|
//---------------------------------------------------------------------
|
#include <stdio.h> /*标准输入输出定义*/
|
#include <stdlib.h> /*标准函数库定义*/
|
#include <string.h>
|
#include <unistd.h> /*Unix 标准函数定义*/
|
#include <sys/types.h>
|
#include <sys/stat.h>
|
#include <fcntl.h> /*文件控制定义*/
|
#include <termios.h> /*PPSIX 终端控制定义*/
|
#include <errno.h> /*错误号定义*/
|
//---------------------------------------------------------------------
|
#include "module_drv.h"
|
|
//#define EN_THREAD_WORK_DEBUG
|
#ifdef EN_THREAD_WORK_DEBUG
|
#define THREAD_WORK_DEBUG qDebug
|
#else
|
#define THREAD_WORK_DEBUG(...)
|
#endif
|
|
#define Swap16(u16) ((quint16)(((quint16)(u16) >> 8)|((quint16)(u16) << 8)))
|
#define Swap32(u32) ((quint32)(((quint32)(u32) >> 16)|((quint32)(u32) << 16)))
|
//---------------------------------------------------------------------
|
const unsigned char auchCRCHi[] =
|
{
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
|
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
|
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
|
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
|
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
|
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
|
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
|
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
|
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40
|
};
|
|
const unsigned char auchCRCLo[] =
|
{
|
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
|
0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
|
0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
|
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,
|
0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,
|
0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
|
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
|
0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
|
0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
|
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,
|
0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,
|
0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
|
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
|
0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
|
0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
|
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
|
0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,
|
0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
|
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
|
0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
|
0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
|
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,
|
0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,
|
0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
|
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,
|
0x43, 0x83, 0x41, 0x81, 0x80, 0x40
|
};
|
|
static QMutex N905M_mutex;
|
|
static int commErrTimes = 0;
|
//---------------------------------------------------------------------
|
ModuleDrv::ModuleDrv(const char *dev)
|
{
|
MonomerNum = 24;
|
|
FD_NRF905 = this->OpenDev(dev);
|
if (-1 == FD_NRF905)
|
qDebug("Can't Open %s\n", dev);
|
else
|
qDebug("Open %s OK!\n", dev);
|
