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修改解决多个帧头以及错误处理

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This commit is contained in:
liumin
2025-10-21 21:10:21 +08:00
parent c3f6375140
commit c7bed50170
12 changed files with 247 additions and 2546 deletions
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6
.vscode/settings.json vendored Normal file
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@@ -0,0 +1,6 @@
{
"files.associations": {
"UART.C": "cpp",
"CAN.C": "cpp"
}
}

22
CAN.C
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@@ -150,19 +150,15 @@ void CAN_vInit(void)
/// General Configuration of the Node 0: /// General Configuration of the Node 0:
/// - set INIT and CCE /// - set INIT and CCE
/// - enable interrupt generation upon a change of BOFF or EWARN or upon a
/// set of LLE, LOE or INIT
/// - alert interrupt node pointer: MultiCAN SRN 0
//-----------CAN_NCR0 = 0x00000049------------------------------------- //-----------CAN_NCR0 = 0x00000041-------------------------------------
CAN_vWriteCANAddress(CAN_NCR0); // Addressing CAN_NCR0 CAN_vWriteCANAddress(CAN_NCR0); // Addressing CAN_NCR0
CAN_DATA0 = 0x49; // load NODE 0 control register[7-0] CAN_DATA0 = 0x41; // load NODE 0 control register[7-0]
CAN_vWriteEN(D0_VALID+ADR_INC); // Data0 is Valid for transmission and CAN_vWriteEN(D0_VALID+ADR_INC); // Data0 is Valid for transmission and
// Write is EnabledCAN Address pointing // Write is EnabledCAN Address pointing
// to the CAN_NSR0. // to the CAN_NSR0.
// CAN Address pointing to the CAN_NIPR0 // CAN Address pointing to the CAN_NIPR0
CAN_ADCON = ADR_INC; // Auto Increment the current address(+1) CAN_ADCON = ADR_INC; // Auto Increment the current address(+1)
@@ -197,16 +193,16 @@ void CAN_vInit(void)
/// Configuration of the Node 0 Baud Rate: /// Configuration of the Node 0 Baud Rate:
/// - required baud rate = 250.000 kbaud /// - required baud rate = 250.000 kbaud
/// - real baud rate = 250.000 kbaud /// - real baud rate = 252.632 kbaud
/// - sample point = 75.00 % /// - sample point = 80.00 %
/// - there are 11 time quanta before sample point /// - there are 7 time quanta before sample point
/// - there are 4 time quanta after sample point /// - there are 2 time quanta after sample point
/// - the (re)synchronization jump width is 2 time quanta /// - the (re)synchronization jump width is 2 time quanta
//-----------CAN_NBTR0 = 0x00003A4B------------------------------------- //-----------CAN_NBTR0 = 0x00001652-------------------------------------
CAN_DATA0 = 0x4B; // load NBTR0_SJW, BRP CAN_DATA0 = 0x52; // load NBTR0_SJW, BRP
CAN_DATA1 = 0x3A; // load NBTR0_DIV8, TSEG2, TSEG1 CAN_DATA1 = 0x16; // load NBTR0_DIV8, TSEG2, TSEG1
CAN_vWriteEN(D0_VALID+D1_VALID+ADR_INC); // Data0, 1 are valid for CAN_vWriteEN(D0_VALID+D1_VALID+ADR_INC); // Data0, 1 are valid for
// transmission and Write is // transmission and Write is
// Enabled with Auto // Enabled with Auto

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CAN协议.xls Normal file
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392
CL2.0.uvgui.liuminVir
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1878
CL2.0.uvgui.liuminVir.bak
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2
CL2.0.uvopt
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@@ -320,7 +320,7 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\20250115_IO采集\UART.C</PathWithFileName> <PathWithFileName>..\..\20250115_IO采集\UART.C</PathWithFileName>
<FilenameWithoutPath>UART.C</FilenameWithoutPath> <FilenameWithoutPath>UART.C</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>

