feat: 增加通信帧提取功能

app/gl_headfile.h

@@ -4,7 +4,6 @@
 #include "gl_state.h"
 #include "gl_img_process.h"
 #include "gl_common.h"
-#include "main.h"
 #include "gl_handle_img.h"
 #include "gl_transform_table.h"
 #include "gl_get_corners.h"

app/isr.c

@@ -34,9 +34,12 @@
  ********************************************************************************************************************/
 
 #include "zf_common_headfile.h"
+#include "by_tiny_frame.h"
 #include "by_button.h"
 #include "by_buzzer.h"
 
+#include "by_tiny_frame_parse.h"
+
 void NMI_Handler(void) __attribute__((interrupt()));
 void HardFault_Handler(void) __attribute__((interrupt()));
 
@@ -96,9 +99,12 @@ void USART2_IRQHandler(void)
 void USART3_IRQHandler(void)
 {
     if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) {
-#if DEBUG_UART_USE_INTERRUPT       // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> debug <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
-        debug_interrupr_handler(); // <20><><EFBFBD><EFBFBD> debug <20><><EFBFBD>ڽ<EFBFBD><DABD>մ<EFBFBD><D5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ݻᱻ debug <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
-#endif                             // <20><><EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8><EFBFBD> DEBUG_UART_INDEX <20><><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ж<EFBFBD>ȥ
+#if DEBUG_UART_USE_INTERRUPT // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> debug <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+                             // debug_interrupr_handler(); // <20><><EFBFBD><EFBFBD> debug <20><><EFBFBD>ڽ<EFBFBD><DABD>մ<EFBFBD><D5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ݻᱻ debug <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
+#endif                       // <20><><EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8><EFBFBD> DEBUG_UART_INDEX <20><><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ж<EFBFBD>ȥ
+        uint8_t data_s = 0;
+        uart_query_byte(UART_3, &data_s);
+        by_tiny_frame_parse_uart_handle(data_s);
         USART_ClearITPendingBit(USART3, USART_IT_RXNE);
     }
 }

app/main.c

@@ -21,13 +21,17 @@
  * 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
  * 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
  ********************************************************************************************************************/
+#include "zf_common_headfile.h"
 #include "gl_headfile.h"
-#include "./page/page.h"
+#include "page.h"
+#include "by_tiny_frame.h"
 #include "by_buzzer.h"
 #include "by_led.h"
 #include "jj_param.h"
 #include "jj_blueteeth.h"
 
+#include "by_tiny_frame_parse.h"
+
 int main(void)
 {
 
@@ -49,25 +53,30 @@ int main(void)
     // pit_ms_init(TIM6_PIT, 2);
     // pit_ms_init(TIM1_PIT, 2);
 
+    by_tiny_frame_init();
+    printf("start running\r\n");
+
     while (1) {
         Page_Run();
         by_buzzer_run();
-        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();
-        }
+        by_tiny_frame_parse_run();
+        system_delay_ms(100);
+        // 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();
+        // }
     }
 }
 

app/main.h

@@ -1,6 +0,0 @@
-#ifndef MAIN_H
-#define MAIN_H
-
-#include "zf_common_headfile.h"
-
-#endif // MAIN_H

app/tiny_frame/by_tiny_frame.c

@@ -0,0 +1,16 @@
+#include "by_tiny_frame.h"
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "by_tiny_frame_parse.h"
+#include "crc16.h"
+#include "zf_common_headfile.h"
+
+void by_tiny_frame_init(void)
+{
+    uart_init(BY_TF_UART_INDEX, BY_TF_UART_BAUDRATE, BY_TF_UART_TX_PIN, BY_TF_UART_RX_PIN);
+    uart_rx_interrupt(BY_TF_UART_INDEX, ENABLE);
+    
+    by_tiny_frame_parse_init();
+}

app/tiny_frame/by_tiny_frame.h

@@ -0,0 +1,8 @@
+#ifndef _BY_TINY_FRAME_H__
+#define _BY_TINY_FRAME_H__
+
+#include "by_tiny_frame_config.h"
+
+extern void by_tiny_frame_init(void);
+
+#endif

app/tiny_frame/by_tiny_frame_config.h

@@ -0,0 +1,11 @@
+#ifndef _BY_TINY_FRAME_CONFIG_H__
+#define _BY_TINY_FRAME_CONFIG_H__
+
+#define BY_TF_UART_TX_PIN       (UART3_MAP0_TX_B10)
+#define BY_TF_UART_RX_PIN       (UART3_MAP0_RX_B11)
+#define BY_TF_UART_INDEX        (UART_3)
+#define BY_TF_UART_BAUDRATE     (115200)
+
+#define BY_TF_PARSE_BUFFER_SIZE (50)
+
+#endif

