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master FW_NEW12.16
LIN\54376 4 weeks ago
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  1. 223
      .cproject
  2. 2
      .gitignore
  3. 0
      .metadata/.lock
  4. 18
      .metadata/.log4j2.xml
  5. 0
      .metadata/.plugins/com.st.stm32cube.ide.mcu.informationcenter/2.2.200.202403111931
  6. 1
      .metadata/.plugins/org.eclipse.cdt.make.core/specs.c
  7. 1
      .metadata/.plugins/org.eclipse.cdt.make.core/specs.cpp
  8. 5
      .metadata/.plugins/org.eclipse.cdt.make.ui/dialog_settings.xml
  9. BIN
      .metadata/.plugins/org.eclipse.core.resources/.projects/.org.eclipse.egit.core.cmp/.location
  10. 1
      .metadata/.plugins/org.eclipse.core.resources/.root/.indexes/history.version
  11. 1
      .metadata/.plugins/org.eclipse.core.resources/.root/.indexes/properties.version
  12. BIN
      .metadata/.plugins/org.eclipse.core.resources/.root/2.tree
  13. BIN
      .metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
  14. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/com.st.stm32cube.ide.mcu.ide.oss.prefs
  15. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.debug.core.prefs
  16. 4
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.cdt.ui.prefs
  17. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs
  18. 5
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.core.prefs
  19. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.ui.prefs
  20. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.jsch.core.prefs
  21. 4
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs
  22. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.navigator.prefs
  23. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
  24. 9
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs
  25. 2
      .metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.urischeme.prefs
  26. 2152
      .metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi
  27. 6
      .metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml
  28. 4
      .metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
  29. 3
      .metadata/version.ini
  30. 50
      .mxproject
  31. 32
      .project
  32. 3
      .settings/com.st.stm32cube.ide.mcu.sfr.prefs
  33. 2
      .settings/com.st.stm32cube.ide.mcu.sfrview.prefs
  34. 25
      .settings/language.settings.xml
  35. 76
      .settings/org.eclipse.cdt.codan.core.prefs
  36. 194
      .settings/org.eclipse.cdt.core.prefs
  37. 3
      .settings/org.eclipse.cdt.ui.prefs
  38. 2
      .settings/org.eclipse.ltk.core.refactoring.prefs
  39. 6
      .settings/stm32cubeide.project.prefs
  40. 191
      BASE/Inc/BSP/BHBF_ROBOT.h
  41. 248
      BASE/Inc/BSP/DLT/DLTuc.h
  42. 74
      BASE/Inc/BSP/DLT/DLTucConfig.h
  43. 15
      BASE/Inc/BSP/bsp_DLT_Log.h
  44. 74
      BASE/Inc/BSP/bsp_EEPROM.h
  45. 25
      BASE/Inc/BSP/bsp_Error_Detect.h
  46. 84
      BASE/Inc/BSP/bsp_FDCAN.h
  47. 18
      BASE/Inc/BSP/bsp_GPIO.h
  48. 50
      BASE/Inc/BSP/bsp_MB_host.h
  49. 11
      BASE/Inc/BSP/bsp_Motor_Helper.h
  50. 17
      BASE/Inc/BSP/bsp_TIMER.h
  51. 107
      BASE/Inc/BSP/bsp_UART.h
  52. 17
      BASE/Inc/BSP/bsp_UDP.h
  53. 27
      BASE/Inc/BSP/bsp_UpperComputer_Handler.h
  54. 16
      BASE/Inc/BSP/bsp_adc.h
  55. 13
      BASE/Inc/BSP/bsp_client_setting.h
  56. 82
      BASE/Inc/BSP/bsp_com_helper.h
  57. 66
      BASE/Inc/BSP/bsp_cpu_flash.h
  58. 38
      BASE/Inc/BSP/bsp_decode_command.h
  59. 57
      BASE/Inc/BSP/bsp_include.h
  60. 36
      BASE/Inc/BSP/bsp_mqtt.h
  61. 26
      BASE/Inc/BSP/bsp_mqtt_pub.h
  62. 51
      BASE/Inc/BSP/bsp_pb_decode_encode.h
  63. 107
      BASE/Inc/BSP/bsp_qspi_w25q128.h
  64. 917
      BASE/Inc/BSP/pb.h
  65. 49
      BASE/Inc/BSP/pb_common.h
  66. 193
      BASE/Inc/BSP/pb_decode.h
  67. 185
      BASE/Inc/BSP/pb_encode.h
  68. 16
      BASE/Inc/MSP/msp_CMCU.h
  69. 13
      BASE/Inc/MSP/msp_Dynamometer_Sensor.h
  70. 13
      BASE/Inc/MSP/msp_Force_Sensor.h
  71. 27
      BASE/Inc/MSP/msp_PID.h
  72. 18
      BASE/Inc/MSP/msp_PaintThickness.h
  73. 62
      BASE/Inc/MSP/msp_TI5MOTOR.h
  74. 21
      BASE/Inc/MSP/msp_TL720D.h
  75. 85
      BASE/Inc/MSP/msp_TTMotor_ZQ.h
  76. 19
      BASE/Inc/MSP/msp_U7.h
  77. 14
      BASE/Inc/MSP/msp_Ultrasonic_Sensor.h
  78. 100
      BASE/Src/BSP/BHBF_ROBOT.c
  79. 636
      BASE/Src/BSP/DLT/DLTuc.c
  80. 90
      BASE/Src/BSP/bsp_DLT_Log.c
  81. 557
      BASE/Src/BSP/bsp_EEPROM.c
  82. 26
      BASE/Src/BSP/bsp_Error_Detect.c
  83. 356
      BASE/Src/BSP/bsp_FDCAN.c
  84. 100
      BASE/Src/BSP/bsp_GPIO.c
  85. 41
      BASE/Src/BSP/bsp_INTERCALL.c
  86. 372
      BASE/Src/BSP/bsp_MB_host.c
  87. 68
      BASE/Src/BSP/bsp_TIMER.c
  88. 636
      BASE/Src/BSP/bsp_UART.c
  89. 157
      BASE/Src/BSP/bsp_UDP.c
  90. 54
      BASE/Src/BSP/bsp_UpperComputer_Handler.c
  91. 70
      BASE/Src/BSP/bsp_adc.c
  92. 118
      BASE/Src/BSP/bsp_client_setting.c
  93. 188
      BASE/Src/BSP/bsp_com_helper.c
  94. 499
      BASE/Src/BSP/bsp_cpu_flash.c
  95. 378
      BASE/Src/BSP/bsp_decode_command.c
  96. 649
      BASE/Src/BSP/bsp_mqtt.c
  97. 36
      BASE/Src/BSP/bsp_mqtt_pub.c
  98. 126
      BASE/Src/BSP/bsp_pb_decode_encode.c
  99. 488
      BASE/Src/BSP/bsp_qspi_w25q128.c
  100. 388
      BASE/Src/BSP/pb_common.c

223
.cproject
View File

@ -0,0 +1,223 @@
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@ -0,0 +1,5 @@
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.applicationLaunchType=org.eclipse.cdt.dsf.gdb.launch.localCLaunch,debug,;org.eclipse.cdt.cdi.launch.localCLaunch,run,;
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.attachLaunchType=org.eclipse.cdt.dsf.gdb.launch.attachCLaunch,debug,;
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.postmortemLaunchType=org.eclipse.cdt.dsf.gdb.launch.coreCLaunch,debug,;
//org.eclipse.debug.core.PREFERRED_DELEGATES/org.eclipse.cdt.launch.remoteApplicationLaunchType=org.eclipse.rse.remotecdt.dsf.debug,debug,;
eclipse.preferences.version=1

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.debug.ui.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
org.eclipse.debug.ui.PREF_LAUNCH_PERSPECTIVES=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<launchPerspectives/>\r\n

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.jsch.core.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
org.eclipse.jsch.core.hasChangedDefaultWin32SshHome=true

4
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.ide.prefs
View File

@ -0,0 +1,4 @@
eclipse.preferences.version=1
platformState=1711943664369
quickStart=false
tipsAndTricks=true

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.navigator.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
org.eclipse.ui.navigator.ProjectExplorer.filterActivation=\:org.eclipse.ui.navigator.resources.filters.startsWithDot\:org.eclipse.cdt.ui.navigator.filters.AnonymousStructFilter\:org.eclipse.cdt.ui.navigator.filters.AbsentTranslationUnitFilter\:org.eclipse.ui.navigator.resources.nested.HideTopLevelProjectIfNested\:org.eclipse.ui.navigator.resources.nested.HideFolderWhenProjectIsShownAsNested\:org.eclipse.cdt.ui.navigator.filters.ForwardDeclarationFilter\:

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
showIntro=false

9
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.workbench.prefs
View File

@ -0,0 +1,9 @@
//org.eclipse.ui.commands/state/com.st.stm32cube.ide.mcu.buildanalyzer.showstate/org.eclipse.ui.commands.radioState=human
//org.eclipse.ui.commands/state/org.eclipse.ui.navigator.resources.nested.changeProjectPresentation/org.eclipse.ui.commands.radioState=false
eclipse.preferences.version=1
org.eclipse.ui.workbench.ACTIVE_NOFOCUS_TAB_BG_END=255,255,255
org.eclipse.ui.workbench.ACTIVE_NOFOCUS_TAB_BG_START=255,255,255
org.eclipse.ui.workbench.ACTIVE_NOFOCUS_TAB_TEXT_COLOR=16,16,16
org.eclipse.ui.workbench.ACTIVE_TAB_BG_END=255,255,255
org.eclipse.ui.workbench.ACTIVE_TAB_BG_START=255,255,255
org.eclipse.ui.workbench.INACTIVE_TAB_BG_START=242,242,242

2
.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.urischeme.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
processedSchemes=,eclipse+command,eclipse+mpc

2152
.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi
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File diff suppressed because it is too large

6
.metadata/.plugins/org.eclipse.ui.ide/dialog_settings.xml
View File

@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<section name="Workbench">
<section name="ExternalProjectImportWizard">
<item key="WizardProjectsImportPage.STORE_NESTED_PROJECTS" value="true"/>
</section>
</section>

4
.metadata/.plugins/org.eclipse.ui.workbench/workingsets.xml
View File

@ -0,0 +1,4 @@
<?xml version="1.0" encoding="UTF-8"?>
<workingSetManager>
<workingSet aggregate="true" factoryID="org.eclipse.ui.internal.WorkingSetFactory" id="1719473879738_0" label="Window Working Set" name="Aggregate for window 1719473879738"/>
</workingSetManager>

3
.metadata/version.ini
View File

@ -0,0 +1,3 @@
#Thu Jun 27 15:38:50 CST 2024
org.eclipse.core.runtime=2
org.eclipse.platform=4.30.0.v20231201-0110

50
.mxproject
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File diff suppressed because one or more lines are too long

32
.project
View File

@ -0,0 +1,32 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>BHBF_NewFiveWheel3.0</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>com.st.stm32cube.ide.mcu.MCUProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUCubeProjectNature</nature>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature</nature>
<nature>com.st.stm32cube.ide.mcu.MCURootProjectNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
</projectDescription>

3
.settings/com.st.stm32cube.ide.mcu.sfr.prefs
View File

@ -0,0 +1,3 @@
eclipse.preferences.version=1
svd_custom_file_path=
svd_file_path=platform\:/plugin/com.st.stm32cube.ide.mcu.productdb.debug/resources/cmsis/STMicroelectronics_CMSIS_SVD/STM32H743.svd

2
.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

25
.settings/language.settings.xml
View File

@ -0,0 +1,25 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1900810912" name="Debug">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1058933426992106082" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
<configuration id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.1322898427" name="Release">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1058933426992106082" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
</project>

76
.settings/org.eclipse.cdt.codan.core.prefs
View File

@ -0,0 +1,76 @@
com.st.stm32cube.ide.mcu.ide.oss.source.checker.libnano.problem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Float formatting support\\")"}
eclipse.preferences.version=1
org.eclipse.cdt.codan.checkers.errnoreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No return\\")",implicit\=>false}
org.eclipse.cdt.codan.checkers.errreturnvalue.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Unused return value\\")"}
org.eclipse.cdt.codan.checkers.localvarreturn=-Warning
org.eclipse.cdt.codan.checkers.localvarreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Returning the address of a local variable\\")"}
org.eclipse.cdt.codan.checkers.nocommentinside.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Nesting comments\\")"}
org.eclipse.cdt.codan.checkers.nolinecomment.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Line comments\\")"}
org.eclipse.cdt.codan.checkers.noreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No return value\\")",implicit\=>false}
org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Abstract class cannot be instantiated\\")"}
org.eclipse.cdt.codan.internal.checkers.AmbiguousProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Ambiguous problem\\")"}
org.eclipse.cdt.codan.internal.checkers.AssignmentInConditionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Assignment in condition\\")"}
org.eclipse.cdt.codan.internal.checkers.AssignmentToItselfProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Assignment to itself\\")"}
org.eclipse.cdt.codan.internal.checkers.BlacklistProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.BlacklistProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Function or method is blacklisted\\")",blacklist\=>()}
org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.CStyleCastProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"C-Style cast instead of C++ cast\\")",checkMacro\=>true}
org.eclipse.cdt.codan.internal.checkers.CaseBreakProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"No break at end of case\\")",no_break_comment\=>"no break",last_case_param\=>false,empty_case_param\=>false,enable_fallthrough_quickfix_param\=>false}
org.eclipse.cdt.codan.internal.checkers.CatchByReference.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Catching by reference is recommended\\")",unknown\=>false,exceptions\=>()}
org.eclipse.cdt.codan.internal.checkers.CircularReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Circular inheritance\\")"}
org.eclipse.cdt.codan.internal.checkers.ClassMembersInitialization.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Class members should be properly initialized\\")",skip\=>true}
org.eclipse.cdt.codan.internal.checkers.CopyrightProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.CopyrightProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Lack of copyright information\\")",regex\=>".*Copyright.*"}
org.eclipse.cdt.codan.internal.checkers.DecltypeAutoProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid 'decltype(auto)' specifier\\")"}
org.eclipse.cdt.codan.internal.checkers.FieldResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Field cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.FloatCompareProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.FloatCompareProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Direct float comparison\\")"}
org.eclipse.cdt.codan.internal.checkers.FunctionResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Function cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.GotoStatementProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.GotoStatementProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Goto statement used\\")"}
org.eclipse.cdt.codan.internal.checkers.InvalidArguments.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid arguments\\")"}
org.eclipse.cdt.codan.internal.checkers.InvalidTemplateArgumentsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid template argument\\")"}
org.eclipse.cdt.codan.internal.checkers.LabelStatementNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Label statement not found\\")"}
org.eclipse.cdt.codan.internal.checkers.MagicNumberProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MagicNumberProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Avoid magic numbers\\")",checkArray\=>true,checkOperatorParen\=>true,exceptions\=>(1,0,-1,2,1.0,0.0,-1.0)}
org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Member declaration not found\\")"}
org.eclipse.cdt.codan.internal.checkers.MethodResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Method cannot be resolved\\")"}
org.eclipse.cdt.codan.internal.checkers.MissCaseProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissCaseProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing cases in switch\\")"}
org.eclipse.cdt.codan.internal.checkers.MissDefaultProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissDefaultProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing default in switch\\")",defaultWithAllEnums\=>false}
org.eclipse.cdt.codan.internal.checkers.MissReferenceProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissReferenceProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing reference return value in assignment operator\\")"}
org.eclipse.cdt.codan.internal.checkers.MissSelfCheckProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MissSelfCheckProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Missing self check in assignment operator\\")"}
org.eclipse.cdt.codan.internal.checkers.MultipleDeclarationsProblem=-Warning
org.eclipse.cdt.codan.internal.checkers.MultipleDeclarationsProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Multiple variable declaration\\")"}
org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Name convention for function\\")",pattern\=>"^[a-z]",macro\=>true,exceptions\=>()}
org.eclipse.cdt.codan.internal.checkers.NoDiscardProblem=Warning
org.eclipse.cdt.codan.internal.checkers.NoDiscardProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Return value not evaluated\\")",macro\=>true}
org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Class has a virtual method and non-virtual destructor\\")"}
org.eclipse.cdt.codan.internal.checkers.OverloadProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid overload\\")"}
org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid redeclaration\\")"}
org.eclipse.cdt.codan.internal.checkers.RedefinitionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},suppression_comment\=>"@suppress(\\"Invalid redefinition\\")"}
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eclipse.preferences.version=1

191
BASE/Inc/BSP/BHBF_ROBOT.h
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/*
* BHBF_ROBOT.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BHBF_ROBOT_H_
#define INC_BHBF_ROBOT_H_
#include "left_right_compensation_control.h"
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "bsp_PV.pb.h"
#include "../../BASE/Inc/MSP/msp_TI5MOTOR.h"
#include "../../BASE/Inc/BSP/bsp_UART.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <assert.h>
#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
#include "../../BASE/Inc/BSP/bsp_mqtt.h"
#include "../../BASE/Inc/BSP/pb.h"
#include "../../BASE/Inc/MSP/msp_CMCU.h"
#include "../../BASE/Inc/MSP/msp_Dynamometer_Sensor.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
#include "../../BASE/Inc/MSP/msp_TL720D.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "../../BASE/Inc/BSP/DLT/DLTuc.h"
#include "../../BASE/Inc/MSP/msp_U7.h"
#include "../../BASE/Inc/BSP/bsp_mqtt.h"
#include "../../BASE/Inc/BSP/pb.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
#include "../../BASE/Inc/BSP/bsp_DLT_Log.h"
#include "../../BASE/Inc/BSP/bsp_UDP.h"
#include "../../BASE/Inc/BSP/bsp_cpu_flash.h"
#include "../../BASE/Inc/BSP/bsp_qspi_w25q128.h"
#include "../../BASE/Inc/BSP/bsp_UpperComputer_Handler.h"
#include "../../BASE/Inc/MSP/msp_TTMotor_ZQ.h"
#include "../../BASE/Inc/BSP/bsp_Error_Detect.h"
#include "bsp_IV.pb.h"
#include "bsp_PV.pb.h"
typedef struct sys_timer_handler
{
int start_timer;
int sys_current_timer_count;
int sys_timer_flag;
}Sys_timer_handler;
extern Sys_timer_handler timer_handler_1;
extern Sys_timer_handler timer_handler_2;
extern Sys_timer_handler timer_handler_3;
extern Sys_timer_handler timer_handler_4;
//first start Timer, then WaitTimer
extern bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler);
extern void SystemTimer_Intialize();
extern void GF_Timer_Count();
//#include "msp_pressure_sensor.h"
//#include "robot_state.h"
//FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 896K
//#define VECT_TAB_OFFSET 0x00020000U
//关键全局变量定义：GV、CV、PV
//其他变量定义：X1_X2_X3_X4
//X1：变量类型
//X2：所属层级 GL、MSP、BSP
//X3：所属模块
//X4：名称
//全局变量定义 X1=V
//宏定义 X1=DF
//结构体类型声明 X1=SP
//结构体定义 X1=ST
//指针类型定义 X1=P
//全局函数定义 X1=GF
//内部函数定义 X1为空，不要下划线，X2开头
//函数参数定义、函数局部变量定义 X1为空，下划线开头
#define DLTViewer 1
extern GV_struct_define GV;
//extern PV_struct_define PV;
extern IV_struct_define IV;
extern CV_struct_define CV;
void GF_Robot_Init(void);
void GF_Robot_MainLoop(void);
void GF_WatchDog_Loop(void);
void CV_GV_Init();
extern void SET_BIT_1(int32_t* num,int32_t k);
extern void SET_BIT_0(int32_t* num,int32_t k);
extern int32_t Get_BIT(int32_t* num,int32_t k);
//A &= ~(1 << bit)
extern MotorParameters *Motor[3];
extern int32_t *Motor_ID_Errors[3];
extern int32_t* SystemErrorCode;
extern ErrorData* SystemErrorData;
//Error Bit Define
#define AngleEncoderErrorBitFlag 0
#define DAM_Relay_ErrorBitFlag 1
#define DH_CAN_Remote_Controller_1E4 2
#define DH_CAN_Remote_Controller_2E4 3
#define DH_Remote 4
#define force_sensor 5
#define LeiSai_ISV2CAN 6
#define mk32_sbus 7
#define steering_engine 8
#define Weld_seam_Tracking 9
#define Ti5_1 11
#define Ti5_2 12
#define Ti5_3 13
#define Ti5_4 14
#define Ti5_5 15
#define Ti5_6 16
#define TL720D 17
#define ZQ_CAN_ID1_LeftMotor 18
#define ZQ_CAN_ID2_RightMotor 19
#define ZQ_CAN_ID3_SwingMotor 20
#define wire_sensor 21
#define DHRougheningController 22
#define DAM040D_Relay_ErrorBitFlag 23
#define DMAKE_1 24
#define DMAKE_2 25
#define DMAKE_3 26
#define pressure_sensor 27
#define u7_sbus 28
extern TT_MotorParameters* TT_Motor[4];
#endif /* INC_BHBF_ROBOT_H_ */

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BASE/Inc/BSP/DLT/DLTuc.h
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/**
* @file DLTuc.h
* @author teodor
* @date 1 Jul 2022
* @brief This file is a part of DLTuc library
*
* In this header, you can find types, Api functions, which are provided by DLTuc library
* Usefull macros, for convience usage of DLTuc library in logging purposes
*
* Requirments:
* Around ~2kB of RAM
* Check Configuration file and defines:
* DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE
*
*/
#ifndef INC_DLT_LOGS_MCU_H_
#define INC_DLT_LOGS_MCU_H_
/*
* *******************************************************************************************
* Includes
* *******************************************************************************************
* */
#include "stdint.h"
#include <stdarg.h>
#include <string.h>
#include "../../BASE/Inc/BSP/DLT/DLTucConfig.h"
/*
* *******************************************************************************************
* Exported defines
* *******************************************************************************************
* */
/*@brief
*
* - convert the To strings to uint32_t
*/
#define DLT_LOG_ECUID_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_ECUID[0])) << 24UL) | \
(((uint32_t) ((uint8_t)DLT_LOG_ECUID[1])) << 16UL) | \
(((uint32_t) ((uint8_t)DLT_LOG_ECUID[2])) << 8UL) | \
((uint32_t)((uint8_t)DLT_LOG_ECUID[3]))))
#define DLT_LOG_APPID_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_APPID[0])) << 24UL) | \
(((uint32_t) ((uint8_t)DLT_LOG_APPID[1])) << 16UL) | \
(((uint32_t) ((uint8_t)DLT_LOG_APPID[2])) << 8UL) | \
((uint32_t)((uint8_t)DLT_LOG_APPID[3]))))
#define DLT_LOG_CONTEX_VALUE ((uint32_t)((((uint32_t) ((uint8_t)DLT_LOG_CONTEX[0])) << 24UL) | \
(((uint32_t) ((uint8_t)DLT_LOG_CONTEX[1])) << 16UL) | \
(((uint32_t) ((uint8_t)DLT_LOG_CONTEX[2])) << 8UL) | \
((uint32_t)((uint8_t)DLT_LOG_CONTEX[3]))))
/*
* Definitions of DLT services.
*/
#define DLT_SERVICE_ID_SET_LOG_LEVEL 0x01 /**< Service ID: Set log level */
#define DLT_SERVICE_ID_SETRACE_STATUS 0x02 /**< Service ID: Set trace status */
#define DLT_SERVICE_ID_GET_LOG_INFO 0x03 /**< Service ID: Get log info */
#define DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL 0x04 /**< Service ID: Get dafault log level */
#define DLT_SERVICE_ID_STORE_CONFIG 0x05 /**< Service ID: Store configuration */
#define DLT_SERVICE_ID_RESETO_FACTORY_DEFAULT 0x06 /**< Service ID: Reset to factory defaults */
#define DLT_SERVICE_ID_SET_COM_INTERFACE_STATUS 0x07 /**< Service ID: Set communication interface status */
#define DLT_SERVICE_ID_SET_COM_INTERFACE_MAX_BANDWIDTH 0x08 /**< Service ID: Set communication interface maximum bandwidth */
#define DLT_SERVICE_ID_SET_VERBOSE_MODE 0x09 /**< Service ID: Set verbose mode */
#define DLT_SERVICE_ID_SET_MESSAGE_FILTERING 0x0A /**< Service ID: Set message filtering */
#define DLT_SERVICE_ID_SETIMING_PACKETS 0x0B /**< Service ID: Set timing packets */
#define DLT_SERVICE_ID_GET_LOCALIME 0x0C /**< Service ID: Get local time */
#define DLT_SERVICE_ID_USE_ECU_ID 0x0D /**< Service ID: Use ECU id */
#define DLT_SERVICE_ID_USE_SESSION_ID 0x0E /**< Service ID: Use session id */
#define DLT_SERVICE_ID_USEIMESTAMP 0x0F /**< Service ID: Use timestamp */
#define DLT_SERVICE_ID_USE_EXTENDED_HEADER 0x10 /**< Service ID: Use extended header */
#define DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL 0x11 /**< Service ID: Set default log level */
#define DLT_SERVICE_ID_SET_DEFAULTRACE_STATUS 0x12 /**< Service ID: Set default trace status */
#define DLT_SERVICE_ID_GET_SOFTWARE_VERSION 0x13 /**< Service ID: Get software version */
#define DLT_SERVICE_ID_MESSAGE_BUFFER_OVERFLOW 0x14 /**< Service ID: Message buffer overflow */
#define DLT_SERVICE_ID_CALLSW_CINJECTION 0xFFF /**< Service ID: Message Injection (minimal ID) */
/*
* *******************************************************************************************
* Exported types
* *******************************************************************************************
* */
/**!
* \brief DltLogLevel_t
* \details Typdef used to identify the DLT log level
* */
typedef enum
{
DL_FATAL =1,
DL_ERROR =2,
DL_WARN =3,
DL_INFO =4,
DL_DEBUG =5,
DL_VERBOSE =6,
}DltLogLevel_t;
/*
* *******************************************************************************************
* Exported function - API
* *******************************************************************************************
* */
/*!
************************************************************************************************
* \brief DLTuc_RawDataReceiveDone
* \details OPTIONAL - Use only if you need handle data receive, like Injection messages
* Call the function to inform DLTuc that Raw data packet has been received
************************************************************************************************/
void DLTuc_RawDataReceiveDone(uint16_t Size);
/*!
************************************************************************************************
* \brief DLTuc_RegisterReceiveSerialDataFunction
* \details OPTIONAL - Use only if you need handle data receive, like Injection messages.
* - Register callback function which will be used by DLTuc to start data receive process.
* The Callback function is basicly called only after registration and if data packet has been received,
* to start again receive data packet
* \param in LLSerialRecDataFunctionC ...
************************************************************************************************/
void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size));
/*!
************************************************************************************************
* \brief DLTuc_RegisterInjectionDataReceivedCb
* \details OPTIONAL - Use only if you need handle data receive, like Injection messages
* Register injection data received call back
* Use the function if you want register call back function to handle the Injection messages in your application
* \param in InjectionDataRcvd ...
************************************************************************************************/
void DLTuc_RegisterInjectionDataReceivedCb
(void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size));
/*!
************************************************************************************************
* \brief DLTuc_RegisterTransmitSerialDataFunction
* \details This simple stack/library must be initialized by "DLTuc_RegisterTransmitSerialDataFunction"
* As a parameter must be passed function which will transmit serial data
* \param in LLSerialTrDataFunctionC transmit function pointer
************************************************************************************************/
void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size));
/*!
************************************************************************************************
* \brief DLTuc_RegisterGetTimeStampMsCallback
* \details function to update time stamp in library
* \param in GetSysTime - pointer to function which allow to read system time in msec
*************************************************************************************************/
void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void));
/*!
************************************************************************************************
* \brief DLTuc_MessageTransmitDone
* \details IMPORTANT!!!!!
* Call this function when the transsmision is end
* For example in "DMA transmission end callback" to inform the lib that the message is transmitted
************************************************************************************************
* */
void DLTuc_MessageTransmitDone(void);
/*!
************************************************************************************************
* \brief DLTuc_LogOutVarArgs
* \details default function to create DLT Log
* \param DltLogLevel_t Level - of Dlt log
* \param in AppId - size of the "DltLogData" (return value)
* \param in ContextId - pointer to the message stored in RingBuffer (return value)
* \param in Payload String to send as dlt log
* \param in ... parameters same as in printf function
*************************************************************************************************/
void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...);
/*
* *******************************************************************************************
* Additional macros to facilitate the use of the library
* *******************************************************************************************
* */
#ifdef LOGS_ENABLE
/**!
* \brief LOGL(level, str, ...)
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add
* log_level, DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
*
* */
#define LOG(str, ...)\
if(DL_INFO <= DLT_LOG_ENABLE_LEVEL){\
DLTuc_LogOutVarArgs(DL_INFO, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\
}
/**!
* \brief LOGL(level, str, ...)
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
*
* */
#define LOGL(log_level, str, ...)\
if(log_level <= DLT_LOG_ENABLE_LEVEL){\
DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) str, ##__VA_ARGS__);\
}
/**!
* @brief LOGF(log_level, str, ...)
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
* Additionally add the name of the calling function
*
*
* */
#define LOGF(log_level, str, ...)\
if(log_level <= DLT_LOG_ENABLE_LEVEL){\
DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *) "FUN:%s LOG: "str, __FUNCTION__,##__VA_ARGS__);\
}
/**!
* \brief LOGFF(log_level, str, ...)
* \details Transmit DltLog using function DLTuc_LogOutVarArgs but user don't have to add DLT_LOG_APPID_VALUE and DLT_LOG_CONTEX_VALUE
* Additionally add the name of the calling function and file name
*
*
* */
#define LOGFF(log_level, str, ...)\
if(log_level <= DLT_LOG_ENABLE_LEVEL){\
DLTuc_LogOutVarArgs(log_level, DLT_LOG_APPID_VALUE, DLT_LOG_CONTEX_VALUE,(uint8_t *)"FILE:%s LINE: %d FUN:%s LOG: "str,__FILE__,__LINE__,__FUNCTION__,##__VA_ARGS__);\
}
#else
LOG(str, ...)
LOGL(log_level, str, ...)
LOGF(log_level, str, ...)
LOGFF(log_level, str, ...)
#endif
#endif /* INC_DLT_LOGS_MCU_H_ */

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BASE/Inc/BSP/DLT/DLTucConfig.h
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/**
* @file DLTuc.c
* @author teodor
* @date 1 Jul 2022
* @brief This file is a part of DLTuc library
*
* In this header file is placed DLTuc configuration template
*
*/
#if 1 /*Set it to "1" to enable content*/
#ifndef __DLT_CONFIG__
/*Comment this line to turn off all logs..*/
#define LOGS_ENABLE
/*Pass here the entry critical entry function for your RTOS or
Interrupt block functions if you want use the library from diffrent context*/
#define DLTuc_OS_CRITICAL_START()
#define DLTuc_OS_CRITICAL_END()
/*Default minimum log level to transmit the log*/
//#ifndef DLT_LOG_ENABLE_LEVEL
////#define DLT_LOG_ENABLE_LEVEL DL_VERBOSE
// #define DLT_LOG_ENABLE_LEVEL 0
//#endif
extern char DLT_LOG_ENABLE_LEVEL;
/**!
* \brief DLT_LOG_CONTEX
* \details to define the minimum level log which will printed using the debug macros
*
*/
#ifndef DLT_LOG_CONTEX
#define DLT_LOG_CONTEX "DFLT"
#endif
/**!
* \brief DLT_LOG_APPID
* \details to define the minimum level log which will printed using the debug macros
*
*/
#ifndef DLT_LOG_APPID
#define DLT_LOG_APPID "0000"
#endif
/**!
* \brief DLT_LOG_ECUID
* \details you can define here you ECUID ..
*
*/
#define DLT_LOG_ECUID "uCID" /*Electronic Controller Unit ID*/
#define DLT_ECU_SW_VER 0001
/*
*@brief DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE & DLT_TRANSMIT_RING_BUFFER_SIZE
* these values define the size of the circular buffer and the maximum size of a single DLT message
* Size of out Circular DLT messages buffer is equal: DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE*DLT_TRANSMIT_RING_BUFFER_SIZE
*/
#define DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE 255
#define DLT_TRANSMIT_RING_BUFFER_SIZE 15
#define DLT_REC_SINGLE_MESSAGE_MAX_SIZE 255
#define DLT_RECEIVE_RING_BUFFER_SIZE 2
#endif //__DLT_CONFIG__
#endif //Content enable

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BASE/Inc/BSP/bsp_DLT_Log.h
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/*
* bsp_DLT_Log.h
*
* Created on: Aug 8, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_DLT_LOG_H_
#define INC_BSP_BSP_DLT_LOG_H_
#include "../../BASE/Inc/BSP/DLT/DLTuc.h"
#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
void dLT_Log_intialize(struct UARTHandler *Handler);
#endif /* INC_BSP_BSP_DLT_LOG_H_ */

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BASE/Inc/BSP/bsp_EEPROM.h
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/*
* bsp_EEPROM.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_EEPROM_H_
#define INC_BSP_EEPROM_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "bsp_CV.pb.h"
#include "bsp_PV.pb.h"
#include "bsp_IAP.pb.h"
#define EEPROM_WP_Pin GPIO_PIN_11
#define EEPROM_WP_GPIO_Port GPIOE
#define EEPROM_SCL_Pin GPIO_PIN_12
#define EEPROM_SCL_GPIO_Port GPIOE
#define EEPROM_SDA_Pin GPIO_PIN_13
#define EEPROM_SDA_GPIO_Port GPIOE
#define AT24C512
#ifdef AT24C512
#define EE_MODEL_NAME "AT24C512"
#define EE_DEV_ADDR 0xA0 /* 设备地址 */
#define EE_PAGE_SIZE 128 /* 页面大小(字节) */
#define EE_SIZE (512*128) /* 总容量(字节) */ // not used in this progrm
#define EE_ADDR_BYTES 2 /* 地址字节个数 */
#endif
#define I2C_WR 0 /* 写控制bit */
#define I2C_RD 1 /* 读控制bit */
//////////////////////////////////////////////////////////////////
//there are 12M eeprom in total, and the code download Address is App_Download_EEPROM_Addr
//512 Pages x 128 Bytes = 65536 Bytes = 512 kbits
#define GF_BSP_EEPROM_CV_struct_define_Start_Address 0
#define IAP_struct_define_Start_Address 512
extern uint16_t App_Download_EEPROM_Addr;
//返回值：：1-正常；0-错误
uint8_t GF_BSP_EEPROM_Init(void);
uint8_t GF_BSP_EEPROM_CheckOK(void);
uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress,
uint16_t _usSize);
uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress,
uint16_t _usSize);
CV_struct_define GF_BSP_EEPROM_Get_CV(void);
uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv);
IAP_struct_define GF_BSP_EEPROM_Get_IAP(void);
uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap);
PV_struct_define GF_BSP_EEPROM_Get_PV(void);
uint8_t GF_BSP_EEPROM_Set_PV(PV_struct_define pv);
#endif /* INC_BSP_EEPROM_H_ */

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BASE/Inc/BSP/bsp_Error_Detect.h
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/*
* bsp_Error_Detect.h
*
* Created on: Oct 23, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_ERROR_DETECT_H_
#define INC_BSP_BSP_ERROR_DETECT_H_
/* Includes ------------------------------------------------------------------*/
#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
#include "../../BASE/Inc/BSP/bsp_com_helper.h"
#include "../../BASE/Inc/BSP/bsp_include.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
extern HardWareController *HardWareErrorController;
/* Exported functions ------------------------------------------------------- */
extern void Error_Detect_Intialzie(uint16_t DispacherPeriod);
#endif /* INC_BSP_BSP_ERROR_DETECT_H_ */

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BASE/Inc/BSP/bsp_FDCAN.h
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/*
* bsp_FDCAN.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_FDCAN_H_
#define INC_BSP_FDCAN_H_
#include "bsp_Error.pb.h"
#include "../../BASE/Inc/BSP/bsp_com_helper.h"
uint8_t GF_BSP_FDCAN_Init(void);
void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID,
uint8_t DataLength, uint8_t *Txdata);
extern uint8_t CAN_Buf[8];
extern uint8_t CAN_Buf[8];
extern uint8_t CAN_Buf_2[8];
typedef struct _CANSendHandler
{
uint32_t CAN_ID;
uint32_t SendListTimePeriod;
uint8_t SendLength;
uint8_t Tx_Buf[8];
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t);
struct _CANSendHandler *pNext;
} CANSendHandler;
typedef struct _FDCANHandler
{
FDCAN_HandleTypeDef *canfd; //UART to use
struct _DispacherController *dispacherController;
uint8_t timeSpan;
uint8_t SendListExists;
uint32_t SendList_Period; //时间ms
uint32_t SendList_time_Count;
CANSendHandler *pCurrentCANSendHadler; //
void (*AddCANSendList)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*,uint32_t,//这里是修改等待时间
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t); // decode can frame, received from other devices
void (*CAN_Send)(struct _FDCANHandler*, uint32_t, uint8_t, uint8_t*);
void (*CAN_Send_Data)(struct _FDCANHandler*);
//(uint8_t FDCAN_CH, uint32_t FrameID,uint8_t DataLength, uint8_t *Txdata)
uint8_t Rx_Buf[128]; // 接收缓存,最大256字节
uint8_t Tx_Buf[128]; //发送缓存 157,864
uint32_t ReceivedLength;
uint32_t SendLength;
uint32_t ReceivedFrameID;
uint32_t SendFrameID;
} FDCANHandler;
extern FDCANHandler FD_CAN_1_Handler;
extern FDCANHandler FD_CAN_2_Handler;
void GF_BSP_CAN_Timer();
void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
uint8_t *Txdata);
void CAN_Send_Data_t(struct _FDCANHandler *fd);
void GF_CAN_Send_List_Send(FDCANHandler *handler);
void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t));
void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
int can2_sendListPeriod, int can2_DispacherPeriod);
void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod);
void DecodeMotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
extern FDCANHandler FD_CAN_1_Handler;
extern FDCANHandler FD_CAN_2_Handler;
extern int32_t CAN_ID;
extern int32_t CAN_ID_2;
#endif /* INC_BSP_FDCAN_H_ */

18
BASE/Inc/BSP/bsp_GPIO.h
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/*
* bsp_GPIO.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_GPIO_H_
#define INC_BSP_GPIO_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
uint8_t GF_BSP_GPIO_Init(void);
void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level);
uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index);
uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index);
#endif /* INC_BSP_GPIO_H_ */