this->SetDevAttr(FD_NRF905,9600, 8,1,'N');
|
|
IF_MONCLEAR = 0;
|
}
|
|
ModuleDrv::~ModuleDrv()
|
{
|
quit();
|
wait();
|
}
|
|
void ModuleDrv::SetMonomerNum(const quint16 num)
|
{
|
MonomerNum = num;
|
}
|
//---------------------------------------------------------------------
|
//---------------------------------------------------------------------
|
/**
|
*@brief 设置串口通信速率
|
*@param fd 类型 int 打开串口的文件句柄
|
*@param speed 类型 int 串口速度
|
*@return void
|
*/
|
//---------------------------------------------------------------------
|
//---------------------------------------------------------------------
|
int speed_arr1[] = { B115200, B57600, B38400, B19200, B9600};
|
int name_arr1[] = { 115200, 57600, 38400, 19200, 9600};
|
void ModuleDrv::set_speed(int fd, int speed)
|
{
|
int status;
|
struct termios Opt;
|
tcgetattr(fd, &Opt);
|
for ( unsigned int i= 0; i < sizeof(speed_arr1) / sizeof(int); i++)
|
{
|
if(speed == name_arr1[i])
|
{
|
tcflush(fd, TCIOFLUSH);
|
cfsetispeed(&Opt, speed_arr1[i]);
|
cfsetospeed(&Opt, speed_arr1[i]);
|
status = tcsetattr(fd, TCSANOW, &Opt);
|
if(status != 0)
|
{
|
perror("tcsetattr fd1");
|
return;
|
}
|
tcflush(fd,TCIOFLUSH);
|
}
|
}
|
}
|
//---------------------------------------------------------------------
|
/**
|
*@brief 设置串口数据位，停止位和效验位
|
*@param fd 类型 int 打开的串口文件句柄
|
*@param databits 类型 int 数据位 取值 为 7 或者8
|
*@param stopbits 类型 int 停止位 取值为 1 或者2
|
*@param parity 类型 int 效验类型 取值为N,E,O,,S
|
*/
|
//---------------------------------------------------------------------
|
int ModuleDrv::set_Parity(int fd,int databits,int stopbits,int parity)
|
{
|
struct termios options;
|
if(tcgetattr(fd, &options) != 0)
|
{
|
perror("SetupSerial 1");
|
return(-1);
|
}
|
|
//--------------- 二进制传输模式 -------------------------
|
options.c_iflag = 0;
|
options.c_oflag = 0;
|
//------------------------------------------------------
|
|
options.c_cflag &= ~CSIZE;
|
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);/*Input*/
|
options.c_oflag &= ~OPOST;/*Output*/
|
switch (databits) /*设置数据位数*/
|
{
|
case 7:
|
options.c_cflag |= CS7;
|
break;
|
case 8:
|
options.c_cflag |= CS8;
|
break;
|
default:
|
fprintf(stderr,"Unsupported data size\n");
|
return (-1);
|
}
|
switch (parity)
|
{
|
case 'n':
|
case 'N':
|
options.c_cflag &= ~PARENB; /* Clear parity enable */
|
options.c_iflag &= ~INPCK; /* Enable parity checking */
|
break;
|
case 'o':
|
case 'O':
|
options.c_cflag |= (PARODD | PARENB); /* 设置为奇效验*/
|
options.c_iflag |= INPCK; /* Disnable parity checking */
|
break;
|
case 'e':
|
case 'E':
|
options.c_cflag |= PARENB; /* Enable parity */
|
options.c_cflag &= ~PARODD; /* 转换为偶效验*/
|
options.c_iflag |= INPCK; /* Disnable parity checking */
|
break;
|
case 'S':
|
case 's': /*as no parity*/
|
options.c_cflag &= ~PARENB;
|
options.c_cflag &= ~CSTOPB;
|
break;
|
default:
|
fprintf(stderr,"Unsupported parity\n");
|
return (-1);
|
}
|
/* 设置停止位*/
|
switch (stopbits)
|
{
|
case 1:
|
options.c_cflag &= ~CSTOPB;
|
break;
|
case 2:
|
options.c_cflag |= CSTOPB;
|
break;
|
default:
|
fprintf(stderr,"Unsupported stop bits\n");
|
return (-1);
|
}
|
/* Set input parity option */
|
if (parity != 'n')
|
options.c_iflag |= INPCK;
|
|
tcflush(fd, TCIFLUSH);
|
options.c_cc[VTIME] = 0; /* 0.1S */
|
options.c_cc[VMIN] = 0;
