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257 lines
7.6 KiB
257 lines
7.6 KiB
/*
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* msp_TL720D.c
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*
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* Created on: Jul 19, 2024
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* Author: bihon
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*
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* SHI(2026.4)
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* 倾角仪TL720D与电子罗盘DDM360B，自动输出模式，改为问答模式
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* 地址为 00 和 02
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* 波特率 115200
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*/
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#include "MSP/msp_TL720D.h"
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#include "BHBF_ROBOT.h"
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#include "msp_TL720D.pb.h"
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#define addr_TL720D 0x00//地址
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#define addr_DDM360B 0x02//地址
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//Roll：0.01°(-180 +180)
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int32_t *RobotAngle;//机器人角度（陀螺仪TL720D）
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//Yaw:0.01°(0 360)
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int32_t *RobotAngle_DDM;//磁北角度（电子罗盘DDM360B）
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struct UARTHandler *TL720D_UART_Handler;
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DispacherController *TL720D_DispacherController;
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MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In;
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MSP_TL720DParameters* MSP_DDM360B_Parameters_In;
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static void decode_TL720D(uint8_t *buffer, uint16_t length);
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static void decode_DDM360B(uint8_t *buffer, uint16_t length);
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static int32_t getDeci(uint8_t *data);
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static int changeAngle_LeftZerotoUpZero(int angle);
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static void reading_Task_TL720D(void);
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static void reading_Task_DDM360B(void);
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void TL720D_intialize(struct UARTHandler *Handler)
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{
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//TL720D_UART_Handler->UART_Decode = NULL;
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TL720D_UART_Handler = Handler;
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TL720D_UART_Handler->Wait_time = 8;
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// TL720D_UART_Handler->UART_Decode = decode_TL720D;//收到数据时调用decode_TL720D函数进行处理
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// TL720D_UART_Handler->UART_Decode = decode_DDM360B;
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TL720D_DispacherController = Handler->dispacherController;
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TL720D_DispacherController->Dispacher_Enable = 1; //不周期性发送
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// TL720D_DispacherController->DispacherCallTime = 40;//
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TL720D_DispacherController->DispacherCallTime = 0;//
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TL720D_DispacherController->Add_Dispatcher_List(TL720D_DispacherController, reading_Task_TL720D);
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TL720D_DispacherController->Add_Dispatcher_List(TL720D_DispacherController, reading_Task_DDM360B);
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"TL720D",0,ComError_TL720D);//注册硬件错误处理
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HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"DDM360B",0,ComError_DDM360B);
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//log_info("TL720D_intialize");
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LOG("TL720D initialized success");//记录初始化日志
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LOG("DDM360B initialized success");
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}
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uint8_t Buffer_DDM360B[100];//调试用
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uint8_t Length_DDM360B = 0;//调试用
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static void decode_DDM360B(uint8_t *buffer, uint16_t length)
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{
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if(length < 100){
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Length_DDM360B = length;
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memcpy(Buffer_DDM360B, buffer, length);//调试用
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}
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// // DDM360B: 帧长0x0D(13字节), 地址0x02
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if (buffer[0] == 0x68 && buffer[1] == 0x0D && buffer[2] == 0x02
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&& buffer[3] == 0x84 && length == 14)
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{
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// 验证校验和（不含字头）
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uint8_t calc_checksum = 0;
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for (int i = 1; i < (14-1); i++) {
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calc_checksum += buffer[i];
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}
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if (calc_checksum != buffer[14-1]) {
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return;
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}
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MSP_DDM360B_Parameters_In->RF_Angle_Roll = getDeci(&buffer[4]);
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MSP_DDM360B_Parameters_In->RF_Angle_Pitch = getDeci(&buffer[7]);
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MSP_DDM360B_Parameters_In->RF_Angle_Yaw = getDeci(&buffer[10]);
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*RobotAngle_DDM = MSP_DDM360B_Parameters_In->RF_Angle_Yaw;
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"DDM360B",1);
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LOG("DDM360B decoding succeeded");
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}else
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{
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//log_error("TL720D decoding failed");
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LOGFF(DL_ERROR,"DDM360B decoding failed");
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}
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}
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static void reading_Task_DDM360B(void)
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{
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uint8_t addr = addr_DDM360B;
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uint8_t cmd[5];
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uint8_t checksum = 0;
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cmd[0] = 0x68; // 帧头
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cmd[1] = 0x04; // 数据长度
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cmd[2] = addr; // 地址码
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cmd[3] = 0x04; // 命令字（读取角度）
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// 校验和 = 数据长度 + 地址码 + 命令字
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checksum = cmd[1] + cmd[2] + cmd[3];
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cmd[4] = checksum;
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memcpy(TL720D_UART_Handler->Tx_Buf, cmd, 5);
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TL720D_UART_Handler->TxCount = 5;
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TL720D_UART_Handler->AddSendList(
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TL720D_UART_Handler,
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TL720D_UART_Handler->Tx_Buf,
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TL720D_UART_Handler->TxCount,
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20,
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decode_DDM360B);
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// TL720D_UART_Handler->UART_Tx(TL720D_UART_Handler);
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}
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static void reading_Task_TL720D(void)
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{
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// static uint8_t count_read_Task = 0;
