127 changed files with 18784 additions and 29 deletions
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/*
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* BHBF_ROBOT.c |
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* |
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* Created on: Oct 26, 2023 |
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* Author: shiya |
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*/ |
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#include "fsm.h" |
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#include "BHBF_ROBOT.h" |
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#include <string.h> |
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#include "bsp_FDCAN.h" |
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int32_t* SystemTimeMiliSeconds; //似乎未用
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int32_t SystemTimeMiliCount; //2ms加一
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int32_t* SystemErrorCode; |
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ErrorData* SystemErrorData; |
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//Declare a CV and initialize CV
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CV_struct_define CV = |
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{ 0 }; |
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//Declare a GV and initialize CV
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GV_struct_define GV = |
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{ 0 }; |
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PV_struct_define decoded_PV_variable = { 0 }; |
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PV_struct_define decoded_PV = { 0 }; |
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IV_struct_define IV ={ 0 }; |
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void SET_BIT_1(int32_t* num,int32_t k) |
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{ |
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*num=((*num) | (1 << (k))); |
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} |
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void SET_BIT_0(int32_t* num,int32_t k) |
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{ |
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*num=((*num) & ~(1 << (k))); |
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} |
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int32_t Get_BIT(int32_t* num,int32_t k) |
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{ |
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return (*num >> (k)) & 1; |
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} |
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void SystemTimer_Intialize() |
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{ |
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SystemTimeMiliCount=0; |
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GF_BSP_Interrupt_Add_CallBack( |
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DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Timer_Count); |
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} |
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void GF_Timer_Count() |
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{ |
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SystemTimeMiliCount++; |
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} |
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Sys_timer_handler timer_handler_1; |
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Sys_timer_handler timer_handler_2; |
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Sys_timer_handler timer_handler_3; |
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Sys_timer_handler timer_handler_4; |
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int sys_timer_1_flag_count[4]; |
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bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler) |
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{ |
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if(timer_handler->start_timer==1) |
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{ |
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timer_handler->sys_current_timer_count=DelayMiliSeconds/2+SystemTimeMiliCount; |
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timer_handler->start_timer=0; |
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} |
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if(timer_handler->sys_current_timer_count<=SystemTimeMiliCount) |
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{ |
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return true; |
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}else |
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{ |
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return false; |
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} |
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} |
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bool CompareTimer_Delay(int32_t Delay) |
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{ |
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int32_t tickstart = SystemTimeMiliCount; |
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int32_t wait = Delay; |
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/* Add a freq to guarantee minimum wait */ |
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if (wait < HAL_MAX_DELAY) |
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{ |
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int32_t wait = Delay; |
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while ((SystemTimeMiliCount - tickstart) < wait/2) |
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{ |
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} |
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} |
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} |
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/*m/min--->0.1m/min 其实就是×10*/ |
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int32_t speed_M_min_toE01_M_min(int32_t speedm_min) |
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{ |
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return speedm_min*10; |
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} |
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/**
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* @file DLTuc.c |
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* @author Teodor Rosolowski |
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* @date 1 Jul 2022 |
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* @brief This file is a part of DLTuc library |
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* |
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* In this source file you will find entire implementation of the DLTuc lib. |
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* |
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* Requirments: |
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* Around ~2kB of RAM |
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* Check Configuration file and defines: |
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* DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE |
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* |
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*/ |
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/*
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* ******************************************************************************************* |
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* Includes |
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* ******************************************************************************************* |
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* */ |
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#include "DLTuc.h" |
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#include "stdio.h" |
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#include "stdint.h" |
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#include "stdbool.h" |
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#include <stdarg.h> |
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#include <string.h> |
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/*
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* ******************************************************************************************* |
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* Local defines |
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* ******************************************************************************************* |
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* */ |
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/**!
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* \brief DLT_ACT_HEADER_SIZE - actual DLT header size |
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* \details Standard Header + Extended + TypeInfo |
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* Don't modify it if you aren't sure what are you doing!!! |
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*/ |
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#define DLT_ACT_HEADER_SIZE 32 |
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/**!
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* \brief DLT_MINIMUM_LOG_DROP_PERIOD |
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* \details minimum period between two drop info log |
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*/ |
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#define DLT_MINIMUM_LOG_DROP_PERIOD 200 |
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/*
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* ******************************************************************************************* |
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* Local types |
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* ******************************************************************************************* |
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* */ |
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/* Prototypes to improve readability.. */ |
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/*typedefs for future use..*/ |
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// typedef
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// {
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// uint32_t HeaderStart;
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// BaseHeaderConfig_t BaseHeaderConfig;
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// uint8_t MessageCounter;
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// uint16_t MessageLength;
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// uint32_t EcuId;
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// uint32_t TimeStamp;
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// }DLT_BaseHeader_t;
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// typedef
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// {
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// DLT_DebugLevel_t DebugLevel;
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// uint8_t NumberOfArguments;
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// uint32_t AppId;
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// uint32_t ContexID;
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// TypeInfo_t TypeInfo;
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// uint16_t Argument1;
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// }DLT_ExtendedHeader_t;
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//char DLT_LOG_ENABLE_LEVEL= 7;
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char DLT_LOG_ENABLE_LEVEL= 0; |
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/**!
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* \brief RB_Status |
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* \details --- |
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* */ |
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typedef enum |
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{ |
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RB_OK = 0, |
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RB_ERROR = 1 |
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} RB_Status; |
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/**!
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* \brief DltRingBufferTransmit_t |
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* \details --- |
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* */ |
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typedef struct DltRingBufferTransmit_Tag |
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{ |
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uint16_t Head; // Pointer to write
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uint16_t Tail; // Pointer to read
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bool readyToTransmit[DLT_TRANSMIT_RING_BUFFER_SIZE]; |
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uint8_t dataSize[DLT_TRANSMIT_RING_BUFFER_SIZE]; // Array to keep message size
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} DltRingBufferTransmit_t; |
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/**!
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* \brief BluRingBufferReceive_t |
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* \details --- |
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* */ |
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typedef struct BluRingBufferReceive_Tag |
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{ |
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uint16_t Head; // Pointer to write
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uint16_t Tail; // Pointer to read
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uint8_t MessageSize[DLT_RECEIVE_RING_BUFFER_SIZE]; // Array to keep message size
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bool ReadyToRead[DLT_RECEIVE_RING_BUFFER_SIZE]; |
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} BluRingBufferReceive_t; |
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/**
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* ******************************************************************************************* |
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* Static variables |
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* ******************************************************************************************* |
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* */ |
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/**!
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* \brief ExtSerialTrDataFunctionCb |
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* \details --- |
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* */ |
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static void (*ExtSerialTrDataFunctionCb)(uint8_t *DltLogData, uint8_t Size); |
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static void (*ExtSerialRecDataFunctionCb)(uint8_t *RecDataBuff, uint16_t Size); |
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static void (*ExtInfoInjectionDataRcvdCb)(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size); |
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static uint32_t (*GetSystemTimeMs)(void); |
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/**!
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* \brief LogDroppedFlag |
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* \details --- |
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* */ |
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static bool LogDroppedFlag =false; |
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static uint32_t PrevLogDropSendTime = 0u; |
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static uint8_t DltLogDroppedInfo[] = "LOG DROPPED!!!"; |
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static uint8_t DltLogDroppedInfoBuffer[60] = {0}; /* TODO: Remove magic number..*/ |
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static uint8_t DLtLogDroppedSize = 0; |
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static uint8_t ActDltMessageCounter =0; |
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static DltRingBufferTransmit_t DltTrsmtRingBuffer = {.readyToTransmit[0]=true}; |
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static uint8_t DltTrsmtMessagesTab[DLT_TRANSMIT_RING_BUFFER_SIZE][DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE]; |
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static BluRingBufferReceive_t BleMainReceiveRingBuffer; |
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static uint8_t BluMainReceiveMessagesTab[DLT_RECEIVE_RING_BUFFER_SIZE][DLT_REC_SINGLE_MESSAGE_MAX_SIZE]; |
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static volatile uint8_t TransmitReadyStateFlag = true; /*TmpFromDma for example*/ |
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/*
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********************************************************************************************* |
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* Prototypes of static functions |
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******************************************************************************************** |
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*/ |
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/*!
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************************************************************************************************ |
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* \brief PrepareDltHeader |
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* \details A very lazy implementation of DLT Header - but it works fine |
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* Please refer to: https://www.autosar.org/fileadmin/user_upload/standards/foundation/1-0/AUTOSAR_PRS_DiagnosticLogAndTraceProtocol.pdf
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************************************************************************************************/ |
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static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart); |
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/*!
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************************************************************************************************ |
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* \brief DLT_RB_TransmitRead Function to read data from ring buffer |
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* \details -- |
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* \param RingBuffer_t *Buf - pointer to Ring Buffer structure |
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* \param out MessageSize - size of the "DltLogData" (return value) |
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* \param out MessagePointer - pointer to the message stored in RingBuffer (return value) |
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* \return RB_OK if something read succesfully, otherwise RB_ERROR |
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* */ |
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static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer); |
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/*!
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************************************************************************************************ |
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* \brief DLT_RB_GetNextWriteIndex |
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* \details -- |
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* \param in RingBuffer_t *Buf - pointer to Ring Buffer structure |
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* \param out writeIndex - next index where DLT data should be stored, can be used only if fun return "RB_OK" |
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* \return RB_OK if index available, otherwise RB_ERROR |
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************************************************************************************************/ |
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static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex); |
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/*!
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************************************************************************************************ |
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* \brief DLT_RB_Receive_GetNextMessageAddress |
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* \details Function used to work with DMA - direct write to ring buffer by DMA |
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* \param in Buf - |
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* \param in WriteAddress - |
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************************************************************************************************/ |
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static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress); |
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/*!
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************************************************************************************************ |
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* \brief DLT_RB_Receive_Read Function to read data from ring buffer |
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* \details -- |
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* \param RingBuffer_t *Buf - pointer to Ring Buffer structure |
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* \param out MessageSize - size of the "BleLogData" (return value) |
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* \param out MessagePointer - pointer to the message stored in RingBuffer (return value) |
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* |
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* */ |
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static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer); |
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/*
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********************************************************************************************* |
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* Static functions implementation |
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******************************************************************************************** |
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*/ |
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static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress) |
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{ |
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/* TODO: The implementation isn't optimal...*/ |
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static uint8_t DefaultBlindBuffer[DLT_REC_SINGLE_MESSAGE_MAX_SIZE]; |
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/*Mark previous message as ready to read*/ |
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Buf->ReadyToRead[Buf->Head] = true; |
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// Compute new Head pointer value of a ring buffer
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uint16_t HeadTmp = (Buf->Head + 1) % DLT_RECEIVE_RING_BUFFER_SIZE; |
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// Check if there is one free space ahead the Head buffer
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if(HeadTmp == Buf->Tail) |
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{ |
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/*Even if buffer is full data must be received somewhere to don't crush application/ dma*/ |
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*WriteAddress = DefaultBlindBuffer; |
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// There is no space in the buffer - return an error
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return RB_ERROR; |
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} |
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Buf->ReadyToRead[HeadTmp] = false; |
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Buf->MessageSize[HeadTmp] = DLT_RECEIVE_RING_BUFFER_SIZE; |
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Buf->Head = HeadTmp; |
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*WriteAddress = &BluMainReceiveMessagesTab[HeadTmp][0]; |
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// Everything is ok - return OK status
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return RB_OK; |
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} |
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static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer) |
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{ |
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if(Buf->ReadyToRead[Buf->Tail] == false) |
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{ |
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/*Any message in ring buffer isn't ready to read*/ |
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return RB_ERROR; |
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} |
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/*Mark again as not ready to read*/ |
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Buf->ReadyToRead[Buf->Tail] = false; |
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// Check if Tail hit Head
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if(Buf->Head == Buf->Tail) |
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{ |
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// If yes - there is nothing to read
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return RB_ERROR; |
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} |
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// Write current value from buffer to pointer from argument
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*MessageSize = Buf->MessageSize[Buf->Tail]; |
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*MessagePointer = &BluMainReceiveMessagesTab[Buf->Tail][0]; |
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// Calculate new Tail pointer
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Buf->Tail = (Buf->Tail + 1) % DLT_RECEIVE_RING_BUFFER_SIZE; |
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// Everything is ok - return OK status
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return RB_OK; |
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} |
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static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer) |
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{ |
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// Check if Tail hit Head
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if(Buf->Head == Buf->Tail) |
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{ |
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// If yes - there is nothing to read
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return RB_ERROR; |
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} |
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else if(true == Buf->readyToTransmit[Buf->Tail]) |
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{ |
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// Write current value from buffer to pointer from argument
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*MessageSize = Buf->dataSize[Buf->Tail]; |
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*MessagePointer = &DltTrsmtMessagesTab[Buf->Tail][0]; |
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// Calculate new Tail pointer
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Buf->Tail = (Buf->Tail + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE; |
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// Everything is ok - return OK status
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return RB_OK; |
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} |
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else |
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{ |
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/* Message still not ready to transmit */ |
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return RB_ERROR; |
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} |
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} |
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static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex) |
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{ |
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DLTuc_OS_CRITICAL_START(); |
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// Calculate new Head pointer value
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uint8_t HeadTmp = (Buf->Head + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE; |
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// Check if there is one free space ahead the Head buffer
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if(HeadTmp == Buf->Tail) |
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{ |
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DLTuc_OS_CRITICAL_END(); |
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// There is no space in the buffer - return an error
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return RB_ERROR; |
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} |
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Buf->Head = HeadTmp; |
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Buf->readyToTransmit[Buf->Head] = false; |
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*writeIndex = Buf->Head; |
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DLTuc_OS_CRITICAL_END(); |
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return RB_OK; |
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} |
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static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart) |
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{ |
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uint32_t ActualTime = 0; |
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if(GetSystemTimeMs != NULL) |
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{ |
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ActualTime = GetSystemTimeMs() * 10U; |
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/*Multiply by 10 to get value in MS also in DLTViewer
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*Reson: Resolution in DLT Viewer is equal: 10^-4 |
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*/ |
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} |
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if(size > ((UINT8_MAX -1) - DLT_ACT_HEADER_SIZE) ) |
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{ |
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/*Error to handle, or please develop this function to handle input size > UINT8_MAX */ |
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// while(1)
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// {
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// /*For development phase: lock the app*/
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// }
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size = size - DLT_ACT_HEADER_SIZE -1; |
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} |
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/*START HEADER*/ |
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headerAddrStart[0] = 0x44; /*'D'*/ |
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headerAddrStart[1] = 0x4c; /*'L'*/ |
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headerAddrStart[2] = 0x53; /*'S'*/ |
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headerAddrStart[3] = 0x01; /*'0x01'*/ |
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headerAddrStart[4] = 0x35; /*'Dlt base header config
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* Use extended header - true |
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* MSBF - false |
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* With ECU ID - true |
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* With Seesion ID - false |
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* With time stamp - true |
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* version number -random |
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'*/ |
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headerAddrStart[5] = ActDltMessageCounter++; /*'Message counter value '*/ |
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/*TODO: - it must be fixed!!!! - Length*/ |
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headerAddrStart[6] = 0x00; /*Message length general*/ |
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// headerAddrStart[7] = 0x37; /*'Message length general '*/
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headerAddrStart[7]=28+size; /*General size */ |
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uint32_t TempEcuId = DLT_LOG_ECUID_VALUE; |
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/*ECU ID*/ |
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headerAddrStart[8]= ((uint8_t*)&TempEcuId)[3]; |
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headerAddrStart[9]= ((uint8_t*)&TempEcuId)[2]; |
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headerAddrStart[10]= ((uint8_t*)&TempEcuId)[1]; |
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headerAddrStart[11]= ((uint8_t*)&TempEcuId)[0]; |
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/*Time stamp*/ |
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headerAddrStart[12]= ((uint8_t*)&ActualTime)[3]; |
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headerAddrStart[13]= ((uint8_t*)&ActualTime)[2]; |
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headerAddrStart[14]= ((uint8_t*)&ActualTime)[1]; |
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headerAddrStart[15]= ((uint8_t*)&ActualTime)[0]; |
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/*Extended header --verbose | type serial*/ |
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// headerAddrStart[16]= 0x41; /**/
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headerAddrStart[16]= (Level << 4) | 1; |
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/*Number of arguments*/ |
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headerAddrStart[17]= 0x01; /**/ |
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/*App id */ |
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headerAddrStart[18]= ((uint8_t*)&AppId)[3]; |
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headerAddrStart[19]= ((uint8_t*)&AppId)[2]; |
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headerAddrStart[20]= ((uint8_t*)&AppId)[1]; |
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headerAddrStart[21]= ((uint8_t*)&AppId)[0]; |
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/*Contex ID (4 bytes*/ |
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headerAddrStart[22]= ((uint8_t*)&ContextId)[3]; |
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headerAddrStart[23]= ((uint8_t*)&ContextId)[2]; |
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headerAddrStart[24]= ((uint8_t*)&ContextId)[1]; |
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headerAddrStart[25]= ((uint8_t*)&ContextId)[0]; |
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/*Type info*/ |
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headerAddrStart[26]= 0x01; /**/ |
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headerAddrStart[27]= 0x82; /**/ |
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headerAddrStart[28]= 0x00; /**/ |
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headerAddrStart[29]= 0x00; /**/ |
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/*Argument 1*/ |
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headerAddrStart[30]= size; |
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/* Size of the load in simplified form, please verify in documentation of DLT protcool documentation */ |
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headerAddrStart[31]= 0x00; /**/ |
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} |
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/*
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|||
**************************************************************************************************** |
|||
* Exported functions implementation. |
|||
* Descriptions are added in header file |
|||
***************************************************************************************************** |
|||
*/ |
|||
|
|||
void DLTuc_RawDataReceiveDone(uint16_t Size) |
|||
{ |
|||
static uint8_t *MessageReceiveBufferAddress = NULL; |
|||
uint8_t *MessageToRead_p = NULL; |
|||
uint8_t MessageToReadSize= 0U; |
|||
|
|||
DLT_RB_Receive_GetNextMessageAddress(&BleMainReceiveRingBuffer,&MessageReceiveBufferAddress); |
|||
if(ExtSerialRecDataFunctionCb != NULL){ |
|||
ExtSerialRecDataFunctionCb(MessageReceiveBufferAddress,DLT_REC_SINGLE_MESSAGE_MAX_SIZE); |
|||
} |
|||
|
|||
/*
|
|||
* The receive buffer isn't handled fully correctly, it require deeper investigation. |
|||
* However, it is possible to receive the Injection messages, and base commands if are transmitted with breakes.. |
|||
* Received DTL messages are divided by the "IDLE" irq for now.., not by the size and etc... |
|||
*/ |
|||
if(DLT_RB_Receive_Read(&BleMainReceiveRingBuffer, &MessageToReadSize,&MessageToRead_p) == RB_OK) |
|||
{ |
|||
if(MessageToRead_p[4] == 53) /**/ |
|||
{ |
|||
/*Use Extended, with EcuId, with Timestamp, end at[15]
|
|||
then Extended data as follow: |
|||
[16] ==22-? - non verbose, type: control, MSTP: fatal |
|||
[17] numOfArgs == 1 - TODO: Only 1 argument is for nowsupported!!! |
|||
[18-21] - AppId |
|||
[22-25] - ContexId |
|||
[26-29] - ServiceId |
|||
[30-33] - Size*/ |
|||
|
|||
uint32_t AppId = MessageToRead_p[21] << 24 |MessageToRead_p[20] << 16 | MessageToRead_p[19] << 8 | MessageToRead_p[18] << 0; |
|||
uint32_t RecContexId = MessageToRead_p[25] << 24 |MessageToRead_p[24] << 16 | MessageToRead_p[23] << 8 | MessageToRead_p[22] << 0; |
|||
uint32_t RecServiceId = MessageToRead_p[29] << 24 |MessageToRead_p[28] << 16 | MessageToRead_p[27] << 8 | MessageToRead_p[26] << 0; |
|||
|
|||
if(RecServiceId >= DLT_SERVICE_ID_CALLSW_CINJECTION) |
|||
{ |
|||
if(NULL != ExtInfoInjectionDataRcvdCb) |
|||
{ |
|||
/*MSB LSB, wtf..?, it is somehow mixed? */ |
|||
uint32_t DltDatSize = MessageToRead_p[33] << 24 | MessageToRead_p[32] << 16 | MessageToRead_p[31] << 8 | MessageToRead_p[30] << 0; |
|||
|
|||
ExtInfoInjectionDataRcvdCb(AppId,RecContexId,RecServiceId,&MessageToRead_p[34],(uint16_t)DltDatSize); |
|||
} |
|||
} |
|||
else if(RecServiceId == DLT_SERVICE_ID_SET_LOG_LEVEL) |
|||
{ |
|||
uint32_t NewLogLevel = MessageToRead_p[30]; |
|||
LOG("Set new log level request: %d How you triggered it?? , not supported", NewLogLevel); |
|||
/* It is handled correctly by DLT Viewer?? */ |
|||
} |
|||
else if(RecServiceId == DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL) |
|||
{ |
|||
uint32_t NewLogLevel = MessageToRead_p[30]; |
|||
LOG("Set default log level request: %d", NewLogLevel); |
|||
|
|||
LOG("Not supported yet, I'm too lazy :)"); |
|||
} |
|||
else if(DLT_SERVICE_ID_GET_SOFTWARE_VERSION == RecServiceId) |
|||
{ |
|||
LOG("ECU_SW_VERSION: %d", DLT_ECU_SW_VER); |
|||
/*TODO: The lib should send here answer of control message... */ |
|||
} |
|||
else if(DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL == RecServiceId) |
|||
{ |
|||
LOG("Default log level: %d", DLT_LOG_ENABLE_LEVEL); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
void DLTuc_RegisterInjectionDataReceivedCb( |
|||
void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size)) |
|||
{ |
|||
ExtInfoInjectionDataRcvdCb = InjectionDataRcvd; |
|||
} |
|||
|
|||
void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size)) |
|||
{ |
|||
ExtSerialRecDataFunctionCb = LLSerialRecDataFunctionC; |
|||
|
|||
if(ExtSerialRecDataFunctionCb != NULL) |
|||
{ |
|||
ExtSerialRecDataFunctionCb(&BluMainReceiveMessagesTab[0][0],DLT_REC_SINGLE_MESSAGE_MAX_SIZE); |
|||
} |
|||
} |
|||
|
|||
void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size)) |
|||
{ |
|||
ExtSerialTrDataFunctionCb = LLSerialTrDataFunctionC; |
|||
|
|||
/*Preapre LOG DROP Info Log*/ |
|||
/* 0x444C5443 - In Ascii code it is: DLTC. It is more convience to put magic numbers here :) */ |
|||
PrepareDltHeader(DL_ERROR,0x444C5443, 0x444C5443,sizeof(DltLogDroppedInfo),DltLogDroppedInfoBuffer); |
|||
for(int i=0; i<sizeof(DltLogDroppedInfo); i++) |
|||
{ |
|||
DltLogDroppedInfoBuffer[i+DLT_ACT_HEADER_SIZE] = DltLogDroppedInfo[i]; |
|||
} |
|||
|
|||
DLtLogDroppedSize = DLT_ACT_HEADER_SIZE + sizeof(DltLogDroppedInfo); |
|||
} |
|||
|
|||
void DLTuc_MessageTransmitDone(void) |
|||
{ |
|||
uint8_t TmpMessageSize=0; |
|||
uint8_t *TmpMessagePointer = NULL; |
|||
uint32_t ActualSysTime = 0u; |
|||
|
|||
if(GetSystemTimeMs != NULL) |
|||
{ |
|||
ActualSysTime = GetSystemTimeMs(); |
|||
} |
|||
|
|||
if(LogDroppedFlag == true && (ActualSysTime - PrevLogDropSendTime > DLT_MINIMUM_LOG_DROP_PERIOD) ) |
|||
{ |
|||
/* If DLTuc will always send the DROP Message info,
|
|||
* then will not read any message from RB..*/ |
|||
PrevLogDropSendTime = ActualSysTime; |
|||
LogDroppedFlag = false; |
|||
|
|||
if(ExtSerialTrDataFunctionCb != NULL) |
|||
{ |
|||
ExtSerialTrDataFunctionCb(DltLogDroppedInfoBuffer, DLtLogDroppedSize); |
|||
} |
|||
return; |
|||
} |
|||
|
|||
DLTuc_OS_CRITICAL_START(); |
|||
if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK) |
|||
{ |
|||
if(ExtSerialTrDataFunctionCb != NULL) |
|||
{ |
|||
DLTuc_OS_CRITICAL_END(); |
|||
ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize); |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
TransmitReadyStateFlag = true; |
|||
} |
|||
DLTuc_OS_CRITICAL_END(); |
|||
} |
|||
|
|||
void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...) |
|||
{ |
|||
uint16_t Size; /* */ |
|||
uint8_t TmpMessageSize=0U; /* */ |
|||
uint8_t *TmpMessagePointer = NULL; /* */ |
|||
uint16_t writeIndex = 0U; /* */ |
|||
|
|||
if(DLT_RB_GetNextWriteIndex(&DltTrsmtRingBuffer,&writeIndex) != RB_OK) |
|||
{ |
|||
DLTuc_OS_CRITICAL_START(); |
|||
LogDroppedFlag = true; |
|||
DLTuc_OS_CRITICAL_END(); |
|||
} |
|||
else |
|||
{ |
|||
/* Put the DLT message data directly in ring buffer*/ |
|||
va_list ap; /* */ |
|||
va_start(ap, Payload); |
|||
Size = vsprintf((char *)&(DltTrsmtMessagesTab[writeIndex][DLT_ACT_HEADER_SIZE]), (char *)Payload,ap); |
|||
va_end(ap); |
|||
|
|||
Size += DLT_ACT_HEADER_SIZE; |
|||
/*Add additional zeros on the end of message - thanks to that it work stable */ |
|||
Size++; |
|||
DltTrsmtMessagesTab[writeIndex][Size] = 0U; |
|||
Size++; |
|||
DltTrsmtMessagesTab[writeIndex][Size] = 0U; |
|||
|
|||
PrepareDltHeader(Level,AppId,ContextId,Size,&(DltTrsmtMessagesTab[writeIndex][0])); |
|||
|
|||
Size = Size + DLT_ACT_HEADER_SIZE; |
|||
DltTrsmtRingBuffer.dataSize[writeIndex] = Size; |
|||
|
|||
DLTuc_OS_CRITICAL_START(); |
|||
DltTrsmtRingBuffer.readyToTransmit[writeIndex] = true; |
|||
DLTuc_OS_CRITICAL_END(); |
|||
} |
|||
|
|||
DLTuc_OS_CRITICAL_START(); |
|||
if(TransmitReadyStateFlag == true) |
|||
{ |
|||
if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK) |
|||
{ |
|||
if(TmpMessageSize != 0U) |
|||
{ |
|||
TransmitReadyStateFlag = false; |
|||
DLTuc_OS_CRITICAL_END(); |
|||
/*Log transmission must be started in this contex...*/ |
|||
/***********************************************/ |
|||
/* It may be a bug in implementation - it must be investigated.. */ |
|||
/* It's important to be aware of this fact!!*/ |
|||
/***********************************************/ |
|||
if(ExtSerialTrDataFunctionCb != NULL) |
|||
{ |
|||
ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize); |
|||
} |
|||
else |
|||
{ |
|||
// while(1); /*Please Register the callback...*/
|
|||
} |
|||
} |
|||
} |
|||
} |
|||
DLTuc_OS_CRITICAL_END(); |
|||
} |
|||
|
|||
void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void)) |
|||
{ |
|||
GetSystemTimeMs = GetSysTime; |
|||
} |
|||
|
|||
|
|||
@ -0,0 +1,473 @@ |
|||
/*
|
|||
* @file Handset_Status_Setting.c |
|||
* @brief 遥控器状态处理、模式管理、按键/摇杆检测、参数补偿驱动文件 |
|||
* @author bm673 |
|||
* @date 2026年1月15日 |
|||
* @details 实现机器人遥控模式切换、急停检测、IO状态获取、姿态补偿等功能 |
|||
*/ |
|||
|
|||
#include "Handset_Status_Setting.h" |
|||
#include "BHBF_ROBOT.h" |
|||
#include <math.h> |
|||
|
|||
/*=========================== 宏定义配置 ===========================*/ |
|||
// 摇杆阈值配置
|
|||
#define ROCKER_THRESHOLD_DEFAULT 300U // 摇杆死区阈值
|
|||
#define ANGLE_DEAD_ZONE 20U // 角度死区(度)
|
|||
|
|||
// 机器人运动角度判断阈值
|
|||
#define ANGLE_FORWARD_LEFT_MIN 70 |
|||
#define ANGLE_FORWARD_LEFT_MAX 110 |
|||
#define ANGLE_FORWARD_RIGHT_MIN -110 |
|||
#define ANGLE_FORWARD_RIGHT_MAX -70 |
|||
#define ANGLE_REVERSE_MIN 160 |
|||
|
|||
// 摇杆方向角度区间定义
|
|||
#define ANGLE_FORWARD_LIMIT1 70 |
|||
#define ANGLE_FORWARD_LIMIT2 110 |
|||
#define ANGLE_LEFT_LIMIT1 160 |
|||
#define ANGLE_LEFT_LIMIT2 -160 |
|||
#define ANGLE_RIGHT_LIMIT1 -20 |
|||
#define ANGLE_RIGHT_LIMIT2 20 |
|||
#define ANGLE_BACK_LIMIT1 -70 |
|||
#define ANGLE_BACK_LIMIT2 -110 |
|||
|
|||
// 姿态补偿参数配置
|
|||
#define COMP_DEADZONE 300 // 遥控器补偿生效阈值
|
|||
#define COMP_COUNT_THRESH 200 // 补偿计数阈值(400ms累加一次)
|
|||
#define COMP_STEP 10 // 补偿步长
|
|||
#define COMP_LIMIT_MAX 1000 // 正向补偿最大值
|
|||
#define COMP_LIMIT_MIN -1000 // 负向补偿最大值
|
|||
|
|||
/*=========================== 静态函数声明 ===========================*/ |
|||
typedef InputEvent (*ModeEventHandler)(void); |
|||
|
|||
// 急停检测
|
|||
static inline InputEvent CheckEmergencyStop(void); |
|||
// 各模式事件处理函数
|
|||
static InputEvent GetHaltModeEvents(void); |
|||
static InputEvent GetManualModeEvents(void); |
|||
static InputEvent GetHorizontalModeEvents(void); |
|||
static InputEvent GetFlatModeEvents(void); |
|||
static InputEvent GetVerticalLeftModeEvents(void); |
|||
static InputEvent GetVerticalRightModeEvents(void); |
|||
static InputEvent GetRegionalFlatTaskEvents(void); |
|||
static InputEvent GetRegionalHorizontalTaskEvents(void); |
|||
// 辅助功能函数
|
|||
static InputEvent CheckCommonKeys(void); |
|||
static InputEvent CheckCommonKeys_to_manual(void); |
|||
static InputEvent CheckAllKeys(void); |
|||
static InputEvent CalculateRockerEvent(void); |
|||
static InputEvent CalculateRockerEvent_manual(void); |
|||
static void Update_Single_Compensation(int32_t chVal, float* pComp, int* pCnt); |
|||
|
|||
/*=========================== 全局变量 ===========================*/ |
|||
extern float left_compare_value; |
|||
extern float right_compare_value; |
|||
// 模式-事件处理函数映射表
|
|||
static const ModeEventHandler modeEventHandlers[MODE_COUNT] = { |
|||
[Halt_Mode] = GetHaltModeEvents, |
|||
[Manual_Mode] = GetManualModeEvents, |
|||
[Horizontal_Mode] = GetHorizontalModeEvents, |
|||
[Flat_Mode] = GetFlatModeEvents, |
|||
[Vertical_Mode_Left] = GetVerticalLeftModeEvents, |
|||
[Vertical_Mode_Right] = GetVerticalRightModeEvents, |
|||
[Regional_Horizontal_Automatic_Task] = GetRegionalHorizontalTaskEvents, |
|||
[Regional_Flat_Automatic_Task] = GetRegionalFlatTaskEvents, |
|||
}; |
|||
|
|||
/*=========================== 函数实现 ===========================*/ |
|||
/**
|
|||
* @brief 获取机器人当前运行模式 |
|||
* @param 无 |
|||
* @return Robot_Mode 当前机器人模式枚举 |
|||
*/ |
|||
Robot_Mode RobotRockerState(void) |
|||
{ |
|||
if (GV.PV.Robot_Operation_Mode <= 0 || GV.PV.Robot_Operation_Mode >= MODE_COUNT) |
|||
{ |
|||
return Halt_Mode; |
|||
} |
|||
|
|||
switch (GV.PV.Robot_Operation_Mode) |
|||
{ |
|||
case 0: return Halt_Mode; |
|||
case 1: return Manual_Mode; |
|||
case 2: return Horizontal_Mode; |
|||
case 3: return Flat_Mode; |
|||
case 4: return Vertical_Mode_Left; |
|||
case 5: return Vertical_Mode_Right; |
|||
case 6: return Regional_Horizontal_Automatic_Task; |
|||
case 7: return Regional_Flat_Automatic_Task; |
|||
default: return Halt_Mode; |
|||
} |
|||
} |
|||
|
|||
/**
|
|||
* @brief 遥控器按键/事件主检测函数 |
|||
* @param current_mode 当前机器人模式 |
|||
* @return InputEvent 触发的输入事件 |
|||
*/ |
|||
InputEvent RemoteControl_GetKeyIndex(Robot_Mode current_mode) |
|||
{ |
|||
// 安全校验
|
|||
if (current_mode < 0 || current_mode >= MODE_COUNT) |
|||
{ |
|||
return INPUT_NONE; |
|||
} |
|||
|
|||
// 获取对应模式的事件处理函数并执行
|
|||
ModeEventHandler handler = modeEventHandlers[current_mode]; |
|||
return (handler != NULL) ? handler() : INPUT_NONE; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 通用常用按键检测（手动/水平/垂直等模式共用） |
|||
* @param 无 |
|||
* @return InputEvent 按键事件 |
|||
*/ |
|||
static inline InputEvent CheckCommonKeys(void) |
|||
{ |
|||
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; |
|||
if (P_MK32->CH4_SA == -1000) return INPUT_KEY_LANE_CHANGE_UP; |
|||
if (P_MK32->CH5_SB == -1000) return INPUT_KEY_FORWARD_CRUISE; |
|||
if (P_MK32->CH5_SB == 1000) return INPUT_KEY_BACKWARD_CRUISE; |
|||
|
|||
return INPUT_NONE; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 通用常用按键检测（手动/水平/垂直等模式共用） |
|||
* @param 无 |
|||
* @return InputEvent 按键事件 |
|||
*/ |
|||
static inline InputEvent CheckCommonKeys_to_manual(void) |
|||
{ |
|||
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; |
|||
if (P_MK32->CH5_SB == -1000) return INPUT_KEY_FORWARD_CRUISE; |
|||
if (P_MK32->CH5_SB == 1000) return INPUT_KEY_BACKWARD_CRUISE; |
|||
|
|||
|
|||
return INPUT_NONE; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 全按键检测（停机模式专用） |
|||
* @param 无 |
|||
* @return InputEvent 按键事件 |
|||
*/ |
|||
static inline InputEvent CheckAllKeys(void) |
|||
{ |
|||
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; |
|||
if (P_MK32->CH7_SD == 1000) return INPUT_KEY_AUTO_WORK_DOWN; |
|||
if (P_MK32->CH4_SA == -1000) return INPUT_KEY_LANE_CHANGE_UP; |
|||
if (P_MK32->CH4_SA == 1000) return INPUT_KEY_LANE_CHANGE_DOWN; |
|||
if (P_MK32->CH5_SB == -1000) return INPUT_KEY_FORWARD_CRUISE; |
|||
if (P_MK32->CH5_SB == 1000) return INPUT_KEY_BACKWARD_CRUISE; |
|||
|
|||
|
|||
return INPUT_NONE; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 遥控器摇杆方向计算与事件转换 |
|||
* @param 无 |
|||
* @return InputEvent 摇杆方向事件 |
|||
*/ |
|||
static InputEvent CalculateRockerEvent(void) |
|||
{ |
|||
int16_t vert = P_MK32->CH2_LY_V; |
|||
int16_t hori = P_MK32->CH3_LY_H; |
|||
int16_t swing = P_MK32->CH0_RY_H; |
|||
|
|||
// 摇杆中位判断
|
|||
if ((fabs(vert) < ROCKER_THRESHOLD_DEFAULT) && (fabs(hori) < ROCKER_THRESHOLD_DEFAULT)) |
|||
{ |
|||
return INPUT_ROCKER_STOP; |
|||
} |
|||
|
|||
// 角度计算
|
|||
double angle_rad = atan2(vert, hori); |
|||
int16_t angle_deg = (int16_t)(angle_rad * 180.0 / M_PI); |
|||
|
|||
// 方向判断
|
|||
if (angle_deg <= ANGLE_FORWARD_LIMIT2 && angle_deg >= ANGLE_FORWARD_LIMIT1) |
|||
{ |
|||
return INPUT_ROCKER_FORWARD; |
|||
} |
|||
if (angle_deg >= ANGLE_LEFT_LIMIT1 || angle_deg <= ANGLE_LEFT_LIMIT2) |
|||
{ |
|||
return INPUT_ROCKER_TURN_LEFT; |
|||
} |
|||
if (angle_deg >= ANGLE_RIGHT_LIMIT1 && angle_deg <= ANGLE_RIGHT_LIMIT2) |
|||
{ |
|||
return INPUT_ROCKER_TURN_RIGHT; |
|||
} |
|||
if (angle_deg >= ANGLE_BACK_LIMIT2 && angle_deg <= ANGLE_BACK_LIMIT1) |
|||
{ |
|||
return INPUT_ROCKER_BACKWARD; |
|||
} |
|||
|
|||
|
|||
return INPUT_ROCKER_STOP; |
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
/**
|
|||
* @brief 遥控器摇杆方向计算与事件转换（用于手动模式） |
|||
* @param 无 |
|||
* @return InputEvent 摇杆方向事件 |
|||
*/ |
|||
static InputEvent CalculateRockerEvent_manual(void) |
|||
{ |
|||
int16_t vert = P_MK32->CH2_LY_V; |
|||
int16_t hori = P_MK32->CH3_LY_H; |
|||
|
|||
// 摇杆中位判断
|
|||
if ((fabs(vert) < ROCKER_THRESHOLD_DEFAULT) && (fabs(hori) < ROCKER_THRESHOLD_DEFAULT)) |
|||
{ |
|||
if (P_MK32->CH4_SA == -1000) |
|||
{ |
|||
return INPUT_KEY_LANE_CHANGE_UP; |
|||
} |
|||
|
|||
return INPUT_ROCKER_STOP; |
|||
} |
|||
|
|||
// 角度计算
|
|||
double angle_rad = atan2(vert, hori); |
|||
int16_t angle_deg = (int16_t)(angle_rad * 180.0 / M_PI); |
|||
|
|||
// 方向判断
|
|||
if (angle_deg <= ANGLE_FORWARD_LIMIT2 && angle_deg >= ANGLE_FORWARD_LIMIT1) |
|||
{ |
|||
return INPUT_ROCKER_FORWARD; |
|||
} |
|||
if (angle_deg >= ANGLE_LEFT_LIMIT1 || angle_deg <= ANGLE_LEFT_LIMIT2) |
|||
{ |
|||
return INPUT_ROCKER_TURN_LEFT; |
|||
} |
|||
if (angle_deg >= ANGLE_RIGHT_LIMIT1 && angle_deg <= ANGLE_RIGHT_LIMIT2) |
|||
{ |
|||
return INPUT_ROCKER_TURN_RIGHT; |
|||
} |
|||
if (angle_deg >= ANGLE_BACK_LIMIT2 && angle_deg <= ANGLE_BACK_LIMIT1) |
|||
{ |
|||
return INPUT_ROCKER_BACKWARD; |
|||
} |
|||
|
|||
|
|||
|
|||
return INPUT_ROCKER_STOP; |
|||
} |
|||
/**
|
|||
* @brief 急停检测（最高优先级） |
|||
* @param 无 |
|||
* @return InputEvent 急停事件/无事件 |
|||
*/ |
|||
static inline InputEvent CheckEmergencyStop(void) |
|||
{ |
|||
if (P_MK32->CH8_SE == -1000 && P_MK32->CH9_SF == -1000) |
|||
{ |
|||
return EMERGENCE_STOP; |
|||
} |
|||
return INPUT_NONE; |
|||
} |
|||
|
|||
/*-------------------------- 各模式事件处理函数 --------------------------*/ |
|||
static InputEvent GetHaltModeEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
key = CheckAllKeys(); |
|||
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); |
|||
} |
|||
|
|||
static InputEvent GetManualModeEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
key = CheckCommonKeys_to_manual(); |
|||
return (key != INPUT_NONE) ? key : CalculateRockerEvent_manual(); |
|||
} |
|||
|
|||
static InputEvent GetHorizontalModeEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
key = CheckCommonKeys(); |
|||
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); |
|||
} |
|||
|
|||
static InputEvent GetFlatModeEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
key = CheckCommonKeys(); |
|||
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); |
|||
} |
|||
|
|||
static InputEvent GetVerticalLeftModeEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
key = CheckCommonKeys(); |
|||
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); |
|||
} |
|||
|
|||
static InputEvent GetVerticalRightModeEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
key = CheckCommonKeys(); |
|||
return (key != INPUT_NONE) ? key : CalculateRockerEvent(); |
|||
} |
|||
|
|||
static InputEvent GetRegionalHorizontalTaskEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; |
|||
return CalculateRockerEvent(); |
|||
} |
|||
|
|||
static InputEvent GetRegionalFlatTaskEvents(void) |
|||
{ |
|||
InputEvent key = CheckEmergencyStop(); |
|||
if (key != INPUT_NONE) return key; |
|||
|
|||
if (P_MK32->CH7_SD == -1000) return INPUT_KEY_AUTO_WORK_UP; |
|||
return CalculateRockerEvent(); |
|||
} |
|||
|
|||
/**
|
|||
* @brief IO状态检测（升降控制） |
|||
* @param 无 |
|||
* @return IO_State IO状态枚举 |
|||
*/ |
|||
IO_State GetIOState(void) |
|||
{ |
|||
if (P_MK32->CH1_RY_V < -300) return IO_STATE_RISE; |
|||
if (P_MK32->CH1_RY_V > 300) return IO_STATE_DESCEND; |
|||
return IO_STATE_NONE; |
|||
} |
|||
|
|||
/**
|
|||
* @brief PV参数更新控制 |
|||
* @param 无 |
|||
* @return 无 |
|||
*/ |
|||
void PV_control(void) |
|||
{ |
|||
GV.PV = decoded_PV_variable; |
|||
GV.Robot_Move_Speed = ((float)GV.PV.Robot_Move_Speed) / 10; |
|||
GV.LaneChangeDistance = GV.PV.Robot_Change_Lane_Distance; |
|||
GV.Vertical_Adjust = ((float)GV.PV.Robot_Vertical_Adjust) / 10; |
|||
GV.symmetricalOrNot = GV.PV.Robot_symmetricalOrNot; |
|||
GV.Robot_backMode = GV.PV.Robot_backMode; |
|||
GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed; |
|||
GV.robot_back_distance = 10;//GV.PV.Robot_Back_Distance;
|
|||
} |
|||
|
|||
/**
|
|||
* @brief IV状态参数更新 |
|||
* @param 无 |
|||
* @return 无 |
|||
*/ |
|||
void IV_control(void) |
|||
{ |
|||
GV.PV = decoded_PV_variable; |
|||
GV.Vertical_Adjust = ((float)GV.PV.Robot_Vertical_Adjust) / 10; |
|||
GV.symmetricalOrNot = GV.PV.Robot_symmetricalOrNot; |
|||
GV.Robot_Swing_Speed = GV.PV.Robot_Swing_Speed; |
|||
IV.SystemError = GV.SystemErrorData.Com_Error_Code; |
|||
IV.Robot_Gyro = GV.TL720DParameters.RF_Angle_Roll; |
|||
IV.Is_Online = GV.P_MK32.IsOnline; |
|||
IV.Robot_Move_Deri_Speed = GV.Left_Speed_M_min * 10; |
|||
IV.LeftCompensation = GV.Left_Compensation; |
|||
IV.RightCompensation = GV.Right_Compensation; |
|||
IV.Weld_data = (int32_t)(GV.weld_data_X*100); |
|||
IV.Weld_exist = GV.weld_exist; |
|||
IV.Present_press = GV.Now_press/10; |
|||
IV.Turn_difference = GV.turn_center_difference; |
|||
IV.left_angle = left_compare_value; |
|||
IV.right_angle = right_compare_value; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 单通道姿态补偿更新 |
|||
* @param chVal 遥控器通道值 |
|||
* @param pComp 补偿变量指针 |
|||
* @param pCnt 补偿计数器指针 |
|||
* @return 无 |
|||
*/ |
|||
static void Update_Single_Compensation(int32_t chVal, float* pComp, int* pCnt) |
|||
{ |
|||
if (chVal > COMP_DEADZONE) |
|||
{ |
|||
(*pCnt)++; |
|||
if (*pCnt > COMP_COUNT_THRESH) |
|||
{ |
|||
*pComp += COMP_STEP; |
|||
*pComp = (*pComp > COMP_LIMIT_MAX) ? COMP_LIMIT_MAX : *pComp; |
|||
*pCnt = 0; |
|||
} |
|||
} |
|||
else if (chVal < -COMP_DEADZONE) |
|||
{ |
|||
(*pCnt)--; |
|||
if (*pCnt < -COMP_COUNT_THRESH) |
|||
{ |
|||
*pComp -= COMP_STEP; |
|||
*pComp = (*pComp < COMP_LIMIT_MIN) ? COMP_LIMIT_MIN : *pComp; |
|||
*pCnt = 0; |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
*pCnt = 0; |
|||
} |
|||
} |
|||
|
|||
/**
|
|||
* @brief 左右轮姿态补偿总更新函数 |
|||
* @param 无 |
|||
* @return 无 |
|||
*/ |
|||
void Compensation_Update(void) |
|||
{ |
|||
static int leftCnt = 0; |
|||
static int rightCnt = 0; |
|||
|
|||
// static float Left_Compensation_Degre_100 = 0;
|
|||
// static float Right_Compensation_Degre_100 = 0;
|
|||
//
|
|||
// GV.Left_Compensation = Left_Compensation_Degre_100 / 100.0f;
|
|||
// GV.Right_Compensation = Right_Compensation_Degre_100 / 100.0f;
|
|||
|
|||
Update_Single_Compensation(P_MK32->CH14_LT, &GV.Left_Compensation, &leftCnt); |
|||
Update_Single_Compensation(P_MK32->CH15_RT, &GV.Right_Compensation, &rightCnt); |
|||
} |
|||
|
|||
void get_weld_data(void) |
|||
{ |
|||
GV.weld_data_X = ReadLazorData->Feature_X; |
|||
GV.weld_exist = *Weld_Out_Flag; // 16说明没有焊缝 0说明有焊缝
|
|||
if((*Weld_Out_Flag)==0) |
|||
{ |
|||
GV.weld_exist = 1; // 16说明没有焊缝 0说明有焊缝
|
|||
} |
|||
else |
|||
{ |
|||
GV.weld_exist = 0; |
|||
} |
|||
} |
|||
@ -0,0 +1,20 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_CV.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(CV_struct_define, CV_struct_define, AUTO) |
|||
|
|||
|
|||
|
|||
#ifndef PB_CONVERT_DOUBLE_FLOAT |
|||
/* On some platforms (such as AVR), double is really float.
