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Working UART

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This commit is contained in:
DashyFox 2024-09-16 19:43:48 +03:00
parent cad6b45c5d
commit 2ef50d8b07
6 changed files with 142 additions and 90 deletions
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33
Core/Inc/RobotFunctions.h
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@ -17,6 +17,39 @@ typedef enum ServoMap{
SERVO_VERTICAL = 2 SERVO_VERTICAL = 2
}ServoMap; }ServoMap;
typedef enum CurrentMode {
NoneMode, ShotMode, ProgramMode, MacroMode,
} Mode;
typedef struct CurrentShot {
uint8_t index;
Shot shot;
} CurrentShot;
typedef struct CurrentProgram {
uint8_t index;
Program program;
uint8_t shot_index;
} CurrentProgram;
typedef struct CurrentMacro {
uint8_t index;
Macro macro;
uint8_t program_index;
} CurrentMacro;
typedef struct CurrentState {
uint8_t isPause;
uint8_t isShooting;
} CurrentState;
typedef struct CurrentInfo {
Mode mode;
CurrentState state;
CurrentShot shot;
CurrentProgram program;
CurrentMacro macro;
} CurrentInfo;
void doShot(Shot*); void doShot(Shot*);

1
Core/Src/EEPROM.c
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@ -124,6 +124,7 @@ MemoryStatus EEPROM_EARSE() {
} }
MemoryStatus EEPROM_INIT() { MemoryStatus EEPROM_INIT() {
memset(&infoBlock, 0x00, sizeof(infoBlock));
MemoryStatus status = getInfoBlock(&infoBlock); MemoryStatus status = getInfoBlock(&infoBlock);
if (status != EEPROM_OK) { if (status != EEPROM_OK) {
char errorMsg[] = "Error reading InfoBlock from EEPROM\n"; char errorMsg[] = "Error reading InfoBlock from EEPROM\n";

2
Core/Src/Print.c
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@ -48,7 +48,7 @@ void printNumber(long int number) {
// Преобразование числа в строку // Преобразование числа в строку
int_to_str(number, buffer, 10); // 10 — это основание системы счисления (десятичная система) int_to_str(number, buffer, 10); // 10 — это основание системы счисления (десятичная система)
strcat(buffer, "\r\n"); // Добавление новой строки // strcat(buffer, "\r\n"); // Добавление новой строки
// Отправка строки через USB CDC // Отправка строки через USB CDC
CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer)); CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));

55
Core/Src/RobotFunctions.c
View File

@ -9,31 +9,10 @@
#include "EEPROM.h" #include "EEPROM.h"
#include "Print.h" #include "Print.h"
typedef enum Mode {
NoneMode, ShotMode, ProgramMode, MacroMode,
} Mode;
uint8_t isPause = 0; uint8_t isPause = 0;
uint8_t isShooting = 0; uint8_t isShooting = 0;
typedef struct CurrentProgram { CurrentInfo currentInfo;
Program program;
uint8_t shot_index;
} CurrentProgram;
typedef struct CurrentMacro {
Macro macro;
uint8_t program_index;
} CurrentMacro;
typedef struct Current {
Mode mode;
Shot shot;
CurrentProgram program;
CurrentMacro macro;
} Current;
Current current;
HardwareInit_t hwSettings = { HardwareInit_t hwSettings = {
/*DelayTimes*/{ /*DelayTimes*/{
@ -59,31 +38,31 @@ void doShot(Shot *shot) {
} }
void startShooting() { void startShooting() {
switch (current.mode) { switch (currentInfo.mode) {
case ShotMode: case ShotMode:
print("StartShooting\n"); print("StartShooting\n");
if (current.shot.isExist) { if (currentInfo.shot.shot.isExist) {
print("Fire!\n"); print("Fire!\n");
print("isExist "); print("isExist ");
printNumber(current.shot.isExist); printNumber(currentInfo.shot.shot.isExist);
print("countRepeatShot; "); print("countRepeatShot; ");
printNumber(current.shot.countRepeatShot); printNumber(currentInfo.shot.shot.countRepeatShot);
print("speedRollerTop; "); print("speedRollerTop; ");
printNumber(current.shot.speedRollerTop); printNumber(currentInfo.shot.shot.speedRollerTop);
print("speedRollerBottom; "); print("speedRollerBottom; ");
printNumber(current.shot.speedRollerBottom); printNumber(currentInfo.shot.shot.speedRollerBottom);
print("speedScrew; "); print("speedScrew; ");
printNumber(current.shot.speedScrew); printNumber(currentInfo.shot.shot.speedScrew);
print("rotationAxial; "); print("rotationAxial; ");
printNumber(current.shot.rotationAxial); printNumber(currentInfo.shot.shot.rotationAxial);
print("rotationHorizontal; "); print("rotationHorizontal; ");
printNumber(current.shot.rotationHorizontal); printNumber(currentInfo.shot.shot.rotationHorizontal);
print("rotationVertical; "); print("rotationVertical; ");
printNumber(current.shot.rotationVertical); printNumber(currentInfo.shot.shot.rotationVertical);
isShooting = 1; currentInfo.state.isShooting = 1;
doShot(&current.shot); doShot(&currentInfo.shot.shot);
} else { } else {
print("Current Shot is NULL\n"); print("Current Shot is NULL\n");
// TODO: sound_ERR(); ledFX_ERR(); // TODO: sound_ERR(); ledFX_ERR();
@ -101,8 +80,8 @@ void startShooting() {
} }
void stopShooting() { void stopShooting() {
isShooting = 0; currentInfo.state.isPause = 0;
isPause = 0; currentInfo.state.isShooting = 0;
setScrewkSpeed(0); setScrewkSpeed(0);
setRollersSpeed(100, 100); setRollersSpeed(100, 100);
@ -117,8 +96,8 @@ uint8_t prepareShot(uint8_t number) {
Shot shot; Shot shot;
getShot(number, &shot); getShot(number, &shot);
if (shot.isExist) { if (shot.isExist) {
current.mode = ShotMode; currentInfo.mode = ShotMode;
current.shot = shot; currentInfo.shot.shot = shot;
return 1; return 1;
} else { } else {
// TODO: sound_ERR(); ledFX_ERR(); // TODO: sound_ERR(); ledFX_ERR();

