#include "usart_data_handle.h" #include "common.h" #include "system_init.h" #include "main.h" #include "soft_flash.h" #include "config.h" #include "string.h" #include "soft_crc.h" #include "main_task.h" #include "soft_radar_handle.h" #include "soft_device.h" #include "soft_seed_weight.h" #include "soft_version.h" #include "soft_obstacle.h" #include "soft_terrain.h" #include "soft_update.h" #include "soft_adc.h" #include "soft_flow.h" #include "soft_can.h" #include "soft_timer.h" #include "soft_water.h" /** * @file check_uart_data * @brief 串口数据组包 * @param none * @details * @author Zhang Sir **/ Msg_Rx_Stage recv_step; Vk_protocol fcu_protocol; Vk_protocol vk_data = {.head = 0XFE, .system_id = 0, .head_bytes = 6, .check_bytes = 2}; _pmu_pin pmu_pin = {.pump1 = 1000, .pump2 = 1000, .nozz1_fm = 1000, .nozz2_zp = 1000, .nozz3 = 1000, .nozz4 = 1000}; void check_uart_data(void) { uint8_t c = 0; static uint32_t vk_recv_time = 0; static uint8_t i = 0; while (rkfifo_out(&uart_rkfifo, &c, 1) != 0) { if(recv_step != RX_HEAD && HAL_GetTick() - vk_recv_time > 200) { recv_step = RX_HEAD; } //解析出一包完整的数据 switch (recv_step) { case RX_HEAD: if(c == vk_data.head) { vk_recv_time = HAL_GetTick(); recv_step = RX_PAYLOAD_LEN; } break; case RX_PAYLOAD_LEN: vk_data.len = c; recv_step = RX_SEQ; break; case RX_SEQ: vk_data.seq = c; recv_step = RX_SYSID; break; case RX_SYSID: if(c == vk_data.system_id) { recv_step = RX_GROUPID; } else { recv_step = RX_HEAD; } break; case RX_GROUPID: if(c == GROUP_ID_FCU || c == GROUP_ID_PMU_UPDATE || c == GROUP_ID_F_UPDATE || c == GROUP_ID_B_UPDATE || c == GROUP_ID_T_UPDATE|| c == GROUP_ID_WEIGHT_UPDATE || (c >= GROUP_ID_EFTPUMP1_UPDATE && c <= GROUP_IDEND)) { vk_data.group_id = c; recv_step = RX_MSGID; } else { recv_step = RX_HEAD; } break; case RX_MSGID: vk_data.msg_id = c; recv_step = RX_PAYLOAD; i = 0; break; case RX_PAYLOAD: vk_data.payload[vk_data.head_bytes + i] = c; i++; if(i == vk_data.len) { recv_step = RX_CHECK_LOW; } else if(vk_data.len == 0) //没有payload { recv_step = RX_CHECK_HIGH; } break; case RX_CHECK_LOW: vk_data.payload[vk_data.head_bytes + i] = c; i++; recv_step = RX_CHECK_HIGH; break; case RX_CHECK_HIGH: vk_data.payload[vk_data.head_bytes + i] = c; vk_data.payload[0] = vk_data.head; vk_data.payload[1] = vk_data.len; vk_data.payload[2] = vk_data.seq; vk_data.payload[3] = vk_data.system_id; vk_data.payload[4] = vk_data.group_id; vk_data.payload[5] = vk_data.msg_id; if(0 == Get_Crc16(&vk_data.payload[0],vk_data.len + vk_data.head_bytes + vk_data.check_bytes)) { if(vk_data.group_id == GROUP_ID_FCU || vk_data.group_id == GROUP_ID_PMU_UPDATE) { if(fcu_protocol.complete_flag == false) { fcu_protocol.msg_id = vk_data.msg_id; memcpy(&fcu_protocol.payload[0],&vk_data.payload[0],vk_data.len + vk_data.head_bytes + vk_data.check_bytes); fcu_protocol.complete_flag = true; } } //莫之比雷达升级 else if((vk_data.group_id == GROUP_ID_F_UPDATE && uavr11_info.Link.connect_status != COMP_NOEXIST) || (vk_data.group_id == GROUP_ID_B_UPDATE && uavr12_info.Link.connect_status != COMP_NOEXIST) || (vk_data.group_id == GROUP_ID_T_UPDATE && uavr56_info.Link.connect_status != COMP_NOEXIST)) { if(update_info.use_update_buf_flag == false) { memcpy(&update_info.buf[0],&vk_data.payload[0],vk_data.len + vk_data.head_bytes + vk_data.check_bytes); update_info.use_update_buf_flag = true; if (vk_data.msg_id == 200) { if(check_radar_update() == true) { radar_update_flag = true; update_count = 0; } } } } //VK协议设备升级 else if (vk_data.group_id == GROUP_ID_WEIGHT_UPDATE || (vk_data.group_id == GROUP_ID_F_UPDATE /*&& mimo_f_info.Link.connect_status != COMP_NOEXIST*/) || (vk_data.group_id == GROUP_ID_B_UPDATE /*&& mimo_b_info.Link.connect_status != COMP_NOEXIST*/) || (vk_data.group_id == GROUP_ID_T_UPDATE /*&& mimo_ter_info.Link.connect_status != COMP_NOEXIST*/)) { #ifdef mimo_update if(vk_data.msg_id == 200) { if(EZup_par.step == STEP_DEFAULT)//mimo {//mimo memset(&EZup_par,0,sizeof(ez_update));//mimo memset(&update_info.use_update_buf_flag,0,sizeof(Update)); memcpy(&update_info.bin_size,&vk_data.payload[6],4); update_info.vk_dev_pack_num = 1; update_info.vk_dev_update_flag = true; EZup_par.update_flag = true;//mimo EZup_par.step = STEP_FIND_NODE;//mimo } } #else if(vk_data.msg_id == 200) { memset(&update_info.use_update_buf_flag,0,sizeof(Update)); memcpy(&update_info.bin_size,&vk_data.payload[6],4); update_info.vk_dev_pack_num = 1; update_info.vk_dev_update_flag = true; } #endif memcpy(&update_info.buf[0],&vk_data.payload[0],vk_data.len + vk_data.head_bytes + vk_data.check_bytes); //判断是否是需要的包序号 if(update_info.vk_dev_pack_num > (update_info.buf[PACK_NUM] + update_info.buf[PACK_NUM + 1] * 256) && vk_data.msg_id == 201) { Update_ack_func(update_info.buf[DEVICE],201,&update_info.buf[PACK_NUM]); } update_info.use_update_buf_flag = true; } else if(vk_data.group_id == GROUP_ID_EFTPUMP1_UPDATE || vk_data.group_id == GROUP_ID_EFTPUMP2_UPDATE || vk_data.group_id == GROUP_ID_EFTNOZZLE1_UPDATE || vk_data.group_id == GROUP_ID_EFTNOZZLE2_UPDATE || vk_data.group_id == GROUP_ID_EFTNOZZLE3_UPDATE || vk_data.group_id == GROUP_ID_EFTNOZZLE4_UPDATE || vk_data.group_id == GROUP_ID_EFTFB_UPDATE || vk_data.group_id == GROUP_ID_EFTSEED_UPDATE || vk_data.group_id == GROUP_ID_Z70FB_UPDATE || vk_data.group_id == GROUP_ID_Z70FBLIFTING_UPDATE || vk_data.group_id == GROUP_ID_EFT_TURNMOTOR) { if(vk_data.msg_id == 200 && eft_update.update_flag == false) { memset(&eft_update,0,sizeof(_eft_update)); eft_update.dev_id = vk_data.group_id; memcpy(&eft_update.bin_size,&vk_data.payload[6],8); eft_update.step = STEP_START; eft_update.update_flag = true; } memcpy(&eft_update.buf[0],&vk_data.payload[0],vk_data.len + vk_data.head_bytes + vk_data.check_bytes); //判断是否是需要的包序号 if(eft_update.pack_num > (eft_update.buf[PACK_NUM] + eft_update.buf[PACK_NUM + 1] * 256) && vk_data.msg_id == 201) { Update_ack_func(update_info.buf[DEVICE],201,&update_info.buf[PACK_NUM]); } } } recv_step = RX_HEAD; break; default: recv_step = RX_HEAD; break; } } } /** * @file thread_usart_task_entry * @brief FMU串口数据解析 * @param none * @details * @author Zhang Sir **/ Connect_check fcu; Start_info start_msg; Set_info msgidset; __attribute__ ( ( aligned ( 4 ) ) ) plane_para planep = {.Candebug_flag = 0}; void thread_usart_task_entry(void *param) { while(1) { rt_sem_take(&uart1_sem, RT_WAITING_FOREVER); check_uart_data(); if (fcu_protocol.complete_flag == true) { uint32_t tem_32t = 0; Check_dev_link(&fcu,3000,NULL,0); switch (fcu_protocol.msg_id) { case _MSGID_PWM: memcpy(&pmu_pin.pump1, &fcu_protocol.payload[6], sizeof(_pmu_pin)); if(set_HWesc_ESCid == true && setESCidInfo.setESCidStep == SETESCID_SET) { memset(&pmu_pin.pump1,0,8); pmu_pin.pump1 = 1000; } //自动配置CANID if(auto_set_canid_flag == NEED_SET) { if((auto_eft_dev_status & 1) != 1) pmu_pin.pump1 = 100; if(((auto_eft_dev_status >> 1) & 1) != 1) pmu_pin.pump2 = 200; if(((auto_eft_dev_status >> 2) & 1) != 1) pmu_pin.nozz1_fm = 300; if(((auto_eft_dev_status >> 3) & 1) != 1) pmu_pin.nozz2_zp = 400; if(((auto_eft_dev_status >> 4) & 1) != 1) pmu_pin.nozz3 = 200; if(((auto_eft_dev_status >> 5) & 1) != 1) pmu_pin.nozz4 = 100; } // if(Dev.Eft_CanDev_Link[0].connect_status == COMP_NORMAL) // { __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pmu_pin.pump1); __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pmu_pin.pump2); // } // else // { // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, pmu_pin.pump1); // __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, pmu_pin.pump2); // } __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, pmu_pin.nozz1_fm); __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, pmu_pin.nozz2_zp); __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_2, pmu_pin.nozz3); __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, pmu_pin.nozz4); break; case _MSGID_LED: // for(uint8_t i = 0; i < 7; i++) // { // if(planep.UAV_type != VK_ALL_IN_ONE ) //青岛机型不用LED // { // led_set_blink(i, fcu_protocol.payload[i*3+6], fcu_protocol.payload[i*3+7], fcu_protocol.payload[i*3+8]); // } // } break; //飞机姿态信息 case _MSGID_ATTITUDE: memcpy(&planep.yaw, &fcu_protocol.payload[6], sizeof(plane_para)); if(cur_par.uavtype != planep.UAV_type) { stor_par.uavtype = planep.UAV_type; write_flash_flag = true; } break; case _MSGID_TIME: //tem_32t = 1684136124; memcpy(&utc_time, &fcu_protocol.payload[6], 4); covUnixTimeStp2Beijing(utc_time,&beijing_time); pmu_set_ack(_MSGID_TIME,0,0,0); break; //eft播撒器 case _MSGID_EFT_CON: recv_fmu_seed_info = true; memcpy(&spread_par.pwm_turntable, &fcu_protocol.payload[6], 2); memcpy(&spread_par.pwm_valve, &fcu_protocol.payload[8], 2); break; //请求信息包 case _MSGID_REQ: switch (fcu_protocol.payload[6]) { case MSGID_REQ_VERSION: pmu_send = PMU_SEND_VERSION; break; default: break; } break; //主控应答 case _MSGID_ACK: msgidset.content1 = fcu_protocol.payload[7] + 256 * fcu_protocol.payload[8]; switch (fcu_protocol.payload[6]) { case MSGID_ACK_HEART: // stor_par.abnormal_outage_flag = 0; // write_flash_flag = true; break; case MSGID_ACK_VERSION: start_msg.version_info = true; break; case MSGID_ACK_DEV: { if(msgidset.content1 < DEVICE_END - 1) { dev_version_content *Pt = dev_ptr[msgidset.content1]; if(Pt->send_times > 0) Pt->send_times--; } } break; default: break; } break; //设置雷达灵敏度 case _MSGID_SET: msgidset.num = fcu_protocol.payload[6]; msgidset.content1 = fcu_protocol.payload[7] + 256 * fcu_protocol.payload[8]; msgidset.content2 = fcu_protocol.payload[9] + 256 * fcu_protocol.payload[10]; switch (msgidset.num) { //前雷达 case MSGID_SET_F_RADAR: if(uavr12_info.fcu_set_sensi_flag != true && uavr56_info.fcu_set_sensi_flag != true && radar_update_flag == false) { uavr11_info.fcu_set_sensi_flag = true; } memcpy(&obsfradar_sensitivity, &fcu_protocol.payload[7], 