374 lines
9.8 KiB
C
374 lines
9.8 KiB
C
#include <stdio.h>
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#include "laser.h"
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extern size_t strlen(const char *);
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const char FRAME_HEAD_RSP = '$';
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const char FRAME_TAIL = '\r';
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const char FRAME_HEAD[] = "%01#";
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const char FRAME_TRUE[] = "+00001";
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const char FRAME_FALSE[] = "+00000";
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const char FRAME_BCC[] = "**";
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const char REQ_DEVICE_ONLINE[] = "WCSR03001";
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const char REQ_OPEN_STATUS[] = "RLR"; // 激光开启状态查询
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const char REQ_OPEN_STATUS_WRITE[] = "WLR"; // 激光开启状态设置
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const char REQ_DISTANCE_READ[] = "RMD"; // 测定值读出
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const char REQ_ZERO_STATUS[] = "RZS"; // 调零状态查询
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const char REQ_ZERO_STATUS_WRITE[] = "WZS"; // 调零状态设置
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//static uart_t *handle;
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static char request_buf[RS485_REC_LEN];
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static uint8_t uart_buf[RS485_REC_LEN];
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static uint8_t *response_ptr;
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static uint8_t response_ptr_offset = 0;
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laser_t laser_handle;
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uint8_t res;
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int rx_count = 0;
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int rec_flag = 0;
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static void laser_send(uint8_t *data, uint8_t length)
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{
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laser_handle.send_data_cb(&huart3, data, length);
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}
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// 是否在线
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static void command_device_connect_req(void)
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_DEVICE_ONLINE, FRAME_BCC, FRAME_TAIL);
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laser_send((uint8_t *)request_buf, strlen(request_buf));
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}
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// 激光开启状态查询
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static void command_open_status_req(void)
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS, FRAME_BCC, FRAME_TAIL);
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laser_send((uint8_t *)request_buf, strlen(request_buf));
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}
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// 激光开启状态设置
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static void command_open_status_write_req(bool open)
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{
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if (open)
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS_WRITE, FRAME_TRUE, FRAME_BCC, FRAME_TAIL);
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}
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else
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_OPEN_STATUS_WRITE, FRAME_FALSE, FRAME_BCC, FRAME_TAIL);
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}
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laser_send((uint8_t *)request_buf, strlen(request_buf));
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}
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// 测定值读出
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static void command_distance_read_req(void)
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_DISTANCE_READ, FRAME_BCC, FRAME_TAIL);
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laser_send((uint8_t *)request_buf, strlen(request_buf));
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}
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// 调零状态查询
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static void command_zero_status_req(void)
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS, FRAME_BCC, FRAME_TAIL);
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laser_send((uint8_t *)request_buf, strlen(request_buf));
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}
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// 调零状态开启
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static void command_zero_status_write_req(bool open)
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{
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if (open)
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS_WRITE, FRAME_TRUE, FRAME_BCC, FRAME_TAIL);
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}
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else
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{
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snprintf(request_buf, sizeof(request_buf), "%s%s%s%s%c", FRAME_HEAD, REQ_ZERO_STATUS_WRITE, FRAME_FALSE, FRAME_BCC, FRAME_TAIL);
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}
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laser_send((uint8_t *)request_buf, strlen(request_buf));
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}
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static void command_zero_status_close_req(void)
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{
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command_zero_status_write_req(false);
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}
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static void command_zero_status_open_req(void)
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{
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command_zero_status_write_req(true);
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}
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// 处理数据
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static void laser_data_process(uint8_t *data, uint8_t length)
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{
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char cmd[3] = {0};
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// 向右偏移4个位置获取指令部分
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response_ptr_offset = 0;
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response_ptr = data;
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response_ptr_offset += 4;
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if (!laser_handle.connect)
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{
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osel_memcpy((uint8_t *)cmd, response_ptr + response_ptr_offset, 2);
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response_ptr_offset += 2;
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}
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else
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{
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osel_memcpy((uint8_t *)cmd, response_ptr + response_ptr_offset, 3);
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response_ptr_offset += 3;
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}
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cmd_parsing(cmd);
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}
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static void command_device_connect_rsp(void)
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{
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laser_handle.connect = true;
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if (laser_handle.state != LASER_READY)
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{
