hulk/XLSW_3DP_US-IR
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This commit is contained in:
yelvlab 2025-01-20 10:28:43 +08:00
parent 7ffb8c0612
commit a5c1c857a9
6 changed files with 170 additions and 61 deletions
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26
inc/rs485_protocol.h
View File

@ -13,17 +13,19 @@
#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
#define MAX_SERIAL_CMD_SIZE 16
#define MAX_SERIAL_CMD_COUNT 8
/******************************************************************************/
typedef enum
@ -35,9 +37,21 @@ typedef enum
VALIDATION_LENGTH_ERROR = 8
} validation_result_t;
typedef enum {
PS_LEN,
PS_TYPE,
PS_PAYLOAD,
PS_CRC,
PS_NULL
}packet_state_t;
/******************************************************************************/
void process_command(uint8_t* cmd, size_t length);
// void process_command(uint8_t* cmd, size_t length);
bool code_seen(char code);
float code_value(void);
uint8_t calculate_crc(uint8_t data[], uint8_t data_length);
@ -53,4 +67,10 @@ void gd60914_tempture_report(void);
void ultrasonic_distance_report(void);
void start_communication(void);
void get_command(void);
void prcess_command(void);
#endif //RS485_PROTOCOL_H

17
inc/usart.h
View File

@ -8,8 +8,25 @@
#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_t;
static ring_buffer_t rx_buffer = {{0}, 0, 0}; // ring buffer for USART0
void usart_config(void);
void rs485_config(void);
void store_char(unsigned char data, ring_buffer_t *rx_buf);
uint16_t uart_available(void);
int uart_read(void);
#endif //USART_H

30
src/gd32e23x_it.c
View File

@ -35,6 +35,7 @@ OF SUCH DAMAGE.
#include "gd32e23x_it.h"
extern uint16_t g_capture_value;
extern ring_buffer_t rx_buffer;
/*!
\brief this function handles NMI exception
@ -162,21 +163,22 @@ void USART0_IRQHandler(void) {
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);
// 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;
// // 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;
// }
store_char(received_data, &rx_buffer);
}
//
// 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;
// }
}

5
src/main.c
View File

@ -38,11 +38,12 @@ int main(void)
ultrasonic_config();
while(1){
gd60914_get_object_tempture();
// gd60914_get_object_tempture();
delay_ms(50);
ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
// ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
watchdog_reload();
}

121
src/rs485_protocol.c
View File

@ -6,49 +6,70 @@
extern uint8_t g_temperature_uint8[2];
void process_command(uint8_t *cmd, size_t length) {
char combined_str[3];
validation_result_t validate = VALIDATION_SUCCESS;
static int buf_index_r = 0;
static int buf_index_w = 0;
static int buf_length = 0;
validate = (validate_package_header(cmd) |
validate_package_type(cmd) |
validate_data_length(cmd) |
validate_package_crc(cmd, length));
static char cmd_buffer[MAX_SERIAL_CMD_COUNT][MAX_SERIAL_CMD_SIZE];
static char serial_char = 0x00;
switch (validate) {
case VALIDATION_SUCCESS:
// printf("%d", length);
sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
if (strcmp(combined_str, "M1") == 0) {
ultrasonic_distance_report();
} else if (strcmp(combined_str, "M2") == 0) {
gd60914_tempture_report();
} else if (strcmp(combined_str, "M3") == 0)
{
printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xCC);
fwdgt_reset_mcu();
} else {
printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
return;
}
break;
case VALIDATION_CRC_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF1, 0x03, 0x65, 0x72, 0x72, 0x3D);
break;
case VALIDATION_HEADER_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF2, 0x03, 0x65, 0x72, 0x72, 0x3E);
break;
case VALIDATION_TYPE_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF3, 0x03, 0x65, 0x72, 0x72, 0x3F);
break;
case VALIDATION_LENGTH_ERROR:
printf("%c%c%c%c%c%c%c", 0xB5, 0xF4, 0x03, 0x65, 0x72, 0x72, 0x40);
break;
default:
break;
}
static int serial_count = 0;
static char *strchr_pointer = NULL;
static packet_state_t packet_state = PS_LEN;
bool code_seen(char code) {
strchr_pointer = strchr(cmd_buffer[buf_index_r], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
float code_value(void) {
return (strtod(&cmd_buffer[buf_index_r][strchr_pointer - cmd_buffer[buf_index_r] + 1], NULL));
}
// void process_command(uint8_t *cmd, size_t length) {
// char combined_str[3];
// validation_result_t validate = VALIDATION_SUCCESS;
//
// validate = (validate_package_header(cmd) |
// validate_package_type(cmd) |
// validate_data_length(cmd) |
// validate_package_crc(cmd, length));
//
// switch (validate) {
// case VALIDATION_SUCCESS:
// // printf("%d", length);
// sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
// if (strcmp(combined_str, "M1") == 0) {
// ultrasonic_distance_report();
// } else if (strcmp(combined_str, "M2") == 0) {
// gd60914_tempture_report();
// } else if (strcmp(combined_str, "M3") == 0)
// {
// printf("%c%c%c%c%c%c", 0xB5, 0xF1, 0x02, 0x6F, 0x6B, 0xCC);
// fwdgt_reset_mcu();
// } else {
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF0, 0x03, 0x65, 0x72, 0x72, 0x3C);
// return;
// }
// break;
// case VALIDATION_CRC_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF1, 0x03, 0x65, 0x72, 0x72, 0x3D);
// break;
// case VALIDATION_HEADER_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF2, 0x03, 0x65, 0x72, 0x72, 0x3E);
// break;
// case VALIDATION_TYPE_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF3, 0x03, 0x65, 0x72, 0x72, 0x3F);
// break;
// case VALIDATION_LENGTH_ERROR:
// printf("%c%c%c%c%c%c%c", 0xB5, 0xF4, 0x03, 0x65, 0x72, 0x72, 0x40);
// break;
// default:
// break;
// }
// }
uint8_t calculate_crc(uint8_t data[], uint8_t data_length) {
uint8_t crc = 0;
@ -121,3 +142,25 @@ void ultrasonic_distance_report(void) {
printf("%c%c", package_data[0], package_data[1]);
printf("%c", calculate_crc(combined_data, 6));
}
void start_communication(void) {
}
void get_command(void) {
static uint8_t check_sum = 0;
static uint8_t packet_len ;
static uint8_t packet_type;
packet_state = PS_NULL;
serial_count = 0;
serial_char=0;
if (uart_available() > 0)
delay_ms(5);
while (uart_available() > 0 && buf_length < BUFSIZ)
}
void prcess_command(void) {
}

32
src/usart.c
View File

@ -27,11 +27,14 @@ void usart_config(void)
usart_receive_config(USART_PHY, USART_RECEIVE_ENABLE);
usart_transmit_config(USART_PHY, USART_TRANSMIT_ENABLE);
usart_enable(USART_PHY);
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);
nvic_irq_enable(USART0_IRQn, 0);
usart_interrupt_enable(USART_PHY, USART_INT_RBNE);
usart_interrupt_enable(USART_PHY, USART_INT_IDLE);
// usart_interrupt_enable(USART_PHY, USART_INT_IDLE);
usart_enable(USART_PHY);
}
/**
@ -47,4 +50,27 @@ void rs485_config(void)
gpio_output_options_set(RS485_EN_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, RS485_EN_PIN);
gpio_bit_write(RS485_EN_PORT, RS485_EN_PIN, SET); //auto dircetion control
}
void store_char(unsigned char data, ring_buffer_t *rx_buf) {
uint16_t i = (unsigned int)(rx_buf->head + 1) % RX_BUFFER_SIZE;
if (i != rx_buf->tail) {
rx_buf->buffer[rx_buf->head] = data;
rx_buf->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;
}
}