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协议编写完成，待测试

This commit is contained in:
草团君 2024-04-17 17:19:47 +08:00
parent 4c3cb563ee
commit 5870cee759
8 changed files with 686 additions and 512 deletions
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4
.vscode/settings.json vendored
View File

@ -5,7 +5,9 @@
"motor.h": "c", "motor.h": "c",
"main.h": "c", "main.h": "c",
"app.h": "c", "app.h": "c",
"type_traits": "c" "type_traits": "c",
"adcs.h": "c",
"uarts.h": "c"
}, },
"C_Cpp.errorSquiggles": "disabled" "C_Cpp.errorSquiggles": "disabled"
} }

56
MDK-ARM/motor.uvoptx
View File

@ -158,44 +158,22 @@
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>motor_state</ItemText> <ItemText>test_buffer,0x10</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>motor_ccr</ItemText> <ItemText>self_test,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>step_motor_flag</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>motor-&gt;handle.step_motor.attribute,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>motor_dir</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>deal_done_flag,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>uarts</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>uart</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>0</SubType>
<ItemText>0x20000090</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
@ -238,16 +216,6 @@
<pszMrulep></pszMrulep> <pszMrulep></pszMrulep>
<pSingCmdsp></pSingCmdsp> <pSingCmdsp></pSingCmdsp>
<pMultCmdsp></pMultCmdsp> <pMultCmdsp></pMultCmdsp>
<SystemViewers>
<Entry>
<Name>System Viewer\DMA1</Name>
<WinId>35904</WinId>
</Entry>
<Entry>
<Name>System Viewer\USART1</Name>
<WinId>35905</WinId>
</Entry>
</SystemViewers>
<DebugDescription> <DebugDescription>
<Enable>1</Enable> <Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq> <EnableFlashSeq>0</EnableFlashSeq>
@ -508,7 +476,7 @@
<Group> <Group>
<GroupName>User</GroupName> <GroupName>User</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -812,7 +780,7 @@
<GroupNumber>9</GroupNumber> <GroupNumber>9</GroupNumber>
<FileNumber>41</FileNumber> <FileNumber>41</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\User\board\board.c</PathWithFileName> <PathWithFileName>..\User\board\board.c</PathWithFileName>

873
MDK-ARM/motor/motor.hex
View File

@ -1,5 +1,5 @@
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@ -124,7 +124,7 @@
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10
User/app_flow.c
View File

@ -7,6 +7,7 @@
extern __IO app_t app; extern __IO app_t app;
extern motor_t *motor; extern motor_t *motor;
uint8_t detect_result = ST_DEV_NORMAL;
static struct flow fl_adc_inspection; // ADC static struct flow fl_adc_inspection; // ADC
static struct flow fl_systom_inspection; // 系统 static struct flow fl_systom_inspection; // 系统
@ -20,12 +21,16 @@ static uint8_t adc_inspection(struct flow *fl)
// 扭力 // 扭力
app.adc.torsion_in13.original_value = get_torsion_adc(); app.adc.torsion_in13.original_value = get_torsion_adc();
app.adc.torsion_in13.calibration_value = torsion_detect(); app.adc.torsion_in13.calibration_value = torsion_detect();
sensor_adc[GET_TORSION_VALUE] = S2B_UINT16(app.adc.torsion_in13.original_value);
// 压力 // 压力
app.adc.pressure_in7.original_value = get_pressure_adc(); app.adc.pressure_in7.original_value = get_pressure_adc();
app.adc.pressure_in7.calibration_value = pressure_detect(); app.adc.pressure_in7.calibration_value = pressure_detect();
sensor_adc[GET_PRESSURE_VALUE] = S2B_UINT16(app.adc.pressure_in7.original_value);
// 流量 // 流量
app.adc.pressure_in8.original_value = get_flow_adc(); app.adc.pressure_in8.original_value = get_flow_adc();
app.adc.pressure_in8.calibration_value = flow_detect(); 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_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
} }
FL_TAIL(fl); FL_TAIL(fl);
@ -37,7 +42,7 @@ static uint8_t systom_inspection(struct flow *fl)
for (;;) for (;;)
{ {
host_rx_msg_deal(); 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); FL_TAIL(fl);
} }
@ -47,8 +52,9 @@ static uint8_t idle_inspection(struct flow *fl)
FL_HEAD(fl); FL_HEAD(fl);
for (;;) for (;;)
{ {
test_process();
cpu_percent = scheduler_time_occupancy_get(1000); cpu_percent = scheduler_time_occupancy_get(1000);
FL_LOCK_DELAY(fl, FL_CLOCK_SEC); FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC);
} }
FL_TAIL(fl); FL_TAIL(fl);
} }

192
User/board/board.c
View File

@ -2,11 +2,12 @@
#include "motor.h" #include "motor.h"
void motor_process(frame_msg_t *rx, frame_msg_t *bk); 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 *************************************/ /************************************* 串口通讯 *************************************/
uart_t *uarts[UART_NUM_MAX]; 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 rx_msg; // 接收数据句柄
static frame_msg_t bk_msg; // 回复数据句柄 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 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) switch (rx_msg->dev_no)
{ {
case ADC_SENSOR: case ADC_SENSOR:
sensor_procss(rx_msg, bk_msg); sensor_process(rx_msg, bk_msg);
break; break;
case MOTOR: case MOTOR:
motor_process(rx_msg, bk_msg); motor_process(rx_msg, bk_msg);
break; break;
default: default:
error_process(ST_CMD_IVALID, rx_msg, bk_msg);
break; break;
} }
} }
@ -107,7 +109,7 @@ static void host_data_encode(frame_msg_t *msg)
// 数据处理 // 数据处理
void host_rx_msg_deal(void) void host_rx_msg_deal(void)
{ {
if (execute_state == TRUE) if (execute_state == IDLE)
{ {
return; return;
} }
@ -160,6 +162,8 @@ static void host_uart_init(void)
motor_t *motor; motor_t *motor;
motor_ctrl_t *motor_param = NULL; motor_ctrl_t *motor_param = NULL;
extern uint8_t detect_result;
// 电机初始化 // 电机初始化
static void motor_init(void) 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); 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 *)&param->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) void motor_process_init(void)
{ {
motor_param = (motor_ctrl_t *)osel_mem_alloc(sizeof(motor_ctrl_t)); 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) void motor_process(frame_msg_t *rx, frame_msg_t *bk)
{ {
DBG_ASSERT(rx != NULL __DBG_LINE); DBG_ASSERT(rx != NULL __DBG_LINE);
DBG_ASSERT(bk != NULL __DBG_LINE);
// step_motor_t *step_motor = &motor->handle.step_motor; motor_ctrl_t *ctrl_param = motor_param;
// uint8_t state = ST_DEV_NORMAL; uint8_t state = ST_DEV_NORMAL;
switch (rx->cmd_no) switch (rx->cmd_no)
{ {
case SET_MOTOR_SPEED: // 设置电机转速 case SET_MOTOR_SPEED: // 设置电机转速
break; break;
case GET_MIN_STEP: // 获取最小步距
break;
case MOTOR_MOVE: // 运行电机 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; break;
}
case MOTOR_STOP: // 停止电机 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; break;
}
default: default:
error_process(ST_CMD_IVALID, rx, bk);
break; break;
} }
} }
/************************************* ADc传感器 *************************************/ /************************************* ADc传感器 *************************************/
uint16_t sensor_adc[GET_ALL_VALUE] = {0};
// AD传感器 // AD传感器
adc_t adc1 = { adc_t adc1 = {
.adc = ADC1, .adc = ADC1,
@ -267,45 +326,108 @@ float32 flow_detect(void)
return val; return val;
} }
// 获取扭力值 // 传感器任务
static void cmd_torsion_value(frame_msg_t *bk) 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; uint8_t state = ST_DEV_NORMAL;
// 计算数据长度 // 检查指令合法性
uint8_t data_len = sizeof(uint16_t); if (rx->cmd_no > GET_ALL_VALUE)
// 采集 {
uint16_t value = get_torsion_adc(); state = ST_CMD_IVALID;
// TODO 检查数据合法性 goto encode;
}
encode:
// 回复数据 // 回复数据
bk->head = PACKET_STX; bk->head = PACKET_STX;
bk->state = state; bk->state = state;
bk->dev_no = ADC_SENSOR; bk->dev_no = rx->dev_no;
bk->cmd_no = GET_TORSION_VALUE; bk->cmd_no = rx->cmd_no;
bk->len = data_len; if (rx->cmd_no >= GET_ALL_VALUE)
value = S2B_UINT16(value); {
osel_memcpy((uint8_t *)bk->data, (uint8_t *)&value, data_len); 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 /************************************* 测试 *************************************/
void sensor_procss(frame_msg_t *rx, frame_msg_t *bk) #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)
{ {
case GET_TORSION_VALUE: // 获取扭力值 BOOL ret = FALSE;
cmd_torsion_value(bk);
// 数据有效性检查
ret = host_data_verify(data, len);
// 数据解码
if (ret == TRUE && execute_state == IDLE)
{
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; break;
case GET_PRESSURE_VALUE: case TEST_DEV_MOTOR:
break;
case GET_FLOW_VALUE:
break;
case GET_ALL_VALUE:
break; break;
default: default:
break; break;
} }
test_rx_cb(buf, len);
self_test.dev_id = TEST_DEV_IDEL;
} }
/************************************* 板卡 *************************************/ /************************************* 板卡 *************************************/
@ -320,3 +442,13 @@ void board_init(void)
host_uart_init(); // 串口初始化 host_uart_init(); // 串口初始化
ENABLE_TIM(TIM6); // 任务流程定时器使能 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;
}

