374 lines
9.8 KiB
C
374 lines
9.8 KiB
C
#include <stdio.h>
|
|
#include "laser.h"
|
|
extern size_t strlen(const char *);
|
|
|
|
const char FRAME_HEAD_RSP = '$';
|
|
const char FRAME_TAIL = '\r';
|
|
|
|
const char FRAME_HEAD[] = "%01#";
|
|
const char FRAME_TRUE[] = "+00001";
|
|
const char FRAME_FALSE[] = "+00000";
|
|
const char FRAME_BCC[] = "**";
|
|
const char REQ_DEVICE_ONLINE[] = "WCSR03001";
|
|
const char REQ_OPEN_STATUS[] = "RLR"; // 激光开启状态查询
|
|
const char REQ_OPEN_STATUS_WRITE[] = "WLR"; // 激光开启状态设置
|
|
const char REQ_DISTANCE_READ[] = "RMD"; // 测定值读出
|
|
const char REQ_ZERO_STATUS[] = "RZS"; // 调零状态查询
|
|
const char REQ_ZERO_STATUS_WRITE[] = "WZS"; // 调零状态设置
|
|
|
|
//static uart_t *handle;
|
|
static char request_buf[RS485_REC_LEN];
|
|
static uint8_t uart_buf[RS485_REC_LEN];
|
|
static uint8_t *response_ptr;
|
|
static uint8_t response_ptr_offset = 0;
|
|
laser_t laser_handle;
|
|
uint8_t res;
|
|
int rx_count = 0;
|
|
|
|
int rec_flag = 0;
|
|
|
|
|
|
static void laser_send(uint8_t *data, uint8_t length)
|
|
{
|
|
laser_handle.send_data_cb(&huart3, data, length);
|
|
}
|
|
|
|
// 是否在线
|
|
static void command_device_connect_req(void)
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_DEVICE_ONLINE, FRAME_BCC, FRAME_TAIL);
|
|
|
|
laser_send((uint8_t *)request_buf, strlen(request_buf));
|
|
}
|
|
|
|
// 激光开启状态查询
|
|
static void command_open_status_req(void)
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS, FRAME_BCC, FRAME_TAIL);
|
|
|
|
laser_send((uint8_t *)request_buf, strlen(request_buf));
|
|
}
|
|
|
|
// 激光开启状态设置
|
|
static void command_open_status_write_req(bool open)
|
|
{
|
|
if (open)
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS_WRITE, FRAME_TRUE, FRAME_BCC, FRAME_TAIL);
|
|
}
|
|
else
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS_WRITE, FRAME_FALSE, FRAME_BCC, FRAME_TAIL);
|
|
}
|
|
|
|
laser_send((uint8_t *)request_buf, strlen(request_buf));
|
|
}
|
|
|
|
// 测定值读出
|
|
static void command_distance_read_req(void)
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_DISTANCE_READ, FRAME_BCC, FRAME_TAIL);
|
|
|
|
laser_send((uint8_t *)request_buf, strlen(request_buf));
|
|
}
|
|
|
|
// 调零状态查询
|
|
static void command_zero_status_req(void)
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS, FRAME_BCC, FRAME_TAIL);
|
|
|
|
laser_send((uint8_t *)request_buf, strlen(request_buf));
|
|
}
|
|
|
|
// 调零状态开启
|
|
static void command_zero_status_write_req(bool open)
|
|
{
|
|
if (open)
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS_WRITE, FRAME_TRUE, FRAME_BCC, FRAME_TAIL);
|
|
}
|
|
else
|
|
{
|
|
snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS_WRITE, FRAME_FALSE, FRAME_BCC, FRAME_TAIL);
|
|
}
|
|
|
|
laser_send((uint8_t *)request_buf, strlen(request_buf));
|
|
}
|
|
|
|
static void command_zero_status_close_req(void)
|
|
{
|
|
command_zero_status_write_req(false);
|
|
}
|
|
|
|
static void command_zero_status_open_req(void)
|
|
{
|
|
command_zero_status_write_req(true);
|
|
}
|
|
|
|
// 处理数据
|
|
static void laser_data_process(uint8_t *data, uint8_t length)
|
|
{
|
|
char cmd[3] = {0};
|
|
// 向右偏移4个位置获取指令部分
|
|
response_ptr_offset = 0;
|
|
response_ptr = data;
|
|
response_ptr_offset += 4;
|
|
if (!laser_handle.connect)
|
|
{
|
|
osel_memcpy((uint8_t *)cmd, response_ptr + response_ptr_offset, 2);
|
|
