diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index d1d79c6..2ca51c0 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/BASE/Inc/BSP/bsp_UDP.h b/BASE/Inc/BSP/bsp_UDP.h
index d982b4e..860d54f 100644
--- a/BASE/Inc/BSP/bsp_UDP.h
+++ b/BASE/Inc/BSP/bsp_UDP.h
@@ -8,10 +8,17 @@
#ifndef INC_BSP_BSP_UDP_H_
#define INC_BSP_BSP_UDP_H_
+#include "lwip/udp.h"
+extern void udp_client_init(void);
+
+
+extern void udp_dlt_send_back(char *pData,uint16_t Size);
+extern void udp_cmd_send_back(char *pData, uint16_t Size);
+
+typedef void (*DLT_DecodeFuncPtr)(uint8_t*, uint16_t);
+extern void udp_send_by_pcb(struct udp_pcb * upcb,char *pData, uint16_t Size);
+// 再用该类型声明变量
+extern DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback;
+extern int8_t is_udp_GV_update_loop_enalbed;
-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_ */
diff --git a/BASE/Inc/MSP/msp_485_android.h b/BASE/Inc/MSP/msp_485_android.h
index 5b4662b..f861179 100644
--- a/BASE/Inc/MSP/msp_485_android.h
+++ b/BASE/Inc/MSP/msp_485_android.h
@@ -13,10 +13,10 @@
-
+extern int isOnLineCount;
extern int16_t read_android_holidng_register_count;
-void android_485_intialize_with_slaveID(struct UARTHandler *Handler,
+extern void android_485_intialize_with_slaveID(struct UARTHandler *Handler,
int slave_id);
-void android_485_intialize(struct UARTHandler *Handler);
+extern void android_485_intialize(struct UARTHandler *Handler);
#endif /* BASE_INC_MSP_MSP_485_ANDROID_H_ */
diff --git a/BASE/Inc/MSP/msp_U7.h b/BASE/Inc/MSP/msp_U7.h
index dbfbd15..6295de4 100644
--- a/BASE/Inc/MSP/msp_U7.h
+++ b/BASE/Inc/MSP/msp_U7.h
@@ -12,7 +12,7 @@
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 uint8_t IsRemoteAtInitialPosition(void);
//
extern void U7_Sbus_UART_Handler_intialize(struct UARTHandler* Handler);
uint8_t IsRemoteAtInitialPosition(void);
diff --git a/BASE/Src/BSP/bsp_UART.c b/BASE/Src/BSP/bsp_UART.c
index 8479587..d840a4b 100644
--- a/BASE/Src/BSP/bsp_UART.c
+++ b/BASE/Src/BSP/bsp_UART.c
@@ -1,7 +1,7 @@
#include "bsp_UART.h"
#include "main.h"
#include
-#include "DLT/DLTuc.h"
+#include "DLTuc.h"
void GF_UART_Send_List_Send(struct UARTHandler *handler);
void Dispatcher_List_Add(struct UARTHandler *uartHandler,
diff --git a/BASE/Src/BSP/bsp_UDP.c b/BASE/Src/BSP/bsp_UDP.c
index 4695a0d..024ab50 100644
--- a/BASE/Src/BSP/bsp_UDP.c
+++ b/BASE/Src/BSP/bsp_UDP.c
@@ -10,72 +10,168 @@
#include "udp.h"
#include "string.h"
#include "bsp_UDP.h"
-
+#include "bsp_DLT_Log.h"
+#include
+#include "bsp_GPIO.h"
+void UDP_GV_Dispatch();
+void UDP_IV_Dispatch();
+void udp_cmd_send_GV(char *pData, uint16_t Size);
/* 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_DLT_LOCAL_PORT 8000 /* 本地端口 */
+#define UDP_CMD_LOCAL_PORT 8002 /* 本地端口 */
+#define UDP_CMD_LOCAL_Android_Listen_PORT 8006 /* 本地端口 接收安卓 */
+
+#define UDP_DLT_Send_LOCAL_PORT 7000 /* 本地端口 */
+#define UDP_CMD_Send_LOCAL_PORT 7002 /* 本地端口 */
+#define UDP_GV_Send_LOCAL_PORT 7004 /* 本地端口 */
+#define UDP_Android_Send_LOCAL_PORT 7006 /* 本地端口 发给安卓*/
+/*32从7006发往安卓9006*/
+/*安卓从9006发往32的8006*/
+#define UDP_REMOTE_DLT_PORT 9000 /* 远端端口 */
+#define UDP_REMOTE_CMD_PORT 9002 /* 远端端口 */
+#define UDP_REMOTE_GV_PORT 9004 /* 远端端口 */
+#define UDP_REMOTE_Android_PORT 9006 /* 远端端口 */
-#define UDP_Printf_PORT 8881
-#define UDP_Long_PORT 8882
-#define UDP_UpdataPos_PORT 8883
+int8_t is_udp_GV_update_loop_enalbed = 0;
unsigned char received_data[1000];
/* udp控制块 */
-static struct udp_pcb *upcb;
-static struct udp_pcb *upcb_send;
+static struct udp_pcb *upcb_Rx_DLT;
+static struct udp_pcb *upcb_Rx_Cmd;
