839 lines
36 KiB
Plaintext
839 lines
36 KiB
Plaintext
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 1
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C51 COMPILER V9.59.0.0, COMPILATION OF MODULE UART1
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OBJECT MODULE PLACED IN ..\Output\Uart1.obj
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COMPILER INVOKED BY: D:\Keil_v5\C51\BIN\C51.EXE ..\Apps\Uart1.c LARGE OBJECTADVANCED OPTIMIZE(8,SIZE) BROWSE INCDIR(..\F
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-WLib\SC92F_Lib\inc;..\User;..\Apps;..\Apps;..\User) DEFINE(SC92F836xB) DEBUG PRINT(..\List\Uart1.lst) OBJECT(..\Output\U
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-art1.obj)
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line level source
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1 /********************************Copyright (c)**********************************\
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2 **
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3 ** (c) Copyright 2019, China, JS.
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4 ** All Rights Reserved
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5 **
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6 **
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7 **----------------------------------文件信息------------------------------------
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8 ** 文件名称: ttl_usart.c
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9 ** 创建日期: 2022-05-11
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10 ** 文档描述: ttl_usart
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11 **
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12 **----------------------------------版本信息------------------------------------
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13 ** 版本代号: V0.1
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14 ** 版本说明: 初始版本
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15 **
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16 ********************************End of Head************************************/
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17
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18 /* Includes ------------------------------------------------------------------*/
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19
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20 /**
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21 * @file uart.c
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22 * @author Nations
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23 * @version v1.0.0
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24 *
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25 * @copyright Copyright (c) 2022, Nations Technologies Inc. All rights reserved.
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26 */
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27
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28 #include <stdio.h>
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29
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30
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31 #include "SC_Init.h" //MCU Init header，Include all IC resource headers
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32 #include "SC_it.h"
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33 #include "..\Drivers\SCDriver_list.h"
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34 #include "HeadFiles\SysFunVarDefine.h"
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35
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36 #include "Uart1.h"
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37 #include "Motor.h"
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38
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39 //微秒延时
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40 void DelayUs(unsigned int delay)
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41 {
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42 1 unsigned int i = 0, j = 0;
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43 1 for(i = 0; i < delay; i++)
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44 1 {
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45 2 for(j = 0; j < 125; j++);
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46 2 }
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47 1 }
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48
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49 //毫秒延时
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50 void DelayMs(unsigned int delay)
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51 {
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52 1 unsigned int i = 0;
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53 1 for(i = 0; i < delay; i++)
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 2
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54 1 {
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55 2 DelayUs(1000);
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56 2 }
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57 1 }
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58
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59 #define HD_VER 0001 //硬件版本
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60 #define SW_VER 0001 //软件版本
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61
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62 #define TTL_SEND_BUFF_LEN 60 //发送数据长度
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63 #define TTL_RECEIVE_BUFF_LEN 60 //接收数据长度
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64
