503 lines
16 KiB
C
503 lines
16 KiB
C
/* feed_scale.c - 485 喂料秤控制
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*
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* 硬件: USART2 接 RS485 磅秤传感器，PA2(TX), PA3(RX)，9600-8N1
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* 协议: 查询命令 {0x01, 0x03, 0x00, 0x00, 0x00, 0x02, 0xC4, 0x0B}
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* 应答: 9 字节(地址1 + 功能码1 + 字节数1 + 数据4 + CRC2)，重量值在数据字节[3..6]，小端 float，单位 KG。
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* 业务: 平台下发单次投喂量 onceWt(0.1KG 单位)，继电器 1 吸合开始投喂，
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* 当 起始剩余重量 - 当前重量 >= 单次投喂量 时停止。
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*/
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#include "feed_scale.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "relay.h"
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#include "ext_relay.h"
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#include "uart.h"
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#include "log.h"
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#include "network.h"
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#include "24c02.h"
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#include <string.h>
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#include <stdio.h>
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/* 查询秤的 Modbus 命令 */
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static const uint8_t RS485_WEIGHT_CMD[8] = {0x01, 0x03, 0x00, 0x00, 0x00, 0x02, 0xC4, 0x0B};
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/* 运行状态 */
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static FeedScaleState feed_state = FEED_IDLE;
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static uint16_t once_weight = 0; /* 单次投喂量，0.1KG 单位，从 EEPROM 读取 */
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static uint16_t start_weight = 0; /* 本次投喂开始时的剩余重量 */
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static uint16_t last_weight = 0; /* 最近一次有效净重（已去皮） */
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static uint16_t last_raw_weight = 0; /* 最近一次 485 原始毛重（未去皮） */
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static uint16_t reduced_weight = 0; /* 本次投喂减少的重量 */
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static uint16_t zero_weight = 0; /* 去皮重量，EEPROM 掉电保持 */
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/* 轮询计时 */
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static uint32_t last_query_tick = 0;
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/* HR_IN 缺料检测状态 */
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static uint8_t hr_high_cnt = 0; /* 连续高电平计数(去抖) */
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static uint8_t hr_empty_latched = 0; /* 缺料已处理锁存, 恢复有料后解除 */
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static uint32_t feed_start_tick = 0; /* 投喂开始时刻，用于超时保护 */
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static uint8_t first_query_sent = 0; /* 首次上电查询已发送 */
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static uint32_t await_reply_tick = 0; /* 查询发出时刻，0=无等待中的查询 */
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static uint8_t first_query_reported = 0; /* 首次上电有效重量已上报 */
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/* 重量异常增加计数 */
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static uint8_t add_weight_count = 0;
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#define FEED_ADD_WEIGHT_LIMIT 20u /* 连续约 10s 重量反而增加，结束投喂 */
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/* 单次投喂超时 10 分钟 */
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#define FEED_TIMEOUT_MS (10u * 60u * 1000u)
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/* EEPROM 中保存去皮重量和单次投喂量的偏移(在 MqttInfoStr 之外) */
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#define FEED_SCALE_ZERO_ADDR 120u
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#define FEED_SCALE_ONCEWT_ADDR 122u
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#define FEED_SCALE_INIT_FLAG_ADDR 124u
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#define FEED_SCALE_INIT_FLAG 0xA5u
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/* 本地 CRC16 校验 (Modbus) */
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static uint16_t crc16_modbus(const uint8_t *data, uint16_t len)
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{
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uint16_t crc = 0xFFFF;
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for (uint16_t i = 0; i < len; i++) {
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crc ^= data[i];
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for (uint8_t j = 0; j < 8; j++) {
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if (crc & 0x0001) {
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crc = (crc >> 1) ^ 0xA001;
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} else {
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crc >>= 1;
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}
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}
