@@ -1,464 +1,493 @@
# include "app_config.h"
# include "app_frm_monitor.h"
# include "app_frm_signal.h"
# include "app_frm_timer.h"
# include "app_param_manage.h"
# define E2_RESERVE_COUNT 0x20 //增加IP地址 修改为0x20 20250110
// 待发送的参数请求信号
UnParamRequest un_param_request1 ;
UnParamRequest un_param_request2 ;
RequestContext request_send ;
RequestContext request_context ;
uint8_t read_write_e2_finished = 0 ;
// 定义全局信号实例，读写信号现在包括 offset 和 size
ParamSignal param_signal = {
. param_ptr = NULL , // 参数指针初始化为 NULL
. type = READ_OPERATION , // 操作类型设置为读操作
. offset = 0 , // 整个数据块的偏移
. size = sizeof ( param_manager . arr ) // 整个数据块的大小
} ;
// 全局变量：初始化参数名称结构体
ParamNames param_names = {
# define X(name) .name = #name,
PARAM_LIST
# undef X
} ;
UnParamManager param_manager ;
static uint8_t is_param_initialized = 0 ;
// 打印所有参数的名称和值, 每行 4 个参数
void printParams ( )
{
unsigned int param_count = 0 ;
# define X(name) \
printf("%-8s: %-8.2f", param_names.name, param_manager.bit_data.name); \
param_count++; \
if (param_count % 4 == 0) { \
printf("\n"); \
} else { \
printf(" "); \
}
PARAM_LIST
# undef X
// 如果最后一行不足 4 个参数, 打印换行
if ( param_count % 4 ! = 0 )
{
printf ( " \n " ) ;
}
}
void writeByte24c02 ( uint16_t addr , uint8_t data )
{
if ( 0 ! = wrbyte_24c02 ( addr , data ) )
{
printf ( " E2PROM write error! \n " ) ;
}
}
uint8_t readByte24c02 ( uint16_t addr )
{
return rdbyte_24c02 ( addr ) ;
}
// 定义一个通用的 EEPROM 访问函数
uint8_t accessEeprom ( size_t offset , void * data , size_t size , OperationType type )
{
if ( data = = NULL | | size = = 0 )
{
return 1 ; // 返回错误状态，表示无效的参数
}
uint8_t * byte_data = ( uint8_t * ) data ; // 将 void* 转换为 uint8_t*，方便逐字节操作
size_t index ;
if ( type = = WRITE_OPERATION )
{
// 写入操作
for ( index = 0 ; index < size ; index + + )
{
writeByte24c02 ( ( uint16_t ) ( offset + index + E2_RESERVE_COUNT ) , byte_data [ index ] ) ;
udelay ( 4000 ) ; //写入一个字节延时4ms
}
// 校验
for ( index = 0 ; index < size ; index + + )
{
if ( readByte24c02 ( ( uint16_t ) ( offset + index + E2_RESERVE_COUNT ) ) ! = byte_data [ index ] )
{
return 2 ; // 返回错误状态，表示写入验证失败
}
}
}
else
{
// 读取操作
for ( index = 0 ; index < size ; index + + )
{
byte_data [ index ] = readByte24c02 ( ( uint16_t ) ( offset + index + E2_RESERVE_COUNT ) ) ;
}
}
return 0 ; // 返回状态，表示成功
}
void handleParamOp ( void * data )
{
ParamSignal * signal = ( ParamSignal * ) data ;
if ( signal - > param_ptr = = NULL )
{
// 操作整个参数管理器
if ( accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , signal - > type ) = = 0 )
{
read_write_e2_finished = 1 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写成功
}
else
{
read_write_e2_finished = 2 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写失败
}
}
else
{
// 根据信号中的偏移和大小操作单个参数
if ( accessEeprom ( signal - > offset , signal - > param_ptr , signal - > size , signal - > type ) = = 0 )
{
read_write_e2_finished = 1 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写成功
}
else
{
read_write_e2_finished = 2 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写失败
}
}
}
uint8_t calculateCRC ( const uint8_t * data , uint32_t length ) {
