btl143/QDAC-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

feat: 基本完成通信帧主机写操作接口

Browse Source
This commit is contained in:
bmy
2024-02-24 18:32:52 +08:00
parent 399ebeea1a
commit 85ccbea2f8
9 changed files with 117 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
app/main.c
View File

@@ -52,7 +52,7 @@ int main(void)
clock_init(SYSTEM_CLOCK_144M);
system_delay_init();
debug_init();
// mt9v03x_init();
mt9v03x_init();
ips200_init(IPS200_TYPE_SPI);
by_led_init();
@@ -72,7 +72,7 @@ int main(void)
/** 测试完成后移除 **/
// by_tiny_frame_parse_handle_register(test);
by_tiny_frame_parse_start_listern();
// by_tiny_frame_parse_start_listen();
by_tf_pack_frame_t frame_now;
@@ -82,6 +82,7 @@ int main(void)
frame_now.slave_id = 0x0D;
/** 测试完成后移除 **/
by_tiny_frame_write(0x0D, 0x4059, 0x19260817);
while (1) {
Page_Run();
by_buzzer_run();
@@ -93,22 +94,22 @@ int main(void)
by_tiny_frame_parse_timer_handle();
/** 测试完成后移除 **/
// if (mt9v03x_finish_flag) {
// // 该操作消耗大概 1970 个 tick，折合约 110us
// memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
// // adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
// // ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
// mt9v03x_finish_flag = 0;
// by_led_info_blink();
// state_type = COMMON_STATE;
// img_processing();
// get_corners();
// aim_distance = COMMON_AIM;
// tracking();
// ElementJudge();
// ElementRun();
// MidLineTrack();
// }
if (mt9v03x_finish_flag) {
// 该操作消耗大概 1970 个 tick，折合约 110us
memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
// adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
// ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
mt9v03x_finish_flag = 0;
by_led_info_blink();
state_type = COMMON_STATE;
img_processing();
get_corners();
aim_distance = COMMON_AIM;
tracking();
ElementJudge();
ElementRun();
MidLineTrack();
}
}
}

7
app/tiny_frame/by_tiny_frame.h
View File

@@ -3,6 +3,13 @@
#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);

2
app/tiny_frame/by_tiny_frame_config.h
View File

@@ -11,7 +11,7 @@
#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
// #define BY_TF_DEVICE_SLAVE
/********** 从机模式配置选项 **********/
#if defined(BY_TF_DEVICE_SLAVE)

6
app/tiny_frame/by_tiny_frame_master_read.c
View File

@@ -1,5 +1,9 @@
#include "by_tiny_frame_master_read.h"
#if defined(BY_TF_DEVICE_MASTER)
void by_tiny_frame_read_run(void)
{
}
}
#endif

51
app/tiny_frame/by_tiny_frame_master_write.c
View File

@@ -1,5 +1,54 @@
#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

3
app/tiny_frame/by_tiny_frame_master_write.h
View File

@@ -8,10 +8,11 @@
#include "by_tiny_frame_parse.h"
#include "by_tiny_frame_pack.h"
#define BY_TINY_FRAME_WRITE_CMD_CODE (0x06)
#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

44
app/tiny_frame/by_tiny_frame_parse.c
View File

@@ -6,17 +6,17 @@
lwrb_t lwrb_struct;
uint8_t buffer_rb[BY_TF_PARSE_BUFFER_SIZE];
uint8_t buffer_out;
uint8_t listern_slave_id;
uint8_t listern_flag;
uint16_t listern_timeout;
uint16_t listern_timevia;
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)
listern_timeout = BY_TF_PARSE_TIMEOUT;
listen_timeout = BY_TF_PARSE_TIMEOUT;
#endif
/** 初始化环形缓冲区 **/
@@ -88,10 +88,10 @@ void by_tiny_frame_parse_uart_handle(uint8_t buff)
void by_tiny_frame_parse_timer_handle(void)
{
#if defined(BY_TF_DEVICE_MASTER)
if (listern_flag) {
listern_timevia++;
if (listen_flag) {
listen_timevia++;
} else {
listern_timevia = 0;
listen_timevia = 0;
}
#endif
}
@@ -104,15 +104,15 @@ void by_tiny_frame_parse_run(void)
{
#if defined(BY_TF_DEVICE_MASTER)
if (0 == listern_flag) {
if (0 == listen_flag) {
return;
} else {
if (listern_timeout <= listern_timevia) {
if (listen_timeout <= listen_timevia) {
// 接收超时，停止监听
parse_done_handle(frame_now, 1);
by_tiny_frame_parse_end_listern();
by_tiny_frame_parse_end_listen();
#if (BY_TF_DEBUG)
printf("by_tf_listern timeout\r\n");
printf("by_tf_listen timeout\r\n");
#endif
}
}
@@ -129,13 +129,13 @@ void by_tiny_frame_parse_run(void)
#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, listern_slave_id, buffer_out))
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_listern();
by_tiny_frame_parse_end_listen();
// 解析成功回调
parse_done_handle(frame_now, 0);
#if (BY_TF_DEBUG)
@@ -169,7 +169,7 @@ uint8_t by_tiny_frame_parse_crc(by_tf_parse_frame_t *frame_s)
}
// 校验错误则直接结束监听
by_tiny_frame_parse_end_listern();
by_tiny_frame_parse_end_listen();
parse_done_handle(frame_now, 1);
return 1;
@@ -177,16 +177,22 @@ uint8_t by_tiny_frame_parse_crc(by_tf_parse_frame_t *frame_s)
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_listern(void)
void by_tiny_frame_parse_start_listen(void)
{
listern_flag = 1;
listen_flag = 1;
}
void by_tiny_frame_parse_end_listern(void)
void by_tiny_frame_parse_end_listen(void)
{
listern_flag = 0;
listen_flag = 0;
}
void by_tiny_frame_parse_set_listen_slave_id(uint8_t slave_id)
{
listen_slave_id = slave_id;
}

5
app/tiny_frame/by_tiny_frame_parse.h
View File

@@ -25,7 +25,8 @@ 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_listern(void);
extern void by_tiny_frame_parse_end_listern(void);
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

6
app/tiny_frame/by_tiny_frame_slave_read_write.c
View File

@@ -1,5 +1,8 @@
#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"
@@ -39,6 +42,7 @@ void by_tiny_frame_read_write_handle(by_tf_parse_frame_t frame_s, uint8_t status
#if (BY_TF_DEBUG)
printf("****** EXECUTE CMD SUCCESSFUL ******\r\n");
printf("Device ID: 0x%0.2X\r\n", BY_TF_DEVICE_SLAVE_ADDRESS);
printf("--cmd: %0.2X\n--reg_addr: %0.4X\n--data: %0.8X\r\n", frame_s.cmd, frame_s.reg_addr, frame_s.data);
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