2
CL2.0.uvproj
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@@ -414,7 +414,7 @@
<File> <File>
<FileName>UART.C</FileName> <FileName>UART.C</FileName>
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>..\20250115_IO采集\UART.C</FilePath> <FilePath>..\..\20250115_IO采集\UART.C</FilePath>
</File> </File>
</Files> </Files>
</Group> </Group>

54
UART.C
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@@ -211,7 +211,10 @@ void UART_viIsr(void) interrupt UARTINT
static uint8_t state = 0; static uint8_t state = 0;
static uint8_t receive = 0; static uint8_t receive = 0;
static uint8_t sbus_buff[25]; static uint8_t sbus_buff[25];
SBusData *tmp_sbus_data; uint8_t i = 0;
uint8_t start_index = 0;
// SBusData *tmp_sbus_data;
// USER CODE END // USER CODE END
SFR_PAGE(_su0, SST0); // switch to page 0 SFR_PAGE(_su0, SST0); // switch to page 0
if (TI) if (TI)
@@ -249,22 +252,39 @@ void UART_viIsr(void) interrupt UARTINT
case 1: case 1:
if(cnt_sbus >= 24) if(cnt_sbus >= 24)
{ {
if(0x0 == char_data[0]) if(0x0 == char_data[0])
{ {
cnt_sbus = 0; cnt_sbus = 0;
receive = 0; receive = 0;
sbus_buff[cnt_sbus] = char_data[0]; sbus_buff[cnt_sbus] = char_data[0];
state = 0; state = 0;
tmp_sbus_data = parseSBusData(sbus_buff); parseSBusData(sbus_buff);
} }
} else
else if( (0x0f == char_data[0]) && (10 != cnt_sbus) )//<2F><>Ϊ<EFBFBD><CEAA>10<31><30><EFBFBD>ֽ<EFBFBD>Ϊ0x0F<30><46><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD>0 {
{ sbus_buff[cnt_sbus] = char_data[0];
receive = 0; for (i = 1; i < cnt_sbus; i++)
cnt_sbus = 0; {
sbus_buff[cnt_sbus] = char_data[0]; if (sbus_buff[i] == 0x0f)
cnt_sbus++; {
state = 1; start_index = i;
break;
}
}
/* we found a second start marker */
if (start_index != 0)
{
/* shift everything in the buffer and reset the state machine */
for (i = 0; i < cnt_sbus - start_index; i++) {
sbus_buff[i] = sbus_buff[i + start_index];
}
cnt_sbus -= start_index;
state = 1;
}
}
} }
else else
{ {

