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97 lines
2.1 KiB
97 lines
2.1 KiB
/*
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* msp_CMCU.C
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*
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* Created on: Jun 24, 2025
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* Author: 13752
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*/
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#include "msp_CMCU.h"
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#include "bsp_Error.pb.h"
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#include "BHBF_ROBOT.h"
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void GF_CMCU_Inquiry();
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void decode_cmcu_sensor(uint8_t *buffer, uint16_t length);
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void CMCU_Command_Comp();
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struct UARTHandler *cmcu_sensor;
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int32_t* CMCUValue_in;
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DispacherController *cmcu_sensor_dispacherController;
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int32_t Pressure_value = 0;
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uint16_t Crc_check = 0;
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uint8_t crc_checkH = 0;
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uint8_t crc_checkL = 0;
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uint8_t crc_checkh = 0;
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uint8_t crc_checkl = 0;
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void CMCU_sensor_intialize(struct UARTHandler *Handler)
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{
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cmcu_sensor = Handler;
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cmcu_sensor->UART_Decode=decode_cmcu_sensor;
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cmcu_sensor->Wait_time = 6; //等待10ms 最低不要低于4；
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cmcu_sensor_dispacherController=Handler->dispacherController;
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cmcu_sensor_dispacherController->Dispacher_Enable=1;
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//不周期性发送
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cmcu_sensor_dispacherController->DispacherCallTime = 100;
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LOG("cmcu_sensor_intialize");
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//log_info("angle_encoder_intialize");
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cmcu_sensor_dispacherController->Add_Dispatcher_List(cmcu_sensor_dispacherController,GF_CMCU_Inquiry);
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//HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"Cmcu_Sensor",0,Cmcu_Sensor);
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}
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uint8_t Inquiry_Order_CMCU[8]={0X01, 0X03, 0X00, 0X00, 0X00, 0X02, 0XC4, 0X0B};
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void GF_CMCU_Inquiry()
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{
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memcpy(&cmcu_sensor->Tx_Buf, &Inquiry_Order_CMCU, 8);
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cmcu_sensor->TxCount = 8;
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cmcu_sensor->UART_Tx(cmcu_sensor);
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}
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void decode_cmcu_sensor(uint8_t *buffer, uint16_t length)
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{
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if(buffer[0] == 0X01 && buffer[1] == 0X03 && buffer[2] == 0X04)
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{
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Pressure_value = ((buffer[5] << 24) | (buffer[6] << 16)) | ((buffer[3] << 8) | buffer[4]);
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crc_checkH = buffer[8];
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crc_checkL = buffer[7];
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Crc_check = MB_CRC16(buffer,7);
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crc_checkh = Crc_check >> 8;
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crc_checkl = Crc_check;
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if((crc_checkH == crc_checkh) && (crc_checkL == crc_checkl))
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{
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CMCU_Command_Comp();
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}
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}
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}
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void CMCU_Command_Comp()
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{
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switch(Pressure_value & 0X80000000)
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{
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case 0:
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*CMCUValue_in = Pressure_value;
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break;
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case 0X80000000:
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*CMCUValue_in = Pressure_value - 0XFFFFFFFF - 1;
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break;
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}
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}
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