feat: 换用更简单的通信帧格式

app/by_frame.c

@@ -0,0 +1,90 @@
+#include "by_frame.h"
+
+#include <stdint.h>
+#include <string.h>
+
+#include "zf_common_headfile.h"
+#include "lwrb.h"
+#include "crc16.h"
+
+lwrb_t lwrb_struct;
+uint8_t lwrb_buffer[50];
+uint8_t frame_buffer[100];
+
+void by_frame_init(void)
+{
+    uart_init(BY_FRAME_UART_INDEX, BY_FRAME_UART_BAUDRATE, BY_FRAME_UART_TX_PIN, BY_FRAME_UART_RX_PIN);
+    uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE);
+
+    lwrb_init(&lwrb_struct, lwrb_buffer, 50);
+}
+
+void by_frame_send(uint8_t data_num, uint32_t *data_array)
+{
+    uint16_t crc_cal = 0;
+    frame_buffer[0]  = BY_FRAME_HEAD_1;
+    frame_buffer[1]  = BY_FRAME_HEAD_2;
+
+    memcpy(frame_buffer + 2, data_array, data_num * sizeof(uint32_t));
+    crc_cal = crc16_check(frame_buffer, 2 + data_num * sizeof(uint32_t));
+
+    frame_buffer[2 + data_num * sizeof(uint32_t)] = (uint8_t)(crc_cal >> 8);
+    frame_buffer[3 + data_num * sizeof(uint32_t)] = (uint8_t)(crc_cal);
+
+    uart_write_buffer(BY_FRAME_UART_INDEX, frame_buffer, 4 + data_num * sizeof(uint32_t));
+}
+
+void by_frame_parse(uint8_t data_num, uint32_t *data_array)
+{
+    uint8_t cnt                  = 0;
+    uint8_t cnt_crc              = 2;
+    uint8_t data                 = 0;
+    uint8_t data_array_temp[100] = {0};
+    uint16_t crc_cal             = 0;
+
+    if (lwrb_get_full(&lwrb_struct) >= (4 + data_num * sizeof(uint32_t))) {
+        while (lwrb_read(&lwrb_struct, &data, 1)) {
+            // printf("char : %0.2X\r\n", data);
+            if ((0 == cnt) && (BY_FRAME_HEAD_1 == data)) {
+                cnt                = 1;
+                data_array_temp[0] = data;
+                continue;
+            }
+
+            if ((1 == cnt) && (BY_FRAME_HEAD_2 == data)) {
+                cnt                = 2;
+                data_array_temp[1] = data;
+                continue;
+            }
+
+            if ((2 <= cnt) && (cnt < 2 + data_num * sizeof(uint32_t))) {
+                data_array_temp[cnt] = data;
+                cnt++;
+                continue;
+            }
+
+            if (cnt_crc) {
+                crc_cal |= ((uint16_t)data << (--cnt_crc * 8));
+                continue;
+            }
+
+            // printf("GET CRC %0.4X\r\n", crc_cal);
+            // printf("CAL CRC %0.4X\r\n", crc16_check((uint8_t *)data_array_temp, 2 + data_num * sizeof(uint32_t)));
+
+            if (!cnt_crc) {
+                if (crc_cal == crc16_check((uint8_t *)data_array_temp, 2 + data_num * sizeof(uint32_t))) {
+                    memcpy(data_array, data_array_temp + 2, data_num * sizeof(uint32_t));
+                    lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞
+                    // printf("parsed done!\r\n");
+                }
+
+                break;
+            }
+        }
+    }
+}
+
+void by_frame_parse_uart_handle(uint8_t data)
+{
+    lwrb_write(&lwrb_struct, &data, 1);
+}

app/by_frame.h

@@ -0,0 +1,24 @@
+#ifndef _BY_FRAME_H__
+#define _BY_FRAME_H__
+
+/* BY_TINY_FRAME 的超级减配版本（好吧基本上完全没有关系）
+ * 主要是等应答还是挺慢的，写数据场景只需要下位机校验数据合理性即可，读数据等应答即可
+ * 并且需要同步的参数并不多，所以考虑直接使用定长的特定结构的帧，一帧全部下发
+ */
+
+#include <stdint.h>
+
+#define BY_FRAME_HEAD_1        (0XEB)
+#define BY_FRAME_HEAD_2        (0x90)
+
+#define BY_FRAME_UART_TX_PIN   (UART4_MAP1_TX_B0)
+#define BY_FRAME_UART_RX_PIN   (UART4_MAP1_RX_B1)
+#define BY_FRAME_UART_INDEX    (UART_4)
+#define BY_FRAME_UART_BAUDRATE (115200)
+
+extern void by_frame_init(void);
+extern void by_frame_send(uint8_t data_num, uint32_t *data_array);
+extern void by_frame_parse(uint8_t data_num, uint32_t *data_array);
+extern void by_frame_parse_uart_handle(uint8_t data);
+
+#endif

app/isr.c

@@ -38,7 +38,7 @@
 #include "by_imu.h"
 #include "by_buzzer.h"
 #include "by_rt_button.h"
-#include "by_tiny_frame_parse.h"
+#include "by_frame.h"
 
