/**
* @UART uart loopback transfer demo
* @param none
* @return none
*/
void UartLBModeDemo(void)
{
UINT8 recbuf[0x10];
UINT8 Writebuf[0x10];
UINT8 i;
for(i = 0; i < 0x10; i++)
{
recbuf[i] = i;
Writebuf[i] = 0;
}
UartInit();
UartLBEn();
UartSend(recbuf, 10);
UartReceive(Writebuf, 10);
UartInit();
UartLBDis();
for(i = 0; i < 10; i++)
{
if(Writebuf[i] != i)
{
printf("UartLoopBack Error!\r\n");
}
else
{
printf("UartLoopBack Ok!\r\n");
}
}
}
static void UartCbf(uint8_t byte)
{
if (byte != 0)
{
LedToggle(&led_green);
byte = byte + 1;
(void) UartSend(&byte, 1);
}
}
/*******************************************************************************
* Function Name : ModbusHandle
* Description : Modbus从机处理函数 ，在主函数中收到一帧数据后被调用
* Input :
* Output :
* Return : 0 无错误 1帧地址错 2校验错 3读数据命令错
*******************************************************************************/
uint8_t ModbusHandle(unsigned char* RevBuf,uint32_t RevLen)
{
uint32_t i;
uint32_t len;
uint8_t SendBuf[64] = {0x00};
uint16_t CRC16[1];
/*判断帧地址 */
if(RevBuf[0] == ModbusAddr)
{
}
else
{
return 1;
}
/*CRC计算*/
CalCRC(RevBuf,RevLen-2,CRC16);
if(*(uint16_t *)(CRC16)!=*(uint16_t *)(RevBuf+RevLen-2))
{
return 2; /*("校验错误");*/
}
/*判断读数据功能码 0x03 */
if(RevBuf[1] == 0x03)
{
}
else
{
return 3;
}
len = RevBuf[4]*256 + RevBuf[5];
len = len * 2; //字节数要*2
/*填充发送字节
表计地址 功能码 长度高 长度低 数据1 数据2 数据3 数据4 ... CRC高 CRC低
*/
{
SendBuf[0] = ModbusAddr;
SendBuf[1] = 0x03;//功能码
SendBuf[2] = len;//长度
for(i=0; i<len; i++)
{
SendBuf[i+3] = modbusdata[i];
}
/*CRC计算*/
CalCRC(SendBuf,len+3,(uint16_t *)&SendBuf[len+3]);
}
/*发送数据*/
UartSend(SendBuf, len+5);
return 0;
}
void SendDebugInfo(unsigned int debug_info) {
for(unsigned char debug_info_counter = 0; debug_info_counter < 5; debug_info_counter++) {
send_info[debug_info_counter] = debug_info % 10;
debug_info = ( debug_info - send_info[debug_info_counter]) / 10;
}
for(signed char debug_send_counter = 4; debug_send_counter >= 0; debug_send_counter--) {
unsigned char send = send_info[debug_send_counter];
UartSendAscii(send);
}
UartSend(';');
}
/**
* @UART uart transfer whith pc demo
* @param none
* @return none
*/
void UartSendReviceDemo(void)
{
UINT8 buf[0x10];
UartInit();
printf("Uart test start\r\nRreceive data:\r\n");
UartReceive(buf, 10);
printf("\r\nSend data:\r\n");
UartSend(buf, 10);
printf("\r\n");
}
static void UartTransmitNumber(uint16_t num)
{
uint8_t buf[5];
buf[0]='0'; //+ num/1000;
buf[1]='2'; //+ ((num/100) % 10);
buf[2]='5'; //+ ((num/10) % 10);
buf[3]='6';// + ((num) % 10);
buf[4]=' ';
if (UartSend(buf,1) == false)
{
LedToggle(&led_green);
}
}
/*
*********************************************************************************************************
* 函 数 名: comSendBuf
* 功能说明: 向串口发送一组数据。数据放到发送缓冲区后立即返回，由中断服务程序在后台完成发送
* 形 参: _ucPort: 端口号(COM1 - COM6)
