diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index 6e71d1c..afd063d 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
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968
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+ 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000044C57495096000000000000000100044C574950000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000
583
@@ -3603,7 +3603,7 @@
0
100
- 4
+ 5
..\usersrc\usermain.c
0
@@ -3651,9 +3651,9 @@
..\usersrc\udpclient.c
- 0
- 273
- 296
+ 65
+ 97
+ 120
1
0
diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index 3494217..ca15201 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -144,8 +144,8 @@ encoder_light_state_t encoder_get_state(encoder_usage_t encoder)
void encoder_all_encoder_clear_counter_and_structer_count(void)
{
- udp_client_get_active_report_data_structer()->encoder_1_count = 0;
- udp_client_get_active_report_data_structer()->encoder_2_count = 0;
+ udp_client_get_active_report_data_structer()->encoder1 = 0;
+ udp_client_get_active_report_data_structer()->encoder2 = 0;
encoder_all_clear_counter();
}
@@ -155,11 +155,11 @@ void encoder_switch_encoder_clear_count_and_structer_count(encoder_usage_t encod
switch (encoder)
{
case CAMERA_ENCODER:
- udp_client_get_active_report_data_structer()->encoder_1_count = 0;
+ udp_client_get_active_report_data_structer()->encoder1 = 0;
encoder_clear_counter(CAMERA_ENCODER);
break;
case DRIVEN_ENCODER_GEAR:
- udp_client_get_active_report_data_structer()->encoder_2_count = 0;
+ udp_client_get_active_report_data_structer()->encoder2 = 0;
encoder_clear_counter(DRIVEN_ENCODER_GEAR);
break;
diff --git a/usersrc/protocol.h b/usersrc/protocol.h
index 15dccd3..bd25002 100644
--- a/usersrc/protocol.h
+++ b/usersrc/protocol.h
@@ -11,14 +11,6 @@
typedef enum
{
- CMD_SET_AUTOMATIC_REPORTING_FREQUENCY = 0X01,
- CMD_GET_ENCODER_DATA = 0X02,
- CMD_SET_ACTIVE = 0X03,
- CMD_CLEAR_ENCODER = 0X04,
-} cmd_id_type;
-
-typedef enum
-{
PROTOCOL_CMD_CLEAR_ENCODER = 0X01,
PROTOCOL_CMD_READ_ENCODER = 0X02,
PROTOCOL_CMD_ACTIVE = 0X03,
@@ -52,41 +44,6 @@ typedef struct
uint64_t fixed_bit_6; /* 固定位6:00 00 00 00 00 00 00 00 */
} adwin_config_protocol_t;
-typedef struct
-{
- uint16_t index; /* */
- uint16_t cmd_id; /* 指令id */
- uint32_t time_stamp_s; /* 时间戳 */
- uint32_t encoder_1_count; /* 编码器1计数 */
- uint32_t encoder_2_count; /* 编码器2计数 */
- uint8_t device_id; /* 设备ID号 */
- uint8_t checksum; /* 校验和 */
-} active_report_data_t;
-
-typedef struct
-{
- uint16_t index; /* */
- uint16_t cmd_id; /* 指令id */
- uint16_t data; /* 数据 */
- uint8_t checksum; /* 校验和 */
-} basic_report_data_t;
-
-typedef struct
-{
- uint16_t index; /* */
- uint16_t cmd_id; /* 指令id */
- uint8_t checksum; /* 校验和 */
-} get_encoder_report_t;
-
-typedef struct
-{
- uint16_t index; /* */
- uint16_t cmd_id; /* 指令id */
- uint32_t encoder1; /* 编码器1的数据 */
- uint32_t encoder2; /* 编码器2的数据 */
- uint8_t checksum; /* 校验和 */
-} get_encoder_respont_t;
-
/***********************************************************************************************************************
* *******************************************************basic******************************************************* *
***********************************************************************************************************************/
@@ -207,8 +164,8 @@ typedef struct
uint16_t cmd_id; /* 指令id */
uint32_t placeholder_1; /* 占位符1 */