2); if(obsfradar_sensitivity == uavr11_info.get_radar_sensi) { uavr11_info.fcu_set_sensi_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_F_RADAR,uavr11_info.get_radar_sensi,0); } break; //后雷达 case MSGID_SET_B_RADAR: if(uavr11_info.fcu_set_sensi_flag != true && uavr56_info.fcu_set_sensi_flag != true && radar_update_flag == false) { uavr12_info.fcu_set_sensi_flag = true; } memcpy(&obsbradar_sensitivity, &fcu_protocol.payload[7], 2); if(obsbradar_sensitivity == uavr12_info.get_radar_sensi) { uavr12_info.fcu_set_sensi_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_B_RADAR,uavr12_info.get_radar_sensi,0); } break; //仿地 case MSGID_SET_T_RADAR: if(uavr11_info.fcu_set_sensi_flag != true && uavr12_info.fcu_set_sensi_flag != true && radar_update_flag == false) { uavr56_info.fcu_set_sensi_flag = true; } memcpy(&uavr56_info.fcu_set_sensi, &fcu_protocol.payload[7], 2); if(uavr56_info.fcu_set_sensi == uavr56_info.get_radar_sensi) { uavr56_info.fcu_set_sensi_flag = false; pmu_set_ack(_MSGID_SET,MSGID_SET_T_RADAR,uavr56_info.get_radar_sensi,0); } break; case MSGID_SET_VOL: stor_par.voltage = (fcu_protocol.payload[7] + 256 * fcu_protocol.payload[8]) - (int)(Adc_Get(ADC_Bms)/100.0f) ; write_flash_flag = true; pmu_set_ack(_MSGID_SET,MSGID_SET_VOL,0,0); break; case MSGID_SET_MIMO_FLOW: if(msgidset.content1 != 0) { if(Dev.Flow.facid == FAC_MIMO_SIG || Dev.Flow.facid == FAC_MIMO_DOU) { tem_32t = flow_mimo1.flow_k * msgidset.content1 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_mimo1.flow_calk = tem_32t; } else{ flow_mimo1.flow_calk = 10000; } flow_mimo1.set_k = true; } else if(Dev.Flow.facid == FAC_QIFEI_SIG || Dev.Flow.facid == FAC_QIFEI_DOU) { tem_32t = flow_inf.ch1.k * msgidset.content1 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_inf.ch1.cal_k = tem_32t; } else{ flow_inf.ch1.cal_k = 10000; } flow_inf.ch1.set_k = true; } } if(msgidset.content2 != 0) { if(Dev.Flow.facid == FAC_MIMO_SIG || Dev.Flow.facid == FAC_MIMO_DOU) { tem_32t = flow_mimo2.flow_k * msgidset.content2 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_mimo2.flow_calk = tem_32t; } else{ flow_mimo2.flow_calk = 10000; } flow_mimo2.set_k = true; } else if(Dev.Flow.facid == FAC_QIFEI_SIG || Dev.Flow.facid == FAC_QIFEI_DOU) { tem_32t = flow_inf.ch2.k * msgidset.content2 / 100; if(tem_32t >= 500 && tem_32t <= 20000) { flow_inf.ch2.cal_k = tem_32t; } else{ flow_inf.ch2.cal_k = 10000; } flow_inf.ch1.set_k = true;; } } break; case MSGID_SET_FLOW_BACKGROUND: if(Dev.Flow.facid == FAC_MIMO_SIG) { flow_inf.ch1.clear_background = true; } if(Dev.Flow.facid == FAC_MIMO_DOU) { flow_inf.ch1.clear_background = true; flow_inf.ch2.clear_background = true; } break; case MSGID_SET_WEIGHT_K: weight_order.type = Weight_Set_K; weight_order.order_con1 = msgidset.content1; weight_order.order_con2 = msgidset.content2; break; case MSGID_SET_SEED_OUT_TYPE: recv_fmu_seed_info = true; spread_par.output_mode = msgidset.content1; pmu_set_ack(_MSGID_SET,MSGID_SET_SEED_OUT_TYPE,0,0); break; case MSGID_SET_SEED_CAL_TYPE: switch (msgidset.content1) { case Cal_Remove_Peel: weight_order.type = Weight_Peer; break; case Cal_Weight: weight_order.type = Weight_Kg; weight_order.order_con2 = msgidset.content2; break; case