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@@ -0,0 +1,638 @@
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+#include "soft_hd_water_pump.h"
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+#include "soft_water_device.h"
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+#include "common.h"
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+#include "string.h"
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+#include "soft_p_2_c.h"
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+#include "soft_flow.h"
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+#include "soft_seed_device.h"
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+#include "soft_crc.h"
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+#include "soft_version.h"
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+
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+// 惠达采用小端存储
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+
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+HWTail PumpControlTail = {0};
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+HWTail NozzleControlTail = {0};
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+HDpump HD_pump = {0};
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+HDMsg *_HDMsg = NULL;
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+
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+HDnozzle NozzleMsg[5] = {0};
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+_nozzle_id Nozzle_id[4] = {0};
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+
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+// 设置喷头id标志位
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+bool SetNozzleId = false;
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+// 识别喷头标志位
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+bool IdentifyNozzle = false;
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+// 设置喷头id
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+uint8_t SetNozzleIdNum = 4;
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+// 设置喷头设备id
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+uint32_t SetDevId = 1399067365;
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+// uint16_t curNodeID = 0;
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+// 超时时间
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+uint32_t overtime = 0;
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+
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+void HuiDaCanRecvHookFunction(uint32_t id, uint8_t *recv_buf, uint8_t len)
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+{
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+ uint16_t TypeID = 0;
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+ uint8_t SrcNodeID = (id & HD_CANID_SRCNODE_MASK) >> HD_CANID_SRCNODE_POS;
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+
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+ if (SrcNodeID == HD_CANID_PUMP_ID)
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+ {
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+ }
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+ else if (SrcNodeID >= HD_CANID_NOZZLE_0_ID && SrcNodeID <= HD_CANID_NOZZLE_4_ID)
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+ {
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+ }
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+ else
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+ {
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+ return;
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+ }
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+
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+ TypeID = recv_buf[0];
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+
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+ switch (SrcNodeID)
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+ {
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+ case HD_CANID_PUMP_ID:
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+ _HDMsg = &HD_pump.MultiMsg;
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+
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+ Dev.Pump_Link.connect_status = COMP_NORMAL;
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+ Dev.Pump_Link.recv_time = HAL_GetTick();
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+ Dev.Pump.facid = FAC_HD_PUMP;
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+
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+ // 多帧消息处理
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+ // 多帧发送需要二次打包
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+ // 判断接收的消息类型
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+ switch (_HDMsg->Msg_id)
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+ {
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+ // 非多帧消息
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+ case none:
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+ break;
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+
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+ case PSL:
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+ HD_frame_process(_HDMsg, recv_buf, len);
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+ if (_HDMsg->finish == true)
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+ {
