V1.0

2026-06-09 16:39:17 +08:00
commit 41a602f89c
3057 changed files with 771495 additions and 0 deletions
@@ -0,0 +1,232 @@
+#include "uart.h"
+#include "xc_hal.h"
+#include "check.h"
+
+
+#define RAD_HEAD1		0xFA
+#define RAD_HEAD2		0x3C
+#define RAD_REAR1		0x3D
+#define RAD_REAR2		0xFB
+
+#define TEST_HEAD1		0x2B
+#define TEST_HEAD2		0x2B
+#define TEST_REAR1		0xE4
+#define TEST_REAR2		0xC7
+
+//数据协议类型
+#define TYPE_RAD		1
+#define TYPE_TEST		2
+
+uint8_t port_txbuff[40] = {0}; 
+uint8_t port_rxdata[32] = {0};
+
+volatile uint8_t rxcnt = 0;
+volatile uint8_t rxstat = 0;
+volatile uint8_t rxtype = 0;
+volatile uint8_t rxflag = 0;
+volatile uint8_t rxwait = 0;
+volatile uint8_t radar_wait = 0;
+
+void uart_tick(void)
+{
+	if(rxwait > 0 && --rxwait == 0)
+	{
+		rxstat = 0;
+	}
+	if(radar_wait > 0)
+	{
+		radar_wait--;
+	}
+}
+
+//端口接收中断
+void uart_rxbyte(uint8_t byte)
+{
+	switch(rxstat)
+	{
+	case 0: //接收帧头1
+		if(byte == RAD_HEAD1)
+		{
+			rxtype = TYPE_RAD;
+			rxstat = 1;
+		}
+		else if(byte == TEST_HEAD1)
+		{
+			rxtype = TYPE_TEST;
+			rxstat = 11;
+		}
+		break;
+	case 1: //接收帧头2
+		rxstat = (byte==RAD_HEAD2) ? 2 : 0;
+		break;
+	case 2:
+		port_rxdata[0] = byte;
+		rxstat = 3;
+		break;
+	case 3: 
+		rxstat = (byte==0) ? 4 : 0;
+		break;
+	case 4:
+		rxcnt = 0;
+		port_rxdata[1] = byte;
+		rxstat = (byte!=0)?5:6;
+		break;
+	case 5:
+		port_rxdata[2+rxcnt] = byte;
+		if(++rxcnt >= port_rxdata[1] || rxcnt >= 30)
+		{
+			rxstat = 6;
+		}
+		break;
+	case 6:
+		rxstat = 7;
+		break;
+	case 7:
+		rxstat = (byte==RAD_REAR1) ? 8 : 0;
+		break;
+	case 8:
+		if(byte == RAD_REAR2)
+		{
+			rxflag = 1;
+		}
+		rxstat = 0;
+		break;
+	case 11:
+		rxstat = (byte==TEST_HEAD2) ? 12 : 0;
+		break;
+	case 12:
+		port_rxdata[0] = byte;
+		rxstat = 13;
+		break;
+	case 13:
+		rxcnt = 0;
+		port_rxdata[1] = byte;
+		rxstat = (byte!=0)?14:15;
+		break;
+	case 14:
+		port_rxdata[2+rxcnt] = byte;
+		if(++rxcnt >= port_rxdata[1])
+		{
+			rxstat = 15;
+		}
+		break;
+	case 15:
+		rxstat = (byte==TEST_REAR1) ? 16 : 0;
+		break;
+	case 16:
+		if(byte == TEST_REAR2)
+		{
+			rxflag = 1;
+		}
+		rxstat = 0;
+		break;
+	}
+	rxwait = 10;
+}
+
+void uart_send(uint8_t *pdata, uint8_t type)
+{
+	uint8_t txcnt = 0;
+	
+	rxflag = 0;
+	if(type == TYPE_RAD)
+	{
+		port_txbuff[txcnt++] = RAD_HEAD1;
+		port_txbuff[txcnt++] = RAD_HEAD2;
+		port_txbuff[txcnt++] = pdata[0];
+		port_txbuff[txcnt++] = 0x00;
+		port_txbuff[txcnt++] = pdata[1];
+		for(uint8_t i = 0; i < pdata[1]; i++)
+		{
+			port_txbuff[txcnt++] = pdata[2+i];
+		}
+		port_txbuff[txcnt++] = CRC8_SAE(port_txbuff+2, pdata[1]+3);
+		port_txbuff[txcnt++] = RAD_REAR1;
+		port_txbuff[txcnt++] = RAD_REAR2;
+	}
+	else if(type == TYPE_TEST)
+	{
+		port_txbuff[txcnt++] = TEST_HEAD1;
+		port_txbuff[txcnt++] = TEST_HEAD2;
+		port_txbuff[txcnt++] = pdata[0];
+		port_txbuff[txcnt++] = pdata[1];
+		for(uint8_t i = 0; i < pdata[1]; i++)
+		{
+			port_txbuff[txcnt++] = pdata[2+i];
+		}
+		port_txbuff[txcnt++] = TEST_REAR1;
+		port_txbuff[txcnt++] = TEST_REAR2;
+	}
+	hal_uart_send(port_txbuff, txcnt);
+}
+
+uint8_t radcmd_map[] = {0x11, 0x12, 0xB3, 0x14, 0x15, 0x16, 0x17};
+uint8_t tstcmd_map[] = {0x01, 0x02, 0x03};
+
+static uint8_t check_radcmd(uint8_t cmd)
+{
+	for(uint8_t i = 0; i < sizeof(radcmd_map); i++)
+	{
+		if(cmd == radcmd_map[i])
+		{
+			return 1;
+		}
+	}
+	return 0;
+}
+
+static uint8_t check_tstcmd(uint8_t cmd)
+{
+	for(uint8_t i = 0; i < sizeof(tstcmd_map); i++)
+	{
+		if(cmd == tstcmd_map[i])
+		{
+			return 1;
+		}
+	}
+	return 0;
+}
+
+void uart_recv(void (*func)(uint8_t *, uint8_t))
+{
+	if(rxflag != 0) 
+	{
+		rxflag = 0;
+		if(rxtype == TYPE_RAD && check_radcmd(port_rxdata[0]))
+		{
+			(*func)(port_rxdata, rxtype);
+			if(port_rxdata[0] != 0x12)
+			{
+				uart_send(port_rxdata, TYPE_RAD);
+			}
+		}
+		if(rxtype == TYPE_TEST && check_tstcmd(port_rxdata[0]))
+		{
+			(*func)(port_rxdata, rxtype);
+			uart_send(port_rxdata, TYPE_TEST);
+		}
+	}
+}
+
+uint8_t uart_trx(uint8_t *txdata, uint8_t *rxdata)
+{
+	uart_send(txdata, TYPE_RAD);
+
+	rxflag = 0;
+	rxtype = 0;
+	radar_wait = 200;
+	while(radar_wait != 0)
+	{
+		if((rxflag != 0) && (rxtype == TYPE_RAD))
+		{
+			rxflag = 0;
+			for(int i = 0; i < port_rxdata[1]+2; i++)
+			{
+				rxdata[i] = port_rxdata[i];
+			}
+			return 1;
+		}
+	}
+	//rxflag = 0;
+	return 0;
+}