Cal_Seed_Back: weight_order.type = Weight_Bcak; break; default: break; } break; case MSGID_SET_WEIGHT_MODE: weight_order.type = Weight_Mode; weight_order.order_con1 = msgidset.content1; break; case MSGID_SET_MAX_RATE: weight_order.type = Weight_Drug_Rate; weight_order.order_con1 = msgidset.content1; break; case MSGID_SET_PMU_SERIAL: tem_32t = msgidset.content1 + ((msgidset.content2 << 16) & 0xffff0000); if(cur_par.pmu_serial == PMU_SERIAL || tem_32t == PMU_SERIAL) { stor_par.pmu_serial = tem_32t; write_flash_flag = true; pmu_set_ack(_MSGID_SET,MSGID_SET_PMU_SERIAL,0,0); dev_pmu.send_times += 5; } else if(tem_32t == cur_par.pmu_serial) { pmu_set_ack(_MSGID_SET,MSGID_SET_PMU_SERIAL,0,0); } break; case MSGID_SET_RADAR_FB: { uint8_t can_buf[8] = {0}; if(msgidset.content1 == 0x11) { put_date_to_can(can_buf,0x55,0XAA,0X03,0X61,0X03,0X01,0X65,0X00); Can_Send_Msg_Func(CANID1, can_buf, 7, 0xFA, CAN_ID_STD); } else if (msgidset.content1 == 0x12) { put_date_to_can(can_buf,0x55,0XAA,0X03,0X61,0X03,0X02,0X66,0X00); Can_Send_Msg_Func(CANID1, can_buf, 7, 0xFA, CAN_ID_STD); } else if(msgidset.content1 == 0x100) { put_date_to_can(can_buf,0x55,0XAA,0X03,0X61,0X00,0X03,0X64,0X00); Can_Send_Msg_Func(CANID1, can_buf, 7, 0xFA, CAN_ID_STD); } } break; case MSGID_SET_LACKLOSS_CAL: { uint8_t can_buf[8] = {0}; if(Dev.Lackloss_Link.connect_status == COMP_NORMAL) { put_date_to_can(can_buf,0xFA,0x03,0x00,0xB2,0XE1,0x00,0X00,0X00); can_buf[7] = (can_buf[1]+can_buf[2]+can_buf[3]+can_buf[4]+can_buf[5]+can_buf[6]) & 0xff; Can_Send_Msg_Func(CANID2, can_buf, 8, 0xFA, CAN_ID_STD); } } break; case MSGID_SET_PNCANID: set_eftdev_canid_flag = true; set_eftdev_canid_time = HAL_GetTick(); pmu_set_ack(_MSGID_SET,1,0,0); break; case MSGID_SET_RESIWIRE_BLOWN: { uint8_t can_buf[8] = {0}; put_date_to_can(can_buf,0xF7,fcu_protocol.payload[7],0x00,0x00,0x00,0xF1,0XF3,0X00); Can_Send_Msg_Func(CANID2, can_buf, 8, 0x88BB, CAN_ID_EXT); } break; default: break; } break; case _MSGID_SHA1: //智能电池秘钥 if(fcu_protocol.payload[6] == 1) { //有秘钥 if(fcu_protocol.payload[7] == 2 && fcu_protocol.payload[8] == 1) { if(start_msg.key_info_checking == true) { memcpy(&start_msg.key_data[0],&fcu_protocol.payload[9],20); start_msg.key_to_bms = true;//给电池发送秘钥 start_msg.key_info_checking = false; } } //无秘钥 else if(fcu_protocol.payload[7] == 2 && fcu_protocol.payload[8] == 2) { start_msg.key_info_checking = false; } //回馈，防止PMU一直发 else if(fcu_protocol.payload[7] == 3 || fcu_protocol.payload[7] == 4) { start_msg.key_info_checking = false; } } break; case _MSGID_HEART: pmu_heart_flag = true; //pmu_set_ack(_MSGID_HEART,0x56,0,0); break; //升级固件标志 case _MSGID_UPDATA: { __disable_irq(); HAL_FLASH_Unlock(); __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); uint32_t sector = 10; sector = GetSectorFromAddress(FLASH_UPDATE_ADDR);//获取地址所在的扇区 FLASH_Erase_Sector(sector,FLASH_VOLTAGE_RANGE_3);//擦除指定的闪存扇区(0~11) uint16_t TempBuf = 0xABCD; HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, FLASH_UPDATE_ADDR, TempBuf); HAL_FLASH_Lock(); __enable_irq(); HAL_NVIC_DisableIRQ(USART1_IRQn); HAL_Delay(100); //软件复位 HAL_NVIC_SystemReset(); } break; default: break; } fcu_protocol.complete_flag = false; memset(fcu_protocol.payload, 0, MAX_UART_BUF); } } }