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65 //----------------------------------------------------------------
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66 //uart1用于接收usb转ttl的串口
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67 //----------------------------------------------------------------
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68
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69 //存放发送的数据内容
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70 uint8_t xdata motor_data[10];
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71
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72 //发送buff
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73 uint8_t xdata ttl_send_len = 0;
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74 uint8_t xdata ttl_send_buff[TTL_SEND_BUFF_LEN] = {0};
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75
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76 //接收buff
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77 uint8_t xdata ttl_receive_len = 0;
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78 uint8_t xdata ttl_receive_buff[TTL_RECEIVE_BUFF_LEN] = {0};
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79
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80 //接收超时
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81 uint8_t xdata ttl_receive_flag = 0;
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82 uint8_t xdata ttl_receive_cnt = 0;
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83 uint8_t xdata ttl_receive_interval = 0;
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84
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85 #define DATA_LEN TTL_RECEIVE_BUFF_LEN //一般数据长度
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86 #define UART_ORDER_SOF 0x05 //起始字
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87 #define UART_ORDER_END 0x1B //结束字
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88 #define FIXED_LEN 0x0B //固定长度 //取消RW
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89
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90 uint16_t xdata SUR_DEVICE_ADDR = 0x00A1; //PC //0x00A1; //设备
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91 uint16_t xdata OBJ_DEVICE_ADDR = 0x00B1; //主板 //0x00B1; //PC群发 FFFF 0000
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92
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93 uint8_t xdata order_flag = 0;
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94 unsigned int xdata checksum = 0, re_status = 0, rec_len = 0, data_len = 0, shouldaccept = 0;
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95
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96 //单独发送
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97 void UART1_SendData(uint8_t dat)
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98 {
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99 1 SSI_UART1_SendData8(dat);
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100 1 }
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101
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102 //发送数据
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103 void UART1_Send_Char(uint8_t dat)
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104 {
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105 1 SSI_UART1_SendData8(dat);
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106 1 }
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107
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108 //初始化
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109 void InitUart_Data(void)
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110 {
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111 1 order_flag = 0;
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112 1 rec_len = 0;
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113 1 re_status = 0;
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114 1 shouldaccept = 0;
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115 1
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 3
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116 1 ttl_receive_flag = 0;
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117 1 ttl_receive_cnt = 0;
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118 1
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119 1 checksum = 0;
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120 1
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121 1 for(data_len = 0; data_len < DATA_LEN; data_len++)
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122 1 {
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123 2 ttl_receive_buff[data_len] = 0;
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124 2 }
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125 1
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126 1 data_len = 0;
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127 1
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128 1 // UART_Send_Char(0xdd);
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129 1 }
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130
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131
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132
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133 /* Private function prototypes -----------------------------------------------*/
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134 /* Private functions ---------------------------------------------------------*/
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135 //----------------------------------------------------------------
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136 //接收串口1
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137 //----------------------------------------------------------------
