batteryTankProbe_temp/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "can.h"
#include "dma.h"
#include "i2c.h"
#include "iwdg.h"
#include "rtc.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */


/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
volatile uint8_t uart2DataReady = 0;
#define BUFFER_SIZE2 9
uint8_t dataReceive2[BUFFER_SIZE2];

uint16_t eeMLX90640[832];  
float mlx90640To[768];
uint16_t frame[834];
paramsMLX90640 mlx90640;

float emissivity=0.95;
int status;
uint16_t badPixels[5]; // 坏点数组，最大支�?? 5 个坏�??
uint16_t blockNumber = 1; // 数据块编号，每次采集递增
uint8_t packet[350];  // 存放�??包数据用于发�??


#define INPUT_WIDTH 32
#define INPUT_HEIGHT 24
#define OUTPUT_WIDTH 64
#define OUTPUT_HEIGHT 48
//float interpolatedStep1[INPUT_WIDTH * 4 * INPUT_HEIGHT * 4]; // 第一次插值后的数据存�??
float finalImage[OUTPUT_WIDTH * OUTPUT_HEIGHT];             // �??终插值后图像
uint32_t start_tick = 0;
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */



/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint16_t CalculateCRC(uint8_t *data, uint16_t length) 
{
    uint16_t crc = 0xFFFF;
    for (int i = 0; i < length; i++) 
    {
        crc ^= data[i];
        for (int j = 0; j < 8; j++) 
        {
            if (crc & 1)
                crc = (crc >> 1) ^ 0xA001;
            else
                crc >>= 1;
        }
    }
    return crc;
}
uint8_t packetNum = 1;  // 初始包序号为1
uint8_t sendingInProgress = 0;  // 状�?�标志：0表示未发送，1表示正在发�??

void SendDataFrame(uint16_t blockNumber,float *mlx90640To) 
{
    uint16_t i, packetLength;
    uint8_t packetnum = 1;  // 初始包序号为1
	
    while (packetnum <= 5)  // 循环直到发�?�完5个数据包
    {
        // 构�?�数据包�??
        uint16_t packetIndex = 0;
        
        // 0xABCD (2字节)
        packet[packetIndex++] = 0xAB;
        packet[packetIndex++] = 0xCD;
        
        // 0x0002 (2字节)
        packet[packetIndex++] = 0x00;
        packet[packetIndex++] = 0x02;
        
        // 0x014E (2字节)
        packet[packetIndex++] = 0x01;
        packet[packetIndex++] = 0x4E;
        
        // 数据块编�?? (2字节)
        packet[packetIndex++] =(uint8_t)(blockNumber >> 8);    // 数据包编�??: 0x0001, 0x0002 ...
        packet[packetIndex++] =(uint8_t)(blockNumber & 0xFF);
        
        // 0x0686 (2字节)
        packet[packetIndex++] = 0x06;
        packet[packetIndex++] = 0x86;
        
        // 0x0005 (2字节)
        packet[packetIndex++] = 0x00;
        packet[packetIndex++] = 0x05;
        
        // 0x0001, 0x0002, ..., 0x0005 (2字节) - 数据包序�??
        packet[packetIndex++] = 0x00;  // 根据包编号设置包序号
        packet[packetIndex++] = (uint8_t)(packetnum);

        // 填充frame数据 
        for (i = (packetnum - 1) * 167; i < packetnum * 167; i++) 
				{
            if (i < 768) 
						{
                // �?? mlx90640To[i] 乘以10后转换为 uint16_t
                uint16_t temp = (uint16_t)(mlx90640To[i] * 10);
                packet[packetIndex++] = (uint8_t)(temp >> 8);   // 高字�??
                packet[packetIndex++] = (uint8_t)(temp & 0xFF); // 低字�??
            } else 
						{
                // 若数据不足，则填�??0
                packet[packetIndex++] = 0x00;
                packet[packetIndex++] = 0x00;
            }
				}
        
        // 计算CRC16
        uint16_t crc = CalculateCRC(packet, packetIndex);  // 计算CRC16
        packet[packetIndex++] = (uint8_t)(crc & 0xFF);   // CRC 高字�??
        packet[packetIndex++] = (uint8_t)(crc >> 8); // CRC 低字�??
        
        // 发�?�数据包
        packetLength = packetIndex;
				HAL_UART_Transmit(&huart2, packet, packetLength, HAL_MAX_DELAY);
//				HAL_UART_Transmit_IT(&huart2, packet, packetLength);
//				HAL_UART_Transmit_DMA(&huart2, packet, packetLength);
				HAL_Delay(50);
				packetnum ++;
    }
}


// 定义读取异常时最大重试次�??
#define MAX_RETRY_COUNT 3
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART2_UART_Init();
  MX_I2C1_Init();
  MX_CAN1_Init();
  MX_RTC_Init();
//  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */
	
	uint32_t start_tick = osKernelGetTickCount();
	printf("start_tick %lu\r\n",start_tick);
	printf("MLX90640 25_4_24\r\n");
	
	uart_init();
	
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);	
	
	CAN_FilterInit();
	HAL_CAN_Start(&hcan1);// 开启can	
	HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);// 启用CAN FIFO 0消息挂起中断
	HAL_Delay(50);
	
	MLX90640_SetRefreshRate(MLX90640_ADDR, RefreshRate8HZ); // 设置帧率�??0-7对应0.5,1,2,4,8,16,32,64HZ�??
	status = MLX90640_DumpEE(MLX90640_ADDR, eeMLX90640); // 读取像素校正参数
	status = MLX90640_ExtractParameters(eeMLX90640, &mlx90640); // 解析校正参数
	
//	HAL_Delay(3000);

//	printf("0\r\n");
  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();
  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  }
	
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_LSI
                              |RCC_OSCILLATORTYPE_LSE;
  RCC_OscInitStruct.LSEState = RCC_LSE_ON;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 8;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV4;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void uart_init(void)
{
	memset(dataReceive2, 0, sizeof(dataReceive2));
	__HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE);
  HAL_UART_Receive_DMA(&huart2, dataReceive2, BUFFER_SIZE2); // 启动USART2的DMA接收485
}


/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM6) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */