void wpQfReadAlarm(unsigned char id) {
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_READALARM;
frame.desid = QIFA_ID(id);
frame.dlc = 0;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
}
void Can_Cmd_Lockcurrent_Set(CAN_WP *wp) {
if (wp->dlc % 2 != 0) {
return;
}
unsigned int num = wp->dlc / 2;
uint8_t Current_value;
for (int i = 0; i < num; i++) {
uint32 imotor = wp->data[i * 2];
if (imotor >= MIDUMOTOBEGINHZ) {
continue;
}
Current_value = MAX(wp->data[i * 2 + 1], Max_Current_Num);
if (Current_value > 0) {
HalfPulseNum[imotor] = Current_value - 1;
//若当前是半流锁定强制改变锁定电流
if (MiduMotoCtrPra[imotor].MotoRunState == MOTOSTOPHALF) {
MiduMotoRefCtr(imotor, ENABLE);
}
}
}
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = CANCMD_LOCKCURRENT_SET;
twp.desid = wp->srcid;
twp.dlc = 0;
wpSend(&twp);
}
void wpQfSetDuty(unsigned char id, unsigned char duty) {
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_SETDUTY;
frame.desid = QIFA_ID(id);
frame.data[0] = (unsigned char)duty;
frame.dlc = 1;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
}
void wpQfRst(unsigned char id, bool rst) {
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_RESET;
frame.desid = QIFA_ID(id);
frame.data[0] = (unsigned char)(!!rst);
frame.dlc = 1;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
}
void wpQfEn(unsigned char id, bool on) {
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_EN;
frame.desid = QIFA_ID(id);
frame.data[0] = (unsigned char)on;
frame.dlc = 1;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
}
void wpQfSetAlarmMask(unsigned char id, unsigned char mask) {
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_SETALARMMASK;
frame.desid = QIFA_ID(id);
frame.data[0] = mask;
frame.dlc = 1;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
}
void CanCmd_ReadAlarm(CAN_WP *wp) {
uint8 val = Scan_Input_state();
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = wp->funcode;
twp.desid = wp->srcid;
twp.dlc = 1;
twp.data[0] = val;
wpSend(&twp);
}
void wpQfWrite(unsigned char id, unsigned char *val, unsigned char count) {
ASSERT(count < 9);
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_WRITE;
frame.desid = QIFA_ID(id);
memcpy(frame.data, val, count);
frame.dlc = count;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
}
//向主板发送气阀的阻值
void CanCmd_ReturnQIfa_Res_value(uint8_t num, uint16_t res_value) {
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = CANCMD_SINGAL_QIFA;
twp.desid = 0; //todo
twp.dlc = 3;
twp.data[0] = num;
twp.data[1] = res_value & 0xff;
twp.data[2] = (res_value / 256) & 0xff;
wpSend(&twp);
}
// 读取气阀1~16号 当前状态
void CanCmd_ReadQifa1to16(CAN_WP *wp) {
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = wp->funcode;
twp.desid = wp->srcid;
twp.dlc = 2;
twp.data[0] = Qifa_state.fg_qifa_out & 0xff;
twp.data[1] = (Qifa_state.fg_qifa_out / 256) & 0xff;
wpSend(&twp);
}
void ScanAlarm(void) {
if (DeviceCanAddr==0) {
return;
}
uint32 val = Scan_Input_state();
if (val != (1UL << Max_Input_Single)-1) {
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = CANCMD_SENDALARM;
twp.desid = CAN_WP_ID_GROUP_BROADCAST(CAN_WP_DEV_TYPE_MAIN);
twp.dlc = 1;
twp.data[0] = val;
wpSend(&twp);
}
}
bool wpQfRead(unsigned char id, unsigned int timeout, unsigned int *status) {
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_READ;
frame.desid = QIFA_ID(id);
frame.dlc = 0;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
atomicClear(&wp_read_qf_flag);
withintimedo(timeout) {
if (atomicTestClear(&wp_read_qf_flag)) {
*status = Sw_Qf_Status;
return true;
}
}
return false;
}
void scanMotorCmd(void) {
MOTOR_CMD *cmd;
for (int i = 0; i < MiDuMotoNum; i++) {
if (ringBufRead(&motorcmdbuf[i], (void **)&cmd)) {
switch (cmd->stat) {
case MOTOR_CMD_STAT_WAITE:
if ((cmd->speedHz >= DUMUMOTOSTOPHZ) && (cmd->puls <= 15000)) {
cmd->stat = MOTOR_CMD_STAT_BUSY;
cmd->flag |= 0x10; //force return
MotoDumuRun(i, cmd->flag | 0x80,
cmd->puls, cmd->speedHz, cmd->stopData);
cmd->timertick = timerTick1ms;
} else {
ringBufPop_noread(&motorcmdbuf[i]);
}
break;
case MOTOR_CMD_STAT_BUSY:
if (MiduMotoCtrPra[i].MotoRunState == MOTOSTOPHALF
|| MiduMotoCtrPra[i].MotoRunState == MOTOSTOPFREE) {
ringBufPop_noread(&motorcmdbuf[i]);
if (cmd->flag & MOTOR_CMDGO_RETURN_FLAG_RETURN) {
//unsigned char stopflag = MiduMotoCtrPra[i].MotoStopData;
uint16_t timedif = timerTick1ms - cmd->timertick;
DEFINE_CAN_WP_FRAME(wpt);
wpt.funcode = CANCMD_DUMUMOTOGO_LOW;
wpt.dlc = 8;
wpt.data[0] = i;
wpt.data[1] = (uint8_t)MiduMotoCtrPra[i].MotoDumuDangqian;
wpt.data[2] = (uint8_t)(MiduMotoCtrPra[i].MotoDumuDangqian >> 8);
wpt.data[3] = (uint8_t)timedif;
wpt.data[4] = (uint8_t)(timedif >> 8);
uint8_t flag = 0;
flag |= MiduMotoCtrPra[i].MotoRunState << MOTOR_CMDGO_RETURN_FLAG_STAT_SHIFT;
flag |= MiduMotoCtrPra[i].MotoRunDir << MOTOR_CMDGO_RETURN_FLAG_DIR_SHIFT;
flag |= GetMiduMotoZero(i) << MOTOR_CMDGO_RETURN_FLAG_PROBE_SHIFT;
flag |= MiduMotoCtrPra[i].clearPosFlag << MOTOR_CMDGO_FLAG_CLEAR_POS_SHIFT;
flag |= MiduMotoCtrPra[i].stopFlag;
wpt.data[5] = flag;
wpt.data[6] = cmd->stopData;
wpt.data[7] = cmd->cmdcode;
wpSend(&wpt);
}
}
break;
default:
break;
}
}
void Can_Cmd_Workcurrent_Set(CAN_WP *wp) {
uint8_t val;
for (int i = 0; i < MIN(4, wp->dlc); i++) {
val = wp->data[i];
//电机号 1~4 电流档位1~25 才为有效数据
if ((val > 0) && (val < (Max_Current_Num + 1))) {
ChannelNum[i] = val - 1;
}
}
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = CANCMD_WORKCURRENT_SET;
twp.desid = wp->srcid;
twp.dlc = 0;
wpSend(&twp);
}
//读取度目马达状态
void CanCmd_GetDumuMotoState(CAN_WP *wp) {
uint32 moto = wp->data[0];
if (moto >= MiDuMotoNum) {
return;
}
//MiduMotoCtrPra[moto].shiji_zero_zhuangtai = GetMiduMotoZero(moto);
DEFINE_CAN_WP_FRAME(twp);
twp.funcode = CANCMD_GETDUMUMOTOSTATE;
twp.desid = wp->srcid;
twp.dlc = 4;
twp.data[0] = moto;
twp.data[1] = MiduMotoCtrPra[moto].MotoDumuDangqian & 0xff;
twp.data[2] = MiduMotoCtrPra[moto].MotoDumuDangqian >> 8;
uint8_t stat = MiduMotoCtrPra[moto].MotoRunState << 6 |
MiduMotoCtrPra[moto].MotoRunDir << 5 |
GetMiduMotoZero(moto) << 3;
twp.data[3] = stat;
wpSend(&twp);
}
bool wpQfReadOhm(unsigned char id, unsigned char qifaId, unsigned short timeout, unsigned short *Ohm) {
QIFA *qifa = qifaSys.QiFa_Reg_Table[id - 1][qifaId];
if (qifa == NULL) {
return false;
}
DEFINE_CAN_WP_FRAME(frame);
frame.funcode = CAN_WP_FUNCODE_QF_READOHM;
frame.desid = QIFA_ID(id);
frame.data[0] = qifaId | (1 << 7);
frame.dlc = 1;
CANSend_noblock(MODULE_ID_DCAN0, (CAN_FRAME *)&frame);
atomicClear(&wp_qf_resdata);
withintimedo(timeout) {
if (atomicTestClear(&wp_qf_resdata)) {
*Ohm = qifa->Ohm;
return true;
}
}
return false;
}