 #include "jj_motion.h"
 #include "jj_blueteeth.h"
@@ -112,7 +112,7 @@ void UART4_IRQHandler(void)
     if (USART_GetITStatus(UART4, USART_IT_RXNE) != RESET) {
         uint8_t data_s = 0;
         uart_query_byte(UART_4, &data_s);
-        by_tiny_frame_parse_uart_handle(data_s);
+        by_frame_parse_uart_handle(data_s);
         USART_ClearITPendingBit(UART4, USART_IT_RXNE);
     }
 }
@@ -314,7 +314,7 @@ void TIM5_IRQHandler(void)
 void TIM6_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
-        //ICM_getEulerianAngles();
+        // ICM_getEulerianAngles();
         imu660ra_get_gyro();
         TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
     }

app/jj_motion.c

@@ -38,11 +38,8 @@ float in_speed;
 float out_speed;
 float set_speed = 0.0f;
 
-/**
- * @brief
- *
- */
 int cnt1 = 0;
+
 void sport_motion(void)
 {
 
@@ -50,7 +47,7 @@ void sport_motion(void)
     in_gyro  = imu660ra_gyro_z;                                       // 陀螺仪输入
     in_angle = 0;                                                     // 图像远端输入
     in_pos   = 0;                                                     // 图像近端输入
-    in_speed = encoder_get_count(TIM5_ENCOEDER) / 1024 / 0.01 * 0.25; // 速度输入,m/s
+    in_speed = encoder_get_count(TIM5_ENCOEDER) / 1024 / 0.01 * 0.25; // 速度输入，m/s
     encoder_clear_count(TIM5_ENCOEDER);                               // 清除计数
     PID_Compute(&far_gyro_pid);
 

app/main.c

@@ -31,12 +31,14 @@
 
 #include "by_imu.h"
 #include "by_buzzer.h"
-#include "by_tiny_frame.h"
+#include "by_frame.h"
 #include "by_rt_button.h"
 #include "by_fan_control.h"
 
 int main(void)
 {
+    TYPE_UNION test_data;
+    TYPE_UNION test_data_last;
     clock_init(SYSTEM_CLOCK_120M);
     system_delay_init();
     debug_init();
@@ -50,8 +52,8 @@ int main(void)
     by_rb_init();
     by_pwm_init();
     //  by_buzzer_init();
-    
+    by_frame_init();
-    by_tiny_frame_init();
+
     Page_Init();
     sport_pid_init();
 
@@ -59,11 +61,19 @@ int main(void)
     pit_ms_init(TIM1_PIT, 1);  // 运动解算，bianmaqi
 
     printf("ok\r\n");
-    
+
     while (1) {
-        Page_Run();
+        // Page_Run();
-        //by_buzzer_run();
+        by_frame_parse(1, &test_data.u32);
-        jj_bt_run();
+        
-        by_tiny_frame_run();
+        if (test_data.u32 != test_data_last.u32) {
+            ips200_show_float(0, 50, test_data.f32, 4, 2);
+            // printf("- %ld\r\n", (uint32_t)(test_data.f32 * 100));
+        }
+
+        test_data_last.u32 = test_data.u32;
+
+        // by_buzzer_run();
+        // jj_bt_run();
     }
 }

app/tiny_frame/by_tiny_frame.c

@@ -1,37 +0,0 @@
-#include "by_tiny_frame.h"
-
-#include <stdio.h>
-#include <stdint.h>
-
-#include "crc16.h"
-#include "zf_common_headfile.h"
-#include "by_tiny_frame_config.h"
-#include "by_tiny_frame_parse.h"
-#include "by_tiny_frame_master_read.h"
-#include "by_tiny_frame_master_write.h"
-#include "by_tiny_frame_slave_read_write.h"
-
-void by_tiny_frame_init(void)
-{
-    /*** 初始化相关外设 ***/
-    uart_init(BY_TF_UART_INDEX, BY_TF_UART_BAUDRATE, BY_TF_UART_TX_PIN, BY_TF_UART_RX_PIN);
-    uart_rx_interrupt(BY_TF_UART_INDEX, ENABLE);
-
-    by_tiny_frame_parse_init();
-
-#if defined(BY_TF_DEVICE_SLAVE)
-    by_tiny_frame_parse_handle_register(by_tiny_frame_read_write_handle);
-#endif
-}
-
-void by_tiny_frame_run(void)
-{
-    by_tiny_frame_parse_run();
-
-#if defined(BY_TF_DEVICE_MASTER)
-    by_tiny_frame_read_run();
-    by_tiny_frame_write_run();
-#elif defined(BY_TF_DEVICE_SLAVE)
-    by_tiny_frame_read_write_run();
-#endif
-}