uint32_t placeholder_2; /* 占位符2 */
- int32_t encoder1; /* 编码器1的数据 */
- int32_t encoder2; /* 编码器2的数据 */
+ uint32_t encoder1; /* 编码器1的数据 */
+ uint32_t encoder2; /* 编码器2的数据 */
uint8_t checksum; /* 校验和 */
} protocol_active_and_trigger_report_t;
diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c
index 93f0803..2f95d87 100644
--- a/usersrc/udpclient.c
+++ b/usersrc/udpclient.c
@@ -26,7 +26,8 @@ static bool genlock_and_esync_active_flag;
#define SOCKET_ERROR -1
#define BUFFER_SIZE 256 // 缓冲区大小
-#define ACTIVE_ID 0XDD
+#define ACTIVE_CMD_ID 0XC003
+#define TRIGGER_ID 0XC004
#define DEVICE_ID 0X01
#define AVTIVE_DISABLE 0
@@ -48,83 +49,52 @@ static struct sockaddr_in addr_client;
static struct sockaddr_in sock;
socklen_t sock_len = sizeof(sock);
-static active_report_data_t active_report_data_structer;
+static protocol_active_and_trigger_report_t active_report_data_structer;
static int active_report_cycle;
-static void active_report_data_structer_init(void)
-{
- /* index在每次上报一次主动上报数据后+1,时间戳在获取ESync命令时更新,编码器数值在 active_report_data_structer_update中更新,校验和在上传数据前(udp_client_active_response)进行更新*/
- active_report_data_structer.index = 0; /* */
- active_report_data_structer.cmd_id = ACTIVE_ID; /* 指令id */
- active_report_data_structer.time_stamp_s = 0; /* 时间戳 */
- active_report_data_structer.encoder_1_count = 0; /* 编码器1计数 */
- active_report_data_structer.encoder_2_count = 0; /* 编码器2计数 */
- active_report_data_structer.device_id = DEVICE_ID; /* 设备ID号 */
-}
-
-static void active_report_data_structer_update(void)
-{
- /* 时间戳暂时先不管,后续完善 */
- encoder_read_with_encoder(CAMERA_ENCODER, &active_report_data_structer.encoder_1_count);
- encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &active_report_data_structer.encoder_2_count);
-}
-
-static void get_encoder_response_encoder_update(get_encoder_respont_t *get_encoder_respont_structer)
-{
- /* 时间戳暂时先不管,后续完善 */
- active_report_data_structer_update();
- get_encoder_respont_structer->encoder1 = active_report_data_structer.encoder_1_count;
- get_encoder_respont_structer->encoder2 = active_report_data_structer.encoder_2_count;
-}
-
-static void udp_client_create_basic_response(basic_report_data_t *rxcmd, int recv_datalen)
+static void udp_client_all_encoder_light_set(encoder_light_state_t state)
{
- /* 因为发送和接收是一致的,所以不需要二次校验,直接把接收的数据发送即可 */
- if (sendto(sock_Client, rxcmd, sizeof(basic_report_data_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
+ if (state == STANDBY)
{
- printf("send basic_response error\r\n");
+ encoder_set_state(CAMERA_ENCODER, STANDBY);
+ encoder_set_state(DRIVEN_ENCODER_GEAR, STANDBY);
+ }
+ else if (state == WORKING)
+ {
+ encoder_set_state(CAMERA_ENCODER, WORKING);
+ encoder_set_state(DRIVEN_ENCODER_GEAR, WORKING);
}
}
-static void udp_client_create_get_encoder_response(get_encoder_report_t *get_encoder_cmd, int recv_datalen)
+/* ===================================================================== */
+static void active_report_data_structer_init(void)
{
- get_encoder_respont_t get_encoder_respont_structer;
-
- get_encoder_respont_structer.index = get_encoder_cmd->index;
- get_encoder_respont_structer.cmd_id = get_encoder_cmd->cmd_id;
- get_encoder_response_encoder_update(&get_encoder_respont_structer);
- get_encoder_respont_structer.checksum = computesum8((char *)&get_encoder_respont_structer, sizeof(get_encoder_respont_t) - 1);
-
- if (sendto(sock_Client, &get_encoder_respont_structer, sizeof(get_encoder_respont_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