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+ memcpy(&HD_pump.pump1_pwm, &_HDMsg->buffer[3], 2);
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+ little_to_big_16(&HD_pump.pump1_pwm);
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+
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+ memcpy(&HD_pump.pump2_pwm, &_HDMsg->buffer[5], 2);
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+ little_to_big_16(&HD_pump.pump2_pwm);
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+
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+ memcpy(&HD_pump.pump1_speed, &_HDMsg->buffer[7], 2);
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+ little_to_big_16(&HD_pump.pump1_speed);
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+
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+ memcpy(&HD_pump.pump2_speed, &_HDMsg->buffer[9], 2);
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+ little_to_big_16(&HD_pump.pump2_speed);
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+
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+ uint16_t fault_code = 0;
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+ memcpy(&fault_code, &_HDMsg->buffer[11], 2);
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+ little_to_big_16(&fault_code);
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+ memcpy(&HD_pump.pump1_fault_code, &fault_code, 2);
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+
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+ fault_code = 0;
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+ memcpy(&fault_code, &_HDMsg->buffer[13], 2);
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+ little_to_big_16(&fault_code);
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+ memcpy(&HD_pump.pump2_fault_code, &fault_code, 2);
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+
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+ memcpy(&HD_pump.pump1_vol, &_HDMsg->buffer[15], 2);
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+ little_to_big_16(&HD_pump.pump1_vol);
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+
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+ memcpy(&HD_pump.pump2_vol, &_HDMsg->buffer[17], 2);
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+ little_to_big_16(&HD_pump.pump2_vol);
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+
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+ HD_pump.pump1_current = _HDMsg->buffer[19];
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+ HD_pump.pump2_current = _HDMsg->buffer[20];
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+ HD_pump.pump1_temp = _HDMsg->buffer[21];
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+ HD_pump.pump2_temp = _HDMsg->buffer[22];
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+
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+ memcpy(&HD_pump.MCU_status, &_HDMsg->buffer[23], 1);
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+
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+ _HDMsg->finish = false;
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+ _HDMsg->Msg_id = none;
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+ }
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+ // 处理完毕跳过单帧消息处理，防止重复处理错误
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+ goto next;
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+ // break;
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+ }
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+
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+ switch (TypeID)
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+ {
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+ case HD_HIGH_FREQ_REPORT_ID:
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+ memcpy(&HD_pump.flow1, &recv_buf[1], 2);
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+ little_to_big_16(&HD_pump.flow1);
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+
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+ memcpy(&HD_pump.flow2, &recv_buf[3], 2);
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+ little_to_big_16(&HD_pump.flow2);
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+
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+ memcpy(&HD_pump.pump1_status, &recv_buf[5], 1);
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+ memcpy(&HD_pump.pump2_status, &recv_buf[6], 1);
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+
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+ break;
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+ case HD_LOW_FREQ_REPORT_ID:
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+ memcpy(&_HDMsg->length, &recv_buf[1], 2);
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+
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+ little_to_big_16(&_HDMsg->length);
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+ // 如果接收的消息长度正确
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+ if (_HDMsg->length == PSL_LEN)
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+ {
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+ _HDMsg->rxindex = 0;
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+ _HDMsg->LastTail.HWTailByte = recv_buf[7];
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+