|
|||
* To be able to encode/decode double on these platforms, you need. |
|||
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. |
|||
*/ |
|||
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) |
|||
#endif |
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_Cmd.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(Cmd, Cmd, 2) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,109 @@ |
|||
/*
|
|||
* bsp_DLT_Log.c |
|||
* |
|||
* Created on: Aug 8, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#include "bsp_DLT_Log.h" |
|||
|
|||
uint32_t GetSysTime(void); |
|||
void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId, |
|||
uint8_t *Data, uint16_t Size); |
|||
void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t size); |
|||
void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size); |
|||
void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size); |
|||
|
|||
struct UARTHandler *dLT_Log_UART_Handler; |
|||
|
|||
typedef enum _send_out_port |
|||
{ |
|||
udp = 0, serialport = 1, tcp = 3, |
|||
|
|||
} send_out_port; |
|||
|
|||
char send_out_is_udp_or_serial_port = 0; |
|||
|
|||
void dLT_Log_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
|
|||
dLT_Log_UART_Handler = Handler; |
|||
dLT_Log_UART_Handler->Wait_time = 40; |
|||
Handler->dispacherController->Dispacher_Enable = 1; |
|||
//log_info("angle_encoder_intialize");
|
|||
dLT_Log_UART_Handler->UART_Decode = DLT_DataReceiveEndCallback; |
|||
|
|||
/*Register Low Level Transmit/Receive functions for DLTuc Library*/ |
|||
DLTuc_RegisterTransmitSerialDataFunction(DLT_DataTransmit); |
|||
DLTuc_RegisterReceiveSerialDataFunction(DLT_LowLevelReceiveDmaToIdle); |
|||
|
|||
DLTuc_RegisterGetTimeStampMsCallback(GetSysTime); /*Register GetSysTime function*/ |
|||
/*The function "GetSysTime" must return the time in ms*/ |
|||
|
|||
DLTuc_RegisterInjectionDataReceivedCb(DltInjectDataRcvd); |
|||
send_out_is_udp_or_serial_port = serialport; |
|||
} |
|||
//dlt log 日志配置 默认为udp发送
|
|||
|
|||
/*This CallBack was registered in main function using function: DLTuc_RegisterTransmitSerialDataFunction*/ |
|||
void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size) |
|||
{ |
|||
|
|||
if (send_out_is_udp_or_serial_port == udp) |
|||
{ |
|||
//udp_dlt_send_back(DltLogData, Size);
|
|||
} |
|||
else if (send_out_is_udp_or_serial_port == serialport) |
|||
{ |
|||
dLT_Log_UART_Handler->AddSendList(dLT_Log_UART_Handler, DltLogData, |
|||
Size, 100, NULL); |
|||
} |
|||
else if (send_out_is_udp_or_serial_port == tcp) |
|||
{ |
|||
//tcp_send_to_all_clients(DltLogData, Size);//
|
|||
//tcp_add_sendList(DltLogData,Size);
|
|||
} |
|||
|
|||
DLTuc_MessageTransmitDone(); |
|||
|
|||
} |
|||
/*CallBacks used by ucDltLibrary section end..*/ |
|||
|
|||
void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size) |
|||
{ |
|||
if (Size == 3) |
|||
{ |
|||
if (rxBuf[2]) |
|||
{ |
|||
DLT_LOG_ENABLE_LEVEL = 7; |
|||
} |
|||
else |
|||
{ |
|||
DLT_LOG_ENABLE_LEVEL = 0; |
|||
} |
|||
} |
|||
DLTuc_RawDataReceiveDone(Size); |
|||
/*
|
|||
*In case of STM32 HAL lib, you have to subsitute this function using: |
|||
*void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) |
|||
*/ |
|||
} |
|||
//HAL_UARTEx_RxEventCallback
|
|||
void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t Size) |
|||
{ |
|||
|
|||
memcpy(rxBuf, dLT_Log_UART_Handler->Rx_Buf, Size); |
|||
|
|||
} |
|||
|
|||
void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId, |
|||
uint8_t *Data, uint16_t Size) |
|||
{ |
|||
LOG("RecInjectionData: %s, ServId: %d Size: %d", Data, ServId, Size) |
|||
|
|||
} |
|||
|
|||
uint32_t GetSysTime(void) |
|||
{ |
|||
return HAL_GetTick(); |
|||
} |
|||
@ -0,0 +1,570 @@ |
|||
/*
|
|||
* bsp_EEPROM.c |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
#include "BSP/bsp_EEPROM.h" |
|||
|
|||
void bsp_InitI2C(void); |
|||
void i2c_Start(void); |
|||
void i2c_Stop(void); |
|||
void i2c_SendByte(uint8_t _ucByte); |
|||
uint8_t i2c_ReadByte(void); |
|||
uint8_t i2c_WaitAck(void); |
|||
void i2c_Ack(void); |
|||
void i2c_NAck(void); |
|||
uint8_t i2c_CheckDevice(uint8_t _Address); |
|||
|
|||
uint16_t App_Download_EEPROM_Addr= 1024; |
|||
/* 定义读写SCL和SDA的宏 */ |
|||
#define I2C_SCL_GPIO EEPROM_SCL_GPIO_Port |
|||
#define I2C_SDA_GPIO EEPROM_SDA_GPIO_Port |
|||
#define I2C_SCL_PIN EEPROM_SCL_Pin |
|||
#define I2C_SDA_PIN EEPROM_SDA_Pin |
|||
|
|||
#define I2C_SCL_1() I2C_SCL_GPIO->BSRR = I2C_SCL_PIN /* SCL = 1 */ |
|||
#define I2C_SCL_0() I2C_SCL_GPIO->BSRR = ((uint32_t)I2C_SCL_PIN << 16U) /* SCL = 0 */ |
|||
|
|||
#define I2C_SDA_1() I2C_SDA_GPIO->BSRR = I2C_SDA_PIN /* SDA = 1 */ |
|||
#define I2C_SDA_0() I2C_SDA_GPIO->BSRR = ((uint32_t)I2C_SDA_PIN << 16U) /* SDA = 0 */ |
|||
|
|||
|
|||
#define I2C_SDA_READ() ((I2C_SDA_GPIO->IDR & I2C_SDA_PIN) != 0) /* 读SDA口线状态 */ |
|||
#define I2C_SCL_READ() ((I2C_SCL_GPIO->IDR & I2C_SCL_PIN) != 0) /* 读SCL口线状态 */ |
|||
|
|||
|
|||
|
|||
uint8_t GF_BSP_EEPROM_Init(void) |
|||
{ |
|||
bsp_InitI2C(); |
|||
return(GF_BSP_EEPROM_CheckOK()); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: bsp_InitI2C |
|||
* 功能说明: 配置I2C总线的GPIO，采用模拟IO的方式实现 |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void bsp_InitI2C(void) |
|||
{ |
|||
GPIO_InitTypeDef gpio_init; |
|||
|
|||
|
|||
gpio_init.Mode = GPIO_MODE_OUTPUT_OD; /* 设置开漏输出 */ |
|||
gpio_init.Pull = GPIO_NOPULL; /* 上下拉电阻不使能 */ |
|||
gpio_init.Speed = GPIO_SPEED_FREQ_LOW; // GPIO_SPEED_FREQ_HIGH; /* GPIO速度等级 */
|
|||
|
|||
gpio_init.Pin = I2C_SCL_PIN; |
|||
HAL_GPIO_Init(I2C_SCL_GPIO, &gpio_init); |
|||
|
|||
gpio_init.Pin = I2C_SDA_PIN; |
|||
HAL_GPIO_Init(I2C_SDA_GPIO, &gpio_init); |
|||
|
|||
/* 给一个停止信号, 复位I2C总线上的所有设备到待机模式 */ |
|||
i2c_Stop(); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_Delay |
|||
* 功能说明: I2C总线位延迟，最快400KHz |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
static void i2c_Delay(void) |
|||
{ |
|||
GF_BSP_TIMER_DelayUS(2); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_Start |
|||
* 功能说明: CPU发起I2C总线启动信号 |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void i2c_Start(void) |
|||
{ |
|||
/* 当SCL高电平时，SDA出现一个下跳沿表示I2C总线启动信号 */ |
|||
I2C_SDA_1(); |
|||
I2C_SCL_1(); |
|||
i2c_Delay(); |
|||
I2C_SDA_0(); |
|||
i2c_Delay(); |
|||
|
|||
I2C_SCL_0(); |
|||
i2c_Delay(); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_Start |
|||
* 功能说明: CPU发起I2C总线停止信号 |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void i2c_Stop(void) |
|||
{ |
|||
/* 当SCL高电平时，SDA出现一个上跳沿表示I2C总线停止信号 */ |
|||
I2C_SDA_0(); |
|||
i2c_Delay(); |
|||
I2C_SCL_1(); |
|||
i2c_Delay(); |
|||
I2C_SDA_1(); |
|||
i2c_Delay(); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_SendByte |
|||
* 功能说明: CPU向I2C总线设备发送8bit数据 |
|||
* 形 参: _ucByte ： 等待发送的字节 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void i2c_SendByte(uint8_t _ucByte) |
|||
{ |
|||
uint8_t i; |
|||
|
|||
/* 先发送字节的高位bit7 */ |
|||
for (i = 0; i < 8; i++) |
|||
{ |
|||
if (_ucByte & 0x80) |
|||
{ |
|||
I2C_SDA_1(); |
|||
} |
|||
else |
|||
{ |
|||
I2C_SDA_0(); |
|||
} |
|||
i2c_Delay(); |
|||
I2C_SCL_1(); |
|||
i2c_Delay(); |
|||
I2C_SCL_0(); |
|||
I2C_SCL_0(); /* 2019-03-14 针对GT811电容触摸，添加一行，相当于延迟几十ns */ |
|||
if (i == 7) |
|||
{ |
|||
I2C_SDA_1(); // 释放总线
|
|||
} |
|||
_ucByte <<= 1; /* 左移一个bit */ |
|||
} |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_ReadByte |
|||
* 功能说明: CPU从I2C总线设备读取8bit数据 |
|||
* 形 参: 无 |
|||
* 返 回 值: 读到的数据 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t i2c_ReadByte(void) |
|||
{ |
|||
uint8_t i; |
|||
uint8_t value; |
|||
|
|||
/* 读到第1个bit为数据的bit7 */ |
|||
value = 0; |
|||
for (i = 0; i < 8; i++) |
|||
{ |
|||
value <<= 1; |
|||
I2C_SCL_1(); |
|||
i2c_Delay(); |
|||
if (I2C_SDA_READ()) |
|||
{ |
|||
value++; |
|||
} |
|||
I2C_SCL_0(); |
|||
i2c_Delay(); |
|||
} |
|||
return value; |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_WaitAck |
|||
* 功能说明: CPU产生一个时钟，并读取器件的ACK应答信号 |
|||
* 形 参: 无 |
|||
* 返 回 值: 返回0表示正确应答，1表示无器件响应 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t i2c_WaitAck(void) |
|||
{ |
|||
uint8_t re; |
|||
|
|||
I2C_SDA_1(); /* CPU释放SDA总线 */ |
|||
i2c_Delay(); |
|||
I2C_SCL_1(); /* CPU驱动SCL = 1, 此时器件会返回ACK应答 */ |
|||
i2c_Delay(); |
|||
if (I2C_SDA_READ()) /* CPU读取SDA口线状态 */ |
|||
{ |
|||
re = 1; |
|||
} |
|||
else |
|||
{ |
|||
re = 0; |
|||
} |
|||
I2C_SCL_0(); |
|||
i2c_Delay(); |
|||
return re; |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_Ack |
|||
* 功能说明: CPU产生一个ACK信号 |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void i2c_Ack(void) |
|||
{ |
|||
I2C_SDA_0(); /* CPU驱动SDA = 0 */ |
|||
i2c_Delay(); |
|||
I2C_SCL_1(); /* CPU产生1个时钟 */ |
|||
i2c_Delay(); |
|||
I2C_SCL_0(); |
|||
i2c_Delay(); |
|||
I2C_SDA_1(); /* CPU释放SDA总线 */ |
|||
|
|||
i2c_Delay(); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_NAck |
|||
* 功能说明: CPU产生1个NACK信号 |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void i2c_NAck(void) |
|||
{ |
|||
I2C_SDA_1(); /* CPU驱动SDA = 1 */ |
|||
i2c_Delay(); |
|||
I2C_SCL_1(); /* CPU产生1个时钟 */ |
|||
i2c_Delay(); |
|||
I2C_SCL_0(); |
|||
i2c_Delay(); |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: i2c_CheckDevice |
|||
* 功能说明: 检测I2C总线设备，CPU向发送设备地址，然后读取设备应答来判断该设备是否存在 |
|||
* 形 参: _Address：设备的I2C总线地址 |
|||
* 返 回 值: 返回值 0 表示正确， 返回1表示未探测到 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t i2c_CheckDevice(uint8_t _Address) |
|||
{ |
|||
uint8_t ucAck; |
|||
|
|||
if (I2C_SDA_READ() && I2C_SCL_READ()) |
|||
{ |
|||
i2c_Start(); /* 发送启动信号 */ |
|||
|
|||
/* 发送设备地址+读写控制bit（0 = w， 1 = r) bit7 先传 */ |
|||
i2c_SendByte(_Address | I2C_WR); |
|||
ucAck = i2c_WaitAck(); /* 检测设备的ACK应答 */ |
|||
|
|||
i2c_Stop(); /* 发送停止信号 */ |
|||
|
|||
return ucAck; |
|||
} |
|||
return 1; /* I2C总线异常 */ |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: ee_CheckOk |
|||
* 功能说明: 判断串行EERPOM是否正常 |
|||
* 形 参: 无 |
|||
* 返 回 值: 1 表示正常， 0 表示不正常 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t GF_BSP_EEPROM_CheckOK(void) |
|||
{ |
|||
if (i2c_CheckDevice(EE_DEV_ADDR) == 0) |
|||
{ |
|||
return 1; |
|||
} |
|||
else |
|||
{ |
|||
/* 失败后，切记发送I2C总线停止信号 */ |
|||
i2c_Stop(); |
|||
return 0; |
|||
} |
|||
} |
|||
|
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: GF_BSP_EEPROM_ReadBytes |
|||
* 功能说明: 从串行EEPROM指定地址处开始读取若干数据 |
|||
* 形 参: _usAddress : 起始地址 |
|||
* _usSize : 数据长度，单位为字节 |
|||
* _pReadBuf : 存放读到的数据的缓冲区指针 |
|||
* 返 回 值: 0 表示失败，1表示成功 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress, uint16_t _usSize) |
|||
{ |
|||
uint16_t i; |
|||
|
|||
/* 采用串行EEPROM随即读取指令序列，连续读取若干字节 */ |
|||
|
|||
/* 第1步：发起I2C总线启动信号 */ |
|||
i2c_Start(); |
|||
|
|||
/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ |
|||
i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */ |
|||
|
|||
/* 第3步：发送ACK */ |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
|
|||
/* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */ |
|||
if (EE_ADDR_BYTES == 1) |
|||
{ |
|||
i2c_SendByte((uint8_t)_usAddress); |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
i2c_SendByte(_usAddress >> 8); |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
|
|||
i2c_SendByte(_usAddress&0xff); |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
} |
|||
|
|||
/* 第6步：重新启动I2C总线。下面开始读取数据 */ |
|||
i2c_Start(); |
|||
|
|||
/* 第7步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ |
|||
i2c_SendByte(EE_DEV_ADDR | I2C_RD); /* 此处是读指令 */ |
|||
|
|||
/* 第8步：发送ACK */ |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
|
|||
/* 第9步：循环读取数据 */ |
|||
for (i = 0; i < _usSize; i++) |
|||
{ |
|||
_pReadBuf[i] = i2c_ReadByte(); /* 读1个字节 */ |
|||
|
|||
/* 每读完1个字节后，需要发送Ack， 最后一个字节不需要Ack，发Nack */ |
|||
if (i != _usSize - 1) |
|||
{ |
|||
i2c_Ack(); /* 中间字节读完后，CPU产生ACK信号(驱动SDA = 0) */ |
|||
} |
|||
else |
|||
{ |
|||
i2c_NAck(); /* 最后1个字节读完后，CPU产生NACK信号(驱动SDA = 1) */ |
|||
} |
|||
} |
|||
/* 发送I2C总线停止信号 */ |
|||
i2c_Stop(); |
|||
return 1; /* 执行成功 */ |
|||
|
|||
cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */ |
|||
/* 发送I2C总线停止信号 */ |
|||
i2c_Stop(); |
|||
return 0; |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: GF_BSP_EEPROM_WriteBytes |
|||
* 功能说明: 向串行EEPROM指定地址写入若干数据，采用页写操作提高写入效率 |
|||
* 形 参: _usAddress : 起始地址 |
|||
* _usSize : 数据长度，单位为字节 |
|||
* _pWriteBuf : 存放读到的数据的缓冲区指针 |
|||
* 返 回 值: 0 表示失败，1表示成功 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress, uint16_t _usSize) |
|||
{ |
|||
uint16_t i,m; |
|||
uint16_t usAddr; |
|||
|
|||
/*
|
|||
写串行EEPROM不像读操作可以连续读取很多字节，每次写操作只能在同一个page。 |
|||
对于24xx02，page size = 8 |
|||
简单的处理方法为：按字节写操作模式，每写1个字节，都发送地址 |
|||
为了提高连续写的效率: 本函数采用page wirte操作。 |
|||
*/ |
|||
|
|||
usAddr = _usAddress; |
|||
for (i = 0; i < _usSize; i++) |
|||
{ |
|||
/* 当发送第1个字节或是页面首地址时，需要重新发起启动信号和地址 */ |
|||
if ((i == 0) || (usAddr & (EE_PAGE_SIZE - 1)) == 0) |
|||
{ |
|||
/* 第０步：发停止信号，启动内部写操作 */ |
|||
i2c_Stop(); |
|||
|
|||
/* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms
|
|||
CLK频率为200KHz时，查询次数为30次左右 |
|||
*/ |
|||
for (m = 0; m < 1000; m++) |
|||
{ |
|||
/* 第1步：发起I2C总线启动信号 */ |
|||
i2c_Start(); |
|||
|
|||
/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ |
|||
i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */ |
|||
|
|||
/* 第3步：发送一个时钟，判断器件是否正确应答 */ |
|||
if (i2c_WaitAck() == 0) |
|||
{ |
|||
break; |
|||
} |
|||
} |
|||
if (m == 1000) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件写超时 */ |
|||
} |
|||
|
|||
/* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */ |
|||
if (EE_ADDR_BYTES == 1) |
|||
{ |
|||
i2c_SendByte((uint8_t)usAddr); |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
i2c_SendByte(usAddr >> 8); |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
|
|||
i2c_SendByte(usAddr&0xff); |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
} |
|||
} |
|||
|
|||
/* 第6步：开始写入数据 */ |
|||
i2c_SendByte(_pWriteBuf[i]); |
|||
|
|||
/* 第7步：发送ACK */ |
|||
if (i2c_WaitAck() != 0) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件无应答 */ |
|||
} |
|||
|
|||
usAddr++; /* 地址增1 */ |
|||
} |
|||
|
|||
/* 命令执行成功，发送I2C总线停止信号 */ |
|||
i2c_Stop(); |
|||
|
|||
/* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms
|
|||
CLK频率为200KHz时，查询次数为30次左右 |
|||
*/ |
|||
for (m = 0; m < 1000; m++) |
|||
{ |
|||
/* 第1步：发起I2C总线启动信号 */ |
|||
i2c_Start(); |
|||
|
|||
/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */ |
|||
#if EE_ADDR_A8 == 1 |
|||
i2c_SendByte(EE_DEV_ADDR | I2C_WR | ((_usAddress >> 7) & 0x0E)); /* 此处是写指令 */ |
|||
#else |
|||
i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */ |
|||
#endif |
|||
|
|||
/* 第3步：发送一个时钟，判断器件是否正确应答 */ |
|||
if (i2c_WaitAck() == 0) |
|||
{ |
|||
break; |
|||
} |
|||
} |
|||
if (m == 1000) |
|||
{ |
|||
goto cmd_fail; /* EEPROM器件写超时 */ |
|||
} |
|||
|
|||
/* 命令执行成功，发送I2C总线停止信号 */ |
|||
i2c_Stop(); |
|||
return 1; |
|||
|
|||
cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */ |
|||
/* 发送I2C总线停止信号 */ |
|||
i2c_Stop(); |
|||
return 0; |
|||
} |
|||
|
|||
CV_struct_define GF_BSP_EEPROM_Get_CV(void) |
|||
{ |
|||
CV_struct_define cv= {0}; |
|||
//char buffer[sizeof(CV_struct_define)];
|
|||
GF_BSP_EEPROM_ReadBytes(&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define)); |
|||
return cv; |
|||
|
|||
} |
|||
|
|||
uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv) |
|||
{ |
|||
return GF_BSP_EEPROM_WriteBytes((uint8_t*)&cv,GF_BSP_EEPROM_CV_struct_define_Start_Address,sizeof(CV_struct_define)); |
|||
} |
|||
|
|||
|
|||
IAP_struct_define GF_BSP_EEPROM_Get_IAP(void) |
|||
{ |
|||
IAP_struct_define iap= {0}; |
|||
|
|||
GF_BSP_EEPROM_ReadBytes(&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define)); |
|||
return iap; |
|||
|
|||
} |
|||
|
|||
uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap) |
|||
{ |
|||
return GF_BSP_EEPROM_WriteBytes((uint8_t*)&iap,IAP_struct_define_Start_Address,sizeof(IAP_struct_define)); |
|||
} |
|||
|
|||
|
|||
//PV_struct_define GF_BSP_EEPROM_Get_PV(void)
|
|||
//{
|
|||
// CV_struct_define cv=GF_BSP_EEPROM_Get_CV();
|
|||
//
|
|||
// return cv.PV;
|
|||
//
|
|||
//}
|
|||
|
|||
//uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv)
|
|||
//{
|
|||
// CV_struct_define cv=GF_BSP_EEPROM_Get_CV();
|
|||
// cv.PV=pv;
|
|||
// return GF_BSP_EEPROM_Set_CV(cv);
|
|||
//}
|
|||
|
|||
@ -0,0 +1,13 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_Error.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(ErrorData, ErrorData, AUTO) |
|||
|
|||
|
|||
|
|||
|
|||
@ -0,0 +1,31 @@ |
|||
/*
|
|||
* bsp_Error_Detect.c |
|||
* |
|||
* Created on: Oct 23, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "bsp_Error_Detect.h" |
|||
void ErrorDetect(); |
|||
char Error_Detect_Enable=1; |
|||
HardWareController *HardWareErrorController; |
|||
void Error_Detect_Intialzie(uint16_t DispacherPeriod) |
|||
{ |
|||
HardWareErrorController = (HardWareController*) malloc( |
|||
sizeof(HardWareController)); |
|||
HardWareErrorController->pComHWHead = NULL; |
|||
HardWareErrorController->pComHWTail = NULL; |
|||
HardWareErrorController->Add_PCOMHardWare = ComHardWare_List_Add_t; |
|||
HardWareErrorController->Set_PCOMHardWare = Set_PCOMHardWare_t; |
|||
HardWareErrorController->PCOMHardWare_Check = PCOMHardWare_Check_t; |
|||
HardWareErrorController->DispacherCallTime = DispacherPeriod;//check the communicaton every 50ms
|
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, ErrorDetect); |
|||
} |
|||
|
|||
void ErrorDetect() |
|||
{ |
|||
if (Error_Detect_Enable == 1) |
|||
{ |
|||
HardWareErrorController->PCOMHardWare_Check(HardWareErrorController); |
|||
} |
|||
} |
|||
@ -0,0 +1,334 @@ |
|||
/*
|
|||
* bsp_FDCAN.c |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
#include "bsp_FDCAN.h" |
|||
#include "main.h" |
|||
#include <stdlib.h> |
|||
#include "bsp_Error.pb.h" |
|||
//#include "MSP/msp_TI5MOTOR.h"
|
|||
|
|||
FDCANHandler FD_CAN_1_Handler; |
|||
FDCANHandler FD_CAN_2_Handler; |
|||
|
|||
FDCAN_RxHeaderTypeDef CAN_RX_HDR; |
|||
|
|||
uint8_t CAN_Buf[8]; |
|||
uint8_t CAN_Buf_2[8]; |
|||
|
|||
int32_t CAN_ID; |
|||
int32_t CAN_ID_2; |
|||
|
|||
uint8_t GF_BSP_FDCAN_Init(void) //can初始化
|
|||
{ |
|||
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, |
|||
0) != HAL_OK) |
|||
{ |
|||
Error_Handler(); |
|||
} |
|||
|
|||
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK) |
|||
{ |
|||
Error_Handler(); |
|||
} |
|||
|
|||
HAL_FDCAN_Start(&hfdcan1); |
|||
|
|||
if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, |
|||
0) != HAL_OK) |
|||
{ |
|||
Error_Handler(); |
|||
} |
|||
|
|||
if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0) != HAL_OK) |
|||
{ |
|||
Error_Handler(); |
|||
} |
|||
|
|||
HAL_FDCAN_Start(&hfdcan2); |
|||
|
|||
return 1; |
|||
} |
|||
|
|||
void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, |
|||
uint32_t ErrorStatusITs) |
|||
{ |
|||
if (hfdcan->Instance == FDCAN1) |
|||
{ |
|||
MX_FDCAN1_Init(); |
|||
} |
|||
if (hfdcan->Instance == FDCAN2) |
|||
{ |
|||
MX_FDCAN2_Init(); |
|||
} |
|||
} |
|||
|
|||
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)//can接收
|
|||
{ |
|||
if (hfdcan->Instance == FDCAN1) |
|||
{ |
|||
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, CAN_Buf)//把数据存CAN_Buf里
|
|||
== HAL_OK) |
|||
{ |
|||
CAN_ID = FD_CAN_1_Handler.ReceivedFrameID = |
|||
(uint32_t) CAN_RX_HDR.Identifier; //ID
|
|||
|
|||
#if NewCANSendVersion |
|||
FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;//接收长度
|
|||
#else |
|||
FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16; |
|||
#endif |
|||
|
|||
if (FD_CAN_1_Handler.CAN_Decode != NULL ) |
|||
{ |
|||
FD_CAN_1_Handler.CAN_Decode(FD_CAN_1_Handler.ReceivedFrameID, |
|||
CAN_Buf, FD_CAN_1_Handler.ReceivedLength); |
|||
} |
|||
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN1_RxFifo0Callback); |
|||
} |
|||
|
|||
} else if (hfdcan->Instance == FDCAN2) |
|||
{ |
|||
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, |
|||
CAN_Buf_2) == HAL_OK) ////把数据存CAN_Buf2里
|
|||
{ |
|||
CAN_ID_2 = FD_CAN_2_Handler.ReceivedFrameID = |
|||
(uint32_t) CAN_RX_HDR.Identifier; |
|||
|
|||
#if NewCANSendVersion |
|||
FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength; |
|||
#else |
|||
FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16; |
|||
#endif |
|||
|
|||
if (FD_CAN_2_Handler.CAN_Decode != NULL) |
|||
{ |
|||
FD_CAN_2_Handler.CAN_Decode(FD_CAN_2_Handler.ReceivedFrameID, |
|||
CAN_Buf_2, FD_CAN_2_Handler.ReceivedLength); |
|||
} |
|||
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN2_RxFifo0Callback); |
|||
} |
|||
|
|||
} |
|||
} |
|||
|
|||
FDCAN_TxHeaderTypeDef TXHeader1; |
|||
FDCAN_TxHeaderTypeDef TXHeader2; |
|||
|
|||
void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod, |
|||
int can2_sendListPeriod, int can2_DispacherPeriod) |
|||
{ |
|||
|
|||
|
|||
GF_BSP_CANHandler_Init_CAN(&FD_CAN_1_Handler, &hfdcan1, can1_sendListPeriod, |
|||
can1_DispacherPeriod); |
|||
GF_BSP_CANHandler_Init_CAN(&FD_CAN_2_Handler, &hfdcan2, can2_sendListPeriod, |
|||
can2_DispacherPeriod); |
|||
|
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_CAN_Timer);//2ms一次
|
|||
} |
|||
/******************CAN初始化************************/ |
|||
void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler, |
|||
FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod) |
|||
{ |
|||
handler->canfd = canfd; //FD_CAN_1_Handler的的canfd与 FDCAN_HandleTypeDef hfdcan1;绑定
|
|||
handler->dispacherController = (DispacherController*) malloc( |
|||
sizeof(DispacherController)); |
|||
|
|||
|
|||
handler->dispacherController->pHead = NULL; |
|||
handler->dispacherController->pTail = NULL; |
|||
handler->dispacherController->Dispacher_Enable = 1; |
|||
handler->dispacherController->DispacherCallTime = DispacherPeriod ; // call the function every 50 ms
|
|||
handler->dispacherController->Dispacher_Counter = 0; |
|||
handler->dispacherController->DispacherNumber = 0; |
|||
handler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t; |
|||
handler->dispacherController->Dispatcher_Run = Dispatch_t; |
|||
|
|||
handler->timeSpan = 2; |
|||
handler->SendList_time_Count = 0; |
|||
handler->AddCANSendList = CANHandlerAddTxList; |
|||
handler->SendList_Period = sendListPeriod; |
|||
|
|||
handler->CAN_Send = CAN_Send_t; |
|||
handler->CAN_Send_Data = CAN_Send_Data_t; |
|||
|
|||
} |
|||
|
|||
DispacherController *can_dispacherController; |
|||
HardWareController *can_HardWareController; |
|||
//2ms
|
|||
void GF_BSP_CAN_Timer() |
|||
{ |
|||
can_dispacherController = FD_CAN_1_Handler.dispacherController; |
|||
|
|||
if (FD_CAN_1_Handler.pCurrentCANSendHadler != NULL) |
|||
{ |
|||
GF_CAN_Send_List_Send(&FD_CAN_1_Handler); |
|||
|
|||
} else |
|||
{ |
|||
can_dispacherController = FD_CAN_1_Handler.dispacherController; |
|||
can_dispacherController->Dispatcher_Run(can_dispacherController); |
|||
} |
|||
if (FD_CAN_2_Handler.pCurrentCANSendHadler != NULL) |
|||
{ |
|||
GF_CAN_Send_List_Send(&FD_CAN_2_Handler); |
|||
} else |
|||
{ |
|||
|
|||
can_dispacherController = FD_CAN_2_Handler.dispacherController; |
|||
can_dispacherController->Dispatcher_Run(can_dispacherController); |
|||
|
|||
} |
|||
|
|||
} |
|||
//发送函数 在上面定时器调用 2ms一次
|
|||
void GF_CAN_Send_List_Send(FDCANHandler *handler) |
|||
{ |
|||
|
|||
handler->SendList_time_Count++; |
|||
//timeSpan-->2 SendList_Period-->2
|
|||
if (handler->timeSpan * handler->SendList_time_Count |
|||
>= handler->SendList_Period) |
|||
{ |
|||
handler->SendList_time_Count = 0; |
|||
handler->SendListExists = 1; |
|||
if (handler->pCurrentCANSendHadler != NULL) |
|||
{ |
|||
//拷贝数据到相关的代码中，然后发送
|
|||
|
|||
handler->SendFrameID=handler->pCurrentCANSendHadler->CAN_ID; |
|||
|
|||
memcpy(handler->Tx_Buf, handler->pCurrentCANSendHadler->Tx_Buf, |
|||
handler->pCurrentCANSendHadler->SendLength); |
|||
handler->SendList_Period=handler->pCurrentCANSendHadler->SendListTimePeriod;//发送周期
|
|||
handler->SendLength = handler->pCurrentCANSendHadler->SendLength; |
|||
handler->CAN_Send_Data(handler); /***********发送*****************/ |
|||
|
|||
if (handler->pCurrentCANSendHadler->pNext != NULL) |
|||
{ |
|||
CANSendHandler *temp = handler->pCurrentCANSendHadler->pNext; |
|||
free(handler->pCurrentCANSendHadler); //清除内存
|
|||
handler->pCurrentCANSendHadler = temp; |
|||
} else |
|||
{ |
|||
free(handler->pCurrentCANSendHadler); //清除内存
|
|||
handler->pCurrentCANSendHadler = NULL; |
|||
} |
|||
|
|||
} else |
|||
{ |
|||
handler->SendListExists = 0; |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
//
|
|||
//handler->CAN_Send_Data = CAN_Send_Data_t;
|
|||
void CAN_Send_Data_t(struct _FDCANHandler *fd) |
|||
{ |
|||
CAN_Send_t(fd, fd->SendFrameID, fd->SendLength, fd->Tx_Buf); |
|||
} |
|||
/*
|
|||
* | |
|||
* | |
|||
* V |
|||
* */ |
|||
void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength, |
|||
uint8_t *Txdata) |
|||
{ |
|||
|
|||
//Function_code = Txdata[0];
|
|||
|
|||
if (DataLength > 8) |
|||
{ |
|||
return; |
|||
} |
|||
if (fd->canfd == &hfdcan1) |
|||
{ |
|||
TXHeader1.BitRateSwitch = FDCAN_BRS_OFF; |
|||
|
|||
#if NewCANSendVersion |
|||
TXHeader1.DataLength = (uint32_t) DataLength ; |
|||
#else |
|||
TXHeader1.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
|
|||
#endif |
|||
|
|||
|
|||
TXHeader1.FDFormat = FDCAN_CLASSIC_CAN; |
|||
TXHeader1.IdType = FDCAN_STANDARD_ID; |
|||
TXHeader1.Identifier = FrameID; |
|||
TXHeader1.TxFrameType = FDCAN_DATA_FRAME; |
|||
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata); |
|||
} else if (fd->canfd == &hfdcan2) |
|||
{ |
|||
TXHeader2.BitRateSwitch = FDCAN_BRS_OFF; |
|||
|
|||
#if NewCANSendVersion |
|||
TXHeader2.DataLength = (uint32_t) DataLength ; |
|||
#else |
|||
TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
|
|||
#endif |
|||
//TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
|
|||
TXHeader2.FDFormat = FDCAN_CLASSIC_CAN; |
|||
TXHeader2.IdType = FDCAN_STANDARD_ID; |
|||
TXHeader2.Identifier = FrameID; |
|||
TXHeader2.TxFrameType = FDCAN_DATA_FRAME; |
|||
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata); |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
//handler->AddCANSendList = CANHandlerAddTxList;该函数由AddCANSendList调用
|
|||
|
|||
//把多个 CAN 消息按顺序添加到发送队列。系统按照设定的时间周期或者优先级依次发送队列中的消息。
|
|||
/*
|
|||
* Motor_Controller->AddCANSendList(Motor_Controller, 0x600 + MotorID, 8, |
|||
Motor_Controller->Tx_Buf, WaitTime, NULL); |
|||
* */ |
|||
void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID, |
|||
uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod, |
|||
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西
|
|||
{ |
|||
|
|||
CANSendHandler *pTmp = NULL; //临时指针 链表中的节点
|
|||
|
|||
//临时指针2用于逐个申请内存
|
|||
pTmp = (CANSendHandler*) malloc(sizeof(CANSendHandler));//节点申请内存
|
|||
memcpy(pTmp->Tx_Buf, Tx_Buf, SendLength);//把参数2的内容复制到节点上
|
|||
pTmp->pNext = NULL; //下一个节点暂时为空
|
|||
pTmp->CAN_ID=CAN_ID; //设置节点ID
|
|||
pTmp->SendLength = SendLength; |
|||
//pTmp->CAN_Decode = CAN_Decode;
|
|||
pTmp->SendListTimePeriod=sendListTimePeriod;//节点的发送周期
|
|||
|
|||
|
|||
//if NULL, call intialize one
|
|||
if (handler->pCurrentCANSendHadler == NULL) |
|||
{ |
|||
handler->pCurrentCANSendHadler = pTmp; //空链表
|
|||
} else |
|||
{ |
|||
char i = 0; |
|||
//插到尾部
|
|||
CANSendHandler *phead = NULL; |
|||
phead = handler->pCurrentCANSendHadler; |
|||
while (phead->pNext != NULL) |
|||
{ |
|||
i++; |
|||
phead = phead->pNext; |
|||
} |
|||
phead->pNext = pTmp; |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,104 @@ |
|||
/*
|
|||
* bsp_GPIO.c |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
#include "BSP/bsp_GPIO.h" |
|||
|
|||
uint8_t GF_BSP_GPIO_Init() |
|||
{ |
|||
|
|||
return 1; |
|||
} |
|||
|
|||
/* IO配置
|
|||
* IO_Index : 0-5 |
|||
* Level : 0:PIN_RESET; 1:PIN_SET; |
|||
* */ |
|||
void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level) |
|||
{ |
|||
GPIO_PinState PinState; |
|||
if(Level == 0) |
|||
PinState=GPIO_PIN_RESET; |
|||
else |
|||
PinState=GPIO_PIN_SET; |
|||
|
|||
switch(IO_Index) |
|||
{ |
|||
case 0: |
|||
HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, PinState); |
|||
break; |
|||
case 1: |
|||
HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, PinState);//pc3
|
|||
break; |
|||
case 2: |
|||
HAL_GPIO_WritePin(OUT_2_GPIO_Port, OUT_2_Pin, PinState); |
|||
break; |
|||
case 3: |
|||
HAL_GPIO_WritePin(OUT_3_GPIO_Port, OUT_3_Pin, PinState); |
|||
break; |
|||
case 4: |
|||
HAL_GPIO_WritePin(OUT_4_GPIO_Port, OUT_4_Pin, PinState); |
|||
break; |
|||
case 5: |
|||
HAL_GPIO_WritePin(OUT_5_GPIO_Port, OUT_5_Pin, PinState); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index) |
|||
{ |
|||
|
|||
switch(IO_Index) |
|||
{ |
|||
case 0: |
|||
HAL_GPIO_TogglePin(OUT_0_GPIO_Port, OUT_0_Pin); |
|||
break; |
|||
case 1: |
|||
HAL_GPIO_TogglePin(OUT_1_GPIO_Port, OUT_1_Pin); |
|||
break; |
|||
case 2: |
|||
HAL_GPIO_TogglePin(OUT_2_GPIO_Port, OUT_2_Pin); |
|||
break; |
|||
case 3: |
|||
HAL_GPIO_TogglePin(OUT_3_GPIO_Port, OUT_3_Pin); |
|||
break; |
|||
case 4: |
|||
HAL_GPIO_TogglePin(OUT_4_GPIO_Port, OUT_4_Pin); |
|||
break; |
|||
case 5: |
|||
HAL_GPIO_TogglePin(OUT_5_GPIO_Port, OUT_5_Pin); |
|||
break; |
|||
} |
|||
|
|||
|
|||
} |
|||
|
|||
|
|||
uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index) |
|||
{ |
|||
GPIO_PinState PinState; |
|||
switch(IO_Index) |
|||
{ |
|||
case 0: |
|||
PinState = HAL_GPIO_ReadPin(IN_0_GPIO_Port, IN_0_Pin); |
|||
break; |
|||
case 1: |
|||
PinState = HAL_GPIO_ReadPin(IN_1_GPIO_Port, IN_1_Pin); |
|||
break; |
|||
case 2: |
|||
PinState = HAL_GPIO_ReadPin(IN_2_GPIO_Port, IN_2_Pin); |
|||
break; |
|||
case 3: |
|||
PinState = HAL_GPIO_ReadPin(IN_3_GPIO_Port, IN_3_Pin); |
|||
break; |
|||
case 4: |
|||
PinState = HAL_GPIO_ReadPin(IN_4_GPIO_Port, IN_4_Pin); |
|||
break; |
|||
case 5: |
|||
PinState = HAL_GPIO_ReadPin(IN_5_GPIO_Port, IN_5_Pin); |
|||
break; |
|||
} |
|||
return((uint8_t)PinState); |
|||
} |
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_GV.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(GV_struct_define, GV_struct_define, 2) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_IAP.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(IAP_struct_define, IAP_struct_define, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,41 @@ |
|||
/*
|
|||
* bsp_INTERCALL.c |
|||
* |
|||
* Created on: 2023年11月8日 |
|||
* Author: shiya |
|||
*/ |
|||
#include "BSP/bsp_include.h" |
|||
|
|||
typedef struct |
|||
{ |
|||
uint8_t num; //调用函数指针数量
|
|||
void(*fn[DF_BSP_InterCall_Num])(void); //被调用函数指针,最多20个回调函数
|
|||
}SD_BSP_InterCall; |
|||
|
|||
SD_BSP_InterCall V_BSP_InterCall_Array[DF_BSP_InterCall_Type_Num] = {0}; |
|||
|
|||
//给中断函数链接一个回调函数，直接添加空函数指针
|
|||
//返回值1表示添加成功，返回值0表示添加失败
|
|||
uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,void(*_fn)(void)) |
|||
{ |
|||
V_BSP_InterCall_Array[_type].num++; |
|||
if(V_BSP_InterCall_Array[_type].num>=DF_BSP_InterCall_Num) |
|||
{ |
|||
return 0; |
|||
} |
|||
V_BSP_InterCall_Array[_type].fn[V_BSP_InterCall_Array[_type].num-1]=_fn; |
|||
return 1; |
|||
} |
|||
|
|||
//放到中断函数中，运行相应的回调函数，有几个运行几个
|
|||
void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type) |
|||
{ |
|||
uint8_t i=0; |
|||
if(V_BSP_InterCall_Array[_type].num>0) |
|||
{ |
|||
for(i=0;i<V_BSP_InterCall_Array[_type].num;i++) |
|||
{ |
|||
(*(V_BSP_InterCall_Array[_type].fn[i]))(); |
|||
} |
|||
} |
|||
} |
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_IO.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(IO_Data, IO_Data, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_IV.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(IV_struct_define, IV_struct_define, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,372 @@ |
|||
#include "bsp_MB_host.h" |
|||
#include "stdio.h" |
|||
#include "BSP/bsp_UART.h" |
|||
|
|||
|
|||
|
|||
|
|||
//__IO uint8_t Rx_Buf[256]; // 接收缓存,最大256字节
|
|||
__IO uint8_t Tx_Buf[256]; // 发送缓存,最大256字节
|
|||
__IO uint8_t tmp_Rx_Buf; // 临时接收缓存
|
|||
__IO uint16_t RxCount = 0; // 接收字符计数
|
|||
|
|||
uint8_t MB_rx_flag = 0; |
|||
uint16_t Read_Reg_Num; |
|||
uint8_t Read_Slave_ID = 0; |
|||
|
|||
/* 私有类型定义 --------------------------------------------------------------*/ |
|||
/* 私有宏定义 ----------------------------------------------------------------*/ |
|||
/* 私有变量 ------------------------------------------------------------------*/ |
|||
|
|||
// CRC 高位字节值表
|
|||
static const uint8_t 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 }; |
|||
// CRC 低位字节值表
|
|||
static const uint8_t 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 }; |
|||
|
|||
/**
|
|||
* 函数功能: Modbus CRC16 校验计算函数 |
|||
* 输入参数: pushMsg:待计算的数据首地址,usDataLen:数据长度 |
|||
* 返 回 值: CRC16 计算结果 |
|||
* 说 明: 计算结果是高位在前,需要转换才能发送 |
|||
*/ |
|||
uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen) |
|||
{ |
|||
uint8_t uchCRCHi = 0xFF; |
|||
uint8_t uchCRCLo = 0xFF; |
|||
uint16_t uIndex; |
|||
while (usDataLen--) |
|||
{ |
|||
uIndex = uchCRCLo ^ *pushMsg++; |
|||
uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex]; |
|||
uchCRCHi = auchCRCLo[uIndex]; |
|||
} |
|||
return (uchCRCHi << 8 | uchCRCLo); |
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 读N个线圈状态(CoilStatue) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的数量 |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送 |
|||
*/ |
|||
void MB_ReadCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num) |
|||
{ |
|||
uint16_t TxCount = 0; |
|||
|
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x01; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _num >> 8; /* 线圈(bit)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _num; /* 线圈(bit)个数 低字节 */ |
|||
|
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
*TxCount_t = TxCount; |
|||
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
|
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 写单个线圈状态(CoilStatue) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_sta:待写入的线圈状态(0,1) |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送 |
|||
*/ |
|||
void MB_WriteCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _sta) |
|||
{ |
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x05; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _sta >> 8; /* 线圈(bit)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _sta; /* 线圈(bit)个数 低字节 */ |
|||
|
|||
|
|||
|
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
*TxCount_t = TxCount; |
|||
|
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
|
|||
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
|
|||
} |
|||
|
|||
void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num, uint8_t *_databuf) |
|||
{ |
|||
|
|||
uint16_t i; |
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x0F; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _num; /* 低字节 */ |
|||
|
|||
if(_num%8==0) |
|||
{ |
|||
Tx_Buf[TxCount++] = _num / 8; |
|||
}else |
|||
{ |
|||
Tx_Buf[TxCount++] = _num / 8 + 1; |
|||
} |
|||
/* 数据个数 */ |
|||
uint16_t ij=TxCount++; |
|||
for (i = 0; i < _num; i++) |
|||
{ |
|||
Tx_Buf[ij]|= _databuf[i]<<i; /* 后面的数据长度 */ |
|||
} |
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
*TxCount_t = TxCount; |
|||
} |
|||
|
|||
|
|||
|
|||
/**
|
|||
* 函数功能: 读输入状态状态(InputStatue) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的输入数量 |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送 |
|||
*/ |
|||
void MB_ReadInput(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num) |
|||
{ |
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x02; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _num >> 8; /* 开关(Input)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _num; /* 开关(Input)个数 低字节 */ |
|||
|
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
*TxCount_t = TxCount; |
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 读保持寄存器(HoldingRegister) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量 |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送 |
|||
*/ |
|||
void MB_ReadHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num) |
|||
{ |
|||
MB_rx_flag = 2; |
|||
Read_Reg_Num = _num; |
|||
Read_Slave_ID = _addr; |
|||
|
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x03; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _num; /* 低字节 */ |
|||
|
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
|
|||
*TxCount_t = TxCount; |
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 读N个输入寄存器(InputRegister) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量 |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送. |
|||
*/ |
|||
void MB_ReadInputReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num) |
|||
{ |
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x04; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _num; /* 低字节 */ |
|||
|
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
*TxCount_t = TxCount; |
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 写单个保持寄存器(HoldingRegister) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_data:待写入的寄存器数据 |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送 |
|||
*/ |
|||
void MB_WriteHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _data) |
|||
{ |
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x06; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _data >> 8; /* 寄存器(16bits)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _data; /* 低字节 */ |
|||
|
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
*TxCount_t = TxCount; |
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 写N个保持寄存器(HoldingRegister) |
|||
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待写入的寄存器数量,_databuf:待写入的寄存器数据 |
|||
* 返 回 值: 无 |
|||
* 说 明: 填充数据发送缓存区,然后发送._databuf的长度需 >= _num*2 |
|||
*/ |
|||
void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num, uint8_t *_databuf) |
|||
{ |
|||
|
|||
uint16_t i; |
|||
uint16_t TxCount = 0; |
|||
uint16_t crc = 0; |
|||
Tx_Buf[TxCount++] = _addr; /* 从站地址 */ |
|||
Tx_Buf[TxCount++] = 0x10; /* 功能码 */ |
|||
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */ |
|||
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */ |
|||
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */ |
|||
Tx_Buf[TxCount++] = _num; /* 低字节 */ |
|||
Tx_Buf[TxCount++] = _num << 1; /* 数据个数 */ |
|||
|
|||
for (i = 0; i < 2 * _num; i++) |
|||
{ |
|||
Tx_Buf[TxCount++] = _databuf[i]; /* 后面的数据长度 */ |
|||
} |
|||
crc = MB_CRC16(Tx_Buf, TxCount); |
|||
Tx_Buf[TxCount++] = crc; /* crc 低字节 */ |
|||
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */ |
|||
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
|
|||
*TxCount_t = TxCount; |
|||
} |
|||
/**
|
|||
* 函数功能: 解析读取Read_Reg_Num个保持寄存器的值 (HoldingRegister) |
|||
* 输入参数: buffer:数据值,length:数据长度, Read_Reg_Num 读取几个保持寄存器, 将解析出来的数据存入 Decoded_Reg_Value 这个16进制的数据中 |
|||
* 返 回 值: 1 表示解析正确，0 表示解析错误 CRC验证错误 |
|||
* 说 明: |
|||
*/ |
|||
uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value) |
|||
{ |
|||
/* CRC 校验 */ |
|||
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); |
|||
/* CRC 校验正确 */ |
|||
if (crc_check == MB_CRC16(buffer, length - 2)) |
|||
{ |
|||
int i = 0; |
|||
for (i = 0; i < Read_Reg_Num; i++) |
|||
{ |
|||
|
|||
Decoded_Reg_Value[ i] = |
|||
(buffer[3 + 2 * i] << 8) + buffer[4 + 2 * i]; |
|||
} |
|||
return 1; //Decoded successfully
|
|||
} |
|||
else |
|||
{ |
|||
return 0; //Decode Error；
|
|||
} |
|||
} |
|||
uint8_t MB_Decode_InputRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value) |
|||
{ |
|||
/* CRC 校验 */ |
|||
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); |
|||
/* CRC 校验正确 */ |
|||
if (crc_check == MB_CRC16(buffer, length - 2)) |
|||
{ |
|||
int i = 0; |
|||
for (i = 0; i < Read_Reg_Num; i++) |
|||
{ |
|||
|
|||
Decoded_Reg_Value[ i] = |
|||
(buffer[3 + 2 * i] << 8) + buffer[4 + 2 * i]; |
|||
} |
|||
return 1; //Decoded successfully
|
|||
} |
|||
else |
|||
{ |
|||
|
|||
return 0; //Decode Error；
|
|||
} |
|||
} |
|||
|
|||
|
|||
@ -0,0 +1,20 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_PID.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(PID_Parameters, PID_Parameters, AUTO) |
|||
|
|||
|
|||
|
|||
#ifndef PB_CONVERT_DOUBLE_FLOAT |
|||
/* On some platforms (such as AVR), double is really float.
|
|||
* To be able to encode/decode double on these platforms, you need. |
|||
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. |
|||
*/ |
|||
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) |
|||
#endif |
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_PV.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(PV_struct_define, PV_struct_define, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_ReCmd.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(ReCmd, ReCmd, 2) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,186 @@ |
|||
#include "BSP/bsp_TCPClient.h" |
|||
#include "lwip/netif.h" |
|||
#include "lwip/ip.h" |
|||
#include "lwip/tcp.h" |
|||
#include "lwip/init.h" |
|||
#include "netif/etharp.h" |
|||
#include "lwip/udp.h" |
|||
#include "lwip/pbuf.h" |
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
#pragma pack (1) /*指定按1字节对齐*/ |
|||
|
|||
|
|||
|
|||
#pragma pack () /*取消指定对齐，恢复缺省对齐*/ |
|||
LazorData *ReadLazorData; |
|||
unsigned char *Weld_Out_Flag; |
|||
unsigned char Weld_Out_Count; |
|||
unsigned char Weld_Out_SafeCount = 500; |
|||
|
|||
uint8_t ReceivedData[3000]; |
|||
static uint16_t receivedLength = 0; |
|||
|
|||
void IntiazlieLazor(); |
|||
|
|||
void IntiazlieLazor1(); |
|||
|
|||
static err_t client_connected(void *arg, struct tcp_pcb *pcb, err_t err); |
|||
|
|||
ip4_addr_t server_ip; |
|||
static struct tcp_pcb *client_pcb = NULL; |
|||
|
|||
static void client_err(void *arg, err_t err) |
|||
{ |
|||
//printf("connect error! closed by core!!\n");
|
|||
//printf("try to connect to server again!!\n");
|
|||
|
|||
//连接失败的时候释放TCP控制块的内存
|
|||
tcp_close(client_pcb); |
|||
|
|||
//重新连接
|
|||
TCP_Client_Init(); |
|||
} |
|||
|
|||
|
|||
|
|||
int index_0 = 0; |
|||
int count_Client; |
|||
static err_t client_send(void *arg, struct tcp_pcb *tpcb) |
|||
{ |
|||
// count_Client++;
|
|||
// if(count_Client >= 50)
|
|||
// {
|
|||
// count_Client = 49;
|
|||
switch (index_0) |
|||
{ |
|||
|
|||
case 0:case 1: |
|||
{ |
|||
uint8_t send_buf[] = |
|||
{0x00,0x15,0x00,0x00,0x00,0x1B,0x01,0x10,0x03,0xE8,0x00,0x0A,0x14, |
|||
0x0D,0x0C,0x0B,0x0A,0x00,0x00,0x08,0x00,0x00,0x00,0x00,0x00, |
|||
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
|||
tcp_write(tpcb, send_buf, sizeof(send_buf), 1); |
|||
tcp_output(client_pcb); |
|||
index_0++; |
|||
break; |
|||
} |
|||
|
|||
case 2:case 3: |
|||
{ |
|||
uint8_t send_buf[] = |
|||
{0x00,0x15,0x00,0x00,0x00,0x1B,0x01,0x10,0x03,0xE8,0x00,0x0A,0x14, |
|||
0x0D,0x0C,0x0B,0x0A,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00, |
|||
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; |
|||
tcp_write(tpcb, send_buf, sizeof(send_buf), 1); |
|||
tcp_output(client_pcb); |
|||
index_0++; |
|||
break; |
|||
} |
|||
case 4: |
|||
{ |
|||
uint8_t send_buf[] = |
|||
{0x00,0x05,0x00,0x00,0x00,0x06,0x01,0x03,0x07,0xD0,0x00,0x12}; |
|||
tcp_write(tpcb, send_buf, sizeof(send_buf), 1); |
|||
tcp_output(client_pcb); |
|||
break; |
|||
} |
|||
|
|||
// case 0:case 1:
|
|||
// {
|
|||
// uint8_t send_buf[4] =
|
|||
// { 0x01, 0x00, 0x00, 0x00 };
|
|||
// tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|||
// tcp_output(client_pcb);
|
|||
// index_0++;
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
// case 2:case 3:
|
|||
// {
|
|||
// uint8_t send_buf[4] =
|
|||
// { 0x08, 0x00, 0x04, 0x00 };
|
|||
// tcp_write(tpcb, send_buf, sizeof(send_buf), 1);
|
|||
// tcp_output(client_pcb);
|
|||
// index_0++;
|
|||
// break;
|
|||
// }
|
|||
} |
|||
|
|||
// }
|
|||
|
|||
return ERR_OK; |
|||
} |
|||
|
|||
static err_t client_recv(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, |
|||
err_t err) |
|||
{ |
|||
if (p != NULL) |
|||
{ |
|||
/* 接收数据*/ |
|||
|
|||
|
|||
|
|||
/* 返回接收到的数据*/ |
|||
//tcp_write(tpcb, p->payload, p->tot_len, 1);
|
|||
receivedLength = p->tot_len; |
|||
// if (p->tot_len == 36)
|
|||
// {
|
|||
memcpy(ReceivedData, p->payload, p->tot_len); |
|||
// }
|
|||
|
|||
//memset(p->payload, 0, p->tot_len);
|
|||
tcp_recved(tpcb, p->tot_len); |
|||
pbuf_free(p); |
|||
} else if (err == ERR_OK) |
|||
{ |
|||
//服务器断开连接
|
|||
//printf("server has been disconnected!\n");
|
|||
tcp_close(tpcb); |
|||
|
|||
//重新连接
|
|||
TCP_Client_Init(); |
|||
// tcp_connect(client_pcb, &server_ip, TCP_CLIENT_PORT, client_connected);
|
|||
} |
|||
return ERR_OK; |
|||
} |
|||
|
|||
static err_t client_connected(void *arg, struct tcp_pcb *pcb, err_t err) |
|||
{ |
|||
// printf("connected ok!\n");
|
|||
|
|||
//注册一个周期性回调函数
|
|||
tcp_poll(pcb, client_send, 1); |
|||
|
|||
//注册一个接收函数
|
|||
|
|||
tcp_recv(pcb, client_recv); //TCP_TMR_INTERVAL == 50 在tcp_priv.h
|
|||
|
|||
return ERR_OK; |
|||
} |
|||
|
|||
void TCP_Client_Init(void) |
|||
{ |
|||
|
|||
ReadLazorData = &ReceivedData[25]; |
|||
|
|||
Weld_Out_Flag = &ReceivedData[11]; |
|||
|
|||
/* 创建一个TCP控制块 */ |
|||
client_pcb = tcp_new(); |
|||
client_pcb->flags |= TF_NODELAY; |
|||
IP4_ADDR(&server_ip, DEST_IP_ADDR0, DEST_IP_ADDR1, DEST_IP_ADDR2, |
|||
DEST_IP_ADDR3); |
|||
|
|||
//printf("client start connect!\n");
|
|||
|
|||
//开始连接
|
|||
tcp_connect(client_pcb, &server_ip, DEST_PORT, client_connected); |
|||
|
|||
//注册异常处理
|
|||
tcp_err(client_pcb, client_err); |
|||
} |
|||
|
|||
@ -0,0 +1,71 @@ |
|||
/*
|
|||
* bsp_TIMER.c |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
#include "BSP/bsp_TIMER.h" |
|||
#include "lwip.h" |
|||
#include "BSP/bsp_mqtt.h" |
|||
|
|||
//返回值：：1-正常；0-错误
|
|||
uint8_t GF_BSP_TIMER_Init() |
|||
{ |
|||
HAL_TIM_Base_Start_IT(&htim1); |
|||
HAL_TIM_Base_Start_IT(&htim8); |
|||
return 1; |
|||
} |
|||
|
|||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) |
|||
{ |
|||
//100ms - WatchDog
|
|||
if(htim->Instance == TIM1)//APB2=200Mhz,htim1.Init.Prescaler = 2000-1;htim1.Init.Period = 10000-1; TIM1=100ms
|
|||
{ |
|||
|
|||
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback); |
|||
|
|||
} |
|||
//2ms - MainLoop
|
|||
if(htim->Instance == TIM8)//APB2=200Mhz,htim8.Init.Prescaler = 2000-1;htim8.Init.Period = 200-1; TIM8=2ms
|
|||
{ |
|||
MX_LWIP_Process(); |
|||
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback); |
|||
//bsp_mqtt_test();
|
|||
} |
|||
} |
|||
|
|||
void GF_BSP_TIMER_DelayUS(uint32_t n) |
|||
{ |
|||
uint32_t ticks; |
|||