50
BASE/Inc/BSP/bsp_MB_host.h
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#ifndef __BSP_MB_HOST_H__
#define __BSP_MB_HOST_H__
/* 包含头文件 ----------------------------------------------------------------*/
/* 类型定义 ------------------------------------------------------------------*/
/* 宏定义 --------------------------------------------------------------------*/
#define MB_SLAVEADDR 0x0001 //从机地址
#define MB_REG_ADDR 0 //寄存器地址（离散、线圈）
#define HoldingReg 0 //保持寄存器
#define InputRegReg 0x0020 //输入寄存器
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "../../BASE/Inc/BSP/bsp_UART.h"
/* 扩展变量 ------------------------------------------------------------------*/
typedef struct
{
uint16_t DATA_01H;
uint16_t DATA_02H;
uint16_t DATA_03H;
uint16_t DATA_04H;
uint16_t DATA_05H;
uint16_t DATA_06H;
uint8_t DATA_10H[64];
}MB_REG_DATA;
//;
extern uint8_t MB_rx_flag;
extern uint16_t Read_Reg_Num;
/* 函数声明 ------------------------------------------------------------------*/
uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen);
void MB_ReadCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_WriteCoil(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _sta);
void MB_ReadInput(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_ReadHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_ReadInputReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num);
void MB_WriteHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _data);
//void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf)
void MB_WriteNumHoldingReg(uint8_t* Tx_Buf,uint8_t* TxCount_t,uint8_t _addr, uint16_t _reg, uint16_t _num,uint8_t *_databuf);
void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num, uint8_t *_databuf);
#endif /* __BSP_MB_HOST_H__ */
/******************* (C) COPYRIGHT 2015-2020 硬石嵌入式开发团队 *****END OF FILE****/

11
BASE/Inc/BSP/bsp_Motor_Helper.h
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/*
* bsp_Motor_Helper.h
*
* Created on: Jul 30, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_MOTOR_HELPER_H_
#define INC_BSP_BSP_MOTOR_HELPER_H_
#endif /* INC_BSP_BSP_MOTOR_HELPER_H_ */

17
BASE/Inc/BSP/bsp_TIMER.h
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/*
* bsp_TIMER.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_TIMER_H_
#define INC_BSP_TIMER_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
uint8_t GF_BSP_TIMER_Init(void);
void GF_BSP_TIMER_DelayUS(uint32_t n);
#endif /* INC_BSP_TIMER_H_ */

107
BASE/Inc/BSP/bsp_UART.h
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#ifndef INC_BSP_UART_H_
#define INC_BSP_UART_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "main.h"
#include "bsp_Error.pb.h"
#define UART_Transmit_MAX_NUM 1024
#define UART_Receive_MAX_NUM 100
extern struct UARTHandler RS_485_1_UART_Handler;
extern struct UARTHandler RS_485_2_UART_Handler;
extern struct UARTHandler RS_485_3_UART_Handler;
extern struct UARTHandler RS_485_4_UART_Handler;
extern struct UARTHandler InterCall_DEBUG_UART_Handler;
extern struct UARTHandler E28_SBUS_UART_Handler;
extern struct UARTHandler LTE_7S0_Serial_UART_Handler;
#if defined (hlpuart1Exit)
extern struct UARTHandler LPUART1_UART_Handler;
#endif
uint8_t GF_BSP_UART_Init(void);
void GF_BSP_UARTHandlers_Intialize(
int32_t RS485_1_WaitTime,
int32_t RS485_2_WaitTime,
int32_t RS485_3_WaitTime,
int32_t RS485_4_WaitTime,
int32_t LTE_7S0_Serial_WaitTime,
int32_t InterCall_DEBUG_WaitTime,
int32_t E28_SBUS_WaitTime,
int32_t LPUART1_UART_WaitTime,
int32_t RS485_1_Dispacher_Time,
int32_t RS485_2_Dispacher_Time,
int32_t RS485_3_Dispacher_Time,
int32_t RS485_4_Dispacher_Time,
int32_t LTE_7S0_Serial_Dispacher_Time,
int32_t InterCall_DEBUG_Dispacher_Time,
int32_t E28_SBUS_Dispacher_Time,
int32_t LPUART1_UART_Dispacher_Time
);
//串行发送完成后才能发送第二帧数据，没有做缓冲，如未发送完成，第二次发送无效，丢弃发送数据
void GF_BSP_UART_Transmit(const uint8_t RS485_Index,const uint8_t *pData, uint16_t Size);
typedef struct UARTSendHandler
{
uint16_t SendLength;
uint16_t SendListTimePeriod;
uint8_t Tx_Buf[502];
void (*UART_Decode)(uint8_t*, uint16_t); // 发送缓存
struct UARTSendHandler* pNext;
}UARTSendHandler;
struct UARTHandler
{
char startCountFlag; //indicate that to start counting
char send_finished;//indicate decode finished or not
char decode_finished;//indicate decode finished or not 解码完成
uint8_t tmp_Rx_Buf[2]; // temporary data to store received data
uint32_t Wait_time; // the time to wait
uint32_t Wait_Time_Count;
uint32_t SendList_time_Count;
uint32_t SendList_Period;
uint8_t SendListExists;
UART_HandleTypeDef* uart; //UART to use
unsigned char timeSpan; // timer elapsed time
uint8_t Rx_Buf[4096]; // 接收缓存,最大256字节
uint8_t Tx_Buf[2048]; //发送缓存 157,864
uint16_t TxCount;
uint16_t RxCount;
//(UART_HandleTypeDef *huart, const uint8_t *pData, uint16_t Size)
void (*UART_Tx)(struct UARTHandler*); //void UART_Tx(uint8_t *Tx_Buf,uint16_t TxCount);
void (*UART_Rx)(struct UARTHandler*);
void (*UART_Decode)(uint8_t*, uint16_t); //Decode Rx_Buf
UARTSendHandler *pCurrentUARTSendHadler; //
void (*AddSendList)(struct UARTHandler*, uint8_t*, uint16_t,uint32_t,//这里是修改等待时间
void (*UART_Decode)(uint8_t*, uint16_t));
struct _DispacherController *dispacherController;
};
void UARTHandlerTx(struct UARTHandler *uartHandler);
void UARTHandlerRX(struct UARTHandler *uartHandler);
//void IntializeUARTHandler(struct UARTHandler *uartHandler, UART_HandleTypeDef uart,int32_t WaitTime,unsigned char timeSpan);
void Counting(struct UARTHandler *uartHandler);
void IntializeUARTHandler(struct UARTHandler *uartHandler,
UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time);
void GF_BSP_UART_Timer();
#endif /* INC_BSP_UART_H_ */

17
BASE/Inc/BSP/bsp_UDP.h
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/*
* bsp_UDP.h
*
* Created on: Aug 13, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_UDP_H_
#define INC_BSP_BSP_UDP_H_
void udp_printf_CmdBack(char *pData);
void udp_client_init(void);
void GF_UDP_Send(uint8_t *pData,uint16_t Size,uint16_t UDP_port);
void GF_UDP_long_Send_Server(void);
void GF_UpdataPos_Send(uint8_t *pData,uint32_t Size);
#endif /* INC_BSP_BSP_UDP_H_ */

27
BASE/Inc/BSP/bsp_UpperComputer_Handler.h
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/*
* bsp_desulfurizer_handler.h
*
* Created on: Jul 29, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_
#define INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_
#include <stdio.h>
#include <string.h>
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
#include "stdio.h"
#include "../../BASE/Inc/BSP/bsp_UART.h"
#include "usart.h"
#include "gpio.h"
extern struct UARTHandler *desulfurizer_message_UART_Handler;
void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler);
void decode_command_from_computer(uint8_t *buffer, uint16_t length);
void send_data_to_upper_computer(double Angle, double WireLength,
double Thickness, char IsFittingPoint,char isMqtt,struct UARTHandler *send_UART_Handler);
#endif /* INC_BSP_BSP_UPPERCOMPUTER_HANDLER_H_ */

16
BASE/Inc/BSP/bsp_adc.h
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/*
* bsp_adc.h
*
* Created on: Feb 21, 2025
* Author: akeguo
*/
#ifndef INC_BSP_BSP_ADC_H_
#define INC_BSP_BSP_ADC_H_
#include "main.h"
#include "../../BASE/Inc/BSP/DLT/DLTuc.h"
int32_t read_temperature();
#endif /* INC_BSP_BSP_ADC_H_ */

13
BASE/Inc/BSP/bsp_client_setting.h
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/*
* bsp_pv_setting.h
*
* Created on: Jan 8, 2025
* Author: akeguo
*/
#ifndef INC_BSP_BSP_CLIENT_SETTING_H_
#define INC_BSP_BSP_CLIENT_SETTING_H_
#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
void client_setting_intialize(struct UARTHandler *Handler);
#endif /* INC_BSP_BSP_CLIENT_SETTING_H_ */

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BASE/Inc/BSP/bsp_com_helper.h
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/*
* bsp_com_helper.h
*
* Created on: Oct 9, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_COM_HELPER_H_
#define INC_BSP_BSP_COM_HELPER_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
typedef struct _Dispatcher
{
//uint8_t IsDeleted;
void (*dispache)(void);
//struct _Dispatcher* pBefore;
struct _Dispatcher* pNext;
}Dispatcher;
//通讯链表节点结构体
typedef struct _ComHardWare
{
//void (*dispache)(void);
char Name[50];
char IsOnline;
uint32_t BitFlag;
struct _ComHardWare* pNext;
}ComHardWare;
typedef struct _DispacherController
{
Dispatcher *pHead; // = NULL; //环形链表中的数据头指针
Dispatcher *pTail; // = NULL; //环形链表中的数据尾指针
uint16_t DispacherNumber; // = 0;
uint16_t DispacherCallTime; //
uint16_t Dispacher_Counter; // = 0;
uint16_t Dispacher_Enable; // = 0 disable 1 enable
void (*Add_Dispatcher_List)(struct _DispacherController* ,
void (*dispacher)(void)); //UART的调度程序 添加调度任务
void (*Dispatcher_Run)(struct _DispacherController* ); //UART的调度程序 执行调度任务
}DispacherController;
typedef struct _HardWareController
{
struct _ComHardWare *pComHWHead;
struct _ComHardWare *pComHWTail;
uint16_t HardWare_Check_Counter;
uint16_t DispacherCallTime; //= 100; //2ms 一次，
void (*Add_PCOMHardWare)(struct _HardWareController *, char* , char ,uint32_t);
void (*PCOMHardWare_Check)(struct _HardWareController *);
int (*Set_PCOMHardWare)(struct _HardWareController *, char* , char );
} HardWareController;
void Dispatch_t(DispacherController *uartHandler);
void Dispatcher_List_Add_t(DispacherController *uartHandler,void (*dispache)(void));
// void Dispatcher_List_Add_t(DispacherController *uartHandler,
// void (*dispache)(void),void (*Decode)(uint8_t*, uint16_t));
// void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,char value);
void PCOMHardWare_Check_t(HardWareController *uartHandler);
int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value);
void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,
char value,uint32_t bitFlag);
#endif /* INC_BSP_BSP_COM_HELPER_H_ */

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BASE/Inc/BSP/bsp_cpu_flash.h
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/*
* bsp_cpu_flash.h
*
* Created on: Aug 28, 2024
* Author: akeguo
*/
#ifndef SRC_BSP_BSP_CPU_FLASH_H_
#define SRC_BSP_BSP_CPU_FLASH_H_
#include "main.h"
#include "../../BASE/Inc/BSP/bsp_qspi_w25q128.h"
#include "quadspi.h"
#define ENABLE_INT() __set_PRIMASK(0) /* 使能全局中断 */
#define DISABLE_INT() __set_PRIMASK(1) /* 禁止全局中断 */
#define CPU_FLASH_BASE_ADDR (uint32_t)(FLASH_BASE) /* 0x08000000 */
#define CPU_FLASH_END_ADDR (uint32_t)(0x081FFFFF)
#define CPU_FLASH_SIZE (2 * 1024 * 1024) /* FLASH总容量 */
#define CPU_FLASH_SECTOR_SIZE (128 * 1024) /* 扇区大小，字节 */
/* Base address of the Flash sectors Bank 1 */
#define ADDR_FLASH_SECTOR_0_BANK1 ((uint32_t)0x08000000) /* Base @ of Sector 0, 128 Kbytes */
#define ADDR_FLASH_SECTOR_1_BANK1 ((uint32_t)0x08020000) /* Base @ of Sector 1, 128 Kbytes */
#define ADDR_FLASH_SECTOR_2_BANK1 ((uint32_t)0x08040000) /* Base @ of Sector 2, 128 Kbytes */
#define ADDR_FLASH_SECTOR_3_BANK1 ((uint32_t)0x08060000) /* Base @ of Sector 3, 128 Kbytes */
#define ADDR_FLASH_SECTOR_4_BANK1 ((uint32_t)0x08080000) /* Base @ of Sector 4, 128 Kbytes */
#define ADDR_FLASH_SECTOR_5_BANK1 ((uint32_t)0x080A0000) /* Base @ of Sector 5, 128 Kbytes */
#define ADDR_FLASH_SECTOR_6_BANK1 ((uint32_t)0x080C0000) /* Base @ of Sector 6, 128 Kbytes */
#define ADDR_FLASH_SECTOR_7_BANK1 ((uint32_t)0x080E0000) /* Base @ of Sector 7, 128 Kbytes */
/* Base address of the Flash sectors Bank 2 */
#define ADDR_FLASH_SECTOR_0_BANK2 ((uint32_t)0x08100000) /* Base @ of Sector 0, 128 Kbytes */
#define ADDR_FLASH_SECTOR_1_BANK2 ((uint32_t)0x08120000) /* Base @ of Sector 1, 128 Kbytes */
#define ADDR_FLASH_SECTOR_2_BANK2 ((uint32_t)0x08140000) /* Base @ of Sector 2, 128 Kbytes */
#define ADDR_FLASH_SECTOR_3_BANK2 ((uint32_t)0x08160000) /* Base @ of Sector 3, 128 Kbytes */
#define ADDR_FLASH_SECTOR_4_BANK2 ((uint32_t)0x08180000) /* Base @ of Sector 4, 128 Kbytes */
#define ADDR_FLASH_SECTOR_5_BANK2 ((uint32_t)0x081A0000) /* Base @ of Sector 5, 128 Kbytes */
#define ADDR_FLASH_SECTOR_6_BANK2 ((uint32_t)0x081C0000) /* Base @ of Sector 6, 128 Kbytes */
#define ADDR_FLASH_SECTOR_7_BANK2 ((uint32_t)0x081E0000) /* Base @ of Sector 7, 128 Kbytes */
#define FLASH_IS_EQU 0 /* Flash内容和待写入的数据相等，不需要擦除和写操作 */
#define FLASH_REQ_WRITE 1 /* Flash不需要擦除，直接写 */
#define FLASH_REQ_ERASE 2 /* Flash需要先擦除,再写 */
#define FLASH_PARAM_ERR 3 /* 函数参数错误 */
#define App_Start_Addr 0x08000000
#define App_Run_Addr 0x08020000
#define App_Download_Addr 0x08080000 // ADDR_FLASH_SECTOR_4_BANK1
uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize);
uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize);
uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize);
void JumpToApp(void);
void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes);
uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr);
void Erase_App_Download_Flash_Addr();
void Copy_Download_Flash_to_Start();
#endif /* SRC_BSP_BSP_CPU_FLASH_H_ */

38
BASE/Inc/BSP/bsp_decode_command.h
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/*
* bsp_decode_command.h
*
* Created on: Sep 24, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_DECODE_COMMAND_H_
#define INC_BSP_BSP_DECODE_COMMAND_H_
#include "main.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "../../BASE/Inc/BSP/pb.h"
#include "bsp_Cmd.pb.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "../../BASE/Inc/BSP/BHBF_ROBOT.h"
#include "../../BASE/Inc/BSP/bsp_cpu_flash.h"
#include "../../BASE/Inc/BSP/bsp_qspi_w25q128.h"
#include "../../BASE/Inc/BSP/bsp_UpperComputer_Handler.h"
#include "bsp_ReCmd.pb.h"
#include "bsp_IV.pb.h"
void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length);
void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char isMqtt,
struct UARTHandler *send_Handler);
void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, char isMqtt,struct UARTHandler *send_Handler);
void WrapInCmdAndSendMessage(ReCmd send_Cmd,int8_t functionNum,char isSuccess, uint8_t *buf, char isMqtt,
struct UARTHandler *send_Handler);
#endif /* INC_BSP_BSP_DECODE_COMMAND_H_ */

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BASE/Inc/BSP/bsp_include.h
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/*
* bsp_include.h
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#ifndef INC_BSP_INCLUDE_H_
#define INC_BSP_INCLUDE_H_
#include "main.h"
#include "dma.h"
#include "fdcan.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
#include "../../BASE/Inc/BSP/bsp_GPIO.h"
#include "../../BASE/Inc/BSP/bsp_FDCAN.h"
#include "../../BASE/Inc/BSP/bsp_TIMER.h"
#include "bsp_PV.pb.h"
#include "bsp_GV.pb.h"
#include "bsp_CV.pb.h"
#include "../../BASE/Inc/BSP/pb.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_common.h"
//一个中断回调函数支持多少个回调函数链接
#define DF_BSP_InterCall_Num 20
//一共支持多少种中断函数
#define DF_BSP_InterCall_Type_Num 11
enum DF_BSP_InterCall_Type
{
DF_BSP_InterCall_FDCAN1_RxFifo0Callback = 0,
DF_BSP_InterCall_FDCAN2_RxFifo0Callback,
DF_BSP_InterCall_RS485_1_RxCpltCallback,
DF_BSP_InterCall_RS485_2_RxCpltCallback,
DF_BSP_InterCall_RS485_3_RxCpltCallback,
DF_BSP_InterCall_RS485_4_RxCpltCallback,
DF_BSP_InterCall_DEBUG_RxCpltCallback,
DF_BSP_InterCall_E22_Serial_RxCpltCallback,
DF_BSP_InterCall_E28_SBUS_RxFifo0Callback,
DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback,
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback
};
uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,
void (*_fn)(void));
void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type);
#endif /* INC_BSP_INCLUDE_H_ */

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BASE/Inc/BSP/bsp_mqtt.h
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#ifndef __BSP_MQTT_H
#define __BSP_MQTT_H
/*-----------------------------------------------------------
* Includes files
*----------------------------------------------------------*/
/*-----------------------------------------------------------
* Exported constants
*----------------------------------------------------------*/
/*-----------------------------------------------------------
* Exported macro
*----------------------------------------------------------*/
/*-----------------------------------------------------------
* Exported function
*----------------------------------------------------------*/
/*!
* @brief 封装 MQTT 初始化接口
* 执行条件：无
*
* @retval: 无
*/
void bsp_mqtt_init(void);
void bsp_mqtt_test(void);
extern void bsp_mqtt_pub_send(char topic[],char buf[],size_t len);
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#endif /* __BSP_WOLFSSL_H */

26
BASE/Inc/BSP/bsp_mqtt_pub.h
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/*
* bsp_mqtt_pub.h
*
* Created on: Jul 9, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_MQTT_PUB_H_
#define INC_BSP_BSP_MQTT_PUB_H_
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "bsp_CV.pb.h"
#include "../../BASE/Inc/BSP/bsp_pb_decode_encode.h"
#include "../../BASE/Inc/BSP/bsp_EEPROM.h"
extern void log_info(char logger[], char message[]);
extern void log_debug(char logger[], char message[]);
extern void log_err(char logger[], char message[]);
#endif /* INC_BSP_BSP_MQTT_PUB_H_ */

51
BASE/Inc/BSP/bsp_pb_decode_encode.h
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/*
* bsp_pb_decode_encode.h
*
* Created on: Jul 5, 2024
* Author: akeguo
*/
#ifndef INC_BSP_BSP_PB_DECODE_ENCODE_H_
#define INC_BSP_BSP_PB_DECODE_ENCODE_H_
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include "../../BASE/Inc/BSP/pb_decode.h"
#include "../../BASE/Inc/BSP/pb_encode.h"
#include "../../BASE/Inc/BSP/pb.h"
#include "bsp_CV.pb.h"
#include "bsp_GV.pb.h"
#include "msp_Motor.pb.h"
#include "bsp_PV.pb.h"
#include "bsp_CV.pb.h"
#include "bsp_CV.pb.h"
#include "../../BASE/Inc/BSP/pb_common.h"
#include "bsp_IAP.pb.h"
IAP_struct_define pb_decode_IAP(uint8_t *buf, size_t length);
typedef struct pb_buffer_arg
{
/* Buffer to be written, or reference to read buffer */
void const *buf;
/* Length of buf */
size_t buf_len;
} pb_buffer_arg;
bool pb_encode_string_cb(pb_ostream_t *stream, const pb_field_t *field, void *const *arg);
bool pb_decode_string_cb(pb_istream_t *stream, const pb_field_t *field, void **arg);
extern CV_struct_define pb_decode_CV(char *buf, size_t length);
extern void Test_CV();
//extern void pb_encode_TraceMessage(char buf[], size_t buf_len,size_t* len,TraceLevel traceLevel, char logger[], char message[] );
void pb_encode_TraceMessage(char buf[],size_t buf_len, size_t* len,
char traceLevel[], char logger[], char message[] );
#endif /* INC_BSP_BSP_PB_DECODE_ENCODE_H_ */

107
BASE/Inc/BSP/bsp_qspi_w25q128.h
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/*
* bsp_quadspi_W25Q128.h
*
* Created on: Apr 21, 2021
* Author: Administrator
*
* 该bsp用于华邦的w25q128JV，跟华邦的w25q128JV不一样
* 坑爹的
*/
#ifndef BSP_QSPI_W25Q128_H_
#define BSP_QSPI_W25Q128_H_
#include "quadspi.h"
#include "stdio.h"
/* 宏定义 --------------------------------------------------------------------*/
#define FLASH_BEGIN_ADDRESS 0x00000
#define CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS 0x00000
#define CODE_FLASH_STORAGE_SIZE 1024*1024 // 留下1M的空间存储数据
#define W25Q128FV_FLASH_SIZE 0x1000000 /* 128 MBits => 16MBytes */
#define W25Q128FV_BLOCK_SIZE 0x10000 /* 256 Blocks of 64KBytes */
#define W25Q128FV_HALF_BLOCK_SIZE 0x8000 /* 128 Blocks of 32KBytes */
#define W25Q128FV_SECTOR_SIZE 0x1000 /* 4096 sectors of 4kBytes */
#define W25Q128FV_PAGE_SIZE 0x100 /* 65536 pages of 256 bytes */
#define W25Q128FV_DUMMY_CYCLES_READ 4
#define W25Q128FV_DUMMY_CYCLES_READ_QUAD 10
#define W25Q128FV_BULK_ERASE_MAX_TIME 250000//ms
#define W25Q128FV_SECTOR_ERASE_MAX_TIME 3000
#define W25Q128FV_SUBSECTOR_ERASE_MAX_TIME 800
#define W25Q128FV_FLASH_ID 0XEF4018
/* W25Q128FV 指令 */
/* 复位操作 */
#define RESET_ENABLE_CMD 0x66
#define RESET_MEMORY_CMD 0x99
#define ENTER_QPI_MODE_CMD 0x38
#define EXIT_QPI_MODE_CMD 0xFF
/* 读取ID指令 */
#define READ_ID_CMD 0x90
#define DUAL_READ_ID_CMD 0x92
#define QUAD_READ_ID_CMD 0x94
#define READ_JEDEC_ID_CMD 0x9F
/* 读操作指令 */
#define READ_CMD 0x03
#define FAST_READ_CMD 0x0B
#define DUAL_OUT_FAST_READ_CMD 0x3B
#define DUAL_INOUT_FAST_READ_CMD 0xBB
#define QUAD_OUT_FAST_READ_CMD 0x6B
#define QUAD_INOUT_FAST_READ_CMD 0xEB
/* 写使能操作指令 */
#define WRITE_ENABLE_CMD 0x06
#define WRITE_DISABLE_CMD 0x04
/* 读写状态寄存器操作指令 */
#define READ_STATUS_REG1_CMD 0x05
#define READ_STATUS_REG2_CMD 0x35
#define READ_STATUS_REG3_CMD 0x15
#define WRITE_STATUS_REG1_CMD 0x01
#define WRITE_STATUS_REG2_CMD 0x31
#define WRITE_STATUS_REG3_CMD 0x11
/* 编程指令 */
#define PAGE_PROG_CMD 0x02
#define QUAD_INPUT_PAGE_PROG_CMD 0x32
/* 擦除Flash指令 */
#define SECTOR_ERASE_CMD 0x20
#define BLOCK_32KB_ERASE_CMD 0x52
#define BLOCK_64KB_ERASE_CMD 0xD8
#define CHIP_ERASE_CMD 0xC7
#define PROG_ERASE_RESUME_CMD 0x7A
#define PROG_ERASE_SUSPEND_CMD 0x75
/* 状态寄存器标志位 */
#define W25Q128FV_FSR_BUSY ((uint8_t)0x01) /* busy */
#define W25Q128FV_FSR_WREN ((uint8_t)0x02) /* write enable */
#define W25Q128FV_FSR_QE ((uint8_t)0x02) /* quad enable */
/* Flash 状态码*/
#define FLASH_OK ((uint8_t)0x00)
#define FLASH_ERROR ((uint8_t)0x01)
#define FLASH_BUSY ((uint8_t)0x02)
#define FLASH_NOT_SUPPORTED ((uint8_t)0x04)
#define FLASH_SUSPENDED ((uint8_t)0x08)
uint32_t QSPI_W25Qx_ReadID(void);
void QSPI_W25Qx_Reset_Memory();
void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr);
uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size);
void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size);
void QSPI_W25Qx_EraseDownLoadFlash();
void user_Assert(char *file,uint32_t line);
#endif /* BSP_QSPI_W25Q128_H_ */