* _ucaBuf: 待发送的数据缓冲区
* _usLen : 数据长度
* 返 回 值: 无
*********************************************************************************************************
*/
void comSendBuf(COM_PORT_E _ucPort, uint8_t *_ucaBuf, uint16_t _usLen)
{
UART_T *pUart;
pUart = ComToUart(_ucPort);
if (pUart == 0)
{
return;
}
if (pUart->SendBefor != 0)
{
pUart->SendBefor(); /* 如果是RS485通信，可以在这个函数中将RS485设置为发送模式 */
}
UartSend(pUart, _ucaBuf, _usLen);
}
//发送串口通讯数据包
static inline void CommSend(BYTE size)
{
WORD sum;
BYTE i;
UartSend(0x46);
UartSend(0xb9);
UartSend(0x6a);
UartSend(0x00);
sum = size + 6 + 0x6a;
UartSend(size + 6);
serialport_write(handle_download_port,TxBuffer,size);
for (i=0; i<size; i++)
{
sum += TxBuffer[i];
}
UartSend(HIBYTE(sum));
UartSend(LOBYTE(sum));
UartSend(0x16);
CommInit();
}
/*******************************************************************************
* Function Name : T188Handle
* Description : T188从机处理函数 ，在主函数中收到一帧数据后被调用
* Input :
* Output :
* Return : 0 无错误 1帧起始错 2校验错 3读数据命令错
*******************************************************************************/
uint8_t T188Handle(unsigned char* RevBuf,uint32_t RevLen)
{
uint32_t i;
unsigned char BcdData[4]={0x00};
unsigned char SendBuf[64] = {0x00};
/*删除前导字符 0xFE */
while(RevBuf[0] == 0xFE)
{
RevLen = RevLen - 1;
for(i=0 ;i<RevLen ; i++)
{
RevBuf[i] = RevBuf[i+1];
}
}
/*判断帧开始标志 0x68 */
if(RevBuf[0] == 0x68)
{
}
else
{
return 1;
}
/*判断读数据标志 0x01 */
if(RevBuf[9] == 0x01)
{
}
else
{
return 3;
}
/*判断校验位是否正确 */
if(RevBuf[14] == CalSum(RevBuf, 14))
{
}
else
{
return 2;
}
/*填充发送字节
帧开始 表计类型 表计地址 控制码 长度 数据标识 序列号 累计流量 状态0 状态1 校验和 帧结束
0x68 0x10 A0-A6 0x81 0x09 0x901F 0x00 D0-D3 0x00 0xFF CRC 0x16 */
{
SendBuf[0] = 0x68;
SendBuf[1] = 0x10;//类型
SendBuf[2] = A0;//地址
SendBuf[3] = A1;
SendBuf[4] = A2;
SendBuf[5] = A3;
SendBuf[6] = A4;
SendBuf[7] = A5;
SendBuf[8] = A6;
SendBuf[9] = 0x81; //控制码
SendBuf[10] = 0x09; //长度
SendBuf[11] = 0x90; //数据标识
SendBuf[12] = 0x1F;
SendBuf[13] = 0x00; //序号
/*将数据转换成BCD码*/
Dec2BCD(data, BcdData, 4);
SendBuf[14] = BcdData[3]; //流量 低位在前
SendBuf[15] = BcdData[2];
SendBuf[16] = BcdData[1];
SendBuf[17] = BcdData[0];
SendBuf[18] = 0x00; //状态0
SendBuf[19] = 0xFF; //状态1
SendBuf[20] = CalSum(SendBuf,20); //CRC
SendBuf[21] = 0x68;
}
/*发送数据*/
UartSend(SendBuf, 22);
return 0;
}
static void UartSendByte(uint8_t byte)
{
UartSend(&byte, 1);
}
static uint32_t Send_Byte(uint8_t c)
{
UartSend(c);
return 0;
}
void UartSendError(void) {
UartSend(0x15); /* NAK, error while receiving such as incorrect
* number of cc etc; data needs to be resent */
}
/*--------------------------------------------------------------*/
void UartSendOverflow(void) {
UartSend(0x11); // Device control 1; Used to indicate Overflow
}
/*
* fill INS_delay_buffer
* wait GPS signal
*/
void vINSAligTask(void* pvParameters)