+static struct udp_pcb *upcb_Rx_From_Android;
+
+static struct udp_pcb *upcb_Tx_DLT;
+static struct udp_pcb *upcb_Tx_Cmd;
+static struct udp_pcb *upcb_Tx_GV;
+static struct udp_pcb *upcb_Tx_Android;
+
ip_addr_t serverIP;
+
+ip_addr_t Android_ServerIP;
+
+DLT_DecodeFuncPtr UDP_DLT_ReceivedCallback;
+
/******************************************************************************
* 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)
+ struct pbuf *p, const ip_addr_t *addr, u16_t port)
{
+ if (p == NULL) return;
+ memcpy(received_data, p->payload, p->len);
- if (p != NULL)
+ if (upcb->local_port == UDP_DLT_LOCAL_PORT)
{
- memcpy(received_data, p->payload, p->len);
- //err_t t = udp_sendto(upcb_send, p, &serverIP, 8000);
- pbuf_free(p);
- } else
+ UDP_DLT_ReceivedCallback(received_data, p->len);
+ //DLT_DataReceiveEndCallback(received_data, p->len);
+ }
+ else if (upcb->local_port == UDP_CMD_LOCAL_PORT)
{
- pbuf_free(p);
+
+ if (*received_data == 0x55 && *(received_data + 1) == 0x55
+ && p->len >= 3)
+ {
+ decode_command_and_feedback(received_data + 2, p->len - 2, 2,
+ NULL); //0代表UDP
+ }
+ else if (*received_data == 0x66 && *(received_data + 1) == 0x66
+ && p->len >= 3)
+ {
+ GF_BSP_GPIO_SetIO(received_data[3], received_data[2]);
+
+ }
+ else
+ {
+ udp_cmd_send_back(received_data, p->len);
+ }
}
+ else if (upcb->local_port == UDP_CMD_LOCAL_Android_Listen_PORT)
+ {
+ //对PV数据进行修改
+ //if (*buffer == 0x55 && *(buffer + 1) == 0x55 && length >= 4)
+ if (received_data[0] != 0x55 || received_data[1] != 0x55 || p->len < 4)
+ {
+ return;
+ }
+
+ uint16_t crc_check = ((received_data[p->len - 1] << 8)
+ | received_data[p->len - 2]);
+ uint16_t crc_check1 = MB_CRC16(received_data, p->len - 2);
+ /* CRC 校验正确 */
+ if (crc_check != MB_CRC16(received_data, p->len - 2)) return;
+
+ if (received_data[2] != 0x01 || received_data[3] != 0x01) return;
+
+ pb_istream_t i_pv_stream =
+ { 0 };
+
+ i_pv_stream = pb_istream_from_buffer(&received_data[4], p->len - 4);
+ pb_decode(&i_pv_stream, PV_struct_define_fields, &_decoded_PV_temp);
+ if (_decoded_PV_temp.TimeStamp > decoded_PV.TimeStamp)
+ {
+ decoded_PV = _decoded_PV_temp;
+ }
+
+ }
+ pbuf_free(p);
}
//char UDPprintf[100];
-void udp_printf_CmdBack(char *pData)
+void udp_dlt_send_back(char *pData, uint16_t Size)
{
struct pbuf *p;
/* 分配缓冲区空间 */
- p = pbuf_alloc(PBUF_TRANSPORT, strlen(pData), PBUF_POOL);
-
+ p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM);
if (p != NULL)
{
/* 填充缓冲区数据 */
- pbuf_take(p, pData, strlen(pData));
+ pbuf_take(p, pData, Size);
/* 发送udp数据 */
- udp_send(upcb, p);
- //err_t t = udp_sendto(upcb, p, &serverIP, UDP_Printf_PORT);
+ //udp_send(upcb_DLT, p);
+ err_t t = udp_sendto(upcb_Tx_DLT, p, &serverIP,
+ UDP_REMOTE_DLT_PORT);
+ /* 释放缓冲区空间 */
+ pbuf_free(p);
+ }
+}
+void udp_cmd_send_back(char *pData, uint16_t Size)
+{
+ struct pbuf *p;
+
+ /* 分配缓冲区空间 */
+ p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM);
+
+ if (p != NULL)
+ {
+ /* 填充缓冲区数据 */
+ pbuf_take(p, pData, Size);
+
+ /* 发送udp数据 */
+ err_t err = udp_send(upcb_Tx_Cmd, p);
+ if (err != ERR_OK)
+ {
+ // 发送失败
+ printf("Failed to send UDP data: %d\n", err);
+ }
/* 释放缓冲区空间 */
pbuf_free(p);
}
}
-void GF_UDP_Send(uint8_t *pData, uint16_t Size, uint16_t UDP_port)
+void udp_cmd_send_GV(char *pData, uint16_t Size)
{
struct pbuf *p;
/* 分配缓冲区空间 */
- p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_POOL);
+ p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM);
if (p != NULL)
{
@@ -83,16 +179,39 @@ void GF_UDP_Send(uint8_t *pData, uint16_t Size, uint16_t UDP_port)
pbuf_take(p, pData, Size);
