#include "nuc.h" #include //#include "crc16.h" uint8_t nucbuf[32]; static void NUC_IdleCallback(void) { // osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); // detect_hook(NUC_TOE); } int8_t NUC_Init(NUC_t *nuc){ if(nuc == NULL) return DEVICE_ERR_NULL; //信号量的东西 // if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL; BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB, NUC_IdleCallback); return DEVICE_OK; } int8_t NUC_StartReceiving(void) { if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI), (uint8_t *)nucbuf, sizeof(nucbuf)) == HAL_OK) return DEVICE_OK; return DEVICE_ERR; } int8_t NUC_Restart(void) { __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI)); __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI)); return DEVICE_OK; } bool_t NUC_WaitDmaCplt(void) { // return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) == // SIGNAL_NUC_RAW_REDY); } int8_t NUC_RawParse(NUC_t *n){ if(n ==NULL) return DEVICE_ERR_NULL; union { float x[3]; char data[12]; }instance;//方便在浮点数和字符数组之间进行数据转换 if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘 else{ n->status_fromnuc =nucbuf[1]; n->ctrl_status =nucbuf[2]; switch (n->status_fromnuc) { case VISION: /* 协议格式 0xFF HEAD 0x0X 控制帧 0x01 相机帧 x fp32 y fp32 z fp32 0xFE TAIL */ if(nucbuf[15]!=TAIL)goto error; instance.data[3] = nucbuf[6]; instance.data[2] = nucbuf[5]; instance.data[1] = nucbuf[4]; instance.data[0] = nucbuf[3]; n->vision.x= instance.x[0]; // instance.data[7] = nucbuf[10]; instance.data[6] = nucbuf[9]; instance.data[5] = nucbuf[8]; instance.data[4] = nucbuf[7]; n->vision.y = instance.x[1];// instance.data[11] = nucbuf[14]; instance.data[10] = nucbuf[13]; instance.data[9] = nucbuf[12]; instance.data[8] = nucbuf[11]; n->vision.z = instance.x[2];// break; case PICK: break; } return DEVICE_OK; } error: return DEVICE_ERR; } int8_t NUC_HandleOffline(NUC_t *cmd) { if(cmd == NULL) return DEVICE_ERR_NULL; memset(cmd, 0, sizeof(*cmd)); return 0; }