46
Core/Src/UART3_CMD_Handler.c
View File

@ -7,14 +7,25 @@
#include "UART3_CMD_Handler.h" #include "UART3_CMD_Handler.h"
#include "Print.h" #include "Print.h"
#include "RobotFunctions.h"
#include "EEPROM.h"
#define HIGHBIT(b) (((b)>>8)&0xff)
#define LOWBIT(b) ((b)&0xff)
extern CurrentInfo currentInfo;
extern InfoBlock infoBlock;
extern void SendResponse(uint8_t command, uint8_t result, uint8_t *data, extern void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
uint8_t data_length); uint8_t data_length);
uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) { uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
if (current_length >= required_length) { if (current_length < required_length) {
print("Invalid length for command"); print("Invalid length for command ");
printNumber(cmd); printNumber(cmd);
print(" len = ");
printNumber(current_length);
print("\n"); print("\n");
return 0; return 0;
} }
@ -226,7 +237,36 @@ void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH)) if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return; return;
SendResponse(dataPtr[0], 0, NULL, 0); typedef struct __attribute__((packed)){
uint8_t status;
uint8_t macro_number;
uint8_t program_number;
uint8_t shot_number;
uint8_t total_macro_done_HIGH;
uint8_t total_macro_done_LOW;
uint8_t total_program_done_HIGH;
uint8_t total_program_done_LOW;
uint8_t total_shot_done_HIGH;
uint8_t total_shot_done_LOW;
} StatusStruct;
StatusStruct res;
res.status = currentInfo.state.isShooting && !currentInfo.state.isPause;
res.shot_number = currentInfo.shot.index;
res.program_number = currentInfo.program.index;
res.macro_number = currentInfo.macro.index;
res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.totalShots);
res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.totalShots);
res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.totalPrograms);
res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.totalPrograms);
res.total_macro_done_HIGH = HIGHBIT(infoBlock.statInfo.totalMacros);
res.total_macro_done_LOW = LOWBIT(infoBlock.statInfo.totalMacros);
SendResponse(dataPtr[0], 0, (uint8_t*)&res, sizeof(res));
} }
void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) { void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) {

