diff --git a/app/by_fan_control.c b/app/by_fan_control.c index 6122dd3..a41697b 100644 --- a/app/by_fan_control.c +++ b/app/by_fan_control.c @@ -18,15 +18,15 @@ void by_pwm_init(void) pwm_init(Fan_pwm_up1, 50, 500); // 浮力风扇左 pwm_init(Fan_pwm_up2, 50, 500); // 浮力风扇右 - pwm_init(Fan_pwm_power1, 50, 500); // 动力风扇左1 - pwm_init(Fan_pwm_power2, 50, 500); // 动力风扇右1 - pwm_init(Fan_pwm_power3, 50, 500); // 动力风扇左2 - pwm_init(Fan_pwm_power4, 50, 500); // 动力风扇右2 + pwm_init(Fan_pwm_power1, 50, 500); // 动力风扇左 1 + pwm_init(Fan_pwm_power2, 50, 500); // 动力风扇右 1 + pwm_init(Fan_pwm_power3, 50, 500); // 动力风扇左 2 + pwm_init(Fan_pwm_power4, 50, 500); // 动力风扇右 2 // system_delay_ms(3000); - // // pwm_init(Fan_pwm_power1, 50, 1000); // 动力风扇左1 - // // pwm_init(Fan_pwm_power2, 50, 1000); // 动力风扇右1 - // // pwm_init(Fan_pwm_power3, 50, 1000); // 动力风扇左2 - // // pwm_init(Fan_pwm_power4, 50, 1000); // 动力风扇右2 + // // pwm_init(Fan_pwm_power1, 50, 1000); // 动力风扇左 1 + // // pwm_init(Fan_pwm_power2, 50, 1000); // 动力风扇右 1 + // // pwm_init(Fan_pwm_power3, 50, 1000); // 动力风扇左 2 + // // pwm_init(Fan_pwm_power4, 50, 1000); // 动力风扇右 2 // // system_delay_ms(5000); // pwm_set_duty(Fan_pwm_power1, 600); // pwm_set_duty(Fan_pwm_power2, 600); diff --git a/app/by_frame.c b/app/by_frame.c index 06fed64..15b748f 100644 --- a/app/by_frame.c +++ b/app/by_frame.c @@ -7,110 +7,129 @@ #include "lwrb.h" #include "crc16.h" -// lwrb_t lwrb_struct; -// uint8_t lwrb_buffer[50]; -uint8_t frame_buffer[50]; -uint8_t frame_buffer_parse[50]; +uint8_t frame_buffer_recv[(2 * (4 + 8))]; +uint8_t frame_buffer_send[4 + 8]; uint8_t frame_parse_busy; fifo_struct frame_fifo; void by_frame_init(void) { - fifo_init(&frame_fifo, FIFO_DATA_8BIT, frame_buffer, 30); + fifo_init(&frame_fifo, FIFO_DATA_8BIT, frame_buffer_recv, (2 * (4 + 8))); 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); - - frame_parse_busy = 0; - // 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; + uint16_t crc_cal = 0; + frame_buffer_send[0] = BY_FRAME_HEAD_1; + frame_buffer_send[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)); + memcpy(frame_buffer_send + 2, data_array, data_num * sizeof(uint32_t)); + crc_cal = crc16_check(frame_buffer_send, 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); + frame_buffer_send[2 + data_num * sizeof(uint32_t)] = (uint8_t)(crc_cal >> 8); + frame_buffer_send[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)); + uart_write_buffer(BY_FRAME_UART_INDEX, frame_buffer_send, 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 cnt_ptr = 0; - uint8_t data = 0; - uint8_t data_array_temp[100] = {0}; - uint16_t crc_cal = 0; - uint32_t read_length = 50; - if (fifo_used(&frame_fifo) >= 4 + 4 * data_num) { - fifo_read_buffer(&frame_fifo, frame_buffer_parse, &read_length, FIFO_READ_AND_CLEAN); - while (1) { - if (cnt_ptr < 50) { - data = frame_buffer_parse[cnt_ptr]; - cnt_ptr++; + uint16_t len = (uint16_t)fifo_used(&frame_fifo); + uint16_t len_cnt = len; + uint8_t status = 0; + uint16_t frame_start = 0; + uint8_t frame_buffer[4 + 8] = {0}; + uint8_t buf[sizeof(frame_buffer)] = {0}; + + if (len < 4 + 4 * data_num) { + // 缓冲区内长度小于帧长度，直接返回 + // 要是每次读的时候缓冲区内就只有前一帧的尾部和后一帧的头部，岂不是很尴尬 + // 是不是应该正确解析之后再把过的部分清空？但是是异步操作，实际上缓冲区内已经是新数据了 + // 可是直接读取 fifo 的话也是异步操作 + // 发的慢的话就很有可能有同步问题，导致一直解析不出来 + // 喵的，为啥不直接丢中断里解析算了 + + // 目前的解决办法大概是缓冲区开两帧长的大小，然后一次性读完 + // 读取的时候不清除，等待新帧覆盖 + return; + } + + fifo_read_buffer(&frame_fifo, buf, &len, FIFO_READ_ONLY); + + while (len_cnt--) { + if (0 == status) // 没找到帧头 + { + printf("finding frame head, now frame_start %d\r\n", frame_start); + uint16_t temp = *((uint16_t *)(buf + (frame_start++))); + printf("now find %02X\r\n", temp); + + // 递归寻找帧头，直接俩拼起来找 注意比较的时候低位在前 + if ((BY_FRAME_HEAD_2 << 8 | BY_FRAME_HEAD_1) == temp) { + status = 1; // 找到了好耶 + printf("frame head found!!!!!!!!!