v2.0.4 新增4通道RFID轮询协议

source/app/app_task_485.c

@@ -48,74 +48,68 @@ void L3_task_485_handle(TS_485 *s)
 		L2_task_go(D_task_485_wait_modbus_ack);
 		
     TTSS_Task_step(D_task_485_wait_modbus_ack)
-		if(s_nos_tick.t_5ms - s->sendStamp >= 8)
+		if(s_uart2_rec.ok)//接收到ack
 		{
-			if(s_uart2_rec.ok)
+			s_uart2_rec.ok = 0;
+			s->pAckPkg = (TS_PH4_modbus*)(s_uart2_rec.buf);
+			if((s->pAckPkg->salver != G.md_slaver_info[s->slaverIndex].slaver) || 
+				(s->pAckPkg->oper != G.md_slaver_info[s->slaverIndex].oper))
 			{
-				s_uart2_rec.ok = 0;
-				s->pAckPkg = (TS_PH4_modbus*)(s_uart2_rec.buf);
-				if(s->pAckPkg->salver == G.md_slaver_info[s->slaverIndex].slaver)
+				return;
+			}
+				
+			if(G.md_slaver_info[s->slaverIndex].mask == 1)
+			{
+				G.md_slaver_info[s->slaverIndex].mask = 0;
+			}
+
+			switch(s->slaverIndex)
+			{
+			case 0:
+				G.total_weight = 
+					(S32)(s->pAckPkg->buf[1]) << 24 
+					| (S32)(s->pAckPkg->buf[2]) << 16 
+					| (S32)(s->pAckPkg->buf[3]) << 8
+					| (S32)(s->pAckPkg->buf[4]);
+
+				G.jing_weight = (G.total_weight <= G.pi_weight) ? (0) :(G.total_weight - G.pi_weight) ;
+				break;
+			case 1:
+				G.asga.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
+				G.asga.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
+				G.asga.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
+				break;
+			case 4:
+				if(s->pAckPkg->buf[2] != G._keyled)	//按键发生改变
 				{
-					s->ackFlag = 1;
-					if(G.md_slaver_info[s->slaverIndex].mask == 1)
+					G._keyled = s->pAckPkg->buf[2];
+					L0_uart0_uchex(G._keyled);
+					if(G._keyled == 0)
 					{
-						G.md_slaver_info[s->slaverIndex].mask = 0;
+						//TODO
 					}
-					
-					//TODO 这里可以根据modbus协议让代码通用
-					if(s->pAckPkg->oper == MODBUS_OPER_READ)
+					else if(G._keyled == 0x28)
 					{
-						if(s->pAckPkg->salver == G.md_slaver_info[0].slaver)
-						{
-							G.total_weight = 
-								(S32)(s->pAckPkg->buf[1]) << 24 | (S32)(s->pAckPkg->buf[2]) << 16 | (S32)(s->pAckPkg->buf[3]) << 8
-									| (S32)(s->pAckPkg->buf[4]);
-							
-							if(G.total_weight <= G.pi_weight){
-								G.jing_weight = 0;
-							}else
-							{
-								G.jing_weight = G.total_weight - G.pi_weight;
-							}
-						}
-						else if(s->pAckPkg->salver == G.md_slaver_info[1].slaver)
-						{
-							G.asga.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
-							G.asga.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
-							G.asga.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
-						}
-						else if(s->pAckPkg->salver == G.md_slaver_info[4].slaver)
-						{
-							if(s->pAckPkg->buf[2] != G._keyled)	//按键发生改变
-							{
-								G._keyled = s->pAckPkg->buf[2];
-								L0_uart0_uchex(G._keyled);
-								if(G._keyled == 0)
-								{
-									//TODO
-								}
-								else if(G._keyled == 0x28)
-								{
-									L0_uart0_uc('#');
-									G.pi_weight = G.total_weight; 
-								}
-								else				
-								{
-									G.rfid = G._keyled;
-								}
-							}
-						}
-						else if(s->pAckPkg->salver == G.md_slaver_info[5].slaver)
-						{
-							G.asga_02.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
-							G.asga_02.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
-							G.asga_02.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
-						}
+						L0_uart0_uc('#');
+						G.pi_weight = G.total_weight; 
 					}
+				}	
+				else				
+				{
+					G.rfid = G._keyled;
 				}
+				break;
+			case 5:
+				G.asga_02.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
+				G.asga_02.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
+				G.asga_02.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
+				break;
 			}
-			s->retryTimes++;
-			if(s->ackFlag || s->retryTimes >= MODBUS_SLAVER_RETRY_MAX_TIME)
+			//TODO 这里可以根据modbus协议让代码通用
+		}
+		else if(s_nos_tick.t_5ms - s->sendStamp >= 8)	//超时
+		{			
+			if(++s->retryTimes >= MODBUS_SLAVER_RETRY_MAX_TIME)
 			{	
 				L2_task_go(D_task_485_switch_next_slaver);
 			}
@@ -124,7 +118,10 @@ void L3_task_485_handle(TS_485 *s)
 				L2_task_go(D_task_485_send_modbus_pkg);
 			}
 		}
-		
+		else//未收到未超时
+		{
+			//继续等待
+		}
 	TTSS_Task_step(D_task_485_switch_next_slaver)
 		if(++ s->slaverIndex >= MD_SLAVER_INFO_MAX)
 		{