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138 /****************************************************************************************************
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139 * @brief Download a file via serial port
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140 * @param None
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141 * @retval None
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142 **************************************************************************************************/
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143 void start_ttl_receive_timer(uint32_t ms)
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144 {
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145 1 if(ms == 0)
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146 1 {
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147 2 return;
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148 2 }
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149 1
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150 1 ttl_receive_flag = 1;
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151 1 ttl_receive_cnt = 0;
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152 1 ttl_receive_interval = ms;
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153 1 }
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154
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155 /****************************************************************************************************
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156 * @brief Upload a file via serial port.
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157 * @param None
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158 * @retval None
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159 **************************************************************************************************/
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160 void over_ttl_receive_timer(void)
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161 {
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162 1 ttl_receive_flag = 0;
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163 1 ttl_receive_cnt = 0;
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164 1 ttl_receive_interval = 0;
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165 1
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166 1 InitUart_Data();
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167 1
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168 1 // UART2_Send_Char(0xed);
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169 1 }
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170
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171 /****************************************************************************************************
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172 * @brief Display the Main Menu on HyperTerminal
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173 * @param None
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174 * @retval None
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175 **************************************************************************************************/
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176 void clear_ttl_receive_timer(void)
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177 {
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 4
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178 1 uint16_t i = 0;
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179 1 ttl_receive_len = 0;
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180 1 ttl_receive_flag = 0;
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181 1 ttl_receive_cnt = 0;
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182 1 ttl_receive_interval = 0;
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183 1
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184 1 for(i = 0; i < TTL_RECEIVE_BUFF_LEN; i++)
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185 1 {
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186 2 ttl_receive_buff[i] = 0;
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187 2 }
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188 1 }
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189
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190 //返回串口屏应答是否接收完成的结果
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191 //0：没超时 1：超时
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192 uint8_t judge_ttl_receive_timer(void)
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193 {
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194 1 if(ttl_receive_flag == 2)
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195 1 {
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196 2 return 1;
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197 2 }
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198 1 else
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199 1 {
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200 2 return 0;
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201 2 }
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202 1 }
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203
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204 /****************************************************************************************************
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205 * @brief Display the Main Menu on HyperTerminal
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206 * @param None
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207 * @retval None
