diff --git a/.vscode/settings.json b/.vscode/settings.json index faa9b76..4c5e84a 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -5,7 +5,9 @@ "motor.h": "c", "main.h": "c", "app.h": "c", - "type_traits": "c" + "type_traits": "c", + "adcs.h": "c", + "uarts.h": "c" }, "C_Cpp.errorSquiggles": "disabled" } \ No newline at end of file diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx index de29cce..4d573bd 100644 --- a/MDK-ARM/motor.uvoptx +++ b/MDK-ARM/motor.uvoptx @@ -158,44 +158,22 @@ 1 1 - motor_state + test_buffer,0x10 2 1 - motor_ccr - - - 3 - 1 - step_motor_flag - - - 4 - 1 - motor->handle.step_motor.attribute,0x0A - - - 5 - 1 - motor_dir - - - 6 - 1 - deal_done_flag,0x0A - - - 7 - 1 - uarts - - - 8 - 1 - uart + self_test,0x0A + + + 1 + 0 + 0x20000090 + 0 + + 0 @@ -238,16 +216,6 @@ - - - System Viewer\DMA1 - 35904 - - - System Viewer\USART1 - 35905 - - 1 0 @@ -508,7 +476,7 @@ User - 1 + 0 0 0 0 @@ -812,7 +780,7 @@ 9 41 1 - 0 + 1 0 0 ..\User\board\board.c 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63de744..c31fe7c 100644 --- a/User/app_flow.c +++ b/User/app_flow.c @@ -7,6 +7,7 @@ extern __IO app_t app; extern motor_t *motor; +uint8_t detect_result = ST_DEV_NORMAL; static struct flow fl_adc_inspection; // ADC static struct flow fl_systom_inspection; // 系统 @@ -20,12 +21,16 @@ static uint8_t adc_inspection(struct flow *fl) // 扭力 app.adc.torsion_in13.original_value = get_torsion_adc(); app.adc.torsion_in13.calibration_value = torsion_detect(); + sensor_adc[GET_TORSION_VALUE] = S2B_UINT16(app.adc.torsion_in13.original_value); // 压力 app.adc.pressure_in7.original_value = get_pressure_adc(); app.adc.pressure_in7.calibration_value = pressure_detect(); + sensor_adc[GET_PRESSURE_VALUE] = S2B_UINT16(app.adc.pressure_in7.original_value); // 流量 app.adc.pressure_in8.original_value = get_flow_adc(); app.adc.pressure_in8.calibration_value = flow_detect(); + sensor_adc[GET_FLOW_VALUE] = S2B_UINT16(app.adc.pressure_in8.original_value); + FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */ } FL_TAIL(fl); @@ -37,7 +42,7 @@ static uint8_t systom_inspection(struct flow *fl) for (;;) { host_rx_msg_deal(); - FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时100毫秒 */ + FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时10毫秒 */ } FL_TAIL(fl); } @@ -47,8 +52,9 @@ static uint8_t idle_inspection(struct flow *fl) FL_HEAD(fl); for (;;) { + test_process(); cpu_percent = scheduler_time_occupancy_get(1000); - FL_LOCK_DELAY(fl, FL_CLOCK_SEC); + FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); } FL_TAIL(fl); } diff --git a/User/board/board.c b/User/board/board.c index 3768b00..37d39af 100644 --- a/User/board/board.c +++ b/User/board/board.c @@ -2,11 +2,12 @@ #include "motor.h" void motor_process(frame_msg_t *rx, frame_msg_t *bk); -void sensor_procss(frame_msg_t *rx, frame_msg_t *bk); +void sensor_process(frame_msg_t *rx, frame_msg_t *bk); +void error_process(uint8_t err, frame_msg_t *rx, frame_msg_t *bk); /************************************* 串口通讯 *************************************/ uart_t *uarts[UART_NUM_MAX]; -__IO static BOOL execute_state = 0; // 数据处理标志 +__IO static BOOL execute_state = IDLE; // 数据处理标志 static frame_msg_t rx_msg; // 接收数据句柄 static frame_msg_t bk_msg; // 回复数据句柄 static uint8_t host_send_buffer[UART_TXSIZE] = {0}; // 数据发送缓存 @@ -70,12 +71,13 @@ static void host_cmd_execute(frame_msg_t *rx_msg, frame_msg_t *bk_msg) switch (rx_msg->dev_no) { case ADC_SENSOR: - sensor_procss(rx_msg, bk_msg); + sensor_process(rx_msg, bk_msg); break; case MOTOR: motor_process(rx_msg, bk_msg); break; default: + error_process(ST_CMD_IVALID, rx_msg, bk_msg); break; } } @@ -107,7 +109,7 @@ static void host_data_encode(frame_msg_t *msg) // 数据处理 void host_rx_msg_deal(void) { - if (execute_state == TRUE) + if (execute_state == IDLE) { return; } @@ -160,6 +162,8 @@ static void host_uart_init(void) motor_t *motor; motor_ctrl_t *motor_param = NULL; +extern uint8_t detect_result; + // 电机初始化 static void motor_init(void) { @@ -175,6 +179,40 @@ static void motor_init(void) motor->handle.step_motor.interface.init(motor, dir, en, MIN_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2); } +static uint8_t motor_param_get(frame_msg_t *rx, motor_ctrl_t *param) +{ + uint8_t state = ST_DEV_NORMAL; + + // 检查数据长度，方向：1个字节，角度：4个字节 + if (rx->len < 5) + { + state = ST_CMD_IVALID; + return state; + } + // 方向 + param->dir = rx->data[0]; + // 角度 + osel_memcpy((uint8_t *)¶m->angle, (uint8_t *)&rx->data[1], 4); + param->angle = B2S_FLOAT32(param->angle); + + return state; +} + +static uint8_t motor_ctrl(uint8_t sw, motor_ctrl_t *param) +{ + step_motor_t *step_motor = &motor->handle.step_motor; + uint8_t state = detect_result; + if (sw == RUN && detect_result == ST_DEV_NORMAL) + { + step_motor->interface.set_angle(motor, param->angle, (dir_e)param->dir); + } + else + { + step_motor->interface.stop(motor); + } + return state; +} + void motor_process_init(void) { motor_param = (motor_ctrl_t *)osel_mem_alloc(sizeof(motor_ctrl_t)); @@ -186,26 +224,47 @@ void motor_process_init(void) void motor_process(frame_msg_t *rx, frame_msg_t *bk) { DBG_ASSERT(rx != NULL __DBG_LINE); + DBG_ASSERT(bk != NULL __DBG_LINE); - // step_motor_t *step_motor = &motor->handle.step_motor; - // uint8_t state = ST_DEV_NORMAL; + motor_ctrl_t *ctrl_param = motor_param; + uint8_t state = ST_DEV_NORMAL; switch (rx->cmd_no) { case SET_MOTOR_SPEED: // 设置电机转速 break; - case GET_MIN_STEP: // 获取最小步距 - break; case MOTOR_MOVE: // 运行电机 + { + // 读取参数 + state = motor_param_get(rx, ctrl_param); + // 运行电机 + if (state == ST_DEV_NORMAL) + { + state = motor_ctrl(RUN, ctrl_param); + } + // 回复数据 + osel_memcpy((uint8_t *)bk, (uint8_t *)rx, sizeof(frame_msg_t)); + bk->state = state; break; + } case MOTOR_STOP: // 停止电机 + { + // 停止电机 + state = motor_ctrl(STOP, ctrl_param); + // 回复数据 + osel_memcpy((uint8_t *)bk, (uint8_t *)rx, sizeof(frame_msg_t)); + bk->state = state; break; + } default: + error_process(ST_CMD_IVALID, rx, bk); break; } } /************************************* ADc传感器 *************************************/ +uint16_t sensor_adc[GET_ALL_VALUE] = {0}; + // AD传感器 