748 lines
29 KiB
C
748 lines
29 KiB
C
/*
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* eth_drive.c
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*
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* Created on: 2023年1月5日
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* Author: Administrator
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*/
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#include "interface_etherent.h"
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#include "interface_config.h"
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#include <string.h>
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#include "eth_driver.h"
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#include "eth_driver.h"
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//*********************************************************************
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//全局变量
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u8 MACAddr[6]= {0}; //MAC address
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u8 IPAddr[4] = { 192, 168, 17, 30 }; //IP address
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u8 GWIPAddr[4] = { 192, 168, 17, 1 }; //Gateway IP address
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u8 IPMask[4] = { 255, 255, 255, 0 }; //subnet mask
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u16 srcport = 8011; //source port
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u16 LocalPort = 8000;
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u16 DownloadPort = 7811;
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u8 SocketRecvBuf0[WCHNET_NUM_TCP][RECE_BUF_LEN] = {0}; //socket receive buffer
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u8 SocketRecvBuf1[RECE_BUF_LEN] = {0}; //socket receive buffer
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u8 SocketRecvBuf2[RECE_BUF_LEN] = {0}; //socket receive buffer
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u16 Desport = 7900;
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u8 pc_ipAddr[4] = { 192, 168, 17, 2 }; //计算机IP address
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u8 remote_base_ip[4] = { 192, 168, 10, 8 }; //远程基站IP address
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u16 remote_port = 1008; //远程基站端口
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u8 tcp_socket[WCHNET_NUM_TCP]; //Save the currently connected socket
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SystemDataRecord g_systemDataRecord = {0,0,0,0};
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u8 SocketId = 0;
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u8 SocketId2 = 1;
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u8 SocketId3 = 2;
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u8 SocketId4 = 3;
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u8 ETHResBuf[500] = {0};
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u32 ETHUDPTxLen = 0;
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uint8_t portableOcuTimeOutCnt = 0;
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uint8_t remoteOcuTimeOutCnt = 0;
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uint8_t OwnMasterTimCnt = 0;
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uint8_t OwnMasterOnline = 0;
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uint8_t portableOcuOnline = 0;
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uint8_t remoteOcuOnline = 0;
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Timer ethernet_timer_interface;
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Timer ethernet_timer_interface1;
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/*********************************************************************
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* @fn mStopIfError
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*
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* @brief check if error.
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*
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* @param iError - error constants.
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*
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* @return none
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*/
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void mStopIfError(u8 iError)
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{
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if (iError == WCHNET_ERR_SUCCESS)
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return;
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printf("Error: %02X\r\n", (u16) iError);
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}
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/*********************************************************************
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* @fn IAP_EEPROM_ERASE
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*
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* @brief erase Data-Flash block, minimal block is 256B
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*
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* @param Page_Address - the address of the page being erased.
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* Length - Erased data length
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*
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* @return none
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*/
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void IAP_EEPROM_ERASE(uint32_t Page_Address, u32 Length)
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{
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u32 NbrOfPage, EraseCounter;
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FLASH_Unlock_Fast();
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NbrOfPage = Length / FLASH_PAGE_SIZE;
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for (EraseCounter = 0; EraseCounter < NbrOfPage; EraseCounter++) {
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FLASH_ErasePage_Fast( Page_Address + (FLASH_PAGE_SIZE * EraseCounter)); //Erase 256B
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}
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FLASH_Lock_Fast();
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}
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/*********************************************************************
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* @fn IAP_EEPROM_WRITE
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*
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* @brief write Data-Flash data block
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*
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* @param StartAddr - the address of the page being written.
