diff --git a/Makefile b/Makefile index d065732..6b357e7 100644 --- a/Makefile +++ b/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 diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index e69de29..ba1b252 100644 --- a/modules/super_cap/super_cap.c +++ b/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; +} \ No newline at end of file diff --git a/modules/super_cap/super_cap.h b/modules/super_cap/super_cap.h index e69de29..4c71908 100644 --- a/modules/super_cap/super_cap.h +++ b/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 + + diff --git a/modules/super_cap/super_cap.md b/modules/super_cap/super_cap.md index e69de29..5f70f63 100644 --- a/modules/super_cap/super_cap.md +++ b/modules/super_cap/super_cap.md @@ -0,0 +1,54 @@ + +# 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); +``` + diff --git a/modules/vofa/vofa.c b/modules/vofa/vofa.c new file mode 100644 index 0000000..298bbcf --- /dev/null +++ b/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); +} diff --git a/modules/vofa/vofa.h b/modules/vofa/vofa.h new file mode 100644 index 0000000..66334d0 --- /dev/null +++ b/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 +#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 \ No newline at end of file