添加文件1和文件2

2025-11-27 20:08:38 +08:00
parent 5d4099938c
commit edc427c423
1675 changed files with 1068907 additions and 2830 deletions
--- a/PTZ/Core/Src/CToC.c
+++ b/PTZ/Core/Src/CToC.c
@@ -0,0 +1,144 @@
+#include "main.h"
+#include "CToC.h"
+#include "can.h"
+#include "dma.h"
+#include "gpio.h"
+#include "Remote.h"    
+#include "RefereeSystem.h" 
+#include "Parameter.h"
+
+
+static CAN_TxHeaderTypeDef TxMessage;
+static uint8_t             TxMessage_Data[8];
+uint8_t CToC_MasterSendData(void)
+{ 
+	
+	uint32_t send_mail_box;
+	TxMessage.StdId=CToC_SlaveID1;
+	TxMessage.IDE = CAN_ID_STD;
+  TxMessage.RTR = CAN_RTR_DATA;
+	TxMessage.DLC=0x08;
+	if((PC_Go==0 && PC_Back==0 && PC_Left==0 && PC_Right==0 && PC_Spin==0 && PC_Pitch==0) && RefereeSystem_Status==0)//?????
+	{
+		TxMessage_Data[0]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL>>8);//????????
+		TxMessage_Data[1]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_RL & 0x00FF);//????????
+		TxMessage_Data[2]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD>>8);//????????
+		TxMessage_Data[3]=(uint8_t)((uint16_t)Remote_RxData.Remote_R_UD & 0x00FF);//????????
+		TxMessage_Data[4]=(uint8_t)(Remote_RxData.Remote_L_RL>>8);//????????
+		TxMessage_Data[5]=(uint8_t)(Remote_RxData.Remote_L_RL & 0x00FF);//????????
+		TxMessage_Data[6]=(uint8_t)(Remote_RxData.Remote_L_UD>>8);//????????
+		TxMessage_Data[7]=(uint8_t)(Remote_RxData.Remote_L_UD & 0x00FF);//????????
+	}
+	else//????
+	{
+		TxMessage_Data[0]=(uint8_t)((1024+(PC_Right-PC_Left)*660)>>8);//??AD,????????(???)
+		TxMessage_Data[1]=(uint8_t)((1024+(PC_Right-PC_Left)*660) & 0x00FF);//??AD,????????(???)
+		TxMessage_Data[2]=(uint8_t)((1024+(PC_Go-PC_Back)*660)>>8);//??WS,????????(???)
+		TxMessage_Data[3]=(uint8_t)((1024+(PC_Go-PC_Back)*660) & 0x00FF);//??WS,????????(???)
+		TxMessage_Data[4]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity)>>8);//????,????????(???)
+		TxMessage_Data[5]=(uint8_t)((uint16_t)(1024+PC_Spin*PC_Mouse_RLSensitivity) & 0x00FF);//????,????????(???)
+		TxMessage_Data[6]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity)>>8);//????,????????(???)
+		TxMessage_Data[7]=(uint8_t)((uint16_t)(1024+PC_Pitch*PC_Mouse_DUSensitivity) & 0x00FF);//????,????????(???)
+	}
+	
+	HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage,TxMessage_Data, &send_mail_box);
+if (status != HAL_OK) {
+    return 0; 
+}
+
+uint16_t i = 0;
+while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
+    i++;
+}
+if (i >= 0xFFF) {
+    return 0; 
+}
+    return 1; 
+}
+
+
+
+//can 2 rx
+void can_filter_init(void)
+{
+    CAN_FilterTypeDef can_filter_st;
+    can_filter_st.FilterActivation = ENABLE;
+    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
+    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
+    can_filter_st.FilterIdHigh = (CToC_MasterID1<<5);
+    can_filter_st.FilterIdLow =(CToC_MasterID1<<5);
+    can_filter_st.FilterMaskIdHigh = 0xFFE3;
+    can_filter_st.FilterMaskIdLow = 0xFFE3;
+    can_filter_st.FilterBank = 0;
+    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
+
+	  can_filter_st.SlaveStartFilterBank = 14;
+    can_filter_st.FilterBank = 14;
+    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
+    HAL_CAN_Start(&hcan2);
+    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
+}
+
+
+
+
+static CAN_TxHeaderTypeDef TxMessage1;
+static uint8_t             TxMessage_Data1[8];
+uint8_t CToC_MasterSendControl(void)
+{
+
+	uint32_t send_mail_box;
+	TxMessage1.StdId=CToC_SlaveID2;
+	TxMessage1.IDE = CAN_ID_STD;
+  TxMessage1.RTR = CAN_RTR_DATA;
+	TxMessage1.DLC=0x08;
+	TxMessage_Data1[0]=Remote_Status;
+	TxMessage_Data1[1]=Remote_RxData.Remote_RS;
+	TxMessage_Data1[2]=Remote_RxData.Remote_KeyPush_Ctrl;
+	TxMessage_Data1[3]=Remote_RxData.Remote_KeyPush_Shift;
+	TxMessage_Data1[4]=Remote_StartFlag;
+	TxMessage_Data1[5]=Remote_RxData.Remote_LS;
+	TxMessage_Data1[6]=Remote_RxData.Remote_Key_Alpha1;
+	TxMessage_Data1[7]=Remote_RxData.Remote_Key_Alpha2;
+	
+	HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage1,TxMessage_Data1, &send_mail_box);
+if (status != HAL_OK) {
+    return 0; 
+}
+
+uint16_t i = 0;
+while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
+    i++;
+}
+if (i >= 0xFFF) {
+    return 0; 
+}
+    return 1; 
+}
+
+
+
+
+
+void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
+{
+	static uint8_t Last_ShooterStatus=0;
+	if(ID==CToC_MasterID1)
+	{
+		Last_ShooterStatus=RefereeSystem_ShooterStatus;
+		RefereeSystem_ShooterStatus=Data[0];
+		if(Last_ShooterStatus==0 && RefereeSystem_ShooterStatus==1)RefereeSystem_ShooterOpenFlag=1;
+	}
+}
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
+{
+    CAN_RxHeaderTypeDef rx_header;
+    uint8_t rx_data[8];
+    
+   
+    HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
+if (hcan->Instance == CAN2) {
+       
+        CToC_CANDataProcess(rx_header.StdId, rx_data);
+    }
+}