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208 **************************************************************************************************/
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209 //放在大循环中的计时器里
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210 void process_ttl_receive_timer(void)
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211 {
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212 1 if(ttl_receive_flag == 1)
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213 1 {
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214 2 ttl_receive_cnt++;
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215 2 }
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216 1
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217 1 if((ttl_receive_interval > 0) && (ttl_receive_cnt >= ttl_receive_interval))
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218 1 {
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219 2 over_ttl_receive_timer();
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220 2 }
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221 1 }
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222
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223 #define TTL_OVER_TIME 10
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224 /****************************************************************************************************
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225 * @brief Display the Main Menu on HyperTerminal
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226 * @param None
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227 * @retval None
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228 **************************************************************************************************/
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229 //放串口中断内，接收数据
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230 void receive_ttl_data(uint8_t rx_data)
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231 {
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232 1 //不能超过数组的最大长度
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233 1 if(ttl_receive_len < TTL_RECEIVE_BUFF_LEN)
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234 1 {
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235 2 //开始计时
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236 2 start_ttl_receive_timer(TTL_OVER_TIME);
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237 2
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238 2 //串口接收数据分析
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239 2 Do_Receive_Uart_For_Module(rx_data);
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 5
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240 2 }
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241 1 else //超过上限则抛弃后面的数据
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242 1 {
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243 2 //超时处理
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244 2 over_ttl_receive_timer();
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245 2
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246 2 InitUart_Data();
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247 2
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248 2 //UART_Send_Char(0xcc);
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249 2 }
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250 1 }
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251
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252 #define CRC_PRESET 0xFFFF
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253 #define CRC_POLYNOM 0x4204
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254 /*---------------------------------------------------------------------------
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255 调用方式：unsigned int ModbusCRC16(unsigned char *data_value, unsigned char length)
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256 函数说明：CRC校验
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257 ---------------------------------------------------------------------------*/
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258 unsigned int ModbusCRC16(unsigned char *data_value, unsigned char length)
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259 {
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260 1 unsigned int crc_value = CRC_PRESET;
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261 1 unsigned char i;
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262 1 data_value++;
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263 1 while(length-- != 0)
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264 1 {//ModbusCRC16(PData, Num + FIXED_LEN - 3);
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265 2 for(i = 0x01; i != 0; i <<= 1)
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266 2 {
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267 3 if((crc_value & 0x0001) != 0)
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268 3 {
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269 4 crc_value >>= 1;
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270 4 crc_value ^= CRC_POLYNOM;
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271 4 }
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272 3 else
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273 3 {
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274 4 crc_value >>= 1;
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275 4 }
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276 3
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277 3 if((*data_value & i) != 0)
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278 3 {
