robot/Spoolend/Spoolend.c

/******************************************************************************

                  版权所有 (C), 2018-2099, Radkil

 ******************************************************************************
  文 件 名   : Spoolend.c
  版 本 号   : 初稿
  作    者   : radkil
  生成日期   : 2026年6月10日
  最近修改   :
  功能描述   : 线轴端控制板
  
  修改历史   :
  1.日    期   : 2026年6月10日
    作    者   : radkil
    修改内容   : 创建文件

******************************************************************************/
#include "bsp_uart.h"
#include "bsp_CAN.h"
#include "fdcan.h"
/*----------------------------------------------*
 * 外部变量说明                                 *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 外部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 内部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 全局变量                                     *
 *----------------------------------------------*/
TComCtrl *g_ptRS485_1; 
TComCtrl *g_ptRS485_2; 

TComCtrl *g_ptFDCAN1; 
/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 常量定义                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 宏定义                                       *
 *----------------------------------------------*/

static int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
{
    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_RESET);
    return iRet;
}

static int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
{
    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_RESET);
    return iRet;
}

#ifndef CONFIG_UART_IT_IDLEDMA
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if (huart->Instance == LPUART1)
	{
    	UART_RX_IRQHandler(g_ptRS485_1);
	}
    else if (huart->Instance == USART1)
    {
        UART_RX_IRQHandler(g_ptRS485_2);
    }
}
#endif

static int check_RS485_1(char *_pBuffer, uint32_t _iSize)
{
	rd_ComSend(g_ptRS485_1, _pBuffer, _iSize);
	return _iSize;
}

static int check_RS485_2(char *_pBuffer, uint32_t _iSize)
{
	rd_ComSend(g_ptRS485_2, _pBuffer, _iSize);
	return _iSize;
}

static int check_Spoolend(char *_pBuffer, uint32_t _iSize)
{
	TCANUserData *ptCANUserData = (TCANUserData *)g_ptFDCAN1->m_pUserData;
	uint32_t iCANId = (uint8_t)ptCANUserData->m_canrx->Identifier;
	rd_ComIDSend(g_ptFDCAN1, iCANId, _pBuffer, _iSize);
	return _iSize;
}

static int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
{
    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer[0], &_pBuffer[4], _iSize);
}

void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
	if (hfdcan->Instance == FDCAN1)
	{
		MX_FDCAN1_Init();
	}
}

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
	if (hfdcan->Instance == FDCAN1)
	{
		CAN_RX_IRQHandler(g_ptFDCAN1);
	}
}

void Myprint_Init(void)
{
    TUartUserData *ptUartUserData = UART_userdata_init(1, 115200, 4096);
    g_ptRS485_2 = rd_ComCreate(NULL, NULL, RS485_2_Send, ptUartUserData->m_buf_size, ptUartUserData);
    UART_IT_init(g_ptRS485_2);
}

int Myprint_putchar(uint8_t ch)
{
    char tx_buf[2];

    if (ch == '\n') 
    {
        // 遇到换行，发送 \r\n
        tx_buf[0] = '\r';
        tx_buf[1] = '\n';
        if (rd_ComSend(g_ptRS485_2, tx_buf, 2) < 0) return EOF;
        return 2;
    } 
    else 
    {
        // 普通字符
        tx_buf[0] = ch;
        if (rd_ComSend(g_ptRS485_2, tx_buf, 1) < 0) return EOF;
        return 1;
    }
}

void SpoolendInit(void)
{
    TUartUserData *ptUartUserData = UART_userdata_init(0, 115200, 512);
    g_ptRS485_1 = rd_ComCreate(check_RS485_1, NULL, RS485_1_Send, ptUartUserData->m_buf_size, ptUartUserData);
    UART_IT_init(g_ptRS485_1);
//    TUartUserData *ptUartUserData1 = UART_userdata_init(0, 115200, 512);
//    g_ptRS485_2 = rd_ComCreate(check_RS485_2, NULL, RS485_2_Send, ptUartUserData1->m_buf_size, ptUartUserData1);
//    UART_IT_init(g_ptRS485_2);
    TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
    g_ptFDCAN1 = rd_ComCreate(check_Spoolend, NULL, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
    CAN_IT_init(g_ptFDCAN1);
}

void SpoolendTask(void)
{
	char pcBuffer1[52] = {0};
//	char pcBuffer2[52] = {0};
	char pcBuffer3[52] = {0};
	__disable_irq();
	rd_ComRead(g_ptRS485_1, pcBuffer1, sizeof(pcBuffer1));
//	rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
	rd_ComRead(g_ptFDCAN1, pcBuffer3, sizeof(pcBuffer3));
	__enable_irq();
}