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}
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return crc;
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}
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/* 从 485 应答中解析重量，应答 9 字节: 01 03 04 41 97 30 33 0B F6 */
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volatile uint32_t g_parse_cnt = 0; /* 解析被调次数（排障） */
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static int feed_scale_parse_weight(const uint8_t *buf, uint16_t len, uint16_t *weight_100g)
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{
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g_parse_cnt++;
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/* 485 回声（自己发出去的查询被 RX 听到）：静默丢弃，不打日志不报错 */
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if (len == sizeof(RS485_WEIGHT_CMD) &&
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memcmp(buf, RS485_WEIGHT_CMD, sizeof(RS485_WEIGHT_CMD)) == 0) {
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return -7;
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}
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/* 定位应答帧头（站号+03+字节数04）：485 回声或前导垃圾可能混在帧头前面 */
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int hdr = -1;
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for (int i = 0; i + 8 < len; i++) {
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if (buf[i] == RS485_WEIGHT_CMD[0] && buf[i+1] == 0x03 && buf[i+2] == 0x04) {
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hdr = i;
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break;
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}
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}
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if (hdr > 0) {
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buf += hdr;
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len -= hdr;
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} else if (hdr < 0 && len >= 9) {
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return -6;
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}
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if (len < 9) {
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return -1;
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}
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if (buf[0] != RS485_WEIGHT_CMD[0]) {
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return -3;
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}
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if (buf[1] == (RS485_WEIGHT_CMD[1] | 0x80)) {
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return -4;
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}
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if (buf[1] != RS485_WEIGHT_CMD[1]) {
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return -5;
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}
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uint16_t calc_crc = crc16_modbus(buf, 7); /* 前 7 字节参与 CRC 计算 */
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uint16_t recv_crc = (uint16_t)buf[8] << 8 | buf[7]; /* 最后两字节为 CRC */
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if (calc_crc != recv_crc) {
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return -2;
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}
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/* 大端 float: 数据字节[3]=MSB, [6]=LSB，参考 APP12 解析方式 */
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float fweight;
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uint8_t *p = (uint8_t *)&fweight;
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p[0] = buf[6];
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p[1] = buf[5];
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p[2] = buf[4];
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p[3] = buf[3];
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/* 转成 0.1KG 整数单位，限制范围 */
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int32_t wt = (int32_t)(fweight * 10.0f);
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if (wt < 0) wt = 0;
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if (wt > FEED_SCALE_WEIGHT_MAX) wt = FEED_SCALE_WEIGHT_MAX;
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*weight_100g = (uint16_t)wt;
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return 0;
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}
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/* 通过 USART2 发送 485 查询命令 */
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static void feed_scale_send_query(void)
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{
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/* 与上一帧至少间隔 50ms：从机 485 发送器释放/回声沉降需要时间。
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* 当前单秤查询间隔 ≥1s 不会触发；以后总线加传感器、连续查询时保护生效 */
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uint32_t dt = HAL_GetTick() - rs485_bus_last_tick();
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if (dt < 50u) vTaskDelay(50u - dt);
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USART2_FlushRxBuf(); /* 只清软件缓冲（残留回声/垃圾），硬件接收常开不动 */
