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PAD通信协议优化 zsxfly20240819

This commit is contained in:
zsx 2024-08-19 08:46:40 +08:00
parent 91135a05fe
commit c95d8275c2
4 changed files with 4265 additions and 4211 deletions
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8315
projects/blezongkong/mdk/JLinkLog.txt
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File diff suppressed because it is too large Load Diff

4
projects/blezongkong/mdk/zhongkong.uvguix.zsx
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@ -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>

155
projects/blezongkong/src/app_PAD.c
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@ -17,45 +17,126 @@ 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;
switch(PAD_daraframe.cmd_id){
case 0x01: // 配置系统参数
sys_conf.Manager_sLim= PAD_daraframe.data[0];
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);
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;
}
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:
// default :
// app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
// break;
default :
app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
break;
/*
其他功能....
*/
}
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

2
projects/blezongkong/src/app_PAD.h
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@ -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
{