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+ memcpy(&_HDMsg->buffer, recv_buf, 7);
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+ _HDMsg->rxindex += 7;
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+ _HDMsg->Msg_id = PSL;
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+ }
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+ else
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+ {
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+ _HDMsg->rxindex = 0;
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+ _HDMsg->Msg_id = none;
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+ }
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+ break;
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+
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+ case HD_FLOWMETER_PULSE_ID:
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+ memcpy(&HD_pump.flowmeter1_pulse_interval, &recv_buf[1], 2);
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+ little_to_big_16(&HD_pump.flowmeter1_pulse_interval);
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+
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+ memcpy(&HD_pump.flowmeter2_pulse_interval, &recv_buf[3], 2);
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+ little_to_big_16(&HD_pump.flowmeter2_pulse_interval);
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+ break;
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+ case HD_HEART_ID:
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+ memcpy(&HD_pump.devID, &recv_buf[1], 4);
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+ little_to_big_32(&HD_pump.devID);
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+ break;
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+ }
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+ break;
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+
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+ case HD_CANID_NOZZLE_0_ID ... HD_CANID_NOZZLE_4_ID:
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+
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+ {
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+ HDnozzle *HD_nozzle = NULL;
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+ HD_nozzle = &NozzleMsg[SrcNodeID - HD_CANID_NOZZLE_0_ID];
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+ _HDMsg = &HD_nozzle->MultiMsg;
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+
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+ Dev.Nozzle_Link.connect_status = COMP_NORMAL;
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+ Dev.Nozzle_Link.recv_time = HAL_GetTick();
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+ Dev.Nozzle.facid = FAC_HD_NOZZLE;
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+
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+ HD_nozzle->deviceLink = COMP_NORMAL;
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+ HD_nozzle->linkTime = HAL_GetTick();
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+ HD_nozzle->nodeId = SrcNodeID;
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+
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+ // 多帧消息处理
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+ // 多帧发送需要二次打包
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+ // 判断接收的消息类型
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+ switch (_HDMsg->Msg_id)
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+ {
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+ // 非多帧消息
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+ case none:
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+ {
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+ break;
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+ }
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+
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+ case SSL:
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+ {
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+ HD_frame_process(_HDMsg, recv_buf, len);
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+ if (_HDMsg->finish == true)
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+ {
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+ uint16_t _fault_code = 0;
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+ memcpy(&_fault_code, &_HDMsg->buffer[3], 2);
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+ little_to_big_16(&_fault_code);
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+ memcpy(&HD_nozzle->fault_code, &_fault_code, 2);
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+
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+ memcpy(&HD_nozzle->nozzle_vol, &_HDMsg->buffer[5], 2);
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+ little_to_big_16(&HD_nozzle->nozzle_vol);
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+
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+ memcpy(&HD_nozzle->nozzle_current, &_HDMsg->buffer[7], 1);
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+ memcpy(&HD_nozzle->solenoid_valve_current, &_HDMsg->buffer[8], 1);
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+ memcpy(&HD_nozzle->nozzle_temp, &_HDMsg->buffer[9], 1);
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+
