PAD通信协议优化 zsxfly20240819

projects/blezongkong/mdk/zhongkong.uvguix.zsx

@@ -3633,9 +3633,9 @@
       </Doc>
       <Doc>
         <Name>..\src\app_radar.c</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>23</ColumnNumber>
         <TopLine>82</TopLine>
-        <CurrentLine>101</CurrentLine>
+        <CurrentLine>102</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>

projects/blezongkong/src/app_PAD.c

@@ -18,44 +18,125 @@ static void PAD_Data_Hande(void){
     uint8_t ret_data[MAX_LEN]={0,0};
     uint8_t length=0;
     
-    switch(PAD_daraframe.cmd_id){
+    switch(PAD_daraframe.reg_addr){
-        case 0x01: // 配置系统参数
+        case 0x01: // 写入系统配置
-            sys_conf.Manager_sLim= PAD_daraframe.data[0];
+            if(PAD_daraframe.cmd_id == 0x06){// 写入
-            sys_conf.Tourist_sLim= PAD_daraframe.data[1];
-            sys_conf.Brake_DLimit= PAD_daraframe.data[2];
-            sys_conf.Speed_Cut_DLimit= PAD_daraframe.data[3];
-            sys_conf.Brake_DLimit_B= PAD_daraframe.data[4];
-            sys_conf.Speed_Cut_DLimit_B= PAD_daraframe.data[5];
                 write_cfg(&sys_conf);
-        case 0x02: // 读取系统配置
-            ret_data[length++]=sys_conf.Manager_sLim;
-            ret_data[length++]=sys_conf.Tourist_sLim;
-            ret_data[length++]=sys_conf.Brake_DLimit;
-            ret_data[length++]=sys_conf.Speed_Cut_DLimit;
-            ret_data[length++]=sys_conf.Brake_DLimit_B;
-            ret_data[length++]=sys_conf.Speed_Cut_DLimit_B;
-            
-            app_PAD_Sendcmd(PAD_daraframe.cmd_id,0x01,ret_data,length);
-        break;
-        case 0x03: //0 退出模式//1 进入游客模式//2 进入管理员模式
-            sys_sta.Pmode = PAD_daraframe.data[0] & 0x03;
-            app_PAD_Sendcmd(PAD_daraframe.cmd_id,0x01,PAD_daraframe.data,PAD_daraframe.length);
-        break;
-        case 0x04: //0 关闭12V输出//1 开启12V输出
-            sys_sta.O_12V = PAD_daraframe.data[0];
-            app_PAD_Sendcmd(PAD_daraframe.cmd_id,0x01,PAD_daraframe.data,PAD_daraframe.length);
-        break;
-        // case 0x04: 
-            
-        // break;
-
-        default :
-            app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
-        break;
-        /*
-            其他功能....
-        */
             }
+            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;
+            }
+        break;
+        // default :
+        //     app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
+        // break;
+    }
+    app_PAD_Sendcmd(PAD_daraframe.cmd_id ,PAD_daraframe.reg_addr ,ret_data ,length);
     Rec_state =0;//数据处理完要清零，准备接收下一帧数据
 }
 
@@ -105,7 +186,7 @@ void app_PAD_Receive(uint8_t data){
         break;
         case 5://CRC8
             PAD_daraframe.crc = crc8_maxim(frame, 5 + PAD_daraframe.length);
-#if PAD_CRC8_EN         
+#if !PAD_CRC8_EN         
             PAD_daraframe.crc = data;
 #endif
             //计算并验证crc8

projects/blezongkong/src/app_PAD.h

@@ -10,7 +10,7 @@
 #define MAX_LEN 32
 
 //0:失能数据校验
-#define PAD_CRC8_EN 1
+#define PAD_CRC8_EN 0
 
 typedef struct PAD_daraframe
 {