app/tiny_frame/by_tiny_frame.h

@@ -1,16 +0,0 @@
-#ifndef _BY_TINY_FRAME_H__
-#define _BY_TINY_FRAME_H__
-
-#include "by_tiny_frame_config.h"
-
-#if defined(BY_TF_DEVICE_MASTER)
-#include "by_tiny_frame_master_read.h"
-#include "by_tiny_frame_master_write.h"
-#elif defined(BY_TF_DEVICE_SLAVE)
-#include "by_tiny_frame_slave_read_write.h"
-#endif
-
-extern void by_tiny_frame_init(void);
-void by_tiny_frame_run(void);
-
-#endif

app/tiny_frame/by_tiny_frame_config.h

@@ -1,27 +0,0 @@
-#ifndef _BY_TINY_FRAME_CONFIG_H__
-#define _BY_TINY_FRAME_CONFIG_H__
-
-#define BY_TF_DEBUG             (1)
-
-#define BY_TF_UART_TX_PIN       (UART4_MAP1_TX_B0)
-#define BY_TF_UART_RX_PIN       (UART4_MAP1_RX_B1)
-#define BY_TF_UART_INDEX        (UART_4)
-#define BY_TF_UART_BAUDRATE     (115200)
-
-#define BY_TF_PARSE_BUFFER_SIZE (50)
-
-// 注释此项则为主机，否则为从机
-#define BY_TF_DEVICE_SLAVE
-
-/********** 从机模式配置选项 **********/
-#if defined(BY_TF_DEVICE_SLAVE)
-// 从机地址 (多从机通信时注意修改地址，避免冲突)
-#define BY_TF_DEVICE_SLAVE_ADDRESS (0x0D)
-/********** 主机模式配置选项 **********/
-#else
-#define BY_TF_DEVICE_MASTER
-// 监听/解析 超时时间 单位毫秒
-#define BY_TF_PARSE_TIMEOUT (200)
-#endif
-
-#endif

app/tiny_frame/by_tiny_frame_master_read.c

@@ -1,53 +0,0 @@
-#include "by_tiny_frame_master_read.h"
-
-#if defined(BY_TF_DEVICE_MASTER)
-
-uint8_t read_processing_flag;
-uint32_t *data_p;
-
-void by_tiny_frame_read_run(void)
-{
-}
-
-void by_tiny_frame_read(uint8_t slave_id, uint16_t reg_addr, uint32_t *data)
-{
-    // 填充数据
-    by_tf_pack_frame_t frame_s;
-    frame_s.slave_id = slave_id;
-    frame_s.cmd      = BY_TINY_FRAME_READ_CMD_CODE;
-    frame_s.reg_addr = reg_addr;
-    frame_s.data     = 0;
-
-    // 发送写请求
-    by_tiny_frame_pack_send(&frame_s);
-    // 设置响应监听 id
-    by_tiny_frame_parse_set_listen_slave_id(slave_id);
-    // 注册响应监听回调
-    by_tiny_frame_parse_handle_register(by_tiny_frame_read_handle);
-    // 开启响应监听
-    by_tiny_frame_parse_start_listen();
-
-    read_processing_flag = 1;
-}
-
-void by_tiny_frame_read_handle(by_tf_parse_frame_t frame_s, uint8_t status)
-{
-
-    read_processing_flag = 0;
-    if (!status) {
-        *data_p = frame_s.data;
-    }
-
-#if (BY_TF_DEBUG)
-    printf("****** READ REGISTER DONE ******\r\n");
-    printf("SLAVE ID: 0x%0.2X\r\n", frame_s.frame[0]);
-    printf("\t--cmd: %0.2X\n\t--reg_addr: 0x%0.4X\n\t--data: 0x%0.8X\r\n", frame_s.cmd, frame_s.reg_addr, frame_s.data);
-    if (status) {
-        printf("read operation failed!!!\r\n");
-    } else {
-        printf("read operation successful!!!\r\n");
-    }
-#endif
-}
-
-#endif