uint8_t crc = 0 ;
for ( uint32_t i = 0 ; i < length ; + + i ) {
crc + = data [ i ] ; // 简单的校验和，按字节累加
}
return crc ;
}
float readParameter ( const char * param_name ) {
float float_value = 0 ;
unsigned int offset = 0 ;
# define X(name) \
if (strcmp(param_name, param_names.name) == 0) { \
accessEeprom(offset, ¶m_manager.bit_data.name,sizeof(param_manager.bit_data.name), READ_OPERATION);\
memcpy(&float_value, ¶m_manager.bit_data.name, sizeof(param_manager.bit_data.name)); \
return float_value; \
} \
offset += 4;
PARAM_LIST
# undef X
printf ( " Parameter not found: %s \n " , param_name ) ;
return 0 ;
}
void writeParameter ( const char * param_name , const uint8_t * data ) {
unsigned int offset = 0 ;
# define X(name) \
if (strcmp(param_name, param_names.name) == 0) { \
memcpy(¶m_manager.bit_data.name, data, sizeof(param_manager.bit_data.name)); \
accessEeprom(offset, ¶m_manager.bit_data.name,sizeof(param_manager.bit_data.name), WRITE_OPERATION);\
return; \
} \
offset += 4;
PARAM_LIST
# undef X
printf ( " Parameter not found: %s \n " , param_name ) ;
}
void sendParamRequestResponse ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port , uint8_t isWriteOperation ) {
// 准备响应帧
paramRequest - > bit_data . frame_header = 0xFF80 ;
paramRequest - > bit_data . frame_type = 0x002B ;
paramRequest - > bit_data . frame_length = sizeof ( StrParamRequest ) ;
paramRequest - > bit_data . accumulated = 0 ;
paramRequest - > bit_data . request_id = isWriteOperation ? 98 : 99 ;
paramRequest - > bit_data . crc = calculateCRC ( paramRequest - > arr , sizeof ( paramRequest - > arr ) - 1 ) ;
request_send . param_request = paramRequest ;
request_send . sender_ip = sender_ip ;
request_send . sender_port = sender_port ;
// 发送信号，
publishMessage ( & request_send , 1 ) ;
}
void processReadAllParams ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port ) {
uint8_t allParams [ 256 ] [ 4 ] ; // Size based on E2 size
unsigned int i = 0 ;
float param_value ;
uint8_t exceeded_max = 0 ; // 新增标志变量
// 清零 paramRequest
memset ( paramRequest , 0 , sizeof ( UnParamRequest ) ) ;
accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , READ_OPERATION ) ;
printf ( " Sending parameter data: \n " ) ;
# define X(name) \
if (!exceeded_max) { \
if (i < 256) { \
strncpy((char *)paramRequest->bit_data.param_name[i], #name, sizeof(paramRequest->bit_data.param_name[i]) - 1); \
paramRequest->bit_data.param_name[i][sizeof(paramRequest->bit_data.param_name[i]) - 1] = '\0'; \
memcpy(allParams[i], ¶m_manager.bit_data.name, sizeof(param_manager.bit_data.name)); \
memcpy(¶m_value, allParams[i], sizeof(float)); \
printf("Parameter name: %-20s Value: %f\n", #name, param_value); \
i++; \
} else { \
printf("Warning: Exceeded maximum number of parameters\n"); \
exceeded_max = 1; \
} \
}
PARAM_LIST
# undef X
// Pack all parameter data into paramRequest
memcpy ( paramRequest - > bit_data . data , allParams , sizeof ( allParams ) ) ;
printf ( " Total parameters sent: %d \n " , i ) ;
// Send response
