472 lines
12 KiB
C
472 lines
12 KiB
C
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#include "interface_uart.h"
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#define BUFFER_SIZE 256
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#define SBUS_UART UART3
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UartFaultInfo uart_fault_info = {
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.remote_count = 0,
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.remote_state = 0,
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};
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// 定义并初始化 SBus 解析结构体
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typedef struct {
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uint16_t channels[16]; // 存储16个通道的解析结果
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uint8_t flags; // 标志字节
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} SBusData;
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SBusData sbus_data = {
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.channels = {0},
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.flags = 0
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};
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///* Buffer used to receive data from the console */
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typedef struct user_data {
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uint8_t user_buffer[BUFFER_SIZE];
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uint8_t *buff_ptr;
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uint32_t buff_remain;
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} user_data_t;
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static user_data_t user_data;
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///* Buffer used to transmit welcome message */
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sdrv_uart_t uart_ctrl_ptr;
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/* uart config structures */
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//sbus 默认为100k
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static sdrv_uart_config_t g_uart_config = {
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.base = DEVICE_BASE(SBUS_UART),
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.irq = DEVICE_INTR(SBUS_UART),
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.baud = 100000,
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.data_bits = SDRV_UART_CHAR_8_BITS,
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.stop_bits = SDRV_UART_STOP_2_BIT,
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.parity = SDRV_UART_EVEN_PARITY,
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};
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// SBus 数据解析函数
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SBusData* parseSBusData(const uint8_t *input_data)
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{
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for(uint8_t i = 0; i < 25; i++)
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{
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test_app[i] = input_data[i];
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}
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test_app[25] = 0x44;
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float sbus_temp = 0.0;
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// 解析16个通道的数据，每个通道为11位 0xF为帧头，不参与解析
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sbus_data.channels[0] = (input_data[1] | input_data[2] << 8) & 0x07FF;
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sbus_data.channels[1] = (input_data[2] >> 3 | input_data[3] << 5) & 0x07FF;
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sbus_data.channels[2] = (input_data[3] >> 6 | input_data[4] << 2 | input_data[5] << 10) & 0x07FF;
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sbus_data.channels[3] = (input_data[5] >> 1 | input_data[6] << 7) & 0x07FF;
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sbus_data.channels[4] = (input_data[6] >> 4 | input_data[7] << 4) & 0x07FF;
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sbus_data.channels[5] = (input_data[7] >> 7 | input_data[8] << 1 | input_data[9] << 9) & 0x07FF;
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sbus_data.channels[6] = (input_data[9] >> 2 | input_data[10] << 6) & 0x07FF;
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sbus_data.channels[7] = (input_data[10] >> 5 | input_data[11] << 3) & 0x07FF;
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sbus_data.channels[8] = (input_data[12] | input_data[13] << 8) & 0x07FF;
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sbus_data.channels[9] = (input_data[13] >> 3 | input_data[14] << 5) & 0x07FF;
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sbus_data.channels[10] = (input_data[14] >> 6 | input_data[15] << 2 | input_data[16] << 10) & 0x07FF;
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sbus_data.channels[11] = (input_data[16] >> 1 | input_data[17] << 7) & 0x07FF;
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sbus_data.channels[12] = (input_data[17] >> 4 | input_data[18] << 4) & 0x07FF;
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sbus_data.channels[13] = (input_data[18] >> 7 | input_data[19] << 1 | input_data[20] << 9) & 0x07FF;
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sbus_data.channels[14] = (input_data[20] >> 2 | input_data[21] << 6) & 0x07FF;
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sbus_data.channels[15] = (input_data[21] >> 5 | input_data[22] << 3) & 0x07FF;
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// 解析标志字节
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sbus_data.flags = input_data[23];
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//转弯
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sbus_temp = (float)(sbus_data.channels[0]);
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sbus_temp = (ZERO_VALUE - sbus_temp)*23;//需要变换一下符号，因为加油是正
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remote_curvature = (uint16_t)((int16_t)sbus_temp);//曲率
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//转速
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sbus_temp = (float)(sbus_data.channels[1]);
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sbus_temp = (ZERO_VALUE - sbus_temp)*2.3;//需要变换一下符号，因为加油是正
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remote_speed = (uint16_t)((int16_t)sbus_temp);//转速
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remote_Reserve = sbus_data.channels[7];
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//SwA
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if(sbus_data.channels[3] >= 1700)//按下
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{
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emergency_stop = 1;
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}
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else
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{
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emergency_stop = 0;
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}
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//SwB
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if(sbus_data.channels[4] >= 1700)//第三档
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{
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remote_switch_b = 2;
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}
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else if(sbus_data.channels[6] <= 250)//第二档
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{
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remote_switch_b = 0;
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}
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else//第一档
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{
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remote_switch_b = 1;
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}
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//SwC
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if(sbus_data.channels[5] >= 1700)//第三档
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{
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remote_switch_c = 2;
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}
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else if(sbus_data.channels[4] <= 250)//第二档
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{
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remote_switch_c = 0;
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}
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else//第一档
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{
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remote_switch_c = 1;
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}
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//SwD
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if(sbus_data.channels[6] >= 1700)//按下