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* Buffer - data buff
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* Length - written data length
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*
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* @return FLASH_Status
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*/
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void IAP_EEPROM_WRITE( u32 StartAddr, u8 *Buffer, u32 Length )
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{
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u32 address = StartAddr;
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u32 *p_buff = (u32 *)Buffer;
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u16 pageNum = Length / FLASH_PAGE_SIZE;
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u16 lastDataNum = Length % FLASH_PAGE_SIZE;
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u16 i;
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if(pageNum){ //write by page(256B)
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FLASH_Unlock_Fast();
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for(i = 0; i < pageNum; i++)
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FLASH_ProgramPage_Fast((address + FLASH_PAGE_SIZE * i),(p_buff + (FLASH_PAGE_SIZE / 4) * i));
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FLASH_Lock_Fast();
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}
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if(lastDataNum){ //write by a half word(2B)
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u8 *p_buff1 = Buffer + FLASH_PAGE_SIZE * pageNum;
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address = StartAddr + FLASH_PAGE_SIZE * pageNum;
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FLASH_Unlock();
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for(i = 0; i < lastDataNum; i += 2)
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FLASH_ProgramHalfWord((address + i), *(u16 *)(p_buff1 + i));
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FLASH_Lock();
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}
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}
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/*********************************************************************
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* @fn IAP_EEPROM_READ
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*
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* @brief read Data-Flash data block
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*
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* @param StartAddr - the address of the page being read.
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* Buffer - data buff
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* Length - read data length
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*
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* @return none
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*/
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void IAP_EEPROM_READ( u32 StartAddr, u8 *Buffer, u32 Length )
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{
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u32 address = StartAddr;
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u32 *p_buff = (u32 *)Buffer;
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while(address < (StartAddr + Length))
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{
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*p_buff = (*(u32 *)address);
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address += 4;
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p_buff++;
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}
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}
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/*********************************************************************
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* @fn WCHNET_UdpServerRecv
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*
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* @brief UDP Receive data function
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*
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*@param socinf - socket information.
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* ipaddr - The IP address from which the data was sent
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* port - source port
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* buf - pointer to the data buffer
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* len - received data length
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* @return none
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*/
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void WCHNET_UdpServerRecv(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *buf, u32 len)
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{
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u8 ip_addr[4];
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//---------------------------------------------------------------------------------------
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if((0xFF == buf[0]) && (0xBB == buf[1]))//自主计算机手动遥控器或者远程遥控器
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{
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portableOcuOnline = 1;
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portableOcuTimeOutCnt = 0;
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}
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else if((0xFF == buf[0]) && (0xCC == buf[1]))//自主计算器 自动
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{
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portableOcuOnline = 1;
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}
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else if(DF_DownloadDesIPAdress == ip_addr[3])//以太网接收
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{
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}
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else
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{
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}
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}
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/*********************************************************************
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* @fn WCHNET_UdpServerRecv
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*
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* @brief UDP Receive data function
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*
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*@param socinf - socket information.
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* ipaddr - The IP address from which the data was sent
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* port - source port
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* buf - pointer to the data buffer
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* len - received data length
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* @return none
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*/
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void WCHNET_UdpServerRecv1(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *buf, u32 len)//端口8000
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{
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//---------------------------------------------------------------------------------------
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if( (0x80 == buf[0]) && (0x00 == buf[1]) )
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{
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memcpy((uint8_t *)&(un_request_frame.arr[0]),buf, sizeof(UnRequestFrame));
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printf("read_id = %d \r\n",request_read_id);
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//20250412 保存请求者信息
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for (uint8_t i = 0; i < 4; i++)
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{
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str_RequestMessage.ip_adesser[i] = ipaddr & 0xff;
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ipaddr = ipaddr >> 8;
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}
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str_RequestMessage.port = port;
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publishMessage(&un_request_frame, 1);
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}
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}
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/*********************************************************************
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* @fn WCHNET_UdpServerRecv
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*
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* @brief UDP Receive data function
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*
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*@param socinf - socket information.