sendParamRequestResponse ( paramRequest , sender_ip , sender_port , 0 ) ;
}
void processWriteRequestFrame ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port ) {
float value ;
printf ( " Processing write request. \n " ) ;
// 先发送信号，然后从结构体读数
for ( int i = 0 ; i < 256 ; + + i ) {
if ( strlen ( ( char * ) paramRequest - > bit_data . param_name [ i ] ) > 0 ) {
writeParameter ( paramRequest - > bit_data . param_name [ i ] , paramRequest - > bit_data . data [ i ] ) ;
printf ( " paramRequest->bit_data.param_name[i]:%s \n " , paramRequest - > bit_data . param_name [ i ] ) ;
memcpy ( & value , paramRequest - > bit_data . data [ i ] , sizeof ( float ) ) ;
printf ( " paramRequest->bit_data.data[i]:%f \n " , value ) ;
}
}
// 发送响应，发送所有参数
processReadAllParams ( paramRequest , sender_ip , sender_port ) ;
}
void processReadRequestFrame ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port ) {
// 处理读请求的逻辑
printf ( " Processing read request. \n " ) ;
// 清零 p aramRequest
memset ( paramRequest, 0 , sizeof ( UnParamRequest ) ) ;
// 先发送信号，然后从结构体读数
for ( int i = 0 ; i < 256 ; + + i ) {
if ( strlen ( ( char * ) paramRequest - > bit_data . param_name [ i ] ) > 0 ) {
float readData = readParameter ( paramRequest - > bit_data . param_name [ i ] ) ;
memcpy ( paramRequest - > bit_data . data [ i ] , & readData , sizeof ( paramRequest - > bit_data . data [ i ] ) ) ;
}
}
// 发送响应
sendParamRequestResponse ( paramRequest , sender_ip , sender_port , 0 ) ;
}
void OnParamSignal ( void * data )
{
RequestContext * signal = ( RequestContext * ) data ;
uint8_t * datagram = ( uint8_t * ) signal - > param_request - > arr ;
uint16_t request_id = ( ( uint16_t ) datagram [ 7 ] < < 8 ) | ( uint16_t ) datagram [ 8 ] ; // 大端模式
// 调试输出
printf ( " Received request ID: 0x%04X \n " , request_id ) ;
// 计算CRC
uint8_t calculatedCrc = calculateCRC ( datagram , sizeof ( UnParamRequest ) - 1 ) ;
uint8_t receivedCrc = datagram [ sizeof ( UnParamRequest ) - 1 ] ;
// 比较CRC
if ( calculatedCrc ! = receivedCrc )
{
printf ( " CRC check failed, discarding data \n " ) ;
printf ( " Calculated CRC: 0x%02X, Received CRC: 0x%02X \n " , calculatedCrc , receivedCrc ) ;
return ;
}
printf ( " CRC check passed \n " ) ;
if ( request_id = = 100 )
{ // 读请求
processReadRequestFrame ( signal - > param_request , signal - > sender_ip , signal - > sender_port ) ;
}
else i f ( request_id = = 101 )
{ // 写请求
processWriteRequestFrame ( signal - > param_request , signal - > sender_ip , signal - > sender_port ) ;
}
else if ( request_id = = 102 )
{ // 读取所有参数
processReadAllParams ( signal - > param_request , signal - > sender_ip , signal - > sender_port ) ;
}
else
{
printf ( " Unknown request ID. \n " ) ;
return ;
}
}
float getParam ( const char * param_name )
{
// 检查是否已初始化
if ( ! is_param_initialized )
{
printf ( " Parameters not initialized, reinitializing \n " ) ;
accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , READ_OPERATION ) ; //Read all parameters from E2
is_param_initialized = 1 ; // Mark as initialized
printParams ( ) ;
return 0.0f ;
}
// 检查参数名是否为空