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+ memcpy(&HD_nozzle->motor_power, &_HDMsg->buffer[10], 2);
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+ little_to_big_16(&HD_nozzle->motor_power);
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+
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+ memcpy(&HD_nozzle->over_current_num, &_HDMsg->buffer[12], 2);
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+ little_to_big_16(&HD_nozzle->over_current_num);
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+
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+ memcpy(&HD_nozzle->hard_over_current_num, &_HDMsg->buffer[14], 2);
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+ little_to_big_16(&HD_nozzle->hard_over_current_num);
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+
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+ memcpy(&HD_nozzle->blockage_frequency, &_HDMsg->buffer[15], 1);
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+
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+ _HDMsg->finish = false;
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+ _HDMsg->Msg_id = none;
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+ }
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+ // 跳过单帧消息处理，防止重复处理错误
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+ goto next;
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+ // break;
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+ }
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+ }
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+
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+ switch (TypeID)
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+ {
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+ case HD_NOZZLE_HIGH_FREQ_ID:
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+ {
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+ memcpy(&HD_nozzle->speed, &recv_buf[1], 2);
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+ little_to_big_16(&HD_nozzle->speed);
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+
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+ memcpy(&HD_nozzle->solenoid_valve_status, &recv_buf[3], 1);
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+
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+ memcpy(&HD_nozzle->speed_command, &recv_buf[4], 2);
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+ little_to_big_16(&HD_nozzle->speed_command);
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+
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+ memcpy(&HD_nozzle->nozzle_status, &recv_buf[6], 1);
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+ break;
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+ }
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+ case HD_NOZZLE_LOW_FREQ_ID:
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+ {
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+ memcpy(&_HDMsg->length, &recv_buf[1], 2);
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+
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+ little_to_big_16(&_HDMsg->length);
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+ // 如果接收的消息长度正确
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+ if (_HDMsg->length == SSL_LEN)
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+ {
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+ _HDMsg->rxindex = 0;
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+ _HDMsg->LastTail.HWTailByte = recv_buf[7];
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+
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+ memcpy(&_HDMsg->buffer, recv_buf, 7);
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+ _HDMsg->rxindex += 7;
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+ _HDMsg->Msg_id = SSL;
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+ }
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+ else
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+ {
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+ _HDMsg->rxindex = 0;
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+ _HDMsg->Msg_id = none;
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+ }
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+ break;
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+ }
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+ case HD_HEART_ID:
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+ {
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+ memcpy(&HD_nozzle->devID, &recv_buf[1], 4);
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+ little_to_big_32(&HD_nozzle->devID);
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+ // 添加设备id
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+ add_devId(SrcNodeID, HD_nozzle->devID);
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+
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+ if (SetNozzleId == true && HD_nozzle->devID == SetDevId)
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+ {
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+ if (SrcNodeID == SetNozzleIdNum + HD_CANID_NOZZLE_0_ID)
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+ {
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+ SetNozzleId = false;
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+ }
