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138 lines
3.8 KiB
138 lines
3.8 KiB
#include "app_task_485.h"
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#include "../msp/uart0.h"
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#include "../msp/uart2.h"
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#include "../app/app_common.h"
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//#define MODBUS_SLAVER_DW20_REG_START 0x02
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//#define MODBUS_SLAVER_DW20_REG_NUM 0x02
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#define MODBUS_SLAVER_RETRY_MAX_TIME 3
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TS_485 ts_485;
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void L3_task_485_init(void)
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{
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L1_task_init(&ts_485.task);
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L3_task_s_go(ts_485,D_task_init);
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ts_485.slaverIndex = 0;
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ts_485.pkglen = 0;
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ts_485.retryTimes = 0;
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ts_485.ackFlag = 0;
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}
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#define D_task_485_constructor_modbus_pkg 0x51
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#define D_task_485_send_modbus_pkg 0x52
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#define D_task_485_wait_modbus_ack 0x53
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#define D_task_485_switch_next_slaver 0x54
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void L3_task_485_handle(TS_485 *s)
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{
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TTSS_Task_init();
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L2_task_go(D_task_485_constructor_modbus_pkg);
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TTSS_Task_step(D_task_485_constructor_modbus_pkg)
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if(G.md_slaver_info[s->slaverIndex].mask > 0)
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{
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s->pkglen = L3_pack_modbus(&s->loopPkg,G.md_slaver_info + s->slaverIndex);
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s->ackFlag = 0;
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s->retryTimes = 0;
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L2_task_go(D_task_485_send_modbus_pkg);
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}
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else
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{
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L2_task_go(D_task_485_switch_next_slaver);
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}
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TTSS_Task_step(D_task_485_send_modbus_pkg)
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L0_uart2_sendArray((U8*)&s->loopPkg,s->pkglen);
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s->sendStamp = s_nos_tick.t_5ms;
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L2_task_go(D_task_485_wait_modbus_ack);
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TTSS_Task_step(D_task_485_wait_modbus_ack)
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if(s_nos_tick.t_5ms - s->sendStamp >= 20)
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{
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if(s_uart2_rec.ok)
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{
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s_uart2_rec.ok = 0;
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s->pAckPkg = (TS_PH4_modbus*)(s_uart2_rec.buf);
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if(s->pAckPkg->salver == G.md_slaver_info[s->slaverIndex].slaver)
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{
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s->ackFlag = 1;
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if(G.md_slaver_info[s->slaverIndex].mask == 1)
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{
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G.md_slaver_info[s->slaverIndex].mask = 0;
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}
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//TODO 这里可以根据modbus协议让代码通用
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if(s->pAckPkg->oper == MODBUS_OPER_READ)
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{
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if(s->pAckPkg->salver == G.md_slaver_info[0].slaver)
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{
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G.total_weight =
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(S32)(s->pAckPkg->buf[1]) << 24 | (S32)(s->pAckPkg->buf[2]) << 16 | (S32)(s->pAckPkg->buf[3]) << 8
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| (S32)(s->pAckPkg->buf[4]);
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if(G.total_weight <= G.pi_weight){
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G.jing_weight = 0;
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}else
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{
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G.jing_weight = G.total_weight - G.pi_weight;
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}
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}
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else if(s->pAckPkg->salver == G.md_slaver_info[1].slaver)
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{
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G.asga.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
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G.asga.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
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G.asga.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
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}
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else if(s->pAckPkg->salver == G.md_slaver_info[4].slaver)
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{
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if(s->pAckPkg->buf[2] != G._keyled) //按键发生改变
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{
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G._keyled = s->pAckPkg->buf[2];
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L0_uart0_uc(G._keyled);
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if(G._keyled == 0)
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{
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//TODO
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}
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else if(G._keyled == 0x28)
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{
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L0_uart0_uc('#');
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G.pi_weight = G.total_weight;
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}
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else
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{
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G.rfid = G._keyled;
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}
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}
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}
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else if(s->pAckPkg->salver == G.md_slaver_info[5].slaver)
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{
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G.asga_02.xaxis = (U16)(s->pAckPkg->buf[1]) << 8 | (U16)(s->pAckPkg->buf[2]);
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G.asga_02.yaxis = (U16)(s->pAckPkg->buf[3]) << 8 | (U16)(s->pAckPkg->buf[4]);
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G.asga_02.zaxis = (U16)(s->pAckPkg->buf[5]) << 8 | (U16)(s->pAckPkg->buf[6]);
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}
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}
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}
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}
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s->retryTimes++;
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if(s->ackFlag || s->retryTimes >= MODBUS_SLAVER_RETRY_MAX_TIME)
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{
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L2_task_go(D_task_485_switch_next_slaver);
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}
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else
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{
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L2_task_go(D_task_485_send_modbus_pkg);
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}
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}
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TTSS_Task_step(D_task_485_switch_next_slaver)
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if(++ s->slaverIndex >= MD_SLAVER_INFO_MAX)
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{
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s->slaverIndex = 0;
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}
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L2_task_go(D_task_485_constructor_modbus_pkg);
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TTSS_Task_end();
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}
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