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bleSDK_expansion_board/projects/blezongkong/src/app_PAD.c

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提交中控板V2.1源码 zsxfly20240819
2024-08-19 01:14:21 +08:00
#include "b6x.h"
#include "drvs.h"
#include "dbg.h"
#include "rbuf.h"
#include "CRCxx.h"
#include "sys_config.h"
#include "app_PAD.h"
// 用于PAD通信处理
PAD_daraframe_t PAD_daraframe;
volatile uint8_t Rec_state =0;
volatile uint8_t Rec_data_cnt =0;
static void PAD_Data_Hande(void){
uint8_t ret_data[MAX_LEN]={0,0};
uint8_t length=0;
PAD通信协议优化 zsxfly20240819
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switch(PAD_daraframe.reg_addr){
case 0x01: // 写入系统配置
if(PAD_daraframe.cmd_id == 0x06){// 写入
write_cfg(&sys_conf);
}
break;
case 0x02: // 管理员模式油门极限寄存器(Unit:%)
if(PAD_daraframe.cmd_id == 0x03){// 读取
// ret_data[length++] =0;
ret_data[length++] =sys_conf.Manager_sLim;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Manager_sLim =PAD_daraframe.data[0];
break;
}
case 0x03: // 游客模式油门极限寄存器(Unit:%)
if(PAD_daraframe.cmd_id == 0x03){// 读取
// ret_data[length++] =0;
ret_data[length++] =sys_conf.Tourist_sLim;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Tourist_sLim =PAD_daraframe.data[0];
break;
}
case 0x04: // 减速油门极限寄存器(Unit:%)(自动减速时油门极限)
if(PAD_daraframe.cmd_id == 0x03){// 读取
// ret_data[length++] =0;
ret_data[length++] =sys_conf.Speed_Cut_sLim;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Speed_Cut_sLim =PAD_daraframe.data[0];
break;
}
case 0x05: // 刹车距离极限寄存器(前进)(Unit:mm)
if(PAD_daraframe.cmd_id == 0x03){// 读取
ret_data[length++] =sys_conf.Brake_DLimit & 0x00FF;
ret_data[length++] =sys_conf.Brake_DLimit >> 8;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Brake_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
break;
}
case 0x06: // 减速距离极限寄存器(Unit:mm)
if(PAD_daraframe.cmd_id == 0x03){// 读取
ret_data[length++] =sys_conf.Speed_Cut_DLimit & 0x00FF;
ret_data[length++] =sys_conf.Speed_Cut_DLimit >> 8;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Speed_Cut_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
break;
}
case 0x07: // 刹车距离极限寄存器(前进)(Unit:mm)
if(PAD_daraframe.cmd_id == 0x03){// 读取
ret_data[length++] =sys_conf.Brake_DLimit_B & 0x00FF;
ret_data[length++] =sys_conf.Brake_DLimit_B >> 8;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Brake_DLimit_B =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
break;
}
case 0x08: // 减速距离极限寄存器(Unit:mm)
if(PAD_daraframe.cmd_id == 0x03){// 读取
ret_data[length++] =sys_conf.Speed_Cut_DLimit_B & 0x00FF;
ret_data[length++] =sys_conf.Speed_Cut_DLimit_B >> 8;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_conf.Speed_Cut_DLimit_B = (((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
break;
}
case 0x09: //PAD模式寄存器
if(PAD_daraframe.cmd_id == 0x03){// 读取
// ret_data[length++] =0;
ret_data[length++] =sys_sta.Pmode;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_sta.Pmode = PAD_daraframe.data[0] & 0x03;//0 退出模式//1 进入游客模式//2 进入管理员模式
break;
}
case 0x0A: //系统模式寄存器
if(PAD_daraframe.cmd_id == 0x03){// 读取
// ret_data[length++] =0;