uint32_t told; |
|||
uint32_t tnow; |
|||
uint32_t tcnt = 0; |
|||
uint32_t reload; |
|||
|
|||
reload = SysTick->LOAD; |
|||
ticks = n * (SystemCoreClock / 1000000); |
|||
|
|||
tcnt = 0; |
|||
told = SysTick->VAL; |
|||
|
|||
while (1) |
|||
{ |
|||
tnow = SysTick->VAL; |
|||
if (tnow != told) |
|||
{ |
|||
if (tnow < told) |
|||
{ |
|||
tcnt += told - tnow; |
|||
} |
|||
else |
|||
{ |
|||
tcnt += reload - tnow + told; |
|||
} |
|||
told = tnow; |
|||
if (tcnt >= ticks) |
|||
{ |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
} |
|||
@ -0,0 +1,553 @@ |
|||
#include "BSP/bsp_UART.h" |
|||
#include "main.h" |
|||
#include <stdlib.h> |
|||
|
|||
void GF_UART_Send_List_Send(struct UARTHandler *handler); |
|||
void Dispatcher_List_Add(struct UARTHandler *uartHandler, |
|||
void (*dispache)(void)); |
|||
|
|||
|
|||
|
|||
void UARTHandlerAddTxList(struct UARTHandler *uartHandler, uint8_t *data, |
|||
uint16_t length, uint32_t txListTimePeriod, void (*UART_Decode)(uint8_t*, uint16_t)); |
|||
|
|||
//Store all the data in these buffer
|
|||
uint8_t RS485_1_RxMA_buf[UART_Receive_MAX_NUM]; |
|||
uint8_t RS485_2_RxDMA_buf[UART_Receive_MAX_NUM]; |
|||
uint8_t RS485_3_RxDMA_buf[UART_Receive_MAX_NUM]; |
|||
uint8_t RS485_4_RxDMA_buf[UART_Receive_MAX_NUM]; |
|||
uint8_t Debug_RxDMA_buf[UART_Receive_MAX_NUM]; |
|||
uint8_t ExternSerial_RxDMA_buf[UART_Receive_MAX_NUM]; |
|||
|
|||
uint8_t RS485_1_TxDMA_buf[UART_Transmit_MAX_NUM]; |
|||
uint8_t RS485_2_TxDMA_buf[UART_Transmit_MAX_NUM]; |
|||
uint8_t RS485_3_TxDMA_buf[UART_Transmit_MAX_NUM]; |
|||
uint8_t RS485_4_TxDMA_buf[UART_Transmit_MAX_NUM]; |
|||
uint8_t Debug_TxDMA_buf[UART_Transmit_MAX_NUM]; |
|||
uint8_t ExternSerial_TxDMA_buf[UART_Transmit_MAX_NUM]; |
|||
#define InterCall_DEBUG_UART huart4 |
|||
#define E28_SBUS_UART huart5 |
|||
#define RS485_4_UART huart7 |
|||
#define RS485_1_UART huart1 |
|||
#define LTE_7S0_Serial_UART huart2 |
|||
|
|||
|
|||
#define RS485_2_UART huart3 |
|||
#define RS485_3_UART huart6 |
|||
|
|||
|
|||
struct UARTHandler RS_485_1_UART_Handler; |
|||
struct UARTHandler RS_485_2_UART_Handler; |
|||
struct UARTHandler RS_485_3_UART_Handler; |
|||
struct UARTHandler RS_485_4_UART_Handler; |
|||
struct UARTHandler InterCall_DEBUG_UART_Handler; |
|||
struct UARTHandler E28_SBUS_UART_Handler; |
|||
struct UARTHandler LTE_7S0_Serial_UART_Handler; |
|||
|
|||
|
|||
|
|||
#if defined (hlpuart1Exit) |
|||
|
|||
#define LPUART1UART hlpuart1 |
|||
struct UARTHandler LPUART1_UART_Handler; |
|||
|
|||
#endif |
|||
|
|||
void GF_BSP_UARTHandlers_Intialize( |
|||
int32_t RS485_1_WaitTime, |
|||
int32_t RS485_2_WaitTime, |
|||
int32_t RS485_3_WaitTime, |
|||
int32_t RS485_4_WaitTime, |
|||
int32_t LTE_7S0_Serial_WaitTime, |
|||
int32_t InterCall_DEBUG_WaitTime, |
|||
int32_t E28_SBUS_WaitTime, |
|||
int32_t LPUART1_UART_WaitTime, |
|||
int32_t RS485_1_Dispacher_Time, |
|||
int32_t RS485_2_Dispacher_Time, |
|||
int32_t RS485_3_Dispacher_Time, |
|||
int32_t RS485_4_Dispacher_Time, |
|||
int32_t LTE_7S0_Serial_Dispacher_Time, |
|||
int32_t InterCall_DEBUG_Dispacher_Time, |
|||
int32_t E28_SBUS_Dispacher_Time, |
|||
int32_t LPUART1_UART_Dispacher_Time |
|||
) |
|||
{ |
|||
|
|||
IntializeUARTHandler(&RS_485_1_UART_Handler, &RS485_1_UART, RS485_1_WaitTime, 2,RS485_1_Dispacher_Time); |
|||
IntializeUARTHandler(&RS_485_2_UART_Handler, &RS485_2_UART, RS485_2_WaitTime, 2,RS485_2_Dispacher_Time); |
|||
IntializeUARTHandler(&RS_485_3_UART_Handler, &RS485_3_UART, RS485_3_WaitTime, 2,RS485_3_Dispacher_Time); |
|||
IntializeUARTHandler(&RS_485_4_UART_Handler, &RS485_4_UART, RS485_4_WaitTime, 2,RS485_4_Dispacher_Time); |
|||
IntializeUARTHandler(<E_7S0_Serial_UART_Handler, <E_7S0_Serial_UART, LTE_7S0_Serial_WaitTime, 2,LTE_7S0_Serial_Dispacher_Time); |
|||
IntializeUARTHandler(&InterCall_DEBUG_UART_Handler, &InterCall_DEBUG_UART, InterCall_DEBUG_WaitTime, 2,InterCall_DEBUG_Dispacher_Time); |
|||
IntializeUARTHandler(&E28_SBUS_UART_Handler, &E28_SBUS_UART, E28_SBUS_WaitTime, 2,E28_SBUS_Dispacher_Time); |
|||
|
|||
|
|||
HAL_UART_Receive_IT((E28_SBUS_UART_Handler.uart), |
|||
(uint8_t*) &E28_SBUS_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
|
|||
HAL_UART_Receive_IT((InterCall_DEBUG_UART_Handler.uart), |
|||
(uint8_t*) &InterCall_DEBUG_UART_Handler.tmp_Rx_Buf, 1); |
|||
HAL_UART_Receive_IT((RS_485_1_UART_Handler.uart), |
|||
(uint8_t*) &RS_485_1_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
HAL_UART_Receive_IT((RS_485_2_UART_Handler.uart), |
|||
(uint8_t*) &RS_485_2_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
HAL_UART_Receive_IT((RS_485_3_UART_Handler.uart), |
|||
(uint8_t*) &RS_485_3_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
HAL_UART_Receive_IT((RS_485_4_UART_Handler.uart), |
|||
(uint8_t*) &RS_485_4_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
HAL_UART_Receive_IT((LTE_7S0_Serial_UART_Handler.uart), |
|||
(uint8_t*) <E_7S0_Serial_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
|
|||
|
|||
|
|||
#if defined (hlpuart1Exit) |
|||
IntializeUARTHandler(&LPUART1_UART_Handler, &LPUART1UART, LPUART1_UART_WaitTime, 2,LPUART1_UART_Dispacher_Time); //10ms 剩余2ms
|
|||
HAL_UART_Receive_IT((LPUART1_UART_Handler.uart), |
|||
(uint8_t*) &LPUART1_UART_Handler.tmp_Rx_Buf, 1); |
|||
|
|||
#endif |
|||
|
|||
|
|||
|
|||
|
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_UART_Timer); |
|||
|
|||
//RS_485_2_UART_Handler.send_finished=1;
|
|||
} |
|||
//Count Every 2 ms
|
|||
void GF_BSP_UART_Timer() |
|||
{ |
|||
Counting(&RS_485_1_UART_Handler); |
|||
Counting(&RS_485_2_UART_Handler); |
|||
Counting(&RS_485_3_UART_Handler); |
|||
Counting(&RS_485_4_UART_Handler); |
|||
Counting(<E_7S0_Serial_UART_Handler); |
|||
Counting(&InterCall_DEBUG_UART_Handler); |
|||
Counting(&E28_SBUS_UART_Handler); |
|||
|
|||
#if defined (hlpuart1Exit) |
|||
Counting(&LPUART1_UART_Handler); |
|||
#endif |
|||
|
|||
|
|||
|
|||
} |
|||
|
|||
void UARTHandlerAddTxList(struct UARTHandler *uartHandler, uint8_t *data, |
|||
uint16_t length, uint32_t txListTimePeriod, void (*UART_Decode)(uint8_t*, uint16_t)) |
|||
{ |
|||
|
|||
UARTSendHandler *pTmp = NULL; //临时指针
|
|||
//临时指针2用于逐个申请内存
|
|||
pTmp = (UARTSendHandler*) malloc(sizeof(UARTSendHandler)); |
|||
memcpy(pTmp->Tx_Buf, data, length); |
|||
pTmp->pNext = NULL; |
|||
pTmp->SendListTimePeriod=txListTimePeriod; |
|||
pTmp->SendLength = length; |
|||
pTmp->UART_Decode = UART_Decode; |
|||
|
|||
//if NULL, call intialize one
|
|||
if (uartHandler->pCurrentUARTSendHadler == NULL) |
|||
{ |
|||
uartHandler->pCurrentUARTSendHadler = pTmp; //空链表
|
|||
} else |
|||
{ |
|||
char i = 0; |
|||
//插到尾部
|
|||
UARTSendHandler *phead = NULL; |
|||
phead = uartHandler->pCurrentUARTSendHadler; |
|||
while (phead->pNext != NULL) |
|||
{ |
|||
i++; |
|||
phead = phead->pNext; |
|||
} |
|||
phead->pNext = pTmp; |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
void UARTHandlerTx(struct UARTHandler *uartHandler) |
|||
{ |
|||
|
|||
if (uartHandler->uart == NULL) |
|||
{ |
|||
LOGFF(DL_ERROR, |
|||
"the UART Hardware did not intialize,check the setting"); |
|||
return; |
|||
} |
|||
|
|||
uartHandler->RxCount=0;//设定RxCount为0
|
|||
#if defined (hlpuart1Exit) |
|||
if(uartHandler->uart->Instance == LPUART1) |
|||
{ |
|||
|
|||
HAL_UART_Transmit(uartHandler->uart, uartHandler->Tx_Buf, |
|||
uartHandler->TxCount,100); |
|||
}else |
|||
{ |
|||
#endif |
|||
|
|||
if (uartHandler->uart->Instance == UART4) //**DEBUG
|
|||
{ |
|||
|
|||
} else if (uartHandler->uart->Instance == USART1) //**RS485_1
|
|||
{ |
|||
|
|||
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET); |
|||
|
|||
} else if (uartHandler->uart->Instance == USART3) //**RS485_2
|
|||
{ |
|||
|
|||
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET); |
|||
|
|||
} else if (uartHandler->uart->Instance == USART6) //**RS485_3
|
|||
{ |
|||
|
|||
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_SET); |
|||
|
|||
} else if (uartHandler->uart->Instance == UART7) //**RS485_4
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_SET); |
|||
|
|||
} else if (uartHandler->uart->Instance == USART2)//**E22 // External serial port
|
|||
{ |
|||
|
|||
} else if (uartHandler->uart->Instance == UART5) //**E28 // SBUS
|
|||
{ |
|||
|
|||
} |
|||
|
|||
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) uartHandler->Tx_Buf, |
|||
uartHandler->TxCount); |
|||
|
|||
HAL_UART_Transmit_DMA(uartHandler->uart, uartHandler->Tx_Buf, |
|||
uartHandler->TxCount); |
|||
#if defined (hlpuart1Exit) |
|||
} |
|||
#endif |
|||
|
|||
|
|||
if (uartHandler->uart == UART4) //**DEBUG
|
|||
{ |
|||
|
|||
} else if (uartHandler->uart == USART1) //**RS485_1
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, |
|||
GPIO_PIN_RESET); |
|||
} else if (uartHandler->uart == USART3) //**RS485_2
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, |
|||
GPIO_PIN_RESET); |
|||
} else if (uartHandler->uart == USART6) //**RS485_3
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, |
|||
RS485_3_DIR_Pin, GPIO_PIN_RESET); |
|||
} else if (uartHandler->uart == UART7) //**RS485_4
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, |
|||
RS485_4_DIR_Pin, GPIO_PIN_RESET); |
|||
} else if (uartHandler->uart == USART2) //**E22 // External serial port
|
|||
{ |
|||
|
|||
} else if (uartHandler->uart == UART5) //**E28 // SBUS
|
|||
{ |
|||
|
|||
} |
|||
} |
|||
void UARTHandlerRX(struct UARTHandler *uartHandler) |
|||
{ |
|||
//uartHandler->Wait_Time_Count = 0;
|
|||
if (uartHandler->startCountFlag == 0) |
|||
{ |
|||
uartHandler->startCountFlag = 1; |
|||
uartHandler->RxCount = 0; |
|||
} |
|||
|
|||
uartHandler->Rx_Buf[uartHandler->RxCount] = uartHandler->tmp_Rx_Buf[0]; |
|||
uartHandler->RxCount++; |
|||
|
|||
HAL_UART_Receive_IT(uartHandler->uart, uartHandler->tmp_Rx_Buf, 1); |
|||
|
|||
uartHandler->Wait_Time_Count = 0; |
|||
if(uartHandler->RxCount>=1024)//接收数据过多，直接抛弃
|
|||
{ |
|||
uartHandler->RxCount=0; |
|||
} |
|||
//HAL_UART_Receive_IT(uartHandler->uart, RS_485_2_UART_Handler.tmp_Rx_Buf, 1);
|
|||
} |
|||
|
|||
void IntializeUARTHandler(struct UARTHandler *uartHandler, |
|||
UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time) |
|||
{ |
|||
uartHandler->Wait_Time_Count = 0; |
|||
uartHandler->Wait_time = WaitTime; |
|||
|
|||
uartHandler->uart = uart; |
|||
uartHandler->UART_Rx = UARTHandlerRX; |
|||
uartHandler->UART_Tx = UARTHandlerTx; |
|||
uartHandler->AddSendList = UARTHandlerAddTxList; |
|||
|
|||
uartHandler->dispacherController = (DispacherController*) malloc( |
|||
sizeof(DispacherController)); |
|||
|
|||
uartHandler->dispacherController->pHead = NULL; |
|||
uartHandler->dispacherController->pTail = NULL; |
|||
uartHandler->dispacherController->Dispacher_Enable = 0; |
|||
uartHandler->dispacherController->DispacherCallTime = Dispacher_Time ; // call the function every 50 ms
|
|||
uartHandler->dispacherController->Dispacher_Counter = 0; |
|||
uartHandler->dispacherController->DispacherNumber = 0; |
|||
uartHandler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t; |
|||
uartHandler->dispacherController->Dispatcher_Run = Dispatch_t; |
|||
|
|||
uartHandler->timeSpan = 2; |
|||
uartHandler->SendList_time_Count = 0; |
|||
uartHandler->SendList_Period = 100; |
|||
|
|||
} |
|||
|
|||
void Counting(struct UARTHandler *uartHandler) |
|||
{ |
|||
|
|||
if (uartHandler->UART_Decode == NULL) //不解析，直接返回true
|
|||
{ |
|||
uartHandler->decode_finished = 1; |
|||
} else |
|||
{ |
|||
if (uartHandler->startCountFlag == 1) |
|||
{ |
|||
uartHandler->Wait_Time_Count++; |
|||
if (uartHandler->timeSpan * uartHandler->Wait_Time_Count |
|||
>= uartHandler->Wait_time) |
|||
{ |
|||
uartHandler->Wait_Time_Count = 0; |
|||
uartHandler->startCountFlag = 0; |
|||
//启动解析函数
|
|||
if (uartHandler->RxCount >= 1) |
|||
{ |
|||
if(uartHandler->UART_Decode!=NULL) |
|||
{ |
|||
uartHandler->UART_Decode(uartHandler->Rx_Buf, |
|||
uartHandler->RxCount); |
|||
} |
|||
|
|||
uartHandler->RxCount = 0; |
|||
} |
|||
} |
|||
|
|||
} |
|||
} |
|||
|
|||
if (uartHandler->pCurrentUARTSendHadler != NULL) |
|||
{ |
|||
|
|||
GF_UART_Send_List_Send(uartHandler); |
|||
} else |
|||
{ |
|||
uartHandler->dispacherController->Dispatcher_Run( |
|||
uartHandler->dispacherController); |
|||
} |
|||
|
|||
|
|||
|
|||
} |
|||
//_weak
|
|||
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) |
|||
{ |
|||
if (huart->Instance == UART4) //**DEBUG
|
|||
{ |
|||
UARTHandlerRX(&InterCall_DEBUG_UART_Handler); |
|||
|
|||
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_DEBUG_RxCpltCallback);
|
|||
|
|||
} else if (huart->Instance == USART1) //**RS485_1
|
|||
{ |
|||
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_1_RxCpltCallback);
|
|||
|
|||
UARTHandlerRX(&RS_485_1_UART_Handler); |
|||
} else if (huart->Instance == USART3) //**RS485_2
|
|||
{ |
|||
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_2_RxCpltCallback);
|
|||
UARTHandlerRX(&RS_485_2_UART_Handler); |
|||
} else if (huart->Instance == USART6) //**RS485_3
|
|||
{ |
|||
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_3_RxCpltCallback);
|
|||
UARTHandlerRX(&RS_485_3_UART_Handler); |
|||
} else if (huart->Instance == UART7) //**RS485_4
|
|||
{ |
|||
// UARTHandlerRX(&RS_485_4_UART_Handler);
|
|||
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_4_RxCpltCallback);
|
|||
UARTHandlerRX(&RS_485_4_UART_Handler); |
|||
|
|||
} else if (huart->Instance == USART2) //**E22 // External serial port
|
|||
{ |
|||
// GF_BSP_Interrupt_Run_CallBack(
|
|||
// DF_BSP_InterCall_E22_Serial_RxCpltCallback);
|
|||
UARTHandlerRX(<E_7S0_Serial_UART_Handler); |
|||
} else if (huart->Instance == UART5) //**E28 // SBUS
|
|||
{ |
|||
|
|||
// GF_BSP_Interrupt_Run_CallBack(
|
|||
// DF_BSP_InterCall_E28_SBUS_RxFifo0Callback);
|
|||
UARTHandlerRX(&E28_SBUS_UART_Handler); |
|||
} |
|||
|
|||
|
|||
#if defined (hlpuart1Exit) |
|||
else if (huart->Instance == LPUART1) //**E28 // SBUS
|
|||
{ |
|||
UARTHandlerRX(&LPUART1_UART_Handler); |
|||
} |
|||
|
|||
|
|||
#endif |
|||
} |
|||
|
|||
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) |
|||
{ |
|||
|
|||
if (huart->Instance == UART4) //**DEBUG
|
|||
{ |
|||
|
|||
} else if (huart->Instance == USART1) //**RS485_1
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, |
|||
GPIO_PIN_RESET); |
|||
} else if (huart->Instance == USART3) //**RS485_2
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, |
|||
GPIO_PIN_RESET); |
|||
} else if (huart->Instance == USART6) //**RS485_3
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, |
|||
RS485_3_DIR_Pin, GPIO_PIN_RESET); |
|||
} else if (huart->Instance == UART7) //**RS485_4
|
|||
{ |
|||
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, |
|||
RS485_4_DIR_Pin, GPIO_PIN_RESET); |
|||
} else if (huart->Instance == USART2) //**E22 // External serial port
|
|||
{ |
|||
|
|||
} else if (huart->Instance == UART5) //**E28 // SBUS
|
|||
{ |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
//RS485_Index:1-4 RS485; 5 ExternSerial; 6 Debug;
|
|||
void GF_BSP_UART_Transmit(const uint8_t RS485_Index, const uint8_t *pData, |
|||
uint16_t Size) |
|||
{ |
|||
UART_HandleTypeDef *huart; |
|||
if (Size > UART_Transmit_MAX_NUM) |
|||
Size = UART_Transmit_MAX_NUM; |
|||
|
|||
switch (RS485_Index) |
|||
{ |
|||
case 1: |
|||
huart = &huart1; |
|||
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, |
|||
GPIO_PIN_SET); |
|||
memcpy(RS485_1_TxDMA_buf, pData, Size); |
|||
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_1_TxDMA_buf, |
|||
Size); |
|||
HAL_UART_Transmit_DMA(huart, RS485_1_TxDMA_buf, Size); |
|||
//HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff);
|
|||
|
|||
break; |
|||
case 2: |
|||
huart = &huart3; |
|||
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, |
|||
GPIO_PIN_SET); |
|||
memcpy(RS485_2_TxDMA_buf, pData, Size); |
|||
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_2_TxDMA_buf, |
|||
Size); |
|||
HAL_UART_Transmit_DMA(huart, RS485_2_TxDMA_buf, Size); |
|||
break; |
|||
case 3: |
|||
huart = &huart6; |
|||
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, |
|||
GPIO_PIN_SET); |
|||
memcpy(RS485_3_TxDMA_buf, pData, Size); |
|||
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_3_TxDMA_buf, |
|||
Size); |
|||
HAL_UART_Transmit_DMA(huart, RS485_3_TxDMA_buf, Size); |
|||
break; |
|||
case 4: |
|||
huart = &huart7; |
|||
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, |
|||
GPIO_PIN_SET); |
|||
memcpy(RS485_4_TxDMA_buf, pData, Size); |
|||
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_4_TxDMA_buf, |
|||
Size); |
|||
HAL_UART_Transmit_DMA(huart, RS485_4_TxDMA_buf, Size); |
|||
break; |
|||
case 5: |
|||
huart = &huart2; |
|||
memcpy(ExternSerial_TxDMA_buf, pData, Size); |
|||
SCB_CleanInvalidateDCache_by_Addr( |
|||
(uint32_t*) ExternSerial_TxDMA_buf, Size); |
|||
HAL_UART_Transmit_DMA(huart, ExternSerial_TxDMA_buf, Size); |
|||
break; |
|||
default: |
|||
huart = &huart4; |
|||
memcpy(Debug_TxDMA_buf, pData, Size); |
|||
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) Debug_TxDMA_buf, |
|||
Size); |
|||
HAL_UART_Transmit_DMA(huart, Debug_TxDMA_buf, Size); |
|||
break; |
|||
} |
|||
} |
|||
void GF_UART_Send_List_Send(struct UARTHandler *handler) |
|||
{ |
|||
|
|||
handler->SendList_time_Count++; |
|||
if (handler->timeSpan * handler->SendList_time_Count |
|||
>= handler->SendList_Period) |
|||
{ |
|||
handler->SendList_time_Count = 0; |
|||
handler->SendListExists = 1; |
|||
if (handler->pCurrentUARTSendHadler != NULL) |
|||
{ |
|||
//拷贝数据到相关的代码中，然后发送
|
|||
|
|||
//handler->CAN_Decode = handler->pCurrentCANSendHadler->CAN_Decode; //
|
|||
memcpy(handler->Tx_Buf, handler->pCurrentUARTSendHadler->Tx_Buf, |
|||
handler->pCurrentUARTSendHadler->SendLength); |
|||
handler->SendList_Period = |
|||
handler->pCurrentUARTSendHadler->SendListTimePeriod; |
|||
handler->TxCount = handler->pCurrentUARTSendHadler->SendLength; |
|||
//添加了新的UARTDecode代码，需要做测试，适合一个485线上挂至少2个设备
|
|||
handler->UART_Tx(handler); |
|||
handler->UART_Decode=handler->pCurrentUARTSendHadler->UART_Decode; |
|||
//计数重新开始
|
|||
//handler->RxCount=0;
|
|||
|
|||
if (handler->pCurrentUARTSendHadler->pNext != NULL) |
|||
{ |
|||
UARTSendHandler *temp = handler->pCurrentUARTSendHadler->pNext; |
|||
free(handler->pCurrentUARTSendHadler); //清除内存
|
|||
handler->pCurrentUARTSendHadler = temp; |
|||
} else |
|||
{ |
|||
free(handler->pCurrentUARTSendHadler); //清除内存
|
|||
handler->pCurrentUARTSendHadler = NULL; |
|||
} |
|||
|
|||
} else |
|||
{ |
|||
handler->SendListExists = 0; |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,430 @@ |
|||
/*
|
|||
* bsp_UDP.c |
|||
* |
|||
* Created on: Aug 13, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#include "stm32h7xx_hal.h" |
|||
#include "lwip.h" |
|||
#include "udp.h" |
|||
#include "string.h" |
|||
#include "bsp_UDP.h" |
|||
#include "bsp_DLT_Log.h" |
|||
#include <bsp_UpperComputer_Handler.h> |
|||
#include "BSP/bsp_GPIO.h" |
|||
void UDP_GV_Dispatch(); |
|||
void UDP_IV_Dispatch(); |
|||
void udp_cmd_send_GV(char *pData, uint16_t Size); |
|||
/* 定义端口号 */ |
|||
#define UDP_DLT_LOCAL_PORT 8000 /* 本地端口 */ |
|||
#define UDP_CMD_LOCAL_PORT 8002 /* 本地端口 */ |
|||
#define UDP_CMD_LOCAL_Android_Listen_PORT 8006 /* 本地端口 接收安卓 */ |
|||
|
|||
#define UDP_DLT_Send_LOCAL_PORT 7000 /* 本地端口 */ |
|||
#define UDP_CMD_Send_LOCAL_PORT 7002 /* 本地端口 */ |
|||
#define UDP_GV_Send_LOCAL_PORT 7004 /* 本地端口 */ |
|||
#define UDP_Android_Send_LOCAL_PORT 7006 /* 本地端口 发给安卓*/ |
|||
/*32从7006发往安卓9006*/ |
|||
/*安卓从9006发往32的8006*/ |
|||
#define UDP_REMOTE_DLT_PORT 9000 /* 远端端口 */ |
|||
#define UDP_REMOTE_CMD_PORT 9002 /* 远端端口 */ |
|||
#define UDP_REMOTE_GV_PORT 9004 /* 远端端口 */ |
|||
#define UDP_REMOTE_Android_PORT 9006 /* 远端端口 */ |
|||
|
|||
int8_t is_udp_GV_update_loop_enalbed = 0; |
|||
unsigned char received_data[1000]; |
|||
|
|||
/* udp控制块 */ |
|||
static struct udp_pcb *upcb_Rx_DLT; |
|||
static struct udp_pcb *upcb_Rx_Cmd; |
|||
static struct udp_pcb *upcb_Rx_From_Android; |
|||
|
|||
static struct udp_pcb *upcb_Tx_DLT; |
|||
static struct udp_pcb *upcb_Tx_Cmd; |
|||
static struct udp_pcb *upcb_Tx_GV; |
|||
static struct udp_pcb *upcb_Tx_Android; |
|||
|
|||
ip_addr_t serverIP; |
|||
|
|||
ip_addr_t Android_ServerIP; |
|||
|
|||
DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback; |
|||
|
|||
/******************************************************************************
|
|||
* 描述 : 接收回调函数 |
|||
* 参数 : - |
|||
* 返回 : 无 |
|||
******************************************************************************/ |
|||
static void udp_receive_callback(void *arg, struct udp_pcb *upcb, |
|||
struct pbuf *p, const ip_addr_t *addr, u16_t port) |
|||
{ |
|||
if (p == NULL) return; |
|||
|
|||
memcpy(received_data, p->payload, p->len); |
|||
|
|||
if (upcb->local_port == UDP_DLT_LOCAL_PORT) |
|||
{ |
|||
UDP_DLT_ReceivedCallback(received_data, p->len); |
|||
//DLT_DataReceiveEndCallback(received_data, p->len);
|
|||
} |
|||
else if (upcb->local_port == UDP_CMD_LOCAL_PORT) |
|||
{ |
|||
|
|||
if (*received_data == 0x55 && *(received_data + 1) == 0x55 |
|||
&& p->len >= 3) |
|||
{ |
|||
decode_command_and_feedback(received_data + 2, p->len - 2, 2, |
|||
NULL); //0代表UDP
|
|||
} |
|||
else if (*received_data == 0x66 && *(received_data + 1) == 0x66 |
|||
&& p->len >= 3) |
|||
{ |
|||
GF_BSP_GPIO_SetIO(received_data[3], received_data[2]); |
|||
|
|||
} |
|||
else |
|||
{ |
|||
udp_cmd_send_back(received_data, p->len); |
|||
} |
|||
} |
|||
else if (upcb->local_port == UDP_CMD_LOCAL_Android_Listen_PORT) |
|||
{ |
|||
//对PV数据进行修改
|
|||
//if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4)
|
|||
if (received_data[0] != 0x55 || received_data[1] != 0x55 || p->len < 4) |
|||
{ |
|||
return; |
|||
} |
|||
|
|||
uint16_t crc_check = ((received_data[p->len - 1] << 8) |
|||
| received_data[p->len - 2]); |
|||
uint16_t crc_check1 = MB_CRC16(received_data, p->len - 2); |
|||
/* CRC 校验正确 */ |
|||
if (crc_check != MB_CRC16(received_data, p->len - 2)) return; |
|||
|
|||
if (received_data[2] != 0x01 || received_data[3] != 0x01) return; |
|||
|
|||
pb_istream_t i_pv_stream = |
|||
{ 0 }; |
|||
|
|||
i_pv_stream = pb_istream_from_buffer(&received_data[4], p->len - 4); |
|||
pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV); |
|||
|
|||
} |
|||
pbuf_free(p); |
|||
|
|||
} |
|||
|
|||
//char UDPprintf[100];
|
|||
|
|||
void udp_dlt_send_back(char *pData, uint16_t Size) |
|||
{ |
|||
struct pbuf *p; |
|||
|
|||
/* 分配缓冲区空间 */ |
|||
p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); |
|||
if (p != NULL) |
|||
{ |
|||
/* 填充缓冲区数据 */ |
|||
pbuf_take(p, pData, Size); |
|||
|
|||
/* 发送udp数据 */ |
|||
|
|||
//udp_send(upcb_DLT, p);
|
|||
err_t t = udp_sendto(upcb_Tx_DLT, p, &serverIP, |
|||
UDP_REMOTE_DLT_PORT); |
|||
/* 释放缓冲区空间 */ |
|||
pbuf_free(p); |
|||
} |
|||
} |
|||
void udp_cmd_send_back(char *pData, uint16_t Size) |
|||
{ |
|||
struct pbuf *p; |
|||
|
|||
/* 分配缓冲区空间 */ |
|||
p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); |
|||
|
|||
if (p != NULL) |
|||
{ |
|||
/* 填充缓冲区数据 */ |
|||
pbuf_take(p, pData, Size); |
|||
|
|||
/* 发送udp数据 */ |
|||
err_t err = udp_send(upcb_Tx_Cmd, p); |
|||
if (err != ERR_OK) |
|||
{ |
|||
// 发送失败
|
|||
printf("Failed to send UDP data: %d\n", err); |
|||
} |
|||
/* 释放缓冲区空间 */ |
|||
pbuf_free(p); |
|||
} |
|||
} |
|||
|
|||
void udp_cmd_send_GV(char *pData, uint16_t Size) |
|||
{ |
|||
struct pbuf *p; |
|||
|
|||
/* 分配缓冲区空间 */ |
|||
p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); |
|||
|
|||
if (p != NULL) |
|||
{ |
|||
/* 填充缓冲区数据 */ |
|||
pbuf_take(p, pData, Size); |
|||
|
|||
/* 发送udp数据 */ |
|||
err_t err = udp_send(upcb_Tx_GV, p); |
|||
if (err != ERR_OK) |
|||
{ |
|||
// 发送失败
|
|||
//printf("Failed to send UDP data: %d\n", err);
|
|||
} |
|||
/* 释放缓冲区空间 */ |
|||
pbuf_free(p); |
|||
} |
|||
} |
|||
|
|||
void udp_send_by_pcb(struct udp_pcb *upcb, char *pData, uint16_t Size) |
|||
{ |
|||
struct pbuf *p; |
|||
|
|||
/* 分配缓冲区空间 */ |
|||
p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM); |
|||
|
|||
if (p != NULL) |
|||
{ |
|||
/* 填充缓冲区数据 */ |
|||
pbuf_take(p, pData, Size); |
|||
|
|||
/* 发送udp数据 */ |
|||
err_t err = udp_send(upcb, p); |
|||
if (err != ERR_OK) |
|||
{ |
|||
// 发送失败
|
|||
//printf("Failed to send UDP data: %d\n", err);
|
|||
} |
|||
/* 释放缓冲区空间 */ |
|||
pbuf_free(p); |
|||
} |
|||
} |
|||
|
|||
/******************************************************************************
|
|||
* 描述 : 创建udp客户端 |
|||
* 参数 : 无 |
|||
* 返回 : 无 |
|||
******************************************************************************/ |
|||
void udp_client_init(void) |
|||
{ |
|||
|
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, UDP_GV_Dispatch); |
|||
//将UDP上传IV关闭
|
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, UDP_IV_Dispatch); |
|||
//Timer intialize();
|
|||
err_t err; |
|||
|
|||
IP4_ADDR(&serverIP, 192, 168, 144, 255); |
|||
IP4_ADDR(&Android_ServerIP, 192, 168, 144, 20); |
|||
|
|||
/* 创建udp控制块 */ |
|||
upcb_Rx_DLT = udp_new(); |
|||
|
|||
if (upcb_Rx_DLT != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
//upcb_DLT->local_port = UDP_DLT_LOCAL_PORT;
|
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_DLT->so_options |= SOF_BROADCAST;
|
|||
//err = udp_connect(upcb_DLT, &serverIP, UDP_REMOTE_DLT_PORT);
|
|||
err = udp_bind(upcb_Rx_DLT, IP_ADDR_ANY, UDP_DLT_LOCAL_PORT); |
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
/* 注册接收回调函数 */ |
|||
udp_recv(upcb_Rx_DLT, udp_receive_callback, NULL); |
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Rx_DLT); |
|||
|
|||
} |
|||
} |
|||
|
|||
upcb_Rx_From_Android = udp_new(); |
|||
|
|||
if (upcb_Rx_From_Android != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
//upcb_DLT->local_port = UDP_DLT_LOCAL_PORT;
|
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_DLT->so_options |= SOF_BROADCAST;
|
|||
//err = udp_connect(upcb_DLT, &serverIP, UDP_REMOTE_DLT_PORT);
|
|||
err = udp_bind(upcb_Rx_From_Android, IP_ADDR_ANY, |
|||
UDP_CMD_LOCAL_Android_Listen_PORT); |
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
/* 注册接收回调函数 */ |
|||
udp_recv(upcb_Rx_From_Android, udp_receive_callback, NULL); |
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Rx_From_Android); |
|||
|
|||
} |
|||
} |
|||
|
|||
upcb_Rx_Cmd = udp_new(); |
|||
|
|||
if (upcb_Rx_Cmd != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
//upcb_Cmd->local_port = UDP_CMD_LOCAL_PORT;
|
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_Cmd->so_options |= SOF_BROADCAST;
|
|||
//err = udp_connect(upcb_Cmd, &serverIP, UDP_REMOTE_CMD_PORT);
|
|||
err = udp_bind(upcb_Rx_Cmd, IP_ADDR_ANY, UDP_CMD_LOCAL_PORT); |
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
udp_recv(upcb_Rx_Cmd, udp_receive_callback, NULL); |
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Rx_Cmd); |
|||
} |
|||
} |
|||
|
|||
upcb_Tx_Cmd = udp_new(); |
|||
|
|||
if (upcb_Tx_Cmd != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
upcb_Tx_Cmd->local_port = UDP_CMD_Send_LOCAL_PORT; |
|||
|
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_Cmd->so_options |= SOF_BROADCAST;
|
|||
err = udp_connect(upcb_Tx_Cmd, &serverIP, UDP_REMOTE_CMD_PORT); |
|||
|
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
//udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
|
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Tx_Cmd); |
|||
} |
|||
} |
|||
upcb_Tx_DLT = udp_new(); |
|||
|
|||
if (upcb_Tx_DLT != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
upcb_Tx_Cmd->local_port = UDP_DLT_Send_LOCAL_PORT; |
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_Cmd->so_options |= SOF_BROADCAST;
|
|||
err = udp_connect(upcb_Tx_DLT, &serverIP, UDP_REMOTE_DLT_PORT); |
|||
|
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
//udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
|
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Tx_DLT); |
|||
} |
|||
} |
|||
|
|||
upcb_Tx_GV = udp_new(); |
|||
|
|||
if (upcb_Tx_GV != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
upcb_Tx_Cmd->local_port = UDP_GV_Send_LOCAL_PORT; |
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_Cmd->so_options |= SOF_BROADCAST;
|
|||
err = udp_connect(upcb_Tx_GV, &serverIP, UDP_REMOTE_GV_PORT); |
|||
|
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
//udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
|
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Tx_GV); |
|||
} |
|||
} |
|||
|
|||
upcb_Tx_Android = udp_new(); |
|||
|
|||
if (upcb_Tx_Android != NULL) |
|||
{ |
|||
/* 配置本地端口 */ |
|||
upcb_Tx_Android->local_port = UDP_Android_Send_LOCAL_PORT; |
|||
/* 配置服务器IP和端口 */ |
|||
//upcb_Cmd->so_options |= SOF_BROADCAST;
|
|||
err = udp_connect(upcb_Tx_Android, &Android_ServerIP, |
|||
UDP_REMOTE_Android_PORT); |
|||
|
|||
if (err == ERR_OK) |
|||
{ |
|||
/* 注册接收回调函数 */ |
|||
//udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
|
|||
} |
|||
else |
|||
{ |
|||
udp_remove(upcb_Tx_Android); |
|||
} |
|||
} |
|||
|
|||
} |
|||
int counter_index = 0; |
|||
int iv_counter_index = 0; |
|||
void UDP_GV_Dispatch() |
|||
{ |
|||
counter_index++; |
|||
if (counter_index <= 50) return; |
|||
if (is_udp_GV_update_loop_enalbed == 0) return; |
|||
counter_index = 0; |
|||
pb_ostream_t GV_o_stream = |
|||
{ 0 }; |
|||
char buf[1024]; |
|||
GV_o_stream = pb_ostream_from_buffer(&buf[2], sizeof(buf)); |
|||
pb_encode(&GV_o_stream, GV_struct_define_fields, &GV); |
|||
buf[1] = 0xfe; |
|||
buf[0] = 0xfe; |
|||
//memcpy(&wh_LTE_7S0_Handler->Tx_Buf[2], buf, GV_o_stream.bytes_written);
|
|||
udp_cmd_send_GV(buf, GV_o_stream.bytes_written + 2); |
|||
|
|||
} |
|||
//现在是每一百ms执行一次
|
|||
void UDP_IV_Dispatch() |
|||
{ |
|||
iv_counter_index++; |
|||
if (iv_counter_index <= 50) return; |
|||
iv_counter_index=0; |
|||
char Tx_Buf[1024]; |
|||
pb_ostream_t IV_o_stream = pb_ostream_from_buffer(&Tx_Buf[2], |
|||
sizeof(Tx_Buf) - 2); |
|||
pb_encode(&IV_o_stream, IV_struct_define_fields, &IV); |
|||
|
|||
Tx_Buf[0] = 0x55; |
|||
Tx_Buf[1] = 0x55; |
|||
int32_t TxCount = IV_o_stream.bytes_written + 4; |
|||
uint16_t crc = MB_CRC16(Tx_Buf, IV_o_stream.bytes_written + 2); |
|||
|
|||
Tx_Buf[IV_o_stream.bytes_written + 2] = (crc >> 8) & 0xff; |
|||
Tx_Buf[IV_o_stream.bytes_written + 3] = crc & 0xff; |
|||
|
|||
udp_send_by_pcb(upcb_Tx_Android, Tx_Buf, IV_o_stream.bytes_written + 4); |
|||
|
|||
} |
|||
|
|||
/******************************** END OF FILE ********************************/ |
|||
|
|||
@ -0,0 +1,114 @@ |
|||
/*
|
|||
* bsp_desulfurizer_handler.c |
|||
* |
|||
* Created on: Jul 29, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "msp_WH_LTE_7S0.h" |
|||
|
|||
#include "pb_decode.h" |
|||
#include "pb_encode.h" |
|||
#include "bsp_include.h" |
|||
#include "pb.h" |
|||
|
|||
#include "bsp_Cmd.pb.h" |
|||
#include <stdio.h> |
|||
#include <stdbool.h> |
|||
#include <stdlib.h> |
|||
|
|||
|
|||
#include "BHBF_ROBOT.h" |
|||
#include "bsp_cpu_flash.h" |
|||
#include <bsp_qspi_w25q128.h> |
|||
#include <bsp_UpperComputer_Handler.h> |
|||
|
|||
#include "bsp_decode_command.h" |
|||
void decode_command_from_computer(uint8_t *buffer, uint16_t length); |
|||
struct UARTHandler *desulfurizer_message_UART_Handler; |
|||
|
|||
void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
|
|||
//LOG("desulfurizer_message_UART_Handler_intialize");
|
|||
desulfurizer_message_UART_Handler = Handler; |
|||
desulfurizer_message_UART_Handler->dispacherController->Dispacher_Enable=0;//不周期性发送
|
|||
desulfurizer_message_UART_Handler->Wait_time=30; |
|||
desulfurizer_message_UART_Handler->UART_Decode = |
|||
decode_command_from_computer; //indicate that there is no need to listen
|
|||
//desulfurizer_message_UART_Handler->DispacherCallPeriod=200;
|
|||
|
|||
//desulfurizer_message_UART_Handler->Add_Dispatcher_List(desulfurizer_message_UART_Handler,steering_set_angle);
|
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
void send_data_to_upper_computer(double Angle, double WireLength, |
|||
double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler) |
|||
{ |
|||
// LOG("send collected data to computer");
|
|||
// DesulfurizerMessage _desulfurizer = DesulfurizerMessage_init_default;
|
|||
// pb_ostream_t output_stream =
|
|||
// { 0 };
|
|||
//
|
|||
// _desulfurizer.Angle = Angle;
|
|||
// _desulfurizer.WireLength = WireLength;
|
|||
// _desulfurizer.Thickness = Thickness;
|
|||
// _desulfurizer.IsFittingPoint = IsFittingPoint;
|
|||
// char buf[1024];
|
|||
// output_stream = pb_ostream_from_buffer(buf, sizeof(buf));
|
|||
// pb_encode(&output_stream, DesulfurizerMessage_fields, &_desulfurizer); //encode to buffer
|
|||
|
|||
// Cmd send_Cmd = Cmd_init_default;
|
|||
//
|
|||
// //将数据拷贝到Command中
|
|||
// send_Cmd.CommadNum = 5;
|
|||
// send_Cmd.Buff_Data_Length = output_stream.bytes_written;
|
|||
// //拷贝数据到send_Cmd.Buff_Data中
|
|||
// memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
|
|||
// pb_ostream_t Cmd_out_stream =
|
|||
// { 0 };
|
|||
//
|
|||
// if(isMqtt==1)
|
|||
// {
|
|||
// Cmd_out_stream = pb_ostream_from_buffer(
|
|||
// &send_UART_Handler->Tx_Buf[2],
|
|||
// sizeof(desulfurizer_message_UART_Handler->Tx_Buf)-2);
|
|||
// pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer
|
|||
// send_UART_Handler->Tx_Buf[0]='3';
|
|||
// send_UART_Handler->Tx_Buf[1]=',';
|
|||
// send_UART_Handler->TxCount = Cmd_out_stream.bytes_written+2;
|
|||
// send_UART_Handler->UART_Tx(
|
|||
// send_UART_Handler);
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// Cmd_out_stream = pb_ostream_from_buffer(
|
|||
// send_UART_Handler->Tx_Buf,
|
|||
// sizeof(send_UART_Handler->Tx_Buf));
|
|||
// pb_encode(&Cmd_out_stream, Cmd_fields, &send_Cmd); //encode to buffer
|
|||
//
|
|||
// send_UART_Handler->TxCount = Cmd_out_stream.bytes_written;
|
|||
// send_UART_Handler->UART_Tx(
|
|||
// send_UART_Handler);
|
|||
// }
|
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
void decode_command_from_computer(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
|
|||
if(*buffer==0x55 && *(buffer+1)==0x55 && length>=3) |
|||
{ |
|||
decode_command_and_feedback(buffer+2, length-2, 0, |
|||
desulfurizer_message_UART_Handler);//0代表非mqtt
|
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,126 @@ |
|||
/*
|
|||
* bsp_pv_setting.c |
|||
* |
|||
* Created on: Jan 8, 2025 |
|||
* Author: akeguo |
|||
*/ |
|||
#include <bsp_client_setting.h> |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
#include "gpio.h" |
|||
|
|||
#include "BSP/bsp_UART.h" |
|||
|
|||
void UpdateIV(); |
|||
void decode_received_data_from_client(uint8_t *buffer, uint16_t length); |
|||
|
|||
struct UARTHandler *client_setting_Handler; |
|||
DispacherController *client_setting_dispacher; |
|||
|
|||
void client_setting_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
|
|||
client_setting_Handler = Handler; |
|||
client_setting_Handler->Wait_time = 6; // 最低不要低于4；
|
|||
|
|||
client_setting_dispacher = Handler->dispacherController; |
|||
client_setting_dispacher->Add_Dispatcher_List(client_setting_dispacher, |
|||
UpdateIV); |
|||
client_setting_dispacher->DispacherCallTime = 500; |
|||
client_setting_dispacher->Dispacher_Enable=1;//不周期性发送
|
|||
LOG("client_setting_intialize"); |
|||
|
|||
client_setting_Handler->UART_Decode = decode_received_data_from_client; //indicate that there is no need to listen
|
|||
|
|||
} |
|||
|
|||
void UpdateIV() |
|||
{ |
|||
|
|||
pb_ostream_t IV_o_stream = pb_ostream_from_buffer( |
|||
&client_setting_Handler->Tx_Buf[2], |
|||
sizeof(client_setting_Handler->Tx_Buf) - 2); |
|||
pb_encode(&IV_o_stream, IV_struct_define_fields, &IV); |
|||
|
|||
client_setting_Handler->Tx_Buf[0] = 0x55; |
|||
client_setting_Handler->Tx_Buf[1] = 0x55; |
|||
client_setting_Handler->TxCount = IV_o_stream.bytes_written + 4; |
|||
|
|||
uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]), IV_o_stream.bytes_written + 2); |
|||
|
|||
client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 2] = (crc>>8) &0xff; |
|||
client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 3] = crc & 0xff;; |
|||
|
|||
|
|||
client_setting_Handler->UART_Tx(client_setting_Handler); |
|||
} |
|||
|
|||
void decode_received_data_from_client(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
if(length>100) |
|||
{ |
|||
return; |
|||
} |
|||
uint8_t data[100]; |
|||
memcpy(data,buffer,length); |
|||
|
|||
//if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4)
|
|||
if (buffer[0] == 0x55 && buffer[1] == 0x55 && length >= 4) |
|||
{ |
|||
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); |
|||
uint16_t crc_check1 = MB_CRC16(buffer, length - 2); |
|||
/* CRC 校验正确 */ |
|||
if (crc_check == MB_CRC16(buffer, length - 2)) |
|||
{ |
|||
//if (*(buffer + 2) == 0x01 && *(buffer + 3) == 0x01) //01 01 设置PV
|
|||
if (buffer[2] == 0x01 && buffer[3] == 0x01) //01 01 设置PV
|
|||
{ |
|||
|
|||
pb_istream_t i_pv_stream = |
|||
{ 0 }; |
|||
|
|||
i_pv_stream = pb_istream_from_buffer(&buffer[4], length - 4); |
|||
pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV_variable); |
|||
//pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV);
|
|||
|
|||
|
|||
// if(decoded_PV_variable.TimeStamp>decoded_PV.TimeStamp)
|
|||
// {
|
|||
// decoded_PV=decoded_PV_variable;
|
|||
// }
|
|||
//将CV写入EEPROM
|
|||
//CV_struct_define saved_cV = GF_BSP_EEPROM_Get_CV();
|
|||
//GV.PV = decoded_PV;
|
|||
//GF_BSP_EEPROM_Set_CV(CV);
|
|||
} |
|||
else if (*(buffer + 2) == 0x02 && *(buffer + 3) == 0x01) //设置PV
|
|||
{ |
|||
|
|||
} |
|||
else if (*(buffer + 2) == 0x03 && *(buffer + 3) == 0x01) //返回IV
|
|||
{ |
|||
|
|||
} |
|||
else |
|||
{ |
|||
|
|||
} |
|||
|
|||
} |
|||
else |
|||
{ |
|||
//Decode Error；
|
|||
//log_error("wire sensor decoding failed");
|
|||
LOGFF(DL_ERROR, "android decoding failed"); |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
// client_setting_Handler->Tx_Buf[0]='1';
|
|||
// client_setting_Handler->Tx_Buf[1]=',';
|
|||
// //wh_LTE_7S0_Handler->Tx_Buf[2]='1';
|
|||
// client_setting_Handler->TxCount = 2;
|
|||
// client_setting_Handler->UART_Tx(client_setting_Handler);
|
|||
} |
|||
|
|||
@ -0,0 +1,191 @@ |
|||
/*
|
|||
* bsp_com_helper.c |
|||
* |
|||
* Created on: Oct 9, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "bsp_com_helper.h" |
|||
#include <stdlib.h> |
|||
#include "DLTuc.h" |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
void Dispatch_t(DispacherController *uartHandler) |
|||
{ |
|||
//2ms
|
|||
|
|||
if (uartHandler->Dispacher_Enable == 1) |
|||
{ |
|||
if (uartHandler->DispacherNumber > 0) //列表中有数据
|
|||
{ |
|||
uartHandler->Dispacher_Counter++; |
|||
|
|||
if (uartHandler->Dispacher_Counter |
|||
>= uartHandler->DispacherCallTime / 2 |
|||
/ (uartHandler->DispacherNumber)) //多长时间运行一次
|
|||
{ |
|||
uartHandler->Dispacher_Counter = 0; |
|||
if (uartHandler->pHead != NULL |
|||
&& uartHandler->pHead->pNext != NULL) |
|||
{ |
|||
|
|||
uartHandler->pHead->dispache(); |
|||
|
|||
uartHandler->pHead = uartHandler->pHead->pNext; |
|||
|
|||
} else |
|||
{ |
|||
|
|||
} |
|||
} |
|||
} |
|||
|
|||
} |
|||
} |
|||
|
|||
void Dispatcher_List_Add_t(DispacherController *uartHandler, |
|||
void (*dispache)(void)) |
|||
{ |
|||
Dispatcher *pTmp = NULL; //临时指针2
|
|||
|
|||
if (uartHandler->pHead == NULL && uartHandler->pTail == NULL) //头尾部都为空
|
|||
{ |
|||
uartHandler->pHead = uartHandler->pTail = (Dispatcher*) malloc( |
|||
sizeof(Dispatcher)); |
|||
uartHandler->pHead->dispache = dispache; |
|||
uartHandler->pTail->dispache = dispache; |
|||
|
|||
|
|||
|
|||
uartHandler->pHead->pNext = uartHandler->pTail; |
|||
|
|||
uartHandler->pTail->pNext = uartHandler->pHead; |
|||
uartHandler->DispacherNumber++; |
|||
} else |
|||
{ |
|||
//临时指针2用于逐个申请内存
|
|||
pTmp = (Dispatcher*) malloc(sizeof(Dispatcher)); |
|||
pTmp->dispache = dispache; |
|||
|
|||
|
|||
pTmp->pNext = uartHandler->pHead; //set the new dispatcher .next to the header, thus make it a circle
|
|||
|
|||
//临时指针1的next指向刚分配内存的临时指针2
|
|||
uartHandler->pTail->pNext = pTmp; |
|||
|
|||
uartHandler->pTail = pTmp; //set pTail the last node of this ring
|
|||
uartHandler->DispacherNumber++; |
|||
} |
|||
} |
|||
|
|||
void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name, |
|||
char value,uint32_t bitFlag) |
|||
{ |
|||
|
|||
ComHardWare *pTmp = NULL; //临时指针2
|
|||
if (uartHandler->pComHWHead == NULL && uartHandler->pComHWTail == NULL) //头尾部都为空
|
|||
{ |
|||
uartHandler->pComHWHead = uartHandler->pComHWTail = |
|||
(ComHardWare*) malloc(sizeof(ComHardWare)); |
|||
|
|||
memset(uartHandler->pComHWHead->Name, '\0', |
|||
sizeof(uartHandler->pComHWHead->Name)); |
|||
memcpy(uartHandler->pComHWHead->Name, name, strlen(name)); |
|||
uartHandler->pComHWHead->IsOnline = value; |
|||
uartHandler->pComHWHead->BitFlag = bitFlag; |
|||
uartHandler->pComHWHead->pNext = NULL; |
|||
} else |
|||
{ |
|||
|
|||
pTmp = (ComHardWare*) malloc(sizeof(ComHardWare)); |
|||
memset(pTmp->Name, '\0', sizeof(pTmp->Name)); |
|||
memcpy(pTmp->Name, name, strlen(name)); |
|||
|
|||
pTmp->BitFlag = bitFlag; |
|||
pTmp->IsOnline = value; |
|||
pTmp->pNext = NULL; //set the new dispatcher .next to the header, thus make it a circle
|
|||
uartHandler->pComHWTail->pNext = pTmp; |
|||
uartHandler->pComHWTail = pTmp; |
|||
|
|||
} |
|||
|
|||
} |
|||
//HardWareErrorController->Set_PCOMHardWare = Set_PCOMHardWare_t;
|
|||
int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value) |
|||
{ |
|||
|
|||
ComHardWare *ptr = uartHandler->pComHWHead; |
|||
char finddata = 0; |
|||
|
|||
if (ptr == NULL) |
|||
{ |
|||
|
|||
return 0; |
|||
} |
|||
|
|||
while (ptr != NULL) |
|||
{ |
|||
if (strcmp(ptr->Name, name) == 0)//相等为0
|
|||
{ |
|||
ptr->IsOnline = value; |
|||
finddata = 1; |
|||
return finddata; |
|||
} else |
|||
{ |
|||
ptr = ptr->pNext; |
|||
} |
|||
|
|||
} |
|||
return finddata; |
|||
|
|||
} |
|||
|
|||
char str1[50] = "\0"; |
|||
void PCOMHardWare_Check_t(HardWareController *uartHandler) |
|||
{ |
|||
uartHandler->HardWare_Check_Counter++; |
|||
// if (uartHandler->HardWare_Check_Counter*2
|
|||
// >= uartHandler->DispacherCallTime * 6) //make sure every
|
|||
if (uartHandler->HardWare_Check_Counter * 2 >= uartHandler->DispacherCallTime) //make sure every
|
|||
{ |
|||
ComHardWare *ptr = uartHandler->pComHWHead; |
|||
|
|||
if (!ptr) |
|||
{ |
|||
uartHandler->HardWare_Check_Counter = 0; |
|||
//printf("链表为空\n");
|
|||
return; |
|||
} |
|||
char IsAbnornalStatus = 0; |
|||
|
|||
//check invalid state
|
|||
while (ptr != NULL) |
|||
{ |
|||
if (ptr->IsOnline != 1) //在线设为1
|
|||
{ |
|||
memset(str1, '\0', 50); |
|||
memcpy(str1, ptr->Name, strlen(ptr->Name)); |
|||
LOGFF(DL_ERROR, "connecting Error %s", ptr->Name); |
|||
SET_BIT_1(SystemErrorCode,ptr->BitFlag); |
|||
//*SystemErrorCode=*SystemErrorCode|(1<<ptr->BitFlag);
|
|||
IsAbnornalStatus = 1; |
|||
}else |
|||
{ |
|||
//*SystemErrorCode=*SystemErrorCode|(1<<ptr->BitFlag);
|
|||
SET_BIT_0(SystemErrorCode,ptr->BitFlag); |
|||
} |
|||
ptr = ptr->pNext; |
|||
} |
|||
|
|||
//set invalid state
|
|||
ptr = uartHandler->pComHWHead; |
|||
while (ptr != NULL) |
|||
{ |
|||
ptr->IsOnline = 0; |
|||
ptr = ptr->pNext; |
|||
} |
|||
uartHandler->HardWare_Check_Counter = 0;//perform the check of connection
|
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,499 @@ |
|||
/*
|
|||
********************************************************************************************************* |
|||
* |
|||
* 模块名称 : cpu内部falsh操作模块(for STM32H743 H750) |
|||
* 文件名称 : bsp_cpu_flash.c |
|||
* 版 本 : V1.1 |
|||
* 说 明 : 提供读写CPU内部Flash的函数 |
|||
* 修改记录 : |
|||
* 版本号 日期 作者 说明 |
|||
* V1.0 2019-09-20 armfly 正式发布 |
|||
* V1.1 2019-10-03 armfly 写flash函数，修正长度不是32字节整数倍的bug，末尾补0写入。 |
|||
* 解决HAL库函数的 HAL_FLASH_Program（）的bug， |
|||
* 问题现象是大批量连续编程失败（报编程指令顺序错， PGSERR1、 PGSERR2） |
|||
* Copyright (C), 2019-2030, 安富莱电子 www.armfly.com |
|||
* |
|||
********************************************************************************************************* |
|||
*/ |
|||
|
|||
#include "BSP/bsp_cpu_flash.h" |
|||
#include <string.h> |
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函数 |
|||
********************************************************************************************************* |
|||
*/ |
|||
|
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 宏定义 |
|||
********************************************************************************************************* |
|||
*/ |
|||
//0x08020000 - 0x08000000 = 128k;//bootload 128k // every sector 448k
|
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 变量 |
|||
********************************************************************************************************* |
|||
*/ |
|||
__IO uint32_t uwCRCValue; |
|||
__IO uint32_t uwExpectedCRCValue; |
|||
__IO uint32_t uwAppSize; |
|||
|
|||
uint8_t buf[1024]; |
|||
uint32_t RecCount = 0; |
|||
uint32_t RecCount0 = 0; |
|||
uint32_t RecSize = 0; |
|||
uint8_t RecCplt = 0; |
|||
uint32_t filesize = 0; |
|||
|
|||
uint32_t Bus_Error=0; |
|||
uint32_t update_index = 0; |
|||
uint32_t update_index_true = 0; |
|||
uint32_t update_sum = 0; |
|||
uint32_t update_sum_true = 0; |
|||
|
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: bsp_GetSector |
|||
* 功能说明: 根据地址计算扇区首地址 |
|||
* 形 参: 无 |
|||
* 返 回 值: 扇区号（0-7) |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint32_t bsp_GetSector(uint32_t Address) |
|||
{ |
|||
uint32_t sector = 0; |
|||
|
|||
if (((Address < ADDR_FLASH_SECTOR_1_BANK1) && (Address >= ADDR_FLASH_SECTOR_0_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_1_BANK2) && (Address >= ADDR_FLASH_SECTOR_0_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_0; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_2_BANK1) && (Address >= ADDR_FLASH_SECTOR_1_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_2_BANK2) && (Address >= ADDR_FLASH_SECTOR_1_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_1; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_3_BANK1) && (Address >= ADDR_FLASH_SECTOR_2_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_3_BANK2) && (Address >= ADDR_FLASH_SECTOR_2_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_2; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_4_BANK1) && (Address >= ADDR_FLASH_SECTOR_3_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_4_BANK2) && (Address >= ADDR_FLASH_SECTOR_3_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_3; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_5_BANK1) && (Address >= ADDR_FLASH_SECTOR_4_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_5_BANK2) && (Address >= ADDR_FLASH_SECTOR_4_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_4; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_6_BANK1) && (Address >= ADDR_FLASH_SECTOR_5_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_6_BANK2) && (Address >= ADDR_FLASH_SECTOR_5_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_5; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_7_BANK1) && (Address >= ADDR_FLASH_SECTOR_6_BANK1)) || \ |