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* ipaddr - The IP address from which the data was sent
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* port - source port
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* buf - pointer to the data buffer
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* len - received data length
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* @return none
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*/
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void WCHNET_UdpServerRecv2(struct _SCOK_INF *socinf, u32 ipaddr, u16 port, u8 *buf, u32 len)//端口7811
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{
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u8 ip_addr[4];
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u16 i = 0;
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u32 PCLen2 = 0;
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u8 ENETTxMessage[8] = {0,0,0,0,0,0,0,0};
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//---------------------------------------------------------------------------------------
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printf("Remote IP:");
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for (i = 0; i < 4; i++) {
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ip_addr[i] = ipaddr & 0xff;
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printf("%d ", ip_addr[i]);
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ipaddr = ipaddr >> 8;
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}
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printf("srcport = %d len = %d socketid = %d\r\n", port, len,
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socinf->SockIndex);
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if((buf[0] == 0x01) && (buf[1] == 0x0A))//接收指令进入boot，然后重启 20230430增加
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{
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g_systemDataRecord.canBootloaderUpgrade = CAN_BOOTLOADER_UPGRADE;//设置boot标志
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IAP_EEPROM_ERASE(DATA_START_ADDR, FLASH_PAGE_SIZE);
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IAP_EEPROM_WRITE(DATA_START_ADDR, (uint8_t *)&g_systemDataRecord, 4);
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//写入标志量
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while(1)
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{
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NVIC_SystemReset();//重启
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}
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}
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else if((buf[0] == 0x01) && (buf[1] == 0x01))//反馈当前状态
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{
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IAP_EEPROM_READ( DATA_START_ADDR, (uint8_t *)&g_systemDataRecord, 4 );
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PCLen2 = 8;
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ENETTxMessage[0] = 0x01;
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ENETTxMessage[1] = 0x01;
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ENETTxMessage[2] = 0;//主版本号，两字节
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ENETTxMessage[3] = 1;
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ENETTxMessage[4] = 0;//次版本号，两字节
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ENETTxMessage[5] = 0;
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ENETTxMessage[6] = 0;
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ENETTxMessage[7] = NORMAL_ON;//1：固件是Bootloader, 0:固件是APP
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UdpSendToData(SocketId3,ENETTxMessage,&PCLen2,ip_addr,port);//测试
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}
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}
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/*********************************************************************
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* @fn WCHNET_CreateTcpSocket
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*
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* @brief Create TCP Socket
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*
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* @return none
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*/
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void WCHNET_CreateTcpSocket(void)
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{
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u8 i;
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SOCK_INF TmpSocketInf;
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memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
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memcpy((void *) TmpSocketInf.IPAddr, remote_base_ip, 4);
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TmpSocketInf.DesPort = remote_port;
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TmpSocketInf.SourPort = 1008;
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TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
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TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
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i = WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
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printf("SocketId %d\r\n", SocketId3);
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mStopIfError(i);
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i = WCHNET_SocketConnect(SocketId3); //make a TCP connection
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mStopIfError(i);
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}
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/*********************************************************************
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* @fn WCHNET_CreateUdpSocket
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*
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* @brief Create UDP Socket
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*
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* @return none
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*/
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void WCHNET_CreateUdpSocket(void)
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{
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// u8 i;
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SOCK_INF TmpSocketInf;
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// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
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// TmpSocketInf.SourPort = srcport;
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// TmpSocketInf.ProtoType = PROTO_TYPE_UDP;
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// TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf0;
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// TmpSocketInf.RecvBufLen = UDP_RECE_BUF_LEN;
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// TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv;
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// i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf);
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// printf("WCHNET_SocketCreat %d\r\n", SocketId);
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// mStopIfError(i);
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#if KEEPALIVE_ENABLE //Configure keep alive parameters
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{
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struct _KEEP_CFG cfg;
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cfg.KLIdle = 20000;
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cfg.KLIntvl = 15000;
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cfg.KLCount = 9;
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WCHNET_ConfigKeepLive(&cfg);
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}
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#endif
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memset(tcp_socket, 0xff, WCHNET_NUM_TCP);
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WCHNET_CreateTcpSocket();
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// memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
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// TmpSocketInf.SourPort = srcport;
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// TmpSocketInf.ProtoType = PROTO_TYPE_TCP;
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// i = WCHNET_SocketCreat(&SocketId, &TmpSocketInf);
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// printf("SocketIdForListen %d\r\n", SocketId);
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// mStopIfError(i);
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// i = WCHNET_SocketListen(SocketId); //listen for connections
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// mStopIfError(i);
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//
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memset((void *)&TmpSocketInf, 0, sizeof(SOCK_INF));
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TmpSocketInf.SourPort = LocalPort;
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TmpSocketInf.ProtoType = PROTO_TYPE_UDP;
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TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf1;
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TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
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TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv1;
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WCHNET_SocketCreat(&SocketId2, &TmpSocketInf);
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printf("WCHNET_SocketCreat %d\r\n", SocketId2);
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// WCHNET_ModifyRecvBuf(SocketId, (u32)SocketRecvBuf[SocketId], RECE_BUF_LEN);
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memset((void *) &TmpSocketInf, 0, sizeof(SOCK_INF));
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TmpSocketInf.SourPort = DownloadPort;
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TmpSocketInf.ProtoType = PROTO_TYPE_UDP;
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TmpSocketInf.RecvStartPoint = (u32) SocketRecvBuf2;
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TmpSocketInf.RecvBufLen = RECE_BUF_LEN;
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TmpSocketInf.AppCallBack = WCHNET_UdpServerRecv2;
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WCHNET_SocketCreat(&SocketId3, &TmpSocketInf);
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printf("WCHNET_SocketCreat %d\r\n", SocketId3);
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// mStopIfError(i);
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}
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|
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/*********************************************************************
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* @fn WCHNET_DataLoopback
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*
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* @brief Data loopback function.