adc_t adc1 = { .adc = ADC1, @@ -267,45 +326,108 @@ float32 flow_detect(void) return val; } -// 获取扭力值 -static void cmd_torsion_value(frame_msg_t *bk) +// 传感器任务 +void sensor_process(frame_msg_t *rx, frame_msg_t *bk) { + DBG_ASSERT(rx != NULL __DBG_LINE); + DBG_ASSERT(bk != NULL __DBG_LINE); uint8_t state = ST_DEV_NORMAL; - // 计算数据长度 - uint8_t data_len = sizeof(uint16_t); - // 采集 - uint16_t value = get_torsion_adc(); - // TODO 检查数据合法性 + // 检查指令合法性 + if (rx->cmd_no > GET_ALL_VALUE) + { + state = ST_CMD_IVALID; + goto encode; + } +encode: // 回复数据 bk->head = PACKET_STX; bk->state = state; - bk->dev_no = ADC_SENSOR; - bk->cmd_no = GET_TORSION_VALUE; - bk->len = data_len; - value = S2B_UINT16(value); - osel_memcpy((uint8_t *)bk->data, (uint8_t *)&value, data_len); + bk->dev_no = rx->dev_no; + bk->cmd_no = rx->cmd_no; + if (rx->cmd_no >= GET_ALL_VALUE) + { + bk->len = sizeof(uint16_t) * GET_ALL_VALUE; + osel_memcpy((uint8_t *)bk->data, (uint8_t *)&sensor_adc, bk->len); + } + else + { + bk->len = sizeof(uint16_t); + osel_memcpy((uint8_t *)bk->data, (uint8_t *)&sensor_adc[bk->cmd_no], bk->len); + } } -// 传感器任务 -void sensor_procss(frame_msg_t *rx, frame_msg_t *bk) +/************************************* 测试 *************************************/ +#if SELF_TEST +test_t self_test = {TEST_DEV_IDEL, 0}; +uint8_t test_buffer[UART_RXSIZE] = {0}; // 数据接收缓存 +#endif + +// 传感器测试指令 +static uint8_t test_sensor_cmd(uint8_t cmd, uint8_t *buf) { - switch (rx->cmd_no) + uint8_t ver_len = 0; + uint8_t index = 0; + frame_msg_t msg; + msg.head = PACKET_STX; + msg.state = ST_DEV_NORMAL; + msg.dev_no = ADC_SENSOR; + msg.cmd_no = cmd; + msg.len = 0; + + index = DATA_INDEX; + osel_memset(buf, 0, UART_RXSIZE); + osel_memcpy(buf, (uint8_t *)&msg, index); + buf[index] = xor_compute((uint8_t *)&buf[1], (index - 1)); + index += 1; + buf[index] = PACKET_ETX; + index += 1; + + ver_len = index; + return ver_len; +} + +// 发送测试数据 +static void test_rx_cb(uint8_t *data, uint8_t len) +{ + BOOL ret = FALSE; + + // 数据有效性检查 + ret = host_data_verify(data, len); + // 数据解码 + if (ret == TRUE && execute_state == IDLE) { - case GET_TORSION_VALUE: // 获取扭力值 - cmd_torsion_value(bk); + host_data_decode(data, len); + execute_state = BUSY; + } +} + +// 测试任务 +void test_process(void) +{ + uint8_t len = 0; + uint8_t *buf = test_buffer; + + if (self_test.dev_id >= TEST_DEV_MAX) + { + return; + } + + switch (self_test.dev_id) + { + case TEST_DEV_SENSOR: + len = test_sensor_cmd(self_test.cmd_id, buf); break; - case GET_PRESSURE_VALUE: - break; - case GET_FLOW_VALUE: - break; - case GET_ALL_VALUE: + case TEST_DEV_MOTOR: break; default: break; } + + test_rx_cb(buf, len); + self_test.dev_id = TEST_DEV_IDEL; } /************************************* 板卡 *************************************/ @@ -320,3 +442,13 @@ void board_init(void) host_uart_init(); // 串口初始化 ENABLE_TIM(TIM6); // 任务流程定时器使能 } + +// 不支持的任务 +void error_process(uint8_t err, frame_msg_t *rx, frame_msg_t *bk) +{ + DBG_ASSERT(rx != NULL __DBG_LINE); + DBG_ASSERT(bk != NULL __DBG_LINE); + + osel_memcpy((uint8_t *)bk, (uint8_t *)rx, sizeof(frame_msg_t)); + bk->state = err; +} diff --git a/User/board/board.h b/User/board/board.h index 5de2638..d878daa 100644 --- a/User/board/board.h +++ b/User/board/board.h @@ -4,6 +4,8 @@ #include "adcs.h" #include "uarts.h" +#define SELF_TEST 1 + // 串口协议参数 #define UART_RXSIZE (240u) // 接收缓冲区 240个字节 #define UART_TXSIZE (240u) // 发送缓冲区 240个字节 @@ -34,9 +36,9 @@ typedef enum typedef enum { - ADC_SENSOR, - MOTOR, -} dev_id_e; + STOP = 0, // 停止 + RUN = 1, // 运行 +} motor_state_e; typedef enum { @@ -48,30 +50,48 @@ typedef enum UART_NUM_MAX, } uart_num_e; +// 设备号 typedef enum { - SET_MOTOR_SPEED, - GET_MIN_STEP, - GET_MOTOR_STATE, - MOTOR_MOVE, - MOTOR_STOP, + ADC_SENSOR, // 传感器 + MOTOR, // 电机 +} dev_id_e; + +// 电机命令号 +typedef enum +{ + SET_MOTOR_SPEED, // 设置电机速度 + MOTOR_MOVE, // 电机启动（参数1：方向，参数2：角度） + MOTOR_STOP, // 电机停止 } motor_cmd_e; +// 传感器命令号 typedef enum { - GET_TORSION_VALUE, - GET_PRESSURE_VALUE, - GET_FLOW_VALUE, - GET_ALL_VALUE, + GET_TORSION_VALUE, // 扭力 + GET_PRESSURE_VALUE, // 压力 + GET_FLOW_VALUE, // 流量 + GET_ALL_VALUE, // 全部 } sensor_cmd_e; +// 状态码 typedef enum { - ST_DEV_NORMAL, - ST_DEV_BUSY, - ST_DEV_MISS, + ST_DEV_NORMAL, // 正常 + ST_DEV_BUSY, // 忙碌 + ST_DEV_MISS, // 故障 + ST_CMD_IVALID, // 无效 } status_code_e; +// 测试 +typedef enum +{ + TEST_DEV_IDEL, + TEST_DEV_SENSOR, + TEST_DEV_MOTOR, + TEST_DEV_MAX, +} test_dev_e; + typedef struct { uint8_t head; // 包头 @@ -88,6 +108,14 @@ typedef struct float32 angle; } motor_ctrl_t; +typedef struct +{ + uint8_t dev_id; + uint8_t cmd_id; +} test_t; + +extern uint16_t sensor_adc[GET_ALL_VALUE]; + extern void board_init(void); extern uint16_t get_torsion_adc(void); extern float32 torsion_detect(void); @@ -97,5 +125,6 @@ extern uint16_t get_flow_adc(void); extern float32 flow_detect(void); extern void host_rx_msg_deal(void); extern void motor_process_init(void); +extern void test_process(void); #endif // __BOARD_H__ diff --git a/User/board/motor.c b/User/board/motor.c index 39bb737..8a537da 100644 --- a/User/board/motor.c +++ b/User/board/motor.c @@ -38,7 +38,7 @@ static void step_motor_stop(motor_t *motor) } } -static void step_motor_set_angle(motor_t *motor, uint32_t angle, dir_e dir) +static void step_motor_set_angle(motor_t *motor, float32 angle, dir_e dir) { DBG_ASSERT(motor != NULL __DBG_LINE); step_motor_t *handle = &motor->handle.step_motor; diff --git a/User/board/motor.h b/User/board/motor.h index 5aaa0b9..7b639b0 100644 --- a/User/board/motor.h +++ b/User/board/motor.h @@ -37,7 +37,7 @@ typedef struct void (*init)(motor_t *motor, gpio_t dir, gpio_t en, float32 min_step_angle, TIM_TypeDef *pwm_timer, uint32_t pwm_channel); // 初始化 void (*run)(motor_t *motor, dir_e dir); // 运行 void (*stop)(motor_t *motor); // 停止 - void (*set_angle)(motor_t *motor, uint32_t angle, dir_e dir); // 将角度转换成脉冲个数并运行 + void (*set_angle)(motor_t *motor, float32 angle, dir_e dir); // 将角度转换成脉冲个数并运行 void (*stop_cb)(motor_t *motor); // 停止回调函数,在stop中执行 void (*set_speed)(motor_t *motor, uint32_t psc); } step_motor_interface_t;