145 lines
4.0 KiB
C
145 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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static volatile uint32_t drop_message = 0;
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static osThreadId_t thread_alert;
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static uint8_t nucbuf[32];
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static void NUC_IdleCallback(void) {
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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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int8_t NUC_Init(NUC_t *nuc){
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if(nuc == NULL) return DEVICE_ERR_NULL;
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if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
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BSP_UART_RegisterCallback(BSP_UART_NUC,BSP_UART_IDLE_LINE_CB,
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NUC_IdleCallback);
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return DEVICE_OK;
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}
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int8_t NUC_StartReceiving() {
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if (HAL_UARTEx_ReceiveToIdle_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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__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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return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
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SIGNAL_NUC_RAW_REDY);
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}
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union
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{
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float x[3];
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char data[12];
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}instance;
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int8_t NUC_RawParse(CMD_NUC_t *n){
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if(n ==NULL) return DEVICE_ERR_NULL;
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// if(nucbuf[0]!=HEAD) goto error;
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// else{
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n->status_fromnuc =nucbuf[1];
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n->ctrl_status =nucbuf[2];
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// switch (n->status_fromnuc)
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// {
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// case MID://控制帧0x09
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/* 协议格式
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0xFF HEAD
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0x0X 控制帧
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0x01 相机帧
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vx fp32
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vy fp32
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wz fp32
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0xFE TAIL
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使用的是串口1
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*/
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// if(nucbuf[15]!=TAIL)goto error;
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instance.data[3] = nucbuf[6];
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instance.data[2] = nucbuf[5];
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instance.data[1] = nucbuf[4];
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instance.data[0] = nucbuf[3];
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n->navi.vx = instance.x[0]; //
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instance.data[7] = nucbuf[10];
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instance.data[6] = nucbuf[9];
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instance.data[5] = nucbuf[8];
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instance.data[4] = nucbuf[7];
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n->navi.vy = instance.x[1];//
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instance.data[11] = nucbuf[14];
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instance.data[10] = nucbuf[13];
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instance.data[9] = nucbuf[12];
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instance.data[8] = nucbuf[11];
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n->navi.wz = instance.x[2];//
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// break;
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// case PICK:
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// /* 协议格式
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// 0xFF HEAD
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// 0x0X 控制帧
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// 0x01 相机帧
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// cmd 8位
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// dis 相机深度值
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// posx 相机yaw轴值
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// posy 相机pitch轴值
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// 0xFE TAIL
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// */
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// if(nucbuf[15]!=TAIL)goto error;
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// instance.data[3] = nucbuf[6];
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// instance.data[2] = nucbuf[5];
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// instance.data[1] = nucbuf[4];
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// instance.data[0] = nucbuf[3];
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// n->pick.posx = instance.x[0]; //距离球中心的角度值
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// instance.data[7] = nucbuf[10];
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// instance.data[6] = nucbuf[9];
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// instance.data[5] = nucbuf[8];
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// instance.data[4] = nucbuf[7];
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// n->pick.posy = instance.x[1];// 相机yaw轴
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// instance.data[11] = nucbuf[14];
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// instance.data[10] = nucbuf[13];
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// instance.data[9] = nucbuf[12];
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// instance.data[8] = nucbuf[11];
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// n->pick.posw= instance.x[2];// 暂未用到
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// break;
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// case SICK_CAIL:
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// if(nucbuf[15]!=TAIL)goto error;
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// instance.data[3] = nucbuf[14];
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// instance.data[2] = nucbuf[13];
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// instance.data[1] = nucbuf[12];
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// instance.data[0] = nucbuf[11];
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// n->sick_cali.angle = instance.x[0]; //
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// instance.data[7] = nucbuf[10];
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// instance.data[6] = nucbuf[9];
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// instance.data[5] = nucbuf[8];
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// instance.data[4] = nucbuf[7];
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// n->sick_cali.isleft = instance.x[1];//
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// instance.data[11] = nucbuf[14];
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// instance.data[10] = nucbuf[13];
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// instance.data[9] = nucbuf[12];
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// instance.data[8] = nucbuf[11];
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// n->pick.posw= instance.x[2];// 暂未用到
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// break;
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// }
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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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// return DEVICE_ERR;
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}
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int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
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{
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if(cmd == NULL) return DEVICE_ERR_NULL;
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memset(cmd, 0, sizeof(*cmd));
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return 0;
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}
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