From 4ab1552077b2a8fabbc9afc71b575ac9bb739684 Mon Sep 17 00:00:00 2001 From: 16623070030 <1579810731@qq.com> Date: Thu, 12 Oct 2023 09:23:54 +0800 Subject: [PATCH] add USART4_RX CMD --- HARDWARE/ADC/adc.c | 4 +- HARDWARE/ANO/ano_protocol.c | 109 +++++++++++++++++++++++++++---- HARDWARE/ANO/ano_protocol.h | 15 +++-- HARDWARE/ANO/usartlink.c | 51 ++++++++++++++- SYSTEM/usart/usart4.c | 85 +++++++++++++++++------- SYSTEM/usart/usart4.h | 2 +- USER/USER.uvguix.jiangke1 | 124 ++++++++++-------------------------- USER/include.h | 2 + USER/main.c | 5 +- USER/paxing_ctrl.c | 4 +- USER/tasks_entry.h | 2 +- 11 files changed, 267 insertions(+), 136 deletions(-) diff --git a/HARDWARE/ADC/adc.c b/HARDWARE/ADC/adc.c index 69c4b2f..aeae4a4 100644 --- a/HARDWARE/ADC/adc.c +++ b/HARDWARE/ADC/adc.c @@ -11,7 +11,7 @@ #define rccMY_ADC RCC_APB2Periph_ADC1 #define MY_ADC ADC1 static uint16_t pres_get_t=40; -static int16_t AIR_DELDA_P = -370; +static int16_t AIR_DELDA_P = -310; static uint16_t x_data[ADC_CHANNELS_NUM]={0,0,0,0,0,0,0}; //×ÔÈ»ÎÞÎü¸½Á¦Ê±¸÷ÎüÅÌѹÁ¦»ù´¡Öµ SHELL_EXPORT_VAR(SHELL_CMD_PERMISSION(0)|SHELL_CMD_TYPE(SHELL_TYPE_VAR_SHORT), @@ -240,6 +240,8 @@ void airPress_LED_task(void* pp) x_data[6]=data[6]; //±£´æζÈÖµ if(5==a){ send_adc_val(data); + vTaskDelay(5); + send_manual_adc(x_data); a=0; } vTaskDelay(pres_get_t); diff --git a/HARDWARE/ANO/ano_protocol.c b/HARDWARE/ANO/ano_protocol.c index 85cc885..290519e 100644 --- a/HARDWARE/ANO/ano_protocol.c +++ b/HARDWARE/ANO/ano_protocol.c @@ -1,10 +1,17 @@ #include "ano_protocol.h" xQueueHandle PacketTx_2_UsartTxQueue; +xQueueHandle UsartRx_2_PacketAnalyQueue; + +extern uint32_t GiveScrewMotorCmd(uint32_t evt,void (*cb)(void)); +extern int manual_update_xdata(int sample_num, int doWrite); +extern int give_pax_task_cmd(uint32_t dir, uint32_t step_num); +extern void GiveJointCtrlTaskCmd(uint32_t task); void RX_Queue_init(void) { PacketTx_2_UsartTxQueue = xQueueCreate(20, sizeof(ANO_t)); // ´ÓÈÎÎñUsartRxTask·¢ËͶÓÁе½ANOAnlTask + UsartRx_2_PacketAnalyQueue = xQueueCreate(10, 15 ); //¶ÓÁд´½¨xQueueCreate£¨ÏûÏ¢¶ÓÁеĴóС¼¼¼´¿ÉÒԷŶàÉÙ¸öÏûÏ¢£¬Ã¿¸öÏûÏ¢µÄ´óС£© if(NULL != PacketTx_2_UsartTxQueue) { @@ -29,6 +36,18 @@ void usart_send_packet(const ANO_t *ano) xQueueSend(PacketTx_2_UsartTxQueue, ano, 0); } +/* +********************************************************************************************************* +* º¯ÊýÃû³Æ: usart_receive_packete +* ¹¦ÄÜ˵Ã÷: ´Ó¶ÓÁÐÖжÁÈ¡Êý¾Ý +* ÊäÈë²ÎÊý£º +* ·µ»Ø²ÎÊý:ÎÞ +********************************************************************************************************* +*/ +void usart_receive_packet(uint8_t *cmd_data_out) +{ + xQueueReceive(UsartRx_2_PacketAnalyQueue, cmd_data_out, 1000);//½«UsartRx_2_PacketAnalyQueue¶ÓÁÐÖÐÊý¾Ý·ÅÈëu8 cÖÐ +} /* @@ -41,12 +60,12 @@ void usart_send_packet(const ANO_t *ano) */ void send_adc_val(const uint16_t *adc) { - uint16_t adc1=adc[0]; - uint16_t adc2=adc[1]; - uint16_t adc3=adc[2]; - uint16_t adc4=adc[3]; - uint16_t adc5=adc[4]; - uint16_t adc6=adc[5]; + uint16_t adc1=adc[0]; + uint16_t adc2=adc[1]; + uint16_t adc3=adc[2]; + uint16_t adc4=adc[3]; + uint16_t adc5=adc[4]; + uint16_t adc6=adc[5]; uint8_t _cnt = 0, i, sc = 0; ANO_t ano; @@ -93,12 +112,12 @@ void send_adc_val(const uint16_t *adc) */ void send_manual_adc(const uint16_t *adc) { - uint16_t adc1=adc[0]; - uint16_t adc2=adc[1]; - uint16_t adc3=adc[2]; - uint16_t adc4=adc[3]; - uint16_t adc5=adc[4]; - uint16_t adc6=adc[5]; + uint16_t adc1=adc[0]; + uint16_t adc2=adc[1]; + uint16_t adc3=adc[2]; + uint16_t adc4=adc[3]; + uint16_t adc5=adc[4]; + uint16_t adc6=adc[5]; uint8_t _cnt = 0, i, sc = 0; ANO_t ano; @@ -133,3 +152,69 @@ void send_manual_adc(const uint16_t *adc) usart_send_packet(&ano); } + + +/* +********************************************************************************************************* +* º¯ÊýÃû³Æ: check_sum +* ¹¦ÄÜ˵Ã÷: ¶ÔºÍУÑé½øÐÄÑéÖ¤ +* ÊäÈë²ÎÊý£ºANO_t:ÄäÃûЭÒé½á¹¹Ìå +* ·µ»Ø²ÎÊý:u8 +********************************************************************************************************* +*/ +uint8_t sum_check(ANO_t *protocol_packet) +{ + int sum = 0; + sum += protocol_packet->head; + sum += protocol_packet->d_addr; + sum += protocol_packet->id; + sum += protocol_packet->datalen; + for(int i = 0; i < protocol_packet->datalen; i++) + { + sum += protocol_packet->data[i]; + } + return sum; +} + +/* +********************************************************************************************************* +* º¯ÊýÃû³Æ: analy_receive_packet +* ¹¦ÄÜ˵Ã÷: Êý¾Ý½âÎö²¢Ö´ÐжÔÓ¦²Ù×÷ +* ÊäÈë²ÎÊý£ºANO_t:ÄäÃûЭÒé½á¹¹Ìå +* ·µ»Ø²ÎÊý: ÎÞ +********************************************************************************************************* +*/ +void analy_receive_packet(ANO_t *protocol_packet) +{ + uint8_t data1_cmd; + uint8_t data2_cmd; + uint32_t data3_cmd; + + if(protocol_packet->id == ScrewMotor_cmd) //Ë¿¸ÜÔ˶¯¿ØÖÆ + { + data1_cmd=protocol_packet->data[0]; // + data2_cmd=protocol_packet->data[1]; + data3_cmd=(data2_cmd<<8)+data1_cmd; + GiveScrewMotorCmd(data3_cmd,NULL); + } + + if(protocol_packet->id == update_xdata_cmd) //»ù´¡Ñ¹Á¦Öµ¸üпØÖÆ + { + data1_cmd=protocol_packet->data[0]; + manual_update_xdata(data1_cmd, 1); + } + + if(protocol_packet->id == pax_cmd) //ÅÀÐÐÖ¸Áî¿ØÖÆ + { + data1_cmd=protocol_packet->data[0]; + data2_cmd=protocol_packet->data[1]; + give_pax_task_cmd(data1_cmd, data2_cmd); + } + if(protocol_packet->id == joint_cmd) //¹Ø½ÚÔ˶¯¿ØÖÆ + { + data1_cmd=protocol_packet->data[0]; + data2_cmd=protocol_packet->data[1]; + data3_cmd=(data2_cmd<<8)+data1_cmd; + GiveJointCtrlTaskCmd(data3_cmd); + } +} \ No newline at end of file diff --git a/HARDWARE/ANO/ano_protocol.h b/HARDWARE/ANO/ano_protocol.h index b73e132..aedb0fd 100644 --- a/HARDWARE/ANO/ano_protocol.h +++ b/HARDWARE/ANO/ano_protocol.h @@ -32,8 +32,6 @@ typedef enum UP_Speed = 0x07, //·ÉÐÐËÙ¶ÈÊý¾Ý UP_TargetAngles = 0x0A, //Ä¿±ê×Ë̬Êý¾Ý UP_TargetSpeed = 0x0B, //Ä¿±êËÙ¶ÈÊý¾Ý - UP_LogPrintf = 0xA0, //LOGÐÅÏ¢Êä³ö¡ª¡ª×Ö·û´® - UP_LogPrintfNum = 0xA1, //LOGÐÅÏ¢Êä³ö¡ª¡ª×Ö·û´®+Êý×Ö /**************************·É¿Ø¿ØÖÆÁ¿Êä³öÀà******************************/ UP_PWM = 0x20, //PWM¿ØÖÆÁ¿ @@ -49,8 +47,14 @@ typedef enum send_param_switch = 0xF0, //²ÎÊý·µ»Ø UP_Light_PWM = 0xF1, //µÆ¹âPWMÖµ - send_adc = 0x51 , //·¢ËÍѹÁ¦´«¸ÐÆ÷Öµ - manual_adc = 0x61 , //·¢ËÍ»ù´¡Ñ¹Á¦Öµ + send_adc = 0x51 , //·¢ËÍѹÁ¦´«¸ÐÆ÷Öµ + manual_adc = 0x61 , //·¢ËÍ»ù´¡Ñ¹Á¦Öµ + + ScrewMotor_cmd =0x52, //½ÓÊÕË¿¸ÜÔ˶¯Ö¸Áî + update_xdata_cmd =0x55, //¸üлù´¡Ñ¹Á¦ÖµÖ¸Áî + pax_cmd =0x62, //½ÓÊÕÅÀÐÐÖ¸Áî + joint_cmd =0x66, //¹Ø½ÚÖ¸Áî + /****************************Áé»î¸ñʽ֡********************************/ /*¹¦ÄÜÂ뷶Χ£º0xF1-0xFA*/ @@ -75,7 +79,10 @@ typedef struct void RX_Queue_init(void); void usart_send_packet(const ANO_t *ano); +void usart_receive_packet(uint8_t *cmd_data_out); void send_adc_val(const uint16_t *adc); void send_manual_adc(const uint16_t *adc); +uint8_t sum_check(ANO_t *protocol_packet); +void analy_receive_packet(ANO_t *protocol_packet); #endif diff --git a/HARDWARE/ANO/usartlink.c b/HARDWARE/ANO/usartlink.c index af96d73..e210695 100644 --- a/HARDWARE/ANO/usartlink.c +++ b/HARDWARE/ANO/usartlink.c @@ -2,6 +2,7 @@ #include "usartlink.h" #include "ano_protocol.h" #include "usart4.h" +#include "shell.h" //²»Í¬Çé¿öÏÂʹÓÃÄĸö´®¿Ú½øÐе÷ÊÔ #define USART1_TX 0 @@ -105,7 +106,6 @@ void __attribute__((used)) DMA1_Stream4_IRQHandler(void) */ void usart_tx_task(void *param) { - RX_Queue_init(); uartslkDmaInit(); ANO_t data_packet;//ÊÇANO_tÀàÐ͵ĽṹÌå±äÁ¿ @@ -127,5 +127,54 @@ void usart_tx_task(void *param) } } +int ww=0; +SHELL_EXPORT_VAR(SHELL_CMD_PERMISSION(0)|SHELL_CMD_TYPE(SHELL_TYPE_VAR_INT), +ww, &ww,´òÓ¡); +/* +********************************************************************************************************* +* º¯ÊýÃû³Æ: packet_analy_task +* ¹¦ÄÜ˵Ã÷: Êý¾Ý°ü½âÎöÈÎÎñ£¬½«¶ÓÁÐUsartRx_2_ANOAnlQueueµÄÊý¾Ý·ÅÈë½á¹¹ÌåanoÖÐ +* ÊäÈë²ÎÊý£ºÎÞ +* ·µ»Ø²ÎÊý: ÎÞ +* ºÃÏñûÓжÔÊý¾Ý½øÐÐÏà¼ÓУÑéºÍ¸½¼ÓУÑé +* protocol +********************************************************************************************************* +*/ +void packet_analy_task(void *param) +{ + ANO_t protocol_packet; + u8 c[15]; + + while(1) + { + usart_receive_packet(c);//ÅжÏÊÇ·ñ´ÓsartRx_2_PacketAnalyQueue¶ÓÁÐÖлñµÃÊý¾Ý + if(ww){ + printf("Recieved cmd_pkg: "); + for(int i=0;i=0x40 && data[2]<=0xf0)){ // ÀàÐͳõУÑé + *pnum = 0; + return; + } + if(!(data[3]>=8 && data[3]<=20)){ //³¤¶È³õУÑé + *pnum = 0; + return; + } + }else if(4==num){ + *pnum = 0; + return; + } + if(num > 4+data[3]){ + xQueueSendToBackFromISR(UsartRx_2_PacketAnalyQueue,data,&flag); + *pnum = 0; + if(flag == pdTRUE) + portYIELD_FROM_ISR(flag); //Èç¹ûÐèÒªµÄ»°½øÐÐÒ»´ÎÈÎÎñÇл» + } + + +} /* ********************************************************************************************************* -* º¯ÊýÃû³Æ: Uart4_Put_Buf -* ¹¦ÄÜ˵Ã÷: ´®¿Ú4·¢ËÍ×Ö·û´® -* ÊäÈë²ÎÊý£ºDataToSend£º´ý·¢ËÍ×Ö·ûÊ×µØÖ·£»data_num£º×Ö·û´®³¤¶È +* º¯ÊýÃû³Æ: UART4_IRQHandler +* ¹¦ÄÜ˵Ã÷: ´®¿Ú4µÄÖжϺ¯Êý£¬´¥·¢ÖжϷ¢ËͶÓÁÐ +* ÊäÈë²ÎÊý£ºÎÞ * ·µ»Ø²ÎÊý: ÎÞ ********************************************************************************************************* +*/ +uint8_t uart4_rx_data[20]; +uint32_t rx4_cnt = 0; -void Uart4_Put_Buf(unsigned char *DataToSend, int32_t data_num) +void UART4_IRQHandler(void) //´®¿Ú4ÖжϷþÎñ³ÌÐò { - int32_t i; - portENTER_CRITICAL(); - for(i=0; iCR1 & USART_CR1_TXEIE)) + Res = USART_ReceiveData(UART4); //(USART4->DR); //¶ÁÈ¡½ÓÊÕµ½µÄÊý¾Ý¥ + uart4_rx_data[rx4_cnt++] = Res; + process_rx4_data(uart4_rx_data,&rx4_cnt); + } + + if( (UART4->SR & 0x80) && (UART4->CR1 & USART_CR1_TXEIE)) { - USART_ITConfig(UART4, USART_IT_TXE, ENABLE); //´ò¿ª·¢ËÍÖÐ¶Ï + UART4->DR = Usart4_TxBuffer[Usart4_TxCounter++]; //дDRÇå³ýÖжϱêÖ¾ + if(Usart4_TxCounter == Usart4_count) + { + UART4->CR1 &= ~USART_CR1_TXEIE; //¹Ø±ÕTXEÖÐ¶Ï + Usart4_TxCounter = 0; + Usart4_count = 0; + } } -}*/ + +} + -/*------------------------------------------- End Line ---------------------------------------------------*/ diff --git a/SYSTEM/usart/usart4.h b/SYSTEM/usart/usart4.h index 29ab854..1921976 100644 --- a/SYSTEM/usart/usart4.h +++ b/SYSTEM/usart/usart4.h @@ -18,7 +18,7 @@ void uart4_Init(u32 bound); void Uart4_Put_Buf(unsigned char *DataToSend, int32_t data_num); -// void