ch_serial.c
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#include "ch_serial.h"
#include "bsp.h"
#if defined(CH_DEBUG)
#include <stdio.h>
//#define CH_TRACE printf
#else
//#define CH_TRACE(...)
#endif
uint8_t decode_succ;
#define CHSYNC1 (0x5A) /* CHAOHE message sync code 1 */
#define CHSYNC2 (0xA5) /* CHAOHE message sync code 2 */
#define CH_HDR_SIZE (0x06) /* CHAOHE protocol header size */
/* common type conversion */
#define U1(p) (*((uint8_t *)(p)))
#define I1(p) (*((int8_t *)(p)))
#define I2(p) (*((int16_t *)(p)))
static uint16_t U2(uint8_t *p) {uint16_t u; memcpy(&u,p,2); return u;}
static uint32_t U4(uint8_t *p) {uint32_t u; memcpy(&u,p,4); return u;}
static float R4(uint8_t *p) {float r; memcpy(&r,p,4); return r;}
#define ARRAY_SIZE(x) (sizeof(x) / sizeof((x)[0]))
static raw_t raw = {0}; /* IMU stram read/control struct */
static uint8_t decode_succ; /* 0: no new frame arrived, 1: new frame arrived */
typedef struct
{
uint8_t code;
char name[8];
}item_code_name_t;
const item_code_name_t item_code_name[] =
{
{0x90, "id"},
{0xA0, "acc"},
{0xB0, "gyr"},
{0xC0, "mag"},
{0xD0, "eul"},
{0xD1, "quat"},
{0xF0, "pressure"},
{0x91, "IMUSOL"}, /* collection of acc,gyr,mag,eul etc. to replace A0,B0,C0,D0... see user manual*/
{0x60, "GWSOL"}, /* HI221 node imu data collection see user manual */
};
static const char *code2name(uint8_t code)
{
const char *p = NULL;
int i;
for(i=0; i<ARRAY_SIZE(item_code_name); i++)
{
if(code == item_code_name[i].code)
{
p = item_code_name[i].name;
}
}
return p;
}
static void dump_imu_data(raw_t *raw)
{
int i;
if(raw->item_code[0] != KItemGWSOL) /* HI226 HI229 CH100 CH110 */
{
// Uart_Printf(COM1,"%-16s%d\r\n", "id:", raw->imu[0].id);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "acc(G):", raw->imu[0].acc[0], raw->imu[0].acc[1], raw->imu[0].acc[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "gyr(deg/s):", raw->imu[0].gyr[0], raw->imu[0].gyr[1], raw->imu[0].gyr[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "mag(uT):", raw->imu[0].mag[0], raw->imu[0].mag[1], raw->imu[0].mag[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "eul(deg):", raw->imu[0].eul[0], raw->imu[0].eul[1], raw->imu[0].eul[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f %.3f\r\n", "quat:", raw->imu[0].quat[0], raw->imu[0].quat[1], raw->imu[0].quat[2], raw->imu[0].quat[3]);
// Uart_Printf(COM1,"%-16s%.3f\r\n", "presure(pa):", raw->imu[0].pressure);
// Uart_Printf(COM1,"%-16s%d\r\n", "timestamp(ms):", raw->imu[0].timestamp);
// Uart_Printf(COM1,"item: ");
// for(i=0; i<raw->nitem_code; i++)
// {
// Uart_Printf(COM1,"0x%02X(%s)", raw->item_code[i], code2name(raw->item_code[i]));
// }
// Uart_Printf(COM1,"\r\n");
}
else /* HI222(HI221GW) */
{
// putchar(10);
// Uart_Printf(COM1,"gateway: %s%d, %s%d\r\n", "gwid:", raw->gwid, "node cnt:", raw->nimu);
for(i=0; i<raw->nimu; i++)
{
// putchar(10);
