From 9aed5d7e7b3c7bf09da712e9c272ece401a7acc9 Mon Sep 17 00:00:00 2001
From: QuakeGod <QuakeGod@sina.com>
Date: 星期一, 25 十一月 2024 14:51:23 +0800
Subject: [PATCH] add UltraSonic and MultiWireLess
---
ComLib/Inc/KBus.h | 526 +++++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 479 insertions(+), 47 deletions(-)
diff --git a/ComLib/Inc/KBus.h b/ComLib/Inc/KBus.h
index b4aabbc..0849ced 100644
--- a/ComLib/Inc/KBus.h
+++ b/ComLib/Inc/KBus.h
@@ -16,39 +16,489 @@
#define MAX_CLIENT 16 //最大支持子机数量
+#define KBUS_WAIT_TIME_OUT1 5 // 0.1mS ticks.
+#define KBUS_WAIT_TIME_OUT2 8 // 0.1mS ticks.
+
+#define KBUS_SLAVE_TIME_OUT 500 // 0.1ms ticks
+
//#define SYN_PREFIX 1
typedef unsigned char uchar;
typedef volatile unsigned char vuchar;
typedef unsigned short ushort;
+enum enKBusStationType // KBus工作类型
+{
+ KBNone = 0, // 0,未定义
+ KBusMaster = 1, // 1,主机
+ KBusSlave = 2, // 2,子机
+ KBusRepeater = 3, // 3,转发器,中继器
+};
+
+// diagnosis
+enum enKBusStats
+{
+ KBusStatUnInited, // 未初始化状态
+ KBusStatInited, // 已初始化状态
+ KBusStatConfig, // 已配置状态
+ KBusStatReady, // 就绪状态
+ KBusStatRunning, // 运行状态
+ KBusStatIdel, // 暂停状态
+ KBusStatSafe, // 安全状态
+ KBusStatError, // 错误状态
+};
+/*
+enum enKBusStage
+{
+ KBusStageInit,
+ KBusStageFindChild,
+ KBusStageConfigChild,
+ KBusStagePoll,
+
+};
+*/
+typedef enum
+{
+ KBusRunStepBroadCastCfg,
+ KBusRunStepTimeSync,
+ KBusRunStepTimeSyncWait,
+ KBusRunStepMultiDataPoll,
+ KBusRunStepMultiDataPollWait,
+ KBusRunStepUniDataPoll,
+ KBusRunStepUniDataPollWait,
+ KBusRunStepUniDataTranster,
+ KBusRunStepUniDataTransterWait,
+
+}enKBusRunStep;
+
+enum {
+ KB_SYN = 0x55,
+ KBStartSign='%',
+ KBEndSign=0x0D,
+ KBMaxPacketLength=148,
+};
+
+enum enCMDs
+{
+
+ cmdNone = 0x00, //Nothing
+
+ cmdQuery = 0x01, //Query basic Info
+ cmdQueryRply = 0x81, //Query Info Reply
+
+ cmdSetCfg = 0x02, // Set Configuration
+ cmdSetCfgRply = 0x82, // Set Configuration Response
+
+ cmdToRunMode = 0x03,
+ cmdToRunModeRply = 0x83,
+
+ cmdBroadCastCfg = 0x04, //
+
+ cmdMuExchgData = 0x05, //
+ cmdMuExchgDataRply = 0x85, //
+
+ cmdToSafeMode = 0x06,
+
+ cmdHeartBeat = 0x07, //
+ cmdReHeartBeat = 0x87, //
+
+
+ cmdRemoteReq = 0x1B,
+ cmdRemoteReqReply = cmdRemoteReq|0x80, //
+
+ cmdPing = '1', //Ping
+ cmdPingReply = '2', //PingReply
+ cmdRead = '3', //Read
+ cmdReadReply = '4', //ReadReply
+ cmdWrite = '5', //Write
+ cmdWriteReply = '6', //WriteReply
+ cmdGetVersion = '7', //GetVersion
+ cmdVerInfo = '8', //VersionReply
+
+ cmdUniExChgData='A', //ExChangeData, = Wirte + Read
+ cmdExChgDataReply, //ExchangeData Reply
+
