66 lines
1.7 KiB
C
66 lines
1.7 KiB
C
#ifndef __LASER_H
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#define __LASER_H
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#include "main.h"
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#include "uarts.h"
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#include <stdbool.h>
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#define RS485_PORT UART_NUM_5
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#define RS485_REC_LEN 50u
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#define STATUS_DEFAULT 1 // 上电后默认状态 :激光开启，调零关闭后再开启
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typedef enum
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{
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LASER_IDEL = 0,
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LASER_CONNECT,
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LASER_OPEN_STATUS,
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LASER_ZERO_STATUS_CLOSE,
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LASER_ZERO_STATUS_OPEN,
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LASER_DISTANCE,
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LASER_READY,
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} laser_statue_e;
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/**
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* @bref 状态机事件
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*/
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typedef struct sm_event_s
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{
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laser_statue_e sig;
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void (*event)(void);
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} laser_event_t;
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typedef void (*send_data_cb_t)(UART_HandleTypeDef *huart, uint8_t *data, uint16_t len); // 发送数据
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typedef struct
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{
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volatile laser_statue_e state; // 状态机状态
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bool connect; // 连接状态
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bool open_status; // 激光开启状态
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bool zero_status; // 调零状态
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float distance; // 测定值
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send_data_cb_t send_data_cb; // 发送数据回调函数，外部传入
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// 以下是指令部分
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void (*command_device_connect_req)(void); // 设备是否连接
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void (*command_open_status_req)(void); // 激光开启状态查询
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void (*command_open_status_write_req)(bool); // 激光开启OR关闭
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void (*command_distance_read_req)(void); // 测定值读出
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void (*command_zero_status_req)(void); // 调零状态查询
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void (*command_zero_status_write_req)(bool); // 调零状态开启OR关闭
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} laser_t;
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extern laser_t laser_handle;
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extern laser_event_t laser_event[];
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extern void laser_init(send_data_cb_t cb);
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void usart3_laser_send(UART_HandleTypeDef *huart,uint8_t *Tx_Buf,uint16_t Size);
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void laser_rx_cb(void);
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void uart3_it_init(void);
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void cmd_parsing(char *str);
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void laser_task(void);
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#endif
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