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+ else
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+ overtime = millis();
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+ }
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+ break;
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+ }
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+ case HD_IDENTIFY_ID:
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+ {
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+ if (recv_buf[1] == 0 && IdentifyNozzle == true)
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+ {
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+ uint32_t dev_id;
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+ memcpy(&dev_id, &recv_buf[2], 4);
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+ little_to_big_32(&dev_id);
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+ if (dev_id == SetDevId)
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+ IdentifyNozzle = false;
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+ else
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+ overtime = millis();
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+ }
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+ else
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+ overtime = millis();
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+
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+ break;
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+ }
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+ }
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+ }
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+ break;
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+ }
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+
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+next:;
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+}
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+
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+void HD_pump_func(void)
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+{
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+ // test
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+
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+ // static uint32_t time_1hz = 0;
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+ if (Dev.Pump_Link.connect_status == COMP_NORMAL && Dev.Pump.facid == FAC_HD_PUMP)
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+ {
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+ /*
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+ if(Check_Timer_Ready(&time_1hz,_1_HZ_))
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+ {
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+ HW_CanGetESCInfomation();
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+ HW_CanSetESCInfomation();
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+ }
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+*/
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+
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+ HD_can_sendmsg(HD_WATER_PUMP_CONTROL_ID, NULL);
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+ // HD_can_sendmsg( 1300 , 1300);
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+ }
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+
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+ if (Dev.Nozzle_Link.connect_status == COMP_NORMAL && Dev.Nozzle.facid == FAC_HD_NOZZLE)
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+ {
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+ /*
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+ if(Check_Timer_Ready(&time_1hz,_1_HZ_))
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+ {
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+ HW_CanGetESCInfomation();
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+ HW_CanSetESCInfomation();
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+ }
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+*/
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+ if (IdentifyNozzle == true)
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+ {
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+ /*
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+ if (millis() - overtime > 5000)
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+ {
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+ IdentifyNozzle = false;
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+ }*/
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+
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+ for (uint8_t i = 0; i < 4; i++)
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+ {
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+ if (Nozzle_id[i].devID == SetDevId)
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+ {
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+ HD_can_sendmsg(HD_IDENTIFY_ID, &Nozzle_id[i]);
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+ }
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+ }
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+ }
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+ else if (SetNozzleId == true)
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+ {
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+ /*