{
char printf_buffer[100];
/*odometry sensor data*/
float direction;
u8 temp;
float *p_insBuffer;
GPSDataType gdt;
u16 GPS_validate_cnt=0;
float uw_height;
portBASE_TYPE xstatus;
/*Enable ultrasonic sensor TIMER*/
TIM2_Config();
TIM2_IT_Config();
/**/
xQueueReceive(AHRSToINSQueue,&p_insBuffer,portMAX_DELAY); //capture an INS frame
p_insBuffer[INDEX_DT]=0.0; //the last number in buffer represent time interval, not time
Blinks(LED1,2);
#ifdef INS_DEBUG
/*GPS data is not needed in debug mode*/
while(1)
{
/*receive ins data and fill the IMU_delay_buffer*/
xQueueReceive(AHRSToINSQueue,&p_insBuffer,portMAX_DELAY);
PutToBuffer(p_insBuffer);
/*clear time interval*/
p_insBuffer[INDEX_DT]=0.0;
/*INS_delay_buffer is full filled*/
if(buffer_header == 0) break;
}
navParamK[0] = 0.0;
navParamK[1] = 0.0;
navParamK[2] = 0.0;
navParamK[3] = 0.0;
navParamK[4] = 0.0;
navParamK[5] = 0.0;
navParamK[6] = 0.0;
navParamK[7] = 0.0;
navParamK[8] = 0.0;
x[0]=0.0;
x[1]=0.0;
x[2]=0.0;
x[3]=0.0;
x[4]=0.0;
x[5]=0.0;
x[6]=0.0;
x[7]=0.0;
x[8]=0.0;
#else
//normol mode
/*wait while GPS signal not stable*/
while(GPS_validate_cnt<=100)
{
xstatus = xQueueReceive(xUartGPSQueue,&gdt,0);
if(xstatus == pdPASS)
{
GPS_validate_cnt ++;
}
if(GetUltraSonicMeasure(&uw_height))
{
sprintf(printf_buffer,"%1.3f\r\n",uw_height);
UartSend(printf_buffer,7);
}
/*receive ins data and fill the IMU_delay_buffer*/
xQueueReceive(AHRSToINSQueue,&p_insBuffer,portMAX_DELAY);
PutToBuffer(p_insBuffer);
/*clear time interval*/
p_insBuffer[INDEX_DT]=0.0;
}
/************initialize navParamK*********************/
temp=(u8)(gdt.Lati*0.01);
initPos[0]=0.01745329*(temp+(gdt.Lati-temp*100.0)*0.0166667);
temp=(u8)(gdt.Long*0.01);
initPos[1]=0.01745329*(temp+(gdt.Long-temp*100.0)*0.0166667);
initPos[2]=gdt.Alti;
if(gdt.type != GPGMV)
{
direction = gdt.COG*0.0174533;
gdt.speedN = gdt.SPD*0.51444*arm_cos_f32(direction);
gdt.speedE = gdt.SPD*0.51444*arm_sin_f32(direction);
}
navParamK[0] = 0.0;
navParamK[1] = 0.0;
navParamK[2] = 0.0;
navParamK[3] = gdt.speedN;
navParamK[4] = gdt.speedE;
navParamK[5] = 0.0;
navParamK[6] = 0.0;
navParamK[7] = 0.0;
navParamK[8] = 0.0;
/*initialize filter state param x*/
x[0]=0.0;
x[1]=0.0;
x[2]=0.0;
x[3]=0.0;
x[4]=0.0;
x[5]=0.0;
x[6]=0.0;
x[7]=0.0;
x[8]=0.0;
#endif
xstatus=xTaskCreate(vIEKFProcessTask,(signed portCHAR *)"ins_ekf",configMINIMAL_STACK_SIZE+1024,(void *)NULL,tskIDLE_PRIORITY+1,NULL);
if(xstatus!=pdTRUE)
{
sprintf(printf_buffer, "failed to initialize\r\n");
UartSend(printf_buffer, strlen(printf_buffer));
}
vTaskDelete(NULL);
}
/****************************************************************************
*
* NAME : EdenProtocolSend
*
* INPUT : Data buffer, data length, transaction id, reply/solicited message
*
* OUTPUT : EDEN_PROTOCOL_STATUS.