/* 发送udp数据 */
- //udp_send(upcb, p);
- err_t t = udp_sendto(upcb, p, &serverIP, UDP_port);
+ err_t err = udp_send(upcb_Tx_GV, p);
+ if (err != ERR_OK)
+ {
+ // 发送失败
+ //printf("Failed to send UDP data: %d\n", err);
+ }
/* 释放缓冲区空间 */
pbuf_free(p);
}
}
-void GF_UpdataPos_Send(uint8_t *pData, uint32_t Size)
+void udp_send_by_pcb(struct udp_pcb *upcb, char *pData, uint16_t Size)
{
- GF_UDP_Send(pData, Size, UDP_UpdataPos_PORT);
+ struct pbuf *p;
+
+ /* 分配缓冲区空间 */
+ p = pbuf_alloc(PBUF_TRANSPORT, Size, PBUF_RAM);
+
+ if (p != NULL)
+ {
+ /* 填充缓冲区数据 */
+ pbuf_take(p, pData, Size);
+
+ /* 发送udp数据 */
+ err_t err = udp_send(upcb, p);
+ if (err != ERR_OK)
+ {
+ // 发送失败
+ //printf("Failed to send UDP data: %d\n", err);
+ }
+ /* 释放缓冲区空间 */
+ pbuf_free(p);
+ }
}
/******************************************************************************
@@ -102,54 +221,212 @@ void GF_UpdataPos_Send(uint8_t *pData, uint32_t Size)
******************************************************************************/
void udp_client_init(void)
{
+
+ GF_BSP_Interrupt_Add_CallBack(
+ DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, UDP_GV_Dispatch);
+ //将UDP上传IV关闭
+ GF_BSP_Interrupt_Add_CallBack(
+ DF_BSP_InterCall_TIM8_2ms_PeriodElapsedCallback, UDP_IV_Dispatch);
+ //Timer intialize();
err_t err;
- IP4_ADDR(&serverIP, 192, 168, 1, 102);
+ IP4_ADDR(&serverIP, 192, 168, 144, 255);
+ IP4_ADDR(&Android_ServerIP, 192, 168, 144, 20);
+
/* 创建udp控制块 */
- upcb = udp_new();
+ upcb_Rx_DLT = udp_new();
- if (upcb != NULL)
+ if (upcb_Rx_DLT != NULL)
{
/* 配置本地端口 */
- upcb->local_port = UDP_LOCAL_PORT;
+ //upcb_DLT->local_port = UDP_DLT_LOCAL_PORT;
+ /* 配置服务器IP和端口 */
+ //upcb_DLT->so_options |= SOF_BROADCAST;
+ //err = udp_connect(upcb_DLT, &serverIP, UDP_REMOTE_DLT_PORT);
+ err = udp_bind(upcb_Rx_DLT, IP_ADDR_ANY, UDP_DLT_LOCAL_PORT);
+ if (err == ERR_OK)
+ {
+ /* 注册接收回调函数 */
+ /* 注册接收回调函数 */
+ udp_recv(upcb_Rx_DLT, udp_receive_callback, NULL);
+ }
+ else
+ {
+ udp_remove(upcb_Rx_DLT);
+
+ }
+ }
+ upcb_Rx_From_Android = udp_new();
+
+ if (upcb_Rx_From_Android != NULL)
+ {
+ /* 配置本地端口 */
+ //upcb_DLT->local_port = UDP_DLT_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;
+ //upcb_DLT->so_options |= SOF_BROADCAST;
+ //err = udp_connect(upcb_DLT, &serverIP, UDP_REMOTE_DLT_PORT);
+ err = udp_bind(upcb_Rx_From_Android, IP_ADDR_ANY,
+ UDP_CMD_LOCAL_Android_Listen_PORT);
if (err == ERR_OK)
{
/* 注册接收回调函数 */
- udp_recv(upcb, udp_receive_callback, NULL);
+ /* 注册接收回调函数 */
+ udp_recv(upcb_Rx_From_Android, udp_receive_callback, NULL);
+ }
+ else
+ {
+ udp_remove(upcb_Rx_From_Android);
+
+ }
+ }
+
+ upcb_Rx_Cmd = udp_new();
- /* 发送udp数据 */
- //printf("udp client connected\r\n");
- } else
+ if (upcb_Rx_Cmd != NULL)
+ {
+ /* 配置本地端口 */
+ //upcb_Cmd->local_port = UDP_CMD_LOCAL_PORT;
+ /* 配置服务器IP和端口 */
+ //upcb_Cmd->so_options |= SOF_BROADCAST;
+ //err = udp_connect(upcb_Cmd, &serverIP, UDP_REMOTE_CMD_PORT);
+ err = udp_bind(upcb_Rx_Cmd, IP_ADDR_ANY, UDP_CMD_LOCAL_PORT);
+ if (err == ERR_OK)
+ {
+ /* 注册接收回调函数 */
+ udp_recv(upcb_Rx_Cmd, udp_receive_callback, NULL);
+ }
+ else
{
- udp_remove(upcb);
+ udp_remove(upcb_Rx_Cmd);
+ }
+ }
+
+ upcb_Tx_Cmd = udp_new();
- //printf("can not connect udp pcb\r\n");
+ if (upcb_Tx_Cmd != NULL)
+ {
+ /* 配置本地端口 */
+ upcb_Tx_Cmd->local_port = UDP_CMD_Send_LOCAL_PORT;
+
+ /* 配置服务器IP和端口 */
+ //upcb_Cmd->so_options |= SOF_BROADCAST;
+ err = udp_connect(upcb_Tx_Cmd, &serverIP, UDP_REMOTE_CMD_PORT);
+
+ if (err == ERR_OK)
+ {
+ /* 注册接收回调函数 */
+ //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
+ }
+ else
+ {