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BASE/Inc/BSP/pb.h
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/* Common parts of the nanopb library. Most of these are quite low-level
* stuff. For the high-level interface, see pb_encode.h and pb_decode.h.
*/
#ifndef PB_H_INCLUDED
#define PB_H_INCLUDED
/*****************************************************************
* Nanopb compilation time options. You can change these here by *
* uncommenting the lines, or on the compiler command line. *
*****************************************************************/
/* Enable support for dynamically allocated fields */
/* #define PB_ENABLE_MALLOC 1 */
/* Define this if your CPU / compiler combination does not support
* unaligned memory access to packed structures. Note that packed
* structures are only used when requested in .proto options. */
/* #define PB_NO_PACKED_STRUCTS 1 */
/* Increase the number of required fields that are tracked.
* A compiler warning will tell if you need this. */
/* #define PB_MAX_REQUIRED_FIELDS 256 */
/* Add support for tag numbers > 65536 and fields larger than 65536 bytes. */
/* #define PB_FIELD_32BIT 1 */
/* Disable support for error messages in order to save some code space. */
/* #define PB_NO_ERRMSG 1 */
/* Disable support for custom streams (support only memory buffers). */
/* #define PB_BUFFER_ONLY 1 */
/* Disable support for 64-bit datatypes, for compilers without int64_t
or to save some code space. */
/* #define PB_WITHOUT_64BIT 1 */
/* Don't encode scalar arrays as packed. This is only to be used when
* the decoder on the receiving side cannot process packed scalar arrays.
* Such example is older protobuf.js. */
/* #define PB_ENCODE_ARRAYS_UNPACKED 1 */
/* Enable conversion of doubles to floats for platforms that do not
* support 64-bit doubles. Most commonly AVR. */
/* #define PB_CONVERT_DOUBLE_FLOAT 1 */
/* Check whether incoming strings are valid UTF-8 sequences. Slows down
* the string processing slightly and slightly increases code size. */
/* #define PB_VALIDATE_UTF8 1 */
/* This can be defined if the platform is little-endian and has 8-bit bytes.
* Normally it is automatically detected based on __BYTE_ORDER__ macro. */
/* #define PB_LITTLE_ENDIAN_8BIT 1 */
/* Configure static assert mechanism. Instead of changing these, set your
* compiler to C11 standard mode if possible. */
/* #define PB_C99_STATIC_ASSERT 1 */
/* #define PB_NO_STATIC_ASSERT 1 */
/******************************************************************
* You usually don't need to change anything below this line. *
* Feel free to look around and use the defined macros, though. *
******************************************************************/
/* Version of the nanopb library. Just in case you want to check it in
* your own program. */
#define NANOPB_VERSION "nanopb-0.4.8-dev"
/* Include all the system headers needed by nanopb. You will need the
* definitions of the following:
* - strlen, memcpy, memset functions
* - [u]int_least8_t, uint_fast8_t, [u]int_least16_t, [u]int32_t, [u]int64_t
* - size_t
* - bool
*
* If you don't have the standard header files, you can instead provide
* a custom header that defines or includes all this. In that case,
* define PB_SYSTEM_HEADER to the path of this file.
*/
#ifdef PB_SYSTEM_HEADER
#include PB_SYSTEM_HEADER
#else
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include <string.h>
#include <limits.h>
#ifdef PB_ENABLE_MALLOC
#include <stdlib.h>
#endif
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Macro for defining packed structures (compiler dependent).
* This just reduces memory requirements, but is not required.
*/
#if defined(PB_NO_PACKED_STRUCTS)
/* Disable struct packing */
# define PB_PACKED_STRUCT_START
# define PB_PACKED_STRUCT_END
# define pb_packed
#elif defined(__GNUC__) || defined(__clang__)
/* For GCC and clang */
# define PB_PACKED_STRUCT_START
# define PB_PACKED_STRUCT_END
# define pb_packed __attribute__((packed))
#elif defined(__ICCARM__) || defined(__CC_ARM)
/* For IAR ARM and Keil MDK-ARM compilers */
# define PB_PACKED_STRUCT_START _Pragma("pack(push, 1)")
# define PB_PACKED_STRUCT_END _Pragma("pack(pop)")
# define pb_packed
#elif defined(_MSC_VER) && (_MSC_VER >= 1500)
/* For Microsoft Visual C++ */
# define PB_PACKED_STRUCT_START __pragma(pack(push, 1))
# define PB_PACKED_STRUCT_END __pragma(pack(pop))
# define pb_packed
#else
/* Unknown compiler */
# define PB_PACKED_STRUCT_START
# define PB_PACKED_STRUCT_END
# define pb_packed
#endif
/* Detect endianness */
#ifndef PB_LITTLE_ENDIAN_8BIT
#if ((defined(__BYTE_ORDER) && __BYTE_ORDER == __LITTLE_ENDIAN) || \
(defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || \
defined(__LITTLE_ENDIAN__) || defined(__ARMEL__) || \
defined(__THUMBEL__) || defined(__AARCH64EL__) || defined(_MIPSEL) || \
defined(_M_IX86) || defined(_M_X64) || defined(_M_ARM)) \
&& CHAR_BIT == 8
#define PB_LITTLE_ENDIAN_8BIT 1
#endif
#endif
/* Handly macro for suppressing unreferenced-parameter compiler warnings. */
#ifndef PB_UNUSED
#define PB_UNUSED(x) (void)(x)
#endif
/* Harvard-architecture processors may need special attributes for storing
* field information in program memory. */
#ifndef PB_PROGMEM
#ifdef __AVR__
#include <avr/pgmspace.h>
#define PB_PROGMEM PROGMEM
#define PB_PROGMEM_READU32(x) pgm_read_dword(&x)
#else
#define PB_PROGMEM
#define PB_PROGMEM_READU32(x) (x)
#endif
#endif
/* Compile-time assertion, used for checking compatible compilation options.
* If this does not work properly on your compiler, use
* #define PB_NO_STATIC_ASSERT to disable it.
*
* But before doing that, check carefully the error message / place where it
* comes from to see if the error has a real cause. Unfortunately the error
* message is not always very clear to read, but you can see the reason better
* in the place where the PB_STATIC_ASSERT macro was called.
*/
#ifndef PB_NO_STATIC_ASSERT
# ifndef PB_STATIC_ASSERT
# if defined(__ICCARM__)
/* IAR has static_assert keyword but no _Static_assert */
# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
# elif defined(_MSC_VER) && (!defined(__STDC_VERSION__) || __STDC_VERSION__ < 201112)
/* MSVC in C89 mode supports static_assert() keyword anyway */
# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
# elif defined(PB_C99_STATIC_ASSERT)
/* Classic negative-size-array static assert mechanism */
# define PB_STATIC_ASSERT(COND,MSG) typedef char PB_STATIC_ASSERT_MSG(MSG, __LINE__, __COUNTER__)[(COND)?1:-1];
# define PB_STATIC_ASSERT_MSG(MSG, LINE, COUNTER) PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER)
# define PB_STATIC_ASSERT_MSG_(MSG, LINE, COUNTER) pb_static_assertion_##MSG##_##LINE##_##COUNTER
# elif defined(__cplusplus)
/* C++11 standard static_assert mechanism */
# define PB_STATIC_ASSERT(COND,MSG) static_assert(COND,#MSG);
# else
/* C11 standard _Static_assert mechanism */
# define PB_STATIC_ASSERT(COND,MSG) _Static_assert(COND,#MSG);
# endif
# endif
#else
/* Static asserts disabled by PB_NO_STATIC_ASSERT */
# define PB_STATIC_ASSERT(COND,MSG)
#endif
/* Test that PB_STATIC_ASSERT works
* If you get errors here, you may need to do one of these:
* - Enable C11 standard support in your compiler
* - Define PB_C99_STATIC_ASSERT to enable C99 standard support
* - Define PB_NO_STATIC_ASSERT to disable static asserts altogether
*/
PB_STATIC_ASSERT(1, STATIC_ASSERT_IS_NOT_WORKING)
/* Number of required fields to keep track of. */
#ifndef PB_MAX_REQUIRED_FIELDS
#define PB_MAX_REQUIRED_FIELDS 64
#endif
#if PB_MAX_REQUIRED_FIELDS < 64
#error You should not lower PB_MAX_REQUIRED_FIELDS from the default value (64).
#endif
#ifdef PB_WITHOUT_64BIT
#ifdef PB_CONVERT_DOUBLE_FLOAT
/* Cannot use doubles without 64-bit types */
#undef PB_CONVERT_DOUBLE_FLOAT
#endif
#endif
/* List of possible field types. These are used in the autogenerated code.
* Least-significant 4 bits tell the scalar type
* Most-significant 4 bits specify repeated/required/packed etc.
*/
typedef uint_least8_t pb_type_t;
/**** Field data types ****/
/* Numeric types */
#define PB_LTYPE_BOOL 0x00U /* bool */
#define PB_LTYPE_VARINT 0x01U /* int32, int64, enum, bool */
#define PB_LTYPE_UVARINT 0x02U /* uint32, uint64 */
#define PB_LTYPE_SVARINT 0x03U /* sint32, sint64 */
#define PB_LTYPE_FIXED32 0x04U /* fixed32, sfixed32, float */
#define PB_LTYPE_FIXED64 0x05U /* fixed64, sfixed64, double */
/* Marker for last packable field type. */
#define PB_LTYPE_LAST_PACKABLE 0x05U
/* Byte array with pre-allocated buffer.
* data_size is the length of the allocated PB_BYTES_ARRAY structure. */
#define PB_LTYPE_BYTES 0x06U
/* String with pre-allocated buffer.
* data_size is the maximum length. */
#define PB_LTYPE_STRING 0x07U
/* Submessage
* submsg_fields is pointer to field descriptions */
#define PB_LTYPE_SUBMESSAGE 0x08U
/* Submessage with pre-decoding callback
* The pre-decoding callback is stored as pb_callback_t right before pSize.
* submsg_fields is pointer to field descriptions */
#define PB_LTYPE_SUBMSG_W_CB 0x09U
/* Extension pseudo-field
* The field contains a pointer to pb_extension_t */
#define PB_LTYPE_EXTENSION 0x0AU
/* Byte array with inline, pre-allocated byffer.
* data_size is the length of the inline, allocated buffer.
* This differs from PB_LTYPE_BYTES by defining the element as
* pb_byte_t[data_size] rather than pb_bytes_array_t. */
#define PB_LTYPE_FIXED_LENGTH_BYTES 0x0BU
/* Number of declared LTYPES */
#define PB_LTYPES_COUNT 0x0CU
#define PB_LTYPE_MASK 0x0FU
/**** Field repetition rules ****/
#define PB_HTYPE_REQUIRED 0x00U
#define PB_HTYPE_OPTIONAL 0x10U
#define PB_HTYPE_SINGULAR 0x10U
#define PB_HTYPE_REPEATED 0x20U
#define PB_HTYPE_FIXARRAY 0x20U
#define PB_HTYPE_ONEOF 0x30U
#define PB_HTYPE_MASK 0x30U
/**** Field allocation types ****/
#define PB_ATYPE_STATIC 0x00U
#define PB_ATYPE_POINTER 0x80U
#define PB_ATYPE_CALLBACK 0x40U
#define PB_ATYPE_MASK 0xC0U
#define PB_ATYPE(x) ((x) & PB_ATYPE_MASK)
#define PB_HTYPE(x) ((x) & PB_HTYPE_MASK)
#define PB_LTYPE(x) ((x) & PB_LTYPE_MASK)
#define PB_LTYPE_IS_SUBMSG(x) (PB_LTYPE(x) == PB_LTYPE_SUBMESSAGE || \
PB_LTYPE(x) == PB_LTYPE_SUBMSG_W_CB)
/* Data type used for storing sizes of struct fields
* and array counts.
*/
#if defined(PB_FIELD_32BIT)
typedef uint32_t pb_size_t;
typedef int32_t pb_ssize_t;
#else
typedef uint_least16_t pb_size_t;
typedef int_least16_t pb_ssize_t;
#endif
#define PB_SIZE_MAX ((pb_size_t)-1)
/* Data type for storing encoded data and other byte streams.
* This typedef exists to support platforms where uint8_t does not exist.
* You can regard it as equivalent on uint8_t on other platforms.
*/
typedef uint_least8_t pb_byte_t;
/* Forward declaration of struct types */
typedef struct pb_istream_s pb_istream_t;
typedef struct pb_ostream_s pb_ostream_t;
typedef struct pb_field_iter_s pb_field_iter_t;
/* This structure is used in auto-generated constants
* to specify struct fields.
*/
typedef struct pb_msgdesc_s pb_msgdesc_t;
struct pb_msgdesc_s {
const uint32_t *field_info;
const pb_msgdesc_t * const * submsg_info;
const pb_byte_t *default_value;
bool (*field_callback)(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_iter_t *field);
pb_size_t field_count;
pb_size_t required_field_count;
pb_size_t largest_tag;
};
/* Iterator for message descriptor */
struct pb_field_iter_s {
const pb_msgdesc_t *descriptor; /* Pointer to message descriptor constant */
void *message; /* Pointer to start of the structure */
pb_size_t index; /* Index of the field */
pb_size_t field_info_index; /* Index to descriptor->field_info array */
pb_size_t required_field_index; /* Index that counts only the required fields */
pb_size_t submessage_index; /* Index that counts only submessages */
pb_size_t tag; /* Tag of current field */
pb_size_t data_size; /* sizeof() of a single item */
pb_size_t array_size; /* Number of array entries */
pb_type_t type; /* Type of current field */
void *pField; /* Pointer to current field in struct */
void *pData; /* Pointer to current data contents. Different than pField for arrays and pointers. */
void *pSize; /* Pointer to count/has field */
const pb_msgdesc_t *submsg_desc; /* For submessage fields, pointer to field descriptor for the submessage. */
};
/* For compatibility with legacy code */
typedef pb_field_iter_t pb_field_t;
/* Make sure that the standard integer types are of the expected sizes.
* Otherwise fixed32/fixed64 fields can break.
*
* If you get errors here, it probably means that your stdint.h is not
* correct for your platform.
*/
#ifndef PB_WITHOUT_64BIT
PB_STATIC_ASSERT(sizeof(int64_t) == 2 * sizeof(int32_t), INT64_T_WRONG_SIZE)
PB_STATIC_ASSERT(sizeof(uint64_t) == 2 * sizeof(uint32_t), UINT64_T_WRONG_SIZE)
#endif
/* This structure is used for 'bytes' arrays.
* It has the number of bytes in the beginning, and after that an array.
* Note that actual structs used will have a different length of bytes array.
*/
#define PB_BYTES_ARRAY_T(n) struct { pb_size_t size; pb_byte_t bytes[n]; }
#define PB_BYTES_ARRAY_T_ALLOCSIZE(n) ((size_t)n + offsetof(pb_bytes_array_t, bytes))
struct pb_bytes_array_s {
pb_size_t size;
pb_byte_t bytes[1];
};
typedef struct pb_bytes_array_s pb_bytes_array_t;
/* This structure is used for giving the callback function.
* It is stored in the message structure and filled in by the method that
* calls pb_decode.
*
* The decoding callback will be given a limited-length stream
* If the wire type was string, the length is the length of the string.
* If the wire type was a varint/fixed32/fixed64, the length is the length
* of the actual value.
* The function may be called multiple times (especially for repeated types,
* but also otherwise if the message happens to contain the field multiple
* times.)
*
* The encoding callback will receive the actual output stream.
* It should write all the data in one call, including the field tag and
* wire type. It can write multiple fields.
*
* The callback can be null if you want to skip a field.
*/
typedef struct pb_callback_s pb_callback_t;
struct pb_callback_s {
/* Callback functions receive a pointer to the arg field.
* You can access the value of the field as *arg, and modify it if needed.
*/
union {
bool (*decode)(pb_istream_t *stream, const pb_field_t *field, void **arg);
bool (*encode)(pb_ostream_t *stream, const pb_field_t *field, void * const *arg);
} funcs;
/* Free arg for use by callback */
void *arg;
};
extern bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field);
/* Wire types. Library user needs these only in encoder callbacks. */
typedef enum {
PB_WT_VARINT = 0,
PB_WT_64BIT = 1,
PB_WT_STRING = 2,
PB_WT_32BIT = 5,
PB_WT_PACKED = 255 /* PB_WT_PACKED is internal marker for packed arrays. */
} pb_wire_type_t;
/* Structure for defining the handling of unknown/extension fields.
* Usually the pb_extension_type_t structure is automatically generated,
* while the pb_extension_t structure is created by the user. However,
* if you want to catch all unknown fields, you can also create a custom
* pb_extension_type_t with your own callback.
*/
typedef struct pb_extension_type_s pb_extension_type_t;
typedef struct pb_extension_s pb_extension_t;
struct pb_extension_type_s {
/* Called for each unknown field in the message.
* If you handle the field, read off all of its data and return true.
* If you do not handle the field, do not read anything and return true.
* If you run into an error, return false.
* Set to NULL for default handler.
*/
bool (*decode)(pb_istream_t *stream, pb_extension_t *extension,
uint32_t tag, pb_wire_type_t wire_type);
/* Called once after all regular fields have been encoded.
* If you have something to write, do so and return true.
* If you do not have anything to write, just return true.
* If you run into an error, return false.
* Set to NULL for default handler.
*/
bool (*encode)(pb_ostream_t *stream, const pb_extension_t *extension);
/* Free field for use by the callback. */
const void *arg;
};
struct pb_extension_s {
/* Type describing the extension field. Usually you'll initialize
* this to a pointer to the automatically generated structure. */
const pb_extension_type_t *type;
/* Destination for the decoded data. This must match the datatype
* of the extension field. */
void *dest;
/* Pointer to the next extension handler, or NULL.
* If this extension does not match a field, the next handler is
* automatically called. */
pb_extension_t *next;
/* The decoder sets this to true if the extension was found.
* Ignored for encoding. */
bool found;
};
#define pb_extension_init_zero {NULL,NULL,NULL,false}
/* Memory allocation functions to use. You can define pb_realloc and
* pb_free to custom functions if you want. */
#ifdef PB_ENABLE_MALLOC
# ifndef pb_realloc
# define pb_realloc(ptr, size) realloc(ptr, size)
# endif
# ifndef pb_free
# define pb_free(ptr) free(ptr)
# endif
#endif
/* This is used to inform about need to regenerate .pb.h/.pb.c files. */
#define PB_PROTO_HEADER_VERSION 40
/* These macros are used to declare pb_field_t's in the constant array. */
/* Size of a structure member, in bytes. */
#define pb_membersize(st, m) (sizeof ((st*)0)->m)
/* Number of entries in an array. */
#define pb_arraysize(st, m) (pb_membersize(st, m) / pb_membersize(st, m[0]))
/* Delta from start of one member to the start of another member. */
#define pb_delta(st, m1, m2) ((int)offsetof(st, m1) - (int)offsetof(st, m2))
/* Force expansion of macro value */
#define PB_EXPAND(x) x
/* Binding of a message field set into a specific structure */
#define PB_BIND(msgname, structname, width) \
const uint32_t structname ## _field_info[] PB_PROGMEM = \
{ \
msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ ## width, structname) \
0 \
}; \
const pb_msgdesc_t* const structname ## _submsg_info[] = \
{ \
msgname ## _FIELDLIST(PB_GEN_SUBMSG_INFO, structname) \
NULL \
}; \
const pb_msgdesc_t structname ## _msg = \
{ \
structname ## _field_info, \
structname ## _submsg_info, \
msgname ## _DEFAULT, \
msgname ## _CALLBACK, \
0 msgname ## _FIELDLIST(PB_GEN_FIELD_COUNT, structname), \
0 msgname ## _FIELDLIST(PB_GEN_REQ_FIELD_COUNT, structname), \
0 msgname ## _FIELDLIST(PB_GEN_LARGEST_TAG, structname), \
}; \
msgname ## _FIELDLIST(PB_GEN_FIELD_INFO_ASSERT_ ## width, structname)
#define PB_GEN_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) +1
#define PB_GEN_REQ_FIELD_COUNT(structname, atype, htype, ltype, fieldname, tag) \
+ (PB_HTYPE_ ## htype == PB_HTYPE_REQUIRED)
#define PB_GEN_LARGEST_TAG(structname, atype, htype, ltype, fieldname, tag) \
* 0 + tag
/* X-macro for generating the entries in struct_field_info[] array. */
#define PB_GEN_FIELD_INFO_1(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_2(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_4(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_8(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_AUTO(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \
tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_FIELDINFO_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size)
#define PB_FIELDINFO_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_ ## width(tag, type, data_offset, data_size, size_offset, array_size)
/* X-macro for generating asserts that entries fit in struct_field_info[] array.
* The structure of macros here must match the structure above in PB_GEN_FIELD_INFO_x(),
* but it is not easily reused because of how macro substitutions work. */
#define PB_GEN_FIELD_INFO_ASSERT_1(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_1(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_2(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_2(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_4(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_4(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_8(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_8(tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_GEN_FIELD_INFO_ASSERT_AUTO(structname, atype, htype, ltype, fieldname, tag) \
PB_FIELDINFO_ASSERT_AUTO2(PB_FIELDINFO_WIDTH_AUTO(_PB_ATYPE_ ## atype, _PB_HTYPE_ ## htype, _PB_LTYPE_ ## ltype), \
tag, PB_ATYPE_ ## atype | PB_HTYPE_ ## htype | PB_LTYPE_MAP_ ## ltype, \
PB_DATA_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_DATA_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_SIZE_OFFSET_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname), \
PB_ARRAY_SIZE_ ## atype(_PB_HTYPE_ ## htype, structname, fieldname))
#define PB_FIELDINFO_ASSERT_AUTO2(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size)
#define PB_FIELDINFO_ASSERT_AUTO3(width, tag, type, data_offset, data_size, size_offset, array_size) \
PB_FIELDINFO_ASSERT_ ## width(tag, type, data_offset, data_size, size_offset, array_size)
#define PB_DATA_OFFSET_STATIC(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
#define PB_DATA_OFFSET_POINTER(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
#define PB_DATA_OFFSET_CALLBACK(htype, structname, fieldname) PB_DO ## htype(structname, fieldname)
#define PB_DO_PB_HTYPE_REQUIRED(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_SINGULAR(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_ONEOF(structname, fieldname) offsetof(structname, PB_ONEOF_NAME(FULL, fieldname))
#define PB_DO_PB_HTYPE_OPTIONAL(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_REPEATED(structname, fieldname) offsetof(structname, fieldname)
#define PB_DO_PB_HTYPE_FIXARRAY(structname, fieldname) offsetof(structname, fieldname)
#define PB_SIZE_OFFSET_STATIC(htype, structname, fieldname) PB_SO ## htype(structname, fieldname)
#define PB_SIZE_OFFSET_POINTER(htype, structname, fieldname) PB_SO_PTR ## htype(structname, fieldname)
#define PB_SIZE_OFFSET_CALLBACK(htype, structname, fieldname) PB_SO_CB ## htype(structname, fieldname)
#define PB_SO_PB_HTYPE_REQUIRED(structname, fieldname) 0
#define PB_SO_PB_HTYPE_SINGULAR(structname, fieldname) 0
#define PB_SO_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF2(structname, PB_ONEOF_NAME(FULL, fieldname), PB_ONEOF_NAME(UNION, fieldname))
#define PB_SO_PB_HTYPE_ONEOF2(structname, fullname, unionname) PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname)
#define PB_SO_PB_HTYPE_ONEOF3(structname, fullname, unionname) pb_delta(structname, fullname, which_ ## unionname)
#define PB_SO_PB_HTYPE_OPTIONAL(structname, fieldname) pb_delta(structname, fieldname, has_ ## fieldname)
#define PB_SO_PB_HTYPE_REPEATED(structname, fieldname) pb_delta(structname, fieldname, fieldname ## _count)
#define PB_SO_PB_HTYPE_FIXARRAY(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname)
#define PB_SO_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 0
#define PB_SO_PTR_PB_HTYPE_REPEATED(structname, fieldname) PB_SO_PB_HTYPE_REPEATED(structname, fieldname)
#define PB_SO_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_REQUIRED(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_SINGULAR(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_ONEOF(structname, fieldname) PB_SO_PB_HTYPE_ONEOF(structname, fieldname)
#define PB_SO_CB_PB_HTYPE_OPTIONAL(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_REPEATED(structname, fieldname) 0
#define PB_SO_CB_PB_HTYPE_FIXARRAY(structname, fieldname) 0
#define PB_ARRAY_SIZE_STATIC(htype, structname, fieldname) PB_AS ## htype(structname, fieldname)
#define PB_ARRAY_SIZE_POINTER(htype, structname, fieldname) PB_AS_PTR ## htype(structname, fieldname)
#define PB_ARRAY_SIZE_CALLBACK(htype, structname, fieldname) 1
#define PB_AS_PB_HTYPE_REQUIRED(structname, fieldname) 1
#define PB_AS_PB_HTYPE_SINGULAR(structname, fieldname) 1
#define PB_AS_PB_HTYPE_OPTIONAL(structname, fieldname) 1
#define PB_AS_PB_HTYPE_ONEOF(structname, fieldname) 1
#define PB_AS_PB_HTYPE_REPEATED(structname, fieldname) pb_arraysize(structname, fieldname)
#define PB_AS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname)
#define PB_AS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_ONEOF(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_REPEATED(structname, fieldname) 1
#define PB_AS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_arraysize(structname, fieldname[0])
#define PB_DATA_SIZE_STATIC(htype, structname, fieldname) PB_DS ## htype(structname, fieldname)
#define PB_DATA_SIZE_POINTER(htype, structname, fieldname) PB_DS_PTR ## htype(structname, fieldname)
#define PB_DATA_SIZE_CALLBACK(htype, structname, fieldname) PB_DS_CB ## htype(structname, fieldname)
#define PB_DS_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname))
#define PB_DS_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname)[0])
#define PB_DS_PTR_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname[0])
#define PB_DS_PTR_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname[0][0])
#define PB_DS_CB_PB_HTYPE_REQUIRED(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_SINGULAR(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_OPTIONAL(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_ONEOF(structname, fieldname) pb_membersize(structname, PB_ONEOF_NAME(FULL, fieldname))
#define PB_DS_CB_PB_HTYPE_REPEATED(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_DS_CB_PB_HTYPE_FIXARRAY(structname, fieldname) pb_membersize(structname, fieldname)
#define PB_ONEOF_NAME(type, tuple) PB_EXPAND(PB_ONEOF_NAME_ ## type tuple)
#define PB_ONEOF_NAME_UNION(unionname,membername,fullname) unionname
#define PB_ONEOF_NAME_MEMBER(unionname,membername,fullname) membername
#define PB_ONEOF_NAME_FULL(unionname,membername,fullname) fullname
#define PB_GEN_SUBMSG_INFO(structname, atype, htype, ltype, fieldname, tag) \
PB_SUBMSG_INFO_ ## htype(_PB_LTYPE_ ## ltype, structname, fieldname)
#define PB_SUBMSG_INFO_REQUIRED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_SINGULAR(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_OPTIONAL(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_ONEOF(ltype, structname, fieldname) PB_SUBMSG_INFO_ONEOF2(ltype, structname, PB_ONEOF_NAME(UNION, fieldname), PB_ONEOF_NAME(MEMBER, fieldname))
#define PB_SUBMSG_INFO_ONEOF2(ltype, structname, unionname, membername) PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername)
#define PB_SUBMSG_INFO_ONEOF3(ltype, structname, unionname, membername) PB_SI ## ltype(structname ## _ ## unionname ## _ ## membername ## _MSGTYPE)
#define PB_SUBMSG_INFO_REPEATED(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SUBMSG_INFO_FIXARRAY(ltype, structname, fieldname) PB_SI ## ltype(structname ## _ ## fieldname ## _MSGTYPE)
#define PB_SI_PB_LTYPE_BOOL(t)
#define PB_SI_PB_LTYPE_BYTES(t)
#define PB_SI_PB_LTYPE_DOUBLE(t)
#define PB_SI_PB_LTYPE_ENUM(t)
#define PB_SI_PB_LTYPE_UENUM(t)
#define PB_SI_PB_LTYPE_FIXED32(t)
#define PB_SI_PB_LTYPE_FIXED64(t)
#define PB_SI_PB_LTYPE_FLOAT(t)
#define PB_SI_PB_LTYPE_INT32(t)
#define PB_SI_PB_LTYPE_INT64(t)
#define PB_SI_PB_LTYPE_MESSAGE(t) PB_SUBMSG_DESCRIPTOR(t)
#define PB_SI_PB_LTYPE_MSG_W_CB(t) PB_SUBMSG_DESCRIPTOR(t)
#define PB_SI_PB_LTYPE_SFIXED32(t)
#define PB_SI_PB_LTYPE_SFIXED64(t)
#define PB_SI_PB_LTYPE_SINT32(t)
#define PB_SI_PB_LTYPE_SINT64(t)
#define PB_SI_PB_LTYPE_STRING(t)
#define PB_SI_PB_LTYPE_UINT32(t)
#define PB_SI_PB_LTYPE_UINT64(t)
#define PB_SI_PB_LTYPE_EXTENSION(t)
#define PB_SI_PB_LTYPE_FIXED_LENGTH_BYTES(t)
#define PB_SUBMSG_DESCRIPTOR(t) &(t ## _msg),
/* The field descriptors use a variable width format, with width of either
* 1, 2, 4 or 8 of 32-bit words. The two lowest bytes of the first byte always
* encode the descriptor size, 6 lowest bits of field tag number, and 8 bits
* of the field type.
*
* Descriptor size is encoded as 0 = 1 word, 1 = 2 words, 2 = 4 words, 3 = 8 words.
*
* Formats, listed starting with the least significant bit of the first word.
* 1 word: [2-bit len] [6-bit tag] [8-bit type] [8-bit data_offset] [4-bit size_offset] [4-bit data_size]
*
* 2 words: [2-bit len] [6-bit tag] [8-bit type] [12-bit array_size] [4-bit size_offset]
* [16-bit data_offset] [12-bit data_size] [4-bit tag>>6]
*
* 4 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit array_size]
* [8-bit size_offset] [24-bit tag>>6]
* [32-bit data_offset]
* [32-bit data_size]
*
* 8 words: [2-bit len] [6-bit tag] [8-bit type] [16-bit reserved]
* [8-bit size_offset] [24-bit tag>>6]
* [32-bit data_offset]
* [32-bit data_size]
* [32-bit array_size]
* [32-bit reserved]
* [32-bit reserved]
* [32-bit reserved]
*/
#define PB_FIELDINFO_1(tag, type, data_offset, data_size, size_offset, array_size) \
(0 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(data_offset) & 0xFF) << 16) | \
(((uint32_t)(size_offset) & 0x0F) << 24) | (((uint32_t)(data_size) & 0x0F) << 28)),
#define PB_FIELDINFO_2(tag, type, data_offset, data_size, size_offset, array_size) \
(1 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFF) << 16) | (((uint32_t)(size_offset) & 0x0F) << 28)), \
(((uint32_t)(data_offset) & 0xFFFF) | (((uint32_t)(data_size) & 0xFFF) << 16) | (((uint32_t)(tag) & 0x3c0) << 22)),
#define PB_FIELDINFO_4(tag, type, data_offset, data_size, size_offset, array_size) \
(2 | (((tag) << 2) & 0xFF) | ((type) << 8) | (((uint32_t)(array_size) & 0xFFFF) << 16)), \
((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \
(data_offset), (data_size),
#define PB_FIELDINFO_8(tag, type, data_offset, data_size, size_offset, array_size) \
(3 | (((tag) << 2) & 0xFF) | ((type) << 8)), \
((uint32_t)(int_least8_t)(size_offset) | (((uint32_t)(tag) << 2) & 0xFFFFFF00)), \
(data_offset), (data_size), (array_size), 0, 0, 0,
/* These assertions verify that the field information fits in the allocated space.
* The generator tries to automatically determine the correct width that can fit all
* data associated with a message. These asserts will fail only if there has been a
* problem in the automatic logic - this may be worth reporting as a bug. As a workaround,
* you can increase the descriptor width by defining PB_FIELDINFO_WIDTH or by setting
* descriptorsize option in .options file.
*/
#define PB_FITS(value,bits) ((uint32_t)(value) < ((uint32_t)1<<bits))
#define PB_FIELDINFO_ASSERT_1(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,6) && PB_FITS(data_offset,8) && PB_FITS(size_offset,4) && PB_FITS(data_size,4) && PB_FITS(array_size,1), FIELDINFO_DOES_NOT_FIT_width1_field ## tag)
#define PB_FIELDINFO_ASSERT_2(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,10) && PB_FITS(data_offset,16) && PB_FITS(size_offset,4) && PB_FITS(data_size,12) && PB_FITS(array_size,12), FIELDINFO_DOES_NOT_FIT_width2_field ## tag)
#ifndef PB_FIELD_32BIT
/* Maximum field sizes are still 16-bit if pb_size_t is 16-bit */
#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag)
#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,16) && PB_FITS(data_offset,16) && PB_FITS((int_least8_t)size_offset,8) && PB_FITS(data_size,16) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width8_field ## tag)
#else
/* Up to 32-bit fields supported.
* Note that the checks are against 31 bits to avoid compiler warnings about shift wider than type in the test.
* I expect that there is no reasonable use for >2GB messages with nanopb anyway.
*/
#define PB_FIELDINFO_ASSERT_4(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,16), FIELDINFO_DOES_NOT_FIT_width4_field ## tag)
#define PB_FIELDINFO_ASSERT_8(tag, type, data_offset, data_size, size_offset, array_size) \
PB_STATIC_ASSERT(PB_FITS(tag,30) && PB_FITS(data_offset,31) && PB_FITS(size_offset,8) && PB_FITS(data_size,31) && PB_FITS(array_size,31), FIELDINFO_DOES_NOT_FIT_width8_field ## tag)
#endif
/* Automatic picking of FIELDINFO width:
* Uses width 1 when possible, otherwise resorts to width 2.
* This is used when PB_BIND() is called with "AUTO" as the argument.
* The generator will give explicit size argument when it knows that a message
* structure grows beyond 1-word format limits.
*/
#define PB_FIELDINFO_WIDTH_AUTO(atype, htype, ltype) PB_FI_WIDTH ## atype(htype, ltype)
#define PB_FI_WIDTH_PB_ATYPE_STATIC(htype, ltype) PB_FI_WIDTH ## htype(ltype)
#define PB_FI_WIDTH_PB_ATYPE_POINTER(htype, ltype) PB_FI_WIDTH ## htype(ltype)
#define PB_FI_WIDTH_PB_ATYPE_CALLBACK(htype, ltype) 2
#define PB_FI_WIDTH_PB_HTYPE_REQUIRED(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_SINGULAR(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_OPTIONAL(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_ONEOF(ltype) PB_FI_WIDTH ## ltype
#define PB_FI_WIDTH_PB_HTYPE_REPEATED(ltype) 2
#define PB_FI_WIDTH_PB_HTYPE_FIXARRAY(ltype) 2
#define PB_FI_WIDTH_PB_LTYPE_BOOL 1
#define PB_FI_WIDTH_PB_LTYPE_BYTES 2
#define PB_FI_WIDTH_PB_LTYPE_DOUBLE 1
#define PB_FI_WIDTH_PB_LTYPE_ENUM 1
#define PB_FI_WIDTH_PB_LTYPE_UENUM 1
#define PB_FI_WIDTH_PB_LTYPE_FIXED32 1
#define PB_FI_WIDTH_PB_LTYPE_FIXED64 1
#define PB_FI_WIDTH_PB_LTYPE_FLOAT 1
#define PB_FI_WIDTH_PB_LTYPE_INT32 1
#define PB_FI_WIDTH_PB_LTYPE_INT64 1
#define PB_FI_WIDTH_PB_LTYPE_MESSAGE 2
#define PB_FI_WIDTH_PB_LTYPE_MSG_W_CB 2
#define PB_FI_WIDTH_PB_LTYPE_SFIXED32 1
#define PB_FI_WIDTH_PB_LTYPE_SFIXED64 1
#define PB_FI_WIDTH_PB_LTYPE_SINT32 1
#define PB_FI_WIDTH_PB_LTYPE_SINT64 1
#define PB_FI_WIDTH_PB_LTYPE_STRING 2
#define PB_FI_WIDTH_PB_LTYPE_UINT32 1
#define PB_FI_WIDTH_PB_LTYPE_UINT64 1
#define PB_FI_WIDTH_PB_LTYPE_EXTENSION 1
#define PB_FI_WIDTH_PB_LTYPE_FIXED_LENGTH_BYTES 2
/* The mapping from protobuf types to LTYPEs is done using these macros. */
#define PB_LTYPE_MAP_BOOL PB_LTYPE_BOOL
#define PB_LTYPE_MAP_BYTES PB_LTYPE_BYTES
#define PB_LTYPE_MAP_DOUBLE PB_LTYPE_FIXED64
#define PB_LTYPE_MAP_ENUM PB_LTYPE_VARINT
#define PB_LTYPE_MAP_UENUM PB_LTYPE_UVARINT
#define PB_LTYPE_MAP_FIXED32 PB_LTYPE_FIXED32
#define PB_LTYPE_MAP_FIXED64 PB_LTYPE_FIXED64
#define PB_LTYPE_MAP_FLOAT PB_LTYPE_FIXED32
#define PB_LTYPE_MAP_INT32 PB_LTYPE_VARINT
#define PB_LTYPE_MAP_INT64 PB_LTYPE_VARINT
#define PB_LTYPE_MAP_MESSAGE PB_LTYPE_SUBMESSAGE
#define PB_LTYPE_MAP_MSG_W_CB PB_LTYPE_SUBMSG_W_CB
#define PB_LTYPE_MAP_SFIXED32 PB_LTYPE_FIXED32
#define PB_LTYPE_MAP_SFIXED64 PB_LTYPE_FIXED64
#define PB_LTYPE_MAP_SINT32 PB_LTYPE_SVARINT
#define PB_LTYPE_MAP_SINT64 PB_LTYPE_SVARINT
#define PB_LTYPE_MAP_STRING PB_LTYPE_STRING
#define PB_LTYPE_MAP_UINT32 PB_LTYPE_UVARINT
#define PB_LTYPE_MAP_UINT64 PB_LTYPE_UVARINT
#define PB_LTYPE_MAP_EXTENSION PB_LTYPE_EXTENSION
#define PB_LTYPE_MAP_FIXED_LENGTH_BYTES PB_LTYPE_FIXED_LENGTH_BYTES
/* These macros are used for giving out error messages.
* They are mostly a debugging aid; the main error information
* is the true/false return value from functions.
* Some code space can be saved by disabling the error
* messages if not used.
*
* PB_SET_ERROR() sets the error message if none has been set yet.
* msg must be a constant string literal.
* PB_GET_ERROR() always returns a pointer to a string.
* PB_RETURN_ERROR() sets the error and returns false from current
* function.
*/
#ifdef PB_NO_ERRMSG
#define PB_SET_ERROR(stream, msg) PB_UNUSED(stream)
#define PB_GET_ERROR(stream) "(errmsg disabled)"
#else
#define PB_SET_ERROR(stream, msg) (stream->errmsg = (stream)->errmsg ? (stream)->errmsg : (msg))
#define PB_GET_ERROR(stream) ((stream)->errmsg ? (stream)->errmsg : "(none)")
#endif
#define PB_RETURN_ERROR(stream, msg) return PB_SET_ERROR(stream, msg), false
#ifdef __cplusplus
} /* extern "C" */
#endif
#ifdef __cplusplus
#if __cplusplus >= 201103L
#define PB_CONSTEXPR constexpr
#else // __cplusplus >= 201103L
#define PB_CONSTEXPR
#endif // __cplusplus >= 201103L
#if __cplusplus >= 201703L
#define PB_INLINE_CONSTEXPR inline constexpr
#else // __cplusplus >= 201703L
#define PB_INLINE_CONSTEXPR PB_CONSTEXPR
#endif // __cplusplus >= 201703L
extern "C++"
{
namespace nanopb {
// Each type will be partially specialized by the generator.
template <typename GenMessageT> struct MessageDescriptor;
} // namespace nanopb
}
#endif /* __cplusplus */
#endif

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BASE/Inc/BSP/pb_common.h
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/* pb_common.h: Common support functions for pb_encode.c and pb_decode.c.
* These functions are rarely needed by applications directly.
*/
#ifndef PB_COMMON_H_INCLUDED
#define PB_COMMON_H_INCLUDED
#include "../../BASE/Inc/BSP/pb.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Initialize the field iterator structure to beginning.
* Returns false if the message type is empty. */
bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message);
/* Get a field iterator for extension field. */
bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension);
/* Same as pb_field_iter_begin(), but for const message pointer.
* Note that the pointers in pb_field_iter_t will be non-const but shouldn't
* be written to when using these functions. */
bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message);
bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension);
/* Advance the iterator to the next field.
* Returns false when the iterator wraps back to the first field. */
bool pb_field_iter_next(pb_field_iter_t *iter);
/* Advance the iterator until it points at a field with the given tag.
* Returns false if no such field exists. */
bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag);
/* Find a field with type PB_LTYPE_EXTENSION, or return false if not found.
* There can be only one extension range field per message. */
bool pb_field_iter_find_extension(pb_field_iter_t *iter);
#ifdef PB_VALIDATE_UTF8
/* Validate UTF-8 text string */
bool pb_validate_utf8(const char *s);
#endif
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

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BASE/Inc/BSP/pb_decode.h
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/* pb_decode.h: Functions to decode protocol buffers. Depends on pb_decode.c.
* The main function is pb_decode. You also need an input stream, and the
* field descriptions created by nanopb_generator.py.
*/
#ifndef PB_DECODE_H_INCLUDED
#define PB_DECODE_H_INCLUDED
#include "../../BASE/Inc/BSP/pb.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Structure for defining custom input streams. You will need to provide
* a callback function to read the bytes from your storage, which can be
* for example a file or a network socket.
*
* The callback must conform to these rules:
*
* 1) Return false on IO errors. This will cause decoding to abort.
* 2) You can use state to store your own data (e.g. buffer pointer),
* and rely on pb_read to verify that no-body reads past bytes_left.
* 3) Your callback may be used with substreams, in which case bytes_left
* is different than from the main stream. Don't use bytes_left to compute
* any pointers.
*/
struct pb_istream_s
{
#ifdef PB_BUFFER_ONLY
/* Callback pointer is not used in buffer-only configuration.
* Having an int pointer here allows binary compatibility but
* gives an error if someone tries to assign callback function.
*/
int *callback;
#else
bool (*callback)(pb_istream_t *stream, pb_byte_t *buf, size_t count);
#endif
void *state; /* Free field for use by callback implementation */
size_t bytes_left;
#ifndef PB_NO_ERRMSG
const char *errmsg;
#endif
};
#ifndef PB_NO_ERRMSG
#define PB_ISTREAM_EMPTY {0,0,0,0}
#else
#define PB_ISTREAM_EMPTY {0,0,0}
#endif
/***************************
* Main decoding functions *
***************************/
/* Decode a single protocol buffers message from input stream into a C structure.
* Returns true on success, false on any failure.
* The actual struct pointed to by dest must match the description in fields.
* Callback fields of the destination structure must be initialized by caller.
* All other fields will be initialized by this function.
*
* Example usage:
* MyMessage msg = {};
* uint8_t buffer[64];
* pb_istream_t stream;
*
* // ... read some data into buffer ...
*
* stream = pb_istream_from_buffer(buffer, count);
* pb_decode(&stream, MyMessage_fields, &msg);
*/
bool pb_decode(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct);
/* Extended version of pb_decode, with several options to control
* the decoding process:
*
* PB_DECODE_NOINIT: Do not initialize the fields to default values.
* This is slightly faster if you do not need the default
* values and instead initialize the structure to 0 using
* e.g. memset(). This can also be used for merging two
* messages, i.e. combine already existing data with new
* values.
*
* PB_DECODE_DELIMITED: Input message starts with the message size as varint.
* Corresponds to parseDelimitedFrom() in Google's
* protobuf API.
*
* PB_DECODE_NULLTERMINATED: Stop reading when field tag is read as 0. This allows
* reading null terminated messages.
* NOTE: Until nanopb-0.4.0, pb_decode() also allows
* null-termination. This behaviour is not supported in
* most other protobuf implementations, so PB_DECODE_DELIMITED
* is a better option for compatibility.
*
* Multiple flags can be combined with bitwise or (| operator)
*/
#define PB_DECODE_NOINIT 0x01U
#define PB_DECODE_DELIMITED 0x02U
#define PB_DECODE_NULLTERMINATED 0x04U
bool pb_decode_ex(pb_istream_t *stream, const pb_msgdesc_t *fields, void *dest_struct, unsigned int flags);
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define pb_decode_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NOINIT)
#define pb_decode_delimited(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED)
#define pb_decode_delimited_noinit(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_DELIMITED | PB_DECODE_NOINIT)
#define pb_decode_nullterminated(s,f,d) pb_decode_ex(s,f,d, PB_DECODE_NULLTERMINATED)
/* Release any allocated pointer fields. If you use dynamic allocation, you should
* call this for any successfully decoded message when you are done with it. If
* pb_decode() returns with an error, the message is already released.
*/
void pb_release(const pb_msgdesc_t *fields, void *dest_struct);
/**************************************
* Functions for manipulating streams *
**************************************/
/* Create an input stream for reading from a memory buffer.
*
* msglen should be the actual length of the message, not the full size of
* allocated buffer.
*
* Alternatively, you can use a custom stream that reads directly from e.g.
* a file or a network socket.
*/
pb_istream_t pb_istream_from_buffer(const pb_byte_t *buf, size_t msglen);
/* Function to read from a pb_istream_t. You can use this if you need to
* read some custom header data, or to read data in field callbacks.
*/
bool pb_read(pb_istream_t *stream, pb_byte_t *buf, size_t count);
/************************************************
* Helper functions for writing field callbacks *
************************************************/
/* Decode the tag for the next field in the stream. Gives the wire type and
* field tag. At end of the message, returns false and sets eof to true. */
bool pb_decode_tag(pb_istream_t *stream, pb_wire_type_t *wire_type, uint32_t *tag, bool *eof);
/* Skip the field payload data, given the wire type. */
bool pb_skip_field(pb_istream_t *stream, pb_wire_type_t wire_type);
/* Decode an integer in the varint format. This works for enum, int32,
* int64, uint32 and uint64 field types. */
#ifndef PB_WITHOUT_64BIT
bool pb_decode_varint(pb_istream_t *stream, uint64_t *dest);
#else
#define pb_decode_varint pb_decode_varint32
#endif
/* Decode an integer in the varint format. This works for enum, int32,
* and uint32 field types. */
bool pb_decode_varint32(pb_istream_t *stream, uint32_t *dest);
/* Decode a bool value in varint format. */
bool pb_decode_bool(pb_istream_t *stream, bool *dest);
/* Decode an integer in the zig-zagged svarint format. This works for sint32
* and sint64. */
#ifndef PB_WITHOUT_64BIT
bool pb_decode_svarint(pb_istream_t *stream, int64_t *dest);
#else
bool pb_decode_svarint(pb_istream_t *stream, int32_t *dest);
#endif
/* Decode a fixed32, sfixed32 or float value. You need to pass a pointer to
* a 4-byte wide C variable. */
bool pb_decode_fixed32(pb_istream_t *stream, void *dest);
#ifndef PB_WITHOUT_64BIT
/* Decode a fixed64, sfixed64 or double value. You need to pass a pointer to
* a 8-byte wide C variable. */
bool pb_decode_fixed64(pb_istream_t *stream, void *dest);
#endif
#ifdef PB_CONVERT_DOUBLE_FLOAT
/* Decode a double value into float variable. */
bool pb_decode_double_as_float(pb_istream_t *stream, float *dest);
#endif
/* Make a limited-length substream for reading a PB_WT_STRING field. */
bool pb_make_string_substream(pb_istream_t *stream, pb_istream_t *substream);
bool pb_close_string_substream(pb_istream_t *stream, pb_istream_t *substream);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

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BASE/Inc/BSP/pb_encode.h
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/* pb_encode.h: Functions to encode protocol buffers. Depends on pb_encode.c.
* The main function is pb_encode. You also need an output stream, and the
* field descriptions created by nanopb_generator.py.
*/
#ifndef PB_ENCODE_H_INCLUDED
#define PB_ENCODE_H_INCLUDED
#include "../../BASE/Inc/BSP/pb.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Structure for defining custom output streams. You will need to provide
* a callback function to write the bytes to your storage, which can be
* for example a file or a network socket.
*
* The callback must conform to these rules:
*
* 1) Return false on IO errors. This will cause encoding to abort.
* 2) You can use state to store your own data (e.g. buffer pointer).
* 3) pb_write will update bytes_written after your callback runs.
* 4) Substreams will modify max_size and bytes_written. Don't use them
* to calculate any pointers.
*/
struct pb_ostream_s
{
#ifdef PB_BUFFER_ONLY
/* Callback pointer is not used in buffer-only configuration.
* Having an int pointer here allows binary compatibility but
* gives an error if someone tries to assign callback function.
* Also, NULL pointer marks a 'sizing stream' that does not
* write anything.
*/
const int *callback;
#else
bool (*callback)(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
#endif
void *state; /* Free field for use by callback implementation. */
size_t max_size; /* Limit number of output bytes written (or use SIZE_MAX). */
size_t bytes_written; /* Number of bytes written so far. */
#ifndef PB_NO_ERRMSG
const char *errmsg;
#endif
};
/***************************
* Main encoding functions *
***************************/
/* Encode a single protocol buffers message from C structure into a stream.
* Returns true on success, false on any failure.
* The actual struct pointed to by src_struct must match the description in fields.
* All required fields in the struct are assumed to have been filled in.
*
* Example usage:
* MyMessage msg = {};
* uint8_t buffer[64];
* pb_ostream_t stream;
*
* msg.field1 = 42;
* stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
* pb_encode(&stream, MyMessage_fields, &msg);
*/
bool pb_encode(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
/* Extended version of pb_encode, with several options to control the
* encoding process:
*
* PB_ENCODE_DELIMITED: Prepend the length of message as a varint.
* Corresponds to writeDelimitedTo() in Google's
* protobuf API.
*
* PB_ENCODE_NULLTERMINATED: Append a null byte to the message for termination.
* NOTE: This behaviour is not supported in most other
* protobuf implementations, so PB_ENCODE_DELIMITED
* is a better option for compatibility.
*/
#define PB_ENCODE_DELIMITED 0x02U
#define PB_ENCODE_NULLTERMINATED 0x04U
bool pb_encode_ex(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct, unsigned int flags);
/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define pb_encode_delimited(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_DELIMITED)
#define pb_encode_nullterminated(s,f,d) pb_encode_ex(s,f,d, PB_ENCODE_NULLTERMINATED)
/* Encode the message to get the size of the encoded data, but do not store
* the data. */
bool pb_get_encoded_size(size_t *size, const pb_msgdesc_t *fields, const void *src_struct);
/**************************************
* Functions for manipulating streams *
**************************************/
/* Create an output stream for writing into a memory buffer.
* The number of bytes written can be found in stream.bytes_written after
* encoding the message.
*
* Alternatively, you can use a custom stream that writes directly to e.g.
* a file or a network socket.
*/
pb_ostream_t pb_ostream_from_buffer(pb_byte_t *buf, size_t bufsize);
/* Pseudo-stream for measuring the size of a message without actually storing
* the encoded data.
*
* Example usage:
* MyMessage msg = {};
* pb_ostream_t stream = PB_OSTREAM_SIZING;
* pb_encode(&stream, MyMessage_fields, &msg);
* printf("Message size is %d\n", stream.bytes_written);
*/
#ifndef PB_NO_ERRMSG
#define PB_OSTREAM_SIZING {0,0,0,0,0}
#else
#define PB_OSTREAM_SIZING {0,0,0,0}
#endif
/* Function to write into a pb_ostream_t stream. You can use this if you need
* to append or prepend some custom headers to the message.
*/
bool pb_write(pb_ostream_t *stream, const pb_byte_t *buf, size_t count);
/************************************************
* Helper functions for writing field callbacks *
************************************************/
/* Encode field header based on type and field number defined in the field
* structure. Call this from the callback before writing out field contents. */
bool pb_encode_tag_for_field(pb_ostream_t *stream, const pb_field_iter_t *field);
/* Encode field header by manually specifying wire type. You need to use this
* if you want to write out packed arrays from a callback field. */
bool pb_encode_tag(pb_ostream_t *stream, pb_wire_type_t wiretype, uint32_t field_number);
/* Encode an integer in the varint format.
* This works for bool, enum, int32, int64, uint32 and uint64 field types. */
#ifndef PB_WITHOUT_64BIT
bool pb_encode_varint(pb_ostream_t *stream, uint64_t value);
#else
bool pb_encode_varint(pb_ostream_t *stream, uint32_t value);
#endif
/* Encode an integer in the zig-zagged svarint format.
* This works for sint32 and sint64. */
#ifndef PB_WITHOUT_64BIT
bool pb_encode_svarint(pb_ostream_t *stream, int64_t value);
#else
bool pb_encode_svarint(pb_ostream_t *stream, int32_t value);
#endif
/* Encode a string or bytes type field. For strings, pass strlen(s) as size. */
bool pb_encode_string(pb_ostream_t *stream, const pb_byte_t *buffer, size_t size);
/* Encode a fixed32, sfixed32 or float value.
* You need to pass a pointer to a 4-byte wide C variable. */
bool pb_encode_fixed32(pb_ostream_t *stream, const void *value);
#ifndef PB_WITHOUT_64BIT
/* Encode a fixed64, sfixed64 or double value.
* You need to pass a pointer to a 8-byte wide C variable. */
bool pb_encode_fixed64(pb_ostream_t *stream, const void *value);
#endif
#ifdef PB_CONVERT_DOUBLE_FLOAT
/* Encode a float value so that it appears like a double in the encoded
* message. */
bool pb_encode_float_as_double(pb_ostream_t *stream, float value);
#endif
/* Encode a submessage field.
* You need to pass the pb_field_t array and pointer to struct, just like
* with pb_encode(). This internally encodes the submessage twice, first to
* calculate message size and then to actually write it out.
*/
bool pb_encode_submessage(pb_ostream_t *stream, const pb_msgdesc_t *fields, const void *src_struct);
#ifdef __cplusplus
} /* extern "C" */
#endif
#endif

