370 lines
13 KiB
C
370 lines
13 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 "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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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 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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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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if (len < 9) {
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log_warn("> FEED: 485 frame too short, len=%d", (int)len);
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return -1;
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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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log_warn("> FEED: 485 CRC err, calc=0x%04X recv=0x%04X", 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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log_info("> FEED: 485 raw weight=%.1fKG (0.1kg=%d)", fweight, *weight_100g);
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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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HAL_UART_Transmit(&huart2, (uint8_t *)RS485_WEIGHT_CMD, sizeof(RS485_WEIGHT_CMD), 100);
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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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uint16_t len = USART2_GetFrame(buf, max_len);
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if (len == 0) return 0;
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return (int)len;
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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 */
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static void feed_scale_report_weight(const char *header)
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{
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(void)header;
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/* 云平台字段映射：把剩余料重放到 zero 字段，空载重量放到 weight 字段 */
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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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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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log_info("> FEED: weight=%.1fKG onceWt=%.1fKG zero=%.1fKG",
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(float)last_weight / 10.0f,
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(float)once_weight / 10.0f,
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(float)zero_weight / 10.0f);
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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: first init, set default zero=1.0KG, onceWt=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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log_info("> FEED: init, zero=%.1fKG, onceWt=%.1fKG",
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(float)zero_weight / 10.0f, (float)once_weight / 10.0f);
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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: set zero=%.1fKG, recalc last_weight=%.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: set onceWt=%.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: invalid onceWt=%.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: already running, ignore");
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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: scale not ready, cannot start feeding");
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return;
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}
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if (last_weight == 0) {
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log_warn("> FEED: last weight is 0, cannot start feeding");
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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: start onceWt=%.1fKG, start=%.1fKG, relay1=ON",
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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: stop, reduced=%.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: error stop, %s", reason);
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relayRequestReport();
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}
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void feedScaleProcess(void)
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{
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#if FEED_SCALE_DISABLED
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return;
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#endif
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uint8_t rx_buf[32];
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int len;
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uint16_t cur_weight;
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int32_t diff;
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/* 触发 USART2 帧超时自动提交 */
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USART2_Tick();
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/* 空闲时 10s 查询一次; 投喂时 1s 查询一次;
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不累计无响应计数，手动测试时漏回也不会一直刷超时 */
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uint32_t query_interval = (feed_state == FEED_RUNNING) ? FEED_SCALE_QUERY_RUN_MS : FEED_SCALE_QUERY_IDLE_MS;
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if (first_query_sent == 0 || (HAL_GetTick() - last_query_tick) >= query_interval) {
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last_query_tick = HAL_GetTick();
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feed_scale_send_query();
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if (first_query_sent == 0) {
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first_query_sent = 1;
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log_info("> FEED: first query sent");
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}
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}
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/* 读取 485 返回 */
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len = feed_scale_read_frame(rx_buf, sizeof(rx_buf));
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if (len > 0) {
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if (feed_scale_parse_weight(rx_buf, len, &cur_weight) == 0) {
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last_raw_weight = cur_weight; /* 保存原始毛重 */
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last_weight = cur_weight > zero_weight ? (cur_weight - zero_weight) : 0; /* 净重 */
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if (!first_query_reported) {
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/* 首次上电: 查询到一次有效重量后上报平台 */
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first_query_reported = 1;
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feed_scale_report_weight("iot.prop.post");
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log_info("> FEED: first weight reported");
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}
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if (feed_state == FEED_RUNNING) {
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/* 投喂期间：每次有效重量都上报平台，保证实时 */
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feed_scale_report_weight("iot.prop.post");
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/* 计算减少量，去零后比较 */
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diff = (int32_t)start_weight - (int32_t)last_weight;
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if (diff < 0) diff = -diff;
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reduced_weight = (uint16_t)diff;
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log_info("> FEED: run start=%.1f cur=%.1f reduced=%.1f once=%.1f",
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(float)start_weight / 10.0f, (float)last_weight / 10.0f,
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(float)reduced_weight / 10.0f, (float)once_weight / 10.0f);
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/* 条件1: 达到/超过单次投喂量，停止 */
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if (reduced_weight >= once_weight) {
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log_info("> FEED: target reached, stop");
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feedScaleStop();
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return;
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}
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/* 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 */
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if (last_weight > start_weight) {
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add_weight_count++;
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if (add_weight_count >= FEED_ADD_WEIGHT_LIMIT) {
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feed_scale_finish_error("weight increased");
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return;
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}
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} else {
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add_weight_count = 0;
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}
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/* 条件3: 投喂超时 5 分钟 */
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if (HAL_GetTick() - feed_start_tick > FEED_TIMEOUT_MS) {
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feed_scale_finish_error("timeout");
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return;
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}
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}
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}
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}
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/* 清理已完成状态，让外部模块在下一循环前处理 */
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if (feed_state == FEED_DONE || feed_state == FEED_ERROR) {
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/* 状态保持一次，由 relay 状态机上报 */
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}
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}
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