+ udp_remove(upcb_Tx_Cmd);
}
}
-// 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);
-//
-// }
-// }
+ upcb_Tx_DLT = udp_new();
+
+ if (upcb_Tx_DLT != NULL)
+ {
+ /* 配置本地端口 */
+ upcb_Tx_Cmd->local_port = UDP_DLT_Send_LOCAL_PORT;
+ /* 配置服务器IP和端口 */
+ //upcb_Cmd->so_options |= SOF_BROADCAST;
+ err = udp_connect(upcb_Tx_DLT, &serverIP, UDP_REMOTE_DLT_PORT);
+
+ if (err == ERR_OK)
+ {
+ /* 注册接收回调函数 */
+ //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
+ }
+ else
+ {
+ udp_remove(upcb_Tx_DLT);
+ }
+ }
+
+ upcb_Tx_GV = udp_new();
+
+ if (upcb_Tx_GV != NULL)
+ {
+ /* 配置本地端口 */
+ upcb_Tx_Cmd->local_port = UDP_GV_Send_LOCAL_PORT;
+ /* 配置服务器IP和端口 */
+ //upcb_Cmd->so_options |= SOF_BROADCAST;
+ err = udp_connect(upcb_Tx_GV, &serverIP, UDP_REMOTE_GV_PORT);
+
+ if (err == ERR_OK)
+ {
+ /* 注册接收回调函数 */
+ //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
+ }
+ else
+ {
+ udp_remove(upcb_Tx_GV);
+ }
+ }
+
+ upcb_Tx_Android = udp_new();
+
+ if (upcb_Tx_Android != NULL)
+ {
+ /* 配置本地端口 */
+ upcb_Tx_Android->local_port = UDP_Android_Send_LOCAL_PORT;
+ /* 配置服务器IP和端口 */
+ //upcb_Cmd->so_options |= SOF_BROADCAST;
+ err = udp_connect(upcb_Tx_Android, &Android_ServerIP,
+ UDP_REMOTE_Android_PORT);
+
+ if (err == ERR_OK)
+ {
+ /* 注册接收回调函数 */
+ //udp_recv(upcb_Tx_Cmd, udp_receive_callback, NULL);
+ }
+ else
+ {
+ udp_remove(upcb_Tx_Android);
+ }
+ }
+
+}
+int counter_index = 0;
+int iv_counter_index = 0;
+void UDP_GV_Dispatch()
+{
+ counter_index++;
+ if (counter_index <= 50) return;
+ if (is_udp_GV_update_loop_enalbed == 0) return;
+ counter_index = 0;
+ pb_ostream_t GV_o_stream =
+ { 0 };
+ char buf[1024];
+ GV_o_stream = pb_ostream_from_buffer(&buf[2], sizeof(buf));
+ pb_encode(&GV_o_stream, GV_struct_define_fields, &GV);
+ buf[1] = 0xfe;
+ buf[0] = 0xfe;
+ //memcpy(&wh_LTE_7S0_Handler->Tx_Buf[2], buf, GV_o_stream.bytes_written);
+ udp_cmd_send_GV(buf, GV_o_stream.bytes_written + 2);
+
+}
+//现在是每一百ms执行一次
+void UDP_IV_Dispatch()
+{
+ iv_counter_index++;
+ if (iv_counter_index <= 50) return;
+ iv_counter_index = 0;
+ char Tx_Buf[1024];
+ pb_ostream_t IV_o_stream = pb_ostream_from_buffer(&Tx_Buf[2],
+ sizeof(Tx_Buf) - 2);
+ pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
+
+ Tx_Buf[0] = 0x55;
+ Tx_Buf[1] = 0x55;
+ int32_t TxCount = IV_o_stream.bytes_written + 4;
+ uint16_t crc = MB_CRC16(Tx_Buf, IV_o_stream.bytes_written + 2);
+
+ Tx_Buf[IV_o_stream.bytes_written + 2] = (crc >> 8) & 0xff;
+ Tx_Buf[IV_o_stream.bytes_written + 3] = crc & 0xff;
+
+ udp_send_by_pcb(upcb_Tx_Android, Tx_Buf, IV_o_stream.bytes_written + 4);
}
diff --git a/BASE/Src/BSP/bsp_client_setting.c b/BASE/Src/BSP/bsp_client_setting.c
index 7e8b36a..00ee4b1 100644
--- a/BASE/Src/BSP/bsp_client_setting.c
+++ b/BASE/Src/BSP/bsp_client_setting.c
@@ -36,7 +36,7 @@ void client_setting_intialize(struct UARTHandler *Handler)
void UpdateIV() //往安卓发的
{
-
+ return;
// 若485线存在，能够读写数据，则不进行解析，直接return;
if (Get_BIT(SystemErrorCode, ComError_Android_485) == CONNECTED)
{
@@ -66,7 +66,7 @@ void UpdateIV() //往安卓发的
void decode_received_data_from_client(uint8_t *buffer, uint16_t length)
{
-
+ return;
// 若485线存在，能够读写数据，则不进行解析，直接return;
if (Get_BIT(SystemErrorCode, ComError_Android_485) == CONNECTED)
{
diff --git a/BASE/Src/MSP/msp_485_android.c b/BASE/Src/MSP/msp_485_android.c
index 08810a0..ac9fbd1 100644
--- a/BASE/Src/MSP/msp_485_android.c
+++ b/BASE/Src/MSP/msp_485_android.c
@@ -4,26 +4,25 @@
* Created on: 2025年12月1日
* Author: akeguo
*/
+#include "robot_state.h"
#include "msp_485_android.h"
#include "msp_U7.h"
+#include "bsp_Error_Detect.h"