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HAL_UART_Transmit(&huart2, (uint8_t *)RS485_WEIGHT_CMD, sizeof(RS485_WEIGHT_CMD), 100);
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rs485_bus_touch();
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}
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/* 读取 485 返回帧 */
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static int feed_scale_read_frame(uint8_t *buf, uint16_t max_len)
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{
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return (int)USART2_PollFrame(buf, max_len); /* 原子取帧，无交接状态 */
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}
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/* 上报当前状态到平台: 开关、重量、单次投料量、去皮重量。返回 0=已发出 */
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static int feed_scale_report_weight(const char *header)
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{
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(void)header;
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/* 云平台物模型字段：weight=剩余料重(净重)，zero=空载重量(去皮)，onceWt=单次投料量 */
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/* sw1 与 feeding 均上报继电器 1 状态，平台两个开关都能同步刷新 */
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int rc = NET_publish_status(
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MqttInfoStr.Relay_State[1] ? 1 : 0,
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MqttInfoStr.Relay_State[1] ? 1 : 0,
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MqttInfoStr.Relay_State[2] ? 1 : 0,
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MqttInfoStr.Relay_State[3] ? 1 : 0,
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MqttInfoStr.Relay_State[4] ? 1 : 0,
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(float)zero_weight / 10.0f,
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(float)once_weight / 10.0f,
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(float)last_weight / 10.0f);
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return rc;
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}
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static uint32_t s_last_ok_tick = 0;
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static int s_last_err = 1; /* 上电默认"无应答" */
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int feedScaleGetLastErr(void) { return s_last_err; }
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uint32_t feedScaleGetLastOkTick(void) { return s_last_ok_tick; }
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uint8_t g_feed_scale_on = 0;
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/* 加载产品模式：EEPROM 空白时用编译宏做默认值 */
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void feed_scale_load_mode(void)
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{
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uint8_t v = 0xFF;
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eepromReadData(FEED_SCALE_MODE_ADDR, &v, 1);
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if (v > 1) v = PRODUCT_WITH_FEED_SCALE;
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g_feed_scale_on = v;
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log_info("> 产品模式: %s", v ? "称重投料(带秤)" : "四路继电器(无秤)");
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}
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/* 蓝牙命令切换产品模式：写 EEPROM（重启后完全生效） */
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void feed_scale_set_mode(uint8_t on)
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{
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on = on ? 1 : 0;
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g_feed_scale_on = on;
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eepromWriteData(FEED_SCALE_MODE_ADDR, &on, 1);
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}
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void feedScaleInit(void)
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{
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uint8_t tmp[2] = {0};
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/* 检测是否是空白/新刷机单片机，是则强制写入默认 1.0KG */
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eepromReadData(FEED_SCALE_INIT_FLAG_ADDR, tmp, 1);
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if (tmp[0] != FEED_SCALE_INIT_FLAG) {
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tmp[0] = FEED_SCALE_INIT_FLAG;
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eepromWriteData(FEED_SCALE_INIT_FLAG_ADDR, tmp, 1);
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zero_weight = 10; /* 默认去皮 1.0KG */
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once_weight = 10; /* 默认单次投料 1.0KG */
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tmp[0] = (uint8_t)(zero_weight & 0xFF);
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tmp[1] = (uint8_t)(zero_weight >> 8);
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eepromWriteData(FEED_SCALE_ZERO_ADDR, tmp, 2);
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tmp[0] = (uint8_t)(once_weight & 0xFF);