if ( param_name = = NULL )
{
printf ( " Error: Parameter name is empty \n " ) ;
return 0.0f ;
}
// 遍历所有参数
# define X(name) \
if (strcmp(param_name, #name) == 0) \
{ \
return param_manager.bit_data.name; \
}
PARAM_LIST
# undef X
// 如果没有找到匹配的参数名
printf ( " Error: Parameter %s not found \n " , param_name ) ;
return 0.0f ;
}
// setParam 函数
uint8_t setParam ( const char * param_name , float value )
{
// 检查参数名是否为空
if ( param_name = = NULL )
{
printf ( " Error: Parameter name is empty \n " ) ;
return 2 ; // 返回错误码
}
// 参数名和值写入EEPROM，
uint8_t data [ sizeof ( float ) ] ;
memcpy ( data , & value , sizeof ( float ) ) ;
writeParameter ( param_name , data ) ;
// 更新参数
# define X(name) \
if (strcmp(param_name, #name) == 0) \
{ \
memcpy(¶m_manager.bit_data.name, data, sizeof(param_manager.bit_data.name)); \
}
PARAM_LIST
# undef X
return 0 ;
}
void paramAppInit ( void )
{
// 初始化全局变量
set ( & un_param_request1 , 0 , sizeof ( UnParamRequest ) ) ;
memset ( & un_param_request2 , 0 , sizeof ( UnParamRequest ) ) ;
// 正确初始化 RequestContext 结构体
request_send . param_request = & un_param_request1 ;
quest_send . sender_ip = 0 ;
request_send . sender_port = 0 ;
request_context . param_request = & un_param_request2 ;
request_context . sender_ip = 0 ;
request_context . sender_port = 0 ;
// 上电读取所有参数
memset ( param_manager . arr , 0 , sizeof ( param_manager . arr ) ) ;
accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , READ_OPERATION ) ;
// 初始化每个参数
// param_manager.bit_data.whl_bas = 1.5f; // 初始化轮距
// param_manager.bit_data.max_rpm = 5500.0f; // 初始化最大转速
// param_manager.bit_data.whl_dia = 0.6f; // 初始化轮直径
// param_manager.bit_data.max_acc = 1.0f; // 初始化最大加速度
// param_manager.bit_data.spd_kp = 5.0f; // 初始化速度控制 KP
// param_manager.bit_data.spd_ki = 1.0f; // 初始化速度控制 KI
// param_manager.bit_data.spd_kd = 0.0f; // 初始化速度控制 KD
// param_manager.bit_data.spd_il = 5.0f; // 初始化速度控制 IL
// param_manager.bit_data.spd_ol = 5.0f; // 初始化速度控制 OL
// param_manager.bit_data.crv_kp = 1.0f; // 初始化曲线控制 KP
// param_manager.bit_data.crv_ki = 0.0f; // 初始化曲线控制 KI
// param_manager.bit_data.crv_kd = 0.0f; // 初始化曲线控制 KD
// param_manager.bit_data.crv_il = 2.0f; // 初始化曲线控制 IL
// param_manager.bit_data.crv_ol = 2.0f; // 初始化曲线控制 OL
// param_manager.bit_data.brk_on = 1500.0f; // 初始化制动开启参数
// param_manager.bit_data.brk_off = 800.0f; // 初始化制动关闭参数
// param_manager.bit_data.maxTorq = 60.0f; // 初始化最大扭矩
// param_manager.bit_data.feedPwr = 10000.0f; // 初始化馈电功率
// param_manager.bit_data.dispPwr = 10000.0f; // 初始化显示功率
// param_manager.bit_data.VehMass = 700.0f; // 初始化车辆质量
// param_manager.bit_data.gRatio = 28.0f; // 初始化减速比
// param_manager.bit_data.prCTime = 5.0f; // 初始化预充时间
// param_manager.bit_data.brk_pos = 0.0f; // 初始化刹车位置, 0表示未刹车
// param_manager.bit_data.pwr_sta = 0.0f; // 初始化电源状态
// param_manager.bit_data.lightSt = 0.0f; // 初始化灯光状态
// param_manager.bit_data.pwr_btn = 0.0f; // 初始化电源按钮状态
// param_manager.bit_data.test = 0.0f; // 初始化测试参数
// 订阅信号
subscribe ( & param_signal , handleParamOp ) ;
subscribe ( & request_context , OnParamSignal ) ; // 接收到上位机读写参数信号