261
UART1.C
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@@ -1,261 +0,0 @@
//****************************************************************************
// @Module UART1 (Serial Interface)
// @Filename UART1.C
// @Project CL2.0.dav
//----------------------------------------------------------------------------
// @Controller Infineon XC886CLM-8FF
//
// @Compiler Keil
//
// @Codegenerator 1.3
//
// @Description: This file contains functions that use the UART1 module.
//
//----------------------------------------------------------------------------
// @Date 2024/10/31 19:17:02
//
//****************************************************************************
// USER CODE BEGIN (UART1_General,1)
// USER CODE END
//****************************************************************************
// @Project Includes
//****************************************************************************
#include "MAIN.H"
// USER CODE BEGIN (UART1_General,2)
// USER CODE END
//****************************************************************************
// @Macros
//****************************************************************************
// USER CODE BEGIN (UART1_General,3)
// USER CODE END
//****************************************************************************
// @Defines
//****************************************************************************
// USER CODE BEGIN (UART1_General,4)
// USER CODE END
//****************************************************************************
// @Typedefs
//****************************************************************************
// USER CODE BEGIN (UART1_General,5)
// USER CODE END
//****************************************************************************
// @Imported Global Variables
//****************************************************************************
// USER CODE BEGIN (UART1_General,6)
// USER CODE END
//****************************************************************************
// @Global Variables
//****************************************************************************
// USER CODE BEGIN (UART1_General,7)
// USER CODE END
//****************************************************************************
// @External Prototypes
//****************************************************************************
// USER CODE BEGIN (UART1_General,8)
// USER CODE END
//****************************************************************************
// @Prototypes Of Local Functions
//****************************************************************************
// USER CODE BEGIN (UART1_General,9)
// USER CODE END
//****************************************************************************
// @Function void UART1_vInit(void)
//
//----------------------------------------------------------------------------
// @Description This is the initialization function of the UART1 function
// library. It is assumed that the SFRs used by this library
// are in their reset state.
//
// The following SFR fields will be initialized:
// - register SCON
// - bits SMOD and EX2
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2024/10/31
//
//****************************************************************************
// USER CODE BEGIN (UART1_Init,1)
// USER CODE END
void UART1_vInit(void)
{
// USER CODE BEGIN (UART1_Init,2)
// USER CODE END
/// -----------------------------------------------------------------------
/// UART1 settings
/// -----------------------------------------------------------------------
/// Pin TXD1_1 (P3.1) is selected for transmission
/// Pin RXD1_1 (P3.2) is selected for reception
/// Receiver enabled
/// UART1 interrupt is enabled
/// Ignore Normal divider overflow interrupt
/// Mode 1: 8-bit data, 1 start bit, 1 stop bit, variable baud rate
/// Receiver interrupt flag RI_1 will only be activated if a valid stop
/// bit was received
/// BRG is selected for baudrate generation
SFR_PAGE(_pp2, noSST); // switch to page 2 without saving
P3_ALTSEL0 |= (ubyte)0x02; // configure alternate function register 0
P3_ALTSEL1 |= (ubyte)0x02; // configure alternate function register 1
SFR_PAGE(_pp0, noSST); // switch to page 0 without saving
P3_DIR |= (ubyte)0x02; // set output direction
SFR_PAGE(_su3, noSST); // switch to page 3 without saving
MODPISEL1 |= (ubyte)0x08; // configure peripheral input select register
SFR_PAGE(_su0, noSST); // switch to page 0 without saving
SET_RMAP();
UART1_BCON = 0x00; // reset baudrate timer/reload register
UART1_SCON = 0x50; // load serial channel control register
/// -----------------------------------------------------------------------
/// Baudrate generator settings
/// -----------------------------------------------------------------------
/// input clock = fPCLK
/// Fractional divider is disabled
/// baudrate = 9.6154 kbaud
UART1_BG = 0x9B; // load baudrate timer/reload register
UART1_BCON |= 0x01; // load baud rate control register
RESET_RMAP();
// USER CODE BEGIN (UART1_Init,3)
// USER CODE END
} // End of function UART1_vInit
//****************************************************************************
// @Function ubyte UART1_ubGetData8(void)
//
//----------------------------------------------------------------------------
// @Description This function returns the last received 8-bit data unit.
// Interrupt flag RI_1 will be cleared.
//
//----------------------------------------------------------------------------
// @Returnvalue received data unit
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2024/10/31
//
//****************************************************************************
ubyte UART1_ubGetData8(void)
{
ubyte ubData;
_push_(SYSCON0); // push the current RMAP
SET_RMAP();
// Clear the receiver interrupt flag
UART1_SCON &= ~(ubyte)0x01;
// Read the received data bits 0..7
ubData = (ubyte)UART1_SBUF;
_pop_(SYSCON0); // restore the old RMAP
// Return the received data byte
return(ubData);
} // End of function UART1_ubGetData8
//****************************************************************************
// @Function void UART1_vSendData8(ubyte ubData)
//
//----------------------------------------------------------------------------
// @Description This function transmits an 8-bit data unit. At first
// interrupt flag TI_1 is cleared, then buffer SBUF is written.
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters ubData:
// data to be transmitted
//
//----------------------------------------------------------------------------
// @Date 2024/10/31
//
//****************************************************************************
void UART1_vSendData8(ubyte ubData)
{
_push_(SYSCON0); // push the current RMAP
SET_RMAP();
// Clear the transmitter interrupt flag
UART1_SCON &= ~(ubyte)0x02;
// Write the transmit data byte, this initiates the transmission.
UART1_SBUF = ubData;
_pop_(SYSCON0); // restore the old RMAP
} // End of function UART1_vSendData8
// USER CODE BEGIN (UART1_General,10)
// USER CODE END

