camera_roller_test_platform_byweizhuangzhuang-master/lcd.c

/**
 * @file lcd.c
 * @author 1722451300@qq.com
 * @brief 
 * @version 0.1
 * @date 2021-12-15
 * 
 * @copyright Copyright (c) 2021
 * 
 */
#include "lcd.h"
volatile char lcd_rxbuff[50] = {0};
volatile int32_t lcd_count = 0;
//volatile int32_t recv_lcd_data_state=0;//1就判断是不是接收完成，0不判断
//volatile int32_t from_lcd_recv_state = 0;
//volatile int32_t lcd_t8_state = 0;
extern volatile int32_t first_set_motor_speed_dsp;
volatile int32_t lcd_issue_motor_speed=0; 
volatile int16_t judge_now_foreward_or_reversal_state=0;//正转0，反转1
volatile int32_t first_set_speed_state=0;
extern volatile int32_t speed_dsp_now;//当前电机的速度单位dsp
extern int32_t recv_lcd_data_time;
extern volatile int32_t motor_jerk_state;//1电机处于急停状态

//-----------------------------------------
//-----------------------------------------


void lcd_uart_config(void)
{
    /**
 * @brief LCD的芯片与上位机的通信 Pro2303LCD段
 * 
 */
    uart1_config();
}

void send_cmd_to_lcd(volatile char buff[20], unsigned int num)
{
    /**
 * @brief 向LCD发送11命令
 * 
 */
    while (num--)
    {
        while (!TRMT1)
            ;
        TX1B = *buff;
        buff++;
    }
}
//---------------------------------------
//---------------------------------------
uint8_t g_lcd_rxbuf_isready = 0;
static uint32_t process_recv_lcd_data_time = 0;
void recv_from_lcd_data(unsigned char data)
{
/**
 * @brief 接收来自lcd的数据
 * 
 */
    g_lcd_rxbuf_isready=true;//进入中断就让他为真
    lcd_rxbuff[lcd_count++] = data;
}

void judge_recv_lcd_data_finish(void)
{
    /**
 * @brief 接收LCD的数据完成
 */
  static uint32_t recv_lcd_data_time = 0;
  if (hal_has_passedms(recv_lcd_data_time) > 10) {
    g_lcd_rxbuf_isready=false;
    recv_lcd_data_time = hal_get_ticket();
    send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
  }
}


/**
 * @brief 对来自lcd的指令进行分析
 * @param buff 指令，num 指令的字节长度
 * 
 */
uint8_t  lcd_data_analyse(volatile char buff[20], unsigned int num)
{
    volatile char str[2]={0};
    volatile int32_t speed=0; 
     if(buff[0]!=0x5A || buff[1]!=0xA5)
    {
        return -1;
    }
    if(buff[3]==0x83)//如果是就代表着指令要发送给电机控制电机的状态
    {
       
        if(buff[4]==0x50&&buff[5]==0x20)//速度指令(包括+-设置停止四种方法)
        {
           lcd_issue_motor_speed = buff[7]<<8|buff[8];
           lcd_issue_motor_speed = lcd_issue_motor_speed*6;//这个是最终lcd下发的电机速度单位dsp
            if(first_set_speed_state==0)//第一次是进行速度的设定不需要向电机下发
            {
                first_set_motor_speed_dsp = lcd_issue_motor_speed;
                first_set_speed_state=1;
                lcd_issue_motor_speed=0;
            }
            else 
            {
                lcd_issue_motor_speed = judge_foreward_or_reversal(lcd_issue_motor_speed,judge_now_foreward_or_reversal_state);//判断正转还是反转
            }
        }
        else  if(buff[4]==0x50&&buff[5]==0x00)//正转命令
        {
            judge_now_foreward_or_reversal_state=0;
            lcd_issue_motor_speed = judge_foreward_or_reversal(first_set_motor_speed_dsp,0);//判断正转还是反转lcd_issue_motor_speed单位dsp
        }
        else  if(buff[4]==0x50&&buff[5]==0x10)//反转命令
        {
            judge_now_foreward_or_reversal_state=1;
            lcd_issue_motor_speed = judge_foreward_or_reversal(first_set_motor_speed_dsp,1);//判断正转还是反转
            //set_motor_speed(lcd_issue_motor_speed);
        }
    }
    else return -1;
}