16
BASE/Inc/MSP/msp_CMCU.h
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/*
* msp_CMCU.h
*
* Created on: Aug 28, 2025
* Author: 111
*/
#ifndef INC_MSP_MSP_CMCU_H_
#define INC_MSP_MSP_CMCU_H_
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
extern int32_t* CMCUValue_in;
extern void CMCU_sensor_intialize(struct UARTHandler *Handler);
#endif /* INC_MSP_MSP_CMCU_H_ */

13
BASE/Inc/MSP/msp_Dynamometer_Sensor.h
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/*
* msp_Dynamometer_Sensor.h
*
* Created on: Oct 8, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_DYNAMOMETER_SENSOR_H_
#define INC_MSP_MSP_DYNAMOMETER_SENSOR_H_
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
extern void Dynamometer_sensor_intialize(struct UARTHandler *Handler);
extern int32_t* DynamometerValue_in;
#endif /* INC_MSP_MSP_DYNAMOMETER_SENSOR_H_ */

13
BASE/Inc/MSP/msp_Force_Sensor.h
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/*
* msp_Force_Sensor.h
*
* Created on: Oct 8, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_FORCE_SENSOR_H_
#define INC_MSP_MSP_FORCE_SENSOR_H_
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
extern void force_sensor_intialize(struct UARTHandler *Handler);
extern int32_t* ForceValue_in;
#endif /* INC_MSP_MSP_FORCE_SENSOR_H_ */

27
BASE/Inc/MSP/msp_PID.h
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/*
* msp_PID.h
*
* Created on: 2024年1月22日
* Author: Administrator
*/
#ifndef INC_MSP_MSP_PID_H_
#define INC_MSP_MSP_PID_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
void GF_MSP_Auto_Motion_adj(double Current_Angle, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
void GF_MSP_Auto_adj_Unicycle(double Current_Angle_11,double Desire_Angle_11, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
void GF_MSP_Auto_Motion_adj_Com(double Current_Angle, double Horizontal_Compen_Angle ,double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
void GF_MSP_PID_Now_Der_adj_Com(double Current_Angle,double Desire_Angle_Input, double Auto_Speed, double Auto_Speed_Max, double System_time ,double *W_Speed_1);
int Angle_Tune_PID(float CurrentAngle, float TargetAngle, int Position_KP,
int Position_KI, int Position_KD, int MaxValue);
#endif /* INC_MSP_MSP_PID_H_ */

18
BASE/Inc/MSP/msp_PaintThickness.h
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/*
* msp_PaintThickness.h
*
* Created on: Jul 29, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_PAINTTHICKNESS_H_
#define INC_MSP_MSP_PAINTTHICKNESS_H_
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
extern void Paint_Thickness_intialize(struct UARTHandler *Handler);
extern void GF_PT_Inquiry();
extern void decode_PaintThickness(uint8_t *buffer, uint16_t length);
#endif /* INC_MSP_MSP_PAINTTHICKNESS_H_ */

62
BASE/Inc/MSP/msp_TI5MOTOR.h
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/*
* msp_TI5MOTOR.h
*
* Created on: Oct 26, 2023
* Author: shiya
*
*/
#ifndef INC_MSP_MSP_TI5MOTOR_H_
#define INC_MSP_MSP_TI5MOTOR_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "msp_Motor.pb.h"
#define DF_MSP_Ti5Motor_PositionMode 44
#define DF_MSP_Ti5Motor_SpeedMode 43
#define DF_MSP_Ti5Motor_CurrentMode 42
#define DF_MSP_Ti5Motor_State_Read 41
void DecodeTi5MotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length);
extern int32_t Function_code;
//电机的ID必须是连续的，第一个电机ID需要在此定义
#define DF_MSP_Ti5Motor_StartID 0
//#define DF_MSP_Ti5Motor_StartID 1
//需要将此函数放置到对应的CAN接收中断函数中
void GF_MSP_Ti5Motor_CANRx_Callback();
//需要每间隔2ms执行一次
void GF_MSP_Ti5Motor_Control_Timer();
//void GF_Tis_Control_Single();
void GF_MSP_Ti5Motor_Error_Clean();
//uint8_t Motor_Control_Motor_Index;
//uint8_t Motor_Control_State;
//
void FiveByteCommand(int8_t MotorID, uint8_t command, int32_t content,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void OneByteCommand(int8_t MotorID, uint8_t command,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void Motor_Stop(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void Motor_ClearFault(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void Motor_SetVelocityModeAndTargetVelocity(uint8_t id, int32_t targetSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void MotorSpeedSetup();
void Motor_GetFaultState(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void GetCSPByCommand(uint8_t id,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
//void Ti5_Motor_Controller_intialize(FDCANHandler *Handler);
void SetMaximumAllowablePositiveVelocity(uint8_t id, int32_t maxSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void SetMinimumAllowableNegativeVelocity(uint8_t id, int32_t minmaxSpeed,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void SetMaximumPositivePosition(uint8_t id, int32_t position,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
/// <summary>
/// 获取最小负向位置 减速机角度为：(返回值/65536/减速比)*360<
/// </summary>
void SetCurrentModeAndTargetCurent(uint8_t id, int32_t targetCurrent,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
void SetMinimumNegativePosition(uint8_t id, int32_t position,FDCANHandler *Ti5_Motor_Controller,int WaitTime);
#endif /* INC_MSP_MSP_TI5MOTOR_H_ */

21
BASE/Inc/MSP/msp_TL720D.h
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/*
* msp_TL720D.h
*
* Created on: Jul 19, 2024
* Author: bihon
*/
#ifndef INC_MSP_MSP_TL720D_H_
#define INC_MSP_MSP_TL720D_H_
#include <stdio.h>
#include <string.h>
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
#include "stdio.h"
#include "../../BASE/Inc/BSP/bsp_UART.h"
#include "usart.h"
#include "gpio.h"
extern void TL720D_intialize(struct UARTHandler *Handler);
extern MSP_TL720DParameters* SP_MSP_RF_TL720D_Parameters_In;
extern int32_t *RobotAngle;//机器人角度
#endif /* INC_MSP_MSP_TL720D_H_ */

85
BASE/Inc/MSP/msp_TTMotor_ZQ.h
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/*
* msp_TTMotor_ZQ.h
*
* Created on: Oct 10, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_TTMOTOR_ZQ_H_
#define INC_MSP_MSP_TTMOTOR_ZQ_H_
#include "../../BASE/Inc/BSP/bsp_include.h"
#include "../../BASE/Inc/BSP/bsp_FDCAN.h"
#include "fsm.h"
#define DF_MSP_TT_Motor_PositionMode 01
#define DF_MSP_TT_Motor_SpeedMode 02
#define DF_MSP_TT_Motor_CurrentMode 03
#define DF_MSP_TT_Motor_Posi_Now 04
#define TT_One_Deg_Count 11014///32768*121/360(减速比121)=11014
#define TT_Left_limt 84080 //-775000+75*11014
#define TT_Right_limt -1568020 //-775000-75*11014
//#define Sw_Rust_Mid_Posi -775000 //-775000-75*11014
//double Sw_Rust_Mid_Posi=-775000;//需检测修改
#define DF_MSP_TT_Motor_StartID 2
void SwingMotorSetCheckTargetPositon();
void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
extern int SwingMotorID;
extern int LeftMotorID;
extern int RightMotorID;
extern void ActivateMotor(int MotorID, FDCANHandler *ZQ_Motor_Controller,
int32_t WaitTime) ;
extern void CANSendMessageSDO_ADD_To_SendList(int MotorID, uint8_t Function,
uint16_t ControlWord, uint8_t subWord, int32_t ControlWordValue,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
//位置速度模式
extern void Postion_Velcocity_Run_SetParameter(int MotorID, int TargetPosition,
int TargetSpeed, int AccTime, int DecTime,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
extern void Postion_Velcocity_Set_Position(int MotorID, int TargetPosition,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
extern void Driver_ReadError(int MotorID, FDCANHandler *ZQ_Motor_Controller,
int32_t WaitTime);
extern void SetMotorTargetPosition(int MotorID, int32_t TargetPosition,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
extern void Postion_Velcocity_Stop(int MotorID, FDCANHandler *ZQ_Motor_Controller,
int32_t WaitTime) ;
extern void SetCurrentPositionZero(int MotorID, FDCANHandler *ZQ_Motor_Controller,
int32_t WaitTime) ;
extern void Swing_Motor_Set_Target_Position() ;
extern void Swing_Motor_Read_ReachedEnd() ;
extern void Set_Current_Positon_Zero(uint8_t MotorID,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
extern void TT_Request_Position(uint32_t Motor_ID_1,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
extern void TT_Request_Velocity(uint32_t Motor_ID_1,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
extern void TT_Request_Fault(uint32_t Motor_ID_1,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime) ;
extern void TT_Request_Current(uint32_t Motor_ID_1,
FDCANHandler *ZQ_Motor_Controller, int32_t WaitTime);
extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
extern void SpeedModeSetup(int MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t Acc, int32_t Dec, int32_t TargetVelocity); //设定速度模式，并更改相关速度
extern void TT_Analytic_Fun(int32_t ID_A_T_A, char *buffer);
extern void TT_SpeedMode_Set_TargetSpeed(uint32_t MotorID,FDCANHandler *ZQ_Motor_Controller,int32_t WaitTime,int32_t TargetSpeed);
#endif /* INC_MSP_MSP_TTMOTOR_ZQ_H_ */

19
BASE/Inc/MSP/msp_U7.h
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/*
* msp_U7.h
*
* Created on: Oct 8, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_U7_H_
#define INC_MSP_MSP_U7_H_
#include "../../BASE/Inc/BSP/bsp_UART.h"
#include "msp_U7.pb.h"
void Sbus_Data_Count_U7(uint8_t *buf, int32_t *But_Value);
extern SP_MSP_U7_Button *P_U7;
void Robot_ResetCheck_Loop(void);
//
extern void U7_Sbus_UART_Handler_intialize(struct UARTHandler* Handler);
uint8_t IsRemoteAtInitialPosition(void);
#endif /* INC_MSP_MSP_U7_H_ */

14
BASE/Inc/MSP/msp_Ultrasonic_Sensor.h
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/*
* msp_Ultrasonic_Sensor.h
*
* Created on: Oct 8, 2024
* Author: akeguo
*/
#ifndef INC_MSP_MSP_ULTRASONIC_SENSOR_H_
#define INC_MSP_MSP_ULTRASONIC_SENSOR_H_
#include "../../BASE/Inc/BSP/bsp_MB_host.h"
extern void Ultrasonic_sensor_intialize(struct UARTHandler *Handler);
extern int32_t* ForceValue_1;
extern int32_t* ForceValue_2;
#endif /* INC_MSP_MSP_ULTRASONIC_SENSOR_H_ */

100
BASE/Src/BSP/BHBF_ROBOT.c
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/*
* BHBF_ROBOT.c
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#include "fsm.h"
#include "BHBF_ROBOT.h"
#include <string.h>
#include "bsp_FDCAN.h"
int32_t SystemTimeMiliCount; //2ms加一
//初始化定时器
Sys_timer_handler timer_handler_1;
Sys_timer_handler timer_handler_2;
Sys_timer_handler timer_handler_3;
Sys_timer_handler timer_handler_4;
//7 motors
MotorParameters *Motor[3];
//Motor Error
int32_t *Motor_ID_Errors[3] =
{ 0 };
//ComError
int32_t* SystemErrorCode;
ErrorData* SystemErrorData;
TT_MotorParameters* TT_Motor[4];
//Declare a CV and initialize CV
CV_struct_define CV =
{ 0 };
//Declare a GV and initialize CV
GV_struct_define GV =
{ 0 };
//Declare a PV and initialize CV
//PV_struct_define PV ={ 0 };
IV_struct_define IV ={ 0 };
void GF_MainLoop_Jump(int32_t Next_Index_U, int32_t Next_Index_N);
void SET_BIT_1(int32_t* num,int32_t k)
{
*num=((*num) | (1 << (k)));
}
void SET_BIT_0(int32_t* num,int32_t k)
{
*num=((*num) & ~(1 << (k)));
}
int32_t Get_BIT(int32_t* num,int32_t k)
{
// return (*num >> (k -1)) & 1;
return (*num >> (k)) & 1;
}
//100ms执行一次
void GF_WatchDog_Loop()
{
//硬件看门狗复位
//HAL_GPIO_TogglePin(RST_WDI_GPIO_Port, RST_WDI_Pin); //Hardware Watchdog,kicking the dog
//硬件看门狗复位
}
//比较计数值
bool CompareTimer(int32_t DelayMiliSeconds,Sys_timer_handler * timer_handler)
{
if(timer_handler->start_timer==1)
{
timer_handler->sys_current_timer_count=DelayMiliSeconds/2+SystemTimeMiliCount;
timer_handler->start_timer=0;
}
if(timer_handler->sys_current_timer_count<=SystemTimeMiliCount)
{
return true;
}else
{
return false;
}
}
//定时数数
void GF_Timer_Count()
{
SystemTimeMiliCount++;
}
//将数数写入定时器
void SystemTimer_Intialize()
{
SystemTimeMiliCount=0;
GF_BSP_Interrupt_Add_CallBack(
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_Timer_Count);
}

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BASE/Src/BSP/DLT/DLTuc.c
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/**
* @file DLTuc.c
* @author Teodor Rosolowski
* @date 1 Jul 2022
* @brief This file is a part of DLTuc library
*
* In this source file you will find entire implementation of the DLTuc lib.
*
* Requirments:
* Around ~2kB of RAM
* Check Configuration file and defines:
* DLT_TRANSMIT_RING_BUFFER_SIZE, DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE
*
*/
/*
* *******************************************************************************************
* Includes
* *******************************************************************************************
* */
#include "DLT/DLTuc.h"
#include "stdio.h"
#include "stdint.h"
#include "stdbool.h"
#include <stdarg.h>
#include <string.h>
/*
* *******************************************************************************************
* Local defines
* *******************************************************************************************
* */
/**!
* \brief DLT_ACT_HEADER_SIZE - actual DLT header size
* \details Standard Header + Extended + TypeInfo
* Don't modify it if you aren't sure what are you doing!!!
*/
#define DLT_ACT_HEADER_SIZE 32
/**!
* \brief DLT_MINIMUM_LOG_DROP_PERIOD
* \details minimum period between two drop info log
*/
#define DLT_MINIMUM_LOG_DROP_PERIOD 200
/*
* *******************************************************************************************
* Local types
* *******************************************************************************************
* */
/* Prototypes to improve readability.. */
/*typedefs for future use..*/
// typedef
// {
// uint32_t HeaderStart;
// BaseHeaderConfig_t BaseHeaderConfig;
// uint8_t MessageCounter;
// uint16_t MessageLength;
// uint32_t EcuId;
// uint32_t TimeStamp;
// }DLT_BaseHeader_t;
// typedef
// {
// DLT_DebugLevel_t DebugLevel;
// uint8_t NumberOfArguments;
// uint32_t AppId;
// uint32_t ContexID;
// TypeInfo_t TypeInfo;
// uint16_t Argument1;
// }DLT_ExtendedHeader_t;
//char DLT_LOG_ENABLE_LEVEL= 7;
char DLT_LOG_ENABLE_LEVEL= 0;
/**!
* \brief RB_Status
* \details ---
* */
typedef enum
{
RB_OK = 0,
RB_ERROR = 1
} RB_Status;
/**!
* \brief DltRingBufferTransmit_t
* \details ---
* */
typedef struct DltRingBufferTransmit_Tag
{
uint16_t Head; // Pointer to write
uint16_t Tail; // Pointer to read
bool readyToTransmit[DLT_TRANSMIT_RING_BUFFER_SIZE];
uint8_t dataSize[DLT_TRANSMIT_RING_BUFFER_SIZE]; // Array to keep message size
} DltRingBufferTransmit_t;
/**!
* \brief BluRingBufferReceive_t
* \details ---
* */
typedef struct BluRingBufferReceive_Tag
{
uint16_t Head; // Pointer to write
uint16_t Tail; // Pointer to read
uint8_t MessageSize[DLT_RECEIVE_RING_BUFFER_SIZE]; // Array to keep message size
bool ReadyToRead[DLT_RECEIVE_RING_BUFFER_SIZE];
} BluRingBufferReceive_t;
/**
* *******************************************************************************************
* Static variables
* *******************************************************************************************
* */
/**!
* \brief ExtSerialTrDataFunctionCb
* \details ---
* */
static void (*ExtSerialTrDataFunctionCb)(uint8_t *DltLogData, uint8_t Size);
static void (*ExtSerialRecDataFunctionCb)(uint8_t *RecDataBuff, uint16_t Size);
static void (*ExtInfoInjectionDataRcvdCb)(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size);
static uint32_t (*GetSystemTimeMs)(void);
/**!
* \brief LogDroppedFlag
* \details ---
* */
static bool LogDroppedFlag =false;
static uint32_t PrevLogDropSendTime = 0u;
static uint8_t DltLogDroppedInfo[] = "LOG DROPPED!!!";
static uint8_t DltLogDroppedInfoBuffer[60] = {0}; /* TODO: Remove magic number..*/
static uint8_t DLtLogDroppedSize = 0;
static uint8_t ActDltMessageCounter =0;
static DltRingBufferTransmit_t DltTrsmtRingBuffer = {.readyToTransmit[0]=true};
static uint8_t DltTrsmtMessagesTab[DLT_TRANSMIT_RING_BUFFER_SIZE][DLT_TRANSMIT_MAX_SINGLE_MESSAGE_SIZE];
static BluRingBufferReceive_t BleMainReceiveRingBuffer;
static uint8_t BluMainReceiveMessagesTab[DLT_RECEIVE_RING_BUFFER_SIZE][DLT_REC_SINGLE_MESSAGE_MAX_SIZE];
static volatile uint8_t TransmitReadyStateFlag = true; /*TmpFromDma for example*/
/*
*********************************************************************************************
* Prototypes of static functions
********************************************************************************************
*/
/*!
************************************************************************************************
* \brief PrepareDltHeader
* \details A very lazy implementation of DLT Header - but it works fine
* Please refer to: https://www.autosar.org/fileadmin/user_upload/standards/foundation/1-0/AUTOSAR_PRS_DiagnosticLogAndTraceProtocol.pdf
************************************************************************************************/
static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart);
/*!
************************************************************************************************
* \brief DLT_RB_TransmitRead Function to read data from ring buffer
* \details --
* \param RingBuffer_t *Buf - pointer to Ring Buffer structure
* \param out MessageSize - size of the "DltLogData" (return value)
* \param out MessagePointer - pointer to the message stored in RingBuffer (return value)
* \return RB_OK if something read succesfully, otherwise RB_ERROR
* */
static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer);
/*!
************************************************************************************************
* \brief DLT_RB_GetNextWriteIndex
* \details --
* \param in RingBuffer_t *Buf - pointer to Ring Buffer structure
* \param out writeIndex - next index where DLT data should be stored, can be used only if fun return "RB_OK"
* \return RB_OK if index available, otherwise RB_ERROR
************************************************************************************************/
static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex);
/*!
************************************************************************************************
* \brief DLT_RB_Receive_GetNextMessageAddress
* \details Function used to work with DMA - direct write to ring buffer by DMA
* \param in Buf -
* \param in WriteAddress -
************************************************************************************************/
static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress);
/*!
************************************************************************************************
* \brief DLT_RB_Receive_Read Function to read data from ring buffer
* \details --
* \param RingBuffer_t *Buf - pointer to Ring Buffer structure
* \param out MessageSize - size of the "BleLogData" (return value)
* \param out MessagePointer - pointer to the message stored in RingBuffer (return value)
*
* */
static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer);
/*
*********************************************************************************************
* Static functions implementation
********************************************************************************************
*/
static RB_Status DLT_RB_Receive_GetNextMessageAddress(BluRingBufferReceive_t *Buf, uint8_t **WriteAddress)
{
/* TODO: The implementation isn't optimal...*/
static uint8_t DefaultBlindBuffer[DLT_REC_SINGLE_MESSAGE_MAX_SIZE];
/*Mark previous message as ready to read*/
Buf->ReadyToRead[Buf->Head] = true;
// Compute new Head pointer value of a ring buffer
uint16_t HeadTmp = (Buf->Head + 1) % DLT_RECEIVE_RING_BUFFER_SIZE;
// Check if there is one free space ahead the Head buffer
if(HeadTmp == Buf->Tail)
{
/*Even if buffer is full data must be received somewhere to don't crush application/ dma*/
*WriteAddress = DefaultBlindBuffer;
// There is no space in the buffer - return an error
return RB_ERROR;
}
Buf->ReadyToRead[HeadTmp] = false;
Buf->MessageSize[HeadTmp] = DLT_RECEIVE_RING_BUFFER_SIZE;
Buf->Head = HeadTmp;
*WriteAddress = &BluMainReceiveMessagesTab[HeadTmp][0];
// Everything is ok - return OK status
return RB_OK;
}
static RB_Status DLT_RB_Receive_Read(BluRingBufferReceive_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer)
{
if(Buf->ReadyToRead[Buf->Tail] == false)
{
/*Any message in ring buffer isn't ready to read*/
return RB_ERROR;
}
/*Mark again as not ready to read*/
Buf->ReadyToRead[Buf->Tail] = false;
// Check if Tail hit Head
if(Buf->Head == Buf->Tail)
{
// If yes - there is nothing to read
return RB_ERROR;
}
// Write current value from buffer to pointer from argument
*MessageSize = Buf->MessageSize[Buf->Tail];
*MessagePointer = &BluMainReceiveMessagesTab[Buf->Tail][0];
// Calculate new Tail pointer
Buf->Tail = (Buf->Tail + 1) % DLT_RECEIVE_RING_BUFFER_SIZE;
// Everything is ok - return OK status
return RB_OK;
}
static RB_Status DLT_RB_TransmitRead(DltRingBufferTransmit_t *Buf, uint8_t *MessageSize, uint8_t **MessagePointer)
{
// Check if Tail hit Head
if(Buf->Head == Buf->Tail)
{
// If yes - there is nothing to read
return RB_ERROR;
}
else if(true == Buf->readyToTransmit[Buf->Tail])
{
// Write current value from buffer to pointer from argument
*MessageSize = Buf->dataSize[Buf->Tail];
*MessagePointer = &DltTrsmtMessagesTab[Buf->Tail][0];
// Calculate new Tail pointer
Buf->Tail = (Buf->Tail + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE;
// Everything is ok - return OK status
return RB_OK;
}
else
{
/* Message still not ready to transmit */
return RB_ERROR;
}
}
static RB_Status DLT_RB_GetNextWriteIndex(DltRingBufferTransmit_t *Buf,uint16_t *writeIndex)
{
DLTuc_OS_CRITICAL_START();
// Calculate new Head pointer value
uint8_t HeadTmp = (Buf->Head + 1) % DLT_TRANSMIT_RING_BUFFER_SIZE;
// Check if there is one free space ahead the Head buffer
if(HeadTmp == Buf->Tail)
{
DLTuc_OS_CRITICAL_END();
// There is no space in the buffer - return an error
return RB_ERROR;
}
Buf->Head = HeadTmp;
Buf->readyToTransmit[Buf->Head] = false;
*writeIndex = Buf->Head;
DLTuc_OS_CRITICAL_END();
return RB_OK;
}
static void PrepareDltHeader(uint8_t Level, uint32_t AppId, uint32_t ContextId, uint16_t size,uint8_t *headerAddrStart)
{
uint32_t ActualTime = 0;
if(GetSystemTimeMs != NULL)
{
ActualTime = GetSystemTimeMs() * 10U;
/*Multiply by 10 to get value in MS also in DLTViewer
*Reson: Resolution in DLT Viewer is equal: 10^-4
*/
}
if(size > ((UINT8_MAX -1) - DLT_ACT_HEADER_SIZE) )
{
/*Error to handle, or please develop this function to handle input size > UINT8_MAX */
// while(1)
// {
// /*For development phase: lock the app*/
// }
size = size - DLT_ACT_HEADER_SIZE -1;
}
/*START HEADER*/
headerAddrStart[0] = 0x44; /*'D'*/
headerAddrStart[1] = 0x4c; /*'L'*/
headerAddrStart[2] = 0x53; /*'S'*/
headerAddrStart[3] = 0x01; /*'0x01'*/
headerAddrStart[4] = 0x35; /*'Dlt base header config
* Use extended header - true
* MSBF - false
* With ECU ID - true
* With Seesion ID - false
* With time stamp - true
* version number -random
'*/
headerAddrStart[5] = ActDltMessageCounter++; /*'Message counter value '*/
/*TODO: - it must be fixed!!!! - Length*/
headerAddrStart[6] = 0x00; /*Message length general*/
// headerAddrStart[7] = 0x37; /*'Message length general '*/
headerAddrStart[7]=28+size; /*General size */
uint32_t TempEcuId = DLT_LOG_ECUID_VALUE;
/*ECU ID*/
headerAddrStart[8]= ((uint8_t*)&TempEcuId)[3];
headerAddrStart[9]= ((uint8_t*)&TempEcuId)[2];
headerAddrStart[10]= ((uint8_t*)&TempEcuId)[1];
headerAddrStart[11]= ((uint8_t*)&TempEcuId)[0];
/*Time stamp*/
headerAddrStart[12]= ((uint8_t*)&ActualTime)[3];
headerAddrStart[13]= ((uint8_t*)&ActualTime)[2];
headerAddrStart[14]= ((uint8_t*)&ActualTime)[1];
headerAddrStart[15]= ((uint8_t*)&ActualTime)[0];
/*Extended header --verbose | type serial*/
// headerAddrStart[16]= 0x41; /**/
headerAddrStart[16]= (Level << 4) | 1;
/*Number of arguments*/
headerAddrStart[17]= 0x01; /**/
/*App id */
headerAddrStart[18]= ((uint8_t*)&AppId)[3];
headerAddrStart[19]= ((uint8_t*)&AppId)[2];
headerAddrStart[20]= ((uint8_t*)&AppId)[1];
headerAddrStart[21]= ((uint8_t*)&AppId)[0];
/*Contex ID (4 bytes*/
headerAddrStart[22]= ((uint8_t*)&ContextId)[3];
headerAddrStart[23]= ((uint8_t*)&ContextId)[2];
headerAddrStart[24]= ((uint8_t*)&ContextId)[1];
headerAddrStart[25]= ((uint8_t*)&ContextId)[0];
/*Type info*/
headerAddrStart[26]= 0x01; /**/
headerAddrStart[27]= 0x82; /**/
headerAddrStart[28]= 0x00; /**/
headerAddrStart[29]= 0x00; /**/
/*Argument 1*/
headerAddrStart[30]= size;
/* Size of the load in simplified form, please verify in documentation of DLT protcool documentation */
headerAddrStart[31]= 0x00; /**/
}
/*
****************************************************************************************************
* Exported functions implementation.
* Descriptions are added in header file
*****************************************************************************************************
*/
void DLTuc_RawDataReceiveDone(uint16_t Size)
{
static uint8_t *MessageReceiveBufferAddress = NULL;
uint8_t *MessageToRead_p = NULL;
uint8_t MessageToReadSize= 0U;
DLT_RB_Receive_GetNextMessageAddress(&BleMainReceiveRingBuffer,&MessageReceiveBufferAddress);
if(ExtSerialRecDataFunctionCb != NULL){
ExtSerialRecDataFunctionCb(MessageReceiveBufferAddress,DLT_REC_SINGLE_MESSAGE_MAX_SIZE);
}
/*
* The receive buffer isn't handled fully correctly, it require deeper investigation.
* However, it is possible to receive the Injection messages, and base commands if are transmitted with breakes..
* Received DTL messages are divided by the "IDLE" irq for now.., not by the size and etc...
*/
if(DLT_RB_Receive_Read(&BleMainReceiveRingBuffer, &MessageToReadSize,&MessageToRead_p) == RB_OK)
{
if(MessageToRead_p[4] == 53) /**/
{
/*Use Extended, with EcuId, with Timestamp, end at[15]
then Extended data as follow:
[16] ==22-? - non verbose, type: control, MSTP: fatal
[17] numOfArgs == 1 - TODO: Only 1 argument is for nowsupported!!!
[18-21] - AppId
[22-25] - ContexId
[26-29] - ServiceId
[30-33] - Size*/
uint32_t AppId = MessageToRead_p[21] << 24 |MessageToRead_p[20] << 16 | MessageToRead_p[19] << 8 | MessageToRead_p[18] << 0;
uint32_t RecContexId = MessageToRead_p[25] << 24 |MessageToRead_p[24] << 16 | MessageToRead_p[23] << 8 | MessageToRead_p[22] << 0;
uint32_t RecServiceId = MessageToRead_p[29] << 24 |MessageToRead_p[28] << 16 | MessageToRead_p[27] << 8 | MessageToRead_p[26] << 0;
if(RecServiceId >= DLT_SERVICE_ID_CALLSW_CINJECTION)
{
if(NULL != ExtInfoInjectionDataRcvdCb)
{
/*MSB LSB, wtf..?, it is somehow mixed? */
uint32_t DltDatSize = MessageToRead_p[33] << 24 | MessageToRead_p[32] << 16 | MessageToRead_p[31] << 8 | MessageToRead_p[30] << 0;
ExtInfoInjectionDataRcvdCb(AppId,RecContexId,RecServiceId,&MessageToRead_p[34],(uint16_t)DltDatSize);
}
}
else if(RecServiceId == DLT_SERVICE_ID_SET_LOG_LEVEL)
{
uint32_t NewLogLevel = MessageToRead_p[30];
LOG("Set new log level request: %d How you triggered it?? , not supported", NewLogLevel);
/* It is handled correctly by DLT Viewer?? */
}
else if(RecServiceId == DLT_SERVICE_ID_SET_DEFAULT_LOG_LEVEL)
{
uint32_t NewLogLevel = MessageToRead_p[30];
LOG("Set default log level request: %d", NewLogLevel);
LOG("Not supported yet, I'm too lazy :)");
}
else if(DLT_SERVICE_ID_GET_SOFTWARE_VERSION == RecServiceId)
{
LOG("ECU_SW_VERSION: %d", DLT_ECU_SW_VER);
/*TODO: The lib should send here answer of control message... */
}
else if(DLT_SERVICE_ID_GET_DEFAULT_LOG_LEVEL == RecServiceId)
{
LOG("Default log level: %d", DLT_LOG_ENABLE_LEVEL);
}
}
}
}
void DLTuc_RegisterInjectionDataReceivedCb(
void InjectionDataRcvd(uint32_t AppId, uint32_t ConId,uint32_t ServId,uint8_t *Data, uint16_t Size))
{
ExtInfoInjectionDataRcvdCb = InjectionDataRcvd;
}
void DLTuc_RegisterReceiveSerialDataFunction(void LLSerialRecDataFunctionC(uint8_t *DltLogData, uint16_t Size))
{
ExtSerialRecDataFunctionCb = LLSerialRecDataFunctionC;
if(ExtSerialRecDataFunctionCb != NULL)
{
ExtSerialRecDataFunctionCb(&BluMainReceiveMessagesTab[0][0],DLT_REC_SINGLE_MESSAGE_MAX_SIZE);
}
}
void DLTuc_RegisterTransmitSerialDataFunction(void LLSerialTrDataFunctionC(uint8_t *DltLogData, uint8_t Size))
{
ExtSerialTrDataFunctionCb = LLSerialTrDataFunctionC;
/*Preapre LOG DROP Info Log*/
/* 0x444C5443 - In Ascii code it is: DLTC. It is more convience to put magic numbers here :) */
PrepareDltHeader(DL_ERROR,0x444C5443, 0x444C5443,sizeof(DltLogDroppedInfo),DltLogDroppedInfoBuffer);
for(int i=0; i<sizeof(DltLogDroppedInfo); i++)
{
DltLogDroppedInfoBuffer[i+DLT_ACT_HEADER_SIZE] = DltLogDroppedInfo[i];
}
DLtLogDroppedSize = DLT_ACT_HEADER_SIZE + sizeof(DltLogDroppedInfo);
}
void DLTuc_MessageTransmitDone(void)
{
uint8_t TmpMessageSize=0;
uint8_t *TmpMessagePointer = NULL;
uint32_t ActualSysTime = 0u;
if(GetSystemTimeMs != NULL)
{
ActualSysTime = GetSystemTimeMs();
}
if(LogDroppedFlag == true && (ActualSysTime - PrevLogDropSendTime > DLT_MINIMUM_LOG_DROP_PERIOD) )
{
/* If DLTuc will always send the DROP Message info,
* then will not read any message from RB..*/
PrevLogDropSendTime = ActualSysTime;
LogDroppedFlag = false;
if(ExtSerialTrDataFunctionCb != NULL)
{
ExtSerialTrDataFunctionCb(DltLogDroppedInfoBuffer, DLtLogDroppedSize);
}
return;
}
DLTuc_OS_CRITICAL_START();
if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK)
{
if(ExtSerialTrDataFunctionCb != NULL)
{
DLTuc_OS_CRITICAL_END();
ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize);
}
}
else
{
TransmitReadyStateFlag = true;
}
DLTuc_OS_CRITICAL_END();
}
void DLTuc_LogOutVarArgs(DltLogLevel_t Level, uint32_t AppId, uint32_t ContextId, uint8_t *Payload, ...)
{
uint16_t Size; /* */
uint8_t TmpMessageSize=0U; /* */
uint8_t *TmpMessagePointer = NULL; /* */
uint16_t writeIndex = 0U; /* */
if(DLT_RB_GetNextWriteIndex(&DltTrsmtRingBuffer,&writeIndex) != RB_OK)
{
DLTuc_OS_CRITICAL_START();
LogDroppedFlag = true;
DLTuc_OS_CRITICAL_END();
}
else
{
/* Put the DLT message data directly in ring buffer*/
va_list ap; /* */
va_start(ap, Payload);
Size = vsprintf((char *)&(DltTrsmtMessagesTab[writeIndex][DLT_ACT_HEADER_SIZE]), (char *)Payload,ap);
va_end(ap);
Size += DLT_ACT_HEADER_SIZE;
/*Add additional zeros on the end of message - thanks to that it work stable */
Size++;
DltTrsmtMessagesTab[writeIndex][Size] = 0U;
Size++;
DltTrsmtMessagesTab[writeIndex][Size] = 0U;
PrepareDltHeader(Level,AppId,ContextId,Size,&(DltTrsmtMessagesTab[writeIndex][0]));
Size = Size + DLT_ACT_HEADER_SIZE;
DltTrsmtRingBuffer.dataSize[writeIndex] = Size;
DLTuc_OS_CRITICAL_START();
DltTrsmtRingBuffer.readyToTransmit[writeIndex] = true;
DLTuc_OS_CRITICAL_END();
}
DLTuc_OS_CRITICAL_START();
if(TransmitReadyStateFlag == true)
{
if(DLT_RB_TransmitRead(&DltTrsmtRingBuffer,&TmpMessageSize,&TmpMessagePointer) == RB_OK)
{
if(TmpMessageSize != 0U)
{
TransmitReadyStateFlag = false;
DLTuc_OS_CRITICAL_END();
/*Log transmission must be started in this contex...*/
/***********************************************/
/* It may be a bug in implementation - it must be investigated.. */
/* It's important to be aware of this fact!!*/
/***********************************************/
if(ExtSerialTrDataFunctionCb != NULL)
{
ExtSerialTrDataFunctionCb(TmpMessagePointer, TmpMessageSize);
}
else
{
// while(1); /*Please Register the callback...*/
}
}
}
}
DLTuc_OS_CRITICAL_END();
}
void DLTuc_RegisterGetTimeStampMsCallback(uint32_t GetSysTime(void))
{
GetSystemTimeMs = GetSysTime;
}

90
BASE/Src/BSP/bsp_DLT_Log.c
View File

@ -0,0 +1,90 @@
/*
* bsp_DLT_Log.c
*
* Created on: Aug 8, 2024
* Author: akeguo
*/
#include "bsp_DLT_Log.h"
#define DLT_LOG_CONTEX "MAIN"
#define DLT_LOG_APPID "NUM1"
uint32_t GetSysTime(void);
void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId,
uint8_t *Data, uint16_t Size);
void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t size);
void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size);
void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size);
struct UARTHandler *dLT_Log_UART_Handler;
void dLT_Log_intialize(struct UARTHandler *Handler)
{
dLT_Log_UART_Handler = Handler;
//log_info("angle_encoder_intialize");
dLT_Log_UART_Handler->UART_Decode = DLT_DataReceiveEndCallback;
/*Register Low Level Transmit/Receive functions for DLTuc Library*/
DLTuc_RegisterTransmitSerialDataFunction(DLT_DataTransmit);
DLTuc_RegisterReceiveSerialDataFunction(DLT_LowLevelReceiveDmaToIdle);
DLTuc_RegisterGetTimeStampMsCallback(GetSysTime); /*Register GetSysTime function*/
/*The function "GetSysTime" must return the time in ms*/
DLTuc_RegisterInjectionDataReceivedCb(DltInjectDataRcvd);
}
/*This CallBack was registered in main function using function: DLTuc_RegisterTransmitSerialDataFunction*/
void DLT_DataTransmit(uint8_t *DltLogData, uint8_t Size)
{
dLT_Log_UART_Handler->AddSendList(dLT_Log_UART_Handler,DltLogData,Size,100,NULL);
DLTuc_MessageTransmitDone();
}
/*CallBacks used by ucDltLibrary section end..*/
void DLT_DataReceiveEndCallback(uint8_t *rxBuf, uint16_t Size)
{
if(Size==3)
{
if(rxBuf[2])
{
DLT_LOG_ENABLE_LEVEL=7;
}
else
{
DLT_LOG_ENABLE_LEVEL=0;
}
}
DLTuc_RawDataReceiveDone(Size);
/*
*In case of STM32 HAL lib, you have to subsitute this function using:
*void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
*/
}
//HAL_UARTEx_RxEventCallback
void DLT_LowLevelReceiveDmaToIdle(uint8_t *rxBuf, uint16_t Size)
{
memcpy(rxBuf, dLT_Log_UART_Handler->Rx_Buf, Size);
}
void DltInjectDataRcvd(uint32_t AppId, uint32_t ConId, uint32_t ServId,
uint8_t *Data, uint16_t Size)
{
LOG("RecInjectionData: %s, ServId: %d Size: %d", Data, ServId, Size)
}
uint32_t GetSysTime(void)
{
return HAL_GetTick();
}

