252 lines
9.3 KiB
C
252 lines
9.3 KiB
C
#include "b6x.h"
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#include "drvs.h"
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#include "dbg.h"
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#include "rbuf.h"
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#include "CRCxx.h"
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#include "sys_config.h"
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#include "app_PAD.h"
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// void app_otas_txd(uint16_t len, const uint8_t *data){
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// app_PAD_Sendcmd(OTA_CMD_ID ,OTA_REG_ADDR ,data ,len);
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// }
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// 用于PAD通信处理
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PAD_daraframe_t PAD_daraframe;
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volatile uint8_t Rec_state =0;
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volatile uint8_t Rec_data_cnt =0;
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static void PAD_Data_Hande(void){
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uint8_t ret_data[MAX_LEN]={0,0};
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uint8_t length=0;
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if((PAD_daraframe.cmd_id == OTA_CMD_ID) && (PAD_daraframe.reg_addr == OTA_REG_ADDR) && (PAD_daraframe.length == 18)){
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app_otas_rxd(PAD_daraframe.length ,PAD_daraframe.data);
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goto PAD_Data_Hande_end;
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}
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switch(PAD_daraframe.reg_addr){
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case 0x01: // 写入系统配置
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if(PAD_daraframe.cmd_id == 0x06){// 写入
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write_cfg(&sys_conf);
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}
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break;
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case 0x02: // 管理员模式油门极限寄存器(Unit:%)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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// ret_data[length++] =0;
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ret_data[length++] =sys_conf.Manager_sLim;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Manager_sLim =PAD_daraframe.data[0];
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break;
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}
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case 0x03: // 游客模式油门极限寄存器(Unit:%)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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// ret_data[length++] =0;
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ret_data[length++] =sys_conf.Tourist_sLim;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Tourist_sLim =PAD_daraframe.data[0];
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break;
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}
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case 0x04: // 减速油门极限寄存器(Unit:%)(自动减速时油门极限)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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// ret_data[length++] =0;
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ret_data[length++] =sys_conf.Speed_Cut_sLim;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Speed_Cut_sLim =PAD_daraframe.data[0];
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break;
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}
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case 0x05: // 刹车距离极限寄存器(前进)(Unit:mm)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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ret_data[length++] =sys_conf.Brake_DLimit & 0x00FF;
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ret_data[length++] =sys_conf.Brake_DLimit >> 8;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Brake_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
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break;
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}
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case 0x06: // 减速距离极限寄存器(Unit:mm)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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ret_data[length++] =sys_conf.Speed_Cut_DLimit & 0x00FF;
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ret_data[length++] =sys_conf.Speed_Cut_DLimit >> 8;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Speed_Cut_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
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break;
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}
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case 0x07: // 刹车距离极限寄存器(前进)(Unit:mm)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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ret_data[length++] =sys_conf.Brake_DLimit_B & 0x00FF;
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ret_data[length++] =sys_conf.Brake_DLimit_B >> 8;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Brake_DLimit_B =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
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break;
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}
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case 0x08: // 减速距离极限寄存器(Unit:mm)
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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ret_data[length++] =sys_conf.Speed_Cut_DLimit_B & 0x00FF;
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ret_data[length++] =sys_conf.Speed_Cut_DLimit_B >> 8;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_conf.Speed_Cut_DLimit_B = (((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
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break;
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}
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case 0x09: //PAD模式寄存器
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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// ret_data[length++] =0;
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ret_data[length++] =sys_sta.Pmode;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_sta.Pmode = PAD_daraframe.data[0] & 0x03;//0 退出模式//1 进入游客模式//2 进入管理员模式
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break;
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}
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case 0x0A: //系统模式寄存器
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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// ret_data[length++] =0;
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ret_data[length++] =sys_sta.Smode;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}
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case 0x0B: //0 关闭12V输出//1 开启12V输出
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if(PAD_daraframe.cmd_id == 0x03){// 读取
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// ret_data[length++] =0;
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ret_data[length++] =sys_sta.O_12V;
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// if(0 == --PAD_daraframe.length){
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break;
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// }
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}else if(PAD_daraframe.cmd_id == 0x06){// 写入
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sys_sta.O_12V = PAD_daraframe.data[0] & 0x01;
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break;
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}