\r\n"); } - // printf("char : %0.2X\r\n", data); + continue; + } - 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)); - cnt++; - 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(data_array_temp, 2 + data_num * sizeof(uint32_t))) { - memcpy(data_array, data_array_temp + 2, data_num * sizeof(uint32_t)); - fifo_clear(&frame_fifo); // TODO 确认是否有必要清除 - // lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞 - memset(data_array_temp, 0, sizeof(data_array_temp)); - - // for (uint8_t i = 0; i < data_num; i++) { - // for (uint8_t j = 0; j < 4; j++) { - // uart_write_byte(DEBUG_UART_INDEX, data_array[i] >> (j * 8)); - // } - // } - // uart_write_byte(DEBUG_UART_INDEX, 0x00); - // uart_write_byte(DEBUG_UART_INDEX, 0x00); - // uart_write_byte(DEBUG_UART_INDEX, 0x80); - // uart_write_byte(DEBUG_UART_INDEX, 0x7F); + if (1 == status) // 开始读数据 + { + if ((frame_start + 4 + 8) >= len) // 剩下的数据不够组成一帧 + { + printf("failed! length not enough \r\n"); + return; // 解析出错，缓冲区中没有有效帧 + } else { + memcpy(frame_buffer, buf + frame_start - 1, 4 + 8); // 复制到帧缓冲区，减一是因为之前多加了一次 + for (uint8_t i = 0; i < 12; i++) { + printf("%02X", frame_buffer[i]); } - break; + printf("\r\n"); + status = 2; + } + continue; + } + + if (2 == status) // 校验 CRC + { + // TODO 确认一下高低位 + if (*((uint16_t *)(frame_buffer + 2 + 8)) == crc16_check(frame_buffer, 2 + 4 * data_num)) // 暂时用 0xFF 替代 注意比较的时候字节序！！！ + { + printf("parsed done!!!!!!!!\r\n"); // 解析成功了✌ + memcpy(data_array, frame_buffer + 2, 4 * data_num); // 复制数据 + return; + } else { + status = 0; + // frame_start += (8 - 1); // 这样无法应对连续帧之间缺字节的的问题，但是减少了重新遍历寻找帧头的时间 + frame_start += (2 - 1); // 从上一个帧头之后开始解析 + continue; } } } - // if (lwrb_get_full(&lwrb_struct) >= (4 + data_num * sizeof(uint32_t))) { - // while (lwrb_read(&lwrb_struct, &data, 1)) { + + return; + + // uint8_t cnt = 0; + // uint8_t cnt_crc = 2; + // uint8_t cnt_ptr = 0; + // uint8_t data = 0; + // uint8_t data_array_temp[100] = {0}; + // uint16_t crc_cal = 0; + // uint32_t read_length = 50; + + // if (fifo_used(&frame_fifo) >= 4 + 4 * data_num) { + // fifo_read_buffer(&frame_fifo, frame_buffer_parse, &read_length, FIFO_READ_AND_CLEAN); + // while (1) { + // if (cnt_ptr < 50) { + // data = frame_buffer_parse[cnt_ptr]; + // cnt_ptr++; + // } // // printf("char : %0.2X\r\n", data); + // if ((0 == cnt) && (BY_FRAME_HEAD_1 == data)) { + // frame_parse_busy = 1; // 开始解析 // cnt = 1; // data_array_temp[0] = data; // continue; @@ -130,6 +149,7 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array) // if (cnt_crc) { // crc_cal |= ((uint16_t)data << (--cnt_crc * 8)); + // cnt++; // continue; // } @@ -139,9 +159,9 @@ void by_frame_parse(uint8_t data_num, uint32_t *data_array) // if (!cnt_crc) { // if (crc_cal == crc16_check(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 + // fifo_clear(&frame_fifo); // TODO 确认是否有必要清除 + // // lwrb_reset(&lwrb_struct); // 处理完直接清空缓冲区，避免堆积产生处理阻塞 // memset(data_array_temp, 0, sizeof(data_array_temp)); - // // printf("parsed done!\r\n"); // } // break; @@ -154,4 +174,16 @@ void by_frame_parse_uart_handle(uint8_t data) { fifo_write_element(&frame_fifo, data); // lwrb_write(&lwrb_struct, &data, 1); +} + +/** + * @brief 定时器回调，用于接收超时判断 1ms 调用一次 + * + */ +void by_frame_parse_timer_handle(void) +{ + static uint8_t time_out = 0; + if (frame_parse_busy) { + time_out--; + } } \ No newline at end of file