From b8698147d50a7f1899b72b7fa34dd1ed4d955857 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Tue, 7 Oct 2025 20:10:56 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0ai?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Src/stm32f4xx_it.c | 1 + User/bsp/bsp_config.yaml | 4 ++ User/bsp/uart.c | 8 +++ User/bsp/uart.h | 2 + User/device/ai.c | 138 ++++++++++++++++++++------------------- User/device/ai.h | 2 +- User/device/device.h | 2 +- 7 files changed, 87 insertions(+), 70 deletions(-) diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index abebd0f..562d7be 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -335,6 +335,7 @@ void USART1_IRQHandler(void) /* USER CODE END USART1_IRQn 0 */ HAL_UART_IRQHandler(&huart1); /* USER CODE BEGIN USART1_IRQn 1 */ + BSP_UART_IRQHandler(&huart1); /* USER CODE END USART1_IRQn 1 */ } diff --git a/User/bsp/bsp_config.yaml b/User/bsp/bsp_config.yaml index b14c354..e6b2c91 100644 --- a/User/bsp/bsp_config.yaml +++ b/User/bsp/bsp_config.yaml @@ -129,4 +129,8 @@ uart: devices: - instance: USART3 name: DR16 + - instance: USART6 + name: AI + - instance: USART1 + name: REF enabled: true diff --git a/User/bsp/uart.c b/User/bsp/uart.c index 3c1b0ac..9800cb7 100644 --- a/User/bsp/uart.c +++ b/User/bsp/uart.c @@ -25,6 +25,10 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void); static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { if (huart->Instance == USART3) return BSP_UART_DR16; + else if (huart->Instance == USART6) + return BSP_UART_AI; + else if (huart->Instance == USART1) + return BSP_UART_REF; else return BSP_UART_ERR; } @@ -115,6 +119,10 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { switch (uart) { case BSP_UART_DR16: return &huart3; + case BSP_UART_AI: + return &huart6; + case BSP_UART_REF: + return &huart1; default: return NULL; } diff --git a/User/bsp/uart.h b/User/bsp/uart.h index c3842af..2305147 100644 --- a/User/bsp/uart.h +++ b/User/bsp/uart.h @@ -28,6 +28,8 @@ extern "C" { /* UART实体枚举，与设备对应 */ typedef enum { BSP_UART_DR16, + BSP_UART_AI, + BSP_UART_REF, BSP_UART_NUM, BSP_UART_ERR, } BSP_UART_t; diff --git a/User/device/ai.c b/User/device/ai.c index edea20c..232f65c 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -1,91 +1,93 @@ -// /* -// AI -// */ +/* +AI +*/ -// /* Includes ----------------------------------------------------------------- */ -// #include "ai.h" +/* Includes ----------------------------------------------------------------- */ +#include "ai.h" -// #include +#include -// #include "bsp/time.h" -// #include "bsp/uart.h" -// #include "component/crc16.h" -// #include "component/crc8.h" -// #include "component/user_math.h" -// #include "component/filter.h" +#include "bsp/time.h" +#include "bsp/uart.h" +#include "component/crc16.h" +#include "component/crc8.h" +#include "component/user_math.h" +#include "component/filter.h" -// /* Private define ----------------------------------------------------------- */ -// #define AI_LEN_RX_BUFF (sizeof(Protocol_DownPackage_t)) +/* Private define ----------------------------------------------------------- */ +#define AI_LEN_RX_BUFF (sizeof(AI_DownPackage_t)) -// /* Private macro ------------------------------------------------------------ */ -// /* Private typedef ---------------------------------------------------------- */ -// /* Private variables -------------------------------------------------------- */ -// static volatile uint32_t drop_message = 0; +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ -// static uint8_t rxbuf[AI_LEN_RX_BUFF]; +static uint8_t rxbuf[AI_LEN_RX_BUFF]; -// static bool inited = false; +static bool inited = false; -// static osThreadId_t thread_alert; +static osThreadId_t thread_alert; -// /* Private function -------------------------------------------------------- */ +static uint32_t drop_message = 0; -// static void Ai_RxCpltCallback(void) { -// osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); -// } +/* Private function -------------------------------------------------------- */ -// static void Ai_IdleLineCallback(void) { -// osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); -// } +static void Ai_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); +} -// /* Exported functions ------------------------------------------------------- */ -// int8_t AI_Init(AI_t *ai) { -// UNUSED(ai); -// ASSERT(ai); -// if (inited) return DEVICE_ERR_INITED; -// VERIFY((thread_alert = osThreadGetId()) != NULL); +static void Ai_IdleLineCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY); +} -// BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, -// Ai_RxCpltCallback); -// BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, -// Ai_IdleLineCallback); +/* Exported functions ------------------------------------------------------- */ +int8_t AI_Init(AI_t *ai) { + UNUSED(ai); + if (inited) return DEVICE_ERR_INITED; + thread_alert = osThreadGetId(); + + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, + Ai_RxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, + Ai_IdleLineCallback); -// inited = true; -// return 0; -// } + inited = true; + return 0; +} -// int8_t AI_Restart(void) { -// __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI)); -// __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI)); -// return DEVICE_OK; -// } +int8_t AI_Restart(AI_t *ai) { + UNUSED(ai); + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI)); + return DEVICE_OK; +} -// int8_t AI_StartReceiving(AI_t *ai) { -// UNUSED(ai); -// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf, -// AI_LEN_RX_BUFF) == HAL_OK) -// return DEVICE_OK; -// return DEVICE_ERR; -// } +int8_t AI_StartReceiving(AI_t *ai) { + UNUSED(ai); + if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf, + AI_LEN_RX_BUFF) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; +} -// bool AI_WaitDmaCplt(void) { -// return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, 0) == -// SIGNAL_AI_RAW_REDY); -// } +bool AI_WaitDmaCplt(uint32_t timeout) { + return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll, timeout) == + SIGNAL_AI_RAW_REDY); +} -// int8_t AI_ParseHost(AI_t *ai) { -// if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) -// goto error; -// ai->ai_online = true; -// memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); -// memset(rxbuf, 0, AI_LEN_RX_BUFF); -// return DEVICE_OK; +int8_t AI_ParseHost(AI_t *ai) { + if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) + goto error; + ai->header.online = true; + ai->header.last_online_time = BSP_TIME_Get(); + memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); + memset(rxbuf, 0, AI_LEN_RX_BUFF); + return DEVICE_OK; -// error: -// drop_message++; -// return DEVICE_ERR; -// } +error: + drop_message++; + return DEVICE_ERR; +} // void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) { // cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw; diff --git a/User/device/ai.h b/User/device/ai.h index 67c4ab4..567a279 100644 --- a/User/device/ai.h +++ b/User/device/ai.h @@ -58,7 +58,7 @@ typedef struct __packed { /* 视觉 -> 电控 数据包 */ typedef struct __packed { uint8_t id; /* 包ID */ - AI_Protucol_DownData_t package; /* 数据包 */ + AI_Protocol_DownData_t package; /* 数据包 */ uint16_t crc16; /* CRC16校验 */ } AI_DownPackage_t; diff --git a/User/device/device.h b/User/device/device.h index 18ffc73..f85543d 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -30,7 +30,7 @@ extern "C" { /* AUTO GENERATED SIGNALS END */ /* USER SIGNALS BEGIN */ - +#define SIGNAL_AI_RAW_REDY (1u << 5) /* USER SIGNALS END */ /*设备层通用Header*/ typedef struct {