557
BASE/Src/BSP/bsp_EEPROM.c
View File

@ -0,0 +1,557 @@
/*
* bsp_EEPROM.c
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#include "bsp_EEPROM.h"
void bsp_InitI2C(void);
void i2c_Start(void);
void i2c_Stop(void);
void i2c_SendByte(uint8_t _ucByte);
uint8_t i2c_ReadByte(void);
uint8_t i2c_WaitAck(void);
void i2c_Ack(void);
void i2c_NAck(void);
uint8_t i2c_CheckDevice(uint8_t _Address);
uint16_t App_Download_EEPROM_Addr= 1024;
/* 定义读写SCL和SDA的宏 */
#define I2C_SCL_GPIO EEPROM_SCL_GPIO_Port
#define I2C_SDA_GPIO EEPROM_SDA_GPIO_Port
#define I2C_SCL_PIN EEPROM_SCL_Pin
#define I2C_SDA_PIN EEPROM_SDA_Pin
#define I2C_SCL_1() I2C_SCL_GPIO->BSRR = I2C_SCL_PIN /* SCL = 1 */
#define I2C_SCL_0() I2C_SCL_GPIO->BSRR = ((uint32_t)I2C_SCL_PIN << 16U) /* SCL = 0 */
#define I2C_SDA_1() I2C_SDA_GPIO->BSRR = I2C_SDA_PIN /* SDA = 1 */
#define I2C_SDA_0() I2C_SDA_GPIO->BSRR = ((uint32_t)I2C_SDA_PIN << 16U) /* SDA = 0 */
#define I2C_SDA_READ() ((I2C_SDA_GPIO->IDR & I2C_SDA_PIN) != 0) /* 读SDA口线状态 */
#define I2C_SCL_READ() ((I2C_SCL_GPIO->IDR & I2C_SCL_PIN) != 0) /* 读SCL口线状态 */
uint8_t GF_BSP_EEPROM_Init(void)
{
bsp_InitI2C();
return(GF_BSP_EEPROM_CheckOK());
}
/*
*********************************************************************************************************
* 函 数 名: bsp_InitI2C
* 功能说明: 配置I2C总线的GPIO，采用模拟IO的方式实现
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void bsp_InitI2C(void)
{
GPIO_InitTypeDef gpio_init;
gpio_init.Mode = GPIO_MODE_OUTPUT_OD; /* 设置开漏输出 */
gpio_init.Pull = GPIO_NOPULL; /* 上下拉电阻不使能 */
gpio_init.Speed = GPIO_SPEED_FREQ_LOW; // GPIO_SPEED_FREQ_HIGH; /* GPIO速度等级 */
gpio_init.Pin = I2C_SCL_PIN;
HAL_GPIO_Init(I2C_SCL_GPIO, &gpio_init);
gpio_init.Pin = I2C_SDA_PIN;
HAL_GPIO_Init(I2C_SDA_GPIO, &gpio_init);
/* 给一个停止信号, 复位I2C总线上的所有设备到待机模式 */
i2c_Stop();
}
/*
*********************************************************************************************************
* 函 数 名: i2c_Delay
* 功能说明: I2C总线位延迟，最快400KHz
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
static void i2c_Delay(void)
{
GF_BSP_TIMER_DelayUS(2);
}
/*
*********************************************************************************************************
* 函 数 名: i2c_Start
* 功能说明: CPU发起I2C总线启动信号
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void i2c_Start(void)
{
/* 当SCL高电平时，SDA出现一个下跳沿表示I2C总线启动信号 */
I2C_SDA_1();
I2C_SCL_1();
i2c_Delay();
I2C_SDA_0();
i2c_Delay();
I2C_SCL_0();
i2c_Delay();
}
/*
*********************************************************************************************************
* 函 数 名: i2c_Start
* 功能说明: CPU发起I2C总线停止信号
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void i2c_Stop(void)
{
/* 当SCL高电平时，SDA出现一个上跳沿表示I2C总线停止信号 */
I2C_SDA_0();
i2c_Delay();
I2C_SCL_1();
i2c_Delay();
I2C_SDA_1();
i2c_Delay();
}
/*
*********************************************************************************************************
* 函 数 名: i2c_SendByte
* 功能说明: CPU向I2C总线设备发送8bit数据
* 形 参: _ucByte ： 等待发送的字节
* 返 回 值: 无
*********************************************************************************************************
*/
void i2c_SendByte(uint8_t _ucByte)
{
uint8_t i;
/* 先发送字节的高位bit7 */
for (i = 0; i < 8; i++)
{
if (_ucByte & 0x80)
{
I2C_SDA_1();
}
else
{
I2C_SDA_0();
}
i2c_Delay();
I2C_SCL_1();
i2c_Delay();
I2C_SCL_0();
I2C_SCL_0(); /* 2019-03-14 针对GT811电容触摸，添加一行，相当于延迟几十ns */
if (i == 7)
{
I2C_SDA_1(); // 释放总线
}
_ucByte <<= 1; /* 左移一个bit */
}
}
/*
*********************************************************************************************************
* 函 数 名: i2c_ReadByte
* 功能说明: CPU从I2C总线设备读取8bit数据
* 形 参: 无
* 返 回 值: 读到的数据
*********************************************************************************************************
*/
uint8_t i2c_ReadByte(void)
{
uint8_t i;
uint8_t value;
/* 读到第1个bit为数据的bit7 */
value = 0;
for (i = 0; i < 8; i++)
{
value <<= 1;
I2C_SCL_1();
i2c_Delay();
if (I2C_SDA_READ())
{
value++;
}
I2C_SCL_0();
i2c_Delay();
}
return value;
}
/*
*********************************************************************************************************
* 函 数 名: i2c_WaitAck
* 功能说明: CPU产生一个时钟，并读取器件的ACK应答信号
* 形 参: 无
* 返 回 值: 返回0表示正确应答，1表示无器件响应
*********************************************************************************************************
*/
uint8_t i2c_WaitAck(void)
{
uint8_t re;
I2C_SDA_1(); /* CPU释放SDA总线 */
i2c_Delay();
I2C_SCL_1(); /* CPU驱动SCL = 1, 此时器件会返回ACK应答 */
i2c_Delay();
if (I2C_SDA_READ()) /* CPU读取SDA口线状态 */
{
re = 1;
}
else
{
re = 0;
}
I2C_SCL_0();
i2c_Delay();
return re;
}
/*
*********************************************************************************************************
* 函 数 名: i2c_Ack
* 功能说明: CPU产生一个ACK信号
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void i2c_Ack(void)
{
I2C_SDA_0(); /* CPU驱动SDA = 0 */
i2c_Delay();
I2C_SCL_1(); /* CPU产生1个时钟 */
i2c_Delay();
I2C_SCL_0();
i2c_Delay();
I2C_SDA_1(); /* CPU释放SDA总线 */
i2c_Delay();
}
/*
*********************************************************************************************************
* 函 数 名: i2c_NAck
* 功能说明: CPU产生1个NACK信号
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void i2c_NAck(void)
{
I2C_SDA_1(); /* CPU驱动SDA = 1 */
i2c_Delay();
I2C_SCL_1(); /* CPU产生1个时钟 */
i2c_Delay();
I2C_SCL_0();
i2c_Delay();
}
/*
*********************************************************************************************************
* 函 数 名: i2c_CheckDevice
* 功能说明: 检测I2C总线设备，CPU向发送设备地址，然后读取设备应答来判断该设备是否存在
* 形 参: _Address：设备的I2C总线地址
* 返 回 值: 返回值 0 表示正确， 返回1表示未探测到
*********************************************************************************************************
*/
uint8_t i2c_CheckDevice(uint8_t _Address)
{
uint8_t ucAck;
if (I2C_SDA_READ() && I2C_SCL_READ())
{
i2c_Start(); /* 发送启动信号 */
/* 发送设备地址+读写控制bit（0 = w， 1 = r) bit7 先传 */
i2c_SendByte(_Address | I2C_WR);
ucAck = i2c_WaitAck(); /* 检测设备的ACK应答 */
i2c_Stop(); /* 发送停止信号 */
return ucAck;
}
return 1; /* I2C总线异常 */
}
/*
*********************************************************************************************************
* 函 数 名: ee_CheckOk
* 功能说明: 判断串行EERPOM是否正常
* 形 参: 无
* 返 回 值: 1 表示正常， 0 表示不正常
*********************************************************************************************************
*/
uint8_t GF_BSP_EEPROM_CheckOK(void)
{
if (i2c_CheckDevice(EE_DEV_ADDR) == 0)
{
return 1;
}
else
{
/* 失败后，切记发送I2C总线停止信号 */
i2c_Stop();
return 0;
}
}
/*
*********************************************************************************************************
* 函 数 名: GF_BSP_EEPROM_ReadBytes
* 功能说明: 从串行EEPROM指定地址处开始读取若干数据
* 形 参: _usAddress : 起始地址
* _usSize : 数据长度，单位为字节
* _pReadBuf : 存放读到的数据的缓冲区指针
* 返 回 值: 0 表示失败，1表示成功
*********************************************************************************************************
*/
uint8_t GF_BSP_EEPROM_ReadBytes(uint8_t *_pReadBuf, uint16_t _usAddress, uint16_t _usSize)
{
uint16_t i;
/* 采用串行EEPROM随即读取指令序列，连续读取若干字节 */
/* 第1步：发起I2C总线启动信号 */
i2c_Start();
/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */
/* 第3步：发送ACK */
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
/* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */
if (EE_ADDR_BYTES == 1)
{
i2c_SendByte((uint8_t)_usAddress);
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
}
else
{
i2c_SendByte(_usAddress >> 8);
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
i2c_SendByte(_usAddress&0xff);
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
}
/* 第6步：重新启动I2C总线。下面开始读取数据 */
i2c_Start();
/* 第7步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
i2c_SendByte(EE_DEV_ADDR | I2C_RD); /* 此处是读指令 */
/* 第8步：发送ACK */
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
/* 第9步：循环读取数据 */
for (i = 0; i < _usSize; i++)
{
_pReadBuf[i] = i2c_ReadByte(); /* 读1个字节 */
/* 每读完1个字节后，需要发送Ack， 最后一个字节不需要Ack，发Nack */
if (i != _usSize - 1)
{
i2c_Ack(); /* 中间字节读完后，CPU产生ACK信号(驱动SDA = 0) */
}
else
{
i2c_NAck(); /* 最后1个字节读完后，CPU产生NACK信号(驱动SDA = 1) */
}
}
/* 发送I2C总线停止信号 */
i2c_Stop();
return 1; /* 执行成功 */
cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */
/* 发送I2C总线停止信号 */
i2c_Stop();
return 0;
}
/*
*********************************************************************************************************
* 函 数 名: GF_BSP_EEPROM_WriteBytes
* 功能说明: 向串行EEPROM指定地址写入若干数据，采用页写操作提高写入效率
* 形 参: _usAddress : 起始地址
* _usSize : 数据长度，单位为字节
* _pWriteBuf : 存放读到的数据的缓冲区指针
* 返 回 值: 0 表示失败，1表示成功
*********************************************************************************************************
*/
uint8_t GF_BSP_EEPROM_WriteBytes(uint8_t *_pWriteBuf, uint16_t _usAddress, uint16_t _usSize)
{
uint16_t i,m;
uint16_t usAddr;
/*
写串行EEPROM不像读操作可以连续读取很多字节，每次写操作只能在同一个page。
对于24xx02，page size = 8
简单的处理方法为：按字节写操作模式，每写1个字节，都发送地址
为了提高连续写的效率: 本函数采用page wirte操作。
*/
usAddr = _usAddress;
for (i = 0; i < _usSize; i++)
{
/* 当发送第1个字节或是页面首地址时，需要重新发起启动信号和地址 */
if ((i == 0) || (usAddr & (EE_PAGE_SIZE - 1)) == 0)
{
/*　第０步：发停止信号，启动内部写操作　*/
i2c_Stop();
/* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms
CLK频率为200KHz时，查询次数为30次左右
*/
for (m = 0; m < 1000; m++)
{
/* 第1步：发起I2C总线启动信号 */
i2c_Start();
/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */
/* 第3步：发送一个时钟，判断器件是否正确应答 */
if (i2c_WaitAck() == 0)
{
break;
}
}
if (m == 1000)
{
goto cmd_fail; /* EEPROM器件写超时 */
}
/* 第4步：发送字节地址，24C02只有256字节，因此1个字节就够了，如果是24C04以上，那么此处需要连发多个地址 */
if (EE_ADDR_BYTES == 1)
{
i2c_SendByte((uint8_t)usAddr);
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
}
else
{
i2c_SendByte(usAddr >> 8);
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
i2c_SendByte(usAddr&0xff);
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
}
}
/* 第6步：开始写入数据 */
i2c_SendByte(_pWriteBuf[i]);
/* 第7步：发送ACK */
if (i2c_WaitAck() != 0)
{
goto cmd_fail; /* EEPROM器件无应答 */
}
usAddr++; /* 地址增1 */
}
/* 命令执行成功，发送I2C总线停止信号 */
i2c_Stop();
/* 通过检查器件应答的方式，判断内部写操作是否完成, 一般小于 10ms
CLK频率为200KHz时，查询次数为30次左右
*/
for (m = 0; m < 1000; m++)
{
/* 第1步：发起I2C总线启动信号 */
i2c_Start();
/* 第2步：发起控制字节，高7bit是地址，bit0是读写控制位，0表示写，1表示读 */
#if EE_ADDR_A8 == 1
i2c_SendByte(EE_DEV_ADDR | I2C_WR | ((_usAddress >> 7) & 0x0E)); /* 此处是写指令 */
#else
i2c_SendByte(EE_DEV_ADDR | I2C_WR); /* 此处是写指令 */
#endif
/* 第3步：发送一个时钟，判断器件是否正确应答 */
if (i2c_WaitAck() == 0)
{
break;
}
}
if (m == 1000)
{
goto cmd_fail; /* EEPROM器件写超时 */
}
/* 命令执行成功，发送I2C总线停止信号 */
i2c_Stop();
return 1;
cmd_fail: /* 命令执行失败后，切记发送停止信号，避免影响I2C总线上其他设备 */
/* 发送I2C总线停止信号 */
i2c_Stop();
return 0;
}
CV_struct_define GF_BSP_EEPROM_Get_CV(void)
{
CV_struct_define cv= {0};
//char buffer[sizeof(CV_struct_define)];
GF_BSP_EEPROM_ReadBytes(&cv, GF_BSP_EEPROM_CV_struct_define_Start_Address, sizeof(CV_struct_define));
return cv;
}
uint8_t GF_BSP_EEPROM_Set_CV(CV_struct_define cv)
{
return GF_BSP_EEPROM_WriteBytes((uint8_t*)&cv,GF_BSP_EEPROM_CV_struct_define_Start_Address,sizeof(CV_struct_define));
}
IAP_struct_define GF_BSP_EEPROM_Get_IAP(void)
{
IAP_struct_define iap= {0};
GF_BSP_EEPROM_ReadBytes(&iap, IAP_struct_define_Start_Address, sizeof(IAP_struct_define));
return iap;
}
uint8_t GF_BSP_EEPROM_Set_IAP(IAP_struct_define iap)
{
return GF_BSP_EEPROM_WriteBytes((uint8_t*)&iap,IAP_struct_define_Start_Address,sizeof(IAP_struct_define));
}

26
BASE/Src/BSP/bsp_Error_Detect.c
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/*
* bsp_Error_Detect.c
*
* Created on: Oct 23, 2024
* Author: akeguo
*/
#include "bsp_Error_Detect.h"
void ErrorDetect();
HardWareController *HardWareErrorController;
void Error_Detect_Intialzie(uint16_t DispacherPeriod)
{
HardWareErrorController = (HardWareController*) malloc(
sizeof(HardWareController));
HardWareErrorController->pComHWHead = NULL;
HardWareErrorController->pComHWTail = NULL;
HardWareErrorController->Add_PCOMHardWare = ComHardWare_List_Add_t;
HardWareErrorController->Set_PCOMHardWare = Set_PCOMHardWare_t;
HardWareErrorController->PCOMHardWare_Check = PCOMHardWare_Check_t;
HardWareErrorController->DispacherCallTime = DispacherPeriod;//check the communicaton every 50ms
GF_BSP_Interrupt_Add_CallBack(
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, ErrorDetect);
}
void ErrorDetect()
{
HardWareErrorController->PCOMHardWare_Check(HardWareErrorController);
}

356
BASE/Src/BSP/bsp_FDCAN.c
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/*
* bsp_FDCAN.c
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#include "bsp_FDCAN.h"
#include "main.h"
#include <stdlib.h>
#include "bsp_Error.pb.h"
#include "msp_TI5MOTOR.h"
FDCANHandler FD_CAN_1_Handler; //自定义结构体
FDCANHandler FD_CAN_2_Handler;
FDCAN_RxHeaderTypeDef CAN_RX_HDR;
uint8_t CAN_Buf[8];
uint8_t CAN_Buf_2[8];
int32_t CAN_ID;
int32_t CAN_ID_2;
uint8_t GF_BSP_FDCAN_Init(void)
{
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
0) != HAL_OK)
{
Error_Handler();
}
if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
{
Error_Handler();
}
HAL_FDCAN_Start(&hfdcan1);
if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,
0) != HAL_OK)
{
Error_Handler();
}
if (HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_BUS_OFF, 0) != HAL_OK)
{
Error_Handler();
}
HAL_FDCAN_Start(&hfdcan2);
return 1;
}
void HAL_FDCAN_ErrorStatusCallback(FDCAN_HandleTypeDef *hfdcan,
uint32_t ErrorStatusITs)
{
if (hfdcan->Instance == FDCAN1)
{
MX_FDCAN1_Init();
}
if (hfdcan->Instance == FDCAN2)
{
MX_FDCAN2_Init();
}
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if (hfdcan->Instance == FDCAN1)
{
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR, CAN_Buf)
== HAL_OK)
{
CAN_ID = FD_CAN_1_Handler.ReceivedFrameID =
(uint32_t) CAN_RX_HDR.Identifier;
#if NewCANSendVersion
FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;
#else
FD_CAN_1_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16;
#endif
if (FD_CAN_1_Handler.CAN_Decode != NULL )
{
FD_CAN_1_Handler.CAN_Decode(FD_CAN_1_Handler.ReceivedFrameID,
CAN_Buf, FD_CAN_1_Handler.ReceivedLength);
}
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN1_RxFifo0Callback);
}
} else if (hfdcan->Instance == FDCAN2)
{
if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &CAN_RX_HDR,
CAN_Buf_2) == HAL_OK)
{
CAN_ID_2 = FD_CAN_2_Handler.ReceivedFrameID =
(uint32_t) CAN_RX_HDR.Identifier;
#if NewCANSendVersion
FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength;
#else
FD_CAN_2_Handler.ReceivedLength = (uint32_t) CAN_RX_HDR.DataLength>>16;
#endif
if (FD_CAN_2_Handler.CAN_Decode != NULL)
{
FD_CAN_2_Handler.CAN_Decode(FD_CAN_2_Handler.ReceivedFrameID,
CAN_Buf_2, FD_CAN_2_Handler.ReceivedLength);
}
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_FDCAN2_RxFifo0Callback);
}
}
}
FDCAN_TxHeaderTypeDef TXHeader1;
FDCAN_TxHeaderTypeDef TXHeader2;
void GF_BSP_FDCAN_Senddata(uint8_t FDCAN_CH, uint32_t FrameID,
uint8_t DataLength, uint8_t *Txdata)
{
if (DataLength > 8)
{
return;
}
if (FDCAN_CH == 1)
{
TXHeader1.BitRateSwitch = FDCAN_BRS_OFF;
#if NewCANSendVersion
TXHeader1.DataLength = (uint32_t) DataLength;
#else
TXHeader1.DataLength = (uint32_t) DataLength << 16;
#endif
// FDCAN_DLC_BYTES_8//数据长度大于8的话会有错误
// FDCAN_DLC_BYTES_8//数据长度大于8的话会有错误
TXHeader1.FDFormat = FDCAN_CLASSIC_CAN;
TXHeader1.IdType = FDCAN_STANDARD_ID;
TXHeader1.Identifier = FrameID;
TXHeader1.TxFrameType = FDCAN_DATA_FRAME;
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata);
} else if (FDCAN_CH == 2)
{
TXHeader2.BitRateSwitch = FDCAN_BRS_OFF;
#if NewCANSendVersion
TXHeader2.DataLength = (uint32_t) DataLength;
#else
TXHeader2.DataLength = (uint32_t) DataLength << 16;
#endif
//TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
TXHeader2.FDFormat = FDCAN_CLASSIC_CAN;
TXHeader2.IdType = FDCAN_STANDARD_ID;
TXHeader2.Identifier = FrameID;
TXHeader2.TxFrameType = FDCAN_DATA_FRAME;
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata);
}
}
void GF_BSP_CANHandler_Init(int can1_sendListPeriod, int can1_DispacherPeriod,
int can2_sendListPeriod, int can2_DispacherPeriod)
{
GF_BSP_CANHandler_Init_CAN(&FD_CAN_1_Handler, &hfdcan1, can1_sendListPeriod,
can1_DispacherPeriod);
GF_BSP_CANHandler_Init_CAN(&FD_CAN_2_Handler, &hfdcan2, can2_sendListPeriod,
can2_DispacherPeriod);
GF_BSP_Interrupt_Add_CallBack(
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_CAN_Timer);
}
void GF_BSP_CANHandler_Init_CAN(FDCANHandler *handler,
FDCAN_HandleTypeDef *canfd, int sendListPeriod, int DispacherPeriod)
{
handler->canfd = canfd;
handler->dispacherController = (DispacherController*) malloc(
sizeof(DispacherController));
handler->dispacherController->pHead = NULL;
handler->dispacherController->pTail = NULL;
handler->dispacherController->Dispacher_Enable = 1;
handler->dispacherController->DispacherCallTime = DispacherPeriod ; // call the function every 50 ms
handler->dispacherController->Dispacher_Counter = 0;
handler->dispacherController->DispacherNumber = 0;
handler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t;
handler->dispacherController->Dispatcher_Run = Dispatch_t;
handler->timeSpan = 2;
handler->SendList_time_Count = 0;
handler->AddCANSendList = CANHandlerAddTxList;
handler->SendList_Period = sendListPeriod;
handler->CAN_Send = CAN_Send_t;
handler->CAN_Send_Data = CAN_Send_Data_t;
}
DispacherController *can_dispacherController;
HardWareController *can_HardWareController;
void GF_BSP_CAN_Timer() //2ms一次
{
can_dispacherController = FD_CAN_1_Handler.dispacherController;
if (FD_CAN_1_Handler.pCurrentCANSendHadler != NULL)
{
GF_CAN_Send_List_Send(&FD_CAN_1_Handler);
} else
{
can_dispacherController = FD_CAN_1_Handler.dispacherController;
can_dispacherController->Dispatcher_Run(can_dispacherController);
}
if (FD_CAN_2_Handler.pCurrentCANSendHadler != NULL)
{
GF_CAN_Send_List_Send(&FD_CAN_2_Handler);
} else
{
can_dispacherController = FD_CAN_2_Handler.dispacherController;
can_dispacherController->Dispatcher_Run(can_dispacherController);
}
}
void GF_CAN_Send_List_Send(FDCANHandler *handler)
{
handler->SendList_time_Count++;
if (handler->timeSpan * handler->SendList_time_Count
>= handler->SendList_Period)
{
handler->SendList_time_Count = 0;
handler->SendListExists = 1;
if (handler->pCurrentCANSendHadler != NULL)
{
//拷贝数据到相关的代码中，然后发送
handler->SendFrameID=handler->pCurrentCANSendHadler->CAN_ID;
//handler->CAN_Decode = handler->pCurrentCANSendHadler->CAN_Decode; //
memcpy(handler->Tx_Buf, handler->pCurrentCANSendHadler->Tx_Buf,
handler->pCurrentCANSendHadler->SendLength);
handler->SendList_Period=handler->pCurrentCANSendHadler->SendListTimePeriod;
handler->SendLength = handler->pCurrentCANSendHadler->SendLength;
handler->CAN_Send_Data(handler);
if (handler->pCurrentCANSendHadler->pNext != NULL)
{
CANSendHandler *temp = handler->pCurrentCANSendHadler->pNext;
free(handler->pCurrentCANSendHadler); //清除内存
handler->pCurrentCANSendHadler = temp;
} else
{
free(handler->pCurrentCANSendHadler); //清除内存
handler->pCurrentCANSendHadler = NULL;
}
} else
{
handler->SendListExists = 0;
}
}
}
void CAN_Send_t(struct _FDCANHandler *fd, uint32_t FrameID, uint8_t DataLength,
uint8_t *Txdata)
{
Function_code=Txdata[0];
if (DataLength > 8)
{
return;
}
if (fd->canfd == &hfdcan1)
{
TXHeader1.BitRateSwitch = FDCAN_BRS_OFF;
#if NewCANSendVersion
TXHeader1.DataLength = (uint32_t) DataLength ;
#else
TXHeader1.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
#endif
TXHeader1.FDFormat = FDCAN_CLASSIC_CAN;
TXHeader1.IdType = FDCAN_STANDARD_ID;
TXHeader1.Identifier = FrameID;
TXHeader1.TxFrameType = FDCAN_DATA_FRAME;
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TXHeader1, Txdata);
} else if (fd->canfd == &hfdcan2)
{
TXHeader2.BitRateSwitch = FDCAN_BRS_OFF;
#if NewCANSendVersion
TXHeader2.DataLength = (uint32_t) DataLength ;
#else
TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
#endif
//TXHeader2.DataLength = (uint32_t) DataLength << 16; //数据长度大于8的话会有错误
TXHeader2.FDFormat = FDCAN_CLASSIC_CAN;
TXHeader2.IdType = FDCAN_STANDARD_ID;
TXHeader2.Identifier = FrameID;
TXHeader2.TxFrameType = FDCAN_DATA_FRAME;
HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TXHeader2, Txdata);
}
}
void CAN_Send_Data_t(struct _FDCANHandler *fd)
{
CAN_Send_t(fd, fd->SendFrameID, fd->SendLength, fd->Tx_Buf);
}
void CANHandlerAddTxList(FDCANHandler *handler, uint32_t CAN_ID,
uint8_t SendLength, uint8_t *Tx_Buf,uint32_t sendListTimePeriod,
void (*CAN_Decode)(uint32_t, uint8_t*, uint32_t))
{
CANSendHandler *pTmp = NULL; //临时指针
//临时指针2用于逐个申请内存
pTmp = (CANSendHandler*) malloc(sizeof(CANSendHandler));
memcpy(pTmp->Tx_Buf, Tx_Buf, SendLength);
pTmp->pNext = NULL;
pTmp->CAN_ID=CAN_ID;
pTmp->SendLength = SendLength;
//pTmp->CAN_Decode = CAN_Decode;
pTmp->SendListTimePeriod=sendListTimePeriod;
//if NULL, call intialize one
if (handler->pCurrentCANSendHadler == NULL)
{
handler->pCurrentCANSendHadler = pTmp; //空链表
} else
{
char i = 0;
//插到尾部
CANSendHandler *phead = NULL;
phead = handler->pCurrentCANSendHadler;
while (phead->pNext != NULL)
{
i++;
phead = phead->pNext;
}
phead->pNext = pTmp;
}
}

100
BASE/Src/BSP/bsp_GPIO.c
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/*
* bsp_GPIO.c
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#include "bsp_GPIO.h"
uint8_t GF_BSP_GPIO_Init()
{
return 1;
}
void GF_BSP_GPIO_SetIO(uint8_t IO_Index,uint8_t Level)
{
GPIO_PinState PinState;
if(Level == 0)
PinState=GPIO_PIN_RESET;
else
PinState=GPIO_PIN_SET;
switch(IO_Index)
{
case 0:
HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, PinState);
break;
case 1:
HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, PinState);
break;
case 2:
HAL_GPIO_WritePin(OUT_2_GPIO_Port, OUT_2_Pin, PinState);
break;
case 3:
HAL_GPIO_WritePin(OUT_3_GPIO_Port, OUT_3_Pin, PinState);
break;
case 4:
HAL_GPIO_WritePin(OUT_4_GPIO_Port, OUT_4_Pin, PinState);
break;
case 5:
HAL_GPIO_WritePin(OUT_5_GPIO_Port, OUT_5_Pin, PinState);
break;
}
}
uint8_t GF_BSP_GPIO_ToggleIO(uint8_t IO_Index)
{
switch(IO_Index)
{
case 0:
HAL_GPIO_TogglePin(OUT_0_GPIO_Port, OUT_0_Pin);
break;
case 1:
HAL_GPIO_TogglePin(OUT_1_GPIO_Port, OUT_1_Pin);
break;
case 2:
HAL_GPIO_TogglePin(OUT_2_GPIO_Port, OUT_2_Pin);
break;
case 3:
HAL_GPIO_TogglePin(OUT_3_GPIO_Port, OUT_3_Pin);
break;
case 4:
HAL_GPIO_TogglePin(OUT_4_GPIO_Port, OUT_4_Pin);
break;
case 5:
HAL_GPIO_TogglePin(OUT_5_GPIO_Port, OUT_5_Pin);
break;
}
}
uint8_t GF_BSP_GPIO_ReadIO(uint8_t IO_Index)
{
GPIO_PinState PinState;
switch(IO_Index)
{
case 0:
PinState = HAL_GPIO_ReadPin(IN_0_GPIO_Port, IN_0_Pin);
break;
case 1:
PinState = HAL_GPIO_ReadPin(IN_1_GPIO_Port, IN_1_Pin);
break;
case 2:
PinState = HAL_GPIO_ReadPin(IN_2_GPIO_Port, IN_2_Pin);
break;
case 3:
PinState = HAL_GPIO_ReadPin(IN_3_GPIO_Port, IN_3_Pin);
break;
case 4:
PinState = HAL_GPIO_ReadPin(IN_4_GPIO_Port, IN_4_Pin);
break;
case 5:
PinState = HAL_GPIO_ReadPin(IN_5_GPIO_Port, IN_5_Pin);
break;
}
return((uint8_t)PinState);
}

41
BASE/Src/BSP/bsp_INTERCALL.c
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/*
* bsp_INTERCALL.c
*
* Created on: 2023年11月8日
* Author: shiya
*/
#include "bsp_include.h"
typedef struct
{
uint8_t num; //调用函数指针数量
void(*fn[DF_BSP_InterCall_Num])(void); //被调用函数指针,最多20个回调函数
}SD_BSP_InterCall;
SD_BSP_InterCall V_BSP_InterCall_Array[DF_BSP_InterCall_Type_Num] = {0};
//给中断函数链接一个回调函数，直接添加空函数指针
//返回值1表示添加成功，返回值0表示添加失败
uint8_t GF_BSP_Interrupt_Add_CallBack(enum DF_BSP_InterCall_Type _type,void(*_fn)(void))
{
V_BSP_InterCall_Array[_type].num++;
if(V_BSP_InterCall_Array[_type].num>=DF_BSP_InterCall_Num)
{
return 0;
}
V_BSP_InterCall_Array[_type].fn[V_BSP_InterCall_Array[_type].num-1]=_fn;
return 1;
}
//放到中断函数中，运行相应的回调函数，有几个运行几个
void GF_BSP_Interrupt_Run_CallBack(enum DF_BSP_InterCall_Type _type)
{
uint8_t i=0;
if(V_BSP_InterCall_Array[_type].num>0)
{
for(i=0;i<V_BSP_InterCall_Array[_type].num;i++)
{
(*(V_BSP_InterCall_Array[_type].fn[i]))();
}
}
}

372
BASE/Src/BSP/bsp_MB_host.c
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#include "bsp_MB_host.h"
#include "stdio.h"
#include "bsp_UART.h"
//__IO uint8_t Rx_Buf[256]; // 接收缓存,最大256字节
__IO uint8_t Tx_Buf[256]; // 发送缓存,最大256字节
__IO uint8_t tmp_Rx_Buf; // 临时接收缓存
__IO uint16_t RxCount = 0; // 接收字符计数
uint8_t MB_rx_flag = 0;
uint16_t Read_Reg_Num;
uint8_t Read_Slave_ID = 0;
/* 私有类型定义 --------------------------------------------------------------*/
/* 私有宏定义 ----------------------------------------------------------------*/
/* 私有变量 ------------------------------------------------------------------*/
// CRC 高位字节值表
static const uint8_t auchCRCHi[] =
{ 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00,
0xC1, 0x81, 0x40 };
// CRC 低位字节值表
static const uint8_t auchCRCLo[] =
{ 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05,
0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A,
0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B,
0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14,
0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11,
0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36,
0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF,
0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28,
0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D,
0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22,
0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63,
0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C,
0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69,
0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE,
0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77,
0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50,
0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55,
0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A,
0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B,
0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44,
0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41,
0x81, 0x80, 0x40 };
/**
* 函数功能: Modbus CRC16 校验计算函数
* 输入参数: pushMsg:待计算的数据首地址,usDataLen:数据长度
* 返 回 值: CRC16 计算结果
* 说 明: 计算结果是高位在前,需要转换才能发送
*/
uint16_t MB_CRC16(uint8_t *pushMsg, uint16_t usDataLen)
{
uint8_t uchCRCHi = 0xFF;
uint8_t uchCRCLo = 0xFF;
uint16_t uIndex;
while (usDataLen--)
{
uIndex = uchCRCLo ^ *pushMsg++;
uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex];
uchCRCHi = auchCRCLo[uIndex];
}
return (uchCRCHi << 8 | uchCRCLo);
}
/**
* 函数功能: 读N个线圈状态(CoilStatue)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的数量
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送
*/
void MB_ReadCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num)
{
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x01; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _num >> 8; /* 线圈(bit)个数 高字节 */
Tx_Buf[TxCount++] = _num; /* 线圈(bit)个数 低字节 */
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
*TxCount_t = TxCount;
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
}
/**
* 函数功能: 写单个线圈状态(CoilStatue)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_sta:待写入的线圈状态(0,1)
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送
*/
void MB_WriteCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _sta)
{
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x05; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _sta >> 8; /* 线圈(bit)个数 高字节 */
Tx_Buf[TxCount++] = _sta; /* 线圈(bit)个数 低字节 */
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
*TxCount_t = TxCount;
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
}
void MB_WriteNumCoil(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num, uint8_t *_databuf)
{
uint16_t i;
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x0F; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */
Tx_Buf[TxCount++] = _num; /* 低字节 */
if(_num%8==0)
{
Tx_Buf[TxCount++] = _num / 8;
}else
{
Tx_Buf[TxCount++] = _num / 8 + 1;
}
/* 数据个数 */
uint16_t ij=TxCount++;
for (i = 0; i < _num; i++)
{
Tx_Buf[ij]|= _databuf[i]<<i; /* 后面的数据长度 */
}
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
*TxCount_t = TxCount;
}
/**
* 函数功能: 读输入状态状态(InputStatue)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的输入数量
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送
*/
void MB_ReadInput(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num)
{
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x02; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _num >> 8; /* 开关(Input)个数 高字节 */
Tx_Buf[TxCount++] = _num; /* 开关(Input)个数 低字节 */
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
*TxCount_t = TxCount;
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
}
/**
* 函数功能: 读保持寄存器(HoldingRegister)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送
*/
void MB_ReadHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num)
{
MB_rx_flag = 2;
Read_Reg_Num = _num;
Read_Slave_ID = _addr;
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x03; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */
Tx_Buf[TxCount++] = _num; /* 低字节 */
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
*TxCount_t = TxCount;
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
}
/**
* 函数功能: 读N个输入寄存器(InputRegister)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送.
*/
void MB_ReadInputReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num)
{
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x04; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */
Tx_Buf[TxCount++] = _num; /* 低字节 */
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
*TxCount_t = TxCount;
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
}
/**
* 函数功能: 写单个保持寄存器(HoldingRegister)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_data:待写入的寄存器数据
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送
*/
void MB_WriteHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _data)
{
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x06; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _data >> 8; /* 寄存器(16bits)个数 高字节 */
Tx_Buf[TxCount++] = _data; /* 低字节 */
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
*TxCount_t = TxCount;
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
//uartHandler->UART_Tx(uartHandler,(uint8_t *)&Tx_Buf,TxCount);
}
/**
* 函数功能: 写N个保持寄存器(HoldingRegister)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待写入的寄存器数量,_databuf:待写入的寄存器数据
* 返 回 值: 无
* 说 明: 填充数据发送缓存区,然后发送._databuf的长度需 >= _num*2
*/
void MB_WriteNumHoldingReg(uint8_t *Tx_Buf, uint8_t *TxCount_t, uint8_t _addr,
uint16_t _reg, uint16_t _num, uint8_t *_databuf)
{
uint16_t i;
uint16_t TxCount = 0;
uint16_t crc = 0;
Tx_Buf[TxCount++] = _addr; /* 从站地址 */
Tx_Buf[TxCount++] = 0x10; /* 功能码 */
Tx_Buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
Tx_Buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
Tx_Buf[TxCount++] = _num >> 8; /* 寄存器(16bits)个数 高字节 */
Tx_Buf[TxCount++] = _num; /* 低字节 */
Tx_Buf[TxCount++] = _num << 1; /* 数据个数 */
for (i = 0; i < 2 * _num; i++)
{
Tx_Buf[TxCount++] = _databuf[i]; /* 后面的数据长度 */
}
crc = MB_CRC16(Tx_Buf, TxCount);
Tx_Buf[TxCount++] = crc; /* crc 低字节 */
Tx_Buf[TxCount++] = crc >> 8; /* crc 高字节 */
//UART_Tx((uint8_t *)&Tx_Buf,TxCount);
*TxCount_t = TxCount;
}
/**
* 函数功能: 解析读取Read_Reg_Num个保持寄存器的值 (HoldingRegister)
* 输入参数: buffer:数据值,length:数据长度, Read_Reg_Num 读取几个保持寄存器, 将解析出来的数据存入 Decoded_Reg_Value 这个16进制的数据中
* 返 回 值: 1 表示解析正确，0 表示解析错误 CRC验证错误
* 说 明:
*/
uint8_t MB_Decode_HoldingRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value)
{
/* CRC 校验 */
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
/* CRC 校验正确 */
if (crc_check == MB_CRC16(buffer, length - 2))
{
int i = 0;
for (i = 0; i < Read_Reg_Num; i++)
{
Decoded_Reg_Value[ i] =
(buffer[3 + 2 * i] << 8) + buffer[4 + 2 * i];
}
return 1; //Decoded successfully
}
else
{
return 0; //Decode Error；
}
}
uint8_t MB_Decode_InputRegs(uint8_t buffer[], uint16_t length,uint16_t Read_Reg_Num,uint16_t* Decoded_Reg_Value)
{
/* CRC 校验 */
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
/* CRC 校验正确 */
if (crc_check == MB_CRC16(buffer, length - 2))
{
int i = 0;
for (i = 0; i < Read_Reg_Num; i++)
{
Decoded_Reg_Value[ i] =
(buffer[3 + 2 * i] << 8) + buffer[4 + 2 * i];
}
return 1; //Decoded successfully
}
else
{
return 0; //Decode Error；
}
}

