AirControlValve/Device/Radar.c

/* Copyright Statement:
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 * This software/firmware and related documentation ("AutoChips Software") are
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#include "ac780x_uart_reg.h"
#include "ac780x_gpio.h"
#include "Radar.h"
#include "uart.h"
#include "string.h"
#include "crc16.h"

#define LaDarUARTx   UART0
#define LaDarUARTx_IRQn  UART0_IRQn

#define RADAR_RX_BUFF_LENGTH   		7
#define RADAR_MAX_BUFFERSIZE   	 32

#define RadarCmd_NULL   			(0)
#define RadarCmd_AirHeight    (1)  
#define RadarCmd_Trans        (2)

uint8_t g_radarRxDataBuff[RADAR_RX_BUFF_LENGTH];
uint16_t g_radarRxDataIndex;

uint8_t *g_radarTxDataPoint;
uint16_t g_radarTxDataLength;
uint16_t g_radarTxDataIndex;


static uint8_t * p_float;
//static float  tmp_v;
static int16_t  tmp_v;
//static uint16_t _crc = 0;

static uint8_t recvbuffer_len = 0;
static uint8_t databuffer_len = 0;
static uint8_t trans_recvbuffer[RADAR_MAX_BUFFERSIZE] = {0};  //透传指令暂存buffer 
static uint8_t trans_databuffer[RADAR_MAX_BUFFERSIZE] = {0};	//透传回应数据暂存buffer 

#define WAITTING_TIMEOUT    (100)  //单位  ms 
static uint8_t  cmd_radar = RadarCmd_NULL;
uint8_t  waiting_time_ladar =0;  //等待数据时间， ms 
static uint8_t radar_timeout_count = 0; //雷达超时次数 

static float airHeight = 0;
static uint8_t _status = 0;



//uint8_t radar_cmd[8] = {0x7F, 0x04, 0x0A, 0x0F, 0x00, 0x02, 0x48, 0x0E};
uint8_t radar_cmd[8] = {0xFF, 0x03, 0x00, 0x01, 0x00, 0x01, 0xC0, 0x14};
//static uint8_t radar_cmd[32];
//uint8_t 

//static uint32_t ladar_printfBuff[16];
//static uint16_t ladar_printfLen = 0;

static int TransmitData(uint8_t *pdata, uint16_t length);
/**
* UartEventCallback
*
* @param[in] device: UART_Type pointer
* @param[in] wpara: UART lsr0 register
* @param[in] lpara: UART lsr1 register
* @return    none
*
* @brief   uart receive handle
*/
 static void UartEventCallback(void *device, uint32_t wpara, uint32_t lpara)
{
    uint8_t data = 0;
		uint16_t _crc = 0;
    UART_Type *uart_Device = (UART_Type *)device;
	
    /*rx interrupt*/
    if ((uart_Device->IER & UART_IER_ERXNE_Msk) && (wpara & UART_LSR0_DR_Msk))
    {
        data = uart_Device->RBR; 
				waiting_time_ladar =0;
				
				if(RadarCmd_AirHeight == cmd_radar){
						radar_timeout_count = 0;
						g_radarRxDataBuff[g_radarRxDataIndex++] = data; 
						if (g_radarRxDataIndex >= RADAR_RX_BUFF_LENGTH)
						{
								g_radarRxDataIndex = 0;
								
								_crc = crc16(g_radarRxDataBuff, RADAR_RX_BUFF_LENGTH-2);
							
								if( _crc ==  (((uint16_t)g_radarRxDataBuff[5]<<8) | g_radarRxDataBuff[6])){
										_status = STATUS_NORMAL;
										tmp_v = (int16_t)(g_radarRxDataBuff[3]<<8)|g_radarRxDataBuff[4];
										airHeight = tmp_v/1000.0;
								
								}else{
										_status = STATUS_DataError;
										airHeight = 0.0;
								}	
								
								//读空高命令结束
								cmd_radar = RadarCmd_NULL;
								
//								ladar_printfLen = snprintf((char*)ladar_printfBuff, 64, "Radar st[%d], airheight: %f m [%x][%x][%x][%x][%x][%x][%x]\r\n",
//									_status, airHeight,
//									g_radarRxDataBuff[0],
//								g_radarRxDataBuff[1],
//								g_radarRxDataBuff[2],
//								g_radarRxDataBuff[3],
//								g_radarRxDataBuff[4],
//								g_radarRxDataBuff[5],
//								g_radarRxDataBuff[6]);
//							rs485_TransmitData((uint8_t*)ladar_printfBuff, ladar_printfLen);
								
						}
						
				}else if(RadarCmd_Trans == cmd_radar){
					
						if(databuffer_len < RADAR_MAX_BUFFERSIZE){
								trans_databuffer[databuffer_len++]=data;
						}

				}
        
        

    }
		
    /*tx interrupt*/
    if ((uart_Device->IER & UART_IER_ETXE_Msk) && (wpara & UART_LSR0_THRE_Msk)) 
    {
        uart_Device->RBR = g_radarTxDataPoint[g_radarTxDataIndex++];

        if (g_radarTxDataIndex >= g_radarTxDataLength)
        {
            UART_SetTXEInterrupt(device, DISABLE);  ///<发送最后一个字节时关闭发送空中断
        }
    }
}
/**
* uart_Initialize
* 
* @param[in] none
* @return none
*
* @brief uart 初始化
*/
static void uart0_Initialize(void)
{
    UART_ConfigType  uartConfig = {0};

    uartConfig.baudrate = 115200;
    uartConfig.dataBits = UART_WORD_LEN_8BIT;
    uartConfig.stopBits = UART_STOP_1BIT;
    uartConfig.parity = UART_PARI_NO;
    uartConfig.fifoByteEn = DISABLE; ///<must enable fifoByte when use DMA
    uartConfig.dmaEn = UART_DMA_TXRX_NONE;
    uartConfig.callBack = UartEventCallback;   ///<uart0 interrupt callback
    UART_Init(LaDarUARTx, &uartConfig);
    