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{
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remote_switch_d = 1;
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}
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else
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{
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remote_switch_d = 0;
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}
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if(0 == sbus_data.flags)//手柄离线故障判断 //通过标志来判断， 为0表示手柄正常连接，否则断线
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{
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remote_enable = 1;//手柄离线
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}
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else
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{
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remote_enable = 0;//手柄在线
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}
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ssdk_printf(SSDK_NOTICE, "sta\r\n");
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for(int i=0;i<16;i++)
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{
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ssdk_printf(SSDK_EMERG, "%04x\r\n",sbus_data.channels[i]);
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}
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ssdk_printf(SSDK_NOTICE, "end\r\n");
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return &sbus_data;
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}
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void callback(sdrv_uart_t *ctrl, sdrv_uart_callback_status_e status,
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void *userData)
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{
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uint8_t char_data[25] = {0};//接收一个字节缓存
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static uint8_t cnt_sbus = 0;
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static uint8_t state = 0;
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static uint8_t receive = 0;
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static uint8_t sbus_buff[25];
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SBusData *tmp_sbus_data;
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// user_data_t *user_data = (user_data_t *)userData;
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// ssdk_printf(SSDK_NOTICE, "123456789\r\n");
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/* Uart receive data. */
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if (SDRV_UART_RxFWF == status)
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{
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uart_fault_info.remote_count ++;
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size_t size = sdrv_uart_get_rxfifodata(ctrl, char_data,1);
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// for(uint8_t i = 0; i < 25; i++)
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// {
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// test_app[i] = char_data[i];
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//
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// }
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// sdrv_uart_sync_transmit(&g_console_uart, char_data,
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// 25, NULL,
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// 0Xffff);
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// for(uint8_t i=0;i<25;i++)
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// {
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// ssdk_printf(SSDK_INFO,"char_data: %x \r\n", char_data[i]);
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// }
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//
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// for(int i=0;i<size;i++)
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// {
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switch(state)
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{
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case 0:
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if(0x0f == char_data[0])
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{
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receive = 0;
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cnt_sbus = 0;
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sbus_buff[cnt_sbus] = char_data[0];
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cnt_sbus++;
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state = 1;
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}
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else
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{
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state = 0;
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}
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break;
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case 1:
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if(cnt_sbus >= 24)
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{
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for(uint8_t i = 0; i < 25; i++)
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{
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test_app[i] = sbus_buff[i];
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}
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test_app[25] = 0x55;
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// ssdk_printf(SSDK_INFO,"char_data24: %x \r\n", char_data[0]);
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if(0x0 == char_data[0])
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{
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cnt_sbus = 0;
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receive = 0;
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sbus_buff[cnt_sbus] = char_data[0];
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state = 0;
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tmp_sbus_data = parseSBusData(sbus_buff);
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// sdrv_uart_sync_transmit(ctrl, "AA\r\n", strlen("AA\r\n"), NULL, 0xFFFF);
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// sdrv_uart_sync_transmit(ctrl, ( const uint8_t *)&tmp_sbus_data->channels[0],
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// 32, NULL,
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// 0Xffff);
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// ssdk_printf(SSDK_EMERG, "AAAr\n");
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}
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}
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else if(0x0f == char_data[0])
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{
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receive = 0;
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cnt_sbus = 0;
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sbus_buff[cnt_sbus] = char_data[0];
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cnt_sbus++;
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state = 1;
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}
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else
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{
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sbus_buff[cnt_sbus] = char_data[0];
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cnt_sbus ++;
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state = 1;
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}
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break;
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default:
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break;
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}
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// }
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}
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else if (SDRV_UART_RxFifoOverFlow == status)
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{
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// if (0 != user_data->buff_remain) {
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// size_t size = sdrv_uart_get_rxfifodata(ctrl, user_data->user_buffer,
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// user_data->buff_remain);
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// }
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// sdrv_uart_sync_transmit(ctrl, "\r\n", strlen("\r\n"), NULL, TIMES_OUT);
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// sdrv_uart_sync_transmit(ctrl, user_data->user_buffer,
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// BUFFER_SIZE - user_data->buff_remain, NULL,
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// TIMES_OUT);