// Uart_Printf(COM1,"%-16s%d\r\n", "id:", raw->imu[i].id);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "acc(G):", raw->imu[i].acc[0], raw->imu[i].acc[1], raw->imu[i].acc[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "gyr(deg/s):", raw->imu[i].gyr[0], raw->imu[i].gyr[1], raw->imu[i].gyr[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "mag(uT):", raw->imu[i].mag[0], raw->imu[i].mag[1], raw->imu[i].mag[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f\r\n", "eul(deg):", raw->imu[i].eul[0], raw->imu[i].eul[1], raw->imu[i].eul[2]);
// Uart_Printf(COM1,"%-16s%.3f %.3f %.3f %.3f\r\n", "quat:", raw->imu[i].quat[0], raw->imu[i].quat[1], raw->imu[i].quat[2], raw->imu[i].quat[3]);
// Uart_Printf(COM1,"%-16s%.3f\r\n", "presure(pa):", raw->imu[i].pressure);
// Uart_Printf(COM1,"%-16s%d\r\n", "timestamp(ms):", raw->imu[i].timestamp);
}
}
}
static void crc16_update(uint16_t *currect_crc, const uint8_t *src, uint32_t len)
{
uint32_t crc = *currect_crc;
uint32_t j;
for (j=0; j < len; ++j)
{
uint32_t i;
uint32_t byte = src[j];
crc ^= byte << 8;
for (i = 0; i < 8; ++i)
{
uint32_t temp = crc << 1;
if (crc & 0x8000)
{
temp ^= 0x1021;
}
crc = temp;
}
}
*currect_crc = crc;
}
/* dump hi229 or hi226 data packet*/
void ch_dump_imu_data(raw_t *raw)
{
int i;
if(raw->item_code[0] != KItemGWSOL)
{
// CH_TRACE("%-16s%d\r\n", "id:", raw->imu[0].id);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "acc(G):", raw->imu[0].acc[0], raw->imu[0].acc[1], raw->imu[0].acc[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "gyr(deg/s):", raw->imu[0].gyr[0], raw->imu[0].gyr[1], raw->imu[0].gyr[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "mag(uT):", raw->imu[0].mag[0], raw->imu[0].mag[1], raw->imu[0].mag[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "eul(deg):", raw->imu[0].eul[0], raw->imu[0].eul[1], raw->imu[0].eul[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f %.3f\r\n", "quat:", raw->imu[0].quat[0], raw->imu[0].quat[1], raw->imu[0].quat[2], raw->imu[0].quat[3]);
// CH_TRACE("%-16s%.3f\r\n", "presure(pa):", raw->imu[0].pressure);
// CH_TRACE("%-16s%d\r\n", "timestamp(ms):", raw->imu[0].timestamp);
//
// CH_TRACE("item: ");
// for(i=0; i<raw->nitem_code; i++)
// {
// CH_TRACE("0x%02X ", raw->item_code[i]);
// }
// CH_TRACE("\r\n");
}
else
{
// CH_TRACE("gateway: %s%d, %s%d\r\n", "gwid:", raw->gwid, "node cnt:", raw->nimu);
// for(i=0; i<raw->nimu; i++)
// {
// CH_TRACE("%-16s%d\r\n", "id:", raw->imu[i].id);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "acc(G):", raw->imu[i].acc[0], raw->imu[i].acc[1], raw->imu[i].acc[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "gyr(deg/s):", raw->imu[i].gyr[0], raw->imu[i].gyr[1], raw->imu[i].gyr[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "mag(uT):", raw->imu[i].mag[0], raw->imu[i].mag[1], raw->imu[i].mag[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f\r\n", "eul(deg):", raw->imu[i].eul[0], raw->imu[i].eul[1], raw->imu[i].eul[2]);
// CH_TRACE("%-16s%.3f %.3f %.3f %.3f\r\n", "quat:", raw->imu[i].quat[0], raw->imu[i].quat[1], raw->imu[i].quat[2], raw->imu[i].quat[3]);
// CH_TRACE("%-16s%.3f\r\n", "presure(pa):", raw->imu[i].pressure);
// CH_TRACE("%-16s%d\r\n", "timestamp(ms):", raw->imu[i].timestamp);
// }
}
}
/* parse the payload of a frame and feed into data section */
