); } -bool Eq20ServoMotor::writereg32(int deviceid, uint32_t regadd, int value) { // - m_modbusBlockHost->cleanRxBuff(); - uint8_t sendBuff[30] = {0}; - sendBuff[0] = deviceid; - sendBuff[1] = 0x10; - sendBuff[2] = regadd / 256; // regadd hi - sendBuff[3] = regadd % 256; // regadd li - sendBuff[4] = (0); - sendBuff[5] = (2); - sendBuff[6] = 4; +#define DO(exptr) \ + { \ + int32_t __ret = exptr; \ + if (__ret != 0) { \ + ZLOGE(TAG, "do %s %d", #exptr, __ret); \ + return __ret; \ + } \ + } - sendBuff[7] = (value >> 8) & 0xff; - sendBuff[8] = (value >> 0) & 0xff; - sendBuff[9] = (value >> 24) & 0xff; - sendBuff[10] = (value >> 16) & 0xff; - modbus_pack_crc_to_packet(sendBuff, 13); +int32_t Eq20ServoMotor::move_to(int32_t topos, int32_t rpm, int32_t acctime) { +#if 0 +write_pn 1 610 0x0001 # 接点1运行方式选择，相对运动 +write_pn 1 615 500 # 接点1运行速度rpm +write_pn 1 614 10000 #正转1圈 +write_pn 1 616 100 #Pn616 接点 1 加速时间 +write_pn 1 617 100 #Pn617 接点 1 减速时间 +write_pn_bit 1 1501 0 0 +write_pn_bit 1 1501 0 1 +#endif + DO(write_pn(m_deviceId, 610, 0x0001)); + DO(write_pn(m_deviceId, 615, rpm)); + DO(write_pn(m_deviceId, 614, topos)); + DO(write_pn(m_deviceId, 616, acctime)); + DO(write_pn(m_deviceId, 617, acctime)); + DO(write_pn_bit(m_deviceId, 1501, 0, 0)); + DO(write_pn_bit(m_deviceId, 1501, 0, 1)); + return 0; +} +int32_t Eq20ServoMotor::move_by(int32_t pos, int32_t rpm, int32_t acctime) { +#if 0 +write_pn 1 610 0x0011 # 接点1运行方式选择，绝对位置运动 +write_pn 1 614 10000 #正转1圈 +write_pn 1 615 100 # 接点1运行速度rpm +write_pn 1 616 100 #Pn616 接点 1 加速时间 +write_pn 1 617 100 #Pn617 接点 1 减速时间 +write_pn_bit 1 1501 0 0 +write_pn_bit 1 1501 0 1 +#endif + DO(write_pn(m_deviceId, 610, 0x0011)); + DO(write_pn(m_deviceId, 614, pos)); + DO(write_pn(m_deviceId, 615, rpm)); + DO(write_pn(m_deviceId, 616, acctime)); + DO(write_pn(m_deviceId, 617, acctime)); + DO(write_pn_bit(m_deviceId, 1501, 0, 0)); + DO(write_pn_bit(m_deviceId, 1501, 0, 1)); + return 0; +} +int32_t Eq20ServoMotor::rotate(int32_t rpm, int32_t acctime) { return move_by(100000 * 10000, rpm, acctime); } - int sendBuff_length = 13; // 2byte 校验 - dumpbuf("tx", (char *)sendBuff, sendBuff_length); +int32_t Eq20ServoMotor::move_to_zero_forward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time) { +#if 0 +write_pn 1 600 8 # 回零方式选择 +write_pn 1 601 500 # 寻参速度 RPM +write_pn 1 602 50 # 找零速度 RPM +write_pn 1 603 100 # 回零动作加减速时间 ms +write_pn 1 604 0 # 零点偏移量 0 +write_pn 1 605 0 # 回零动作超时时间 +write_pn 1 606 0 # 回零动作中止使能 +write_pn_bit 1 1501 1 0 +write_pn_bit 1 1501 1 1 +#endif + DO(write_pn(m_deviceId, 600, 11)); + DO(write_pn(m_deviceId, 601, lookzeropoint_rpm)); + DO(write_pn(m_deviceId, 602, findzero_edge_rpm)); + DO(write_pn(m_deviceId, 603, lookzeropoint_acc_time)); + DO(write_pn(m_deviceId, 604, 0)); + DO(write_pn(m_deviceId, 605, 0)); + DO(write_pn(m_deviceId, 606, 0)); + DO(write_pn_bit(m_deviceId, 1501, 1, 0)); + DO(write_pn_bit(m_deviceId, 1501, 1, 1)); + return 0; +} +int32_t Eq20ServoMotor::move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time) { + DO(write_pn(m_deviceId, 600, 8)); + DO(write_pn(m_deviceId, 601, lookzeropoint_rpm)); + DO(write_pn(m_deviceId, 602, findzero_edge_rpm)); + DO(write_pn(m_deviceId, 603, lookzeropoint_acc_time)); + DO(write_pn(m_deviceId, 604, 0)); // 零点偏移 + DO(write_pn(m_deviceId, 605, 0)); // 回零动作超时时间 + DO(write_pn(m_deviceId, 606, 0)); // 回零动作中止使能 + DO(write_pn_bit(m_deviceId, 1501, 1, 0)); + DO(write_pn_bit(m_deviceId, 1501, 1, 1)); + return 0; +} - // int tx = com->send((char *)sendBuff, sendBuff_length); - HAL_StatusTypeDef statu = HAL_UART_Transmit(m_modbusBlockHost->huart, sendBuff, sendBuff_length, 1000); - if (statu != HAL_OK) { - ZLOGE("Eq20ServoMotor", "uart send error"); - return false; - } +int32_t Eq20ServoMotor::getpos(int32_t &pos) { + DO(readreg(m_deviceId, 2036, pos)); + return 0; +} - char rxbuf[30] = {0}; - // int rxsize = com->receive(rxbuf, 8, 100); - statu = HAL_UART_Receive(m_modbusBlockHost->huart, (uint8_t *)rxbuf, 8, 100); +int32_t Eq20ServoMotor::enable(int32_t enable) { + DO(write_pn_bit(m_deviceId, 1501, 2, enable)); + return 0; +} - if (statu != HAL_OK) { - ZLOGE("Eq20ServoMotor", "uart send error,overtime"); - return false; +int32_t Eq20ServoMotor::stop() { + DO(write_pn_bit(m_deviceId, 1501, 0, 0)); + DO(write_pn_bit(m_deviceId, 1501, 1, 0)); + return 0; +} +int32_t Eq20ServoMotor::isReachTarget(uint8_t &isReachTarget) {} + +#define AUTO_RESEND(exptr) \ + int ret = 0; \ + for (size_t i = 0; i < m_auto_resendtimes; i++) { \ + ret = exptr; \ + if (ret == 0) { \ + return 0; \ + } \ } - // dumpbuf("rx", rxbuf, rxsize); - return true; -} -// bool Eq20ServoMotor::readreg(int deviceid, uint32_t regadd, int &value) { -// uint16_t value16[2]; -// m_modbusBlockHost->readReg03Muti(deviceid, regadd, value16, 2, 50); -// value = value16[0] + (value16[1] << 16); -// return true; -// } -// +int32_t Eq20ServoMotor::writereg(int deviceid, uint32_t regadd, int32_t value) { // + AUTO_RESEND(_writereg(deviceid, regadd, value)); +} +int32_t Eq20ServoMotor::readreg(int deviceid, uint32_t regadd, int32_t &value) { // + AUTO_RESEND(_readreg(deviceid, regadd, value)); +} +int32_t Eq20ServoMotor::write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value) { // + AUTO_RESEND(_write_reg_bit(deviceid, regadd, off, value)); +} +int32_t Eq20ServoMotor::write_pn(int deviceid, uint32_t pnadd, int32_t value) { // + AUTO_RESEND(_write_pn(deviceid, pnadd, value)); +} +int32_t Eq20ServoMotor::read_pn(int deviceid, uint32_t pnadd, int32_t &value) { // + AUTO_RESEND(_read_pn(deviceid, pnadd, value)); +} +int32_t Eq20ServoMotor::write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value) { AUTO_RESEND(_write_pn_bit(deviceid, pnadd, off, value)); } +int32_t Eq20ServoMotor::read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value) { AUTO_RESEND(_read_reg_bit(deviceid, regadd, off, value)); } +int32_t Eq20ServoMotor::read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value) { AUTO_RESEND(_read_pn_bit(deviceid, pnadd, off, value)); } + +/******************************************************************************* + * BASIC_API * + *******************************************************************************/ +int32_t Eq20ServoMotor::_write_pn(int deviceid, uint32_t pnadd, int32_t value) { return _writereg(deviceid, pnadd * 2, value); } +int32_t Eq20ServoMotor::_read_pn(int deviceid, uint32_t pnadd, int32_t &value) { return _readreg(deviceid, pnadd * 2, value); } +int32_t Eq20ServoMotor::_write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value) { return _write_reg_bit(deviceid, pnadd * 2, off, value); } +int32_t Eq20ServoMotor::_read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value) { return _read_reg_bit(deviceid, pnadd * 2, off, value); } +/******************************************************************************* + * REG * + *******************************************************************************/ +int32_t Eq20ServoMotor::_writereg(int deviceid, uint32_t regadd, int32_t