初始版本

Project/HC32F460/source/User/Src/ADS1231.c

@@ -0,0 +1,126 @@
+#include "ADS1231.h"
+
+extern float Temperature; 
+
+
+void ADS1231_Open(void)
+{
+	PDWN1_SET();
+	PDWN2_SET();
+	PDWN3_SET();
+	PDWN4_SET();
+}
+
+void ADS1231_HighSpeedSet(void)
+{
+	SPEED1_SET();
+	SPEED2_SET();
+	SPEED3_SET();
+	SPEED4_SET();
+}
+
+void ADS1231_LowSpeedSet(void)
+{
+	SPEED1_RESET();
+	SPEED2_RESET();
+	SPEED3_RESET();
+	SPEED4_RESET();
+}
+
+uint32_t GpioAGetDout(en_pin_t enPin)
+{
+	return *(uint32_t *)((uint32_t)(&M4_PORT->PIDRA)) & (enPin);
+}
+
+uint32_t GpioBGetDout(en_pin_t enPin)
+{
+	return *(uint32_t *)((uint32_t)(&M4_PORT->PIDRB)) & (enPin);
+}
+
+bool ADS1231_Read(uint32_t *r_data, uint8_t channel) {
+	uint8_t i;
+	uint32_t data = 0;
+	
+	switch(channel) {
+		case 0:
+			if(GpioAGetDout(DRDY_DOUT1_PIN) != 0)
+				return false;
+			
+			for(i = 0; i < 24; i++) {
+				SCLK1_SET();
+				data <<= 0x01;
+				__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+				SCLK1_RESET();
+				
+				if(GpioAGetDout(DRDY_DOUT1_PIN) != 0)
+					data |= 0x01;
+			}
+			SCLK1_SET();
+			__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+			SCLK1_RESET();
+			break;
+		case 1:
+			if(GpioAGetDout(DRDY_DOUT2_PIN) != 0)
+				return false;
+			
+			for(i = 0; i < 24; i++) {
+				SCLK2_SET();
+				data <<= 0x01;
+				__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+				SCLK2_RESET();
+				__NOP(); __NOP(); 
+				if(GpioAGetDout(DRDY_DOUT2_PIN) != 0)
+					data |= 0x01;
+			}
+			SCLK2_SET();
+			__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+			SCLK2_RESET();
+			break;
+		case 2:
+			if(GpioBGetDout(DRDY_DOUT3_PIN) != 0)
+				return false;
+			
+			for(i = 0; i < 24; i++) {
+				SCLK3_SET();
+				data <<= 0x01;
+				__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+				SCLK3_RESET();
+				if(GpioBGetDout(DRDY_DOUT3_PIN) != 0 )
+					data |= 0x01;
+			}
+			SCLK3_SET();
+			__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+			SCLK3_RESET();
+			break;
+		case 3:
+			if(GpioBGetDout(DRDY_DOUT4_PIN) != 0 )
+				return false;
+			
+			for(i = 0; i < 24; i++) {
+				SCLK4_SET();
+				data <<= 0x01;
+				__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+				SCLK4_RESET();
+				if(GpioBGetDout(DRDY_DOUT4_PIN) != 0 )
+					data |= 0x01;
+			}
+			SCLK4_SET();
+			__NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP();
+			SCLK4_RESET();
+			break;
+		default:
+			return false;
+
+	}
+
+	if(data <= 0x00ffffff) {
+		if(data > 0x007fffff)
+			*r_data = data|0xff000000;
+		else
+			*r_data = data;
+	}
+	else 
+		return false;
+	