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+ if (millis() - overtime > 5000)
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+ {
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+ IdentifyNozzle = false;
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+ }*/
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+
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+ for (uint8_t i = 0; i < 4; i++)
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+ {
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+ if (Nozzle_id[i].devID == SetDevId)
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+ {
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+ HD_can_sendmsg(HD_SET_NOZZLE_ID, &Nozzle_id[i]);
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+ }
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+ }
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+ }
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+ else
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+ HD_can_sendmsg(HD_NOZZLE_CONTROL_ID, NULL);
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+ // HD_can_sendmsg( 1300 , 1300);
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+ }
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+}
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+
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+void HD_can_sendmsg(uint8_t msg_id, _nozzle_id *Nozzle_id)
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+{
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+ uint32_t canID;
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+ uint32_t _dev_ID;
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+ uint8_t can_buf[8] = {0};
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+ switch (msg_id)
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+ {
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+ case HD_WATER_PUMP_CONTROL_ID:
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+ {
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+ canID = ((HD_PRI_HIGHEST << HD_CANID_PRI_POS) & HD_CANID_PRI_MASK) |
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+ ((HD_TYPE_SER << HD_CANID_SNM_POS) & HD_CANID_SNM_MASK) |
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+ ((HD_TYPE_REQ << HD_CANID_RNR_POS) & HD_CANID_RNR_MASK) |
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+ ((HD_CANID_REV_23 << HD_CANID_REV_23_POS) & HD_CANID_REV_23_MASK) |
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+ ((HD_CANID_SERID << HD_CANID_SERID_POS) & HD_CANID_SERID_MASK) |
|
|
|
+ ((HD_CANID_PUMP_ID << HD_CANID_DESNODE_POS) & HD_CANID_DESNODE_MASK) |
|
|
|
+ ((FMU_NODE_ID_HD << HD_CANID_SRCNODE_POS) & HD_CANID_SRCNODE_MASK);
|
|
|
+
|
|
|
+ can_buf[0] = HD_WATER_PUMP_CONTROL_ID;
|
|
|
+
|
|
|
+ uint16_t _pwm1 = (uint16_t)pmu_pin.pump1;
|
|
|
+ uint16_t _pwm2 = (uint16_t)pmu_pin.pump2;
|
|
|
+ if (_pwm1 > 1800)
|
|
|
+ _pwm1 = 1800;
|
|
|
+ if (_pwm2 > 1800)
|
|
|
+ _pwm2 = 1800;
|
|
|
+ little_to_big_16(&_pwm1);
|
|
|
+ little_to_big_16(&_pwm2);
|
|
|
+ memcpy(&can_buf[1], &_pwm1, 2);
|
|
|
+ memcpy(&can_buf[3], &_pwm2, 2);
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.start = 1;
|
|
|
+ PumpControlTail.HWTailBit.end = 1;
|
|
|
+ PumpControlTail.HWTailBit.toggle = 1;
|
|
|
+ can_buf[5] = PumpControlTail.HWTailByte;
|
|
|
+
|
|
|
+ can_send_msg_normal(can_buf, 6, canID);
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.tranid++;
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ case HD_NOZZLE_CONTROL_ID:
|
|
|
+ {
|
|
|
+ uint16_t rpm = 0;
|
|
|
+ uint8_t open;
|
|
|
+ for (uint8_t i = 1; i <= 4; i++)
|
|
|
+ {
|
|
|
+ switch (i)
|
|
|
+ {
|
|
|
+ case 1:
|
|
|
+ rpm = pmu_pin.nozz1_fm;
|
|
|
+ break;
|
|
|
+ case 2:
|
|
|
+ rpm = pmu_pin.nozz2_zp;
|
|
|
+ break;
|
|
|
+ case 3:
|
|
|
+ rpm = pmu_pin.nozz3;
|
|
|
+ break;
|
|
|
+ case 4:
|
|
|
+ rpm = pmu_pin.nozz4;
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ canID = ((HD_PRI_HIGHEST << HD_CANID_PRI_POS) & HD_CANID_PRI_MASK) |
|
|
|
+ ((HD_TYPE_SER << HD_CANID_SNM_POS) & HD_CANID_SNM_MASK) |
|
|
|
+ ((HD_TYPE_REQ << HD_CANID_RNR_POS) & HD_CANID_RNR_MASK) |
|
|
|
+ ((HD_CANID_REV_23 << HD_CANID_REV_23_POS) & HD_CANID_REV_23_MASK) |
|
|
|
+ ((HD_CANID_SERID << HD_CANID_SERID_POS) & HD_CANID_SERID_MASK) |
|
|
|
+ (((HD_CANID_NOZZLE_0_ID + i) << HD_CANID_DESNODE_POS) & HD_CANID_DESNODE_MASK) |
|
|
|
+ ((FMU_NODE_ID_HD << HD_CANID_SRCNODE_POS) & HD_CANID_SRCNODE_MASK);
|
|
|
+ open = 1;
|
|
|
+ if (rpm <= 1020)
|
|
|
+ {
|
|
|
+ rpm = 0;
|
|
|
+ open = 0;
|
|
|
+ }
|
|
|
+ else if (rpm >= 2000)
|
|
|
+ rpm = 14000;
|
|
|
+ else
|
|
|
+ rpm = (rpm - 1020) * ((14000 - 2000) / (2000 - 1000));
|
|
|
+ can_buf[0] = HD_NOZZLE_CONTROL_ID;
|
|
|
+ // rpm = 14000;
|
|
|
+ little_to_big_16(&rpm);
|
|
|
+ memcpy(&can_buf[1], &rpm, 2);
|
|
|
+ memcpy(&can_buf[3], &open, 1);
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.start = 1;
|
|
|
+ PumpControlTail.HWTailBit.end = 1;
|
|
|
+ PumpControlTail.HWTailBit.toggle = 1;
|
|
|
+ can_buf[4] = PumpControlTail.HWTailByte;
|
|
|
+
|
|
|
+ can_send_msg_normal(can_buf, 5, canID);
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.tranid++;
|
|
|
+ }
|
|
|
+
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ case HD_IDENTIFY_ID:
|
|
|
+ {
|
|
|