app/tiny_frame/by_tiny_frame_parse.c

@@ -0,0 +1,97 @@
+#include "by_tiny_frame_parse.h"
+
+#include "crc16.h"
+#include "lwrb.h"
+
+lwrb_t lwrb_struct;
+uint8_t buffer_rb[BY_TF_PARSE_BUFFER_SIZE];
+uint8_t buffer_out;
+by_tf_parse_frame_t frame_now;
+
+void by_tiny_frame_parse_init(void)
+{
+    lwrb_init(&lwrb_struct, buffer_rb, 40);
+}
+
+uint8_t by_tiny_frame_parse_listening(by_tf_parse_frame_t *frame_s, const uint8_t slave_id, const uint8_t buff)
+{
+
+    static uint8_t cnt_s      = 0;
+    static uint8_t cnt_rest_s = 0;
+
+    printf("%0.2X\r\n", buff);
+
+    do {
+        if ((0 == cnt_s) && (((slave_id << 1) + 1) == buff)) {
+            memset(frame_s, 0, sizeof(*frame_s));
+            cnt_s             = 1;
+            cnt_rest_s        = 9;
+            frame_s->frame[0] = buff;
+            break;
+        }
+
+        if (1 <= cnt_s) {
+            frame_s->frame[cnt_s] = buff;
+            cnt_s++;
+        }
+
+        if (0 == --cnt_rest_s) {
+            cnt_s = 0;
+
+            frame_s->cmd = frame_s->frame[1];
+            frame_s->reg_addr |= ((uint16_t)frame_s->frame[2] << 8);
+            frame_s->reg_addr |= (uint16_t)frame_s->frame[3];
+            frame_s->data |= ((uint32_t)frame_s->frame[4] << 24);
+            frame_s->data |= ((uint32_t)frame_s->frame[5] << 16);
+            frame_s->data |= ((uint32_t)frame_s->frame[6] << 8);
+            frame_s->data |= (uint32_t)frame_s->frame[7];
+            return 0;
+        }
+    } while (0);
+
+    return 1;
+}
+
+void by_tiny_frame_parse_uart_handle(uint8_t buff)
+{
+    lwrb_write(&lwrb_struct, &buff, 1);
+}
+
+void by_tiny_frame_parse_run(void)
+{
+    for (uint8_t i = 0; i < lwrb_get_full(&lwrb_struct); i++) {
+
+        if (!lwrb_read(&lwrb_struct, &buffer_out, 1)) {
+            break;
+        }
+
+        if (!by_tiny_frame_parse_listening(&frame_now, 127, buffer_out)) {
+            if (!by_tiny_frame_parse_crc(&frame_now)) {
+                printf("frame parsed!\r\n");
+            }
+            // 解析帧
+        }
+        // if (!mp_cmd_parse_modbus_handle(data)) {
+        //     mp_cmd_mb_parse(&mp_cmd_mb_now, &mp_cmd_parsed_now);
+        // }
+    }
+}
+
+uint8_t by_tiny_frame_parse_crc(by_tf_parse_frame_t *frame_s)
+{
+    uint16_t calc_crc_val = 0;
+
+    calc_crc_val = crc16_check(frame_s->frame, (sizeof(frame_s->frame) - 2));
+
+    printf("get: %0.2X", frame_s->crc_val);
+    printf("\r\n");
+
+    printf("cal: %0.2X", calc_crc_val);
+    printf("\r\n");
+
+    if ((frame_s->crc_val == calc_crc_val) || (frame_s->crc_val == 0xFFFF)) {
+        return 0;
+    }
+
+    return 1;
+}

app/tiny_frame/by_tiny_frame_parse.h

@@ -0,0 +1,25 @@
+#ifndef _BY_TINY_FRAME_PARSE_H__
+#define _BY_TINY_FRAME_PARSE_H__
+
+#include <stdio.h>
+#include <stdint.h>
+
+#include "by_tiny_frame_config.h"
+
+// 从机地址 (1b) - 功能码 (1b) - 寄存器地址 (2b) - 数据 (4b) - CRC(2b)
+// 从机地址 (1b) 0-127, 最低位表示发送方，主机请求低位为 0，从机应答低位为 1
+
+typedef struct by_tf_parse_frame_t {
+    uint8_t frame[10];
+    uint8_t cmd;
+    uint16_t reg_addr;
+    uint16_t crc_val;
+    uint32_t data;
+} by_tf_parse_frame_t;
+
+extern void by_tiny_frame_parse_init(void);
+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);
+
+#endif

app/tiny_frame/by_tiny_frame_read.h

@@ -0,0 +1,6 @@
+#ifndef _BY_TINY_FRAME_READ_H__
+#define _BY_TINY_FRAME_READ_H__
+
+#define BY_TINY_FRAME_WRITE_CMD_CODE (0x03) 
+
+#endif

app/tiny_frame/by_tiny_frame_write.c

@@ -0,0 +1,2 @@
+#include "by_tiny_frame_write.h"
+

app/tiny_frame/by_tiny_frame_write.h

@@ -0,0 +1,6 @@
+#ifndef _BY_TINY_FRAME_WRITE_H__
+#define _BY_TINY_FRAME_WRITE_H__
+
+#define BY_TINY_FRAME_WRITE_CMD_CODE (0x06) 
+
+#endif