+ cmdSyncRead='a', //SyncRead
+ cmdSyncWrite, //SyncWrite
+ cmdSequenRead, //Sequence Read
+ cmdSyncTime, //SyncTime
+};
+
+
+typedef struct tagVerInfo // KBus 版本信息
+{
+ unsigned char nMainVer;
+ unsigned char nSubVer;
+}stVerInfo;
+
+typedef struct tagMasterStat // KBus 主机状态？
+{
+ unsigned int CycleTime;
+} stMasterStat;
+
+typedef struct tagDeviceInfo // KBus 子机基本信息
+{
+ unsigned short DeviceType; // 子机类型
+ unsigned short DeviceVer; // 子机版本
+ unsigned char InBitCount; // 输入开关量数量
+ unsigned char OutBitCount; // 输出开关量数量
+ unsigned char ExInBitCount; // 扩展的输入开关量数量
+ unsigned char ExOutBitCount; // 扩展的输出开关量数量
+ unsigned char DWStartAddr; // 输出数据字数
+ unsigned char OutDWCount; // 输出数据字数
+ unsigned char AIWCount; // 输入模拟量通道(字)数 // 16位为一个字(通道)
+ unsigned char AQWCount; // 输出模拟量通道(字)数 // 16位为一个字(通道)
+// unsigned char AIBits; // 每通道位数 // 16位以下
+// unsigned char AQbits; // 每通道位数 // 16位以下
+
+
+}stDeviceInfo;
+
+typedef struct tagExDeviceInfo // 子机扩展信息
+{
+ unsigned short DeviceType; // 子机类型
+ unsigned short DeviceVer; // 子机版本
+
+ unsigned char UID[12]; // 12字节 UUID
+ unsigned char Name[16]; // 16字节 名称
+// stVerInfo ClientVer;
+ unsigned char InBitCount;
+ unsigned char OutBitCount;
+ unsigned char ExInBitCount; // 扩展的输入开关量数量
+ unsigned char ExOutBitCount; // 扩展的输出开关量数量
+ unsigned char DWStartAddr;
+ unsigned char OutDWCount;
+ unsigned char AIWCount;
+ unsigned char AQWCount;
+// unsigned char AIBits;
+// unsigned char AQbits;
+
+
+}stExDeviceInfo;
+
+enum enKBusConfigStat
+{
+ KBusUnConfiged = 0,
+ KBusDefaultConfiged =1,
+ KBusConfiged = 2,
+};
+
+typedef struct tagClientCfg // 子机配置
+{
+ unsigned char Addr; // 子机地址
+ unsigned char Configed; // 是否已配置
+ unsigned char bOnline; //当前在线状态
+ unsigned char InStartAddrBit; //输入起始位地址
+ unsigned char OutStartAddrBit; //输出起始位地址
+ unsigned char AIWStartAddrByte; //模拟入起始字地址
+ unsigned char AQWStartAddrByte; //模拟出起始字地址
+ unsigned char DIWStartAddrByte; //数据入起始字地址
+ unsigned char DOWStartAddrByte; //数据出起始字地址
+ unsigned char KeepOut; //Keep Output when comm err;
+}stClientCfg;
+
+/*
+typedef struct ServerStatus
+{
+ unsigned char Addr;
+ unsigned char Status;
+ unsigned short Input[16];
+ unsigned short DT[128];
+ unsigned short output[16];
+
+}stServerStatus,*pServerStatus;
+*/
+typedef struct tagMachineState // 本机状态
+{
+ unsigned char Addr; // 地址
+ unsigned char state; //状态
+ unsigned char InStartAddrBit; //输入起始位地址
+ unsigned char OutStartAddrBit; //输出起始位地址
+ unsigned char InDWStartAddrByte; //字输入起始字地址
+ unsigned char OutDWStartAddrByte; //字输出起始字地址
+}ClientState;
+
+
+
+#pragma anon_unions
+typedef struct tagChnStat
+{
+ union{
+ unsigned char MStat;
+ struct{
+ unsigned char bOnline:1;
+ unsigned char bErr1:1;
+ unsigned char bErr2:1;
+ unsigned char bReq:1;
+ };
+ };
+ unsigned char SStat;
+ unsigned short SendPackets;
+ unsigned short RecvPackets;
+ unsigned short LastSentTimeTick;
+ unsigned short LostPackets;
+ unsigned short CtnLstPkts;
+ unsigned short MaxCtnLstPkts;
+ unsigned short NotPkgErr;
+ unsigned short PkgLenErr;
+ unsigned short BCCErr;
+ unsigned short TimeOutErr;
+ unsigned short Delay;
+ unsigned short MaxDelay;
+ unsigned short SendTimeInterval;
+ union
+ {
+ unsigned short ClientDatas[10];
+ struct {
+ unsigned short ClientRecvPkts; //
+ unsigned short ClientSendPkts; //
+ unsigned short ClientNotPktErr; //
+ unsigned short ClientMisIdPkts; //
+// unsigned int ClientNoEndErr; //
+ unsigned short ClientPkgLenErr; //
+ unsigned short ClientBccErr; //
+ unsigned short ClientTimeOutErr; //
+ };
+ };
+} stChnStat;
+
+
+typedef struct tagSlaveStat
+{
+ unsigned int nSlaveTick;
+} stSlaveStat;
+
+typedef struct ServerClientListElement
+{
+ unsigned char Addr;
+ unsigned char Status;
+ unsigned char Father;
+ unsigned char Childs;
+
+} stServerClientListElement;
+
+typedef struct ServerClientList
+{
+ unsigned char Addr;
+}stServerClientList,*pServerClientList;
+
+typedef struct tagMachineConfig
+{
+ int bKBusMaster;
+ int nAddr;
+}stMachineConfig;
+
+/*
+typedef struct ClientStatus
+{
+ unsigned char Addr;
+ unsigned char Status;
+ unsigned char Father;
+ unsigned char Childs;
+ unsigned short Input[16];
+ unsigned short DT[128];
+ unsigned short output[16];
+
+}stChnStatus,*pClientStatus;
+*/
+
+typedef struct tagStatusDef
+{
+ unsigned char nSeq:2; //序列号
+ unsigned char :2;
+ unsigned char nErr1:1;
+ unsigned char nErr2:1;
+ unsigned char bReq:1;
+
+}stStatus;
+
+typedef union tagUnStatusDef
+{
+ unsigned char nStatus;
+ stStatus;
+}unStatus;
+
+typedef struct tagKBPacket
+{
+ unsigned char Sign; //起始标记
+ unsigned char DstHost; //目标地址
+ unsigned char SrcAddr; //源地址
+ unsigned char nCMD; //命令
+ union{
+ unsigned char nStatus; //状态+序列号
+ struct{
+ unsigned char nSeq:2; //序列号
+ unsigned char :2;
+ unsigned char nErr1:1; //错误1
+ unsigned char nErr2:1; //错误2
+ unsigned char bReq:1; //
+ };
+ };
+ unsigned char DataLen; //数据载荷长度 不包括头部5个字节，不包括尾部BCC。
+ unsigned char data[1]; //数据载荷,最末尾是BCC，数据长度为0时，实际也有一个数据。
+}stKBPacket,* pKBPacket;
+
+typedef struct tagKBInfoBlockV1
+{
+ unsigned short nDeviceType;
+ unsigned short nProgVer;
+
+ unsigned char InBitCount;
+ unsigned char OutBitCount;
+
+ unsigned char AICount;
+ unsigned char AIBits;
+ unsigned char AQCount;
+ unsigned char AQbits;
+
+ unsigned char InDWCount;
+ unsigned char OutDWCount;
+
+}stKBInfoBlockV1, *pKBInfoBlockV1;
+
+enum eResult
+{
+ S_OK =0,
+ S_ERR=1,
+ S_TIMEOUT=2
+
+} ;
+
+/*
+typedef struct tagKBPacketV10
+{
+ unsigned char Sign; //起始标记
+ unsigned char DstHost; //目标地址
+ unsigned char SrcAddr; //源地址
+ unsigned char nCMD; //命令
+ union{
+ unsigned char nStatus; //状态+序列号
+ struct{
+ unsigned char nSeq:2; //序列号
+ unsigned char :2;
+ unsigned char nErr1:1;
+ unsigned char nErr2:1;
+
+ };
+ };
+ unsigned char DataLen; //数据载荷长度 不包括头部5个字节，不包括尾部BCC。
+ unsigned char data[1]; //数据载荷,最末尾是BCC，数据长度为0时，实际也有一个数据。
+}stKBPacketV10,* pKBPacketV10;
+
+typedef struct tagKBPacketV20
+{
+ unsigned char Sign; //起始标记
+ unsigned char DstHost; //目标地址
+ unsigned char SrcAddr; //源地址
+ unsigned char nCMD; //命令
+ union{
+ unsigned char nStatus; //状态+序列号
+ struct{
+ unsigned char nSeq:2; //序列号
+ unsigned char :2;
+ unsigned char nErr1:1;
+ unsigned char nErr2:1;
+
+ };
+ };
+ unsigned char DataLen; //数据载荷长度 不包括头部5个字节，不包括尾部BCC。
+ unsigned char data[1]; //数据载荷,最末尾是BCC，数据长度为0时，实际也有一个数据。
+}stKBPacketV20,* pKBPacketV20;
+*/
+
+enum enumCallBackEvent
+{
+ KBusEvNone = 0,
+ KBusEvCreate = 1,
+ KBusEvConnected = 2,
+ KBusEvDisConnected = 3,
+ KBusEvClosed = 4,
+ KBusEvStateChange =5,
+ KBusEvTimeSync=6,
+ KBusEvDataUpdate =7,
+ KBusEvCmdResponse = 8,
+
+};
+
+typedef int (*KBusSendPktFuncDef) (uchar * pBuf, int nLen); // SendPacket CallBack func for KBus
+
+typedef void *(*KBusEvCBFuncDef) (void * , int nEvent, void *, int); //callback func ,prama s is void *,void *,int; return void *;
+
+typedef int (*KBusSvCBFuncDef) (void *, int nSvType, int ,void *, int); //Service Req callback func ,param is int ,int, int, void *,int; return int;
+
+/*
+typedef struct tagKBusRunStat
+{
+ unsigned char bMaster; // 是否主机
+ unsigned char nStationID; // 子机地址
+ unsigned char nChildren; // 子机数量
+ unsigned char nCurPollId; // 当前轮询到的子机 地址。
+ unsigned char nSeq; // 包序列号
+
+ unsigned char bMasterRecved; // 状态， 主机已接收到返回的数据包
+ unsigned char bMasterRecvOK; // 状态， 主机接收到的返回的数据包正确
+ unsigned char bSlaveRecved; // 状态， 子机接受到数据包。
+ unsigned int nSendTimeuS; // 数据包发出时刻。
+
+}stKBusRunStat , * pstKBusRunStat;
+*/
+
#pragma anon_unions
typedef struct tagKBusDef // KBus 工作内存
{
+///*
+ union {
+ uchar nConfig;
+ struct {
+ uchar bMaster:1; //KBus, 是否主机
+ uchar bSlave:1; //KBus, 是否子机
+ uchar bRepeater:1; //KBus, 是否转发器,中继器
+ };
+ };
+// */
+/*
uchar bMaster; //KBus, 是否主机
uchar bSlave; //KBus, 是否子机