|
/* Update the options and do it NOW */
|
if (tcsetattr(fd,TCSANOW,&options) != 0)
|
{
|
perror("SetupSerial 3");
|
return (-1);
|
}
|
return (0);
|
}
|
//---------------------------------------------------------------------
|
int ModuleDrv::OpenDev(const char *Dev)
|
{
|
int fd = open(Dev, O_RDWR|O_NOCTTY|O_NDELAY);
|
|
return fd;
|
}
|
//---------------------------------------------------------------------
|
void ModuleDrv::SetDevAttr(int fd, int bitrate, char bitlen,
|
char stopbitlen, char checktype)
|
{
|
if(fd < 0)
|
return;
|
|
set_speed(fd, bitrate);
|
|
if(set_Parity(fd, bitlen, stopbitlen, checktype) < 0)
|
{
|
qDebug("Set Parity Error\n");
|
}
|
|
|
if(fcntl(fd, F_SETFL, FNDELAY) < 0)//非阻塞，覆盖前面open的属性
|
{
|
qDebug("fcntl failed\n");
|
}
|
}
|
//---------------------------------------------------------------------
|
int ModuleDrv::WriteDev(int fd,void *buf, int len)
|
{
|
if(fd < 0)
|
return 0;
|
|
return write(fd, (char *)buf, len);
|
}
|
//---------------------------------------------------------------------
|
int ModuleDrv::ReadDev(int fd,void *buf, int len)
|
{
|
if(fd < 0)
|
return 0;
|
|
char *pbuff = (char *)buf;
|
return (read(fd, pbuff, len));
|
}
|
//---------------------------------------------------------------------
|
unsigned short ModuleDrv::CalModbusCRC16(void *puchMsg, unsigned short usDataLen, const quint8 mode_type)
|
{
|
unsigned char *pdata = (unsigned char *)puchMsg;
|
unsigned short uchCRCHi = 0xFF;
|
unsigned short uchCRCLo = 0xFF;
|
unsigned int uIndex ;
|
while (usDataLen--)
|
{
|
uIndex = uchCRCHi ^ *pdata++ ;
|
uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
|
uchCRCLo = auchCRCLo[uIndex];
|
}
|
|
// //
|
if(mode_type)
|
return ((uchCRCLo << 8) | uchCRCHi);
|
else
|
return (uchCRCLo | uchCRCHi<< 8);
|
}
|
//---------------------------------------------------------------------
|
//---------------------------------------------------------------------
|
//---------------------------------------------------------------------
|
int ModuleDrv::ReadFromIOModule( int fd,const quint16 data_addr,const quint16 read_data_num, void *read_data_buf, const quint8 CRC_mode)
|
{
|
//return 0;
|
int res = CommOK;
|
|
quint8 txData[16] = {0};
|
quint8 rxData[264] = {0};
|
|
txData[0] = 255;
|
txData[1] = FUNC_CODE_READ;
|
txData[2] = data_addr/256;
|
txData[3] = data_addr%256;
|
txData[4] = read_data_num/256;
|
txData[5] = read_data_num%256;
|
unsigned short crc = CalModbusCRC16(txData,6,CRC_mode);
|
txData[6] = (quint8)(crc>>8);
|
txData[7] = (quint8)crc;
|
|
struct timeval tv;
|
fd_set rfds;
|
int timeout = 0;
|
const quint16 tx_data_len = 8;
|
quint16 rx_data_len = 0;
|
|
for(quint8 t = 0;t<1;t++) //retry 3 times
|
{
|
res = CommOK;
|
|
//flush rx buffer
|
char tmp[64] = {0};
|
while(1)
|
{
|
int len = ReadDev(fd,tmp, 64);
|
if(len > 0)
|
continue;
|
else break;
|
}
|
|
if(tx_data_len != WriteDev(fd, txData, tx_data_len))
|
res = CommTxError;
|
|
rx_data_len = read_data_num*2+5;
|
if(rx_data_len>264)
|
rx_data_len = 264;
|
|
timeout = rx_data_len*1000+100000;
|
if(timeout > 400000)
|
timeout = 400000;
|
|
if(CommOK == res)
|
{
|
tv.tv_sec = 0;
|
tv.tv_usec = timeout;
|
|
FD_ZERO(&rfds);
|
FD_SET( fd,&rfds );
|
int sres = select(fd+1,&rfds,NULL,NULL,&tv); //block wait