app/tiny_frame/by_tiny_frame_master_read.h

@@ -1,18 +0,0 @@
-#ifndef _BY_TINY_FRAME_MASTER_READ_H__
-#define _BY_TINY_FRAME_MASTER_READ_H__
-
-#include "by_tiny_frame_config.h"
-
-#if defined(BY_TF_DEVICE_MASTER)
-
-#include "by_tiny_frame_parse.h"
-#include "by_tiny_frame_pack.h"
-
-#define BY_TINY_FRAME_READ_CMD_CODE (0x03)
-
-extern void by_tiny_frame_read(uint8_t slave_id, uint16_t reg_addr, uint32_t *data);
-extern void by_tiny_frame_read_run(void);
-extern void by_tiny_frame_read_handle(by_tf_parse_frame_t frame_s, uint8_t status);
-
-#endif
-#endif

app/tiny_frame/by_tiny_frame_master_write.c

@@ -1,54 +0,0 @@
-#include "by_tiny_frame_master_write.h"
-
-#if defined(BY_TF_DEVICE_MASTER)
-
-#include "by_tiny_frame_pack.h"
-#include "by_tiny_frame_parse.h"
-
-uint8_t write_processing_flag;
-
-void by_tiny_frame_write_run(void)
-{
-    // nothing
-}
-
-void by_tiny_frame_write(uint8_t slave_id, uint16_t reg_addr, uint32_t data)
-{
-    // 填充数据
-    by_tf_pack_frame_t frame_s;
-    frame_s.slave_id = slave_id;
-    frame_s.cmd      = BY_TINY_FRAME_WRITE_CMD_CODE;
-    frame_s.reg_addr = reg_addr;
-    frame_s.data     = data;
-
-    // 发送写请求
-    by_tiny_frame_pack_send(&frame_s);
-    // 设置响应监听 id
-    by_tiny_frame_parse_set_listen_slave_id(slave_id);
-    // 注册响应监听回调
-    by_tiny_frame_parse_handle_register(by_tiny_frame_write_handle);
-    // 开启响应监听
-    by_tiny_frame_parse_start_listen();
-
-    write_processing_flag = 1;
-}
-
-void by_tiny_frame_write_handle(by_tf_parse_frame_t frame_s, uint8_t status)
-{
-    write_processing_flag = 0;
-
-#if (BY_TF_DEBUG)
-    printf("****** WRITE REGISTER DONE ******\r\n");
-    printf("SLAVE ID: 0x%0.2X\r\n", frame_s.frame[0]);
-    printf("\t--cmd: %0.2X\n\t--reg_addr: 0x%0.4X\n\t--data: 0x%0.8X\r\n", frame_s.cmd, frame_s.reg_addr, frame_s.data);
-    if (status) {
-        printf("write operation failed!!!\r\n");
-
-    } else {
-        printf("write operation successful!!!\r\n");
-    }
-
-#endif
-}
-
-#endif

app/tiny_frame/by_tiny_frame_master_write.h

@@ -1,18 +0,0 @@
-#ifndef _BY_TINY_FRAME_MASTER_WRITE_H__
-#define _BY_TINY_FRAME_MASTER_WRITE_H__
-
-#include "by_tiny_frame_config.h"
-
-#if defined(BY_TF_DEVICE_MASTER)
-
-#include "by_tiny_frame_parse.h"
-#include "by_tiny_frame_pack.h"
-
-#define BY_TINY_FRAME_WRITE_CMD_CODE (0x06)
-
-extern void by_tiny_frame_write(uint8_t slave_id, uint16_t reg_addr, uint32_t data);
-extern void by_tiny_frame_write_run(void);
-extern void by_tiny_frame_write_handle(by_tf_parse_frame_t frame_s, uint8_t status);
-
-#endif
-#endif

