protocolV1_1.c
23.9 KB
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/*
* @Date: 2023-11-22 17:32:04
* @LastEditTime: 2024-03-15 16:34:03
* @FilePath: \A1_IMU_Control_Board_FreeRTOSd:\JZ_LJL_ESP32_WORKSPACE\STM32_DEV\Three-Axis_MES_BLDC_Gimbal\WorkSpace_ALL\ThreeAxisGimbal_Cre231213\Ext_Common\Communication\protocolV1.c
* @Description:
*/
#include "protocolV1_1.h"
#include "Motor_Manage.h"
#include "BMCL.h"
#include "motor.h"
#include "T_SpeedShape.h"
#include "BMCL_ParaLoadF1.h"
#include "buzzer.h"
#include "upgrade.h"
#include <string.h>
extern float PlanTarget;
extern TRAP_CURVE_s rollANGPlan;
extern float rollANGPlan_Time ;
extern TimeRec_s rollANGPlan_TimeS ;
#define PROTOCOL_REPLY_TXBUFF_LEN 14
uint8_t protocol_reply_TXBuff[PROTOCOL_REPLY_TXBUFF_LEN] = {0};
uint8_t protocol_reply_payload[128] = {0};
//==============Protocol reception result area==============
Pro_data current_axis_data = {0};
Pro_data target_axis_data = {0};
Pro_data Gen_dataResult = {0};
Pro_data YawMot_dataResult = {0};
Pro_data RollMot_dataResult = {0};
uint8_t paraIndex = 0;
uint8_t commSequence = 0;
uint8_t frameTypePer = 0x00; // 识别到的帧类型
uint8_t frameSRPer = 0x00; // 识别到的子路由
uint8_t targetAxisPer = 0x00; // 目标电机
uint8_t indexPer = 0x00; // 参数索引
uint8_t commSequencePer = 0x00;
uint8_t generalResult = 0; //通用回复检测结果
uint8_t CalibrationCmplete = 0; //校准完成标志位
uint8_t operationResult = 0; //操作回复检测结果
//___________________________PROTOCOL COMPONENT___________________________
/**
* @brief 协议传输帧的生成
* @param frameType 帧类型 - 该类型只是用来标识该数据帧,不会对传输的数据做特殊处理
* @param frameSR 子路由类型 - 该类型只是用来标记该数据帧,不会对传输的数据做特殊处理
* @param verify 校验开关
* @param buff 输出缓存区地址
* @param buff_len 输出缓冲区长度
* @param data 传输的数据(与选择的帧类型相关,会根据帧类型进行数据指针的转换,要确保要传输数据的正确写入)
* @param fun1 附加功能1 的 数据 uint8类型，在24P
* @return
*/
int protocol_frame_make(uint8_t type,PROTOCOL_F_FUNCTION_1 function_1, PROTOCOL_F_FUNCTION_2 function_2,uint8_t ask, PROTOCOL_F_COMMSQR frameSequence,\
uint8_t *buff,uint16_t buff_len,void const *data,uint16_t data_len)
{
uint8_t sum = 0, i;
const Pro_data *data_t;
Pro_data *buff_t;
uint8_t *buff_p;
if (buff_len <= PROTOCOL_LEN) // 缓冲区长度不够,退
return -1;
if(type)
{
buff[PROTOCOL_P_HEAD_0] = PROTOCOL_CONTENT_HEAD_0; // 写入帧头
buff[PROTOCOL_P_HEAD_1] = PROTOCOL_CONTENT_HEAD_1;
buff[PROTOCOL_P_HEAD_2] = PROTOCOL_CONTENT_HEAD_2;
}else
{
buff[PROTOCOL_P_HEAD_0] = PROTOCOL_CONTENT_RETHEAD_0; // 写入回复帧头
buff[PROTOCOL_P_HEAD_1] = PROTOCOL_CONTENT_RETHEAD_1;
buff[PROTOCOL_P_HEAD_2] = PROTOCOL_CONTENT_RETHEAD_2;
}
buff[PROTOCOL_P_LEN_H] = data_len>>8;
buff[PROTOCOL_P_LEN_L] = data_len&0xff;
buff[PROTOCOL_P_ASK] = ask;
buff[PROTOCOL_P_SEQUENCE] = frameSequence;