+ if (Nozzle_id == NULL)
|
|
|
+ return;
|
|
|
+ canID = ((HD_PRI_HIGHEST << HD_CANID_PRI_POS) & HD_CANID_PRI_MASK) |
|
|
|
+ ((HD_TYPE_SER << HD_CANID_SNM_POS) & HD_CANID_SNM_MASK) |
|
|
|
+ ((HD_TYPE_REQ << HD_CANID_RNR_POS) & HD_CANID_RNR_MASK) |
|
|
|
+ ((HD_CANID_REV_23 << HD_CANID_REV_23_POS) & HD_CANID_REV_23_MASK) |
|
|
|
+ ((HD_CANID_SERID << HD_CANID_SERID_POS) & HD_CANID_SERID_MASK) |
|
|
|
+ ((Nozzle_id->nodeId << HD_CANID_DESNODE_POS) & HD_CANID_DESNODE_MASK) |
|
|
|
+ ((FMU_NODE_ID_HD << HD_CANID_SRCNODE_POS) & HD_CANID_SRCNODE_MASK);
|
|
|
+
|
|
|
+ can_buf[0] = HD_IDENTIFY_ID;
|
|
|
+ // rpm = 14000;
|
|
|
+ _dev_ID = SetDevId;
|
|
|
+ little_to_big_32(&_dev_ID);
|
|
|
+ memcpy(&can_buf[1], &_dev_ID, 4);
|
|
|
+ can_buf[5] = 0x00;
|
|
|
+ can_buf[6] = 0x00;
|
|
|
+ PumpControlTail.HWTailBit.start = 1;
|
|
|
+ PumpControlTail.HWTailBit.end = 1;
|
|
|
+ PumpControlTail.HWTailBit.toggle = 1;
|
|
|
+ can_buf[7] = PumpControlTail.HWTailByte;
|
|
|
+
|
|
|
+ can_send_msg_normal(can_buf, 8, canID);
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.tranid++;
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ case HD_SET_NOZZLE_ID:
|
|
|
+ {
|
|
|
+ if (Nozzle_id == NULL)
|
|
|
+ return;
|
|
|
+ canID = ((HD_PRI_HIGHEST << HD_CANID_PRI_POS) & HD_CANID_PRI_MASK) |
|
|
|
+ ((HD_TYPE_SER << HD_CANID_SNM_POS) & HD_CANID_SNM_MASK) |
|
|
|
+ ((HD_TYPE_REQ << HD_CANID_RNR_POS) & HD_CANID_RNR_MASK) |
|
|
|
+ ((HD_CANID_REV_23 << HD_CANID_REV_23_POS) & HD_CANID_REV_23_MASK) |
|
|
|
+ ((HD_CANID_SERID << HD_CANID_SERID_POS) & HD_CANID_SERID_MASK) |
|
|
|
+ ((Nozzle_id->nodeId << HD_CANID_DESNODE_POS) & HD_CANID_DESNODE_MASK) |
|
|
|
+ ((FMU_NODE_ID_HD << HD_CANID_SRCNODE_POS) & HD_CANID_SRCNODE_MASK);
|
|
|
+
|
|
|
+ can_buf[0] = HD_SET_NOZZLE_ID;
|
|
|
+
|
|
|
+ _dev_ID = SetDevId;
|
|
|
+ little_to_big_32(&_dev_ID);
|
|
|
+ memcpy(&can_buf[1], &_dev_ID, 4);
|
|
|
+ can_buf[5] = SetNozzleIdNum + HD_CANID_NOZZLE_0_ID;
|
|
|
+ can_buf[6] = 0;
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.start = 1;
|
|
|
+ PumpControlTail.HWTailBit.end = 1;
|
|
|
+ PumpControlTail.HWTailBit.toggle = 1;
|
|
|
+ can_buf[7] = PumpControlTail.HWTailByte;
|
|
|
+
|
|
|
+ can_send_msg_normal(can_buf, 8, canID);
|
|
|
+
|
|
|
+ PumpControlTail.HWTailBit.tranid++;
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+// 多帧消息处理
|
|
|
+void HD_frame_process(HDMsg *_HDMsg, uint8_t *recv_buf, uint32_t len)
|
|
|
+{
|
|
|
+ _HDMsg->Tail.HWTailByte = recv_buf[len - 1];
|
|
|
+
|
|
|
+ // 如果收帧连续，数据进入buffer
|
|
|
+ if (_HDMsg->Tail.HWTailBit.toggle != _HDMsg->LastTail.HWTailBit.toggle)
|
|
|
+ {
|
|
|
+ memcpy(&_HDMsg->buffer[_HDMsg->rxindex], recv_buf, (len - 1));
|
|
|
+ _HDMsg->LastTail.HWTailByte = _HDMsg->Tail.HWTailByte;
|
|
|
+ _HDMsg->rxindex = _HDMsg->rxindex + len - 1;
|
|
|
+ }
|
|
|
+ // 如果是最后一帧
|
|
|
+ if (_HDMsg->Tail.HWTailBit.end == 1 && _HDMsg->rxindex == _HDMsg->length + length_len + msg_id_len + crc_len)
|
|
|
+ {
|
|
|
+ memcpy(&_HDMsg->crc, &_HDMsg->buffer[_HDMsg->rxindex - 2], 2);
|
|
|
+ little_to_big_16(&_HDMsg->crc);
|
|
|
+
|
|
|
+ // 校验
|
|
|
+ if (_HDMsg->crc == crcAdd(0xFFFF, _HDMsg->buffer, _HDMsg->rxindex - 2))
|
|
|
+ {
|
|
|
+ _HDMsg->finish = true;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ _HDMsg->crc_wrong++;
|
|
|
+
|
|
|
+ // 无论是否校验通过，都重置
|
|
|
+ _HDMsg->Msg_id = none;
|
|
|
+ _HDMsg->rxindex = 0;
|
|
|
+ }
|
|
|
+ // 超出字节重置
|
|
|
+ else if (_HDMsg->rxindex >= (_HDMsg->length + length_len + msg_id_len + crc_len))
|
|
|
+ {
|
|
|
+ _HDMsg->rxindex = 0;
|
|
|
+ _HDMsg->Msg_id = none;
|
|
|
+ _HDMsg->len_wrong++;
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+// 添加设备id到Nozzle_id数组
|
|
|
+void add_devId(uint8_t SrcId, uint32_t devId)
|
|
|
+{
|
|
|
+ uint8_t p = 0;
|
|
|
+ for (uint8_t i = 0; i < 4; i++)
|
|
|
+ {
|
|
|
+ // 超时视为断开连接，清除设备id
|
|
|
+ if (Nozzle_id[i].devID != 0 && millis() - Nozzle_id[i].linkTime >= 2000)
|
|
|
+ Nozzle_id[i].devID = 0;
|
|
|
+ }
|
|
|
+ for (uint8_t i = 0; i < 4; i++)
|
|
|
+ {
|
|
|
+ // 如果设备id已经存在，更新时间
|
|
|
+ if (Nozzle_id[i].devID == devId)
|
|
|
+ {
|
|
|
+ Nozzle_id[i].linkTime = millis();
|
|
|
+ Nozzle_id[i].nodeId = SrcId;
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ // 空位，记录
|
|
|
+ else if (Nozzle_id[i].devID == 0)
|
|
|
+ {
|
|
|
+ p = i;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ // 当前id与之前的id都不相同，添加
|
|
|
+ // 如果数组已满，不添加
|
|
|
+ if (p < 4)
|
|
|
+ {
|
|
|
+ Nozzle_id[p].devID = devId;
|
|
|
+ Nozzle_id[p].nodeId = SrcId;
|
|
|
+ Nozzle_id[p].linkTime = millis();
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void little_to_big_32(uint32_t *value)
|
|
|
+{
|
|
|
+ if (value == NULL)
|
|
|
+ {
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ uint32_t _value = *value;
|
|
|
+ _value = ((_value & 0xFF) << 24) |
|
|
|
+ ((_value & 0xFF00) << 8) |
|
|
|
+ ((_value >> 8) & 0xFF00) |
|
|
|
+ ((_value >> 24) & 0xFF);
|
|
|
+ *value = _value;
|
|
|
+}
|
|
|
+
|
|
|
+void little_to_big_16(uint16_t *value)
|
|
|
+{
|
|
|
+ if (value == NULL)
|
|
|
+ {
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ uint16_t _value = *value;
|
|
|
+ _value = ((_value & 0xFF) << 8) |
|
|
|
+ ((_value >> 8) & 0xFF);
|
|
|
+ *value = _value;
|
|
|
+}
|
|
|
+
|
|
|
+uint32_t millis()
|
|
|
+{
|
|
|
+ return HAL_GetTick();
|
|
|
+}
|
redaiyuyuyu