199 lines
5.3 KiB
C
199 lines
5.3 KiB
C
#include "nuc.h"
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#include <string.h>
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#include "crc_ccitt.h"
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static osThreadId_t thread_alert;
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uint8_t nucbuf[32];
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uint8_t packet[32]; // 假设最大数据包长度为 32 字节
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static void NUC_IdleCallback(void) {
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osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
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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_AI,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(void) {
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if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI),
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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_AI));
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__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
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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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int8_t NUC_SendPacket(void *data, uint16_t length) {
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if (data == NULL || length == 0) {
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return DEVICE_ERR_NULL; // 数据为空或长度为 0
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}
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uint8_t packet[32]; // 假设最大数据包长度为 32 字节
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if (length + 5 > sizeof(packet)) { // 帧头 + 帧类型 + 数据 + CRC + 帧尾
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return DEVICE_ERR_OVERFLOW; // 数据包长度超出限制
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}
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// 构建数据包
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packet[0] = HEAD; // 帧头
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packet[1] = SEND; // 发送帧类型
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memcpy(&packet[2], data, length); // 数据内容
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uint16_t crc = do_crc_table(data, length); // 计算 CRC 校验
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packet[length + 2] = (crc >> 8) & 0xFF; // CRC 高字节
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packet[length + 3] = crc & 0xFF; // CRC 低字节
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packet[length + 4] = TAIL; // 帧尾
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// 发送数据包
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if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_AI), packet, length + 5, HAL_MAX_DELAY) != HAL_OK) {
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return DEVICE_ERR; // 发送失败
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}
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return DEVICE_OK; // 发送成功
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}
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int8_t NUC_RawParse(NUC_t *n) {
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if (n == NULL) return DEVICE_ERR_NULL;
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union {
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float x[3];
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char data[12];
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} instance; // 方便在浮点数和字符数组之间进行数据转换
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// 校验数据包头
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if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
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else
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{
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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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case VISION:
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/* 协议格式
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0xFF HEAD
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0x02 控制帧
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0x01 相机帧
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x fp32
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y fp32
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z fp32
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0xFE TAIL
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*/
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if (nucbuf[7] != 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->vision.x = instance.x[0];
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instance.data[7] = nucbuf[7];
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instance.data[6] = nucbuf[8];
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instance.data[5] = nucbuf[9];
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instance.data[4] = nucbuf[10];
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n->vision.y = instance.x[1];
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instance.data[11] = nucbuf[11];
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instance.data[10] = nucbuf[12];
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instance.data[9] = nucbuf[13];
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instance.data[8] = nucbuf[14];
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n->vision.z = instance.x[2];
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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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return DEVICE_ERR;
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}
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// int8_t NUC_RawParse(NUC_t *n) {
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// if (n == NULL) return DEVICE_ERR_NULL;
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// union {
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// float x[3];
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// char data[12];
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// } instance; // 方便在浮点数和字符数组之间进行数据转换
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// // 校验数据包头
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// if (nucbuf[0] != HEAD) {
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// return DEVICE_ERR;
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// }
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// // 提取数据包中的 CRC 值（假设 CRC 值在数据包的最后两个字节）
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// uint16_t received_crc = (nucbuf[16] << 8) | nucbuf[17]; // 假设 CRC 在第 16 和 17 字节
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// uint16_t calculated_crc = do_crc_table(nucbuf, 16); // 计算前 16 字节的 CRC
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// // 校验 CRC
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// if (received_crc == calculated_crc) {
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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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// case VISION:
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// /* 协议格式
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// 0xFF HEAD
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// 0x02 控制帧
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// 0x01 相机帧
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// x fp32
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// y fp32
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// z fp32
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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[3];
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// instance.data[2] = nucbuf[4];
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// instance.data[1] = nucbuf[5];
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// instance.data[0] = nucbuf[6];
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// n->vision.x = instance.x[0];
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// instance.data[7] = nucbuf[7];
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// instance.data[6] = nucbuf[8];
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// instance.data[5] = nucbuf[9];
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// instance.data[4] = nucbuf[10];
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// n->vision.y = instance.x[1];
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// instance.data[11] = nucbuf[11];
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// instance.data[10] = nucbuf[12];
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// instance.data[9] = nucbuf[13];
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// instance.data[8] = nucbuf[14];
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// n->vision.z = instance.x[2];
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// break;
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// }
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// return DEVICE_OK;
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// }
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// else
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// {
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// return DEVICE_ERR;
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// }
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// error:
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// return DEVICE_ERR;
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// }
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int8_t NUC_HandleOffline(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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