?/***********************************************************************************************
?目標(biāo)板：ControlBoard?V1.0開發(fā)板
?程序功能：MODUBUS?上位處理模塊?錯(cuò)誤重發(fā)機(jī)制
?協(xié)議：?Modbus通信協(xié)議??19200?n.8.1
?工程建立日期：2013.12.9
?編寫人：董斌
?修改1：
?修改2：
*************************************************************************************************/

#include?“AbnormalHandle.h“

unsigned?int?Error_Code;

unsigned?char?ServoBusyBit[MAX_ADRESS];				//????
unsigned?char?ServoPauseBit[MAX_ADRESS];			//????
unsigned?char?ServoOriginBit[MAX_ADRESS];			//????
unsigned?char?ServoErrorBit[MAX_ADRESS];			//????
unsigned?char?ServoPwrOnBit[MAX_ADRESS];			//??ON
int?ServoCurrentPoint[MAX_ADRESS];????????????//???????XYZ

/*******************************************************************************
*?Function?Name??:
*?Description????:?空閑時(shí)?讀取當(dāng)前位置報(bào)警代碼PCIO狀態(tài)
********************************************************************************/
void?Read_Status_Handle（unsigned?char?adress）
{
????unsigned?int?RET;
????unsigned?char?adresi;
????unsigned?char?max_adres;

????switch?（adress）
????{
????????case?0:
????????????adres=1;????????????????????????//XYZ軸
????????????max_adres=MAX_ADRESS;
????????????break;
????????case?1:
????????????adres=1;????????????????????????//僅X軸
????????????max_adres=2;
????????????break;
????????case?2:
????????????adres=2;????????????????????????//僅Y軸
????????????max_adres=3;
????????????break;
????????case?3:
????????????adres=3;????????????????????????//僅Z軸
????????????max_adres=4;
????????????break;
????????default:????????????????????????????//地址超出
????????????adres=4;
????????????max_adres=4;?
????????????break;
????}
????for（i=adres;i????{
				RET=Read_CurrentStatus（i）;
				if（RET?!=?0xffff）
				{
					if（RET?&?0x0008）?	ServoBusyBit[i]=1;??????????????????????//伺服忙碌??BIT（3）
					else			ServoBusyBit[i]=0;

					if（RET?&?0x0020）?	ServoPauseBit[i]=1;			//伺服暫停	BIT（5）
					else			ServoPauseBit[i]=0;

					if（RET?&?0x0010）?	ServoOriginBit[i]=1;????????????????????//伺服原點(diǎn)	BIT（4）
					else			ServoOriginBit[i]=0;

					if（RET?&?0x0400）?	ServoErrorBit[i]=1;			//伺服報(bào)警	BIT（10）
					else			ServoErrorBit[i]=0;

					if（RET?&?0x1000）?	ServoPwrOnBit[i]=1;			//伺服ON?	BIT（12）
					else			ServoPwrOnBit[i]=0;
				}

????????Delay_MS（10）;??????
????????RET=Read_ErrorCode（i）;???????????????????????????????????????????????????//報(bào)警代碼
????????if（RET?!=?0xffff）
????????{
????????????switch?（i）
????????????{
????????????case?1:
????????????????Error_Code?=?RET|0x1000;?????????????????????????????????????????//各軸的報(bào)警代碼
????????????????break;
????????????case?2:
????????????????Error_Code?=?RET|0x2000;
????????????????break;
????????????case?3:
????????????????Error_Code?=?RET|0x4000;
????????????????break;
????????????default:break;
????????????}
????????}

				Delay_MS（10）;
????????RET=Read_CurrentPoint（i）;???????????????????????????????????????????????//讀取伺服當(dāng)前位置（絕對(duì)）
????????i

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-10-19?19:33??Driver\
?????文件????????6512??2018-10-18?12:53??Driver\AbnormalHandle.c
?????文件????????1390??2018-10-18?12:53??Driver\AbnormalHandle.h
?????文件????????7643??2018-10-18?12:53??Driver\ADC.c
?????文件?????????412??2018-10-18?12:53??Driver\ADC.h
?????文件?????????671??2018-10-18?12:53??Driver\BKP_Init.c
?????文件?????????216??2018-10-18?12:53??Driver\BKP_Init.h
?????文件????????4741??2018-10-18?12:53??Driver\bsp.c
?????文件?????????636??2018-10-18?12:53??Driver\bsp.h
?????文件????????9471??2018-10-18?12:53??Driver\Canbus.c
?????文件?????????940??2018-10-18?12:53??Driver\Canbus.h
?????文件????????9025??2018-10-18?12:53??Driver\flash.c
?????文件????????1870??2018-10-18?12:53??Driver\flash.h
?????文件???????12326??2018-10-19?19:33??Driver\GPIO_Init.c
?????文件????????7072??2018-10-19?19:28??Driver\GPIO_Init.h
?????文件????????2486??2018-10-18?12:53??Driver\HMIGT02.c
?????文件?????????747??2018-10-18?12:53??Driver\HMIGT02.h
?????文件????????4770??2018-10-18?12:53??Driver\httpd.c
?????文件????????4158??2018-10-18?12:53??Driver\httpd.h
?????文件????????3171??2018-10-18?12:53??Driver\httputil.c
?????文件????????1593??2018-10-18?12:53??Driver\httputil.h
?????文件????????5099??2018-10-18?12:52??Driver\HX711.c
?????文件?????????920??2018-10-18?12:52??Driver\HX711.h
?????文件????????6018??2018-10-18?12:52??Driver\I2CEEPROM.c
?????文件????????1261??2018-10-18?12:52??Driver\I2CEEPROM.h
?????文件???????17685??2018-10-18?12:52??Driver\IAI_Motor.c
?????文件????????2151??2018-10-18?12:52??Driver\IAI_Motor.h
?????文件???????10568??2018-10-18?12:52??Driver\Modbus.c
?????文件?????????642??2018-10-18?12:52??Driver\Modbus.h
?????文件?????????930??2018-10-18?12:52??Driver\nvic_init.c
?????文件?????????277??2018-10-18?12:52??Driver\nvic_init.h
............此處省略669個(gè)文件信息