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                             *
 *----------------------------------------------*/
extern TComCtrl *g_ptUartCtrl;
/*----------------------------------------------*
 * 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_ptSbus; 
TComCtrl *g_ptInterCall;
TComCtrl *g_ptlpuart;

TComCtrl *g_ptCAN1; 
TComCtrl *g_ptCAN2; 
/*----------------------------------------------*
 * 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_ptSbus->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 LPUART_PV_Send(char *_pBuffer, uint32_t _iSize)
{
    TUartUserData *ptUartUserData = (TUartUserData *)g_ptlpuart->m_pUserData;
    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
    return iRet;
}

int FDCAN1_Send(char *_pBuffer, uint32_t _iSize)
{
    return CAN_TX_FIFOQ(g_ptCAN1, _pBuffer, _iSize);
}

int FDCAN2_Send(char *_pBuffer, uint32_t _iSize)
{
    return CAN_TX_FIFOQ(g_ptCAN2, _pBuffer, _iSize);
}

#ifndef CONFIG_UART_IT_IDLEDMA
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_ptSbus);
	}
    else if (huart->Instance == USART6)
	{
        UART_RX_IRQHandler(g_ptrs485_3);
	}
    else if (huart->Instance == UART7)
	{
        UART_RX_IRQHandler(g_ptrs485_4);
	}
    else if (huart->Instance == LPUART1)
	{
		UART_RX_IRQHandler(g_ptlpuart);
	}
}
#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_ptCAN1);
	}
    else if (hfdcan->Instance == FDCAN2)
	{
		CAN_RX_IRQHandler(g_ptCAN2);
	}
}

void Read_MK32(void *argument)
{
    char pcBuffer[52] = {0};
    char pcBuffer2[52] = {0};

    while(1)
    {
        __disable_irq();
        rd_ComRead(g_ptSbus, pcBuffer, 25);
        rd_ComRead(g_ptlpuart, pcBuffer2, 25);
        __enable_irq();
        Rd_Delay(1);
    }
}

extern void MotorInit(void);
extern int check_MK32(char *_pBuffer, uint32_t _iSize);
extern void decode_MK32(const char *buf, uint32_t _iSize);
extern int check_PV(char *_pBuffer, uint32_t _iSize);
extern void decode_PV(const char *buf, uint32_t _iSize);
void Send_PV(void *argument);
void ground_manger_init(void);

void Drv_InterfaceInit(void)
{
	MsgCenter_Init();
	ground_manger_init();
	MotorInit();
	RBcore_Init();

	TUartUserData *ptSbus = UART_userdata_init(5, -1, 512);
	g_ptSbus = rd_ComCreate(check_MK32, decode_MK32, E28_SBUS_Send, ptSbus->m_buf_size, ptSbus);
	UART_IT_init(g_ptSbus);

    const osThreadAttr_t MK32_Task_attributes = {
        .name = "Read_MK32",
        .stack_size = 512,
        .priority = (osPriority_t) osPriorityHigh6,
    };
    (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);

    TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);
	g_ptlpuart = rd_ComCreate(check_PV, decode_PV, LPUART_PV_Send, ptUartUserData->m_buf_size, ptUartUserData);
	UART_IT_init(g_ptlpuart);

	const osThreadAttr_t Send_PV_attributes = {
		.name = "Send_PV",
		.stack_size = 512,
		.priority = (osPriority_t) osPriorityHigh4,
	};
	(void)osThreadNew(Send_PV, NULL, &Send_PV_attributes);
}