    UART_SetRXNEInterrupt(LaDarUARTx, ENABLE);
    ///Enable UARTx interrupt
    NVIC_SetPriority(LaDarUARTx_IRQn, 3);
    NVIC_ClearPendingIRQ(LaDarUARTx_IRQn);
    NVIC_EnableIRQ(LaDarUARTx_IRQn);
    
}
/**
* TransmitData
* 
* @param[in] pdata :发送数据指针
* @param[in] length :发送数据长度
* @return none
*
* @brief uart 发送函数，通过中断发送 
*/
int TransmitData(uint8_t *pdata, uint16_t length) 
{
    if (g_radarTxDataIndex < g_radarTxDataLength){
        return -1;      ///<有数据正在发送
    }
		
    g_radarTxDataPoint = pdata;
    g_radarTxDataLength = length;
    g_radarTxDataIndex = 0;
    UART_SetTXEInterrupt(LaDarUARTx, ENABLE);
		
		
    return 0;
}


void Radar_Init(void)
{
		uart0_Initialize();

		_status = STATUS_NORMAL;
		airHeight = 0;
		radar_timeout_count = 0;
	
}

//uint8_t Radar_ReadAirHeight(void)
//{
////	 uint16_t crc = 0;
////	
////	 //清空、接收缓冲
////	 g_radarRxDataIndex = 0;

////	 radar_cmd[0] = 0xFF,
////	 radar_cmd[1] = 0x03,
////	 radar_cmd[2] = 0x00,
////	 radar_cmd[3] = 0x01,
////	 radar_cmd[4] = 0x00,
////	 radar_cmd[5] = 0x01,

////	 crc = crc16(radar_cmd, 6);
////	 radar_cmd[6] = (uint8_t)((crc>>8) & 0x00ff);
////	 radar_cmd[7] = (uint8_t)(crc & 0x00ff);
//	 
//	 TransmitData(radar_cmd, 8);

//	 return 0;
//}

void 	Radar_CheckResponse(void)
{
	if(RadarCmd_NULL != cmd_radar){
		if(waiting_time_ladar >= WAITTING_TIMEOUT){
			//通信命令结束
			cmd_radar = RadarCmd_NULL; 
			
			if(RadarCmd_AirHeight == cmd_radar){
					radar_timeout_count++;
					g_radarRxDataIndex = 0;
					
					if(radar_timeout_count >= 3){
						radar_timeout_count =3;
						_status = STATUS_NoResponse;
						airHeight = 0.0;
					}
					
					
				
//					ladar_printfLen = snprintf((char*)ladar_printfBuff, 64, "Radar_CheckResponse st[%d], airheight: %f m \r\n", _status, airHeight);
//					rs485_TransmitData((uint8_t*)ladar_printfBuff, ladar_printfLen);
				
			}else {
				  recvbuffer_len = 0;
			}
			
		}
	
	}
}

void Radar_SendRequest(void)
{
	if(RadarCmd_NULL != cmd_radar){
		return;
	}
	
//			ladar_printfLen = snprintf((char*)ladar_printfBuff, 64, "Radar_SendRequest recvbuffer_len[%d] m \r\n", recvbuffer_len);
//		rs485_TransmitData((uint8_t*)ladar_printfBuff, ladar_printfLen);
	
	if(recvbuffer_len > 0){  
		//有透传数据需要发送 
		cmd_radar = RadarCmd_Trans;
		TransmitData(trans_recvbuffer, recvbuffer_len);
		waiting_time_ladar = 0;
		//清空接收缓存
		databuffer_len=0;
		memset(trans_databuffer, 0, RADAR_MAX_BUFFERSIZE);
	
	}else{
		//读取空高数据 
		cmd_radar = RadarCmd_AirHeight;
		TransmitData(radar_cmd, 8);
		waiting_time_ladar = 0;
		g_radarRxDataIndex = 0;
	}

}

void Radar_SendData(uint8_t* pData, uint8_t data_len)
{
	if(data_len > RADAR_MAX_BUFFERSIZE){
		return ;
	}
	
	if(RadarCmd_Trans == cmd_radar){ //上一个透传指令还没结束 
		return;
	}
	
	memcpy(trans_recvbuffer, pData, data_len);
	recvbuffer_len = data_len;
	
}

void Radar_ReadData(uint8_t* pBuffer, uint8_t read_len)
{
	if(read_len > RADAR_MAX_BUFFERSIZE){
		read_len = RADAR_MAX_BUFFERSIZE;
	}
	
	memcpy(pBuffer, trans_databuffer, read_len);
	
	//清空接收缓存
	databuffer_len=0;
	memset(trans_databuffer, 0, RADAR_MAX_BUFFERSIZE);
	
}

//uint8_t Radar_SetInstallHeight(uint16_t install_height)
//{
//	 //清空、接收缓冲
//	 g_radarRxDataIndex = 0;
//	 TransmitData(radar_cmd, 8);
//	
//	 return 0;
//}


uint8_t Radar_GetHeight(float* height)
{
	*height = airHeight;
	return _status;
}

uint8_t Radar_Print(void)
{
	return 0;
}

void Radar_DeInit(void)
{

}

void Radar_Timer1_Callback(void)
{
		if(waiting_time_ladar < 0xFF){
				waiting_time_ladar++;
		}
}