printParams ( ) ; //打印所有参数
is_param_initialized = 1 ; // 标记初始化完成
printf ( " paramAPP init OK! %d \n " , getCurrentTime ( ) ) ;
}
# include "app_config.h"
# include "app_frm_monitor.h"
# include "app_frm_signal.h"
# include "app_frm_timer.h"
# include "app_param_manage.h"
# define E2_RESERVE_COUNT 0x20 //增加IP地址 修改为0x20 20250110
// 待发送的参数请求信号
UnParamRequest un_param_request1 ;
UnParamRequest un_param_request2 ;
RequestContext request_send ;
RequestContext request_context ;
uint8_t read_write_e2_finished = 0 ;
// 定义全局信号实例，读写信号现在包括 offset 和 size
ParamSignal param_signal = {
. param_ptr = NULL , // 参数指针初始化为 NULL
. type = READ_OPERATION , // 操作类型设置为读操作
. offset = 0 , // 整个数据块的偏移
. size = sizeof ( param_manager . arr ) // 整个数据块的大小
} ;
// 全局变量：初始化参数名称结构体
ParamNames param_names = {
# define X(name) .name = #name,
PARAM_LIST
# undef X
} ;
UnParamManager param_manager ;
static uint8_t is_param_initialized = 0 ;
// 打印所有参数的名称和值, 每行 4 个参数
void printParams ( )
{
unsigned int param_count = 0 ;
# define X(name) \
printf("%-8s: %-8.2f", param_names.name, param_manager.bit_data.name); \
param_count++; \
if (param_count % 4 == 0) { \
printf("\n"); \
} else { \
printf(" "); \
}
PARAM_LIST
# undef X
// 如果最后一行不足 4 个参数, 打印换行
if ( param_count % 4 ! = 0 )
{
printf ( " \n " ) ;
}
}
void writeByte24c02 ( uint16_t addr , uint8_t data )
{
if ( 0 ! = wrbyte_24c02 ( addr , data ) )
{
printf ( " E2PROM write error! \n " ) ;
}
}
uint8_t readByte24c02 ( uint16_t addr )
{
return rdbyte_24c02 ( addr ) ;
}
// 定义一个通用的 EEPROM 访问函数
uint8_t accessEeprom ( size_t offset , void * data , size_t size , OperationType type )
{
if ( data = = NULL | | size = = 0 )
{
return 1 ; // 返回错误状态，表示无效的参数
}
uint8_t * byte_data = ( uint8_t * ) data ; // 将 void* 转换为 uint8_t*，方便逐字节操作
size_t index ;
if ( type = = WRITE_OPERATION )
{
// 写入操作
for ( index = 0 ; index < size ; index + + )
{
writeByte24c02 ( ( uint16_t ) ( offset + index + E2_RESERVE_COUNT ) , byte_data [ index ] ) ;
udelay ( 4000 ) ; //写入一个字节延时4ms
}
// 校验
for ( index = 0 ; index < size ; index + + )
{
if ( readByte24c02 ( ( uint16_t ) ( offset + index + E2_RESERVE_COUNT ) ) ! = byte_data [ index ] )
{
return 2 ; // 返回错误状态，表示写入验证失败
}
}
}
else
{
// 读取操作
for ( index = 0 ; index < size ; index + + )
{
byte_data [ index ] = readByte24c02 ( ( uint16_t ) ( offset + index + E2_RESERVE_COUNT ) ) ;
}
}
return 0 ; // 返回状态，表示成功
}
void handleParamOp ( void * data )
{
ParamSignal * signal = ( ParamSignal * ) data ;
if ( signal - > param_ptr = = NULL )
{
// 操作整个参数管理器
if ( accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , signal - > type ) = = 0 )
{
read_write_e2_finished = 1 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写成功
}
else
{
read_write_e2_finished = 2 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写失败
}
}
else
{
// 根据信号中的偏移和大小操作单个参数
if ( accessEeprom ( signal - > offset , signal - > param_ptr , signal - > size , signal - > type ) = = 0 )
{
read_write_e2_finished = 1 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写成功
}
else
{
read_write_e2_finished = 2 ;
publishMessage ( & read_write_e2_finished , 1 ) ; // 读写失败
}
}
}
uint8_t calculateCRC ( const uint8_t * data , uint32_t length ) {
uint8_t crc = 0 ;
for ( uint32_t i = 0 ; i < length ; + + i ) {
crc + = data [ i ] ; // 简单的校验和，按字节累加
}
return crc ;
}
float readParameter ( const char * param_name ) {
float float_value = 0 ;
unsigned int offset = 0 ;
# define X(name) \
if (strcmp(param_name, param_names.name) == 0) { \
accessEeprom(offset, ¶m_manager.bit_data.name,sizeof(param_manager.bit_data.name), READ_OPERATION);\
memcpy(&float_value, ¶m_manager.bit_data.name, sizeof(param_manager.bit_data.name)); \
return float_value; \
} \
offset += 4;
PARAM_LIST
# undef X
printf ( " Parameter not found: %s \n " , param_name ) ;
return 0 ;
}
void writeParameter ( const char * param_name , const uint8_t * data ) {
unsigned int offset = 0 ;
# define X(name) \
if (strcmp(param_name, param_names.name) == 0) { \
memcpy(¶m_manager.bit_data.name, data, sizeof(param_manager.bit_data.name)); \
accessEeprom(offset, ¶m_manager.bit_data.name,sizeof(param_manager.bit_data.name), WRITE_OPERATION);\
return; \
} \
offset += 4;
PARAM_LIST
# undef X
printf ( " Parameter not found: %s \n " , param_name ) ;
}
void sendParamRequestResponse ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port , uint8_t isWriteOperation ) {
// 准备响应帧
paramRequest - > bit_data . frame_header = 0xFF80 ;
paramRequest - > bit_data . frame_type = 0x002B ;
paramRequest - > bit_data . frame_length = sizeof ( StrParamRequest ) ;
paramRequest - > bit_data . accumulated = 0 ;
paramRequest - > bit_data . request_id = isWriteOperation ? 98 : 99 ;
paramRequest - > bit_data . crc = calculateCRC ( paramRequest - > arr , sizeof ( paramRequest - > arr ) - 1 ) ;
request_send . param_request = paramRequest ;
request_send . sender_ip = sender_ip ;
request_send . sender_port = sender_port ;
// 发送信号，
publishMessage ( & request_send , 1 ) ;
}
void processReadAllParams ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port ) {
uint8_t allParams [ 256 ] [ 4 ] ; // Size based on E2 size
unsigned int i = 0 ;
float param_value ;
uint8_t exceeded_max = 0 ; // 新增标志变量
// 清零 paramRequest
memset ( paramRequest , 0 , sizeof ( UnParamRequest ) ) ;
accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , READ_OPERATION ) ;
printf ( " Sending parameter data: \n " ) ;
# define X(name) \
if (!exceeded_max) { \
if (i < 256) { \
strncpy((char *)paramRequest->bit_data.param_name[i], #name, sizeof(paramRequest->bit_data.param_name[i]) - 1); \
paramRequest->bit_data.param_name[i][sizeof(paramRequest->bit_data.param_name[i]) - 1] = '\0'; \
memcpy(allParams[i], ¶m_manager.bit_data.name, sizeof(param_manager.bit_data.name)); \
memcpy(¶m_value, allParams[i], sizeof(float)); \
printf("Parameter name: %-20s Value: %f\n", #name, param_value); \
i++; \
} else { \
printf("Warning: Exceeded maximum number of parameters\n"); \
exceeded_max = 1; \
} \
}
PARAM_LIST
# undef X
// Pack all parameter data into paramRequest
memcpy ( paramRequest - > bit_data . data , allParams , sizeof ( allParams ) ) ;
printf ( " Total parameters sent: %d \n " , i ) ;
// Send response
sendParamRequestResponse ( paramRequest , sender_ip , sender_port , 0 ) ;
}
void processWriteRequestFrame ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port ) {
float value ;
printf ( " Processing write request. \n " ) ;
// 先发送信号，然后从结构体读数
for ( int i = 0 ; i < 256 ; + + i ) {
if ( strlen ( ( char * ) paramRequest - > bit_data . param_name [ i ] ) > 0 ) {
writeParameter ( paramRequest - > bit_data . param_name [ i ] , paramRequest - > bit_data . data [ i ] ) ;
printf ( " paramRequest->bit_data.param_name[i]:%s \n " , paramRequest - > bit_data . param_name [ i ] ) ;
memcpy ( & value , paramRequest - > bit_data . data [ i ] , sizeof ( float ) ) ;
printf ( " paramRequest->bit_data.data[i]:%f \n " , value ) ;
}
}
// 发送响应，发送所有参数
processReadAllParams ( paramRequest , sender_ip , sender_port ) ;
}
void processReadRequestFrame ( UnParamRequest * paramRequest , uint32_t sender_ip , uint16_t sender_port ) {
printf ( " Processing read request. \n " ) ;
// 先备份原始请求数据
UnP aramRequestoriginalRequest ;
memcpy ( & originalRequest , paramRequest , sizeof ( UnParamRequest ) ) ;
// 清零响应数据
memset ( paramRequest , 0 , sizeof ( UnParamRequest ) ) ;
// 处理客户端请求的参数
for ( int i = 0 ; i < 256 ; + + i ) {
if ( strlen ( ( char * ) originalRequest . bit_data . param_name [ i ] ) > 0 ) {
// 复制参数名到响应
strcpy ( ( char * ) paramRequest - > bit_data . param_name [ i ] ,
( char * ) originalRequest . bit_data . param_name [ i ] ) ;
// 读取参数值
float readData = readParameter ( originalRequest . bit_data . param_name [ i ] ) ;
memcpy ( paramRequest - > bit_data . data [ i ] , & readData , sizeof ( float ) ) ;
printf ( " Read parameter: %s = %f \n " ,
originalRequest . bit_data . param_name [ i ] , readData ) ;
}
}
// 发送响应 - 直接传递 paramRequest
sendParamRequestResponse ( paramRequest , sender_ip , sender_port , 0 ) ;
}
void OnParamSignal ( void * data )
{
RequestContext * signal = ( RequestContext * ) data ;
uint8_t * datagram = ( uint8_t * ) signal - > param_request - > arr ;
uint16_t request_id = ( ( uint16_t ) datagram [ 7 ] < < 8 ) | ( uint16_t ) datagram [ 8 ] ; // 大端模式
// 调试输出
printf ( " Received request ID: 0x%04X \n " , request_id ) ;
// 计算CRC
uint8_t calculatedCrc = calculateCRC ( datagram , sizeof ( UnParamRequest ) - 1 ) ;
uint8_t receivedCrc = datagram [ sizeof ( UnParamRequest ) - 1 ] ;
// 比较CRC
if ( calculatedCrc ! = receivedCrc )
{
print f ( " CRC check failed, discarding data \n " ) ;
printf ( " Calculated CRC: 0x%02X, Received CRC: 0x%02X \n " , calculatedCrc , receivedCrc ) ;
return ;
}
printf ( " CRC check passed \n " ) ;
if ( request_id = = 100 )
{ // 读请求
processReadRequestFrame ( signal - > param_request , signal - > sender_ip , signal - > sender_port ) ;
}
else if ( request_id = = 101 )
{ // 写请求
processWriteRequestFrame ( signal - > param_request , signal - > sender_ip , signal - > sender_port ) ;
}
else if ( request_id = = 102 )
{ // 读取所有参数