value) { // + DO(m_modbusBlockHost->writeReg10Muti(deviceid, regadd, (uint16_t *)&value, 2, 100)); + return 0; +} +int32_t Eq20ServoMotor::_readreg(int deviceid, uint32_t regadd, int32_t &value) { // + DO(m_modbusBlockHost->readReg03Muti(deviceid, regadd, (uint16_t *)&value, 2, 100)); + return 0; +} +int32_t Eq20ServoMotor::_write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value) { + int32_t regval; + DO(_readreg(deviceid, regadd, regval)); + if (value) { + regval |= (1 << off); + } else { + regval &= ~(1 << off); + } + DO(_writereg(deviceid, regadd, regval)); + return 0; +} +int32_t Eq20ServoMotor::_read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value) { + int32_t regval; + DO(_readreg(deviceid, regadd, regval)); + value = (regval >> off) & 0x01; + return 0; +} \ No newline at end of file diff --git a/components/eq_20_asb_motor/eq20_servomotor.hpp b/components/eq_20_asb_motor/eq20_servomotor.hpp index c0bc60e..a3c0166 100644 --- a/components/eq_20_asb_motor/eq20_servomotor.hpp +++ b/components/eq_20_asb_motor/eq20_servomotor.hpp @@ -3,22 +3,62 @@ // #include "com.hpp" #include "sdk/os/zos.hpp" #include "sdk\components\modbus\modbus_block_host.hpp" +#include "sdk\components\zprotocols\zcancmder\api\basic_type.hpp" namespace iflytop { using namespace std; class Eq20ServoMotor { + public: private: ModbusBlockHost *m_modbusBlockHost; + int32_t m_deviceId = 0; + int32_t m_auto_resendtimes = 3; public: Eq20ServoMotor(/* args */){}; ~Eq20ServoMotor(){}; - void init(ModbusBlockHost *modbusBlockHost); - bool writereg32(int deviceid, uint32_t regadd, int value); - bool writePn(int deviceid, uint32_t pnadd, int value) { return writereg32(deviceid, pnadd * 2, value); } + void init(ModbusBlockHost *modbusBlockHost, int id); + + int32_t enable(int32_t enable); + + int32_t move_to(int32_t topos, int32_t rpm, int32_t acctime); + int32_t move_by(int32_t pos, int32_t rpm, int32_t acctime); + int32_t rotate(int32_t rpm, int32_t acctime); + + int32_t move_to_zero_forward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time); + int32_t move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time); + + int32_t stop(); + int32_t isReachTarget(uint8_t &isReachTarget); + + int32_t getpos(int32_t &pos); + + public: + int32_t writereg(int deviceid, uint32_t regadd, int32_t value); + int32_t readreg(int deviceid, uint32_t regadd, int32_t &value); + int32_t write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value); + int32_t read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value); + + int32_t read_pn(int deviceid, uint32_t pnadd, int32_t &value); + int32_t write_pn(int deviceid, uint32_t pnadd, int32_t value); + int32_t write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value); + int32_t read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value); + + private: + int32_t _writereg(int deviceid, uint32_t regadd, int32_t value); + int32_t _readreg(int deviceid, uint32_t regadd, int32_t &value); + int32_t _write_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t value); + int32_t _read_reg_bit(int deviceid, uint32_t regadd, int32_t off, int32_t &value); + + int32_t _write_pn(int deviceid, uint32_t pnadd, int32_t value); + int32_t _read_pn(int deviceid, uint32_t pnadd, int32_t &value); + int32_t _write_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t value); + int32_t _read_pn_bit(int deviceid, uint32_t pnadd, int32_t off, int32_t &value); private: + int32_t send(uint8_t *data, size_t len, int32_t overtime); + int32_t