|||
((Address < ADDR_FLASH_SECTOR_7_BANK2) && (Address >= ADDR_FLASH_SECTOR_6_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_6; |
|||
} |
|||
else if (((Address < ADDR_FLASH_SECTOR_0_BANK2) && (Address >= ADDR_FLASH_SECTOR_7_BANK1)) || \ |
|||
((Address < CPU_FLASH_END_ADDR) && (Address >= ADDR_FLASH_SECTOR_7_BANK2))) |
|||
{ |
|||
sector = FLASH_SECTOR_7; |
|||
} |
|||
else |
|||
{ |
|||
sector = FLASH_SECTOR_7; |
|||
} |
|||
|
|||
return sector; |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: bsp_ReadCpuFlash |
|||
* 功能说明: 读取CPU Flash的内容 |
|||
* 形 参: _ucpDst : 目标缓冲区 |
|||
* _ulFlashAddr : 起始地址 |
|||
* _ulSize : 数据大小（单位是字节） |
|||
* 返 回 值: 0=成功，1=失败 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize) |
|||
{ |
|||
uint32_t i; |
|||
|
|||
if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE) |
|||
{ |
|||
return 1; |
|||
} |
|||
|
|||
/* 长度为0时不继续操作,否则起始地址为奇地址会出错 */ |
|||
if (_ulSize == 0) |
|||
{ |
|||
return 1; |
|||
} |
|||
|
|||
for (i = 0; i < _ulSize; i++) |
|||
{ |
|||
*_ucpDst++ = *(uint8_t *)_ulFlashAddr++; |
|||
} |
|||
|
|||
return 0; |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: bsp_CmpCpuFlash |
|||
* 功能说明: 比较Flash指定地址的数据. |
|||
* 形 参: _ulFlashAddr : Flash地址 |
|||
* _ucpBuf : 数据缓冲区 |
|||
* _ulSize : 数据大小（单位是字节） |
|||
* 返 回 值: |
|||
* FLASH_IS_EQU 0 Flash内容和待写入的数据相等，不需要擦除和写操作 |
|||
* FLASH_REQ_WRITE 1 Flash不需要擦除，直接写 |
|||
* FLASH_REQ_ERASE 2 Flash需要先擦除,再写 |
|||
* FLASH_PARAM_ERR 3 函数参数错误 |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize) |
|||
{ |
|||
uint32_t i; |
|||
uint8_t ucIsEqu; /* 相等标志 */ |
|||
uint8_t ucByte; |
|||
|
|||
/* 如果偏移地址超过芯片容量，则不改写输出缓冲区 */ |
|||
if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE) |
|||
{ |
|||
return FLASH_PARAM_ERR; /* 函数参数错误 */ |
|||
} |
|||
|
|||
/* 长度为0时返回正确 */ |
|||
if (_ulSize == 0) |
|||
{ |
|||
return FLASH_IS_EQU; /* Flash内容和待写入的数据相等 */ |
|||
} |
|||
|
|||
ucIsEqu = 1; /* 先假设所有字节和待写入的数据相等，如果遇到任何一个不相等，则设置为 0 */ |
|||
for (i = 0; i < _ulSize; i++) |
|||
{ |
|||
ucByte = *(uint8_t *)_ulFlashAddr; |
|||
|
|||
if (ucByte != *_ucpBuf) |
|||
{ |
|||
if (ucByte != 0xFF) |
|||
{ |
|||
return FLASH_REQ_ERASE; /* 需要擦除后再写 */ |
|||
} |
|||
else |
|||
{ |
|||
ucIsEqu = 0; /* 不相等，需要写 */ |
|||
} |
|||
} |
|||
|
|||
_ulFlashAddr++; |
|||
_ucpBuf++; |
|||
} |
|||
|
|||
if (ucIsEqu == 1) |
|||
{ |
|||
return FLASH_IS_EQU; /* Flash内容和待写入的数据相等，不需要擦除和写操作 */ |
|||
} |
|||
else |
|||
{ |
|||
return FLASH_REQ_WRITE; /* Flash不需要擦除，直接写 */ |
|||
} |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: bsp_EraseCpuFlash |
|||
* 功能说明: 擦除CPU FLASH一个扇区 （128KB) |
|||
* 形 参: _ulFlashAddr : Flash地址 |
|||
* 返 回 值: 0 成功， 1 失败 |
|||
* HAL_OK = 0x00, |
|||
* HAL_ERROR = 0x01, |
|||
* HAL_BUSY = 0x02, |
|||
* HAL_TIMEOUT = 0x03 |
|||
* |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr) |
|||
{ |
|||
uint32_t FirstSector = 0, NbOfSectors = 0; |
|||
FLASH_EraseInitTypeDef EraseInitStruct; |
|||
uint32_t SECTORError = 0; |
|||
uint8_t re; |
|||
|
|||
/* 解锁 */ |
|||
HAL_FLASH_Unlock(); |
|||
|
|||
/* 获取此地址所在的扇区 */ |
|||
FirstSector = bsp_GetSector(_ulFlashAddr); |
|||
|
|||
/* 固定1个扇区 */ |
|||
NbOfSectors = 1; |
|||
|
|||
/* 擦除扇区配置 */ |
|||
EraseInitStruct.TypeErase = FLASH_TYPEERASE_SECTORS; |
|||
EraseInitStruct.VoltageRange = FLASH_VOLTAGE_RANGE_3; |
|||
|
|||
if (_ulFlashAddr >= ADDR_FLASH_SECTOR_0_BANK2) |
|||
{ |
|||
EraseInitStruct.Banks = FLASH_BANK_2; |
|||
} |
|||
else |
|||
{ |
|||
EraseInitStruct.Banks = FLASH_BANK_1; |
|||
} |
|||
|
|||
EraseInitStruct.Sector = FirstSector; |
|||
EraseInitStruct.NbSectors = NbOfSectors; |
|||
|
|||
/* 扇区擦除 */ |
|||
re = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError); |
|||
|
|||
/* 擦除完毕后，上锁 */ |
|||
HAL_FLASH_Lock(); |
|||
|
|||
return re; |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: bsp_WriteCpuFlash |
|||
* 功能说明: 写数据到CPU 内部Flash。 必须按32字节整数倍写。不支持跨扇区。扇区大小128KB. \ |
|||
* 写之前需要擦除扇区. 长度不是32字节整数倍时，最后几个字节末尾补0写入. |
|||
* 形 参: _ulFlashAddr : Flash地址 |
|||
* _ucpSrc : 数据缓冲区 |
|||
* _ulSize : 数据大小（单位是字节, 必须是32字节整数倍） |
|||
* 返 回 值: 0-成功，1-数据长度或地址溢出，2-写Flash出错(估计Flash寿命到) |
|||
********************************************************************************************************* |
|||
*/ |
|||
uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize) |
|||
{ |
|||
uint32_t i; |
|||
uint8_t ucRet; |
|||
|
|||
/* 如果偏移地址超过芯片容量，则不改写输出缓冲区 */ |
|||
if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE) |
|||
{ |
|||
return 1; |
|||
} |
|||
|
|||
/* 长度为0时不继续操作 */ |
|||
if (_ulSize == 0) |
|||
{ |
|||
return 0; |
|||
} |
|||
|
|||
ucRet = bsp_CmpCpuFlash(_ulFlashAddr, _ucpSrc, _ulSize); |
|||
|
|||
if (ucRet == FLASH_IS_EQU) |
|||
{ |
|||
return 0; |
|||
} |
|||
|
|||
__set_PRIMASK(1); /* 关中断 */ |
|||
|
|||
/* FLASH 解锁 */ |
|||
HAL_FLASH_Unlock(); |
|||
|
|||
for (i = 0; i < _ulSize / 32; i++) |
|||
{ |
|||
uint64_t FlashWord[4]; |
|||
|
|||
memcpy((char *)FlashWord, _ucpSrc, 32); |
|||
_ucpSrc += 32; |
|||
|
|||
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, _ulFlashAddr, (uint64_t)((uint32_t)FlashWord)) == HAL_OK) |
|||
{ |
|||
_ulFlashAddr = _ulFlashAddr + 32; /* 递增，操作下一个256bit */ |
|||
} |
|||
else |
|||
{ |
|||
goto err; |
|||
} |
|||
} |
|||
|
|||
/* 长度不是32字节整数倍 */ |
|||
if (_ulSize % 32) |
|||
{ |
|||
uint64_t FlashWord[4]; |
|||
|
|||
FlashWord[0] = 0; |
|||
FlashWord[1] = 0; |
|||
FlashWord[2] = 0; |
|||
FlashWord[3] = 0; |
|||
memcpy((char *)FlashWord, _ucpSrc, _ulSize % 32); |
|||
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, _ulFlashAddr, (uint64_t)((uint32_t)FlashWord)) == HAL_OK) |
|||
{ |
|||
; // _ulFlashAddr = _ulFlashAddr + 32;
|
|||
} |
|||
else |
|||
{ |
|||
goto err; |
|||
} |
|||
} |
|||
|
|||
/* Flash 加锁，禁止写Flash控制寄存器 */ |
|||
HAL_FLASH_Lock(); |
|||
|
|||
__set_PRIMASK(0); /* 开中断 */ |
|||
|
|||
return 0; |
|||
|
|||
err: |
|||
/* Flash 加锁，禁止写Flash控制寄存器 */ |
|||
HAL_FLASH_Lock(); |
|||
|
|||
__set_PRIMASK(0); /* 开中断 */ |
|||
|
|||
return 1; |
|||
} |
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: JumpToApp |
|||
* 功能说明: 跳转到应用JumpToApp |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void JumpToApp(void) |
|||
{ |
|||
uint32_t i=0; |
|||
void (*AppJump)(void); /* 声明一个函数指针 */ |
|||
|
|||
/* 关闭全局中断 */ |
|||
DISABLE_INT(); |
|||
|
|||
/* 设置所有时钟到默认状态，使用HSI时钟 */ |
|||
|
|||
__HAL_RCC_GPIOH_CLK_DISABLE(); |
|||
__HAL_RCC_GPIOB_CLK_DISABLE(); |
|||
HAL_RCC_DeInit(); |
|||
|
|||
/* 关闭滴答定时器，复位到默认值 */ |
|||
SysTick->CTRL = 0; |
|||
SysTick->LOAD = 0; |
|||
SysTick->VAL = 0; |
|||
|
|||
/* 关闭所有中断，清除所有中断挂起标志 */ |
|||
for (i = 0; i < 8; i++) |
|||
{ |
|||
NVIC->ICER[i]=0xFFFFFFFF; |
|||
NVIC->ICPR[i]=0xFFFFFFFF; |
|||
} |
|||
|
|||
/* 使能全局中断 */ |
|||
ENABLE_INT(); |
|||
|
|||
/* 跳转到应用程序，首地址是MSP，地址+4是复位中断服务程序地址 */ |
|||
AppJump = (void (*)(void)) (*((uint32_t *) (App_Run_Addr + 4))); |
|||
|
|||
/* 设置主堆栈指针 */ |
|||
__set_MSP(*(uint32_t *)App_Run_Addr); |
|||
|
|||
/* 在RTOS工程，这条语句很重要，设置为特权级模式，使用MSP指针 */ |
|||
__set_CONTROL(0); |
|||
|
|||
/* 跳转到系统BootLoader */ |
|||
AppJump(); |
|||
|
|||
/* 跳转成功的话，不会执行到这里，用户可以在这里添加代码 */ |
|||
while (1) |
|||
{ |
|||
|
|||
} |
|||
} |
|||
|
|||
/*
|
|||
********************************************************************************************************* |
|||
* 函 数 名: JumpToApp |
|||
* 功能说明: 跳转到应用JumpToApp |
|||
* 形 参: 无 |
|||
* 返 回 值: 无 |
|||
********************************************************************************************************* |
|||
*/ |
|||
void Copy_Download_Flash_to_Start() |
|||
{ |
|||
|
|||
uint32_t startIndex=0; |
|||
|
|||
for(startIndex = 0; startIndex < 3; startIndex++) |
|||
{ |
|||
bsp_EraseCpuFlash((uint32_t)(App_Run_Addr + startIndex*128*1024));//Erase this function
|
|||
} |
|||
|
|||
|
|||
uint8_t readData[32]; |
|||
uint32_t total=3*128*1024/sizeof(readData); |
|||
uint8_t retult=0; |
|||
for(startIndex=0;startIndex<total;startIndex++) |
|||
{ |
|||
//App_Download_Addr
|
|||
//Read 32 bytes
|
|||
bsp_ReadCpuFlash(App_Download_Addr+startIndex*sizeof(readData),readData,sizeof(readData)); |
|||
//ucState = bsp_WriteCpuFlash((uint32_t)(AppAddr + TotalSize), (uint8_t *)&g_Can2RxData[8], RecSize);
|
|||
retult=bsp_WriteCpuFlash(App_Run_Addr+startIndex*sizeof(readData),readData,sizeof(readData)); |
|||
//Read
|
|||
} |
|||
|
|||
|
|||
} |
|||
|
|||
|
|||
void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes) |
|||
{ |
|||
|
|||
uint32_t startIndex=0; |
|||
// erase the all the flash from the App_Run_Addr
|
|||
for(startIndex = 0; startIndex < 7; startIndex++) |
|||
{ |
|||
bsp_EraseCpuFlash((uint32_t)(App_Run_Addr + startIndex*128*1024));//Erase this function
|
|||
} |
|||
|
|||
|
|||
uint8_t readData[256]; |
|||
uint32_t total=totalBytes/sizeof(readData)+1; |
|||
uint8_t retult=0; |
|||
for(startIndex=0;startIndex<total;startIndex++) |
|||
{ |
|||
//App_Download_Addr
|
|||
//Read 32 bytes
|
|||
|
|||
QSPI_W25Qx_Read_Buffer(&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS+startIndex*sizeof(readData),256); |
|||
HAL_Delay(10); |
|||
//retult= bsp_ReadCpuFlash(App_Download_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
|
|||
//ucState = bsp_WriteCpuFlash((uint32_t)(AppAddr + TotalSize), (uint8_t *)&g_Can2RxData[8], RecSize);
|
|||
retult=bsp_WriteCpuFlash(App_Run_Addr+startIndex*sizeof(readData),readData,sizeof(readData)); |
|||
//Read
|
|||
HAL_Delay(10); |
|||
} |
|||
|
|||
|
|||
} |
|||
void Erase_App_Download_Flash_Addr() |
|||
{ |
|||
uint32_t startIndex=0; |
|||
//清空bank0 的1-7 区域
|
|||
//there are 8 sectors in total, and
|
|||
for(startIndex = 0; startIndex < 4; startIndex++) |
|||
{ |
|||
bsp_EraseCpuFlash((uint32_t)(App_Download_Addr + startIndex*128*1024));//Erase this function
|
|||
} |
|||
//char data[1];
|
|||
//data[0]=20;
|
|||
// bsp_WriteCpuFlash(App_Download_Addr,
|
|||
// data, 1);
|
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
@ -0,0 +1,473 @@ |
|||
/*
|
|||
* bsp_decode_command.c |
|||
* |
|||
* Created on: Sep 24, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "bsp_decode_command.h" |
|||
#include "bsp_Error.pb.h" |
|||
#include "main.h" |
|||
|
|||
#include "pb.h" |
|||
#include "pb_encode.h" |
|||
#include "pb_common.h" |
|||
#include "fsm_state.h" |
|||
#include "motors_power_action.h" |
|||
#include "robot_move_actions.h" |
|||
|
|||
#include "fsm_state_control.h" |
|||
|
|||
#define success 1 |
|||
#define fail 0 |
|||
|
|||
Cmd decoded_Cmd = Cmd_init_default; |
|||
ReCmd send_Cmd = ReCmd_init_default; |
|||
pb_istream_t i_stream = |
|||
{ 0 }; |
|||
char StartDownLoadFlag = 0; |
|||
static uint32_t downloadCount = 0; |
|||
static uint8_t ReceivedData[1024]; |
|||
static uint16_t calbriation; |
|||
|
|||
void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay, |
|||
struct UARTHandler *send_Handler) |
|||
{ |
|||
|
|||
// char array[1000];
|
|||
// memset(array, 0, sizeof(array));
|
|||
// memcpy(array, buffer, length);
|
|||
//
|
|||
// if (length >= 1)
|
|||
// {
|
|||
//
|
|||
// i_stream = pb_istream_from_buffer(buffer, length);
|
|||
//
|
|||
// pb_decode(&i_stream, Cmd_fields, &decoded_Cmd);
|
|||
//
|
|||
// memcpy(&decoded_Cmd.Buff_Data,
|
|||
// &buffer[length - decoded_Cmd.Buff_Data_Length],
|
|||
// decoded_Cmd.Buff_Data_Length);
|
|||
//
|
|||
// switch (decoded_Cmd.CommadNum)
|
|||
// {
|
|||
//
|
|||
// case 17: // 上位机获取控制权
|
|||
// {
|
|||
//
|
|||
// switch (decoded_Cmd.Parameter0)
|
|||
// {
|
|||
// case 0:
|
|||
// {
|
|||
//
|
|||
// //read CV
|
|||
// CV = GF_BSP_EEPROM_Get_CV(); //重新配置CV
|
|||
// is_upper_computer_take_over_control = 0;
|
|||
//
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 10, success,
|
|||
// "return contorl to Remote Controller success",
|
|||
// sendWay, send_Handler);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_halt_state);
|
|||
// //设置电机供电为 On
|
|||
// //fsm_state_set(¤t_motor_power_state, &motor_power_off_state);
|
|||
// break;
|
|||
// }
|
|||
// case 1:
|
|||
// {
|
|||
//
|
|||
// is_upper_computer_take_over_control = 1;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 17, success,
|
|||
// "Take control success", sendWay, send_Handler);
|
|||
// fsm_state_set(¤t_motor_power_state,
|
|||
// &motor_power_on_state);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_halt_state);
|
|||
// GV.Robot_Move_Speed = 1000;
|
|||
// CV.LeftTurnSpeed = 1;
|
|||
// CV.RightTurnSpeed = 1;
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
// default:
|
|||
// break;
|
|||
//
|
|||
// }
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case 16: // 上位机手动控制机器人运动
|
|||
// {
|
|||
//
|
|||
// switch (decoded_Cmd.Parameter0)
|
|||
// {
|
|||
// case 0:
|
|||
// {
|
|||
//
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 16, success,
|
|||
// "manual control halt success", sendWay,
|
|||
// send_Handler);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_halt_state);
|
|||
// break;
|
|||
// }
|
|||
// case 1:
|
|||
// {
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 16, success,
|
|||
// "manual control forward success", sendWay,
|
|||
// send_Handler);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_forwards_state);
|
|||
// break;
|
|||
// }
|
|||
// case 2:
|
|||
// {
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 16, success,
|
|||
// "manual control backward success", sendWay,
|
|||
// send_Handler);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_backwards_state);
|
|||
// break;
|
|||
// }
|
|||
// case 3:
|
|||
// {
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 16, success,
|
|||
// "manual control turn left success", sendWay,
|
|||
// send_Handler);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_turn_left_state);
|
|||
// break;
|
|||
// }
|
|||
// case 4:
|
|||
// {
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 16, success,
|
|||
// "manual control turn right success", sendWay,
|
|||
// send_Handler);
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_turn_right_state);
|
|||
// break;
|
|||
// }
|
|||
// default:
|
|||
// break;
|
|||
//
|
|||
// }
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
// case 15: // 返回错误信息
|
|||
// {
|
|||
//
|
|||
// pb_ostream_t Error_o_stream =
|
|||
// { 0 };
|
|||
// char buf[1024];
|
|||
// Error_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
|
|||
// pb_encode(&Error_o_stream, ErrorData_fields,
|
|||
// &GV.SystemErrorData);
|
|||
//
|
|||
// //将数据拷贝到Command中
|
|||
// send_Cmd.CommadNum = 16;
|
|||
// send_Cmd.Buff_Data_Length = Error_o_stream.bytes_written;
|
|||
//
|
|||
// WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler);
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
// case 14: //这里是初始化Flash 好重新写入
|
|||
// {
|
|||
// NeedToFeedBackToComputer = 1;
|
|||
//
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 14, success,
|
|||
// "disable periodical call of serialports and can",
|
|||
// sendWay, send_Handler);
|
|||
//
|
|||
// Error_Detect_Enable = 0; //disable ErrorDetect Function;
|
|||
//
|
|||
// DLT_LOG_ENABLE_LEVEL = 0; //7 send all information //0 send nothing
|
|||
//
|
|||
// //将所有串口的周期性调用暂停
|
|||
// RS_485_1_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// RS_485_2_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// RS_485_3_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// E28_SBUS_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// LPUART1_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// InterCall_DEBUG_UART_Handler.dispacherController->Dispacher_Enable =
|
|||
// 0;
|
|||
// LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
|
|||
// 0;
|
|||
// RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// is_udp_GV_update_loop_enalbed = 0;
|
|||
//
|
|||
// //将CAN总线的周期性调用停掉
|
|||
// //因为电机有可能处于运动状态，所有CAN线不能停，得发送下去
|
|||
// //FD_CAN_1_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// //FD_CAN_2_Handler.dispacherController->Dispacher_Enable = 0;
|
|||
// fsm_state_set(¤t_robot_move_state, &robot_halt_state);
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case 13: // 使能 GV 周期性性发送数据
|
|||
// {
|
|||
// if (decoded_Cmd.Parameter0 == 0) //关闭上传
|
|||
// {
|
|||
// NeedToFeedBackToComputer = 1;
|
|||
// LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
|
|||
// 0;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 14, success,
|
|||
// "disable send GV", sendWay, send_Handler);
|
|||
//
|
|||
// is_udp_GV_update_loop_enalbed = 0;
|
|||
// }
|
|||
//
|
|||
// if (decoded_Cmd.Parameter0 == 1) //打开上传
|
|||
// {
|
|||
// NeedToFeedBackToComputer = 0;
|
|||
// LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
|
|||
// 1;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 14, success,
|
|||
// "enable send GV", sendWay, send_Handler);
|
|||
//
|
|||
// is_udp_GV_update_loop_enalbed = 1;
|
|||
// }
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case 12: //重启系统，进入bootloader
|
|||
// {
|
|||
//
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 12, success, "STM32 reboot",
|
|||
// sendWay, send_Handler);
|
|||
// NVIC_SystemReset();
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case 11: //配置无线网络模块，此处为透传指令
|
|||
// {
|
|||
// Send_WH_LTE_7S0_Data(decoded_Cmd.Buff_Data,
|
|||
// decoded_Cmd.Parameter0);
|
|||
// break;
|
|||
// }
|
|||
// case 10: //擦除flash
|
|||
// {
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 10, success,
|
|||
// "start erasing flash ", sendWay, send_Handler);
|
|||
// QSPI_W25Qx_EraseDownLoadFlash();
|
|||
// downloadCount = 0;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 10, success,
|
|||
// "erase flash success", sendWay, send_Handler);
|
|||
// break;
|
|||
// }
|
|||
// case 9: //上位机下发保存软件代码指令
|
|||
// {
|
|||
// memcpy(ReceivedData,
|
|||
// &buffer[length - decoded_Cmd.Buff_Data_Length],
|
|||
// decoded_Cmd.Buff_Data_Length);
|
|||
//
|
|||
// calbriation = MB_CRC16(&ReceivedData,
|
|||
// decoded_Cmd.Buff_Data_Length);
|
|||
//
|
|||
// if (calbriation == decoded_Cmd.Parameter4) //Parameter4是校验
|
|||
// {
|
|||
//
|
|||
// if (downloadCount == decoded_Cmd.Parameter3)
|
|||
// {
|
|||
// QSPI_W25Qx_Write_Buffer(&decoded_Cmd.Buff_Data,
|
|||
// CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS
|
|||
// + decoded_Cmd.Parameter3,
|
|||
// decoded_Cmd.Buff_Data_Length);
|
|||
// downloadCount += decoded_Cmd.Buff_Data_Length;
|
|||
// send_Cmd.Parameter3 = length;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 9, success,
|
|||
// "download success", sendWay, send_Handler);
|
|||
//
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// decoded_Cmd.Parameter2 = downloadCount; //返回download count;
|
|||
// send_Cmd.Parameter3 = length;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 9, fail,
|
|||
// "downloadCount!=Parameter3", sendWay,
|
|||
// send_Handler);
|
|||
// }
|
|||
//
|
|||
// if (decoded_Cmd.Parameter1 == 1)
|
|||
// {
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 9, success,
|
|||
// "download new software sucess", sendWay,
|
|||
// send_Handler);
|
|||
// IAP_struct_define iap = GF_BSP_EEPROM_Get_IAP();//Get the version of the code
|
|||
// iap.UpgradeSucceeded = 1;
|
|||
// iap.Total_Bytes = decoded_Cmd.Parameter2;
|
|||
// StartDownLoadFlag = 0;
|
|||
// downloadCount = 0;
|
|||
// GF_BSP_EEPROM_Set_IAP(iap);
|
|||
//
|
|||
// }
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
//
|
|||
// decoded_Cmd.Parameter2 = downloadCount; //返回download count;
|
|||
// send_Cmd.Parameter3 = length;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 9, fail,
|
|||
// "MB CRC failed and the length ", sendWay,
|
|||
// send_Handler);
|
|||
//
|
|||
// }
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
//// 定义 7 上位机获取拟合点
|
|||
//// 定义 8 上位机获取位置点 */
|
|||
// case 8:
|
|||
// {
|
|||
//// send_data_to_upper_computer(*Desulfurizer_Angle,
|
|||
//// *Desulfurizer_Wire_Length, *Desulfurizer_Thickness, 0,
|
|||
//// 0, desulfurizer_message_UART_Handler);
|
|||
// break;
|
|||
// }
|
|||
// case 7:
|
|||
// {
|
|||
//// send_data_to_upper_computer(*Desulfurizer_Angle,
|
|||
//// *Desulfurizer_Wire_Length, *Desulfurizer_Thickness, 1,
|
|||
//// 0, desulfurizer_message_UART_Handler);
|
|||
// break;
|
|||
// }
|
|||
// //定义 6 上位机设定编码器角度值为0
|
|||
// case 6:
|
|||
// {
|
|||
// //reset_current_value_0();
|
|||
// break;
|
|||
// }
|
|||
// //定义 4 上位机设定Trace等级值，无返回
|
|||
// case 4:
|
|||
// {
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// //定义 3 上位机设定CV值
|
|||
// case 3:
|
|||
// {
|
|||
// CV_struct_define decoded_CV = CV_struct_define_init_default;
|
|||
// pb_istream_t i_cv_stream =
|
|||
// { 0 };
|
|||
//
|
|||
// i_cv_stream = pb_istream_from_buffer(decoded_Cmd.Buff_Data,
|
|||
// decoded_Cmd.Buff_Data_Length);
|
|||
// pb_decode(&i_cv_stream, CV_struct_define_fields, &decoded_CV);
|
|||
// //将CV写入EEPROM
|
|||
// GF_BSP_EEPROM_Set_CV(decoded_CV);
|
|||
// CV = decoded_CV;
|
|||
// send_Cmd.Parameter3 = length;
|
|||
// WrapInCmdAndSendMessage(send_Cmd, 3, success,
|
|||
// "Set CV succeeded", sendWay, send_Handler);
|
|||
// CV_GV_Init();
|
|||
// break;
|
|||
// }
|
|||
// //定义 1 上位机获取默认CV值, 下位机返回CV的值，
|
|||
// //定义 2 下位机返回CV值
|
|||
// case 1:
|
|||
// {
|
|||
// CV = GF_BSP_EEPROM_Get_CV();
|
|||
// pb_ostream_t CV_o_stream =
|
|||
// { 0 };
|
|||
// char buf[1024];
|
|||
// CV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
|
|||
// pb_encode(&CV_o_stream, CV_struct_define_fields, &CV);
|
|||
//
|
|||
// //将数据拷贝到Command中
|
|||
// send_Cmd.CommadNum = 2;
|
|||
// send_Cmd.Buff_Data_Length = CV_o_stream.bytes_written;
|
|||
//
|
|||
// WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler);
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// default:
|
|||
// WrapInCmdAndSendMessage(send_Cmd, -1, fail,
|
|||
// "Not the right command", sendWay, send_Handler);
|
|||
// break;
|
|||
//
|
|||
// }
|
|||
//
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
//
|
|||
// }
|
|||
|
|||
} |
|||
void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay, |
|||
struct UARTHandler *send_Handler) |
|||
{ |
|||
|
|||
memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length); |
|||
pb_ostream_t ReCmd_out_stream = |
|||
{ 0 }; |
|||
|
|||
if (sendWay == 1) //MQTT
|
|||
{ |
|||
ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[4], |
|||
sizeof(send_Handler->Tx_Buf) - 4); |
|||
pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
|
|||
|
|||
send_Handler->Tx_Buf[0] = '3'; |
|||
send_Handler->Tx_Buf[1] = ','; |
|||
send_Handler->Tx_Buf[2] = 0xfe; |
|||
send_Handler->Tx_Buf[3] = 0xfe; |
|||
send_Handler->TxCount = ReCmd_out_stream.bytes_written + 4; |
|||
send_Handler->UART_Tx(send_Handler); |
|||
} |
|||
else if (sendWay == 2) //UDP 发送
|
|||
{ |
|||
uint8_t Tx_Buf[2048]; |
|||
ReCmd_out_stream = pb_ostream_from_buffer(&Tx_Buf[2], |
|||
sizeof(Tx_Buf) - 2); |
|||
pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
|
|||
Tx_Buf[0] = 0xfe; |
|||
Tx_Buf[1] = 0xfe; |
|||
udp_cmd_send_back(Tx_Buf, ReCmd_out_stream.bytes_written + 2); |
|||
|
|||
} |
|||
else //485发送
|
|||
{ |
|||
ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[2], |
|||
sizeof(send_Handler->Tx_Buf) - 2); |
|||
pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
|
|||
send_Handler->Tx_Buf[0] = 0xfe; |
|||
send_Handler->Tx_Buf[1] = 0xfe; |
|||
//send_Handler->AddSendList(send_Handler,send_Handler->Tx_Buf,send_Handler->TxCount,NULL);
|
|||
send_Handler->TxCount = ReCmd_out_stream.bytes_written + 2; |
|||
//send_Handler->TxCount = 200;
|
|||
send_Handler->UART_Tx(send_Handler); |
|||
} |
|||
|
|||
} |
|||
|
|||
//send_Cmd.CommadNum=0xff;//代表返回信息
|
|||
//send_Cmd.Parameter0 代表执行的指令，发过来的命令号;
|
|||
//send_Cmd.Parameter1 1 代表成功，0 代表失败;
|
|||
//send_Cmd.databuf 存的是相关信息，可以通过ACII转成string;
|
|||
|
|||
void WrapInCmdAndSendMessage(ReCmd send_Cmd, int8_t functionNum, |
|||
int8_t isSuccess, uint8_t *buf, int8_t sendWay, |
|||
struct UARTHandler *send_Handler) |
|||
{ |
|||
|
|||
send_Cmd.CommadNum = 0xff; //代表返回信息
|
|||
send_Cmd.Parameter0 = functionNum; //代表返回信息
|
|||
send_Cmd.Parameter1 = isSuccess; //1 代表成功，0 代表失败;
|
|||
send_Cmd.Buff_Data_Length = strlen(buf); |
|||
WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler); |
|||
} |
|||
|
|||
void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
send_Cmd.CommadNum = 12; //定义12为设定Mqtt透传向上返回的数据
|
|||
send_Cmd.Buff_Data_Length = length; |
|||
|
|||
WrapInCmdAndSend(send_Cmd, buffer, 0, desulfurizer_message_UART_Handler); |
|||
|
|||
} |
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_ground_management.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(ground_management_struct, ground_management_struct, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,488 @@ |
|||
/*
|
|||
* bsp_quadspi_W25Q128.c |
|||
* |
|||
* Created on: Apr 25, 2021 |
|||
* Author: Administrator |
|||
* |
|||
* |
|||
* |
|||
* |
|||
* |
|||
*/ |
|||
#include <bsp_qspi_w25q128.h> |
|||
#include "quadspi.h" |
|||
|
|||
/* 仅限本文件使用的函数 */ |
|||
static void QSPI_W25Qx_Write_Enable(QSPI_HandleTypeDef *hqspi); |
|||
static uint8_t QSPI_W25Qx_AutoPollingMemRead(uint32_t Timeout); |
|||
static void QSPI_W25Qx_Enter(QSPI_HandleTypeDef *hqspi); |
|||
static void QSPI_W25Qx_Exit(QSPI_HandleTypeDef *hqspi); |
|||
|
|||
/**
|
|||
* 函数功能: 读取Flash状态并等待操作结束 |
|||
* 输入参数: Timeout：等待时间 |
|||
* |
|||
* 返回值: Flash的状态 |
|||
* 说明: |
|||
* |
|||
* |
|||
*/ |
|||
|
|||
|
|||
|
|||
static uint8_t QSPI_W25Qx_AutoPollingMemRead(uint32_t Timeout) |
|||
{ |
|||
QSPI_CommandTypeDef s_command={0}; |
|||
QSPI_AutoPollingTypeDef s_config={0}; |
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 配置自动轮询模式 */ |
|||
s_command.Instruction = READ_STATUS_REG1_CMD; //读取状态寄存器
|
|||
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
|
|||
s_command.DataMode = QSPI_DATA_1_LINE; //1线数据
|
|||
s_command.DummyCycles = 0; //无空周期
|
|||
|
|||
/* 配置自动轮询寄存器（不断查询状态寄存器bit0，等待其为0） */ |
|||
s_config.Match = 0x00; //等待其为0
|
|||
s_config.Mask = W25Q128FV_FSR_BUSY; //状态寄存器bit0
|
|||
s_config.MatchMode = QSPI_MATCH_MODE_AND; //逻辑与
|
|||
s_config.StatusBytesSize = 1; |
|||
s_config.Interval = 0x10; |
|||
s_config.AutomaticStop = QSPI_AUTOMATIC_STOP_ENABLE; |
|||
|
|||
/* 自动轮询模式等待编程结束 */ |
|||
if(HAL_QSPI_AutoPolling(&hqspi,&s_command,&s_config,Timeout) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
return FLASH_OK; |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 读取外部FLASH的ID |
|||
* 输入参数: 无 |
|||
* |
|||
* 返回值: uint32_t |
|||
* 说明: |
|||
* 1、使用SPI模式的指令 |
|||
* |
|||
*/ |
|||
uint32_t QSPI_W25Qx_ReadID(void) |
|||
{ |
|||
uint32_t uiID; |
|||
|
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
uint8_t buf[3]; |
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 读取JEDEC ID */ |
|||
s_command.Instruction = READ_JEDEC_ID_CMD; //读取ID命令: 0x9F
|
|||
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
|
|||
s_command.DataMode = QSPI_DATA_1_LINE; //1线数据
|
|||
s_command.DummyCycles = 0; //无空周期
|
|||
s_command.NbData = 3; //读取三个数据
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 启动接收 */ |
|||
if(HAL_QSPI_Receive(&hqspi,buf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
uiID = (buf[0] << 16) | (buf[1] << 8) | buf[2]; |
|||
|
|||
return uiID; |
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 外部FLASH写使能 |
|||
* 输入参数: hqspi QSPI_HandleTypeDef句柄 |
|||
* |
|||
* 返回值: 无 |
|||
* 说明: |
|||
* 1、使用SPI模式的指令 |
|||
* |
|||
*/ |
|||
static void QSPI_W25Qx_Write_Enable(QSPI_HandleTypeDef *hqspi) |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
QSPI_AutoPollingTypeDef s_config={0}; |
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
//s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 写入使能配置 */ |
|||
s_command.Instruction = WRITE_ENABLE_CMD; //写使能命令
|
|||
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
|
|||
s_command.DataMode = QSPI_DATA_NONE; //没有数据
|
|||
s_command.DummyCycles = 0; //无空周期
|
|||
s_command.NbData = 0; //空数据
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 配置自动轮询模式等待操作完成 */ |
|||
s_config.Match = W25Q128FV_FSR_WREN; |
|||
s_config.Mask = W25Q128FV_FSR_WREN; |
|||
s_config.MatchMode = QSPI_MATCH_MODE_AND; |
|||
s_config.StatusBytesSize = 1; |
|||
s_config.Interval = 0x10; |
|||
s_config.AutomaticStop = QSPI_AUTOMATIC_STOP_ENABLE; |
|||
|
|||
s_command.Instruction = READ_STATUS_REG1_CMD; |
|||
s_command.DataMode = QSPI_DATA_1_LINE; |
|||
s_command.NbData = 1; |
|||
|
|||
if(HAL_QSPI_AutoPolling(hqspi,&s_command,&s_config,HAL_QSPI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 擦除外部FLASH的扇区（大小：4KB) |
|||
* 输入参数: _uiSectorAddr: 扇区地址，以4KB为单位的地址，比如0，4096，8192等 |
|||
* |
|||
* 返回值: 无 |
|||
* 说明: |
|||
* 1、 |
|||
* |
|||
*/ |
|||
void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr) |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
|
|||
/* 写使能 */ |
|||
QSPI_W25Qx_Write_Enable(&hqspi); |
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 擦除扇区配置 */ |
|||
s_command.Instruction = SECTOR_ERASE_CMD; //扇区擦除指令
|
|||
s_command.AddressMode = QSPI_ADDRESS_1_LINE; //1线地址方式
|
|||
s_command.DataMode = QSPI_DATA_NONE; //没有数据
|
|||
s_command.Address = _SectorAddr; //扇区的首地址，保证是4KB整数倍
|
|||
s_command.DummyCycles = 0; //无空周期
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 自动轮询模式等待编程结束 */ |
|||
if(QSPI_W25Qx_AutoPollingMemRead(W25Q128FV_SUBSECTOR_ERASE_MAX_TIME) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 页编程，通过QSPI将数据写入外部FALSH |
|||
* 输入参数: _pBuf: 需要存入数据的指针 |
|||
* _write_Addr: 目标区域首地址，即页首地址，比如0，256，512等。 |
|||
* _write_Size: 数据个数，不能超过页的大小，可以填入（1 ~ 256） |
|||
* 返回值: 无 |
|||
* 说明: |
|||
* 1、华邦的W25Q128FV仅仅支持SPI模式写入 |
|||
*/ |
|||
uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size) |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
|
|||
/* 防止写入的大小超过256字节 */ |
|||
if(_write_Size > W25Q128FV_PAGE_SIZE) |
|||
{ |
|||
/* 进入断言，提示错误 */ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
QSPI_W25Qx_Write_Enable(&hqspi); //写使能
|
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/*写入序列配置 */ |
|||
s_command.Instruction = QUAD_INPUT_PAGE_PROG_CMD; //24位四线快速写入指令
|
|||
s_command.AddressMode = QSPI_ADDRESS_1_LINE; //1线地址方式
|
|||
s_command.DataMode = QSPI_DATA_4_LINES; //4线数据方式
|
|||
s_command.Address = _write_Addr; //写入数据的地址
|
|||
s_command.NbData = _write_Size; //写入数据的大小
|
|||
s_command.DummyCycles = 0; //无空周期
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 启动传输 */ |
|||
if(HAL_QSPI_Transmit(&hqspi,_pBuf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 自动轮询模式等待编程结束 */ |
|||
if(QSPI_W25Qx_AutoPollingMemRead(W25Q128FV_SUBSECTOR_ERASE_MAX_TIME) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
return 1; |
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 外部FLASH芯片进入QSPI模式 |
|||
* 输入参数: *hqspi: qspi句柄 |
|||
* |
|||
* 返回值: 无 |
|||
* 说明: |
|||
* |
|||
*/ |
|||
static void QSPI_W25Qx_Enter(QSPI_HandleTypeDef *hqspi) |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
/* 配置FLASH进入QPSI模式 */ |
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 写入序列配置 */ |
|||
s_command.Instruction = ENTER_QPI_MODE_CMD; //进入QSPI模式
|
|||
s_command.AddressMode = QSPI_ADDRESS_NONE; //无地址方式
|
|||
s_command.DataMode = QSPI_DATA_NONE; //无数据方式
|
|||
s_command.DummyCycles = 0; //0空闲状态周期
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 外部FLASH芯片退出QSPI模式 |
|||
* 输入参数: *hqspi: qspi句柄 |
|||
* |
|||
* 返回值: 无 |
|||
* 说明: |
|||
* |
|||
*/ |
|||
static void QSPI_W25Qx_Exit(QSPI_HandleTypeDef *hqspi) |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_4_LINES; //4线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 写入序列配置 */ |
|||
s_command.Instruction = EXIT_QPI_MODE_CMD; //进入QSPI模式
|
|||
s_command.AddressMode = QSPI_ADDRESS_NONE; //无地址方式
|
|||
s_command.DataMode = QSPI_DATA_NONE; //无数据方式
|
|||
s_command.DummyCycles = 0; //0空闲状态周期
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 连续读取若干字节，字节的个数不能超出芯片容量 |
|||
* 输入参数: _pBuf: 读取数据的存放地址 |
|||
* _read_Addr: 起始的地址 |
|||
* _read_Size: 数据个数，可以大于W25Q128FV_PAGE_SIZE,但不能超出芯片总容量 |
|||
* 返回值: 无 |
|||
* 说明: |
|||
* 1、从SPI模式切换到QSPI模式，读取完毕后切换回SPI模式（其他函数仅仅支持SPI模式）。 |
|||
*/ |
|||
void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size) |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
|
|||
/* 进入QSPI模式 */ |
|||
QSPI_W25Qx_Enter(&hqspi); |
|||
|
|||
/* 开始从FLASH读取数据 */ |
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_4_LINES; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/*读取序列配置 */ |
|||
s_command.Instruction = QUAD_INOUT_FAST_READ_CMD; //24位四线快速写入指令
|
|||
s_command.AddressMode = QSPI_ADDRESS_4_LINES; //4线地址方式
|
|||
s_command.DataMode = QSPI_DATA_4_LINES; //4线数据方式
|
|||
s_command.Address = _read_Addr; //写入数据的地址
|
|||
s_command.NbData = _read_Size; //写入数据的大小
|
|||
s_command.DummyCycles = 2; //两个空闲状态周期（4个时钟周期），结合时序理解
|
|||
|
|||
/* 发送指令 */ |
|||
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 读取数据 */ |
|||
if(HAL_QSPI_Receive(&hqspi,_pBuf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 退出QSPI模式 */ |
|||
QSPI_W25Qx_Exit(&hqspi); |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* 函数功能: 复位外部Flash |
|||
* 输入参数: 无 |
|||
* |
|||
* 返回值: void |
|||
* 说明: |
|||
* |
|||
*/ |
|||
void QSPI_W25Qx_Reset_Memory() |
|||
{ |
|||
QSPI_CommandTypeDef s_command = {0}; |
|||
|
|||
/* 基本配置 */ |
|||
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
|
|||
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
|
|||
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
|
|||
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
|
|||
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
|
|||
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
|
|||
|
|||
/* 复位使能W25x */ |
|||
s_command.Instruction = RESET_ENABLE_CMD; //复位使能命令
|
|||
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
|
|||
s_command.DataMode = QSPI_DATA_NONE; //没有数据
|
|||
s_command.DummyCycles = 0; //无空周期
|
|||
|
|||
/* 发送复位使能命令 */ |
|||
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 发送复位命令 */ |
|||
s_command.Instruction = RESET_MEMORY_CMD; //复位命令
|
|||
/* 发送复位使能命令 */ |
|||
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
/* 自动轮询模式等待等待完成 */ |
|||
if(QSPI_W25Qx_AutoPollingMemRead(HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK) |
|||
{ |
|||
user_Assert(__FILE__,__LINE__); |
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
/**
|
|||
* 函数功能: 检查代码异常，打印出异常的位置（文件名与行号） |
|||
* 输入参数: file: 源代码文件名称。关键字__FILE__表示源代码文件名。 |
|||
* line: 代码行号，关键字__LINE__表示源代码行号 |
|||
* 返回值： void |
|||
|
|||
* 说明: |
|||
* 1、在需要断言的地方直接调用user_Assert(__FILE__,__LINE__); |
|||
*/ |
|||
void user_Assert(char *file,uint32_t line) |
|||
{ |
|||
printf("Wrong parameters value: file %s on line %d\r\n",file, (unsigned int)line); |
|||
|
|||
/* 这是一个死循环，断言失败时程序会卡此处死机，以便于用户差错 */ |
|||
if(line == 0) |
|||
{ |
|||
return; |
|||
} |
|||
while(1) |
|||
{ |
|||
|
|||
} |
|||
} |
|||
|
|||
|
|||
/**
|
|||
* 函数功能: 读取Flash状态并等待操作结束 |
|||
* 输入参数: Timeout：等待时间 |
|||
* |
|||
* 返回值: Flash的状态 |
|||
* 说明: |
|||
* |
|||
* |
|||
*/ |
|||
|
|||
void QSPI_W25Qx_EraseDownLoadFlash() |
|||
{ |
|||
int i =0; |
|||
int count=CODE_FLASH_STORAGE_SIZE/4/1024; |
|||
for(i=0;i<=count;i++) |
|||
{ |
|||
QSPI_W25Qx_EraseSector(i*4*1024); |
|||
// HAL_Delay(10);
|
|||
} |
|||
i=10; |
|||
} |
|||
@ -0,0 +1,58 @@ |
|||
/*
|
|||
* bsp_slide_averager.c |
|||
* |
|||
* Created on: 2026年3月20日 |
|||
* Author: L1ng the codeGod |
|||
*/ |
|||
|
|||
#include <stdio.h> |
|||
#include <stdint.h> |
|||
#include "bsp_slide_averager.h" |
|||
|
|||
// 滑动均值配置（按需修改）
|
|||
#define WINDOW_SIZE 5 // 窗口长度
|
|||
|
|||
/**
|
|||
* @brief 初始化滑动均值的核心变量（替代结构体初始化） |
|||
* @param buffer: 窗口缓冲区（外部定义的数组） |
|||
* @param p_index: 指向当前写入索引的指针（外部定义的变量） |
|||
* @param p_count: 指向有效数据计数的指针（外部定义的变量） |
|||
*/ |
|||
void slide_averager_init(float buffer[], uint8_t *p_index, uint8_t *p_count) { |
|||
// 清空缓冲区
|
|||
for (uint8_t i = 0; i < WINDOW_SIZE; i++) { |
|||
buffer[i] = 0.0f; |
|||
} |
|||
// 初始化索引和计数
|
|||
*p_index = 0; |
|||
*p_count = 0; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 添加新数据并计算滑动均值（无结构体，全传参） |
|||
* @param buffer: 窗口缓冲区（外部数组） |
|||
* @param p_index: 当前写入索引（指针） |
|||
* @param p_count: 有效数据计数（指针） |
|||
* @param new_data: 新增原始数据 |
|||
* @retval 当前滑动均值 |
|||
*/ |
|||
float slide_averager_calc(float buffer[], uint8_t *p_index, uint8_t *p_count, float new_data) { |
|||
// 1. 存入新数据（覆盖最旧数据）
|
|||
buffer[*p_index] = new_data; |
|||
|
|||
// 2. 更新索引（循环滑动）
|
|||
*p_index = (*p_index + 1) % WINDOW_SIZE; |
|||
|
|||
// 3. 更新有效数据计数（窗口未满时累加）
|
|||
if (*p_count < WINDOW_SIZE) { |
|||
(*p_count)++; |
|||
} |
|||
|
|||
// 4. 计算均值
|
|||
float sum = 0.0f; |
|||
for (uint8_t i = 0; i < *p_count; i++) { |
|||
sum += buffer[i]; |
|||
} |
|||
return sum / *p_count; |
|||
} |
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "bsp_strain_gauge.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(Strain_Gauge_Struct, Strain_Gauge_Struct, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,81 @@ |
|||
/*
|
|||
* bsp_adc.c |
|||
* |
|||
* Created on: Feb 21, 2025 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#include <bsp_tempature.h> |
|||
#include "adc.h" |
|||
#include "BSP/bsp_include.h" |
|||
#include "stm32h7xx_hal_adc.h" |
|||
|
|||
#include <math.h> |
|||
|
|||
// 硬件相关参数配置
|
|||
#define ADC_MAX_VALUE 0xffff // 16位ADC最大值，若为10位ADC改为1023
|
|||
#define VREF 3.3f // ADC参考电压
|
|||
|
|||
// 热敏电阻参数 (需根据实际型号确认)
|
|||
#define R_REF 10000.0f // 分压电阻阻值(与热敏电阻串联)
|
|||
#define B_VALUE 3380.0f // B常数 (需确认具体型号参数)
|
|||
#define R0 10000.0f // 25°C时的标称阻值
|
|||
#define T0 298.15f // 25°C对应的开尔文温度(25 + 273.15)
|
|||
int32_t adc_value; |
|||
|
|||
void GF_ADC_Collect(); |
|||
|
|||
int32_t * tempature; |
|||
|
|||
void ADC_Intialize() |
|||
{ |
|||
|
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback, GF_ADC_Collect); |
|||
} |
|||
|
|||
void GF_ADC_Collect() |
|||
{ |
|||
*tempature = read_temperature(); |
|||
} |
|||
int32_t read_temperature() |
|||
{ |
|||
|
|||
HAL_ADC_Start(&hadc2); //开启ADC1
|
|||
|
|||
if (HAL_ADC_PollForConversion(&hadc2, 100) == HAL_OK) |
|||
{ |
|||
//16 bit resolution
|
|||
adc_value = HAL_ADC_GetValue(&hadc2); |
|||
|
|||
HAL_ADC_Stop(&hadc2); |
|||
// 1. 计算热敏电阻两端电压
|
|||
float voltage = (adc_value / (float) ADC_MAX_VALUE) * VREF; |
|||
|
|||
// 2. 计算热敏电阻阻值（分压电路公式）
|
|||
float ntc_resistance = (voltage * R_REF) / (VREF - voltage); |
|||
//float ntc_resistance = (voltage * R_REF) / (VREF);
|
|||
// 3. 使用Steinhart-Hart方程计算温度
|
|||
float steinhart; |
|||
steinhart = ntc_resistance / R0; // (R/R0)
|
|||
steinhart = log(steinhart); // ln(R/R0)
|
|||
steinhart /= B_VALUE; // 1/B * ln(R/R0)
|
|||
steinhart += 1.0 / T0; // + (1/T0)
|
|||
steinhart = 1.0 / steinhart; // 取倒数得到开尔文温度
|
|||
|
|||
|
|||
// 4. 转换为摄氏度并返回
|
|||
return (int32_t)((steinhart - 273.15)*100); |
|||
} |
|||
else |
|||
{ |
|||
adc_value = 0; |
|||
HAL_ADC_Stop(&hadc2); |
|||
return 0; |
|||
} |
|||
|
|||
} |
|||
|
|||
int32_t temperature; |
|||
|
|||
|
|||
@ -0,0 +1,404 @@ |
|||
/*
|
|||
* change_line_control.c |
|||
* |
|||
* Created on: 2025年8月12日 |
|||
* Author: xsq |
|||
*/ |
|||
#include "change_line_control.h" |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
#define Veritical_To_Left_Flag 1 |
|||
#define Veritical_To_Right_Flag 2 |
|||
|
|||
|
|||
int LaneChangeWaittime_ms = 0; |
|||
/*
|
|||
* return: ms |
|||
*/ |
|||
int32_t RunTime_DistanceCm_SpeedE_2MPMin(); |
|||
int LaneChangeWaittime = 0; |
|||
|
|||
char LaneChangeFlage = -1; |
|||
|
|||
|
|||
Lane_Vertical_ChangeState Current_Vertical_ChangeState; |
|||
|
|||
LaneChangeControlSTATE VerticalLaneChangeState; /*当前换道处于开始或者结束*/ |
|||
|
|||
/* 手动换道
|
|||
* 换道依据当前车头朝向 |
|||
// * */
|
|||
//int LaneChangeControl_Paint()
|
|||
//{
|
|||
////机器人SA按键处于中间状态
|
|||
//// if (P_MK32->CH4_SA == 0)
|
|||
//// {
|
|||
//// VerticalLaneChangeState = Lane_Change_Start;
|
|||
//// Current_Vertical_ChangeState = VerticalChange_StateZero;
|
|||
////
|
|||
//// if (abs(GV.Robot_Angle_Desire - CV.RobotUpAngleValue) //头朝上
|
|||
//// <= 45 * 100)
|
|||
//// {
|
|||
//// if (GV.PV.RunMode == Move_Vertical_Move_To_Left)
|
|||
//// {
|
|||
//// LaneChangeFlage = Veritical_To_Left_Flag;
|
|||
////
|
|||
//// }
|
|||
//// if (GV.PV.RunMode == Move_Vertical_Move_To_Right)
|
|||
//// {
|
|||
//// LaneChangeFlage = Veritical_To_Right_Flag;
|
|||
////
|
|||
//// }
|
|||
//// return 0;
|
|||
//// }
|
|||
//// LaneChangeFlage = -1;
|
|||
//// return 0;
|
|||
//// }
|
|||
////
|
|||
//// if (P_MK32->CH4_SA == -1000) /*竖直上or水平换道*/
|
|||
//// {
|
|||
////
|
|||
//// if (GV.PV.RunMode != Move_Vertical_Move_To_Left
|
|||
//// && GV.PV.RunMode != Move_Vertical_Move_To_Right)/*竖直换道*/
|
|||
//// {
|
|||
//// return 1;
|
|||
//// }
|
|||
////
|
|||
////
|
|||
//// if (VerticalLaneChangeState != Lane_Change_Start)
|
|||
//// {
|
|||
//// fsm_state_set(¤t_robot_move_state, &robot_halt_state);
|
|||
//// return 1;
|
|||
//// }
|
|||
////
|
|||
//// if (LaneChangeFlage == Veritical_To_Left_Flag) /*向左作业*/
|
|||
//// {
|
|||
//// Vertical_Lane_Change_From_Right_To_Left_UP_Control(); /*竖直上换道*/
|
|||
//// return 1;
|
|||
//// }
|
|||
//// if (LaneChangeFlage == Veritical_To_Right_Flag) /*向右作业*/
|
|||
//// {
|
|||
//// Vertical_Lane_Change_From_Left_To_Right_UP_Control(); /*竖直上换道*/
|
|||
//// return 1;
|
|||
//// }
|
|||
//// return 1;
|
|||
////
|
|||
//// }
|
|||
////
|
|||
//// if (P_MK32->CH4_SA == 1000) //竖直下换道
|
|||
//// {
|
|||
//// if (GV.PV.RunMode != Move_Vertical_Move_To_Left
|
|||
//// && GV.PV.RunMode != Move_Vertical_Move_To_Right)
|
|||
//// {
|
|||
//// return 1;
|
|||
//// }
|
|||
////
|
|||
//// if (VerticalLaneChangeState != Lane_Change_Start) /*换道结束了*/
|
|||
//// {
|
|||
//// fsm_state_set(¤t_robot_move_state, &robot_halt_state);
|
|||
//// return 1;
|
|||
//// }
|
|||
//// if (LaneChangeFlage == Veritical_To_Left_Flag) /*向左作业*/
|
|||
//// {
|
|||
//// Vertical_Lane_Change_From_Right_To_Left_Down_Control(); /*竖直下换道*/
|
|||
//// return 1;
|
|||
//// }
|
|||
//// if (LaneChangeFlage == Veritical_To_Right_Flag) /*向右作业*/
|
|||
//// {
|
|||
//// Vertical_Lane_Change_From_Left_To_Right_Down_Control(); /*竖直下换道*/
|
|||
//// return 1;
|
|||
//// }
|
|||
//// return 1;
|
|||
//// }
|
|||
////
|
|||
//// return 0;
|
|||
//
|
|||
//}
|
|||
//
|
|||
//
|
|||
//
|
|||
///* 竖直从左往右作业 上端 向右换道 最终头朝上
|
|||
// * */
|
|||
//void Vertical_Lane_Change_From_Left_To_Right_UP_Control()
|
|||
//{
|
|||
//
|
|||
// GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min);
|
|||
// switch (Current_Vertical_ChangeState)
|
|||
// {
|
|||
// case VerticalChange_StateZero:
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToLeft;
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToLeft:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotLeftAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking)
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_left_enum_state); /* 移动至头朝左 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
//
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_horizontal_task_backwards_left_state);/* 水平纠偏后退 头朝左*/
|
|||
// //开启计时
|
|||
// timer_handler_1.start_timer = 1;
|
|||
// Current_Vertical_ChangeState = VerticalChange_DelayMove;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_DelayMove:
|
|||
// {
|
|||
// LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin();
|
|||
// if (CompareTimer(LaneChangeWaittime, &timer_handler_1))
|
|||
// {
|
|||
//
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToUP;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToUP:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotUpAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking)
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_up_enum_state); /* 移动至头朝上 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_End;
|
|||
// }
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_End:
|
|||
// {
|
|||
// VerticalLaneChangeState = Lane_Change_Stop;
|
|||
// break;
|
|||
// }
|
|||
// default:
|
|||
// break;
|
|||
// }
|
|||
//}
|
|||
//
|
|||
///* 竖直从左往右作业 下端 向右换道 最终头朝上
|
|||
// * */
|
|||
//void Vertical_Lane_Change_From_Left_To_Right_Down_Control()
|
|||
//{
|
|||
//
|
|||
// GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min);
|
|||
// switch (Current_Vertical_ChangeState)
|
|||
// {
|
|||
// case VerticalChange_StateZero:
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToRight;
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToRight:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotRightAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking)
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_right_enum_state); /* 移动至头朝右 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
//
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_horizontal_task_forwards_right_state);/* 水平纠偏前进 头朝右*/
|
|||
// //开启计时
|
|||
// timer_handler_1.start_timer = 1;
|
|||
// Current_Vertical_ChangeState = VerticalChange_DelayMove;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_DelayMove:
|
|||
// {
|
|||
// LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin();
|
|||
// if (CompareTimer(LaneChangeWaittime, &timer_handler_1))
|
|||
// {
|
|||
//
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToUP;
|
|||
//
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToUP:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotUpAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking) //误差在1度内
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_up_enum_state); /* 移动至头朝上 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_End;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_End:
|
|||
// {
|
|||
// VerticalLaneChangeState = Lane_Change_Stop;
|
|||
// break;
|
|||
// }
|
|||
// default:
