697 lines
19 KiB
C
697 lines
19 KiB
C
#include <stdio.h>
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#include "main.h"
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//#include "SC_Init.h" //MCU Init header，Include all IC resource headers
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//#include "SC_it.h"
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//#include "..\Drivers\SCDriver_list.h"
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//#include "HeadFiles\SysFunVarDefine.h"
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#include "Uart1.h"
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#include "usart.h"
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#include "app.h"
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//#include "Motor.h"
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#define HD_VER 0001 //硬件版本
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#define SW_VER 0001 //软件版本
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#define TTL_SEND_BUFF_LEN 60 //发送数据长度
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#define TTL_RECEIVE_BUFF_LEN 60 //接收数据长度
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//----------------------------------------------------------------
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//uart1用于接收usb转ttl的串口
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//----------------------------------------------------------------
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//存放发送的数据内容
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uint8_t motor_data[10];
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//发送buff
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uint8_t ttl_send_len = 0;
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uint8_t ttl_send_buff[TTL_SEND_BUFF_LEN] = {0};
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//接收buff
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uint8_t ttl_receive_len = 0;
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uint8_t ttl_receive_buff[TTL_RECEIVE_BUFF_LEN] = {0};
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//接收超时
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uint8_t ttl_receive_flag = 0;
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uint8_t ttl_receive_cnt = 0;
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uint8_t ttl_receive_interval = 0;
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#define DATA_LEN TTL_RECEIVE_BUFF_LEN //一般数据长度
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#define UART_ORDER_SOF 0x05 //起始字
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#define UART_ORDER_END 0x1B //结束字
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#define FIXED_LEN 0x0B //固定长度 //取消RW
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uint16_t SUR_DEVICE_ADDR = 0x00A1; //PC //0x00A1; //设备
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uint16_t OBJ_DEVICE_ADDR = 0x00B1; //主板 //0x00B1; //PC群发 FFFF 0000
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uint8_t order_flag = 0;
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unsigned int checksum = 0, re_status = 0, rec_len = 0, data_len = 0, shouldaccept = 0;
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//单独发送
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void UART1_SendData(uint8_t dat)
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{
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//SSI_UART1_SendData8(dat);
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HAL_UART_Transmit_IT(&huart1,&dat,1);
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}
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//发送数据
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void UART1_Send_Char(uint8_t dat)
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{
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// SSI_UART1_SendData8(dat);
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HAL_UART_Transmit_IT(&huart1,&dat,1);
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}
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//初始化
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void InitUart_Data(void)
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{
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order_flag = 0;
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rec_len = 0;
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re_status = 0;
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shouldaccept = 0;
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ttl_receive_flag = 0;
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ttl_receive_cnt = 0;
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checksum = 0;
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for(data_len = 0; data_len < DATA_LEN; data_len++)
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{
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ttl_receive_buff[data_len] = 0;
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}
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data_len = 0;
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// UART_Send_Char(0xdd);
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}
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/* Private function prototypes -----------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
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//----------------------------------------------------------------
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//接收串口1
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//----------------------------------------------------------------
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/****************************************************************************************************
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* @brief Download a file via serial port
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* @param None
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* @retval None
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**************************************************************************************************/
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void start_ttl_receive_timer(uint32_t ms)
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{
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if(ms == 0)
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{
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return;
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}
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ttl_receive_flag = 1;
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ttl_receive_cnt = 0;
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ttl_receive_interval = ms;
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}
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/****************************************************************************************************
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* @brief Upload a file via serial port.
