liumin/GPS-Navigator-
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

Compare commits

base: liumin:20251024-IMU
Branches Tags
liumin:main
liumin:20251024-IMU
..
compare: liumin:main
Branches Tags
liumin:main
liumin:20251024-IMU

3 Commits
20251024-I ... main

Author SHA1 Message Date
liumin
8cbe6f7005 取消打印数据 2025-12-29 14:25:02 +08:00
liumin
ef5126e4f4 增加以太网传入RTCM数据 2025-11-22 21:45:02 +08:00
liumin
2f580d0d3a 增加轮速输出 2025-11-07 10:31:57 +08:00
15 changed files with 296 additions and 149 deletions
Expand all files Collapse all files

2
ETH/UdpServer/Ld/Link.ld
View File

@@ -7,7 +7,7 @@ PROVIDE( _stack_size = __stack_size );
MEMORY MEMORY
{ {
FLASH (rx) : ORIGIN = 0x0000000, LENGTH = 214K FLASH (rx) : ORIGIN = 0x000A000, LENGTH = 214K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
} }

14
ETH/UdpServer/User/ch32v30x_it.c
View File

@@ -185,6 +185,20 @@ void CAN2_RX1_IRQHandler(void)
if(CanRxStructure.DLC > 0)//<2F><><EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD>0 if(CanRxStructure.DLC > 0)//<2F><><EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD>0
{ {
// if (CanRxStructure.ExtId == DF_CanIDbattery)
// {
// memcpy((uint8_t *)&un_wheel_speed_input.,(uint8_t *)&(CanRxStructure.Data[0]),8);//<2F><><EFBFBD>ܵ<EFBFBD><DCB5><EFBFBD>
// RgCanToBatteryCnt ++;
// }
// else if (CanRxStructure.ExtId == DF_CanIDRCH_3)
// {
// memcpy((uint8_t *)&UnRCH_3Signal_1.ArrData.ArrRx[0][0],(uint8_t *)&(CanRxStructure.Data[0]),8);//<2F><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// RgCanRC6GSCnt ++;
// }
CAN_Send_Msg(CAN2, 0x7F2, CAN_Id_Standard, CAN_RTR_Data, &CanRxStructure.Data[0], 8);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD> CAN_Send_Msg(CAN2, 0x7F2, CAN_Id_Standard, CAN_RTR_Data, &CanRxStructure.Data[0], 8);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
} }
} }

2
ETH/UdpServer/User/interface.c
View File

@@ -23,6 +23,8 @@ StrRequestMessage str_RequestMessage = {0};//请求信息
UnInfNavigationRS232Output navigation_rs232_output = {0};//串口输出数据 UnInfNavigationRS232Output navigation_rs232_output = {0};//串口输出数据
UnWheelSpeedInput un_wheel_speed_input = {0};//轮速输入
rtcmBuffer RTCM_Buffer1 = {0,0,0}; rtcmBuffer RTCM_Buffer1 = {0,0,0};
imuBuffer imu_buffer1 = {0,0,0}; imuBuffer imu_buffer1 = {0,0,0};

21
ETH/UdpServer/User/interface.h
View File

@@ -185,8 +185,20 @@ typedef union _UnInfNavigationOutputC
} UnInfNavigationOutputC; } UnInfNavigationOutputC;
/* 车辆轮速输入数据结构体 */
typedef struct {
/* 四轮速度数据 (8字节) */
int16_t front_left_speed; // 左前轮速 单位：km/h
int16_t front_right_speed; // 右前轮速 单位：km/h
int16_t rear_left_speed; // 左后轮速 单位：km/h
int16_t rear_right_speed; // 右后轮速 单位：km/h
} StrVehicleWheelSpeedInput;
/* 轮速数据联合体（用于原始字节访问） */
typedef union {
StrVehicleWheelSpeedInput speed_data; // 结构化轮速数据
uint8_t arr[sizeof(StrVehicleWheelSpeedInput)]; // 原始字节数组
} UnWheelSpeedInput;
@@ -244,6 +256,11 @@ typedef struct _StrRequestMessage
// uint8_t data[4]; // uint8_t data[4];
// }YisDateFrame; // }YisDateFrame;
typedef enum{
init = 0,
uart,
ethernet,
}rtcm_type;
typedef struct typedef struct
@@ -251,6 +268,8 @@ typedef struct
uint8_t dma_buffer[2][RX_BUFFER_LEN]; // 双缓冲 uint8_t dma_buffer[2][RX_BUFFER_LEN]; // 双缓冲
volatile uint8_t active_buf; // 当前活跃缓冲区索引 volatile uint8_t active_buf; // 当前活跃缓冲区索引
volatile uint16_t buf_len; // 当前活跃缓冲区索引 volatile uint16_t buf_len; // 当前活跃缓冲区索引
volatile rtcm_type type; // 串口或者以太网
volatile uint8_t eth_cnt; // 当前活跃缓冲区索引
} rtcmBuffer; } rtcmBuffer;

16
ETH/UdpServer/User/interface_can.c
View File

@@ -63,10 +63,10 @@ void CAN1_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
CAN_FilterInitSturcture.CAN_FilterNumber = 0; CAN_FilterInitSturcture.CAN_FilterNumber = 0;
CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDbattery|DF_CanIDRCH_3)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD> CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD>
CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDbattery|DF_CanIDRCH_3)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));// CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDbattery^DF_CanIDRCH_3))<<DF_ExtIDShift)|0x0E) >> 16); CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDbattery^DF_CanIDRCH_3))<<DF_ExtIDShift)|0x0E); CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE; CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
CAN_FilterInit( &CAN_FilterInitSturcture ); CAN_FilterInit( &CAN_FilterInitSturcture );
@@ -151,10 +151,10 @@ void CAN2_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_StaIDShift))>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD> CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//Ӧ<><D3A6><EFBFBD><EFBFBD>
CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_StaIDShift));//(uint16_t)(((0x10000001<<3)|0x04));// CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_StaIDShift)|0x0E) >> 16); CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_StaIDShift)|0x0E); CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1; CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE; CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;

4
ETH/UdpServer/User/interface_can.h
View File

@@ -36,8 +36,8 @@
#define DF_CanIDbattery2 0x101//<2F><><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD> #define DF_CanIDbattery2 0x101//<2F><><EFBFBD>ؽ<EFBFBD><D8BD><EFBFBD>
#define DF_CanIDRCH_3 0x12000023//<2F><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD> #define DF_CanIDRCH_3 0x12000023//<2F><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD>
#define DF_CanIDMotor1 0x101//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> #define DF_CanIDMotor1 0x98//20251025 <20>޸Ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define DF_CanIDMotor2 0x102//<EFBFBD>ҵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> #define DF_CanIDMotor2 0x99//20251025 <20>޸Ľ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define DF_ExtIDShift 3//<2F><>չ֡<D5B9><D6A1>λ 32-29 #define DF_ExtIDShift 3//<2F><>չ֡<D5B9><D6A1>λ 32-29
#define DF_StaIDShift 21//<2F><>׼֡<D7BC><D6A1>λ 32-11 #define DF_StaIDShift 21//<2F><>׼֡<D7BC><D6A1>λ 32-11

188
ETH/UdpServer/User/interface_etherent.c
View File

@@ -28,6 +28,9 @@ u16 Desport = 7900;
u8 pc_ipAddr[4] = { 192, 168, 17, 2 }; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IP address u8 pc_ipAddr[4] = { 192, 168, 17, 2 }; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IP address
u8 remote_base_ip[4] = { 192, 168, 10, 8 }; //Զ<>̻<EFBFBD>վIP address
u16 remote_port = 1008; //Զ<>̻<EFBFBD>վ<EFBFBD>˿<EFBFBD>
u8 tcp_socket[WCHNET_NUM_TCP]; //Save the currently connected socket u8 tcp_socket[WCHNET_NUM_TCP]; //Save the currently connected socket
@@ -50,6 +53,8 @@ uint8_t portableOcuOnline = 0;
uint8_t remoteOcuOnline = 0; uint8_t remoteOcuOnline = 0;
Timer ethernet_timer_interface; Timer ethernet_timer_interface;
Timer ethernet_timer_interface1;
/********************************************************************* /*********************************************************************
* @fn mStopIfError * @fn mStopIfError
* *
@@ -205,7 +210,7 @@ void WCHNET_UdpServerRecv1(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *b
if( (0x80 == buf[0]) && (0x00 == buf[1]) ) if( (0x80 == buf[0]) && (0x00 == buf[1]) )
{ {
memcpy((uint8_t *)&(un_request_frame.arr[0]),buf, sizeof(UnRequestFrame)); memcpy((uint8_t *)&(un_request_frame.arr[0]),buf, sizeof(UnRequestFrame));
printf("read_id = %d \r\n",request_read_id); // printf("read_id = %d \r\n",request_read_id);
//20250412 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ //20250412 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
for (uint8_t i = 0; i < 4; i++) for (uint8_t i = 0; i < 4; i++)
{ {
@@ -277,6 +282,33 @@ void WCHNET_UdpServerRecv2(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *b
} }
} }
/*********************************************************************
* @fn WCHNET_CreateTcpSocket
*
* @brief Create TCP Socket
*
* @return none
*/
void WCHNET_CreateTcpSocket(void)
{
u8 i;
SOCK_INF TmpSocketInf;
memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
memcpy((void *) TmpSocketInf.IPAddr, remote_base_ip, 4);
TmpSocketInf.DesPort = remote_port;
TmpSocketInf.SourPort = 1008;
TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
i = WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
printf("SocketId %d\r\n", SocketId3);
mStopIfError(i);
i = WCHNET_SocketConnect(SocketId3); //make a TCP connection
mStopIfError(i);
}
/********************************************************************* /*********************************************************************
* @fn WCHNET_CreateUdpSocket * @fn WCHNET_CreateUdpSocket
* *
@@ -286,7 +318,7 @@ void WCHNET_UdpServerRecv2(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *b
*/ */
void WCHNET_CreateUdpSocket(void) void WCHNET_CreateUdpSocket(void)
{ {
u8 i; // u8 i;
SOCK_INF TmpSocketInf; SOCK_INF TmpSocketInf;
// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); // memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
@@ -310,14 +342,15 @@ void WCHNET_CreateUdpSocket(void)
#endif #endif
memset(tcp_socket, 0xff, WCHNET_NUM_TCP); memset(tcp_socket, 0xff, WCHNET_NUM_TCP);
memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); WCHNET_CreateTcpSocket();
TmpSocketInf.SourPort = srcport; // memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
TmpSocketInf.ProtoType = PROTO_TYPE_TCP; // TmpSocketInf.SourPort = srcport;
i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf); // TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
printf("SocketIdForListen %d\r\n", SocketId); // i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf);
mStopIfError(i); // printf("SocketIdForListen %d\r\n", SocketId);
i = WCHNET_SocketListen(SocketId); //listen for connections // mStopIfError(i);
mStopIfError(i); // i = WCHNET_SocketListen(SocketId); //listen for connections
// mStopIfError(i);
// //
memset((void *)&TmpSocketInf, 0, sizeof(SOCK_INF)); memset((void *)&TmpSocketInf, 0, sizeof(SOCK_INF));
@@ -336,21 +369,77 @@ void WCHNET_CreateUdpSocket(void)
TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf2; TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf2;
TmpSocketInf.RecvBufLen = RECE_BUF_LEN; TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv2; TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv2;
i = WCHNET_SocketCreat(&SocketId3, &TmpSocketInf); WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
printf("WCHNET_SocketCreat %d\r\n", SocketId3); printf("WCHNET_SocketCreat %d\r\n", SocketId3);
// mStopIfError(i); // mStopIfError(i);
// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF)); }
// memcpy((void *) TmpSocketInf.IPAddr, DESIP, 4);
// TmpSocketInf.DesPort = desport; /*********************************************************************
// TmpSocketInf.SourPort = srcport++; * @fn WCHNET_DataLoopback
// TmpSocketInf.ProtoType = PROTO_TYPE_TCP; *
// TmpSocketInf.RecvBufLen = RECE_BUF_LEN; * @brief Data loopback function.
// i = WCHNET_SocketCreat(&SocketId4, &TmpSocketInf); *
// printf("SocketId4 %d\r\n", SocketId4); * @param id - socket id.
// mStopIfError(i); *
// i = WCHNET_SocketConnect(SocketId4); //make a TCP connection * @return none
// mStopIfError(i); */
void WCHNET_DataLoopback(u8 id)
{
#if 1
u8 i;
u32 len;
u32 endAddr = SocketInf[id].RecvStartPoint + SocketInf[id].RecvBufLen; //Receive buffer end address
if ((SocketInf[id].RecvReadPoint + SocketInf[id].RecvRemLen) > endAddr)
{ //Calculate the length of the received data
len = endAddr - SocketInf[id].RecvReadPoint;
}
else
{
len = SocketInf[id].RecvRemLen;
}
if(remote_port == SocketInf[id].DesPort)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Դ<EFBFBD>˿<EFBFBD><CBBF><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>̫<EFBFBD><CCAB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>RTCM<43><4D><EFBFBD><EFBFBD>
{
memcpy(&RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf][0],(u8 *) SocketInf[id].RecvReadPoint,len);
RTCM_Buffer1.type = ethernet;
RTCM_Buffer1.buf_len = (uint16_t)len;
RTCM_Buffer1.active_buf ^= 1;
RTCM_Buffer1.eth_cnt ++;//<2F>ۼ<EFBFBD><DBBC>ж<EFBFBD>
publishMessage(&RTCM_Buffer1, 1);
}
// printf("Դ<>˿<EFBFBD>: %u, Ŀ<><C4BF><EFBFBD>˿<EFBFBD>: %u\n",
// SocketInf[id].SourPort, SocketInf[id].DesPort);
// i = WCHNET_SocketSend(id, (u8 *) SocketInf[id].RecvReadPoint, &len); //send data
if (i == WCHNET_ERR_SUCCESS) {
WCHNET_SocketRecv(id, NULL, &len); //Clear sent data
}
#else
u32 len, totallen;
u8 *p = MyBuf, TransCnt = 255;
len = WCHNET_SocketRecvLen(id, NULL); //query length
printf("Receive Len = %d\r\n", len);
totallen = len;
WCHNET_SocketRecv(id, MyBuf, &len); //Read the data of the receive buffer into MyBuf
while(1){
len = totallen;
WCHNET_SocketSend(id, p, &len); //Send the data
totallen -= len; //Subtract the sent length from the total length
p += len; //offset buffer pointer
if( !--TransCnt ) break; //Timeout exit
if(totallen) continue; //If the data is not sent, continue to send
break; //After sending, exit
}
#endif
} }
/********************************************************************* /*********************************************************************
@@ -368,6 +457,7 @@ void WCHNET_HandleSockInt(u8 socketid, u8 intstat)
u8 i; u8 i;
if (intstat & SINT_STAT_RECV) //receive data if (intstat & SINT_STAT_RECV) //receive data
{ {
WCHNET_DataLoopback(socketid);
} }
if (intstat & SINT_STAT_CONNECT) //connect successfully if (intstat & SINT_STAT_CONNECT) //connect successfully
{ {
@@ -403,6 +493,7 @@ void WCHNET_HandleSockInt(u8 socketid, u8 intstat)
} }
} }
printf("TCP Timeout\r\n"); printf("TCP Timeout\r\n");
WCHNET_CreateTcpSocket();
} }
} }
@@ -498,7 +589,7 @@ uint8_t CalculateChecksum(const uint8_t* data, size_t len)
static void ethernetInterfaceTimerProcess(void *signal_id) static void ethernetInterfaceTimerProcess(void *signal_id)
{ {
static u_int32_t navigation_output_len = 0; static u_int32_t navigation_output_len = 0;
static u_int32_t navigation_output_len1 = 0; // static u_int32_t navigation_output_len1 = 0;
//---------------------------------------------------------------------- //----------------------------------------------------------------------
if (signal_id == &navigation_output1) if (signal_id == &navigation_output1)
{ {
@@ -536,21 +627,21 @@ static void ethernetInterfaceTimerProcess(void *signal_id)
navigation_outputC1.bit_data.crc1 = CalculateChecksum(&navigation_outputC1.arr[0],sizeof(UnInfNavigationOutputC)-1); navigation_outputC1.bit_data.crc1 = CalculateChecksum(&navigation_outputC1.arr[0],sizeof(UnInfNavigationOutputC)-1);
for(uint8_t i = 0; i < WCHNET_NUM_TCP; i++) // for(uint8_t i = 0; i < WCHNET_NUM_TCP; i++)
{ // {
if(tcp_socket[i] != 0xFF) // if(tcp_socket[i] != 0xFF)
{ // {
if(0 == navigation_output_len1) // if(0 == navigation_output_len1)
{ // {
navigation_output_len1 = sizeof(navigation_outputC1); // navigation_output_len1 = sizeof(navigation_outputC1);
} // }
i = WCHNET_SocketSend(tcp_socket[i], (uint8_t *)&navigation_outputC1, &navigation_output_len1); //send data // i = WCHNET_SocketSend(tcp_socket[i], (uint8_t *)&navigation_outputC1, &navigation_output_len1); //send data
if (i == WCHNET_ERR_SUCCESS) { // if (i == WCHNET_ERR_SUCCESS) {
WCHNET_SocketRecv(tcp_socket[i], NULL, &navigation_output_len1); //Clear sent data // WCHNET_SocketRecv(tcp_socket[i], NULL, &navigation_output_len1); //Clear sent data
} // }
} // }
} // }
} }
else if (signal_id == &navigation_output2) else if (signal_id == &navigation_output2)
{ {
@@ -614,6 +705,22 @@ void ethInterruptProcess(void *signal_id)
timerStart(&ethernet_timer_interface, 1,1); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB> timerStart(&ethernet_timer_interface, 1,1); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
} }
void ethernetFaultProcess(void *signal_id)//<2F><>̫<EFBFBD><CCAB>RTCM<43><4D><EFBFBD><EFBFBD><EFBFBD>жϡ<D0B6>
{
static uint8_t eth_cnt_last = 0;
if( (RTCM_Buffer1.eth_cnt == eth_cnt_last) && (ethernet == RTCM_Buffer1.type) )//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>5s<35><73><EFBFBD>ǶϿ<C7B6><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˡ<EFBFBD>
{
RTCM_Buffer1.type = init;
}
else
{
eth_cnt_last = RTCM_Buffer1.eth_cnt;
}
timerStart(&ethernet_timer_interface1, 8000,1); //8s<38><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
}
void ethernetInterfaceInit(void) void ethernetInterfaceInit(void)
{ {
@@ -622,8 +729,15 @@ void ethernetInterfaceInit(void)
subscribe(&navigation_output1, ethernetInterfaceTimerProcess); subscribe(&navigation_output1, ethernetInterfaceTimerProcess);
subscribe(&navigation_output2, ethernetInterfaceTimerProcess); subscribe(&navigation_output2, ethernetInterfaceTimerProcess);
subscribe(&ethernet_timer_interface, ethInterruptProcess); subscribe(&ethernet_timer_interface, ethInterruptProcess);
subscribe(&ethernet_timer_interface1, ethernetFaultProcess); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
timerStart(&ethernet_timer_interface, 1,1); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB> timerStart(&ethernet_timer_interface, 1,1); //1ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
timerStart(&ethernet_timer_interface1, 5000,1); //5s<35><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
printf( "ethernetInterface: initial OK %d\n",getCurrentTime()); printf( "ethernetInterface: initial OK %d\n",getCurrentTime());
} }

125
ETH/UdpServer/User/interface_uart.c
View File

@@ -1,7 +1,7 @@
/* /*
* eth_drive.c * eth_drive.c
* *
* Created on: 2023<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>5<EFBFBD><EFBFBD> * Created on: 2023??1??5??
* Author: Administrator * Author: Administrator
*/ */
@@ -18,7 +18,7 @@ static RingBuffer nmea_rx_buf;
#define DMA_BUF_SIZE 1400 #define DMA_BUF_SIZE 1400
uint8_t dma_rx_buffer[DMA_BUF_SIZE] __attribute__((aligned(4))); uint8_t dma_rx_buffer[DMA_BUF_SIZE] __attribute__((aligned(4)));
//__attribute__((aligned(4))) uint8_t dma_buffer[2048]; // GCC<EFBFBD>﷨ //__attribute__((aligned(4))) uint8_t dma_buffer[2048]; // GCC??
//void USART2_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast"))); //void USART2_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
@@ -48,7 +48,7 @@ void USART3_IRQHandler(void)
{ {
imu_buffer1.buf_len = IMU_LEN - DMA_GetCurrDataCounter(IMU_RX_CH); imu_buffer1.buf_len = IMU_LEN - DMA_GetCurrDataCounter(IMU_RX_CH);
if( (imu_buffer1.dma_buffer[imu_buffer1.active_buf][0] == IMU_IIM46234_HEADER1) && //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> if( (imu_buffer1.dma_buffer[imu_buffer1.active_buf][0] == IMU_IIM46234_HEADER1) && //??????????????
(imu_buffer1.dma_buffer[imu_buffer1.active_buf][1] == IMU_IIM46234_HEADER2) ) (imu_buffer1.dma_buffer[imu_buffer1.active_buf][1] == IMU_IIM46234_HEADER2) )
{ {
imu_buffer1.type = IIM46234; imu_buffer1.type = IIM46234;
@@ -80,6 +80,9 @@ void UART4_IRQHandler(void)
enter_critical_section(); enter_critical_section();
if(USART_GetITStatus(UART4, USART_IT_IDLE) != RESET) if(USART_GetITStatus(UART4, USART_IT_IDLE) != RESET)
{ {
if(ethernet != RTCM_Buffer1.type)//ֻҪ<D6BB><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̫<EFBFBD><CCAB>״̬
{
RTCM_Buffer1.type = uart;//<2F><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>ģʽ
RTCM_Buffer1.buf_len = RX_BUFFER_LEN - DMA_GetCurrDataCounter(RTCM_RX_CH); RTCM_Buffer1.buf_len = RX_BUFFER_LEN - DMA_GetCurrDataCounter(RTCM_RX_CH);
RTCM_Buffer1.active_buf ^= 1; RTCM_Buffer1.active_buf ^= 1;
@@ -91,9 +94,11 @@ void UART4_IRQHandler(void)
printf("rtcm receive\n"); printf("rtcm receive\n");
USART_ReceiveData(UART4); // clear IDLE flag USART_ReceiveData(UART4); // clear IDLE flag
publishMessage(&RTCM_Buffer1, 1); publishMessage(&RTCM_Buffer1, 1);
} }
}
exit_critical_section(0); exit_critical_section(0);
} }
@@ -103,9 +108,8 @@ void UART8_IRQHandler(void)
enter_critical_section(); enter_critical_section();
if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET)
{ {
uint8_t UART_temp = 0; USART_ReceiveData(UART8);
UART_temp = USART_ReceiveData(UART8); // printf("USART8:%d\n", UART_temp); // ????
// printf("USART8:%d\n", UART_temp); // <20><><EFBFBD><EFBFBD>
} }
exit_critical_section(0); exit_critical_section(0);
} }
@@ -118,7 +122,7 @@ void UART6_IRQHandler(void)
enter_critical_section(); enter_critical_section();
if(USART_GetITStatus(UART6, USART_IT_RXNE) != RESET) if(USART_GetITStatus(UART6, USART_IT_RXNE) != RESET)
{ {
char ch = USART_ReceiveData(UART6); USART_ReceiveData(UART6);
} }
exit_critical_section(0); exit_critical_section(0);
} }
@@ -131,7 +135,7 @@ void UART7_IRQHandler(void)
DMA_Cmd(UM982_RX_CH, DISABLE); DMA_Cmd(UM982_RX_CH, DISABLE);
uint16_t received_len = DMA_BUF_SIZE - DMA_GetCurrDataCounter(UM982_RX_CH); uint16_t received_len = DMA_BUF_SIZE - DMA_GetCurrDataCounter(UM982_RX_CH);
// 3. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> // 3. ??????????????<3F><>?????
for(uint16_t i = 0; i < received_len; i++) for(uint16_t i = 0; i < received_len; i++)
{ {
uint16_t next_head = (nmea_rx_buf.head + 1) % RING_BUF_SIZE; uint16_t next_head = (nmea_rx_buf.head + 1) % RING_BUF_SIZE;
@@ -166,7 +170,7 @@ void DMA1_Channel3_IRQHandler(void)
enter_critical_section(); enter_critical_section();
imu_buffer1.buf_len = RX_BUFFER_LEN; imu_buffer1.buf_len = RX_BUFFER_LEN;
DMA_ClearITPendingBit(DMA1_IT_TC3);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> DMA_ClearITPendingBit(DMA1_IT_TC3);//?????<3F><>?
exit_critical_section(0); exit_critical_section(0);
} }
@@ -184,7 +188,7 @@ void DMA2_Channel3_IRQHandler(void)
enter_critical_section(); enter_critical_section();
RTCM_Buffer1.buf_len = RX_BUFFER_LEN; RTCM_Buffer1.buf_len = RX_BUFFER_LEN;
DMA_ClearITPendingBit(DMA2_IT_TC3);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> DMA_ClearITPendingBit(DMA2_IT_TC3);//?????<3F><>?
exit_critical_section(0); exit_critical_section(0);
} }
@@ -198,7 +202,7 @@ void DMA2_Channel3_IRQHandler(void)
void DMA2_Channel9_IRQHandler(void) void DMA2_Channel9_IRQHandler(void)
{ {
enter_critical_section(); enter_critical_section();
DMA_ClearITPendingBit(DMA2_IT_TC9);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> DMA_ClearITPendingBit(DMA2_IT_TC9);//?????<3F><>?
exit_critical_section(0); exit_critical_section(0);
} }
@@ -242,7 +246,7 @@ void dmaInit(void)
DMA_Cmd(RTCM_RX_CH, ENABLE); DMA_Cmd(RTCM_RX_CH, ENABLE);
USART_DMACmd(RTCM_UART, USART_DMAReq_Rx, ENABLE); USART_DMACmd(RTCM_UART, USART_DMAReq_Rx, ENABLE);
//IMU DMA<EFBFBD><EFBFBD><EFBFBD><EFBFBD> //IMU DMA????
DMA_DeInit(IMU_RX_CH); DMA_DeInit(IMU_RX_CH);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
@@ -270,7 +274,7 @@ void dmaInit(void)
USART_DMACmd(IMU_UART, USART_DMAReq_Rx, ENABLE); USART_DMACmd(IMU_UART, USART_DMAReq_Rx, ENABLE);
//982 DMA<EFBFBD><EFBFBD><EFBFBD><EFBFBD> //982 DMA????
DMA_DeInit(UM982_RX_CH); DMA_DeInit(UM982_RX_CH);
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
@@ -363,7 +367,7 @@ void initUart(void)
NVIC_Init(&NVIC_InitStructure); NVIC_Init(&NVIC_InitStructure);
USART_Cmd(UART4, ENABLE); USART_Cmd(UART4, ENABLE);
/* UART6 TX-->C.0 RX-->C.1 */ //<EFBFBD>ӵ<EFBFBD>982<EFBFBD><EFBFBD>com1 /* UART6 TX-->C.0 RX-->C.1 */ //???982??com1
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -389,7 +393,7 @@ void initUart(void)
NVIC_Init(&NVIC_InitStructure); NVIC_Init(&NVIC_InitStructure);
USART_Cmd(UART6, ENABLE); USART_Cmd(UART6, ENABLE);
/* UART7 TX-->C.2 RX-->C.3 *///<EFBFBD>ӵ<EFBFBD>982<EFBFBD><EFBFBD>com2 /* UART7 TX-->C.2 RX-->C.3 *///???982??com2 <20><>ȡGGA<47><41><EFBFBD><EFBFBD>
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -443,7 +447,7 @@ void initUart(void)
void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><EFBFBD><EFBFBD> void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//????2???????
{ {
for(uint16_t i = 0; i<len; i++) for(uint16_t i = 0; i<len; i++)
{ {
@@ -457,9 +461,9 @@ void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//
void rtcmProcess(void *signal_id) void rtcmProcess(void *signal_id)
{ {
(void)signal_id; // <EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // ??????????????????????????
uartSendto(UART6, (uint8_t *)&(RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf^1][0]), RTCM_Buffer1.buf_len);//ֱ<EFBFBD>ӷ<EFBFBD><EFBFBD>ͷǼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD> uartSendto(UART6, (uint8_t *)&(RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf^1][0]), RTCM_Buffer1.buf_len);//?????????????
printf("rtcm forwarding\n"); printf("rtcm forwarding\n");
} }
@@ -468,25 +472,25 @@ void rtcmProcess(void *signal_id)
void setDataProcess(void *signal_id) void setDataProcess(void *signal_id)
{ {
(void)signal_id; // <EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // ??????????????????????????
uartSendto(USART3, set_output_data, 20); uartSendto(USART3, set_output_data, 20);
} }
void setRateProcess(void *signal_id) void setRateProcess(void *signal_id)
{ {
(void)signal_id; // <EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // ??????????????????????????
uartSendto(USART3, set_rate, 20); uartSendto(USART3, set_rate, 20);
} }
void setSaveProcess(void *signal_id) void setSaveProcess(void *signal_id)
{ {
(void)signal_id; // <EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // ??????????????????????????
uartSendto(USART3, save_cmd, 20); uartSendto(USART3, save_cmd, 20);
} }
void setSteamProcess(void *signal_id) void setSteamProcess(void *signal_id)
{ {
(void)signal_id; // <EFBFBD><EFBFBD><EFBFBD>DZ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (void)signal_id; // ??????????????????????????
uartSendto(USART3, stream_cmd, 20); uartSendto(USART3, stream_cmd, 20);
} }
@@ -494,18 +498,18 @@ void setSteamProcess(void *signal_id)
/* /?**? /* /?**?
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>XOR<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>飩 * @brief ????NMEA????<3F><>????XOR???<3F><>?<3F><>
* @param nmea_str <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD><EFBFBD>䣨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>$<24><>*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>β<EFBFBD><CEB2>CRLF<EFBFBD><EFBFBD> * @param nmea_str ??????NMEA???????$??*??????????<3F><>??CRLF??
* @return <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8λУ<EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>0x00~0xFF<EFBFBD><EFBFBD> * @return ???????8<>˧<EFBFBD>????0x00~0xFF??
*/ */
uint8_t nmea_checksum(const char *nmea_str) uint8_t nmea_checksum(const char *nmea_str)
{ {
uint8_t checksum = 0; uint8_t checksum = 0;
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>'$'<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD> // ?????????'$'??????????
if (*nmea_str == '$') nmea_str++; if (*nmea_str == '$') nmea_str++;
// <EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>'*'<27><><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> // ???????????????'*'???????????
while (*nmea_str && *nmea_str != '*') { while (*nmea_str && *nmea_str != '*') {
checksum ^= (uint8_t)*nmea_str++; checksum ^= (uint8_t)*nmea_str++;
} }
@@ -514,24 +518,24 @@ uint8_t nmea_checksum(const char *nmea_str)
/* /*
* @brief <EFBFBD><EFBFBD>֤NMEA<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD> * @brief ???NMEA????<3F><>???
* @param nmea_str <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>NMEA<EFBFBD><EFBFBD><EFBFBD>䣨<EFBFBD><EFBFBD>"$GPGGA,...*2A\r\n"<EFBFBD><EFBFBD> * @param nmea_str ??????NMEA?????"$GPGGA,...*2A\r\n"??
* @return У<EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD>0 * @return <EFBFBD><EFBFBD>????????1????????0
*/ */
bool nmea_validate_checksum(const char *nmea_str) bool nmea_validate_checksum(const char *nmea_str)
{ {
const char *p = nmea_str; const char *p = nmea_str;
uint8_t computed_cs, received_cs; uint8_t computed_cs, received_cs;
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼλ<EFBFBD><EFBFBD>'*' // ????<3F><>??????<3F><>??'*'
while (*p && *p != '*') p++; while (*p && *p != '*') p++;
if (*p != '*') return 0; // <EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD> if (*p != '*') return 0; // ??<3F><>??????
// <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD>2λʮ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD> // ??????????<3F><>????2<><32>????????
if (!isxdigit(p[1]) || !isxdigit(p[2])) return 0; if (!isxdigit(p[1]) || !isxdigit(p[2])) return 0;
received_cs = (uint8_t)strtol(p+1, NULL, 16); received_cs = (uint8_t)strtol(p+1, NULL, 16);
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD> // ???????<3F><>???
computed_cs = nmea_checksum(nmea_str); computed_cs = nmea_checksum(nmea_str);
return (computed_cs == received_cs); return (computed_cs == received_cs);
@@ -542,95 +546,98 @@ void ProcessNMEAFrames(void *signal_id)
static uint8_t parsing_buf[1024]; static uint8_t parsing_buf[1024];
static uint16_t parse_idx = 0; static uint16_t parse_idx = 0;
bool frame_complete = false; bool frame_complete = false;
static uint8_t debug1s_cnt = 0;
debug1s_cnt ++; // debug1s_cnt ++;
if(debug1s_cnt >= 20) // if(debug1s_cnt >= 20)
{ // {
debug1s_cnt = 0; // debug1s_cnt = 0;
printf("nmea_buf tail:%d head:%d\n", // printf("nmea_buf tail:%d head:%d\n",
nmea_rx_buf.tail, nmea_rx_buf.head); // nmea_rx_buf.tail, nmea_rx_buf.head);
} // }
while(nmea_rx_buf.tail != nmea_rx_buf.head && !frame_complete) while(nmea_rx_buf.tail != nmea_rx_buf.head && !frame_complete)
{ // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǿ<EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD> { // ???????????<3F><>?????????
uint8_t ch = nmea_rx_buf.buffer[nmea_rx_buf.tail]; uint8_t ch = nmea_rx_buf.buffer[nmea_rx_buf.tail];
nmea_rx_buf.tail = (nmea_rx_buf.tail + 1) % RING_BUF_SIZE; nmea_rx_buf.tail = (nmea_rx_buf.tail + 1) % RING_BUF_SIZE;
if(nmea_rx_buf.overflow) { if(nmea_rx_buf.overflow) {
nmea_rx_buf.tail = nmea_rx_buf.head; nmea_rx_buf.tail = nmea_rx_buf.head;
// 3. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־ // 3. ??????????
nmea_rx_buf.overflow = 0; nmea_rx_buf.overflow = 0;
// 4. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ط<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> // 4. ????????????????????????
printf("Overflow recovery\n"); printf("Overflow recovery\n");
} }
// ֡ͷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> // ?????
if(ch == '$') { if(ch == '$') {
if(parse_idx > 0 && parsing_buf[parse_idx-1] == '\n') if(parse_idx > 0 && parsing_buf[parse_idx-1] == '\n')
{ {
if (nmea_validate_checksum((char *)parsing_buf)) //У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> if (nmea_validate_checksum((char *)parsing_buf)) //<2F><>?????
{ {
memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx); memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx);
publishMessage(&nema_output1, 1); publishMessage(&nema_output1, 1);
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> frame_complete = true; // ???????????
} }
else else
{ {
printf("nmea crc error"); printf("nmea crc error");
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> frame_complete = true; // ???????????
} }
} }
parse_idx = 0; parse_idx = 0;
} }
// <EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD><EFBFBD> // ?<3F><>????
if(parse_idx < RING_BUF_SIZE-1 && !frame_complete) if(parse_idx < RING_BUF_SIZE-1 && !frame_complete)
{ {
parsing_buf[parse_idx++] = ch; parsing_buf[parse_idx++] = ch;
// ֡β<EFBFBD><EFBFBD><EFBFBD><EFBFBD> // ?<3F><>???
if(parse_idx >= 2 && if(parse_idx >= 2 &&
parsing_buf[parse_idx-2] == '\r' && parsing_buf[parse_idx-2] == '\r' &&
parsing_buf[parse_idx-1] == '\n') parsing_buf[parse_idx-1] == '\n')
{ {
if (nmea_validate_checksum((char *)parsing_buf)) //У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> if (nmea_validate_checksum((char *)parsing_buf)) //<2F><>?????
{ {
memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx); memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx);
publishMessage(&nema_output1, 1); publishMessage(&nema_output1, 1);
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> frame_complete = true; // ???????????
} }
else else
{ {
printf("nmea buf error"); printf("nmea buf error");
frame_complete = true; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> frame_complete = true; // ???????????
} }
parse_idx = 0; parse_idx = 0;
} }
} }
else if(!frame_complete) else if(!frame_complete)
{ {
parse_idx = 0; // <EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> parse_idx = 0; // ??????
} }
} }
timerStart(&nmea_timer, 50, 1); // 100ms<EFBFBD><EFBFBD><EFBFBD>ٴδ<EFBFBD><EFBFBD><EFBFBD> timerStart(&nmea_timer, 10, 1); // 100ms????<3F><>???
} }
void navigationRs232Process(void *signal_id) void navigationRs232Process(void *signal_id)
{ {
uartSendto(UART8, (uint8_t *)&navigation_rs232_output, sizeof(navigation_rs232_output)); uartSendto(UART8, (uint8_t *)&navigation_rs232_output, sizeof(navigation_rs232_output));
// uint32_t debubg_len = sizeof(navigation_rs232_output);
// uint8_t debug_ip[4] = {192,168,17,8};
// UdpSendToData(SocketId2, (uint8_t *)&navigation_rs232_output, &debubg_len,debug_ip,8011);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
} }
// APPģ<EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD>ʼ<EFBFBD><EFBFBD> // APP????????
void interfaceUartInit(void) void interfaceUartInit(void)
{ {
subscribe(&set_output_data, setDataProcess); subscribe(&set_output_data, setDataProcess);
@@ -641,7 +648,7 @@ void interfaceUartInit(void)
subscribe(&nmea_timer, ProcessNMEAFrames); subscribe(&nmea_timer, ProcessNMEAFrames);
subscribe(&navigation_rs232_output, navigationRs232Process); subscribe(&navigation_rs232_output, navigationRs232Process);
timerStart(&nmea_timer, 50,1);//50ms timerStart(&nmea_timer, 10,1);//50ms
printf("interface uart: initial OK %d\n",getCurrentTime()); printf("interface uart: initial OK %d\n",getCurrentTime());
} }

