moyuhai
122 lines
2.1 KiB
C
122 lines
2.1 KiB
C
#include "xc_hal.h"
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#include "uart.h"
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#include "radar.h"
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uint8_t rad_txbuff[16] = {0};
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uint8_t rad_rxbuff[16] = {0};
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uint8_t rad_flag = 1;
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uint8_t rad_ccc = 1;
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uint16_t rad_aaa = 100;
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uint32_t rad_bbb = 30;
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static uint8_t cmd_setval(uint32_t setval, uint8_t save)
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{
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rad_txbuff[0] = 0xA1;
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rad_txbuff[1] = 0x07;
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rad_txbuff[2] = setval >> 8;
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rad_txbuff[3] = setval & 0xFF;
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rad_txbuff[4] = 0x00;
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rad_txbuff[5] = 0x02;
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rad_txbuff[6] = 0x00;
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rad_txbuff[7] = 0x00;
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rad_txbuff[8] = (save!=0)?1:0;
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return uart_trx(rad_txbuff, rad_rxbuff);
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}
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static uint8_t cmd_getval(uint32_t *getval)
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{
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rad_txbuff[0] = 0xA2;
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rad_txbuff[1] = 0x00;
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if(uart_trx(rad_txbuff, rad_rxbuff))
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{
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*getval = rad_rxbuff[2]<<8|rad_rxbuff[3];
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return 1;
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}
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return 0;
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}
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static uint8_t cmd_setflag(uint8_t flag)
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{
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rad_txbuff[0] = 0xA3;
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rad_txbuff[1] = 0x01;
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rad_txbuff[2] = flag;
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return uart_trx(rad_txbuff, rad_rxbuff);
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}
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static uint8_t cmd_getflag(uint8_t *data)
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{
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rad_txbuff[0] = 0xA4;
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rad_txbuff[1] = 0x00;
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if(uart_trx(rad_txbuff, rad_rxbuff))
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{
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*data = rad_rxbuff[2];
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return 1;
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}
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return 0;
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}
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//À×´ï³õʼ»¯
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uint8_t radar_init(uint32_t setbase, uint16_t setper, uint8_t save)
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{
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uint8_t enable = 0;
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uint32_t setval = 0;
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rad_flag = save;
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if(setper & 0x8000)
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{
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enable = 0;
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setval = 255;
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}
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else
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{
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enable = 1;
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setval = (uint64_t)(setbase * setper) / 100;
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if(setval > 255) setval = 255;
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}
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if(!cmd_setflag(enable))
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{
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return 0;
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}
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rad_ccc = enable;
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delay_ms(40);
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if(!cmd_setval(setval, save))
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{
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return 0;
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}
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rad_bbb = setval;
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rad_aaa = setper;
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return 1;
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}
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uint8_t radar_setbase(uint32_t setbase)
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{
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return radar_init(setbase, rad_aaa, rad_flag);
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}
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void radar_readval(uint16_t *data)
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{
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data[0] = (hal_rad_get())?1023:0;
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data[1] = data[0];
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}
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void radar_getper(uint8_t *data)
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{
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data[0] = rad_aaa & 0xFF;
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data[1] = rad_aaa >> 8;
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}
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void radar_getcfg(uint8_t *data)
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{
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cmd_getval(&rad_bbb);
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cmd_getflag(&rad_ccc);
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data[0] = rad_ccc;
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data[1] = (rad_bbb >> 0) & 0xFF;
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data[2] = (rad_bbb >> 8) & 0xFF;
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data[3] = (rad_bbb >> 16) & 0xFF;
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data[4] = (rad_bbb >> 24) & 0xFF;
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}
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