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tmp[1] = (uint8_t)(once_weight >> 8);
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eepromWriteData(FEED_SCALE_ONCEWT_ADDR, tmp, 2);
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log_info("> FEED: 首次初始化, 设置默认 去皮=1.0KG, 单次投料=1.0KG");
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} else {
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eepromReadData(FEED_SCALE_ZERO_ADDR, tmp, 2);
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zero_weight = (uint16_t)tmp[0] | ((uint16_t)tmp[1] << 8);
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if (zero_weight == 0 || zero_weight > FEED_SCALE_WEIGHT_MAX) {
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zero_weight = 10; /* 默认去皮 1.0KG */
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}
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eepromReadData(FEED_SCALE_ONCEWT_ADDR, tmp, 2);
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once_weight = (uint16_t)tmp[0] | ((uint16_t)tmp[1] << 8);
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if (once_weight == 0 || once_weight > FEED_SCALE_WEIGHT_MAX) {
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once_weight = 10; /* 默认单次投料 1.0KG */
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}
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}
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if (g_feed_scale_on) {
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log_info("> FEED: 初始化, 去皮=%.1fKG, 单次投料=%.1fKG",
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(float)zero_weight / 10.0f, (float)once_weight / 10.0f);
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}
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/* HR_IN(PA8): 红外对管缺料检测, 下拉输入(不接传感器=低=有料, 不影响投料) */
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{
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GPIO_InitTypeDef g = {0};
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__HAL_RCC_GPIOA_CLK_ENABLE();
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g.Pin = HR_IN_PIN;
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g.Mode = GPIO_MODE_INPUT;
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g.Pull = GPIO_PULLDOWN;
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HAL_GPIO_Init(HR_IN_PORT, &g);
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}
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}
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void feedScaleSetZero(uint16_t zero_100g)
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{
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if (zero_100g > FEED_SCALE_WEIGHT_MAX) return;
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zero_weight = zero_100g;
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/* 平台下发新空载重量后，用最新原始毛重重新计算剩余料重 */
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if (last_raw_weight >= zero_weight) {
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last_weight = last_raw_weight - zero_weight;
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} else {
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last_weight = 0;
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}
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uint8_t tmp[2] = { (uint8_t)(zero_weight & 0xFF), (uint8_t)(zero_weight >> 8) };
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eepromWriteData(FEED_SCALE_ZERO_ADDR, tmp, 2);
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log_info("> FEED: 设置去皮=%.1fKG, 重算净重=%.1fKG",
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(float)zero_weight / 10.0f, (float)last_weight / 10.0f);
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}
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void feedScaleSetOnceWeight(uint16_t once_wt_100g)
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{
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if (once_wt_100g > FEED_SCALE_WEIGHT_MAX) return;
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once_weight = once_wt_100g;
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uint8_t tmp[2] = { (uint8_t)(once_weight & 0xFF), (uint8_t)(once_weight >> 8) };
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eepromWriteData(FEED_SCALE_ONCEWT_ADDR, tmp, 2);
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log_info("> FEED: 设置单次投料=%.1fKG", (float)once_weight / 10.0f);
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}
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uint16_t feedScaleGetOnceWeight(void)
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{
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return once_weight;
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}
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uint16_t feedScaleGetWeight(void)
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{
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return last_weight;
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}
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uint16_t feedScaleGetZero(void)
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{
