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493
app/app_param_manage.c
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493
app/app_param_manage.c
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#include "app_config.h"
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#include "app_frm_monitor.h"
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#include "app_frm_signal.h"
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#include "app_frm_timer.h"
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#include "app_param_manage.h"
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#define E2_RESERVE_COUNT 0x20 //增加IP地址 修改为0x20 20250110
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// 待发送的参数请求信号
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UnParamRequest un_param_request1 ;
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UnParamRequest un_param_request2;
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RequestContext request_send ;
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RequestContext request_context ;
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uint8_t read_write_e2_finished = 0;
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// 定义全局信号实例，读写信号现在包括 offset 和 size
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ParamSignal param_signal = {
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.param_ptr = NULL, // 参数指针初始化为 NULL
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.type = READ_OPERATION, // 操作类型设置为读操作
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.offset = 0, // 整个数据块的偏移
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.size = sizeof(param_manager.arr) // 整个数据块的大小
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};
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// 全局变量：初始化参数名称结构体
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ParamNames param_names = {
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#define X(name) .name = #name,
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PARAM_LIST
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#undef X
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};
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UnParamManager param_manager ;
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static uint8_t is_param_initialized = 0;
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// 打印所有参数的名称和值, 每行 4 个参数
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void printParams()
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{
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unsigned int param_count = 0;
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#define X(name) \
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printf("%-8s: %-8.2f", param_names.name, param_manager.bit_data.name); \
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param_count++; \
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if (param_count % 4 == 0) { \
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printf("\n"); \
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} else { \
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printf(" "); \
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}
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PARAM_LIST
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#undef X
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// 如果最后一行不足 4 个参数, 打印换行
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if (param_count % 4 != 0)
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{
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printf("\n");
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}
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}
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void writeByte24c02(uint16_t addr, uint8_t data)
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{
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if(0 != wrbyte_24c02(addr,data))
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{
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printf("E2PROM write error!\n");
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}
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}
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uint8_t readByte24c02(uint16_t addr)
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{
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return rdbyte_24c02(addr);
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}
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// 定义一个通用的 EEPROM 访问函数
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uint8_t accessEeprom(size_t offset, void *data, size_t size, OperationType type)
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{
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if (data == NULL || size == 0)
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{
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return 1; // 返回错误状态，表示无效的参数
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}
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uint8_t *byte_data = (uint8_t *)data; // 将 void* 转换为 uint8_t*，方便逐字节操作
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size_t index;
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if (type == WRITE_OPERATION)
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{
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// 写入操作
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for (index = 0; index < size; index++)
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{
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writeByte24c02((uint16_t)(offset + index + E2_RESERVE_COUNT), byte_data[index]);
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udelay(4000);//写入一个字节延时4ms
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}
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// 校验
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for (index = 0; index < size; index++)
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{
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if (readByte24c02((uint16_t)(offset + index + E2_RESERVE_COUNT)) != byte_data[index])
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{
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return 2; // 返回错误状态，表示写入验证失败
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}
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}
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}
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else
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{
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// 读取操作
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for (index = 0; index < size; index++)
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{
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byte_data[index] = readByte24c02((uint16_t)(offset + index + E2_RESERVE_COUNT));
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}
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}
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return 0; // 返回状态，表示成功
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}
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void handleParamOp(void *data)
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{
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ParamSignal *signal = (ParamSignal *)data;
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if (signal->param_ptr == NULL)
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{
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// 操作整个参数管理器
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if (accessEeprom(0, param_manager.arr, sizeof(param_manager.arr), signal->type) == 0)
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{
