receiver.c

MSP430开发的使用PID算法温度控制程序 本程序通过485总线与上位机通信发送和接受命令

//****************************************************************************
//文件名：Receiver.c
//描述：  接收数据包处理子程序。
//****************************************************************************
#include <MSP430x14x.h>
#include "Receiver.h"
#include "xieyi.h"
#include "df_uart0.h"
#include "Time_A.h"
#include "stdio.h"
#include "24c02.h"
#include "Ctrl_Temp.h"
#include "ds18b20.h"
#include "pwm_timer_b.h"



char aRxBuff[N_XY_BAO];				// 接收数据缓冲区
char aTxBuff[N_XY_BAO];				// 发送数据缓冲区
unsigned char NRxBuff=0;			// 接收帧长度, 字节数
unsigned char NTxBuff=0;			// 发送帧长度, 字节数
unsigned char NTxd=0;				// 以发送的字节数
unsigned char StBao=0;				// 接收数据包完成标志
int nLastError = E_IDLE;			// 最后一次发生的错误

//==========================================================
// CRC校验, 冗余多项式为0x11021
//pbuffer：指向要校验的数据缓冲区的指针
//n_byte：校验的字节数
//pjiao_zhi：计算出的校验值
//返回值：pjiao_zhi
//==========================================================
const unsigned int crc_table[256] =
{
	0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 
	0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, 
	0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 
	0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, 
	0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 
	0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, 
	0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 
	0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, 
	0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 
	0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, 
	0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 
	0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, 
	0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 
	0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, 
	0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 
	0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, 
	0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 
	0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, 
	0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 
	0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, 
	0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 
	0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 
	0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 
	0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, 
	0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 
	0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, 
	0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 
	0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, 
	0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 
	0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, 
	0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 
	0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
	};
unsigned int cal_crc(unsigned char *pBuffer, unsigned char n_byte)
{
	unsigned int  crc=0xFFFF;
	unsigned char i;
	while(n_byte--)
	{
		i = crc>>8;
		crc <<= 8;
		crc ^= crc_table[i ^ *pBuffer++];
	}
	return crc;
}

//===========================================================================
// 将Ascii码转换为二进制数
//===========================================================================
unsigned char AsciiToHex(char c)
{
	if ('0' <= c && c <= '9')
		return c-'0';
	else if ('A' <= c && c <= 'F')
		return c-'A'+0x0A;
	else if ('a' <= c && c <= 'f')
		return c-'a'+0x0A;
	else
		return 0;
}

//===========================================================================
// Ascii码到Byte转换
//===========================================================================
unsigned char PackByte(char* p)
{
	return (AsciiToHex(p[0]) << 4) | AsciiToHex(p[1]);
}

//===========================================================================
// Ascii码到WORD转换
//===========================================================================
unsigned int PackWord(char* p)
{
	return ((unsigned int)PackByte(p) << 8) | PackByte(p+2);
}

//===========================================================================
// Ascii码到WORD转换
//===========================================================================
unsigned long PackDword(char* p)
{
	return ((unsigned long)PackWord(p) << 16) | PackWord(p+4);
}



void Cancel(void)			//紧急停止所有动作
{
	GoPwm(0);
	CtrlPwm3(0);
	CtrlPwm4(0,0);
	CtrlPwm5(0,0);

}
//****************************************************************************
//接收数据包处理，向缓冲区中写入接收到的数据
//****************************************************************************
void ReceiverData(unsigned char sq0)
{
	if (FRAME_OK())	// 上一次接收的包还没处理完, 拒绝接收
		return;
	
	if (sq0 == '>')
		NRxBuff = 0;
	aRxBuff[NRxBuff++] = sq0;				// 保存数据
	
	if((NRxBuff==1)&&(sq0!='>'))			// 包头错误
		NRxBuff = 0;
	else if ((NRxBuff == 2) && (sq0 != GetAddress()))	// 地址错误
		NRxBuff = 0;
	else if(NRxBuff==N_XY_BAO)
		NRxBuff = 0;
	else if ((sq0=='\r'))				// 如果检测到包尾则处理
	{
		StBao=1;
		TimCh2 = GetMsValue(100);
	}
	//SendUart0(&sq0,1);
}

/**
按给定的格式发送一条指令.
@param[in]	lpszFormat			输出格式. lpszFormat只包含指令和数据部分. \see printf
@return 输出字符的长度.
*/
void SendCommand(const char* lpszFormat, ...)
{
	char* p = aTxBuff;					// 发送缓冲区
	va_list va;
	va_start(va, lpszFormat);
	*p++ = '>';							// 起始符
	*p++ = Address();				// 地址
	p += vsprintf(p, lpszFormat, va);
	va_end(va);
	p += sprintf(p, "%04X\r", cal_crc((unsigned char*)aTxBuff, p-aTxBuff));
	FRAME_RESET();
	
