192 lines
5.0 KiB
C
192 lines
5.0 KiB
C
#include "main.h"
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#include "can.h"
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#include "dma.h"
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#include "usart.h"
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#include "gpio.h"
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#include "math.h"
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#include "remote.h"
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#include "string.h"
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#include "stdlib.h"
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#include "can2.h"
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#define DBUS_MAX_LEN (50)
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#define DBUS_BUFLEN (18)
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#define DBUS_HUART huart3
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//typedef __packed struct
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//{
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// int16_t ch0;
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// int16_t ch1;
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// int16_t ch2;
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// int16_t ch3;
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// int16_t roll;
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// uint8_t sw1;
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// uint8_t sw2;
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//} rc_info_t;
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#define rc_Init \
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{ \
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0, \
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0, \
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0, \
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0, \
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0, \
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0, \
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0, \
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}
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uint8_t dbus_buf[DBUS_BUFLEN];
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rc_info_t rc = rc_Init;
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extern UART_HandleTypeDef huart3;
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static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size)
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{
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uint32_t tmp1 = 0;
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tmp1 = huart->RxState;
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if (tmp1 == HAL_UART_STATE_READY)
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{
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if ((pData == NULL) || (Size == 0))
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{
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return HAL_ERROR;
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}
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huart->pRxBuffPtr = pData;
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huart->RxXferSize = Size;
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huart->ErrorCode = HAL_UART_ERROR_NONE;
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HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
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SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
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return HAL_OK;
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}
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else
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{
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return HAL_BUSY;
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}
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}
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void dbus_uart_init(void)
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{
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__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
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__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
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uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
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}
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void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
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{
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rc->ch0 = (buff[0] | buff[1] << 8) & 0x07FF;
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rc->ch0 -= 1024;
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rc->ch1 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
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rc->ch1 -= 1024;
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rc->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
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rc->ch2 -= 1024;
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rc->ch3 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
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rc->ch3 -= 1024;
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rc->roll = (buff[16] | (buff[17] << 8)) & 0x07FF;
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rc->roll -= 1024;
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rc->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
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rc->sw2 = (buff[5] >> 4) & 0x0003;
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// 数据有效性检查
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if ((abs(rc->ch0) > 660) || \
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(abs(rc->ch1) > 660) || \
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(abs(rc->ch2) > 660) || \
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(abs(rc->ch3) > 660))
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{
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memset(rc, 0, sizeof(rc_info_t));
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// 可以选择发送零值数据
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// send_rc_data_complete(rc);
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}
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else
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{
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// 数据有效，立即发送到CAN总线
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send_rc_data_complete(rc);
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// 如果需要单独发送roll数据
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// send_rc_roll_data(rc);
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}
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}
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uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
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{
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return ((uint16_t)(dma_stream->NDTR));
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}
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static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
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{
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__HAL_UART_CLEAR_IDLEFLAG(huart);
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if (huart == &DBUS_HUART)
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{
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__HAL_DMA_DISABLE(huart->hdmarx);
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if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
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{
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rc_callback_handler(&rc, dbus_buf);
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}
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__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
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__HAL_DMA_ENABLE(huart->hdmarx);
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}
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}
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void uart_receive_handler(UART_HandleTypeDef *huart)
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{
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if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) &&
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__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE))
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{
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uart_rx_idle_callback(huart);
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}
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}
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//static CAN_TxHeaderTypeDef chassis_tx_message;
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//static uint8_t chassis_can_send_data[8];
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//void CAN_cmd_chassis(int8_t ch0, int8_t ch1, int8_t ch2, int8_t ch3,int8_t roll,uint8_t sw1,uint8_t sw2)
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////can总线数据发送函数
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//{
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// uint32_t send_mail_box;
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// chassis_tx_message.StdId = 0x200;
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// chassis_tx_message.IDE = CAN_ID_STD;
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// chassis_tx_message.RTR = CAN_RTR_DATA;
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// chassis_tx_message.DLC = 0x08;
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// chassis_can_send_data[0] = ch0 >> 8;
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// chassis_can_send_data[1] = ch1;
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// chassis_can_send_data[2] = ch2 >> 8;
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// chassis_can_send_data[3] = ch3;
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// chassis_can_send_data[4] = roll >> 8;
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// chassis_can_send_data[5] = sw1;
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// chassis_can_send_data[6] = sw2 >> 8;
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// HAL_CAN_AddTxMessage(&hcan2, &chassis_tx_message, chassis_can_send_data, &send_mail_box);
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//}
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////过滤器函数（还没设置过滤内容）
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//void can_filter_init(void)
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//{
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// CAN_FilterTypeDef can_filter_st;
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// can_filter_st.FilterActivation = ENABLE;
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// can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
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// can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
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// can_filter_st.FilterIdHigh = 0x0000;//高八位
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// can_filter_st.FilterIdLow = 0x0000;//低八位
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// can_filter_st.FilterMaskIdHigh = 0x0000;
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// can_filter_st.FilterMaskIdLow = 0x0007;
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// can_filter_st.FilterBank = 0;
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// can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
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// HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
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// HAL_CAN_Start(&hcan2);
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// HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
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//
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// can_filter_st.SlaveStartFilterBank = 14;
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// can_filter_st.FilterBank = 14;
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// HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
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// HAL_CAN_Start(&hcan2);
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// HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
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//}
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////过滤器笔记
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////SlaveStartFilterBank参数只有在双CAN模式（CAN1和CAN2）下才需要，如果只有CAN1，可以不用设置
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