init:全链路闭环控制调通

2026-06-06 21:26:08 +08:00
parent b5be64b642
commit f28d129e11
32 changed files with 5120 additions and 181 deletions
@@ -0,0 +1,66 @@
+#include "Command.h"
+#include "zf_driver_uart.h"
+#include "zf_common_interrupt.h"
+#include "ti/driverlib/dl_uart_main.h"
+#include "zf_common_fifo.h"
+
+volatile fifo_struct command_fifo = {0};
+volatile uint8_t command_fifo_buffer[COMMAND_FIFO_BUFFER_SIZE] = {0};
+uint8_t command_sum(uint8_t* data,int len);
+
+void command_callback(uint32 state, void *ptr)
+{
+    while(false == DL_UART_isRXFIFOEmpty(UART2))//读取到一个数据
+    {
+        fifo_write_element((fifo_struct*)&command_fifo,DL_UART_Main_receiveData(UART2));//写入软件FIFO
+    }
+}
+void command_init()
+{
+    uart_init(UART_2,115200,UART2_TX_B15,UART2_RX_B16);
+    uart_set_interrupt_config(UART_2,UART_INTERRUPT_CONFIG_RX_ENABLE);
+    interrupt_set_priority(UART2_INT_IRQn,1);//设置为与主要任务平行的优先级
+
+    //开启发送DMA
+
+    //开启硬件FIFO
+    DL_UART_Main_enableFIFOs(UART2);
+    DL_UART_Main_setRXFIFOThreshold(UART2,DL_UART_MAIN_RX_FIFO_LEVEL_1_2_FULL);
+
+    //设置软件FIFO
+    fifo_init((fifo_struct *)&command_fifo,FIFO_DATA_8BIT,(void*)command_fifo_buffer,COMMAND_FIFO_BUFFER_SIZE);
+    //设置中断回调
+    uart_set_callback(UART_2,command_callback,NULL);
+}
+//从软件FIFO中解析数据包并执行
+void command_task()
+{
+
+}
+//DMA发送使用的地址
+uint8_t angle_velocity_data[6] = {0};
+//发送速度前馈
+void command_send_angle_velocity(float* pointer_angle_velocity)
+{
+    //等待上一次DMA发送完成
+
+    //填充数据
+    uint8_t* p = (uint8_t*)pointer_angle_velocity;
+    angle_velocity_data[0]=0xA1;
+    angle_velocity_data[1]=*(p++);
+    angle_velocity_data[2]=*(p++);
+    angle_velocity_data[3]=*(p++);
+    angle_velocity_data[4]=*(p++);
+    angle_velocity_data[5]=command_sum(angle_velocity_data,5);
+    //DMA发送（非阻塞）
+
+}
+uint8_t command_sum(uint8_t* data,int len)
+{
+    uint8_t sum = 0;
+    for(int i=0;i<len;i++)
+    {
+        sum+=data[i];
+    }
+    return sum;
+}