|
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*
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* @param id - socket id.
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*
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* @return none
|
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*/
|
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void WCHNET_DataLoopback(u8 id)
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{
|
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#if 1
|
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u8 i;
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u32 len;
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u32 endAddr = SocketInf[id].RecvStartPoint + SocketInf[id].RecvBufLen; //Receive buffer end address
|
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|
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if ((SocketInf[id].RecvReadPoint + SocketInf[id].RecvRemLen) > endAddr)
|
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{ //Calculate the length of the received data
|
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len = endAddr - SocketInf[id].RecvReadPoint;
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}
|
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else
|
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{
|
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len = SocketInf[id].RecvRemLen;
|
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}
|
||
|
||
|
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if(remote_port == SocketInf[id].DesPort)//接收数据，源端口正确就认为以太网传输RTCM数据
|
||
{
|
||
memcpy(&RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf][0],(u8 *) SocketInf[id].RecvReadPoint,len);
|
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RTCM_Buffer1.type = ethernet;
|
||
RTCM_Buffer1.buf_len = (uint16_t)len;
|
||
RTCM_Buffer1.active_buf ^= 1;
|
||
RTCM_Buffer1.eth_cnt ++;//累加判断
|
||
publishMessage(&RTCM_Buffer1, 1);
|
||
}
|
||
|
||
// printf("源端口: %u, 目标端口: %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
|
||
}
|
||
|
||
/*********************************************************************
|
||
* @fn WCHNET_HandleSockInt
|
||
*
|
||
* @brief Socket Interrupt Handle
|
||
*
|
||
* @param socketid - socket id.
|
||
* intstat - interrupt status
|
||
*
|
||
* @return none
|
||
*/
|
||
void WCHNET_HandleSockInt(u8 socketid, u8 intstat)
|
||
{
|
||
u8 i;
|
||
if (intstat & SINT_STAT_RECV) //receive data
|
||
{
|
||
WCHNET_DataLoopback(socketid);
|
||
}
|
||
if (intstat & SINT_STAT_CONNECT) //connect successfully
|
||
{
|
||
#if KEEPALIVE_ENABLE
|
||
WCHNET_SocketSetKeepLive(socketid, ENABLE);
|
||
#endif
|
||
WCHNET_ModifyRecvBuf(socketid, (u32) SocketRecvBuf0[socketid], RECE_BUF_LEN);
|
||
for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) {
|
||
if (tcp_socket[i] == 0xff) { //save connected socket id
|
||
tcp_socket[i] = socketid;
|
||
break;
|
||
}
|
||
}
|
||
printf("TCP Connect Success\r\n");
|
||
printf("socket id: %d\r\n",tcp_socket[i]);
|
||
}
|
||
if (intstat & SINT_STAT_DISCONNECT) //disconnect
|
||
{
|
||
for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) { //delete disconnected socket id
|
||
if (tcp_socket[i] == socketid) {
|
||
tcp_socket[i] = 0xff;
|
||
break;
|
||
}
|
||
