147 lines
4.0 KiB
C
147 lines
4.0 KiB
C
#include "nuc.h"
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#include "crc16.h"
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#include <string.h>
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#include "error_detect.h"
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volatile uint32_t drop_message = 0;
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static osThreadId_t thread_alert;
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uint8_t nucbuf[10];
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char SendBuffer[7];
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static void NUC_CBLTCallback(void)
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{
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osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
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// detect_hook(NUC_TOE);
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}
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static void NUC_ERRORCALLBACK(void)
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{
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NUC_Restart();
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uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_NUC));
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// osThreadFlagsSet(thread_alert, SIGNAL_NUC_ERROR);
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}
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int8_t NUC_Init(NUC_t *nuc)
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{
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if (nuc == NULL)
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return DEVICE_ERR_NULL;
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if ((thread_alert = osThreadGetId()) == NULL)
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return DEVICE_ERR_NULL;
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BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_RX_CPLT_CB,
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NUC_CBLTCallback);
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BSP_UART_RegisterCallback(BSP_UART_NUC, BSP_UART_ERROR_CB,
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NUC_ERRORCALLBACK);
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return DEVICE_OK;
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}
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int8_t NUC_StartReceiving()
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{
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
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(uint8_t *)nucbuf,
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sizeof(nucbuf)) == HAL_OK)
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return DEVICE_OK;
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return DEVICE_ERR;
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}
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int8_t NUC_Restart(void)
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{
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__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC));
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return DEVICE_OK;
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}
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bool_t NUC_WaitDmaCplt(void)
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{
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return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll, 0) ==
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SIGNAL_NUC_RAW_REDY);
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}
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int8_t NUC_RawParse(CMD_NUC_t *n, NUC_t *nuc)
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{
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if (n == NULL)
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return DEVICE_ERR_NULL;
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union
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{
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float x[2];
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char data[8];
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} instance;
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if (nucbuf[0] != HEAD)
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goto error; // 发送ID不是底盘
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else
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{
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if (nucbuf[9] != TAIL)
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goto error;
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instance.data[3] = nucbuf[4];
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instance.data[2] = nucbuf[3];
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instance.data[1] = nucbuf[2];
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instance.data[0] = nucbuf[1];
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n->MID360.angle = instance.x[0]; //
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instance.data[7] = nucbuf[8];
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instance.data[6] = nucbuf[7];
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instance.data[5] = nucbuf[6];
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instance.data[4] = nucbuf[5];
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n->MID360.dis = instance.x[1]; //
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nuc->unc_online = true; // 设置为在线状态
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return DEVICE_OK;
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}
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error:
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drop_message++;
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NUC_Restart();
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return DEVICE_ERR;
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}
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int8_t NUC_HandleOffline(CMD_NUC_t *cmd, NUC_t *nuc)
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{
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if (cmd == NULL)
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return DEVICE_ERR_NULL;
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nuc->unc_online = false; // 设置为离线状态
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memset(cmd, 0, sizeof(*cmd));
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return 0;
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}
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int8_t NUC_PackIMU(NUC_t *nuc, const AHRS_Quaternion_t *quat, const AHRS_Accl_t *accl, const AHRS_Gyro_t *gyro){
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nuc->to_nuc.imu.head = HEAD;
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nuc->to_nuc.imu.id = IMU_ID;
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nuc->to_nuc.imu.type = TYPE;
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nuc->to_nuc.imu.end = TAIL;
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memcpy((void *)&(nuc->to_nuc.imu.package.quat), (const void *)quat,sizeof(*quat));
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memcpy((void *)&(nuc->to_nuc.imu.package.gyro), (const void *)gyro,sizeof(*gyro));
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memcpy((void *)&(nuc->to_nuc.imu.package.accl), (const void *)accl,sizeof(*accl));
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return DEVICE_OK;
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}
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int8_t NUC_PackCMD(NUC_t *nuc, const NUC_send_t *send){
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nuc->to_nuc.cmd.head = HEAD;
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nuc->to_nuc.cmd.id = IMU_ID;
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nuc->to_nuc.cmd.end = TAIL;
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memcpy((void *)&(nuc->to_nuc.cmd.package.status), (const void *)send,sizeof(*send));
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/*在这里添加你们的控制命令*/
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return DEVICE_OK;
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}
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int8_t NUC_StartSend(NUC_t *nuc, bool cmd_update){
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if (cmd_update) {
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// if (HAL_UART_Transmit_DMA(
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// BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)&(nuc->to_nuc.cmd),
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// sizeof(nuc->to_nuc.cmd) + sizeof(nuc->to_nuc.imu)) == HAL_OK)
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/*仅发送cmd数据*/
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if (HAL_UART_Transmit_DMA(
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BSP_UART_GetHandle(BSP_UART_NUC), (uint8_t *)&(nuc->to_nuc.cmd),
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sizeof(nuc->to_nuc.cmd) ) == HAL_OK)
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return DEVICE_OK;
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else
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return DEVICE_ERR;
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}
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// else {
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// if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
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// (uint8_t *)&(nuc->to_nuc.imu),
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// sizeof(nuc->to_nuc.imu)) == HAL_OK)
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// return DEVICE_OK;
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// else
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// return DEVICE_ERR;
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// }
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}
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