buff[PROTOCOL_P_FUNCTION_1] = function_1;
buff[PROTOCOL_P_FUNCTION_2] = function_2;
if (data_len == 0x0C)
{
data_t = (Pro_data*)data;
buff[PROTOCOL_P_DATA] = data_t->rawdata_8t[0];
}else if (data_len == 0x0D)
{
data_t = (Pro_data*)data;
for (i = 0; i < 2; i++)
{
buff[PROTOCOL_P_DATA+i] = data_t->rawdata_8t[i];
}
}else if (data_len == 0x0E)
{
data_t = (Pro_data*)data;
buff_t = (Pro_data*)&buff[PROTOCOL_P_DATA];
buff_t->rawdata.symbol = data_t->rawdata.symbol;
buff_t->rawdata.dataH = data_t->rawdata.dataH;
buff_t->rawdata.dataL = data_t->rawdata.dataL;
}else if (data_len > 0x0E)
{
buff_p = (uint8_t*)data;
for (i = 0; i < data_len-10; i++)
{
buff[PROTOCOL_P_DATA + i] = buff_p[i];
}
}
buff[data_len-2] = PROTOCOL_CONTENT_TAIL_0; // 写入帧尾
buff[data_len-1] = PROTOCOL_CONTENT_TAIL_1;
return 0;
}
/**
* @brief 协议帧处理函数(只处理一帧)，将缓存中的数据进行解析存放并输出结果
* @param buff 需要处理的数据头指针
* @param buff_len 需要处理的数据长度
* @return ( >0 )处理成功：(PROTOCOL_F_TYPE)返回处理的数据帧类型；
* ( <0 )处理失败：PROTOCOL_PARSE_STATUS
*/
Pro_Parse_Result protocol_frame_parse(uint8_t *buff, uint32_t buff_len)
{
uint32_t do_point = 0; // 当前处理点
uint16_t datalen = 0; //数据长度
Pro_data *temp; // 映射用变量
float data,CurAngle;
Pro_Parse_Result result = {0}; // 返回结果,结果包含:错误信息,帧类型,子路由能
uint8_t ret = 0;
if (buff_len < PROTOCOL_LEN){
result.error = PROTOCOL_P_STATUS_NOFRAME;
goto PROTOCOL_PARSE_END; // 接收到的数据非法 - 长度太小,不足以容纳一个帧
}
while (do_point <= buff_len - PROTOCOL_LEN) // 帧头检测 注意：防止越界和漏算
{
if (buff[do_point] == 0x5A||buff[do_point] == 0x6A) // 帧头预检测
{
if ((buff[do_point + 1] == 0x5A || buff[do_point + 1] == 0x6A) && (buff[do_point + 2] == 0x77)) // 帧头检测
{
datalen = buff[do_point + 3] * 256 + buff[do_point + 4];//数据长度
if (buff[datalen - 2] == 0x00 && buff[datalen - 1] == 0x23) // 帧尾检查
{
buff = &(buff[do_point]); // 得到当前操作的位置,注意已经覆写了buff指针，该位置即是帧头位置
temp = (Pro_data *)&buff[PROTOCOL_P_DATA]; // buff重映射
// 帧类型识别并处理
switch (buff[PROTOCOL_P_FUNCTION_1])
{
case PROTOCOL_F_FUNCTION_1_0XFF: // 功能:工厂模式
switch (buff[PROTOCOL_P_FUNCTION_2])
{
case PROTOCOL_F_FUNCTION_2_0XA1:
workMode = WORK_MODE_3;
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
case PROTOCOL_F_FUNCTION_2_0XA0:
workMode = WORK_MODE_1;
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
default:
break;
}
break;
case PROTOCOL_F_FUNCTION_1_0X50: // 功能:连接请求，返回设备号
// if(buff[PROTOCOL_P_FUNCTION_2]== PROTOCOL_F_FUNCTION_2_0X51)
// {
BMCL_Genseamp_give(&bmcl_Music, Connect);
temp = (Pro_data *)&protocol_reply_payload[0]; // 帧Payload重映射
// temp->rawdata_8t[0] = 0x11;
temp->rawdata_8t[0] = 0x4C;//单轴云台
protocol_frame_make(0x00, PROTOCOL_F_FUNCTION_1_0X50, PROTOCOL_F_FUNCTION_2_0X51, 0x00, PROTOCOL_F_COMMSQR_00, protocol_reply_TXBuff, PROTOCOL_REPLY_TXBUFF_LEN, (void *)protocol_reply_payload, 0x0C);
