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update，编码器数据处理

external_Interrupt
tianjialong 2 years ago
parent
5eed3eecfa
commit
ff8ae9066a
3 changed files with 21 additions and 138 deletions
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  1. 142
      MDK-ARM/LWIP.uvguix.29643
  2. 6
      usersrc/encoder.c
  3. 11
      usersrc/udpclient.c

142
MDK-ARM/LWIP.uvguix.29643
View File

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6
usersrc/encoder.c
View File

@ -57,11 +57,13 @@ bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
switch (encoder)
{
case CAMERA_ENCODER:
*encoder_value = __HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
*encoder_value += (short)__HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
__HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler) = 0; /* 清零 */
get_encoder_value_flag = true;
break;
case DRIVEN_ENCODER_GEAR:
*encoder_value = __HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
*encoder_value += (short)__HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler);
__HAL_TIM_GET_COUNTER(m_uarts[encoder].tim_handler) = 0; /* 清零 */
get_encoder_value_flag = true;
break;

11
usersrc/udpclient.c
View File

@ -66,6 +66,14 @@ static void active_report_data_structer_update(void)
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)
{
/* 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 */
@ -81,8 +89,7 @@ static void udp_client_create_get_encoder_response(get_encoder_report_t *get_enc
get_encoder_respont_structer.index = get_encoder_cmd->index;
get_encoder_respont_structer.cmd_id = get_encoder_cmd->cmd_id;
encoder_read_with_encoder(CAMERA_ENCODER, &get_encoder_respont_structer.encoder1);
encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &get_encoder_respont_structer.encoder2);
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)

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