电机下压

source/ReadMe.txt

@@ -115,6 +115,7 @@
     赋码仪读写参数命令添加读写位，解决写参数时少偏移了一位导致的写参数失败的问题
 2023.6.20
     赋码失败返回时返回小板的错误码
-
+2023.6.25
+    电机下压
 
     

source/main/compiler_info.h

@@ -6,7 +6,7 @@
 
 
 
-#define BUILD_DATE  "2023-06-20 17:40:53"
+#define BUILD_DATE  "2023-06-25 17:31:20"
 #define SOFT_VERSION  "0.01"
 
 

source/soft/signal.c

@@ -78,7 +78,7 @@ sig_thread thread_creat(int pro)
   slot_run_def *run=calloc(1,sizeof(slot_run_def));
   run->run=1;
   sprintf(name,"sig_mq#%d",count);
-  run->mb=rt_mq_create(name,(sizeof(slot_msg_def)+sizeof(uint32_t)*8),50,RT_IPC_FLAG_FIFO);
+  run->mb=rt_mq_create(name,(sizeof(slot_msg_def)+sizeof(uint32_t)*8),100,RT_IPC_FLAG_FIFO);
   sprintf(name,"sig_t#%d",count);
   rt_thread_t rt_t=rt_thread_create(name,slot_run,run,2048,pro,20);
   rt_thread_startup(rt_t);

source/task/moter.c

@@ -24,6 +24,8 @@ typedef struct{
   int count;
   int max_count;
   moter_stat stat;
+  void (*fun_in_end)(void *t);
+  void *t;
 }self_def;
 
 
@@ -73,12 +75,42 @@ static void moter_run(void *t)
       s->stat=STOP;
       DBG_LOG("moter stoped.");
       emit moter_end_signal(s);
+      if(s->fun_in_end){
+        s->fun_in_end(s->t);
+        s->fun_in_end=0;
+        s->t=0;
+      }
     }
     ev=0;
   }
 }
 
 
+
+
+// <20><><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><C2BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ص<EFBFBD>
+void moter_down(void (*fun)(void *t),void *t)
+{
+  self_def *s=&g_self;
+  if(fun){
+    s->fun_in_end=fun;
+    s->t=t;
+  }
+  moter_start(0,MOTER_MAX_COUNT-s->count);
+}
+
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ص<EFBFBD>
+void moter_up(void (*fun)(void *t),void *t)
+{
+  self_def *s=&g_self;
+  if(fun){
+    s->fun_in_end=fun;
+    s->t=t;
+  }
+  moter_start(0,-s->count-100);
+}
+
+
 void moter_start(int fre,int step_count)
 {
   self_def *s=&g_self;
@@ -101,6 +133,7 @@ void moter_start_slot(void *t,int fre,int step_count)
   if(s->count+step_count>s->max_count)
   {
     DBG_WARN("steps count exceeded limit!,max=%d",s->max_count);
+    end_irq(s);
     return ;
   }
   else{

source/task/moter.h

@@ -16,6 +16,9 @@ void moter_start_slot(void *t,int fre,int step_count);
 
 void moter_start(int fre,int step_count);
 
+void moter_down(void (*fun)(void *t),void *t);
+
+void moter_up(void (*fun)(void *t),void *t);
 
 
 

source/task/tran_for_checker.c

@@ -9,6 +9,7 @@
 #include "handle_for_checker.h"
 #include "compiler_info.h"
 #include "dev_backup.h"
+#include "moter.h"
 
 
 
@@ -81,10 +82,29 @@ static void check_end(ucport_def *u,port_mcu *src,void *data,int ack,char *err_s
     arr_append(a,0);
     arr_appends(a,w->ack,w->ack_size);
     emit tran_send_signal(w->u.p,0x31,arr_temp(a));
+    // 把命令字改为0x31用于接收主机应答
+    w->u.cmd=0x31;
     tran_set_busy(w->u.p,0);
   }
 }
 
+// 电机上升之后解除忙状态
+static void check_when_moter_up(void *t)
+{
+  ucport_def *u=t;
+  tran_set_busy(u->p,0);
+}
+
+
+static int check_dolater(ucport_def *u,uint8_t cmd,array_def *data,char *err_str)
+{
+  if(cmd==0x31)
+  {
+    moter_up(check_when_moter_up,u);
+  }
+  return 0;
+}
+
 
 static void check_del(ucport_def *u)
 {
@@ -92,6 +112,23 @@ static void check_del(ucport_def *u)
 }
 
 
+// 电机下降之后开始检测
+static void check_when_moter_down(void *t)
+{
+  ucport_def *u=t;
+  for(int i=0;i<20;i++)
+  {
+    port_mcu *mcu=tran_get_portm(u->p,i);
+    // 这里打开检测
+    if(mcu){
+      port_start(mcu,check_creat(check_scheme()));
+    }
+  }
+}
+
+
+
+
 static ucport_def *check(tran_def *t, uint8_t cmd,array_def *data)
 {
   int return_size=(check_scheme()->range_num*2+8+(check_scheme()->range_num+7)/8);
@@ -100,18 +137,11 @@ static ucport_def *check(tran_def *t, uint8_t cmd,array_def *data)
   u->ack_size=return_size*20;
   u->u.p=t;
   u->u.del=check_del;
+  u->u.dolater=check_dolater;
   u->u.doend=check_end;
   DBG_LOG("check: skip=%d",u->ret_skip);
   tran_set_busy(t,1);
-  for(int i=0;i<20;i++)
-  {
-    port_mcu *mcu=tran_get_portm(u->u.p,i);
-    // 这里打开检测
-    if(mcu){
-      port_start(mcu,check_creat(check_scheme()));
-    }
-  }
-  
+  moter_down(check_when_moter_down,u);
   array_def *a=arr_creat();
   arr_append(a,0);
   emit tran_reply_signal(u->u.p,arr_temp(a));