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279 4 crc_value ^= CRC_POLYNOM;
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280 4 }
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281 3 }
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282 2 data_value++;
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283 2 }
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284 1 return(crc_value);
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285 1 }
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286
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287 /*---------------------------------------------------------------------------
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288 调用方式：unsigned int VerfiyRC(unsigned char *data_value, unsigned char length)
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289 函数说明：异或校验
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290 除了头尾固定，不校验外，其他的校验
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291 -----------------------------------------------------------------------------*/
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292 unsigned char VerfiyRC(unsigned char data_value[], unsigned char length) //不用异或校验，用crc校验
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293 {
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294 1 unsigned char i;
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295 1 unsigned char V_b = data_value[1];
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296 1
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297 1 for(i = 0x00; i < length; i++)
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298 1 {
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299 2 //异或校验
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300 2 V_b ^= data_value[i];
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301 2 }
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 6
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302 1
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303 1 return(V_b);
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304 1 }
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305
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306 //发送延时
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307 void Uart_Send_Delay(unsigned int delay)
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308 {
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309 1 unsigned int i = 0, j = 0;
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310 1
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311 1 for(i = 0; i < delay; i++)
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312 1 {
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313 2 for(j = 0; j < 125; j++);
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314 2 }
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315 1 }
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316
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317 //校验 + 0X1B
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318 #define VERFIY_TYPE 0
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319
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320 /*
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321 SOF： 1个字节 0x05 起始字节
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322 Len： 2个字节 长度
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323 Fou_adr： 2个字节 源地址
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324 Com_adr： 2个字节 目标地址，0ff为广播地址
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325 Cmd16： 2个字节 命令字
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326 Request-data： N字节 数据
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327 XOR： 2个字节 校验
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328 END： 0x1B 结束字节
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329 */
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330
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331 //发送数据
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332 void send_set_resp(unsigned int OrderNum, unsigned int addr, unsigned char Num, unsigned char sData[])
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333 {
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334 1 unsigned int xdata xor_data = 0;
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335 1 unsigned char xdata PData[TTL_SEND_BUFF_LEN];
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336 1 unsigned char xdata i = 0;
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337 1
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338 1 PData[0] = UART_ORDER_SOF; //第一个字节
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339 1 PData[1] = (Num + FIXED_LEN) / 0x100; //长度 高8位
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340 1 PData[2] = (Num + FIXED_LEN) % 0x100; //长度 低8位
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341 1 PData[3] = (addr >> 8) & 0xff; //源地址
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342 1 PData[4] = addr & 0xff; //源地址
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343 1 PData[5] = (SUR_DEVICE_ADDR >> 8) & 0xff; //目标地址
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344 1 PData[6] = SUR_DEVICE_ADDR & 0xff; //目标地址
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345 1 PData[7] = (OrderNum >> 8) & 0xff; //命令字 -1
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346 1 PData[8] = OrderNum & 0xff; //命令字 -2
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347 1
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348 1 // PData[6] = RW_Flag; //读写标志
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349 1
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350 1 for(i = 0; i < Num; i++) //发送数据
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351 1 {
