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 "bsp_EEPROM.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_apstUart[COM_MAX] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};

TComCtrl *g_ptCAN1 = NULL; 
TComCtrl *g_ptCAN2 = NULL; 

CV_struct_define g_stCV = {0};
/*----------------------------------------------*
 * 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_apstUart[COM_RS485_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_apstUart[COM_LTE_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_apstUart[COM_RS485_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_apstUart[COM_INTERCALL]->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_apstUart[COM_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_apstUart[COM_RS485_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_apstUart[COM_RS485_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_Send(char *_pBuffer, uint32_t _iSize)
{
    TUartUserData *ptUartUserData = (TUartUserData *)g_apstUart[COM_LPUART]->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_apstUart[COM_RS485_1]);
	}
    else if (huart->Instance == USART2)
	{
        UART_RX_IRQHandler(g_apstUart[COM_LTE_7S0]);
	}
    else if (huart->Instance == USART3)
    {
#ifdef USE_PRINT
    	UART_RX_IRQHandler(g_ptUartCtrl);
#else
#ifdef USE_LUA_ST_UART
		extern TComCtrl *g_ptCom1;
		UART_RX_IRQHandler(g_ptCom1);
#else
		UART_RX_IRQHandler(g_apstUart[COM_RS485_2]);
#endif
#endif
    }
    else if (huart->Instance == UART4)
	{
        UART_RX_IRQHandler(g_apstUart[COM_INTERCALL]);
	}
    else if (huart->Instance == UART5)
	{
        UART_RX_IRQHandler(g_apstUart[COM_SBUS]);
	}
    else if (huart->Instance == USART6)
	{
        UART_RX_IRQHandler(g_apstUart[COM_RS485_3]);
	}
    else if (huart->Instance == UART7)
	{
        UART_RX_IRQHandler(g_apstUart[COM_RS485_4]);
	}
    else if (huart->Instance == LPUART1)
	{
		UART_RX_IRQHandler(g_apstUart[COM_LPUART]);
	}
}
#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 lpuart_task(void *argument)
{
    char pcBuffer[64] = {0};

    while(1)
    {
        rd_ComRead(g_apstUart[COM_LPUART], pcBuffer, 64);
    }
}

void CAN1_task(void *argument)
{
	char pcBuffer[32] = {0};

	while(1)
	{
		rd_ComRead(g_ptCAN1, pcBuffer, 32);
	}
}

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

  while (1) 
  {
    rd_ComRead(g_apstUart[COM_SBUS], pcBuffer, 25);
  }
}

void rs485_1_task(void *argument)
{
    char pcBuffer[64] = {0};

    while(1)
    {
        rd_ComRead(g_apstUart[COM_RS485_1], pcBuffer, 64);
    }
}

extern void MotorTask(void *argument);
extern int check_PV(char *_pBuffer, uint32_t _iSize);
extern void decode_PV(const char *buf, uint32_t _iSize);
extern void ground_manger_init(void);
extern void Custom_Task(void *argument);
void client_setting_Init(void);
void TL720D_Init(void);
void RBcore_Init(void);
void controller_init(void);
void daemon_Init(void);
void Timer_Init(void);

void Drv_InterfaceInit(void)
{
	GF_BSP_EEPROM_Init();
	MsgCenter_Init();
	GF_BSP_EEPROM_ReadBytes((uint8_t *)&g_stCV, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));

	client_setting_Init();
//	ground_manger_init();

	const osThreadAttr_t Custom_attributes = {
		.name = MODULE_NAME_CUSTOM,
		.stack_size = THREAD_DEFAULT_STACK,
		.priority = (osPriority_t) osPriorityRealtime1,
	};
	(void)osThreadNew(Custom_Task, NULL, &Custom_attributes);

	// 创建电机任务
	const osThreadAttr_t motor_task_attributes = {
		.name = MODULE_NAME_MOTOR,
		.stack_size = THREAD_DEFAULT_STACK,
		.priority = (osPriority_t) osPriorityRealtime2,
	};
	(void)osThreadNew(MotorTask, NULL, &motor_task_attributes);

	const osThreadAttr_t CAN1_task_attributes = {
			.name = "CAN1_task",
			.stack_size = THREAD_DEFAULT_STACK,
			.priority = (osPriority_t) osPriorityRealtime1,
		};
	(void)osThreadNew(CAN1_task, NULL, &CAN1_task_attributes);

	RBcore_Init();

	controller_init();

	const osThreadAttr_t Sbus_task_attributes = {
		.name = "Sbus_task",
		.stack_size = THREAD_DEFAULT_STACK,
		.priority = (osPriority_t) osPriorityRealtime1,
	};
	(void)osThreadNew(Sbus_task, NULL, &Sbus_task_attributes);

	const osThreadAttr_t lpuart_task_attributes = {
		.name = "lpuart_task",
		.stack_size = THREAD_DEFAULT_STACK,
		.priority = (osPriority_t) osPriorityRealtime1,
	};
	(void)osThreadNew(lpuart_task, NULL, &lpuart_task_attributes);

	TL720D_Init();

	const osThreadAttr_t rs485_1_task_attributes = {
			.name = "rs485_1_task",
			.stack_size = THREAD_DEFAULT_STACK,
			.priority = (osPriority_t) osPriorityRealtime1,
		};
	(void)osThreadNew(rs485_1_task, NULL, &rs485_1_task_attributes);

	daemon_Init();

	//Timer_Init();
	log_i("BingooRobot Init success\nversion: %s", Rd_GetBuildTime());
}