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add uart rx; 4 bytes cmd parse

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4x-tech
2025-11-17 10:13:18 +08:00
parent 5b49a0ee24
commit 6de9d53e1c
7 changed files with 237 additions and 47 deletions
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111
empty.c
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@@ -38,6 +38,9 @@
#include <string.h>
#include <pwm.h>
#include "config.h"
#include <ctype.h>
#include <stdlib.h>
extern float angle_f;
@@ -47,44 +50,120 @@ extern bool gIsI2cError;
const float num_f = 0.123456f;
volatile uint16_t count = 0 ;
const float Target = 10; //串口目标值
volatile float Target = 0; //串口目标值
const int pp = 7; //电机极对数
const int Dir = -1; //电机编码器方向
const int Dir = 1; //电机编码器方向
#define UART_PACKET_SIZE (4)
/* Data received from UART */
volatile uint8_t gUartRxPacket[UART_PACKET_SIZE] ={'a','b','c','d'};
volatile bool gCheckUART;
void parse_uart_cmd(void)
{
char num[10]={0};
int i = 1;
int j = 0;
if(gUartRxPacket[0] == 'T' && gUartRxPacket[UART_PACKET_SIZE-1] == '\n')//数据第一位与数据的最后一位
{
if(gUartRxPacket[1] != '-')//接受到的数据为正数
{
while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
Target = atof(num);
// Serial_SendFloatNumber(Target,3,2);
}
else//接收到的数据为负数
{
i=2;
while (gUartRxPacket[i] != '\n' && (isdigit(gUartRxPacket[i]) || gUartRxPacket[i] == '.')) {num[j++] = gUartRxPacket[i++];}
Target = -(atof(num));
// Serial_SendFloatNumber(Target,3,2);
}
printf("%s",gUartRxPacket);
}
else
{
printf((char *)"Input format error\n");
}
}
int main(void)
{
SYSCFG_DL_init();
/* Configure DMA source, destination and size */
DL_DMA_setSrcAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t)(&UART_0_INST->RXDATA));
DL_DMA_setDestAddr(DMA, DMA_CH1_CHAN_ID, (uint32_t) &gUartRxPacket[0]);
DL_DMA_setTransferSize(DMA, DMA_CH1_CHAN_ID, UART_PACKET_SIZE);
DL_DMA_enableChannel(DMA, DMA_CH1_CHAN_ID);
NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
DL_TimerA_startCounter(PWM_0_INST);
NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
DL_TimerG_startCounter(TIMER_0_INST);
FOC_Init(12.6);
DL_SYSTICK_resetValue();
while(1)
{
DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
//DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
//delay_ms(10);
if(DEBUG_ENABLED)
{
//volatile float angle_rad = GetAngle();
//printf("angle %.5f \n", angle_rad);
}
if(DEBUG_ENABLED)
{
volatile uint32_t tick = DL_SYSTICK_getValue();
//printf("systick is %x \n",tick);
}
//开环
//velocityopenloop(Target);
//闭环
Set_Angle(Target);
//Set_Angle(Target);
if(gCheckUART)
{
gCheckUART = false;
parse_uart_cmd();
Set_Angle(Target);
}
//delay_ms(10);
}
}
void TIMER_0_INST_IRQHandler(void)
{
switch(DL_TimerA_getPendingInterrupt(TIMER_0_INST))
{
case DL_TIMERG_INTERRUPT_ZERO_EVENT:
printf("Target is %f \n", Target);
//printf("%s",gUartRxPacket);
DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
break;
default:
break;
}
}
void UART_0_INST_IRQHandler(void)
{
switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {
case DL_UART_MAIN_IIDX_DMA_DONE_RX:
gCheckUART = true;
break;
default:
break;
}
}