motor_ctl-3/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"

//命令处理
void UART_DataProcess(uint8_t Mode, uint16_t Command, uint8_t* Data)
{
  uint8_t DataLength;
	static uint8_t EnterCnt = 0;
	
	//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);
			//发送同步信号，清零计数
			EnterCnt++;
			if(EnterCnt >= 20)
			{
				if(MC_TE_SensorStatus.TE_ErrorCode.Status_Bit.BikeSpeed == 0)
				{
					MC_TE_SensorData.SpeedSensorTrigCnt = 0;
				}
				if(MC_TE_SensorStatus.TE_ErrorCode.Status_Bit.StopBreak == 0)
				{
					MC_TE_SensorData.BreakTrgiCnt = 0;
				}
				if(MC_TE_SensorStatus.TE_ErrorCode.Status_Bit.CadenseSensor_1 == 0)
				{
					MC_TE_SensorData.CadenceHall_1_Cnt = 0;
				}
				if(MC_TE_SensorStatus.TE_ErrorCode.Status_Bit.CadenseSensor_2 == 0)
				{
					MC_TE_SensorData.CadenceHall_2_Cnt = 0;
				}
				if(MC_TE_SensorStatus.TE_ErrorCode.Status_Bit.HallSensor_A == 0)
				{
					MC_TE_SensorData.MotorHall_A_Cnt = 0;
				}
				if(MC_TE_SensorStatus.TE_ErrorCode.Status_Bit.HallSensor_B == 0)
				{
					MC_TE_SensorData.MotorHall_B_Cnt = 0;
				}
				HAL_GPIO_TogglePin(SYC_IO_GPIO_Port, SYC_IO_Pin);
				EnterCnt = 0;
			}
			break;
		}
		default:break;
	}
}

//发送数据
void SendCmdData(USART_Buf_TypeDef * ptTx, uint8_t Mode, uint16_t Command, uint8_t* Data)
{
  uint8_t SendBuf[96] = {0};
	uint8_t CRC_Buf[98] = {0};
	uint32_t CRC_Result = 0x00000000;
	uint8_t DataLength;
	
	DataLength = (uint8_t)(Command & 0xFF);
	SendBuf[0] = FRAME_BEGIN1;
	SendBuf[1] = FRAME_BEGIN2;
	SendBuf[2] = 0x07;
	SendBuf[3] = 0xFF;
	SendBuf[4] = Mode;
	SendBuf[5] = DataLength + 2;
	SendBuf[6] = (uint8_t)((Command >> 8) & 0xFF);
	SendBuf[7] = DataLength;
	memcpy(SendBuf + 8, Data, DataLength);
	memcpy(CRC_Buf, SendBuf, 8 + DataLength);
	
	CRC_Result = CRC32_Calculate(CRC_Buf, DataLength + 8);
	
	SendBuf[8 + DataLength] = (uint8_t)((CRC_Result >> 24) & 0xFF);
	SendBuf[9 + DataLength] = (uint8_t)((CRC_Result >> 16) & 0xFF);
	SendBuf[10 + DataLength] = (uint8_t)((CRC_Result >> 8) & 0xFF);
	SendBuf[11 + DataLength] = (uint8_t)(CRC_Result & 0xFF);
	
	SendBuf[12 + DataLength] = FRAME_END;
	
	UART_SendData(ptTx, SendBuf, DataLength + 13);
}

//串口数据解析
void Uart_RxData_Process(USART_Buf_TypeDef* ptUartRx, uint16_t TimeOut)
{
uint8_t Mode, CmdLength, DataLength, Data[64], CRC_Buf[78];
	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);
		CRC_Buf[0] = FrameBegin1;
		FrameBegin2 = UART_ReadChar(ptUartRx, 1);
		CRC_Buf[1] = FrameBegin2;
		if((FrameBegin1 == FRAME_BEGIN1) && (FrameBegin2 == FRAME_BEGIN2))
		{
		  CRC_Buf[2] = UART_ReadChar(ptUartRx, 2);
			CRC_Buf[3] = UART_ReadChar(ptUartRx, 3);
			//读取帧模式
			Mode = UART_ReadChar(ptUartRx, 4);
			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);
				CRC_Buf[5] = CmdLength;
				Cmd = (UART_ReadChar(ptUartRx, 6) << 8) + UART_ReadChar(ptUartRx, 7);
				CRC_Buf[6] = (uint8_t)((Cmd >> 8) & 0xFF);
		  	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);
							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
						{
						  Data[i] = UART_ReadChar(ptUartRx, 8 + i);
							CRC_Buf[8 + i] = Data[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(CRC_Buf, 8 + DataLength);
						if((CrcData - CrcResult) == 0) // 比较校验
						{
						  //数据处理
							UART_DataProcess(Mode, Cmd, Data);//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);
		}
	}
}