- {
- printf("send basic_response error\r\n");
- }
+ /* index在每次上报一次主动上报数据后+1,时间戳在获取ESync命令时更新,编码器数值在 active_report_data_structer_update中更新,校验和在上传数据前(udp_client_active_response)进行更新*/
+ active_report_data_structer.index = 0; /* */
+ active_report_data_structer.cmd_id = ACTIVE_CMD_ID; /* 指令id */
+ active_report_data_structer.placeholder_1 = 0;
+ active_report_data_structer.placeholder_2 = 0;
+ active_report_data_structer.encoder1 = 0;
+ active_report_data_structer.encoder2 = 0;
}
-static void udp_client_active_response(void)
+static void active_report_data_structer_update(void)
{
- active_report_data_structer.checksum = computesum8((char *)&active_report_data_structer, sizeof(active_report_data_t) - 1);
- if (sendto(sock_Client, &active_report_data_structer, sizeof(active_report_data_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
- {
- printf("send basic_response error\r\n");
- }
+ /* 时间戳暂时先不管,后续完善 */
+ encoder_read_with_encoder(CAMERA_ENCODER, &active_report_data_structer.encoder1);
+ encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &active_report_data_structer.placeholder_2);
}
-static void udp_client_all_encoder_light_set(encoder_light_state_t state)
+/* 主动上报格式 */
+static void udp_client_active_report(void)
{
- if (state == STANDBY)
- {
- encoder_set_state(CAMERA_ENCODER, STANDBY);
- encoder_set_state(DRIVEN_ENCODER_GEAR, STANDBY);
- }
- else if (state == WORKING)
+ active_report_data_structer.checksum = computesum8((char *)&active_report_data_structer, sizeof(protocol_active_and_trigger_report_t) - 1);
+ if (sendto(sock_Client, &active_report_data_structer, sizeof(protocol_active_and_trigger_report_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
{
- encoder_set_state(CAMERA_ENCODER, WORKING);
- encoder_set_state(DRIVEN_ENCODER_GEAR, WORKING);
+ printf("send basic_response error\r\n");
}
}
-/* ===================================================================== */
/* 清除编码器数据指令回执 */
static void udp_client_clear_encoder_cmd_receipt(protocol_clear_encoder_order_t *order, protocol_status_code_type state_code)
{
@@ -146,8 +116,8 @@ static void udp_client_read_encoder_cmd_receipt(protocol_read_encoder_order_t *o
receipt.index = order->index;
receipt.cmd_id = order->cmd_id + ORDER_RECEIPT_INTERCONVERSION;
active_report_data_structer_update();
- receipt.encoder1 = active_report_data_structer.encoder_1_count;
- receipt.encoder2 = active_report_data_structer.encoder_2_count;
+ receipt.encoder1 = active_report_data_structer.encoder1;
+ receipt.encoder2 = active_report_data_structer.placeholder_2;
receipt.checksum = computesum8((char *)&receipt, sizeof(protocol_read_encoder_receipt_t) - 1);
if (sendto(sock_Client, &receipt, sizeof(protocol_read_encoder_receipt_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR)
{
@@ -270,77 +240,12 @@ void udp_client_parse(int recv_datalen)
bool checksum_flag = true;
if (recv_datalen >= adwin_config_protocol_size)
{
- adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf;
- active_report_data_structer.time_stamp_s = rxcmd->time_stamp_s;
+ // adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf;
+ // active_report_data_structer.time_stamp_s = rxcmd->time_stamp_s;
genlock_and_esync_active_flag = true;
}
else if (recv_datalen >= protocol_basic_size)
{
- // basic_report_data_t *rxcmd = (basic_report_data_t *)s_receBuf;
