Merge branch 'master' of gitee.com:hnuyuelurm/basic_framework

Makefile

@@ -133,6 +133,7 @@ modules/super_cap/super_cap.c \
 modules/can_comm/can_comm.c \
 modules/message_center/message_center.c \
 modules/monitor/monitor.c \
+modules/vofa/vofa.c \
 application/gimbal/gimbal.c \
 application/chassis/chassis.c \
 application/shoot/shoot.c \
@@ -230,6 +231,7 @@ C_INCLUDES =  \
 -Imodules/can_comm \
 -Imodules/message_center \
 -Imodules/monitor \
+-Imodules/vofa \
 -Imodules/
 
 # compile gcc flags

modules/super_cap/super_cap.c

@@ -0,0 +1,47 @@
+/*
+ * @Descripttion:
+ * @version:
+ * @Author: Chenfu
+ * @Date: 2022-12-02 21:32:47
+ * @LastEditTime: 2022-12-05 15:29:49
+ */
+#include "super_cap.h"
+#include "memory.h"
+#include "stdlib.h"
+static SuperCapInstance *super_cap_instance = NULL;
+
+static void SuperCapRxCallback(can_instance *_instance)
+{
+    static uint8_t *rxbuff;
+    static SuperCap_Msg_s *Msg;
+    rxbuff = _instance->rx_buff;
+    Msg = &super_cap_instance->cap_msg;
+    Msg->vol = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]);
+    Msg->current = (uint16_t)(rxbuff[2] << 8 | rxbuff[3]);
+    Msg->power = (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
+}
+
+SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
+{
+    super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
+    memset(super_cap_instance, 0, sizeof(SuperCapInstance));
+    super_cap_instance->recv_data_len = supercap_config->recv_data_len;
+    super_cap_instance->send_data_len = supercap_config->send_data_len;
+
+    supercap_config->can_config.can_module_callback = SuperCapRxCallback;
+    super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
+    return super_cap_instance;
+}
+
+void SuperCapSend(SuperCapInstance *instance, uint8_t *data)
+{
+
+    CANSetDLC(instance->can_ins, 8);
+    memcpy(instance->can_ins->tx_buff, data, instance->send_data_len);
+    CANTransmit(instance->can_ins);
+}
+
+SuperCap_Msg_s SuperCapGet(SuperCapInstance *instance)
+{
+    return instance->cap_msg;
+}

modules/super_cap/super_cap.h

@@ -0,0 +1,50 @@
+/*
+ * @Descripttion: 
+ * @version: 
+ * @Author: Chenfu
+ * @Date: 2022-12-02 21:32:47
+ * @LastEditTime: 2022-12-05 15:25:46
+ */
+#ifndef SUPER_CAP_H
+#define SUPER_CAP_H 
+
+#include "bsp_can.h"
+
+typedef struct 
+{
+    uint16_t vol;
+    uint16_t current;
+    uint16_t power;
+}SuperCap_Msg_s;
+
+#pragma pack(1)
+typedef struct
+{
+    can_instance* can_ins;
+    /* 发送部分 */
+    uint8_t send_data_len;
+    uint8_t raw_sendbuf; 
+    /* 接收部分 */
+    uint8_t recv_data_len;
+    uint8_t raw_recvbuff;
+
+    SuperCap_Msg_s cap_msg;
+    
+} SuperCapInstance;
+#pragma pack()
+
+typedef struct
+{
+    can_instance_config_s can_config;
+    uint8_t send_data_len;
+    uint8_t recv_data_len;
+} SuperCap_Init_Config_s;
+
+SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s* supercap_config);
+
+void SuperCapSend(SuperCapInstance *instance, uint8_t *data);
+
+
+#endif // !SUPER_CAP_Hd
+
+

modules/super_cap/super_cap.md

@@ -0,0 +1,54 @@
+<!--
+ * @Descripttion: 
+ * @version: 
+ * @Author: Chenfu
+ * @Date: 2022-12-02 21:32:47
+ * @LastEditTime: 2022-12-05 15:27:57
+-->
+# super_can
+
+## 代码结构
+
+.h中放置的是数据定义和外部接口，以及协议的定义和宏，.c中包含一些私有函数。
+
+## 外部接口
+
+```c
+SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s* supercap_config);
+void SuperCapSend(SuperCapInstance *instance, uint8_t *data);
+```
+## 私有函数和变量
+
+```c
+static SuperCapInstance *super_cap_instance = NULL;
+static uint8_t *rxbuff;
+static void SuperCapRxCallback(can_instance *_instance)
+```
+
+`SuperCapRxCallback()`是super cap初始化can实例时的回调函数，用于can接收中断，进行协议解析。
+
+## 使用范例
+
+初始化时设置如下：
+
+```c
+SuperCap_Init_Config_s capconfig = {
+		.can_config = {
+			.can_handle = &hcan1,
+			.rx_id = 0x301,
+			.tx_id = 0x302
+		},
+		.recv_data_len = 4*sizeof(uint16_t),
+		.send_data_len = sizeof(uint8_t)
+	};
+SuperCapInstance *ins =SuperCapInit(&capconfig);
+```
+
+
+发送通过`SuperCapSend()`，建议使用强制类型转换：
+
+```c
+uint16_t tx = 0x321;
+SuperCapSend(ins, (uint8_t*)&tx);
+```
+

modules/vofa/vofa.c

@@ -0,0 +1,33 @@
+/*
+ * @Descripttion: 
+ * @version: 
+ * @Author: Chenfu
+ * @Date: 2022-12-05 12:39:07
+ * @LastEditTime: 2022-12-05 14:15:53
+ */
+#include "vofa.h"
+
+/*VOFA浮点协议*/
+void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart )
+{
+    static uint8_t i = 0;
+    send_float temp[num];			//定义缓冲区数组
+    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
+    for (i = 0; i < num; i++)
+    {
+        temp[i].float_t = data[i]; //将所传数据移到缓冲区数组
+    }
+    for (i = 0; i < num; i++)
+    {
+        send_data[4 * i] = temp[i].uint8_t[0];
+        send_data[4 * i + 1] = temp[i].uint8_t[1];
+        send_data[4 * i + 2] = temp[i].uint8_t[2];
+        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
+    }
+    send_data[4 * num] = 0x00;
+    send_data[4 * num + 1] = 0x00;
+    send_data[4 * num + 2] = 0x80;
+    send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴
+
+    HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
+}

modules/vofa/vofa.h

@@ -0,0 +1,21 @@
+/*
+ * @Descripttion: 
+ * @version: 
+ * @Author: Chenfu
+ * @Date: 2022-12-05 12:39:18
+ * @LastEditTime: 2022-12-05 13:37:36
+ */
+#ifndef VOFA_H
+#define VOFA_H
+#include <stdint-gcc.h>
+#include "bsp_usart.h"
+#include "usart.h"
+
+typedef union
+{
+    float float_t;
+    uint8_t uint8_t[4];
+} send_float;
+void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart);
+
+#endif // !1#define