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
//}
|
|||
//
|
|||
//
|
|||
///* 竖直从右往左作业 上端 向左换道 最终头朝上
|
|||
// * */
|
|||
//void Vertical_Lane_Change_From_Right_To_Left_UP_Control()
|
|||
//{
|
|||
//
|
|||
// GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min);
|
|||
// switch (Current_Vertical_ChangeState)
|
|||
// {
|
|||
// case VerticalChange_StateZero:
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToRight;
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToRight:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotRightAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking)
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_right_enum_state); /* 移动至头朝右 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
//
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_horizontal_task_backwards_right_state);/* 水平纠偏后退 头朝右*/
|
|||
// //开启计时
|
|||
// timer_handler_1.start_timer = 1;
|
|||
// Current_Vertical_ChangeState = VerticalChange_DelayMove;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_DelayMove:
|
|||
// {
|
|||
// LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin();
|
|||
// if (CompareTimer(LaneChangeWaittime, &timer_handler_1))
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToUP;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToUP:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotUpAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking)
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_up_enum_state); /* 移动至头朝上 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_End;
|
|||
// }
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_End:
|
|||
// {
|
|||
// VerticalLaneChangeState = Lane_Change_Stop;
|
|||
// break;
|
|||
// }
|
|||
// default:
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
//}
|
|||
//
|
|||
///* 竖直从右往左作业 下端 向左换道 最终头朝上
|
|||
// * */
|
|||
//void Vertical_Lane_Change_From_Right_To_Left_Down_Control()
|
|||
//{
|
|||
//
|
|||
// GV.Robot_Move_Speed = speed_M_min_toE01_M_min( CV.Lane_Change_Speed_m_per_min);//转完 前进or后退得速度
|
|||
// switch (Current_Vertical_ChangeState)
|
|||
// {
|
|||
// case VerticalChange_StateZero:
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToLeft;
|
|||
//
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToLeft:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotLeftAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking)
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_left_enum_state); /* 移动至头朝左 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_horizontal_task_forwards_left_state);/* 水平纠偏前进 头朝左*/
|
|||
// //开启计时
|
|||
// timer_handler_1.start_timer = 1;
|
|||
// Current_Vertical_ChangeState = VerticalChange_DelayMove;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_DelayMove:
|
|||
// {
|
|||
// LaneChangeWaittime = RunTime_DistanceCm_SpeedE_2MPMin();
|
|||
// if (CompareTimer(LaneChangeWaittime, &timer_handler_1))
|
|||
// {
|
|||
//
|
|||
// Current_Vertical_ChangeState = VerticalChange_TurnToUP;
|
|||
//
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_TurnToUP:
|
|||
// {
|
|||
// if (abs(GV.Robot_Angle_Desire - CV.RobotUpAngleValue)
|
|||
// >= CV.Allowable_Error_For_Angle_Tracking) //误差在1度内
|
|||
// {
|
|||
// fsm_state_set(¤t_robot_move_state,
|
|||
// &robot_move_head_to_up_enum_state); /* 移动至头朝上 */
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// Current_Vertical_ChangeState = VerticalChange_End;
|
|||
// }
|
|||
// break;
|
|||
// }
|
|||
// case VerticalChange_End:
|
|||
// {
|
|||
// VerticalLaneChangeState = Lane_Change_Stop;
|
|||
// break;
|
|||
// }
|
|||
// default:
|
|||
// break;
|
|||
// }
|
|||
//
|
|||
//}
|
|||
//
|
|||
///*
|
|||
// * return: ms
|
|||
// */
|
|||
//int32_t RunTime_DistanceCm_SpeedE_2MPMin()
|
|||
//{
|
|||
//
|
|||
//// LaneChangeWaittime_ms = 600 * (GV.PV.LaneChangeDistance+CV.Vertical_ChangeLane_Compensation)
|
|||
//// / CV.Lane_Change_Speed_m_per_min;
|
|||
////
|
|||
//// return LaneChangeWaittime_ms;
|
|||
//
|
|||
//}
|
|||
|
|||
@ -0,0 +1,51 @@ |
|||
/*
|
|||
* fsm.c |
|||
* |
|||
* Created on: 2025年7月14日 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "fsm_state.h" |
|||
#include "stdint.h" |
|||
|
|||
|
|||
|
|||
|
|||
void fsm_state_run(transition_t* p_this) |
|||
{ |
|||
// turnstile_pass(&turnstile)
|
|||
if (p_this->p_state->robotRun!= NULL) |
|||
{ |
|||
p_this->p_state->robotRun(p_this); |
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
//修改状态机状态，若状态机修改后，则查看是否有enter 和 exit命令进行运动
|
|||
void fsm_state_set(transition_t* p_this, transition_state_t* p_new_state) |
|||
{ |
|||
if(p_this==NULL){return;} |
|||
// turnstile_pass(&turnstile)
|
|||
if (p_this->p_state!= p_new_state) /* 状态不等 */ |
|||
{ |
|||
if (p_this->p_state->robotExit!=NULL) |
|||
{ |
|||
p_this->p_state->robotExit(p_this); |
|||
} |
|||
|
|||
p_this->p_state = p_new_state; |
|||
if (p_this->p_state->robotEnter != NULL) |
|||
{ |
|||
p_this->p_state->robotEnter(p_this); |
|||
} |
|||
//exit
|
|||
|
|||
} |
|||
|
|||
} |
|||
//状态机初始化设定
|
|||
void fsm_state_init(transition_t* p_this,transition_state_t* inti_state) |
|||
{ |
|||
p_this->p_state =inti_state; |
|||
} |
|||
|
|||
@ -0,0 +1,414 @@ |
|||
/*
|
|||
* fsm_state_control.c |
|||
* |
|||
* Created on: Jan 13, 2026 |
|||
* Author: bm673 |
|||
*/ |
|||
|
|||
/*=========================== 1. 头文件包含 ===========================*/ |
|||
#include "fsm_state_control.h" |
|||
#include "Handset_Status_Setting.h" |
|||
#include "robot_move_actions.h" |
|||
#include "paint_gun_action.h" |
|||
#include "swing_action.h" |
|||
#include "motors_power_action.h" |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
/*=========================== 2. 宏定义 ===========================*/ |
|||
/* 本文件无宏定义，预留 */ |
|||
|
|||
/*=========================== 3. 类型定义 ===========================*/ |
|||
/* 本文件无自定义类型，预留 */ |
|||
|
|||
/*=========================== 4. 全局变量 ===========================*/ |
|||
/* 调试变量（普通全局变量） */ |
|||
Robot_Mode g_debug_prev_mode = Halt_Mode; |
|||
InputEvent g_debug_curr_key = INPUT_NONE; |
|||
ActionFunc g_debug_current_action_func = NULL; |
|||
int error_detcet=0; //获取机器人错误
|
|||
uint32_t NVIC_Priority_Group; // 中断优先级分组
|
|||
uint32_t TIM8_PreemptPrio; // 定时器8 抢占优先级
|
|||
uint32_t TIM8_SubPrio; // 定时器8 子优先级
|
|||
|
|||
/*=========================== 5. 静态函数声明 ===========================*/ |
|||
/* 组函数（仅本文件使用） */ |
|||
static void manual_forward_group(void); |
|||
static void manual_backward_group(void); |
|||
static void manual_left_group(void); |
|||
static void manual_right_group(void); |
|||
static void manual_auto_group(void); |
|||
static void horizontal_forward_group(void); |
|||
static void horizontal_backward_group(void); |
|||
static void weld_auto_group(void); |
|||
static void change_Road_group(void); |
|||
static void vertical_forward_group(void); /* 虽未在表中使用，但保留 */ |
|||
static void vertical_backward_group(void); |
|||
static void horizontal_auto_group(void); |
|||
static void vertical_auto_group(void); |
|||
static void Emergency_Stop_group(void); |
|||
// 读取指定中断的抢占/子优先级，存入全局变量
|
|||
void Read_IRQ_Priority(IRQn_Type IRQn, uint32_t *preempt, uint32_t *sub); |
|||
|
|||
/*=========================== 6. 函数指针表 ===========================*/ |
|||
/* 动作映射表：模式 × 按键 -> 执行函数 */ |
|||
ActionFunc actionTable[MODE_COUNT][KEY_COUNT] = { |
|||
// Halt_Mode - 所有输入都无操作
|
|||
[Halt_Mode] = { [0 ... KEY_COUNT-1] = Robot_Stop }, |
|||
|
|||
// Manual_Mode - 手动模式
|
|||
[Manual_Mode] = { |
|||
[INPUT_ROCKER_STOP] = Robot_Stop, |
|||
[INPUT_ROCKER_FORWARD] = manual_forward_group, |
|||
[INPUT_ROCKER_BACKWARD] = manual_backward_group, |
|||
[INPUT_ROCKER_TURN_LEFT] = manual_left_group, |
|||
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, |
|||
[INPUT_KEY_FORWARD_CRUISE] = manual_forward_group, |
|||
[INPUT_KEY_BACKWARD_CRUISE] = manual_backward_group, |
|||
[INPUT_KEY_AUTO_WORK_UP] = manual_auto_group, |
|||
[INPUT_KEY_LANE_CHANGE_UP] = Robot_Stop, |
|||
[EMERGENCE_STOP] = Emergency_Stop_group, |
|||
|
|||
}, |
|||
|
|||
// Horizontal_Mode - 水平模式
|
|||
[Horizontal_Mode] = { |
|||
[INPUT_ROCKER_STOP] = Robot_Stop, |
|||
[INPUT_ROCKER_FORWARD] = horizontal_forward_group, |
|||
[INPUT_ROCKER_BACKWARD] = horizontal_backward_group, |
|||
[INPUT_ROCKER_TURN_LEFT] = manual_left_group, |
|||
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, //等待调整 INPUT_KEY_FORWARD_CRUISE
|
|||
[INPUT_KEY_FORWARD_CRUISE] = horizontal_forward_group, |
|||
[INPUT_KEY_BACKWARD_CRUISE] = horizontal_backward_group, |
|||
[INPUT_KEY_AUTO_WORK_UP] = horizontal_auto_group, |
|||
[INPUT_KEY_LANE_CHANGE_UP] = change_Road_group, |
|||
[EMERGENCE_STOP] = Emergency_Stop_group, |
|||
// 其他按键暂未实现，留空（NULL）
|
|||
}, |
|||
|
|||
// Flat_Mode - 暂时用于焊缝模式（预留）
|
|||
[Flat_Mode] = { |
|||
[INPUT_ROCKER_STOP] = Robot_Stop, |
|||
[INPUT_ROCKER_FORWARD] = manual_forward_group, |
|||
[INPUT_ROCKER_BACKWARD] = manual_backward_group, |
|||
[INPUT_ROCKER_TURN_LEFT] = manual_left_group, |
|||
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, |
|||
[INPUT_KEY_AUTO_WORK_UP] = weld_auto_group, |
|||
[EMERGENCE_STOP] = Emergency_Stop_group, |
|||
// 暂时用于焊缝跟踪
|
|||
}, |
|||
|
|||
// Vertical_Mode_Left - 左侧垂直模式
|
|||
[Vertical_Mode_Left] = { |
|||
[INPUT_ROCKER_STOP] = Robot_Stop, |
|||
[INPUT_ROCKER_FORWARD] = vertical_forward_group, // 注意：水平前进，可能是复用
|
|||
[INPUT_ROCKER_BACKWARD] = vertical_backward_group, |
|||
[INPUT_ROCKER_TURN_LEFT] = manual_left_group, |
|||
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, //等待调整
|
|||
[INPUT_KEY_FORWARD_CRUISE] = vertical_forward_group, |
|||
[INPUT_KEY_BACKWARD_CRUISE] = vertical_backward_group, |
|||
[INPUT_KEY_LANE_CHANGE_UP] = change_Road_group, |
|||
[INPUT_KEY_AUTO_WORK_UP] = vertical_auto_group, |
|||
[EMERGENCE_STOP] = Emergency_Stop_group, |
|||
// 其他预留
|
|||
}, |
|||
|
|||
// Vertical_Mode_Right - 右侧垂直模式（预留）
|
|||
[Vertical_Mode_Right] = { |
|||
[INPUT_ROCKER_STOP] = Robot_Stop, |
|||
[INPUT_ROCKER_FORWARD] = vertical_forward_group, // 注意：水平前进，可能是复用
|
|||
[INPUT_ROCKER_BACKWARD] = vertical_backward_group, |
|||
[INPUT_ROCKER_TURN_LEFT] = manual_left_group, |
|||
[INPUT_ROCKER_TURN_RIGHT] = manual_right_group, //等待调整
|
|||
[INPUT_KEY_FORWARD_CRUISE] = vertical_forward_group, |
|||
[INPUT_KEY_BACKWARD_CRUISE] = vertical_backward_group, |
|||
[INPUT_KEY_LANE_CHANGE_UP] = change_Road_group, |
|||
[INPUT_KEY_AUTO_WORK_UP] = vertical_auto_group, |
|||
[EMERGENCE_STOP] = Emergency_Stop_group, |
|||
// 未实现
|
|||
}, |
|||
|
|||
// Regional_Horizontal_Automatic_Task - 区域水平自动任务
|
|||
[Regional_Horizontal_Automatic_Task] = { |
|||
// 未实现
|
|||
}, |
|||
|
|||
// Regional_Flat_Automatic_Task - 区域平面自动任务
|
|||
[Regional_Flat_Automatic_Task] = { |
|||
// 未实现
|
|||
} |
|||
|
|||
}; |
|||
|
|||
/*=========================== 7. 静态函数实现 ===========================*/ |
|||
/*-------------------------------------------------------------------
|
|||
* 组函数实现（静态） |
|||
*-------------------------------------------------------------------*/ |
|||
static void manual_forward_group(void) |
|||
{ |
|||
Manually_Forward(); |
|||
PaintGun_Contronl(); |
|||
Robot_Swing_Operation_Function(); |
|||
|
|||
} |
|||
|
|||
static void manual_backward_group(void) |
|||
{ |
|||
Manually_Backward(); |
|||
PaintGun_Contronl(); |
|||
Robot_Swing_Operation_Function(); |
|||
|
|||
} |
|||
|
|||
static void manual_left_group(void) |
|||
{ |
|||
Turn_Left(); |
|||
PaintGun_Contronl(); |
|||
Robot_Swing_Operation_Function(); |
|||
|
|||
} |
|||
|
|||
static void manual_right_group(void) |
|||
{ |
|||
Turn_Right(); |
|||
PaintGun_Contronl(); |
|||
Robot_Swing_Operation_Function(); |
|||
|
|||
} |
|||
|
|||
static void horizontal_forward_group(void) |
|||
{ |
|||
GV.Robot_Desired_Speed=GV.Robot_Move_Speed; |
|||
horizontal_forward(); |
|||
PaintGun_Contronl_Press(); |
|||
Robot_Swing_Operation_Function(); |
|||
|
|||
/* 若需喷枪控制，可在此添加 */ |
|||
} |
|||
static void horizontal_backward_group(void) |
|||
{ |
|||
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; |
|||
horizontal_forward(); |
|||
PaintGun_Contronl_Press(); |
|||
Robot_Swing_Operation_Function(); |
|||
/* 若需喷枪控制，可在此添加 */ |
|||
} |
|||
|
|||
static void manual_auto_group(void) |
|||
{ |
|||
Move_Manual_Auto_Sub_Func(); |
|||
PaintGun_Contronl_Press(); |
|||
} |
|||
|
|||
static void horizontal_auto_group(void) |
|||
{ |
|||
// horizontal_work();
|
|||
Move_Horizontal_Auto_Sub_Func(); |
|||
PaintGun_Contronl_Press(); |
|||
/* 若需喷枪控制，可在此添加 */ |
|||
} |
|||
|
|||
static void weld_auto_group(void) |
|||
{ |
|||
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; |
|||
Weld_Auto_Sub_Func(); |
|||
PaintGun_Contronl_Press(); |
|||
/* 若需喷枪控制，可在此添加 */ |
|||
} |
|||
|
|||
static void change_Road_group(void) |
|||
{ |
|||
Change_Road_Func(); |
|||
PaintGun_Contronl_Press(); |
|||
/* 若需喷枪控制，可在此添加 */ |
|||
} |
|||
|
|||
|
|||
static void vertical_forward_group(void) |
|||
{ |
|||
GV.Robot_Desired_Speed=GV.Robot_Move_Speed; |
|||
vertical_forward(); |
|||
PaintGun_Contronl_Press(); |
|||
Robot_Swing_Operation_Function(); |
|||
} |
|||
|
|||
static void vertical_backward_group(void) |
|||
{ |
|||
GV.Robot_Desired_Speed=-GV.Robot_Move_Speed; |
|||
vertical_forward(); |
|||
PaintGun_Contronl_Press(); |
|||
Robot_Swing_Operation_Function(); |
|||
} |
|||
|
|||
static void vertical_auto_group(void) |
|||
{ |
|||
// horizontal_work();
|
|||
Move_Vertical_Auto_Sub_Func(); |
|||
PaintGun_Contronl_Press(); |
|||
/* 若需喷枪控制，可在此添加 */ |
|||
} |
|||
|
|||
static void Emergency_Stop_group(void) |
|||
{ |
|||
Emergency_Stop_Action(); |
|||
Is_All_Button_Reset = 0; |
|||
} |
|||
|
|||
/*=========================== 8. 对外接口函数（需外部调用） ===========================*/ |
|||
int AbnormalDetect(void); |
|||
/*-------------------------------------------------------------------
|
|||
* 初始化函数 |
|||
*-------------------------------------------------------------------*/ |
|||
void Fsm_Init(void) |
|||
{ |
|||
// 原注释掉的初始化代码
|
|||
// current_robot_move_state.p_state = &robot_halt_state;
|
|||
// current_paintgun_state.p_state = &paintgun_off_state;
|
|||
// current_motor_power_state.p_state = &motor_power_off_state;
|
|||
|
|||
|
|||
GV.GroundManagementValue.MaualControlPower=0; |
|||
|
|||
GF_BSP_Interrupt_Add_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Dispatch); |
|||
} |
|||
|
|||
/*-------------------------------------------------------------------
|
|||
* 主调度函数（2ms 周期调用） |
|||
*-------------------------------------------------------------------*/ |
|||
Robot_Mode g_debug_pre_mode = Halt_Mode; |
|||
int robot_start_flag=0; |
|||
int watch_dog=0; |
|||
void GF_Dispatch(void) |
|||
{ |
|||
Read_IRQ_Priority(TIM8_UP_TIM13_IRQn, &TIM8_PreemptPrio, &TIM8_SubPrio); |
|||
static int32_t start_time=0; //机器人上电启动时间约30s
|
|||
if(start_time<20000) |
|||
{ |
|||
start_time++; |
|||
//SystemErrorCode = 0;
|
|||
} |
|||
else |
|||
{ |
|||
error_detcet=AbnormalDetect(); |
|||
IV.robot_start=2; //表示机器人成功启动
|
|||
} |
|||
|
|||
|
|||
IV_control(); |
|||
|
|||
static Robot_Mode prev_mode = Halt_Mode; |
|||
static InputEvent prev_key = INPUT_ROCKER_STOP; |
|||
static ActionFunc prev_action_func = NULL; |
|||
g_debug_pre_mode=prev_mode; |
|||
|
|||
// 获取当前模式和按键
|
|||
InputEvent curr_key = RemoteControl_GetKeyIndex(prev_mode); |
|||
|
|||
// 仅按键变化时更新动作
|
|||
if (curr_key != prev_key) |
|||
{ |
|||
robot_start_flag=1; |
|||
PV_control(); |
|||
prev_mode = RobotRockerState(); |
|||
prev_key = curr_key; |
|||
|
|||
//若有错误只保留手动模式
|
|||
if(error_detcet) |
|||
{ |
|||
prev_mode=Manual_Mode; |
|||
} |
|||
|
|||
prev_action_func = actionTable[prev_mode][prev_key]; |
|||
|
|||
} |
|||
|
|||
// 执行动作
|
|||
if (prev_action_func != NULL) |
|||
{ |
|||
prev_action_func(); |
|||
g_debug_current_action_func = prev_action_func; |
|||
} |
|||
|
|||
if(robot_start_flag==0) //保证上电之后摆臂就能动,不加这句的话，就要先动其它摇杆，摆臂才能动
|
|||
{ |
|||
Robot_Swing_Operation_Function(); |
|||
} |
|||
|
|||
flag_reset(); |
|||
|
|||
// 更新调试变量
|
|||
g_debug_prev_mode = prev_mode; |
|||
g_debug_curr_key = curr_key; |
|||
Compensation_Update(); |
|||
get_weld_data(); |
|||
} |
|||
|
|||
/*-------------------------------------------------------------------
|
|||
* 异常检测 |
|||
*-------------------------------------------------------------------*/ |
|||
int cnt=0; |
|||
int AbnormalDetect(void) |
|||
{ |
|||
|
|||
/* SBUS 出错 */ |
|||
if (Get_BIT(SystemErrorCode, ComError_Mk32_SBus) == DISCONNECTED |
|||
||(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID1_LeftMotor) == DISCONNECTED) |
|||
||(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID2_RightMotor) == DISCONNECTED) |
|||
||(Get_BIT(SystemErrorCode, ComError_ZQ_CAN_ID3_SwingMotor) == DISCONNECTED) |
|||
||(Get_BIT(SystemErrorCode, ComError_Ground_Management) == DISCONNECTED)) |
|||
{ |
|||
cnt++; |
|||
if(cnt>250) |
|||
{ |
|||
//触发软急停
|
|||
GV.GroundManagementValue.MaualControlPower=1; |
|||
GV.GroundManagementValue.MaualPowerState=0; |
|||
cnt=0; |
|||
return 1; |
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
/* 串口出错 */ |
|||
if (Get_BIT(SystemErrorCode, ComError_MK32_Serial) == DISCONNECTED) |
|||
{ |
|||
return 2; |
|||
} |
|||
|
|||
|
|||
|
|||
/* 陀螺仪无信号 */ |
|||
if (Get_BIT(SystemErrorCode, ComError_TL720D) == DISCONNECTED) |
|||
{ |
|||
return 4; |
|||
} |
|||
|
|||
|
|||
/* 遥控器关机或失联 */ |
|||
if (P_MK32->IsOnline == 0) |
|||
{ |
|||
GV.GroundManagementValue.MaualControlPower=1; |
|||
GV.GroundManagementValue.MaualPowerState=0; |
|||
Is_All_Button_Reset = 0; |
|||
return 6; |
|||
} |
|||
|
|||
|
|||
/* 按钮未复位 */ |
|||
if (Get_BIT(SystemErrorCode, ComError_MK32_InitialState) != Has_Reset) |
|||
{ |
|||
return 3; |
|||
} |
|||
|
|||
|
|||
return 0; |
|||
} |
|||
|
|||
|
|||
// 读取指定中断的抢占/子优先级，存入全局变量
|
|||
void Read_IRQ_Priority(IRQn_Type IRQn, uint32_t *preempt, uint32_t *sub) |
|||
{ |
|||
// 调用你官方的4参数HAL函数
|
|||
HAL_NVIC_GetPriority(IRQn, NVIC_Priority_Group, preempt, sub); |
|||
} |
|||
@ -0,0 +1,279 @@ |
|||
/*
|
|||
* motor.c |
|||
* |
|||
* Created on: 2026年1月29日 |
|||
* Author: bm673 |
|||
*/ |
|||
#include "motors.h" |
|||
#include "msp_TTMotor_ZQ.h" |
|||
|
|||
|
|||
FDCANHandler *Roughening_Motor_Controller; |
|||
FDCANHandler *Roughening_Motor_Controller_CAN2; |
|||
DispacherController *Roughening_DispacherController; |
|||
DispacherController *Roughening_DispacherController_CAN2; |
|||
|
|||
|
|||
char TT_Motor_Need_To_Activate = 1; |
|||
char TT_Motor_Need_To_Activate_1 = 1; |
|||
|
|||
float Move_Base_Speed_Count_m_Min=201.7*7.64;//天太电机1m/min
|
|||
float Swing_Speed_Deg_Sencond_motor=201.7;//HJ32-121
|
|||
int middle_position_motor=-944334; |
|||
#define TT_One_Deg_Count_motor 11014///32768*121/360(减速比121)=11014
|
|||
|
|||
//MotorParameters *TT_Motor[7];
|
|||
|
|||
|
|||
void MotorCommandsLoop(); |
|||
|
|||
void MotorCommandsLoop_2(); |
|||
void MotorCommandsLoop_2_Position(); |
|||
void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length); |
|||
void Roughening_MotorDecodeCAN2(uint32_t canID, uint8_t *buffer, uint32_t length); |
|||
extern int32_t start_time; |
|||
|
|||
void Motor_Controller_intialize(FDCANHandler *Handler) |
|||
{ |
|||
//初始化
|
|||
Roughening_Motor_Controller = Handler; |
|||
Roughening_Motor_Controller->CAN_Decode = Roughening_MotorDecodeCAN; |
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor", 1, ComError_ZQ_CAN_ID1_LeftMotor); |
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1, ComError_ZQ_CAN_ID2_RightMotor); |
|||
Roughening_DispacherController = Handler->dispacherController; |
|||
Roughening_DispacherController->DispacherCallTime = 2; |
|||
Roughening_DispacherController->Add_Dispatcher_List(Roughening_DispacherController, MotorCommandsLoop); |
|||
|
|||
|
|||
|
|||
|
|||
//电机绑定
|
|||
TT_Motor[1]=&GV.LeftMotor; |
|||
TT_Motor[2]=&GV.RightMotor; |
|||
|
|||
TT_Motor[1]->MotorID=1; |
|||
TT_Motor[2]->MotorID=2; |
|||
} |
|||
|
|||
|
|||
void Motor_Controller_intialize_CAN2(FDCANHandler *Handler) |
|||
{ |
|||
//初始化
|
|||
Roughening_Motor_Controller_CAN2 = Handler; |
|||
Roughening_Motor_Controller_CAN2->CAN_Decode = Roughening_MotorDecodeCAN2; |
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID3_SwingMotor", 1, ComError_ZQ_CAN_ID3_SwingMotor); |
|||
Roughening_DispacherController_CAN2 = Handler->dispacherController; |
|||
Roughening_DispacherController_CAN2->DispacherCallTime = 2; |
|||
Roughening_DispacherController_CAN2->Add_Dispatcher_List(Roughening_DispacherController_CAN2, MotorCommandsLoop_2_Position); |
|||
|
|||
|
|||
TT_Motor[3]=&GV.SwingMotor; |
|||
TT_Motor[3]->MotorID=3; |
|||
} |
|||
|
|||
|
|||
void MotorCommandsLoop() |
|||
{ |
|||
//
|
|||
// if(start_time<15000)
|
|||
// {
|
|||
// HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor", 1);
|
|||
// HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1);
|
|||
// }
|
|||
GV.LeftMotor.Target_Velcity=(int)(GV.Left_Speed_M_min*Move_Base_Speed_Count_m_Min); |
|||
GV.RightMotor.Target_Velcity=(int)(GV.Right_Speed_M_min*Move_Base_Speed_Count_m_Min); |
|||
|
|||
static int Heartbeat_Flag_01; |
|||
if (TT_Motor_Need_To_Activate == 1) |
|||
{ |
|||
ActivateMotor(1, Roughening_Motor_Controller, 6000); |
|||
ActivateMotor(2, Roughening_Motor_Controller, 2000); |
|||
ActivateMotor(1, Roughening_Motor_Controller, 2000); |
|||
ActivateMotor(2, Roughening_Motor_Controller, 2000); |
|||
ActivateMotor(1, Roughening_Motor_Controller, 2000); |
|||
ActivateMotor(2, Roughening_Motor_Controller, 2000); |
|||
ActivateMotor(1, Roughening_Motor_Controller, 2000); |
|||
ActivateMotor(2, Roughening_Motor_Controller, 2000); |
|||
|
|||
|
|||
|
|||
|
|||
Enable_NMT(000,Roughening_Motor_Controller,01,1000); |
|||
Enable_NMT(000,Roughening_Motor_Controller,02,1000); |
|||
|
|||
Configure_Asynchronous_Mode(1, Roughening_Motor_Controller, 7,600); |
|||
Consumer_Or_microcontroller_Heartbeat(0x707, Roughening_Motor_Controller, 4); |
|||
Configure_Asynchronous_Mode(2, Roughening_Motor_Controller, 8,600); |
|||
Consumer_Or_microcontroller_Heartbeat(0x707, Roughening_Motor_Controller, 4); |
|||
SpeedModeSetup(1, Roughening_Motor_Controller, 6, 500, 500, 0); |
|||
Consumer_Or_microcontroller_Heartbeat(0x708, Roughening_Motor_Controller, 4); |
|||
SpeedModeSetup(2, Roughening_Motor_Controller, 6, 500, 500, 0); |
|||
Consumer_Or_microcontroller_Heartbeat(0x707, Roughening_Motor_Controller, 4); |
|||
Consumer_Or_microcontroller_Heartbeat(0x708, Roughening_Motor_Controller, 4); |
|||
TT_Motor_Need_To_Activate = 0; |
|||
} |
|||
else |
|||
{ |
|||
for (int i = 1; i < 3; i++)//前两个电机
|
|||
{ |
|||
TT_Request_Position(i, Roughening_Motor_Controller, 6); |
|||
TT_Request_Velocity(i, Roughening_Motor_Controller, 6); |
|||
TT_Request_Current(i, Roughening_Motor_Controller, 6); |
|||
TT_Request_Fault(i, Roughening_Motor_Controller, 6); |
|||
} |
|||
TT_SpeedMode_Set_TargetSpeed(1, Roughening_Motor_Controller, 6,GV.LeftMotor.Target_Velcity); |
|||
TT_SpeedMode_Set_TargetSpeed(2, Roughening_Motor_Controller, 6,GV.RightMotor.Target_Velcity); |
|||
} |
|||
|
|||
Heartbeat_Flag_01++; |
|||
if(Heartbeat_Flag_01%7==0) |
|||
{ |
|||
Consumer_Or_microcontroller_Heartbeat(0x707, Roughening_Motor_Controller, 4); |
|||
Consumer_Or_microcontroller_Heartbeat(0x708, Roughening_Motor_Controller, 4); |
|||
Heartbeat_Flag_01=0; |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
void MotorCommandsLoop_2_Position() |
|||
{ |
|||
// if(start_time<15000)
|
|||
// {
|
|||
// HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1);
|
|||
// }
|
|||
GV.SwingMotor.Tar_Position_count=(int32_t)(middle_position_motor-GV.Tar_Position_angle*TT_One_Deg_Count_motor); |
|||
GV.SwingMotor.Tar_Position_Velcity_RPM=GV.Tar_Position_Velcity_Degree_S*Swing_Speed_Deg_Sencond_motor; |
|||
|
|||
if (TT_Motor_Need_To_Activate_1 == 1) |
|||
{ |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 6000); |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 2000); |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 2000); |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 2000); |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 2000); |
|||
Postion_Velcocity_Run_SetParameter( 3, 0, 0, 500, 500, Roughening_Motor_Controller_CAN2, 100 ); |
|||
TT_Motor_Need_To_Activate_1 = 0; |
|||
} |
|||
else |
|||
{ |
|||
for (int i = 3; i <4 ; i++)//前两个电机
|
|||
{ |
|||
TT_Request_Position(3, Roughening_Motor_Controller_CAN2, 10); |
|||
|
|||
TT_Request_Fault(3, Roughening_Motor_Controller_CAN2, 10); |
|||
} |
|||
|
|||
switch(GV.SwingMotor.Position_immediately1_Lag2) |
|||
{ |
|||
case 1: |
|||
Position_Immediately_Setting(3,Roughening_Motor_Controller_CAN2, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30); |
|||
break; |
|||
case 2: |
|||
Position_Lag_Setting(3,Roughening_Motor_Controller_CAN2, GV.SwingMotor.Tar_Position_count,GV.SwingMotor.Tar_Position_Velcity_RPM,30); |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
void MotorCommandsLoop_2() |
|||
{ |
|||
static int Heartbeat_Flag; |
|||
if (TT_Motor_Need_To_Activate_1 == 1) |
|||
{ |
|||
|
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 6000); |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 2000); |
|||
ActivateMotor(3, Roughening_Motor_Controller_CAN2, 2000); |
|||
Enable_NMT(000,Roughening_Motor_Controller_CAN2,03,1000); |
|||
Configure_Asynchronous_Mode(3, Roughening_Motor_Controller_CAN2, 9,1000); |
|||
SpeedModeSetup(3, Roughening_Motor_Controller_CAN2, 12, 500, 500, 0); |
|||
TT_Motor_Need_To_Activate_1 = 0; |
|||
} |
|||
else |
|||
{ |
|||
for (int i = 3; i <4 ; i++)//前两个电机
|
|||
{ |
|||
TT_Request_Position(3, Roughening_Motor_Controller_CAN2, 6); |
|||
TT_Request_Current(3, Roughening_Motor_Controller_CAN2, 6); |
|||
TT_Request_Fault(3, Roughening_Motor_Controller_CAN2, 6); |
|||
} |
|||
// TT_SpeedMode_Set_TargetSpeed(3, Roughening_Motor_Controller_CAN2, 6,GV.SwingMotor.Target_Velcity);
|
|||
Heartbeat_Flag++; |
|||
if(Heartbeat_Flag%15==0) |
|||
{ |
|||
Consumer_Or_microcontroller_Heartbeat(0x709, Roughening_Motor_Controller_CAN2, 4); |
|||
Heartbeat_Flag=0; |
|||
} |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
char a[10]; |
|||
int32_t fluat_flag=0; |
|||
|
|||
void Roughening_MotorDecodeCAN(uint32_t canID, uint8_t *buffer, uint32_t length) |
|||
{ |
|||
|
|||
memcpy(a,buffer,8); |
|||
switch (canID - 0x580) |
|||
{ |
|||
|
|||
case 1: |
|||
{ |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID1_LeftMotor", 1); |
|||
TT_Analytic_Fun(1, buffer); |
|||
} |
|||
break; |
|||
case 2: |
|||
{ |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"ZQ_CAN_ID2_RightMotor", 1); |
|||
TT_Analytic_Fun(2, buffer); |
|||
} |
|||
break; |
|||
case 3: |
|||
{ |
|||
fluat_flag=1; |
|||
} |
|||
break; |
|||
|
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
void Roughening_MotorDecodeCAN2(uint32_t canID, uint8_t *buffer, uint32_t length) |
|||
{ |
|||
|
|||
memcpy(a,buffer,8); |
|||
switch (canID - 0x580) |
|||
{ |
|||
|
|||
case 1: |
|||
{ |
|||
fluat_flag=2; |
|||
} |
|||
break; |
|||
case 2: |
|||
{ |
|||
fluat_flag=3; |
|||
} |
|||
break; |
|||
case 3: |
|||
{ |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "ZQ_CAN_ID3_SwingMotor", 1); |
|||
TT_Analytic_Fun(3, buffer); |
|||
} |
|||
break; |
|||
|
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,35 @@ |
|||
/*
|
|||
* motors_power_action.c |
|||
* |
|||
* Created on: 2025年7月14日 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "motors_power_action.h" |
|||
#include "motors.h" |
|||
|
|||
transition_t current_motor_power_state; |
|||
|
|||
transition_state_t motor_power_on_state={Motors_Power_On_Enter,Motors_Power_On_Do,Motors_Power_On_Exit}; |
|||
transition_state_t motor_power_off_state={NULL,Motors_Power_Off_Do,NULL}; |
|||
|
|||
|
|||
|
|||
void Motors_Power_On_Do(transition_t *p_this) |
|||
{ |
|||
GF_BSP_GPIO_SetIO(Motor_Power_IO_CTL, K_ON_Motor); |
|||
} |
|||
|
|||
void Motors_Power_Off_Do(transition_t *p_this) |
|||
{ |
|||
GF_BSP_GPIO_SetIO(Motor_Power_IO_CTL, K_OFF_Motor); |
|||
} |
|||
|
|||
void Motors_Power_On_Enter(transition_t *p_this) |
|||
{ |
|||
|
|||
} |
|||
void Motors_Power_On_Exit(transition_t *p_this) |
|||
{ |
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,102 @@ |
|||
/*
|
|||
* msp_DAM_Relay.c |
|||
* |
|||
* Created on: Nov 5, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#include "../../BASE/Inc/MSP/msp_DAM_Relay.h" |
|||
#include "../../BASE/Inc/BSP/BHBF_ROBOT.h" |
|||
#include "../../BASE/Inc/BSP/bsp_MB_host.h" |
|||
|
|||
//not modbus writcoil
|
|||
uint8_t Dan1_open[8] = { 0xFE, 0x05, 0x00, 0x00, 0xFF, 0x00, 0x98, 0x35 }; |
|||
uint8_t Dan1_close[8] = { 0xFE, 0x05, 0x00, 0x00, 0x00, 0x00, 0xD9, 0xC5 }; |
|||
uint8_t Dan2_open[8] = { 0xFE, 0x05, 0x00, 0x01, 0xFF, 0x00, 0xC9, 0xF5 }; |
|||
uint8_t Dan2_close[8] = { 0xFE, 0x05, 0x00, 0x01, 0x00, 0x00, 0x88, 0x05 }; |
|||
uint8_t Dan3_open[8] = { 0xFE, 0x05, 0x00, 0x02, 0xFF, 0x00, 0x39, 0xF5 }; |
|||
uint8_t Dan3_close[8] = { 0xFE, 0x05, 0x00, 0x02, 0x00, 0x00, 0x78, 0x05 }; |
|||
uint8_t Dan4_open[8] = { 0xFE, 0x05, 0x00, 0x03, 0xFF, 0x00, 0x68, 0x35 }; |
|||
uint8_t Dan4_close[8] = { 0xFE, 0x05, 0x00, 0x03, 0x00, 0x00, 0x29, 0xC5 }; |
|||
|
|||
int32_t DMA_DO_Value_[4];//DAM模块
|
|||
|
|||
void decode_DAM(uint8_t *buffer, uint16_t length); |
|||
void DAM_0_Set(); |
|||
void DAM_1_Set(); |
|||
void DAM_2_Set(); |
|||
void DAM_3_Set(); |
|||
|
|||
struct UARTHandler *DAM_Relay; |
|||
|
|||
DispacherController *DAM_Relay_dispacherController; |
|||
void DAM_Relay_intialize(struct UARTHandler *Handler) { |
|||
//uartHandler_intialize(&Force_sensor,Handler,10);
|
|||
DAM_Relay = Handler; |
|||
DAM_Relay->UART_Decode = decode_DAM; |
|||
DAM_Relay->Wait_time = 6; //等待10ms 最低不要低于4；
|
|||
DAM_Relay_dispacherController = Handler->dispacherController; |
|||
DAM_Relay_dispacherController->DispacherCallTime = 200; //10 是100ms 难道这个2ms的定时器是10ms的？
|
|||
LOG("DAM intialize"); |
|||
DAM_Relay_dispacherController->Dispacher_Enable = 1; |
|||
//log_info("angle_encoder_intialize");
|
|||
DAM_Relay_dispacherController->Add_Dispatcher_List( |
|||
DAM_Relay_dispacherController, DAM_0_Set); |
|||
DAM_Relay_dispacherController->Add_Dispatcher_List( |
|||
DAM_Relay_dispacherController, DAM_1_Set); |
|||
DAM_Relay_dispacherController->Add_Dispatcher_List( |
|||
DAM_Relay_dispacherController, DAM_2_Set); |
|||
DAM_Relay_dispacherController->Add_Dispatcher_List( |
|||
DAM_Relay_dispacherController, DAM_3_Set); |
|||
} |
|||
|
|||
void DAM_0_Set() { |
|||
if (DMA_DO_Value_[0] == 1) { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan1_open, 8); |
|||
} else { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan1_close, 8); |
|||
} |
|||
DAM_Relay->TxCount = 8; |
|||
DAM_Relay->UART_Tx(DAM_Relay); //send the data from the modbus command;
|
|||
} |
|||
void DAM_1_Set() { |
|||
if (DMA_DO_Value_[1] == 1) { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan2_open, 8); |
|||
} else { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan2_close, 8); |
|||
} |
|||
DAM_Relay->TxCount = 8; |
|||
DAM_Relay->UART_Tx(DAM_Relay); //send the data from the modbus command;
|
|||
} |
|||
void DAM_2_Set() { |
|||
if (DMA_DO_Value_[2] == 1) { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan3_open, 8); |
|||
} else { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan3_close, 8); |
|||
} |
|||
DAM_Relay->TxCount = 8; |
|||
DAM_Relay->UART_Tx(DAM_Relay); //send the data from the modbus command;
|
|||
} |
|||
void DAM_3_Set() { |
|||
if (DMA_DO_Value_[3] == 1) { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan4_open, 8); |
|||
} else { |
|||
memcpy(&DAM_Relay->Tx_Buf, &Dan4_close, 8); |
|||
} |
|||
DAM_Relay->TxCount = 8; |
|||
DAM_Relay->UART_Tx(DAM_Relay); //send the data from the modbus command;
|
|||
} |
|||
|
|||
void decode_DAM(uint8_t *buffer, uint16_t length) { |
|||
|
|||
/* CRC 校验 */ |
|||
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]); |
|||
/* CRC 校验正确 */ |
|||
if (crc_check == MB_CRC16(buffer, length - 2)) { |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"DAM", 1); |
|||
} else { |
|||
|
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "msp_MK32.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(SP_MSP_MK32_Button, SP_MSP_MK32_Button, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,118 @@ |
|||
/*
|
|||
* msp_MK32_1.c |
|||
* |
|||
* Created on: Oct 8, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "MSP/msp_MK32_1.h" |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
char Is_All_Button_Reset = 0; |
|||
SP_MSP_MK32_Button *P_MK32; |
|||
|
|||
struct UARTHandler *MK32_Sbus_Controller; |
|||
|
|||
void decode_MK32Data(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
if (length != 25) |
|||
{ |
|||
return; |
|||
} |
|||
if (buffer[0] == 0X0f && buffer[24] == 0X00) |
|||
{ |
|||
Sbus_Data_Count(&buffer[1], (int32_t*) (P_MK32)); |
|||
} |
|||
// int32_t RxIndex;
|
|||
// int32_t CH0_RY_H; /* 上1000，下-1000 */
|
|||
// int32_t CH1_RY_V; /* 上1000，下-1000 */
|
|||
// int32_t CH2_LY_V; /* 上1000，下-1000 */
|
|||
// int32_t CH3_LY_H; /* 上1000，下-1000 */
|
|||
// int32_t CH4_SA; /* 上-1000，下1000 */
|
|||
// int32_t CH5_SB; /* 上-1000，下1000 */
|
|||
// int32_t CH6_SC; /* 上-1000，下1000 */
|
|||
// int32_t CH7_SD; /* 上-1000，下1000 */
|
|||
// int32_t CH8_SE; /* 上-1000，下1000 */
|
|||
// int32_t CH9_SF; /* 上-1000，下1000 */
|
|||
// int32_t CH10_LD1;
|
|||
// int32_t CH11_RD1;
|
|||
// int32_t CH12_S1;
|
|||
// int32_t CH13_S2;
|
|||
// int32_t CH14_LT;
|
|||
// int32_t CH15_RT;
|
|||
// int32_t IsOnline;
|
|||
|
|||
if (Is_All_Button_Reset == 0) |
|||
{ |
|||
if (P_MK32->CH4_SA == 0 && P_MK32->CH5_SB == 0 && P_MK32->CH6_SC == 0 |
|||
&& P_MK32->CH7_SD == 0 && P_MK32->IsOnline == 1) |
|||
{ |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"Need_To_Reset", 1); |
|||
Is_All_Button_Reset = 1; |
|||
} |
|||
} |
|||
else if (Is_All_Button_Reset == 1) |
|||
{ |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"Need_To_Reset", 1); |
|||
} |
|||
|
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"mk32_sbus", 1); |
|||
|
|||
} |
|||
|
|||
void Sbus_Data_Count(uint8_t *buf, int32_t *But_Value) |
|||
{ |
|||
|
|||
int16_t CH[16]; |
|||
int Start_byte = -1; |
|||
|
|||
CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF); |
|||
CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF); |
|||
CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2 |
|||
| buf[Start_byte + 5] << 10) & 0x07FF); |
|||
CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF); |
|||
CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF); |
|||
CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1 |
|||
| buf[Start_byte + 9] << 9) & 0x07FF); |
|||
CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF); |
|||
CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF); |
|||
CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF); |
|||
CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF); |
|||
CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2 |
|||
| buf[Start_byte + 16] << 10) & 0x07FF); |
|||
CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF); |
|||
CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF); |
|||
CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1 |
|||
| buf[Start_byte + 20] << 9) & 0x07FF); |
|||
CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF); |
|||
CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF); |
|||
|
|||
//按键数值：1050为中间值，272-1712
|
|||
for (int i = 0; i < 16; i++) |
|||
{ |
|||
But_Value[i + 1] = (int32_t) ((CH[i] - 992) * 1.388889); |
|||
} |
|||
|
|||
//遥控器地面站在线状态
|
|||
if (buf[22] == 0) But_Value[17] = 1; |
|||
else |
|||
But_Value[17] = 0; |
|||
|
|||
But_Value[0]++; |
|||
} |
|||
|
|||
void MK32_Sbus_UART_Handler_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
MK32_Sbus_Controller = Handler; |
|||
MK32_Sbus_Controller->UART_Decode = decode_MK32Data; |
|||
MK32_Sbus_Controller->Wait_time = 4; |
|||
MK32_Sbus_Controller->dispacherController->Dispacher_Enable = 0; //不周期性发送
|
|||
|
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, |
|||
"Need_To_Reset", 0, ComError_MK32_InitialState); |
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, |
|||
"mk32_sbus", 0, ComError_Mk32_SBus); |
|||
LOG("MK32_Sbus_intialize"); |
|||
} |
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "msp_Motor.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(MotorParameters, MotorParameters, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,256 @@ |
|||
/*
|
|||
* msp_PID.c - 两轮差速机器人角度追踪PID（内置参数，数组输出，float版本） |
|||
*/ |
|||
|
|||
#include "msp_PID.h" |
|||
#include <math.h> |
|||
#include <float.h> |
|||
|
|||
// ========== 内置固定参数 ==========
|
|||
#define CONTROL_DT 0.1f // 固定采样时间 0.1秒
|
|||
#define MAX_SPEED_FACTOR 1.6f // 最大速度 = 基础速度 * 1.6
|
|||
|
|||
// ========== 全局可调参数 ==========
|
|||
float PID_KP = 0.5f; // 比例系数
|
|||
float PID_KD = 0.012f; // 微分系数
|
|||
float PID_KP_WELD = 0.1f; // 比例系数
|
|||
float PID_KD_WELD = 0.025f; // 微分系数
|
|||
float Kp1 = 1.0f; // 小角度增益因子
|
|||
float Kp2 = 0.95f; // 中小角度增益因子
|
|||
float Kp3 = 0.80f; // 中大角度增益因子
|
|||
float Kp4 = 0.50f; // 大角度增益因子
|
|||
double Desire_Angle = 0; //用于焊缝跟踪的期望角度
|
|||
|
|||
// 误差分段阈值（度）
|
|||
static const float ANGLE_THRESHOLD1 = 2.0f; |
|||
static const float ANGLE_THRESHOLD2 = 5.0f; |
|||
static const float ANGLE_THRESHOLD3 = 10.0f; |
|||
|
|||
// ========== 内部静态变量 ==========
|
|||
static float last_error = 0.0f; // 上一次误差（用于微分）
|
|||
|
|||
// ========== 内部函数声明 ==========
|
|||
static float normalize_angle(float angle); |
|||
static float compute_pd_output(float error,float KP,float KD); |
|||
static float get_gain_factor(float abs_error); |
|||
void Weld_PID(double CurrentValue, double TargetValue, double Sys_T, |
|||
double *Gain_speed); |
|||
void GF_MSP_PID_Now_Der_adj_Com_Weld(double Current_Angle, double Desire_Angle_Input, |
|||
double Auto_Speed, double Auto_Speed_Max, double System_time, double *W_Speed_1); |
|||
|
|||
// ========== 函数实现 ==========
|
|||
|
|||
/* 将角度归一化到 [-180, 180) */ |
|||
static float normalize_angle(float angle) |
|||
{ |
|||
while (angle >= 180.0f) angle -= 360.0f; |
|||
while (angle < -180.0f) angle += 360.0f; |
|||
return angle; |
|||
} |
|||
|
|||
/* PD控制器：输入误差，输出控制增量（使用固定 dt = CONTROL_DT） */ |
|||
static float compute_pd_output(float error,float KP,float KD) |
|||
{ |
|||
float p_term = KP * error; |
|||
float d_term = KD * (error - last_error) / CONTROL_DT; |
|||
last_error = error; |
|||
return p_term + d_term; |
|||
} |
|||
|
|||
/* 根据误差绝对值选择增益因子 */ |
|||
static float get_gain_factor(float abs_error) |
|||
{ |
|||
if (abs_error <= ANGLE_THRESHOLD1) return Kp1; |
|||
if (abs_error <= ANGLE_THRESHOLD2) return Kp2; |
|||
if (abs_error <= ANGLE_THRESHOLD3) return Kp3; |
|||
return Kp4; |
|||
} |
|||
|
|||
/* 两轮差速角度控制（对外接口） */ |
|||
void TwoWheel_AngleControl(float current_angle, float desired_angle, |
|||
float base_speed,float zoom, float speeds[2]) |
|||
{ |
|||
// 1. 计算归一化误差
|
|||
float raw_error = desired_angle - current_angle; |
|||
float error = normalize_angle(raw_error); |
|||
float abs_error = fabsf(error); |
|||
|
|||
// 2. PD控制量
|
|||
float delta = zoom*compute_pd_output(error,PID_KP,PID_KD); |
|||
|
|||
// 3. 根据误差大小选择增益因子
|
|||
float factor = get_gain_factor(abs_error); |
|||
|
|||
// 4. 计算左右轮速度
|
|||
float left = base_speed + factor * delta; |
|||
float right = base_speed - factor * delta; |
|||
|
|||
// 5. 内置最大速度 = 1.6 * |base_speed|
|
|||
float max_speed = fabsf(base_speed) * MAX_SPEED_FACTOR; |
|||
|
|||
// 6. 限幅：等比缩放至最大速度以内
|
|||
float max_abs = fmaxf(fabsf(left), fabsf(right)); |
|||
if (max_abs > max_speed && max_abs > FLT_MIN) { |
|||
float scale = max_speed / max_abs; |
|||
left *= scale; |
|||
right *= scale; |
|||
} |
|||
|
|||
speeds[0] = left; |
|||
speeds[1] = right; |
|||
} |
|||
|
|||
/* 两轮差速角度控制（对外接口） */ |
|||
void TwoWheel_AngleControl_Weld(float current_angle, float desired_angle, |
|||
float base_speed,float zoom, float speeds[2]) |
|||
{ |
|||
// 1. 计算归一化误差
|
|||
float raw_error = desired_angle - current_angle; |
|||
float error = normalize_angle(raw_error); |
|||
float abs_error = fabsf(error); |
|||
|
|||
// 2. PD控制量
|
|||
float delta = zoom*compute_pd_output(error,PID_KP_WELD,PID_KD_WELD); |
|||
|
|||
// 3. 根据误差大小选择增益因子
|
|||
float factor = get_gain_factor(abs_error); |
|||
|
|||
// 4. 计算左右轮速度
|
|||
float left = base_speed + factor * delta; |
|||
float right = base_speed - factor * delta; |
|||
|
|||
// 5. 内置最大速度 = 1.6 * |base_speed|
|
|||
float max_speed = fabsf(base_speed) * MAX_SPEED_FACTOR; |
|||
|
|||
// 6. 限幅：等比缩放至最大速度以内
|
|||
float max_abs = fmaxf(fabsf(left), fabsf(right)); |
|||
if (max_abs > max_speed && max_abs > FLT_MIN) { |
|||
float scale = max_speed / max_abs; |
|||
left *= scale; |
|||
right *= scale; |
|||
} |
|||
|
|||
speeds[0] = left; |
|||
speeds[1] = right; |
|||
} |
|||
|
|||
|
|||
|
|||
void GF_MSP_PID_Now_Der_adj_Com_Weld(double Current_Angle, double Desire_Angle_Input, double Auto_Speed, double Auto_Speed_Max, double System_time, double *W_Speed_1) |
|||
{ |
|||
|
|||
Desire_Angle = Desire_Angle_Input; |
|||
//水平 前进抬车头
|
|||
double Detal_Angle = fabs(Current_Angle - Desire_Angle); |
|||
double Incre_Speed[1]; |
|||
Weld_PID(Current_Angle, Desire_Angle, System_time, Incre_Speed); |
|||
Incre_Speed[0] = 8 * Incre_Speed[0]; |
|||
double deltaAngle1 = 0.2; |
|||
double deltaAngle2 = 5; |
|||
double deltaAngle3 = 10; |
|||
//double deltaAngle4=25;
|
|||
double LeftSpeed_Con_1; |
|||
double RightSpeed_Con_1; |
|||
double LeftSpeed_Con_2; |
|||
double RightSpeed_Con_2; |
|||
|
|||
LeftSpeed_Con_1 = (Auto_Speed + Kp1 * Incre_Speed[0]); |
|||
RightSpeed_Con_1 = (Auto_Speed - Kp1 * Incre_Speed[0]); |
|||
LeftSpeed_Con_2 = Auto_Speed + Kp1 * Incre_Speed[0]; |
|||
RightSpeed_Con_2 = Auto_Speed - Kp1 * Incre_Speed[0]; |
|||
// if (Detal_Angle >= deltaAngle1)
|
|||
// {
|
|||
//
|
|||
////小角度时，两前轮调整
|
|||
// }
|
|||
// else if (Detal_Angle > deltaAngle1 && Detal_Angle <= deltaAngle2)
|
|||
// {
|
|||
// LeftSpeed_Con_1 = (Auto_Speed + Kp2 * Incre_Speed[0]);
|
|||
// RightSpeed_Con_1 = (Auto_Speed - Kp2 * Incre_Speed[0]);
|
|||
// LeftSpeed_Con_2 = Auto_Speed + Kp2 * Incre_Speed[0];
|
|||
// RightSpeed_Con_2 = Auto_Speed - Kp2 * Incre_Speed[0];
|
|||
////中小角度时，两前轮差速，两后轮跟踪调整
|
|||
// }
|
|||
// else if (Detal_Angle > deltaAngle2 && Detal_Angle <= deltaAngle3)
|
|||
// {
|
|||
// LeftSpeed_Con_1 = (Auto_Speed + Kp3 * Incre_Speed[0]);
|
|||
// RightSpeed_Con_1 = (Auto_Speed - Kp3 * Incre_Speed[0]);
|
|||
// LeftSpeed_Con_2 = Auto_Speed + Kp3 * Incre_Speed[0];
|
|||
// RightSpeed_Con_2 = Auto_Speed - Kp3 * Incre_Speed[0];
|
|||
// }
|
|||
// else
|
|||
// {
|
|||
// LeftSpeed_Con_1 = (Auto_Speed + Kp4 * Incre_Speed[0]);
|
|||
// RightSpeed_Con_1 = (Auto_Speed - Kp4 * Incre_Speed[0]);
|
|||
// LeftSpeed_Con_2 = Auto_Speed + Kp4 * Incre_Speed[0];
|
|||
// RightSpeed_Con_2 = Auto_Speed - Kp4 * Incre_Speed[0];
|
|||
// }
|
|||
|
|||
double Jud_value = fabs(LeftSpeed_Con_1) - fabs(RightSpeed_Con_1); |
|||
double factor = 0; |
|||
if (Jud_value >= 0) |
|||
{ |
|||
if (LeftSpeed_Con_1 > Auto_Speed_Max) |
|||
{ |
|||
factor = Auto_Speed_Max / LeftSpeed_Con_1; |
|||
LeftSpeed_Con_1 = Auto_Speed_Max; |
|||
LeftSpeed_Con_2 = LeftSpeed_Con_2 * factor; |
|||
RightSpeed_Con_1 = RightSpeed_Con_1 * factor; |
|||
RightSpeed_Con_2 = RightSpeed_Con_2 * factor; |
|||
} |
|||
else if (LeftSpeed_Con_1 < -Auto_Speed_Max) |
|||
{ |
|||
factor = -Auto_Speed_Max / LeftSpeed_Con_1; |
|||
LeftSpeed_Con_1 = -Auto_Speed_Max; |
|||
LeftSpeed_Con_2 = LeftSpeed_Con_2 * factor; |
|||
RightSpeed_Con_1 = RightSpeed_Con_1 * factor; |
|||
RightSpeed_Con_2 = RightSpeed_Con_2 * factor; |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
if (RightSpeed_Con_1 > Auto_Speed_Max) |
|||
{ |
|||
factor = Auto_Speed_Max / RightSpeed_Con_1; |
|||
RightSpeed_Con_1 = Auto_Speed_Max; |
|||
RightSpeed_Con_2 = RightSpeed_Con_2 * factor; |
|||
|
|||
LeftSpeed_Con_1 = LeftSpeed_Con_1 * factor; |
|||
LeftSpeed_Con_2 = LeftSpeed_Con_2 * factor; |
|||
} |
|||
else if (LeftSpeed_Con_2 < -Auto_Speed_Max) |
|||
{ |
|||
factor = -Auto_Speed_Max / RightSpeed_Con_1; |
|||
RightSpeed_Con_1 = -Auto_Speed_Max; |
|||
RightSpeed_Con_2 = RightSpeed_Con_2 * factor; |
|||
|
|||
LeftSpeed_Con_1 = LeftSpeed_Con_1 * factor; |
|||
LeftSpeed_Con_2 = LeftSpeed_Con_2 * factor; |
|||
} |
|||
} |
|||
|
|||
W_Speed_1[0] = LeftSpeed_Con_1; |
|||
W_Speed_1[1] = RightSpeed_Con_1; |
|||
W_Speed_1[2] = LeftSpeed_Con_2; |
|||
W_Speed_1[3] = RightSpeed_Con_2; |
|||
|
|||
} |
|||
|
|||
|
|||
double Weld_KP = 10; |
|||
double Weld_KD = 10; |
|||
//double Sys_T=0.01;//System time
|
|||
double Weld_1_error = 0; |
|||
void Weld_PID(double CurrentValue, double TargetValue, double Sys_T, |
|||
double *Gain_speed) |
|||
{ |
|||
double Error; |
|||
double P_Error; |
|||
double D_Error; |
|||
Error = TargetValue - CurrentValue; |
|||
|
|||
P_Error = Error; |
|||
D_Error = Error - Weld_1_error; |
|||
Weld_1_error = Error; |
|||
Gain_speed[0] = Weld_KP * P_Error + Weld_KD * D_Error / Sys_T; |
|||
} |
|||
@ -0,0 +1,100 @@ |
|||
/*
|
|||
* msp_TL720D.c |
|||
* |
|||
* Created on: Jul 19, 2024 |
|||
* Author: bihon |
|||
*/ |
|||
|
|||
#include "MSP/msp_TL720D.h" |
|||
#include "BHBF_ROBOT.h" |
|||
#include "msp_TL720D.pb.h" |
|||
|
|||
//Roll：0.01°
|
|||
int32_t *RobotAngle; |
|||
|
|||
struct UARTHandler *TL720D_UART_Handler; |
|||
|
|||
MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In; |
|||
|
|||
|
|||
|
|||
void decode_TL720D(uint8_t *buffer, uint16_t length); |
|||
int16_t getDeci(uint8_t *data); |
|||
|
|||
void TL720D_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
|
|||
//TL720D_UART_Handler->UART_Decode = NULL;
|
|||
TL720D_UART_Handler = Handler; |
|||
TL720D_UART_Handler->Wait_time=6; |
|||
TL720D_UART_Handler->dispacherController->Dispacher_Enable=0;//不周期性发送
|
|||
TL720D_UART_Handler->UART_Decode = decode_TL720D; |
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"TL720D",0,ComError_TL720D); |
|||
//log_info("TL720D_intialize");
|
|||
LOGFF(DL_ERROR,"TL720D_intialize"); |
|||
} |
|||
void decode_TL720D(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
|
|||
if (buffer[0] == 0x68 && buffer[1] == 0x1F && buffer[2] == 0x00 |
|||
&& buffer[3] == 0x84) |
|||
{ |
|||
//SP_MSP_RF_TL720D_Parameters_In.
