robot/RBcore/drv_interface.c

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

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

 ******************************************************************************
  文 件 名   : drv_interface.c
  版 本 号   : 初稿
  作    者   : radkil
  生成日期   : 2026年5月27日
  最近修改   :
  功能描述   : 对外接口层
  
  修改历史   :
  1.日    期   : 2026年5月27日
    作    者   : radkil
    修改内容   : 创建文件

******************************************************************************/
#include "BHBF.h"

#include "cmsis_os.h"
#include "FreeRTOS.h"

#include "msg_center.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_ptRS485_3; 
TComCtrl *g_ptRS485_4; 
TComCtrl *g_ptLTE_7S0; 
TComCtrl *g_ptE28_SBUS; 
TComCtrl *g_ptInterCall;

TComCtrl *g_ptFDCAN1; 
TComCtrl *g_ptFDCAN2; 
/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/

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

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

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;
}

int LTE_7S0_Send(char *_pBuffer, uint32_t _iSize)
{
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptLTE_7S0->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    return iRet;
}

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;
}

int InterCall_Send(char *_pBuffer, uint32_t _iSize)
{
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptInterCall->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    return iRet;
}

int E28_SBUS_Send(char *_pBuffer, uint32_t _iSize)
{
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptE28_SBUS->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    return iRet;
}

int RS485_3_Send(char *_pBuffer, uint32_t _iSize)
{
    HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_SET);
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_3->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_RESET);
    return iRet;
}

int RS485_4_Send(char *_pBuffer, uint32_t _iSize)
{
    HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_SET);
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_4->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_RESET);
    return iRet;
}

int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
{
    return CAN_TX_FIFOQ(g_ptFDCAN1, _pBuffer, _iSize);
}

int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
{
    return CAN_TX_FIFOQ(g_ptFDCAN2, _pBuffer, _iSize);
}

#ifndef CONFIG_UART_IT_IDLEDMA
extern TComCtrl *g_ptUartCtrl;
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    if (huart->Instance == USART1)
	{
    	UART_RX_IRQHandler(g_ptRS485_1);
	}
    else if (huart->Instance == USART2)
	{
        UART_RX_IRQHandler(g_ptLTE_7S0);
	}
    else if (huart->Instance == USART3)
    {
#ifdef USE_PRINT
    	UART_RX_IRQHandler(g_ptUartCtrl);
#else
        UART_RX_IRQHandler(g_ptRS485_2);
#endif
    }
    else if (huart->Instance == UART4)
	{
        UART_RX_IRQHandler(g_ptInterCall);
	}
    else if (huart->Instance == UART5)
	{
        UART_RX_IRQHandler(g_ptE28_SBUS);
	}
    else if (huart->Instance == USART6)
	{
        UART_RX_IRQHandler(g_ptRS485_3);
	}
    else if (huart->Instance == UART7)
	{
        UART_RX_IRQHandler(g_ptRS485_4);
	}
}
#endif

void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
	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);
	}
}

void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t ErrorStatusITs)
{
	if (hfdcan->Instance == FDCAN1)
	{
		MX_FDCAN1_Init();
	}
    else if (hfdcan->Instance == FDCAN2)
	{
		MX_FDCAN2_Init();
	}
}

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
	if (hfdcan->Instance == FDCAN1)
	{
		CAN_RX_IRQHandler(g_ptFDCAN1);
	}
    else if (hfdcan->Instance == FDCAN2)
	{
		CAN_RX_IRQHandler(g_ptFDCAN2);
	}
}

void Read_RS485_1(void *argument)
{
    char pcBuffer[52] = {0};

    while(1)
    {
        __disable_irq();
        rd_ComRead(g_ptRS485_1, pcBuffer, 25);
        __enable_irq();
        Rd_Delay(1);
    }
}

void SendAll_Task(void *argument)
{
    while(1)
    {
        rd_ComSendProc(g_ptRS485_1);
        Rd_Delay(1);
#ifdef USE_PRINT
        rd_ComSendProc(g_ptUartCtrl);
#else
        rd_ComSendProc(g_ptRS485_2);
#endif
        Rd_Delay(1);
        rd_ComSendProc(g_ptRS485_3);
        Rd_Delay(1);
        rd_ComSendProc(g_ptRS485_4);
        Rd_Delay(1);
        rd_ComSendProc(g_ptLTE_7S0);
        Rd_Delay(1);
        rd_ComSendProc(g_ptE28_SBUS);
        Rd_Delay(1);
        rd_ComSendProc(g_ptInterCall);
        Rd_Delay(1);
        rd_ComSendProc(g_ptFDCAN1);
        Rd_Delay(1);
        rd_ComSendProc(g_ptFDCAN2);
        Rd_Delay(1);
    }
}

extern void MotorInit(void);
extern void MotorMgr_ParseResponse(uint8_t ucMotorID, const uint8_t *pucData, uint32_t uiLen);

// 雷赛电机CAN响应检查函数
// 雷赛响应ID范围：0x581 - 0x5FF (0x580 + MotorID)
static int check_LeiSaiMotor(char *_pBuffer, uint32_t _iSize)
{
    if (NULL == _pBuffer || _iSize < 4)
    {
        return 0;
    }

    // 从buffer中提取CAN ID（前4字节）
    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF) 
                        | ((_pBuffer[1] & 0xFF) << 8) 
                        | ((_pBuffer[2] & 0xFF) << 16) 
                        | ((_pBuffer[3] & 0xFF) << 24);

    // 雷赛响应ID范围：0x581 - 0x5FF
    if (uiFrameID >= 0x581 && uiFrameID <= 0x5FF)
    {
        return 8 + 4; // 数据长度8 + CAN ID长度4
    }

    return 0;
}

// 雷赛电机CAN响应解码函数
static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
{
    if (NULL == _pBuffer || _iSize < 12) // 4字节CAN ID + 8字节数据
    {
        return;
    }

    // 从buffer中提取CAN ID
    uint32_t uiFrameID = (uint32_t)(_pBuffer[0] & 0xFF) 
                        | ((_pBuffer[1] & 0xFF) << 8) 
                        | ((_pBuffer[2] & 0xFF) << 16) 
                        | ((_pBuffer[3] & 0xFF) << 24);

    // 提取电机ID (0x580 + MotorID)
    uint8_t ucMotorID = (uint8_t)(uiFrameID - 0x580);

    // 调用电机管理模块解析响应
    MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
}

void Drv_InterfaceInit(void)
{
    const osThreadAttr_t Read_RS485_1_attributes = {
        .name = "RS485_1",
        .stack_size = 512,
        .priority = (osPriority_t) osPriorityHigh6,
    };
    (void)osThreadNew(Read_RS485_1, NULL, &Read_RS485_1_attributes);

    const osThreadAttr_t send_task_attributes = {
        .name = "send_task",
        .stack_size = 512,
        .priority = (osPriority_t) osPriorityHigh7,
    };
    (void)osThreadNew(SendAll_Task, NULL, &send_task_attributes);

    MsgCenter_Init();

    // 初始化FDCAN1，使用雷赛电机的回调
    TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 8, 0);
    g_ptFDCAN1 = rd_ComCreate(check_LeiSaiMotor, decode_LeiSaiMotor, FDCAN1_Send, CONFIG_UART_BUFFER_SIZE, ptCANUserData);
    CAN_IT_init(g_ptFDCAN1);

    MotorInit();
}