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352 2 PData[FIXED_LEN - 2 + i] = sData[i]; //数据
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353 2 }
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354 1
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355 1 //校验
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356 1 if(VERFIY_TYPE) //异或校验 + 末尾字节 2字节
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357 1 {
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358 2 xor_data = VerfiyRC(PData, Num + FIXED_LEN - 2);
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359 2 PData[FIXED_LEN + Num - 2] = xor_data;
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360 2 PData[FIXED_LEN + Num - 1] = 00;
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361 2 }
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362 1 else //CRC校验 2字节
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363 1 {
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 7
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364 2 xor_data = ModbusCRC16(PData, Num + FIXED_LEN - 3);
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365 2 PData[FIXED_LEN + Num - 2] = (xor_data) & 0xff;
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366 2 PData[FIXED_LEN + Num - 1] = (xor_data >> 8) & 0xff;
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367 2 }
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368 1
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369 1 PData[FIXED_LEN + Num] = UART_ORDER_END; // 末尾字节
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370 1
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371 1 //全部发送
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372 1 for(i = 0; i < (Num + FIXED_LEN + 1); i++) //一次性发送所有数据
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373 1 {
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374 2 UART1_Send_Char(PData[i]);
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375 2 //增加延时
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376 2 Uart_Send_Delay(50);
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377 2 }
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378 1 }
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379
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380
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381
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382 //分析地址是否为本地址
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383 uint8_t Check_Resive_Addr(uint16_t addr)
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384 {
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385 1 //确定是否为接收地址
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386 1 if((OBJ_DEVICE_ADDR == addr) || (0xFFFF == addr) || (0x0000 == addr) || (0x00B1 == addr))
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387 1 {
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388 2 return 1;
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389 2 }
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390 1 else
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391 1 {
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392 2 InitUart_Data(); //2清数据
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393 2 return 0;
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394 2 }
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395 1 }
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396
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397
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398 //接收数据判断（放置串口接收数据内）
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399 void Do_Receive_Uart_For_Module(unsigned char ch)
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400 {
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401 1 switch(re_status)
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402 1 {
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403 2 case 0 : //0x05 1字节 起始字
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404 2 {
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405 3 if(ch == UART_ORDER_SOF)
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406 3 {
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407 4 rec_len = 0;
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408 4 ttl_receive_buff[rec_len] = ch;
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409 4 re_status = 1;
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410 4 shouldaccept = 0;
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411 4 // UART2_Send_Char(0xaa);
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412 4 }
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413 3 }
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414 2 break;
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415 2 case 1: //长度 2字节
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416 2 {
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417 3 rec_len++;
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418 3 ttl_receive_buff[rec_len] = ch;
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419 3
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420 3 if(rec_len >= 2)
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421 3 {
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422 4 re_status = 2;
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423 4 shouldaccept = ttl_receive_buff[1] * 0x100 + ttl_receive_buff[2];
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424 4
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425 4 if(shouldaccept >= TTL_RECEIVE_BUFF_LEN - 1)
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C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 8
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426 4 {
