298 lines
10 KiB
C
298 lines
10 KiB
C
#include "b6x.h"
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#include "drvs.h"
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#include "dbg.h"
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#include "rbuf.h"
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#include "app_uart.h"
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#include "app_speed_governor.h"
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#include "app_control_out.h"
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#include "app_ws2812.h"
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void app_uart_Init(uint8_t port, uint32_t baudrate, uint8_t io_tx, uint8_t io_rx)
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{
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uart_init(port, io_tx, io_rx);
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uart_conf(port, BRR_DIV(baudrate, 16M), LCR_BITS(8, 1, none));
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// 使能FIFO 接收8字节时触发、使能超过20字节触发超时中断
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uart_fctl(port, FCR_FIFOEN_BIT | FCR_RXTL_1BYTE, 0, UART_IR_RXRD_BIT);
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NVIC_EnableIRQ(port==UART1_PORT?UART1_IRQn:UART2_IRQn);
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}
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//CRC-8/MAXIM：x8+X5+X4+1
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uint8_t crc8_checkout(uint8_t *buff, uint8_t length)
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{
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uint8_t i;
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uint8_t crc = 0; //initial value
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while (length--) {
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crc ^= *buff++; //crc ^= *buff; buff++;
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for(i = 0; i < 8; i++) {
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if(crc & 1)
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crc = (crc >> 1) ^ 0x8C; //0x8C = reverse 0x31
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else
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crc >>= 1;
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}
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}
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return crc;
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}
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radar_daraframe_t radar_daraframe;
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uart_daraframe_t uart1_daraframe;
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volatile uint8_t uart1_state =0;
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volatile uint8_t uart1_data_cnt =0;
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extern GRB_Data_t WS2812_GRBs;
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bool uart2_Back_car=0;
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static void app_uart1_hande(void){
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uint8_t ret_data[MAX_LEN]={0,0};
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uint8_t length;
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switch(uart1_daraframe.cmd_id){
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case 0x01://电门锁
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if(1 ==uart1_daraframe.length){//电门锁状态设置/0：锁车状态/1：开锁状态
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ret_data[0] =app_set_Door_lock_status(uart1_daraframe.data[0]);
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length = 1;
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app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
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}
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break;
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case 0x02://油门控制
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if(3 ==uart1_daraframe.length){
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if(1==Get_Status(IN_GPS)){
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Set_Status(OUT_Door_lock,0);//GPS超出范围，直接锁车
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}
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if(app_get_Door_lock_status()){//开锁时
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if(0 > *(int8_t *)(&uart1_daraframe.data[0])){//倒车
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if(1 == uart2_Back_car){
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// NVIC_EnableIRQ(UART2_IRQn);
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// app_uart_Init(UART2_PORT,9600,PA10,PA04);//倒车雷达
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}
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uart2_Back_car =0;
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}else {//前进
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if(0 == uart2_Back_car){
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// NVIC_DisableIRQ(UART2_IRQn);
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// app_uart_Init(UART2_PORT,9600,PA10,PA09);//磁刹控制器
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}
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uart2_Back_car =1;
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}
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app_set_speed(*(int8_t *)(&uart1_daraframe.data[0]));
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ret_data[0] = uart1_daraframe.data[0];//当前油门状态 倒车：-100~0 / 前进：0~100
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ret_data[1] = app_set_brake_status(uart1_daraframe.data[1]);//当前刹车状态
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if(1==Get_Status(IN_EXTI0_Custom0)){
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ret_data[2] = app_set_gears_status(0);//进入管理员模式
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}else {
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ret_data[2] = app_set_gears_status(uart1_daraframe.data[2]);//当前速度档位
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}
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ret_data[3] = radar_daraframe.Left_data;
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ret_data[4] = radar_daraframe.Right_data;
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length = 5;
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app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
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}else{
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ret_data[0] = app_get_Door_lock_status();
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length = 1;
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app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
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}
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}
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break;
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case 0x03://推车模式
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if(1 ==uart1_daraframe.length){//推车模式设置/0：退出推车状态/1：推车状态
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ret_data[0] =app_set_Push_status(uart1_daraframe.data[0]);
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length = 1;
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app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, ret_data, length);
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}
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break;
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case 0x04://GRB
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WS2812_GRBs.len =uart1_daraframe.length;
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for(length=0;length < WS2812_GRBs.len;length++){//G3,R3,B2
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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);
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}
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// WS2812_GRBs.len =uart1_daraframe.length / 3;
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// for(length=0;length < WS2812_GRBs.len;length++){
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// 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]);
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// }
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// app_uart_Sendcmd(UART2_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, uart1_daraframe.data, length);
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// app_uart_Sendcmd(UART1_PORT, uart1_daraframe.cmd_id, uart1_daraframe.reg_addr, uart1_daraframe.data, length);
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break;
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default :
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break;
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/*
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其他功能....