|
if(sres > 0)
|
{
|
if(rx_data_len != ReadDev(fd, rxData, rx_data_len))
|
{
|
res = CommRxError;
|
}
|
}
|
else
|
{
|
res = CommRxError;
|
}
|
}
|
|
if(CommOK == res)
|
{
|
crc = rxData[rx_data_len-2];
|
crc = (crc<<8) + rxData[rx_data_len-1];
|
|
if(crc == CalModbusCRC16(rxData, rx_data_len-2, CRC_mode))
|
{
|
if(NULL != read_data_buf)
|
{
|
quint8 *pRecvData = (quint8 *)read_data_buf;
|
for (quint8 i = 3; i<rx_data_len-2; i++)
|
{
|
*pRecvData++ = rxData[i];
|
}
|
}
|
}
|
else
|
{
|
res = CommDataError;
|
}
|
}
|
|
if(CommOK == res)
|
break;
|
else
|
{
|
//qDebug("905 Read Error,ErrorCode = %d",res);
|
msleep(100);
|
commErrTimes++;
|
}
|
}
|
|
return res;
|
}
|
//---------------------------------------------------------------------
|
int ModuleDrv::MultiWriteIOModule( int fd,const quint16 data_addr,quint16 *wr_data_buf, const quint16 WriteDataNum,const quint8 CRC_mode)
|
{
|
//return 0;
|
int res = CommOK;
|
|
quint8 txData[128] = {0};
|
quint8 rxData[16] = {0};
|
|
quint16 wrdatanum = WriteDataNum;
|
|
if(wrdatanum >48)
|
wrdatanum = 48;
|
|
quint16 lenth = 0;
|
|
txData[lenth++] = 255;
|
txData[lenth++] = FUNC_CODE_MULTY_WRITE; //多点写
|
txData[lenth++] = data_addr/256;
|
txData[lenth++] = data_addr%256;
|
txData[lenth++] = wrdatanum/256;
|
txData[lenth++] = wrdatanum%256;
|
txData[lenth++] = wrdatanum*2;
|
|
for(int i=0;i<wrdatanum;i++)
|
{
|
txData[lenth++] = wr_data_buf[i]/256;
|
txData[lenth++] = wr_data_buf[i]%256;
|
}
|
|
unsigned short crc = CalModbusCRC16(txData,lenth,CRC_mode);
|
txData[lenth++] = (quint8)(crc>>8);
|
txData[lenth++] = (quint8)crc;
|
|
struct timeval tv;
|
fd_set rfds;
|
|
const quint16 rx_data_len = 8;
|
quint16 rx_data = 0;
|
|
for(quint8 t = 0;t<3;t++)
|
{
|
res = CommOK;
|
|
char tmp[64] = {0};
|
while(1)
|
{
|
int len = ReadDev(fd, tmp, 64);
|
if(len > 0)
|
continue;
|
else break;
|
}
|
|
if(lenth != WriteDev(fd, txData, lenth))
|
res = CommTxError;
|
|
if(CommOK == res)
|
{
|
tv.tv_sec = 0;
|
tv.tv_usec = 200000;
|
|
FD_ZERO(&rfds);
|
FD_SET( fd,&rfds );
|
int sres = select(fd+1,&rfds,NULL,NULL,&tv);
|
if(sres > 0)
|
{
|
if(rx_data_len != ReadDev(fd, rxData, rx_data_len))
|
{
|
res = CommRxError;
|
|
//qDebug("%d-%d-%d",rxData[0],rxData[1],rxData[2]);
|
}
|
}
|
else
|
{
|
res = CommRxError;
|
//qDebug("comm rx error");
|
}
|
}
|
|
if(CommOK == res)
|
{
|
crc = rxData[rx_data_len-2];
|
crc = (crc<<8) + rxData[rx_data_len-1];
|
|
if(crc == CalModbusCRC16(rxData, rx_data_len-2, CRC_mode))
|
{
|
rx_data = (quint16)(rxData[4]<<8)+rxData[5];
|
if(0 == rx_data) //pass==1
|
res = CommWrFailError;
|
}
|
else
|
{
|
res = CommDataError;
|
}
|
}
|
|
|
|
if(CommOK == res)
|
break;
|
else
|
{
|
msleep(100);
|
//qDebug("MultiWrite Error,ErrorCode = %d",res);
|
}
|
}
|
|
return res;
|
}
|
//---------------------------------------------------------------------
|
int ModuleDrv::SingleWriteIOModule(int fd, const quint16 data_addr,
|
const quint16 wr_data, const quint16 timeout_ms, const quint8 CRC_mode)
|
{
|
//return 0;
|
int res = CommOK;
|
|
quint8 txData[16] = {0};
|
quint8 rxData[16] = {0};
|
|
txData[0] = DEVICE_ADDR_BROADCAST;
|
txData[1] = FUNC_CODE_SINGLE_WRITE;
|
txData[2] = data_addr/256;
|
txData[3] = data_addr%256;
|
txData[4] = wr_data/256;
|
txData[5] = wr_data%256;
|
|
unsigned short crc = CalModbusCRC16(txData,6,CRC_mode);
|
txData[6] = (quint8)(crc>>8);
|
txData[7] = (quint8)crc;
|
|
struct timeval tv;
|
fd_set rfds;
|
|
quint16 rx_data_len = 8;
|
quint16 tx_data_len = 8;
|
quint16 rx_data = 0;
|
|
for(quint8 t = 0;t<3;t++)
|
{
|
res = CommOK;
|
|
char tmp[64] = {0};
|
while(1)
|
{
|
int len = ReadDev(fd, tmp, 64);
|
if(len > 0)
|
continue;
|
else break;
|
}
|
|
if(tx_data_len != WriteDev(fd, txData, tx_data_len))
|
res = CommTxError;
|
|
if(CommOK == res)
|
{
|
tv.tv_sec = 0;
|
tv.tv_usec = timeout_ms*1000;
|
|
FD_ZERO(&rfds);
|
FD_SET( fd,&rfds );
|
int sres = select(fd+1,&rfds,NULL,NULL,&tv);
|
if(sres > 0)
|
{
|
if(rx_data_len != ReadDev(fd, rxData, rx_data_len))
|
{
|
res = CommRxError;
|
}
|
}
|
else
|
res = CommRxError;
|
}
|
|
if(CommOK == res)
|
{
|
crc = rxData[rx_data_len-2];
|
crc = (crc<<8) + rxData[rx_data_len-1];
|
|
if(crc == CalModbusCRC16(rxData, rx_data_len-2,CRC_mode))
|
{
|
rx_data = (quint16)(rxData[4]<<8)+rxData[5];
|
//qDebug("rx_data2 = %d",rx_data);
|
if(0 == rx_data) //pass==1
|
res = CommWrFailError;
|
}
|
else
|
{
|
res = CommDataError;
|
}
|
}
|
|
if(CommOK == res)
|
break;
|
else
|
{
|
msleep(100);
|
//qDebug("SingleWrite Error,ErrorCode = %d",res);
|
}
|
}
|
|
return res;
|
}
|
|
int ModuleDrv::SingleWriteIOModuleEx( int fd,const quint16 data_addr,const quint16 wr_data,
|
const quint16 wr_data2,const quint16 wr_data3,const quint16 timeout_ms,const quint8 CRC_mode)
|
{
|
// return 0;
|
int res = CommOK;
|
|
quint8 txData[16] = {0};
|
quint8 rxData[16] = {0};
|
|
txData[0] = DEVICE_ADDR_BROADCAST;
|
txData[1] = FUNC_CODE_SINGLE_WRITE;
|
txData[2] = data_addr/256;
|
txData[3] = data_addr%256;
|
txData[4] = wr_data/256;
|
txData[5] = wr_data%256;
|
txData[6] = wr_data2/256;
|
txData[7] = wr_data2%256;
|
txData[8] = wr_data3/256;
|
txData[9] = wr_data3%256;
|
|
unsigned short crc = CalModbusCRC16(txData,10,CRC_mode);
|
txData[10] = (quint8)(crc>>8);
|
txData[11] = (quint8)crc;
|
|
struct timeval tv;
|
fd_set rfds;
|
|
quint16 rx_data_len = 8;
|
quint16 tx_data_len = 12;
|
quint16 rx_data = 0;
|
|
for(quint8 t = 0;t<3;t++)
|
{
|
res = CommOK;
|
|
char tmp[64] = {0};
|
while(1)
|
{
|
int len = ReadDev(fd, tmp, 64);
|
if(len > 0)
|
continue;
|
else break;
|
}
|
|
if(tx_data_len != WriteDev(fd, txData, tx_data_len))
|
res = CommTxError;
|
|
if(CommOK == res)
|
{
|
tv.tv_sec = 0;
|
tv.tv_usec = timeout_ms*1000;
|
|
FD_ZERO(&rfds);
|
FD_SET( fd,&rfds );
|
int sres = select(fd+1,&rfds,NULL,NULL,&tv);
|
if(sres > 0)
|
{
|
if(rx_data_len != ReadDev(fd, rxData, rx_data_len))
|
{
|
res = CommRxError;
|
}
|
}
|
else
|
res = CommRxError;
|
}
|
|
if(CommOK == res)
|
{
|
crc = rxData[rx_data_len-2];
|
crc = (crc<<8) + rxData[rx_data_len-1];
|
|
if(crc == CalModbusCRC16(rxData, rx_data_len-2,CRC_mode))
|
{
|
rx_data = (quint16)(rxData[4]<<8)+rxData[5];
|
qDebug("rx_data = %d",rx_data);
|
if(0 == rx_data) //pass==1
|
res = CommWrFailError;
|
}
|
else
|
{
|
res = CommDataError;
|
}
|
}
|
|
|
|
if(CommOK == res)
|
break;
|
else
|
{
|
msleep(100);
|
qDebug("SingleWrite Error,ErrorCode = %d",res);
|
}
|
}
|
|
return res;
|
}
|
|
int ModuleDrv::ReadFromModule(const quint16 data_addr,const quint16 read_data_num, void *read_data_buf)
