树莓派通讯

解释待更新

C
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Rb_Pie_struct Rb_Pie;
uint8_t Rb_Pie_TxBuf[10];

void Rb_Pie_Send_Mode(Rb_Pie_struct *Data) {

    Rb_Pie_TxBuf[0] = Data->frame_head;
    Rb_Pie_TxBuf[1] = Data->Rb_Pie_Set_Mode_ONE;
    Rb_Pie_TxBuf[2] = Data->Rb_Pie_Set_Mode_TWO;
    Rb_Pie_TxBuf[3] = 0x5B;
    HAL_UART_Transmit(&RB_PIEUART, Rb_Pie_TxBuf, 4, 10);
    HAL_Delay(1);
}

void Rb_Pie_Init(Rb_Pie_struct *Data) {

    for (uint16_t i = 0; i < RB_PIE_RXBUFFER_LEN; i++) {
        Data->RxBuffer[i] = 0;
    }
    Data->frame_head = 0x66;
    Data->Rx_flag = 0;
    Data->Rx_len = 0;
    Data->Matter_Check = FAILRECEIVE;
    Data->Rb_Pie_Check = FAILRECEIVE;
    Data->Matter_Color_Check = FAILRECEIVE;
}

void Rb_Pie_Process(Rb_Pie_struct *Data) {
    /* 判断数据格式是否正确 */
    if (Data->RxBuffer[0] == Data->frame_head && Data->RxBuffer[8] == 0x5b) {
        if (Data->Rb_Pie_Set_Mode_ONE == Data->RxBuffer[1]) {
            Data->Matter[0] = Data->RxBuffer[2];
            Data->Matter[1] = Data->RxBuffer[3];
            Data->Matter[2] = Data->RxBuffer[4];
            Data->Matter[3] = Data->RxBuffer[5];
            Data->Matter[4] = Data->RxBuffer[6];
            Data->Matter[5] = Data->RxBuffer[7];
            Data->Matter_Check = SUCCESSRECEIVE;
        }
    }

    if (Data->RxBuffer[0] == Data->frame_head && Data->RxBuffer[9] == 0x5b) {
        if (Data->Rb_Pie_Set_Mode_ONE == Data->RxBuffer[1] && Data->RxBuffer[2] == RB_PIE_MODE_ADJUST) {
            //模式
            Data->Rb_Pie_Mode = Data->RxBuffer[1];

            //X坐标
            if (Data->RxBuffer[3] == 0x00) {
                Data->Rb_Pie_X_Cd = -(float) ((Data->RxBuffer[5] << 8 | Data->RxBuffer[4]) / 100);
            } else if (Data->RxBuffer[3] == 0x01) {
                Data->Rb_Pie_X_Cd = (float) ((Data->RxBuffer[5] << 8 | Data->RxBuffer[4]) / 100);
            }

            //Y坐标
            if (Data->RxBuffer[6] == 0x00) {
                Data->Rb_Pie_Y_Cd = -(float) ((Data->RxBuffer[8] << 8 | Data->RxBuffer[7]) / 100);
            } else if (Data->RxBuffer[6] == 0x01) {
                Data->Rb_Pie_Y_Cd = (float) ((Data->RxBuffer[8] << 8 | Data->RxBuffer[7]) / 100);
            }

            /* 如果坐标全高 或 模式为空 则数据无效 */
            if ((Data->Rb_Pie_X_Cd == 0xfff && Data->Rb_Pie_Y_Cd == 0xfff) || Data->Rb_Pie_Color == 0xC4)
            //|| (Data->Rb_Pie_Mode == RB_PIE_MODE_STOP))
            {
                Data->Rb_Pie_Renew = FAILRECEIVE;
                Data->Rb_Pie_X_Cd = 0;
                Data->Rb_Pie_Y_Cd = 0;
                Data->Rb_Pie_Color = 0XC4;
            }
            /* 数据有效 */
            else {
                float norm_angle = HWT101_Struct.CurrentAngle;
                Data->Rb_Pie_X = Data->Rb_Pie_X_Cd * cosf(norm_angle * M_PI / 180.0f) - Data->Rb_Pie_Y_Cd * sinf(norm_angle * M_PI / 180.0f);
                Data->Rb_Pie_Y = Data->Rb_Pie_X_Cd * sinf(norm_angle * M_PI / 180.0f) + Data->Rb_Pie_Y_Cd * cosf(norm_angle * M_PI / 180.0f);
                Data->Rb_Pie_X_Cd = 0;
                Data->Rb_Pie_Y_Cd = 0;
                Data->Rb_Pie_Renew = SUCCESSRECEIVE;
            }
        }
    }

    if (Data->RxBuffer[0] == Data->frame_head && Data->RxBuffer[2] == 0x5b) {
        switch (Data->RxBuffer[1]) {
            case RB_PIE_MODE_STOP:
                System_State.Body_POS_Mode = BODY_POS_RESET;
                Data->Rb_Pie_Set_Mode_TWO = RB_PIE_MODE_SCAN;
                break;
            default: ;
        }
    }

    if (Data->RxBuffer[0] == Data->frame_head &&Data->RxBuffer[3] == 0x5b) {

        if (Data->RxBuffer[1] == RB_PIE_MODE_RING && Data->RxBuffer[2] == RB_PIE_MODE_JUESAI) {