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read_write_e2_finished = 1;
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publishMessage(&read_write_e2_finished, 1); // 读写成功
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}
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else
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{
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read_write_e2_finished = 2;
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publishMessage(&read_write_e2_finished, 1); // 读写失败
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}
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}
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else
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{
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// 根据信号中的偏移和大小操作单个参数
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if (accessEeprom(signal->offset, signal->param_ptr, signal->size, signal->type) == 0)
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{
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read_write_e2_finished = 1;
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publishMessage(&read_write_e2_finished, 1); // 读写成功
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}
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else
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{
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read_write_e2_finished = 2;
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publishMessage(&read_write_e2_finished, 1); // 读写失败
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}
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}
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}
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uint8_t calculateCRC(const uint8_t* data, uint32_t length) {
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uint8_t crc = 0;
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for (uint32_t i = 0; i < length; ++i) {
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crc += data[i]; // 简单的校验和，按字节累加
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}
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return crc;
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}
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float readParameter(const char *param_name) {
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float float_value = 0;
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unsigned int offset = 0;
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#define X(name) \
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if (strcmp(param_name, param_names.name) == 0) { \
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accessEeprom(offset, ¶m_manager.bit_data.name,sizeof(param_manager.bit_data.name), READ_OPERATION);\
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memcpy(&float_value, ¶m_manager.bit_data.name, sizeof(param_manager.bit_data.name)); \
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return float_value; \
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} \
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offset += 4;
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PARAM_LIST
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#undef X
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printf("Parameter not found: %s\n", param_name);
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return 0;
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}
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void writeParameter(const char *param_name, const uint8_t *data) {
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unsigned int offset = 0;
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#define X(name) \
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if (strcmp(param_name, param_names.name) == 0) { \
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memcpy(¶m_manager.bit_data.name, data, sizeof(param_manager.bit_data.name)); \
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accessEeprom(offset, ¶m_manager.bit_data.name,sizeof(param_manager.bit_data.name), WRITE_OPERATION);\
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return; \
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} \
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offset += 4;
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PARAM_LIST
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#undef X
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printf("Parameter not found: %s\n", param_name);
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}
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void sendParamRequestResponse(UnParamRequest *paramRequest, uint32_t sender_ip, uint16_t sender_port, uint8_t isWriteOperation) {
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// 准备响应帧
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paramRequest->bit_data.frame_header = 0xFF80;
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paramRequest->bit_data.frame_type = 0x002B;
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paramRequest->bit_data.frame_length = sizeof(StrParamRequest);
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paramRequest->bit_data.accumulated = 0;
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paramRequest->bit_data.request_id = isWriteOperation ? 98 : 99;
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paramRequest->bit_data.crc = calculateCRC(paramRequest->arr, sizeof(paramRequest->arr) - 1);
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request_send.param_request = paramRequest;
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request_send.sender_ip = sender_ip;
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request_send.sender_port = sender_port;
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// 发送信号，从UDP发送
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publishMessage(&request_send, 1);
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}
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void processReadAllParams(UnParamRequest *paramRequest, uint32_t sender_ip, uint16_t sender_port) {
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uint8_t allParams[256][4]; // Size based on E2 size
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unsigned int i = 0;
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float param_value;
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uint8_t exceeded_max = 0; // 新增标志变量
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// 清零 paramRequest
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memset(paramRequest, 0, sizeof(UnParamRequest));
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accessEeprom(0, param_manager.arr, sizeof(param_manager.arr), READ_OPERATION);
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printf("Sending parameter data:\n");
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#define X(name) \
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if (!exceeded_max) { \
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if (i < 256) { \
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strncpy((char *)paramRequest->bit_data.param_name[i], #name, sizeof(paramRequest->bit_data.param_name[i]) - 1); \
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paramRequest->bit_data.param_name[i][sizeof(paramRequest->bit_data.param_name[i]) - 1] = '\0'; \
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memcpy(allParams[i], ¶m_manager.bit_data.name, sizeof(param_manager.bit_data.name)); \
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memcpy(¶m_value, allParams[i], sizeof(float)); \
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printf("Parameter name: %-20s Value: %f\n", #name, param_value); \