void decode_android_485(uint8_t *buffer, uint16_t length);
+void decode_android_PV(uint8_t *buffer, uint16_t length);
void android_485_loop(); //inqure data from the, in fact this is a modbus 03 function;
-
struct UARTHandler *android_handler;
DispacherController *androidr_dispacherController;
int android_slave_id = 0x40;
-
+int time_to_adapt = 100;
int8_t android_slave_iv_start_holiding_register = 100;
int16_t android_slave_iv_holiding_register_num = 0; //这个数据要随时改变
-
//最多读取多少个字节
-int16_t read_android_holidng_register_count = 19 + 1
- + PV_struct_define_size / 2; //16个subs通道 1个PV数据长度，
-
+int16_t read_android_holidng_register_count = 20;
+ //+ PV_struct_define_size / 2; //16个subs通道 1个PV数据长度，
uint16_t Decoded_Android_HoldingReg_Value[100]; //用来对Android的Sbus /PV /IV 的操作
uint16_t send_pv_android_holdingReg_Value[100]; // /PV /IV 的操作
-
void android_485_intialize(struct UARTHandler *Handler)
{
android_handler = Handler;
@@ -53,27 +52,14 @@ void android_485_loop()
MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount,
android_slave_id, 0, read_android_holidng_register_count);
android_handler->AddSendList(android_handler, android_handler->Tx_Buf,
- android_handler->TxCount, 120, decode_android_485);
-
- //设定安卓数据
- pb_ostream_t IV_o_stream = pb_ostream_from_buffer(
- &send_pv_android_holdingReg_Value[1],
- sizeof(send_pv_android_holdingReg_Value) - 1);
- pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
-
- android_slave_iv_holiding_register_num = (IV_o_stream.bytes_written + 1) / 2
- + 1;
- send_pv_android_holdingReg_Value[0] = SWAP_ENDIAN_16(
- IV_o_stream.bytes_written);
- MB_WriteNumHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount,
- android_slave_id, android_slave_iv_start_holiding_register,
- android_slave_iv_holiding_register_num,
- send_pv_android_holdingReg_Value);
- android_handler->AddSendList(android_handler, android_handler->Tx_Buf,
- android_handler->TxCount, 120, NULL);
+ android_handler->TxCount, time_to_adapt, decode_android_485);
}
int PMK32Index = 0;
+
+int received_android_counter = 0;
+int received_counter_max = 10/2;// 每次读取多少次遥控器然后读取PV/写IV
+
int32_t *p_mk32_pointer;
//读取 的寄存器
void decode_android_485(uint8_t *buffer, uint16_t length)
@@ -91,8 +77,7 @@ void decode_android_485(uint8_t *buffer, uint16_t length)
{
p_mk32_pointer = (int32_t*) P_U7;
//Sbus 设定
-
- for (int PMK32Index = 0; PMK32Index < 19; PMK32Index++)
+ for (int PMK32Index = 0; PMK32Index < 18; PMK32Index++)
{
//此处必须加类型转换
*p_mk32_pointer =
@@ -100,28 +85,85 @@ void decode_android_485(uint8_t *buffer, uint16_t length)
p_mk32_pointer++;
}
+ received_android_counter++;
+
+ //读取遥控器
+ MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 0, read_android_holidng_register_count);
+ android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount, time_to_adapt,
+ decode_android_485);
+
+ if (received_android_counter % received_counter_max != 0) return;
+ switch (received_android_counter / received_counter_max % 2)
+ {
+ case 0:
+ {
+ //设定安卓数据
+ pb_ostream_t IV_o_stream = pb_ostream_from_buffer(
+ &send_pv_android_holdingReg_Value[1],
+ sizeof(send_pv_android_holdingReg_Value) - 1);
+ pb_encode(&IV_o_stream, IV_struct_define_fields, &IV);
+
+ android_slave_iv_holiding_register_num = (IV_o_stream.bytes_written + 1) / 2
+ + 1;
+ send_pv_android_holdingReg_Value[0] = SWAP_ENDIAN_16(
+ IV_o_stream.bytes_written);
+ MB_WriteNumHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount,
+ android_slave_id, android_slave_iv_start_holiding_register,
+ android_slave_iv_holiding_register_num,
+ send_pv_android_holdingReg_Value);