}
|
||
printf("TCP Disconnect\r\n");
|
||
}
|
||
if (intstat & SINT_STAT_TIM_OUT) //timeout disconnect
|
||
{
|
||
for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) { //delete disconnected socket id
|
||
if (tcp_socket[i] == socketid) {
|
||
tcp_socket[i] = 0xff;
|
||
break;
|
||
}
|
||
}
|
||
printf("TCP Timeout\r\n");
|
||
WCHNET_CreateTcpSocket();
|
||
}
|
||
}
|
||
|
||
/*********************************************************************
|
||
* @fn WCHNET_HandleGlobalInt
|
||
*
|
||
* @brief Global Interrupt Handle
|
||
*
|
||
* @return none
|
||
*/
|
||
void WCHNET_HandleGlobalInt(void)
|
||
{
|
||
u8 intstat;
|
||
u16 i;
|
||
u8 socketint;
|
||
|
||
enter_critical_section();
|
||
|
||
intstat = WCHNET_GetGlobalInt(); //get global interrupt flag
|
||
if (intstat & GINT_STAT_UNREACH) //Unreachable interrupt
|
||
{
|
||
// printf("GINT_STAT_UNREACH\r\n");
|
||
}
|
||
if (intstat & GINT_STAT_IP_CONFLI) //IP conflict
|
||
{
|
||
printf("GINT_STAT_IP_CONFLI\r\n");
|
||
}
|
||
if (intstat & GINT_STAT_PHY_CHANGE) //PHY status change
|
||
{
|
||
i = WCHNET_GetPHYStatus();
|
||
if (i & PHY_Linked_Status)
|
||
printf("PHY Link Success\r\n");
|
||
}
|
||
if (intstat & GINT_STAT_SOCKET) { //socket related interrupt
|
||
for (i = 0; i < WCHNET_MAX_SOCKET_NUM; i++) {
|
||
socketint = WCHNET_GetSocketInt(i);
|
||
if (socketint)
|
||
WCHNET_HandleSockInt(i, socketint);
|
||
}
|
||
}
|
||
|
||
exit_critical_section(0x00);
|
||
}
|
||
|
||
/**
|
||
* @brief UDP send, specify the target IP and target port
|
||
*
|
||
* @param socketid - socket id value
|
||
* @param *buf - Address of the sent data
|
||
* @param(in) *slen - Address of the sent length
|
||
* @param *sip - destination IP address
|
||
* @param port - destination port
|
||
*
|
||
* @param(out) *slen - actual length sent
|
||
*
|
||
* @return @ERR_T
|
||
*/
|
||
uint8_t UdpSendToData(uint8_t socketid, uint8_t *buf, uint32_t *slen, uint8_t *sip, uint16_t port)//发送数据
|
||
{
|
||
uint16_t i = 0;
|
||
//--------------------------------------------------------------
|
||
WCHNET_SocketUdpSendTo( socketid, buf, slen,sip, port);//发送
|
||
|
||
while(slen[0] != 0)//判断缓存是否空闲，空闲执行往下，否则就就等待一段时间，超时就直接跳出函数
|
||
{
|
||
i++;
|
||
if(i > DF_EthInfoWiteTime)
|
||
{
|
||
i = 0;
|
||
return DF_SEND_Fail;//发送失败
|
||
}
|
||
}
|
||
return DF_SEND_Success;
|
||
}
|
||
|
||
/*@brief 计算字节累加校验码（取低8位）
|
||
? @param data 待校验数据的起始地址
|
||
? @param len 数据长度（单位：字节）
|
||
? @return 校验码（低8位）
|
||
?*/
|
||
uint8_t CalculateChecksum(const uint8_t* data, size_t len)
|
||
{
|
||
uint32_t checksum = 0; // 使用32位变量防止溢出
|
||
|
||
for (size_t i = 0; i < len; ++i) {
|
||
checksum += data[i]; // 累加每个字节
|
||
}
|
||
return (uint8_t)(checksum & 0xFF); // 取低8位
|
||
}
|
||
|
||
|
||
// 以太网定时器信号处理函数
|
||
static void ethernetInterfaceTimerProcess(void *signal_id)
|
||
{
|
||
static u_int32_t navigation_output_len = 0;
|
||
// static u_int32_t navigation_output_len1 = 0;
|
||
//----------------------------------------------------------------------
|
||
if (signal_id == &navigation_output1)
|
||
{
|
||
|
||
navigation_outputC1.bit_data.frame_header = 0xCCAA;
|
||
navigation_outputC1.bit_data.frame_type = 0x2700;
|
||
navigation_outputC1.bit_data.frame_length = 0x4100;
|
||
navigation_outputC1.bit_data.accumulated ++;
|
||
|
||