Uart4_Put_Char(unsigned char DataToSend); ×÷·ÏÕâ¸öº¯Êý + #endif diff --git a/USER/USER.uvguix.jiangke1 b/USER/USER.uvguix.jiangke1 index d481871..a34d8b1 100644 --- a/USER/USER.uvguix.jiangke1 +++ b/USER/USER.uvguix.jiangke1 @@ -83,17 +83,17 @@ -1 - 38 - 60 - 1654 - 1095 + 61 + 36 + 1630 + 1118 0 - 1351 - 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 + 705 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000005000000040000000100000045433A5C55736572735C6A69616E676B65315C4465736B746F705CC5C0B1DABBFAC6F7C8CB5C706162692D726F626F742D73746D333266345F315C555345525C6D61696E2E6300000000066D61696E2E6300000000F0A0A100FFFFFFFF55433A5C55736572735C6A69616E676B65315C4465736B746F705CC5C0B1DABBFAC6F7C8CB5C706162692D726F626F742D73746D333266345F315C48415244574152455C414E4F5C616E6F5F70726F746F636F6C2E63000000000E616E6F5F70726F746F636F6C2E6300000000BECEA100FFFFFFFF4F433A5C55736572735C6A69616E676B65315C4465736B746F705CC5C0B1DABBFAC6F7C8CB5C706162692D726F626F742D73746D333266345F315C53595354454D5C75736172745C7573617274342E6300000000087573617274342E6300000000FFDC7800FFFFFFFF52433A5C55736572735C6A69616E676B65315C4465736B746F705CC5C0B1DABBFAC6F7C8CB5C706162692D726F626F742D73746D333266345F315C48415244574152455C414E4F5C75736172746C696E6B2E63000000000B75736172746C696E6B2E63000000005FC3CF00FFFFFFFF4C433A5C55736572735C6A69616E676B65315C4465736B746F705CC5C0B1DABBFAC6F7C8CB5C706162692D726F626F742D73746D333266345F315C555345525C7461736B735F656E7472792E68000000000D7461736B735F656E7472792E6800000000BCA8E100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000006E010000660000008007000066030000 @@ -116,7 +116,7 @@ 16 - 9401000066000000F0040000F1000000 + 1409000074FFFFFF700C0000FFFFFFFF @@ -472,7 +472,7 @@ 0 16 - 000000006703000080070000DE030000 + 030000006A0300007D070000C5030000 16 @@ -502,7 +502,7 @@ 199 199 - 0 + 1 0 0 0 @@ -1112,7 +1112,7 @@ 0 16 - 03000000660000006701000036030000 + 03000000660000006701000029030000 16 @@ -1132,7 +1132,7 @@ 0 16 - 030000006A0300007D070000C5030000 + 030000006A030000A8060000C5030000 16 @@ -1152,7 +1152,7 @@ 0 16 - 030000006A0300007D070000C5030000 + 030000006A030000A8060000C5030000 16 @@ -1281,14 +1281,14 @@ 2619 - 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 + 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 59392 File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uild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usart\usart4.c - 0 - 1 - 1 - 1 - - 0 - - - .\paxing_ctrl.c - 31 - 1 - 302 - 1 - - 0 - - - ..\HARDWARE\ADC\adc.c - 1 - 189 - 247 - 1 - - 0 - - - ..\HARDWARE\LED\led.c - 12 - 2 - 3 - 1 - - 0 - + 4 .\main.c - 24 - 52 - 60 - 1 - - 0 - - - ..\LobotSerialServo\LobotSerialServo.c - 4 - 487 - 488 - 1 - - 0 - - - ..\HARDWARE\ANO\usartlink.c - 43 - 89 - 118 + 19 + 1 + 6 1 0 ..\HARDWARE\ANO\ano_protocol.c - 20 - 1 - 1 + 57 + 184 + 49 1 0 - ..\HARDWARE\ANO\ano_protocol.h - 0 - 51 - 80 + ..\SYSTEM\usart\usart4.c + 35 + 79 + 81 1 0 - ..\HARDWARE\LED\valve.h - 32 - 1 - 12 + ..\HARDWARE\ANO\usartlink.c + 13 + 132 + 146 1 0 - ..\HARDWARE\LED\led.h - 0 + tasks_entry.h + 12 1 - 16 + 23 1 0 @@ -1447,8 +1393,4 @@ - - ..\HARDWARE\ANO\usartlink.c 109 - - diff --git a/USER/include.h b/USER/include.h index b488922..616647c 100644 --- a/USER/include.h +++ b/USER/include.h @@ -12,6 +12,8 @@ #include "key.h" #include "beep.h" #include "exti.h" +#include "ano_protocol.h" +#include "usartlink.h" #include "timers.h" #include "iwdg.h" diff --git a/USER/main.c b/USER/main.c index 005eb28..120384e 100644 --- a/USER/main.c +++ b/USER/main.c @@ -30,6 +30,7 @@ int main() LED_Init(); KEY_Init(); Adc_Init(); + RX_Queue_init(); AirPress_LED_init(); valve_gpio_init(); TIM14_PWM_Init(10000-1,84-1); // ·ÖƵϵÊý84 µÃ1Mhz¼ÆÊýʱÖÓ 10000ÊýµÃ10msÖÜÆÚ @@ -65,7 +66,9 @@ void start_task(void * pvParameters) xTaskCreate(paxing_ctrl_task, "pax-tsk", 220, NULL, 7, NULL); - xTaskCreate(usart_tx_task, "Updata-tsk", 140, NULL, 12, NULL); + xTaskCreate(usart_tx_task, "Updata-tsk", 140, NULL, 12, NULL); + + xTaskCreate(packet_analy_task, "packet_analy_task", 150, NULL, 14, NULL); taskEXIT_CRITICAL(); //test_evgp = xEventGroupCreate(); diff --git a/USER/paxing_ctrl.c b/USER/paxing_ctrl.c index 7375bdc..3033ce3 100755 --- a/USER/paxing_ctrl.c +++ b/USER/paxing_ctrl.c @@ -97,7 +97,7 @@ void doj_exe_helper(TimerHandle_t tmr) if(pos>0){ //LobotSerialServoMove(4,pos+55,400); taskENTER_CRITICAL(); - dojData[Idd2index(10)].target = pos-55; + dojData[Idd2index(10)].target = pos+55; dojData[Idd2index(10)].flag |= FLAG_WRITE_CMD; taskEXIT_CRITICAL(); } @@ -322,6 +322,8 @@ int give_pax_task_cmd(uint32_t dir, uint32_t step_num) }else if(2==dir){ cmds[0]=FLOAT_LEGS_BACK; cmds[1]=FIXED_LEGS_BACK; + }else if(4==dir||8==dir){ + cmds[0]=cmds[1]=dir; }else{ printf("ÃüÁî²ÎÊý·Ç·¨~!\r\n"); return 1; diff --git a/USER/tasks_entry.h b/USER/tasks_entry.h index 37ab133..59dbe35 100755 --- a/USER/tasks_entry.h +++ b/USER/tasks_entry.h @@ -20,7 +20,7 @@ extern void paxing_ctrl_task(void* pp); // adcѹÁ¦Öµ·¢ËÍÉÏλ»úÈÎÎñÈë¿Úº¯Êý extern void usart_tx_task(void *param); - +extern void packet_analy_task(void *param); #endif -- Gitee