processReadAllParams ( signal - > param_request , signal - > sender_ip , signal - > sender_port ) ;
}
else
{
printf ( " Unknown request ID. \n " ) ;
return ;
}
}
float getParam ( const char * param_name )
{
// 检查是否已初始化
if ( ! is_param_initialized )
{
printf ( " Parameters not initialized, reinitializing \n " ) ;
accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , READ_OPERATION ) ; //Read all parameters from E2
is_param_initialized = 1 ; // Mark as initialized
printParams ( ) ;
return 0.0f ;
}
// 检查参数名是否为空
if ( param_name = = NULL )
{
printf ( " Error: Parameter name is empty \n " ) ;
return 0.0f ;
}
// 遍历所有参数
# define X(name) \
if (strcmp(param_name, #name) == 0) \
{ \
return param_manager.bit_data.name; \
}
PARAM_LIST
# undef X
// 如果没有找到匹配的参数名
printf ( " Error: Parameter %s not found \n " , param_name ) ;
return 0.0f ;
}
// setParam 函数
uint8_t setParam ( const char * param_name , float value )
{
// 检查参数名是否为空
if ( param_name = = NULL )
{
printf ( " Error: Parameter name is empty \n " ) ;
return 2 ; // 返回错误码
}
// 参数名和值写入EEPROM，
uint8_t data [ sizeof ( float ) ] ;
memcpy ( data , & value , sizeof ( float ) ) ;
writeParameter ( param_name , data ) ;
// 更新参数
# define X(name) \
if (strcmp(param_name, #name) == 0) \
{ \
memcpy(¶m_manager.bit_data.name, data, sizeof(param_manager.bit_data.name)); \
}
PARAM_LIST
# undef X
turn 0 ;
}
void paramAppInit ( void )
{
// 初始化全局变量
memset ( & un_param_request1 , 0 , sizeof ( UnParamRequest ) ) ;
memset ( & un_param_request2 , 0 , sizeof ( UnParamRequest ) ) ;
// 正确初始化 RequestContext 结构体
request_send . param_request = & un_param_request1 ;
request_send . sender_ip = 0 ;
request_send . sender_port = 0 ;
request_context . param_request = & un_param_request2 ;
request_context . sender_ip = 0 ;
request_context . sender_port = 0 ;
// 上电读取所有参数
memset ( . arr , 0 , sizeof ( param_manager . arr ) ) ;
accessEeprom ( 0 , param_manager . arr , sizeof ( param_manager . arr ) , READ_OPERATION ) ;
// whl_bas 轮胎直径
// max_rpm 最大转速
// whl_dia 轴距
// max_acc 最大加速度
// spd_kp 速度P
// spd_ki 速度I
// spd_kd 速度D
// spd_il 速度积分限制
// spd_ol 速度PID输出限制
// crv_kp 转弯P
// crv_ki 转弯I
// crv_kd 转弯D
// crv_il 转弯积分限制
// crv_ol 转弯PID输出限制
// brk_on 刹车刹紧时间
// brk_off 刹车释放时间
// maxTorq 最大扭矩
// feedPwr 最大馈电功率
// dispPwr 最大放电功率
// VehMass 车重
// gRatio 减速比
// prCTime 预充电时间
// brk_pos 刹车位置
// pwr_sta 电源状态
// high_sw 高压开关状态
// stop_sw 急停开关状态
// lightSt 灯光状态
// pwr_btn 电源开关状态
// sleepTm 休眠时间
// wakeTm 唤醒时间
// Ospd_kp 自主速度P
// Ospd_ki 自主速度I
// Ospd_kd 自主速度D
// Ospd_il 自主速度积分限制
// Ospd_ol 自主速度PID输出限制
// Ocrv_kp 自主转弯P
// Ocrv_ki 自主转弯I
// Ocrv_kd 自主转弯D
// Ocrv_il 自主转弯积分限制
// Ocrv_ol 自主转弯PID输出限制
// minTorq 输出扭矩死区
// brk_rev 刹车方向
// mot_kp 同侧扭矩P参数
// mot_ki 同侧扭矩I参数
// mot_kd 同侧扭矩d参数
// mot_il 同侧扭矩积分限制
// mot_ol 同侧扭矩输出限制
// diff_sp 同侧扭矩速度差阈值
// test 初始化测试参数
// 订阅信号
subscribe ( & param_signal , handleParamOp ) ;
subscribe ( & request_context , OnParamSignal ) ; // 接收到上位机读写参数信号
printParams ( ) ; //打印所有参数
is_param_initialized = 1 ; // 标记初始化完成
printf ( " paramAPP init OK! %d \n " , getCurrentTime ( ) ) ;
}