2
ETH/UdpServer/User/interface_uart.h
View File

@@ -26,7 +26,7 @@
#define UM982_RX_IRQn DMA2_Channel9_IRQn #define UM982_RX_IRQn DMA2_Channel9_IRQn
#define RING_BUF_SIZE 4096 #define RING_BUF_SIZE 6144
// <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD>嶨<EFBFBD><E5B6A8> // <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD>嶨<EFBFBD><E5B6A8>

2
ETH/UdpServer/User/main.c
View File

@@ -133,7 +133,7 @@ int main(void)
bootInterfaceInit(); bootInterfaceInit();
appMonitorInit(); appMonitorInit();
// testAppInit(); testAppInit();
feedWatchdog(); feedWatchdog();
dataProcessingAppInit(); dataProcessingAppInit();
ethernetInterfaceInit(); ethernetInterfaceInit();

2
ETH/UdpServer/User/net_config.h
View File

@@ -26,7 +26,7 @@ extern "C" {
#define WCHNET_NUM_TCP 1 /* Number of TCP connections */ #define WCHNET_NUM_TCP 1 /* Number of TCP connections */
#define WCHNET_NUM_TCP_LISTEN 1 /* Number of TCP listening */ #define WCHNET_NUM_TCP_LISTEN 0 /* Number of TCP listening */
/* The number of sockets, the maximum is 31 */ /* The number of sockets, the maximum is 31 */
#define WCHNET_MAX_SOCKET_NUM (WCHNET_NUM_IPRAW+WCHNET_NUM_UDP+WCHNET_NUM_TCP+WCHNET_NUM_TCP_LISTEN) #define WCHNET_MAX_SOCKET_NUM (WCHNET_NUM_IPRAW+WCHNET_NUM_UDP+WCHNET_NUM_TCP+WCHNET_NUM_TCP_LISTEN)