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* @param None
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* @retval None
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**************************************************************************************************/
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void over_ttl_receive_timer(void)
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{
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ttl_receive_flag = 0;
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ttl_receive_cnt = 0;
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ttl_receive_interval = 0;
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InitUart_Data();
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// UART2_Send_Char(0xed);
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}
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/****************************************************************************************************
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* @brief Display the Main Menu on HyperTerminal
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* @param None
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* @retval None
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**************************************************************************************************/
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void clear_ttl_receive_timer(void)
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{
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uint16_t i = 0;
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ttl_receive_len = 0;
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ttl_receive_flag = 0;
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ttl_receive_cnt = 0;
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ttl_receive_interval = 0;
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for(i = 0; i < TTL_RECEIVE_BUFF_LEN; i++)
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{
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ttl_receive_buff[i] = 0;
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}
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}
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//返回串口屏应答是否接收完成的结果
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//0：没超时 1：超时
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uint8_t judge_ttl_receive_timer(void)
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{
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if(ttl_receive_flag == 2)
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{
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return 1;
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}
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else
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{
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return 0;
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}
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}
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/****************************************************************************************************
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* @brief Display the Main Menu on HyperTerminal
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* @param None
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* @retval None
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**************************************************************************************************/
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//放在大循环中的计时器里
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void process_ttl_receive_timer(void)
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{
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if(ttl_receive_flag == 1)
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{
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ttl_receive_cnt++;
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}
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if((ttl_receive_interval > 0) && (ttl_receive_cnt >= ttl_receive_interval))
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{
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over_ttl_receive_timer();
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}
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}
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#define TTL_OVER_TIME 10
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/****************************************************************************************************
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* @brief Display the Main Menu on HyperTerminal
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* @param None
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* @retval None
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**************************************************************************************************/
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//放串口中断内，接收数据
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void receive_ttl_data(uint8_t rx_data)
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{
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//不能超过数组的最大长度
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if(ttl_receive_len < TTL_RECEIVE_BUFF_LEN)
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{
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//开始计时
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start_ttl_receive_timer(TTL_OVER_TIME);
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//串口接收数据分析
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Do_Receive_Uart_For_Module(rx_data);
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}
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else //超过上限则抛弃后面的数据
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{
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//超时处理
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over_ttl_receive_timer();
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InitUart_Data();
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//UART_Send_Char(0xcc);
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}
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}
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#define CRC_PRESET 0xFFFF
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#define CRC_POLYNOM 0x4204
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/*---------------------------------------------------------------------------
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调用方式：unsigned int ModbusCRC16(unsigned char *data_value, unsigned char length)
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函数说明：CRC校验
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---------------------------------------------------------------------------*/
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unsigned int ModbusCRC16(unsigned char *data_value, unsigned char length)
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{
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unsigned int crc_value = CRC_PRESET;
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unsigned char i;
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data_value++;
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while(length-- != 0)
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{//ModbusCRC16(PData, Num + FIXED_LEN - 3);
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for(i = 0x01; i != 0; i <<= 1)
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{
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if((crc_value & 0x0001) != 0)
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{
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crc_value >>= 1;
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crc_value ^= CRC_POLYNOM;
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}
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else
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{
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crc_value >>= 1;
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}
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if((*data_value & i) != 0)
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{
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crc_value ^= CRC_POLYNOM;
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}
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}
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data_value++;
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}
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return(crc_value);
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}
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/*---------------------------------------------------------------------------
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调用方式：unsigned int VerfiyRC(unsigned char *data_value, unsigned char length)
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函数说明：异或校验
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除了头尾固定，不校验外，其他的校验
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-----------------------------------------------------------------------------*/
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unsigned char VerfiyRC(unsigned char data_value[], unsigned char length) //不用异或校验，用crc校验
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{
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unsigned char i;
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unsigned char V_b = data_value[1];
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for(i = 0x00; i < length; i++)
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{
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//异或校验
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V_b ^= data_value[i];
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}
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return(V_b);
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}
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//发送延时
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void Uart_Send_Delay(unsigned int delay)
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{
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unsigned int i = 0, j = 0;
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for(i = 0; i < delay; i++)
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{
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for(j = 0; j < 125; j++);
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}
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}
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//校验 + 0X1B
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#define VERFIY_TYPE 1
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/*
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SOF： 1个字节 0x05 起始字节
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Len： 2个字节 长度
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Fou_adr： 2个字节 源地址
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Com_adr： 2个字节 目标地址，0ff为广播地址
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Cmd16： 2个字节 命令字
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Request-data： N字节 数据
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XOR： 2个字节 校验
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END： 0x1B 结束字节
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*/
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//发送数据
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void send_set_resp(unsigned int OrderNum, unsigned int addr, unsigned char Num, unsigned char sData[])
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{
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unsigned int xor_data = 0;
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unsigned char PData[TTL_SEND_BUFF_LEN];
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unsigned char i = 0;
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PData[0] = UART_ORDER_SOF; //第一个字节
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PData[1] = (Num + FIXED_LEN) / 0x100; //长度 高8位
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PData[2] = (Num + FIXED_LEN) % 0x100; //长度 低8位
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PData[3] = (addr >> 8) & 0xff; //源地址
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PData[4] = addr & 0xff; //源地址
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PData[5] = (SUR_DEVICE_ADDR >> 8) & 0xff; //目标地址
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PData[6] = SUR_DEVICE_ADDR & 0xff; //目标地址
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PData[7] = (OrderNum >> 8) & 0xff; //命令字 -1
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PData[8] = OrderNum & 0xff; //命令字 -2
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// PData[6] = RW_Flag; //读写标志
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for(i = 0; i < Num; i++) //发送数据
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{
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PData[FIXED_LEN - 2 + i] = sData[i]; //数据
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}
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//校验
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if(VERFIY_TYPE) //异或校验 + 末尾字节 2字节
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{
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xor_data = VerfiyRC(PData, Num + FIXED_LEN - 2);
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PData[FIXED_LEN + Num - 2] = xor_data;
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PData[FIXED_LEN + Num - 1] = 00;
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}
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else //CRC校验 2字节
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{
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xor_data = ModbusCRC16(PData, Num + FIXED_LEN - 3);
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PData[FIXED_LEN + Num - 2] = (xor_data) & 0xff;
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PData[FIXED_LEN + Num - 1] = (xor_data >> 8) & 0xff;
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}
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PData[FIXED_LEN + Num] = UART_ORDER_END; // 末尾字节
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//全部发送
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for(i = 0; i < (Num + FIXED_LEN + 1); i++) //一次性发送所有数据
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{
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UART1_Send_Char(PData[i]);
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//增加延时
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Uart_Send_Delay(50);
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}
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}
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//分析地址是否为本地址
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uint8_t Check_Resive_Addr(uint16_t addr)
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{
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//确定是否为接收地址
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if((OBJ_DEVICE_ADDR == addr) || (0xFFFF == addr) || (0x0000 == addr) || (0x00B1 == addr))
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{