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427 5 InitUart_Data();
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428 5 return;
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429 5 }
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430 4 }
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431 3 }
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432 2 break;
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433 2 case 2: //命令字 2个字节 05 00 0B 00 C1 00 A1 F0 01 87 1B
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434 2 {
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435 3 rec_len++;
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436 3
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437 3 if(rec_len >= TTL_RECEIVE_BUFF_LEN - 1)
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438 3 {
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439 4 InitUart_Data();
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440 4 return;
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441 4 }
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442 3
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443 3 ttl_receive_buff[rec_len] = ch; //接收
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444 3
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445 3 if(rec_len >= shouldaccept) //判断是否接收完成
|
||
446 3 {
|
||
447 4 // uint8_t i = 0;
|
||
448 4 // UART2_Send_Char(0x30);
|
||
449 4 // UART2_Send_Char(rec_len);
|
||
450 4 // UART2_Send_Char(shouldaccept);
|
||
451 4 // UART2_Send_Char(FIXED_LEN - 1);
|
||
452 4
|
||
453 4 // UART2_Send_Char(rec_len);
|
||
454 4 // for( i = 0;i < shouldaccept;i++) UART2_Send_Char(ttl_receive_buff[i]);
|
||
455 4
|
||
456 4 //等待处理分析，至少要大于固定长度
|
||
457 4 // if(rec_len >= FIXED_LEN - 1)
|
||
458 4 // {
|
||
459 4 //判断接收目标地址是否是自己
|
||
460 4 // int adr = ttl_receive_buff[3];
|
||
461 4 // adr = adr << 8;
|
||
462 4 // adr |= ttl_receive_buff[4];
|
||
463 4 int adr = ttl_receive_buff[5];
|
||
464 4 adr = adr << 8;
|
||
465 4 adr |= ttl_receive_buff[6];
|
||
466 4
|
||
467 4 //UART2_TxByte(0xAA);
|
||
468 4 //UART2_TxByte(ttl_receive_buff[3]);
|
||
469 4 //UART2_TxByte(ttl_receive_buff[4]);
|
||
470 4 //
|
||
471 4 if(Check_Resive_Addr(adr))
|
||
472 4 {
|
||
473 5 //命令字
|
||
474 5 unsigned int order = 0;
|
||
475 5 order = ttl_receive_buff[7];
|
||
476 5 order = order << 8;
|
||
477 5 order += ttl_receive_buff[8];
|
||
478 5
|
||
479 5 // //目标地址
|
||
480 5 // OBJ_DEVICE_ADDR = ttl_receive_buff[3];
|
||
481 5 // OBJ_DEVICE_ADDR <<= 8;
|
||
482 5 // OBJ_DEVICE_ADDR += ttl_receive_buff[4];
|
||
483 5
|
||
484 5 //UART2_Send_Char(order / 0x100);
|
||
485 5 //UART2_Send_Char(order % 0x100);
|
||
486 5 //UART2_TxByte(0xBB);
|
||
487 5 //UART2_TxByte(ttl_receive_buff[7]);
|
||
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 9
|
||
|
||
488 5 //UART2_TxByte(ttl_receive_buff[8]);
|
||
489 5
|
||
490 5 switch(order)
|
||
491 5 {
|
||
492 6 //=================== ===================================================
|
||
493 6 //设备接收数据
|
||
494 6 //======================================================================
|
||
495 6 case 0xF001 : //解析数据
|
||
496 6 {
|
||
497 7 order_flag = 1;
|
||
498 7 }
|
||
499 6 break;
|
||
500 6
|
||
501 6 case 0xF0C1 : //设置设备加密信息
|
||
502 6 {
|
||
503 7 order_flag = 2;
|
||
504 7 }
|
||
505 6 break;
|
||
506 6
|
||
507 6 //======================================================================
|
||
508 6 //设备信息
|
||
509 6 //======================================================================
|
||
510 6 case 0xF111 : //控制参数
|
||
511 6 {
|
||
512 7 order_flag = 3;
|
||
513 7 // UART2_Send_Char(0x33);
|
||
514 7 }
|
||
515 6 break;
|
||
516 6
|
||
517 6 //======================================================================
|
||
518 6 //设备信息
|
||
519 6 //======================================================================
|
||
520 6 case 0xF112 : //读 状态与温度
|
||
521 6 {
|
||
522 7 order_flag = 4;
|
||
523 7 }
|
||
524 6 break;
|
||
525 6 case 0xF102 : //读 状态与温度
|
||
526 6 {
|
||
527 7 order_flag = 4;
|
||
528 7 }
|
||
529 6 break;
|
||
530 6
|
||
531 6 //======================================================================
|
||
532 6 //
|
||
533 6 //======================================================================
|
||
534 6 default :
|
||
535 6 {
|
||
536 7 InitUart_Data();
|
||
537 7 }
|
||
538 6 break;
|
||
539 6 }
|
||
540 5 }
|
||
541 4 else
|
||
542 4 {
|
||
543 5 InitUart_Data();
|
||
544 5 return;
|
||
545 5 }
|
||
546 4 }
|
||
547 3 // }
|
||
548 3 }
|
||
549 2 break;
|
||
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 10
|
||
|
||
550 2
|
||
551 2 default :
|
||
552 2 InitUart_Data();
|
||
553 2 break;
|
||
554 2 }
|
||
555 1 }
|
||
556
|
||
557 //数据长度
|
||
558 uint8_t Get_Data_Len(void)
|
||
559 {
|
||
560 1 uint16_t Re_Len = 0;
|
||
561 1 Re_Len = (ttl_receive_buff[1] * 0x100 + ttl_receive_buff[2]) - FIXED_LEN;
|
||
562 1 return Re_Len;
|
||
563 1 }
|
||
564
|
||
565 //检查校验
|
||
566 unsigned char Check_VerfiyData(void)
|
||
567 {
|
||
568 1 return 1; //调试期间，不用验证
|
||
569 1
|
||
570 1 if(VERFIY_TYPE) //异或校验 + 末尾字节
|
||
571 1 {
|
||
572 2 unsigned char v_A = 0;
|
||
573 2 unsigned char v_B = 0;
|
||
574 2 v_A = ttl_receive_buff[shouldaccept];
|
||
575 2 v_B = VerfiyRC(ttl_receive_buff, shouldaccept - 2);
|
||
576 2
|
||
577 2 if(v_A == v_B) //数据的完整性
|
||
578 2 {
|
||
579 3 //结尾数据相同
|
||
580 3 if(ttl_receive_buff[shouldaccept + 1] == UART_ORDER_END)
|
||
581 3 {
|
||
582 4
|
||
583 4 }
|
||
584 3 else
|
||
585 3 {
|
||
586 4 return 0;
|
||
587 4 }
|
||
588 3 }
|
||
589 2 else
|
||
590 2 {
|
||
591 3 return 0;
|
||
592 3 }
|
||
593 2 }
|
||
594 1 else //判断CRC校验
|
||
595 1 {
|
||
596 2 unsigned int CRC16 = 0;
|
||
597 2 unsigned int Get_CRC16 = 0;
|
||
