uint32_t uart_send_data(uint8_t* pData, uint16_t len)
{
uint8_t *bufEntry;
int32_t sent_data_len;
/* Wait until previous tx is done (buffer might currently be accessed by DMA) */
//uint32_t tickstart = HAL_GetTick();
//while ((uart_data.TxState == UART_TRANSMITTING));// && ((HAL_GetTick() - tickstart) < UART_TXDATA_TIMEOUT_MS));
if (uart_data.TxState == UART_TRANSMITTING) {
return 0;
}
if (len > COBS_DATA_LEN_MAX) {
len = COBS_DATA_LEN_MAX;
}
bufEntry = cobs_Encode((uint8_t *) pData, len, (uint8_t *) dma_buffer_tx);
*bufEntry++ = UART_FRAME_DELIMITER;
sent_data_len = uart_send_bytes((uint8_t *) dma_buffer_tx, (uint16_t) (bufEntry - dma_buffer_tx));
sent_data_len -= (bufEntry - dma_buffer_tx - len); // subtract overhead
return (uint32_t) MAX(0, sent_data_len);
}
int main(int argc, char *argv[]){
char test_str[] = "Hello World";
int bytes = strlen(test_str); // get number of bytes in test string
char buf[BUF_SIZE];
int ret; // return value
int bus; // which bus to use
// Parse arguments
if(argc!=2){ //argc==2 actually means one argument given
print_usage();
return -1;
}
else bus = atoi(argv[1]);
if(!(bus==0||bus==1||bus==2||bus==5)){
print_usage();
return -1;
}
// Initialization
initialize_board();
printf("\ntesting UART bus %d\n\n", bus);
if(initialize_uart(bus, BAUDRATE, TIMEOUT_S)){
printf("Failed to initialize_uart%d\n", bus);
cleanup_board();
return -1;
}
// Flush and Write
printf("Sending %d bytes: %s \n", bytes, test_str);
flush_uart(bus);
uart_send_bytes(bus, bytes, &test_str[0]);
// Read
memset(buf, 0, BUF_SIZE);
ret = uart_read_bytes(bus, bytes, &buf[0]);
if(ret<0) printf("Error reading bus\n");
else if(ret==0)printf("timeout reached, %d bytes read\n", ret);
else printf("Received %d bytes: %s \n", ret, buf);
// close up
close_uart(bus);
cleanup_board();
return 0;
}
/* 发送采样数据 */
static void send_capture_data(void)
{
uint32_T type = 0;
/* 避免函数退出 栈内存被破坏(DMA传输 要求内存数据保持) */
static uint8_T frame_buf[COMM_FRAME_CAPTURE_FRAME_MAX_SIZE] = {0};
uint32_T len = 0;
uint32_T i = 0;
uint32_T fill_bytes_count = 0;
uint32_T crc32_calculated = 0;
uint32_T now_ms = 0;
f32_T quat[4] = {0.0f};
f32_T euler[CTRL_EULER_MAX] = {0.0f};
f32_T pid_out[CTRL_EULER_MAX] = {0.0f};
int32_T accelerator_max = 0;
int32_T accelerator[PWM_MAX] = {0};
uint32_T *p_ui32 = NULL;
static uint32_T last_ms = 0;
/* 无帧可发 */
if(!(s_send_interval
|| s_send_accelerator_flag
|| s_send_dmp_quat_flag
|| s_send_euler_flag
|| s_send_pid_flag))
{
return;
}
/* 可以发送 */
now_ms = HAL_GetTick();
if(now_ms - last_ms > s_send_interval)
{
/* 上行且有传感数据长度32 */
type = COMM_FRAME_SENSOR_DATA_BIT
| COMM_FRAME_DIRECTION_BIT;
/* 跳过type和len域 */
len += 8;
/* 填充时间 */
frame_buf[len++] = (uint8_T)(now_ms >> 24);
frame_buf[len++] = (uint8_T)((now_ms >> 16));
frame_buf[len++] = (uint8_T)((now_ms >> 8));
frame_buf[len++] = (uint8_T)(now_ms);