app/tiny_frame/by_tiny_frame_pack.c

@@ -1,39 +0,0 @@
-#include "by_tiny_frame_pack.h"
-
-#include <string.h>
-#include "zf_common_headfile.h"
-#include "crc16.h"
-
-void by_tiny_frame_pack_init(void)
-{
-    /** nothing to init **/
-}
-
-void by_tiny_frame_pack_send(by_tf_pack_frame_t *frame_s)
-{
-    uint16_t calc_crc_val = 0;
-
-#if defined(BY_TF_DEVICE_SLAVE)
-    frame_s->frame[0] = ((frame_s->slave_id << 1) + 1);
-#else
-    frame_s->frame[0] = (frame_s->slave_id << 1);
-#endif
-
-    // 填充指令段
-    frame_s->frame[1] = frame_s->cmd;
-    // 填充寄存器地址段
-    frame_s->frame[2] = (uint8_t)((frame_s->reg_addr >> 8) & 0xFF);
-    frame_s->frame[3] = (uint8_t)(frame_s->reg_addr & 0xFF);
-    // 填充数据段
-    frame_s->frame[4] = (uint8_t)((frame_s->data >> 24) & 0xFF);
-    frame_s->frame[5] = (uint8_t)((frame_s->data >> 16) & 0xFF);
-    frame_s->frame[6] = (uint8_t)((frame_s->data >> 8) & 0xFF);
-    frame_s->frame[7] = (uint8_t)(frame_s->data & 0xFF);
-    // 填充 CRC 段
-    calc_crc_val      = crc16_check(frame_s->frame, (sizeof(frame_s->frame) - 2));
-    frame_s->frame[8] = (uint8_t)((calc_crc_val >> 8) & 0xFF);
-    frame_s->frame[9] = (uint8_t)(calc_crc_val & 0xFF);
-
-    /** 从串口发送 **/
-    uart_write_buffer(BY_TF_UART_INDEX, frame_s->frame, sizeof(frame_s->frame));
-}

app/tiny_frame/by_tiny_frame_pack.h

@@ -1,24 +0,0 @@
-#ifndef _BY_TINY_FRAME_PACK_H__
-#define _BY_TINY_FRAME_PACK_H__
-
-#include <stdio.h>
-#include <stdint.h>
-
-#include "by_tiny_frame_config.h"
-
-// 从机地址 (1b) - 功能码 (1b) - 寄存器地址 (2b) - 数据 (4b) - CRC(2b)
-// 从机地址 (1b) 0-127, 最低位表示发送方，主机请求低位为 0，从机应答低位为 1
-// 高字节在前
-
-typedef struct by_tf_pack_frame_t {
-    uint8_t frame[10];
-    uint8_t slave_id;
-    uint8_t cmd;
-    uint16_t reg_addr;
-    uint32_t data;
-} by_tf_pack_frame_t;
-
-extern void by_tiny_frame_pack_init(void);
-extern void by_tiny_frame_pack_send(by_tf_pack_frame_t *frame_s);
-
-#endif