response_ptr_offset += 2;
|
|
}
|
|
else
|
|
{
|
|
osel_memcpy((uint8_t *)cmd, response_ptr + response_ptr_offset, 3);
|
|
response_ptr_offset += 3;
|
|
}
|
|
|
|
cmd_parsing(cmd);
|
|
}
|
|
|
|
static void command_device_connect_rsp(void)
|
|
{
|
|
laser_handle.connect = true;
|
|
if (laser_handle.state != LASER_READY)
|
|
{
|
|
laser_handle.state = LASER_CONNECT;
|
|
}
|
|
}
|
|
|
|
static void command_open_status_rsp(void)
|
|
{
|
|
uint8_t status[5] = {0};
|
|
response_ptr_offset++; // 跳过符号
|
|
osel_memcpy(status, response_ptr + response_ptr_offset, 5);
|
|
const char *cs = FRAME_TRUE;
|
|
const char *o_status = (char *)status;
|
|
if(!strncmp(o_status, (cs + 1), 5))
|
|
{
|
|
laser_handle.open_status = true;
|
|
if (laser_handle.state != LASER_READY)
|
|
{
|
|
laser_handle.state = LASER_OPEN_STATUS;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
laser_handle.open_status = false;
|
|
}
|
|
|
|
#if STATUS_DEFAULT == 1
|
|
if (laser_handle.state == LASER_CONNECT)
|
|
{
|
|
if (!laser_handle.open_status)
|
|
{
|
|
command_open_status_write_req(true);
|
|
}
|
|
}
|
|
|
|
#endif
|
|
}
|
|
|
|
static void command_open_status_write_rsp(void)
|
|
{
|
|
}
|
|
|
|
#define PRECISION 100000 // 精度，即小数点后的位数
|
|
static float to_float(uint8_t *arr)
|
|
{
|
|
int num = arr[0] * 1000000 + arr[1] * 100000 + arr[2] * 10000 + arr[3] * 1000 + arr[4] * 100 + arr[5] * 10 + arr[6]; // 数字部分的值
|
|
float result = (float)num / PRECISION; // 将数字部分和小数部分合并成浮点数
|
|
|
|
return result;
|
|
}
|
|
static void command_distance_read_rsp(void)
|
|
{
|
|
uint8_t distance[10] = {0};
|
|
float f = 0;
|
|
osel_memcpy(distance, response_ptr + response_ptr_offset, 10);
|
|
for (uint8_t i = 1; i <= 7; i++)
|
|
{
|
|
CHAR_TO_NUM(distance[i], distance[i]);
|
|
}
|
|
f = to_float(&distance[1]);
|
|
if (distance[0] == '-')
|
|
{
|
|
f = -f;
|
|
}
|
|
|
|
if (laser_handle.state != LASER_READY)
|
|
{
|
|
laser_handle.state = LASER_DISTANCE;
|
|
}
|
|
laser_handle.distance = f * 1000;
|
|
}
|
|
|
|
static void command_zero_status_rsp(void)
|
|
{
|
|
uint8_t status[5] = {0};
|
|
response_ptr_offset++; // 跳过符号
|
|
osel_memcpy(status, response_ptr + response_ptr_offset, 5);
|
|
const char *cs = FRAME_TRUE;
|
|
const char *z_status = (char *)status;
|
|
if(!strncmp(z_status, (cs + 1), 5))
|
|
{
|
|
laser_handle.zero_status = true;
|
|
}
|
|
else
|
|
{
|
|
laser_handle.zero_status = false;
|
|
}
|
|
}
|
|
|
|
static void command_zero_status_write_rsp(void)
|
|
{
|
|
#if STATUS_DEFAULT == 1
|
|
if (laser_handle.state == LASER_OPEN_STATUS)
|
|
{
|
|
laser_handle.zero_status = false;
|
|
laser_handle.state = LASER_ZERO_STATUS_CLOSE;
|
|
}
|
|
else if (laser_handle.state == LASER_ZERO_STATUS_CLOSE)
|
|
{
|
|
laser_handle.zero_status = true;
|
|
laser_handle.state = LASER_ZERO_STATUS_OPEN;
|
|
}
|
|
else
|
|
{
|
|
laser_handle.zero_status = false;
|
|
laser_handle.state = LASER_CONNECT;
|
|
}
|
|
|
|
#endif
|
|
}
|
|
|
|
static void _laser_ready(void)
|
|
{
|
|
laser_handle.state = LASER_READY;
|
|
}
|
|
//REGISTER_CMD(WC, command_device_connect_rsp, "");
|
|
//REGISTER_CMD(RLR, command_open_status_rsp, "");
|
|
//REGISTER_CMD(WLR, command_open_status_write_rsp, "");
|
|
//REGISTER_CMD(RMD, command_distance_read_rsp, "");
|
|
//REGISTER_CMD(RZS, command_zero_status_rsp, "");
|
|
//REGISTER_CMD(WZS, command_zero_status_write_rsp, "");