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// sdrv_uart_sync_transmit(ctrl, "\r\n", strlen("\r\n"), NULL, TIMES_OUT);
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//
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// memset(user_data->user_buffer, '\0', BUFFER_SIZE);
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// user_data->buff_ptr = user_data->user_buffer;
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// user_data->buff_remain = BUFFER_SIZE;
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//
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// sdrv_uart_sync_transmit(
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// ctrl, "\r\ncallback: SDRV_UART_RxFifoOverFlow!\r\n",
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// strlen("\r\ncallback: SDRV_UART_RxFifoOverFlow!\r\n"), NULL,
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// TIMES_OUT);
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//
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// /* User can stop or reset realtime receive if you want, when transfer
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// * occur errors */
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// sdrv_uart_stop_realtime_receive(ctrl);
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// sdrv_uart_start_realtime_receive(ctrl);
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}
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else if (SDRV_UART_ParityError == status)
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{
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// sdrv_uart_sync_transmit(
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// ctrl, "\r\ncallback: SDRV_UART_ParityError!\r\n",
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// strlen("\r\ncallback: SDRV_UART_ParityError!\r\n"), NULL,
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// TIMES_OUT);
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}
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else if (SDRV_UART_BaudrateError == status)
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{
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// sdrv_uart_sync_transmit(
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// ctrl, "\r\ncallback: SDRV_UART_BaudrateError!\r\n",
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// strlen("\r\ncallback: SDRV_UART_BaudrateError!\r\n"), NULL,
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// TIMES_OUT);
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}
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else if (SDRV_UART_NoiseError == status)
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{
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// sdrv_uart_sync_transmit(
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// ctrl, "\r\ncallback: SDRV_UART_NoiseError!\r\n",
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// strlen("\r\ncallback: SDRV_UART_NoiseError!\r\n"), NULL, TIMES_OUT);
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}
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else if (SDRV_UART_FramingError == status)
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{
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// sdrv_uart_sync_transmit(
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// ctrl, "\r\ncallback: SDRV_UART_FramingError!\r\n",
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// strlen("\r\ncallback: SDRV_UART_FramingError!\r\n"), NULL,
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// TIMES_OUT);
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}
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else
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{
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// ssdk_printf(SSDK_NOTICE, "234567891\r\n");
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}
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}
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//初始化串口
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void uart_Initialize(void)
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{
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/* Get uart clk Config. */
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#if ((CONFIG_E3210) || (CONFIG_E3110))
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if (g_uart_config.irq <= UART8_INTR_NUM) {
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g_uart_config.clk_freq =
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sdrv_ckgen_get_rate(CLK_NODE(g_ckgen_ip_uart_sf_1_to_8));
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} else {
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g_uart_config.clk_freq =
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sdrv_ckgen_get_rate(CLK_NODE(g_ckgen_ip_uart_sf_9_to_16));
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}
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#else
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if (g_uart_config.irq <= UART6_INTR_NUM) {
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g_uart_config.clk_freq =
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sdrv_ckgen_get_rate(CLK_NODE(g_ckgen_ip_uart_sf_1_to_6));
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} else {
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g_uart_config.clk_freq =
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sdrv_ckgen_get_rate(CLK_NODE(g_ckgen_ip_uart_sf_7_to_12));
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}
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#endif
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/* Initializes sdrv uart controller. */
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user_data.buff_ptr = user_data.user_buffer;
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user_data.buff_remain = BUFFER_SIZE;
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ssdk_printf(SSDK_NOTICE, "uart3 init\r\n");
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sdrv_uart_controller_init(&uart_ctrl_ptr, &g_uart_config, callback,
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&user_data);
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sdrv_uart_start_realtime_receive(&uart_ctrl_ptr);
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}
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void uartTimerProcess(void)
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{
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static uint8_t uart_timer = 0;
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static uint8_t uart_temp[1] = {2};//中间判断值
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//----------------------------------------------------------------------------
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uart_timer ++;
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if(uart_timer >= 1)//500ms判断一次
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{
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uart_timer = 0;
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if(uart_fault_info.remote_count == uart_temp[0])//数据一样表示故障
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{
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uart_fault_info.remote_state = FAULT;
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}
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else
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{
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uart_fault_info.remote_state = NORMAL;
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uart_temp[0] = uart_fault_info.remote_count;//数据更新
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}
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if(uart_fault_info.remote_state != uart_temp[1])
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{
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// publishMessage(&uart_fault_info.remote_state, 1);// 状态变化 发送信号
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uart_temp[1] = uart_fault_info.remote_state;
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}
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}
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}
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//Timer uart_timer_interface;
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// APP模块的初始化
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void uartAppInit(void)
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{
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// 初始化定时器，使用 brake_timer 的地址作为信号ID
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// timerInit(&uart_timer_interface, 100);
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// subscribe(&uart_timer_interface, uartTimerProcess);
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// timerStart(&uart_timer_interface);
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}
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