void lcd_switch_anomaly_page(void)
{
/**
 * @brief 电机处于异常时屏幕切换到异常界面,不可点击确定按键
 * 5A A5 07 82 00 84 5A 01 00 01
 */
    unsigned char anomaly_page_send_lcd_cmd[10]={0};
    anomaly_page_send_lcd_cmd[0]=0x5A;
    anomaly_page_send_lcd_cmd[1]=0xA5;
    anomaly_page_send_lcd_cmd[2]=0x07;
    anomaly_page_send_lcd_cmd[3]=0x82;
    anomaly_page_send_lcd_cmd[4]=0x00;
    anomaly_page_send_lcd_cmd[5]=0x84;
    anomaly_page_send_lcd_cmd[6]=0x5A;
    anomaly_page_send_lcd_cmd[7]=0x01;
    anomaly_page_send_lcd_cmd[8]=0x00;
    anomaly_page_send_lcd_cmd[9]=0x08;
    send_cmd_to_lcd(anomaly_page_send_lcd_cmd,10);
}

void lcd_switch_anomaly_page_key(void)
{
/**
 * @brief 电机处于异常时屏幕切换到异常界面,可点击确定按键
 * 5A A5 07 82 00 84 5A 01 00 01
 */
    unsigned char anomaly_page_send_lcd_cmd[10]={0};
    anomaly_page_send_lcd_cmd[0]=0x5A;
    anomaly_page_send_lcd_cmd[1]=0xA5;
    anomaly_page_send_lcd_cmd[2]=0x07;
    anomaly_page_send_lcd_cmd[3]=0x82;
    anomaly_page_send_lcd_cmd[4]=0x00;
    anomaly_page_send_lcd_cmd[5]=0x84;
    anomaly_page_send_lcd_cmd[6]=0x5A;
    anomaly_page_send_lcd_cmd[7]=0x01;
    anomaly_page_send_lcd_cmd[8]=0x00;
    anomaly_page_send_lcd_cmd[9]=0x07;
    send_cmd_to_lcd(anomaly_page_send_lcd_cmd,10);
}


void lcd_actual_speed_set(int32_t now_speed)
{
/**
 * @brief 设置屏幕上实际速度值
 * 5A A5 05 82 50 90 00 64
 */
   volatile unsigned char lcd_show_now_motor_speed[10]={0};
    now_speed = now_speed/6;
    lcd_show_now_motor_speed[0]=0x5A;
    lcd_show_now_motor_speed[1]=0xA5;
    lcd_show_now_motor_speed[2]=0x05;
    lcd_show_now_motor_speed[3]=0x82;
    lcd_show_now_motor_speed[4]=0x50;
    lcd_show_now_motor_speed[5]=0x90;
    //速度具体值
    lcd_show_now_motor_speed[6]=(now_speed>>8)&0xff;//速度高字节
    lcd_show_now_motor_speed[7]=now_speed&0xff;//速度低字节
    send_cmd_to_lcd(lcd_show_now_motor_speed,8);
}

void lcd_speed_set_val(int32_t now_speed)
{
/**
 * @brief 设置屏幕上速度设定值
 * 5A A5 05 82 50 20 00 00
 */
    unsigned char lcd_show_now_motor_speed[10]={0};
    lcd_show_now_motor_speed[0]=0x5A;
    lcd_show_now_motor_speed[1]=0xA5;
    lcd_show_now_motor_speed[2]=0x05;
    lcd_show_now_motor_speed[3]=0x82;
    lcd_show_now_motor_speed[4]=0x50;
    lcd_show_now_motor_speed[5]=0x20;
    //速度具体值
    lcd_show_now_motor_speed[6]=0x00;//速度高字节
    lcd_show_now_motor_speed[7]=0x00;//速度低字节
    send_cmd_to_lcd(lcd_show_now_motor_speed,8);
}

void clear_zero(void)
{
/**
 * @brief 发生异常的时候清零
 * 
 */
    lcd_actual_speed_set(0);
    lcd_speed_set_val(0);
    judge_now_foreward_or_reversal_state=0;
    first_set_motor_speed_dsp=0;
    lcd_issue_motor_speed=0;
}