同步步兵代码，暂时关闭底盘跟随
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183
云台/云台-old/Function/CToC.c
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183
云台/云台-old/Function/CToC.c
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#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include "Remote.h"
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#include "CToC.h"
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#include "Parameter.h"
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#include "RefereeSystem.h"
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/*
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*函数简介:板间通讯主机初始化
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*参数说明:无
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*返回类型:无
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*备注:默认使用CAN2(CAN2-Tx为PB6,CAN2-Rx为PB5)
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*备注:CAN波特率1M,默认1Tq=1/14us≈0.07us
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*备注:使用CAN2需要在打开CAN2时钟之前打开CAN1时钟,且CAN2筛选器编号为15~27
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*备注:主机控制从机的标识符为149,从机回报的标识符为189
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*/
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void CToC_MasterInit(void)
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2,ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE);//开启时钟
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;//复用推挽
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GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;//默认上拉
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GPIO_InitStructure.GPIO_Pin=GPIO_Pin_5 | GPIO_Pin_6;
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GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
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GPIO_Init(GPIOB,&GPIO_InitStructure);//配置PB5(CAN2-Rx)和PB6(CAN2-Tx)
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GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2);//开启PB5的CAN2复用模式
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GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2);//开启PB6的CAN2复用模式
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CAN_InitTypeDef CAN_InitStructure;
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CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//正常模式
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CAN_InitStructure.CAN_Prescaler=3;//时钟分频,1Tq=Prescaler/T_PCLK=Prescaler/42M
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CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//SJW极限值
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CAN_InitStructure.CAN_BS1=CAN_BS1_10tq;//PBS1段长度
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CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;//PBS2段长度,1/Baudrate=T_1bit=(1+BS1+BS2)Tq
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CAN_InitStructure.CAN_TTCM=DISABLE;//关闭时间触发功能
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CAN_InitStructure.CAN_ABOM=ENABLE;//开启自动离线管理功能
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CAN_InitStructure.CAN_AWUM=ENABLE;//开启自动唤醒功能
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CAN_InitStructure.CAN_NART=ENABLE;//禁止自动重传功能
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CAN_InitStructure.CAN_RFLM=DISABLE;//关闭锁定FIFO功能
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CAN_InitStructure.CAN_TXFP=DISABLE;//配置报文优先级判定为标识符决定
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CAN_Init(CAN2,&CAN_InitStructure);
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CAN_FilterInitTypeDef CAN_FilterInitStructure;
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CAN_FilterInitStructure.CAN_FilterNumber=15;//筛选器编号15(编号0~14属于CAN1,编号15~27属于CAN2)
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CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO1;//存入FIFO1
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CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//掩码模式
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CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit;//筛选器尺度为16bits
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CAN_FilterInitStructure.CAN_FilterIdHigh=(CToC_MasterID1<<5);//标识符=STID[15:5](189/0001 1000 1001)+RTR[4:4](0)+IDE[3:3](0)+EXID[2:0](000)
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CAN_FilterInitStructure.CAN_FilterIdLow=(CToC_MasterID1<<5);
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CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xFFE3;
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CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFE3;
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CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
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CAN_FilterInit(&CAN_FilterInitStructure);
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CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);//打通CAN2_FIFO1到NVIC的通道
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//选择NVIC分组2(2位抢占优先级，2位响应优先级)
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_InitStructure.NVIC_IRQChannel=CAN2_RX1_IRQn;//选择CAN2_FIFO1接收中断通道
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NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//使能中断通道
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//抢占优先级为1
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NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//响应优先级为1
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NVIC_Init(&NVIC_InitStructure);//初始化CAN2_FIFO1的NVIC
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}
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/*
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*函数简介:板间通讯主机发送遥控器摇杆数据
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*参数说明:无
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*返回类型:1-发送成功,0-发送失败
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*备注:默认标准格式数据帧,8字节数据段
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*备注:使用从机ID1
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*发送数据:
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* Data[0~1]-遥控器底盘左右数据(右摇杆右左或按键AD)
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* Data[2~3]-遥控器底盘前后数据(右摇杆上下或按键WS)
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* Data[4~5]-遥控器云台左右数据(左摇杆右左或鼠标右左)
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* Data[6~7]-遥控器云台俯仰数据(左摇杆上下或鼠标下上)
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*/
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uint8_t CToC_MasterSendData(void)
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{
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CanTxMsg TxMessage;
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TxMessage.StdId=CToC_SlaveID1;
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TxMessage.RTR=CAN_RTR_Data;//数据帧
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TxMessage.IDE=CAN_Id_Standard;//标准格式
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TxMessage.DLC=0x08;//8字节数据段
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if((PC_Go==0 && PC_Back==0 && PC_Left==0 && PC_Right==0 && PC_Spin==0 && PC_Pitch==0) && RefereeSystem_Status==0)//遥控器控制
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{
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TxMessage.Data[0]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL>>8);//右摇杆右左高八位
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TxMessage.Data[1]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL & 0x00FF);//右摇杆右左低八位
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TxMessage.Data[2]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD>>8);//右摇杆上下高八位
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TxMessage.Data[3]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD & 0x00FF);//右摇杆上下低八位
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TxMessage.Data[4]=(uint8_t)(Remote_RxData.Remote_L_RL>>8);//左摇杆右左高八位
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TxMessage.Data[5]=(uint8_t)(Remote_RxData.Remote_L_RL & 0x00FF);//左摇杆右左低八位
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TxMessage.Data[6]=(uint8_t)(Remote_RxData.Remote_L_UD>>8);//左摇杆上下高八位
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TxMessage.Data[7]=(uint8_t)(Remote_RxData.Remote_L_UD & 0x00FF);//左摇杆上下低八位
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}
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else//键盘控制
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{
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TxMessage.Data[0]=(uint8_t)((1024+(PC_Right-PC_Left)*660)>>8);//按键AD,相当于右摇杆右左(高八位)
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TxMessage.Data[1]=(uint8_t)((1024+(PC_Right-PC_Left)*660) & 0x00FF);//按键AD,相当于右摇杆右左(低八位)
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TxMessage.Data[2]=(uint8_t)((1024+(PC_Go-PC_Back)*660)>>8);//按键WS,相当于右摇杆上下(高八位)
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TxMessage.Data[3]=(uint8_t)((1024+(PC_Go-PC_Back)*660) & 0x00FF);//按键WS,相当于右摇杆上下(低八位)
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TxMessage.Data[4]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity)>>8);//鼠标右左,相当于左摇杆右左(高八位)
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TxMessage.Data[5]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity) & 0x00FF);//鼠标右左,相当于左摇杆右左(低八位)
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TxMessage.Data[6]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity)>>8);//鼠标下上,相当于左摇杆上下(高八位)
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TxMessage.Data[7]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity) & 0x00FF);//鼠标下上,相当于左摇杆上下(低八位)
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}
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uint8_t mbox=CAN_Transmit(CAN2,&TxMessage);//发送数据并获取邮箱号
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uint16_t i=0;
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while((CAN_TransmitStatus(CAN2,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//等待发送结束
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if(i>=0xFFF)return 0;//发送失败
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return 1;//发送成功
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}
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/*
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*函数简介:板间通讯主机发送遥控器控制数据
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*参数说明:无
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*返回类型:1-发送成功,0-发送失败
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*备注:默认标准格式数据帧,8字节数据段
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*备注:使用从机ID2
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*发送数据:
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* Data[0]-遥控器连接状态
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* Data[1]-遥控器右侧拨动开关
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* Data[2]-键盘Ctrl状态(Remote_KeyPush_Ctrl)
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* Data[3]-键盘Shift状态(Remote_KeyPush_Shift)
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* Data[4]-遥控器启动标志位
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* Data[5]-遥控器左侧拨动开关
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*/
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uint8_t CToC_MasterSendControl(void)
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{
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CanTxMsg TxMessage;
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TxMessage.StdId=CToC_SlaveID2;
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TxMessage.RTR=CAN_RTR_Data;//数据帧
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TxMessage.IDE=CAN_Id_Standard;//标准格式
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TxMessage.DLC=0x08;//8字节数据段
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TxMessage.Data[0]=Remote_Status;//遥控器连接状态
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TxMessage.Data[1]=Remote_RxData.Remote_RS;//遥控器右侧拨动开关
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TxMessage.Data[2]=Remote_RxData.Remote_KeyPush_Ctrl;//键盘Ctrl状态
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TxMessage.Data[3]=Remote_RxData.Remote_KeyPush_Shift;//键盘Shift状态
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TxMessage.Data[4]=Remote_StartFlag;//遥控器启动标志位
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TxMessage.Data[5]=Remote_RxData.Remote_LS;//遥控器左侧拨动开关
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TxMessage.Data[6]=0;
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TxMessage.Data[7]=0;
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uint8_t mbox=CAN_Transmit(CAN2,&TxMessage);//发送数据并获取邮箱号
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uint16_t i=0;
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while((CAN_TransmitStatus(CAN2,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//等待发送结束
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if(i>=0xFFF)return 0;//发送失败
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return 1;//发送成功
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}
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/*
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*函数简介:板间通讯数据处理
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*参数说明:CAN数据帧ID号,详情见CToC.h的宏定义
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*参数说明:反馈数据(8字节)
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*返回类型:无
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*备注:无
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*接收数据:
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* Data[0]-发射机构状态
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*/
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void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
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{
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static uint8_t Last_ShooterStatus=0;//上一次发射机构状态
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if(ID==CToC_MasterID1)//接收遥控器拨杆数据
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{
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Last_ShooterStatus=RefereeSystem_ShooterStatus;//获取上一次发射机构状态
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RefereeSystem_ShooterStatus=Data[0];//发射机构状态
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if(Last_ShooterStatus==0 && RefereeSystem_ShooterStatus==1)RefereeSystem_ShooterOpenFlag=1;//发射机构上电瞬间
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}
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}
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