59
User/board/board.h
View File

@ -4,6 +4,8 @@
#include "adcs.h" #include "adcs.h"
#include "uarts.h" #include "uarts.h"
#define SELF_TEST 1
// 串口协议参数 // 串口协议参数
#define UART_RXSIZE (240u) // 接收缓冲区 240个字节 #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 #define UART_TXSIZE (240u) // 发送缓冲区 240个字节
@ -34,9 +36,9 @@ typedef enum
typedef enum typedef enum
{ {
ADC_SENSOR, STOP = 0, // 停止
MOTOR, RUN = 1, // 运行
} dev_id_e; } motor_state_e;
typedef enum typedef enum
{ {
@ -48,30 +50,48 @@ typedef enum
UART_NUM_MAX, UART_NUM_MAX,
} uart_num_e; } uart_num_e;
// 设备号
typedef enum typedef enum
{ {
SET_MOTOR_SPEED, ADC_SENSOR, // 传感器
GET_MIN_STEP, MOTOR, // 电机
GET_MOTOR_STATE, } dev_id_e;
MOTOR_MOVE,
MOTOR_STOP, // 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; } motor_cmd_e;
// 传感器命令号
typedef enum typedef enum
{ {
GET_TORSION_VALUE, GET_TORSION_VALUE, // 扭力
GET_PRESSURE_VALUE, GET_PRESSURE_VALUE, // 压力
GET_FLOW_VALUE, GET_FLOW_VALUE, // 流量
GET_ALL_VALUE, GET_ALL_VALUE, // 全部
} sensor_cmd_e; } sensor_cmd_e;
// 状态码
typedef enum typedef enum
{ {
ST_DEV_NORMAL, ST_DEV_NORMAL, // 正常
ST_DEV_BUSY, ST_DEV_BUSY, // 忙碌
ST_DEV_MISS, ST_DEV_MISS, // 故障
ST_CMD_IVALID, // 无效
} status_code_e; } status_code_e;
// 测试
typedef enum
{
TEST_DEV_IDEL,
TEST_DEV_SENSOR,
TEST_DEV_MOTOR,
TEST_DEV_MAX,
} test_dev_e;
typedef struct typedef struct
{ {
uint8_t head; // 包头 uint8_t head; // 包头
@ -88,6 +108,14 @@ typedef struct
float32 angle; float32 angle;
} motor_ctrl_t; } 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 void board_init(void);
extern uint16_t get_torsion_adc(void); extern uint16_t get_torsion_adc(void);
extern float32 torsion_detect(void); extern float32 torsion_detect(void);
@ -97,5 +125,6 @@ extern uint16_t get_flow_adc(void);
extern float32 flow_detect(void); extern float32 flow_detect(void);
extern void host_rx_msg_deal(void); extern void host_rx_msg_deal(void);
extern void motor_process_init(void); extern void motor_process_init(void);
extern void test_process(void);
#endif // __BOARD_H__ #endif // __BOARD_H__

2
User/board/motor.c
View File

@ -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); DBG_ASSERT(motor != NULL __DBG_LINE);
step_motor_t *handle = &motor->handle.step_motor; step_motor_t *handle = &motor->handle.step_motor;

2
User/board/motor.h
View File

@ -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 (*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 (*run)(motor_t *motor, dir_e dir); // 运行
void (*stop)(motor_t *motor); // 停止 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 (*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); void (*set_speed)(motor_t *motor, uint32_t psc);
} step_motor_interface_t; } step_motor_interface_t;