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return 1;
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}
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else
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{
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InitUart_Data(); //2清数据
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return 0;
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}
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}
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//接收数据判断（放置串口接收数据内）
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void Do_Receive_Uart_For_Module(unsigned char ch)
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{
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switch(re_status)
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{
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case 0 : //0x05 1字节 起始字
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{
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if(ch == UART_ORDER_SOF)
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{
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rec_len = 0;
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ttl_receive_buff[rec_len] = ch;
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re_status = 1;
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shouldaccept = 0;
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// UART2_Send_Char(0xaa);
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}
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}
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break;
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case 1: //长度 2字节
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{
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rec_len++;
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ttl_receive_buff[rec_len] = ch;
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if(rec_len >= 2)
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{
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re_status = 2;
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shouldaccept = ttl_receive_buff[1] * 0x100 + ttl_receive_buff[2];
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if(shouldaccept >= TTL_RECEIVE_BUFF_LEN - 1)
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{
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InitUart_Data();
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return;
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}
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}
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}
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break;
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case 2: //命令字 2个字节 05 00 0B 00 C1 00 A1 F0 01 87 1B
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{
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rec_len++;
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if(rec_len >= TTL_RECEIVE_BUFF_LEN - 1)
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{
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InitUart_Data();
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return;
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}
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ttl_receive_buff[rec_len] = ch; //接收
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if(rec_len >= shouldaccept) //判断是否接收完成
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{
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// uint8_t i = 0;
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// UART2_Send_Char(0x30);
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// UART2_Send_Char(rec_len);
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// UART2_Send_Char(shouldaccept);
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// UART2_Send_Char(FIXED_LEN - 1);
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// UART2_Send_Char(rec_len);
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// for( i = 0;i < shouldaccept;i++) UART2_Send_Char(ttl_receive_buff[i]);
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//等待处理分析，至少要大于固定长度
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// if(rec_len >= FIXED_LEN - 1)
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// {
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//判断接收目标地址是否是自己
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// int adr = ttl_receive_buff[3];
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// adr = adr << 8;
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// adr |= ttl_receive_buff[4];
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int adr = ttl_receive_buff[5];
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adr = adr << 8;
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adr |= ttl_receive_buff[6];
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//UART2_TxByte(0xAA);
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//UART2_TxByte(ttl_receive_buff[3]);
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//UART2_TxByte(ttl_receive_buff[4]);
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//
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if(Check_Resive_Addr(adr))
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{
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//命令字
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unsigned int order = 0;
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order = ttl_receive_buff[7];
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order = order << 8;
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order += ttl_receive_buff[8];
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// //目标地址
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// OBJ_DEVICE_ADDR = ttl_receive_buff[3];
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// OBJ_DEVICE_ADDR <<= 8;
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// OBJ_DEVICE_ADDR += ttl_receive_buff[4];
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//UART2_Send_Char(order / 0x100);
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//UART2_Send_Char(order % 0x100);
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//UART2_TxByte(0xBB);
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//UART2_TxByte(ttl_receive_buff[7]);
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//UART2_TxByte(ttl_receive_buff[8]);
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switch(order)
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{
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//=================== ===================================================
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//设备接收数据
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//======================================================================
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case 0xF001 : //解析数据
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{
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order_flag = 1;
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}
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break;
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case 0xF0C1 : //设置设备加密信息
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{
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order_flag = 2;
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}
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break;
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//======================================================================
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//设备信息
