#ifndef __USARTDATA_HANDLE_H #define __USARTDATA_HANDLE_H #include "stdbool.h" #include "stdint.h" #include "stm32f4xx_hal.h" #include "stm32f4xx_hal_uart.h" #include "common.h" #define MAX_UART_BUF 256 extern uint8_t FMU_uart_buf[MAX_UART_BUF]; typedef enum { RX_HEAD = 0, RX_PAYLOAD_LEN, RX_SEQ, RX_SYSID, RX_GROUPID, RX_MSGID, RX_PAYLOAD, RX_CHECK_LOW, RX_CHECK_HIGH } Msg_Rx_Stage; typedef enum { GROUP_ID_FCU = 0, GROUP_ID_F_UPDATE = 51, GROUP_ID_B_UPDATE = 52, GROUP_ID_T_UPDATE = 56, GROUP_ID_EFTPUMP1_UPDATE = 91, GROUP_ID_EFTPUMP2_UPDATE = 92, GROUP_ID_EFTNOZZLE1_UPDATE = 96, GROUP_ID_EFTNOZZLE2_UPDATE = 97, GROUP_ID_EFTNOZZLE3_UPDATE = 98, GROUP_ID_EFTNOZZLE4_UPDATE = 99, GROUP_ID_EFTFB_UPDATE = 105, GROUP_ID_EFTSEED_UPDATE = 111, GROUP_ID_PMU_UPDATE = 204, GROUP_ID_WEIGHT_UPDATE = 222, GROUP_ID_Z70FB_UPDATE = 223, GROUP_ID_Z70FBLIFTING_UPDATE = 224, GROUP_ID_EFT_TURNMOTOR = 225, GROUP_ID_EFT_CHURN = 226, GROUP_ID_EFT_CHURNTURN = 227, GROUP_IDEND, } GROUP_ID; enum vklink_msgid { _MSGID_VOL = 1, // 电压 _MSGID_RADAR = 2, // 雷达 _MSGID_FLOW = 3, // 流量计 _MSGID_BMS = 4, // 电池 _MSGID_PWM = 5, // p1 p2 a1 a2通道 _MSGID_LED = 6, // 外部LED灯 _MSGID_ATTITUDE = 8, // 飞机姿态信息 _MSGID_TIME = 9, // UTC时间信息 _MSG_ENGIN = 10, // 发动机 _MSGID_EFT_CON = 11, // EFT输出CAN控制 _MSGID_DEV_INFO = 12, // 设备信息 _MSGID_REQ = 20, // 请求信息 _MSGID_ACK = 21, // 主控应答 _MSGID_SET = 22, // 设置信息 _MSGID_GET4D = 23, // 4D雷达参数回复fmu相关 _MSGID_SET4D = 24, // 4D雷达设置相关 _MSGID_SHA1 = 25, // 智能电池SHA1验证 _MSGID_DEV_LIST = 26, // 设备SN,软硬件管理 _MSGID_HEART = 27, // 心跳检测 _MSGID_360RADAR = 30, //360雷达 _MSGID_UPDATA = 200, // 升级信息 _MSGID_CANDEBUG = 213, // CAN调试 }; enum vklink_MSGID_ACK { MSGID_ACK_HEART = 1, MSGID_ACK_VERSION = 7, // 版本信息 MSGID_ACK_DEV = 26, // 版本信息 }; enum vklink_MSGID_SET { MSGID_SET_F_RADAR = 1, // 设置前雷达 MSGID_SET_B_RADAR = 2, // 设置后雷达 MSGID_SET_T_RADAR = 6, // 设置防地雷达 MSGID_SET_GEELY = 10, // 设置轩浮发动机 MSGID_SET_VOL = 20, // 设置电压 MSGID_SET_MIMO_FLOW = 21, // 设置恩曌流量计系数 MSGID_SET_FLOW_BACKGROUND = 22,//清除流量背景 MSGID_SET_WEIGHT_K = 23, // 设置重量传感器K MSGID_SET_SEED_OUT_TYPE = 24, // 设置播撒输出类型pwm can MSGID_SET_SEED_CAL_TYPE = 25, // 设置播撒校准类型 MSGID_SET_WEIGHT_MODE = 26, // 设置重量传感器工作模式 MSGID_SET_MAX_RATE = 27, // 设置播撒最大下药率 MSGID_SET_PMU_SERIAL = 28, // 设置pmu序列号 MSGID_SET_RADAR_FB = 29, // 设置当前雷达前后/恢复出厂 恩曌雷达有效 