source/app/app_task_rfid.c

@@ -14,17 +14,24 @@ void L3_task_rfid_init(void)
 
 U8 rfid_start_pkg[] = {0xBB,0x00,0x27,0x00,0x03,0x22,0xFF,0xFF,0x4A,0x7E};
 U8 rfid_stop_pkg[] = {0xBB,0x00,0x28,0x00,0x00,0x28,0x7E};
+U8 newrfid_start_pkg[] = {0xA0,0x0D,0x01,0x8A,0x00,0x32,0x01,0x32,0x02,0x32,0x03,0x32,0x00,0xFA,0x00};
+U8 newrfid_stop_pkg[] = {0xA0,0x04,0x01,0x74,0x00,0xE7};
+
 
 void L1_enable_rfid()
 {
-	L0_uart0_sendArray(rfid_start_pkg,10);
-	L0_uart3_sendArray(rfid_start_pkg,10);
+	//L0_uart0_sendArray(rfid_start_pkg,10);
+	//L0_uart3_sendArray(rfid_start_pkg,10);
+	L0_uart0_sendArray(newrfid_start_pkg,15);
+	L0_uart3_sendArray(newrfid_start_pkg,15);
 }
 
 void L1_disable_rfid()
 {
-	L0_uart0_sendArray(rfid_stop_pkg,7);
-	L0_uart3_sendArray(rfid_stop_pkg,7);
+	//L0_uart0_sendArray(rfid_stop_pkg,7);
+	//L0_uart3_sendArray(rfid_stop_pkg,7);
+	L0_uart0_sendArray(newrfid_stop_pkg,6);
+	L0_uart3_sendArray(newrfid_stop_pkg,6);
 }
 
 #define D_task_rfid_send 0x51

source/bsp/bsp_config.h

@@ -104,6 +104,10 @@
 	#define BRT_9600 9600
 
 	#define D_uart0_BRT	BRT_115200
+	#define D_uart2_BRT	BRT_115200
+	#define D_uart3_BRT	BRT_115200
+	#define D_uart4_BRT	BRT_115200
+	#define D_sys_Fosc 11059200L          //系统频率
 	
 	#define MainFre_5M 0
 	#define MainFre_11M 1

source/msp/UART2.c

@@ -60,7 +60,6 @@ msp/uartx.c    底层代码	 和cpu相关 缓存发送也放在里面
 
 struct _s_uart2_send_buf_ s_uart2_send_shop;
 struct _s_uart2_send_buf_ s_uart2_send_depot;
-#define FOSC 11059200L          //系统频率
 //#define BAUD2 4800             //串口波特率
 //#define BAUD2 9600             //串口波特率
 #define BAUD2 115200             //串口波特率
@@ -68,8 +67,10 @@ void L0_uart2_init(void)
 {
 	S2CON = 0x50;		//8位数据,可变波特率
 	AUXR |= 0x04;		//定时器2时钟为Fosc,即1T
-	T2L = 0xE8; 	//设定定时初值
-	T2H = 0xFF; 	//设定定时初值
+	//T2L = 0xE8; 	//设定定时初值
+	//T2H = 0xFF; 	//设定定时初值
+	T2L = (65536-(D_sys_Fosc/4/D_uart2_BRT)); 	//设定定时初值
+	T2H = (65536-(D_sys_Fosc/4/D_uart2_BRT))>>8; 	//设定定时初值
 	AUXR |= 0x10;		//启动定时器2
 
 	//设置txd2为强推挽