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V2.07 检测参数自检命令验证成功

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ranchuan
2024-03-12 17:47:17 +08:00
parent 50c54bca9c
commit bd40e4c9c0
10 changed files with 285 additions and 5 deletions
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2
ReadMe.txt
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@@ -66,6 +66,8 @@
解决tcp不上报心跳的问题
2024.1.29
添加对hmi屏幕的支持，赋码仪按键按下时发送赋码请求
2024.3.12
V2.07 检测参数自检命令验证成功

2
checker_host.pro
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@@ -46,6 +46,7 @@ SOURCES += \
prot/prot_m4.cpp \
prot/prot_pc.cpp \
prot/prot_slave.cpp \
prot_cmd/cmd_checkself.cpp \
prot_cmd/cmd_cmdline.cpp \
prot_cmd/cmd_coder.cpp \
prot_cmd/cmd_hmi_coder.cpp \
@@ -81,6 +82,7 @@ HEADERS += \
prot/prot_m4.h \
prot/prot_pc.h \
prot/prot_slave.h \
prot_cmd/cmd_checkself.h \
prot_cmd/cmd_cmdline.h \
prot_cmd/cmd_coder.h \
prot_cmd/cmd_hmi_coder.h \

2
complier_info.h
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@@ -6,7 +6,7 @@
#define BUILD_DATE "2024-03-01 11:12:15"
#define BUILD_DATE "2024-03-12 10:30:39"

4
info.json
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@@ -1,10 +1,10 @@
{
"build_date": "2024-03-01 11:12:15",
"build_date": "2024-03-12 10:30:39",
"hard_version": "MHPZ2_V1.00",
"private": [
"info.json",
"json.lua",
"prints.lua"
],
"soft_version": "V2.06"
"soft_version": "V2.07"
}

1
prot/prot_m4.cpp
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@@ -30,6 +30,7 @@ void prot_m4::init()
void prot_m4::send_data_slot(myarray data)
{
if(data.size()==0) return;
if ((if_ != nullptr) && (codec_ != nullptr))
{
myarray send = codec_->encode(0, 0, 0, data);

191
prot_cmd/cmd_checkself.cpp Normal file
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@@ -0,0 +1,191 @@
#include "prot_cmd/cmd_checkself.h"
/*
+-----------------+-------------------------+----------------------------------------+
|细分指令 |参数说明 |回复结果说明 |
+-----------------+-------------------------+----------------------------------------+
|电机归零(0x01) |无 |无 |
+-----------------+-------------------------+----------------------------------------+
|电机下降(0x02) |下降步数（2bytes，小端） |无 |
+-----------------+-------------------------+----------------------------------------+
|电机上升(0x03) |上升步数（2bytes，小端） |无 |
+-----------------+-------------------------+----------------------------------------+
|检桥丝电阻(0x04) |无 |小板地址+桥丝阻值（2bytes） |
| | |多块小板数据域追加相应数据 |
+-----------------+-------------------------+----------------------------------------+
|打开总线(0x05) |总线电压（2bytes，小端） |小板地址+总线电压（2bytes）（单位0.1V） |
| |（单位0.1V） |多块小板数据域追加相应数据 |
+-----------------+-------------------------+----------------------------------------+
|关闭总线(0x06) |无 |无 |
+-----------------+-------------------------+----------------------------------------+
|检总线电流(0x07) |无 |小板地址+总线电流（4bytes）（单位0.1uA）|
| | |多块小板数据域追加相应数据 |
+-----------------+-------------------------+----------------------------------------+
*/
// 电机控制
int selfdev_checkself::dolater(int cmd, myarray data)
{
prot_m4 *m4 = protM4();
mycfg *cfg_=syscfg();
int subcmd=data[0];
if(subcmd>=1&&subcmd<=3){
connect(this, &selfdev_checkself::send_to_m4_signal, m4, &prot_m4::send_data_slot);
switch (subcmd)
{
case 0x01:
emit send_to_m4_signal("moterinit");
break;
case 0x02:
{
int count=data[1]|(data[2]<<8);
mystring s = mystring("moter %1").arg(count);
emit send_to_m4_signal(myarray(s.data()));
}
break;
case 0x03:
{
int count=data[1]|(data[2]<<8);
mystring s = mystring("moter %1").arg(-count);
emit send_to_m4_signal(myarray(s.data()));
}
break;
default:
break;
}
myarray r;
r.append(char(0));
r.append(uint8_t(subcmd));
emit send_data_signal(0,r);
return 0;
}else{
pc_ret_cmd=0x50;
return selfdev_runtask::dolater(cmd, data);
}
}
// 参数检测
myarray selfdev_checkself::cmd_pc_to_slave(myarray data)
{
myarray ret;
const task_def *table=nullptr;
uint16_t params[10]={0};
subcmd=data[0];
switch (subcmd)
{
case 0x04:
{
myarray d;
params[0]=0;
coder_add_task(d,"测量桥丝阻值",1,1,params);
coder_slave_pack(d,0x1f);
ret+=d;
// 检测模式3,只执行槽任务
ret.insert(0,uint8_t(3));
}
break;
case 0x05:
{
myarray d;
params[0]=data[1]|(data[2]<<8);
coder_add_task(d,"设置总线电压",1,1,params);
coder_slave_pack(d,0x1f);
ret+=d;
// 检测模式3,只执行槽任务
ret.insert(0,uint8_t(3));
}
break;
case 0x06:
{
myarray d;
params[0]=data[1]|(data[2]<<8);
coder_add_task(d,"关总线",1,1,params);
coder_slave_pack(d,0x1f);
ret+=d;
// 检测模式3,只执行槽任务
ret.insert(0,uint8_t(3));
}
break;
case 0x07:
{
myarray d;
params[0]=data[1]|(data[2]<<8);
coder_add_task(d,"获取总线电流",1,1,params);
coder_slave_pack(d,0x1f);
ret+=d;
// 检测模式3,只执行槽任务
ret.insert(0,uint8_t(3));
}
break;
default:
break;
}
return ret;
}
// 从机返回转pc
myarray selfdev_checkself::ret_slave_to_pc(QList<myarray> data)
{
myarray ret;
ret.append(uint8_t(0));
ret.append(uint8_t(subcmd));
switch (subcmd)
{
case 0x04:// 测量桥丝阻值
for (int i=0;i<data.size();i++)
{
myarray &sdata=data[i];
ret.append(sdata[0]);
myarray sret=coder_slave_find_ret_data(sdata.mid(2),1,2);
ret+=sret;
}
break;
case 0x05:// 设置总线电压
for (int i=0;i<data.size();i++)
{
myarray &sdata=data[i];
ret.append(sdata[0]);
myarray sret=coder_slave_find_ret_data(sdata.mid(2),1,2);
ret+=sret;
}
break;
case 0x06:// 关总线
break;
case 0x07:// 获取总线电流
for (int i=0;i<data.size();i++)
{
myarray &sdata=data[i];
ret.append(sdata[0]);
myarray sret=coder_slave_find_ret_data(sdata.mid(2),1,4);
ret+=sret;
}
break;
default:
break;
}
return ret;
}
static HandlePc *get_selfdev_checkself(){
return new selfdev_checkself();
}
protpc_export(0x50, get_selfdev_checkself);