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laser_handle.state = LASER_CONNECT;
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}
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}
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static void command_open_status_rsp(void)
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{
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uint8_t status[5] = {0};
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response_ptr_offset++; // 跳过符号
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osel_memcpy(status, response_ptr + response_ptr_offset, 5);
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const char *cs = FRAME_TRUE;
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const char *o_status = (char *)status;
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if(!strncmp(o_status, (cs + 1), 5))
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{
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laser_handle.open_status = true;
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if (laser_handle.state != LASER_READY)
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{
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laser_handle.state = LASER_OPEN_STATUS;
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}
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}
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else
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{
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laser_handle.open_status = false;
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}
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#if STATUS_DEFAULT == 1
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if (laser_handle.state == LASER_CONNECT)
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{
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if (!laser_handle.open_status)
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{
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command_open_status_write_req(true);
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}
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}
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#endif
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}
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static void command_open_status_write_rsp(void)
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{
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}
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#define PRECISION 100000 // 精度，即小数点后的位数
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static float to_float(uint8_t *arr)
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{
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int num = arr[0] * 1000000 + arr[1] * 100000 + arr[2] * 10000 + arr[3] * 1000 + arr[4] * 100 + arr[5] * 10 + arr[6]; // 数字部分的值
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float result = (float)num / PRECISION; // 将数字部分和小数部分合并成浮点数
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return result;
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}
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static void command_distance_read_rsp(void)
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{
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uint8_t distance[10] = {0};
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float f = 0;
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osel_memcpy(distance, response_ptr + response_ptr_offset, 10);
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for (uint8_t i = 1; i <= 7; i++)
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{
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CHAR_TO_NUM(distance[i], distance[i]);
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}
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f = to_float(&distance[1]);
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if (distance[0] == '-')
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{
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f = -f;
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}
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if (laser_handle.state != LASER_READY)
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{
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laser_handle.state = LASER_DISTANCE;
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}
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laser_handle.distance = f * 1000;
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}
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static void command_zero_status_rsp(void)
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{
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uint8_t status[5] = {0};
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response_ptr_offset++; // 跳过符号
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osel_memcpy(status, response_ptr + response_ptr_offset, 5);
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const char *cs = FRAME_TRUE;
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const char *z_status = (char *)status;
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if(!strncmp(z_status, (cs + 1), 5))
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{
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laser_handle.zero_status = true;
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}
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else
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{
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laser_handle.zero_status = false;
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}
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}
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static void command_zero_status_write_rsp(void)
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{
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#if STATUS_DEFAULT == 1
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if (laser_handle.state == LASER_OPEN_STATUS)
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{
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laser_handle.zero_status = false;
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laser_handle.state = LASER_ZERO_STATUS_CLOSE;
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}
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else if (laser_handle.state == LASER_ZERO_STATUS_CLOSE)
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{
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laser_handle.zero_status = true;
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laser_handle.state = LASER_ZERO_STATUS_OPEN;
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}
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else
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{
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laser_handle.zero_status = false;
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laser_handle.state = LASER_CONNECT;
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}
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#endif
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}
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static void _laser_ready(void)
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{
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laser_handle.state = LASER_READY;
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}
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//REGISTER_CMD(WC, command_device_connect_rsp, "");
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//REGISTER_CMD(RLR, command_open_status_rsp, "");
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//REGISTER_CMD(WLR, command_open_status_write_rsp, "");
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//REGISTER_CMD(RMD, command_distance_read_rsp, "");
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//REGISTER_CMD(RZS, command_zero_status_rsp, "");
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//REGISTER_CMD(WZS, command_zero_status_write_rsp, "");
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laser_event_t laser_event[] = {