+ android_handler->AddSendList(android_handler, android_handler->Tx_Buf,
+ android_handler->TxCount, 150, NULL);
+ received_android_counter = 0;
+ break;
+ }
+ case 1:
+ { //读取安卓数据 03 PV
+ MB_ReadHoldingReg(&android_handler->Tx_Buf, &android_handler->TxCount, android_slave_id, 19,
+ (Decoded_Android_HoldingReg_Value[18] + 1) / 2);
+ android_handler->AddSendList(android_handler, android_handler->Tx_Buf, android_handler->TxCount,
+ time_to_adapt, decode_android_PV);
+
+ break;
+ }
+ }
+ } else
+ {
+ LOGFF(DL_ERROR, "Android_485 decoding failed");
+ }
+}
+/*****/
+void decode_android_PV(uint8_t *buffer, uint16_t length)
+{
+// uint8_t data1[1000];
+// memcpy(data1, buffer, length);
+ if (length <= 5)
+ {
+ return;
+ }
+ int decoded_result = MB_Decode_HoldingRegs(buffer, length, (Decoded_Android_HoldingReg_Value[18] + 1) / 2,
+ &Decoded_Android_HoldingReg_Value[19]);
+ if (decoded_result == 1)
+ {
//PV解析
pb_istream_t i_pv_stream =
{ 0 };
- i_pv_stream = pb_istream_from_buffer(
- &Decoded_Android_HoldingReg_Value[20],
- Decoded_Android_HoldingReg_Value[19]);
- pb_decode(&i_pv_stream, PV_struct_define_fields, &_decoded_PV_temp);
-// if (decoded_PV.TimeStamp <= _decoded_PV_temp.TimeStamp)
-// {
-// decoded_PV = _decoded_PV_temp;
-// }
-
- if (GV.PV.TimeStamp <= _decoded_PV_temp.TimeStamp)
+ i_pv_stream = pb_istream_from_buffer(&Decoded_Android_HoldingReg_Value[19],
+ Decoded_Android_HoldingReg_Value[18]);
+ int checkreturn = pb_decode(&i_pv_stream, PV_struct_define_fields, &_decoded_PV_temp);
+ if (checkreturn == 1)
{
- GV.PV = _decoded_PV_temp;
+ if (GV.PV.TimeStamp <= _decoded_PV_temp.TimeStamp)
+ {
+ GV.PV = _decoded_PV_temp;
+ }
+
}
- HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,
- "Android_485", 1);
+ HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "Android_485", 1);
- } else
+ }
+ else
{
LOGFF(DL_ERROR, "Android_485 decoding failed");
}
diff --git a/BASE/Src/MSP/msp_TI5MOTOR.c b/BASE/Src/MSP/msp_TI5MOTOR.c
index 82d2c6b..8ed4b72 100644
--- a/BASE/Src/MSP/msp_TI5MOTOR.c
+++ b/BASE/Src/MSP/msp_TI5MOTOR.c
@@ -28,11 +28,13 @@ CSP tempCSP;
int32_t Function_code = 0;
uint8_t ID_A_T;
-
+uint8_t data1[20];
void DecodeTi5MotorCAN(uint32_t canID, uint8_t *buffer, uint32_t length)
{
ID_A_T = canID;
+ memcpy(data1, buffer, length);
+
if (ID_A_T >= DF_MSP_Ti5Motor_StartID
&& ID_A_T < DF_MSP_Ti5Motor_StartID + 3)
{
diff --git a/BASE/Src/MSP/msp_U7.c b/BASE/Src/MSP/msp_U7.c
index 289fe6b..99854ce 100644
--- a/BASE/Src/MSP/msp_U7.c
+++ b/BASE/Src/MSP/msp_U7.c
@@ -16,6 +16,7 @@ SP_MSP_U7_Button *P_U7;
struct UARTHandler *U7_Sbus_Controller;
void decode_U7Data(uint8_t *buffer, uint16_t length)
{
+ return;
if (Get_BIT(SystemErrorCode, ComError_Android_485) == CONNECTED)
{
return;
diff --git a/BHBF_NewFiveWheel3.0.ioc b/BHBF_NewFiveWheel3.0.ioc
index a5823df..fdd77ae 100644
--- a/BHBF_NewFiveWheel3.0.ioc
+++ b/BHBF_NewFiveWheel3.0.ioc
@@ -858,7 +858,7 @@ UART5.IPParameters=BaudRate,WordLength,Parity,OverrunDisableParam,DMADisableonRx
UART5.OverrunDisableParam=UART_ADVFEATURE_OVERRUN_DISABLE
UART5.Parity=PARITY_EVEN
UART5.WordLength=WORDLENGTH_9B
-UART7.BaudRate=38400
+UART7.BaudRate=115200
UART7.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_DISABLEONRXERROR
UART7.IPParameters=OverrunDisableParam,BaudRate,DMADisableonRxErrorParam
UART7.OverrunDisableParam=UART_ADVFEATURE_OVERRUN_DISABLE
diff --git a/Core/Protobuf/PSource/bsp_GV.pb.h b/Core/Protobuf/PSource/bsp_GV.pb.h
index 783c3c5..2620cb0 100644
--- a/Core/Protobuf/PSource/bsp_GV.pb.h
+++ b/Core/Protobuf/PSource/bsp_GV.pb.h
