sunlight
10 months ago
21 changed files with 297 additions and 200 deletions
-
4.cproject
-
3.vscode/settings.json
-
1Core/Inc/Backup/stm32f4xx_it.h.bak
-
4Core/Inc/usart.h
-
4Core/Src/Backup/dma.c.bak
-
4Core/Src/Backup/gpio.c.bak
-
15Core/Src/Backup/stm32f4xx_it.c.bak
-
27Core/Src/Backup/usart.c.bak
-
2Core/Src/adc.c
-
4Core/Src/gpio.c
-
2Core/Src/stm32f4xx_it.c
-
6Core/Src/usart.c
-
19Usr/core.c
-
2Usr/module/feite_servo/need.txt
-
46Usr/module/feite_servo/servo_driver.c
-
94Usr/module/feite_servo/servo_operation.c
-
9Usr/module/feite_servo/servo_operation.h
-
159Usr/module/feite_servo/servo_package_process.c
-
39Usr/module/feite_servo/servo_package_process.h
-
2Usr/stm32itcb.c
-
51auxiliary_addition.ioc
@ -0,0 +1,94 @@ |
|||
#include "servo_operation.h" |
|||
|
|||
#include <stdbool.h> |
|||
#include <stdio.h> |
|||
#include <string.h> |
|||
|
|||
static UART_HandleTypeDef* m_uart; |
|||
|
|||
static uint8_t tx_buf[PROCESS_MAX_LEN]; |
|||
static uint8_t rx_buf[PROCESS_MAX_LEN]; |
|||
static uint8_t tx_send_len; |
|||
|
|||
static uint8_t cmd_type; |
|||
|
|||
static uint8_t check_sum; |
|||
|
|||
// 我需要一个能携带寄存器信息的变量 |
|||
static reg_info_t reg_info; |
|||
|
|||
|
|||
|
|||
/** |
|||
* @description: 舵机串口初始化 |
|||
* @param {UART_HandleTypeDef*} uart |
|||
* @return {*} |
|||
*/ |
|||
void servo_uart_init(UART_HandleTypeDef* uart) { m_uart = uart; } |
|||
|
|||
/** |
|||
* @description: 写操作 |
|||
* @param {servo_obj_t*} servo 舵机对象 |
|||
* @return {*} |
|||
*/ |
|||
bool Write_operete(uint8_t id, uint8_t cmd, param_t* param) { |
|||
reg_distinguish(param, ®_info); |
|||
|
|||
if (cmd != SYC_W_DATA) |
|||
cmd_type = non_syn; |
|||
else |
|||
cmd_type = syn; |
|||
|
|||
write_reg(id, cmd, param); |
|||
return true; |
|||
} |
|||
|
|||
void Ping_operete(uint8_t id) { |
|||
cmd_basic_t* cmd_basic = (cmd_basic_t*)tx_buf; |
|||
cmd_basic->head = 0xffff; |
|||
cmd_basic->id = id; |
|||
cmd_basic->valid_len = 0x02; |
|||
cmd_basic->cmd = PING; |
|||
|
|||
check_sum = check_sum_calculate(&tx_buf[2], NULL); |
|||
memcpy(&tx_buf[BASCI_LEN], &check_sum, 1); |
|||
tx_send_len = BASCI_LEN + 1; // 1 = check_sum |
|||
packet_process(m_uart, tx_buf, rx_buf, tx_send_len); |
|||
} |
|||
|
|||
// 初始方案无法确定发送参数的长度，用了一个数组但是导致指令包过大，所以改了个方法 |
|||
/** |
|||
* @description: |
|||
* @param {uint8_t} id |
|||
* @param {uint8_t} cmd |
|||
* @param {param_t*} param |
|||
* @return {*} |
|||
*/ |
|||
void write_reg(uint8_t id, uint8_t cmd, param_t* param) { |
|||
uint8_t param_real_len = param->count * reg_info.data_len; // 参数个数*每个参数长度 = 实际参数长度 |
|||
cmd_basic_t* cmd_basic = (cmd_basic_t*)tx_buf; // 解决发送数据不是数组问题 |
|||
uint8_t* cmd_param = &tx_buf[5]; |
|||
|
|||
cmd_basic->head = 0xffff; |
|||
cmd_basic->id = id; |
|||
|
|||
if (cmd_type) { |
|||
cmd_basic->valid_len = param_real_len + 3; // cmd + id + check_sum = 3 |
|||
cmd_basic->cmd = cmd; |
|||
cmd_param[0] = param->addr; |
|||
// 判断参数数据长度 |
|||
if (reg_info.data_len == byte) { |
|||
memcpy(&cmd_param[1], param->data, param->count); |
|||
} else if (reg_info.data_len == word) { |
|||
// 高低位交换，传入的寄存器地址不需要交换 |
|||
high_low_exchange(param, &cmd_param[1], ®_info); |
|||
} |
|||
} |
|||
// else 同步和非同步无法合并为一个函数 |
|||
check_sum = check_sum_calculate(&tx_buf[2], param); |
|||
// 将checksum放入指令包末尾 |
|||
memcpy(&tx_buf[BASCI_LEN + param_real_len + 1], &check_sum, 1); // tx_buff[5] == addr 1 = addr |
|||
|
|||
tx_send_len = BASCI_LEN + param_real_len + 2; // 2 = addr + check_sum |
|||
packet_process(m_uart, tx_buf,rx_buf, tx_send_len); |
|||
} |
|||
@ -0,0 +1,9 @@ |
|||
#pragma once |
|||
#include <stdint.h> |
|||
#include "servo_package_process.h" |
|||
|
|||
|
|||
|
|||
bool Write_operete(uint8_t id, uint8_t cmd, param_t* param); |
|||
void Ping_operete(uint8_t id); |
|||
void servo_uart_init(UART_HandleTypeDef* uart); |
|||
Write
Preview
Loading…
Cancel
Save
Reference in new issue