|
{
|
//return 0;
|
N905M_mutex.lock();
|
int ret = -1;
|
|
|
ret = ReadFromIOModule(FD_NRF905,data_addr,read_data_num,read_data_buf);
|
N905M_mutex.unlock();
|
return ret;
|
}
|
|
int ModuleDrv::MultiWriteModule(const quint16 data_addr,quint16 *wr_data_buf, const quint16 WriteDataNum)
|
{
|
N905M_mutex.lock();
|
int ret = -1;
|
|
ret = MultiWriteIOModule(FD_NRF905,data_addr,wr_data_buf, WriteDataNum);
|
N905M_mutex.unlock();
|
|
return ret;
|
}
|
|
int ModuleDrv::SingleWriteModule(const quint16 data_addr,const quint16 wr_data, const quint16 timeout_ms)
|
{
|
//return 0;
|
N905M_mutex.lock();
|
int ret = -1;
|
|
|
ret = SingleWriteIOModule(FD_NRF905,data_addr,wr_data,timeout_ms);
|
N905M_mutex.unlock();
|
|
return ret;
|
}
|
|
int ModuleDrv::SingleWriteModuleEx(const quint16 data_addr, const quint16 wr_data,
|
const quint16 wr_data2, const quint16 wr_data3,const quint16 timeout_ms)
|
{
|
N905M_mutex.lock();
|
int ret = -1;
|
|
ret = SingleWriteIOModuleEx(FD_NRF905,data_addr,wr_data,wr_data2,wr_data3,timeout_ms);
|
N905M_mutex.unlock();
|
|
return ret;
|
}
|
|
//---------------------------------------------------------------------
|
void ModuleDrv::run()
|
{
|
runEn = true;
|
|
if(FD_NRF905<0)
|
runEn = false;
|
|
quint16 databuff[50] = {0};
|
quint16 mt = 0;
|
quint16 rate_index = 0;
|
quint8 errorN905M = 0;
|
quint8 moncount = 0;
|
N905_MODULE_DATA n905ModuleData;
|
|
memset(&n905ModuleData,0x00,sizeof(n905ModuleData));
|
|
while(true == runEn)
|
{
|
if(rate_index%6 == 1)
|
{
|
if (CommOK == ReadFromModule(NRegAddr_GetMonomerVol+mt*50, 50, databuff))
|
{
|
errorN905M = 0;
|
for(int i=0;i<50;i++)
|
{
|
|
n905ModuleData.monomerVol[i+mt*50] = Swap16(databuff[i]);/*2000+i*10;//*/
|
//qDebug("n905ModuleData.monomerVol[%d] = %d",i+mt*50,n905ModuleData.monomerVol[i+mt*50]);
|
}
|
|
//qDebug("Nversion:V%.1f, m0:%d,m100:%d,m100:%d",(float)(n905ModuleData.moduleVersion)/10,n905ModuleData.monomerVol[0],n905ModuleData.monomerVol[100],n905ModuleData.monomerVol[200]);
|
}
|
else
|
errorN905M++;
|
|
if((50+mt*50) < MonomerNum)
|
{
|
mt++;
|
if(mt>5)
|
mt = 0;
|
}
|
else
|
mt = 0;
|
}
|
else if(rate_index%3 == 0)
|
{
|
if (CommOK == ReadFromModule(NRegAddr_GetVersion, 2, databuff))
|
{
|
errorN905M = 0;
|
n905ModuleData.moduleVersion = Swap16(databuff[0]);
|
n905ModuleData.moduleDropIndex = Swap16(databuff[1]);
|
}
|
else
|
errorN905M++;
|
}
|
else
|
msleep(100);
|
rate_index++;
|
if(errorN905M >= 100)
|
{
|
errorN905M = 0;
|
memset(&n905ModuleData,0x00,sizeof(n905ModuleData));
|
}
|
// n905ModuleData.monomerVol[0] = 6000;
|
// n905ModuleData.monomerVol[1] = 5800;
|
// n905ModuleData.monomerVol[2] = 6100;
|
// n905ModuleData.monomerVol[3] = 6200;
|
if(( IF_MONCLEAR == 1)&&(moncount<3))
|
{
|
moncount++;
|
memset(&n905ModuleData.monomerVol[0], 0x00, MONOMER_NUM_MAX);
|
}
|
else
|
{
|
IF_MONCLEAR = 0;
|
moncount = 0;
|
}
|
|
emit sendN905ModuleData(n905ModuleData);
|
// qDebug(" n905ModuleData.monomerVol[21] = %d, n905ModuleData.monomerVol[22] = %d",n905ModuleData.monomerVol[21],n905ModuleData.monomerVol[22]);
|
msleep(300);
|
}
|
}
|
|
//---------------------------------------------------------------------
|
//---------------------------------------------------------------------
|