68
BASE/Src/BSP/bsp_TIMER.c
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@ -0,0 +1,68 @@
/*
* bsp_TIMER.c
*
* Created on: Oct 26, 2023
* Author: shiya
*/
#include "bsp_TIMER.h"
#include "bsp_mqtt.h"
//返回值：：1-正常；0-错误
uint8_t GF_BSP_TIMER_Init()
{
HAL_TIM_Base_Start_IT(&htim1);
HAL_TIM_Base_Start_IT(&htim8);
return 1;
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
//100ms - WatchDog
if(htim->Instance == TIM1)//APB2=200Mhz,htim1.Init.Prescaler = 2000-1;htim1.Init.Period = 10000-1; TIM1=100ms
{
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback);
}
//2ms - MainLoop
if(htim->Instance == TIM8)//APB2=200Mhz,htim8.Init.Prescaler = 2000-1;htim8.Init.Period = 200-1; TIM8=2ms
{
GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback);
//bsp_mqtt_test();
}
}
void GF_BSP_TIMER_DelayUS(uint32_t n)
{
uint32_t ticks;
uint32_t told;
uint32_t tnow;
uint32_t tcnt = 0;
uint32_t reload;
reload = SysTick->LOAD;
ticks = n * (SystemCoreClock / 1000000);
tcnt = 0;
told = SysTick->VAL;
while (1)
{
tnow = SysTick->VAL;
if (tnow != told)
{
if (tnow < told)
{
tcnt += told - tnow;
}
else
{
tcnt += reload - tnow + told;
}
told = tnow;
if (tcnt >= ticks)
{
break;
}
}
}
}

636
BASE/Src/BSP/bsp_UART.c
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#include "bsp_UART.h"
#include "main.h"
#include <stdlib.h>
#include "DLT/DLTuc.h"
void GF_UART_Send_List_Send(struct UARTHandler *handler);
void Dispatcher_List_Add(struct UARTHandler *uartHandler,
void (*dispache)(void));
void UARTHandlerAddTxList(struct UARTHandler *uartHandler, uint8_t *data,
uint16_t length, uint32_t txListTimePeriod, void (*UART_Decode)(uint8_t*, uint16_t));
//Store all the data in these buffer
uint8_t RS485_1_RxMA_buf[UART_Receive_MAX_NUM];
uint8_t RS485_2_RxDMA_buf[UART_Receive_MAX_NUM];
uint8_t RS485_3_RxDMA_buf[UART_Receive_MAX_NUM];
uint8_t RS485_4_RxDMA_buf[UART_Receive_MAX_NUM];
uint8_t Debug_RxDMA_buf[UART_Receive_MAX_NUM];
uint8_t ExternSerial_RxDMA_buf[UART_Receive_MAX_NUM];
uint8_t RS485_1_TxDMA_buf[UART_Transmit_MAX_NUM];
uint8_t RS485_2_TxDMA_buf[UART_Transmit_MAX_NUM];
uint8_t RS485_3_TxDMA_buf[UART_Transmit_MAX_NUM];
uint8_t RS485_4_TxDMA_buf[UART_Transmit_MAX_NUM];
uint8_t Debug_TxDMA_buf[UART_Transmit_MAX_NUM];
uint8_t ExternSerial_TxDMA_buf[UART_Transmit_MAX_NUM];
#define InterCall_DEBUG_UART huart4
#define E28_SBUS_UART huart5
#define RS485_4_UART huart7
#define RS485_1_UART huart1
#define LTE_7S0_Serial_UART huart2
#define RS485_2_UART huart3
#define RS485_3_UART huart6
struct UARTHandler RS_485_1_UART_Handler;
struct UARTHandler RS_485_2_UART_Handler;
struct UARTHandler RS_485_3_UART_Handler;
struct UARTHandler RS_485_4_UART_Handler;
struct UARTHandler InterCall_DEBUG_UART_Handler;
struct UARTHandler E28_SBUS_UART_Handler;
struct UARTHandler LTE_7S0_Serial_UART_Handler;
#if defined (hlpuart1Exit)
#define LPUART1UART hlpuart1
struct UARTHandler LPUART1_UART_Handler;
#endif
void GF_BSP_UARTHandlers_Intialize(
int32_t RS485_1_WaitTime,
int32_t RS485_2_WaitTime,
int32_t RS485_3_WaitTime,
int32_t RS485_4_WaitTime,
int32_t LTE_7S0_Serial_WaitTime,
int32_t InterCall_DEBUG_WaitTime,
int32_t E28_SBUS_WaitTime,
int32_t LPUART1_UART_WaitTime,
int32_t RS485_1_Dispacher_Time,
int32_t RS485_2_Dispacher_Time,
int32_t RS485_3_Dispacher_Time,
int32_t RS485_4_Dispacher_Time,
int32_t LTE_7S0_Serial_Dispacher_Time,
int32_t InterCall_DEBUG_Dispacher_Time,
int32_t E28_SBUS_Dispacher_Time,
int32_t LPUART1_UART_Dispacher_Time
)
{
IntializeUARTHandler(&RS_485_1_UART_Handler, &RS485_1_UART, RS485_1_WaitTime, 2,RS485_1_Dispacher_Time);
IntializeUARTHandler(&RS_485_2_UART_Handler, &RS485_2_UART, RS485_2_WaitTime, 2,RS485_2_Dispacher_Time);
IntializeUARTHandler(&RS_485_3_UART_Handler, &RS485_3_UART, RS485_3_WaitTime, 2,RS485_3_Dispacher_Time);
IntializeUARTHandler(&RS_485_4_UART_Handler, &RS485_4_UART, RS485_4_WaitTime, 2,RS485_4_Dispacher_Time);
IntializeUARTHandler(&LTE_7S0_Serial_UART_Handler, &LTE_7S0_Serial_UART, LTE_7S0_Serial_WaitTime, 2,LTE_7S0_Serial_Dispacher_Time);
IntializeUARTHandler(&InterCall_DEBUG_UART_Handler, &InterCall_DEBUG_UART, InterCall_DEBUG_WaitTime, 2,InterCall_DEBUG_Dispacher_Time);
IntializeUARTHandler(&E28_SBUS_UART_Handler, &E28_SBUS_UART, E28_SBUS_WaitTime, 2,E28_SBUS_Dispacher_Time);
HAL_UART_Receive_IT((E28_SBUS_UART_Handler.uart),
(uint8_t*) &E28_SBUS_UART_Handler.tmp_Rx_Buf, 1);
HAL_UART_Receive_IT((InterCall_DEBUG_UART_Handler.uart),
(uint8_t*) &InterCall_DEBUG_UART_Handler.tmp_Rx_Buf, 1);
HAL_UART_Receive_IT((RS_485_1_UART_Handler.uart),
(uint8_t*) &RS_485_1_UART_Handler.tmp_Rx_Buf, 1);
HAL_UART_Receive_IT((RS_485_2_UART_Handler.uart),
(uint8_t*) &RS_485_2_UART_Handler.tmp_Rx_Buf, 1);
HAL_UART_Receive_IT((RS_485_3_UART_Handler.uart),
(uint8_t*) &RS_485_3_UART_Handler.tmp_Rx_Buf, 1);
HAL_UART_Receive_IT((RS_485_4_UART_Handler.uart),
(uint8_t*) &RS_485_4_UART_Handler.tmp_Rx_Buf, 1);
HAL_UART_Receive_IT((LTE_7S0_Serial_UART_Handler.uart),
(uint8_t*) &LTE_7S0_Serial_UART_Handler.tmp_Rx_Buf, 1);
#if defined (hlpuart1Exit)
IntializeUARTHandler(&LPUART1_UART_Handler, &LPUART1UART, LPUART1_UART_WaitTime, 2,LPUART1_UART_Dispacher_Time); //10ms 剩余2ms
HAL_UART_Receive_IT((LPUART1_UART_Handler.uart),
(uint8_t*) &LPUART1_UART_Handler.tmp_Rx_Buf, 1);
#endif
GF_BSP_Interrupt_Add_CallBack(
DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, GF_BSP_UART_Timer);
//RS_485_2_UART_Handler.send_finished=1;
}
//Count Every 2 ms
void GF_BSP_UART_Timer()
{
Counting(&RS_485_1_UART_Handler);
Counting(&RS_485_2_UART_Handler);
Counting(&RS_485_3_UART_Handler);
Counting(&RS_485_4_UART_Handler);
Counting(&LTE_7S0_Serial_UART_Handler);
Counting(&InterCall_DEBUG_UART_Handler);
Counting(&E28_SBUS_UART_Handler);
#if defined (hlpuart1Exit)
Counting(&LPUART1_UART_Handler);
#endif
// RS_485_1_UART_Handler.Dispatcher_Run(&RS_485_1_UART_Handler);
// RS_485_2_UART_Handler.Dispatcher_Run(&RS_485_2_UART_Handler);
// RS_485_3_UART_Handler.Dispatcher_Run(&RS_485_3_UART_Handler);
// RS_485_4_UART_Handler.Dispatcher_Run(&RS_485_4_UART_Handler);
// E22_Serial_UART_Handler.Dispatcher_Run(&E22_Serial_UART_Handler);
// InterCall_DEBUG_UART_Handler.Dispatcher_Run(&InterCall_DEBUG_UART_Handler);
// InterCall_DEBUG_UART_Handler.Dispatcher_Run(&InterCall_DEBUG_UART_Handler);
}
void UARTHandlerAddTxList(struct UARTHandler *uartHandler, uint8_t *data,
uint16_t length, uint32_t txListTimePeriod, void (*UART_Decode)(uint8_t*, uint16_t))
{
UARTSendHandler *pTmp = NULL; //临时指针
//临时指针2用于逐个申请内存
pTmp = (UARTSendHandler*) malloc(sizeof(UARTSendHandler));
memcpy(pTmp->Tx_Buf, data, length);
pTmp->pNext = NULL;
pTmp->SendListTimePeriod=txListTimePeriod;
pTmp->SendLength = length;
pTmp->UART_Decode = UART_Decode;
//if NULL, call intialize one
if (uartHandler->pCurrentUARTSendHadler == NULL)
{
uartHandler->pCurrentUARTSendHadler = pTmp; //空链表
} else
{
char i = 0;
//插到尾部
UARTSendHandler *phead = NULL;
phead = uartHandler->pCurrentUARTSendHadler;
while (phead->pNext != NULL)
{
i++;
phead = phead->pNext;
}
phead->pNext = pTmp;
}
}
void UARTHandlerTx(struct UARTHandler *uartHandler)
{
if (uartHandler->uart == NULL)
{
LOGFF(DL_ERROR,
"the UART Hardware did not intialize,check the setting");
return;
}
uartHandler->RxCount=0;//设定RxCount为0
#if defined (hlpuart1Exit)
if(uartHandler->uart->Instance == LPUART1)
{
HAL_UART_Transmit(uartHandler->uart, uartHandler->Tx_Buf,
uartHandler->TxCount,100);
}else
{
#endif
if (uartHandler->uart->Instance == UART4) //**DEBUG
{
} else if (uartHandler->uart->Instance == USART1) //**RS485_1
{
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
} else if (uartHandler->uart->Instance == USART3) //**RS485_2
{
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
} else if (uartHandler->uart->Instance == USART6) //**RS485_3
{
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin, GPIO_PIN_SET);
} else if (uartHandler->uart->Instance == UART7) //**RS485_4
{
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin, GPIO_PIN_SET);
} else if (uartHandler->uart->Instance == USART2)//**E22 // External serial port
{
} else if (uartHandler->uart->Instance == UART5) //**E28 // SBUS
{
}
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) uartHandler->Tx_Buf,
uartHandler->TxCount);
HAL_UART_Transmit_DMA(uartHandler->uart, uartHandler->Tx_Buf,
uartHandler->TxCount);
#if defined (hlpuart1Exit)
}
#endif
if (uartHandler->uart == UART4) //**DEBUG
{
} else if (uartHandler->uart == USART1) //**RS485_1
{
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin,
GPIO_PIN_RESET);
} else if (uartHandler->uart == USART3) //**RS485_2
{
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin,
GPIO_PIN_RESET);
} else if (uartHandler->uart == USART6) //**RS485_3
{
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port,
RS485_3_DIR_Pin, GPIO_PIN_RESET);
} else if (uartHandler->uart == UART7) //**RS485_4
{
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port,
RS485_4_DIR_Pin, GPIO_PIN_RESET);
} else if (uartHandler->uart == USART2) //**E22 // External serial port
{
} else if (uartHandler->uart == UART5) //**E28 // SBUS
{
}
}
void UARTHandlerRX(struct UARTHandler *uartHandler)
{
//uartHandler->Wait_Time_Count = 0;
if (uartHandler->startCountFlag == 0)
{
uartHandler->startCountFlag = 1;
uartHandler->RxCount = 0;
}
uartHandler->Rx_Buf[uartHandler->RxCount] = uartHandler->tmp_Rx_Buf[0];
uartHandler->RxCount++;
HAL_UART_Receive_IT(uartHandler->uart, uartHandler->tmp_Rx_Buf, 1);
uartHandler->Wait_Time_Count = 0;
if(uartHandler->RxCount>=1024)//接收数据过多，直接抛弃
{
uartHandler->RxCount=0;
}
//HAL_UART_Receive_IT(uartHandler->uart, RS_485_2_UART_Handler.tmp_Rx_Buf, 1);
}
void IntializeUARTHandler(struct UARTHandler *uartHandler,
UART_HandleTypeDef *uart, int32_t WaitTime, unsigned char timeSpan,int32_t Dispacher_Time)
{
uartHandler->Wait_Time_Count = 0;
uartHandler->Wait_time = WaitTime;
uartHandler->uart = uart;
uartHandler->UART_Rx = UARTHandlerRX;
uartHandler->UART_Tx = UARTHandlerTx;
uartHandler->AddSendList = UARTHandlerAddTxList;
uartHandler->dispacherController = (DispacherController*) malloc(
sizeof(DispacherController));
uartHandler->dispacherController->pHead = NULL;
uartHandler->dispacherController->pTail = NULL;
uartHandler->dispacherController->Dispacher_Enable = 0;
uartHandler->dispacherController->DispacherCallTime = Dispacher_Time ; // call the function every 50 ms
uartHandler->dispacherController->Dispacher_Counter = 0;
uartHandler->dispacherController->DispacherNumber = 0;
uartHandler->dispacherController->Add_Dispatcher_List = Dispatcher_List_Add_t;
uartHandler->dispacherController->Dispatcher_Run = Dispatch_t;
uartHandler->timeSpan = 2;
uartHandler->SendList_time_Count = 0;
uartHandler->SendList_Period = 100;
}
void Counting(struct UARTHandler *uartHandler)
{
if (uartHandler->UART_Decode == NULL) //不解析，直接返回true
{
uartHandler->decode_finished = 1;
} else
{
if (uartHandler->startCountFlag == 1)
{
uartHandler->Wait_Time_Count++;
if (uartHandler->timeSpan * uartHandler->Wait_Time_Count
>= uartHandler->Wait_time)
{
uartHandler->Wait_Time_Count = 0;
uartHandler->startCountFlag = 0;
//启动解析函数
if (uartHandler->RxCount >= 1)
{
uartHandler->UART_Decode(uartHandler->Rx_Buf,
uartHandler->RxCount);
uartHandler->RxCount = 0;
}
}
}
}
if (uartHandler->pCurrentUARTSendHadler != NULL)
{
GF_UART_Send_List_Send(uartHandler);
} else
{
uartHandler->dispacherController->Dispatcher_Run(
uartHandler->dispacherController);
}
// uartHandler->Send_Time_Count++;
// if (uartHandler->timeSpan * uartHandler->Send_Time_Count
// >= uartHandler->DispacherCallPeriod)
// {
// uartHandler->Send_Time_Count = 0;
// if (uartHandler->pCurrentUARTSendHadler != NULL)
// {
// //拷贝数据到相关的代码中，然后发送
// uartHandler->UART_Decode =
// uartHandler->pCurrentUARTSendHadler->UART_Decode; //
// memcpy(uartHandler->Tx_Buf,
// uartHandler->pCurrentUARTSendHadler->Tx_Buf,
// uartHandler->pCurrentUARTSendHadler->TxCount);
//
// uartHandler->TxCount = uartHandler->pCurrentUARTSendHadler->TxCount;
// uartHandler->UART_Tx(uartHandler);
//
// if (uartHandler->pCurrentUARTSendHadler->pNext != NULL)
// {
// UARTSendHandler *temp =
// uartHandler->pCurrentUARTSendHadler->pNext;
// free(uartHandler->pCurrentUARTSendHadler); //清除内存
// uartHandler->pCurrentUARTSendHadler = temp;
// } else
// {
// free(uartHandler->pCurrentUARTSendHadler); //清除内存
// uartHandler->pCurrentUARTSendHadler = NULL;
// }
//
// }
//
// }
}
//_weak
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance == UART4) //**DEBUG
{
UARTHandlerRX(&InterCall_DEBUG_UART_Handler);
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_DEBUG_RxCpltCallback);
} else if (huart->Instance == USART1) //**RS485_1
{
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_1_RxCpltCallback);
UARTHandlerRX(&RS_485_1_UART_Handler);
} else if (huart->Instance == USART3) //**RS485_2
{
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_2_RxCpltCallback);
UARTHandlerRX(&RS_485_2_UART_Handler);
} else if (huart->Instance == USART6) //**RS485_3
{
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_3_RxCpltCallback);
UARTHandlerRX(&RS_485_3_UART_Handler);
} else if (huart->Instance == UART7) //**RS485_4
{
// UARTHandlerRX(&RS_485_4_UART_Handler);
//GF_BSP_Interrupt_Run_CallBack(DF_BSP_InterCall_RS485_4_RxCpltCallback);
UARTHandlerRX(&RS_485_4_UART_Handler);
} else if (huart->Instance == USART2) //**E22 // External serial port
{
// GF_BSP_Interrupt_Run_CallBack(
// DF_BSP_InterCall_E22_Serial_RxCpltCallback);
UARTHandlerRX(&LTE_7S0_Serial_UART_Handler);
} else if (huart->Instance == UART5) //**E28 // SBUS
{
// GF_BSP_Interrupt_Run_CallBack(
// DF_BSP_InterCall_E28_SBUS_RxFifo0Callback);
UARTHandlerRX(&E28_SBUS_UART_Handler);
}
#if defined (hlpuart1Exit)
else if (huart->Instance == LPUART1) //**E28 // SBUS
{
UARTHandlerRX(&LPUART1_UART_Handler);
}
#endif
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance == UART4) //**DEBUG
{
} else 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);
} else if (huart->Instance == USART2) //**E22 // External serial port
{
} else if (huart->Instance == UART5) //**E28 // SBUS
{
}
}
//RS485_Index:1-4 RS485; 5 ExternSerial; 6 Debug;
void GF_BSP_UART_Transmit(const uint8_t RS485_Index, const uint8_t *pData,
uint16_t Size)
{
UART_HandleTypeDef *huart;
if (Size > UART_Transmit_MAX_NUM)
Size = UART_Transmit_MAX_NUM;
switch (RS485_Index)
{
case 1:
huart = &huart1;
HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin,
GPIO_PIN_SET);
memcpy(RS485_1_TxDMA_buf, pData, Size);
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_1_TxDMA_buf,
Size);
HAL_UART_Transmit_DMA(huart, RS485_1_TxDMA_buf, Size);
//HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff);
break;
case 2:
huart = &huart3;
HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin,
GPIO_PIN_SET);
memcpy(RS485_2_TxDMA_buf, pData, Size);
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_2_TxDMA_buf,
Size);
HAL_UART_Transmit_DMA(huart, RS485_2_TxDMA_buf, Size);
break;
case 3:
huart = &huart6;
HAL_GPIO_WritePin(RS485_3_DIR_GPIO_Port, RS485_3_DIR_Pin,
GPIO_PIN_SET);
memcpy(RS485_3_TxDMA_buf, pData, Size);
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_3_TxDMA_buf,
Size);
HAL_UART_Transmit_DMA(huart, RS485_3_TxDMA_buf, Size);
break;
case 4:
huart = &huart7;
HAL_GPIO_WritePin(RS485_4_DIR_GPIO_Port, RS485_4_DIR_Pin,
GPIO_PIN_SET);
memcpy(RS485_4_TxDMA_buf, pData, Size);
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) RS485_4_TxDMA_buf,
Size);
HAL_UART_Transmit_DMA(huart, RS485_4_TxDMA_buf, Size);
break;
case 5:
huart = &huart2;
memcpy(ExternSerial_TxDMA_buf, pData, Size);
SCB_CleanInvalidateDCache_by_Addr(
(uint32_t*) ExternSerial_TxDMA_buf, Size);
HAL_UART_Transmit_DMA(huart, ExternSerial_TxDMA_buf, Size);
break;
default:
huart = &huart4;
memcpy(Debug_TxDMA_buf, pData, Size);
SCB_CleanInvalidateDCache_by_Addr((uint32_t*) Debug_TxDMA_buf,
Size);
HAL_UART_Transmit_DMA(huart, Debug_TxDMA_buf, Size);
break;
}
}
//void USART_Dispatch(struct UARTHandler *uartHandler)
//{
////2ms
// if (uartHandler->Dispacher_Enable == 1)
// {
// uartHandler->Dispacher_Counter++;
// if (uartHandler->DispacherNumber > 0) //列表中有数据
// {
// if (uartHandler->Dispacher_Counter * uartHandler->timeSpan
// >= uartHandler->DispacherCallPeriod
// / uartHandler->DispacherNumber) //多长时间运行一次
// {
//
// uartHandler->Dispacher_Counter = 0;
// if (uartHandler->pHead != NULL
// && uartHandler->pHead->pNext != NULL)
// {
// uartHandler->pHead->dispache();
// uartHandler->pHead = uartHandler->pHead->pNext;
// } else
// {
//
// }
// }
// }
//
// }
//
//}
//
//void Dispatcher_List_Add(struct UARTHandler *uartHandler,
// void (*dispache)(void))
//{
// Dispatcher *pTmp = NULL; //临时指针2
// if (uartHandler->pHead == NULL && uartHandler->pTail == NULL) //头尾部都为空
// {
// uartHandler->pHead = uartHandler->pTail = (Dispatcher*) malloc(
// sizeof(Dispatcher));
// uartHandler->pTail->dispache = dispache;
// uartHandler->pTail->pNext = uartHandler->pHead;
// uartHandler->DispacherNumber++;
// } else
// {
// //临时指针2用于逐个申请内存
// pTmp = (Dispatcher*) malloc(sizeof(Dispatcher));
// pTmp->dispache = dispache;
// pTmp->pNext = uartHandler->pHead; //set the new dispatcher .next to the header, thus make it a circle
// //临时指针1的next指向刚分配内存的临时指针2
// uartHandler->pTail->pNext = pTmp;
//
// uartHandler->pTail = pTmp; //set pTail the last node of this ring
// uartHandler->DispacherNumber++;
// }
//}
void GF_UART_Send_List_Send(struct UARTHandler *handler)
{
handler->SendList_time_Count++;
if (handler->timeSpan * handler->SendList_time_Count
>= handler->SendList_Period)
{
handler->SendList_time_Count = 0;
handler->SendListExists = 1;
if (handler->pCurrentUARTSendHadler != NULL)
{
//拷贝数据到相关的代码中，然后发送
//handler->CAN_Decode = handler->pCurrentCANSendHadler->CAN_Decode; //
memcpy(handler->Tx_Buf, handler->pCurrentUARTSendHadler->Tx_Buf,
handler->pCurrentUARTSendHadler->SendLength);
handler->SendList_Period =
handler->pCurrentUARTSendHadler->SendListTimePeriod;
handler->TxCount = handler->pCurrentUARTSendHadler->SendLength;
handler->UART_Tx(handler);
if (handler->pCurrentUARTSendHadler->pNext != NULL)
{
UARTSendHandler *temp = handler->pCurrentUARTSendHadler->pNext;
free(handler->pCurrentUARTSendHadler); //清除内存
handler->pCurrentUARTSendHadler = temp;
} else
{
free(handler->pCurrentUARTSendHadler); //清除内存
handler->pCurrentUARTSendHadler = NULL;
}
} else
{
handler->SendListExists = 0;
}
}
}

157
BASE/Src/BSP/bsp_UDP.c
View File

@ -0,0 +1,157 @@
/*
* bsp_UDP.c
*
* Created on: Aug 13, 2024
* Author: akeguo
*/
#include "stm32h7xx_hal.h"
#include "lwip.h"
#include "udp.h"
#include "string.h"
#include "bsp_UDP.h"
/* 定义端口号 */
#define UDP_REMOTE_PORT 8881 /* 远端端口 */
#define UDP_LOCAL_PORT 8880 /* 本地端口 */
#define UDP_Send_LOCAL_PORT 9880 /* 本地端口 */
#define UDP_Printf_PORT 8881
#define UDP_Long_PORT 8882
#define UDP_UpdataPos_PORT 8883
unsigned char received_data[1000];
/* udp控制块 */
static struct udp_pcb *upcb;
static struct udp_pcb *upcb_send;
ip_addr_t serverIP;
/******************************************************************************
* 描述 : 接收回调函数
* 参数 : -
* 返回 : 无
******************************************************************************/
static void udp_receive_callback(void *arg, struct udp_pcb *upcb,
struct pbuf *p, const ip_addr_t *addr, u16_t port)
{
if (p != NULL)
{
memcpy(received_data, p->payload, p->len);
//err_t t = udp_sendto(upcb_send, p, &serverIP, 8000);
pbuf_free(p);
} else
{
pbuf_free(p);
}
}
//char UDPprintf[100];
void udp_printf_CmdBack(char *pData)
{
struct pbuf *p;
/* 分配缓冲区空间 */
p = pbuf_alloc(PBUF_TRANSPORT, strlen(pData), PBUF_POOL);
if (p != NULL)
{
/* 填充缓冲区数据 */
pbuf_take(p, pData, strlen(pData));
/* 发送udp数据 */
udp_send(upcb, p);
//err_t t = udp_sendto(upcb, p, &serverIP, UDP_Printf_PORT);
/* 释放缓冲区空间 */
pbuf_free(p);
}
}
void GF_UDP_Send(uint8_t *pData, uint16_t Size, uint16_t UDP_port)
{
struct pbuf *p;
/* 分配缓冲区空间 */
p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_POOL);
if (p != NULL)
{
/* 填充缓冲区数据 */
pbuf_take(p, pData, Size);
/* 发送udp数据 */
//udp_send(upcb, p);
err_t t = udp_sendto(upcb, p, &serverIP, UDP_port);
/* 释放缓冲区空间 */
pbuf_free(p);
}
}
void GF_UpdataPos_Send(uint8_t *pData, uint32_t Size)
{
GF_UDP_Send(pData, Size, UDP_UpdataPos_PORT);
}
/******************************************************************************
* 描述 : 创建udp客户端
* 参数 : 无
* 返回 : 无
******************************************************************************/
void udp_client_init(void)
{
err_t err;
IP4_ADDR(&serverIP, 192, 168, 1, 102);
/* 创建udp控制块 */
upcb = udp_new();
if (upcb != NULL)
{
/* 配置本地端口 */
upcb->local_port = UDP_LOCAL_PORT;
/* 配置服务器IP和端口 */
err= udp_connect(upcb, &serverIP, UDP_REMOTE_PORT);
// err = udp_bind(upcb, IP_ADDR_ANY, UDP_LOCAL_PORT);
upcb->so_options |= SOF_BROADCAST;
if (err == ERR_OK)
{
/* 注册接收回调函数 */
udp_recv(upcb, udp_receive_callback, NULL);
/* 发送udp数据 */
//printf("udp client connected\r\n");
} else
{
udp_remove(upcb);
//printf("can not connect udp pcb\r\n");
}
}
// upcb_send = udp_new();
//
// if (upcb_send != NULL)
// {
// /* 配置本地端口 */
// upcb_send->local_port = UDP_Send_LOCAL_PORT;
//
// /* 配置服务器IP和端口 */
// upcb_send->so_options |= SOF_BROADCAST;
// err = udp_bind(upcb_send, IP_ADDR_ANY, UDP_Send_LOCAL_PORT);
// if (err == ERR_OK)
// {
//
// } else
// {
// udp_remove(upcb_send);
//
// }
// }
}
/******************************** END OF FILE ********************************/

54
BASE/Src/BSP/bsp_UpperComputer_Handler.c
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/*
* bsp_desulfurizer_handler.c
*
* Created on: Jul 29, 2024
* Author: akeguo
*/
#include "pb_decode.h"
#include "pb_encode.h"
#include "bsp_include.h"
#include "pb.h"
#include "bsp_Cmd.pb.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#include "BHBF_ROBOT.h"
#include "bsp_cpu_flash.h"
#include <bsp_qspi_w25q128.h>
#include <bsp_UpperComputer_Handler.h>
#include "bsp_decode_command.h"
void decode_command_from_computer(uint8_t *buffer, uint16_t length);
struct UARTHandler *desulfurizer_message_UART_Handler;
void upper_Computer_UART_Handler_intialize(struct UARTHandler *Handler)
{
//LOG("desulfurizer_message_UART_Handler_intialize");
desulfurizer_message_UART_Handler = Handler;
desulfurizer_message_UART_Handler->UART_Decode =
decode_command_from_computer; //indicate that there is no need to listen
//desulfurizer_message_UART_Handler->DispacherCallPeriod=200;
//desulfurizer_message_UART_Handler->Add_Dispatcher_List(desulfurizer_message_UART_Handler,steering_set_angle);
}
void decode_command_from_computer(uint8_t *buffer, uint16_t length)
{
if(*buffer==0x55 && *(buffer+1)==0x55 && length>=3)
{
decode_command_and_feedback(buffer+2, length-2, 0,
desulfurizer_message_UART_Handler);//0代表非mqtt
}
}

70
BASE/Src/BSP/bsp_adc.c
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/*
* bsp_adc.c
*
* Created on: Feb 21, 2025
* Author: akeguo
*/
#include "bsp_adc.h"
#include "adc.h"
#include "stm32h7xx_hal_adc.h"
#include <math.h>
// 硬件相关参数配置
#define ADC_MAX_VALUE 0xffff // 16位ADC最大值，若为10位ADC改为1023
#define VREF 3.3f // ADC参考电压
// 热敏电阻参数 (需根据实际型号确认)
#define R_REF 10000.0f // 分压电阻阻值(与热敏电阻串联)
#define B_VALUE 3380.0f // B常数 (需确认具体型号参数)
#define R0 10000.0f // 25°C时的标称阻值
#define T0 298.15f // 25°C对应的开尔文温度(25 + 273.15)
uint32_t adc_value;
int32_t read_temperature()
{
HAL_ADC_Start(&hadc2); //开启ADC1
if (HAL_ADC_PollForConversion(&hadc2, 100) == HAL_OK)
{
//16 bit resolution
adc_value = HAL_ADC_GetValue(&hadc2);
HAL_ADC_Stop(&hadc2);
// 1. 计算热敏电阻两端电压
float voltage = (adc_value / (float) ADC_MAX_VALUE) * VREF;
// 2. 计算热敏电阻阻值（分压电路公式）
float ntc_resistance = (voltage * R_REF) / (VREF - voltage);
//float ntc_resistance = (voltage * R_REF) / (VREF);
// 3. 使用Steinhart-Hart方程计算温度
float steinhart;
steinhart = ntc_resistance / R0; // (R/R0)
steinhart = log(steinhart); // ln(R/R0)
steinhart /= B_VALUE; // 1/B * ln(R/R0)
steinhart += 1.0 / T0; // + (1/T0)
steinhart = 1.0 / steinhart; // 取倒数得到开尔文温度
// 4. 转换为摄氏度并返回
return (int32_t)((steinhart - 273.15)*100);
}
else
{
adc_value = 0;
HAL_ADC_Stop(&hadc2);
return 0;
}
}
int32_t temperature;
double GetTempature()
{
//return 0;
}

118
BASE/Src/BSP/bsp_client_setting.c
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/*
* bsp_pv_setting.c
*
* Created on: Jan 8, 2025
* Author: akeguo
*/
#include <bsp_client_setting.h>
#include "BHBF_ROBOT.h"
#include "bsp_decode_command.h"
#include "gpio.h"
#include "bsp_UART.h"
void UpdateIV();
void decode_received_data_from_client(uint8_t *buffer, uint16_t length);
struct UARTHandler *client_setting_Handler; //相当于当前行及下一行这两个结构体与绑定的共享地址
DispacherController *client_setting_dispacher;
void client_setting_intialize(struct UARTHandler *Handler)
{
client_setting_Handler = Handler;
client_setting_Handler->Wait_time = 30; // 最低不要低于4；
client_setting_dispacher=Handler->dispacherController;
client_setting_dispacher->Add_Dispatcher_List(client_setting_dispacher,UpdateIV);
client_setting_dispacher->DispacherCallTime=1000;
client_setting_dispacher->Dispacher_Enable = 1;
LOG("client_setting_intialize");
client_setting_Handler->UART_Decode = decode_received_data_from_client; //indicate that there is no need to listen
}
void UpdateIV()//往安卓发的
{
//根据提供的缓冲区和大小创建一个输出流对象
pb_ostream_t IV_o_stream = pb_ostream_from_buffer(
&client_setting_Handler->Tx_Buf[2],
sizeof(client_setting_Handler->Tx_Buf) - 2);
//将 IV 结构体中的数值按照 Protobuf 协议进行编码，并将编码后的字节流存储到 client_setting_Handler->Tx_Buf 数组（从第三个元素开始）
pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
client_setting_Handler->Tx_Buf[0] = 0x55;
client_setting_Handler->Tx_Buf[1] = 0x55;
client_setting_Handler->TxCount = IV_o_stream.bytes_written + 4;
uint16_t crc=MB_CRC16(&(client_setting_Handler->Tx_Buf[0]), IV_o_stream.bytes_written + 2);
client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 2] = (crc>>8) &0xff;
client_setting_Handler->Tx_Buf[IV_o_stream.bytes_written + 3] = crc & 0xff;;
client_setting_Handler->UART_Tx(client_setting_Handler);
}
void decode_received_data_from_client(uint8_t *buffer, uint16_t length)
{
uint8_t data[2000];
memcpy(data,buffer,length);
//if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4)
if (buffer[0] == 0x55 && buffer[1] == 0x55 && length >= 4)
{
uint16_t crc_check = ((buffer[length - 1] << 8) | buffer[length - 2]);
uint16_t crc_check1 = MB_CRC16(buffer, length - 2);
/* CRC 校验正确 */
if (crc_check == MB_CRC16(buffer, length - 2))
{
//if (*(buffer + 2) == 0x01 && *(buffer + 3) == 0x01) //01 01 设置PV
if (buffer[2] == 0x01 && buffer[3] == 0x01) //01 01 设置PV
{
PV_struct_define decoded_PV = PV_struct_define_init_default;
pb_istream_t i_pv_stream =
{ 0 };
i_pv_stream = pb_istream_from_buffer(&buffer[4], length - 4);
pb_decode(&i_pv_stream, PV_struct_define_fields, &decoded_PV);
//将CV写入EEPROM
//CV_struct_define saved_cV = GF_BSP_EEPROM_Get_CV();
GV.PV = decoded_PV;
GF_BSP_EEPROM_Set_CV(CV);
}
else if (*(buffer + 2) == 0x02 && *(buffer + 3) == 0x01) //设置PV
{
}
else if (*(buffer + 2) == 0x03 && *(buffer + 3) == 0x01) //返回IV
{
}
else
{
}
}
else
{
//Decode Error；
//log_error("wire sensor decoding failed");
LOGFF(DL_ERROR, "androidd decoding failed");
}
}
}
// client_setting_Handler->Tx_Buf[0]='1';
// client_setting_Handler->Tx_Buf[1]=',';
// //wh_LTE_7S0_Handler->Tx_Buf[2]='1';
// client_setting_Handler->TxCount = 2;
// client_setting_Handler->UART_Tx(client_setting_Handler);

188
BASE/Src/BSP/bsp_com_helper.c
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/*
* bsp_com_helper.c
*
* Created on: Oct 9, 2024
* Author: akeguo
*/
#include "bsp_com_helper.h"
#include <stdlib.h>
#include "DLT/DLTuc.h"
#include "BHBF_ROBOT.h"
void Dispatch_t(DispacherController *uartHandler)
{
//2ms一次
if (uartHandler->Dispacher_Enable == 1)
{
if (uartHandler->DispacherNumber > 0) //列表中有数据
{
uartHandler->Dispacher_Counter++;
if (uartHandler->Dispacher_Counter
>= uartHandler->DispacherCallTime / 2
/ (uartHandler->DispacherNumber)) //多长时间运行一次
{
uartHandler->Dispacher_Counter = 0;
if (uartHandler->pHead != NULL
&& uartHandler->pHead->pNext != NULL)
{
uartHandler->pHead->dispache();
uartHandler->pHead = uartHandler->pHead->pNext;
} else
{
}
}
}
}
}
void Dispatcher_List_Add_t(DispacherController *uartHandler,
void (*dispache)(void)) //调度器添加列表
{
Dispatcher *pTmp = NULL; //临时指针2
if (uartHandler->pHead == NULL && uartHandler->pTail == NULL) //头尾部都为空
{
uartHandler->pHead = uartHandler->pTail = (Dispatcher*) malloc(
sizeof(Dispatcher));
uartHandler->pHead->dispache = dispache;
uartHandler->pTail->dispache = dispache;
uartHandler->pHead->pNext = uartHandler->pTail;
uartHandler->pTail->pNext = uartHandler->pHead;
uartHandler->DispacherNumber++;
} else
{
//临时指针2用于逐个申请内存
pTmp = (Dispatcher*) malloc(sizeof(Dispatcher));
pTmp->dispache = dispache;
pTmp->pNext = uartHandler->pHead; //set the new dispatcher .next to the header, thus make it a circle
//临时指针1的next指向刚分配内存的临时指针2
uartHandler->pTail->pNext = pTmp;
uartHandler->pTail = pTmp; //set pTail the last node of this ring
uartHandler->DispacherNumber++;
}
}
void ComHardWare_List_Add_t(HardWareController *uartHandler, char *name,
char value,uint32_t bitFlag)
{
ComHardWare *pTmp = NULL; //临时指针2
if (uartHandler->pComHWHead == NULL && uartHandler->pComHWTail == NULL) //头尾部都为空
{
uartHandler->pComHWHead = uartHandler->pComHWTail =
(ComHardWare*) malloc(sizeof(ComHardWare));
memset(uartHandler->pComHWHead->Name, '\0',
sizeof(uartHandler->pComHWHead->Name));
memcpy(uartHandler->pComHWHead->Name, name, strlen(name));
uartHandler->pComHWHead->IsOnline = value;
uartHandler->pComHWHead->BitFlag = bitFlag;
uartHandler->pComHWHead->pNext = NULL;
} else
{
pTmp = (ComHardWare*) malloc(sizeof(ComHardWare));
memset(pTmp->Name, '\0', sizeof(pTmp->Name));
memcpy(pTmp->Name, name, strlen(name));
pTmp->BitFlag = bitFlag;
pTmp->IsOnline = value;
pTmp->pNext = NULL; //set the new dispatcher .next to the header, thus make it a circle
uartHandler->pComHWTail->pNext = pTmp;
uartHandler->pComHWTail = pTmp;
}
}
char str1[50] = "\0";
void PCOMHardWare_Check_t(HardWareController *uartHandler)
{
uartHandler->HardWare_Check_Counter++;
// if (uartHandler->HardWare_Check_Counter*2
// >= uartHandler->DispacherCallTime * 6) //make sure every
if (uartHandler->HardWare_Check_Counter * 2 >= uartHandler->DispacherCallTime) //make sure every
{
ComHardWare *ptr = uartHandler->pComHWHead;
if (!ptr)
{
uartHandler->HardWare_Check_Counter = 0;
//printf("链表为空\n");
return;
}
char IsAbnornalStatus = 0;
//check invalid state
while (ptr != NULL)
{
if (ptr->IsOnline != 1)
{
memset(str1, '\0', 50);
memcpy(str1, ptr->Name, strlen(ptr->Name));
LOGFF(DL_ERROR, "connecting Error %s", ptr->Name);
SET_BIT_1(SystemErrorCode,ptr->BitFlag);
//*SystemErrorCode=*SystemErrorCode|(1<<ptr->BitFlag);
IsAbnornalStatus = 1;
}else
{
//*SystemErrorCode=*SystemErrorCode|(1<<ptr->BitFlag);
SET_BIT_0(SystemErrorCode,ptr->BitFlag);
}
ptr = ptr->pNext;
}
//set invalid state
ptr = uartHandler->pComHWHead;
while (ptr != NULL)
{
ptr->IsOnline = 0;
ptr = ptr->pNext;
}
uartHandler->HardWare_Check_Counter = 0;//perform the check of connection
}
}
int Set_PCOMHardWare_t(HardWareController *uartHandler, char *name, char value)
{
ComHardWare *ptr = uartHandler->pComHWHead;
char finddata = 0;
if (ptr == NULL)
{
return 0;
}
while (ptr != NULL)
{
if (strcmp(ptr->Name, name) == 0)
{
ptr->IsOnline = value;
finddata = 1;
return finddata;
} else
{
ptr = ptr->pNext;
}
}
return finddata;
}

