diff --git a/app/by_frame.c b/app/by_frame.c index c9ee43d..6e399ef 100644 --- a/app/by_frame.c +++ b/app/by_frame.c @@ -7,83 +7,147 @@ #include "lwrb.h" #include "crc16.h" -lwrb_t lwrb_struct; -uint8_t lwrb_buffer[50]; -uint8_t frame_buffer[100]; +uint8_t frame_buffer_recv[(2 * (4 + BY_FRAME_DATA_NUM * sizeof(uint32_t))) + 1]; +uint8_t frame_buffer_send[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)]; +uint8_t frame_parse_busy; +lwrb_t lwrb_ctx; void by_frame_init(void) { + lwrb_init(&lwrb_ctx, frame_buffer_recv, sizeof(frame_buffer_recv)); // lwrb 最大元素数量为 buff 大小减一 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); + uart_rx_interrupt(BY_FRAME_UART_INDEX, ENABLE); } -void by_frame_send(uint8_t data_num, uint32_t *data_array) +void by_frame_send(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; + const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t); - 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_send[0] = BY_FRAME_HEAD_1; + frame_buffer_send[1] = BY_FRAME_HEAD_2; - 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); + // 当传入数组不足时，会发生越界情况 + memcpy(frame_buffer_send + 2, data_array, data_byte_num); + crc_cal = crc16_check(frame_buffer_send, 2 + data_byte_num); - uart_write_buffer(BY_FRAME_UART_INDEX, frame_buffer, 4 + data_num * sizeof(uint32_t)); - system_delay_us(BY_FRAME_UART_IDLE_TIME_US); + frame_buffer_send[2 + data_byte_num] = (uint8_t)(crc_cal >> 8); + frame_buffer_send[3 + data_byte_num] = (uint8_t)(crc_cal); + + uart_write_buffer(BY_FRAME_UART_INDEX, frame_buffer_send, 4 + data_byte_num); } -void by_frame_parse(uint8_t data_num, uint32_t *data_array) +/** + * @brief + * + * @param data_num + * @param data_array + * @todo 将其中写死的数据长度按照宏定义给出 + */ +void by_frame_parse(uint32_t *data_array) { - uint8_t cnt = 0; - uint8_t cnt_crc = 2; - uint8_t data = 0; - uint8_t data_array_temp[100]; - uint16_t crc_cal = 0; + uint32_t len = lwrb_get_full(&lwrb_ctx); // 缓冲区大小 + uint8_t status = 0; // 状态 0-未找到帧头 1-找到帧头 2-校验 + uint16_t frame_start = 0; // 帧起始位置 + uint8_t frame_buf[4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)] = {0}; // 帧 + uint8_t buf[(4 + BY_FRAME_DATA_NUM * sizeof(uint32_t)) * 2] = {0}; // 用于解析的数据块 + const uint8_t data_byte_num = BY_FRAME_DATA_NUM * sizeof(uint32_t); - 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 (len < 2 * (4 + data_byte_num)) { + // 当前要求缓冲区满 + // (x) 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 + // 用 lwrb 的话就只能清除了 + return; + } + + // 从环形缓冲区里读取数据 + lwrb_read(&lwrb_ctx, buf, len); + + // 递归解析有效帧 + while (1) { + if (0 == status) // 没找到帧头 + { + // 读到最后一个元素还没找到帧头 + if (frame_start >= len - 2) { + return; } + // printf("finding frame head, now frame_start %d\r\n", frame_start); + uint16_t temp = (buf[frame_start] | (buf[frame_start + 1] << 8)); + frame_start++; + // printf("now find %02X\r\n", temp); - if ((1 == cnt) && (BY_FRAME_HEAD_2 == data)) { - cnt = 2; - data_array_temp[1] = data; - continue; + // 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"); } + continue; + } - if ((2 <= cnt) && (cnt < 2 + data_num * sizeof(uint32_t))) { - data_array_temp[cnt] = data; - cnt++; - continue; + // 开始读数据 + if (1 == status) { + // 剩下的数据不够组成一帧 + if ((frame_start + 4 + data_byte_num - 1) > len) { + // printf("failed! length not enough \r\n"); + // 解析出错，缓冲区中没有有效帧 + return; + } else { + // 复制到帧缓冲区，减一是因为之前多加了一次 + memcpy(frame_buf, buf + frame_start - 1, 4 + data_byte_num); + + // for (uint8_t i = 0; i < 12; i++) { + // printf("%02X", frame_buf[i]); + // } + // printf("\r\n"); + + status = 2; } + continue; + } - if (cnt_crc) { - crc_cal |= ((uint16_t)data << (--cnt_crc * 8)); - continue; - } + if (2 == status) // 校验 CRC + { + if ((frame_buf[2 + data_byte_num] << 8 | frame_buf[2 + data_byte_num + 1]) == crc16_check(frame_buf, 2 + data_byte_num)) { + // 解析成功了✌ + // printf("parsed done!!!!!!!!\r\n"); - 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)); - printf("parsed done!\r\n"); - break; + // 复制数据 + if (NULL != (frame_buf + 2)) { + memcpy(data_array, frame_buf + 2, data_byte_num); } + return; + } else { + status = 0; + // 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 += (8 - 1); + // 从上一个帧头之后开始解析 + frame_start += (2 - 1); + continue; } } } + + return; } void by_frame_parse_uart_handle(uint8_t data) { - lwrb_write(&lwrb_struct, &data, 1); + // fifo_write_element(&frame_fifo, data); + lwrb_write(&lwrb_ctx, &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) +{ } \ No newline at end of file diff --git a/app/by_frame.h b/app/by_frame.h index 6b1ce45..d23799b 100644 --- a/app/by_frame.h +++ b/app/by_frame.h @@ -16,11 +16,14 @@ #define BY_FRAME_UART_INDEX (UART_2) #define BY_FRAME_UART_BAUDRATE (115200) -#define BY_FRAME_UART_IDLE_TIME_US ((1000000 / BY_FRAME_UART_BAUDRATE * 8) * 4) +#define BY_FRAME_DATA_NUM (3) + +extern uint8_t frame_buffer[50]; 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); +void by_frame_send(uint32_t *data_array); +void by_frame_parse(uint32_t *data_array); extern void by_frame_parse_uart_handle(uint8_t data); + #endif \ No newline at end of file diff --git a/app/isr.c b/app/isr.c index a7b63b2..9a43be0 100644 --- a/app/isr.c +++ b/app/isr.c @@ -279,7 +279,7 @@ void EXTI15_10_IRQHandler(void) void TIM1_UP_IRQHandler(void) { if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) { - by_frame_send(2, &tiny_frame_param[0].u32); + by_frame_send(&tiny_frame_param[0].u32); TIM_ClearITPendingBit(TIM1, TIM_IT_Update); by_led_warn_blink(); } diff --git a/app/jj_param.h b/app/jj_param.h index 4f60104..7a46908 100644 --- a/app/jj_param.h +++ b/app/jj_param.h @@ -47,7 +47,7 @@ typedef union { uint32_t u32; int32_t s32; float f32; - uint8_t u8; + uint8_t u8[4]; } TYPE_UNION; typedef struct { diff --git a/app/main.c b/app/main.c index 0075879..043a596 100644 --- a/app/main.c +++ b/app/main.c @@ -58,6 +58,7 @@ int main(void) by_buzzer_run(); tiny_frame_param[0].f32 = pure_angle; tiny_frame_param[1].f32 = dx_near; + tiny_frame_param[2].u32 = 0x19260817; system_delay_ms(10); if (mt9v03x_finish_flag) { // 该操作消耗大概 1970 个 tick，折合约 110us