motor_ctl-2/User/Src/uart_process.c

#include "uart_process.h"
#include "var.h"
#include "crc_cal.h"
#include "stdlib.h"
#include "stdio.h"
#include "string.h"
#include "can_process.h"
#include "tasks.h"

//命令处理
void UART_DataProcess(uint8_t Mode, uint16_t Command, uint8_t* Data)
{
  uint8_t DataLength;
	uint16_t Data16_Temp;
	
	//通信正常标志
	IsComOK_TE.IsOK_Flag = TRUE;
	IsComOK_TE.OK_TrigTime = HAL_GetTick();
	
	//命令解析
	DataLength = (uint8_t)(Command &0x00FF);
	switch(Command)
	{
	  case 0x8008:
		{
		  //复制TE返回故障码
			memcpy((uint8_t*)&MC_TE_SensorStatus.TE_ErrorCode, Data, DataLength);
			TE_MCU_DataRefreshFlag = TRUE;
			break;
		}
    case 0xC502://最后一帧数据
    {
      SendData(ID_MC_TE_TO_CDL, Mode, Command, Data);//将TE过来的数据直接透传到CAN
      IsSendDataToTE_Step = SENDSENSOR;  
      break;
    }
		case 0x9002://TE检测的硬件版本
		{
		  Data16_Temp = Data[0] + (Data[1] << 8);
			uint8_t i;
			for(i = 0; i < sizeof(Ver_Table) / 2 ; i++)
			{
			  if(Data16_Temp < Ver_Table[i]) break;
			}
			MC_VerInfo.HW_Version[7] = 'F' + i;
			break;
		}
    default:
    {
      SendData(ID_MC_TE_TO_CDL, Mode, Command, Data);//将TE过来的数据直接透传到CAN
      break;
    }
	}
}

//发送数据
uint8_t UartSendBuf[150];
uint8_t UartCRC_Buf[150];
void SendUartDataToTE(USART_Buf_TypeDef * ptTx,uint16_t IDnum,uint8_t Mode, uint16_t Command, uint8_t* Data)
{
	uint32_t CRC_Result = 0x00000000;
	uint8_t DataLength;
	
	DataLength = (uint8_t)(Command & 0xFF);
	UartSendBuf[0] = FRAME_BEGIN1;
	UartSendBuf[1] = FRAME_BEGIN2;
	UartSendBuf[2] = (uint8_t)((IDnum >> 8) & 0xFF);
	UartSendBuf[3] = (uint8_t)(IDnum & 0xFF);;
	UartSendBuf[4] = Mode;
	UartSendBuf[5] = DataLength + 2;
	UartSendBuf[6] = (uint8_t)((Command >> 8) & 0xFF);
	UartSendBuf[7] = DataLength;
	memcpy(UartSendBuf + 8, Data, DataLength);
	memcpy(UartCRC_Buf, UartSendBuf, 8 + DataLength);
	
	CRC_Result = CRC32_Calculate(UartCRC_Buf, DataLength + 8);
	
	UartSendBuf[8 + DataLength] = (uint8_t)((CRC_Result >> 24) & 0xFF);
	UartSendBuf[9 + DataLength] = (uint8_t)((CRC_Result >> 16) & 0xFF);
	UartSendBuf[10 + DataLength] = (uint8_t)((CRC_Result >> 8) & 0xFF);
	UartSendBuf[11 + DataLength] = (uint8_t)(CRC_Result & 0xFF);
	
	UartSendBuf[12 + DataLength] = FRAME_END;
	
	UART_SendData(ptTx, UartSendBuf, DataLength + 13);
}

//串口数据解析
uint8_t UartRevData[150], UartRevData_CRC_Buf[150];
void Uart_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
{
  uint8_t Mode, CmdLength, DataLength;
	uint16_t Cmd, i;
	uint32_t CrcResult, CrcData;
	uint8_t FrameBegin1, FrameBegin2;
	static uint32_t DelayTimeCnt = 0;
	static TrueOrFalse_Flag_Struct_t IsWaitRX_Flag = FALSE;
	
	if(ptUartRx->ucBufCnt >= 13)
	{
	  //读取帧头
		FrameBegin1 = UART_ReadChar(ptUartRx, 0);
		UartRevData_CRC_Buf[0] = FrameBegin1;
		FrameBegin2 = UART_ReadChar(ptUartRx, 1);
		UartRevData_CRC_Buf[1] = FrameBegin2;
		if((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
		{
		  UartRevData_CRC_Buf[2] = UART_ReadChar(ptUartRx, 2);
			UartRevData_CRC_Buf[3] = UART_ReadChar(ptUartRx, 3);
			//读取帧模式
			Mode = UART_ReadChar(ptUartRx, 4);
			UartRevData_CRC_Buf[4] = Mode;
			if((Mode == MODE_READ) || (Mode == MODE_WRITE) || (Mode == MODE_REPORT))
			{
			  //读取命令段长度和命令字
				CmdLength = UART_ReadChar(ptUartRx, 5);
				UartRevData_CRC_Buf[5] = CmdLength;
				Cmd = (UART_ReadChar(ptUartRx, 6) << 8) + UART_ReadChar(ptUartRx, 7);
				UartRevData_CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
		  	UartRevData_CRC_Buf[7] = (uint8_t)(Cmd & 0xFF);
				DataLength = UART_ReadChar(ptUartRx, 7);
				if((CmdLength - DataLength) == 2)
				{
					if(ptUartRx->ucBufCnt < (CmdLength + 11))//帧头2bytes  + ID2bytes 模式1byte + 命令段长度1byte + 校验位4bytes + 帧尾1byte
					{
					  if(IsWaitRX_Flag == FALSE)
						{
						  DelayTimeCnt = HAL_GetTick();
							IsWaitRX_Flag = TRUE;
						}
						if((HAL_GetTick() - DelayTimeCnt) > TimeOut)//超时，单位ms
						{
//						  UART_DelChar(ptUartRx, ptUartRx->ucBufCnt);
							DelayTimeCnt = HAL_GetTick();
							IsWaitRX_Flag = FALSE;
						}
						return;
					}
					else
					{					  
						IsWaitRX_Flag = FALSE;
						//接收到完整正确数据包
						for(i=0; i<DataLength; i++)//读取数据段
						{
						  UartRevData[i] = UART_ReadChar(ptUartRx, 8 + i);
							UartRevData_CRC_Buf[8 + i] = UartRevData[i];
						}
						CrcData = (UART_ReadChar(ptUartRx, 8 + DataLength) << 24) + \
						          (UART_ReadChar(ptUartRx, 9 + DataLength) << 16) + \
						          (UART_ReadChar(ptUartRx, 10 + DataLength) << 8) + \
						           UART_ReadChar(ptUartRx, 11 + DataLength);
						CrcResult = CRC32_Calculate(UartRevData_CRC_Buf, 8 + DataLength);
						if((CrcData - CrcResult) == 0) // 比较校验
						{
						  //数据处理
							UART_DataProcess(Mode, Cmd, UartRevData);//Mode为帧模式，Cmd为命令字，Data为数据段
							UART_DelChar(ptUartRx, CmdLength + 11);
							return;
						}
						UART_DelChar(ptUartRx, 1);
					}
				}
				else
				{
				  UART_DelChar(ptUartRx, 1);
				}
			}
			else
			{
			  UART_DelChar(ptUartRx, 1);
			}
		}
		else
		{
		  UART_DelChar(ptUartRx, 1);
		}
	}
}