23
ETH/UdpServer/app/app_data_processing.c
View File

@@ -353,13 +353,13 @@ void rs232Process(void)
navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f); navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
//<2F><><EFBFBD>ٶ<EFBFBD> //<2F><><EFBFBD>ٶ<EFBFBD>
float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f); navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f); navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f); navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
//gps<70><73>Ϣ //gps<70><73>Ϣ
@@ -378,12 +378,6 @@ void rs232Process(void)
navigation_rs232_output.bit_data.checksum = calculate_checksum(&navigation_rs232_output.arr[0],57); navigation_rs232_output.bit_data.checksum = calculate_checksum(&navigation_rs232_output.arr[0],57);
publishMessage(&navigation_rs232_output, 1); publishMessage(&navigation_rs232_output, 1);
// uint32_t debubg_len = 58;
// uint8_t debug_ip[4] = {192,168,17,77};
// UdpSendToData(SocketId2, (uint8_t *)&navigation_output2, &debubg_len,debug_ip,8011);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// timerStart(&rs232_output_timer, 20,1);//10ms // timerStart(&rs232_output_timer, 20,1);//10ms
} }
@@ -432,9 +426,6 @@ void imuInput(void *signal_id)
} }
publishMessage(&navigation_output1, 1); publishMessage(&navigation_output1, 1);
} }
break; break;
@@ -503,10 +494,8 @@ void nmeaPrintf(void *signal_id)
// printf("ŷ<><C5B7><EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f)\n", // printf("ŷ<><C5B7><EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f)\n",
// yis321_data.bit_data.pitch*0.000001, yis321_data.bit_data.roll*0.000001, yis321_data.bit_data.yaw*0.000001); // yis321_data.bit_data.pitch*0.000001, yis321_data.bit_data.roll*0.000001, yis321_data.bit_data.yaw*0.000001);
printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]); // printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//ʹ<>ô<EFBFBD><C3B4>ڴ<EFBFBD>ӡ<EFBFBD><D3A1><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD> // printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//ʹ<>ô<EFBFBD><C3B4>ڴ<EFBFBD>ӡ<EFBFBD><D3A1><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
timerStart(&data_processing_timer, 1000,1);//100ms timerStart(&data_processing_timer, 1000,1);//100ms
} }
@@ -523,6 +512,8 @@ void dataProcessingAppInit(void)
timerInit(&data_processing_timer); timerInit(&data_processing_timer);
timerInit(&rs232_output_timer); timerInit(&rs232_output_timer);
RTCM_Buffer1.type = init;
rm3100Init();//<2F><>ʼ<EFBFBD><CABC>RM3100 rm3100Init();//<2F><>ʼ<EFBFBD><CABC>RM3100
// <20><><EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>GNGGA<47><41><EFBFBD><EFBFBD> // <20><><EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>źţ<C5BA><C5A3><EFBFBD><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD>GNGGA<47><41><EFBFBD><EFBFBD>
subscribe(&iim6234_timer, iim6234Init); subscribe(&iim6234_timer, iim6234Init);

2
ETH/UdpServer/app/app_param_manage.c
View File

@@ -309,7 +309,7 @@ void OnParamSignal(void *data)
uint16_t request_id = ((uint16_t)datagram[7] << 8) | (uint16_t)datagram[8];// 大端模式 uint16_t request_id = ((uint16_t)datagram[7] << 8) | (uint16_t)datagram[8];// 大端模式
// 调试输出 // 调试输出
printf("Received request ID: 0x%04X\n", request_id); // printf("Received request ID: 0x%04X\n", request_id);
// 计算CRC // 计算CRC
uint8_t calculatedCrc = calculateCRC(datagram, sizeof(UnParamRequest) - 1); uint8_t calculatedCrc = calculateCRC(datagram, sizeof(UnParamRequest) - 1);

2
ETH/UdpServer/app/app_request.c
View File

@@ -25,7 +25,7 @@ static void requestInput(void *signal_id)
if(signal_id == &un_request_frame) if(signal_id == &un_request_frame)
{ {
processRequestframe(REQUEST_READ_ID); processRequestframe(REQUEST_READ_ID);
printf("request ID"); // printf("request ID");
} }
else{} else{}
} }

14
ETH/UdpServer/app/app_test.c
View File

@@ -18,17 +18,17 @@ Timer test_timer;
void testTimerProcess(void *signal_id) void testTimerProcess(void *signal_id)
{ {
(void)signal_id; // 标记变量为已使用，避免编译器警告 (void)signal_id; // 标记变量为已使用，避免编译器警告
static uint32_t start_time = 0; // static uint32_t start_time = 0;
// short hx,hy,hz=0; // short hx,hy,hz=0;
printf("testAPP\n");
printf("testAPP: %d us \n",getCurrentTime() - start_time); // printf("testAPP: %d us \n",getCurrentTime() - start_time);
// uint8_t arrtest4[10] = {0x56,0x56,0x04}; // uint8_t arrtest4[10] = {0x56,0x56,0x04};
printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]); // printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//使用串口打印加速度，角速度数据 // printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//使用串口打印加速度，角速度数据
printf("RM3100 hx: %d, hy: %d, hz: %d\r\n", navigation_output1.bit_data.magnetic_x_axis, navigation_output1.bit_data.magnetic_y_axis, navigation_output1.bit_data.magnetic_z_axis); // printf("RM3100 hx: %d, hy: %d, hz: %d\r\n", navigation_output1.bit_data.magnetic_x_axis, navigation_output1.bit_data.magnetic_y_axis, navigation_output1.bit_data.magnetic_z_axis);
// uint8_t tesr1 = 0; // uint8_t tesr1 = 0;
@@ -50,7 +50,7 @@ void testTimerProcess(void *signal_id)
// UdpSendToData(SocketId,arrtest4,&ETHUDPTxLen,IP1,8011);//测试 // UdpSendToData(SocketId,arrtest4,&ETHUDPTxLen,IP1,8011);//测试
start_time = getCurrentTime(); // start_time = getCurrentTime();
// 再次启动定时器，实现周期定时 // 再次启动定时器，实现周期定时
timerStart(&test_timer, 1000,1); timerStart(&test_timer, 1000,1);