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break;
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// default :
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// app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
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// break;
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}
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app_PAD_Sendcmd(PAD_daraframe.cmd_id ,PAD_daraframe.reg_addr ,ret_data ,length);
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PAD_Data_Hande_end:
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Rec_state =0;//数据处理完要清零，准备接收下一帧数据
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}
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void app_PAD_Receive(uint8_t data){
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uint8_t *frame = (uint8_t *)&PAD_daraframe;
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switch(Rec_state){
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case 0://header
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if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (PAD_daraframe.header == 0x0)) {
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PAD_daraframe.header = (FRAME_HEADER >> 8);
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} else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (PAD_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
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PAD_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
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PAD_daraframe.length = 0;
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Rec_state = 1;//to cmd id
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//debug("header");
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}
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break;
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case 1://cmd_id
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//debug("rxcmd:%x", data);
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PAD_daraframe.cmd_id = data;
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Rec_state = 2;//to device addr
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break;
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case 2://reg addr
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//debug("reg_addr");
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PAD_daraframe.reg_addr = data;
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Rec_state = 3;//to data length
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break;
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case 3://data length
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//debug("length");
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PAD_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
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if (PAD_daraframe.length == 0) {
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Rec_state = 5;//to crc
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} else {
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Rec_state = 4;//to data
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Rec_data_cnt = 0;
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}
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break;
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case 4://data
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//debug("data");
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if (Rec_data_cnt < PAD_daraframe.length) {
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PAD_daraframe.data[Rec_data_cnt++] = data;
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}
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if (Rec_data_cnt == PAD_daraframe.length) {
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Rec_data_cnt = 0;
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Rec_state = 5;//to crc
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}
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break;
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case 5://CRC8
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PAD_daraframe.crc = crc8_maxim(frame, 5 + PAD_daraframe.length);
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#if !PAD_CRC8_EN
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PAD_daraframe.crc = data;
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#endif
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//计算并验证crc8
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if (PAD_daraframe.crc == data) {
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Rec_state = 6;//to ack
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//debug("crc correct cmd:%x", PAD_daraframe.cmd_id);
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} else {
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Rec_state = 0;//to haeder
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PAD_daraframe.header = 0;
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//debug("crc error cmd:%x-%x", PAD_daraframe.cmd_id, PAD_daraframe.crc);
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}
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break;
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}
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// uart_putc(UART1_PORT,data);//debug
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// uart_putc(UART1_PORT,'0'+Rec_state);
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if(Rec_state == 6){
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PAD_daraframe.header = 0;
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Rec_state = 7;//数据处理完，需要将状态位归零，才会接收下一帧数据，即：uart1_state =0时。
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PAD_Data_Hande();
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Rec_state =0;
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/*
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rx handler codes....
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*/
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}
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}
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//发送命令
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void app_PAD_Sendcmd(uint8_t cmd_id ,uint8_t reg_addr ,const uint8_t *data, uint8_t length){
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PAD_daraframe_t frame;
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uint8_t *cmd_data =(uint8_t *)&frame;
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uint8_t i;
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frame.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100
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frame.cmd_id = cmd_id;
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frame.reg_addr = reg_addr;
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frame.length = length < MAX_LEN ? length:MAX_LEN;
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for(i = 0;i < frame.length ;i ++){
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frame.data[i] = * data++;
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}
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length =5 + frame.length;
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frame.crc = crc8_maxim(cmd_data, length);
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while(length--)
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uart_putc(UART1_PORT, (uint32_t)(*cmd_data ++));
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uart_putc(UART1_PORT, (uint32_t)(frame.crc));
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}
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