	SendUart0((unsigned char*)aTxBuff, p-aTxBuff);
}



void HandleCommand()
{
	if (TimCh2 == 0 ||	// 距接收完时间超过50ms, 不要回复指令
		NRxBuff < 6	||	// 帧最小长度
		cal_crc((unsigned char*)aRxBuff, NRxBuff-5) != PackWord(FRAME_CRC))
	{
		FRAME_RESET();
		return;
	}
	
	switch(FRAME_CMD)
	{
	case '@':	// 与下位机通讯
		SendCommand("@");
		break;

	case 'A':	// 读取版本信息
		SendCommand("A%s", GetVersion());
		break;

	case 'B':	// 读取错误
		SendCommand("B%04hX", GetLastError());
		break;

	case 'C':	// 写EEPROM
		{
			char buf[25];	// 最大长度, 实际上位机在传送时按8字节传送
			int nAddr;
			unsigned char nLen, c, n;
			char* p = FRAME_DATA;

			nAddr = PackWord(p);
			p += 4;
			nLen = PackByte(p);
			p += 2;
			for(n=0; n<nLen; n++, p+=2)
				buf[n] = PackByte(p);

			SendCommand("C");
			// 将数据写入EEPROM, Write24c02和Read24c02须更改, 地址可到1K
			// 如果每写一个字节就延时20ms, 效率有点太低
			// Write24c02((unsigned char*)buf, nAddr, nLen);
			c = 8-(nAddr&0x07);	// 页边界对齐
			if (c > nLen)
				c = nLen;
			for(p=buf; nLen > 0; )
			{
				WritePage( nAddr,(unsigned char*)p, c);
				nLen -= c;
				p += c;
				nAddr += c;

				if (nLen > 8)
					c = 8;
				else 
					c = nLen;
			}
		}
		break;
		
	case 'D':	// 读EEPROM
		{
			char buf[25];	// 最大长度, 实际上位机在传送时按8字节传送
			int offset;
			unsigned char nbyte;
			char *pbuf = buf;
			char* p = FRAME_DATA;
			
			offset = PackWord(p);
			p += 4;
			nbyte = PackByte(p);
			p += 2;
			ReadSeq(offset,(unsigned char*)buf,nbyte);
			p = aTxBuff;
			*p++ = '>';
			*p++ = GetAddress();
			*p++ = 'D';
			for(;nbyte;nbyte--)
				p += sprintf(p, "%02X", *pbuf++);
			p += sprintf(p, "%04X\r", cal_crc((unsigned char*)aTxBuff, p-aTxBuff));
			FRAME_RESET();
			SendUart0((unsigned char*)aTxBuff, p-aTxBuff);
		}
		break;
		

	case 'E':	// 复位
		if (GetLastError() != E_BUSY)
		{
			SendCommand("E");
			SetLastError(E_BUSY);

		}
		else
		{
			FRAME_RESET();
		}
		break;

	case 'F':	// 紧急停止
		{
			SendCommand("F");
			Cancel();
		}
		break;


	case 'G':	// 启动/停止电机
		{

			char motormask;
			char motorflag;
			char motorV;

			char *p = FRAME_DATA;
			//sscanf(FRAME_DATA,"%2hX%2hX%2hX", &motormask, &motorflag, &motorV);
                        motormask = PackByte(p);
                        p += 2;
                        motorflag = PackByte(p);
                        p += 2;
                        motorV = PackByte(p);
                        p += 2;

			if( motormask & BIT0 )
			{
				if(motorflag == 1)
				{
					CtrlPwm4(1,motorV);			//;open motor	1
				}
				else if(motorflag == 0)
				{
					CtrlPwm4(0,0);			//;close motor 1
				}
				
			}
			if(  motormask & BIT1 )
			{
				if(motorflag == 1)
				{
					CtrlPwm5(1,motorV);			//;open motor	2
				}
				else if(motorflag == 0)
				{
					CtrlPwm5(0,0);			//;close motor 2
				}	
			}
			SendCommand("G");

		}
		break;


	case 'H':	// 设定温度控制参数
		{
			short offset;		// 温度零偏

			FRAME_END();
			if (sscanf(FRAME_DATA, "%4hX%8lX%8lX%8lX", &offset, (long*)&Kp, (long*)&Ki, (long*)&Kd) > 1)
			{
				PWM2_Duty = 0;
				fErr0 = fErr1 = fErr2 = 0;
			}
			SendCommand("H");

			fTempOffset = offset/10.f;
		}
		break;

	case 'I':	// 读取温度控制参数
		{			
			short offset = fTempOffset*10;		// 温度零偏
			SendCommand("I%04hX%08lX%08lX%08lX", offset, *(long*)&Kp, *(long*)&Ki, *(long*)&Kd);
		}
		break;

	case 'J':	// 读取温度
		{
			char param;
			param = FRAME_DATA[0];
			if(param == '0')
			{
				SendCommand("J%04hX", 
					(short)(NewTemperature() *10 + 0.5f)	// 当前温度值
					);
			}
			else if(param == '1')
			{
				SendCommand("J%04hX%04hX", 
					(short)(NewTemperature() *10 + 0.5f),		// 当前温度值
					(short)(PWM2_Duty*10000.0));		// 当前输出占空比
		
			}
		}
		break;

	case 'K':	// 设定温度
		{
			short nSetTemp = PackWord(FRAME_DATA);
			SendCommand("K");
			fTempSet = nSetTemp/10.f;
		}
		break;

	case 'L':	// 读取设定温度
		{
			SendCommand("L%04hX", (short)(fTempSet*10.f));
		}
		break;

	
	default:
		FRAME_RESET();
		break;
	}
}