uchar bRepeater; //KBus, 是否转发器,中继器
+*/
+
uchar nStationId; //KBus 站号
-
vuchar MyStat; //KBus, 状态机状态
+ vuchar nRunStep; //KBus, 运行步
vuchar nSeq; //KBus, 包序列号
vuchar bMasterSent; // 状态 主机已发送
vuchar bMasterRecved; // 状态 主机已接收 回包
vuchar bMasterRecvOK; // 状态 主机接收回包正确
vuchar bSlaveRecved; // 状态 子机已接收包
+
vuchar nChildCount; // 子机数量
uchar nCurPollId; // 当前轮询子机 号
ushort ErrStat;
ushort RunStat;
+
+ uchar bReq; //运行系统请求中
+ uchar nReqSvrId; //请求号
+ uchar nReqChildId; //请求的子机号
+ uchar nReqParam; //请求的参数
+ ushort nReqReCount; //
+
+ uchar nReqDataHdr[4];
+ uchar pReqDatas[140];
+ uchar nReqDataOff;
+ uchar nReqDataLen;
- int SendTimeuS; // 发包时刻
- int RecvTimeuS; // 收包时刻
- int DelayuS; // 包循环延迟
- int nMaxDelayuS; // 最大包循环延迟
+
+
+ int SendTimeTick; // 发包时刻
+ int RecvTimeTick; // 收包时刻
+ int DelayTick; // 包循环延迟
+ int nMaxDelayTick; // 最大包循环延迟
+ int LastCircleStartTime; //=0;
+ int CircleTime; //=0;
int nSlaveTick; // 子机时间 tick
- int ThisuS;
+// int ThisuS;
//volatile unsigned int nSlaveTick; //=0;
int Clk3; //=0;
@@ -56,10 +506,9 @@
//volatile int nCount2; //=0;
int TimeOutCount; //=0;
- int LastCircleStartTime; //=0;
- int CircleTime; //=0;
+ stPortDef KBusPort;
KBusSendPktFuncDef KBusSendPacket; // 发送数据包函数指针
KBusEvCBFuncDef KBusEvCBFunc; // 事件回调函数指针
KMSvCBDef KBusSvCBFunc; // 服务请求回调指针
@@ -91,7 +540,7 @@
// uchar bKBusEvCBFuncSet; // 事件回调函数是否已经设置
// uchar bKBusSvCBFuncSet; // 事件回调函数是否已经设置
- uchar PacketBuf1[KBMaxPacketLength];
+// uchar PacketBuf1[KBMaxPacketLength];
uchar PacketBuf2[KBMaxPacketLength];
@@ -127,9 +576,9 @@
ushort DOW[16];
}stKBusMem, *pstKBusMem;
-//extern stKBus KBus1;
extern stKBusMem KBusMem;
+/*
typedef struct tagKBusDiag
{
@@ -163,54 +612,39 @@
};
}stKBusDiag, *pstKBusDiag;
-
-//extern unsigned char bKBusMaster,bKBusSlave,bKBusRepeater;;
-//extern unsigned char PacketBuf1[KBMaxPacketLength];
-//extern unsigned char PacketBuf2[KBMaxPacketLength];
-
-//extern unsigned char nStationID;
-//extern unsigned char nChilds;
-//extern unsigned char nCurPollId;
-//extern unsigned char nSeq;
-
-//extern volatile unsigned char KBusMasterRecved;
-//extern volatile unsigned char KBusMasterRecvOK;
-//extern volatile unsigned char KBusSlaveRecved;
-//extern unsigned int KBusSendTimeuS;
-//extern volatile int KBusRecvTimeuS;
-//extern int KBusDelayuS;
-//extern int KBusMaxDelayuS;
+*/
-int KBusInit(stKBusDef * pKbusDef, KBusSendPktFuncDef KBusSendPacket, int bMaster, int nChildCount);
+int KBusInit(stKBusDef * pKBus, KBusSendPktFuncDef KBusSendPacket, int bMaster, int nChildCount);
-int KBusInitMaster(stKBusDef * pKbusDef, KBusSendPktFuncDef KBusSendPacket, int nChildCount);