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{LASER_IDEL, command_device_connect_req},
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{LASER_CONNECT, command_open_status_req},
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{LASER_OPEN_STATUS, command_zero_status_close_req},
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{LASER_ZERO_STATUS_CLOSE, command_zero_status_open_req},
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{LASER_ZERO_STATUS_OPEN, command_distance_read_req},
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{LASER_DISTANCE, _laser_ready},
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};
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void uart3_it_init(void)
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{
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/*接收配置*/
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HAL_UART_Receive_IT(&huart3, (uint8_t *)&res, 1);
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}
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void usart3_laser_send(UART_HandleTypeDef *huart,uint8_t *Tx_Buf,uint16_t Size)
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{
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HAL_UART_Transmit_DMA(huart,Tx_Buf,Size);
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}
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void laser_init(send_data_cb_t cb)
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{
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uart3_it_init();
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laser_handle.state = LASER_IDEL;
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laser_handle.send_data_cb = cb;
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laser_handle.command_device_connect_req = command_device_connect_req;
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laser_handle.command_open_status_req = command_open_status_req;
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laser_handle.command_open_status_write_req = command_open_status_write_req;
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laser_handle.command_distance_read_req = command_distance_read_req;
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laser_handle.command_zero_status_req = command_zero_status_req;
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laser_handle.command_zero_status_write_req = command_zero_status_write_req;
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}
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//串口接收中断回调函数，激光
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void laser_rx_cb(void)
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{
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if(res == 0x25) rec_flag = 1;
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if(rec_flag == 1)
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{
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uart_buf[rx_count] = res;
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rx_count ++;
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if(uart_buf[rx_count - 1] == 0x2A && uart_buf[rx_count - 2] == 0x2A)
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{
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laser_data_process(uart_buf,rx_count);
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rx_count = 0;
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rec_flag = 0;
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}
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}
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HAL_UART_Receive_IT(&huart3, (uint8_t *)&res, 1);
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}
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//根据cmd指令执行相应程序
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void cmd_parsing(char *str)
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{
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//if(strcmp(str, "WC") == 0)
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if(!strncmp(str, REQ_DEVICE_ONLINE,2))
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command_device_connect_rsp();
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else if(!strncmp(str, REQ_OPEN_STATUS,3))
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command_open_status_rsp();
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else if(!strncmp(str, REQ_OPEN_STATUS_WRITE,3))
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command_open_status_write_rsp();
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else if(!strncmp(str, REQ_DISTANCE_READ,3))
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command_distance_read_rsp();
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else if(!strncmp(str, REQ_ZERO_STATUS,3))
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command_zero_status_rsp();
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else if(!strncmp(str, REQ_ZERO_STATUS_WRITE,3))
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command_zero_status_write_rsp();
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}
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//激光传感器任务流程
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void laser_task(void)
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{
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//command_zero_status_open_req();
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if (laser_handle.state != LASER_READY)
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{
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if(it_500ms_flag == 1)
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{
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if(laser_handle.state == LASER_IDEL)
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command_device_connect_req();
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else if(laser_handle.state == LASER_CONNECT)
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command_open_status_req();
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else if(laser_handle.state == LASER_OPEN_STATUS)
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command_zero_status_close_req();
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else if(laser_handle.state == LASER_ZERO_STATUS_CLOSE)
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command_zero_status_open_req();
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else if(laser_handle.state == LASER_ZERO_STATUS_OPEN)
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command_distance_read_req();
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else if(laser_handle.state == LASER_DISTANCE)
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_laser_ready();
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it_500ms_flag = 0;
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}
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}
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else
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{
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if(it_25ms_flag == 1)
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{
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laser_handle.command_distance_read_req();
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if(laser_handle.distance >= 0)
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{
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InputReg[24] = laser_handle.distance;
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}
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else
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{
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int laser_num = -laser_handle.distance;
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InputReg[24] = (uint16_t)((0xFFFF - laser_num) + 1);
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}
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it_25ms_flag = 0;
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//laser_handle.connect = true;
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}
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}
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}
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