kkkjtr
/
bleSDK_expansion_board
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
bleSDK_expansion_board/projects/blezongkong/src/app_uart.c

291 lines
10 KiB
C
Raw Normal View History

初始化仓库，提交zhongkong工程源码 zsxfly20240415
2024-04-15 09:23:32 +08:00
#include "b6x.h"
#include "drvs.h"
#include "dbg.h"
#include "rbuf.h"
#include "app_uart.h"
#include "app_speed_governor.h"
#include "app_control_out.h"
#include "app_ws2812.h"
void app_uart_Init(uint8_t port, uint32_t baudrate, uint8_t io_tx, uint8_t io_rx)
{
uart_init(port, io_tx, io_rx);
uart_conf(port, BRR_DIV(baudrate, 16M), LCR_BITS(8, 1, none));
// 使能FIFO 接收8字节时触发、使能超过20字节触发超时中断
uart_fctl(port, FCR_FIFOEN_BIT | FCR_RXTL_1BYTE, 0, UART_IR_RXRD_BIT);
NVIC_EnableIRQ(port==UART1_PORT?UART1_IRQn:UART2_IRQn);
}
//CRC-8/MAXIM：x8+X5+X4+1
uint8_t crc8_checkout(uint8_t *buff, uint8_t length)
{
uint8_t i;
uint8_t crc = 0; //initial value
while (length--) {
crc ^= *buff++; //crc ^= *buff; buff++;
for(i = 0; i < 8; i++) {
if(crc & 1)
crc = (crc >> 1) ^ 0x8C; //0x8C = reverse 0x31
else
crc >>= 1;
}
}
return crc;
}
radar_daraframe_t radar_daraframe;
uart_daraframe_t uart1_daraframe;
volatile uint8_t uart1_state =0;
volatile uint8_t uart1_data_cnt =0;
extern GRB_Data_t WS2812_GRBs;
bool uart2_Back_car=0;
static void app_uart1_hande(void){
uint8_t ret_data[MAX_LEN]={0,0};
uint8_t length;
switch(uart1_daraframe.cmd_id){
case 0x01://电门锁
if(1 ==uart1_daraframe.length){//电门锁状态设置/0：锁车状态/1：开锁状态
ret_data[0] =app_set_Door_lock_status(uart1_daraframe.data[0]);
length = 1;
app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
}
break;
case 0x02://油门控制
if(3 ==uart1_daraframe.length){
if(app_get_Door_lock_status()){//开锁时
if(0 > *(int8_t *)(&uart1_daraframe.data[0])){//倒车
if(1 == uart2_Back_car){
// NVIC_EnableIRQ(UART2_IRQn);
// app_uart_Init(UART2_PORT,9600,PA10,PA04);//倒车雷达
}
uart2_Back_car =0;
}else {//前进
if(0 == uart2_Back_car){
// NVIC_DisableIRQ(UART2_IRQn);
// app_uart_Init(UART2_PORT,9600,PA10,PA09);//磁刹控制器
}
uart2_Back_car =1;
}
app_set_speed(*(int8_t *)(&uart1_daraframe.data[0]));
ret_data[0] = uart1_daraframe.data[0];//当前油门状态 倒车：-100~0 / 前进：0~100
ret_data[1] = app_set_brake_status(uart1_daraframe.data[1]);//当前刹车状态
ret_data[2] = app_set_gears_status(uart1_daraframe.data[2]);//当前速度档位
ret_data[3] = radar_daraframe.Left_data;
ret_data[4] = radar_daraframe.Right_data;
length = 5;
app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
}else{
ret_data[0] = app_get_Door_lock_status();
length = 1;
app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
}
}
break;
case 0x03://推车模式
if(1 ==uart1_daraframe.length){//推车模式设置/0：退出推车状态/1：推车状态
ret_data[0] =app_set_Push_status(uart1_daraframe.data[0]);
length = 1;
app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
}
break;
case 0x04://GRB
WS2812_GRBs.len =uart1_daraframe.length;
for(length=0;length < WS2812_GRBs.len;length++){//G3,R3,B2
WS2812_GRBs.GRBs[length] = ((uint32_t)(uart1_daraframe.data[length] & 0xE0)<<16) | ((uint32_t)(uart1_daraframe.data[length] & 0x1C)<<11) | ((uint32_t)(uart1_daraframe.data[length] & 0x03)<<6);
}
// WS2812_GRBs.len =uart1_daraframe.length / 3;
// for(length=0;length < WS2812_GRBs.len;length++){
// WS2812_GRBs.GRBs[length] = ((uint32_t)uart1_daraframe.data[3*length + 0]<<16) | ((uint32_t)uart1_daraframe.data[3*length +1]<<8) | ((uint32_t)uart1_daraframe.data[3*length +2]);
// }
// app_uart_Sendcmd(UART2_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, uart1_daraframe.data, length);
// app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, uart1_daraframe.data, length);
break;
default :
break;
/*
其他功能....