499
BASE/Src/BSP/bsp_cpu_flash.c
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/*
*********************************************************************************************************
*
* 模块名称 : cpu内部falsh操作模块(for STM32H743 H750)
* 文件名称 : bsp_cpu_flash.c
* 版 本 : V1.1
* 说 明 : 提供读写CPU内部Flash的函数
* 修改记录 :
* 版本号 日期 作者 说明
* V1.0 2019-09-20 armfly 正式发布
* V1.1 2019-10-03 armfly 写flash函数，修正长度不是32字节整数倍的bug，末尾补0写入。
* 解决HAL库函数的 HAL_FLASH_Program（）的bug，
* 问题现象是大批量连续编程失败（报编程指令顺序错， PGSERR1、 PGSERR2）
* Copyright (C), 2019-2030, 安富莱电子 www.armfly.com
*
*********************************************************************************************************
*/
#include "bsp_cpu_flash.h"
#include <string.h>
/*
*********************************************************************************************************
* 函数
*********************************************************************************************************
*/
/*
*********************************************************************************************************
* 宏定义
*********************************************************************************************************
*/
//0x08020000 - 0x08000000 = 128k;//bootload 128k // every sector 448k
/*
*********************************************************************************************************
* 变量
*********************************************************************************************************
*/
__IO uint32_t uwCRCValue;
__IO uint32_t uwExpectedCRCValue;
__IO uint32_t uwAppSize;
uint8_t buf[1024];
uint32_t RecCount = 0;
uint32_t RecCount0 = 0;
uint32_t RecSize = 0;
uint8_t RecCplt = 0;
uint32_t filesize = 0;
uint32_t Bus_Error=0;
uint32_t update_index = 0;
uint32_t update_index_true = 0;
uint32_t update_sum = 0;
uint32_t update_sum_true = 0;
/*
*********************************************************************************************************
* 函 数 名: bsp_GetSector
* 功能说明: 根据地址计算扇区首地址
* 形 参: 无
* 返 回 值: 扇区号（0-7)
*********************************************************************************************************
*/
uint32_t bsp_GetSector(uint32_t Address)
{
uint32_t sector = 0;
if (((Address < ADDR_FLASH_SECTOR_1_BANK1) && (Address >= ADDR_FLASH_SECTOR_0_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_1_BANK2) && (Address >= ADDR_FLASH_SECTOR_0_BANK2)))
{
sector = FLASH_SECTOR_0;
}
else if (((Address < ADDR_FLASH_SECTOR_2_BANK1) && (Address >= ADDR_FLASH_SECTOR_1_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_2_BANK2) && (Address >= ADDR_FLASH_SECTOR_1_BANK2)))
{
sector = FLASH_SECTOR_1;
}
else if (((Address < ADDR_FLASH_SECTOR_3_BANK1) && (Address >= ADDR_FLASH_SECTOR_2_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_3_BANK2) && (Address >= ADDR_FLASH_SECTOR_2_BANK2)))
{
sector = FLASH_SECTOR_2;
}
else if (((Address < ADDR_FLASH_SECTOR_4_BANK1) && (Address >= ADDR_FLASH_SECTOR_3_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_4_BANK2) && (Address >= ADDR_FLASH_SECTOR_3_BANK2)))
{
sector = FLASH_SECTOR_3;
}
else if (((Address < ADDR_FLASH_SECTOR_5_BANK1) && (Address >= ADDR_FLASH_SECTOR_4_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_5_BANK2) && (Address >= ADDR_FLASH_SECTOR_4_BANK2)))
{
sector = FLASH_SECTOR_4;
}
else if (((Address < ADDR_FLASH_SECTOR_6_BANK1) && (Address >= ADDR_FLASH_SECTOR_5_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_6_BANK2) && (Address >= ADDR_FLASH_SECTOR_5_BANK2)))
{
sector = FLASH_SECTOR_5;
}
else if (((Address < ADDR_FLASH_SECTOR_7_BANK1) && (Address >= ADDR_FLASH_SECTOR_6_BANK1)) || \
((Address < ADDR_FLASH_SECTOR_7_BANK2) && (Address >= ADDR_FLASH_SECTOR_6_BANK2)))
{
sector = FLASH_SECTOR_6;
}
else if (((Address < ADDR_FLASH_SECTOR_0_BANK2) && (Address >= ADDR_FLASH_SECTOR_7_BANK1)) || \
((Address < CPU_FLASH_END_ADDR) && (Address >= ADDR_FLASH_SECTOR_7_BANK2)))
{
sector = FLASH_SECTOR_7;
}
else
{
sector = FLASH_SECTOR_7;
}
return sector;
}
/*
*********************************************************************************************************
* 函 数 名: bsp_ReadCpuFlash
* 功能说明: 读取CPU Flash的内容
* 形 参: _ucpDst : 目标缓冲区
* _ulFlashAddr : 起始地址
* _ulSize : 数据大小（单位是字节）
* 返 回 值: 0=成功，1=失败
*********************************************************************************************************
*/
uint8_t bsp_ReadCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpDst, uint32_t _ulSize)
{
uint32_t i;
if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE)
{
return 1;
}
/* 长度为0时不继续操作,否则起始地址为奇地址会出错 */
if (_ulSize == 0)
{
return 1;
}
for (i = 0; i < _ulSize; i++)
{
*_ucpDst++ = *(uint8_t *)_ulFlashAddr++;
}
return 0;
}
/*
*********************************************************************************************************
* 函 数 名: bsp_CmpCpuFlash
* 功能说明: 比较Flash指定地址的数据.
* 形 参: _ulFlashAddr : Flash地址
* _ucpBuf : 数据缓冲区
* _ulSize : 数据大小（单位是字节）
* 返 回 值:
* FLASH_IS_EQU 0 Flash内容和待写入的数据相等，不需要擦除和写操作
* FLASH_REQ_WRITE 1 Flash不需要擦除，直接写
* FLASH_REQ_ERASE 2 Flash需要先擦除,再写
* FLASH_PARAM_ERR 3 函数参数错误
*********************************************************************************************************
*/
uint8_t bsp_CmpCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpBuf, uint32_t _ulSize)
{
uint32_t i;
uint8_t ucIsEqu; /* 相等标志 */
uint8_t ucByte;
/* 如果偏移地址超过芯片容量，则不改写输出缓冲区 */
if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE)
{
return FLASH_PARAM_ERR; /*　函数参数错误　*/
}
/* 长度为0时返回正确 */
if (_ulSize == 0)
{
return FLASH_IS_EQU; /* Flash内容和待写入的数据相等 */
}
ucIsEqu = 1; /* 先假设所有字节和待写入的数据相等，如果遇到任何一个不相等，则设置为 0 */
for (i = 0; i < _ulSize; i++)
{
ucByte = *(uint8_t *)_ulFlashAddr;
if (ucByte != *_ucpBuf)
{
if (ucByte != 0xFF)
{
return FLASH_REQ_ERASE; /* 需要擦除后再写 */
}
else
{
ucIsEqu = 0; /* 不相等，需要写 */
}
}
_ulFlashAddr++;
_ucpBuf++;
}
if (ucIsEqu == 1)
{
return FLASH_IS_EQU; /* Flash内容和待写入的数据相等，不需要擦除和写操作 */
}
else
{
return FLASH_REQ_WRITE; /* Flash不需要擦除，直接写 */
}
}
/*
*********************************************************************************************************
* 函 数 名: bsp_EraseCpuFlash
* 功能说明: 擦除CPU FLASH一个扇区 （128KB)
* 形 参: _ulFlashAddr : Flash地址
* 返 回 值: 0 成功， 1 失败
* HAL_OK = 0x00,
* HAL_ERROR = 0x01,
* HAL_BUSY = 0x02,
* HAL_TIMEOUT = 0x03
*
*********************************************************************************************************
*/
uint8_t bsp_EraseCpuFlash(uint32_t _ulFlashAddr)
{
uint32_t FirstSector = 0, NbOfSectors = 0;
FLASH_EraseInitTypeDef EraseInitStruct;
uint32_t SECTORError = 0;
uint8_t re;
/* 解锁 */
HAL_FLASH_Unlock();
/* 获取此地址所在的扇区 */
FirstSector = bsp_GetSector(_ulFlashAddr);
/* 固定1个扇区 */
NbOfSectors = 1;
/* 擦除扇区配置 */
EraseInitStruct.TypeErase = FLASH_TYPEERASE_SECTORS;
EraseInitStruct.VoltageRange = FLASH_VOLTAGE_RANGE_3;
if (_ulFlashAddr >= ADDR_FLASH_SECTOR_0_BANK2)
{
EraseInitStruct.Banks = FLASH_BANK_2;
}
else
{
EraseInitStruct.Banks = FLASH_BANK_1;
}
EraseInitStruct.Sector = FirstSector;
EraseInitStruct.NbSectors = NbOfSectors;
/* 扇区擦除 */
re = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
/* 擦除完毕后，上锁 */
HAL_FLASH_Lock();
return re;
}
/*
*********************************************************************************************************
* 函 数 名: bsp_WriteCpuFlash
* 功能说明: 写数据到CPU 内部Flash。 必须按32字节整数倍写。不支持跨扇区。扇区大小128KB. \
* 写之前需要擦除扇区. 长度不是32字节整数倍时，最后几个字节末尾补0写入.
* 形 参: _ulFlashAddr : Flash地址
* _ucpSrc : 数据缓冲区
* _ulSize : 数据大小（单位是字节, 必须是32字节整数倍）
* 返 回 值: 0-成功，1-数据长度或地址溢出，2-写Flash出错(估计Flash寿命到)
*********************************************************************************************************
*/
uint8_t bsp_WriteCpuFlash(uint32_t _ulFlashAddr, uint8_t *_ucpSrc, uint32_t _ulSize)
{
uint32_t i;
uint8_t ucRet;
/* 如果偏移地址超过芯片容量，则不改写输出缓冲区 */
if (_ulFlashAddr + _ulSize > CPU_FLASH_BASE_ADDR + CPU_FLASH_SIZE)
{
return 1;
}
/* 长度为0时不继续操作 */
if (_ulSize == 0)
{
return 0;
}
ucRet = bsp_CmpCpuFlash(_ulFlashAddr, _ucpSrc, _ulSize);
if (ucRet == FLASH_IS_EQU)
{
return 0;
}
__set_PRIMASK(1); /* 关中断 */
/* FLASH 解锁 */
HAL_FLASH_Unlock();
for (i = 0; i < _ulSize / 32; i++)
{
uint64_t FlashWord[4];
memcpy((char *)FlashWord, _ucpSrc, 32);
_ucpSrc += 32;
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, _ulFlashAddr, (uint64_t)((uint32_t)FlashWord)) == HAL_OK)
{
_ulFlashAddr = _ulFlashAddr + 32; /* 递增，操作下一个256bit */
}
else
{
goto err;
}
}
/* 长度不是32字节整数倍 */
if (_ulSize % 32)
{
uint64_t FlashWord[4];
FlashWord[0] = 0;
FlashWord[1] = 0;
FlashWord[2] = 0;
FlashWord[3] = 0;
memcpy((char *)FlashWord, _ucpSrc, _ulSize % 32);
if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, _ulFlashAddr, (uint64_t)((uint32_t)FlashWord)) == HAL_OK)
{
; // _ulFlashAddr = _ulFlashAddr + 32;
}
else
{
goto err;
}
}
/* Flash 加锁，禁止写Flash控制寄存器 */
HAL_FLASH_Lock();
__set_PRIMASK(0); /* 开中断 */
return 0;
err:
/* Flash 加锁，禁止写Flash控制寄存器 */
HAL_FLASH_Lock();
__set_PRIMASK(0); /* 开中断 */
return 1;
}
/*
*********************************************************************************************************
* 函 数 名: JumpToApp
* 功能说明: 跳转到应用JumpToApp
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void JumpToApp(void)
{
uint32_t i=0;
void (*AppJump)(void); /* 声明一个函数指针 */
/* 关闭全局中断 */
DISABLE_INT();
/* 设置所有时钟到默认状态，使用HSI时钟 */
__HAL_RCC_GPIOH_CLK_DISABLE();
__HAL_RCC_GPIOB_CLK_DISABLE();
HAL_RCC_DeInit();
/* 关闭滴答定时器，复位到默认值 */
SysTick->CTRL = 0;
SysTick->LOAD = 0;
SysTick->VAL = 0;
/* 关闭所有中断，清除所有中断挂起标志 */
for (i = 0; i < 8; i++)
{
NVIC->ICER[i]=0xFFFFFFFF;
NVIC->ICPR[i]=0xFFFFFFFF;
}
/* 使能全局中断 */
ENABLE_INT();
/* 跳转到应用程序，首地址是MSP，地址+4是复位中断服务程序地址 */
AppJump = (void (*)(void)) (*((uint32_t *) (App_Run_Addr + 4)));
/* 设置主堆栈指针 */
__set_MSP(*(uint32_t *)App_Run_Addr);
/* 在RTOS工程，这条语句很重要，设置为特权级模式，使用MSP指针 */
__set_CONTROL(0);
/* 跳转到系统BootLoader */
AppJump();
/* 跳转成功的话，不会执行到这里，用户可以在这里添加代码 */
while (1)
{
}
}
/*
*********************************************************************************************************
* 函 数 名: JumpToApp
* 功能说明: 跳转到应用JumpToApp
* 形 参: 无
* 返 回 值: 无
*********************************************************************************************************
*/
void Copy_Download_Flash_to_Start()
{
uint32_t startIndex=0;
for(startIndex = 0; startIndex < 3; startIndex++)
{
bsp_EraseCpuFlash((uint32_t)(App_Run_Addr + startIndex*128*1024));//Erase this function
}
uint8_t readData[32];
uint32_t total=3*128*1024/sizeof(readData);
uint8_t retult=0;
for(startIndex=0;startIndex<total;startIndex++)
{
//App_Download_Addr
//Read 32 bytes
bsp_ReadCpuFlash(App_Download_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
//ucState = bsp_WriteCpuFlash((uint32_t)(AppAddr + TotalSize), (uint8_t *)&g_Can2RxData[8], RecSize);
retult=bsp_WriteCpuFlash(App_Run_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
//Read
}
}
void Copy_Peripheral_Download_Flash_to_App_Start(uint32_t totalBytes)
{
uint32_t startIndex=0;
// erase the all the flash from the App_Run_Addr
for(startIndex = 0; startIndex < 7; startIndex++)
{
bsp_EraseCpuFlash((uint32_t)(App_Run_Addr + startIndex*128*1024));//Erase this function
}
uint8_t readData[256];
uint32_t total=totalBytes/sizeof(readData)+1;
uint8_t retult=0;
for(startIndex=0;startIndex<total;startIndex++)
{
//App_Download_Addr
//Read 32 bytes
QSPI_W25Qx_Read_Buffer(&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS+startIndex*sizeof(readData),256);
HAL_Delay(10);
//retult= bsp_ReadCpuFlash(App_Download_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
//ucState = bsp_WriteCpuFlash((uint32_t)(AppAddr + TotalSize), (uint8_t *)&g_Can2RxData[8], RecSize);
retult=bsp_WriteCpuFlash(App_Run_Addr+startIndex*sizeof(readData),readData,sizeof(readData));
//Read
HAL_Delay(10);
}
}
void Erase_App_Download_Flash_Addr()
{
uint32_t startIndex=0;
//清空bank0 的1-7 区域
//there are 8 sectors in total, and
for(startIndex = 0; startIndex < 4; startIndex++)
{
bsp_EraseCpuFlash((uint32_t)(App_Download_Addr + startIndex*128*1024));//Erase this function
}
//char data[1];
//data[0]=20;
// bsp_WriteCpuFlash(App_Download_Addr,
// data, 1);
}

378
BASE/Src/BSP/bsp_decode_command.c
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/*
* bsp_decode_command.c
*
* Created on: Sep 24, 2024
* Author: akeguo
*/
#include "bsp_decode_command.h"
#include "bsp_Error.pb.h"
#define success 1
#define fail 0
Cmd decoded_Cmd = Cmd_init_default;
ReCmd send_Cmd = ReCmd_init_default;
pb_istream_t i_stream =
{ 0 };
char StartDownLoadFlag = 0;
static uint32_t downloadCount = 0;
static uint8_t readData[1024];
static uint8_t ReceivedData[1024];
static uint16_t calbriation;
static uint16_t length_count;
void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char isMqtt,
struct UARTHandler *send_Handler)
{
// char array[1000];
// memset(array, 0, sizeof(array));
// memcpy(array, buffer, length);
// length_count = length;
// if (length_count != 42)
// {
// char a = 100;
// }
//if (length >= 0)
if (length >= 1 )
{
i_stream = pb_istream_from_buffer(buffer, length);
pb_decode(&i_stream, Cmd_fields, &decoded_Cmd);
// int i=0;
// for(i=0;i<decoded_Cmd.Buff_Data_Length;i++)
// {
// decoded_Cmd.Buff_Data[i]=buffer[length-decoded_Cmd.Buff_Data_Length+i];
// }
memcpy(&decoded_Cmd.Buff_Data,
&buffer[length - decoded_Cmd.Buff_Data_Length],
decoded_Cmd.Buff_Data_Length);
switch (decoded_Cmd.CommadNum)
{
case 19: // 读取IV
{
pb_ostream_t IV_o_stream =
{ 0 };
// char buf1[30]={"9999"};
// IV.Buff_Data_Length=strlen(buf1);
// memcpy(IV.Buff_Data, buf1, IV.Buff_Data_Length);
char buf[1024];
IV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
//将数据拷贝到Command中
send_Cmd.CommadNum = 19;
send_Cmd.Buff_Data_Length = IV_o_stream.bytes_written;
WrapInCmdAndSend(send_Cmd, buf, isMqtt, send_Handler);
break;
}
case 18: // 设置PV
{
break;
}
case 17: // 读取PV
{
break;
}
case 15: // 返回错误信息
{
pb_ostream_t Error_o_stream =
{ 0 };
char buf[1024];
Error_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&Error_o_stream, ErrorData_fields,
&GV.SystemErrorData);
//将数据拷贝到Command中
send_Cmd.CommadNum = 16;
send_Cmd.Buff_Data_Length = Error_o_stream.bytes_written;
WrapInCmdAndSend(send_Cmd, buf, isMqtt, send_Handler);
break;
}
case 14: // 去 使能 wh_LTE_7S0_Handler 周期性性发送数据
{
WrapInCmdAndSendMessage(send_Cmd, 14, success,
"disable send GV", isMqtt, send_Handler);
break;
}
case 13: // 使能 wh_LTE_7S0_Handler 周期性性发送数据
{
break;
}
case 12: //重启系统，进入bootloader
{
WrapInCmdAndSendMessage(send_Cmd, 12, success, "STM32 reboot",
isMqtt, send_Handler);
NVIC_SystemReset();
break;
}
case 11: //配置无线网络模块，此处为透传指令
{
//decoded_Cmd.Parameter0是个数
//将buffer data中的数据发走
Send_WH_LTE_7S0_Data(decoded_Cmd.Buff_Data,
decoded_Cmd.Parameter0);
//
break;
}
case 10: //擦除flash
{
//Erase_App_Download_Flash_Addr();
QSPI_W25Qx_EraseDownLoadFlash();
downloadCount = 0;
WrapInCmdAndSendMessage(send_Cmd, 10, success,
"erase flash success", isMqtt, send_Handler);
break;
}
case 9: //上位机下发保存软件代码指令
{
//写入flash 然后重启
//if (iap.MB_CRC16 == MB_CRC16(iap.Buff_Data, 512))
//{
//将数据写入flash中
// 一上电就清空download flash
// if (StartDownLoadFlag == 0)
// {
// //Erase_App_Download_Flash_Addr();
// StartDownLoadFlag = 1;
// }
//AT24C512_Write_nBytes(&decoded_Cmd.Buff_Data, App_Download_EEPROM_Addr + downloadCount, decoded_Cmd.Buff_Data_Length);
// GF_BSP_EEPROM_WriteBytes(&decoded_Cmd.Buff_Data,
// App_Download_EEPROM_Addr + downloadCount,
// decoded_Cmd.Buff_Data_Length);
memcpy(ReceivedData,
&buffer[length - decoded_Cmd.Buff_Data_Length],
decoded_Cmd.Buff_Data_Length);
// calbriation = MB_CRC16(decoded_Cmd.Buff_Data,
// decoded_Cmd.Buff_Data_Length);
calbriation = MB_CRC16(&ReceivedData,
decoded_Cmd.Buff_Data_Length);
if (calbriation == decoded_Cmd.Parameter4) //Parameter4是校验
{
if (downloadCount == decoded_Cmd.Parameter3)
{
QSPI_W25Qx_Write_Buffer(&decoded_Cmd.Buff_Data,
CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS
+ decoded_Cmd.Parameter3,
decoded_Cmd.Buff_Data_Length);
downloadCount += decoded_Cmd.Buff_Data_Length;
send_Cmd.Parameter3 = length;
WrapInCmdAndSendMessage(send_Cmd, 9, success,
"download success", isMqtt, send_Handler);
}
else
{
decoded_Cmd.Parameter2 = downloadCount; //返回download count;
send_Cmd.Parameter3 = length;
WrapInCmdAndSendMessage(send_Cmd, 9, fail,
"downloadCount!=Parameter3", isMqtt,
send_Handler);
}
// QSPI_W25Qx_Write_Buffer(&decoded_Cmd.Buff_Data,
// CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS + downloadCount,
// decoded_Cmd.Buff_Data_Length);
//HAL_Delay(100);
// bsp_WriteCpuFlash(App_Download_Addr + downloadCount,
// decoded_Cmd.Buff_Data, decoded_Cmd.Buff_Data_Length);
//QSPI_W25Qx_Read_Buffer(&readData,CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS ,decoded_Cmd.Buff_Data_Length);
//HAL_Delay(50);
//GF_BSP_EEPROM_ReadBytes(readData,App_Download_EEPROM_Addr ,decoded_Cmd.Buff_Data_Length);
if (decoded_Cmd.Parameter1 == 1)
{
WrapInCmdAndSendMessage(send_Cmd, 9, success,
"download new software sucess", isMqtt,
send_Handler);
IAP_struct_define iap = GF_BSP_EEPROM_Get_IAP();//Get the version of the code
iap.UpgradeSucceeded = 1;
iap.Total_Bytes = decoded_Cmd.Parameter2;
StartDownLoadFlag = 0;
downloadCount = 0;
GF_BSP_EEPROM_Set_IAP(iap);
//重启系统，进入bootloader
//NVIC_SystemReset();
}
}
else
{
decoded_Cmd.Parameter2 = downloadCount; //返回download count;
send_Cmd.Parameter3 = length;
WrapInCmdAndSendMessage(send_Cmd, 9, fail,
"MB CRC failed and the length ", isMqtt,
send_Handler);
}
//}
break;
}
// 定义 7 上位机获取拟合点
// 定义 8 上位机获取位置点 */
case 8:
{
break;
}
case 7:
{
break;
}
//定义 6 上位机设定编码器角度值为0
case 6:
{
reset_current_value_0();
break;
}
//定义 4 上位机设定Trace等级值，无返回
case 4:
{
break;
}
//定义 3 上位机设定CV值
case 3:
{
CV_struct_define decoded_CV = CV_struct_define_init_default;
pb_istream_t i_cv_stream =
{ 0 };
i_cv_stream = pb_istream_from_buffer(&decoded_Cmd.Buff_Data,
decoded_Cmd.Buff_Data_Length);
pb_decode(&i_cv_stream, CV_struct_define_fields, &decoded_CV);
//将CV写入EEPROM
GF_BSP_EEPROM_Set_CV(decoded_CV);
send_Cmd.Parameter3 = length;
WrapInCmdAndSendMessage(send_Cmd, 3, success,
"Set CV succeeded", isMqtt, send_Handler);
CV_GV_Init();
break;
}
//定义 1 上位机获取默认CV值, 下位机返回CV的值，
//定义 2 下位机返回CV值
case 1:
{
CV = GF_BSP_EEPROM_Get_CV();
pb_ostream_t CV_o_stream =
{ 0 };
char buf[1024];
CV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&CV_o_stream, CV_struct_define_fields, &CV);
//将数据拷贝到Command中
send_Cmd.CommadNum = 2;
send_Cmd.Buff_Data_Length = CV_o_stream.bytes_written;
WrapInCmdAndSend(send_Cmd, buf, isMqtt, send_Handler);
break;
}
default:
WrapInCmdAndSendMessage(send_Cmd, 0, fail,
"MB CRC failed and the length ", isMqtt, send_Handler);
break;
}
//LOG("desulfurizer_message_UART_Handler_ decoding succeeded");
}
else
{
//LOG("desulfurizer_message_UART_Handler_ decoding failed");
}
}
void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, char isMqtt,
struct UARTHandler *send_Handler)
{
memcpy(&send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
pb_ostream_t ReCmd_out_stream =
{ 0 };
if (isMqtt == 1)
{
ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[4],
sizeof(send_Handler->Tx_Buf) - 4);
pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
send_Handler->Tx_Buf[0] = '3';
send_Handler->Tx_Buf[1] = ',';
send_Handler->Tx_Buf[2] = 0xfe;
send_Handler->Tx_Buf[3] = 0xfe;
send_Handler->TxCount = ReCmd_out_stream.bytes_written + 4;
send_Handler->UART_Tx(send_Handler);
}
else
{
ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[2],
sizeof(send_Handler->Tx_Buf)-2);
pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
send_Handler->Tx_Buf[0] = 0xfe;
send_Handler->Tx_Buf[1] = 0xfe;
//send_Handler->AddSendList(send_Handler,send_Handler->Tx_Buf,send_Handler->TxCount,NULL);
send_Handler->TxCount = ReCmd_out_stream.bytes_written+2;
//send_Handler->TxCount = 200;
send_Handler->UART_Tx(send_Handler);
}
}
//send_Cmd.CommadNum=0xff;//代表返回信息
//send_Cmd.Parameter0 代表执行的指令，发过来的命令号;
//send_Cmd.Parameter1 1 代表成功，0 代表失败;
//send_Cmd.databuf 存的是相关信息，可以通过ACII转成string;
void WrapInCmdAndSendMessage(ReCmd send_Cmd, int8_t functionNum, char isSuccess,
uint8_t *buf, char isMqtt, struct UARTHandler *send_Handler)
{
send_Cmd.CommadNum = 0xff; //代表返回信息
send_Cmd.Parameter0 = functionNum; //代表返回信息
send_Cmd.Parameter1 = isSuccess; //1 代表成功，0 代表失败;
send_Cmd.Buff_Data_Length = strlen(buf);
WrapInCmdAndSend(send_Cmd, buf, isMqtt, send_Handler);
}
void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length)
{
send_Cmd.CommadNum = 12; //定义12为设定Mqtt透传向上返回的数据
send_Cmd.Buff_Data_Length = length;
WrapInCmdAndSend(send_Cmd, buffer, 0, desulfurizer_message_UART_Handler);
}

