我试图用 C++ 编写一个程序,让我的计算机与一个 trinamic steprockerboard 通信。他们已经提供了一个示例文件,让您上路。这很完美,但真的很简单。
现在我想从 USB 设备读取结果,他们为此做了一个函数:
//Read the result that is returned by the module
//Parameters: Handle: handle of the serial port, as returned by OpenRS232
//Address: pointer to variable to hold the reply address returned by the module
// Status: pointer to variable to hold the status returned by the module (100 means okay)
//Value: pointer to variable to hold the value returned by the module
prototype:
UCHAR GetResult(HANDLE Handle, UCHAR *Address, UCHAR *Status, int *Value)
现在我写了以下内容:
UCHAR* adr;
UCHAR* stat;
int* val;
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, -3200); // move to next position
SendCmd(RS232Handle,1, TMCL_GAP, 8, 0, 0); // tell motor to look if position is reached
GetResult(RS232Handle,adr,stat,val); //ask for the result, value must give a 1 if so
printf("results from USB device: adr=%d, stat=%d, val=%d\n", adr, stat, val);
但是当我运行程序并尝试此选项时,程序会崩溃。
有没有人知道可能导致问题的原因?(我提供的代码只是我的程序的一部分,整个代码可以在下面找到。我并不是要你阅读整个代码,问题应该在上面,但仅供有兴趣的人使用,其余的我也放了在这里)
// TMCLTest.cpp : Show how to communicate with a TMCM module in TMCL
//
#include "stdafx.h"
#include <iostream>
//Opcodes of all TMCL commands that can be used in direct mode
#define TMCL_ROR 1
#define TMCL_ROL 2
#define TMCL_MST 3
#define TMCL_MVP 4
#define TMCL_SAP 5
#define TMCL_GAP 6
#define TMCL_STAP 7
enter code here
#define TMCL_RSAP 8
enter code here
#define TMCL_SGP 9 #define TMCL_GGP 10 #define TMCL_STGP 11 #define TMCL_RSGP 12 #define TMCL_RFS 13 #define TMCL_SIO 14 #define TMCL_GIO 15 #define TMCL_SCO 30 #define TMCL_GCO 31 #define TMCL_CCO
//Opcodes of TMCL control functions (to be used to run or abort a TMCL program in the module)
#define TMCL_APPL_STOP 128
#define TMCL_APPL_RUN 129
#define TMCL_APPL_RESET 131
//Options for MVP commandds
#define MVP_ABS 0
#define MVP_REL 1
#define MVP_COORD 2
//Options for RFS command
#define RFS_START 0
#define RFS_STOP 1
#define RFS_STATUS 2
#define FALSE 0
#define TRUE 1
//Result codes for GetResult
#define TMCL_RESULT_OK 0
#define TMCL_RESULT_NOT_READY 1
#define TMCL_RESULT_CHECKSUM_ERROR 2
//Open serial interface
//Usage: ComHandle=OpenRS232("COM1", CBR_9600)
HANDLE OpenRS232(const char* ComName, DWORD BaudRate)
{
HANDLE ComHandle;
DCB CommDCB;
COMMTIMEOUTS CommTimeouts;
ComHandle=CreateFile(ComName, GENERIC_READ|GENERIC_WRITE, 0, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
if(GetLastError()!=ERROR_SUCCESS) return INVALID_HANDLE_VALUE;
else
{
GetCommState(ComHandle, &CommDCB);
CommDCB.BaudRate=BaudRate;
CommDCB.Parity=NOPARITY;
CommDCB.StopBits=ONESTOPBIT;
CommDCB.ByteSize=8;
CommDCB.fBinary=1; //Binary Mode only
CommDCB.fParity=0;
CommDCB.fOutxCtsFlow=0;
CommDCB.fOutxDsrFlow=0;
CommDCB.fDtrControl=0;
CommDCB.fDsrSensitivity=0;
CommDCB.fTXContinueOnXoff=0;
CommDCB.fOutX=0;
CommDCB.fInX=0;
CommDCB.fErrorChar=0;
CommDCB.fNull=0;
CommDCB.fRtsControl=RTS_CONTROL_TOGGLE;
CommDCB.fAbortOnError=0;
SetCommState(ComHandle, &CommDCB);
//Set buffer size
SetupComm(ComHandle, 100, 100);
//Set up timeout values (very important, as otherwise the program will be very slow)
GetCommTimeouts(ComHandle, &CommTimeouts);
CommTimeouts.ReadIntervalTimeout=MAXDWORD;
CommTimeouts.ReadTotalTimeoutMultiplier=0;
CommTimeouts.ReadTotalTimeoutConstant=0;
SetCommTimeouts(ComHandle, &CommTimeouts);
return ComHandle;
}
}
//Close the serial port
//Usage: CloseRS232(ComHandle);
void CloseRS232(HANDLE Handle)
{
CloseHandle(Handle);
}
//Send a binary TMCL command
//e.g. SendCmd(ComHandle, 1, TMCL_MVP, MVP_ABS, 1, 50000); will be MVP ABS, 1, 50000 for module with address 1
//Parameters: Handle: Handle of the serial port (returned by OpenRS232).
// Address: address of the module (factory default is 1).
// Command: the TMCL command (see the constants at the begiining of this file)
// Type: the "Type" parameter of the TMCL command (set to 0 if unused)
// Motor: the motor number (set to 0 if unused)
// Value: the "Value" parameter (depending on the command, set to 0 if unused)
void SendCmd(HANDLE Handle, UCHAR Address, UCHAR Command, UCHAR Type, UCHAR Motor, INT Value)
{
UCHAR TxBuffer[9];
DWORD BytesWritten;
int i;
TxBuffer[0]=Address;
TxBuffer[1]=Command;
TxBuffer[2]=Type;
TxBuffer[3]=Motor;
TxBuffer[4]=Value >> 24;
TxBuffer[5]=Value >> 16;
TxBuffer[6]=Value >> 8;
TxBuffer[7]=Value & 0xff;
TxBuffer[8]=0;
for(i=0; i<8; i++)
TxBuffer[8]+=TxBuffer[i];
//Send the datagram
WriteFile(Handle, TxBuffer, 9, &BytesWritten, NULL);
}
//Read the result that is returned by the module
//Parameters: Handle: handle of the serial port, as returned by OpenRS232
// Address: pointer to variable to hold the reply address returned by the module
// Status: pointer to variable to hold the status returned by the module (100 means okay)
// Value: pointer to variable to hold the value returned by the module
//Return value: TMCL_RESULT_OK: result has been read without errors
// TMCL_RESULT_NOT_READY: not enough bytes read so far (try again)
// TMCL_RESULT_CHECKSUM_ERROR: checksum of reply packet wrong
UCHAR GetResult(HANDLE Handle, UCHAR *Address, UCHAR *Status, int *Value)
{
UCHAR RxBuffer[9], Checksum;
DWORD Errors, BytesRead;
COMSTAT ComStat;
int i;
//Check if enough bytes can be read
ClearCommError(Handle, &Errors, &ComStat);
if(ComStat.cbInQue>8)
{
//Receive
ReadFile(Handle, RxBuffer, 9, &BytesRead, NULL);
Checksum=0;
for(i=0; i<8; i++)
Checksum+=RxBuffer[i];
if(Checksum!=RxBuffer[8]) return TMCL_RESULT_CHECKSUM_ERROR;
*Address=RxBuffer[0];
*Status=RxBuffer[2];
*Value=(RxBuffer[4] << 24) | (RxBuffer[5] << 16) | (RxBuffer[6] << 8) | RxBuffer[7];
} else return TMCL_RESULT_NOT_READY;
return TMCL_RESULT_OK;
}
int main(int argc, char* argv[])
{
int i;
int Type, Motor, Velocity, Position,ref1;
UCHAR Address, Status;
int Value, Timeout;
HANDLE RS232Handle;
RS232Handle=OpenRS232("COM3", 9600);
// set parameters
SendCmd(RS232Handle, 1, TMCL_SAP, 140, 0, 5); //SAP 140, 0, 5 // set microsteps to 32 (32 additional steps per step of 1.8 degr.)
//SAP 4, 0, 500 //set max vel.
//SAP 5, 0, 100 //set max acc.
//SAP 6, 0, 255 //set abs. max current to 2.8 ampere
//SAP 7, 0, 50 //设置待机电流 ((50/250)*2.8A)
printf("VPI Test Setup\n \n" );
do
{
printf("1 - Rotate clockwise (10 rotations)\n");
printf("2 - Rotate counter-clockwise (10 rotations)\n");
printf("3 - Stop motor\n");
printf("4 - Start test (First 100 rotations clockwise, \n then 100 rotations counter clockwise)\n");
printf("\n99 - End\n");
scanf("%d", &i);
switch(i)
{
case 1:
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, 32000); //ABS(4th parameter) = 0
break;
case 2:
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, -32000); //ABS(4th parameter) = 0
break;
case 3:
SendCmd(RS232Handle, 1, TMCL_MST, 0, 0, 0);
break;
case 4:
//SendCmd(RS232Handle, 1, TMCL_RFS,0,0,0);
printf("Test started \n" );
//UCHAR done;
UCHAR* adr;
UCHAR* stat;
int* val;
//SendCmd(RS232Handle, 1, TMCL_SAP, 193, 1, 2); //SAP 193,1,2
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, -3200); //ABS(4th parameter) = 0
SendCmd(RS232Handle,1, TMCL_GAP, 8, 0, 0);
GetResult(RS232Handle,adr,stat,val);
printf("results from USB device: adr=%d, stat=%d, val=%d\n", adr, stat, val);
//CHAR GetResult(HANDLE Handle, UCHAR *Address, UCHAR *Status, int *Value)
// if(done != 2)
// {
// printf("rotation backwards started \n");
// SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, 3200);
// }
// }
break;
}
SendCmd(RS232Handle, 1, TMCL_ROL, 0, Motor, Velocity);
SendCmd(RS232Handle, 1, TMCL_ROL, 0, Motor, Velocity);
if(i==1 || i==2 || i==3 || i==4)
{
Address=0;
Status=0;
Value=0;
Timeout=GetTickCount();
while(GetResult(RS232Handle, &Address, &Status, &Value) ==TMCL_RESULT_NOT_READY && abs(GetTickCount()-Timeout)<1000);
printf("Result: Address=%d, Status=%d, Value=%d\n", Address, Status, Value);
}
}
while(i!=99);
CloseRS232(RS232Handle);
return 0;
}