-int KBusInitSlave(stKBusDef * pKbusDef, KBusSendPktFuncDef KBusSendPacket, int nStationId, stDeviceInfo *pClientInfo);
+int KBusInitMaster(stKBusDef * pKBus, KBusSendPktFuncDef KBusSendPacket, int nChildCount);
+int KBusInitSlave(stKBusDef * pKBus, KBusSendPktFuncDef KBusSendPacket, int nStationId, stDeviceInfo *pClientInfo);
-int KBusLoadSavedConfig(stKBusDef * pKbusDef);
-int KBusSetEvCallBackFunc(stKBusDef * pKbusDef, KBusEvCBFuncDef CBFunc); // Set Event CallBack function
-int KBusSetSvCallBackFunc(stKBusDef * pKbusDef, KMSvCBDef CBFunc); // Set ServiceReq CallBack Function
+int KBusLoadSavedConfig(stKBusDef * pKBus);
+int KBusSetEvCallBackFunc(stKBusDef * pKBus, KBusEvCBFuncDef CBFunc); // Set Event CallBack function
+int KBusSetSvCallBackFunc(stKBusDef * pKBus, KMSvCBDef CBFunc); // Set ServiceReq CallBack Function
+int KBusMakeDefaultClildInfo(stKBusDef * pKBus, int nChild);
+int KBusReqService (stKBusDef * pKBus, int ReqId, int nParam1, int nParam2, void **pData, unsigned short * len1);
+int KBusStart(stKBusDef * pKBus) ;
+int KBusStop(stKBusDef * pKBus) ;
+int KBusDataPoll(stKBusDef * pKBus);
-int KBusStart(stKBusDef * pKbusDef) ;
-int KBusStop(stKBusDef * pKbusDef) ;
-int KBusDataPoll(stKBusDef * pKbusDef);
-
-int KBusLoopProcess(stKBusDef * pKbusDef);
-int KBusMasterFunc(stKBusDef * pKbusDef);
-int KBusSlaveFunc(stKBusDef * pKbusDef);
-int KBusRepeaterFunc(stKBusDef * pKbusDef);
+int KBusLoopProcess(stKBusDef * pKBus);
+int KBusMasterFunc(stKBusDef * pKBus);
+int KBusSlaveFunc(stKBusDef * pKBus);
+int KBusRepeaterFunc(stKBusDef * pKBus);
/* Make a Packet and return Packet Length */
int KBusMakePacket(pKBPacket p1,uchar Src, uchar Dst, uchar nType, uchar nStatus, uchar DataLen, void *pData );
/* */
-int KBusCheckPacket(stKBusDef * pKbusDef, pKBPacket p1, int len1);
+int KBusCheckPacket(stKBusDef * pKBus, pKBPacket p1, int len1);
/* */
-int KBusParsePacket(stKBusDef * pKbusDef, pKBPacket p1, int Len1);
+int KBusParsePacket(stKBusDef * pKBus, pKBPacket p1, int Len1);
-
+int KBusPacketSendDone(stKBusDef * pKBus);
/*
static inline char KBGetClientNum(int nChn) { };
static inline char KBGetClientInfo(int nChn, int nClientId) { };
@@ -223,11 +657,9 @@
static inline char KBChangeState(int nPortNum, int nNewState){ };
*/
-
-
unsigned char KBusBCC(void * pData, int nSize);
//
-
+int KBusSlaveRunRemoteReq(stKBusDef * pKBus, int nReqSvrId, unsigned char * pData , int Len1);
/*
int InitMachine(stMachineConfig * pConfig);
--
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