static int parse_data(raw_t *raw)
{
int ofs = 0, i = 0;
uint8_t *p = &raw->buf[CH_HDR_SIZE];
memset(raw->item_code, 0, sizeof(raw->item_code));
raw->nitem_code = 0;
while(ofs < raw->len)
{
switch(p[ofs])
{
case kItemID:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = kItemID;
raw->imu[0].id = U1(p+ofs+1);
ofs += 2;
break;
case kItemAccRaw:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = kItemAccRaw;
raw->imu[0].acc[0] = (float)I2(p+ofs+1) / 1000;
raw->imu[0].acc[1] = (float)I2(p+ofs+3) / 1000;
raw->imu[0].acc[2] = (float)I2(p+ofs+5) / 1000;
ofs += 7;
break;
case kItemGyrRaw:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = kItemGyrRaw;
raw->imu[0].gyr[0] = (float)I2(p+ofs+1) / 10;
raw->imu[0].gyr[1] = (float)I2(p+ofs+3) / 10;
raw->imu[0].gyr[2] = (float)I2(p+ofs+5) / 10;
ofs += 7;
break;
case kItemMagRaw:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = kItemMagRaw;
raw->imu[0].mag[0] = (float)I2(p+ofs+1) / 10;
raw->imu[0].mag[1] = (float)I2(p+ofs+3) / 10;
raw->imu[0].mag[2] = (float)I2(p+ofs+5) / 10;
ofs += 7;
break;
case kItemRotationEul:
raw->item_code[raw->nitem_code++] = kItemRotationEul;
raw->imu[0].eul[0] = (float)I2(p+ofs+1) / 100;
raw->imu[0].eul[1] = (float)I2(p+ofs+3) / 100;
raw->imu[0].eul[2] = (float)I2(p+ofs+5) / 10;
ofs += 7;
break;
case kItemRotationQuat:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = kItemRotationQuat;
raw->imu[0].quat[0] = R4(p+ofs+1);
raw->imu[0].quat[1] = R4(p+ofs+5);
raw->imu[0].quat[2] = R4(p+ofs+9);
raw->imu[0].quat[3] = R4(p+ofs+13);
ofs += 17;
break;
case kItemPressure:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = kItemPressure;
raw->imu[0].pressure = R4(p+ofs+1);
ofs += 5;
break;
case KItemIMUSOL:
raw->nimu = 1;
raw->item_code[raw->nitem_code++] = KItemIMUSOL;
raw->imu[0].id = U1(p+ofs+1);
raw->imu[0].pressure = R4(p+ofs+4);
raw->imu[0].timestamp = U4(p+ofs+8);
raw->imu[0].acc[0] = R4(p+ofs+12);
raw->imu[0].acc[1] = R4(p+ofs+16);
raw->imu[0].acc[2] = R4(p+ofs+20);
raw->imu[0].gyr[0] = R4(p+ofs+24);
raw->imu[0].gyr[1] = R4(p+ofs+28);
raw->imu[0].gyr[2] = R4(p+ofs+32);
raw->imu[0].mag[0] = R4(p+ofs+36);
raw->imu[0].mag[1] = R4(p+ofs+40);
raw->imu[0].mag[2] = R4(p+ofs+44);
raw->imu[0].eul[0] = R4(p+ofs+48);
raw->imu[0].eul[1] = R4(p+ofs+52);
raw->imu[0].eul[2] = R4(p+ofs+56);
raw->imu[0].quat[0] = R4(p+ofs+60);
raw->imu[0].quat[1] = R4(p+ofs+64);
raw->imu[0].quat[2] = R4(p+ofs+68);
raw->imu[0].quat[3] = R4(p+ofs+72);
ofs += 76;
break;
case KItemGWSOL:
raw->item_code[raw->nitem_code++] = KItemGWSOL;
raw->gwid = U1(p+ofs+1);
raw->nimu = U1(p+ofs+2);
ofs += 8;
for (i=0; i<raw->nimu; i++)
{
raw->imu[i].id = U1(p+ofs+1);
raw->imu[i].pressure = R4(p+ofs+4);
raw->imu[i].timestamp = U4(p+ofs+8);
raw->imu[i].acc[0] = R4(p+ofs+12);
raw->imu[i].acc[1] = R4(p+ofs+16);
raw->imu[i].acc[2] = R4(p+ofs+20);
raw->imu[i].gyr[0] = R4(p+ofs+24);
raw->imu[i].gyr[1] = R4(p+ofs+28);
raw->imu[i].gyr[2] = R4(p+ofs+32);
raw->imu[i].mag[0] = R4(p+ofs+36);
raw->imu[i].mag[1] = R4(p+ofs+40);
raw->imu[i].mag[2] = R4(p+ofs+44);
raw->imu[i].eul[0] = R4(p+ofs+48);