|
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = getDeci(&buffer[4]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Pitch = getDeci(&buffer[7]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Yaw = getDeci(&buffer[10]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Acc_X = getDeci(&buffer[13]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Acc_Y = getDeci(&buffer[16]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Acc_Z = getDeci(&buffer[19]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Gro_X = getDeci(&buffer[22]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Gro_Y = getDeci(&buffer[25]); |
|||
SP_MSP_RF_TL720D_Parameters_In->RF_Gro_Z = getDeci(&buffer[28]); |
|||
LOG("TL720D decoding succeeded"); |
|||
|
|||
*RobotAngle=SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll; |
|||
//Is_TL720_Updating_Flag=true;
|
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"TL720D",1); |
|||
} else |
|||
{ |
|||
//log_error("TL720D decoding failed");
|
|||
LOGFF(DL_ERROR,"TL720D decoding failed"); |
|||
|
|||
} |
|||
|
|||
} |
|||
|
|||
/* 数值计算
|
|||
* data: 数据地址 |
|||
* return: 单位: 0.01 |
|||
* */ |
|||
int16_t getDeci(uint8_t *data) |
|||
{ |
|||
char isNegative = 0; |
|||
|
|||
if (*data >> 4) |
|||
{ |
|||
isNegative = 1; |
|||
} else |
|||
{ |
|||
isNegative = 0; |
|||
} |
|||
|
|||
int16_t data_value = 0; |
|||
data_value = ((*data) & 0x0f) * 10000; |
|||
data++; |
|||
data_value += (*data >> 4) * 1000; |
|||
data_value += ((*data) & 0x0f) * 100; |
|||
data++; |
|||
|
|||
int16_t xiaoshu = 0; |
|||
xiaoshu = (*data >> 4) * 10; |
|||
xiaoshu += (*data) & 0x0f; |
|||
if (isNegative) |
|||
{ |
|||
return -(data_value + xiaoshu); |
|||
} else |
|||
{ |
|||
return (data_value + xiaoshu); |
|||
} |
|||
|
|||
} |
|||
@ -0,0 +1,12 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "msp_TL720D.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(MSP_TL720DParameters, MSP_TL720DParameters, AUTO) |
|||
|
|||
|
|||
|
|||
@ -0,0 +1,426 @@ |
|||
/*
|
|||
* msp_TTMotor_ZQ.c |
|||
* |
|||
* Created on: Oct 10, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "msp_TTMotor_ZQ.h" |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
|
|||
TT_MotorParameters *TT_Motor[7]; |
|||
|
|||
|
|||
void ActivateMotor(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) |
|||
{ |
|||
ZQ_Motor_Controller->Tx_Buf[0] = 0x10; |
|||
ZQ_Motor_Controller->Tx_Buf[1] = 0x10; |
|||
ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, MotorID, 2, |
|||
ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL); //wait for 5 seconds to send
|
|||
|
|||
//CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6083, 0x00, AccTime,ZQ_Motor_Controller,WaitTime);
|
|||
} |
|||
void Enable_NMT(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime) |
|||
{ |
|||
ZQ_Motor_Controller->Tx_Buf[0] = 0x01; |
|||
ZQ_Motor_Controller->Tx_Buf[1] = Node_Number; |
|||
ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, MotorID, 2, ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL); //wait for 5 seconds to send
|
|||
} |
|||
|
|||
void Configure_Asynchronous_Mode(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t Node_Number, int32_t WaitTime) |
|||
{ |
|||
ZQ_Motor_Controller->Tx_Buf[0] = 0x23; |
|||
ZQ_Motor_Controller->Tx_Buf[1] = 0x16; |
|||
ZQ_Motor_Controller->Tx_Buf[2] = 0x10; |
|||
ZQ_Motor_Controller->Tx_Buf[3] = 0x01; |
|||
ZQ_Motor_Controller->Tx_Buf[4] = 0xe8; |
|||
ZQ_Motor_Controller->Tx_Buf[5] = 0x03; |
|||
ZQ_Motor_Controller->Tx_Buf[6] = Node_Number; |
|||
ZQ_Motor_Controller->Tx_Buf[7] = 0x00; |
|||
ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, 0x600 + MotorID, 8, ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL); |
|||
} |
|||
|
|||
void Consumer_Or_microcontroller_Heartbeat(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) |
|||
{ |
|||
ZQ_Motor_Controller->Tx_Buf[0] = 0x05; |
|||
ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, MotorID, 1, ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL); //wait for 5 seconds to send
|
|||
} |
|||
|
|||
|
|||
void CANSendMessageSDO_ADD_To_SendList(int32_t MotorID, uint8_t Function, |
|||
uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) |
|||
{ |
|||
//copy the corresponsiding data to the send Array
|
|||
ZQ_Motor_Controller->Tx_Buf[0] = Function; |
|||
memcpy(&ZQ_Motor_Controller->Tx_Buf[1], &ControlWord, 2); |
|||
ZQ_Motor_Controller->Tx_Buf[3] = subWord; |
|||
memcpy(&ZQ_Motor_Controller->Tx_Buf[4], &ControlWordValue, 4); |
|||
//send 8 bytes data
|
|||
|
|||
ZQ_Motor_Controller->AddCANSendList(ZQ_Motor_Controller, 0x600 + MotorID, 8, |
|||
ZQ_Motor_Controller->Tx_Buf, WaitTime, NULL); |
|||
} |
|||
|
|||
//位置速度模式
|
|||
void Postion_Velcocity_Run_SetParameter(int32_t MotorID, int32_t TargetPosition, |
|||
int32_t TargetSpeed, int32_t AccTime, int32_t DecTime, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) |
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 1, |
|||
ZQ_Motor_Controller, WaitTime); // 1：设置操作模式，向索引0x6060:00写入0x01
|
|||
if (TargetSpeed >= 3500) //the highest is 3500
|
|||
{ |
|||
TargetSpeed = 3500; |
|||
} |
|||
if (TargetSpeed < 0) |
|||
{ |
|||
TargetSpeed = 0; |
|||
} |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6083, 0x00, AccTime, |
|||
ZQ_Motor_Controller, WaitTime); //2：设置加速时间，向索引0x6083:00写入4字节数值
|
|||
// Thread.Sleep(2);
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6084, 0x00, DecTime, |
|||
ZQ_Motor_Controller, WaitTime); //3：设置减速时间，向索引0x6084:00写入4字节数值
|
|||
//Thread.Sleep(2);
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x607A, 0x00, |
|||
TargetPosition, ZQ_Motor_Controller, WaitTime); //4：设置目标位置，向索引 0x607A:00写入4字节数值
|
|||
// Thread.Sleep(2);
|
|||
|
|||
//23：写4字节数据；
|
|||
//816000:索引号为0x6081,子索引号为0x00；
|
|||
//E80300 00:设置运行速度为1000（单位0.1rpm）
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6081, 0x00, |
|||
TargetSpeed * 10, ZQ_Motor_Controller, WaitTime); //5：设置运行速度，向索引 0x6081:00写入4字节数值
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x80, |
|||
ZQ_Motor_Controller, WaitTime); ///6:清除异常，向控制字0x6040:00写入0x80
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, |
|||
ZQ_Motor_Controller, WaitTime); //7：伺服准备，向控制字 0x6040:00写入0x06
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, |
|||
ZQ_Motor_Controller, WaitTime); //8：伺服等待使能，向控制字0x6040:00写入0x07
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x2f, |
|||
ZQ_Motor_Controller, WaitTime); //9：伺服使能，向控制字0x6040:00写入0x0F
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x3f, |
|||
ZQ_Motor_Controller, WaitTime); //10：伺服启动,向控制字 0x6040:00写入0x1F ///：
|
|||
} |
|||
|
|||
void Postion_Velcocity_Set_Position(int32_t MotorID, int32_t TargetPosition, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) |
|||
{ |
|||
// 3、立即更新时，重复执行步骤4、步骤9(控制字(6040)写入2F)和步骤10(控制字(6040)
|
|||
// 写入3F)，驱动器还没到达当前目标位置时，支持接收新的目标位置，最终到达的目标位
|
|||
// 置是：新的目标位置。
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x607a, 0x00, |
|||
TargetPosition, ZQ_Motor_Controller, WaitTime); //设置目标位置
|
|||
//Thread.Sleep(2);
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x2f, |
|||
ZQ_Motor_Controller, WaitTime); ///：
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x3f, |
|||
ZQ_Motor_Controller, WaitTime); ///：
|
|||
} |
|||
|
|||
void Driver_ReadError(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) |
|||
{ |
|||
//CANSendMessageSDO_ADD_To_SendList(CAN_ID, new byte[8] { 0x40, 0x0A, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00 });//40 0A 30 00 00 00 00 00
|
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x300a, 0x00, 0, |
|||
ZQ_Motor_Controller, WaitTime); //40 0A 30 00 00 00 00 00
|
|||
} |
|||
void SetMotorTargetPosition(int32_t MotorID, int32_t TargetPosition, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) |
|||
{ |
|||
Postion_Velcocity_Set_Position(MotorID, TargetPosition, ZQ_Motor_Controller, |
|||
WaitTime); |
|||
} |
|||
|
|||
void Postion_Velcocity_Stop(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) |
|||
{ |
|||
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6085, 0x00, 200, |
|||
ZQ_Motor_Controller, WaitTime); // 6085 的减速时间100ms
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x605a, 0x00, 6, |
|||
ZQ_Motor_Controller, WaitTime); // 0x06：按索引 6085 的减速时间进行减速，停下时电机 轴处于锁轴状态。
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x02, |
|||
ZQ_Motor_Controller, WaitTime); //快速停机
|
|||
} |
|||
|
|||
//void SetCurrentPositionZero(int32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime)
|
|||
//{
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6098, 0x00, 0x23,ZQ_Motor_Controller,WaitTime); //1：设置定位的方式,向索 引0x6098:00写入0X23
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 6,ZQ_Motor_Controller,WaitTime); //2：设置操作模式，向索引0x6060:00写入0x06
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x80,ZQ_Motor_Controller,WaitTime); //3:清除异常，向控制字 0x6040:00写入0x80
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06,ZQ_Motor_Controller,WaitTime); //4：伺服准备，向控制字 0x6040:00写入0x06
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07,ZQ_Motor_Controller,WaitTime); //5：伺服等待使能，向控制字0x6040:00写入0x07
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0F,ZQ_Motor_Controller,WaitTime); //6：伺服使能，向控制字0x6040:00写入0x0F
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6040, 0x00, 0x1F,ZQ_Motor_Controller,WaitTime); //7：启动原点定位,向控制字0x6040:00写入0x1F
|
|||
//}
|
|||
|
|||
void SpeedModeSetup(int32_t MotorID, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime, int32_t Acc, int32_t Dec, int32_t TargetVelocity) //设定速度模式，并更改相关速度
|
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x02, |
|||
ZQ_Motor_Controller, 100); |
|||
//设置操作模式，向索引0x6060：00写入0x03
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 0x3, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//2:清除异常， 向控制字 0x6040:00 写入 0x80
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x80, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//3： 伺服准备, 向控制字 0x6040:00 写入 0x06
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//4： 伺服等待使能, 向控制字 0x6040:00 写入 0x07
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//5： 伺服使能,向控制字0x6040:00 写入 0x0F
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0f, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//6:设置加速时间， 向索引 0x201C:00写入4字节数值 //不关心加速时间的模式下， 加减速时间建议设置为 1500（ms） 以上
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x201c, 0x00, Acc, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//7： 设置减速时间， 向索引0x201D:00写入4字节数据
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x201d, 0x00, Dec, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
//8： 设定目标速度值， 向索引 0x60FF:00 写入 4 字节数值（有符号）
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x60ff, 0x00, |
|||
TargetVelocity, ZQ_Motor_Controller, WaitTime); ///6:清除异常，向控制字
|
|||
|
|||
//修改步骤8 可以实现速度的改变
|
|||
// 23:写 4 字节数据；FF 60 00:索引号为 0x60FF，
|
|||
// 子索引号为 0x00;E8 03 00 00：
|
|||
// 设置目标速度 1000（单位 0.1rpm）
|
|||
} |
|||
void TT_SpeedMode_Set_TargetSpeed(uint32_t MotorID, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime, |
|||
int32_t TargetSpeed) |
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x60ff, 0x00, TargetSpeed, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
} |
|||
|
|||
void Swing_Motor_Set_Target_Position() |
|||
{ |
|||
CANSendMessageSDO(SwingMotorID, 0x40, 0x6041, 0x00, 0x00); ///：是否到达目的位置
|
|||
} |
|||
|
|||
void Swing_Motor_Read_ReachedEnd() |
|||
{ |
|||
CANSendMessageSDO(SwingMotorID, 0x40, 0x6041, 0x00, 0x00); ///：是否到达目的位置
|
|||
|
|||
} |
|||
|
|||
void Set_Current_Positon_Zero(uint8_t MotorID, |
|||
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) // Home 设置当前位置为零点
|
|||
{ |
|||
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x2f,ZQ_Motor_Controller,WaitTime); ///：
|
|||
// CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x3f,ZQ_Motor_Controller,WaitTime); ///：
|
|||
|
|||
//CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x2008, 0x00, 0x01,ZQ_Motor_Controller,1000);
|
|||
//CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x02,ZQ_Motor_Controller,100); //1. 停止执行
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6098, 0x00, 0x23, |
|||
ZQ_Motor_Controller, WaitTime); //1. 设置定位的方式,向索引0x6098:00写入0X23
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 0x06, |
|||
ZQ_Motor_Controller, WaitTime); //2：设置操作模式，向索引0x6060:00写入0x06
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x80, |
|||
ZQ_Motor_Controller, WaitTime); //3:清除异常，向控制字0x6040:00写入0x80
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, |
|||
ZQ_Motor_Controller, WaitTime); //4.伺服准备，向控制字0x6040:00写入0x06
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, |
|||
ZQ_Motor_Controller, WaitTime); //5. 伺服等待使能，向控制字0x6040:00写入0x07
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0f, |
|||
ZQ_Motor_Controller, WaitTime); //6. 伺服使能 向控制字 0x6040:00写入0x0F
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6040, 0x00, 0x1f, |
|||
ZQ_Motor_Controller, WaitTime); //7. ：启动原点定位,向控制字0x6040:00写入0x1F
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x6041, 0x00, 0x0, |
|||
ZQ_Motor_Controller, 100); //8. ：启动原点定位,向控制字0x6040:00写入0x1F
|
|||
|
|||
} |
|||
|
|||
void TT_Request_Position(uint32_t Motor_ID_1, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) // Home 设置当前位置为零点
|
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(Motor_ID_1, 0x40, 0x6064, 0x00, 0x00, |
|||
ZQ_Motor_Controller, WaitTime); //用户实际速度反馈(0.1rpm)
|
|||
} |
|||
|
|||
|
|||
void Position_Immediately_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime) // Home 设置当前位置为零点
|
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x607A, 0x00, Deri_Position, ZQ_Motor_Controller, WaitTime); //设置位置
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6081, 0x00, Deri_Speed, ZQ_Motor_Controller, WaitTime); //设置速度
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2B, 0x6040, 0x00, 0x2f, ZQ_Motor_Controller, WaitTime); |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2B, 0x6040, 0x00, 0x3f, ZQ_Motor_Controller, WaitTime); |
|||
} |
|||
|
|||
void Position_Lag_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime) // Home 设置当前位置为零点
|
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x607A, 0x00, Deri_Position, ZQ_Motor_Controller, WaitTime); //设置位置
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x23, 0x6081, 0x00, Deri_Speed, ZQ_Motor_Controller, WaitTime); //设置速度
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2B, 0x6040, 0x00, 0x0f, ZQ_Motor_Controller, WaitTime); |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2B, 0x6040, 0x00, 0x1f, ZQ_Motor_Controller, WaitTime); |
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
void Position_Lay_Setting(uint8_t MotorID, FDCANHandler *ZQ_Motor_Controller,int32_t Deri_Position,int32_t Deri_Speed, int32_t WaitTime) // Home 设置当前位置为零点
|
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6098, 0x00, 0x23, |
|||
ZQ_Motor_Controller, WaitTime); //1. 设置定位的方式,向索引0x6098:00写入0X23
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6060, 0x00, 0x06, |
|||
ZQ_Motor_Controller, WaitTime); //2：设置操作模式，向索引0x6060:00写入0x06
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x80, |
|||
ZQ_Motor_Controller, WaitTime); //3:清除异常，向控制字0x6040:00写入0x80
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x06, |
|||
ZQ_Motor_Controller, WaitTime); //4.伺服准备，向控制字0x6040:00写入0x06
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x07, |
|||
ZQ_Motor_Controller, WaitTime); //5. 伺服等待使能，向控制字0x6040:00写入0x07
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2b, 0x6040, 0x00, 0x0f, |
|||
ZQ_Motor_Controller, WaitTime); //6. 伺服使能 向控制字 0x6040:00写入0x0F
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x2f, 0x6040, 0x00, 0x1f, |
|||
ZQ_Motor_Controller, WaitTime); //7. ：启动原点定位,向控制字0x6040:00写入0x1F
|
|||
CANSendMessageSDO_ADD_To_SendList(MotorID, 0x40, 0x6041, 0x00, 0x0, |
|||
ZQ_Motor_Controller, 100); //8. ：启动原点定位,向控制字0x6040:00写入0x1F
|
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
void TT_Request_Velocity(uint32_t Motor_ID_1, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) |
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(Motor_ID_1, 0x40, 0x606c, 0x00, 0x00, |
|||
ZQ_Motor_Controller, WaitTime); //用户实际速度反馈(0.1rpm)
|
|||
|
|||
} |
|||
//
|
|||
//
|
|||
void TT_Request_Fault(uint32_t Motor_ID_1, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) |
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(Motor_ID_1, 0x40, 0x300A, 0x00, 0x00, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
|
|||
} |
|||
|
|||
void TT_Request_Current(uint32_t Motor_ID_1, FDCANHandler *ZQ_Motor_Controller, |
|||
int32_t WaitTime) |
|||
{ |
|||
CANSendMessageSDO_ADD_To_SendList(Motor_ID_1, 0x40, 0x6078, 0x00, 0x00, |
|||
ZQ_Motor_Controller, WaitTime); |
|||
} |
|||
|
|||
void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer) |
|||
{ |
|||
|
|||
int Function_code = (int) ((int16_t) (buffer[1] | buffer[2] << 8)); |
|||
switch (Function_code) |
|||
{ |
|||
|
|||
case 24672: |
|||
TT_Motor[ID_A_T_A]->Cont_Posi_Suc = 1; |
|||
break; |
|||
case 24707: |
|||
TT_Motor[ID_A_T_A]->Acc_Suc = 1; |
|||
break; |
|||
case 24708: |
|||
TT_Motor[ID_A_T_A]->Dec_Suc = 1; |
|||
break; |
|||
case 24698: |
|||
TT_Motor[ID_A_T_A]->Target_Posi_Suc = 1; |
|||
break; |
|||
case 24705: |
|||
TT_Motor[ID_A_T_A]->Run_Speed_Suc = 1; |
|||
break; |
|||
case 24640: |
|||
TT_Motor[ID_A_T_A]->Clear_Suc = 1; |
|||
break; |
|||
case 8220: |
|||
TT_Motor[ID_A_T_A]->Acc_Suc_Speed = 1; |
|||
break; |
|||
case 24831: |
|||
TT_Motor[ID_A_T_A]->Suc_Speed_S = 1; |
|||
break; |
|||
case 8221: |
|||
TT_Motor[ID_A_T_A]->Dec_Suc_Speed = 1; |
|||
break; |
|||
case 24676: |
|||
{ |
|||
TT_Motor[ID_A_T_A]->Real_Position = (int) (buffer[4] |
|||
| (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); |
|||
if (TT_Motor[ID_A_T_A]->Start_Measuring == 1) |
|||
{ |
|||
TT_Motor[ID_A_T_A]->Start_Measuring =0; |
|||
TT_Motor[ID_A_T_A]->Number_Of_Rounds=0; |
|||
|
|||
TT_Motor[ID_A_T_A]->Start_Measuring_Position=TT_Motor[ID_A_T_A]->Real_Position; |
|||
TT_Motor[ID_A_T_A]->Last_Real_Position=TT_Motor[ID_A_T_A]->Real_Position; |
|||
} |
|||
else |
|||
{ |
|||
if (abs( |
|||
TT_Motor[ID_A_T_A]->Real_Position |
|||
- TT_Motor[ID_A_T_A]->Last_Real_Position) |
|||
>= 30000) |
|||
{ |
|||
if (TT_Motor[ID_A_T_A]->Real_Position > 0) |
|||
{ |
|||
TT_Motor[ID_A_T_A]->Number_Of_Rounds -= 1; |
|||
} |
|||
else |
|||
{ |
|||
TT_Motor[ID_A_T_A]->Number_Of_Rounds += 1; |
|||
} |
|||
} |
|||
} |
|||
|
|||
TT_Motor[ID_A_T_A]->Last_Real_Position = |
|||
TT_Motor[ID_A_T_A]->Real_Position; |
|||
|
|||
double CircleLength = 3.14 * 280/1000 ; //pi*d //m
|
|||
|
|||
double _tempDeltCounts = TT_Motor[ID_A_T_A]->Real_Position |
|||
- TT_Motor[ID_A_T_A]->Start_Measuring_Position; |
|||
TT_Motor[ID_A_T_A]->Real_Disatnce = (_tempDeltCounts/ 32768/101 |
|||
+ (double) TT_Motor[ID_A_T_A]->Number_Of_Rounds |
|||
) |
|||
* CircleLength; |
|||
|
|||
} |
|||
|
|||
break; |
|||
case 24684: |
|||
TT_Motor[ID_A_T_A]->Real_Velcity = (int) (buffer[4] |
|||
| (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); |
|||
break; |
|||
|
|||
case 24696: |
|||
TT_Motor[ID_A_T_A]->Real_Current = (int) (buffer[4] |
|||
| (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); //0.1A
|
|||
break; |
|||
case 12298://0x3001
|
|||
TT_Motor[ID_A_T_A]->TT_Motor_Fault = (int) (buffer[4] |
|||
| (buffer[5]) << 8 | (buffer[6]) << 16 | (buffer[7] << 24)); |
|||
|
|||
break; |
|||
|
|||
default: |
|||
if ((buffer[0] == (0XAA)) | (buffer[1] == (0XBB))) |
|||
{ |
|||
TT_Motor[ID_A_T_A]->Act_Suc = 1; |
|||
} |
|||
break; |
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,98 @@ |
|||
|
|||
#include "BHBF_ROBOT.h" |
|||
#include "bsp_decode_command.h" |
|||
#include "gpio.h" |
|||
|
|||
#include "BSP/bsp_UART.h" |
|||
|
|||
#include <msp_WH_LTE_7S0.h> |
|||
|
|||
|
|||
char NeedToFeedBackToComputer = 0; |
|||
|
|||
struct UARTHandler *wh_LTE_7S0_Handler; |
|||
DispacherController* wh_LTE_7S0_dispacher; |
|||
|
|||
|
|||
void Reset() |
|||
{ |
|||
HAL_GPIO_WritePin(S0_RESET_GPIO_Port, S0_RESET_Pin, GPIO_PIN_RESET); |
|||
} |
|||
void NormalState() |
|||
{ |
|||
HAL_GPIO_WritePin(S0_RESET_GPIO_Port, S0_RESET_Pin, GPIO_PIN_SET); |
|||
} |
|||
void WH_LTE_7S0_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
//NormalState();
|
|||
HAL_GPIO_WritePin(S0_RESET_GPIO_Port, GPIO_PIN_10, GPIO_PIN_SET); |
|||
wh_LTE_7S0_Handler = Handler; |
|||
wh_LTE_7S0_Handler->Wait_time = 40; // 最低不要低于4；
|
|||
wh_LTE_7S0_dispacher=Handler->dispacherController; |
|||
//不周期性发送
|
|||
wh_LTE_7S0_dispacher->Dispacher_Enable=1; |
|||
wh_LTE_7S0_dispacher->Add_Dispatcher_List(wh_LTE_7S0_dispacher,UpdateGV); |
|||
wh_LTE_7S0_dispacher->DispacherCallTime=1000; |
|||
//DispacherController* disp=wh_LTE_7S0_Handler->dispacherController;
|
|||
|
|||
//disp->Add_Dispatcher_List(disp,UpdateGV);//周期性update GV数据
|
|||
|
|||
LOG("WH_LTE_7S0_intialize"); |
|||
|
|||
wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; //indicate that there is no need to listen
|
|||
|
|||
} |
|||
|
|||
void Send_WH_LTE_7S0_Data(uint8_t *data, int length) |
|||
{ |
|||
|
|||
char datass[100]; |
|||
memcpy(datass, data, length); |
|||
wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; |
|||
memcpy(wh_LTE_7S0_Handler->Tx_Buf, data, length); |
|||
wh_LTE_7S0_Handler->TxCount = length; |
|||
wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler); |
|||
|
|||
} |
|||
void UpdateGV() |
|||
{ |
|||
|
|||
//wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer;
|
|||
pb_ostream_t GV_o_stream = |
|||
{ 0 }; |
|||
char buf[1024]; |
|||
GV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf)); |
|||
pb_encode(&GV_o_stream, GV_struct_define_fields, &GV); |
|||
|
|||
|
|||
memcpy(&wh_LTE_7S0_Handler->Tx_Buf[2], buf, GV_o_stream.bytes_written); |
|||
wh_LTE_7S0_Handler->Tx_Buf[0]='1'; |
|||
wh_LTE_7S0_Handler->Tx_Buf[1]=','; |
|||
//wh_LTE_7S0_Handler->Tx_Buf[2]='1';
|
|||
|
|||
wh_LTE_7S0_Handler->TxCount = GV_o_stream.bytes_written+2; |
|||
wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler); |
|||
} |
|||
|
|||
void decode_received_data_from_computer(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
char buf[1024]; |
|||
memcpy(buf, buffer, length); |
|||
if(buffer[0]=='2'&&buffer[1]==',') |
|||
{ |
|||
//Decode protobuf
|
|||
//decode_command_from_computer(buffer+2,length-2);
|
|||
decode_command_and_feedback(buffer+2,length-2,1,wh_LTE_7S0_Handler); |
|||
|
|||
} |
|||
if(NeedToFeedBackToComputer==1) |
|||
{ |
|||
send_received_data_to_upper_computer(buffer, length); |
|||
} |
|||
|
|||
} |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
@ -0,0 +1,20 @@ |
|||
/* Automatically generated nanopb constant definitions */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#include "msp_ZQ_MotorParameters.pb.h" |
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
PB_BIND(TT_MotorParameters, TT_MotorParameters, AUTO) |
|||
|
|||
|
|||
|
|||
#ifndef PB_CONVERT_DOUBLE_FLOAT |
|||
/* On some platforms (such as AVR), double is really float.
|
|||
* To be able to encode/decode double on these platforms, you need. |
|||
* to define PB_CONVERT_DOUBLE_FLOAT in pb.h or compiler command line. |
|||
*/ |
|||
PB_STATIC_ASSERT(sizeof(double) == 8, DOUBLE_MUST_BE_8_BYTES) |
|||
#endif |
|||
|
|||
@ -0,0 +1,135 @@ |
|||
/*
|
|||
* msp_ground_management.c |
|||
* |
|||
* Created on: 2026年1月15日 |
|||
* Author: xsq |
|||
*/ |
|||
|
|||
#include "msp_ground_management.h" |
|||
#include "msp_strain_gauge.h" |
|||
uint8_t ground_management_slave_id = 0x34; |
|||
|
|||
struct UARTHandler *ground_management_handler; |
|||
ground_management_struct *ground_management_value; |
|||
DispacherController *ground_management_dispacherController; |
|||
|
|||
void decode_ground_management(uint8_t *buffer, uint16_t length); |
|||
|
|||
void ground_management_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
|
|||
ground_management_handler = Handler; |
|||
ground_management_handler->Wait_time = 10; //等待10ms 最低不要低于4；
|
|||
ground_management_dispacherController = Handler->dispacherController; |
|||
ground_management_dispacherController->Dispacher_Enable = 1; |
|||
//不周期性发送
|
|||
ground_management_dispacherController->Add_Dispatcher_List( |
|||
ground_management_dispacherController, ground_management_inquiry); |
|||
|
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, |
|||
"ground_management", 0, ComError_Ground_Management); |
|||
LOG("battery_intialize"); |
|||
} |
|||
void ground_management_intialize_with_slaveid(struct UARTHandler *Handler, |
|||
int slave_id) |
|||
{ |
|||
ground_management_intialize(Handler); |
|||
ground_management_slave_id = slave_id; |
|||
} |
|||
uint16_t dataToSend[10]; |
|||
uint16_t g_m_read_count= 10; |
|||
uint16_t decoded_ground_management_holdingReg_value[20]; |
|||
void ground_management_inquiry() |
|||
{ |
|||
// void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
|
|||
// uint16_t _reg, uint16_t _num, uint8_t *_databuf)
|
|||
dataToSend[0] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K1); |
|||
dataToSend[1] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K2); |
|||
dataToSend[2] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K3); |
|||
dataToSend[3] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K4); |
|||
dataToSend[4] = SWAP_ENDIAN_16((uint16_t ) ground_management_value->K5_Default); |
|||
dataToSend[5] = SWAP_ENDIAN_16( |
|||
(uint16_t ) ground_management_value->MaualControlPower); |
|||
dataToSend[6] = SWAP_ENDIAN_16( |
|||
(uint16_t ) ground_management_value->MaualPowerState); |
|||
|
|||
ground_management_value->Time_Out_Period=400; |
|||
dataToSend[7] = SWAP_ENDIAN_16( |
|||
(uint16_t ) ground_management_value->Time_Out_Period); |
|||
|
|||
MB_WriteNumHoldingReg(&ground_management_handler->Tx_Buf, |
|||
&ground_management_handler->TxCount, ground_management_slave_id, 0, |
|||
8, dataToSend); |
|||
|
|||
ground_management_handler->AddSendList(ground_management_handler, |
|||
ground_management_handler->Tx_Buf, |
|||
ground_management_handler->TxCount, OneLineWaitTime, NULL); |
|||
|
|||
/***********寄存器8写德玛克电机速度*****************************/ |
|||
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, |
|||
&ground_management_handler->TxCount, ground_management_slave_id, |
|||
8, GV.GroundManagementValue.DMK_Speed); |
|||
ground_management_handler->AddSendList(ground_management_handler, |
|||
ground_management_handler->Tx_Buf, |
|||
ground_management_handler->TxCount, OneLineWaitTime, NULL); |
|||
|
|||
/***********寄存器9写德玛克电机状态*****************************/ |
|||
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, |
|||
&ground_management_handler->TxCount, ground_management_slave_id, |
|||
9, GV.GroundManagementValue.DMK_WorkState); |
|||
ground_management_handler->AddSendList(ground_management_handler, |
|||
ground_management_handler->Tx_Buf, |
|||
ground_management_handler->TxCount, OneLineWaitTime, NULL); |
|||
/********************************************************************/ |
|||
|
|||
if (ground_management_value->Save_To_Flash == 1) |
|||
{ |
|||
/******************写寄存器7超时时间**************************/ |
|||
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, |
|||
&ground_management_handler->TxCount, ground_management_slave_id, |
|||
7, (uint16_t)ground_management_value->Time_Out_Period); |
|||
ground_management_handler->AddSendList(ground_management_handler, |
|||
ground_management_handler->Tx_Buf, |
|||
ground_management_handler->TxCount, OneLineWaitTime, NULL); |
|||
|
|||
/***************************寄存器10 写入55保存数据*************************************/ |
|||
MB_WriteHoldingReg(&ground_management_handler->Tx_Buf, |
|||
&ground_management_handler->TxCount, ground_management_slave_id, |
|||
10, 55); |
|||
ground_management_handler->AddSendList(ground_management_handler, |
|||
ground_management_handler->Tx_Buf, |
|||
ground_management_handler->TxCount, OneLineWaitTime, NULL); |
|||
/*****************************************************/ |
|||
ground_management_value->Save_To_Flash=0; |
|||
} |
|||
|
|||
|
|||
MB_ReadHoldingReg(&ground_management_handler->Tx_Buf, &ground_management_handler->TxCount, ground_management_slave_id, 0, |
|||
g_m_read_count); |
|||
ground_management_handler->AddSendList(ground_management_handler, ground_management_handler->Tx_Buf, |
|||
ground_management_handler->TxCount, OneLineWaitTime, decode_ground_management); |
|||
|
|||
} |
|||
void decode_ground_management(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
// uint8_t data1[length];
|
|||
// memcpy(data1, buffer, length);
|
|||
int decoded_result = MB_Decode_HoldingRegs(buffer, length, g_m_read_count, |
|||
&decoded_ground_management_holdingReg_value[0]); |
|||
if (decoded_result == 1) |
|||
{ |
|||
|
|||
ground_management_value->Read_Time_Out_Period = decoded_ground_management_holdingReg_value[7]; |
|||
|
|||
|
|||
|
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"ground_management", 1); |
|||
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
|
|||
} |
|||
else |
|||
{ |
|||
LOGFF(DL_ERROR, "ground_management decoding failed"); |
|||
} |
|||
} |
|||
|
|||
@ -0,0 +1,137 @@ |
|||
/*
|
|||
* msp_strain_gauge.c |
|||
* |
|||
* Created on: 2025年11月25日 |
|||
* Author: akeguo |
|||
*/ |
|||
#include "msp_strain_gauge.h" |
|||
//应变片采集模块
|
|||
|
|||
Strain_Gauge_Struct *strainGaugeValue; |
|||
uint8_t strain_gauge_slave_id = 0x32; //默认为1
|
|||
int SAVE_Register9=0; //设置55 保存KD
|
|||
int SAVE_Register23=0; //设置KD
|
|||
struct UARTHandler *strain_gauge_handler; |
|||
|
|||
DispacherController *strain_gauge_dispacherController; |
|||
void strain_gauge_loop(); |
|||
void decode_strain_gauge_01(uint8_t *buffer, uint16_t length); |
|||
void decode_strain_gauge_09(uint8_t *buffer, uint16_t length); |
|||
void strain_gauge_intialize(struct UARTHandler *Handler) |
|||
{ |
|||
//strain_gauge_slave_id=slave_id;
|
|||
strain_gauge_handler = Handler; |
|||
strain_gauge_handler->Wait_time = 10; //等待10ms 最低不要低于4；
|
|||
strain_gauge_dispacherController = Handler->dispacherController; |
|||
strain_gauge_dispacherController->Dispacher_Enable = 1; |
|||
//不周期性发送
|
|||
strain_gauge_dispacherController->Add_Dispatcher_List( |
|||
strain_gauge_dispacherController, strain_gauge_loop);//Dispatcher_List_Add_t bsp com helper.c
|
|||
|
|||
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, |
|||
"strain_gauge", 0, ComError_Strain_Gauge); |
|||
|
|||
LOG("strain_gauge_intialize"); |
|||
} |
|||
void strain_gauge_intialize_with_slaveid(struct UARTHandler *Handler, |
|||
int slave_id) |
|||
{ |
|||
strain_gauge_intialize(Handler); |
|||
strain_gauge_slave_id = slave_id; |
|||
} |
|||
|
|||
void strain_gauge_loop() |
|||
{ |
|||
// 必须要初始化 strainGaugeValue
|
|||
|
|||
//读取力
|
|||
MB_ReadHoldingReg(&strain_gauge_handler->Tx_Buf, |
|||
&strain_gauge_handler->TxCount, strain_gauge_slave_id, 1, 1); //03 command ; read 3 registers 从1 开始 读取1个
|
|||
strain_gauge_handler->AddSendList(strain_gauge_handler, |
|||
strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime, |
|||
decode_strain_gauge_01); |
|||
|
|||
//推杆控制
|
|||
MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
|||
&strain_gauge_handler->TxCount, strain_gauge_slave_id, 0, |
|||
strainGaugeValue->MotorControl);//strainGaugeValue->MotorControl 电机控制，=0 停止，=1 前进，=2 后退
|
|||
strain_gauge_handler->AddSendList(strain_gauge_handler, |
|||
strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime, |
|||
NULL); |
|||
|
|||
/*写寄存器2 3 KD**/ |
|||
if(SAVE_Register23==1) |
|||
{ |
|||
/*写寄存器2 K**/ |
|||
MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
|||
&strain_gauge_handler->TxCount, strain_gauge_slave_id, 2, |
|||
strainGaugeValue->HX711_K); |
|||
strain_gauge_handler->AddSendList(strain_gauge_handler, |
|||
strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime, |
|||
NULL); |
|||
/*写寄存器3 D**/ |
|||
MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
|||
&strain_gauge_handler->TxCount, strain_gauge_slave_id, 3, |
|||
strainGaugeValue->HX711_D); |
|||
strain_gauge_handler->AddSendList(strain_gauge_handler, |
|||
strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime, |
|||
NULL); |
|||
SAVE_Register23=0; |
|||
} |
|||
|
|||
/*写寄存器9 设置为55保存KD**/ |
|||
if(SAVE_Register9==1) |
|||
{ |
|||
|
|||
MB_WriteHoldingReg(&strain_gauge_handler->Tx_Buf, |
|||
&strain_gauge_handler->TxCount, strain_gauge_slave_id, 9, |
|||
strainGaugeValue->Save); |
|||
strain_gauge_handler->AddSendList(strain_gauge_handler, |
|||
strain_gauge_handler->Tx_Buf, strain_gauge_handler->TxCount, OneLineWaitTime, |
|||
NULL); |
|||
SAVE_Register9=0; |
|||
} |
|||
|
|||
} |
|||
int16_t decoded_strain_gauge_holdingReg_value[20]; |
|||
//读取 00-02的寄存器
|
|||
void decode_strain_gauge_01(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
|
|||
// uint8_t data1[length];
|
|||
// memcpy(data1, buffer, length);
|
|||
|
|||
int decoded_result = MB_Decode_HoldingRegs(buffer, length, 1, |
|||
&decoded_strain_gauge_holdingReg_value[1]); |
|||
if (decoded_result == 1) |
|||
{ |
|||
strainGaugeValue->Pressure = decoded_strain_gauge_holdingReg_value[1]; |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"strain_gauge", 1); |
|||
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
|
|||
} |
|||
else |
|||
{ |
|||
LOGFF(DL_ERROR, "strain_gauge_decoding failed"); |
|||
} |
|||
} |
|||
//读取 09的寄存器
|
|||
void decode_strain_gauge_09(uint8_t *buffer, uint16_t length) |
|||
{ |
|||
|
|||
// uint8_t data1[100];
|
|||
// memcpy(data1, buffer, length);
|
|||
int decoded_result = MB_Decode_HoldingRegs(buffer, length, 2, |
|||
&decoded_strain_gauge_holdingReg_value[9]); |
|||
if (decoded_result == 1) |
|||
{ |
|||
strainGaugeValue->Save = decoded_strain_gauge_holdingReg_value[9]; |
|||
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, |
|||
"strain_gauge", 1); |
|||
// LOG("Battery_sensor succeeded and the force is %d", *CMCU06_ForceValue);
|
|||
} |
|||
else |
|||
{ |
|||
LOGFF(DL_ERROR, "strain_gauge_decoding failed"); |
|||
} |
|||
} |
|||
@ -0,0 +1,102 @@ |
|||
/*
|
|||
* paint_gun_action.c |
|||
* |
|||
* Created on: 2025年8月7日 |
|||
* Author: xsq |
|||
*/ |
|||
#include "paint_gun_action.h" |
|||
#include "Handset_Status_Setting.h" |
|||
#include "msp_strain_gauge.h" |
|||
|
|||
#include "fsm_state.h" |
|||
#include "BHBF_ROBOT.h" |
|||
transition_t current_paintgun_state; /*transition_t 成员是 指针的 transition_state_t */ |
|||
|
|||
transition_state_t paintgun_on_state={PaintGun_ON_Enter,PaintGun_ON_Do,NULL}; /* State 成员，它会被默认初始化为 0 */ |
|||
transition_state_t paintgun_off_state={PaintGun_OFF_Enter,PaintGun_OFF_Do,NULL}; |
|||
|
|||
char Paint_Gun_ButtonReset_Flag = 0; //喷枪开启 1yes
|
|||
|
|||
/* 喷枪控制 */ |
|||
void PaintGun_ON_Do() |
|||
{ |
|||
GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_ON_PaintGun);//0开
|
|||
} |
|||
|
|||
void PaintGun_OFF_Do() |
|||
{ |
|||
GF_BSP_GPIO_SetIO(PaintGun_IO_CTL, K_OFF_PaintGun);//1关
|
|||
} |
|||
|
|||
void PaintGun_ON_Enter() |
|||
{ |
|||
|
|||
} |
|||
void PaintGun_ON_Exit() |
|||
{ |
|||
|
|||
} |
|||
void PaintGun_OFF_Enter() |
|||
{ |
|||
|
|||
|
|||
} |
|||
void PaintGun_OFF_Exit() |
|||
{ |
|||
|
|||
} |
|||
|
|||
IO_State curr_io_state; |
|||
//无压力传感器数值下控制推杆函数
|
|||
void PaintGun_Contronl() |
|||
{ |
|||
GV.Now_press=strainGaugeValue->Pressure; |
|||
curr_io_state = GetIOState(); |
|||
if(curr_io_state==IO_STATE_RISE) |
|||
{ |
|||
strainGaugeValue->MotorControl=1; |
|||
|
|||
} |
|||
else if(curr_io_state==IO_STATE_DESCEND) |
|||
{ |
|||
strainGaugeValue->MotorControl=2; |
|||
|
|||
} |
|||
else |
|||
{ |
|||
strainGaugeValue->MotorControl=0; |
|||
} |
|||
} |
|||
|
|||
|
|||
//有压力传感器数值下控制推杆函数
|
|||
void PaintGun_Contronl_Press() |
|||
{ |
|||
GV.Now_press=strainGaugeValue->Pressure; |
|||
curr_io_state = GetIOState(); |
|||
if(curr_io_state==IO_STATE_RISE) |
|||
{ |
|||
|
|||
// if(strainGaugeValue->Pressure>(-GV.PV.Robot_Press_Set))
|
|||
// {
|
|||
// strainGaugeValue->MotorControl=1;
|
|||
// }
|
|||
strainGaugeValue->MotorControl=1; |
|||
} |
|||
else if(curr_io_state==IO_STATE_DESCEND) |
|||
{ |
|||
|
|||
if(strainGaugeValue->Pressure<=(GV.PV.Robot_Press_Set*10)) |
|||
{ |
|||
strainGaugeValue->MotorControl=2; |
|||
} |
|||
else |
|||
{ |
|||
strainGaugeValue->MotorControl=0; |
|||
} |
|||
} |
|||
else |
|||
{ |
|||
strainGaugeValue->MotorControl=0; |
|||
} |
|||
} |
|||
@ -0,0 +1,388 @@ |
|||
/* pb_common.c: Common support functions for pb_encode.c and pb_decode.c.
|
|||
* |
|||
* 2014 Petteri Aimonen <jpa@kapsi.fi> |
|||
*/ |
|||
|
|||
#include "pb_common.h" |
|||
|
|||
static bool load_descriptor_values(pb_field_iter_t *iter) |
|||
{ |
|||
uint32_t word0; |
|||
uint32_t data_offset; |
|||
int_least8_t size_offset; |
|||
|
|||
if (iter->index >= iter->descriptor->field_count) |
|||
return false; |
|||
|
|||
word0 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); |
|||
iter->type = (pb_type_t)((word0 >> 8) & 0xFF); |
|||
|
|||
switch(word0 & 3) |
|||
{ |
|||
case 0: { |
|||
/* 1-word format */ |
|||
iter->array_size = 1; |
|||
iter->tag = (pb_size_t)((word0 >> 2) & 0x3F); |
|||
size_offset = (int_least8_t)((word0 >> 24) & 0x0F); |
|||
data_offset = (word0 >> 16) & 0xFF; |
|||
iter->data_size = (pb_size_t)((word0 >> 28) & 0x0F); |
|||
break; |
|||
} |
|||
|
|||
case 1: { |
|||
/* 2-word format */ |
|||
uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]); |
|||
|
|||
iter->array_size = (pb_size_t)((word0 >> 16) & 0x0FFF); |
|||
iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 28) << 6)); |
|||
size_offset = (int_least8_t)((word0 >> 28) & 0x0F); |
|||
data_offset = word1 & 0xFFFF; |
|||
iter->data_size = (pb_size_t)((word1 >> 16) & 0x0FFF); |
|||
break; |
|||
} |
|||
|
|||
case 2: { |
|||
/* 4-word format */ |
|||
uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]); |
|||
uint32_t word2 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 2]); |
|||
uint32_t word3 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 3]); |
|||
|
|||
iter->array_size = (pb_size_t)(word0 >> 16); |
|||
iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 8) << 6)); |
|||
size_offset = (int_least8_t)(word1 & 0xFF); |
|||
data_offset = word2; |
|||
iter->data_size = (pb_size_t)word3; |
|||
break; |
|||
} |
|||
|
|||
default: { |
|||
/* 8-word format */ |
|||
uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]); |
|||
uint32_t word2 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 2]); |
|||
uint32_t word3 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 3]); |
|||
uint32_t word4 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 4]); |
|||
|
|||
iter->array_size = (pb_size_t)word4; |
|||
iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 8) << 6)); |
|||
size_offset = (int_least8_t)(word1 & 0xFF); |
|||
data_offset = word2; |
|||
iter->data_size = (pb_size_t)word3; |
|||
break; |
|||
} |
|||
} |
|||
|
|||
if (!iter->message) |
|||
{ |
|||
/* Avoid doing arithmetic on null pointers, it is undefined */ |
|||
iter->pField = NULL; |
|||
iter->pSize = NULL; |
|||
} |
|||
else |
|||
{ |
|||
iter->pField = (char*)iter->message + data_offset; |
|||
|
|||
if (size_offset) |
|||
{ |
|||
iter->pSize = (char*)iter->pField - size_offset; |
|||
} |
|||
else if (PB_HTYPE(iter->type) == PB_HTYPE_REPEATED && |
|||
(PB_ATYPE(iter->type) == PB_ATYPE_STATIC || |
|||
PB_ATYPE(iter->type) == PB_ATYPE_POINTER)) |
|||
{ |
|||
/* Fixed count array */ |
|||
iter->pSize = &iter->array_size; |
|||
} |
|||
else |
|||
{ |
|||
iter->pSize = NULL; |
|||
} |
|||
|
|||
if (PB_ATYPE(iter->type) == PB_ATYPE_POINTER && iter->pField != NULL) |
|||
{ |
|||
iter->pData = *(void**)iter->pField; |
|||
} |
|||
else |
|||
{ |
|||
iter->pData = iter->pField; |
|||
} |
|||
} |
|||
|
|||
if (PB_LTYPE_IS_SUBMSG(iter->type)) |
|||
{ |
|||
iter->submsg_desc = iter->descriptor->submsg_info[iter->submessage_index]; |
|||
} |
|||
else |
|||
{ |
|||
iter->submsg_desc = NULL; |
|||
} |
|||
|
|||
return true; |
|||
} |
|||
|
|||
static void advance_iterator(pb_field_iter_t *iter) |
|||
{ |
|||
iter->index++; |
|||
|
|||
if (iter->index >= iter->descriptor->field_count) |
|||
{ |
|||
/* Restart */ |
|||
iter->index = 0; |
|||
iter->field_info_index = 0; |
|||
iter->submessage_index = 0; |
|||
iter->required_field_index = 0; |
|||
} |
|||
else |
|||
{ |
|||
/* Increment indexes based on previous field type.
|
|||
* All field info formats have the following fields: |
|||
* - lowest 2 bits tell the amount of words in the descriptor (2^n words) |
|||
* - bits 2..7 give the lowest bits of tag number. |
|||
* - bits 8..15 give the field type. |
|||
*/ |
|||
uint32_t prev_descriptor = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); |
|||
pb_type_t prev_type = (prev_descriptor >> 8) & 0xFF; |
|||
pb_size_t descriptor_len = (pb_size_t)(1 << (prev_descriptor & 3)); |
|||
|
|||
/* Add to fields.
|
|||
* The cast to pb_size_t is needed to avoid -Wconversion warning. |
|||
* Because the data is is constants from generator, there is no danger of overflow. |
|||
*/ |
|||
iter->field_info_index = (pb_size_t)(iter->field_info_index + descriptor_len); |
|||
iter->required_field_index = (pb_size_t)(iter->required_field_index + (PB_HTYPE(prev_type) == PB_HTYPE_REQUIRED)); |
|||
iter->submessage_index = (pb_size_t)(iter->submessage_index + PB_LTYPE_IS_SUBMSG(prev_type)); |
|||
} |
|||
} |
|||
|
|||
bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message) |
|||
{ |
|||
memset(iter, 0, sizeof(*iter)); |
|||
|
|||
iter->descriptor = desc; |
|||
iter->message = message; |
|||
|
|||
return load_descriptor_values(iter); |
|||
} |
|||
|
|||
bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension) |
|||
{ |
|||
const pb_msgdesc_t *msg = (const pb_msgdesc_t*)extension->type->arg; |
|||
bool status; |
|||
|
|||
uint32_t word0 = PB_PROGMEM_READU32(msg->field_info[0]); |
|||
if (PB_ATYPE(word0 >> 8) == PB_ATYPE_POINTER) |
|||
{ |
|||
/* For pointer extensions, the pointer is stored directly
|
|||
* in the extension structure. This avoids having an extra |
|||
* indirection. */ |
|||
status = pb_field_iter_begin(iter, msg, &extension->dest); |
|||
} |
|||
else |
|||
{ |
|||
status = pb_field_iter_begin(iter, msg, extension->dest); |
|||
} |
|||
|
|||
iter->pSize = &extension->found; |
|||
return status; |
|||
} |
|||
|
|||
bool pb_field_iter_next(pb_field_iter_t *iter) |
|||
{ |
|||
advance_iterator(iter); |
|||
(void)load_descriptor_values(iter); |
|||
return iter->index != 0; |
|||
} |
|||
|
|||
bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag) |
|||
{ |
|||
if (iter->tag == tag) |
|||
{ |
|||
return true; /* Nothing to do, correct field already. */ |
|||
} |
|||
else if (tag > iter->descriptor->largest_tag) |
|||
{ |
|||
return false; |
|||
} |
|||
else |
|||
{ |
|||
pb_size_t start = iter->index; |
|||
uint32_t fieldinfo; |
|||
|
|||
if (tag < iter->tag) |
|||
{ |
|||
/* Fields are in tag number order, so we know that tag is between
|
|||
* 0 and our start position. Setting index to end forces |
|||
* advance_iterator() call below to restart from beginning. */ |
|||
iter->index = iter->descriptor->field_count; |
|||
} |
|||
|
|||
do |
|||
{ |
|||
/* Advance iterator but don't load values yet */ |
|||
advance_iterator(iter); |
|||
|
|||
/* Do fast check for tag number match */ |
|||
fieldinfo = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); |
|||
|
|||
if (((fieldinfo >> 2) & 0x3F) == (tag & 0x3F)) |
|||
{ |
|||
/* Good candidate, check further */ |
|||
(void)load_descriptor_values(iter); |
|||
|
|||
if (iter->tag == tag && |
|||
PB_LTYPE(iter->type) != PB_LTYPE_EXTENSION) |
|||
{ |
|||
/* Found it */ |
|||
return true; |
|||
} |
|||
} |
|||
} while (iter->index != start); |
|||
|
|||
/* Searched all the way back to start, and found nothing. */ |
|||
(void)load_descriptor_values(iter); |
|||
return false; |
|||
} |
|||
} |
|||
|
|||
bool pb_field_iter_find_extension(pb_field_iter_t *iter) |
|||
{ |
|||
if (PB_LTYPE(iter->type) == PB_LTYPE_EXTENSION) |
|||
{ |
|||
return true; |
|||
} |
|||
else |
|||
{ |
|||
pb_size_t start = iter->index; |
|||
uint32_t fieldinfo; |
|||
|
|||
do |
|||
{ |
|||
/* Advance iterator but don't load values yet */ |
|||
advance_iterator(iter); |
|||
|
|||
/* Do fast check for field type */ |
|||
fieldinfo = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]); |
|||
|
|||
if (PB_LTYPE((fieldinfo >> 8) & 0xFF) == PB_LTYPE_EXTENSION) |
|||
{ |
|||
return load_descriptor_values(iter); |
|||
} |
|||
} while (iter->index != start); |
|||
|
|||
/* Searched all the way back to start, and found nothing. */ |
|||
(void)load_descriptor_values(iter); |
|||
return false; |
|||
} |
|||
} |
|||
|
|||
static void *pb_const_cast(const void *p) |
|||
{ |
|||
/* Note: this casts away const, in order to use the common field iterator
|
|||
* logic for both encoding and decoding. The cast is done using union |
|||
* to avoid spurious compiler warnings. */ |
|||
union { |
|||
void *p1; |
|||
const void *p2; |
|||
} t; |
|||
t.p2 = p; |
|||
return t.p1; |
|||
} |
|||
|
|||
bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message) |
|||
{ |
|||
return pb_field_iter_begin(iter, desc, pb_const_cast(message)); |
|||
} |
|||
|
|||
bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension) |
|||
{ |
|||
return pb_field_iter_begin_extension(iter, (pb_extension_t*)pb_const_cast(extension)); |
|||
} |
|||
|
|||
bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field) |
|||
{ |
|||
if (field->data_size == sizeof(pb_callback_t)) |
|||
{ |
|||
pb_callback_t *pCallback = (pb_callback_t*)field->pData; |
|||
|
|||
if (pCallback != NULL) |
|||
{ |
|||
if (istream != NULL && pCallback->funcs.decode != NULL) |
|||
{ |
|||
return pCallback->funcs.decode(istream, field, &pCallback->arg); |
|||
} |
|||
|
|||
if (ostream != NULL && pCallback->funcs.encode != NULL) |
|||
{ |
|||
return pCallback->funcs.encode(ostream, field, &pCallback->arg); |
|||
} |
|||
} |
|||
} |
|||
|
|||
return true; /* Success, but didn't do anything */ |
|||
|
|||
} |
|||
|
|||
#ifdef PB_VALIDATE_UTF8 |
|||
|
|||
/* This function checks whether a string is valid UTF-8 text.
|
|||
* |
|||
* Algorithm is adapted from https://www.cl.cam.ac.uk/~mgk25/ucs/utf8_check.c
|
|||
* Original copyright: Markus Kuhn <http://www.cl.cam.ac.uk/~mgk25/> 2005-03-30
|
|||
* Licensed under "Short code license", which allows use under MIT license or |
|||
* any compatible with it. |
|||
*/ |
|||
|
|||
bool pb_validate_utf8(const char *str) |
|||
{ |
|||
const pb_byte_t *s = (const pb_byte_t*)str; |
|||
while (*s) |
|||
{ |
|||
if (*s < 0x80) |
|||
{ |
|||
/* 0xxxxxxx */ |
|||
s++; |
|||
} |
|||
else if ((s[0] & 0xe0) == 0xc0) |
|||
{ |
|||
/* 110XXXXx 10xxxxxx */ |
|||
if ((s[1] & 0xc0) != 0x80 || |
|||
(s[0] & 0xfe) == 0xc0) /* overlong? */ |
|||
return false; |
|||
else |
|||
s += 2; |
|||
} |
|||
else if ((s[0] & 0xf0) == 0xe0) |
|||
{ |
|||
/* 1110XXXX 10Xxxxxx 10xxxxxx */ |
|||
if ((s[1] & 0xc0) != 0x80 || |
|||
(s[2] & 0xc0) != 0x80 || |
|||
(s[0] == 0xe0 && (s[1] & 0xe0) == 0x80) || /* overlong? */ |
|||
(s[0] == 0xed && (s[1] & 0xe0) == 0xa0) || /* surrogate? */ |
|||
(s[0] == 0xef && s[1] == 0xbf && |
|||
(s[2] & 0xfe) == 0xbe)) /* U+FFFE or U+FFFF? */ |
|||
return false; |
|||
else |
|||
s += 3; |
|||
} |
|||
else if ((s[0] & 0xf8) == 0xf0) |
|||
{ |
|||
/* 11110XXX 10XXxxxx 10xxxxxx 10xxxxxx */ |
|||
if ((s[1] & 0xc0) != 0x80 || |
|||
(s[2] & 0xc0) != 0x80 || |
|||
(s[3] & 0xc0) != 0x80 || |
|||
(s[0] == 0xf0 && (s[1] & 0xf0) == 0x80) || /* overlong? */ |
|||
(s[0] == 0xf4 && s[1] > 0x8f) || s[0] > 0xf4) /* > U+10FFFF? */ |
|||
return false; |
|||
else |
|||
s += 4; |
|||
} |
|||
else |
|||
{ |
|||
return false; |
|||
} |
|||
} |
|||
|
|||
return true; |
|||
} |
|||
|
|||
#endif |
|||
|
|||
File diff suppressed because it is too large
File diff suppressed because it is too large
File diff suppressed because it is too large
@ -0,0 +1,100 @@ |
|||
/*
|
|||
* swing_action.c |
|||
* |
|||
* Created on: Mar 4, 2026 |
|||
* Author: 42961 |
|||
*/ |
|||
#include "swing_action.h" |
|||
#include "Handset_Status_Setting.h" |
|||
|
|||
#include "fsm_state.h" |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
|
|||
#define TT_One_Deg_Count 11014///32768*121/360(减速比121)=11014
|
|||
#define LEFT_LIMIT 1 |
|||
#define RIGHT_LIMIT 2 |
|||
float Swing_Speed_Deg_Sencond=201.7;//HJ32-121
|
|||
int middle_position=-944334; |
|||
//int center_angle;
|
|||
//int offset_angle;
|
|||
//int center_position; //中间位置-944334
|
|||
int limit_record=0; |
|||
float left_compare_value=0; |
|||
float right_compare_value=0; |
|||
float left_compare_updata; |
|||
float right_compare_updata; |
|||
|
|||
int lef_positon=-569580; |
|||
int Right_positon=-1230420; |
|||
|
|||
//手动摆臂函数
|
|||
void Robot_Swing_Operation_Function() |
|||
{ |
|||
if(P_MK32->CH0_RY_H>500) |
|||
{ |
|||
GV.SwingMotor.Position_immediately1_Lag2=1; |
|||
GV.Tar_Position_angle=90; |
|||
GV.Tar_Position_Velcity_Degree_S=GV.Robot_Swing_Speed; |
|||
|
|||
} |
|||
else if(P_MK32->CH0_RY_H<-500) |
|||
{ |
|||
GV.SwingMotor.Position_immediately1_Lag2=1; |
|||
GV.Tar_Position_angle=-90; |
|||
GV.Tar_Position_Velcity_Degree_S=GV.Robot_Swing_Speed; |
|||
} |
|||
else |
|||
{ |
|||
Move_Swing_Halt_Func_Do(); |
|||
} |
|||
} |
|||
|
|||
|
|||
|
|||
//摆臂电机左转延时生效
|
|||
void Move_Swing_Left_Func_Do_lay(void) |
|||
{ |
|||
GV.SwingMotor.Position_immediately1_Lag2=2; |
|||
GV.Tar_Position_angle=left_compare_value; |
|||
GV.Tar_Position_Velcity_Degree_S=GV.Robot_Swing_Speed; |
|||
} |
|||
|
|||
//摆臂电机右转延时生效
|
|||
void Move_Swing_Right_Func_Do_lay(void) |
|||
{ |
|||
|
|||
GV.SwingMotor.Position_immediately1_Lag2=2; |
|||
GV.Tar_Position_angle=right_compare_value; |
|||
GV.Tar_Position_Velcity_Degree_S=GV.Robot_Swing_Speed; |
|||
} |
|||
|
|||
//摆臂电机左转立即执行
|
|||
void Move_Swing_Left_Func_Do_imm(void) |
|||
{ |
|||
|
|||
GV.SwingMotor.Position_immediately1_Lag2=1; |
|||
|
|||
GV.Tar_Position_angle=left_compare_value; |
|||
GV.Tar_Position_Velcity_Degree_S=GV.Robot_Swing_Speed; |
|||
|
|||
|
|||
} |
|||
|
|||
//摆臂电机右转立即执行
|
|||
void Move_Swing_Right_Func_Do_imm(void) |
|||
{ |
|||
|
|||
GV.SwingMotor.Position_immediately1_Lag2=1; |
|||
GV.Tar_Position_angle=right_compare_value; |
|||
GV.Tar_Position_Velcity_Degree_S=GV.Robot_Swing_Speed; |
|||
|
|||
} |
|||
|
|||
void Move_Swing_Halt_Func_Do(void) |
|||
{ |
|||
GV.SwingMotor.Position_immediately1_Lag2=1; |
|||
GV.SwingMotor.Tar_Position_count=0; |
|||
GV.Tar_Position_Velcity_Degree_S=0; |
|||
|
|||
} |
|||
@ -0,0 +1,251 @@ |
|||
#include "tcp_server.h" |
|||
#include "lwip/tcp.h" |
|||
#include "lwip/memp.h" |
|||
#include <string.h> |
|||
#include "lwip.h" |
|||
|
|||
#include "string.h" |
|||
#include "bsp_UDP.h" |
|||
#include "bsp_DLT_Log.h" |
|||
#include <bsp_UpperComputer_Handler.h> |
|||
#include "BSP/bsp_GPIO.h" |
|||
static client_conn_t clients[MAX_CLIENTS]; |
|||
static struct tcp_pcb *server_pcb = NULL; |
|||
void send_tcp(SendDataNode **head); |
|||
// 回调函数声明
|
|||
static err_t tcp_accept_cb(void *arg, struct tcp_pcb *newpcb, err_t err); |
|||
static err_t tcp_recv_cb(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, |
|||
err_t err); |
|||
static void tcp_err_cb(void *arg, err_t err); |
|||
static void tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len); |
|||
SendDataNode *pTcpHead = NULL; /*初始化链表头指针，使其为空*/ |
|||
void tcp_server_timer_callback(); |
|||
char listIndex = 0; |
|||
SendDataNode* CreateSendDataNode(uint8_t *tx_Buf, uint8_t tx_count) |
|||
{ |
|||
SendDataNode *newNode = (SendDataNode*) malloc(sizeof(SendDataNode)); |
|||
if (newNode == NULL) |
|||
{ |
|||
return NULL; |
|||
} |
|||
memcpy(newNode->Tx_Buf, tx_Buf, tx_count); |
|||
newNode->Tx_Count = tx_count; |
|||
newNode->next = NULL; |
|||
return newNode; |
|||
} |
|||
|
|||
void insertAtTail(SendDataNode **head, uint8_t *tx_Buf, uint8_t tx_count) |
|||
{ |
|||
SendDataNode *newNode = CreateSendDataNode(tx_Buf, tx_count); |
|||
// 如果链表为空
|
|||
if (*head == NULL) |
|||
{ |
|||
|
|||
*head = newNode; |
|||
return; |
|||
} |
|||
listIndex = 0; |
|||
// 遍历到链表尾部
|
|||
SendDataNode *current = *head; |
|||
while (current->next != NULL) |
|||
{ |
|||
// listIndex++;
|
|||
// if (listIndex >= 50)
|
|||
// {
|
|||
// free(current);
|
|||
// return;
|
|||
// }
|
|||
current = current->next; |
|||
} |
|||
//SendDataNode *newNode = CreateSendDataNode(tx_Buf, tx_count);
|
|||
current->next = newNode; // 尾部节点指向新节点
|
|||
|
|||
} |
|||
|
|||
void tcp_add_sendList(uint8_t *tx_Buf, uint8_t tx_count) |
|||
{ |
|||
|
|||
for (int i = 0; i < MAX_CLIENTS; i++) |
|||
{ |
|||
if (clients[i].active) |
|||
{ |
|||
insertAtTail(&pTcpHead, tx_Buf, tx_count); |
|||
return; |
|||
} |
|||
} |
|||
} |
|||
|
|||
void send_tcp(SendDataNode **head) |
|||
{ |
|||
if (*head == NULL) |
|||
{ |
|||
return; |
|||
} |
|||
tcp_send_to_all_clients((*head)->Tx_Buf, (*head)->Tx_Count); |
|||
SendDataNode *temp = *head; |
|||
*head = (*head)->next; |
|||
free(temp); |
|||
|
|||
} |
|||
|
|||
// 初始化TCP服务器
|
|||
void tcp_server_init(uint16_t port) |
|||
{ |
|||
GF_BSP_Interrupt_Add_CallBack( |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, |
|||
tcp_server_timer_callback); |
|||
err_t err; |
|||
|
|||
// 创建TCP控制块
|
|||
server_pcb = tcp_new_ip_type(IPADDR_TYPE_ANY); |
|||
if (!server_pcb) return; |
|||
|
|||
// 绑定到指定端口
|
|||
err = tcp_bind(server_pcb, IP_ANY_TYPE, port); |
|||
if (err != ERR_OK) |
|||
{ |
|||
memp_free(MEMP_TCP_PCB, server_pcb); |
|||
server_pcb = NULL; |
|||
return; |
|||
} |
|||
|
|||
// 开始监听
|
|||
server_pcb = tcp_listen(server_pcb); |
|||
if (!server_pcb) return; |
|||
|
|||
// 设置接受连接回调
|
|||
tcp_accept(server_pcb, tcp_accept_cb); |
|||
|
|||
// 初始化客户端数组
|
|||
memset(clients, 0, sizeof(clients)); |
|||
|
|||
} |
|||
|
|||
// 接受新连接回调
|
|||
static err_t tcp_accept_cb(void *arg, struct tcp_pcb *newpcb, err_t err) |
|||
{ |
|||
LWIP_UNUSED_ARG(arg); |
|||
LWIP_UNUSED_ARG(err); |
|||
|
|||
// 查找空闲的客户端槽位
|
|||
int free_index = -1; |
|||
for (int i = 0; i < MAX_CLIENTS; i++) |
|||
{ |
|||
if (!clients[i].active) |
|||
{ |
|||
free_index = i; |
|||
break; |
|||
} |
|||
} |
|||
|
|||
if (free_index == -1) |
|||
{ |
|||
// 没有可用槽位，拒绝连接
|
|||
tcp_abort(newpcb); |
|||
return ERR_ABRT; |
|||
} |
|||
|
|||
// 配置新连接
|
|||
tcp_setprio(newpcb, TCP_PRIO_MIN); |
|||
tcp_recv(newpcb, tcp_recv_cb); |
|||
tcp_err(newpcb, tcp_err_cb); |
|||
tcp_sent(newpcb, tcp_sent_cb); |
|||
|
|||
// 保存客户端信息
|
|||
clients[free_index].pcb = newpcb; |
|||
clients[free_index].active = 1; |
|||
|
|||
return ERR_OK; |
|||
} |
|||
|
|||
// 接收数据回调
|
|||
static err_t tcp_recv_cb(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, |
|||
err_t err) |
|||
{ |
|||
LWIP_UNUSED_ARG(arg); |
|||
|
|||
if (!p) |
|||
{ |
|||
// 连接关闭
|
|||
for (int i = 0; i < MAX_CLIENTS; i++) |
|||
{ |
|||
if (clients[i].pcb == tpcb) |
|||
{ |
|||
clients[i].active = 0; |
|||
break; |
|||
} |
|||
} |
|||
tcp_close(tpcb); |
|||
return ERR_OK; |
|||
} |
|||
|
|||
// 处理接收到的数据（这里简单释放）
|
|||
tcp_recved(tpcb, p->tot_len); |
|||
pbuf_free(p); |
|||
|
|||
return ERR_OK; |
|||
} |
|||
|
|||
// 错误回调
|
|||
static void tcp_err_cb(void *arg, err_t err) |
|||
{ |
|||
LWIP_UNUSED_ARG(err); |
|||
|
|||
for (int i = 0; i < MAX_CLIENTS; i++) |
|||
{ |
|||
if (clients[i].pcb == arg) |
|||
{ |
|||
clients[i].active = 0; |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
|
|||
// 数据发送完成回调
|
|||
static void tcp_sent_cb(void *arg, struct tcp_pcb *tpcb, u16_t len) |
|||
{ |
|||
LWIP_UNUSED_ARG(arg); |
|||
LWIP_UNUSED_ARG(tpcb); |
|||
LWIP_UNUSED_ARG(len); |
|||
// 可在此实现流量控制
|
|||
} |
|||
|
|||
// 向所有活跃客户端发送数据
|
|||
void tcp_send_to_all_clients(const char *data, uint16_t len) |
|||
{ |
|||
for (int i = 0; i < MAX_CLIENTS; i++) |
|||
{ |
|||
if (clients[i].active) |
|||
{ |
|||
//clients[i].pcb->flags=
|
|||
// err_t err = tcp_write(clients[i].pcb, data, len,
|
|||
// TCP_WRITE_FLAG_COPY);
|
|||
err_t err = tcp_write(clients[i].pcb, data, len, |
|||
TCP_WRITE_FLAG_COPY); |
|||
if (err == ERR_OK) |
|||
{ |
|||
tcp_output(clients[i].pcb); |
|||
} |
|||
else |
|||
{ |
|||
// 发送失败，关闭连接
|
|||
//clients[i].active = 0;
|
|||
//tcp_close(clients[i].pcb);
|
|||
} |
|||
} |
|||
} |
|||
} |
|||
int32_t counter = 0; |
|||
// 定时器回调（从主定时器中断调用）
|
|||
void tcp_server_timer_callback() |
|||
{ |
|||
|
|||
counter++; |
|||
if (counter > 5) |
|||
{ |
|||
counter = 0; |
|||
send_tcp(&pTcpHead); |
|||
}; |
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,125 @@ |
|||
/*
|
|||
* BHBF_ROBOT.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BHBF_ROBOT_H_ |
|||
#define INC_BHBF_ROBOT_H_ |
|||
|
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
#include <stdlib.h> |
|||
#include <assert.h> |
|||
#include <motors.h> |
|||
#include <stdbool.h> |
|||
|
|||
|
|||
|
|||
#include "BHBF_ROBOT.h" |
|||
#include "bsp_PV.pb.h" |
|||
#include "bsp_IV.pb.h" |
|||
#include "BSP/bsp_TCPClient.h" |
|||
#include "BSP/pb.h" |
|||
#include "BSP/pb_decode.h" |
|||
#include "BSP/pb_encode.h" |
|||
#include "BSP/bsp_EEPROM.h" |
|||
#include "BSP/bsp_pb_decode_encode.h" |
|||
#include "bsp_MB_host.h" |
|||
#include "BSP/bsp_include.h" |
|||
#include "BSP/bsp_UART.h" |
|||
#include "BSP/DLTuc.h" |
|||
#include "BSP/bsp_DLT_Log.h" |
|||
|
|||
|
|||
#include "BSP/bsp_cpu_flash.h" |
|||
#include "BSP/bsp_qspi_w25q128.h" |
|||
#include "BSP/bsp_UpperComputer_Handler.h" |
|||
#include "BSP/bsp_Error_Detect.h" |
|||
#include "BSP/bsp_MB_host.h" |
|||
|
|||
#include "MSP/msp_JTBATTERY.h" |
|||
|
|||
#include "MSP/msp_Force_Sensor.h" |
|||
#include "MSP/msp_TL720D.h" |
|||
#include "MSP/msp_MK32_1.h" |
|||
#include "MSP/msp_Force_Sensor.h" |
|||
#include "MSP/msp_WH_LTE_7S0.h" |
|||
|
|||
|
|||
#include "paint_gun_action.h" |
|||
#include "fsm_state_control.h" |
|||
#include "change_line_control.h" |
|||
#include "fsm_state.h" |
|||
#include "robot_move_actions.h" |
|||
|
|||
//#include "robot_state.h"
|
|||
//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K
|
|||
//#define VECT_TAB_OFFSET 0x00020000U
|
|||
|
|||
|
|||
|
|||
|
|||
#define DLTViewer 1 |
|||
|
|||
|
|||
extern bool CompareTimer_Delay(int32_t Delay); |
|||
|
|||
extern GV_struct_define GV; |
|||
extern IV_struct_define IV; |
|||
extern CV_struct_define CV; |
|||
extern PV_struct_define decoded_PV; |
|||
extern PV_struct_define decoded_PV_variable; |
|||
|
|||
typedef struct sys_timer_handler |
|||
{ |
|||
int start_timer; |
|||
int sys_current_timer_count; |
|||
int sys_timer_flag; |
|||
|
|||
}Sys_timer_handler; |
|||
|
|||
extern Sys_timer_handler timer_handler_1; |
|||
extern Sys_timer_handler timer_handler_2; |
|||
extern Sys_timer_handler timer_handler_3; |
|||
extern Sys_timer_handler timer_handler_4; |
|||
|
|||
//first start Timer, then WaitTimer
|
|||
extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler); |
|||
extern void SystemTimer_Intialize(); |
|||
extern void GF_Timer_Count(); |
|||
extern void GF_Robot_Init(void); |
|||
extern void GF_Robot_MainLoop(void); |
|||
extern void GF_WatchDog_Loop(void); |
|||
extern int32_t speed_M_min_toE01_M_min(int32_t speedm_min); |
|||
|
|||
extern void SET_BIT_1(int32_t* num,int32_t k); |
|||
|
|||
extern void SET_BIT_0(int32_t* num,int32_t k); |
|||
extern int32_t Get_BIT(int32_t* num,int32_t k); |
|||
|
|||
//A &= ~(1 << bit)
|
|||
|
|||
|
|||
|
|||
extern int32_t* SystemErrorCode; |
|||
extern ErrorData* SystemErrorData; |
|||
|
|||
#define IV_Run_Mode_Maunal 0 |
|||
#define IV_Run_Mode_Automation 1 |
|||
#define IV_Run_Mode_EmergencyStop 2 |
|||
#define IV_Run_Mode_Vertical_LaneChange 3 |
|||
#define IV_Run_Mode_Horizontal_LaneChange 4 |
|||
#define IV_Run_Mode_Forward 5 |
|||
#define IV_Run_Mode_BackWard 6 |
|||
#define IV_Run_Mode_TurnLeft 7 |
|||
#define IV_Run_Mode_TurnRight 8 |
|||
#define IV_Run_Mode_HALT 9 |
|||
|
|||
//extern LS_MotorParameters* Frames_Motor[4];
|
|||
|
|||
|
|||
extern int32_t SystemTimeMiliCount; //2ms加一
|
|||
|
|||
#endif /* INC_BHBF_ROBOT_H_ */ |
|||
@ -0,0 +1,248 @@ |
|||
/**
|
|||
* @file DLTuc.h |
|||
* @author teodor |
|||
* @date 1 Jul 2022 |
|||
* @brief This file is a part of DLTuc library |
|||
* |
|||
* In this header, you can find types, Api functions, which are provided by DLTuc library |
|||
* Usefull macros, for convience usage of DLTuc library in logging purposes |
|||
* |
|||
* Requirments: |
|||
* Around ~2kB of RAM |
|||
* Check Configuration file and defines: |
|||
* DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE |
|||
* |
|||
*/ |
|||
|
|||
#ifndef INC_DLT_LOGS_MCU_H_ |
|||
#define INC_DLT_LOGS_MCU_H_ |
|||
|
|||
/*
|
|||
* ******************************************************************************************* |
|||
* Includes |
|||
* ******************************************************************************************* |
|||
* */ |
|||
|
|||
#include "stdint.h" |
|||
#include <stdarg.h> |
|||
#include <string.h> |
|||
|
|||
#include "DLTucConfig.h" |
|||
|
|||
/*
|
|||
* ******************************************************************************************* |
|||
* Exported defines |
|||
* ******************************************************************************************* |
|||
* */ |
|||
|
|||
/*@brief
|
|||
* |
|||
* - convert the To strings to uint32_t |
|||
*/ |
|||
#define DLT_LOG_ECUID_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_ECUID[0])) << 24UL) | \ |
|||
(((uint32_t) ((uint8_t)DLT_LOG_ECUID[1])) << 16UL) | \ |
|||
(((uint32_t) ((uint8_t)DLT_LOG_ECUID[2])) << 8UL) | \ |
|||
((uint32_t)((uint8_t)DLT_LOG_ECUID[3])))) |
|||
|
|||
|
|||
#define DLT_LOG_APPID_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_APPID[0])) << 24UL) | \ |
|||
(((uint32_t) ((uint8_t)DLT_LOG_APPID[1])) << 16UL) | \ |
|||
(((uint32_t) ((uint8_t)DLT_LOG_APPID[2])) << 8UL) | \ |
|||
((uint32_t)((uint8_t)DLT_LOG_APPID[3])))) |
|||
|
|||
|
|||
#define DLT_LOG_CONTEX_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_CONTEX[0])) << 24UL) | \ |
|||
(((uint32_t) ((uint8_t)DLT_LOG_CONTEX[1])) << 16UL) | \ |
|||
(((uint32_t) ((uint8_t)DLT_LOG_CONTEX[2])) << 8UL) | \ |
|||
((uint32_t)((uint8_t)DLT_LOG_CONTEX[3])))) |
|||
|
|||
|
|||
|
|||
|
|||
/*
|
|||
* Definitions of DLT services. |
|||
*/ |
|||
#define DLT_SERVICE_ID_SET_LOG_LEVEL 0x01 /**< Service ID: Set log level */ |
|||
#define DLT_SERVICE_ID_SETRACE_STATUS 0x02 /**< Service ID: Set trace status */ |
|||
#define DLT_SERVICE_ID_GET_LOG_INFO 0x03 /**< Service ID: Get log info */ |
|||
#define DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL 0x04 /**< Service ID: Get dafault log level */ |
|||
#define DLT_SERVICE_ID_STORE_CONFIG 0x05 /**< Service ID: Store configuration */ |
|||
#define DLT_SERVICE_ID_RESETO_FACTORY_DEFAULT 0x06 /**< Service ID: Reset to factory defaults */ |
|||
#define DLT_SERVICE_ID_SET_COM_INTERFACE_STATUS 0x07 /**< Service ID: Set communication interface status */ |
|||
#define DLT_SERVICE_ID_SET_COM_INTERFACE_MAX_BANDWIDTH 0x08 /**< Service ID: Set communication interface maximum bandwidth */ |
|||
#define DLT_SERVICE_ID_SET_VERBOSE_MODE 0x09 /**< Service ID: Set verbose mode */ |
|||
#define DLT_SERVICE_ID_SET_MESSAGE_FILTERING 0x0A /**< Service ID: Set message filtering */ |
|||
#define DLT_SERVICE_ID_SETIMING_PACKETS 0x0B /**< Service ID: Set timing packets */ |
|||
#define DLT_SERVICE_ID_GET_LOCALIME 0x0C /**< Service ID: Get local time */ |
|||
#define DLT_SERVICE_ID_USE_ECU_ID 0x0D /**< Service ID: Use ECU id */ |
|||
#define DLT_SERVICE_ID_USE_SESSION_ID 0x0E /**< Service ID: Use session id */ |
|||
#define DLT_SERVICE_ID_USEIMESTAMP 0x0F /**< Service ID: Use timestamp */ |
|||
#define DLT_SERVICE_ID_USE_EXTENDED_HEADER 0x10 /**< Service ID: Use extended header */ |
|||
#define DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL 0x11 /**< Service ID: Set default log level */ |
|||
#define DLT_SERVICE_ID_SET_DEFAULTRACE_STATUS 0x12 /**< Service ID: Set default trace status */ |
|||
#define DLT_SERVICE_ID_GET_SOFTWARE_VERSION 0x13 /**< Service ID: Get software version */ |
|||
#define DLT_SERVICE_ID_MESSAGE_BUFFER_OVERFLOW 0x14 /**< Service ID: Message buffer overflow */ |
|||
#define DLT_SERVICE_ID_CALLSW_CINJECTION 0xFFF /**< Service ID: Message Injection (minimal ID) */ |
|||
|
|||
/*
|
|||
* ******************************************************************************************* |
|||
* Exported types |
|||
* ******************************************************************************************* |
|||
* */ |
|||
|
|||
/**!