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i++; \
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} else { \
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printf("Warning: Exceeded maximum number of parameters\n"); \
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exceeded_max = 1; \
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} \
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}
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PARAM_LIST
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#undef X
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// Pack all parameter data into paramRequest
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memcpy(paramRequest->bit_data.data, allParams, sizeof(allParams));
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printf("Total parameters sent: %d\n", i);
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// Send response
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sendParamRequestResponse(paramRequest, sender_ip, sender_port, 0);
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}
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void processWriteRequestFrame(UnParamRequest *paramRequest, uint32_t sender_ip, uint16_t sender_port) {
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float value;
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printf("Processing write request.\n");
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// 先发送信号，然后从结构体读数
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for (int i = 0; i < 256; ++i) {
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if (strlen((char *)paramRequest->bit_data.param_name[i]) > 0) {
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writeParameter(paramRequest->bit_data.param_name[i], paramRequest->bit_data.data[i]);
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printf("paramRequest->bit_data.param_name[i]:%s \n",paramRequest->bit_data.param_name[i]);
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memcpy(&value, paramRequest->bit_data.data[i], sizeof(float));
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printf("paramRequest->bit_data.data[i]:%f \n", value);
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}
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}
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// 发送响应，发送所有参数
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processReadAllParams(paramRequest, sender_ip, sender_port);
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}
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void processReadRequestFrame(UnParamRequest *paramRequest, uint32_t sender_ip, uint16_t sender_port) {
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printf("Processing read request.\n");
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// 先备份原始请求数据
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UnParamRequest originalRequest;
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memcpy(&originalRequest, paramRequest, sizeof(UnParamRequest));
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// 清零响应数据
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memset(paramRequest, 0, sizeof(UnParamRequest));
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// 处理客户端请求的参数
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for (int i = 0; i < 256; ++i) {
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if (strlen((char *)originalRequest.bit_data.param_name[i]) > 0) {
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// 复制参数名到响应
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strcpy((char *)paramRequest->bit_data.param_name[i],
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(char *)originalRequest.bit_data.param_name[i]);
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// 读取参数值
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float readData = readParameter(originalRequest.bit_data.param_name[i]);
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memcpy(paramRequest->bit_data.data[i], &readData, sizeof(float));
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printf("Read parameter: %s = %f\n",
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originalRequest.bit_data.param_name[i], readData);
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}
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}
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// 发送响应 - 直接传递 paramRequest
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sendParamRequestResponse(paramRequest, sender_ip, sender_port, 0);
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}
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void OnParamSignal(void *data)
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{
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RequestContext *signal = (RequestContext *)data;
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uint8_t *datagram = (uint8_t *)signal->param_request->arr;
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uint16_t request_id = ((uint16_t)datagram[7] << 8) | (uint16_t)datagram[8];// 大端模式
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// 调试输出
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printf("Received request ID: 0x%04X\n", request_id);
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// 计算CRC
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uint8_t calculatedCrc = calculateCRC(datagram, sizeof(UnParamRequest) - 1);
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uint8_t receivedCrc = datagram[sizeof(UnParamRequest) - 1];
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// 比较CRC
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if (calculatedCrc != receivedCrc)
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{
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printf("CRC check failed, discarding data\n");
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printf("Calculated CRC: 0x%02X, Received CRC: 0x%02X\n", calculatedCrc, receivedCrc);
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return;
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}
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printf("CRC check passed\n");
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if (request_id == 100)
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{ // 读请求
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processReadRequestFrame(signal->param_request, signal->sender_ip, signal->sender_port);
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}
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else if (request_id == 101)
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{ // 写请求
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processWriteRequestFrame(signal->param_request, signal->sender_ip, signal->sender_port);
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}
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else if (request_id == 102)
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{ // 读取所有参数
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processReadAllParams(signal->param_request, signal->sender_ip, signal->sender_port);
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}
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else
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{
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printf("Unknown request ID.\n");
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return;
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}
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}
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float getParam(const char *param_name)
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{