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return zero_weight;
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}
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/* 获取最近一次 485 原始毛重（未去皮，0.1KG 单位） */
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uint16_t feedScaleGetRawWeight(void)
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{
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return last_raw_weight;
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}
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FeedScaleState feedScaleGetState(void)
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{
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return feed_state;
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}
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uint16_t feedScaleGetReduced(void)
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{
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return reduced_weight;
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}
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void feedScaleStart(uint16_t once_wt_100g)
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{
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if (once_wt_100g < FEED_SCALE_ONCEWT_MIN || once_wt_100g > FEED_SCALE_ONCEWT_MAX) {
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log_warn("> FEED: 单次投料量无效=%.1fKG", (float)once_wt_100g / 10.0f);
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return;
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}
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if (feed_state == FEED_RUNNING) {
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log_warn("> FEED: 正在投喂中, 忽略本次请求");
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return;
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}
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if (first_query_reported == 0) {
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log_warn("> FEED: 秤未就绪, 无法开始投喂");
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return;
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}
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if (last_weight == 0) {
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log_warn("> FEED: 剩余重量为 0, 无法开始投喂");
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return;
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}
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once_weight = once_wt_100g;
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start_weight = last_weight; /* 取最近一次重量作为起始重量 */
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reduced_weight = 0;
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add_weight_count = 0;
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feed_start_tick = HAL_GetTick();
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feed_state = FEED_RUNNING;
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relaySet(1, 1);
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eepromWriteData(102, &MqttInfoStr.Relay_State[0], 7);
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log_info("> FEED: 开始投喂 单次=%.1fKG, 起始=%.1fKG, 继电器1=开",
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(float)once_weight / 10.0f, (float)start_weight / 10.0f);
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/* 投喂开始时立即上报一次状态 */
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feed_scale_report_weight("iot.prop.post");
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}
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void feedScaleStop(void)
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{
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if (feed_state == FEED_IDLE) return;
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relaySet(1, 0);
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eepromWriteData(102, &MqttInfoStr.Relay_State[0], 7);
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feed_state = FEED_DONE;
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log_info("> FEED: 停止投喂, 已减少=%.1fKG", (float)reduced_weight / 10.0f);
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relayRequestReport();
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}
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static void feed_scale_finish_error(const char *reason)
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{
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relaySet(1, 0);
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eepromWriteData(102, &MqttInfoStr.Relay_State[0], 7);
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feed_state = FEED_ERROR;
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log_warn("> FEED: 异常停止, %s", reason);
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relayRequestReport();
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}
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/* HR_IN 缺料检测: 高电平(去抖≈500ms)判缺料 -> 停止投料并关闭继电器1;
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* 与秤模式无关, 只要继电器1处于吸合就关; 只记日志不上报 */
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static void feed_scale_hr_check(void)