598 2 CRC16 = ttl_receive_buff[shouldaccept];
|
||
599 2 CRC16 = CRC16 << 8;
|
||
600 2 CRC16 += ttl_receive_buff[shouldaccept - 1];
|
||
601 2
|
||
602 2 Get_CRC16 = ModbusCRC16(ttl_receive_buff, shouldaccept - 2);
|
||
603 2
|
||
604 2 if(CRC16 == Get_CRC16) //数据的完整性
|
||
605 2 {
|
||
606 3
|
||
607 3 }
|
||
608 2 else
|
||
609 2 {
|
||
610 3 InitUart_Data();
|
||
611 3 return 0;
|
||
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 11
|
||
|
||
612 3 }
|
||
613 2 }
|
||
614 1
|
||
615 1 return 1;
|
||
616 1 }
|
||
617
|
||
618
|
||
619 //数据接收分析(放置大循环内)
|
||
620 void Deal_Uart_Data_For_Module(void)
|
||
621 {
|
||
622 1 if(order_flag) //有接收的指令
|
||
623 1 {
|
||
624 2 //校验
|
||
625 2 if(Check_VerfiyData() == 1) //测试
|
||
626 2 {
|
||
627 3 switch(order_flag)
|
||
628 3 {
|
||
629 4 //--------------------------------------------------------------------
|
||
630 4 //
|
||
631 4 //--------------------------------------------------------------------
|
||
632 4 case 1 : //数据解析
|
||
633 4 {
|
||
634 5 uint8_t xdata i = 0; //临时变量
|
||
635 5 uint8_t xdata len = 0; //长度
|
||
636 5 uint8_t xdata temp[DATA_LEN];
|
||
637 5
|
||
638 5 //发送标志
|
||
639 5 send_flag = 0;
|
||
640 5
|
||
641 5 //数据长度
|
||
642 5 len = Get_Data_Len();
|
||
643 5
|
||
644 5 //解析数据
|
||
645 5 for(i = 0; i < len; i++)
|
||
646 5 {
|
||
647 6 temp[i] = ttl_receive_buff[i + FIXED_LEN - 2];
|
||
648 6 }
|
||
649 5
|
||
650 5 //角行程 、直行程
|
||
651 5 Travle_Flag = temp[0]; //0 直 1 角
|
||
652 5 Motor_Run = temp[1]; //0 停止 1 运行 2 运行到起始点 3 运行到结束点
|
||
653 5 Run_Mode = temp[2]; //0 点动 1 方案一 2 方案二
|
||
654 5
|
||
655 5 Run_Step = temp[3]; //电机运行多少圈为一个步长
|
||
656 5 Run_Step <<= 8;
|
||
657 5 Run_Step += temp[4];
|
||
658 5
|
||
659 5 Run_Inter = temp[5]; //电机运行间隔时长
|
||
660 5 Run_Inter <<= 8;
|
||
661 5 Run_Inter += temp[6];
|
||
662 5
|
||
663 5 Run_Stop = temp[7]; //到“结束点”后，停止时间
|
||
664 5 Run_Stop <<= 8;
|
||
665 5 Run_Stop += temp[8];
|
||
666 5
|
||
667 5 ClrRunmotorStep();//清除电机标记
|
||
668 5
|
||
669 5 }
|
||
670 4 break;
|
||
671 4
|
||
672 4 case 2 : //
|
||
673 4 {
|
||
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 12
|
||
|
||
674 5 uint8_t i = 0;
|
||
675 5 uint8_t len = 0;
|
||
676 5 uint8_t temp[DATA_LEN];
|
||
677 5
|
||
678 5 send_set_resp(0xF0C1, OBJ_DEVICE_ADDR, len, temp);
|
||
679 5
|
||
680 5 }
|
||
681 4 break;
|
||
682 4
|
||
683 4 //--------------------------------------------------------------------
|
||
684 4 //LED 控制
|
||
685 4 //--------------------------------------------------------------------
|
||
686 4 case 3 : //F111 05 00 0C 00 A1 00 C1 F1 01 05 03 50 87 1B
|
||
687 4 {
|
||
688 5 u8 addr = 0;
|
||
689 5 addr = ttl_receive_buff[FIXED_LEN - 2];
|
||
690 5 if(addr == ((SUR_DEVICE_ADDR & 0xf0) == 0xC0))
|
||
691 5 {
|
||
692 6
|
||
693 6 }
|
||
694 5 }
|
||
695 4 break;
|
||
696 4
|
||
697 4 //======================================================================
|
||
698 4 //
|
||
699 4 //======================================================================
|
||
700 4 case 4 : //
|
||
701 4 {
|
||
702 5
|
||
703 5
|
||
704 5 }
|
||
705 4 break;
|
||
706 4
|
||
707 4 //--------------------------------------------------------------------
|
||
708 4 //实时信息
|
||
709 4 //--------------------------------------------------------------------
|
||
710 4 case 5 : //
|
||
711 4 {
|
||
712 5 uint8_t len = 0;
|
||
713 5 uint8_t temp[DATA_LEN];
|
||
714 5
|
||
715 5
|
||
716 5
|
||
717 5 temp[0] = (SUR_DEVICE_ADDR >> 8) & 0xff;
|
||
718 5 temp[1] = (SUR_DEVICE_ADDR >> 0) & 0xff;
|
||
719 5
|
||
720 5 // //版本号 4
|
||
721 5 temp[2] = HD_VER >> 8; //HD_VER 0101 //硬件版本号
|
||
722 5 temp[3] = HD_VER & 0xff;
|
||
723 5
|
||
724 5 temp[4] = SW_VER >> 8; //SW_VER 0101 //软件版本号
|
||
725 5 temp[5] = SW_VER & 0xff;
|
||
726 5
|
||
727 5 len = 6;
|
||
728 5 send_set_resp(0xF113, OBJ_DEVICE_ADDR, len, temp);
|
||
729 5 }
|
||
730 4 break;
|
||
731 4 case 6 : // 设置 地址 + 版本号 F1D3 05 00 0D 00 A1 00 00 F1 D3 00 C1 07 A9 1B
|
||
732 4 {
|
||
733 5
|
||
734 5 uint8_t i = 0;
|
||
735 5 uint8_t len = 0;
|
||
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 13
|
||
|
||
736 5 uint8_t temp[DATA_LEN];
|
||
737 5
|
||
738 5 //数据长度
|
||
739 5 len = Get_Data_Len();
|
||
740 5
|
||
741 5 for(i = 0; i < len; i++)
|
||
742 5 {
|
||
743 6 temp[i] = ttl_receive_buff[i + FIXED_LEN - 2];
|
||
744 6 }
|
||
745 5
|
||
746 5
|
||
747 5 send_set_resp(0xF1C3, OBJ_DEVICE_ADDR, len, temp);
|
||
748 5 }
|
||
749 4 break;
|
||
750 4 case 7 : //更新程序
|
||
751 4 {
|
||
752 5
|
||
753 5 }
|
||
754 4 break;
|
||
755 4
|
||
756 4 //--------------------------------------------------------------------
|
||
757 4 //设备信息
|
||
758 4 //--------------------------------------------------------------------
|
||
759 4 case 10 : //F115 05 00 0A 00 C1 00 A1 F1 05 50 87 1B
|
||
760 4 {
|
||
761 5
|
||
762 5
|
||
763 5 }
|
||
764 4 break;
|
||
765 4
|
||
766 4
|
||
767 4 default :
|
||
768 4 {
|
||
769 5
|
||
770 5 }
|
||
771 4 break;
|
||
772 4 }
|
||
773 3 }
|
||
774 2
|
||
775 2 //清空数据
|
||
776 2 InitUart_Data();
|
||
777 2 }
|
||
778 1 }
|
||
779
|
||
780
|
||
*** WARNING C294 IN LINE 358 OF ..\Apps\Uart1.c: unreachable code
|
||
*** WARNING C294 IN LINE 572 OF ..\Apps\Uart1.c: unreachable code
|
||
*** WARNING C294 IN LINE 596 OF ..\Apps\Uart1.c: unreachable code
|
||
|
||
|
||
MODULE INFORMATION: STATIC OVERLAYABLE
|
||
CODE SIZE = 1870 ----
|
||
CONSTANT SIZE = ---- ----
|
||
XDATA SIZE = 150 154
|
||
PDATA SIZE = ---- ----
|
||
DATA SIZE = ---- ----
|
||
IDATA SIZE = ---- ----
|
||
BIT SIZE = ---- ----
|
||
EDATA SIZE = ---- ----
|
||
HDATA SIZE = ---- ----
|
||
XDATA CONST SIZE = ---- ----
|
||
FAR CONST SIZE = ---- ----
|
||
C51 COMPILER V9.59.0.0 UART1 01/18/2024 10:03:11 PAGE 14
|
||
|
||
END OF MODULE INFORMATION.
|
||
|
||
|
||
C51 COMPILATION COMPLETE. 3 WARNING(S), 0 ERROR(S)
|