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// 检查是否已初始化
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if (!is_param_initialized)
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{
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printf("Parameters not initialized, reinitializing\n");
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accessEeprom(0, param_manager.arr, sizeof(param_manager.arr), READ_OPERATION);//Read all parameters from E2
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is_param_initialized = 1; // Mark as initialized
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printParams();
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return 0.0f;
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}
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// 检查参数名是否为空
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if (param_name == NULL)
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{
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printf("Error: Parameter name is empty\n");
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return 0.0f;
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}
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// 遍历所有参数
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#define X(name) \
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if (strcmp(param_name, #name) == 0) \
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{ \
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return param_manager.bit_data.name; \
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}
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PARAM_LIST
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#undef X
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// 如果没有找到匹配的参数名
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printf("Error: Parameter %s not found\n", param_name);
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return 0.0f;
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}
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// setParam 函数
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uint8_t setParam(const char *param_name, float value)
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{
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// 检查参数名是否为空
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if (param_name == NULL)
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{
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printf("Error: Parameter name is empty\n");
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return 2; // 返回错误码
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}
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// 参数名和值写入EEPROM，先转成字节数组
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uint8_t data[sizeof(float)];
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memcpy(data, &value, sizeof(float));
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writeParameter(param_name, data);
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// 更新参数
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#define X(name) \
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if (strcmp(param_name, #name) == 0) \
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{ \
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memcpy(¶m_manager.bit_data.name, data, sizeof(param_manager.bit_data.name)); \
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}
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PARAM_LIST
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#undef X
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return 0;
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}
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void paramAppInit(void)
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{
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// 初始化全局变量
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memset(&un_param_request1, 0, sizeof(UnParamRequest));
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memset(&un_param_request2, 0, sizeof(UnParamRequest));
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// 正确初始化 RequestContext 结构体
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request_send.param_request = &un_param_request1;
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request_send.sender_ip = 0;
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request_send.sender_port = 0;
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request_context.param_request = &un_param_request2;
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request_context.sender_ip = 0;
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request_context.sender_port = 0;
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// 上电读取所有参数
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memset(param_manager.arr, 0, sizeof(param_manager.arr));
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accessEeprom(0, param_manager.arr, sizeof(param_manager.arr), READ_OPERATION);
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// whl_bas 轮胎直径<单位：m>
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// max_rpm 最大转速<单位：rpm/min>
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// whl_dia 轴距<单位：m>
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// max_acc 最大加速度
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// spd_kp 遥控速度P
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// spd_ki 遥控速度I
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// spd_kd 遥控速度D
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// spd_il 遥控速度积分限制
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// spd_ol 遥控速度PID输出限制
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// crv_kp 遥控转弯P
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// crv_ki 遥控转弯I
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// crv_kd 遥控转弯D
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// crv_il 遥控转弯积分限制
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// crv_ol 遥控转弯PID输出限制
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// brk_on 刹车刹紧时间 单位：ms
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// brk_off 刹车释放时间 单位：ms
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// maxTorq 最大扭矩 单位：n*m
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// feedPwr 最大馈电功率 单位：w
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// dispPwr 最大放电功率 单位：w
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// VehMass 车重 单位：kg
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// gRatio 减速比
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// prCTime 预充电时间 单位：s
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// brk_pos 刹车位置
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// pwr_sta 电源状态
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||||
// high_sw 高压开关状态
|
||||
// stop_sw 急停开关状态
|
||||
// lightSt 灯光状态
|
||||
// pwr_btn 电源开关状态
|
||||
// sleepTm 休眠时间 单位：min
|
||||
// wakeTm 唤醒时间 单位：min
|
||||
// Ospd_kp 自主速度P
|
||||
// Ospd_ki 自主速度I
|
||||
// Ospd_kd 自主速度D
|
||||
// Ospd_il 自主速度积分限制
|
||||
// Ospd_ol 自主速度PID输出限制
|
||||
// Ocrv_kp 自主转弯P
|
||||
// Ocrv_ki 自主转弯I
|
||||
// Ocrv_kd 自主转弯D
|
||||
// Ocrv_il 自主转弯积分限制
|
||||
// Ocrv_ol 自主转弯PID输出限制
|
||||
// minTorq 输出扭矩死区 单位：n*m
|
||||
// brk_rev 刹车方向
|
||||
// mot_kp 同侧扭矩P参数
|
||||
// mot_ki 同侧扭矩I参数
|
||||
// mot_kd 同侧扭矩d参数
|
||||
// mot_il 同侧扭矩积分限制
|
||||
// mot_ol 同侧扭矩输出限制
|
||||
// diff_sp 同侧扭矩速度差阈值
|
||||
// test 初始化测试参数
|
||||
// 订阅信号
|
||||
subscribe(¶m_signal, handleParamOp);
|
||||
subscribe(&request_context, OnParamSignal);// 接收到上位机读写参数信号
|
||||
|
||||
printParams();//打印所有参数
|
||||
|
||||
is_param_initialized = 1; // 标记初始化完成
|
||||
|
||||
printf("paramAPP init OK! %d\n",getCurrentTime());
|
||||
}
|
||||
Reference in New Issue
Block a user