app/tiny_frame/by_tiny_frame_parse.c

@@ -1,198 +0,0 @@
-#include "by_tiny_frame_parse.h"
-
-#include "crc16.h"
-#include "lwrb.h"
-
-lwrb_t lwrb_struct;
-uint8_t buffer_rb[BY_TF_PARSE_BUFFER_SIZE];
-uint8_t buffer_out;
-uint8_t listen_slave_id;
-uint8_t listen_flag;
-uint16_t listen_timeout;
-uint16_t listen_timevia;
-by_tf_parse_frame_t frame_now;
-by_tf_parse_done_handle_func parse_done_handle;
-
-void by_tiny_frame_parse_init(void)
-{
-#if defined(BY_TF_DEVICE_MASTER)
-    listen_timeout = BY_TF_PARSE_TIMEOUT;
-#endif
-
-    /** 初始化环形缓冲区 **/
-    lwrb_init(&lwrb_struct, buffer_rb, 40);
-}
-
-uint8_t by_tiny_frame_parse_listening(by_tf_parse_frame_t *frame_s, const uint8_t slave_id, const uint8_t buff)
-{
-
-    static uint8_t cnt_s      = 0;
-    static uint8_t cnt_rest_s = 0;
-
-#if (BY_TF_DEBUG)
-    printf("%0.2X\r\n", buff);
-#endif
-
-    do {
-
-#if defined(BY_TF_DEVICE_SLAVE)
-        if ((0 == cnt_s) && ((slave_id << 1) == buff)) {
-#else
-        if ((0 == cnt_s) && (((slave_id << 1) + 1) == buff)) {
-#endif
-            memset(frame_s, 0, sizeof(*frame_s));
-            cnt_s             = 1;
-            cnt_rest_s        = 9;
-            frame_s->frame[0] = buff;
-            break;
-        }
-
-        if (1 <= cnt_s) {
-            frame_s->frame[cnt_s] = buff;
-            cnt_s++;
-        }
-
-        if (0 == --cnt_rest_s) {
-            cnt_s = 0;
-
-            frame_s->cmd = frame_s->frame[1];
-            frame_s->reg_addr |= ((uint16_t)frame_s->frame[2] << 8);
-            frame_s->reg_addr |= (uint16_t)frame_s->frame[3];
-            frame_s->data |= ((uint32_t)frame_s->frame[4] << 24);
-            frame_s->data |= ((uint32_t)frame_s->frame[5] << 16);
-            frame_s->data |= ((uint32_t)frame_s->frame[6] << 8);
-            frame_s->data |= (uint32_t)frame_s->frame[7];
-            frame_s->crc_val |= ((uint16_t)frame_s->frame[8] << 8);
-            frame_s->crc_val |= (uint16_t)frame_s->frame[9];
-            return 0;
-        }
-    } while (0);
-
-    return 1;
-}
-
-/**
- * @brief by_tf_parse 串口回调函数，在对应串口中断函数中调用
- *
- * @param buff
- */
-void by_tiny_frame_parse_uart_handle(uint8_t buff)
-{
-    lwrb_write(&lwrb_struct, &buff, 1);
-}
-
-/**
- * @brief by_tf_parse 定时回调函数，要求触发周期为 1ms
- *
- */
-void by_tiny_frame_parse_timer_handle(void)
-{
-#if defined(BY_TF_DEVICE_MASTER)
-    if (listen_flag) {
-        listen_timevia++;
-    } else {
-        listen_timevia = 0;
-    }
-#endif
-}
-
-/**
- * @brief
- *
- */
-void by_tiny_frame_parse_run(void)
-{
-
-#if defined(BY_TF_DEVICE_MASTER)
-    if (0 == listen_flag) {
-        return;
-    } else {
-        if (listen_timeout <= listen_timevia) {
-            // 接收超时，停止监听
-            parse_done_handle(frame_now, 1);
-            by_tiny_frame_parse_end_listen();
-#if (BY_TF_DEBUG)
-            printf("by_tf_listen timeout\r\n");
-#endif
-        }
-    }
-#endif
-
-    for (uint8_t i = 0; i < lwrb_get_full(&lwrb_struct); i++) {
-
-        if (!lwrb_read(&lwrb_struct, &buffer_out, 1)) {
-            break;
-        }
-
-// TODO 目前接收校验错误也会等待直至超时
-// TODO 待结合 read&wirte 部分修改监听的从机地址
-#if defined(BY_TF_DEVICE_SLAVE)
-        if (!by_tiny_frame_parse_listening(&frame_now, BY_TF_DEVICE_SLAVE_ADDRESS, buffer_out))
-#else
-        if (!by_tiny_frame_parse_listening(&frame_now, listen_slave_id, buffer_out))
-#endif
-        {
-            if (!by_tiny_frame_parse_crc(&frame_now)) {
-
-                // 接收成功后停止监听
-                by_tiny_frame_parse_end_listen();
-                // 解析成功回调
-                parse_done_handle(frame_now, 0);
-#if (BY_TF_DEBUG)
-                printf("frame parsed!\r\n");
-#endif
-                // 解析帧
-            }
-        }
-        // if (!mp_cmd_parse_modbus_handle(data)) {
-        //     mp_cmd_mb_parse(&mp_cmd_mb_now, &mp_cmd_parsed_now);
-        // }
-    }
-}
-
-uint8_t by_tiny_frame_parse_crc(by_tf_parse_frame_t *frame_s)
-{
-    uint16_t calc_crc_val = 0;
-
-    calc_crc_val = crc16_check(frame_s->frame, (sizeof(frame_s->frame) - 2));
-
-#if (BY_TF_DEBUG)
-    printf("get: %0.2X", frame_s->crc_val);
-    printf("\r\n");
-
-    printf("cal: %0.2X", calc_crc_val);
-    printf("\r\n");
-#endif
-
-    if ((frame_s->crc_val == calc_crc_val) || (frame_s->crc_val == 0xFFFF)) {
-        return 0;
-    }
-
-    // 校验错误则直接结束监听
-    by_tiny_frame_parse_end_listen();
-    parse_done_handle(frame_now, 1);
-
-    return 1;
-}
-
-void by_tiny_frame_parse_handle_register(by_tf_parse_done_handle_func func)
-{
-    // FIXME 监听过程中应不允许更改
-    // FIXME 未校验是否传入非空值，另外假设未执行注册，也会产生非法访问
-    parse_done_handle = func;
-}
-
-void by_tiny_frame_parse_start_listen(void)
-{
-    listen_flag = 1;
-}
-
-void by_tiny_frame_parse_end_listen(void)
-{
-    listen_flag = 0;
-}
-
-void by_tiny_frame_parse_set_listen_slave_id(uint8_t slave_id)
-{
-    listen_slave_id = slave_id;
-}