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{
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if (HAL_GPIO_ReadPin(HR_IN_PORT, HR_IN_PIN) == HR_EMPTY_LEVEL) {
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if (hr_high_cnt < HR_DEBOUNCE_CNT) { hr_high_cnt++; return; }
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if (hr_empty_latched) return;
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hr_empty_latched = 1;
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if (feed_state == FEED_RUNNING) {
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log_warn("> FEED: 检测到缺料(HR_IN高电平), 停止投料");
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feedScaleStop();
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} else if (MqttInfoStr.Relay_State[1]) {
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log_warn("> FEED: 检测到缺料(HR_IN高电平), 关闭继电器1");
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relaySet(1, 0);
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eepromWriteData(102, &MqttInfoStr.Relay_State[0], 7);
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relayRequestReport();
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} else {
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log_warn("> FEED: 检测到缺料(HR_IN高电平)");
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}
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} else {
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hr_high_cnt = 0;
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hr_empty_latched = 0;
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}
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}
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||
/* 称重秤应答帧处理(站号 0x01); 返回 void, 原 feedScaleProcess 尾部逻辑平移至此 */
|
||
static void feed_scale_on_scale_frame(const uint8_t *rx_buf, uint16_t flen)
|
||
{
|
||
uint16_t cur_weight;
|
||
int32_t diff;
|
||
int len = (int)flen;
|
||
(void)len;
|
||
if (len > 0) { /* 供发查询前的总线间隔保护 */
|
||
int prc = feed_scale_parse_weight(rx_buf, len, &cur_weight);
|
||
if (prc == 0) { await_reply_tick = 0; }
|
||
if (prc != -7) { /* -7=回声帧：不影响状态显示 */
|
||
s_last_err = (prc == 0) ? 0 : (prc == -1 ? 2 : (prc == -2 ? 3 : (prc == -4 ? 4 : (prc == -6 ? 6 : 5))));
|
||
}
|
||
if (prc == 0) s_last_ok_tick = HAL_GetTick();
|
||
if (prc == 0) {
|
||
last_raw_weight = cur_weight; /* 保存原始毛重 */
|
||
last_weight = cur_weight > zero_weight ? (cur_weight - zero_weight) : 0; /* 净重 */
|
||
if (!first_query_reported) {
|
||
/* 首次上电: 查询到一次有效重量后上报平台。
|
||
* 发布成功才置标志——发布被丢弃(AT忙)时下轮查询继续重试，
|
||
* 避免重启后平台重量一直是 0 直到下次碰巧发出去 */
|
||
if (feed_scale_report_weight("iot.prop.post") == 0) {
|
||
first_query_reported = 1;
|
||
log_info("> FEED: 首次重量已上报");
|
||
}
|
||
}
|
||
|
||
if (feed_state == FEED_RUNNING) {
|
||
/* 投喂期间：每次有效重量都上报平台，保证实时 */
|
||
feed_scale_report_weight("iot.prop.post");
|
||
|
||
/* 计算减少量，去零后比较 */
|
||
diff = (int32_t)start_weight - (int32_t)last_weight;
|
||
if (diff < 0) diff = -diff;
|
||
reduced_weight = (uint16_t)diff;
|
||
|
||
/* 条件1: 达到/超过单次投喂量，停止 */
|
||
if (reduced_weight >= once_weight) {
|
||
log_info("> FEED: 达到目标投喂量, 停止");
|
||
feedScaleStop();
|
||
return;
|
||
}
|
||
|
||
/* 条件2: 重量反而增加，可能有人在加料，连续超过阈值后结束 */
|
||
if (last_weight > start_weight) {
|
||
add_weight_count++;
|
||
if (add_weight_count >= FEED_ADD_WEIGHT_LIMIT) {
|
||
feed_scale_finish_error("重量反增");
|
||
return;
|
||
}
|
||
} else {
|
||
add_weight_count = 0;
|
||
}
|
||
|
||
/* 条件3: 投喂超时 5 分钟 */
|
||
if (HAL_GetTick() - feed_start_tick > FEED_TIMEOUT_MS) {
|
||
feed_scale_finish_error("投喂超时");
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
void feedScaleProcess(void)
|
||
{
|
||
feed_scale_hr_check(); /* 缺料保护优先, 与秤模式/查询状态无关 */
|
||
|
||
|
||
/* 485 总线帧统一在此收取, 按站号分发: 0x01=称重秤, 0x10=扩展继电器板 */
|
||
{
|
||
uint8_t rx_buf[32];
|
||
int len = feed_scale_read_frame(rx_buf, sizeof(rx_buf));
|
||
if (len > 0) {
|
||
rs485_bus_touch(); /* 刷新总线活动时间戳(50ms 静默保护) */
|
||
if (rx_buf[0] == EXT_RELAY_ADDR) {
|
||
ext_relay_on_frame(rx_buf, (uint16_t)len);
|
||
} else if (g_feed_scale_on) {
|
||
feed_scale_on_scale_frame(rx_buf, (uint16_t)len);
|
||
}
|
||
}
|
||
}
|
||
|
||
if (!g_feed_scale_on) return;
|
||
|
||
|
||
/* 空闲时 10s 查询一次; 投喂时 1s 查询一次;
|
||
不累计无响应计数，手动测试时漏回也不会一直刷超时 */
|
||
uint32_t query_interval = (feed_state == FEED_RUNNING) ? FEED_SCALE_QUERY_RUN_MS : FEED_SCALE_QUERY_IDLE_MS;
|
||
|
||
/* 首次查询延迟 3s：避开上电窗口（BLE 配置/网络初始化/首次上报都在抢资源），
|
||
* 该窗口内发出的首个应答容易被撞坏 */
|
||
if (HAL_GetTick() < 3000u) return;
|
||
|
||
if (first_query_sent == 0 || (HAL_GetTick() - last_query_tick) >= query_interval) {
|
||
last_query_tick = HAL_GetTick();
|
||
feed_scale_send_query();
|
||
await_reply_tick = HAL_GetTick(); /* 标记等待应答，1s 无帧打日志 */
|
||
if (first_query_sent == 0) {
|
||
first_query_sent = 1;
|
||
}
|
||
}
|
||
|
||
/* 查询发出后 1s 仍无有效帧：打日志（不自动补发） */
|
||
if (await_reply_tick && (HAL_GetTick() - await_reply_tick) > 1000u) {
|
||
await_reply_tick = 0;
|
||
s_last_err = 1;
|
||
}
|
||
|
||
/* 清理已完成状态，让外部模块在下一循环前处理 */
|
||
if (feed_state == FEED_DONE || feed_state == FEED_ERROR) {
|
||
/* 状态保持一次，由 relay 状态机上报 */
|
||
}
|
||
}
|