153
UART1.H
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@@ -1,153 +0,0 @@
//****************************************************************************
// @Module UART1 (Serial Interface)
// @Filename UART1.H
// @Project CL2.0.dav
//----------------------------------------------------------------------------
// @Controller Infineon XC886CLM-8FF
//
// @Compiler Keil
//
// @Codegenerator 1.3
//
// @Description: This file contains all function prototypes and macros for
// the UART1 module.
//
//----------------------------------------------------------------------------
// @Date 2024/10/31 19:17:02
//
//****************************************************************************
// USER CODE BEGIN (UART1_Header,1)
// USER CODE END
#ifndef _UART1_H_
#define _UART1_H_
//****************************************************************************
// @Project Includes
//****************************************************************************
// USER CODE BEGIN (UART1_Header,2)
// USER CODE END
//****************************************************************************
// @Macros
//****************************************************************************
// USER CODE BEGIN (UART1_Header,3)
// USER CODE END
//****************************************************************************
// @Defines
//****************************************************************************
// USER CODE BEGIN (UART1_Header,4)
// USER CODE END
//****************************************************************************
// @Typedefs
//****************************************************************************
// USER CODE BEGIN (UART1_Header,5)
// USER CODE END
//****************************************************************************
// @Imported Global Variables
//****************************************************************************
// USER CODE BEGIN (UART1_Header,6)
// USER CODE END
//****************************************************************************
// @Global Variables
//****************************************************************************
// USER CODE BEGIN (UART1_Header,7)
// USER CODE END
//****************************************************************************
// @Prototypes Of Global Functions
//****************************************************************************
void UART1_vInit(void);
ubyte UART1_ubGetData8(void);
void UART1_vSendData8(ubyte ubData);
// USER CODE BEGIN (UART1_Header,8)
// USER CODE END
//****************************************************************************
// @Macro UART1_vRxEnable()
//
//----------------------------------------------------------------------------
// @Description This macro releases the receive function of the UART1 by
// setting bit REN_1.
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2024/10/31
//
//****************************************************************************
// RMAP should be set before calling this macro.
#define UART1_vRxEnable() REN_1 = 1
//****************************************************************************
// @Macro UART1_vRxDisable()
//
//----------------------------------------------------------------------------
// @Description This macro disables the receive function of the UART1 by
// clearing bit REN_1.
// Note: Any data that is currently being received is received
// to completion, including the setting of interrupt flag RI_1.
//
//----------------------------------------------------------------------------
// @Returnvalue None
//
//----------------------------------------------------------------------------
// @Parameters None
//
//----------------------------------------------------------------------------
// @Date 2024/10/31
//
//****************************************************************************
// RMAP should be set before calling this macro.
#define UART1_vRxDisable() REN_1 = 0
//****************************************************************************
// @Interrupt Vectors
//****************************************************************************
// USER CODE BEGIN (UART1_Header,9)
// USER CODE END
#endif // ifndef _UART1_H_