app/tiny_frame/by_tiny_frame_parse.h

@@ -1,32 +0,0 @@
-#ifndef _BY_TINY_FRAME_PARSE_H__
-#define _BY_TINY_FRAME_PARSE_H__
-
-#include <stdio.h>
-#include <stdint.h>
-
-#include "by_tiny_frame_config.h"
-
-// 从机地址 (1b) - 功能码 (1b) - 寄存器地址 (2b) - 数据 (4b) - CRC(2b)
-// 从机地址 (1b) 0-127, 最低位表示发送方，主机请求低位为 0，从机应答低位为 1
-// 高字节在前
-
-typedef struct by_tf_parse_frame_t {
-    uint8_t frame[10];
-    uint8_t cmd;
-    uint16_t reg_addr;
-    uint16_t crc_val;
-    uint32_t data;
-} by_tf_parse_frame_t;
-
-typedef void (*by_tf_parse_done_handle_func)(by_tf_parse_frame_t, uint8_t);
-
-extern void by_tiny_frame_parse_init(void);
-extern void by_tiny_frame_parse_uart_handle(uint8_t buff);
-extern void by_tiny_frame_parse_run(void);
-extern uint8_t by_tiny_frame_parse_crc(by_tf_parse_frame_t *frame_s);
-extern void by_tiny_frame_parse_handle_register(by_tf_parse_done_handle_func func);
-extern void by_tiny_frame_parse_start_listen(void);
-extern void by_tiny_frame_parse_end_listen(void);
-extern void by_tiny_frame_parse_set_listen_slave_id(uint8_t slave_id);
-
-#endif

app/tiny_frame/by_tiny_frame_slave_read_write.c

@@ -1,59 +0,0 @@
-#include "by_tiny_frame_slave_read_write.h"
-
-#if defined(BY_TF_DEVICE_SLAVE)
-
-#include "by_tiny_frame_config.h"
-#include "by_tiny_frame_parse.h"
-#include "by_tiny_frame_pack.h"
-
-#include "jj_motion.h"
-
-void by_tiny_frame_read_write_run(void)
-{
-    // empty
-}
-
-void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status)
-{
-    by_tf_pack_frame_t frame_pack_s;
-
-    frame_pack_s.slave_id = BY_TF_DEVICE_SLAVE_ADDRESS;
-    frame_pack_s.cmd      = frame_s.cmd;
-    frame_pack_s.reg_addr = frame_s.reg_addr;
-
-    if (status) {
-        // 接收出错，一般为 CRC 校验错误
-        return;
-    }
-
-    switch (frame_s.cmd) {
-        case 0x03:
-            // 添加查询接口，操作完成后应答,主机读取，这个是从机
-            frame_pack_s.data = 0XFFFFFFFF; //it's useless just now
-            by_tiny_frame_pack_send(&frame_pack_s);
-            break;
-        case 0x06:
-            // 添加写入接口，操作完成后应答
-            switch (frame_pack_s.reg_addr) {
-                case 0x00:
-                    in_angle = (float)frame_s.data;
-                    break;
-                case 0x01:
-                    in_pos = (float)frame_s.data;
-                    break;
-                default:
-                    break;
-            }
-            by_tiny_frame_pack_send(&frame_pack_s);
-            break;
-        default:
-            break;
-    }
-
-#if (BY_TF_DEBUG)
-    printf("****** EXECUTE CMD SUCCESSFUL ******\r\n");
-    printf("Device ID: 0x%0.2X\r\n", BY_TF_DEVICE_SLAVE_ADDRESS);
-    printf("\t--cmd: %0.2X\n\t--reg_addr: 0x%0.4X\n\t--data: 0x%0.8X\r\n", frame_s.cmd, frame_s.reg_addr, frame_s.data);
-#endif
-}
-#endif

app/tiny_frame/by_tiny_frame_slave_read_write.h

@@ -1,17 +0,0 @@
-#ifndef _BY_TINY_FRAME_SLAVE_READ_WRITE_H__
-#define _BY_TINY_FRAME_SLAVE_READ_WRITE_H__
-
-#include "by_tiny_frame_config.h"
-
-#if defined(BY_TF_DEVICE_SLAVE)
-
-#include "by_tiny_frame_parse.h"
-
-#define BY_TINY_FRAME_READ_CMD_CODE  (0x03)
-#define BY_TINY_FRAME_WRITE_CMD_CODE (0x06)
-
-extern void by_tiny_frame_read_write_run(void);
-extern void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status);
-
-#endif
-#endif

libraries/zf_device/zf_device_ips200.h

@@ -110,7 +110,7 @@
 // 例：C5-C12      IPS200_DATAPORT 设置为 GPIOC   DATA_START_NUM 设置为 5
 //  --------------------双排 SPI 接口两寸屏幕引脚定义--------------------//
 