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//======================================================================
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case 0xF111 : //控制参数
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{
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order_flag = 3;
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// UART2_Send_Char(0x33);
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}
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break;
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//======================================================================
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//设备信息
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//======================================================================
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case 0xF112 : //读 状态与温度
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{
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order_flag = 4;
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}
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break;
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case 0xF102 : //读 状态与温度
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{
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order_flag = 4;
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}
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break;
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//======================================================================
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//
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//======================================================================
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default :
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{
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InitUart_Data();
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}
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break;
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}
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}
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else
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{
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InitUart_Data();
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return;
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}
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}
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// }
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}
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break;
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default :
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InitUart_Data();
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break;
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}
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}
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//数据长度
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uint8_t Get_Data_Len(void)
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{
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uint16_t Re_Len = 0;
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Re_Len = (ttl_receive_buff[1] * 0x100 + ttl_receive_buff[2]) - FIXED_LEN;
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return Re_Len;
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}
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//检查校验
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unsigned char Check_VerfiyData(void)
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{
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return 1; //调试期间，不用验证
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if(VERFIY_TYPE) //异或校验 + 末尾字节
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{
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unsigned char v_A = 0;
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unsigned char v_B = 0;
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v_A = ttl_receive_buff[shouldaccept];
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v_B = VerfiyRC(ttl_receive_buff, shouldaccept - 2);
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if(v_A == v_B) //数据的完整性
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{
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//结尾数据相同
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if(ttl_receive_buff[shouldaccept + 1] == UART_ORDER_END)
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{
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}
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else
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{
|
||
return 0;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
return 0;
|
||
}
|
||
}
|
||
else //判断CRC校验
|
||
{
|
||
unsigned int CRC16 = 0;
|
||
unsigned int Get_CRC16 = 0;
|
||
CRC16 = ttl_receive_buff[shouldaccept];
|
||
CRC16 = CRC16 << 8;
|
||
CRC16 += ttl_receive_buff[shouldaccept - 1];
|
||
|
||
Get_CRC16 = ModbusCRC16(ttl_receive_buff, shouldaccept - 2);
|
||
|
||
if(CRC16 == Get_CRC16) //数据的完整性
|
||
{
|
||
|
||
}
|
||
else
|
||
{
|
||
InitUart_Data();
|
||
return 0;
|
||
}
|
||
}
|
||
|
||
return 1;
|
||
}
|
||
|
||
|
||
//数据接收分析(放置大循环内)
|
||
void Deal_Uart_Data_For_Module(void)
|
||
{
|
||
if(order_flag) //有接收的指令
|
||
{
|
||
//校验
|
||
if(Check_VerfiyData() == 1) //测试
|
||
{
|
||
switch(order_flag)
|
||
{
|
||
//--------------------------------------------------------------------
|
||
//
|
||
//--------------------------------------------------------------------
|
||
case 1 : //数据解析
|
||
{
|
||
uint8_t i = 0; //临时变量
|
||
uint8_t len = 0; //长度
|
||
uint8_t temp[DATA_LEN];
|
||
|
||
//发送标志
|
||
send_flag = 0;
|
||
|
||
//数据长度
|
||
len = Get_Data_Len();
|
||
|
||
//解析数据
|
||
for(i = 0; i < len; i++)
|
||
{
|
||
temp[i] = ttl_receive_buff[i + FIXED_LEN - 2];
|
||
}
|
||
|
||
//角行程 、直行程
|
||
Travle_Flag = temp[0]; //0 直 1 角
|
||
Motor_Run = temp[1]; //0 停止 1 运行 2 运行到起始点 3 运行到结束点
|
||
Run_Mode = temp[2]; //0 点动 1 方案一 2 方案二
|
||
|
||
Run_Step = temp[3]; //电机运行多少圈为一个步长
|
||
Run_Step <<= 8;
|
||
Run_Step += temp[4];
|
||
|
||
Run_Inter = temp[5]; //电机运行间隔时长
|
||
Run_Inter <<= 8;
|
||
Run_Inter += temp[6];
|
||
|
||
Run_Stop = temp[7]; //到“结束点”后，停止时间
|
||
Run_Stop <<= 8;
|
||
Run_Stop += temp[8];
|
||
|
||
ClrRunmotorStep();//清除电机标记
|
||
|
||
}
|
||
break;
|
||
|
||
case 2 : //
|
||
{
|
||
|
||
}
|
||
break;
|
||
|
||
//--------------------------------------------------------------------
|
||
//LED 控制
|
||
//--------------------------------------------------------------------
|
||
case 3 : //F111 05 00 0C 00 A1 00 C1 F1 01 05 03 50 87 1B
|
||
{
|
||
|
||
}
|
||
break;
|
||
|
||
//======================================================================
|
||
//
|
||
//======================================================================
|
||
case 4 : //
|
||
{
|
||
|
||
|
||
}
|
||
break;
|
||
|
||
//--------------------------------------------------------------------
|
||
//实时信息
|
||
//--------------------------------------------------------------------
|
||
case 5 : //
|
||
{
|
||
|
||
}
|
||
break;
|
||
case 6 : // 设置 地址 + 版本号 F1D3 05 00 0D 00 A1 00 00 F1 D3 00 C1 07 A9 1B
|
||
{
|
||
|
||
}
|
||
break;
|
||
case 7 : //更新程序
|
||
{
|
||
|
||
}
|
||
break;
|
||
|
||
//--------------------------------------------------------------------
|
||
//设备信息
|
||
//--------------------------------------------------------------------
|
||
case 10 : //F115 05 00 0A 00 C1 00 A1 F1 05 50 87 1B
|
||
{
|
||
|
||
|
||
}
|
||
break;
|
||
|
||
|
||
default :
|
||
{
|
||
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
|
||
//清空数据
|
||
InitUart_Data();
|
||
}
|
||
}
|
||
|
||
|