|
|
|
|
laser_event_t laser_event[] = {
|
|
{LASER_IDEL, command_device_connect_req},
|
|
{LASER_CONNECT, command_open_status_req},
|
|
{LASER_OPEN_STATUS, command_zero_status_close_req},
|
|
{LASER_ZERO_STATUS_CLOSE, command_zero_status_open_req},
|
|
{LASER_ZERO_STATUS_OPEN, command_distance_read_req},
|
|
{LASER_DISTANCE, _laser_ready},
|
|
};
|
|
|
|
void uart3_it_init(void)
|
|
{
|
|
/*接收配置*/
|
|
HAL_UART_Receive_IT(&huart3, (uint8_t *)&res, 1);
|
|
|
|
}
|
|
|
|
void usart3_laser_send(UART_HandleTypeDef *huart,uint8_t *Tx_Buf,uint16_t Size)
|
|
{
|
|
HAL_UART_Transmit_DMA(huart,Tx_Buf,Size);
|
|
}
|
|
|
|
void laser_init(send_data_cb_t cb)
|
|
{
|
|
uart3_it_init();
|
|
|
|
laser_handle.state = LASER_IDEL;
|
|
laser_handle.send_data_cb = cb;
|
|
laser_handle.command_device_connect_req = command_device_connect_req;
|
|
laser_handle.command_open_status_req = command_open_status_req;
|
|
laser_handle.command_open_status_write_req = command_open_status_write_req;
|
|
laser_handle.command_distance_read_req = command_distance_read_req;
|
|
laser_handle.command_zero_status_req = command_zero_status_req;
|
|
laser_handle.command_zero_status_write_req = command_zero_status_write_req;
|
|
}
|
|
|
|
//串口接收中断回调函数，激光
|
|
void laser_rx_cb(void)
|
|
{
|
|
if(res == 0x25) rec_flag = 1;
|
|
|
|
if(rec_flag == 1)
|
|
{
|
|
uart_buf[rx_count] = res;
|
|
rx_count ++;
|
|
if(uart_buf[rx_count - 1] == 0x2A && uart_buf[rx_count - 2] == 0x2A)
|
|
{
|
|
laser_data_process(uart_buf,rx_count);
|
|
rx_count = 0;
|
|
rec_flag = 0;
|
|
}
|
|
}
|
|
HAL_UART_Receive_IT(&huart3, (uint8_t *)&res, 1);
|
|
|
|
}
|
|
|
|
|
|
//根据cmd指令执行相应程序
|
|
void cmd_parsing(char *str)
|
|
{
|
|
//if(strcmp(str, "WC") == 0)
|
|
if(!strncmp(str, REQ_DEVICE_ONLINE,2))
|
|
command_device_connect_rsp();
|
|
else if(!strncmp(str, REQ_OPEN_STATUS,3))
|
|
command_open_status_rsp();
|
|
else if(!strncmp(str, REQ_OPEN_STATUS_WRITE,3))
|
|
command_open_status_write_rsp();
|
|
else if(!strncmp(str, REQ_DISTANCE_READ,3))
|
|
command_distance_read_rsp();
|
|
else if(!strncmp(str, REQ_ZERO_STATUS,3))
|
|
command_zero_status_rsp();
|
|
else if(!strncmp(str, REQ_ZERO_STATUS_WRITE,3))
|
|
command_zero_status_write_rsp();
|
|
|
|
}
|
|
|
|
//激光传感器任务流程
|
|
void laser_task(void)
|
|
{
|
|
//command_zero_status_open_req();
|
|
if (laser_handle.state != LASER_READY)
|
|
{
|
|
if(it_500ms_flag == 1)
|
|
{
|
|
if(laser_handle.state == LASER_IDEL)
|
|
command_device_connect_req();
|
|
else if(laser_handle.state == LASER_CONNECT)
|
|
command_open_status_req();
|
|
else if(laser_handle.state == LASER_OPEN_STATUS)
|
|
command_zero_status_close_req();
|
|
else if(laser_handle.state == LASER_ZERO_STATUS_CLOSE)
|
|
command_zero_status_open_req();
|
|
else if(laser_handle.state == LASER_ZERO_STATUS_OPEN)
|
|
command_distance_read_req();
|
|
else if(laser_handle.state == LASER_DISTANCE)
|
|
_laser_ready();
|
|
it_500ms_flag = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if(it_25ms_flag == 1)
|
|
{
|
|
laser_handle.command_distance_read_req();
|
|
if(laser_handle.distance >= 0)
|
|
{
|
|
InputReg[9] = laser_handle.distance;
|
|
}
|
|
else
|
|
{
|
|
int laser_num = -laser_handle.distance;
|
|
|
|
InputReg[9] = (uint16_t)((0xFFFF - laser_num) + 1);
|
|
}
|
|
it_25ms_flag = 0;
|
|
//laser_handle.connect = true;
|
|
}
|
|
}
|
|
}
|
|
|