暂存

cmake/toolchain.cmake

@@ -91,15 +91,15 @@ set(TARGET_CFLAGS_HARDWARE "-mcpu=cortex-m23 -mfloat-abi=soft -mthumb -mthumb-in
 
 # Conditional flags
 # DEBUG
-#set(CMAKE_C_FLAGS_DEBUG     "-DDEBUG=0 -O0 -g")
+set(CMAKE_C_FLAGS_DEBUG     "-DDEBUG=0 -O0 -g")
-#set(CMAKE_CXX_FLAGS_DEBUG   "-DDEBUG=0 -O0 -g")
+set(CMAKE_CXX_FLAGS_DEBUG   "-DDEBUG=0 -O0 -g")
-#set(CMAKE_ASM_FLAGS_DEBUG   "-DDEBUG=0 -O0 -g")
+set(CMAKE_ASM_FLAGS_DEBUG   "-DDEBUG=0 -O0 -g")
 #set(CMAKE_C_FLAGS_DEBUG     "-DDEBUG=0 -O2 -g")
 #set(CMAKE_CXX_FLAGS_DEBUG   "-DDEBUG=0 -O2 -g")
 #set(CMAKE_ASM_FLAGS_DEBUG   "-DDEBUG=0 -O2 -g")
-set(CMAKE_C_FLAGS_DEBUG     "-DDEBUG=0 -Os -g")
+#set(CMAKE_C_FLAGS_DEBUG     "-DDEBUG=0 -Os -g")
-set(CMAKE_CXX_FLAGS_DEBUG   "-DDEBUG=0 -Os -g")
+#set(CMAKE_CXX_FLAGS_DEBUG   "-DDEBUG=0 -Os -g")
-set(CMAKE_ASM_FLAGS_DEBUG   "-DDEBUG=0 -Os -g")
+#set(CMAKE_ASM_FLAGS_DEBUG   "-DDEBUG=0 -Os -g")
 
 # RELEASE
 set(CMAKE_C_FLAGS_RELEASE        "-DNDEBUG -O3") #  -flto

inc/board_config.h

@@ -41,12 +41,12 @@
 /******************************************************************************/
 
 #define USART_GPIO_RCU       RCU_GPIOA
-#define USART_RCU            RCU_USART0
+#define USART_RCU            RCU_USART1
 #define USART_GPIO_PORT      GPIOA
 #define USART_GPIO_AF        GPIO_AF_1
 #define USART_TX_PIN         GPIO_PIN_2
 #define USART_RX_PIN         GPIO_PIN_3
-#define USART_PHY            USART0
+#define USART_PHY            USART1
 #define USART_PHY_BAUDRATE   115200U
 #define RS485_EN_PORT        GPIOA
 #define RS485_EN_PIN         GPIO_PIN_4

inc/rs485_protocol.h

@@ -13,17 +13,21 @@
 #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 PACKET_START_BYTE         0xD5
+
+#define MAX_SERIAL_CMD_SIZE       16
+#define BUF_SIZE      8
+
 /******************************************************************************/
 
 typedef enum
@@ -35,9 +39,21 @@ 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 +69,10 @@ 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

inc/usart.h

@@ -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

ld/gd32e23x_gcc.ld

@@ -1,7 +1,7 @@
 /* memory map */
 MEMORY
 {
-  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 16K
+  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 64K
   RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 4K
 }
 

src/fwdgt.c

@@ -15,7 +15,7 @@ void watchdog_init(void) {
     rcu_osci_stab_wait(RCU_IRC40K);
 
     /* Configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */
-    fwdgt_config(625, FWDGT_PSC_DIV64); // Set timeout to 1 seconds (625 / 0.625 KHz)
+    fwdgt_config(6250, FWDGT_PSC_DIV64); // Set timeout to 1 seconds (625 / 0.625 KHz)
 
     /* Enable FWDGT */
     fwdgt_enable();

src/gd32e23x_it.c

@@ -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
@@ -117,7 +118,7 @@ void TIMER5_IRQHandler(void) {
         } else {
             //! turn off led & reconfig timer13 period to 1000(100ms)
             gpio_bit_write(LED_PORT, LED_PIN, SET);
-            timer_autoreload_value_config(LED_BLINK_TIMER, 800);
+            timer_autoreload_value_config(LED_BLINK_TIMER, 8000);
         }
         led_status = !led_status;
     }
@@ -157,7 +158,7 @@ void EXTI0_1_IRQHandler(void) {
     }
 }
 
-void USART0_IRQHandler(void) {
+void USART1_IRQHandler(void) {
     static uint8_t rx_index = 0;
     static uint8_t rx_buffer[RX_BUFFER_SIZE];
 
@@ -165,18 +166,19 @@ void USART0_IRQHandler(void) {
         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
+        // // 将接收到的数据存储到缓冲区
-        if (rx_index < RX_BUFFER_SIZE - 1) {
+        // if (rx_index < RX_BUFFER_SIZE - 1) {
-            rx_buffer[rx_index++] = received_data;
+        //     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;
     }
+    //
+    // 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;
+    // }
 }

src/main.c

@@ -25,34 +25,36 @@ int main(void)
     /* configure LED */
     led_blink_config();
     /* configure FWDGT */
-    watchdog_init();
+    // watchdog_init();
 