22
User.c
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@@ -17,9 +17,6 @@ bit FlgOneTime = 0;
ubyte uart2RxFlag = 0; ubyte uart2RxFlag = 0;
uword RgCanPerid = 50; uword RgCanPerid = 50;
ubyte can_error_cnt = 0;
ubyte can_error_flg = 0;
//PWM 20181227 //PWM 20181227
ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
//----------------------------------------------------------------------- //-----------------------------------------------------------------------
@@ -52,7 +49,7 @@ SBusData* parseSBusData(const uint8_t *input_data)
sbus_data.channels[10] = (input_data[14] >> 6 | input_data[15] << 2 | input_data[15] << 10) & 0x07FF; sbus_data.channels[10] = (input_data[14] >> 6 | input_data[15] << 2 | input_data[15] << 10) & 0x07FF;
sbus_data.channels[11] = (input_data[16] >> 1 | input_data[17] << 7) & 0x07FF; sbus_data.channels[11] = (input_data[16] >> 1 | input_data[17] << 7) & 0x07FF;
sbus_data.channels[12] = (input_data[17] >> 4 | input_data[18] << 4) & 0x07FF; sbus_data.channels[12] = (input_data[17] >> 4 | input_data[18] << 4) & 0x07FF;
sbus_data.channels[13] = (input_data[18] >> 7 | input_data[19] << 1 | input_data[20] << 9) & 0x07FF; sbus_data.channels[13] = (input_data[18] >> 7 | input_data[19] << 1 | input_data[19] << 9) & 0x07FF;
sbus_data.channels[14] = (input_data[20] >> 2 | input_data[21] << 6) & 0x07FF; sbus_data.channels[14] = (input_data[20] >> 2 | input_data[21] << 6) & 0x07FF;
sbus_data.channels[15] = (input_data[21] >> 5 | input_data[22] << 3) & 0x07FF; sbus_data.channels[15] = (input_data[21] >> 5 | input_data[22] << 3) & 0x07FF;
@@ -355,6 +352,9 @@ void sbusCanDecode(void)
} }
//CAN<41><4E><EFBFBD>ͽ<EFBFBD><CDBD><EFBFBD> //CAN<41><4E><EFBFBD>ͽ<EFBFBD><CDBD><EFBFBD>
void CanRXTX(void) void CanRXTX(void)
{ {
@@ -426,8 +426,8 @@ void CanRXTX(void)
// sbus_temp[1] = 3; // sbus_temp[1] = 3;
detectLedState(&blink_detector, sbus_temp[0], &sbus_temp[1]); detectLedState(&blink_detector, sbus_temp[0], &sbus_temp[1]);
// UnRemoteControlOutput_2.bit_data.enable = blink_detector.current_state;// UnRemoteControlOutput_2.bit_data.enable = blink_detector.current_state;//
// UnRemoteControlOutput_2.bit_data.reserve1 = sbus_temp[1]; UnRemoteControlOutput_2.bit_data.reserve1 = sbus_temp[1];
if( (MATCH_CMD == UnInfCan_1.ArrData.ArrRX[0][0]) || (CHANGE_CMD == UnInfCan_1.ArrData.ArrRX[0][0]) )//<2F><>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD> if( (MATCH_CMD == UnInfCan_1.ArrData.ArrRX[0][0]) || (CHANGE_CMD == UnInfCan_1.ArrData.ArrRX[0][0]) )//<2F><>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>
@@ -480,16 +480,6 @@ void CanRXTX(void)
CanTransmit(DF_SwTx,(ubyte *)&UnRemoteControlOutput_1.arr[0]); CanTransmit(DF_SwTx,(ubyte *)&UnRemoteControlOutput_1.arr[0]);
CanTransmit(DF_SwTx1,(ubyte *)&UnRemoteControlOutput_2.arr[0]); CanTransmit(DF_SwTx1,(ubyte *)&UnRemoteControlOutput_2.arr[0]);
} }
if( (0x40 == can_error_cnt) || (0x80 == can_error_cnt) )//20250625<32>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>
{
can_error_flg = can_error_cnt;
CAN_vInit();
can_error_cnt = 0;
}
} }

1
user.H
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@@ -149,7 +149,6 @@ extern bit FlgCan_1;
extern ubyte rxbuf[25]; extern ubyte rxbuf[25];
extern ubyte uart2RxFlag; extern ubyte uart2RxFlag;
extern ubyte can_error_cnt;
void CanRXTX(void); void CanRXTX(void);