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*/
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}
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uart1_state =0;//数据处理完要清零，准备接收下一帧数据
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}
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static void uart1_Receive(uint8_t data)
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{
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uint8_t *frame = (uint8_t *)&uart1_daraframe;
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switch(uart1_state){
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case 0://header
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if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (uart1_daraframe.header == 0x0)) {
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uart1_daraframe.header = (FRAME_HEADER >> 8);
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} else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (uart1_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
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uart1_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
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uart1_daraframe.length = 0;
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uart1_state = 1;//to cmd id
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//debug("header");
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}
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break;
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case 1://cmd_id
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//debug("rxcmd:%x", data);
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uart1_daraframe.cmd_id = data;
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uart1_state = 2;//to device addr
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break;
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case 2://reg addr
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//debug("reg_addr");
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uart1_daraframe.reg_addr = data;
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uart1_state = 3;//to data length
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break;
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case 3://data length
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//debug("length");
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uart1_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
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if (uart1_daraframe.length == 0) {
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uart1_state = 5;//to crc
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} else {
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uart1_state = 4;//to data
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uart1_data_cnt = 0;
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}
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break;
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case 4://data
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//debug("data");
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if (uart1_data_cnt < uart1_daraframe.length) {
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uart1_daraframe.data[uart1_data_cnt++] = data;
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}
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if (uart1_data_cnt == uart1_daraframe.length) {
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uart1_data_cnt = 0;
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uart1_state = 5;//to crc
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}
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break;
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case 5://CRC8
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uart1_daraframe.crc = crc8_checkout(frame, 5 + uart1_daraframe.length);
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#if DISABLE_CRC8
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uart1_daraframe.crc = data;
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#endif
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//计算并验证crc8
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if (uart1_daraframe.crc == data) {
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uart1_state = 6;//to ack
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//debug("crc correct cmd:%x", uart1_daraframe.cmd_id);
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} else {
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uart1_state = 0;//to haeder
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uart1_daraframe.header = 0;
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//debug("crc error cmd:%x-%x", uart1_daraframe.cmd_id, uart1_daraframe.crc);
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}
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break;
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}
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// uart_putc(UART1_PORT,data);//debug
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// uart_putc(UART1_PORT,'0'+uart1_state);
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if(uart1_state == 6){
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uart1_daraframe.header = 0;
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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。
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app_uart1_hande();
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uart1_state =0;
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/*
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rx handler codes....
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*/
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}
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}
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void UART1_IRQHandler(void)
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{
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uint32_t state = UART1->IFM.Word; // UART1->RIF.Word;
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if (state & 0x01) //(BIT_RXRD)
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{
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UART1->IDR.RXRD = 1; // Disable RXRD Interrupt
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uart1_Receive(UART1->RBR);
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UART1->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
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UART1->IER.RXRD = 1; // Enable RXRD Interrupt
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}
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}
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/*
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***************************************UART2*****************************************************
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*/
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uint8_t uart2_state =0;
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static void uart2_Receive(uint8_t data)
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{
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switch(uart2_state){
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case 0://header
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if (data == 0x0C || data == 0x0D) {
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radar_daraframe.header = data;
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uart2_state = 1;//to data
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//debug("header");
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}
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break;
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case 1://data
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//debug("data:%x", data);
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if(0x0c == radar_daraframe.header){
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radar_daraframe.Left_data = data;
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}else if(0x0d == radar_daraframe.header){
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radar_daraframe.Right_data = data;
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}
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uart2_state = 2;
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break;
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}
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// uart_putc(UART2_PORT,data);
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// uart_putc(UART2_PORT,'0'+uart2_state);
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if(uart2_state == 2){
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radar_daraframe.header = 0;
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app_updata_radar();
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uart2_state = 0;
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/*
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rx handler codes....
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*/
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}
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}
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void UART2_IRQHandler(void)
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{
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uint32_t state = UART2->IFM.Word; // UART2->RIF.Word;
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if (state & 0x01) //(BIT_RXRD)
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{
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UART2->IDR.RXRD = 1; // Disable RXRD Interrupt
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uart2_Receive(UART2->RBR);
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UART2->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
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UART2->IER.RXRD = 1; // Enable RXRD Interrupt
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}
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}
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//发送命令
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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)
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{
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uart_daraframe_t frame;
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uint8_t *cmd_data =(uint8_t *)&frame;
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uint8_t i;
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frame.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100
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frame.cmd_id = cmd_id;
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frame.reg_addr = reg_addr;
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frame.length = length < MAX_LEN ? length:MAX_LEN;
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for(i = 0;i < frame.length ;i ++){
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frame.data[i] = * data++;
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}
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length =5 + frame.length;
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frame.crc = crc8_checkout(cmd_data, length);
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while(length--)
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uart_putc(port, (uint32_t)(*cmd_data ++));
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uart_putc(port, (uint32_t)(frame.crc));
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}
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