协议编写完成，待测试

2024-04-17 17:19:47 +08:00 · 2024-04-17 17:19:47 +08:00 · 5870cee759
parent 4c3cb563ee
commit 5870cee759
8 changed files with 686 additions and 512 deletions
--- 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"
 }
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@ -158,44 +158,22 @@
        <Ww>
          <count>1</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_state</ItemText>
+          <ItemText>test_buffer,0x10</ItemText>
        </Ww>
        <Ww>
          <count>2</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_ccr</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>
+          <ItemText>self_test,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>0x20000090</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
      <Tracepoint>
        <THDelay>0</THDelay>
      </Tracepoint>
@ -238,16 +216,6 @@
      <pszMrulep></pszMrulep>
      <pSingCmdsp></pSingCmdsp>
      <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>
        <Enable>1</Enable>
        <EnableFlashSeq>0</EnableFlashSeq>
@ -508,7 +476,7 @@

  <Group>
    <GroupName>User</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -812,7 +780,7 @@
      <GroupNumber>9</GroupNumber>
      <FileNumber>41</FileNumber>
      <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
      <PathWithFileName>..\User\board\board.c</PathWithFileName>
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@ -1,5 +1,5 @@
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+:104210006A69686867666665646463636261616051
+:10422000605F5F5E5E5D5D5C5C5B5B5A5A595958CE
+:104230005857575656555555545453535252525138
+:10424000515050504F4F4F4E4E4D4D4D4C4C4C4B8E
+:104250004B4B4A4A4A4949494848484747474746D5
+:104260004646454545444444444343434342424211
+:10427000424141418182838485868788898B8C8DE8
+:104280008E8F919293959697999A9C9D9FA0A2A3A9
+:10429000A5A7A8AAACAEB0B2B3B5B7B9BCBEC0C2F0
+:1042A000C5C7C9CCCED1D4D7D9DCDFE2E6E9ECF082
+:1042B000F3F7FAFED442000800000020AC00000032
+:1042C0000401000880430008AC000020B446000050
+:1042D0002001000800002000000000000000000095
+:1042E00000000000000000000000000000000000CE
+:1042F00000000000000000000000000000000000BE
+:1043000000000000000000000000000000000000AD
+:104310000000000000000000493100083D320008A4
+:10432000E000002040000020E03400204200002097
+:10433000000000000000000000000000000000007D
+:10434000000000000000000000000000000000006D
+:10435000000000000000000000000000000000005D
+:1043600000240140000002400100000000000000A5
+:10437000264100082C410008C6E533B4492700084F
 :04000005080000C12E
 :00000001FF
--- 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);
 }
--- 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 *)&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)
 {
    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;
+}
--- 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__
--- 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;
--- 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;