ret_data[length++] =sys_sta.Smode;
// if(0 == --PAD_daraframe.length){
break;
// }
}
case 0x0B: //0 关闭12V输出//1 开启12V输出
if(PAD_daraframe.cmd_id == 0x03){// 读取
// ret_data[length++] =0;
ret_data[length++] =sys_sta.O_12V;
// if(0 == --PAD_daraframe.length){
break;
// }
}else if(PAD_daraframe.cmd_id == 0x06){// 写入
sys_sta.O_12V = PAD_daraframe.data[0] & 0x01;
break;
}
提交中控板V2.1源码 zsxfly20240819
2024-08-19 01:14:21 +08:00
break;
PAD通信协议优化 zsxfly20240819
2024-08-19 08:46:40 +08:00
// default :
// app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
提交中控板V2.1源码 zsxfly20240819
2024-08-19 01:14:21 +08:00
// break;
}
PAD通信协议优化 zsxfly20240819
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app_PAD_Sendcmd(PAD_daraframe.cmd_id ,PAD_daraframe.reg_addr ,ret_data ,length);
提交中控板V2.1源码 zsxfly20240819
2024-08-19 01:14:21 +08:00
Rec_state =0;//数据处理完要清零，准备接收下一帧数据
}
void app_PAD_Receive(uint8_t data){
uint8_t *frame = (uint8_t *)&PAD_daraframe;
switch(Rec_state){
case 0://header
if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (PAD_daraframe.header == 0x0)) {
PAD_daraframe.header = (FRAME_HEADER >> 8);
} else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (PAD_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
PAD_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
PAD_daraframe.length = 0;
Rec_state = 1;//to cmd id
//debug("header");
}
break;
case 1://cmd_id
//debug("rxcmd:%x", data);
PAD_daraframe.cmd_id = data;
Rec_state = 2;//to device addr
break;
case 2://reg addr
//debug("reg_addr");
PAD_daraframe.reg_addr = data;
Rec_state = 3;//to data length
break;
case 3://data length
//debug("length");
PAD_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
if (PAD_daraframe.length == 0) {
Rec_state = 5;//to crc
} else {
Rec_state = 4;//to data
Rec_data_cnt = 0;
}
break;
case 4://data
//debug("data");
if (Rec_data_cnt < PAD_daraframe.length) {
PAD_daraframe.data[Rec_data_cnt++] = data;
}
if (Rec_data_cnt == PAD_daraframe.length) {
Rec_data_cnt = 0;
Rec_state = 5;//to crc
}
break;
case 5://CRC8
PAD_daraframe.crc = crc8_maxim(frame, 5 + PAD_daraframe.length);
PAD通信协议优化 zsxfly20240819
2024-08-19 08:46:40 +08:00
#if !PAD_CRC8_EN
提交中控板V2.1源码 zsxfly20240819
2024-08-19 01:14:21 +08:00
PAD_daraframe.crc = data;
#endif
//计算并验证crc8
if (PAD_daraframe.crc == data) {
Rec_state = 6;//to ack
//debug("crc correct cmd:%x", PAD_daraframe.cmd_id);
} else {
Rec_state = 0;//to haeder
PAD_daraframe.header = 0;
//debug("crc error cmd:%x-%x", PAD_daraframe.cmd_id, PAD_daraframe.crc);
}
break;
}
// uart_putc(UART1_PORT,data);//debug
// uart_putc(UART1_PORT,'0'+Rec_state);
if(Rec_state == 6){
PAD_daraframe.header = 0;
Rec_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。
PAD_Data_Hande();
Rec_state =0;
/*
rx handler codes....
*/
}
}
//发送命令
void app_PAD_Sendcmd(volatile uint8_t cmd_id ,volatile uint8_t reg_addr ,volatile uint8_t *data, volatile uint8_t length){
PAD_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_maxim(cmd_data, length);
while(length--)
uart_putc(UART1_PORT, (uint32_t)(*cmd_data ++));
uart_putc(UART1_PORT, (uint32_t)(frame.crc));
}