            Data->Matter_six_JUESAI_Check = SUCCESSRECEIVE;
        }
    }

    if (Data->RxBuffer[0] == Data->frame_head && Data->RxBuffer[7] == 0x5b) {

        if (Data->Rb_Pie_Set_Mode_ONE == Data->RxBuffer[1] && Data->Rb_Pie_Set_Mode_TWO == RB_PIE_MODE_SCAN) {
            Data->Matter_Color_Check = SUCCESSRECEIVE;

            Data->Matter_Mode = 0;
            Data->Matter_Mode = Data->RxBuffer[2];

            Data->Matter_Color = 0;
            switch (Data->RxBuffer[3]) {

                case RB_PIE_COLOR_RED:
                    Data->Matter_Color = MATTER_RED;
                    break;

                case RB_PIE_COLOR_GREEN:
                    Data->Matter_Color = MATTER_GREEN;
                    break;

                case RB_PIE_COLOR_BLUE:
                    Data->Matter_Color = MATTER_BLUE;
                    break;

                default: ;
            }
            Data->Matter_Number = 0;
            Data->Matter_Number = Data->RxBuffer[4];
            Data->Matter_Color2 = 0;
            switch (Data->RxBuffer[5]) {

                case RB_PIE_COLOR_RED:
                    Data->Matter_Color2 = MATTER_RED;
                    break;

                case RB_PIE_COLOR_GREEN:
                    Data->Matter_Color2 = MATTER_GREEN;
                    break;

                case RB_PIE_COLOR_BLUE:
                    Data->Matter_Color2 = MATTER_BLUE;
                    break;

                default: ;
            }
            Data->Matter_Number2 = 0;
            Data->Matter_Number2 = Data->RxBuffer[6];
        }
    }
    /* 清空数组 */
    for (int i = 0; i < RB_PIE_RXBUFFER_LEN; i++) Data->RxBuffer[i] = 0;
}

void Rb_Pie_IRQ(void) {

    if (__HAL_UART_GET_FLAG(&RB_PIEUART, UART_FLAG_IDLE) != RESET) {

        __HAL_UART_CLEAR_IDLEFLAG(&RB_PIEUART);
        HAL_UART_DMAStop(&RB_PIEUART); //关闭DMA，防止冲突
        Rb_Pie.Rx_len = RB_PIE_RXBUFFER_LEN; //获得一共传输的个数
        Rb_Pie_Process(&Rb_Pie);
        HAL_UART_Receive_DMA(&RB_PIEUART, Rb_Pie.RxBuffer,RB_PIE_RXBUFFER_LEN); //重新开始接收DMA
    }
}
C
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#ifndef INC_RB_PIE_H_
#define INC_RB_PIE_H_

#include "main.h"


#define RB_PIE_RXBUFFER_LEN 10
#define RB_PIEUART  huart3
#define RB_PIEDMAUART hdma_usart3_rx

#define RB_PIE_COLOR_RED   0xC1 //接收红色
#define RB_PIE_COLOR_GREEN 0xC2 //接收绿色
#define RB_PIE_COLOR_BLUE  0xC3 //接收蓝色

#define RB_PIE_MODE_ZERO 0x00

#define RB_PIE_MODE_CO           0xE1   //色块模式
#define RB_PIE_MODE_RING         0xE2   //色环模式
#define RB_PIE_MODE_QR           0xE3   //QR扫码模式
#define RB_PIE_MODE_RING_TWO     0xE4   //色环模式2
#define RB_PIE_MODE_STOP         0xE5   //停止模式

#define RB_PIE_MODE_ADJUST       0xD1   //校准
#define RB_PIE_MODE_SCAN         0xD2   //识别
#define RB_PIE_MODE_JUESAI       0xD3   //识别2

typedef struct
{
        __IO uint8_t Rx_flag;
        __IO uint8_t Rx_len;
        __IO uint8_t frame_head;                    //帧头

        __IO uint8_t Rb_Pie_Mode;                   //模式
        __IO uint8_t Rb_Pie_Set_Mode_ONE;           //模式一
        __IO uint8_t Rb_Pie_Color;                  //颜色
        __IO uint8_t Rb_Pie_Set_Mode_TWO;           //模式二
        __IO float Rb_Pie_X_Cd;                 //X坐标
        __IO float Rb_Pie_X;                    //X全局坐标
        __IO float Rb_Pie_Y_Cd;                 //Y坐标
        __IO float Rb_Pie_Y;                    //Y全局坐标
        uint16_t Rb_Pie_Check;

        __IO uint16_t Matter[6];
        __IO uint16_t Matter_Mode;
        __IO uint16_t Matter_Color;
        __IO uint16_t Matter_Color2;
        __IO uint16_t Matter_Number;
        __IO uint16_t Matter_Number2;
        uint16_t Matter_Check;
        uint16_t Matter_Color_Check;
        uint16_t Matter_E5_Check;
        uint16_t Matter_six_JUESAI_Check;

        __IO uint16_t Rb_Pie_Renew;                 //数据更新标志

        uint8_t RxBuffer[RB_PIE_RXBUFFER_LEN];      //接收缓冲
}Rb_Pie_struct;

extern Rb_Pie_struct Rb_Pie;
void Rb_Pie_Send_Mode(Rb_Pie_struct * Data);
void Rb_Pie_Init(Rb_Pie_struct * Data);     //树莓派初始化
void Rb_Pie_IRQ(void);                      //树莓派读取

#endif /* INC_RB_PIE_H_ */