receive(uint8_t *rxbuf, size_t len, int32_t overtime); }; } // namespace iflytop diff --git a/components/hardware/uart/zuart_helper.cpp b/components/hardware/uart/zuart_helper.cpp new file mode 100644 index 0000000..8f606e1 --- /dev/null +++ b/components/hardware/uart/zuart_helper.cpp @@ -0,0 +1,61 @@ +#include "zuart_helper.hpp" +using namespace iflytop; +#define DEBUG 0 +#if DEBUG +static void dumphex(char* tag, uint8_t* data, uint8_t len) { + printf("%s:", tag); + for (int i = 0; i < len; i++) { + printf("%02x ", data[i]); + } + printf("\n"); +} +#endif + +ZUARTHelper::ZUARTHelper(const char* tag, UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_tx, DMA_HandleTypeDef* hdma_rx) { + m_uart = uart; + m_hdma_tx = hdma_tx; + m_hdma_rx = hdma_rx; + m_tag = tag; +} + +void ZUARTHelper::cleanRxBuff() { + HAL_StatusTypeDef status; + uint8_t datacache; + do { + status = HAL_UART_Receive(m_uart, &datacache, 1, 1); + } while (status == HAL_OK); +} +int32_t ZUARTHelper::tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, uint16_t overtimems) { + uint32_t enter_ticket = HAL_GetTick(); +#if DEBUG + dumphex("tx:", tx, txdatalen); +#endif + + HAL_UART_Transmit(m_uart, tx, txdatalen, 1000); + HAL_UART_Receive_DMA(m_uart, (uint8_t*)rx, expectrxsize); + + bool overtime_flag = false; + while (HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_RX || // + HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_TX_RX) { + osDelay(1); + int rxsize = expectrxsize - __HAL_DMA_GET_COUNTER(m_hdma_rx); + if (rxsize == expectrxsize) { +#if DEBUG + dumphex("rx:", rx, expectrxsize); +#endif + break; + } + if (zos_haspassedms(enter_ticket) > overtimems) { + if (expectrxsize != 0 && rxsize != 0) { + ZLOGW(m_tag, "txandrx overtime rxsize:%d != expect_size:%d", rxsize, expectrxsize); + } + overtime_flag = true; + break; + } + } + HAL_UART_DMAStop(m_uart); + if (overtime_flag) { + return false; + } + return true; +} \ No newline at end of file diff --git a/components/hardware/uart/zuart_helper.hpp b/components/hardware/uart/zuart_helper.hpp new file mode 100644 index 0000000..1ecf3af --- /dev/null +++ b/components/hardware/uart/zuart_helper.hpp @@ -0,0 +1,23 @@ +#pragma once +#include + +#include "sdk\os\zos.hpp" +namespace iflytop { +using namespace std; +class ZUARTHelper { + private: + const char* m_tag = ""; + UART_HandleTypeDef* m_uart = NULL; + DMA_HandleTypeDef* m_hdma_tx = NULL; + DMA_HandleTypeDef* m_hdma_rx = NULL; + + public: + ZUARTHelper(const char* tag, UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_tx, DMA_HandleTypeDef* hdma_rx); + ZUARTHelper(){}; + + UART_HandleTypeDef* get_uart() { return m_uart; } + + int32_t tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, uint16_t overtimems); + void cleanRxBuff(); +}; +} // namespace iflytop diff --git a/components/modbus/modbus_block_host.cpp b/components/modbus/modbus_block_host.cpp index 18de163..92ef834 100644 --- a/components/modbus/modbus_block_host.cpp +++ b/components/modbus/modbus_block_host.cpp @@ -1,138 +1,102 @@ #include "modbus_block_host.hpp" #include "modbus_basic.hpp" +#include "sdk\components\zprotocols\errorcode\errorcode.hpp" using namespace iflytop; -#define DEBUG 1 -ModbusBlockHost::ModbusBlockHost() {} -ModbusBlockHost::~ModbusBlockHost() {} -void ModbusBlockHost::initialize(UART_HandleTypeDef *huart) { this->huart = huart; } -void ModbusBlockHost::cleanRxBuff() { // - HAL_StatusTypeDef status; - do { - status = HAL_UART_Receive(huart, rxbuff, 1, 1); - } while (status == HAL_OK); -} +#define TAG "ModbusBlockHost" -void ModbusBlockHost::uarttx(uint8_t *buff, size_t len) { - ZASSERT(len < sizeof(txbuff)); -#if DEBUG - printf("uarttx:\n"); - for (size_t i = 0; i < len; i++) { - printf("%02x ", buff[i]); - } - printf("\n"); -#endif - HAL_UART_Transmit(huart, buff, len, 1000); -} -bool ModbusBlockHost::uartrx(uint8_t *buff, size_t len, int overtimems) { - HAL_StatusTypeDef status; - ZASSERT(len < sizeof(rxbuff)); - - status = HAL_UART_Receive(huart, buff, len, overtimems); -#if DEBUG - if (status == HAL_OK) { - printf("uartrx:"); - for (size_t i = 0; i < len; i++) { - printf("%02x ", buff[i]); - } - printf("\n"); +#define DO(exptr) \ + { \ + int32_t __ret = exptr; \ + if (__ret != 0) { \ + ZLOGE(TAG, "do %s %d", #exptr, __ret); \ + return __ret; \ + } \ } -#endif - return status == HAL_OK; -} -bool ModbusBlockHost::readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int overtimems) { - txbuff[0] = slaveAddr; - txbuff[1] = 0x03; - txbuff[2] = regAddr >> 8; - txbuff[3] = regAddr & 0xff; - txbuff[4] = 0x00; - txbuff[5] = 0x01; - modbus_pack_crc_to_packet(txbuff, 6 + 2); +#define DEBUG 0 +ModbusBlockHost::ModbusBlockHost() {} +ModbusBlockHost::~ModbusBlockHost() {} - cleanRxBuff(); +void ModbusBlockHost::initialize(UART_HandleTypeDef *m_huart, DMA_HandleTypeDef *hdma_tx, DMA_HandleTypeDef *hdma_rx) { + // m_huart = m_huart; + // m_hdma_tx = hdma_tx; + // m_hdma_rx = hdma_rx; - uarttx(txbuff, 6 + 2); + m_zuartHelper = ZUARTHelper(TAG, m_huart, hdma_tx, hdma_rx); - bool status; - status = uartrx(rxbuff, 5 + 2, overtimems); + m_mutex.init(); +} +void ModbusBlockHost::cleanRxBuff() { // + m_zuartHelper.cleanRxBuff(); +} - if (status && modbus_checkcrc16(rxbuff, 7)) { - *regVal = rxbuff[3] << 8 | rxbuff[4]; - return true; - } - return false; +int32_t ModbusBlockHost::readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int overtimems) { // + int32_t status = readReg03Muti(slaveAddr, regAddr, regVal, 1, overtimems); + return status; } -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); +int32_t ModbusBlockHost::readReg03Muti(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int regNum, int overtimems) { + m_txbuff[0] = slaveAddr; + m_txbuff[1] = 0x03; + m_txbuff[2] = regAddr >> 8; + m_txbuff[3] = regAddr & 0xff; + m_txbuff[4] = 0x00; + m_txbuff[5] = regNum; + modbus_pack_crc_to_packet(m_txbuff, 6 + 2); cleanRxBuff(); - - uarttx(txbuff, 6 + 2); - - bool status; - // 14*2 = 28 - status = uartrx(rxbuff, 5 + 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; + DO(m_zuartHelper.tx_and_rx(m_txbuff, 6 + 2, m_rxbuff, 5 + regNum * 2, overtimems)); + if (!modbus_checkcrc16(m_rxbuff, 7 + regNum * 2)) { + return err::kce_modbusCRC16checkfail; + } + for (int i = 0; i < regNum; i++) { + regVal[i] = m_rxbuff[3 + i * 2] << 8 | m_rxbuff[4 + i * 2]; } - return false; + return 0; } -bool ModbusBlockHost::writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems) { - txbuff[0] = slaveAddr; - txbuff[1] = 0x06; - txbuff[2] = regAddr >> 8; - txbuff[3] = regAddr & 0xff; - txbuff[4] = regVal >> 8; - txbuff[5] = regVal & 0xff; - modbus_pack_crc_to_packet(txbuff, 6 + 2); +int32_t ModbusBlockHost::writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems) { + m_txbuff[0] = slaveAddr; + m_txbuff[1] = 0x06; + m_txbuff[2] = regAddr >> 8; + m_txbuff[3] = regAddr & 0xff; + m_txbuff[4] = regVal >> 8; + m_txbuff[5] = regVal & 0xff; + modbus_pack_crc_to_packet(m_txbuff, 6 + 2); cleanRxBuff(); - uarttx(txbuff, 6 + 2); - - bool