93 lines
2.8 KiB
C
93 lines
2.8 KiB
C
/*
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* @Descripttion:
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* @version:
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* @Author: Chenfu
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* @Date: 2022-12-05 12:39:07
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* @LastEditTime: 2022-12-05 14:15:53
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*/
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#include "vofa.h"
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#include "usbd_cdc_if.h"
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typedef union
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{
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float float_t;
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uint8_t uint8_t[4];
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} send_float;
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/*VOFA浮点协议*/
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void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart )
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{
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static uint8_t i = 0;
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send_float temp[num]; //定义缓冲区数组
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uint8_t send_data[4 * num + 4]; //定义通过串口传出去的数组，数量是所传数据的字节数加上4个字节的尾巴
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for (i = 0; i < num; i++)
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{
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temp[i].float_t = data[i]; //将所传数据移到缓冲区数组
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}
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for (i = 0; i < num; i++)
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{
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send_data[4 * i] = temp[i].uint8_t[0];
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send_data[4 * i + 1] = temp[i].uint8_t[1];
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send_data[4 * i + 2] = temp[i].uint8_t[2];
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send_data[4 * i + 3] = temp[i].uint8_t[3]; //将缓冲区数组内的浮点型数据转成4个字节的无符号整型，之后传到要通过串口传出的数组里
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}
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send_data[4 * num] = 0x00;
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send_data[4 * num + 1] = 0x00;
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send_data[4 * num + 2] = 0x80;
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send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴
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//HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
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CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4);
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}
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#define BYTE0(dwTemp) (*(char*)(&dwTemp))
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#define BYTE1(dwTemp) (*((char*)(&dwTemp)+1))
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#define BYTE2(dwTemp) (*((char*)(&dwTemp)+2))
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#define BYTE3(dwTemp) (*((char*)(&dwTemp)+3))
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uint8_t DataSendBuf[100];
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//匿名上位机
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void ANODT_SendF1(int32_t Angle,int32_t speed_rpm,int32_t Angle_target,int32_t speed_target)//F1灵活格式帧
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{
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uint8_t cnt=0;
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DataSendBuf[cnt++]=0xAA; //帧头
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DataSendBuf[cnt++]=0xFF; //目标地址
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DataSendBuf[cnt++]=0xF1; //功能码
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DataSendBuf[cnt++]=16; //数据长度
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DataSendBuf[cnt++]=BYTE0(Angle);
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DataSendBuf[cnt++]=BYTE1(Angle);
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DataSendBuf[cnt++]=BYTE2(Angle);
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DataSendBuf[cnt++]=BYTE3(Angle);
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DataSendBuf[cnt++]=BYTE0(speed_rpm);
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DataSendBuf[cnt++]=BYTE1(speed_rpm);
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DataSendBuf[cnt++]=BYTE2(speed_rpm);
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DataSendBuf[cnt++]=BYTE3(speed_rpm);
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DataSendBuf[cnt++]=BYTE0(Angle_target);
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DataSendBuf[cnt++]=BYTE1(Angle_target);
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DataSendBuf[cnt++]=BYTE2(Angle_target);
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DataSendBuf[cnt++]=BYTE3(Angle_target);
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DataSendBuf[cnt++]=BYTE0(speed_target);
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DataSendBuf[cnt++]=BYTE1(speed_target);
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DataSendBuf[cnt++]=BYTE2(speed_target);
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DataSendBuf[cnt++]=BYTE3(speed_target);
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uint8_t sc=0; //和校验
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uint8_t ac=0; //附加校验
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for(uint8_t i=0;i<DataSendBuf[3]+4;i++)
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{
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sc+=DataSendBuf[i];
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ac+=sc;
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}
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DataSendBuf[cnt++]=sc;
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DataSendBuf[cnt++]=ac;
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// for(uint8_t i=0;i<cnt;i++)
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// HAL_UART_Transmit(&huart6,&DataSendBuf[i],1,100);
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CDC_Transmit_FS(DataSendBuf, cnt);
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}
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