navigation_outputC1.bit_data.time = 0X00;
|
||
navigation_outputC1.bit_data.car_speed = 0X00;
|
||
|
||
//小端转换为大端
|
||
navigation_outputC1.bit_data.gyroscope_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_x_axis);
|
||
navigation_outputC1.bit_data.gyroscope_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_y_axis);
|
||
navigation_outputC1.bit_data.gyroscope_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_z_axis);
|
||
navigation_outputC1.bit_data.acceleration_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_x_axis);
|
||
navigation_outputC1.bit_data.acceleration_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_y_axis);
|
||
navigation_outputC1.bit_data.acceleration_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_z_axis);
|
||
|
||
navigation_outputC1.bit_data.magnetic_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_x_axis);
|
||
navigation_outputC1.bit_data.magnetic_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_y_axis);
|
||
navigation_outputC1.bit_data.magnetic_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_z_axis);
|
||
|
||
navigation_outputC1.bit_data.lon = SWAP_ENDIAN_32(navigation_output1.bit_data.lon);
|
||
navigation_outputC1.bit_data.lat = SWAP_ENDIAN_32(navigation_output1.bit_data.lat);
|
||
navigation_outputC1.bit_data.high = SWAP_ENDIAN_32(navigation_output1.bit_data.high);
|
||
|
||
navigation_outputC1.bit_data.gps_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.gps_speed);
|
||
navigation_outputC1.bit_data.dual_antenna_heading = SWAP_ENDIAN_16(navigation_output1.bit_data.dual_antenna_heading);
|
||
navigation_outputC1.bit_data.car_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.car_speed);
|
||
navigation_outputC1.bit_data.time = SWAP_ENDIAN_32(navigation_output1.bit_data.time);
|
||
navigation_outputC1.bit_data.rtk_state = navigation_output1.bit_data.rtk_state;
|
||
|
||
navigation_outputC1.bit_data.crc1 = CalculateChecksum(&navigation_outputC1.arr[0],sizeof(UnInfNavigationOutputC)-1);
|
||
|
||
|
||
// for(uint8_t i = 0; i < WCHNET_NUM_TCP; i++)
|
||
// {
|
||
// if(tcp_socket[i] != 0xFF)
|
||
// {
|
||
// if(0 == navigation_output_len1)
|
||
// {
|
||
// navigation_output_len1 = sizeof(navigation_outputC1);
|
||
// }
|
||
|
||
// i = WCHNET_SocketSend(tcp_socket[i], (uint8_t *)&navigation_outputC1, &navigation_output_len1); //send data
|
||
// if (i == WCHNET_ERR_SUCCESS) {
|
||
// WCHNET_SocketRecv(tcp_socket[i], NULL, &navigation_output_len1); //Clear sent data
|
||
// }
|
||
// }
|
||
// }
|
||
}
|
||
else if (signal_id == &navigation_output2)
|
||
{
|
||
|
||
navigation_output2.bit_data.frame_header = 0xCCAA;
|
||
navigation_output2.bit_data.frame_type = 0x2700;
|
||
navigation_output2.bit_data.frame_length = 0x3100;
|
||
navigation_output2.bit_data.accumulated ++;
|
||
|
||
navigation_output2.bit_data.time = 0X00;
|
||
navigation_output2.bit_data.car_speed = 0X00;
|
||
|
||
//小端转换为大端
|
||
navigation_output2.bit_data.gyroscope_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_x_axis);
|
||
navigation_output2.bit_data.gyroscope_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_y_axis);
|
||
navigation_output2.bit_data.gyroscope_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.gyroscope_z_axis);
|
||