Uart1_Send_DMA_StartBuff((uint8_t *)protocol_reply_TXBuff, (uint16_t)(sizeof(uint8_t) * 12));
// printf("连接帧\r\n");
devConnetState = 1;
// }
break;
case PROTOCOL_F_FUNCTION_1_0X64: // 功能:云台俯仰控制
switch (buff[PROTOCOL_P_FUNCTION_2])
{
case PROTOCOL_F_FUNCTION_2_0X51: // 功能:云台俯仰目标角度
data = (float)(temp->rawdata.dataH << 8|temp->rawdata.dataL)/10.0f;
if (temp->rawdata.symbol == 0xFF)
{
data = -data;
}
data = constrain(data,motor_GetDownLimit(),motor_GetUpLimit());
// trap_Curve_SetTarget(&rollANGPlan, data);
PlanTarget = data;
// 当前角度回复
// CurAngle = motor_obs.actual_Angle*57.2957795130f;
CurAngle = PlanTarget;
temp = (Pro_data *)&protocol_reply_payload[0]; // 帧Payload重映射
if (CurAngle < 0)
{
temp->rawdata.symbol = 0xFF;
CurAngle = -CurAngle;
}else
{
temp->rawdata.symbol = 0x00;
}
uint16_t dataRet = (uint16_t)(CurAngle * 10);
temp->rawdata.dataH = dataRet>>8;
temp->rawdata.dataL = dataRet&0xFF;
// 回复帧
protocol_frame_make(0x00, PROTOCOL_F_FUNCTION_1_0X64, PROTOCOL_F_FUNCTION_2_0X51, 0x00, PROTOCOL_F_COMMSQR_00, protocol_reply_TXBuff, PROTOCOL_REPLY_TXBUFF_LEN, (void *)protocol_reply_payload, 0x0E);
Uart1_Send_DMA_StartBuff((uint8_t *)protocol_reply_TXBuff, (uint16_t)(sizeof(uint8_t) * 14));
break;
case PROTOCOL_F_FUNCTION_2_0X52: // 功能:云台俯仰加减微调
break;
default:
break;
}
break;
case PROTOCOL_F_FUNCTION_1_0X6F://角度查询
switch (buff[PROTOCOL_P_FUNCTION_2])
{
case PROTOCOL_F_FUNCTION_2_0X54: // 功能:角度查询
// 当前角度回复
CurAngle = motor_obs.actual_Angle*57.2957795130f;
temp = (Pro_data *)&protocol_reply_payload[0]; // 帧Payload重映射
if (CurAngle < 0)
{
temp->rawdata.symbol = 0xFF;
CurAngle = -CurAngle;
}
else
{
temp->rawdata.symbol = 0x00;
}
uint16_t dataRet = (uint16_t)(CurAngle * 10);
temp->rawdata.dataH = dataRet >> 8;
temp->rawdata.dataL = dataRet & 0xFF;
// 回复帧
protocol_frame_make(0x00, PROTOCOL_F_FUNCTION_1_0X64, PROTOCOL_F_FUNCTION_2_0X51, 0x00, PROTOCOL_F_COMMSQR_00, protocol_reply_TXBuff, PROTOCOL_REPLY_TXBUFF_LEN, (void *)protocol_reply_payload, 0x0E);
Uart1_Send_DMA_StartBuff((uint8_t *)protocol_reply_TXBuff, (uint16_t)(sizeof(uint8_t) * 14));
break;
default:
break;
}
break;
case PROTOCOL_F_FUNCTION_1_0X69: // 功能: 云台最大值、最小值、零度设置
switch (buff[PROTOCOL_P_FUNCTION_2])
{
case PROTOCOL_F_FUNCTION_2_0X51: // 功能:设置当前位置为零度
CurAngle = motor_obs.actual_Angle;
mge_Set_abOffset(mge_Get_abOffset()+CurAngle);
motor_SetUpLimit(150.0f); //只要重新设置了零度，就将云台限位角度最大值、最小值置为-150 —— +150
motor_SetDownLimit(-150.0f); //以便重新调整限位角度
memset(&rollANGPlan_TimeS,0x00,sizeof(TimeRec_s));//重新初始化速度规划
memset(&rollANGPlan,0x00,sizeof(TRAP_CURVE_s));
rollANGPlan_Time += TimeFlash(&rollANGPlan_TimeS);
