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99 lines
2.4 KiB
99 lines
2.4 KiB
11 months ago
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#include "msp_Angle_Encoder_YL159.h"
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#include "BHBF_ROBOT.h"
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#include "bsp_decode_command.h"
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#include "gpio.h"
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#include "bsp_Log.h"
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#include "BSP/bsp_UART.h"
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#include <msp_WH_LTE_7S0.h>
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char NeedToFeedBackToComputer = 0;
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struct UARTHandler *wh_LTE_7S0_Handler;
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DispacherController* wh_LTE_7S0_dispacher;
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void Reset()
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{
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HAL_GPIO_WritePin(S0_RESET_GPIO_Port, S0_RESET_Pin, GPIO_PIN_RESET);
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}
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void NormalState()
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{
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HAL_GPIO_WritePin(S0_RESET_GPIO_Port, S0_RESET_Pin, GPIO_PIN_SET);
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}
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void WH_LTE_7S0_intialize(struct UARTHandler *Handler)
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{
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//NormalState();
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HAL_GPIO_WritePin(S0_RESET_GPIO_Port, GPIO_PIN_10, GPIO_PIN_SET);
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wh_LTE_7S0_Handler = Handler;
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wh_LTE_7S0_Handler->Wait_time = 30; // 最低不要低于4；
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wh_LTE_7S0_dispacher=Handler->dispacherController;
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wh_LTE_7S0_dispacher->Add_Dispatcher_List(wh_LTE_7S0_dispacher,UpdateGV);
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wh_LTE_7S0_dispacher->DispacherCallTime=600;
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//DispacherController* disp=wh_LTE_7S0_Handler->dispacherController;
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//disp->Add_Dispatcher_List(disp,UpdateGV);//周期性update GV数据
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LOG("WH_LTE_7S0_intialize");
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wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer; //indicate that there is no need to listen
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}
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void Send_WH_LTE_7S0_Data(uint8_t *data, int length)
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{
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char datass[100];
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memcpy(datass, data, length);
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wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer;
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memcpy(wh_LTE_7S0_Handler->Tx_Buf, data, length);
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wh_LTE_7S0_Handler->TxCount = length;
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wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler);
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}
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void UpdateGV()
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{
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//wh_LTE_7S0_Handler->UART_Decode = decode_received_data_from_computer;
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pb_ostream_t GV_o_stream =
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{ 0 };
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char buf[1024];
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GV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
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pb_encode(&GV_o_stream, GV_struct_define_fields, &GV);
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memcpy(&wh_LTE_7S0_Handler->Tx_Buf[2], buf, GV_o_stream.bytes_written);
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wh_LTE_7S0_Handler->Tx_Buf[0]='1';
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wh_LTE_7S0_Handler->Tx_Buf[1]=',';
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//wh_LTE_7S0_Handler->Tx_Buf[2]='1';
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wh_LTE_7S0_Handler->TxCount = GV_o_stream.bytes_written+2;
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wh_LTE_7S0_Handler->UART_Tx(wh_LTE_7S0_Handler);
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}
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void decode_received_data_from_computer(uint8_t *buffer, uint16_t length)
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{
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char buf[1024];
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memcpy(buf, buffer, length);
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if(buffer[0]=='2'&&buffer[1]==',')
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{
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//Decode protobuf
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//decode_command_from_computer(buffer+2,length-2);
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decode_command_and_feedback(buffer+2,length-2,1,wh_LTE_7S0_Handler);
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}
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if(NeedToFeedBackToComputer==1)
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{
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send_received_data_to_upper_computer(buffer, length);
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}
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}
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