navigation_output2.bit_data.acceleration_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_x_axis);
|
||
navigation_output2.bit_data.acceleration_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_y_axis);
|
||
navigation_output2.bit_data.acceleration_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.acceleration_z_axis);
|
||
|
||
navigation_output2.bit_data.magnetic_x_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_x_axis);
|
||
navigation_output2.bit_data.magnetic_y_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_y_axis);
|
||
navigation_output2.bit_data.magnetic_z_axis = SWAP_ENDIAN_16(navigation_output1.bit_data.magnetic_z_axis);
|
||
|
||
navigation_output2.bit_data.lon = SWAP_ENDIAN_32(navigation_output1.bit_data.lon);
|
||
navigation_output2.bit_data.lat = SWAP_ENDIAN_32(navigation_output1.bit_data.lat);
|
||
navigation_output2.bit_data.high = SWAP_ENDIAN_32(navigation_output1.bit_data.high);
|
||
|
||
navigation_output2.bit_data.gps_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.gps_speed);
|
||
navigation_output2.bit_data.dual_antenna_heading = SWAP_ENDIAN_16(navigation_output1.bit_data.dual_antenna_heading);
|
||
navigation_output2.bit_data.car_speed = SWAP_ENDIAN_16(navigation_output1.bit_data.car_speed);
|
||
navigation_output2.bit_data.time = SWAP_ENDIAN_32(navigation_output1.bit_data.time);
|
||
navigation_output2.bit_data.rtk_state = navigation_output1.bit_data.rtk_state;
|
||
|
||
navigation_output2.bit_data.crc1 = CalculateChecksum(&navigation_output2.arr[0],sizeof(UnInfNavigationOutput)-1);
|
||
|
||
if(0 == navigation_output_len)
|
||
{
|
||
navigation_output_len = sizeof(navigation_output2);
|
||
}
|
||
UdpSendToData(SocketId2, (uint8_t *)&navigation_output2, &navigation_output_len, &str_RequestMessage.ip_adesser[0],str_RequestMessage.port);//发送数据
|
||
}
|
||
else
|
||
{
|
||
|
||
}
|
||
}
|
||
|
||
void ethInterruptProcess(void *signal_id)
|
||
{
|
||
/*Ethernet library main task function,
|
||
* which needs to be called cyclically*/
|
||
WCHNET_MainTask();
|
||
/*Query the Ethernet global interrupt,
|
||
* if there is an interrupt, call the global interrupt handler*/
|
||
if(WCHNET_QueryGlobalInt())
|
||
{
|
||
WCHNET_HandleGlobalInt();
|
||
}
|
||
|
||
timerStart(ðernet_timer_interface, 1,1); //1ms调用一次
|
||
}
|
||
|
||
void ethernetFaultProcess(void *signal_id)//以太网RTCM连接判断。
|
||
{
|
||
static uint8_t eth_cnt_last = 0;
|
||
if( (RTCM_Buffer1.eth_cnt == eth_cnt_last) && (ethernet == RTCM_Buffer1.type) )//如果数据一样，且那5s就是断开连接了。
|
||
{
|
||
RTCM_Buffer1.type = init;
|
||
}
|
||
else
|
||
{
|
||
eth_cnt_last = RTCM_Buffer1.eth_cnt;
|
||
}
|
||
timerStart(ðernet_timer_interface1, 8000,1); //8s调用一次
|
||
}
|
||
|
||
|
||
|
||
|
||
void ethernetInterfaceInit(void)
|
||
{
|
||
//-----------------------------------
|
||
// 订阅定时器信号，用于定时采集
|
||
subscribe(&navigation_output1, ethernetInterfaceTimerProcess);
|
||
subscribe(&navigation_output2, ethernetInterfaceTimerProcess);
|
||
subscribe(ðernet_timer_interface, ethInterruptProcess);
|
||
subscribe(ðernet_timer_interface1, ethernetFaultProcess); //1ms调用一次
|
||
|
||
timerStart(ðernet_timer_interface, 1,1); //1ms调用一次
|
||
|
||
timerStart(ðernet_timer_interface1, 5000,1); //5s调用一次
|
||
|
||
|
||
|
||
|
||
printf( "ethernetInterface: initial OK %d\n",getCurrentTime());
|
||
}
|
||
|
||
|
||
|
||
|
||
|