25_R1_chassis/User/device/nuc.c

#include "nuc.h"
#include "crc16.h"
#include <string.h>
#include "define.h"
#include "error_detect.h"

static volatile uint32_t drop_message = 0;

static osThreadId_t thread_alert;

uint8_t nucbuf[32];
uint8_t SendBuffer[11];
int b=0;
int c =0;

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;
    if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
   BSP_UART_RegisterCallback(BSP_UART_NUC,BSP_UART_IDLE_LINE_CB,
                            NUC_IdleCallback);
	
   return DEVICE_OK;
}
int8_t NUC_StartReceiving() {
  if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
                           (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_NUC));
  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC));
  return DEVICE_OK;
}
bool_t NUC_WaitDmaCplt(void) {
  return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
          SIGNAL_NUC_RAW_REDY);
}
//正常的发送
//int8_t NUC_Send(fp32 *data) {
//  union {
//		float x[5];
//		uint8_t  data[20];
//	}instance;
//  for (int i = 0; i < 5; i++) {
//    instance.x[i] = data[i];
//  }
//  SendBuffer[0] = 0xFC; //发送ID
//  SendBuffer[1] = 0x01; //控制帧
//  for(int i = 2; i < 22; i++){
//   SendBuffer[i] = instance.data[i-2];
//  }
//  SendBuffer[22] = 0xFD; //结束符

//  if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
//      (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
//				b++;
//		return DEVICE_OK;	
//	}   
//	return DEVICE_ERR;
//}

//满足视觉的特定发送
int8_t NUC_Send(fp32 *data) {
  union {
		float x[2];
		uint8_t  data[8];
	}instance;
  for (int i = 0; i < 2; i++) {
    instance.x[i] = data[i];
  }
  SendBuffer[0] = 0xFC; //发送ID
  SendBuffer[1] = 0x01; //控制帧
	
  for(int i = 2; i < 10; i++){
   SendBuffer[i] = instance.data[i-2];
  }
  SendBuffer[10] = 0xFD; //结束符

  if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
      (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
				b++;
		return DEVICE_OK;	
	}   
	return DEVICE_ERR;
}

//发送控制函数
void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis) {
	static fp32 send_data[5];
	
	  //启动sick校准雷达			 
    if (chassis->SICK__SEND_FALG == 1) {
      send_data[0] = 1;
      send_data[1] = 0;
      send_data[2] = 2;
      send_data[3] = 3;
      send_data[4] = 4;	
      NUC_Send(send_data);  // 发送数据		 				
     } 
		 //启动传球
		 else if(cmd->C_cmd.communicate == YES){
      send_data[0] = 0;
      send_data[1] = 1;	
      NUC_Send(send_data);  // 发送数据		 	 
		 }
		 else if(cmd->C_cmd.communicate == NO){
      send_data[0] = 0;
      send_data[1] = 0;
      NUC_Send(send_data);  // 发送数据			 			 
     } 
}

int8_t NUC_RawParse(CMD_NUC_t *n) {
  if (n == NULL) return DEVICE_ERR_NULL;
  union {
      float x[4];
      char data[16];
  } 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 MID:
          /* 协议格式 
             0xFF  HEAD
             0x09  控制帧
             0x01  相机帧
             x    fp32
             y    fp32
             z    fp32
             0xFE  TAIL
          */
      if (nucbuf[19] != TAIL) goto error;
          instance.data[0] = nucbuf[3];
          instance.data[1] = nucbuf[4];
          instance.data[2] = nucbuf[5];
          instance.data[3] = nucbuf[6];
          n->nuc.vx = instance.x[0];

          instance.data[4] = nucbuf[7];
          instance.data[5] = nucbuf[8];
          instance.data[6] = nucbuf[9];
          instance.data[7] = nucbuf[10];
          n->nuc.vy = instance.x[1];

          instance.data[8] = nucbuf[11];
          instance.data[9] = nucbuf[12];
          instance.data[10] = nucbuf[13];
          instance.data[11] = nucbuf[14];
          n->nuc.vw = instance.x[2]/3.1415926535f*360;
					
					instance.data[12] = nucbuf[15];
          instance.data[13] = nucbuf[16];
          instance.data[14] = nucbuf[17];
          instance.data[15] = nucbuf[18];
          n->nuc.yaw = instance.x[3]/3.1415926535f*360;
    break;
   }
   return DEVICE_OK;
  }

error:
	c++;
  return DEVICE_ERR;
}

int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
{
	if(cmd == NULL) return DEVICE_ERR_NULL;
	 memset(cmd, 0, sizeof(*cmd));
	return 0;
}