|
|||
* \brief DltLogLevel_t |
|||
* \details Typdef used to identify the DLT log level |
|||
* */ |
|||
typedef enum |
|||
{ |
|||
DL_FATAL =1, |
|||
DL_ERROR =2, |
|||
DL_WARN =3, |
|||
DL_INFO =4, |
|||
DL_DEBUG =5, |
|||
DL_VERBOSE =6, |
|||
}DltLogLevel_t; |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
/*
|
|||
* ******************************************************************************************* |
|||
* Exported function - API |
|||
* ******************************************************************************************* |
|||
* */ |
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_RawDataReceiveDone |
|||
* \details OPTIONAL - Use only if you need handle data receive, like Injection messages |
|||
* Call the function to inform DLTuc that Raw data packet has been received |
|||
************************************************************************************************/ |
|||
void DLTuc_RawDataReceiveDone(uint16_t Size); |
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_RegisterReceiveSerialDataFunction |
|||
* \details OPTIONAL - Use only if you need handle data receive, like Injection messages. |
|||
* - Register callback function which will be used by DLTuc to start data receive process. |
|||
* The Callback function is basicly called only after registration and if data packet has been received, |
|||
* to start again receive data packet |
|||
* \param in LLSerialRecDataFunctionC ... |
|||
************************************************************************************************/ |
|||
void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size)); |
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_RegisterInjectionDataReceivedCb |
|||
* \details OPTIONAL - Use only if you need handle data receive, like Injection messages |
|||
* Register injection data received call back |
|||
* Use the function if you want register call back function to handle the Injection messages in your application |
|||
* \param in InjectionDataRcvd ... |
|||
************************************************************************************************/ |
|||
void DLTuc_RegisterInjectionDataReceivedCb |
|||
(void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size)); |
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_RegisterTransmitSerialDataFunction |
|||
* \details This simple stack/library must be initialized by "DLTuc_RegisterTransmitSerialDataFunction" |
|||
* As a parameter must be passed function which will transmit serial data |
|||
* \param in LLSerialTrDataFunctionC transmit function pointer |
|||
************************************************************************************************/ |
|||
void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size)); |
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_RegisterGetTimeStampMsCallback |
|||
* \details function to update time stamp in library |
|||
* \param in GetSysTime - pointer to function which allow to read system time in msec |
|||
*************************************************************************************************/ |
|||
void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void)); |
|||
|
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_MessageTransmitDone |
|||
* \details IMPORTANT!!!!! |
|||
* Call this function when the transsmision is end |
|||
* For example in "DMA transmission end callback" to inform the lib that the message is transmitted |
|||
************************************************************************************************ |
|||
* */ |
|||
void DLTuc_MessageTransmitDone(void); |
|||
|
|||
/*!
|
|||
************************************************************************************************ |
|||
* \brief DLTuc_LogOutVarArgs |
|||
* \details default function to create DLT Log |
|||
* \param DltLogLevel_t Level - of Dlt log |
|||
* \param in AppId - size of the "DltLogData" (return value) |
|||
* \param in ContextId - pointer to the message stored in RingBuffer (return value) |
|||
* \param in Payload String to send as dlt log |
|||
* \param in ... parameters same as in printf function |
|||
*************************************************************************************************/ |
|||
void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...); |
|||
|
|||
|
|||
/*
|
|||
* ******************************************************************************************* |
|||
* Additional macros to facilitate the use of the library |
|||
* ******************************************************************************************* |
|||
* */ |
|||
|
|||
#ifdef LOGS_ENABLE |
|||
|
|||
/**!
|
|||
* \brief LOGL(level, str, ...) |
|||
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add |
|||
* log_level, DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE |
|||
* |
|||
* */ |
|||
#define LOG(str, ...)\ |
|||
if(DL_INFO <= DLT_LOG_ENABLE_LEVEL){\ |
|||
DLTuc_LogOutVarArgs(DL_INFO, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\ |
|||
} |
|||
|
|||
/**!
|
|||
* \brief LOGL(level, str, ...) |
|||
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE |
|||
* |
|||
* */ |
|||
#define LOGL(log_level, str, ...)\ |
|||
if(log_level <= DLT_LOG_ENABLE_LEVEL){\ |
|||
DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\ |
|||
} |
|||
|
|||
/**!
|
|||
* @brief LOGF(log_level, str, ...) |
|||
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE |
|||
* Additionally add the name of the calling function |
|||
* |
|||
* |
|||
* */ |
|||
#define LOGF(log_level, str, ...)\ |
|||
if(log_level <= DLT_LOG_ENABLE_LEVEL){\ |
|||
DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) "FUN:%s LOG: "str, __FUNCTION__,##__VA_ARGS__);\ |
|||
} |
|||
|
|||
/**!
|
|||
* \brief LOGFF(log_level, str, ...) |
|||
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE |
|||
* Additionally add the name of the calling function and file name |
|||
* |
|||
* |
|||
* */ |
|||
#define LOGFF(log_level, str, ...)\ |
|||
if(log_level <= DLT_LOG_ENABLE_LEVEL){\ |
|||
DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *)"FILE:%s LINE: %d FUN:%s LOG: "str,__FILE__,__LINE__,__FUNCTION__,##__VA_ARGS__);\ |
|||
} |
|||
|
|||
#else |
|||
LOG(str, ...) |
|||
LOGL(log_level, str, ...) |
|||
LOGF(log_level, str, ...) |
|||
LOGFF(log_level, str, ...) |
|||
#endif |
|||
|
|||
#endif /* INC_DLT_LOGS_MCU_H_ */ |
|||
@ -0,0 +1,74 @@ |
|||
/**
|
|||
* @file DLTuc.c |
|||
* @author teodor |
|||
* @date 1 Jul 2022 |
|||
* @brief This file is a part of DLTuc library |
|||
* |
|||
* In this header file is placed DLTuc configuration template |
|||
* |
|||
*/ |
|||
|
|||
#if 1 /*Set it to "1" to enable content*/ |
|||
|
|||
#ifndef __DLT_CONFIG__ |
|||
|
|||
/*Comment this line to turn off all logs..*/ |
|||
#define LOGS_ENABLE |
|||
|
|||
/*Pass here the entry critical entry function for your RTOS or
|
|||
Interrupt block functions if you want use the library from diffrent context*/ |
|||
#define DLTuc_OS_CRITICAL_START() |
|||
#define DLTuc_OS_CRITICAL_END() |
|||
|
|||
|
|||
/*Default minimum log level to transmit the log*/ |
|||
//#ifndef DLT_LOG_ENABLE_LEVEL
|
|||
////#define DLT_LOG_ENABLE_LEVEL DL_VERBOSE
|
|||
// #define DLT_LOG_ENABLE_LEVEL 0
|
|||
//#endif
|
|||
|
|||
extern char DLT_LOG_ENABLE_LEVEL; |
|||
|
|||
|
|||
/**!
|
|||
* \brief DLT_LOG_CONTEX |
|||
* \details to define the minimum level log which will printed using the debug macros |
|||
* |
|||
*/ |
|||
#ifndef DLT_LOG_CONTEX |
|||
#define DLT_LOG_CONTEX "DFLT" |
|||
#endif |
|||
|
|||
/**!
|
|||
* \brief DLT_LOG_APPID |
|||
* \details to define the minimum level log which will printed using the debug macros |
|||
* |
|||
*/ |
|||
#ifndef DLT_LOG_APPID |
|||
#define DLT_LOG_APPID "0000" |
|||
#endif |
|||
|
|||
/**!
|
|||
* \brief DLT_LOG_ECUID |
|||
* \details you can define here you ECUID .. |
|||
* |
|||
*/ |
|||
#define DLT_LOG_ECUID "uCID" /*Electronic Controller Unit ID*/ |
|||
|
|||
#define DLT_ECU_SW_VER 0001 |
|||
|
|||
/*
|
|||
*@brief DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE & DLT_TRANSMIT_RING_BUFFER_SIZE |
|||
* these values define the size of the circular buffer and the maximum size of a single DLT message |
|||
* Size of out Circular DLT messages buffer is equal: DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE*DLT_TRANSMIT_RING_BUFFER_SIZE |
|||
*/ |
|||
#define DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE 255 |
|||
#define DLT_TRANSMIT_RING_BUFFER_SIZE 15 |
|||
|
|||
|
|||
#define DLT_REC_SINGLE_MESSAGE_MAX_SIZE 255 |
|||
#define DLT_RECEIVE_RING_BUFFER_SIZE 2 |
|||
|
|||
#endif //__DLT_CONFIG__
|
|||
|
|||
#endif //Content enable
|
|||
@ -0,0 +1,73 @@ |
|||
/*
|
|||
* Handset_Status_Setting.h |
|||
* |
|||
* Created on: 2026年1月15日 |
|||
* Author: bm673 |
|||
*/ |
|||
|
|||
#ifndef FSM_INC_HANDSET_STATUS_SETTING_H_ |
|||
#define FSM_INC_HANDSET_STATUS_SETTING_H_ |
|||
|
|||
// 按键定义
|
|||
typedef enum { |
|||
EMERGENCE_STOP=0, // SE和SF同时按下触发急停
|
|||
INPUT_NONE , // 无输入
|
|||
// 摇杆方向
|
|||
INPUT_ROCKER_STOP, // 摇杆停止
|
|||
INPUT_ROCKER_FORWARD, // 摇杆前进
|
|||
INPUT_ROCKER_BACKWARD, // 摇杆后退
|
|||
INPUT_ROCKER_TURN_LEFT, // 摇杆左转
|
|||
INPUT_ROCKER_TURN_RIGHT, // 摇杆右转
|
|||
// 按键
|
|||
INPUT_KEY_LANE_CHANGE_UP, // CH4_SA = -1000 换道上
|
|||
INPUT_KEY_LANE_CHANGE_DOWN, // CH4_SA = 1000 换道下
|
|||
INPUT_KEY_FORWARD_CRUISE, // CH5_SB = -1000 前进巡航
|
|||
INPUT_KEY_BACKWARD_CRUISE, // CH5_SB = 1000 后退巡航
|
|||
INPUT_KEY_AUTO_WORK_UP, // CH7_SD = -1000 自动作业上
|
|||
INPUT_KEY_AUTO_WORK_DOWN, // CH7_SD = 1000 自动作业下
|
|||
INPUT_KEY_AUTO_WELD, // CH6_SC = -1000 焊缝跟踪
|
|||
//摆臂
|
|||
INPUT_ROCKER_SWING, //动摆臂了
|
|||
|
|||
|
|||
KEY_COUNT, // 输入总数
|
|||
|
|||
} InputEvent; |
|||
|
|||
// 主状态枚举，串口状态定义
|
|||
typedef enum { |
|||
Serial_Mode_Config, |
|||
Action_Execute, |
|||
Action_Shut_down, |
|||
MAIN_STATE_COUNT |
|||
} MainState; |
|||
|
|||
// 机器人模式枚举
|
|||
typedef enum { |
|||
Halt_Mode = 0, |
|||
Manual_Mode, |
|||
Horizontal_Mode, |
|||
Flat_Mode, |
|||
Vertical_Mode_Left, |
|||
Vertical_Mode_Right, |
|||
Regional_Horizontal_Automatic_Task, |
|||
Regional_Flat_Automatic_Task, |
|||
MODE_COUNT // 模式总数
|
|||
} Robot_Mode; |
|||
|
|||
// IO状态枚举
|
|||
typedef enum { |
|||
IO_STATE_NONE, |
|||
IO_STATE_RISE, |
|||
IO_STATE_DESCEND |
|||
} IO_State; |
|||
|
|||
// 函数声明
|
|||
|
|||
Robot_Mode RobotRockerState(void); |
|||
InputEvent RemoteControl_GetKeyIndex(Robot_Mode current_mode); |
|||
void PV_control(void); |
|||
void IV_control(void); |
|||
IO_State GetIOState(void); |
|||
|
|||
#endif /* FSM_INC_HANDSET_STATUS_SETTING_H_ */ |
|||
@ -0,0 +1,125 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_CV_PB_H_INCLUDED |
|||
#define PB_BSP_CV_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
#include "bsp_PV.pb.h" |
|||
#include "bsp_PID.pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
typedef struct _CV_struct_define { |
|||
int32_t Speed_m_per_min; /* MPMin = 1m/min 1米每分钟 m/min */ |
|||
int32_t LeftTurnSpeed; |
|||
int32_t RightTurnSpeed; |
|||
int32_t RobotLeftAngleValue; /* 水平左方向 单位0.01° */ |
|||
int32_t RobotRightAngleValue; /* 水平右方向角度值 单位0.01° */ |
|||
int32_t RobotUpAngleValue; /* 竖直方向角度值 单位0.01° */ |
|||
int32_t RobotDownAngleValue; /* 竖直向下角度值 单位0.01° */ |
|||
int32_t Robot_Permitted_Angler_Error_Value_E_2D; /* 作业时需用的最大角度偏差值 0.01°，超出将停止作业 */ |
|||
int32_t Robot_Angle_Start_BaseE_2D; /* 角度值 0.01° */ |
|||
int32_t Lane_Change_Speed_m_per_min; |
|||
int32_t Is_Automation_Authorized; |
|||
int32_t Is_Function_Authorized; |
|||
int32_t Joy_Sticker_Angle_Allowance; /* 例如在90度的±30° */ |
|||
int32_t Joy_Sticker_Value_Allowance; /* 例如 joysticker的值超过600 */ |
|||
int32_t Allowable_Error_For_Angle_Tracking; /* 纠偏角度跟踪的允许误差1 度 */ |
|||
int32_t Paint_Gun_Shutdown_Distance; /* 喷枪关闭距离，喷枪关闭后多上厘米停止运行 */ |
|||
int32_t Horizontal_ChangeLane_Compensation; /* 水平换道补偿距离 */ |
|||
int32_t Vertical_ChangeLane_Compensation; /* 竖直换道补偿距离 */ |
|||
int32_t pulse_Per_Circle; /* 每转多少脉冲 */ |
|||
int32_t wheel_Reduction_Ratio; /* 减速比 */ |
|||
double wheel_Diameter_m; /* 车轮直径 m */ |
|||
bool has_PID_high; |
|||
PID_Parameters PID_high; |
|||
bool has_PID_mid; |
|||
PID_Parameters PID_mid; |
|||
bool has_PID_low; |
|||
PID_Parameters PID_low; |
|||
} CV_struct_define; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define CV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_default, false, PID_Parameters_init_default, false, PID_Parameters_init_default} |
|||
#define CV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define CV_struct_define_Speed_m_per_min_tag 1 |
|||
#define CV_struct_define_LeftTurnSpeed_tag 2 |
|||
#define CV_struct_define_RightTurnSpeed_tag 3 |
|||
#define CV_struct_define_RobotLeftAngleValue_tag 4 |
|||
#define CV_struct_define_RobotRightAngleValue_tag 5 |
|||
#define CV_struct_define_RobotUpAngleValue_tag 6 |
|||
#define CV_struct_define_RobotDownAngleValue_tag 7 |
|||
#define CV_struct_define_Robot_Permitted_Angler_Error_Value_E_2D_tag 8 |
|||
#define CV_struct_define_Robot_Angle_Start_BaseE_2D_tag 9 |
|||
#define CV_struct_define_Lane_Change_Speed_m_per_min_tag 10 |
|||
#define CV_struct_define_Is_Automation_Authorized_tag 11 |
|||
#define CV_struct_define_Is_Function_Authorized_tag 12 |
|||
#define CV_struct_define_Joy_Sticker_Angle_Allowance_tag 13 |
|||
#define CV_struct_define_Joy_Sticker_Value_Allowance_tag 14 |
|||
#define CV_struct_define_Allowable_Error_For_Angle_Tracking_tag 15 |
|||
#define CV_struct_define_Paint_Gun_Shutdown_Distance_tag 16 |
|||
#define CV_struct_define_Horizontal_ChangeLane_Compensation_tag 17 |
|||
#define CV_struct_define_Vertical_ChangeLane_Compensation_tag 18 |
|||
#define CV_struct_define_pulse_Per_Circle_tag 19 |
|||
#define CV_struct_define_wheel_Reduction_Ratio_tag 20 |
|||
#define CV_struct_define_wheel_Diameter_m_tag 21 |
|||
#define CV_struct_define_PID_high_tag 22 |
|||
#define CV_struct_define_PID_mid_tag 23 |
|||
#define CV_struct_define_PID_low_tag 24 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define CV_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, Speed_m_per_min, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, LeftTurnSpeed, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, RightTurnSpeed, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, RobotLeftAngleValue, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, RobotRightAngleValue, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, RobotUpAngleValue, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, RobotDownAngleValue, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Permitted_Angler_Error_Value_E_2D, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Angle_Start_BaseE_2D, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, Lane_Change_Speed_m_per_min, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, Is_Automation_Authorized, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, Is_Function_Authorized, 12) \ |
|||
X(a, STATIC, SINGULAR, INT32, Joy_Sticker_Angle_Allowance, 13) \ |
|||
X(a, STATIC, SINGULAR, INT32, Joy_Sticker_Value_Allowance, 14) \ |
|||
X(a, STATIC, SINGULAR, INT32, Allowable_Error_For_Angle_Tracking, 15) \ |
|||
X(a, STATIC, SINGULAR, INT32, Paint_Gun_Shutdown_Distance, 16) \ |
|||
X(a, STATIC, SINGULAR, INT32, Horizontal_ChangeLane_Compensation, 17) \ |
|||
X(a, STATIC, SINGULAR, INT32, Vertical_ChangeLane_Compensation, 18) \ |
|||
X(a, STATIC, SINGULAR, INT32, pulse_Per_Circle, 19) \ |
|||
X(a, STATIC, SINGULAR, INT32, wheel_Reduction_Ratio, 20) \ |
|||
X(a, STATIC, SINGULAR, DOUBLE, wheel_Diameter_m, 21) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, PID_high, 22) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, PID_mid, 23) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, PID_low, 24) |
|||
#define CV_struct_define_CALLBACK NULL |
|||
#define CV_struct_define_DEFAULT NULL |
|||
#define CV_struct_define_PID_high_MSGTYPE PID_Parameters |
|||
#define CV_struct_define_PID_mid_MSGTYPE PID_Parameters |
|||
#define CV_struct_define_PID_low_MSGTYPE PID_Parameters |
|||
|
|||
extern const pb_msgdesc_t CV_struct_define_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define CV_struct_define_fields &CV_struct_define_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_CV_PB_H_MAX_SIZE CV_struct_define_size |
|||
#define CV_struct_define_size 358 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,80 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_CMD_PB_H_INCLUDED |
|||
#define PB_BSP_CMD_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* this message is used for the computer to send command */ |
|||
typedef struct _Cmd { |
|||
int32_t CommadNum; |
|||
/* 定义 1 上位机获取默认CV值
|
|||
定义 2 下位机返回CV值 |
|||
定义 3 上位机设定CV值 |
|||
定义 4 上位机设定Trace等级值，无返回 |
|||
定义 5 下位机上传位置点数据 |
|||
定义 6 上位机设定编码器角度值为0 |
|||
定义 7 上位机获取拟合点 |
|||
定义 8 上位机获取位置点 |
|||
定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位 |
|||
Buff_Data_Length 是下发的字节数， */ |
|||
int32_t Parameter0; |
|||
int32_t Parameter1; |
|||
int32_t Parameter2; |
|||
int32_t Parameter3; |
|||
int32_t Parameter4; |
|||
int32_t Buff_Data_Length; |
|||
pb_byte_t Buff_Data[512]; |
|||
} Cmd; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define Cmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}} |
|||
#define Cmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define Cmd_CommadNum_tag 1 |
|||
#define Cmd_Parameter0_tag 2 |
|||
#define Cmd_Parameter1_tag 3 |
|||
#define Cmd_Parameter2_tag 4 |
|||
#define Cmd_Parameter3_tag 5 |
|||
#define Cmd_Parameter4_tag 6 |
|||
#define Cmd_Buff_Data_Length_tag 7 |
|||
#define Cmd_Buff_Data_tag 8 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define Cmd_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, CommadNum, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter0, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter1, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \ |
|||
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8) |
|||
#define Cmd_CALLBACK NULL |
|||
#define Cmd_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t Cmd_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define Cmd_fields &Cmd_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_CMD_PB_H_MAX_SIZE Cmd_size |
|||
#define Cmd_size 592 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,16 @@ |
|||
/*
|
|||
* bsp_DLT_Log.h |
|||
* |
|||
* Created on: Aug 8, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_DLT_LOG_H_ |
|||
#define INC_BSP_BSP_DLT_LOG_H_ |
|||
|
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
|
|||
extern void dLT_Log_intialize(struct UARTHandler *Handler); |
|||
extern void dLT_Log_intialize_udp_tcp(); |
|||
#endif /* INC_BSP_BSP_DLT_LOG_H_ */ |
|||
@ -0,0 +1,73 @@ |
|||
/*
|
|||
* bsp_EEPROM.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_EEPROM_H_ |
|||
#define INC_BSP_EEPROM_H_ |
|||
|
|||
|
|||
|
|||
|
|||
#include "bsp_include.h" |
|||
#include "bsp_CV.pb.h" |
|||
#include "bsp_IAP.pb.h" |
|||
|
|||
|
|||
#define EEPROM_WP_Pin GPIO_PIN_11 |
|||
#define EEPROM_WP_GPIO_Port GPIOE |
|||
#define EEPROM_SCL_Pin GPIO_PIN_12 |
|||
#define EEPROM_SCL_GPIO_Port GPIOE |
|||
#define EEPROM_SDA_Pin GPIO_PIN_13 |
|||
#define EEPROM_SDA_GPIO_Port GPIOE |
|||
|
|||
#define AT24C512 |
|||
#ifdef AT24C512 |
|||
#define EE_MODEL_NAME "AT24C512" |
|||
#define EE_DEV_ADDR 0xA0 /* 设备地址 */ |
|||
#define EE_PAGE_SIZE 128 /* 页面大小(字节) */ |
|||
#define EE_SIZE (512*128) /* 总容量(字节) */ // not used in this progrm
|
|||
#define EE_ADDR_BYTES 2 /* 地址字节个数 */ |
|||
#endif |
|||
|
|||
#define I2C_WR 0 /* 写控制bit */ |
|||
#define I2C_RD 1 /* 读控制bit */ |
|||
|
|||
//////////////////////////////////////////////////////////////////
|
|||
//there are 12M eeprom in total, and the code download Address is App_Download_EEPROM_Addr
|
|||
//512 Pages x 128 Bytes = 65536 Bytes = 512 kbits
|
|||
|
|||
|
|||
#define GF_BSP_EEPROM_CV_struct_define_Start_Address 0 |
|||
#define IAP_struct_define_Start_Address 512 |
|||
|
|||
extern uint16_t App_Download_EEPROM_Addr; |
|||
|
|||
//返回值：：1-正常；0-错误
|
|||
uint8_t GF_BSP_EEPROM_Init(void); |
|||
|
|||
uint8_t GF_BSP_EEPROM_CheckOK(void); |
|||
uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress, |
|||
uint16_t _usSize); |
|||
uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress, |
|||
uint16_t _usSize); |
|||
|
|||
|
|||
|
|||
|
|||
CV_struct_define GF_BSP_EEPROM_Get_CV(void); |
|||
uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv); |
|||
|
|||
IAP_struct_define GF_BSP_EEPROM_Get_IAP(void); |
|||
uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap); |
|||
|
|||
|
|||
|
|||
PV_struct_define GF_BSP_EEPROM_Get_PV(void); |
|||
|
|||
uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv); |
|||
|
|||
|
|||
#endif /* INC_BSP_EEPROM_H_ */ |
|||
@ -0,0 +1,78 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_ERROR_PB_H_INCLUDED |
|||
#define PB_BSP_ERROR_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Enum definitions */ |
|||
typedef enum _ComError { |
|||
ComError_Mk32_SBus = 0, /* proto3版本中，首成员必须为0，成员不应有相同的值 */ |
|||
ComError_MK32_Serial = 1, |
|||
ComError_MK32_InitialState = 2, |
|||
ComError_TL720D = 3, |
|||
ComError_ZQ_CAN_ID1_LeftMotor = 4, |
|||
ComError_ZQ_CAN_ID2_RightMotor = 5, |
|||
ComError_ZQ_CAN_ID3_SwingMotor = 6, |
|||
ComError_Force_Sensor = 7, |
|||
ComError_Mfog40 = 8, |
|||
ComError_Ultrasonic_Sensor = 9, |
|||
ComError_UWB_20_Error = 10, |
|||
ComError_Strain_Gauge = 11, |
|||
ComError_Ground_Management = 12 |
|||
} ComError; |
|||
|
|||
/* Struct definitions */ |
|||
typedef struct _ErrorData { |
|||
int32_t Com_Error_Code; |
|||
int32_t Left_Motor_Error_Code; |
|||
int32_t Right_Motor_Error_Code; |
|||
} ErrorData; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Helper constants for enums */ |
|||
#define _ComError_MIN ComError_Mk32_SBus |
|||
#define _ComError_MAX ComError_Ground_Management |
|||
#define _ComError_ARRAYSIZE ((ComError)(ComError_Ground_Management+1)) |
|||
|
|||
|
|||
|
|||
/* Initializer values for message structs */ |
|||
#define ErrorData_init_default {0, 0, 0} |
|||
#define ErrorData_init_zero {0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define ErrorData_Com_Error_Code_tag 1 |
|||
#define ErrorData_Left_Motor_Error_Code_tag 2 |
|||
#define ErrorData_Right_Motor_Error_Code_tag 3 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define ErrorData_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, Com_Error_Code, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Left_Motor_Error_Code, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Right_Motor_Error_Code, 3) |
|||
#define ErrorData_CALLBACK NULL |
|||
#define ErrorData_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t ErrorData_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define ErrorData_fields &ErrorData_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_ERROR_PB_H_MAX_SIZE ErrorData_size |
|||
#define ErrorData_size 33 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,25 @@ |
|||
/*
|
|||
* bsp_Error_Detect.h |
|||
* |
|||
* Created on: Oct 23, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_ERROR_DETECT_H_ |
|||
#define INC_BSP_BSP_ERROR_DETECT_H_ |
|||
|
|||
|
|||
/* Includes ------------------------------------------------------------------*/ |
|||
#include "BHBF_ROBOT.h" |
|||
#include "bsp_com_helper.h" |
|||
#include "BSP/bsp_include.h" |
|||
/* Exported types ------------------------------------------------------------*/ |
|||
/* Exported constants --------------------------------------------------------*/ |
|||
/* Exported macro ------------------------------------------------------------*/ |
|||
extern HardWareController *HardWareErrorController; |
|||
/* Exported functions ------------------------------------------------------- */ |
|||
extern char Error_Detect_Enable; |
|||
extern void Error_Detect_Intialzie(uint16_t DispacherPeriod); |
|||
|
|||
|
|||
#endif /* INC_BSP_BSP_ERROR_DETECT_H_ */ |
|||
@ -0,0 +1,84 @@ |
|||
/*
|
|||
* bsp_FDCAN.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_FDCAN_H_ |
|||
#define INC_BSP_FDCAN_H_ |
|||
#include "bsp_Error.pb.h" |
|||
#include "bsp_com_helper.h" |
|||
uint8_t GF_BSP_FDCAN_Init(void); |
|||
|
|||
void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID, |
|||
uint8_t DataLength, uint8_t *Txdata); |
|||
|
|||
extern uint8_t CAN_Buf[8]; |
|||
|
|||
extern uint8_t CAN_Buf[8]; |
|||
extern uint8_t CAN_Buf_2[8]; |
|||
typedef struct _CANSendHandler |
|||
{ |
|||
uint32_t CAN_ID; |
|||
uint32_t SendListTimePeriod; |
|||
uint8_t SendLength; |
|||
uint8_t Tx_Buf[8]; |
|||
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); |
|||
struct _CANSendHandler *pNext; |
|||
} CANSendHandler; |
|||
|
|||
typedef struct _FDCANHandler |
|||
{ |
|||
|
|||
FDCAN_HandleTypeDef *canfd; //CAN to use
|
|||
struct _DispacherController *dispacherController; |
|||
|
|||
|
|||
uint8_t timeSpan; |
|||
|
|||
uint8_t SendListExists; |
|||
uint32_t SendList_Period; //时间ms
|
|||
uint32_t SendList_time_Count; |
|||
|
|||
CANSendHandler *pCurrentCANSendHadler; //
|
|||
void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间
|
|||
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)); |
|||
//void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)) //参数其实就是一组can数据 在FDHandler添加东西
|
|||
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices
|
|||
|
|||
void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*); |
|||
void (*CAN_Send_Data)(struct _FDCANHandler*); |
|||
//(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata)
|
|||
uint8_t Rx_Buf[128]; //接收缓冲
|
|||
uint8_t Tx_Buf[128]; //发送缓冲
|
|||
uint32_t ReceivedLength;//接收长度
|
|||
uint32_t SendLength; //发送长度
|
|||
uint32_t ReceivedFrameID; //接收帧ID
|
|||
uint32_t SendFrameID; //发送帧ID
|
|||
|
|||
} FDCANHandler; |
|||
|
|||
extern FDCANHandler FD_CAN_1_Handler; |
|||
extern FDCANHandler FD_CAN_2_Handler; |
|||
void GF_BSP_CAN_Timer(); |
|||
void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength, |
|||
uint8_t *Txdata); |
|||
void CAN_Send_Data_t(struct _FDCANHandler *fd); |
|||
|
|||
void GF_CAN_Send_List_Send(FDCANHandler *handler); |
|||
void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID, |
|||
uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod, |
|||
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t)); |
|||
void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod, |
|||
int can2_sendListPeriod, int can2_DispacherPeriod); |
|||
void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler, |
|||
FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod); |
|||
|
|||
void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length); |
|||
|
|||
extern FDCANHandler FD_CAN_1_Handler; |
|||
extern FDCANHandler FD_CAN_2_Handler; |
|||
extern int32_t CAN_ID; |
|||
extern int32_t CAN_ID_2; |
|||
#endif /* INC_BSP_FDCAN_H_ */ |
|||
@ -0,0 +1,18 @@ |
|||
/*
|
|||
* bsp_GPIO.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_GPIO_H_ |
|||
#define INC_BSP_GPIO_H_ |
|||
|
|||
#include "bsp_include.h" |
|||
|
|||
uint8_t GF_BSP_GPIO_Init(void); |
|||
void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level); |
|||
uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index); |
|||
uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index); |
|||
|
|||
#endif /* INC_BSP_GPIO_H_ */ |
|||
@ -0,0 +1,167 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_GV_PB_H_INCLUDED |
|||
#define PB_BSP_GV_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
#include "msp_MK32.pb.h" |
|||
#include "msp_Motor.pb.h" |
|||
#include "msp_ZQ_MotorParameters.pb.h" |
|||
#include "msp_TL720D.pb.h" |
|||
#include "bsp_Error.pb.h" |
|||
#include "bsp_PV.pb.h" |
|||
#include "bsp_IO.pb.h" |
|||
#include "bsp_strain_gauge.pb.h" |
|||
#include "bsp_ground_management.pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
typedef struct _GV_struct_define { |
|||
int32_t TempatureE_2C; /* E_2C=0.01 Celsius 0.01摄氏度 */ |
|||
float Left_Compensation; /* E_2D =0.01 Degree 0.01度 */ |
|||
float Right_Compensation; /* 0.01度 */ |
|||
float Robot_Angle_Desire; /* 机器人期望角度 //改为 float，单位：度（不再需要0.01缩放） */ |
|||
float Robot_Move_Speed; /* 0.1rpm */ |
|||
float Robot_Desired_Speed; /* 0.1rpm */ |
|||
float Left_Speed_M_min; /* m/Min */ |
|||
float Right_Speed_M_min; /* m/Min */ |
|||
float Vertical_Adjust; /* 0.1° */ |
|||
int32_t ForceValue; |
|||
int32_t LaneChangeDistance; |
|||
bool has_P_MK32; |
|||
SP_MSP_MK32_Button P_MK32; |
|||
bool has_LeftMotor; |
|||
TT_MotorParameters LeftMotor; /* 左电机 ID2 */ |
|||
bool has_RightMotor; |
|||
TT_MotorParameters RightMotor; /* 右电机 ID3 */ |
|||
bool has_SwingMotor; |
|||
TT_MotorParameters SwingMotor; /* 右电机 ID3 */ |
|||
bool has_TL720DParameters; |
|||
MSP_TL720DParameters TL720DParameters; |
|||
bool has_IO; |
|||
IO_Data IO; |
|||
bool has_SystemErrorData; |
|||
ErrorData SystemErrorData; |
|||
bool has_PV; |
|||
PV_struct_define PV; /* 用户配置数据 */ |
|||
float Tar_Position_angle; /* 位置环模式，期望角度 */ |
|||
int32_t Tar_Position_Velcity_Degree_S; /* 位置环模式，速度(m/min) */ |
|||
int32_t symmetricalOrNot; |
|||
int32_t Robot_backMode; |
|||
int32_t Robot_Swing_Speed; |
|||
bool has_Strain_Gauge; |
|||
Strain_Gauge_Struct Strain_Gauge; |
|||
float weld_data_X; |
|||
int32_t weld_exist; |
|||
int32_t Now_press; |
|||
int32_t turn_center_difference; |
|||
bool has_GroundManagementValue; |
|||
ground_management_struct GroundManagementValue; |
|||
int32_t robot_back_distance; |
|||
} GV_struct_define; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define GV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, TT_MotorParameters_init_default, false, MSP_TL720DParameters_init_default, false, IO_Data_init_default, false, ErrorData_init_default, false, PV_struct_define_init_default, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_default, 0, 0, 0, 0, false, ground_management_struct_init_default, 0} |
|||
#define GV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, SP_MSP_MK32_Button_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, TT_MotorParameters_init_zero, false, MSP_TL720DParameters_init_zero, false, IO_Data_init_zero, false, ErrorData_init_zero, false, PV_struct_define_init_zero, 0, 0, 0, 0, 0, false, Strain_Gauge_Struct_init_zero, 0, 0, 0, 0, false, ground_management_struct_init_zero, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define GV_struct_define_TempatureE_2C_tag 1 |
|||
#define GV_struct_define_Left_Compensation_tag 2 |
|||
#define GV_struct_define_Right_Compensation_tag 3 |
|||
#define GV_struct_define_Robot_Angle_Desire_tag 4 |
|||
#define GV_struct_define_Robot_Move_Speed_tag 5 |
|||
#define GV_struct_define_Robot_Desired_Speed_tag 6 |
|||
#define GV_struct_define_Left_Speed_M_min_tag 7 |
|||
#define GV_struct_define_Right_Speed_M_min_tag 8 |
|||
#define GV_struct_define_Vertical_Adjust_tag 9 |
|||
#define GV_struct_define_ForceValue_tag 10 |
|||
#define GV_struct_define_LaneChangeDistance_tag 11 |
|||
#define GV_struct_define_P_MK32_tag 12 |
|||
#define GV_struct_define_LeftMotor_tag 13 |
|||
#define GV_struct_define_RightMotor_tag 14 |
|||
#define GV_struct_define_SwingMotor_tag 15 |
|||
#define GV_struct_define_TL720DParameters_tag 16 |
|||
#define GV_struct_define_IO_tag 17 |
|||
#define GV_struct_define_SystemErrorData_tag 18 |
|||
#define GV_struct_define_PV_tag 19 |
|||
#define GV_struct_define_Tar_Position_angle_tag 20 |
|||
#define GV_struct_define_Tar_Position_Velcity_Degree_S_tag 21 |
|||
#define GV_struct_define_symmetricalOrNot_tag 22 |
|||
#define GV_struct_define_Robot_backMode_tag 23 |
|||
#define GV_struct_define_Robot_Swing_Speed_tag 24 |
|||
#define GV_struct_define_Strain_Gauge_tag 25 |
|||
#define GV_struct_define_weld_data_X_tag 26 |
|||
#define GV_struct_define_weld_exist_tag 27 |
|||
#define GV_struct_define_Now_press_tag 28 |
|||
#define GV_struct_define_turn_center_difference_tag 29 |
|||
#define GV_struct_define_GroundManagementValue_tag 30 |
|||
#define GV_struct_define_robot_back_distance_tag 31 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define GV_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, TempatureE_2C, 1) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Left_Compensation, 2) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Right_Compensation, 3) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Robot_Angle_Desire, 4) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Robot_Move_Speed, 5) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Robot_Desired_Speed, 6) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Left_Speed_M_min, 7) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Right_Speed_M_min, 8) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Vertical_Adjust, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, ForceValue, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, LaneChangeDistance, 11) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, P_MK32, 12) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, LeftMotor, 13) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, RightMotor, 14) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, SwingMotor, 15) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, TL720DParameters, 16) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, IO, 17) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, SystemErrorData, 18) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, PV, 19) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, Tar_Position_angle, 20) \ |
|||
X(a, STATIC, SINGULAR, INT32, Tar_Position_Velcity_Degree_S, 21) \ |
|||
X(a, STATIC, SINGULAR, INT32, symmetricalOrNot, 22) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_backMode, 23) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Speed, 24) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, Strain_Gauge, 25) \ |
|||
X(a, STATIC, SINGULAR, FLOAT, weld_data_X, 26) \ |
|||
X(a, STATIC, SINGULAR, INT32, weld_exist, 27) \ |
|||
X(a, STATIC, SINGULAR, INT32, Now_press, 28) \ |
|||
X(a, STATIC, SINGULAR, INT32, turn_center_difference, 29) \ |
|||
X(a, STATIC, OPTIONAL, MESSAGE, GroundManagementValue, 30) \ |
|||
X(a, STATIC, SINGULAR, INT32, robot_back_distance, 31) |
|||
#define GV_struct_define_CALLBACK NULL |
|||
#define GV_struct_define_DEFAULT NULL |
|||
#define GV_struct_define_P_MK32_MSGTYPE SP_MSP_MK32_Button |
|||
#define GV_struct_define_LeftMotor_MSGTYPE TT_MotorParameters |
|||
#define GV_struct_define_RightMotor_MSGTYPE TT_MotorParameters |
|||
#define GV_struct_define_SwingMotor_MSGTYPE TT_MotorParameters |
|||
#define GV_struct_define_TL720DParameters_MSGTYPE MSP_TL720DParameters |
|||
#define GV_struct_define_IO_MSGTYPE IO_Data |
|||
#define GV_struct_define_SystemErrorData_MSGTYPE ErrorData |
|||
#define GV_struct_define_PV_MSGTYPE PV_struct_define |
|||
#define GV_struct_define_Strain_Gauge_MSGTYPE Strain_Gauge_Struct |
|||
#define GV_struct_define_GroundManagementValue_MSGTYPE ground_management_struct |
|||
|
|||
extern const pb_msgdesc_t GV_struct_define_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define GV_struct_define_fields &GV_struct_define_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size |
|||
#define GV_struct_define_size 2004 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,58 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_IAP_PB_H_INCLUDED |
|||
#define PB_BSP_IAP_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* IAP，即In Application Programming，IAP是用户自己的程序在运行过程中对User Flash的部分区域进行烧写。 */ |
|||
typedef struct _IAP_struct_define { |
|||
int32_t Total_Bytes; /* all the received data; */ |
|||
int32_t NextCodeVrsion; /* the New upgrade Version of the Project */ |
|||
int32_t UtcTime; /* Udgrade Time */ |
|||
int32_t UpgradeSucceeded; /* */ |
|||
} IAP_struct_define; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define IAP_struct_define_init_default {0, 0, 0, 0} |
|||
#define IAP_struct_define_init_zero {0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define IAP_struct_define_Total_Bytes_tag 1 |
|||
#define IAP_struct_define_NextCodeVrsion_tag 2 |
|||
#define IAP_struct_define_UtcTime_tag 3 |
|||
#define IAP_struct_define_UpgradeSucceeded_tag 4 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define IAP_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, Total_Bytes, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, NextCodeVrsion, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, UtcTime, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, UpgradeSucceeded, 4) |
|||
#define IAP_struct_define_CALLBACK NULL |
|||
#define IAP_struct_define_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t IAP_struct_define_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define IAP_struct_define_fields &IAP_struct_define_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_IAP_PB_H_MAX_SIZE IAP_struct_define_size |
|||
#define IAP_struct_define_size 44 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,81 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_IO_PB_H_INCLUDED |
|||
#define PB_BSP_IO_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
typedef struct _IO_Data { |
|||
int32_t DO0; |
|||
int32_t DO1; |
|||
int32_t DO2; |
|||
int32_t DO3; |
|||
int32_t DO4; |
|||
int32_t DO5; |
|||
int32_t DI0; |
|||
int32_t DI1; |
|||
int32_t DI2; |
|||
int32_t DI3; |
|||
int32_t DI4; |
|||
int32_t DI5; |
|||
} IO_Data; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define IO_Data_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
#define IO_Data_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define IO_Data_DO0_tag 1 |
|||
#define IO_Data_DO1_tag 2 |
|||
#define IO_Data_DO2_tag 3 |
|||
#define IO_Data_DO3_tag 4 |
|||
#define IO_Data_DO4_tag 5 |
|||
#define IO_Data_DO5_tag 6 |
|||
#define IO_Data_DI0_tag 7 |
|||
#define IO_Data_DI1_tag 8 |
|||
#define IO_Data_DI2_tag 9 |
|||
#define IO_Data_DI3_tag 10 |
|||
#define IO_Data_DI4_tag 11 |
|||
#define IO_Data_DI5_tag 12 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define IO_Data_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, DO0, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, DO1, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, DO2, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, DO3, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, DO4, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, DO5, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, DI0, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, DI1, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, DI2, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, DI3, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, DI4, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, DI5, 12) |
|||
#define IO_Data_CALLBACK NULL |
|||
#define IO_Data_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t IO_Data_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define IO_Data_fields &IO_Data_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_IO_PB_H_MAX_SIZE IO_Data_size |
|||
#define IO_Data_size 132 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,147 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_IV_PB_H_INCLUDED |
|||
#define PB_BSP_IV_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
#include "bsp_PV.pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* 抛丸机器人状态采集参数结构体（IV：Input/Status Value）
|
|||
作用：用于机器人控制系统向APP/上位机上报实时状态、传感器数据、故障报警信息 */ |
|||
typedef struct _IV_struct_define { |
|||
/* 左侧补偿值（摆臂/位置角度补偿）
|
|||
单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送250 → 显示2.5° */ |
|||
int32_t LeftCompensation; |
|||
/* 右侧补偿值（摆臂/位置角度补偿）
|
|||
单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送300 → 显示3° */ |
|||
int32_t RightCompensation; |
|||
/* 机器人实际移动速度（派生采集值）
|
|||
单位换算：发送值 ÷ 10 = 实际显示速度（m/min），例：发送100 → 显示10m/min，发送180 → 显示18m/min（最大速度） |
|||
作用：上报机器人当前行走速度，匹配协议书中0~18m/min的速度范围 */ |
|||
int32_t Robot_Move_Deri_Speed; |
|||
/* 机器人陀螺仪角度（姿态检测）
|
|||
单位换算：发送值 ÷ 100 = 实际显示角度（°），例：发送100 → 显示1°，发送9000 → 显示90° |
|||
作用：上报机器人当前姿态角度（水平/竖直/倾斜），用于作业面姿态校准 */ |
|||
int32_t Robot_Gyro; |
|||
/* 距离传感器采集值（测距/避障）
|
|||
单位换算：发送值 ÷ 10 = 实际显示距离（cm），例：发送100 → 显示10cm，发送500 → 显示50cm |
|||
作用：检测机器人与作业面/障碍物的距离，防止碰撞或吸附失效 */ |
|||
int32_t Distance_Sensor; |
|||
/* 系统级错误码
|
|||
取值规则：0 = 无错误；非0 = 错误类型（需配套错误码表） |
|||
错误类型：包含硬件通讯故障、按键未初始化故障等核心系统异常 */ |
|||
int32_t SystemError; |
|||
/* 左轮电机报警状态
|
|||
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
作用：上报左轮驱动电机的故障状态，用于电机故障排查 */ |
|||
int32_t Left_Motor_Err; |
|||
/* 右轮电机报警状态
|
|||
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
作用：上报右轮驱动电机的故障状态，用于电机故障排查 */ |
|||
int32_t Right_Motor_Err; |
|||
/* 摆臂电机报警状态
|
|||
取值规则：0 = 正常（无报警）；1 = 报警（过流/过载/堵转等） |
|||
作用：上报抛丸/喷砂摆臂电机的故障状态，适配摆臂速度≥25°/S的作业要求 */ |
|||
int32_t Swing_Motor_Err; |
|||
/* 机器人在线状态
|
|||
取值规则：0 = 离线（通讯中断）；1 = 在线（通讯正常） |
|||
作用：APP/上位机判断机器人通讯状态，离线时触发声光报警 */ |
|||
int32_t Is_Online; |
|||
/* 备用数据1
|
|||
用途：预留扩展字段，可用于后续新增传感器/状态采集（如吸附压力、吸尘装置状态等） */ |
|||
int32_t Spara_Data_1; |
|||
/* 备用数据2
|
|||
用途：预留扩展字段，可用于后续新增传感器/状态采集（如作业面温度等） */ |
|||
int32_t Spara_Data_2; |
|||
/* 备用数据3
|
|||
用途：预留扩展字段，可用于后续新增传感器/状态采集（如急停按钮状态、电池电量等） */ |
|||
int32_t Spara_Data_3; |
|||
/* 焊缝数据 */ |
|||
int32_t Weld_data; |
|||
/* 焊缝是否存在 */ |
|||
int32_t Weld_exist; |
|||
/* 回转中心偏距 */ |
|||
int32_t Turn_difference; |
|||
/* 当前压力 */ |
|||
int32_t Present_press; |
|||
int32_t left_angle; |
|||
int32_t right_angle; |
|||
/* 检测机器人是否到达设定的启动时间 */ |
|||
int32_t robot_start; |
|||
} IV_struct_define; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define IV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define IV_struct_define_LeftCompensation_tag 1 |
|||
#define IV_struct_define_RightCompensation_tag 2 |
|||
#define IV_struct_define_Robot_Move_Deri_Speed_tag 3 |
|||
#define IV_struct_define_Robot_Gyro_tag 4 |
|||
#define IV_struct_define_Distance_Sensor_tag 5 |
|||
#define IV_struct_define_SystemError_tag 6 |
|||
#define IV_struct_define_Left_Motor_Err_tag 7 |
|||
#define IV_struct_define_Right_Motor_Err_tag 8 |
|||
#define IV_struct_define_Swing_Motor_Err_tag 9 |
|||
#define IV_struct_define_Is_Online_tag 10 |
|||
#define IV_struct_define_Spara_Data_1_tag 11 |
|||
#define IV_struct_define_Spara_Data_2_tag 12 |
|||
#define IV_struct_define_Spara_Data_3_tag 13 |
|||
#define IV_struct_define_Weld_data_tag 14 |
|||
#define IV_struct_define_Weld_exist_tag 15 |
|||
#define IV_struct_define_Turn_difference_tag 16 |
|||
#define IV_struct_define_Present_press_tag 17 |
|||
#define IV_struct_define_left_angle_tag 18 |
|||
#define IV_struct_define_right_angle_tag 19 |
|||
#define IV_struct_define_robot_start_tag 20 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define IV_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, LeftCompensation, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, RightCompensation, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Move_Deri_Speed, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Gyro, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Distance_Sensor, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, SystemError, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Left_Motor_Err, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Right_Motor_Err, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, Swing_Motor_Err, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, Is_Online, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, Spara_Data_1, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, Spara_Data_2, 12) \ |
|||
X(a, STATIC, SINGULAR, INT32, Spara_Data_3, 13) \ |
|||
X(a, STATIC, SINGULAR, INT32, Weld_data, 14) \ |
|||
X(a, STATIC, SINGULAR, INT32, Weld_exist, 15) \ |
|||
X(a, STATIC, SINGULAR, INT32, Turn_difference, 16) \ |
|||
X(a, STATIC, SINGULAR, INT32, Present_press, 17) \ |
|||
X(a, STATIC, SINGULAR, INT32, left_angle, 18) \ |
|||
X(a, STATIC, SINGULAR, INT32, right_angle, 19) \ |
|||
X(a, STATIC, SINGULAR, INT32, robot_start, 20) |
|||
#define IV_struct_define_CALLBACK NULL |
|||
#define IV_struct_define_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t IV_struct_define_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define IV_struct_define_fields &IV_struct_define_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size |
|||
