stm32basic/preportional_valve/preportional_valve_ctrl.hpp

#pragma once
#include <stddef.h>
#include <stdio.h>

#include "base/config_service.hpp"
#include "stm32basic/modbus/modbus_block_host.hpp"
#include "stm32basic/zsdk.hpp"
/**
 * @brief
 *
 *  https://iflytop1.feishu.cn/wiki/GQwCwHMqFiaJRwks80ncwaYKnSe
 */

namespace iflytop {
using namespace std;
class PreportionalValveCtrl {
 public:
  typedef enum {
    kstate_stop             = 0x0,
    kstate_running_forward  = 0xaa,
    kstate_running_backward = 0xbb,
    kstate_err_state        = 0xea,
  } work_state_t;

 private:
  /* data */
  ModbusBlockHost m_modbusBlockHost;
  int32_t         val                     = 0;
  uint32_t        m_last_set_valve_ticket = 0;
  uint16_t        m_targetpos[255];

 public:
  PreportionalValveCtrl() {};
  ~PreportionalValveCtrl() {};

  void    initialize(UART_HandleTypeDef* huart);
  int32_t setValvePos(int32_t valueid, int32_t pos);
  int32_t getValvePos(int32_t valueid, int32_t* pos);
  int32_t getValveOrderPos(int32_t valueid, int32_t* pos);
  int32_t isBusy(int32_t valueid, int32_t* busy);
  int32_t getValveWorkState(int32_t valueid, int32_t* state);

 private:

  int32_t writeReg06(uint8_t slaveAddr, uint16_t regAddr, uint16_t regVal);
  int32_t readReg03(uint8_t slaveAddr, uint16_t regAddr, uint16_t* regVal);
};

}  // namespace iflytop