@@ -107,7 +107,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
/* Maximum encoded size of messages (where known) */
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
-#define GV_struct_define_size 963
+#define GV_struct_define_size 951
#ifdef __cplusplus
} /* extern "C" */
diff --git a/Core/Protobuf/PSource/msp_U7.pb.h b/Core/Protobuf/PSource/msp_U7.pb.h
index ea38280..a29a22a 100644
--- a/Core/Protobuf/PSource/msp_U7.pb.h
+++ b/Core/Protobuf/PSource/msp_U7.pb.h
@@ -26,10 +26,9 @@ typedef struct _SP_MSP_U7_Button {
int32_t M2;
int32_t M6;
int32_t S3;
- int32_t IsOnline;
+ int32_t M4;
int32_t S4;
- int32_t S5;
- int32_t S6;
+ int32_t IsOnline;
} SP_MSP_U7_Button;
@@ -38,8 +37,8 @@ extern "C" {
#endif
/* Initializer values for message structs */
-#define SP_MSP_U7_Button_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#define SP_MSP_U7_Button_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define SP_MSP_U7_Button_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define SP_MSP_U7_Button_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define SP_MSP_U7_Button_RxIndex_tag 1
@@ -57,10 +56,9 @@ extern "C" {
#define SP_MSP_U7_Button_M2_tag 13
#define SP_MSP_U7_Button_M6_tag 14
#define SP_MSP_U7_Button_S3_tag 15
-#define SP_MSP_U7_Button_IsOnline_tag 16
+#define SP_MSP_U7_Button_M4_tag 16
#define SP_MSP_U7_Button_S4_tag 17
-#define SP_MSP_U7_Button_S5_tag 18
-#define SP_MSP_U7_Button_S6_tag 19
+#define SP_MSP_U7_Button_IsOnline_tag 18
/* Struct field encoding specification for nanopb */
#define SP_MSP_U7_Button_FIELDLIST(X, a) \
@@ -79,10 +77,9 @@ X(a, STATIC, SINGULAR, INT32, RU_Single, 12) \
X(a, STATIC, SINGULAR, INT32, M2, 13) \
X(a, STATIC, SINGULAR, INT32, M6, 14) \
X(a, STATIC, SINGULAR, INT32, S3, 15) \
-X(a, STATIC, SINGULAR, INT32, IsOnline, 16) \
+X(a, STATIC, SINGULAR, INT32, M4, 16) \
X(a, STATIC, SINGULAR, INT32, S4, 17) \
-X(a, STATIC, SINGULAR, INT32, S5, 18) \
-X(a, STATIC, SINGULAR, INT32, S6, 19)
+X(a, STATIC, SINGULAR, INT32, IsOnline, 18)
#define SP_MSP_U7_Button_CALLBACK NULL
#define SP_MSP_U7_Button_DEFAULT NULL
@@ -93,7 +90,7 @@ extern const pb_msgdesc_t SP_MSP_U7_Button_msg;
/* Maximum encoded size of messages (where known) */
#define MSP_U7_PB_H_MAX_SIZE SP_MSP_U7_Button_size
-#define SP_MSP_U7_Button_size 213
+#define SP_MSP_U7_Button_size 201
#ifdef __cplusplus
} /* extern "C" */
diff --git a/Core/Protobuf/Proto/msp_U7.proto b/Core/Protobuf/Proto/msp_U7.proto
index 0b8ba1c..66d297b 100644
--- a/Core/Protobuf/Proto/msp_U7.proto
+++ b/Core/Protobuf/Proto/msp_U7.proto
@@ -16,8 +16,7 @@ message SP_MSP_U7_Button {
int32 M2 = 13;
int32 M6 = 14;
int32 S3 = 15;
- int32 IsOnline= 16;
+ int32 M4 = 16;
int32 S4 = 17;
- int32 S5= 18;
- int32 S6= 19;
+ int32 IsOnline= 18;
}
diff --git a/Core/Src/FSM.c b/Core/Src/FSM.c
index 8a31d98..9271de8 100644
--- a/Core/Src/FSM.c
+++ b/Core/Src/FSM.c
@@ -669,6 +669,10 @@ void Emergency()
void GF_Dispatch() //2ms调用一次 给车体速度等赋值
{
+
+
+
+
// 如果处于复位模式，直接停车，不再执行运动逻辑
if (system_mode == SYSTEM_RESET)
{
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 25488a9..10f0cec 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -59,7 +59,7 @@ int can2_DispacherPeriod = 20;
#define RS485_1_WaitTime 8
#define RS485_2_WaitTime 8
#define RS485_3_WaitTime 8
-#define RS485_4_WaitTime 8
+#define RS485_4_WaitTime 10
#define LTE_7S0_Serial_WaitTime 8
#define InterCall_DEBUG_WaitTime 8
#define E28_SBUS_WaitTime 6
@@ -156,12 +156,12 @@ int main(void)
/* USER CODE BEGIN 2 */
SystemTimer_Intialize(); //加数数定时器
- GF_BSP_GPIO_SetIO(0, 0); //0�?????????????? 1�??????????????