-#define IPS200_DEFAULT_DISPLAY_DIR  (IPS200_PORTAIT)   // 默认的显示方向
+#define IPS200_DEFAULT_DISPLAY_DIR  (IPS200_CROSSWISE)   // 默认的显示方向
 #define IPS200_DEFAULT_PENCOLOR     (RGB565_YELLOW)    // 默认的画笔颜色
 #define IPS200_DEFAULT_BGCOLOR      (RGB565_BLACK)     // 默认的背景颜色
 #define IPS200_DEFAULT_DISPLAY_FONT (IPS200_8X16_FONT) // 默认的字体模式

libraries/zf_driver/zf_driver_pit.c

@@ -2,11 +2,11 @@
 * CH32V307VCT6 Opensourec Library <20><><EFBFBD><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
 * Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
 *
-* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
+* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> CH32V307VCT6 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
 *
 * CH32V307VCT6 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNU ͨ<EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
+* <20><> GPL <20>ĵ<EFBFBD> 3 <EFBFBD>棨<EFBFBD><EFBFBD> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
 *
 * <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
 * <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
@@ -30,7 +30,7 @@
 *
 * <20>޸ļ<DEB8>¼
 * <20><><EFBFBD><EFBFBD>                                      <20><><EFBFBD><EFBFBD>                             <20><>ע
-* 2022-09-15        <20><>W            first version
+* 2022-09-15        <20><> W            first version
 ********************************************************************************************************************/
 
 
@@ -95,9 +95,9 @@ void pit_disable (pit_index_enum pit_n)
 //-------------------------------------------------------------------------------------------------------------------
 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>     <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
 // <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>     timer_ch      <20><>ʱ<EFBFBD><CAB1>ͨ<EFBFBD><CDA8>
-// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>     us          <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>(1-65535)
+// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>     us          <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> (1-65535)
 // <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD>     void
-// <20><>ע<EFBFBD><D7A2>Ϣ           pit_init(TIMER_1, 5); ʹ<>ö<EFBFBD>ʱ<EFBFBD><CAB1>1<EFBFBD><EFBFBD>Ϊ5msһ<EFBFBD>ε<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+// <20><>ע<EFBFBD><D7A2>Ϣ           pit_init(TIMER_1, 5); ʹ<>ö<EFBFBD>ʱ<EFBFBD><CAB1> 1 <EFBFBD><EFBFBD>Ϊ 5ms һ<EFBFBD>ε<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
 //-------------------------------------------------------------------------------------------------------------------
 void pit_init (pit_index_enum pit_n, uint32 period)
 {
@@ -136,10 +136,10 @@ void pit_init (pit_index_enum pit_n, uint32 period)
     TIM_TimeBaseStructure.TIM_Period = period_temp;
     TIM_TimeBaseStructure.TIM_Prescaler = freq_div;                             // <20><>Ƶֵ
     TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;                     // <20><><EFBFBD><EFBFBD>ʱ<EFBFBD>ӷָ<D3B7>:TDTS = Tck_tim
-    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;                 // TIM<49><4D><EFBFBD>ϼ<EFBFBD><CFBC><EFBFBD>ģʽ
+    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;                 // TIM <EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD><EFBFBD>ģʽ
-    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;                            // <20>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0
+    TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;                            // <20>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ 0
-    TIM_TimeBaseInit(tim_index, &TIM_TimeBaseStructure);                        // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>TIMx<4D><78>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
+    TIM_TimeBaseInit(tim_index, &TIM_TimeBaseStructure);                        // <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> TIMx <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
-    TIM_ITConfig(tim_index,TIM_IT_Update,ENABLE );                              // ʹ<><CAB9>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>TIM<49>ж<EFBFBD>,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+    TIM_ITConfig(tim_index,TIM_IT_Update,ENABLE );                              // ʹ<><CAB9>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD> TIM <EFBFBD>жϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
     TIM_ClearITPendingBit(tim_index, TIM_IT_Update);
 
     const uint32  irq_index[10] =
@@ -156,7 +156,7 @@ void pit_init (pit_index_enum pit_n, uint32 period)
         TIM10_UP_IRQn
     };
 
-    interrupt_set_priority((IRQn_Type)irq_index[(uint8)pit_n], 0x03);           // <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ȼ<EFBFBD>
+    interrupt_set_priority((IRQn_Type)irq_index[(uint8)pit_n], (1<<5) | 3);           // <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ȼ<EFBFBD>
     interrupt_enable((IRQn_Type)irq_index[pit_n]);                              // ʹ<><CAB9><EFBFBD>ж<EFBFBD>
 
     TIM_Cmd(tim_index, ENABLE);                                                 // ʹ<>ܶ<EFBFBD>ʱ<EFBFBD><CAB1>