158 lines
4.2 KiB
C
158 lines
4.2 KiB
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[16];
|
|
uint8_t SendBuffer[19];
|
|
|
|
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);
|
|
}
|
|
|
|
int8_t NUC_Send(fp32 *data) {
|
|
union {
|
|
float x[4];
|
|
uint8_t data[16];
|
|
}instance;
|
|
for (int i = 0; i < 4; i++) {
|
|
instance.x[i] = data[i];
|
|
}
|
|
SendBuffer[0] = 0xFC; //发送ID
|
|
SendBuffer[1] = 0x01; //控制帧
|
|
for(int i = 2; i < 18; i++){
|
|
SendBuffer[i] = instance.data[i-2];
|
|
}
|
|
SendBuffer[18] = 0xFD; //结束符
|
|
|
|
if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
|
|
(uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
|
|
return DEVICE_OK;
|
|
}
|
|
return DEVICE_ERR;
|
|
}
|
|
int i= 0;
|
|
int8_t NUC_RawParse(CMD_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
|
|
|
|
// 校验数据包头
|
|
if (nucbuf[0] != HEAD) {
|
|
return DEVICE_ERR;
|
|
}
|
|
if (nucbuf[15] != TAIL) {
|
|
return DEVICE_ERR;
|
|
}
|
|
// 提取数据包中的 CRC 值（假设 CRC 值在数据包的最后两个字节）
|
|
// uint16_t received_crc = (nucbuf[16] << 8) | nucbuf[17]; // 假设 CRC 在第 16 和 17 字节
|
|
// uint16_t calculated_crc = do_crc_table(nucbuf, 16); // 计算前 16 字节的 CRC
|
|
// 校验 CRC
|
|
// if (received_crc == calculated_crc) {
|
|
|
|
// n->status_fromnuc = nucbuf[1];
|
|
// n->pit_status = nucbuf[2];
|
|
|
|
//switch (n->status_fromnuc) {
|
|
// case navi:
|
|
/* 协议格式
|
|
0xFF HEAD
|
|
0x02 控制帧
|
|
0x01 相机帧
|
|
x fp32
|
|
y fp32
|
|
z fp32
|
|
0xFE TAIL
|
|
*/
|
|
#ifdef radar
|
|
if(nucbuf[0] == HEAD&&nucbuf[15] == TAIL){
|
|
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];
|
|
if(n->nuc.vw == 0){
|
|
i++;
|
|
}
|
|
}
|
|
#elif defined(carmera_angle)|| defined(camera_angle_static)
|
|
instance.data[3] = nucbuf[3];
|
|
instance.data[2] = nucbuf[4];
|
|
instance.data[1] = nucbuf[5];
|
|
instance.data[0] = nucbuf[6];
|
|
n->nuc.vx = instance.x[0];
|
|
|
|
instance.data[7] = nucbuf[7];
|
|
instance.data[6] = nucbuf[8];
|
|
instance.data[5] = nucbuf[9];
|
|
instance.data[4] = nucbuf[10];
|
|
n->nuc.vy = instance.x[1];
|
|
|
|
instance.data[11] = nucbuf[11];
|
|
instance.data[10] = nucbuf[12];
|
|
instance.data[9] = nucbuf[13];
|
|
instance.data[8] = nucbuf[14];
|
|
n->nuc.vw = instance.x[2];
|
|
|
|
#endif
|
|
|
|
// break;
|
|
|
|
// }
|
|
return 0;
|
|
}
|
|
|
|
int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
|
|
{
|
|
if(cmd == NULL) return DEVICE_ERR_NULL;
|
|
memset(cmd, 0, sizeof(*cmd));
|
|
return 0;
|
|
}
|
|
|
|
|
|
|