raw->imu[i].eul[1] = R4(p+ofs+52);
raw->imu[i].eul[2] = R4(p+ofs+56);
raw->imu[i].quat[0] = R4(p+ofs+60);
raw->imu[i].quat[1] = R4(p+ofs+64);
raw->imu[i].quat[2] = R4(p+ofs+68);
raw->imu[i].quat[3] = R4(p+ofs+72);
ofs += 76;
}
break;
default:
ofs++;
break;
}
}
return 1;
}
static int decode_ch(raw_t *raw)
{
uint16_t crc = 0;
/* checksum */
crc16_update(&crc, raw->buf, 4);
crc16_update(&crc, raw->buf+6, raw->len);
if (crc != U2(raw->buf+4))
{
// CH_TRACE("ch checksum error: frame:0x%X calcuate:0x%X, len:%d\n", U2(raw->buf+4), crc, raw->len);
return -1;
}
return parse_data(raw);
}
/* sync code */
static int sync_ch(uint8_t *buf, uint8_t data)
{
buf[0] = buf[1];
buf[1] = data;
return buf[0] == CHSYNC1 && buf[1] == CHSYNC2;
}
int ch_serial_input(raw_t *raw, uint8_t data)
{
/* synchronize frame */
if (raw->nbyte == 0)
{
if (!sync_ch(raw->buf, data)) return 0;
raw->nbyte = 2;
return 0;
}
raw->buf[raw->nbyte++] = data;
if (raw->nbyte == CH_HDR_SIZE)
{
if ((raw->len = U2(raw->buf+2)) > (MAXRAWLEN - CH_HDR_SIZE))
{
// CH_TRACE("ch length error: len=%d\n",raw->len);
raw->nbyte = 0;
return -1;
}
}
if (raw->nbyte < (raw->len + CH_HDR_SIZE))
{
return 0;
}
raw->nbyte = 0;
return decode_ch(raw);
}
extern UartStruct Uart2Stu;
void USART2_IRQHandler(void)
{
CPU_SR_ALLOC();
unsigned int i;
unsigned char ch;
u8 flag = 0;
CPU_CRITICAL_ENTER();
OSIntEnter();
CPU_CRITICAL_EXIT();
/*接收中断*/
if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
{
flag = 1;
/* Read one byte from the receive data register */
ch = USART_ReceiveData(USART2);
if(((Uart2Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart2Stu.RxBuf_Out)
{
}
else
{
Uart2Stu.RxBuf[(Uart2Stu.RxBuf_In)] = ch;
Uart2Stu.RxBuf_In = (Uart2Stu.RxBuf_In + 1) & UART_BUF_LEN;
}
}
/* 发送缓冲区空中断 */
if (USART_GetITStatus(USART2, USART_IT_TXE) != RESET)
{
if(Uart2Stu.TxBuf_In != Uart2Stu.TxBuf_Out)
{
i = Uart2Stu.TxBuf_Out;
Uart2Stu.TxBuf_Out = (Uart2Stu.TxBuf_Out + 1) & UART_BUF_LEN;
ch = Uart2Stu.TxBuf[i];
USART_SendData(USART2,ch);
}
else
{
/* 禁止发送缓冲区空中断，使能发送完毕中断 */
USART_ITConfig(USART2, USART_IT_TXE, DISABLE);
USART_ITConfig(USART2, USART_IT_TC, ENABLE);
}
}
/* 1个字节发送完毕的中断 */
else if (USART_GetITStatus(USART2, USART_IT_TC) != RESET)
{
if(Uart2Stu.TxBuf_In != Uart2Stu.TxBuf_Out)
{
i = Uart2Stu.TxBuf_Out;
Uart2Stu.TxBuf_Out = (Uart2Stu.TxBuf_Out + 1) & UART_BUF_LEN;
ch = Uart2Stu.TxBuf[i];
USART_SendData(USART2,ch);
}
else
{
/* 禁止发送缓冲区空中断，使能发送完毕中断 */
USART_ITConfig(USART2, USART_IT_TC, DISABLE);
}
}
else if(flag == 0)//接收
{
/* Read one byte from the receive data register */
ch = USART_ReceiveData(USART2);
if(((Uart2Stu.RxBuf_In + 1) & UART_BUF_LEN) == Uart2Stu.RxBuf_Out)
{
}
else
{
Uart2Stu.RxBuf[(Uart2Stu.RxBuf_In)] = ch;
Uart2Stu.RxBuf_In = (Uart2Stu.RxBuf_In + 1) & UART_BUF_LEN;
}
}
decode_succ = ch_serial_input(&raw, ch);
OSIntExit();
}
void DecodeIMUdata()
{
if(decode_succ)
{
decode_succ = 0;
dump_imu_data(&raw);
}
IMU.palstance = raw.imu[0].gyr[2]*0.017453;
IMU.angle = raw.imu[0].eul[2]/57.3;
if(Camera.UpdataFlag == 1)//有码
{
IMU.angleCompensation = Camera.angle - IMU.angle;
}
IMU.angle += IMU.angleCompensation;
}