- // get_encoder_report_t *get_encoder_cmd = (get_encoder_report_t *)s_receBuf;
- // switch (rxcmd->cmd_id)
- // {
- // case CMD_SET_AUTOMATIC_REPORTING_FREQUENCY: /* 设置自动上报频率 */
- // cmd_checksum(rxcmd);
- // if (rxcmd->data >= 10)
- // {
- // active_report_cycle = rxcmd->data;
- // }
- // udp_client_create_basic_response(rxcmd, recv_datalen);
- // break;
- // case CMD_GET_ENCODER_DATA: /* 获取编码器数据 */
- // cmd_checksum(get_encoder_cmd);
- // udp_client_create_get_encoder_response(get_encoder_cmd, recv_datalen);
-
- // if (!udp_client_active_flag)
- // {
- // udp_client_all_encoder_light_set(STANDBY);
- // }
-
- // break;
- // case CMD_SET_ACTIVE: /* 设置主动上报 */
- // cmd_checksum(rxcmd);
- // if ((rxcmd->data == AVTIVE_DISABLE) || (rxcmd->data == ACTIVE_ENABLE))
- // {
- // udp_client_active_flag = rxcmd->data;
- // if (udp_client_active_flag)
- // {
- // udp_client_all_encoder_light_set(WORKING);
- // }
- // else
- // {
- // udp_client_all_encoder_light_set(STANDBY);
- // }
- // }
- // udp_client_create_basic_response(rxcmd, recv_datalen);
- // break;
- // case CMD_CLEAR_ENCODER: /* 清除编码器数据 */
- // cmd_checksum(rxcmd);
-
- // switch (rxcmd->data)
- // {
- // case CLEAR_ENCODER_ALL:
- // encoder_all_encoder_clear_counter_and_structer_count();
- // break;
- // case CLEAR_ENCODER_1:
- // encoder_switch_encoder_clear_count_and_structer_count(CAMERA_ENCODER);
- // break;
- // case CLEAR_ENCODER_2:
- // encoder_switch_encoder_clear_count_and_structer_count(DRIVEN_ENCODER_GEAR);
- // break;
-
- // default:
- // printf("not find clear encoder cmd\r\n");
- // break;
- // }
-
- // udp_client_create_basic_response(rxcmd, recv_datalen);
-
- // break;
-
- // default:
- // break;
- // }
protocol_basic_t *protocol_basic_cmd = (protocol_basic_t *)s_receBuf;
protocol_clear_encoder_order_t *protocol_clear_encoder_cmd = (protocol_clear_encoder_order_t *)s_receBuf;
protocol_read_encoder_order_t *protocol_read_encoder_cmd = (protocol_read_encoder_order_t *)s_receBuf;
@@ -437,7 +342,7 @@ void udp_client_active(void)
{
lastprocess = HAL_GetTick();
active_report_data_structer_update();
- udp_client_active_response();
+ udp_client_active_report();
active_report_data_structer.index += 1;
}
}
@@ -448,7 +353,7 @@ void udp_client_genlock_and_esync_active(void)
if (genlock_and_esync_active_flag)
{
active_report_data_structer_update();
- udp_client_active_response();
+ udp_client_active_report();
if (!udp_client_active_flag)
{
@@ -456,7 +361,7 @@ void udp_client_genlock_and_esync_active(void)
}
active_report_data_structer.index += 1;
- active_report_data_structer.time_stamp_s = 0;
+ // active_report_data_structer.time_stamp_s = 0;
genlock_and_esync_active_flag = false;
}
}
@@ -466,7 +371,7 @@ bool *udp_client_genlock_and_esync_active_flag_ret(void)
return &genlock_and_esync_active_flag;
}
-active_report_data_t *udp_client_get_active_report_data_structer(void)
+protocol_active_and_trigger_report_t *udp_client_get_active_report_data_structer(void)
{
return &active_report_data_structer;
}
diff --git a/usersrc/udpclient.h b/usersrc/udpclient.h
index 8cf945c..d22fc21 100644
--- a/usersrc/udpclient.h
+++ b/usersrc/udpclient.h
@@ -12,4 +12,4 @@ void udp_client_active(void);
void udp_client_genlock_and_esync_active(void);
bool *udp_client_genlock_and_esync_active_flag_ret(void);
-active_report_data_t *udp_client_get_active_report_data_structer(void);
+protocol_active_and_trigger_report_t *udp_client_get_active_report_data_structer(void);