-#ifdef SOFTWARE_IIC
+// #ifdef SOFTWARE_IIC
-    soft_i2c_config();
+//     soft_i2c_config();
-#else
+// #else
-    i2c_config();
+//     i2c_config();
-#endif
+// #endif
 
     printf("system start!\r\n");
 
-    ultrasonic_config();
+    // ultrasonic_config();
 
     while(1){
-        gd60914_get_object_tempture();
+        // gd60914_get_object_tempture();
 
-        delay_ms(50);
+        delay_ms(500);
+        start_communication();
+        printf("hello world!\r\n");
 
-        ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
+        // ultrasonic_pwm_out_cycles(ULTRASONIC_TX_CYCLES);
 
-        watchdog_reload();
+        // watchdog_reload();
     }
 }
 
 /* retarget the C library printf function to the USART */
 int _write(int fd, char *pBuffer, int size) {
     for (int i = 0; i < size; i++) {
-        usart_data_transmit(USART0, (uint8_t) pBuffer[i]);
+        usart_data_transmit(USART1, (uint8_t) pBuffer[i]);
-        while (RESET == usart_flag_get(USART0, USART_FLAG_TBE));
+        while (RESET == usart_flag_get(USART1, USART_FLAG_TBE));
     }
     return size;
 }

src/rs485_protocol.c

@@ -6,49 +6,70 @@
 
 extern uint8_t g_temperature_uint8[2];
 
-void process_command(uint8_t *cmd, size_t length) {
+static int buf_index_r = 0;
-    char combined_str[3];
+static int buf_index_w = 0;
-    validation_result_t validate = VALIDATION_SUCCESS;
+static int buf_length = 0;
 
-    validate = (validate_package_header(cmd) |
+static char cmd_buffer[BUF_SIZE][MAX_SERIAL_CMD_SIZE];
-                validate_package_type(cmd) |
+static char serial_char = 0x00;
-                validate_data_length(cmd) |
-                validate_package_crc(cmd, length));
 
-    switch (validate) {
+static int serial_count = 0;
-    case VALIDATION_SUCCESS:
+static char *strchr_pointer = NULL;
-        // printf("%d", length);
+
-            sprintf(combined_str, "%c%c", cmd[3], cmd[4]);
+static packet_state_t packet_state = PS_LEN;
-        if (strcmp(combined_str, "M1") == 0) {
+
-            ultrasonic_distance_report();
+bool code_seen(char code) {
-        } else if (strcmp(combined_str, "M2") == 0) {
+    strchr_pointer = strchr(cmd_buffer[buf_index_r], code);
-            gd60914_tempture_report();
+    return (strchr_pointer != NULL);  //Return True if a character was found
-        } 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;
-    }
 }
 
+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 +142,88 @@ 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) {
+    if (buf_length < (BUF_SIZE - 1)) {
+        get_command();
+    }
+
+    if (buf_length) {
+        prcess_command();
+        buf_length--;
+        buf_index_r = (buf_index_r + 1) % BUF_SIZE;
+    }
+
+}
+
+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 < BUF_SIZE) {
+        delay_us(100);
+        serial_char = uart_read();
+        switch (packet_state) {
+            case PS_NULL:
+                if (serial_char == PACKET_START_BYTE) {
+                    packet_state = PS_TYPE;
+                    serial_count = 0;
+                    check_sum = 0;
+                } else {
+                    serial_count = 0;
+                }
+            break;
+            case PS_TYPE:
+                packet_type = serial_char;
+            check_sum += serial_char;
+            packet_state = PS_LEN;
+            break;
+            case PS_LEN:
+                check_sum += serial_char;
+            packet_len = serial_char;
+            packet_state = PS_PAYLOAD;
+            break;
+            case PS_PAYLOAD:
+                check_sum += serial_char;
+            cmd_buffer[buf_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[buf_index_w][serial_count] = 0;
+            buf_index_w = (buf_index_w + 1) % BUF_SIZE;
+            buf_length++;
+            serial_count = 0;
+        }
+    }
+}
+
+void prcess_command(void) {
+    if (code_seen('M')) {
+        switch ((int)code_value()) {
+            case 1:
+                // ultrasonic_distance_report();
+                    printf("M1");
+                break;
+            case 2:
+                // gd60914_tempture_report();
+                    printf("M2");
+                break;
+            default:
+                break;
+        }
+    }
+
+}

src/usart.c

@@ -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);
-    nvic_irq_enable(USART0_IRQn, 0);
+    usart_receive_config(USART_PHY, USART_RECEIVE_ENABLE);
+    usart_transmit_config(USART_PHY, USART_TRANSMIT_ENABLE);
+    nvic_irq_enable(USART1_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;
+    }
 }