if(s_send_dmp_quat_flag)
{
mpu9250_get_quat(quat);
#if 0
/* 调试上位机绘图基准 */
quat[0] = 1.0f;
quat[1] = 0.0f;
quat[2] = 0.0f;
quat[3] = 0.0f;
#endif
p_ui32 = (uint32_T *)quat;
for(i = 0; i < 4; i++)
{
frame_buf[len++] = (uint8_T)( (uint32_T)p_ui32[i] >> 24);
frame_buf[len++] = (uint8_T)(((uint32_T)p_ui32[i] >> 16));
frame_buf[len++] = (uint8_T)(((uint32_T)p_ui32[i] >> 8));
frame_buf[len++] = (uint8_T)( (uint32_T)p_ui32[i]);
}
type |= COMM_FRAME_DMP_QUAT_BIT;
}
/* 油门数据 */
if(s_send_accelerator_flag)
{
ctrl_get_acceleralor(accelerator, &accelerator_max);
for(i = 0; i < PWM_MAX; i++)
{
frame_buf[len++] = (uint8_T)(accelerator[i] >> 24);
frame_buf[len++] = (uint8_T)(accelerator[i] >> 16);
frame_buf[len++] = (uint8_T)(accelerator[i] >> 8);
frame_buf[len++] = (uint8_T)(accelerator[i]);
}
frame_buf[len++] = (uint8_T)(accelerator_max >> 24);
frame_buf[len++] = (uint8_T)(accelerator_max >> 16);
frame_buf[len++] = (uint8_T)(accelerator_max >> 8);
frame_buf[len++] = (uint8_T)(accelerator_max);
type |= COMM_FRAME_ACCELERATOR_DATA_BIT;
}
/* 欧拉角 */
if(s_send_euler_flag)
{
mpu9250_get_quat(quat);
math_quaternion2euler(euler, quat);
p_ui32 = (uint32_T *)euler;
for(i = 0; i < CTRL_EULER_MAX; i++)
{
frame_buf[len++] = (uint8_T)(p_ui32[i] >> 24);
frame_buf[len++] = (uint8_T)(p_ui32[i] >> 16);
frame_buf[len++] = (uint8_T)(p_ui32[i] >> 8);
frame_buf[len++] = (uint8_T)(p_ui32[i]);
}
type |= COMM_FRAME_EULER_DATA_BIT;
}
/* pid数据 */
if(s_send_pid_flag)
{
ctrl_get_pid_out(pid_out);
p_ui32 = (uint32_T *)pid_out;
for(i = 0; i < CTRL_EULER_MAX; i++)
{
frame_buf[len++] = (uint8_T)(p_ui32[i] >> 24);
frame_buf[len++] = (uint8_T)(p_ui32[i] >> 16);
frame_buf[len++] = (uint8_T)(p_ui32[i] >> 8);
frame_buf[len++] = (uint8_T)(p_ui32[i]);
}
type |= COMM_FRAME_PID_DATA_BIT;
}
/* 填充 */
fill_bytes_count = len & 0x03;
for(i = 0; i < fill_bytes_count; i++)
{
frame_buf[len++] = COMM_FRAME_FILLED_VAL;
}
/* 填写type域 */
frame_buf[0] = (uint8_T)(type >> 24);
frame_buf[1] = (uint8_T)(type >> 16);
frame_buf[2] = (uint8_T)(type >> 8);
frame_buf[3] = (uint8_T)(type);
/* 计入crc长度 */
len += 4;
len -= 8; /* len中长度值不包括type+len */
/* 填写len域 */
frame_buf[4] = (uint8_T)(len >> 24);
frame_buf[5] = (uint8_T)(len >> 16);
frame_buf[6] = (uint8_T)(len >> 8);
frame_buf[7] = (uint8_T)(len);
/* len偏移到crc位置 */
len += 4;
/* 计算校验 */
crc32_calculated = HAL_CRC_Calculate(&s_crc, (uint32_T *)frame_buf, len / 4);
frame_buf[len++] = (uint8_T)(crc32_calculated >> 24);
frame_buf[len++] = (uint8_T)(crc32_calculated >> 16);
frame_buf[len++] = (uint8_T)(crc32_calculated >> 8);
frame_buf[len++] = (uint8_T)(crc32_calculated);
/* 发帧 */
if(len > COMM_FRAME_SENDED_MIN)
{
#if 0
/* 出错 用于检查 crc是否为0 */
if(0 == frame_buf[n-1])
{
ERR_STR("crc错误.");
}
#endif
uart_send_bytes((drv_uart_T *)s_comm_uart, frame_buf, len);
last_ms = now_ms;
}
}