77
prot_cmd/cmd_checkself.h Normal file
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@@ -0,0 +1,77 @@
#ifndef cmd_checkerself_h__
#define cmd_checkerself_h__
#include <QObject>
#include "prot_cmd/cmd_pc.h"
#include "base/check_cfg.h"
#include "elec/elec_judge.h"
#include "prot_cmd/cmd_coder.h"
/*
检测参数自检
*/
// 电机 自研批检仪
class selfdev_checkself : public selfdev_runtask
{
Q_OBJECT
public:
selfdev_checkself():selfdev_runtask(){
pc_ret_cmd=0;
}
int dolater(int cmd, myarray data);
// pc指令转从机
myarray cmd_pc_to_slave(myarray data);
// pc指令生成从机列表
QList<int> cmd_pc_to_addrs(myarray data){
QList<int> addr_list;
addrs=0;
int len=syscfg()->slave_num;
for(int i=0;i<len;i++){
addr_list.append(i+1);
addrs|=1<<(i);
}
return addr_list;
}
// 从机发起命令
int cmd_slave(){
return 0x20;
}
// pc收到回复,返回0不回复
int cmd_pc_recv(){
return 0;
}
// 生成接收回复到pc
myarray cmd_pc_recv_to_pc(){
myarray r;
return r;
}
// pc回复命令,返回0不回复
int cmd_pc_ret(){
return pc_ret_cmd;
}
// 从机返回转pc
myarray ret_slave_to_pc(QList<myarray> data);
protected:
int addrs;
int pc_ret_cmd;
int subcmd;
signals:
void send_to_m4_signal(myarray data);
};
#endif

2
prot_cmd/cmd_coder.cpp
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@@ -14,7 +14,7 @@
static const task_def g_ew_task_table[]={
{"电源准备",0,1,10,0},
{"延时等待",1,1,2,1},
{"桥丝电阻测试",2,4,1,1},
{"测量桥丝阻值",2,4,1,1},
{"上电充能",3,2,3,2},
{"设置总线电压",4,1,1,1},
{"获取总线电流",5,1,0,2},

7
prot_cmd/cmd_coder.h
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@@ -76,6 +76,13 @@ typedef struct{
const task_def *coder_find_task(const char *str);
// 添加一个任务,返回0添加成功
int coder_add_task(myarray &d,const char *name,int slot_index,int task_index,uint16_t params[10]);
// 包装为一个小板的数据,返回0成功
// 包装前需要先添加任务
int coder_slave_pack(myarray &d,int addr);
// 找到指定任务序号的数据
myarray coder_slave_find_ret_data(myarray data,int task_index,int size);
// 赋码仪检测命令

2
prot_cmd/cmd_pc.cpp
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@@ -907,7 +907,7 @@ void selfdev_runtask::timeout()
busy=0;
}
// 排序,再接收了从机数据之后
// 排序,在接收了从机数据之后
void selfdev_runtask::slave_sort(){
myarray temp;
int slave_num=slave_acked.size();