*
* DESCRIPTION : build a message (header + footer) and send it by the UART.
*
****************************************************************************/
EDEN_PROTOCOL_STATUS OHDBEdenProtocolSend(BYTE *Data, WORD DataLength, BYTE DestId ,BYTE Transaction, BOOL Reply)
{
BYTE xdata BufIndex, i, CheckSum = 0, TransactionId;
if (Reply)
TransactionId = Transaction;
else
TransactionId = EdenProtocolTransactionId;
// check if message length > 30
// ----------------------------
if (DataLength > EDEN_PROTOCOL_MAX_MSG_LENGTH)
return EDEN_PROTOCOL_MSG_TOO_LONG;
// build the msg header
// --------------------
EdenProtocolBuffer[MSG_SYNC_1_INDEX] = MSG_SYNC_1;
EdenProtocolBuffer[MSG_SYNC_2_INDEX] = MSG_SYNC_2;
// insert the source id, destination id and transaction id to the buffer
// add filler un case one of them equals to the header byte (0x55)
// ---------------------------------------------------------------
BufIndex = SOURCE_ID_INDEX;
EdenProtocolBuffer[BufIndex++] = OHDB_SOURCE_ID;
if (OHDB_SOURCE_ID == MSG_SYNC_1)
EdenProtocolBuffer[BufIndex++] = MSG_FILLER;
EdenProtocolBuffer[BufIndex++] = DestId;
if (DestId == MSG_SYNC_1)
EdenProtocolBuffer[BufIndex++] = MSG_FILLER;
EdenProtocolBuffer[BufIndex++] = TransactionId;
if (TransactionId == MSG_SYNC_1)
EdenProtocolBuffer[BufIndex++] = MSG_FILLER;
if (!Reply)
{
if (++EdenProtocolTransactionId == 0)
EdenProtocolTransactionId = MIN_TRASACTION_ID;
}
// check if there are header bytes (0x55) in the msg and add filler for every
// header byte found
// -----------------
for (i = 0;i < DataLength ; i++)
{
EdenProtocolBuffer[BufIndex++] = Data[i];
if (Data[i] == MSG_SYNC_1)
EdenProtocolBuffer[BufIndex++] = MSG_FILLER;
}
// insert the length to the msg after adding all the fillers
// ---------------------------------------------------------
EdenProtocolBuffer[MSG_LENGTH_LSB_INDEX] = (BufIndex - EDEN_HEADER_SIZE) & LSB_MASK;
EdenProtocolBuffer[MSG_LENGTH_FILLER_1_INDEX] = MSG_LENGTH_FILLER;
EdenProtocolBuffer[MSG_LENGTH_MSB_INDEX] = ((BufIndex - EDEN_HEADER_SIZE) & MSB_MASK) >> 8;
EdenProtocolBuffer[MSG_LENGTH_FILLER_2_INDEX] = MSG_LENGTH_FILLER;
// calculate the check sum and add it to the msg
// ---------------------------------------------
for(i = SOURCE_ID_INDEX; i < BufIndex; i++)
CheckSum += EdenProtocolBuffer[i];
EdenProtocolBuffer[BufIndex++] = CheckSum;
// send the msg through the uart
// -----------------------------
if (UartSend(EdenProtocolBuffer, BufIndex) != UART_NO_ERROR)
return EDEN_PROTOCOL_SEND_FAILED;
return EDEN_PROTOCOL_NO_ERROR;
}
//对STC15系列的芯片进行数据下载程序