+ GF_BSP_GPIO_SetIO(0, 0); //0�??????????????? 1�???????????????
GF_BSP_GPIO_SetIO(1, 1);
HAL_Delay(5000); ////////////////////////////延时5s
DLT_LOG_ENABLE_LEVEL = 0; //7 send all information 0 send nothing
- Error_Detect_Intialzie(1000); //every 1 seconds
+ Error_Detect_Intialzie(2000); //every 1 seconds
GF_Robot_Init();
GV.Move_Speed = 3000; //186.9 * m/min
// udp_client_init();
@@ -258,10 +258,10 @@ void CV_GV_Init()
CV.SwingMoveSpeedBase = 1000;
CV.TiltMoveSpeedBase = 1000;
- Motor[1] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�??????????????
+ Motor[1] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�???????????????
Motor[2] = &GV.RightFrontMotor;
-// Motor[2] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�??????????????
+// Motor[2] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�???????????????
// Motor[1] = &GV.RightFrontMotor;
RobotSpeed = &GV.Move_Speed; //RobotSpeed指向GV的移动车体�?�度 这是整体车�?? 不是单个轮的
@@ -336,11 +336,11 @@ void GF_Robot_Init()
TankWashing_Motor_Controller_intialize(&FD_CAN_1_Handler);
- Fsm_Init(); //把遥控器指令绑定定时�??????????????
+ Fsm_Init(); //把遥控器指令绑定定时�???????????????
uint8_t _state = 1;
- _state = _state & GF_BSP_TIMER_Init(); //定时器最后启�???????????????????
+ _state = _state & GF_BSP_TIMER_Init(); //定时器最后启�????????????????????
}
/* USER CODE END 4 */
diff --git a/Core/Src/motors.c b/Core/Src/motors.c
index ef91094..2ef0207 100644
--- a/Core/Src/motors.c
+++ b/Core/Src/motors.c
@@ -42,9 +42,9 @@ void MotorCommandsLoop()
{
for (int i = 1; i < 3; i++)
{
- Motor_ClearFault(i, FiveWheel_Motor_Controller, 4);
- Motor_GetFaultState(i, FiveWheel_Motor_Controller, 4);
- GetCSPByCommand(i, FiveWheel_Motor_Controller, 4);
+// Motor_ClearFault(i, FiveWheel_Motor_Controller, 4);
+// Motor_GetFaultState(i, FiveWheel_Motor_Controller, 4);
+// GetCSPByCommand(i, FiveWheel_Motor_Controller, 4);
}
for (int i = 1; i < 3; i++)
@@ -54,6 +54,7 @@ void MotorCommandsLoop()
FiveWheel_Motor_Controller, 4);
ReadPosition(i, FiveWheel_Motor_Controller, 4);
Motor_GetFaultState(i, FiveWheel_Motor_Controller, 4);
+ GetCSPByCommand(i, FiveWheel_Motor_Controller, 4);
}
}
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 3bd9d85..4df89d5 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -188,7 +188,7 @@ void MX_UART7_Init(void)
/* USER CODE END UART7_Init 1 */
huart7.Instance = UART7;
- huart7.Init.BaudRate = 38400;
+ huart7.Init.BaudRate = 115200;
huart7.Init.WordLength = UART_WORDLENGTH_8B;
huart7.Init.StopBits = UART_STOPBITS_1;
huart7.Init.Parity = UART_PARITY_NONE;
diff --git a/readme.txt b/readme.txt
index 543eb63..4f35bb9 100644
--- a/readme.txt
+++ b/readme.txt
@@ -1 +1,2 @@
-BHBF_NewFiveWheel3.0（2510）
+BHBF_NewFiveWheel3.0（02042026）
+优化为拉毛的有线程序