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// count_read_Task++;
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// if((count_read_Task % 2) == 0)
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// {
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// Send_Query_Command(addr_TL720D); // 查询TL720D（地址0x00）
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// }
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// else
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// {
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// Send_Query_Command(addr_DDM360B); // 查询DDM360B（地址0x02）
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// }
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uint8_t addr = addr_TL720D;
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uint8_t cmd[5];
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uint8_t checksum = 0;
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cmd[0] = 0x68; // 帧头
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cmd[1] = 0x04; // 数据长度
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cmd[2] = addr; // 地址码
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cmd[3] = 0x04; // 命令字（读取角度）
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// 校验和 = 数据长度 + 地址码 + 命令字
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checksum = cmd[1] + cmd[2] + cmd[3];
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cmd[4] = checksum;
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memcpy(TL720D_UART_Handler->Tx_Buf, cmd, 5);
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TL720D_UART_Handler->TxCount = 5;
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TL720D_UART_Handler->AddSendList(
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TL720D_UART_Handler,
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TL720D_UART_Handler->Tx_Buf,
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TL720D_UART_Handler->TxCount,
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20,
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decode_TL720D);
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}
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uint8_t Buffer_TL720D[100];//调试用
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uint8_t Length_TL720D = 0;//调试用
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static void decode_TL720D(uint8_t *buffer, uint16_t length)
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{
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if(length < 100){
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Length_TL720D = length;
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memcpy(Buffer_TL720D, buffer, length);//调试用
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}
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// // TL720D: 帧长0x1F(31字节), 地址0x00
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if (buffer[0] == 0x68 && buffer[1] == 0x1F && buffer[2] == 0x00
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&& buffer[3] == 0x84 && length ==32)
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{
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// 验证校验和（不含字头）
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uint8_t calc_checksum = 0;
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for (int i = 1; i < (32-1); i++) {
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calc_checksum += buffer[i];
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}
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if (calc_checksum != buffer[32-1]) {
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return; // 校验失败，直接返回
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}
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//SP_MSP_RF_TL720D_Parameters_In.
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SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll = getDeci(&buffer[4]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Pitch = getDeci(&buffer[7]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Yaw = getDeci(&buffer[10]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Acc_X = getDeci(&buffer[13]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Acc_Y = getDeci(&buffer[16]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Acc_Z = getDeci(&buffer[19]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Gro_X = getDeci(&buffer[22]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Gro_Y = getDeci(&buffer[25]);
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SP_MSP_RF_TL720D_Parameters_In->RF_Gro_Z = getDeci(&buffer[28]);
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// *RobotAngle = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll;
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//水平向左为0°，转换为竖直向上为0°;
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*RobotAngle = changeAngle_LeftZerotoUpZero(SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll);//1号机器人
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//水平向右左为0°，转换为竖直向上为0°;
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*RobotAngle = *RobotAngle * -1;// 2号
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//Is_TL720_Updating_Flag=true;
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HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"TL720D",1);
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LOG("TL720D decoding succeeded");
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} else
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{
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//log_error("TL720D decoding failed");
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LOGFF(DL_ERROR,"TL720D decoding failed");
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}
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}
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//水平向左为0°，转换为竖直向上为0°;
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static int changeAngle_LeftZerotoUpZero(int angle)
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{
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int32_t RobotAngle_2 = angle -90*100;
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if(RobotAngle_2 < -180*100)
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{
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RobotAngle_2 = RobotAngle_2 + 360*100;
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}
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return RobotAngle_2;
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}
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/* 数值计算
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* data: 数据地址
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* return: 单位: 0.01
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* */
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static int32_t getDeci(uint8_t *data)//int16_t不满足0° ~ 360.00°范围
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{
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char isNegative = 0;
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if (*data >> 4)
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{
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isNegative = 1;
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} else
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{
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isNegative = 0;
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}
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int32_t data_value = 0;
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data_value = ((*data) & 0x0f) * 10000;
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data++;
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data_value += (*data >> 4) * 1000;
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data_value += ((*data) & 0x0f) * 100;
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data++;
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int32_t xiaoshu = 0;
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xiaoshu = (*data >> 4) * 10;
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xiaoshu += (*data) & 0x0f;
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if (isNegative)
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{
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return -(data_value + xiaoshu);
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} else
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{
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return (data_value + xiaoshu);
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}
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}
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//Yaw（航向角）：0° ~ 360.00°，单位 0.01° → 范围 0 ~ 36000 ❌
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//int16_t 最大只有 32767，但当角度 > 327.67° 时 //就会溢出变成负数
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