static int Firmware_Download(BYTE *pdat, long size)
{
BYTE arg;
BYTE cnt;
WORD addr;
Initial();
//握手
CommInit();
while (1)
{
if (UartRecvStep == 0)
{
UartSend(0x7f);
DelayXms(10);
}
if (UartReceived)
{
arg = RxBuffer[4];
if (RxBuffer[0] == 0x50)
break;
return eDownloadErrCodeHandshake;
}
if (TimeOut == 0) {
printf("waiting for mcu isp timeout\n");
return eDownloadErrCodeTimeout;
}
}
printf("set comm param\n");
//设置参数
TxBuffer[0] = 0x01;
TxBuffer[1] = arg;
TxBuffer[2] = 0x40;
TxBuffer[3] = HIBYTE(RL(MAXBAUD));
TxBuffer[4] = LOBYTE(RL(MAXBAUD));
TxBuffer[5] = 0x00;
TxBuffer[6] = 0x00;
TxBuffer[7] = 0xc3;
CommSend(8);
while (1)
{
if (TimeOut == 0) return eDownloadErrCodeTimeout;
if (UartReceived)
{
if (RxBuffer[0] == 0x01) break;
return eDownloadErrCodeSetCommParam;
}
}
printf("download prepare \n");
//准备
serialport_config(handle_download_port,MAXBAUD,8,1,'e');
DelayXms(10);
TxBuffer[0] = 0x05;
CommSend(1);
while (1)
{
if (TimeOut == 0) return eDownloadErrCodeTimeout;
if (UartReceived)
{
if (RxBuffer[0] == 0x05) break;
return eDownloadErrCodeSetCommParam;
}
}
printf("erase flash ...\n");
//擦除
DelayXms(10);
TxBuffer[0] = 0x03;
TxBuffer[1] = 0x00;
CommSend(2);
TimeOut = 100;
while (1)
{
if (TimeOut == 0) return eDownloadErrCodeTimeout;
if (UartReceived)
{
if (RxBuffer[0] == 0x03) break;
return eDownloadErrCodeEraseFlash;
}
}
printf("program flash size[0x%lx]...\n",size);
//写用户代码
DelayXms(10);
addr = 0;
TxBuffer[0] = 0x22;
while (addr < size)
{
TxBuffer[1] = HIBYTE(addr);
TxBuffer[2] = LOBYTE(addr);
cnt = 0;
while (addr < size)
{
TxBuffer[cnt+3] = pdat[addr];
addr++;
cnt++;
if (cnt >= 128) break;
}
CommSend(cnt + 3);
while (1)
{
if (TimeOut == 0) return eDownloadErrCodeTimeout;
if (UartReceived)
{
if ((RxBuffer[0] == 0x02) && (RxBuffer[1] == 'T')) break;
return eDownloadErrCodeProgramFlash;
}
}
TxBuffer[0] = 0x02;
}
printf("program hardware option ... skipped\n");
#if 0
//写硬件选项(如果不需要修改硬件选项,此步骤可直接跳过)
DelayXms(10);
for (cnt=0; cnt<128; cnt++)
{
TxBuffer[cnt] = 0xff;
}
//Do we know details of hardware options???
TxBuffer[0] = 0x04;
TxBuffer[1] = 0x00;
TxBuffer[2] = 0x00;
TxBuffer[34] = 0xfd;
TxBuffer[62] = arg;
TxBuffer[63] = 0x7f;
TxBuffer[64] = 0xf7;
TxBuffer[65] = 0x7b;
TxBuffer[66] = 0x1f;
CommSend(67);
while (1)
{
if (TimeOut == 0) return eDownloadErrCodeTimeout;
if (UartReceived)
{
if ((RxBuffer[0] == 0x04) && (RxBuffer[1] == 'T')) break;
return eDownloadErrCodeProgramOption;
}
}
#endif
//下载完成
return eDownloadErrCodeSuccess;
}
void UartSendString(const char *str)
{
do {
UartSend(*str);
} while (*str++);
}