*/
}
uart1_state =0;//数据处理完要清零，准备接收下一帧数据
}
static void uart1_Receive(uint8_t data)
{
uint8_t *frame = (uint8_t *)&uart1_daraframe;
switch(uart1_state){
case 0://header
if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (uart1_daraframe.header == 0x0)) {
uart1_daraframe.header = (FRAME_HEADER >> 8);
} else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (uart1_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
uart1_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
uart1_daraframe.length = 0;
uart1_state = 1;//to cmd id
//debug("header");
}
break;
case 1://cmd_id
//debug("rxcmd:%x", data);
uart1_daraframe.cmd_id = data;
uart1_state = 2;//to device addr
break;
case 2://reg addr
//debug("reg_addr");
uart1_daraframe.reg_addr = data;
uart1_state = 3;//to data length
break;
case 3://data length
//debug("length");
uart1_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
if (uart1_daraframe.length == 0) {
uart1_state = 5;//to crc
} else {
uart1_state = 4;//to data
uart1_data_cnt = 0;
}
break;
case 4://data
//debug("data");
if (uart1_data_cnt < uart1_daraframe.length) {
uart1_daraframe.data[uart1_data_cnt++] = data;
}
if (uart1_data_cnt == uart1_daraframe.length) {
uart1_data_cnt = 0;
uart1_state = 5;//to crc
}
break;
case 5://CRC8
uart1_daraframe.crc = crc8_checkout(frame, 5 + uart1_daraframe.length);
#if DISABLE_CRC8
uart1_daraframe.crc = data;
#endif
//计算并验证crc8
if (uart1_daraframe.crc == data) {
uart1_state = 6;//to ack
//debug("crc correct cmd:%x", uart1_daraframe.cmd_id);
} else {
uart1_state = 0;//to haeder
uart1_daraframe.header = 0;
//debug("crc error cmd:%x-%x", uart1_daraframe.cmd_id, uart1_daraframe.crc);
}
break;
}
// uart_putc(UART1_PORT,data);//debug
// uart_putc(UART1_PORT,'0'+uart1_state);
if(uart1_state == 6){
uart1_daraframe.header = 0;
uart1_state = 7;//数据处理完，需要将状态位归零，才会接收下一帧数据，即：uart1_state =0时。
app_uart1_hande();
uart1_state =0;
/*
rx handler codes....
*/
}
}
void UART1_IRQHandler(void)
{
uint32_t state = UART1->IFM.Word; // UART1->RIF.Word;
if (state & 0x01) //(BIT_RXRD)
{
UART1->IDR.RXRD = 1; // Disable RXRD Interrupt
uart1_Receive(UART1->RBR);
UART1->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
UART1->IER.RXRD = 1; // Enable RXRD Interrupt
}
}
/*
***************************************UART2*****************************************************
*/
uint8_t uart2_state =0;
static void uart2_Receive(uint8_t data)
{
switch(uart2_state){
case 0://header
if (data == 0x0C || data == 0x0D) {
radar_daraframe.header = data;
uart2_state = 1;//to data
//debug("header");
}
break;
case 1://data
//debug("data:%x", data);
if(0x0c == radar_daraframe.header){
radar_daraframe.Left_data = data;
}else if(0x0d == radar_daraframe.header){
radar_daraframe.Right_data = data;
}
uart2_state = 2;
break;
}
uart_putc(UART2_PORT,data);
uart_putc(UART2_PORT,'0'+uart2_state);
if(uart2_state == 2){
radar_daraframe.header = 0;
app_updata_radar();
uart2_state = 0;
/*
rx handler codes....
*/
}
}
void UART2_IRQHandler(void)
{
uint32_t state = UART2->IFM.Word; // UART2->RIF.Word;
if (state & 0x01) //(BIT_RXRD)
{
UART2->IDR.RXRD = 1; // Disable RXRD Interrupt
uart2_Receive(UART2->RBR);
UART2->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
UART2->IER.RXRD = 1; // Enable RXRD Interrupt
}
}
//发送命令
void app_uart_Sendcmd(uint8_t port, volatile uint8_t cmd_id ,volatile uint8_t reg_addr ,volatile uint8_t *data, volatile uint8_t length)
{
uart_daraframe_t frame;
uint8_t *cmd_data =(uint8_t *)&frame;
uint8_t i;
frame.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100
frame.cmd_id = cmd_id;
frame.reg_addr = reg_addr;
frame.length = length < MAX_LEN ? length:MAX_LEN;
for(i = 0;i < frame.length ;i ++){
frame.data[i] = * data++;
}
length =5 + frame.length;
frame.crc = crc8_checkout(cmd_data, length);
while(length--)
uart_putc(port, (uint32_t)(*cmd_data ++));
uart_putc(port, (uint32_t)(frame.crc));
}