trap_Curve_Init(&rollANGPlan, 400.0f, 800.0f, rollANGPlan_Time, TRAP_CURVE_CYCMODE_OFF, 0);
PlanTarget = 0;
BMCL_PL_WriteAll2ParaMge();
paraMge_SaveALL();
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
case PROTOCOL_F_FUNCTION_2_0X52: // 功能:云台最大值、最小值
CurAngle = motor_obs.actual_Angle;
if (temp->rawdata_8t[1] == 0xFF) // 设置当前位置为最大值
{
if (CurAngle > 0)
{
PlanTarget = CurAngle;
motor_SetUpLimit(CurAngle * 57.2957795130f); // 弧度转角度
BMCL_PL_WriteAll2ParaMge();
paraMge_SaveALL();
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
}
else
{
BMCL_Genseamp_give(&bmcl_Music, Quit);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF); // 操作失败
}
}
else if (temp->rawdata_8t[1] == 0x00) // 设置当前位置为最小值
{
if (CurAngle < 0)
{
PlanTarget = CurAngle;
motor_SetDownLimit(CurAngle * 57.2957795130f); // 弧度转角度
BMCL_PL_WriteAll2ParaMge();
paraMge_SaveALL();
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
}
else
{
BMCL_Genseamp_give(&bmcl_Music, Quit);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF); // 操作失败
}
}
break;
default:
break;
}
break;
case PROTOCOL_F_FUNCTION_1_0X05: // 电机基本校准
if (workMode == WORK_MODE_3)
{
switch (buff[PROTOCOL_P_FUNCTION_2])
{
case PROTOCOL_F_FUNCTION_2_0X01: // 进入校准&操作成功
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
case PROTOCOL_F_FUNCTION_2_0X00: // 功能:退出校准
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
case PROTOCOL_F_FUNCTION_2_0X02: // 开始指定轴校准&当前指定轴状态
switch (temp->rawdata_8t[0])
{
case __PARAMGE_INDEX_MOT_P:
if (motor_Calibration_Status == __PARAMGE_DEF_MOT_CALI_STA_CALIBRATING||motor_Calibration_Status == __PARAMGE_DEF_MOT_CALI_STA_GOOD)
{
}else
{
motor_Calibration_Stop = 0 ;//重新校准时清零
BMCL_Genseamp_give(&bmcl_Calibration, 0x00);
BMCL_Genseamp_give(&bmcl_Music, Enter);
}
temp = (Pro_data *)&protocol_reply_payload[0]; // 帧Payload重映射
temp->rawdata_8t[0] = motor_Calibration_Status;
// 回复帧
protocol_frame_make(0x00, PROTOCOL_F_FUNCTION_1_0X05, PROTOCOL_F_FUNCTION_2_0X02, 0x00, PROTOCOL_F_COMMSQR_00, protocol_reply_TXBuff, PROTOCOL_REPLY_TXBUFF_LEN, (void *)protocol_reply_payload, 0x0C);
Uart1_Send_DMA_StartBuff((uint8_t *)protocol_reply_TXBuff, (uint16_t)(sizeof(uint8_t) * 12));
break;
default:
break;
}
break;
case PROTOCOL_F_FUNCTION_2_0X03: // 功能:保存指定轴校准数据
if (motor_Calibration_Stop)//如果校准时被退出指令中断了，不保存相关参数
{
BMCL_Genseamp_give(&bmcl_Music, Quit);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF);
}
else
{
switch (temp->rawdata_8t[0])
{
case __PARAMGE_INDEX_MOT_P:
BMCL_PL_PreLoadALL();
motor_Set_ZeroEAngleOffset(zeroElectricAngleOffset_Temp);
mge_Set_direction(mge_direction_Temp);
mge_Set_abOffset(offset_Temp);
if (motor_Calibration_Status != __PARAMGE_DEF_MOT_CALI_STA_GOOD) // flash只保存成功和失败两种情况
{
motor_Calibration_Status = __PARAMGE_DEF_MOT_CALI_STA_BAD;
}
BMCL_mot_Calibration = motor_Calibration_Status;
BMCL_PL_WriteAll2ParaMge();
paraMge_SaveALL();
BMCL_Genseamp_give(&bmcl_Music, Enter);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
default:
BMCL_Genseamp_give(&bmcl_Music, Quit);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF);
break;
}
}
break;
case PROTOCOL_F_FUNCTION_2_0X04: // 功能:退出指定轴校准
switch (temp->rawdata_8t[0])
{
case __PARAMGE_INDEX_MOT_P:
BMCL_Genseamp_give(&bmcl_Music, Enter);
motor_Calibration_Status = 0 ;//退出时状态清零以保证下次校准
Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
break;
default:
BMCL_Genseamp_give(&bmcl_Music, Quit);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF);
break;
}
break;
default:
break;
}
}
else
{
BMCL_Genseamp_give(&bmcl_Music, Quit);
Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF);
}
break;
case PROTOCOL_F_FUNCTION_1_0XA1: // 串口升级
switch (buff[PROTOCOL_P_FUNCTION_2])// 判断功能位
{
case 0x01:
{ // 准备串口升级
workMode = WORK_MODE_4;
ret = UpgradePreparation();
if (ret != 0)
{
AnswerUpgradeFrame(0x01, 0x01);
}
}
break;
case 0x02:
{ // 固件校验MD5校验码
printf("固件校验MD5校验码\r\n");
UpgradeFileMD5Code_Get(buff, datalen);
}
break;
case 0x03:
{ // 开始发送文件
printf("开始发送文件\r\n");
AnswerUpgradeFrame(0x03, 0x00);
}
break;
case 0x04:
{ // 结束文件传输
printf("结束文件传输\r\n");
AnswerUpgradeFrame(0x04, 0x00);
UpgradeFile_MD5Create();
}
break;
case 0xF1:
{ // 定长文件数据
printf("定长文件数据\r\n");
ret = UpgradeFile_Write(buff, datalen);
// if (ret != 0) // 传输出错,提前结束文件传输
// {
// printf("传输出错\r\n");
// }
}
break;
default:
break;
}
break;
}
// result.fType = frameType;
// result.sRoute = sRouteType;
// result.readPoint = do_point + PROTOCOL_LEN - 1;
goto PROTOCOL_PARSE_END;
break;
}
}
}
do_point++;
}
result.error = PROTOCOL_P_STATUS_NOFRAME;
PROTOCOL_PARSE_END:
return result;
}
void Operation_Reply(PROTOCOL_F_FUNCTION_2 operation_Result)
{
memset(protocol_reply_payload,0x00,128);
protocol_frame_make(0x00,PROTOCOL_F_FUNCTION_1_0X51,operation_Result,0x00,PROTOCOL_F_COMMSQR_00,protocol_reply_TXBuff,PROTOCOL_REPLY_TXBUFF_LEN,(void *)protocol_reply_payload,0x0C);
Uart1_Send_DMA_StartBuff((uint8_t *)protocol_reply_TXBuff, (uint16_t)(sizeof(uint8_t) * 12));
}
void AnswerUpgradeFrame(uint8_t func, uint8_t data)
{
memset(protocol_reply_payload,0x00,128);
protocol_reply_payload[0] = data ;
protocol_frame_make(0x00,PROTOCOL_F_FUNCTION_1_0XA1,func,0x00,PROTOCOL_F_COMMSQR_00,protocol_reply_TXBuff,PROTOCOL_REPLY_TXBUFF_LEN,(void *)protocol_reply_payload,0x0C);
Uart1_Send_DMA_StartBuff((uint8_t *)protocol_reply_TXBuff, (uint16_t)(sizeof(uint8_t) * 12));
}