MSGID_SET_LACKLOSS_CAL = 30, // 断料记校准 MSGID_SET_PNCANID = 55, //设置EFT水泵电调CAN ID MSGID_SET_RESIWIRE_BLOWN = 60,// 熔断电阻丝 MSGID_SET_CHURN_RESET = 61, // 绞龙复位 MSGID_SET_CHURN_SIZE = 64, //设置绞龙型号 }; //发送设备信息ID typedef enum { DEV_SEED = 1, DEV_WEIGHT, DEV_PUMP, DEV_NOZZLE, DEV_ARM, DEV_FLOW, DEV_CHECKLOW, DEV_RADAR, DEV_BMS, DEV_ENGIN, DEV_CURRENT, DEV_L_PUMP1, DEV_L_PUMP2, DEV_PART_RADAR, DEV_PART_FRADAR, DEV_PART_BRADAR, DEV_XQ_BMS, DEV_TEMP_SENSOR } Dev_Type_NUM; //飞机状态 enum LOCK_STATUS { STA_LOCK = 0, STA_UNLOCK = 1, }; //机型 enum DRONE_TYPE { JET_UAV_TYPE = 13, VK_ALL_IN_ONE = 18, AG_EFTZ = 15, }; //请求信息包 enum vklink_MSGID_REQ { MSGID_REQ_VERSION = 7, // 版本信息 }; #pragma pack(1) typedef struct { short yaw; // 航向角 short roll_angle; // 0.01 short pitch_angle; // 0.01 short alt; short E_vel; // 东西速度 short N_vel; // 南北速度 short alt_vel; // 垂直速度 short lock_status; // 0 上锁 1解锁 short UAV_type; short thr_pwm; short Candebug_flag; // can调试 0开 1关 } plane_para; #pragma pack() extern plane_para planep; typedef struct soft_p_2_c { uint8_t num; uint16_t content1; uint16_t content2; } Set_info; extern Set_info msgidset; #pragma pack(1) typedef struct { uint8_t head; //0xFE uint8_t len; uint8_t seq; uint8_t system_id; //0 uint8_t group_id; uint8_t msg_id; uint8_t head_bytes; //6 uint8_t check_bytes;//2 uint16_t crc; uint8_t payload[MAX_UART_BUF]; bool complete_flag; }Vk_protocol; #pragma pack() extern Vk_protocol fcu_protocol; #pragma pack(1) typedef struct { bool vk_dev_update_flag; uint16_t vk_dev_pack_num; uint32_t bin_size; bool step_200_flag; bool step_201_flag; bool step_202_flag; }Vk_update_protocol; #pragma pack() extern Vk_update_protocol fcu_update_info; #pragma pack(1) typedef struct { short pump1; short pump2; short nozz1_fm; short nozz2_zp; short nozz3; short nozz4; uint16_t aux_light; //Bit 0 :1灯 Bit 1：2灯 Bit2-8：灯1亮度 Bit9-15:灯2亮度 short aux_steer; }_pmu_pin; #pragma pack() extern _pmu_pin pmu_pin; #pragma pack(1) typedef struct { bool version_info; bool key_info_checking; // 给fcu发送信息 bool key_to_bms; uint8_t mos_status; uint8_t Dev_type; uint8_t Id; uint8_t Id_content; unsigned char key_data[20]; } Start_info; extern Start_info start_msg; #pragma pack() extern Connect_check fcu; void thread_usart_task_entry(void *param); void USER_UART_IRQHandler(UART_HandleTypeDef *huart); #endif