status; - status = uartrx(rxbuff, 8, overtimems); + DO(m_zuartHelper.tx_and_rx(m_txbuff, 6 + 2, m_rxbuff, 8, overtimems)); - if (status && modbus_checkcrc16(rxbuff, 8)) { - return true; + if (!modbus_checkcrc16(m_rxbuff, 8)) { + return err::kce_modbusCRC16checkfail; } - return false; + return 0; } -bool ModbusBlockHost::writeReg10(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems) { - txbuff[0] = slaveAddr; - txbuff[1] = 0x10; - txbuff[2] = regAddr >> 8; - txbuff[3] = regAddr & 0xff; - txbuff[4] = 0x00; - txbuff[5] = 0x01; - txbuff[6] = 0x02; // 字节数 - txbuff[7] = regVal >> 8; - txbuff[8] = regVal & 0xff; - modbus_pack_crc_to_packet(txbuff, 9 + 2); +int32_t ModbusBlockHost::writeReg10(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems) { return writeReg10Muti(slaveAddr, regAddr, ®Val, 1, overtimems); } + +int32_t ModbusBlockHost::writeReg10Muti(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, uint16_t nreg, int overtimems) { + m_txbuff[0] = slaveAddr; + m_txbuff[1] = 0x10; + m_txbuff[2] = regAddr >> 8; + m_txbuff[3] = regAddr & 0xff; + m_txbuff[4] = 0x00; + m_txbuff[5] = nreg; + m_txbuff[6] = nreg * 2; // 字节数 + for (int i = 0; i < nreg; i++) { + m_txbuff[7 + i * 2] = regVal[i] >> 8; + m_txbuff[8 + i * 2] = regVal[i] & 0xff; + } + modbus_pack_crc_to_packet(m_txbuff, 7 + nreg * 2 + 2); cleanRxBuff(); - uarttx(txbuff, 9 + 2); - - bool status; - status = uartrx(rxbuff, 8, overtimems); + DO(m_zuartHelper.tx_and_rx(m_txbuff, 7 + nreg * 2 + 2, m_rxbuff, 8, overtimems)); - if (status && modbus_checkcrc16(rxbuff, 8)) { - return true; + if (!modbus_checkcrc16(m_rxbuff, 8)) { + return err::kce_modbusCRC16checkfail; } - return false; + return 0; } diff --git a/components/modbus/modbus_block_host.hpp b/components/modbus/modbus_block_host.hpp index 9cf8173..3aaaf5a 100644 --- a/components/modbus/modbus_block_host.hpp +++ b/components/modbus/modbus_block_host.hpp @@ -1,29 +1,31 @@ #pragma once #include "sdk/os/zos.hpp" +#include "sdk\components\hardware\uart\zuart_helper.hpp" +#include "sdk\os\mutex.hpp" namespace iflytop { class ModbusBlockHost { public: - UART_HandleTypeDef *huart; + ZUARTHelper m_zuartHelper; + zmutex m_mutex; - uint8_t txbuff[100]; - uint8_t rxbuff[100]; + uint8_t m_txbuff[200]; // 大概支持同时读20个寄存器 + uint8_t m_rxbuff[200]; // 大概支持同时读20个寄存器 public: ModbusBlockHost(); ~ModbusBlockHost(); - void initialize(UART_HandleTypeDef *huart); + void initialize(UART_HandleTypeDef *huart, DMA_HandleTypeDef *hdma_tx, DMA_HandleTypeDef *hdma_rx); - 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); + int32_t readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int overtimems); + int32_t readReg03Muti(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, int regNum, int overtimems); + int32_t writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems); + int32_t writeReg10(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal, int overtimems); + int32_t writeReg10Muti(uint8_t slaveAddr, uint16_t regAddr, uint16_t *regVal, uint16_t nreg, int overtimems); void cleanRxBuff(); private: - void uarttx(uint8_t *buff, size_t len); - bool uartrx(uint8_t *buff, size_t len, int overtimems); }; } // namespace iflytop diff --git a/components/zprotocols/errorcode b/components/zprotocols/errorcode index 0d0b373..a3197d6 160000 --- a/components/zprotocols/errorcode +++ b/components/zprotocols/errorcode @@ -1 +1 @@ -Subproject commit 0d0b37363452b7ae7ca442bf924bf8ba021b5a62 +Subproject commit a3197d626bc551983a5598d3c3a35e8e4de63e35