#define IV_struct_define_size 225 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,52 @@ |
|||
#ifndef __BSP_MB_HOST_H__ |
|||
#define __BSP_MB_HOST_H__ |
|||
|
|||
/* 包含头文件 ----------------------------------------------------------------*/ |
|||
|
|||
/* 类型定义 ------------------------------------------------------------------*/ |
|||
|
|||
/* 宏定义 --------------------------------------------------------------------*/ |
|||
#define MB_SLAVEADDR 0x0001 //从机地址
|
|||
#define MB_REG_ADDR 0 //寄存器地址（离散、线圈）
|
|||
#define HoldingReg 0 //保持寄存器
|
|||
#define InputRegReg 0x0020 //输入寄存器
|
|||
#define SWAP_ENDIAN_16(x) (((x) >> 8) | ((x) << 8)) |
|||
#include "bsp_include.h" |
|||
#include "BSP/bsp_UART.h" |
|||
|
|||
/* 扩展变量 ------------------------------------------------------------------*/ |
|||
typedef struct |
|||
{ |
|||
|
|||
uint16_t DATA_01H; |
|||
uint16_t DATA_02H; |
|||
uint16_t DATA_03H; |
|||
|
|||
uint16_t DATA_04H; |
|||
uint16_t DATA_05H; |
|||
uint16_t DATA_06H; |
|||
uint8_t DATA_10H[64]; |
|||
|
|||
}MB_REG_DATA; |
|||
|
|||
//;
|
|||
extern uint8_t MB_rx_flag; |
|||
extern uint16_t Read_Reg_Num; |
|||
|
|||
|
|||
/* 函数声明 ------------------------------------------------------------------*/ |
|||
uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen); |
|||
void MB_ReadCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); |
|||
void MB_WriteCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _sta); |
|||
void MB_ReadInput(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); |
|||
void MB_ReadHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); |
|||
void MB_ReadInputReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num); |
|||
void MB_WriteHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _data); |
|||
//void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf)
|
|||
void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf); |
|||
void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr, |
|||
uint16_t _reg, uint16_t _num, uint8_t *_databuf); |
|||
|
|||
#endif /* __BSP_MB_HOST_H__ */ |
|||
|
|||
/******************* (C) COPYRIGHT 2015-2020 硬石嵌入式开发团队 *****END OF FILE****/ |
|||
@ -0,0 +1,57 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_PID_PB_H_INCLUDED |
|||
#define PB_BSP_PID_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
typedef struct _PID_Parameters { |
|||
int32_t PID_Angle; /* 调整 单位0.01° 配置时需要*100 */ |
|||
double Kp; /* PID参数 */ |
|||
double Ki; |
|||
double Kd; |
|||
} PID_Parameters; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define PID_Parameters_init_default {0, 0, 0, 0} |
|||
#define PID_Parameters_init_zero {0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define PID_Parameters_PID_Angle_tag 1 |
|||
#define PID_Parameters_Kp_tag 2 |
|||
#define PID_Parameters_Ki_tag 3 |
|||
#define PID_Parameters_Kd_tag 4 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define PID_Parameters_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, PID_Angle, 1) \ |
|||
X(a, STATIC, SINGULAR, DOUBLE, Kp, 2) \ |
|||
X(a, STATIC, SINGULAR, DOUBLE, Ki, 3) \ |
|||
X(a, STATIC, SINGULAR, DOUBLE, Kd, 4) |
|||
#define PID_Parameters_CALLBACK NULL |
|||
#define PID_Parameters_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t PID_Parameters_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define PID_Parameters_fields &PID_Parameters_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_PID_PB_H_MAX_SIZE PID_Parameters_size |
|||
#define PID_Parameters_size 38 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,136 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_PV_PB_H_INCLUDED |
|||
#define PB_BSP_PV_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* 抛丸机器人作业参数结构体定义
|
|||
作用：用于APP/遥控器与机器人控制系统之间的参数传输，涵盖操作模式、运动参数、摆臂参数、作业参数等核心配置 */ |
|||
typedef struct _PV_struct_define { |
|||
/* 操作模式（枚举值）
|
|||
1 - 手动模式：人工摇杆/按键控制机器人所有动作 |
|||
2 - 水平模式：适配水平作业面的半自动/手动操作 |
|||
3 - 平面模式：适配平面作业面的操作（修正原文笔误：原"平民"为"平面"） |
|||
4 - 竖直左模式：左侧垂直作业面（如船舶外壁左侧）操作 |
|||
5 - 竖直右模式：右侧垂直作业面（如船舶外壁右侧）操作 |
|||
6 - 水平区域自动：水平作业面的区域自动作业模式 |
|||
7 - 平面区域自动：平面作业面的区域自动作业模式 */ |
|||
int32_t Robot_Operation_Mode; |
|||
/* 机器人移动速度（基础行走速度）
|
|||
单位：0.1m/min（字段值×0.1=实际速度，如值为10则实际速度1m/min） |
|||
取值范围：0~180（对应实际0~18m/min，符合协议书中最大18m/min的要求） */ |
|||
int32_t Robot_Move_Speed; |
|||
/* 换道距离（自动换道功能的核心参数）
|
|||
单位：mm（建议，可根据实际硬件标定调整） |
|||
作用：一键换道时机器人横向移动的距离，用于控制换道压边量 */ |
|||
int32_t Robot_Change_Lane_Distance; |
|||
/* 摆臂速度（抛丸/喷砂摆臂装置的摆动速度）
|
|||
单位：°/s（度/秒） |
|||
取值要求：≥25（对应协议书中摆臂速度≥25°/S的要求） */ |
|||
int32_t Robot_Swing_Speed; |
|||
/* 摆臂角度设置模式（对称/非对称）
|
|||
1 - 对称模式：摆臂以中心轴左右对称摆动 |
|||
2 - 非对称模式：摆臂仅单侧（左/右）摆动 */ |
|||
int32_t Robot_symmetricalOrNot; |
|||
/* 对称模式下摆臂总摆动角度
|
|||
单位：°（度） |
|||
示例：值为90则摆臂从-45°~+45°对称摆动 */ |
|||
int32_t Robot_Swing_Range_Angle; |
|||
/* 非对称模式下的摆动侧选择
|
|||
1 - 左侧：仅摆臂左侧区域摆动 |
|||
2 - 右侧：仅摆臂右侧区域摆动 */ |
|||
int32_t Robot_asymmetricalAngleSetValue; |
|||
/* 后退作业模式（抛丸/喷砂作业时的后退逻辑）
|
|||
1 - 打退交替：作业一段距离后停止作业，后退指定距离再继续作业 |
|||
2 - 边打边退：作业过程中同步后退，持续作业无中断 */ |
|||
int32_t Robot_backMode; |
|||
/* 打退交替模式下的后退距离
|
|||
单位：mm（建议） |
|||
作用：打退交替时单次后退的距离，适配不同作业面的补抛需求 */ |
|||
int32_t Robot_Back_Distance; |
|||
/* 边打边退模式下的后退速度
|
|||
单位：0.1m/min（同Robot_Move_Speed） |
|||
取值范围：0~180（对应实际0~18m/min） */ |
|||
int32_t Robot_Back_Speed; |
|||
/* 压力设置（抛丸/喷砂作业的介质压力）
|
|||
单位：0.01MPa（建议，如值为50则实际0.5MPa） |
|||
作用：控制抛丸/喷砂的强度，适配不同表面处理等级（≥Sa2.5） */ |
|||
int32_t Robot_Press_Set; |
|||
/* 竖直微调（竖直作业模式下的位置微调量）
|
|||
单位：mm（建议） |
|||
作用：竖直作业时微调机器人位置，补偿曲面/安装误差 */ |
|||
int32_t Robot_Vertical_Adjust; |
|||
/* 自动模式下的作业长度
|
|||
单位：mm（建议） |
|||
作用：区域自动作业时，单次作业的纵向长度（完成后自动换道） */ |
|||
int32_t Robot_Length_Homework; |
|||
/* 自动模式下的作业宽度
|
|||
单位：mm（建议） |
|||
作用：区域自动作业时，单次作业的横向宽度（默认适配110mm标准作业宽度） */ |
|||
int32_t Robot_Width_Homework; |
|||
} PV_struct_define; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define PV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
#define PV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define PV_struct_define_Robot_Operation_Mode_tag 1 |
|||
#define PV_struct_define_Robot_Move_Speed_tag 2 |
|||
#define PV_struct_define_Robot_Change_Lane_Distance_tag 3 |
|||
#define PV_struct_define_Robot_Swing_Speed_tag 4 |
|||
#define PV_struct_define_Robot_symmetricalOrNot_tag 5 |
|||
#define PV_struct_define_Robot_Swing_Range_Angle_tag 6 |
|||
#define PV_struct_define_Robot_asymmetricalAngleSetValue_tag 7 |
|||
#define PV_struct_define_Robot_backMode_tag 8 |
|||
#define PV_struct_define_Robot_Back_Distance_tag 9 |
|||
#define PV_struct_define_Robot_Back_Speed_tag 10 |
|||
#define PV_struct_define_Robot_Press_Set_tag 11 |
|||
#define PV_struct_define_Robot_Vertical_Adjust_tag 12 |
|||
#define PV_struct_define_Robot_Length_Homework_tag 13 |
|||
#define PV_struct_define_Robot_Width_Homework_tag 14 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define PV_struct_define_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Operation_Mode, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Move_Speed, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Change_Lane_Distance, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Speed, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_symmetricalOrNot, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Swing_Range_Angle, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_asymmetricalAngleSetValue, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_backMode, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Back_Distance, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Back_Speed, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Press_Set, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Vertical_Adjust, 12) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Length_Homework, 13) \ |
|||
X(a, STATIC, SINGULAR, INT32, Robot_Width_Homework, 14) |
|||
#define PV_struct_define_CALLBACK NULL |
|||
#define PV_struct_define_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t PV_struct_define_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define PV_struct_define_fields &PV_struct_define_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_PV_PB_H_MAX_SIZE PV_struct_define_size |
|||
#define PV_struct_define_size 154 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,80 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_RECMD_PB_H_INCLUDED |
|||
#define PB_BSP_RECMD_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* this message is used for the reply the command */ |
|||
typedef struct _ReCmd { |
|||
int32_t CommadNum; |
|||
/* 定义 1 上位机获取默认CV值
|
|||
定义 2 下位机返回CV值 |
|||
定义 3 上位机设定CV值 |
|||
定义 4 上位机设定Trace等级值，无返回 |
|||
定义 5 下位机上传位置点数据 |
|||
定义 6 上位机设定编码器角度值为0 |
|||
定义 7 上位机获取拟合点 |
|||
定义 8 上位机获取位置点 |
|||
定义 9 上位机向下位机下发程序 此时，Parameter0 下发的程序起始位，Parameter0 是校验位 |
|||
Buff_Data_Length 是下发的字节数， */ |
|||
int32_t Parameter0; |
|||
int32_t Parameter1; |
|||
int32_t Parameter2; |
|||
int32_t Parameter3; |
|||
int32_t Parameter4; |
|||
int32_t Buff_Data_Length; |
|||
pb_byte_t Buff_Data[512]; |
|||
} ReCmd; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define ReCmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}} |
|||
#define ReCmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define ReCmd_CommadNum_tag 1 |
|||
#define ReCmd_Parameter0_tag 2 |
|||
#define ReCmd_Parameter1_tag 3 |
|||
#define ReCmd_Parameter2_tag 4 |
|||
#define ReCmd_Parameter3_tag 5 |
|||
#define ReCmd_Parameter4_tag 6 |
|||
#define ReCmd_Buff_Data_Length_tag 7 |
|||
#define ReCmd_Buff_Data_tag 8 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define ReCmd_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, CommadNum, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter0, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter1, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \ |
|||
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8) |
|||
#define ReCmd_CALLBACK NULL |
|||
#define ReCmd_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t ReCmd_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define ReCmd_fields &ReCmd_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_RECMD_PB_H_MAX_SIZE ReCmd_size |
|||
#define ReCmd_size 592 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,63 @@ |
|||
/*
|
|||
* bsp_TCPClient.h |
|||
* |
|||
* Created on: Oct 22, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_TCPCLIENT_H_ |
|||
#define INC_BSP_BSP_TCPCLIENT_H_ |
|||
|
|||
|
|||
/* Includes ------------------------------------------------------------------*/ |
|||
|
|||
|
|||
/* Exported types ------------------------------------------------------------*/ |
|||
/* Exported constants --------------------------------------------------------*/ |
|||
#define USE_LCD /* enable LCD */ |
|||
|
|||
#define DEST_IP_ADDR0 ((uint8_t)192U) |
|||
#define DEST_IP_ADDR1 ((uint8_t)168U) |
|||
#define DEST_IP_ADDR2 ((uint8_t)1U) |
|||
#define DEST_IP_ADDR3 ((uint8_t)10U) |
|||
|
|||
#define DEST_PORT ((uint16_t)502U) |
|||
|
|||
|
|||
/*NETMASK*/ |
|||
#define NETMASK_ADDR0 ((uint8_t) 255U) |
|||
#define NETMASK_ADDR1 ((uint8_t) 255U) |
|||
#define NETMASK_ADDR2 ((uint8_t) 255U) |
|||
#define NETMASK_ADDR3 ((uint8_t) 0U) |
|||
|
|||
/*Gateway Address*/ |
|||
#define GW_ADDR0 ((uint8_t) 192U) |
|||
#define GW_ADDR1 ((uint8_t) 168U) |
|||
#define GW_ADDR2 ((uint8_t) 1U) |
|||
#define GW_ADDR3 ((uint8_t) 1U) |
|||
|
|||
/* Exported macro ------------------------------------------------------------*/ |
|||
/* Exported functions ------------------------------------------------------- */ |
|||
|
|||
|
|||
/* Includes ------------------------------------------------------------------*/ |
|||
/* Exported types ------------------------------------------------------------*/ |
|||
/* Exported constants --------------------------------------------------------*/ |
|||
/* Exported macro ------------------------------------------------------------*/ |
|||
/* Exported functions ------------------------------------------------------- */ |
|||
//void tcp_client_connect(void);
|
|||
typedef struct _LazorData |
|||
{ |
|||
float Feature_X; //特征点X
|
|||
float Feature_Y; //特征点Y
|
|||
float Feature_Z; //特征点Z
|
|||
float Gap; //间隙
|
|||
float WrongEdgeQuantity; //错边量
|
|||
float Area; //面积
|
|||
} LazorData; |
|||
extern unsigned char *Weld_Out_Flag; |
|||
extern unsigned char Weld_Out_Count; |
|||
extern unsigned char Weld_Out_SafeCount; |
|||
extern LazorData *ReadLazorData; |
|||
void TCP_Client_Init(void); |
|||
#endif /* INC_BSP_BSP_TCPCLIENT_H_ */ |
|||
@ -0,0 +1,17 @@ |
|||
/*
|
|||
* bsp_TIMER.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_TIMER_H_ |
|||
#define INC_BSP_TIMER_H_ |
|||
#include "BSP/bsp_TCPClient.h" |
|||
#include "bsp_include.h" |
|||
|
|||
uint8_t GF_BSP_TIMER_Init(void); |
|||
void GF_BSP_TIMER_DelayUS(uint32_t n); |
|||
|
|||
|
|||
#endif /* INC_BSP_TIMER_H_ */ |
|||
@ -0,0 +1,109 @@ |
|||
|
|||
|
|||
#ifndef INC_BSP_UART_H_ |
|||
#define INC_BSP_UART_H_ |
|||
|
|||
#include "BSP/bsp_include.h" |
|||
#include "main.h" |
|||
#include "bsp_Error.pb.h" |
|||
#define UART_Transmit_MAX_NUM 1024 |
|||
#define UART_Receive_MAX_NUM 100 |
|||
|
|||
extern struct UARTHandler RS_485_1_UART_Handler; |
|||
extern struct UARTHandler RS_485_2_UART_Handler; |
|||
extern struct UARTHandler RS_485_3_UART_Handler; |
|||
extern struct UARTHandler RS_485_4_UART_Handler; |
|||
extern struct UARTHandler InterCall_DEBUG_UART_Handler; |
|||
extern struct UARTHandler E28_SBUS_UART_Handler; |
|||
extern struct UARTHandler LTE_7S0_Serial_UART_Handler; |
|||
|
|||
|
|||
|
|||
#if defined (hlpuart1Exit) |
|||
extern struct UARTHandler LPUART1_UART_Handler; |
|||
|
|||
#endif |
|||
|
|||
uint8_t GF_BSP_UART_Init(void); |
|||
|
|||
void GF_BSP_UARTHandlers_Intialize( |
|||
int32_t RS485_1_WaitTime, |
|||
int32_t RS485_2_WaitTime, |
|||
int32_t RS485_3_WaitTime, |
|||
int32_t RS485_4_WaitTime, |
|||
int32_t LTE_7S0_Serial_WaitTime, |
|||
int32_t InterCall_DEBUG_WaitTime, |
|||
int32_t E28_SBUS_WaitTime, |
|||
int32_t LPUART1_UART_WaitTime, |
|||
int32_t RS485_1_Dispacher_Time, |
|||
int32_t RS485_2_Dispacher_Time, |
|||
int32_t RS485_3_Dispacher_Time, |
|||
int32_t RS485_4_Dispacher_Time, |
|||
int32_t LTE_7S0_Serial_Dispacher_Time, |
|||
int32_t InterCall_DEBUG_Dispacher_Time, |
|||
int32_t E28_SBUS_Dispacher_Time, |
|||
int32_t LPUART1_UART_Dispacher_Time |
|||
); |
|||
|
|||
//串行发送完成后才能发送第二帧数据，没有做缓冲，如未发送完成，第二次发送无效，丢弃发送数据
|
|||
void GF_BSP_UART_Transmit(const uint8_t RS485_Index,const uint8_t *pData, uint16_t Size); |
|||
|
|||
|
|||
|
|||
|
|||
typedef struct UARTSendHandler |
|||
{ |
|||
uint16_t SendLength; |
|||
uint16_t SendListTimePeriod; |
|||
uint8_t Tx_Buf[502]; |
|||
void (*UART_Decode)(uint8_t*, uint16_t); // 发送缓存
|
|||
struct UARTSendHandler* pNext; |
|||
}UARTSendHandler; |
|||
|
|||
|
|||
struct UARTHandler |
|||
{ |
|||
char startCountFlag; //indicate that to start counting
|
|||
char send_finished;//indicate decode finished or not
|
|||
char decode_finished;//indicate decode finished or not
|
|||
uint8_t tmp_Rx_Buf[2]; // temporary data to store received data
|
|||
|
|||
uint32_t Wait_time; // the time to wait
|
|||
//uint32_t Send_time;
|
|||
//uint32_t count;
|
|||
uint32_t Wait_Time_Count; |
|||
uint32_t SendList_time_Count; |
|||
|
|||
uint32_t SendList_Period; |
|||
uint8_t SendListExists; |
|||
|
|||
UART_HandleTypeDef* uart; //UART to use
|
|||
unsigned char timeSpan; // timer elapsed time
|
|||
uint8_t Rx_Buf[2048]; // 接收缓存,最大256字节
|
|||
uint8_t Tx_Buf[2048]; //发送缓存 157,864
|
|||
uint16_t TxCount; |
|||
|
|||
uint16_t RxCount; |
|||
|
|||
|
|||
//(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size)
|
|||
void (*UART_Tx)(struct UARTHandler*); //void UART_Tx(uint8_t *Tx_Buf,uint16_t TxCount);
|
|||
void (*UART_Rx)(struct UARTHandler*); |
|||
void (*UART_Decode)(uint8_t*, uint16_t); //Decode Rx_Buf
|
|||
UARTSendHandler *pCurrentUARTSendHadler; //
|
|||
void (*AddSendList)(struct UARTHandler*, uint8_t*, uint16_t,uint32_t,//这里是修改等待时间
|
|||
void (*UART_Decode)(uint8_t*, uint16_t)); |
|||
struct _DispacherController *dispacherController; |
|||
}; |
|||
|
|||
void UARTHandlerTx(struct UARTHandler *uartHandler); |
|||
void UARTHandlerRX(struct UARTHandler *uartHandler); |
|||
//void IntializeUARTHandler(struct UARTHandler *uartHandler, UART_HandleTypeDef uart,int32_t WaitTime,unsigned char timeSpan);
|
|||
void Counting(struct UARTHandler *uartHandler); |
|||
|
|||
|
|||
void IntializeUARTHandler(struct UARTHandler *uartHandler, |
|||
UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time); |
|||
void GF_BSP_UART_Timer(); |
|||
|
|||
#endif /* INC_BSP_UART_H_ */ |
|||
@ -0,0 +1,23 @@ |
|||
/*
|
|||
* bsp_UDP.h |
|||
* |
|||
* Created on: Aug 13, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_UDP_H_ |
|||
#define INC_BSP_BSP_UDP_H_ |
|||
|
|||
void udp_client_init(void); |
|||
|
|||
|
|||
void udp_dlt_send_back(char *pData,uint16_t Size); |
|||
void udp_cmd_send_back(char *pData, uint16_t Size); |
|||
|
|||
typedef void (*DLT_DecodeFuncPtr)(uint8_t*, uint16_t); |
|||
void udp_send_by_pcb(struct udp_pcb * upcb,char *pData, uint16_t Size); |
|||
// 再用该类型声明变量
|
|||
extern DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback; |
|||
extern int8_t is_udp_GV_update_loop_enalbed; |
|||
|
|||
#endif /* INC_BSP_BSP_UDP_H_ */ |
|||
@ -0,0 +1,27 @@ |
|||
/*
|
|||
* bsp_desulfurizer_handler.h |
|||
* |
|||
* Created on: Jul 29, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ |
|||
#define INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ |
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
#include "bsp_MB_host.h" |
|||
#include "stdio.h" |
|||
#include "BSP/bsp_UART.h" |
|||
#include "usart.h" |
|||
#include "gpio.h" |
|||
|
|||
|
|||
extern struct UARTHandler *desulfurizer_message_UART_Handler; |
|||
void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler); |
|||
|
|||
void decode_command_from_computer(uint8_t *buffer, uint16_t length); |
|||
|
|||
|
|||
void send_data_to_upper_computer(double Angle, double WireLength, |
|||
double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler); |
|||
#endif /* INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ */ |
|||
@ -0,0 +1,13 @@ |
|||
/*
|
|||
* bsp_pv_setting.h |
|||
* |
|||
* Created on: Jan 8, 2025 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_CLIENT_SETTING_H_ |
|||
#define INC_BSP_BSP_CLIENT_SETTING_H_ |
|||
#include "BHBF_ROBOT.h" |
|||
|
|||
void client_setting_intialize(struct UARTHandler *Handler); |
|||
#endif /* INC_BSP_BSP_CLIENT_SETTING_H_ */ |
|||
@ -0,0 +1,82 @@ |
|||
/*
|
|||
* bsp_com_helper.h |
|||
* |
|||
* Created on: Oct 9, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_COM_HELPER_H_ |
|||
#define INC_BSP_BSP_COM_HELPER_H_ |
|||
#include "bsp_include.h" |
|||
|
|||
|
|||
typedef struct _Dispatcher |
|||
{ |
|||
//uint8_t IsDeleted;
|
|||
void (*dispache)(void); |
|||
|
|||
//struct _Dispatcher* pBefore;
|
|||
struct _Dispatcher* pNext; |
|||
}Dispatcher; |
|||
|
|||
|
|||
//通讯链表节点结构体
|
|||
typedef struct _ComHardWare |
|||
{ |
|||
//void (*dispache)(void);
|
|||
char Name[50]; |
|||
char IsOnline; |
|||
uint32_t BitFlag; |
|||
struct _ComHardWare* pNext; |
|||
}ComHardWare; |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
typedef struct _DispacherController |
|||
{ |
|||
Dispatcher *pHead; // = NULL; //环形链表中的数据头指针
|
|||
Dispatcher *pTail; // = NULL; //环形链表中的数据尾指针
|
|||
uint16_t DispacherNumber; // = 0;
|
|||
uint16_t DispacherCallTime; //
|
|||
uint16_t Dispacher_Counter; // = 0;
|
|||
uint16_t Dispacher_Enable; // = 0 disable 1 enable
|
|||
void (*Add_Dispatcher_List)(struct _DispacherController* , |
|||
void (*dispacher)(void)); //UART的调度程序
|
|||
void (*Dispatcher_Run)(struct _DispacherController* ); //UART的调度程序
|
|||
|
|||
}DispacherController; |
|||
|
|||
typedef struct _HardWareController |
|||
{ |
|||
struct _ComHardWare *pComHWHead; |
|||
struct _ComHardWare *pComHWTail; |
|||
uint16_t HardWare_Check_Counter; |
|||
uint16_t DispacherCallTime; //= 100; //2ms 一次，
|
|||
void (*Add_PCOMHardWare)(struct _HardWareController *, char* , char ,uint32_t); |
|||
void (*PCOMHardWare_Check)(struct _HardWareController *); |
|||
int (*Set_PCOMHardWare)(struct _HardWareController *, char* , char ); |
|||
|
|||
|
|||
} HardWareController; |
|||
|
|||
|
|||
|
|||
|
|||
void Dispatch_t(DispacherController *uartHandler); |
|||
|
|||
void Dispatcher_List_Add_t(DispacherController *uartHandler,void (*dispache)(void)); |
|||
// void Dispatcher_List_Add_t(DispacherController *uartHandler,
|
|||
// void (*dispache)(void),void (*Decode)(uint8_t*, uint16_t));
|
|||
// void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,char value);
|
|||
|
|||
void PCOMHardWare_Check_t(HardWareController *uartHandler); |
|||
|
|||
int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value); |
|||
|
|||
void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name, |
|||
char value,uint32_t bitFlag); |
|||
|
|||
|
|||
#endif /* INC_BSP_BSP_COM_HELPER_H_ */ |
|||
@ -0,0 +1,66 @@ |
|||
/*
|
|||
* bsp_cpu_flash.h |
|||
* |
|||
* Created on: Aug 28, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef SRC_BSP_BSP_CPU_FLASH_H_ |
|||
#define SRC_BSP_BSP_CPU_FLASH_H_ |
|||
|
|||
#include "main.h" |
|||
|
|||
#include <bsp_qspi_w25q128.h> |
|||
#include "quadspi.h" |
|||
|
|||
#define ENABLE_INT() __set_PRIMASK(0) /* 使能全局中断 */ |
|||
#define DISABLE_INT() __set_PRIMASK(1) /* 禁止全局中断 */ |
|||
|
|||
|
|||
#define CPU_FLASH_BASE_ADDR (uint32_t)(FLASH_BASE) /* 0x08000000 */ |
|||
#define CPU_FLASH_END_ADDR (uint32_t)(0x081FFFFF) |
|||
|
|||
#define CPU_FLASH_SIZE (2 * 1024 * 1024) /* FLASH总容量 */ |
|||
#define CPU_FLASH_SECTOR_SIZE (128 * 1024) /* 扇区大小，字节 */ |
|||
|
|||
/* Base address of the Flash sectors Bank 1 */ |
|||
#define ADDR_FLASH_SECTOR_0_BANK1 ((uint32_t)0x08000000) /* Base @ of Sector 0, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_1_BANK1 ((uint32_t)0x08020000) /* Base @ of Sector 1, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_2_BANK1 ((uint32_t)0x08040000) /* Base @ of Sector 2, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_3_BANK1 ((uint32_t)0x08060000) /* Base @ of Sector 3, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_4_BANK1 ((uint32_t)0x08080000) /* Base @ of Sector 4, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_5_BANK1 ((uint32_t)0x080A0000) /* Base @ of Sector 5, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_6_BANK1 ((uint32_t)0x080C0000) /* Base @ of Sector 6, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_7_BANK1 ((uint32_t)0x080E0000) /* Base @ of Sector 7, 128 Kbytes */ |
|||
|
|||
/* Base address of the Flash sectors Bank 2 */ |
|||
#define ADDR_FLASH_SECTOR_0_BANK2 ((uint32_t)0x08100000) /* Base @ of Sector 0, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_1_BANK2 ((uint32_t)0x08120000) /* Base @ of Sector 1, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_2_BANK2 ((uint32_t)0x08140000) /* Base @ of Sector 2, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_3_BANK2 ((uint32_t)0x08160000) /* Base @ of Sector 3, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_4_BANK2 ((uint32_t)0x08180000) /* Base @ of Sector 4, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_5_BANK2 ((uint32_t)0x081A0000) /* Base @ of Sector 5, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_6_BANK2 ((uint32_t)0x081C0000) /* Base @ of Sector 6, 128 Kbytes */ |
|||
#define ADDR_FLASH_SECTOR_7_BANK2 ((uint32_t)0x081E0000) /* Base @ of Sector 7, 128 Kbytes */ |
|||
|
|||
#define FLASH_IS_EQU 0 /* Flash内容和待写入的数据相等，不需要擦除和写操作 */ |
|||
#define FLASH_REQ_WRITE 1 /* Flash不需要擦除，直接写 */ |
|||
#define FLASH_REQ_ERASE 2 /* Flash需要先擦除,再写 */ |
|||
#define FLASH_PARAM_ERR 3 /* 函数参数错误 */ |
|||
|
|||
|
|||
#define App_Start_Addr 0x08000000 |
|||
#define App_Run_Addr 0x08020000 |
|||
#define App_Download_Addr 0x08080000 // ADDR_FLASH_SECTOR_4_BANK1
|
|||
|
|||
|
|||
|
|||
uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize); |
|||
uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize); |
|||
uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize); |
|||
void JumpToApp(void); |
|||
void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes); |
|||
uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr); |
|||
void Erase_App_Download_Flash_Addr(); |
|||
void Copy_Download_Flash_to_Start(); |
|||
#endif /* SRC_BSP_BSP_CPU_FLASH_H_ */ |
|||
@ -0,0 +1,39 @@ |
|||
/*
|
|||
* bsp_decode_command.h |
|||
* |
|||
* Created on: Sep 24, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_DECODE_COMMAND_H_ |
|||
#define INC_BSP_BSP_DECODE_COMMAND_H_ |
|||
#include "main.h" |
|||
#include "msp_WH_LTE_7S0.h" |
|||
|
|||
#include "pb_decode.h" |
|||
#include "pb_encode.h" |
|||
#include "bsp_include.h" |
|||
#include "pb.h" |
|||
|
|||
#include "bsp_Cmd.pb.h" |
|||
#include <stdio.h> |
|||
#include <stdbool.h> |
|||
#include <stdlib.h> |
|||
|
|||
#include "BHBF_ROBOT.h" |
|||
#include "bsp_cpu_flash.h" |
|||
#include <bsp_qspi_w25q128.h> |
|||
#include <bsp_UpperComputer_Handler.h> |
|||
#include "bsp_ReCmd.pb.h" |
|||
#include "bsp_IV.pb.h" |
|||
|
|||
void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length); |
|||
void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay, |
|||
struct UARTHandler *send_Handler); |
|||
|
|||
extern void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay,struct UARTHandler *send_Handler); |
|||
|
|||
|
|||
extern void WrapInCmdAndSendMessage(ReCmd send_Cmd,int8_t functionNum,int8_t isSuccess, uint8_t *buf, int8_t sendWay, |
|||
struct UARTHandler *send_Handler); |
|||
#endif /* INC_BSP_BSP_DECODE_COMMAND_H_ */ |
|||
@ -0,0 +1,82 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_GROUND_MANAGEMENT_PB_H_INCLUDED |
|||
#define PB_BSP_GROUND_MANAGEMENT_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* 从机地址0x34； */ |
|||
typedef struct _ground_management_struct { |
|||
int32_t K1; /* 寄存器0：K1继电器，=0断开，=1吸合 */ |
|||
int32_t K2; /* 寄存器1：K2继电器 */ |
|||
int32_t K3; /* 寄存器2：K3继电器 */ |
|||
int32_t K4; /* 寄存器3：K4继电器 */ |
|||
int32_t K5_Default; /* 寄存器4：K5继电器的默认状态，超时寄存器5后，继电器取反（需要周期性收到其有效的modbus数据包） */ |
|||
int32_t MaualControlPower; /* 手动控制开关 */ |
|||
int32_t MaualPowerState; /* 手动控制开关 */ |
|||
int32_t Time_Out_Period; /* 寄存器5：超时时间，毫秒 */ |
|||
int32_t DMK_Speed; /* 德玛克电机速度 */ |
|||
int32_t DMK_WorkState; /* 0停止 1正转 2反转 */ |
|||
int32_t Save_To_Flash; /* 寄存器9：设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 */ |
|||
int32_t Read_Time_Out_Period; /* 从寄存器中读取的时间 */ |
|||
} ground_management_struct; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define ground_management_struct_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
#define ground_management_struct_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define ground_management_struct_K1_tag 1 |
|||
#define ground_management_struct_K2_tag 2 |
|||
#define ground_management_struct_K3_tag 3 |
|||
#define ground_management_struct_K4_tag 4 |
|||
#define ground_management_struct_K5_Default_tag 5 |
|||
#define ground_management_struct_MaualControlPower_tag 6 |
|||
#define ground_management_struct_MaualPowerState_tag 7 |
|||
#define ground_management_struct_Time_Out_Period_tag 8 |
|||
#define ground_management_struct_DMK_Speed_tag 9 |
|||
#define ground_management_struct_DMK_WorkState_tag 10 |
|||
#define ground_management_struct_Save_To_Flash_tag 11 |
|||
#define ground_management_struct_Read_Time_Out_Period_tag 12 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define ground_management_struct_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, K1, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, K2, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, K3, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, K4, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, K5_Default, 5) \ |
|||
X(a, STATIC, SINGULAR, INT32, MaualControlPower, 6) \ |
|||
X(a, STATIC, SINGULAR, INT32, MaualPowerState, 7) \ |
|||
X(a, STATIC, SINGULAR, INT32, Time_Out_Period, 8) \ |
|||
X(a, STATIC, SINGULAR, INT32, DMK_Speed, 9) \ |
|||
X(a, STATIC, SINGULAR, INT32, DMK_WorkState, 10) \ |
|||
X(a, STATIC, SINGULAR, INT32, Save_To_Flash, 11) \ |
|||
X(a, STATIC, SINGULAR, INT32, Read_Time_Out_Period, 12) |
|||
#define ground_management_struct_CALLBACK NULL |
|||
#define ground_management_struct_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t ground_management_struct_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define ground_management_struct_fields &ground_management_struct_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_GROUND_MANAGEMENT_PB_H_MAX_SIZE ground_management_struct_size |
|||
#define ground_management_struct_size 132 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,57 @@ |
|||
/*
|
|||
* bsp_include.h |
|||
* |
|||
* Created on: Oct 26, 2023 |
|||
* Author: shiya |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_INCLUDE_H_ |
|||
#define INC_BSP_INCLUDE_H_ |
|||
|
|||
#include "main.h" |
|||
#include "dma.h" |
|||
#include "fdcan.h" |
|||
#include "i2c.h" |
|||
#include "tim.h" |
|||
#include "usart.h" |
|||
#include "gpio.h" |
|||
|
|||
#include "bsp_EEPROM.h" |
|||
#include "bsp_GPIO.h" |
|||
#include "bsp_FDCAN.h" |
|||
|
|||
#include "bsp_TIMER.h" |
|||
#include "bsp_PV.pb.h" |
|||
|
|||
#include "bsp_GV.pb.h" |
|||
#include "bsp_CV.pb.h" |
|||
#include "pb.h" |
|||
#include "pb_decode.h" |
|||
#include "pb_common.h" |
|||
#include "DLTuc.h" |
|||
//一个中断回调函数支持多少个回调函数链接
|
|||
#define DF_BSP_InterCall_Num 20 |
|||
|
|||
//一共支持多少种中断函数
|
|||
#define DF_BSP_InterCall_Type_Num 11 |
|||
|
|||
enum DF_BSP_InterCall_Type |
|||
{ |
|||
DF_BSP_InterCall_FDCAN1_RxFifo0Callback = 0, |
|||
DF_BSP_InterCall_FDCAN2_RxFifo0Callback, |
|||
DF_BSP_InterCall_RS485_1_RxCpltCallback, |
|||
DF_BSP_InterCall_RS485_2_RxCpltCallback, |
|||
DF_BSP_InterCall_RS485_3_RxCpltCallback, |
|||
DF_BSP_InterCall_RS485_4_RxCpltCallback, |
|||
DF_BSP_InterCall_DEBUG_RxCpltCallback, |
|||
DF_BSP_InterCall_E22_Serial_RxCpltCallback, |
|||
DF_BSP_InterCall_E28_SBUS_RxFifo0Callback, |
|||
DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback, |
|||
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback |
|||
}; |
|||
|
|||
uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type, |
|||
void (*_fn)(void)); |
|||
void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type); |
|||
|
|||
#endif /* INC_BSP_INCLUDE_H_ */ |
|||
@ -0,0 +1,36 @@ |
|||
|
|||
#ifndef __BSP_MQTT_H |
|||
#define __BSP_MQTT_H |
|||
|
|||
/*-----------------------------------------------------------
|
|||
* Includes files |
|||
*----------------------------------------------------------*/ |
|||
|
|||
/*-----------------------------------------------------------
|
|||
* Exported constants |
|||
*----------------------------------------------------------*/ |
|||
|
|||
|
|||
/*-----------------------------------------------------------
|
|||
* Exported macro |
|||
*----------------------------------------------------------*/ |
|||
|
|||
/*-----------------------------------------------------------
|
|||
* Exported function |
|||
*----------------------------------------------------------*/ |
|||
/*!
|
|||
* @brief 封装 MQTT 初始化接口 |
|||
* 执行条件：无 |
|||
* |
|||
* @retval: 无 |
|||
*/ |
|||
void bsp_mqtt_init(void); |
|||
void bsp_mqtt_test(void); |
|||
|
|||
|
|||
extern void bsp_mqtt_pub_send(char topic[],char buf[],size_t len); |
|||
|
|||
|
|||
#include "bsp_pb_decode_encode.h" |
|||
|
|||
#endif /* __BSP_WOLFSSL_H */ |
|||
@ -0,0 +1,26 @@ |
|||
/*
|
|||
* bsp_mqtt_pub.h |
|||
* |
|||
* Created on: Jul 9, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_MQTT_PUB_H_ |
|||
#define INC_BSP_BSP_MQTT_PUB_H_ |
|||
|
|||
#include "bsp_pb_decode_encode.h" |
|||
#include "pb_decode.h" |
|||
#include "pb_encode.h" |
|||
#include "bsp_CV.pb.h" |
|||
#include "bsp_pb_decode_encode.h" |
|||
#include "BSP/bsp_EEPROM.h" |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
extern void log_info(char logger[], char message[]); |
|||
extern void log_debug(char logger[], char message[]); |
|||
extern void log_err(char logger[], char message[]); |
|||
|
|||
#endif /* INC_BSP_BSP_MQTT_PUB_H_ */ |
|||
@ -0,0 +1,51 @@ |
|||
/*
|
|||
* bsp_pb_decode_encode.h |
|||
* |
|||
* Created on: Jul 5, 2024 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_PB_DECODE_ENCODE_H_ |
|||
#define INC_BSP_BSP_PB_DECODE_ENCODE_H_ |
|||
|
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
#include <stdlib.h> |
|||
#include <stdbool.h> |
|||
|
|||
#include "pb_decode.h" |
|||
#include "pb_encode.h" |
|||
#include "pb.h" |
|||
#include "bsp_CV.pb.h" |
|||
#include "bsp_GV.pb.h" |
|||
#include "msp_MK32.pb.h" |
|||
#include "msp_Motor.pb.h" |
|||
#include "bsp_PV.pb.h" |
|||
#include "bsp_CV.pb.h" |
|||
#include "bsp_CV.pb.h" |
|||
#include "pb_common.h" |
|||
|
|||
#include "bsp_IAP.pb.h" |
|||
IAP_struct_define pb_decode_IAP(uint8_t *buf, size_t length); |
|||
|
|||
typedef struct pb_buffer_arg |
|||
{ |
|||
/* Buffer to be written, or reference to read buffer */ |
|||
void const *buf; |
|||
/* Length of buf */ |
|||
size_t buf_len; |
|||
} pb_buffer_arg; |
|||
|
|||
|
|||
bool pb_encode_string_cb(pb_ostream_t *stream, const pb_field_t *field, void *const *arg); |
|||
bool pb_decode_string_cb(pb_istream_t *stream, const pb_field_t *field, void **arg); |
|||
|
|||
|
|||
extern CV_struct_define pb_decode_CV(char *buf, size_t length); |
|||
extern void Test_CV(); |
|||
|
|||
//extern void pb_encode_TraceMessage(char buf[], size_t buf_len,size_t* len,TraceLevel traceLevel, char logger[], char message[] );
|
|||
void pb_encode_TraceMessage(char buf[],size_t buf_len, size_t* len, |
|||
char traceLevel[], char logger[], char message[] ); |
|||
|
|||
#endif /* INC_BSP_BSP_PB_DECODE_ENCODE_H_ */ |
|||
@ -0,0 +1,107 @@ |
|||
/*
|
|||
* bsp_quadspi_W25Q128.h |
|||
* |
|||
* Created on: Apr 21, 2021 |
|||
* Author: Administrator |
|||
* |
|||
* 该bsp用于华邦的w25q128JV，跟华邦的w25q128JV不一样 |
|||
* 坑爹的 |
|||
*/ |
|||
|
|||
#ifndef BSP_QSPI_W25Q128_H_ |
|||
#define BSP_QSPI_W25Q128_H_ |
|||
|
|||
|
|||
#include "quadspi.h" |
|||
#include "stdio.h" |
|||
|
|||
/* 宏定义 --------------------------------------------------------------------*/ |
|||
#define FLASH_BEGIN_ADDRESS 0x00000 |
|||
|
|||
#define CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS 0x00000 |
|||
#define CODE_FLASH_STORAGE_SIZE 1024*1024 // 留下1M的空间存储数据
|
|||
|
|||
#define W25Q128FV_FLASH_SIZE 0x1000000 /* 128 MBits => 16MBytes */ |
|||
#define W25Q128FV_BLOCK_SIZE 0x10000 /* 256 Blocks of 64KBytes */ |
|||
#define W25Q128FV_HALF_BLOCK_SIZE 0x8000 /* 128 Blocks of 32KBytes */ |
|||
#define W25Q128FV_SECTOR_SIZE 0x1000 /* 4096 sectors of 4kBytes */ |
|||
#define W25Q128FV_PAGE_SIZE 0x100 /* 65536 pages of 256 bytes */ |
|||
|
|||
#define W25Q128FV_DUMMY_CYCLES_READ 4 |
|||
#define W25Q128FV_DUMMY_CYCLES_READ_QUAD 10 |
|||
|
|||
#define W25Q128FV_BULK_ERASE_MAX_TIME 250000//ms
|
|||
#define W25Q128FV_SECTOR_ERASE_MAX_TIME 3000 |
|||
#define W25Q128FV_SUBSECTOR_ERASE_MAX_TIME 800 |
|||
|
|||
#define W25Q128FV_FLASH_ID 0XEF4018 |
|||
/* W25Q128FV 指令 */ |
|||
/* 复位操作 */ |
|||
#define RESET_ENABLE_CMD 0x66 |
|||
#define RESET_MEMORY_CMD 0x99 |
|||
|
|||
#define ENTER_QPI_MODE_CMD 0x38 |
|||
#define EXIT_QPI_MODE_CMD 0xFF |
|||
|
|||
/* 读取ID指令 */ |
|||
#define READ_ID_CMD 0x90 |
|||
#define DUAL_READ_ID_CMD 0x92 |
|||
#define QUAD_READ_ID_CMD 0x94 |
|||
#define READ_JEDEC_ID_CMD 0x9F |
|||
|
|||
/* 读操作指令 */ |
|||
#define READ_CMD 0x03 |
|||
#define FAST_READ_CMD 0x0B |
|||
#define DUAL_OUT_FAST_READ_CMD 0x3B |
|||
#define DUAL_INOUT_FAST_READ_CMD 0xBB |
|||
#define QUAD_OUT_FAST_READ_CMD 0x6B |
|||
#define QUAD_INOUT_FAST_READ_CMD 0xEB |
|||
|
|||
/* 写使能操作指令 */ |
|||
#define WRITE_ENABLE_CMD 0x06 |
|||
#define WRITE_DISABLE_CMD 0x04 |
|||
|
|||
/* 读写状态寄存器操作指令 */ |
|||
#define READ_STATUS_REG1_CMD 0x05 |
|||
#define READ_STATUS_REG2_CMD 0x35 |
|||
#define READ_STATUS_REG3_CMD 0x15 |
|||
|
|||
#define WRITE_STATUS_REG1_CMD 0x01 |
|||
#define WRITE_STATUS_REG2_CMD 0x31 |
|||
#define WRITE_STATUS_REG3_CMD 0x11 |
|||
|
|||
/* 编程指令 */ |
|||
#define PAGE_PROG_CMD 0x02 |
|||
#define QUAD_INPUT_PAGE_PROG_CMD 0x32 |
|||
|
|||
/* 擦除Flash指令 */ |
|||
#define SECTOR_ERASE_CMD 0x20 |
|||
#define BLOCK_32KB_ERASE_CMD 0x52 |
|||
#define BLOCK_64KB_ERASE_CMD 0xD8 |
|||
#define CHIP_ERASE_CMD 0xC7 |
|||
|
|||
#define PROG_ERASE_RESUME_CMD 0x7A |
|||
#define PROG_ERASE_SUSPEND_CMD 0x75 |
|||
|
|||
/* 状态寄存器标志位 */ |
|||
#define W25Q128FV_FSR_BUSY ((uint8_t)0x01) /* busy */ |
|||
#define W25Q128FV_FSR_WREN ((uint8_t)0x02) /* write enable */ |
|||
#define W25Q128FV_FSR_QE ((uint8_t)0x02) /* quad enable */ |
|||
|
|||
/* Flash 状态码*/ |
|||
#define FLASH_OK ((uint8_t)0x00) |
|||
#define FLASH_ERROR ((uint8_t)0x01) |
|||
#define FLASH_BUSY ((uint8_t)0x02) |
|||
#define FLASH_NOT_SUPPORTED ((uint8_t)0x04) |
|||
#define FLASH_SUSPENDED ((uint8_t)0x08) |
|||
|
|||
|
|||
|
|||
uint32_t QSPI_W25Qx_ReadID(void); |
|||
void QSPI_W25Qx_Reset_Memory(); |
|||
void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr); |
|||
uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size); |
|||
void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size); |
|||
void QSPI_W25Qx_EraseDownLoadFlash(); |
|||
void user_Assert(char *file,uint32_t line); |
|||
#endif /* BSP_QSPI_W25Q128_H_ */ |
|||
@ -0,0 +1,14 @@ |
|||
/*
|
|||
* bsp_slide_averager.h |
|||
* |
|||
* Created on: 2026年3月20日 |
|||
* Author: L1ng the codeGod |
|||
*/ |
|||
|
|||
#ifndef BASE_INC_BSP_BSP_SLIDE_AVERAGER_H_ |
|||
#define BASE_INC_BSP_BSP_SLIDE_AVERAGER_H_ |
|||
|
|||
void slide_averager_init(float buffer[], uint8_t *p_index, uint8_t *p_count); |
|||
float slide_averager_calc(float buffer[], uint8_t *p_index, uint8_t *p_count, float new_data); |
|||
|
|||
#endif /* BASE_INC_BSP_BSP_SLIDE_AVERAGER_H_ */ |
|||
@ -0,0 +1,61 @@ |
|||
/* Automatically generated nanopb header */ |
|||
/* Generated by nanopb-0.4.8 */ |
|||
|
|||
#ifndef PB_BSP_STRAIN_GAUGE_PB_H_INCLUDED |
|||
#define PB_BSP_STRAIN_GAUGE_PB_H_INCLUDED |
|||
#include "pb.h" |
|||
|
|||
#if PB_PROTO_HEADER_VERSION != 40 |
|||
#error Regenerate this file with the current version of nanopb generator. |
|||
#endif |
|||
|
|||
/* Struct definitions */ |
|||
/* 从机地址0x32； */ |
|||
typedef struct _Strain_Gauge_Struct { |
|||
int32_t MotorControl; /* 寄存器0： 电机控制，=0 停止，=1 前进，=2 后退 */ |
|||
int32_t Pressure; /* 寄存器1： 输出的传感器最终数据 */ |
|||
int32_t HX711_K; /* 寄存器2 HX711_K */ |
|||
int32_t HX711_D; /* 寄存器3 HX711_D */ |
|||
int32_t Save; /* 寄存器9： 设置为55时，把当前寄存器输入存入flash，写入成功自动变成1 */ |
|||
} Strain_Gauge_Struct; |
|||
|
|||
|
|||
#ifdef __cplusplus |
|||
extern "C" { |
|||
#endif |
|||
|
|||
/* Initializer values for message structs */ |
|||
#define Strain_Gauge_Struct_init_default {0, 0, 0, 0, 0} |
|||
#define Strain_Gauge_Struct_init_zero {0, 0, 0, 0, 0} |
|||
|
|||
/* Field tags (for use in manual encoding/decoding) */ |
|||
#define Strain_Gauge_Struct_MotorControl_tag 1 |
|||
#define Strain_Gauge_Struct_Pressure_tag 2 |
|||
#define Strain_Gauge_Struct_HX711_K_tag 3 |
|||
#define Strain_Gauge_Struct_HX711_D_tag 4 |
|||
#define Strain_Gauge_Struct_Save_tag 5 |
|||
|
|||
/* Struct field encoding specification for nanopb */ |
|||
#define Strain_Gauge_Struct_FIELDLIST(X, a) \ |
|||
X(a, STATIC, SINGULAR, INT32, MotorControl, 1) \ |
|||
X(a, STATIC, SINGULAR, INT32, Pressure, 2) \ |
|||
X(a, STATIC, SINGULAR, INT32, HX711_K, 3) \ |
|||
X(a, STATIC, SINGULAR, INT32, HX711_D, 4) \ |
|||
X(a, STATIC, SINGULAR, INT32, Save, 5) |
|||
#define Strain_Gauge_Struct_CALLBACK NULL |
|||
#define Strain_Gauge_Struct_DEFAULT NULL |
|||
|
|||
extern const pb_msgdesc_t Strain_Gauge_Struct_msg; |
|||
|
|||
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */ |
|||
#define Strain_Gauge_Struct_fields &Strain_Gauge_Struct_msg |
|||
|
|||
/* Maximum encoded size of messages (where known) */ |
|||
#define BSP_STRAIN_GAUGE_PB_H_MAX_SIZE Strain_Gauge_Struct_size |
|||
#define Strain_Gauge_Struct_size 55 |
|||
|
|||
#ifdef __cplusplus |
|||
} /* extern "C" */ |
|||
#endif |
|||
|
|||
#endif |
|||
@ -0,0 +1,19 @@ |
|||
/*
|
|||
* bsp_adc.h |
|||
* |
|||
* Created on: Feb 21, 2025 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef INC_BSP_BSP_TEMPATURE_H_ |
|||
#define INC_BSP_BSP_TEMPATURE_H_ |
|||
|
|||
|
|||
#include "main.h" |
|||
#include "DLTuc.h" |
|||
|
|||
int32_t read_temperature(); |
|||
void ADC_Intialize(); |
|||
|
|||
extern int32_t * tempature; |
|||
#endif /* INC_BSP_BSP_TEMPATURE_H_ */ |
|||
@ -0,0 +1,56 @@ |
|||
/*
|
|||
* change_line_control.h |
|||
* |
|||
* Created on: 2025年8月12日 |
|||
* Author: xsq |
|||
*/ |
|||
|
|||
#ifndef FSM_INC_CHANGE_LINE_CONTROL_H_ |
|||
#define FSM_INC_CHANGE_LINE_CONTROL_H_ |
|||
|
|||
|
|||
typedef enum _vertical_LaneChangeState |
|||
{ |
|||
VerticalChange_TurnToUP, |
|||
VerticalChange_TurnToDown, |
|||
VerticalChange_TurnToLeft, |
|||
VerticalChange_TurnToRight, |
|||
VerticalChange_DelayMove, |
|||
VerticalChange_End, |
|||
VerticalChange_StateZero, |
|||
//0---6
|
|||
} Lane_Vertical_ChangeState; |
|||
/**********************************************************/ |
|||
typedef enum _horizontal_LaneChangeState |
|||
{ |
|||
HorizontalChange_TurnToUP, |
|||
HorizontalChange_TurnToDown, |
|||
HorizontalChange_TurnToLeft, |
|||
HorizontalChange_TurnToRight, |
|||
HorizontalChange_DelayMove, |
|||
HorizontalChange_End, |
|||
HorizontalChange_StateZero, |
|||
|
|||
} Lane_Horizontal_ChangeState; |
|||
/***********************************************************************/ |
|||
//设置 换道距离和设置后退距离
|
|||
typedef enum _laneChangeControlSTATE_t |
|||
{ |
|||
Lane_Change_Stop = 0, Lane_Change_Start, |
|||
|
|||
} LaneChangeControlSTATE; |
|||
/*****************************************************************************/ |
|||
extern Lane_Vertical_ChangeState Current_Vertical_ChangeState; |
|||
|
|||
extern LaneChangeControlSTATE VerticalLaneChangeState; /*当前换道处于开始或者结束*/ |
|||
extern int LaneChangeControl_Paint(); |
|||
|
|||
|
|||
|
|||
extern void Vertical_Lane_Change_From_Left_To_Right_UP_Control(); |
|||
extern void Vertical_Lane_Change_From_Left_To_Right_Down_Control(); |
|||
extern void Vertical_Lane_Change_From_Right_To_Left_UP_Control(); |
|||
extern void Vertical_Lane_Change_From_Right_To_Left_Down_Control(); |
|||
|
|||
extern int LaneChangeWaittime ; |
|||
#endif /* FSM_INC_CHANGE_LINE_CONTROL_H_ */ |
|||
@ -0,0 +1,44 @@ |
|||
/*
|
|||
* fsm.h |
|||
* |
|||
* Created on: 2025年7月14日 |
|||
* Author: akeguo |
|||
*/ |
|||
|
|||
#ifndef FSM_INC_FSM_STATE_H_ |
|||
#define FSM_INC_FSM_STATE_H_ |
|||
#include "stdint.h" |
|||
#include <stddef.h> |
|||
|
|||
|
|||
struct _transition_t; |
|||
typedef struct _transition_t transition_t; |
|||
|
|||
|
|||
//抽象类，用于派生其他类 将事件处理方法包含在基类中
|
|||
|
|||
typedef struct _transition_state_t |
|||
{ |
|||
|
|||
void (*robotEnter)(transition_t* p_transition); //执行Enter 激活标志位
|
|||
void (*robotRun)(transition_t* p_transition); //执行相关动作
|
|||
void (*robotExit)(transition_t* p_transition); //执行Exit
|
|||
int State; //状态
|
|||
|
|||
}transition_state_t; |
|||
|
|||
|
|||
|
|||
typedef struct _transition_t { |
|||
transition_state_t* p_state; |
|||
}transition_t; |
|||
|
|||
|
|||
extern void fsm_state_set(transition_t* p_this, transition_state_t* p_new_state); |
|||
extern void fsm_state_run(transition_t* p_this); |
|||
|
|||
extern void fsm_state_init(transition_t* p_this,transition_state_t* inti_state); |
|||
|
|||
|
|||
|
|||
#endif /* FSM_INC_FSM_STATE_H_ */ |
|||
@ -0,0 +1,18 @@ |
|||
/*
|
|||
* fsm_state_control.h |
|||
* |
|||
* Created on: Jan 13, 2026 |
|||
* Author: bm673 |
|||
*/ |
|||
|
|||
#ifndef FSM_INC_FSM_STATE_CONTROL_H_ |
|||
#define FSM_INC_FSM_STATE_CONTROL_H_ |
|||
|
|||
void Fsm_Init(); |
|||
void GF_Dispatch(); |
|||
void IV_control(); |
|||
int AbnormalDetect(); |
|||
|
|||
typedef void (*ActionFunc)(void); |
|||
|
|||
#endif /* FSM_INC_FSM_STATE_CONTROL_H_ */ |
|||
@ -0,0 +1,21 @@ |
|||
/*
|
|||
* motor.h |
|||
* |
|||
* Created on: 2026年1月29日 |
|||
* Author: bm673 |
|||
*/ |
|||
|
|||
#ifndef FSM_INC_MOTOR_H_ |
|||
#define FSM_INC_MOTOR_H_ |
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
|
|||
#endif /* FSM_INC_MOTOR_H_ */ |
|||
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Reference in new issue