95
Core/Src/UART3_Handler.c
View File

@ -24,19 +24,6 @@ void UART3_START() {
HAL_UART_Receive_DMA(&huart3, uart_rx_buffer, UART_BUFFER_SIZE); HAL_UART_Receive_DMA(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
} }
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
// if (huart->Instance == USART3) {
// uartTimer = millis();
// packet_index++;
//
// CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
//
// if (packet_index < UART_BUFFER_SIZE) {
// HAL_UART_Receive_DMA(&huart3, &uart_rx_buffer[packet_index], 1);
// }
// }
//}
volatile uint32_t last_rx_time = 0; volatile uint32_t last_rx_time = 0;
volatile uint32_t rx_complete_timeout = 10; volatile uint32_t rx_complete_timeout = 10;
volatile uint32_t old_pos = 0; volatile uint32_t old_pos = 0;
@ -53,16 +40,16 @@ void handle_rx_complete(uint8_t *data, uint16_t len)
return; return;
} }
// Распечатать пришедший буфер с указанием номеров байт // // Распечатать пришедший буфер с указанием номеров байт
char byte_msg[128]; // char byte_msg[128];
snprintf(byte_msg, sizeof(byte_msg), "Received buffer (%d bytes):\n", len); // snprintf(byte_msg, sizeof(byte_msg), "Received buffer (%d bytes):\n", len);
CDC_Transmit_FS((uint8_t*) byte_msg, strlen(byte_msg)); // CDC_Transmit_FS((uint8_t*) byte_msg, strlen(byte_msg));
//
for (uint16_t i = 0; i < len; i++) { // for (uint16_t i = 0; i < len; i++) {
char byte_info[32]; // char byte_info[32];
snprintf(byte_info, sizeof(byte_info), "Byte %d: 0x%02X\n", i, data[i]); // snprintf(byte_info, sizeof(byte_info), "Byte %d: 0x%02X\n", i, data[i]);
CDC_Transmit_FS((uint8_t*) byte_info, strlen(byte_info)); // CDC_Transmit_FS((uint8_t*) byte_info, strlen(byte_info));
} // }
// Проверка правильности пакета (первый байт должен быть 0xF0) // Проверка правильности пакета (первый байт должен быть 0xF0)
if (data[0] != 0xF0) { if (data[0] != 0xF0) {
@ -100,7 +87,7 @@ void handle_rx_complete(uint8_t *data, uint16_t len)
return; return;
} }
CDC_Transmit_FS((uint8_t*)"\n\n", 2); // CDC_Transmit_FS((uint8_t*)"\n\n", 2);
// Если пакет корректен, передать управление обработчику команд // Если пакет корректен, передать управление обработчику команд
uint8_t *data_ptr = &data[2]; uint8_t *data_ptr = &data[2];
@ -144,16 +131,14 @@ void check_uart3_timeout(void)
} }
void UART3_Handler() { void UART3_Handler() {
// Текущая позиция в буфере (DMA передаёт значение обратного счётчика)
uint32_t pos = UART_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart3_rx); uint32_t pos = UART_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart3_rx);
if (pos != old_pos) if (pos != old_pos)
{ {
// Если есть новые данные, обновляем таймер
last_rx_time = millis(); last_rx_time = millis();
rx_in_progress = 1; rx_in_progress = 1;
process_uart_data(old_pos, pos); // Обрабатываем новые данные process_uart_data(old_pos, pos);
old_pos = pos; // Обновляем позицию old_pos = pos;
} }
else if (rx_in_progress && (millis() - last_rx_time) > rx_complete_timeout) else if (rx_in_progress && (millis() - last_rx_time) > rx_complete_timeout)
{ {
@ -164,34 +149,47 @@ void UART3_Handler() {
} }
} }
void SendResponse(uint8_t command, uint8_t result, uint8_t *data, void SendResponse(uint8_t command, uint8_t result, uint8_t *data, uint8_t data_length) {
uint8_t data_length) { uint8_t response_buffer[64];
uint8_t response_buffer[64]; uint8_t index = 0;
uint8_t index = 0;
response_buffer[index++] = 0xF0; response_buffer[index++] = 0xF0; // Начальный байт
response_buffer[index++] = data_length + 3; response_buffer[index++] = data_length + 2; // Длина данных + 2 байта (команда, результат)
response_buffer[index++] = command; response_buffer[index++] = command; // Команда
response_buffer[index++] = result; response_buffer[index++] = result; // Результат
if (data != NULL && data_length > 0) { if (data != NULL && data_length > 0) {
for (uint8_t i = 0; i < data_length; i++) { for (uint8_t i = 0; i < data_length; i++) {
response_buffer[index++] = data[i]; response_buffer[index++] = data[i];
} }
} }
uint8_t checksum = 0; uint16_t checksum = 0;
for (uint8_t i = 0; i < index; i++) { for (uint8_t i = 0; i < index; i++) {
checksum += response_buffer[i]; checksum += response_buffer[i];
} }
checksum %= 0xFF; checksum %= 0xFF;
response_buffer[index++] = checksum; response_buffer[index++] = checksum;
HAL_UART_Transmit(&huart3, response_buffer, index, HAL_MAX_DELAY);
// // Печать пакета в CDC с нумерацией байт
// char byte_msg[128];
// snprintf(byte_msg, sizeof(byte_msg), "Sending response buffer (%d bytes):\n", index);
// CDC_Transmit_FS((uint8_t*) byte_msg, strlen(byte_msg));
//
// for (uint8_t i = 0; i < index; i++) {
// char byte_info[32];
// snprintf(byte_info, sizeof(byte_info), "Byte %d: 0x%02X\n", i, response_buffer[i]);
// CDC_Transmit_FS((uint8_t*) byte_info, strlen(byte_info));
// }CDC_Transmit_FS((uint8_t*) "\n\n", 2);
HAL_UART_Transmit(&huart3, response_buffer, index, HAL_MAX_DELAY);
} }
void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) { void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) {
uint8_t command = dataPtr[0]; uint8_t command = dataPtr[0];
if(command != 0xb5){
print("Received command: "); print("Received command: ");
printNumber(command); printNumber(command);
@ -204,6 +202,7 @@ void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) {
} }
} }
print("]\n"); print("]\n");
}
switch (command) { switch (command) {
case 10: case 10: