hulk/XLSW_3DP_US-IR
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更改协议处理部分，但是串口没反应？

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This commit is contained in:
yelvlab 2025-01-20 01:30:18 +08:00
parent cc4d898114
commit 705cb68764
7 changed files with 179 additions and 31 deletions
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11
inc/rs485_protocol.h
View File

@ -13,13 +13,12 @@
#include "fwdgt.h"
#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "ultrasonic_analog.h"
/******************************************************************************/
#define RX_BUFFER_SIZE 32
#define PROTOCOL_PACKAGE_HEADER 0xD5
#define PROTOCOL_BOARD_TYPE 0x04
#define PROTOCOL_PACKAGE_LENGTH 0x02
@ -43,10 +42,16 @@ typedef enum
PS_PAYLOAD,
PS_CRC,
PS_NULL
} packet_state;
} packet_state_t;
/******************************************************************************/
#define BUF_SIZE 8
#define MAX_CMD_SIZE 16
#define PACKET_START_BYTE 0xD5
bool code_seen(char code);
// void process_command(uint8_t* cmd, size_t length);
void process_command(void);

21
inc/usart.h
View File

@ -8,8 +8,29 @@
#include "gd32e23x.h"
#include "board_config.h"
#define RX_BUFFER_SIZE 64
typedef struct
{
unsigned char buffer[RX_BUFFER_SIZE];
volatile unsigned int head;
volatile unsigned int tail;
}ring_buffer;
void usart_config(void);
void rs485_config(void);
void store_char(unsigned char data, ring_buffer *rx_buffer);
uint16_t uart_available(void);
int uart_read(void);
void store_char(unsigned char data, ring_buffer *rx_buffer);
uint16_t uart_available(void);
int uart_read(void);
#endif //USART_H

2
ld/gd32e23x_gcc.ld
View File

@ -1,7 +1,7 @@
/* memory map */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 16K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 8K
}

46
src/gd32e23x_it.c
View File

@ -35,6 +35,7 @@ OF SUCH DAMAGE.
#include "gd32e23x_it.h"
extern uint16_t g_capture_value;
ring_buffer rx_buffer = {{0}, 0, 0}; // ring buffer for USART0
/*!
\brief this function handles NMI exception
@ -158,25 +159,32 @@ void EXTI0_1_IRQHandler(void) {
}
void USART0_IRQHandler(void) {
static uint8_t rx_index = 0;
static uint8_t rx_buffer[RX_BUFFER_SIZE];
// static uint8_t rx_index = 0;
// static uint8_t rx_buffer[RX_BUFFER_SIZE];
//
// if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
// usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
// uint8_t received_data = (uint8_t) usart_data_receive(USART0);
//
// // 将接收到的数据存储到缓冲区
// if (rx_index < RX_BUFFER_SIZE - 1) {
// rx_buffer[rx_index++] = received_data;
// }
// }
//
// if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) {
// usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE);
//
// // process_command(rx_buffer, rx_index); // 处理指令
//
// rx_index = 0; // 重置缓冲区索引
// return;
// }
static uint8_t data;
if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_RBNE)) {
usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
uint8_t received_data = (uint8_t) usart_data_receive(USART0);
// 将接收到的数据存储到缓冲区
if (rx_index < RX_BUFFER_SIZE - 1) {
rx_buffer[rx_index++] = received_data;
}
}
if (RESET != usart_interrupt_flag_get(USART0, USART_INT_FLAG_IDLE)) {
usart_interrupt_flag_clear(USART0, USART_INT_FLAG_IDLE);
// process_command(rx_buffer, rx_index); // 处理指令
rx_index = 0; // 重置缓冲区索引
return;
// usart_interrupt_flag_clear(USART0, USART_INT_FLAG_RBNE);
data = usart_data_receive(USART0);
store_char(data, &rx_buffer);
// process_command(&data, 1);
}
}

1
src/main.c
View File

@ -41,6 +41,7 @@ int main(void)
// gd60914_get_object_tempture();
delay_ms(50);
printf("hello");
// ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);

95
src/rs485_protocol.c
View File

@ -5,11 +5,24 @@
#include "rs485_protocol.h"
extern uint8_t g_temperature_uint8[2];
static uint8_t buffer_length = 0;
static int buffer_index_r = 0;
static int buffer_index_w = 0;
static int buffer_length = 0;
static char cmd_buffer[BUF_SIZE][MAX_CMD_SIZE];
static int serial_count = 0;
static uint8_t serial_char = 0x00;
static packet_state state = PS_NULL;
static packet_state_t packet_state = PS_NULL;
static char *strchr_pointer = NULL;
bool code_seen(char code) {
strchr_pointer = strchr(cmd_buffer[buffer_index_r], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
float code_value(void)
{
return (strtod(&cmd_buffer[buffer_index_r][strchr_pointer - cmd_buffer[buffer_index_r] + 1], NULL));
}
// void process_command(uint8_t *cmd, size_t length) {
// char combined_str[3];
@ -134,19 +147,91 @@ void process_printer(void) {
}
if(buffer_length) {
process_command();
buffer_length = (buffer_length -1);
buffer_index_r = (buffer_index_r + 1) % BUF_SIZE;
}
}
void get_command (void) {
static uint8_t testchar=0;
static uint8_t check_sum = 0;
static uint8_t packet_len ;
static uint8_t packet_type;
state = PS_NULL;
packet_state = PS_NULL;
serial_count = 0;
serial_char=0;
if(uart_available() > 0)
delay_ms(5);
while(uart_available() > 0 && buffer_length < BUF_SIZE) {
delay_us(100);
serial_char = uart_read();
switch (packet_state) {
case PS_NULL:
if (serial_char == PACKET_START_BYTE) {
serial_count = 0;
check_sum = 0;
packet_state = PS_TYPE;
} else
{
serial_count = 0;
}
break;
case PS_TYPE:
packet_type = serial_char;
check_sum += serial_char;
packet_state = PS_LEN;
break;
case PS_LEN:
packet_len = serial_char;
check_sum += serial_char;
packet_state = PS_PAYLOAD;
break;
case PS_PAYLOAD:
check_sum += serial_char;
cmd_buffer[buffer_index_w][serial_count++] = serial_char;
if (serial_count == packet_len)
packet_state = PS_CRC;
break;
case PS_CRC:
packet_state = PS_NULL;
if (!serial_count || check_sum != serial_char)
{
serial_count = 0;
return;
}
cmd_buffer[buffer_index_w][serial_count] = 0; // 终止字符串
buffer_index_w = (buffer_index_w + 1) % BUF_SIZE;
buffer_length += 1;
serial_count = 0;
break;
default:
packet_state = PS_NULL;
serial_count = 0;
break;
}
}
}
void process_command(void) {
if (code_seen('M')) {
switch ((int) code_value()) {
case 1:
// ultrasonic_distance_report();
printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xF1);
break;
case 2:
// gd60914_tempture_report();
printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xF2);
break;
case 3:
printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xCC);
fwdgt_reset_mcu();
break;
default:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
break;
}
}
}

34
src/usart.c
View File

@ -4,6 +4,8 @@
#include "usart.h"
extern ring_buffer rx_buffer; // ring buffer for USART0
/**
* @brief configure the USART
* @param none
@ -27,11 +29,14 @@ void usart_config(void)
usart_receive_config(USART_PHY, USART_RECEIVE_ENABLE);
usart_transmit_config(USART_PHY, USART_TRANSMIT_ENABLE);
usart_enable(USART_PHY);
nvic_irq_enable(USART0_IRQn, 0);
/* USART configure */
// usart_deinit(USART_PHY);
// usart_baudrate_set(USART_PHY, 115200U);
// usart_receive_config(USART_PHY, USART_RECEIVE_ENABLE);
// usart_transmit_config(USART_PHY, USART_TRANSMIT_ENABLE);
usart_interrupt_enable(USART_PHY, USART_INT_RBNE);
usart_interrupt_enable(USART_PHY, USART_INT_IDLE);
usart_enable(USART_PHY);
}
/**
@ -48,3 +53,26 @@ void rs485_config(void)
gpio_bit_write(RS485_EN_PORT, RS485_EN_PIN, SET); //auto dircetion control
}
void store_char(unsigned char data, ring_buffer *rx_buffer) {
uint16_t i = (unsigned int)(rx_buffer->head + 1) % RX_BUFFER_SIZE;
if (i != rx_buffer->tail) {
rx_buffer->buffer[rx_buffer->head] = data;
rx_buffer->head = i;
}
}
uint16_t uart_available(void) {
return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE;
}
int uart_read(void) {
if (rx_buffer.head == rx_buffer.tail) {
return -1;
} else {
unsigned char c = rx_buffer.buffer[rx_buffer.tail];
rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE;
return c;
}
}