649
BASE/Src/BSP/bsp_mqtt.c
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/*-----------------------------------------------------------
* Includes files
*----------------------------------------------------------*/
/* lib includes. */
#include <string.h>
#include "BHBF_ROBOT.h"
#include "bsp_EEPROM.h"
/* segger rtt includes. */
#include "bsp_cpu_flash.h"
#include <string.h>
//#include "bsp_mqtt.h"
/* lwip includes. */
#include "lwip/apps/mqtt.h"
#include "lwip/ip4_addr.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include "bsp_mqtt.h"
#include "pb_decode.h"
#include "pb_encode.h"
#include "bsp_CV.pb.h"
#include "bsp_pb_decode_encode.h"
#include "bsp_EEPROM.h"
#include "bsp_IAP.pb.h"
#include "bsp_cpu_flash.h"
#define USE_MQTT_MUTEX //使用发送数据的互斥锁，多个任务有发送才必须
#ifdef USE_MQTT_MUTEX
//static SemaphoreHandle_t s__mqtt_publish_mutex = NULL;
#endif /* USE_MQTT_MUTEX */
//typedef struct
//{
// int topic_id;
// char *str;
//} topic_string;
// topic_string receive_topic_dic[] =
//{
//
// { re_CV_struct_define, "receive_CV_struct_define" },
// { re_PV_struct_define, "re_PV_struct_define" },
// { re_PV_struct_define, "re_PV_struct_define" },
//
//};
// topic_string publish_topic_dic[] = {
//
// { pb_CV_struct_define, "CV_struct_define" },
// { pb_GV_struct_define, "GV_struct_define" },
// { pb_PV_struct_define, "m-notification-ind" },
//
//};
//
//char *receive_topic2String(unsigned char val, const topic_string *array, char *def)
//{
// int i = 0;
//
// while (array[i].str != NULL && array[i].topic_id != val)
// {
// i++;
// }
// if (array[i].str == NULL)
// return def;
//
// return array[i].str;
//}
#define topic_length 30
char *receivedtopic;
// has to be paried one by one
enum subscribe_topic_enum
{
sb_CV_struct_define = 0, sb_GV_struct_define, sb_PV_struct_define
};
enum publish_topic_enum
{
pb_CV_struct_define = 0, pb_GV_struct_define, pb_PV_struct_define
};
char subscribe_topics[][topic_length] =
{
{ "GetCVTopic" },
{ "SetCVTopic" },
{ "sb_PV_struct_define" },
{ "IAP" }, //IAP upload
};
//in this array,
char publish_topics[][topic_length] =
{
{ "CV_struct_define" },
{ "GV_struct_define" },
{ "PV_struct_define" },
};
static mqtt_client_t *s__mqtt_client_instance = NULL; //mqtt连接句柄，这里一定要设置全局变量，防止 lwip 底层重复申请空间
//MQTT 数据结构体
struct mqtt_recv_buffer
{
char recv_buffer[1024]; //储存接收的buffer
uint16_t recv_len; //记录已接收多少个字节的数据，MQTT的数据分包来的
uint16_t recv_total; //MQTT接收数据的回调函数会有个总的大小
};
//结构体初始化
struct mqtt_recv_buffer s__mqtt_recv_buffer_g =
{ .recv_len = 0, .recv_total = 0, };
static err_t bsp_mqtt_connect(void);
static err_t bsp_mqtt_subscribe(mqtt_client_t *mqtt_client, char *sub_topic,
uint8_t qos);
/* ===========================================
接收回调函数
============================================== */
/*!
* @brief mqtt 接收数据处理函数接口，需要在应用层进行处理
* 执行条件：mqtt连接成功
*
* @param [in1] : 用户提供的回调参数指针
* @param [in2] : 接收的数据指针
* @param [in3] : 接收数据长度
* @retval: 处理的结果
*/
__weak int mqtt_rec_data_process(void *arg, char *rec_buf, uint64_t buf_len)
{
//print_log("recv_buffer = %s\n", rec_buf);
if (strcmp(receivedtopic, "GetCVTopic") == 0)
{
//反序列化，得到GV
//CV_struct_define CV= pb_decode_CV(rec_buf,buf_len);
//read CV from EEPROM
CV_struct_define CV = GF_BSP_EEPROM_Get_CV();
// publish cv
bsp_mqtt_test();
// return CV topic
//log_info("CAN", "specifications is for insects");
//
} else if (strcmp(receivedtopic, "SetCVTopic") == 0)
{
//反序列化，得到CV
CV_struct_define CV = pb_decode_CV(rec_buf, buf_len);
GF_BSP_EEPROM_Set_CV(CV);
} else if (strcmp(receivedtopic, "IAP") == 0)
{
char data[2000];
memcpy(data,rec_buf,buf_len);
//反序列化，得到GV
IAP_struct_define iap = pb_decode_IAP(rec_buf, buf_len);
//if (iap.MB_CRC16 == MB_CRC16(iap.Buff_Data, 512))
//{
//将数据写入flash中
// 一上电就清空download flash
// bsp_WriteCpuFlash(App_Download_Addr+iap.Buff_Data_Start_Count,iap.Buff_Data,512);
//
// if(iap.Is_Finished==1)
// {
// //CV= GF_BSP_EEPROM_Get_CV();//Get the version of the code
// CV.UpgradeSucceeded=1;
// GF_BSP_EEPROM_Set_CV(CV);
// //重启系统，进入bootloader
// NVIC_SystemReset();
// }
//}
}
return 0;
}
/*!
* @brief MQTT 接收到数据的回调函数
* 执行条件：MQTT 连接成功
*
* @param [in1] : 用户提供的回调参数指针
* @param [in2] : MQTT 收到的分包数据指针
* @param [in3] : MQTT 分包数据长度
* @param [in4] : MQTT 数据包的标志位
* @retval: None
*/
static void bsp_mqtt_incoming_data_cb(void *arg, const u8_t *data, u16_t len,
u8_t flags)
{
// u8_t recevieddata[100];
// memset(recevieddata, 0,
// sizeof(recevieddata));
// memcpy(recevieddata,data,len);
if( (data == NULL) || (len == 0) )
//if ((data == NULL))
{
//print_log("mqtt_client_incoming_data_cb: condition error @entry\n");
return;
}
if (s__mqtt_recv_buffer_g.recv_len + len
< sizeof(s__mqtt_recv_buffer_g.recv_buffer))
{
//
snprintf(
&s__mqtt_recv_buffer_g.recv_buffer[s__mqtt_recv_buffer_g.recv_len],
len+1, "%s", data);
//source code is
// snprintf(
// &s__mqtt_recv_buffer_g.recv_buffer[s__mqtt_recv_buffer_g.recv_len],
// len, "%s", data);
s__mqtt_recv_buffer_g.recv_len += len;
}
if ((flags & MQTT_DATA_FLAG_LAST) == MQTT_DATA_FLAG_LAST)
{
//处理数据
mqtt_rec_data_process(arg, s__mqtt_recv_buffer_g.recv_buffer,
s__mqtt_recv_buffer_g.recv_len);
//已接收字节计数归0
s__mqtt_recv_buffer_g.recv_len = 0;
//清空接收buffer
memset(s__mqtt_recv_buffer_g.recv_buffer, 0,
sizeof(s__mqtt_recv_buffer_g.recv_buffer));
}
//print_log("mqtt_client_incoming_data_cb:reveiving incomming data.\n");
}
/*!
* @brief MQTT 接收到数据的回调函数
* 执行条件：MQTT 连接成功
*
* @param [in] : 用户提供的回调参数指针
* @param [in] : MQTT 收到数据的topic
* @param [in] : MQTT 收到数据的总长度
* @retval: None
*/
static void bsp_mqtt_incoming_publish_cb(void *arg, const char *topic,
u32_t tot_len)
{
//if( (topic == NULL) || (tot_len == 0) )
if ((topic == NULL))
{
//print_log("bsp_mqtt_incoming_publish_cb: condition error @entry\n");
return;
}
memset(receivedtopic, '\0', sizeof(receivedtopic));
strcpy(receivedtopic, topic);
//print_log("bsp_mqtt_incoming_publish_cb: topic = %s.\n",topic);
//print_log("bsp_mqtt_incoming_publish_cb: tot_len = %d.\n",tot_len);
s__mqtt_recv_buffer_g.recv_total = tot_len; //需要接收的总字节
s__mqtt_recv_buffer_g.recv_len = 0; //已接收字节计数归0
//清空接收buffer
memset(s__mqtt_recv_buffer_g.recv_buffer, 0,
sizeof(s__mqtt_recv_buffer_g.recv_buffer));
}
/* ===========================================
连接状态回调函数
============================================== */
/*!
* @brief MQTT 连接成功的处理函数，需要的话在应用层定义
*
* @param [in1] : MQTT 连接句柄
* @param [in2] : MQTT 连接参数指针
*
* @retval: None
*/
__weak void mqtt_conn_suc_proc(mqtt_client_t *client, void *arg)
{
// char test_sub_topic[] = "/public/TEST/AidenHinGwenWong_sub";
// bsp_mqtt_subscribe(client,"CV_struct_define",0);//subscribe for CVStruct
// bsp_mqtt_subscribe(client,test_sub_topic,0);
// bsp_mqtt_subscribe(client,test_sub_topic,0);
int i = 0;
// int length=sizeof(subscribe_topics)/topic_length;
for (i = 0; i < sizeof(subscribe_topics) / topic_length; i++)
{
bsp_mqtt_subscribe(client, subscribe_topics[i], 0); //subscribe for CVStruct
}
//
}
/*!
* @brief MQTT 处理失败调用的函数
*
* @param [in1] : MQTT 连接句柄
* @param [in2] : MQTT 连接参数指针
*
* @retval: None
*/
//__weak void mqtt_error_process_callback(mqtt_client_t * client, void *arg)
__weak void mqtt_error_process_callback(mqtt_client_t *client, void *arg)
{
//bsp_mqtt_connect();
//bsp_mqtt_connect();
bsp_mqtt_connect();
}
/*!
* @brief MQTT 连接状态的回调函数
*
* @param [in] : MQTT 连接句柄
* @param [in] : 用户提供的回调参数指针
* @param [in] : MQTT 连接状态
* @retval: None
*/
static void bsp_mqtt_connection_cb(mqtt_client_t *client, void *arg,
mqtt_connection_status_t status)
{
if (client == NULL)
{
//print_log("bsp_mqtt_connection_cb: condition error @entry\n");
return;
}
if (status == MQTT_CONNECT_ACCEPTED) //Successfully connected
{
//print_log("bsp_mqtt_connection_cb: Successfully connected\n");
// 注册接收数据的回调函数
mqtt_set_inpub_callback(client, bsp_mqtt_incoming_publish_cb,
bsp_mqtt_incoming_data_cb, arg);
//成功处理函数
mqtt_conn_suc_proc(client, arg);
} else
{
//print_log("bsp_mqtt_connection_cb: Fail connected, status = %s\n", lwip_strerr(status) );
//错误处理
mqtt_error_process_callback(client, arg);
}
}
/*!
* @brief 连接到 mqtt 服务器
* 执行条件：无
*
* @param [in] : None
*
* @retval: 连接状态，如果返回不是 ERR_OK 则需要重新连接
*/
static err_t bsp_mqtt_connect(void)
{
//print_log("bsp_mqtt_connect: Enter!\n");
err_t ret;
struct mqtt_connect_client_info_t mqtt_connect_info =
{ "AidenHinGwenWong_MQTT_Test", /* 这里需要修改，以免在同一个服务器两个相同ID会发生冲突 */
"admin", /* MQTT 服务器用户名 */
"123456", /* MQTT 服务器密码 */
60, /* 与 MQTT 服务器保持连接时间，时间超过未发送数据会断开 */
"/public/TEST/AidenHinGwenWong_pub",/* MQTT遗嘱的消息发送topic */
"Offline_pls_check", /* MQTT遗嘱的消息，断开服务器的时候会发送 */
0, /* MQTT遗嘱的消息 Qos */
0 /* MQTT遗嘱的消息 Retain */
};
ip_addr_t server_ip;
ip4_addr_set_u32(&server_ip, ipaddr_addr("192.168.24.99")); //MQTT服务器IP
uint16_t server_port = 10086; //注意这里是 MQTT 的 TCP 连接方式的端口号！！！！
if (s__mqtt_client_instance == NULL)
{
// 句柄==NULL 才申请空间，否则无需重复申请
s__mqtt_client_instance = mqtt_client_new();
}
if (s__mqtt_client_instance == NULL)
{
//防止申请失败
//print_log("bsp_mqtt_connect: s__mqtt_client_instance malloc fail @@!!!\n");
return ERR_MEM;
}
//进行连接,注意：如果需要带入 arg ，arg必须是全局变量，局部变量指针会被回收，大坑！！！！！
ret = mqtt_client_connect(s__mqtt_client_instance, &server_ip, server_port,
bsp_mqtt_connection_cb, NULL, &mqtt_connect_info);
/******************
小提示：连接错误不需要做任何操作，mqtt_client_connect 中注册的回调函数里面做判断并进行对应的操作
*****************/
//print_log("bsp_mqtt_connect: connect to mqtt %s\n", lwip_strerr(ret));
return ret;
}
/* ===========================================
发送接口、回调函数
============================================== */
/*!
* @brief MQTT 发送数据的回调函数
* 执行条件：MQTT 连接成功
*
* @param [in] : 用户提供的回调参数指针
* @param [in] : MQTT 发送的结果：成功或者可能的错误
* @retval: None
*/
static void mqtt_client_pub_request_cb(void *arg, err_t result)
{
mqtt_client_t *client = (mqtt_client_t*) arg;
if (result != ERR_OK)
{
//print_log("mqtt_client_pub_request_cb: c002: Publish FAIL, result = %s\n", lwip_strerr(result));
//错误处理
mqtt_error_process_callback(client, arg);
} else
{
//print_log("mqtt_client_pub_request_cb: c005: Publish complete!\n");
}
}
/*!
* @brief 发送消息到服务器
* 执行条件：无
*
* @param [in1] : mqtt 连接句柄
* @param [in2] : mqtt 发送 topic 指针
* @param [in3] : 发送数据包指针
* @param [in4] : 数据包长度
* @param [in5] : qos
* @param [in6] : retain
* @retval: 发送状态
* @note: 有可能发送不成功但是现实返回值是 0 ，需要判断回调函数 mqtt_client_pub_request_cb 是否 result == ERR_OK
*/
err_t bsp_mqtt_publish(mqtt_client_t *client, char *pub_topic, char *pub_buf,
uint16_t data_len, uint8_t qos, uint8_t retain)
{
//if ( (client == NULL) || (pub_topic == NULL) || (pub_buf == NULL) || (data_len == 0) || (qos > 2) || (retain > 1) )
if ((client == NULL) || (pub_topic == NULL) || (pub_buf == NULL)
|| (qos > 2) || (retain > 1))
{
//print_log("bsp_mqtt_publish: input error@@" );
return ERR_VAL;
}
//判断是否连接状态
if (mqtt_client_is_connected(client) != 1)
{
//print_log("bsp_mqtt_publish: client is not connected\n");
return ERR_CONN;
}
err_t err;
#ifdef USE_MQTT_MUTEX
// 创建 mqtt 发送互斥锁
//if (s__mqtt_publish_mutex == NULL)
// {
//print_log("bsp_mqtt_publish: create mqtt mutex ! \n" );
// s__mqtt_publish_mutex = xSemaphoreCreateMutex();
//}
// if (xSemaphoreTake(s__mqtt_publish_mutex, portMAX_DELAY) == pdPASS)
#endif /* USE_MQTT_MUTEX */
{
err = mqtt_publish(client, pub_topic, pub_buf, data_len, qos, retain,
mqtt_client_pub_request_cb, (void*) client);
//print_log("bsp_mqtt_publish: mqtt_publish err = %s\n", lwip_strerr(err) );
#ifdef USE_MQTT_MUTEX
//print_log("bsp_mqtt_publish: mqtt_publish xSemaphoreTake\n");
// xSemaphoreGive(s__mqtt_publish_mutex);
#endif /* USE_MQTT_MUTEX */
}
return err;
}
/* ===========================================
MQTT 订阅接口函数
============================================== */
/*!
* @brief MQTT 订阅的回调函数
* 执行条件：MQTT 连接成功
*
* @param [in] : 用户提供的回调参数指针
* @param [in] : MQTT 订阅结果
* @retval: None
*/
static void bsp_mqtt_request_cb(void *arg, err_t err)
{
if (arg == NULL)
{
//print_log("bsp_mqtt_request_cb: input error@@\n");
return;
}
mqtt_client_t *client = (mqtt_client_t*) arg;
if (err != ERR_OK)
{
//print_log("bsp_mqtt_request_cb: FAIL sub, sub again, err = %s\n", lwip_strerr(err));
//错误处理
mqtt_error_process_callback(client, arg);
} else
{
//print_log("bsp_mqtt_request_cb: sub SUCCESS!\n");
}
}
/*!
* @brief mqtt 订阅
* 执行条件：连接成功
*
* @param [in1] : mqtt 连接句柄
* @param [in2] : mqtt 发送 topic 指针
* @param [in5] : qos
* @retval: 订阅状态
*/
static err_t bsp_mqtt_subscribe(mqtt_client_t *mqtt_client, char *sub_topic,
uint8_t qos)
{
//print_log("bsp_mqtt_subscribe: Enter\n");
if ((mqtt_client == NULL) || (sub_topic == NULL) || (qos > 2))
{
//print_log("bsp_mqtt_subscribe: input error@@\n");
return ERR_VAL;
}
if (mqtt_client_is_connected(mqtt_client) != 1)
{
//print_log("bsp_mqtt_subscribe: mqtt is not connected, return ERR_CLSD.\n");
return ERR_CLSD;
}
err_t err;
err = mqtt_subscribe(mqtt_client, sub_topic, qos, bsp_mqtt_request_cb,
(void* )mqtt_client); // subscribe and call back.
if (err != ERR_OK)
{
//print_log("bsp_mqtt_subscribe: mqtt_subscribe Fail, return:%s \n", lwip_strerr(err));
} else
{
//print_log("bsp_mqtt_subscribe: mqtt_subscribe SUCCESS, reason: %s\n", lwip_strerr(err));
}
return err;
}
/* ===========================================
初始化接口函数
============================================== */
/*!
* @brief 封装 MQTT 初始化接口
* 执行条件：无
*
* @retval: 无
*/
void bsp_mqtt_init(void)
{
//print_log("Mqtt init...");
// 连接服务器
bsp_mqtt_connect();
// 发送消息到服务器
char message_test[] = "Hello mqtt server";
//for(int i = 0; i < 10; i++)
//{
bsp_mqtt_publish(s__mqtt_client_instance,
"/public/TEST/AidenHinGwenWong_pub", message_test,
sizeof(message_test), 1, 0);
// HAL_Delay(1000);
//}
}
void bsp_mqtt_test(void)
{
// 发送消息到服务器
//char message_test[] = "Hello mqtt server";
//for(int i = 0; i < 10; i++)
//{
uint8_t buf[64];
size_t len;
CV_struct_define o = CV_struct_define_init_default; // CV_struct_define_init_default this defination can only be used when initialize the struct;
CV_struct_define n = CV_struct_define_init_default;
pb_ostream_t o_stream =
{ 0 };
pb_istream_t i_stream =
{ 0 };
o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&o_stream, CV_struct_define_fields, &o);
len = o_stream.bytes_written; // send the [o_stream.bytes_written] bytes, startting from buf
err_enum_t status = bsp_mqtt_publish(s__mqtt_client_instance,
publish_topics[pb_CV_struct_define], buf, len, 1, 0);
//err_enum_t status= bsp_mqtt_publish(s__mqtt_client_instance,"/public/TEST/AidenHinGwenWong_pub",message_test,sizeof(message_test),1,0);
if (status == ERR_CONN)
{
//发送错误
//reconnect
//
bsp_mqtt_connect();
}
// HAL_Delay(1000);
//}
}
void bsp_mqtt_pub_send(char topic[], char buf[], size_t len)
{
err_enum_t status = bsp_mqtt_publish(s__mqtt_client_instance, topic, buf,
len, 1, 0);
//err_enum_t status= bsp_mqtt_publish(s__mqtt_client_instance,"/public/TEST/AidenHinGwenWong_pub",message_test,sizeof(message_test),1,0);
if (status == ERR_CONN)
{
}
}

36
BASE/Src/BSP/bsp_mqtt_pub.c
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@ -0,0 +1,36 @@
/*
* bsp_mqtt_pub.c
*
* Created on: Jul 9, 2024
* Author: akeguo
*/
#include "bsp_mqtt_pub.h"
char sendbuf[1024];
size_t length;
void log_info(char logger[], char message[])
{
memset(sendbuf,'\0',sizeof(sendbuf));
//char buf, size_t* len,TraceLevel traceLevel, char logger[], char message[]
pb_encode_TraceMessage(sendbuf,sizeof(sendbuf), &length,"log",logger,message);
bsp_mqtt_pub_send("TraceMessage",sendbuf,length);
}
void log_err(char logger[], char message[])
{
memset(sendbuf,'\0',sizeof(sendbuf));
//char buf, size_t* len,TraceLevel traceLevel, char logger[], char message[]
pb_encode_TraceMessage(sendbuf ,sizeof(sendbuf),&length,"err",logger,message);
bsp_mqtt_pub_send("TraceMessage",sendbuf,length);
}
void log_debug(char logger[], char message[])
{
memset(sendbuf,'\0',sizeof(sendbuf));
//char buf, size_t* len,TraceLevel traceLevel, char logger[], char message[]
pb_encode_TraceMessage(sendbuf,sizeof(sendbuf), &length,"debug",logger,message);
bsp_mqtt_pub_send("TraceMessage",sendbuf,length);
}

126
BASE/Src/BSP/bsp_pb_decode_encode.c
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@ -0,0 +1,126 @@
/*
* bsp_pb_decode_encode.c
*
* Created on: Jul 5, 2024
* Author: akeguo
*/
#include "bsp_pb_decode_encode.h"
#include "bsp_CV.pb.h"
#include "bsp_IAP.pb.h"
bool pb_encode_string_cb(pb_ostream_t *stream, const pb_field_t *field,
void *const*arg)
{
pb_buffer_arg *data = (pb_buffer_arg*) *arg;
if (pb_encode_tag_for_field(stream, field)
&& pb_encode_string(stream, data->buf, data->buf_len))
return true;
return false;
}
bool pb_decode_string_cb(pb_istream_t *stream, const pb_field_t *field,
void **arg)
{
pb_buffer_arg *data = (pb_buffer_arg*) *arg;
data->buf_len = stream->bytes_left;
data->buf = stream->state;
return pb_read(stream, (pb_byte_t*) NULL, stream->bytes_left);
}
void Test_CV()
{
uint8_t buf[64];
size_t len;
CV_struct_define o = CV_struct_define_init_default; // CV_struct_define_init_default this defination can only be used when initialize the struct;
CV_struct_define n = CV_struct_define_init_default;
pb_ostream_t o_stream =
{ 0 };
pb_istream_t i_stream =
{ 0 };
//strcat(o.Date_Time, "MikeJordan");
// o.Speed[0] = 11;
// o.Speed[1] = 22;
// o.Speed[2] = 33;
// encode
// char const date_string[] = "2024-7-5 10:19 pm";
// o.Date_Time.funcs.encode = pb_encode_string_cb;
// o.Date_Time.arg = &((pb_buffer_arg )
// { .buf = date_string, .buf_len = sizeof(date_string) } );
//
// char const id_string[] = "Robot-01-03-08";
// o.Robot_ID.funcs.encode = pb_encode_string_cb;
// o.Robot_ID.arg = &((pb_buffer_arg )
// { .buf = id_string, .buf_len = sizeof(id_string) } );
o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
pb_encode(&o_stream, CV_struct_define_fields, &o);
len = o_stream.bytes_written; // send the [o_stream.bytes_written] bytes, startting from buf
// decode example
// i_stream = pb_istream_from_buffer(buf, len);
// //decode
// pb_buffer_arg decode_datetime_string = { .buf = NULL, .buf_len = 0 };
// n.Date_Time.arg = &decode_datetime_string;
// n.Date_Time.funcs.decode = pb_decode_string_cb;
//
// pb_buffer_arg decode_id_string = { .buf = NULL, .buf_len = 0 };
// n.Robot_ID.arg = &decode_id_string;
// n.Robot_ID.funcs.decode = pb_decode_string_cb;
pb_decode(&i_stream, CV_struct_define_fields, &n);
char decodestring[100];
//strncpy(decodestring, decode_datetime_string.buf,
// decode_datetime_string.buf_len);
decodestring[99] = 'a';
// printf("decode_string:%s , buf_len:%zu\n",decode_datetime_string.buf, decode_datetime_string.buf_len);
}
CV_struct_define pb_decode_CV(char *buf, size_t length)
{
CV_struct_define decoded_CV = CV_struct_define_init_default;
pb_istream_t i_stream =
{ 0 };
i_stream = pb_istream_from_buffer(buf, length);
pb_decode(&i_stream, CV_struct_define_fields, &decoded_CV);
return decoded_CV;
}
IAP_struct_define pb_decode_IAP(uint8_t *buf, size_t length)
{
IAP_struct_define decoded_IAP =IAP_struct_define_init_default;
pb_istream_t i_stream =
{ 0 };
i_stream = pb_istream_from_buffer(buf, length);
pb_decode(&i_stream, IAP_struct_define_fields, &decoded_IAP);
return decoded_IAP;
}
GV_struct_define* pb_decode_GV(char *buf, size_t length)
{
GV_struct_define decoded_struct = GV_struct_define_init_default;
pb_istream_t i_stream =
{ 0 };
i_stream = pb_istream_from_buffer(buf, length);
pb_decode(&i_stream, GV_struct_define_fields, &decoded_struct);
return &decoded_struct;
}

488
BASE/Src/BSP/bsp_qspi_w25q128.c
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/*
* bsp_quadspi_W25Q128.c
*
* Created on: Apr 25, 2021
* Author: Administrator
*
*
*
*
*
*/
#include <bsp_qspi_w25q128.h>
#include "quadspi.h"
/* 仅限本文件使用的函数 */
static void QSPI_W25Qx_Write_Enable(QSPI_HandleTypeDef *hqspi);
static uint8_t QSPI_W25Qx_AutoPollingMemRead(uint32_t Timeout);
static void QSPI_W25Qx_Enter(QSPI_HandleTypeDef *hqspi);
static void QSPI_W25Qx_Exit(QSPI_HandleTypeDef *hqspi);
/**
* 函数功能: 读取Flash状态并等待操作结束
* 输入参数: Timeout：等待时间
*
* 返回值: Flash的状态
* 说明:
*
*
*/
static uint8_t QSPI_W25Qx_AutoPollingMemRead(uint32_t Timeout)
{
QSPI_CommandTypeDef s_command={0};
QSPI_AutoPollingTypeDef s_config={0};
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 配置自动轮询模式 */
s_command.Instruction = READ_STATUS_REG1_CMD; //读取状态寄存器
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
s_command.DataMode = QSPI_DATA_1_LINE; //1线数据
s_command.DummyCycles = 0; //无空周期
/* 配置自动轮询寄存器（不断查询状态寄存器bit0，等待其为0） */
s_config.Match = 0x00; //等待其为0
s_config.Mask = W25Q128FV_FSR_BUSY; //状态寄存器bit0
s_config.MatchMode = QSPI_MATCH_MODE_AND; //逻辑与
s_config.StatusBytesSize = 1;
s_config.Interval = 0x10;
s_config.AutomaticStop = QSPI_AUTOMATIC_STOP_ENABLE;
/* 自动轮询模式等待编程结束 */
if(HAL_QSPI_AutoPolling(&hqspi,&s_command,&s_config,Timeout) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
return FLASH_OK;
}
/**
* 函数功能: 读取外部FLASH的ID
* 输入参数: 无
*
* 返回值: uint32_t
* 说明:
* 1、使用SPI模式的指令
*
*/
uint32_t QSPI_W25Qx_ReadID(void)
{
uint32_t uiID;
QSPI_CommandTypeDef s_command = {0};
uint8_t buf[3];
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 读取JEDEC ID */
s_command.Instruction = READ_JEDEC_ID_CMD; //读取ID命令: 0x9F
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
s_command.DataMode = QSPI_DATA_1_LINE; //1线数据
s_command.DummyCycles = 0; //无空周期
s_command.NbData = 3; //读取三个数据
/* 发送指令 */
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 启动接收 */
if(HAL_QSPI_Receive(&hqspi,buf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
uiID = (buf[0] << 16) | (buf[1] << 8) | buf[2];
return uiID;
}
/**
* 函数功能: 外部FLASH写使能
* 输入参数: hqspi QSPI_HandleTypeDef句柄
*
* 返回值: 无
* 说明:
* 1、使用SPI模式的指令
*
*/
static void QSPI_W25Qx_Write_Enable(QSPI_HandleTypeDef *hqspi)
{
QSPI_CommandTypeDef s_command = {0};
QSPI_AutoPollingTypeDef s_config={0};
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
//s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 写入使能配置 */
s_command.Instruction = WRITE_ENABLE_CMD; //写使能命令
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
s_command.DataMode = QSPI_DATA_NONE; //没有数据
s_command.DummyCycles = 0; //无空周期
s_command.NbData = 0; //空数据
/* 发送指令 */
if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 配置自动轮询模式等待操作完成 */
s_config.Match = W25Q128FV_FSR_WREN;
s_config.Mask = W25Q128FV_FSR_WREN;
s_config.MatchMode = QSPI_MATCH_MODE_AND;
s_config.StatusBytesSize = 1;
s_config.Interval = 0x10;
s_config.AutomaticStop = QSPI_AUTOMATIC_STOP_ENABLE;
s_command.Instruction = READ_STATUS_REG1_CMD;
s_command.DataMode = QSPI_DATA_1_LINE;
s_command.NbData = 1;
if(HAL_QSPI_AutoPolling(hqspi,&s_command,&s_config,HAL_QSPI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
}
/**
* 函数功能: 擦除外部FLASH的扇区（大小：4KB)
* 输入参数: _uiSectorAddr: 扇区地址，以4KB为单位的地址，比如0，4096，8192等
*
* 返回值: 无
* 说明:
* 1、
*
*/
void QSPI_W25Qx_EraseSector(uint32_t _SectorAddr)
{
QSPI_CommandTypeDef s_command = {0};
/* 写使能 */
QSPI_W25Qx_Write_Enable(&hqspi);
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 擦除扇区配置 */
s_command.Instruction = SECTOR_ERASE_CMD; //扇区擦除指令
s_command.AddressMode = QSPI_ADDRESS_1_LINE; //1线地址方式
s_command.DataMode = QSPI_DATA_NONE; //没有数据
s_command.Address = _SectorAddr; //扇区的首地址，保证是4KB整数倍
s_command.DummyCycles = 0; //无空周期
/* 发送指令 */
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 自动轮询模式等待编程结束 */
if(QSPI_W25Qx_AutoPollingMemRead(W25Q128FV_SUBSECTOR_ERASE_MAX_TIME) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
}
/**
* 函数功能: 页编程，通过QSPI将数据写入外部FALSH
* 输入参数: _pBuf: 需要存入数据的指针
* _write_Addr: 目标区域首地址，即页首地址，比如0，256，512等。
* _write_Size: 数据个数，不能超过页的大小，可以填入（1 ~ 256）
* 返回值: 无
* 说明:
* 1、华邦的W25Q128FV仅仅支持SPI模式写入
*/
uint8_t QSPI_W25Qx_Write_Buffer(uint8_t *_pBuf,uint32_t _write_Addr,uint16_t _write_Size)
{
QSPI_CommandTypeDef s_command = {0};
/* 防止写入的大小超过256字节 */
if(_write_Size > W25Q128FV_PAGE_SIZE)
{
/* 进入断言，提示错误 */
user_Assert(__FILE__,__LINE__);
}
QSPI_W25Qx_Write_Enable(&hqspi); //写使能
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/*写入序列配置 */
s_command.Instruction = QUAD_INPUT_PAGE_PROG_CMD; //24位四线快速写入指令
s_command.AddressMode = QSPI_ADDRESS_1_LINE; //1线地址方式
s_command.DataMode = QSPI_DATA_4_LINES; //4线数据方式
s_command.Address = _write_Addr; //写入数据的地址
s_command.NbData = _write_Size; //写入数据的大小
s_command.DummyCycles = 0; //无空周期
/* 发送指令 */
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 启动传输 */
if(HAL_QSPI_Transmit(&hqspi,_pBuf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 自动轮询模式等待编程结束 */
if(QSPI_W25Qx_AutoPollingMemRead(W25Q128FV_SUBSECTOR_ERASE_MAX_TIME) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
return 1;
}
/**
* 函数功能: 外部FLASH芯片进入QSPI模式
* 输入参数: *hqspi: qspi句柄
*
* 返回值: 无
* 说明:
*
*/
static void QSPI_W25Qx_Enter(QSPI_HandleTypeDef *hqspi)
{
QSPI_CommandTypeDef s_command = {0};
/* 配置FLASH进入QPSI模式 */
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 写入序列配置 */
s_command.Instruction = ENTER_QPI_MODE_CMD; //进入QSPI模式
s_command.AddressMode = QSPI_ADDRESS_NONE; //无地址方式
s_command.DataMode = QSPI_DATA_NONE; //无数据方式
s_command.DummyCycles = 0; //0空闲状态周期
/* 发送指令 */
if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
}
/**
* 函数功能: 外部FLASH芯片退出QSPI模式
* 输入参数: *hqspi: qspi句柄
*
* 返回值: 无
* 说明:
*
*/
static void QSPI_W25Qx_Exit(QSPI_HandleTypeDef *hqspi)
{
QSPI_CommandTypeDef s_command = {0};
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_4_LINES; //4线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 写入序列配置 */
s_command.Instruction = EXIT_QPI_MODE_CMD; //进入QSPI模式
s_command.AddressMode = QSPI_ADDRESS_NONE; //无地址方式
s_command.DataMode = QSPI_DATA_NONE; //无数据方式
s_command.DummyCycles = 0; //0空闲状态周期
/* 发送指令 */
if(HAL_QSPI_Command(hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
}
/**
* 函数功能: 连续读取若干字节，字节的个数不能超出芯片容量
* 输入参数: _pBuf: 读取数据的存放地址
* _read_Addr: 起始的地址
* _read_Size: 数据个数，可以大于W25Q128FV_PAGE_SIZE,但不能超出芯片总容量
* 返回值: 无
* 说明:
* 1、从SPI模式切换到QSPI模式，读取完毕后切换回SPI模式（其他函数仅仅支持SPI模式）。
*/
void QSPI_W25Qx_Read_Buffer(uint8_t *_pBuf,uint32_t _read_Addr,uint32_t _read_Size)
{
QSPI_CommandTypeDef s_command = {0};
/* 进入QSPI模式 */
QSPI_W25Qx_Enter(&hqspi);
/* 开始从FLASH读取数据 */
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_4_LINES; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/*读取序列配置 */
s_command.Instruction = QUAD_INOUT_FAST_READ_CMD; //24位四线快速写入指令
s_command.AddressMode = QSPI_ADDRESS_4_LINES; //4线地址方式
s_command.DataMode = QSPI_DATA_4_LINES; //4线数据方式
s_command.Address = _read_Addr; //写入数据的地址
s_command.NbData = _read_Size; //写入数据的大小
s_command.DummyCycles = 2; //两个空闲状态周期（4个时钟周期），结合时序理解
/* 发送指令 */
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 读取数据 */
if(HAL_QSPI_Receive(&hqspi,_pBuf,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 退出QSPI模式 */
QSPI_W25Qx_Exit(&hqspi);
}
/**
* 函数功能: 复位外部Flash
* 输入参数: 无
*
* 返回值: void
* 说明:
*
*/
void QSPI_W25Qx_Reset_Memory()
{
QSPI_CommandTypeDef s_command = {0};
/* 基本配置 */
s_command.InstructionMode = QSPI_INSTRUCTION_1_LINE; //1线方式发送指令
s_command.AddressSize = QSPI_ADDRESS_24_BITS; //24位地址
s_command.AlternateByteMode = QSPI_ALTERNATE_BYTES_NONE; //无交替字节
s_command.DdrMode = QSPI_DDR_MODE_DISABLE; //W25Q128FV不支持DDR模式
s_command.DdrHoldHalfCycle = QSPI_DDR_HHC_ANALOG_DELAY; //DDR模式，数据输出延迟
s_command.SIOOMode = QSPI_SIOO_INST_EVERY_CMD; //每次传输都发指令
/* 复位使能W25x */
s_command.Instruction = RESET_ENABLE_CMD; //复位使能命令
s_command.AddressMode = QSPI_ADDRESS_NONE; //没有地址
s_command.DataMode = QSPI_DATA_NONE; //没有数据
s_command.DummyCycles = 0; //无空周期
/* 发送复位使能命令 */
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 发送复位命令 */
s_command.Instruction = RESET_MEMORY_CMD; //复位命令
/* 发送复位使能命令 */
if(HAL_QSPI_Command(&hqspi,&s_command,HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
/* 自动轮询模式等待等待完成 */
if(QSPI_W25Qx_AutoPollingMemRead(HAL_QPSI_TIMEOUT_DEFAULT_VALUE) != HAL_OK)
{
user_Assert(__FILE__,__LINE__);
}
}
/**
* 函数功能: 检查代码异常，打印出异常的位置（文件名与行号）
* 输入参数: file: 源代码文件名称。关键字__FILE__表示源代码文件名。
* line: 代码行号，关键字__LINE__表示源代码行号
* 返回值： void
* 说明:
* 1、在需要断言的地方直接调用user_Assert(__FILE__,__LINE__);
*/
void user_Assert(char *file,uint32_t line)
{
printf("Wrong parameters value: file %s on line %d\r\n",file, (unsigned int)line);
/* 这是一个死循环，断言失败时程序会卡此处死机，以便于用户差错 */
if(line == 0)
{
return;
}
while(1)
{
}
}
/**
* 函数功能: 读取Flash状态并等待操作结束
* 输入参数: Timeout：等待时间
*
* 返回值: Flash的状态
* 说明:
*
*
*/
void QSPI_W25Qx_EraseDownLoadFlash()
{
int i =0;
int count=CODE_FLASH_STORAGE_SIZE/4/1024;
for(i=0;i<=count;i++)
{
QSPI_W25Qx_EraseSector(i*4*1024);
// HAL_Delay(10);
}
i=10;
}

388
BASE/Src/BSP/pb_common.c
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@ -0,0 +1,388 @@
/* pb_common.c: Common support functions for pb_encode.c and pb_decode.c.
*
* 2014 Petteri Aimonen <jpa@kapsi.fi>
*/
#include "pb_common.h"
static bool load_descriptor_values(pb_field_iter_t *iter)
{
uint32_t word0;
uint32_t data_offset;
int_least8_t size_offset;
if (iter->index >= iter->descriptor->field_count)
return false;
word0 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]);
iter->type = (pb_type_t)((word0 >> 8) & 0xFF);
switch(word0 & 3)
{
case 0: {
/* 1-word format */
iter->array_size = 1;
iter->tag = (pb_size_t)((word0 >> 2) & 0x3F);
size_offset = (int_least8_t)((word0 >> 24) & 0x0F);
data_offset = (word0 >> 16) & 0xFF;
iter->data_size = (pb_size_t)((word0 >> 28) & 0x0F);
break;
}
case 1: {
/* 2-word format */
uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]);
iter->array_size = (pb_size_t)((word0 >> 16) & 0x0FFF);
iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 28) << 6));
size_offset = (int_least8_t)((word0 >> 28) & 0x0F);
data_offset = word1 & 0xFFFF;
iter->data_size = (pb_size_t)((word1 >> 16) & 0x0FFF);
break;
}
case 2: {
/* 4-word format */
uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]);
uint32_t word2 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 2]);
uint32_t word3 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 3]);
iter->array_size = (pb_size_t)(word0 >> 16);
iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 8) << 6));
size_offset = (int_least8_t)(word1 & 0xFF);
data_offset = word2;
iter->data_size = (pb_size_t)word3;
break;
}
default: {
/* 8-word format */
uint32_t word1 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 1]);
uint32_t word2 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 2]);
uint32_t word3 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 3]);
uint32_t word4 = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index + 4]);
iter->array_size = (pb_size_t)word4;
iter->tag = (pb_size_t)(((word0 >> 2) & 0x3F) | ((word1 >> 8) << 6));
size_offset = (int_least8_t)(word1 & 0xFF);
data_offset = word2;
iter->data_size = (pb_size_t)word3;
break;
}
}
if (!iter->message)
{
/* Avoid doing arithmetic on null pointers, it is undefined */
iter->pField = NULL;
iter->pSize = NULL;
}
else
{
iter->pField = (char*)iter->message + data_offset;
if (size_offset)
{
iter->pSize = (char*)iter->pField - size_offset;
}
else if (PB_HTYPE(iter->type) == PB_HTYPE_REPEATED &&
(PB_ATYPE(iter->type) == PB_ATYPE_STATIC ||
PB_ATYPE(iter->type) == PB_ATYPE_POINTER))
{
/* Fixed count array */
iter->pSize = &iter->array_size;
}
else
{
iter->pSize = NULL;
}
if (PB_ATYPE(iter->type) == PB_ATYPE_POINTER && iter->pField != NULL)
{
iter->pData = *(void**)iter->pField;
}
else
{
iter->pData = iter->pField;
}
}
if (PB_LTYPE_IS_SUBMSG(iter->type))
{
iter->submsg_desc = iter->descriptor->submsg_info[iter->submessage_index];
}
else
{
iter->submsg_desc = NULL;
}
return true;
}
static void advance_iterator(pb_field_iter_t *iter)
{
iter->index++;
if (iter->index >= iter->descriptor->field_count)
{
/* Restart */
iter->index = 0;
iter->field_info_index = 0;
iter->submessage_index = 0;
iter->required_field_index = 0;
}
else
{
/* Increment indexes based on previous field type.
* All field info formats have the following fields:
* - lowest 2 bits tell the amount of words in the descriptor (2^n words)
* - bits 2..7 give the lowest bits of tag number.
* - bits 8..15 give the field type.
*/
uint32_t prev_descriptor = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]);
pb_type_t prev_type = (prev_descriptor >> 8) & 0xFF;
pb_size_t descriptor_len = (pb_size_t)(1 << (prev_descriptor & 3));
/* Add to fields.
* The cast to pb_size_t is needed to avoid -Wconversion warning.
* Because the data is is constants from generator, there is no danger of overflow.
*/
iter->field_info_index = (pb_size_t)(iter->field_info_index + descriptor_len);
iter->required_field_index = (pb_size_t)(iter->required_field_index + (PB_HTYPE(prev_type) == PB_HTYPE_REQUIRED));
iter->submessage_index = (pb_size_t)(iter->submessage_index + PB_LTYPE_IS_SUBMSG(prev_type));
}
}
bool pb_field_iter_begin(pb_field_iter_t *iter, const pb_msgdesc_t *desc, void *message)
{
memset(iter, 0, sizeof(*iter));
iter->descriptor = desc;
iter->message = message;
return load_descriptor_values(iter);
}
bool pb_field_iter_begin_extension(pb_field_iter_t *iter, pb_extension_t *extension)
{
const pb_msgdesc_t *msg = (const pb_msgdesc_t*)extension->type->arg;
bool status;
uint32_t word0 = PB_PROGMEM_READU32(msg->field_info[0]);
if (PB_ATYPE(word0 >> 8) == PB_ATYPE_POINTER)
{
/* For pointer extensions, the pointer is stored directly
* in the extension structure. This avoids having an extra
* indirection. */
status = pb_field_iter_begin(iter, msg, &extension->dest);
}
else
{
status = pb_field_iter_begin(iter, msg, extension->dest);
}
iter->pSize = &extension->found;
return status;
}
bool pb_field_iter_next(pb_field_iter_t *iter)
{
advance_iterator(iter);
(void)load_descriptor_values(iter);
return iter->index != 0;
}
bool pb_field_iter_find(pb_field_iter_t *iter, uint32_t tag)
{
if (iter->tag == tag)
{
return true; /* Nothing to do, correct field already. */
}
else if (tag > iter->descriptor->largest_tag)
{
return false;
}
else
{
pb_size_t start = iter->index;
uint32_t fieldinfo;
if (tag < iter->tag)
{
/* Fields are in tag number order, so we know that tag is between
* 0 and our start position. Setting index to end forces
* advance_iterator() call below to restart from beginning. */
iter->index = iter->descriptor->field_count;
}
do
{
/* Advance iterator but don't load values yet */
advance_iterator(iter);
/* Do fast check for tag number match */
fieldinfo = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]);
if (((fieldinfo >> 2) & 0x3F) == (tag & 0x3F))
{
/* Good candidate, check further */
(void)load_descriptor_values(iter);
if (iter->tag == tag &&
PB_LTYPE(iter->type) != PB_LTYPE_EXTENSION)
{
/* Found it */
return true;
}
}
} while (iter->index != start);
/* Searched all the way back to start, and found nothing. */
(void)load_descriptor_values(iter);
return false;
}
}
bool pb_field_iter_find_extension(pb_field_iter_t *iter)
{
if (PB_LTYPE(iter->type) == PB_LTYPE_EXTENSION)
{
return true;
}
else
{
pb_size_t start = iter->index;
uint32_t fieldinfo;
do
{
/* Advance iterator but don't load values yet */
advance_iterator(iter);
/* Do fast check for field type */
fieldinfo = PB_PROGMEM_READU32(iter->descriptor->field_info[iter->field_info_index]);
if (PB_LTYPE((fieldinfo >> 8) & 0xFF) == PB_LTYPE_EXTENSION)
{
return load_descriptor_values(iter);
}
} while (iter->index != start);
/* Searched all the way back to start, and found nothing. */
(void)load_descriptor_values(iter);
return false;
}
}
static void *pb_const_cast(const void *p)
{
/* Note: this casts away const, in order to use the common field iterator
* logic for both encoding and decoding. The cast is done using union
* to avoid spurious compiler warnings. */
union {
void *p1;
const void *p2;
} t;
t.p2 = p;
return t.p1;
}
bool pb_field_iter_begin_const(pb_field_iter_t *iter, const pb_msgdesc_t *desc, const void *message)
{
return pb_field_iter_begin(iter, desc, pb_const_cast(message));
}
bool pb_field_iter_begin_extension_const(pb_field_iter_t *iter, const pb_extension_t *extension)
{
return pb_field_iter_begin_extension(iter, (pb_extension_t*)pb_const_cast(extension));
}
bool pb_default_field_callback(pb_istream_t *istream, pb_ostream_t *ostream, const pb_field_t *field)
{
if (field->data_size == sizeof(pb_callback_t))
{
pb_callback_t *pCallback = (pb_callback_t*)field->pData;
if (pCallback != NULL)
{
if (istream != NULL && pCallback->funcs.decode != NULL)
{
return pCallback->funcs.decode(istream, field, &pCallback->arg);
}
if (ostream != NULL && pCallback->funcs.encode != NULL)
{
return pCallback->funcs.encode(ostream, field, &pCallback->arg);
}
}
}
return true; /* Success, but didn't do anything */
}
#ifdef PB_VALIDATE_UTF8
/* This function checks whether a string is valid UTF-8 text.
*
* Algorithm is adapted from https://www.cl.cam.ac.uk/~mgk25/ucs/utf8_check.c
* Original copyright: Markus Kuhn <http://www.cl.cam.ac.uk/~mgk25/> 2005-03-30
* Licensed under "Short code license", which allows use under MIT license or
* any compatible with it.
*/
bool pb_validate_utf8(const char *str)
{
const pb_byte_t *s = (const pb_byte_t*)str;
while (*s)
{
if (*s < 0x80)
{
/* 0xxxxxxx */
s++;
}
else if ((s[0] & 0xe0) == 0xc0)
{
/* 110XXXXx 10xxxxxx */
if ((s[1] & 0xc0) != 0x80 ||
(s[0] & 0xfe) == 0xc0) /* overlong? */
return false;
else
s += 2;
}
else if ((s[0] & 0xf0) == 0xe0)
{
/* 1110XXXX 10Xxxxxx 10xxxxxx */
if ((s[1] & 0xc0) != 0x80 ||
(s[2] & 0xc0) != 0x80 ||
(s[0] == 0xe0 && (s[1] & 0xe0) == 0x80) || /* overlong? */
(s[0] == 0xed && (s[1] & 0xe0) == 0xa0) || /* surrogate? */
(s[0] == 0xef && s[1] == 0xbf &&
(s[2] & 0xfe) == 0xbe)) /* U+FFFE or U+FFFF? */
return false;
else
s += 3;
}
else if ((s[0] & 0xf8) == 0xf0)
{
/* 11110XXX 10XXxxxx 10xxxxxx 10xxxxxx */
if ((s[1] & 0xc0) != 0x80 ||
(s[2] & 0xc0) != 0x80 ||
(s[3] & 0xc0) != 0x80 ||
(s[0] == 0xf0 && (s[1] & 0xf0) == 0x80) || /* overlong? */
(s[0] == 0xf4 && s[1] > 0x8f) || s[0] > 0xf4) /* > U+10FFFF? */
return false;
else
s += 4;
}
else
{
return false;
}
}
return true;
}
#endif

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