+	return true;
+}

Project/HC32F460/source/User/Src/Debug.c

@@ -0,0 +1,405 @@
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <stdarg.h>
+
+#include "Debug.h"
+#include "main.h"
+#include "bsp.h"
+#include "dc_motor.h"
+
+#if (USE_DEBUG != 0)
+#define DEBUG_CMD_CNT					8
+const DBGFunType DebugFun[DEBUG_CMD_CNT];
+
+static char buff[BUFSIZE];
+volatile uint16_t iw=0;  /* buffer write index*/
+static uint16_t ir=0;  /* buffer read index*/
+static uint16_t DebugRxTimeOut1mSCnt;
+static char RxBuff[128];
+static uint8_t RxLen = 0;
+
+void vcom_Print(uint8_t sLen);
+
+void vcom_Send( char *format, ... )
+{
+  va_list args;
+  va_start(args, format);
+  uint8_t len;
+  char tempBuff[DEBUG_BUFF_SIZE_MAX];
+	//uint32_t primask_bit;
+	uint8_t offset = 0;
+  //primask_bit = __get_PRIMASK();
+  //__disable_irq();
+  
+  /*convert into string at buff[0] of length iw*/
+  len = vsprintf(&tempBuff[0], format, args);
+
+	while(offset < len) {
+		if((len - offset) < BUFSIZE) {
+			memcpy(&buff[0], &tempBuff[offset], len - offset);
+			vcom_Print(len - offset);
+			offset = len;
+		}
+		else {
+			memcpy(&buff[0], &tempBuff[offset], BUFSIZE);
+			offset += BUFSIZE;
+			vcom_Print(BUFSIZE);
+		}
+	}
+
+  //__set_PRIMASK(primask_bit);
+	//__enable_irq();
+	
+  va_end(args);
+}
+
+// 定义一个函数vcom_Print，用于打印字符串
+void vcom_Print(uint8_t sLen)
+{
+  // 定义一个字符指针CurChar
+  char* CurChar;
+  // 初始化ir
+  ir = 0;
+  // 当ir小于sLen时，循环执行
+  while(ir < sLen)
+  {
+    // 获取字符指针CurChar
+    CurChar = &buff[ir++];
+    // 调用DebugUartSend函数，发送CurChar指向的字符，次数为1
+		DebugUartSend((uint8_t*)CurChar, 1);
+  }
+}
+
+// 定义一个函数vcom_Send2，用于发送字符串
+void vcom_Send2(uint8_t *sData, uint16_t len)
+{
+  // 遍历sData，将每个元素发送到DebugUartSend
+	for(int i = 0; i < len; i++) {
+		DebugUartSend(&sData[i], 1);
+	}
+}
+
+void DebugLoopHandler(void)
+{
+	int argc = 0;
+	char *argv[10], *argp;
+	
+	if(DebugRxTimeOut1mSCnt > 0 || RxLen == 0)
+		return;
+	
+	//for(argv[argc] = strtok(RxBuff, " "); argv[argc] != NULL; argv[++argc] = strtok(NULL, " "));
+	// 解析字符串，将参数放入argv数组中
+	argp = strtok(RxBuff, " ");
+	for(int i = 0; i < 10; i++) {
+		if(argp != NULL) {
+			argv[argc++] = argp;
+			argp = strtok(NULL, " ");
+		}
+		else if(argc > 0){
+			argc--;
+			break;
+		}
+	}
+
+	// 获取第一个参数，并将其赋值给argp
+	argp = strtok(argv[argc], "'\r'");
+	// 如果argp不为空，则将argp的值赋值给argv[argc]，并将argc加1
+	if(argp != NULL) {
+		argv[argc++] = argp;
+	}
+	// 否则，将RxLen设置为0，并返回
+	else {
+		RxLen = 0;
+		return;
+	}
+	
+	// 遍历DebugFun数组，查找argv[0]是否与DBGCmd匹配，若匹配则调用DBGExec函数
+	for(int i = 0; i < DEBUG_CMD_CNT; i++) {
+		if(strcmp(argv[0], DebugFun[i].DBGCmd) == 0)
+			DebugFun[i].DBGExec(argc, argv);
+	}
+    
+	memset(RxBuff, 0x00, 128);
+	RxLen = 0;
+}
+
+
+
+uint32_t RxTimeCurrent;
+uint32_t RxTimeLast = 0;
+
+// 函数：Dbg1msRoutine
+// 功能：1ms调试时钟routine
+void Dbg1msRoutine(void)
+{
+	// 如果1ms调试时钟计数器大于0
+	if(DebugRxTimeOut1mSCnt > 0)
+		// 1ms调试时钟计数器减1
+		DebugRxTimeOut1mSCnt--;
+}
+
+// 定义函数DbgUsartRxIrqCallback，用于处理串口接收中断
+void DbgUsartRxIrqCallback(void)
+{
+    // 如果1分钟超时计数器为0，则清空RxLen
+    if(DebugRxTimeOut1mSCnt == 0) 
+        RxLen = 0;
+    
+    // 重置1分钟超时计数器
+    DebugRxTimeOut1mSCnt = 3;
+    // 读取串口接收到的数据
+    uint8_t Data = DbgUartRec();
+    // 如果RxLen小于128，则将数据添加到RxBuff中
+    if(RxLen < 128) {
+        RxBuff[RxLen++] = Data;
+    }
+//    DBG_LOG("RxBuff = %s\n", RxBuff);
+//    RS485_Flag=1;//接收标志为置1
+}
+
+void DebugTest(int argc, char *argv[])
+{
+    // 如果参数个数小于2，则返回
+    if(argc < 2)
+        return;
+    // 如果参数为“?”，则打印帮助信息
+    if(strcmp(argv[1], "?") == 0)
+    {
+        DBG_LOG("Debug Cmd:\r\n\
+      disp task on/off -->Open the task display.\r\n");
+        return;
+    }
+    // 如果参数为“on”，则打印“Test ON”
+    if(strcmp(argv[1], "on") == 0)
+    {
+//        TestOn();
+        DBG_LOG("Test ON\r\n");
+    }
+    // 如果参数为“off”，则打印“Test OFF”
+    else if(strcmp(argv[1], "off") == 0)
+    {
+//        TestOFF();
+        DBG_LOG("Test OFF\r\n");
+    }
+}
+
+
+
+#if 0
+void DebugCmdGps(int argc, char *argv[])
+{
+	if(argc < 2)
+		return;
+	
+	if(strcmp(argv[1], "?") == 0) {
+		DBG_LOG("Debug Cmd:\r\n\
+      gps on/off -->Turn the gps on or off.\r\n");
+		return;
+	}
+
+	if(strcmp(argv[1], "on") == 0) {
+		GPSStart();
+	}
+	else if(strcmp(argv[1], "off") == 0) {
+		GPSStop();
+	}
+}
+#endif
+
+
+void DebugCmdHelp(int argc, char *argv[])
+{
+	DBG_LOG("Debug Cmd:\r\n\
+        disp task on/off -->Open the task display.\r\n\
+        help\
+        motor\
+		  level\
+		  wave\
+        ");
+}
+
+#if 0
+//// 定义一个无参函数DebugReadData，用于读取数据
+//void DebugReadData(int argc, char *argv[])
+//{
+//	// 定义一个无符号32位整数ADReadStart，初始值为0
+//	uint32_t ADReadStart = 0;	
+//	// 定义一个ADData_t类型的数组ADBuff，大小为640
+//	ADData_t ADBuff[640]; 
+//	
+//	// 当ADReadStart小于SDCARD_BLOCK_MAX时，循环执行
+//	while(ADReadStart < SDCARD_BLOCK_MAX) {
+//		// 使用SDCardReadBlocks函数读取数据，从ADReadStart开始，读取10个块，数据存储在ADBuff中
+//		SDCardReadBlocks(ADReadStart, 10, (uint8_t *)ADBuff);
+//		// 遍历ADBuff数组，将每个元素打印出来
+//		for(int i = 0; i < 640; i++) {
+//			DBG_LOG("%d\t%d\t%d\t%d\r\n", ADBuff[i].AD0, ADBuff[i].AD1, ADBuff[i].AD2, ADBuff[i].AD3);
+//		}
+//		// ADReadStart加10
+//		ADReadStart += 10;
+//	}
+//}
+
+
+
+//// 定义一个函数SetTime，参数为int argc和char *argv[]
+//void SetTime(int argc, char *argv[])
+//{
+//    // 定义一个字符数组test，并初始化为0
+//    char test[10] = 0;
+//    // 定义一个整数num，并初始化为0
+//    int num = 0;
+//    // 如果argc小于2，则返回
+//    if(argc < 2)
+//        return;
+//    // 如果argv[1]等于"?"，则打印提示信息
+//    if(strcmp(argv[1], "?") == 0)
+//    {
+//        DBG_LOG("SetTime Cmd:\r\n\
+//      disp task on/off -->Open the task display.\r\n");
+//        return;
+//    }
+//    // 将argv[1]的值复制到test
+//    memcpy(test, (char *)argv[1], 10);
+//    // 将test转换为整数
+//    num = atoi(test);
+//    // 调用TimeSync函数，并将num作为参数传入
+//    TimeSync(num);
+//}
+#endif
+extern uint8_t KeyASta;
+extern uint8_t KeyBSta;
+extern uint8_t RunSta;
+void MotorSwitch(int argc, char *argv[])
+{
+    // 如果参数个数小于2，则返回
+    if(argc < 2)
+        return;
+    // 如果第一个参数为？，则打印帮助信息
+    if(strcmp(argv[1], "?") == 0)
+    {
+        DBG_LOG("DCMotor Cmd:\r\n\
+      motor F/R/S -->Turn the motor on or off.\r\n");
+        return;
+    }
+    // 如果第一个参数为on，则开启SonarWork
+    if(strcmp(argv[1], "R") == 0)
+    {
+        KeyASta = true;
+        Motor_Control(MOTOR_CMD_REVERSE);
+        DBG_LOG("Motor FORWARD\r\n");
+    }
+    // 如果第一个参数为off，则关闭SonarWork
+    else if(strcmp(argv[1], "F") == 0)
+    {
+        KeyBSta = true;
+        Motor_Control(MOTOR_CMD_FORWARD);
+        DBG_LOG("Motor REVERSE\r\n");
+    }
+    else if(strcmp(argv[1], "S") == 0)
+    {
+        KeyASta = false;
+        KeyBSta = false;
+        Motor_Control(MOTOR_CMD_STOP);
+        DBG_LOG("Motor OFF\r\n");
+    }
+}
+extern void GradeControl(ControlLevel_m level);
+void LevelSwitch(int argc, char *argv[])
+{
+    // 如果参数个数小于2，则返回
+    if(argc < 2)
+        return;
+    // 如果参数为“?”，则打印帮助信息
+    if(strcmp(argv[1], "?") == 0)
+    {
+        DBG_LOG("level Cmd:\r\n\
+      level 1/2/3/4/5 -->Select control level.\r\n");
+        return;
+    }
+    // 如果参数为“1”，则打印“Set control level: 1”
+    if(strcmp(argv[1], "1") == 0)
+    {
+		App.Para.Layout.ControlLevel = LEVEL_1;//等级1
+		SAVE_APP_PARA((uint32_t *)&App.Para);
+		DBG_LOG("Set control level: 1\r\n");
+		DBG_LOG("SystemReset...\r\n");
+		NVIC_SystemReset();
+    }
+     // 如果参数为“2”，则打印“Set control level: 2”
+    else if(strcmp(argv[1], "2") == 0)
+    {
+		App.Para.Layout.ControlLevel = LEVEL_2;//等级2
+		SAVE_APP_PARA((uint32_t *)&App.Para);
+		DBG_LOG("Set control level: 2\r\n");
+		DBG_LOG("SystemReset...\r\n");
+		NVIC_SystemReset();
+    }
+	 // 如果参数为“3”，则打印“Set control level: 1”
+    else if(strcmp(argv[1], "3") == 0)
+    {
+		App.Para.Layout.ControlLevel = LEVEL_3;//等级3
+		SAVE_APP_PARA((uint32_t *)&App.Para);
+		DBG_LOG("Set control level: 3\r\n");
+		DBG_LOG("SystemReset...\r\n");
+		NVIC_SystemReset();
+    }
+	// 如果参数为“4”，则打印“Set control level: 4”
+    else if(strcmp(argv[1], "4") == 0)
+    {
+		App.Para.Layout.ControlLevel = LEVEL_4;//等级4
+		SAVE_APP_PARA((uint32_t *)&App.Para);
+		DBG_LOG("Set control level: 4\r\n");
+		DBG_LOG("SystemReset...\r\n");
+		NVIC_SystemReset();
+    }
+	 // 如果参数为“5”，则打印“Set control level: 5”
+   else  if(strcmp(argv[1], "5") == 0)
+    {
+		App.Para.Layout.ControlLevel = LEVEL_5;//等级5
+		SAVE_APP_PARA((uint32_t *)&App.Para);
+		DBG_LOG("Set control level: 5\r\n");
+		DBG_LOG("SystemReset...\r\n");
+		NVIC_SystemReset();
+    }
+}
+
+void DBGWave_on_off(int argc, char *argv[])
+{
+	 // 如果参数个数小于2，则返回
+    if(argc < 2)
+        return;
+    // 如果参数为“?”，则打印帮助信息
+    if(strcmp(argv[1], "?") == 0)
+    {
+        DBG_LOG("wave Cmd:\r\n\
+      wave on/off -->Turn on or off waveform output.\r\n");
+        return;
+    }
+    // 如果参数为“on”，则打印“Test ON”
+    if(strcmp(argv[1], "on") == 0)
+    {
+		 App.Para.Layout.DBGWaveOut = true;
+		 SAVE_APP_PARA((uint32_t *)&App.Para);
+        DBG_LOG("Waveform output on.\r\n");
+    }
+    // 如果参数为“off”，则打印“Test OFF”
+    else if(strcmp(argv[1], "off") == 0)
+    {
+		 App.Para.Layout.DBGWaveOut = false;
+		 SAVE_APP_PARA((uint32_t *)&App.Para);
+        DBG_LOG("Waveform output off.\r\n");
+    }
+}
+const DBGFunType DebugFun[DEBUG_CMD_CNT] = {
+	"help",				DebugCmdHelp,
+   "motor",          MotorSwitch,
+	"level",				LevelSwitch,
+	"wave",				DBGWave_on_off,
+};
+
+#endif
+
+

Project/HC32F460/source/User/Src/Encryption.c

@@ -0,0 +1,87 @@
+#include "Encryption.h"
+
+//从机加密表
+const unsigned char EPT_Table[32][6] = {
+	{1, 6, 4, 2, 3, 5}, {2, 4, 6, 3, 5, 1}, {3, 5, 6, 2, 1, 4}, {5, 3, 2, 1, 4, 6},
+	{4, 2, 3, 1, 5, 6}, {6, 3, 5, 1, 4, 2}, {3, 5, 2, 6, 4, 1}, {2, 5, 4, 3, 1, 6},
+	{2, 4, 1, 5, 3, 6}, {4, 6, 1, 3, 2, 5}, {4, 2, 1, 5, 6, 3}, {3, 2, 6, 5, 1, 4},
+	{2, 6, 5, 1, 4, 3}, {6, 4, 3, 1, 2, 5}, {1, 6, 3, 2, 4, 5}, {5, 3, 4, 6, 2, 1},
+	{5, 3, 1, 2, 6, 4}, {1, 4, 2, 6, 5, 3}, {3, 5, 2, 1, 4, 6}, {6, 1, 4, 2, 3, 5},
+	{4, 1, 2, 5, 3, 6}, {4, 2, 6, 3, 5, 1}, {2, 6, 1, 4, 3, 5}, {4, 3, 1, 5, 6, 2},
+	{5, 1, 2, 4, 6, 3}, {6, 5, 1, 3, 4, 2}, {2, 1, 6, 3, 5, 4}, {1, 5, 6, 3, 4, 2},
+	{3, 6, 5, 4, 2, 1}, {1, 2, 6, 3, 5, 4}, {4, 6, 5, 3, 2, 1}, {5, 3, 4, 2, 6, 1}
+};
+
+//从机解密表：
+const unsigned char DPT_Table[32][5] ={
+	{1, 4, 2, 3, 5}, {2, 4, 3, 5, 1}, {3, 5, 2, 1, 4}, {5, 3, 2, 1, 4},
+	{4, 2, 3, 1, 5}, {3, 5, 1, 4, 2}, {3, 5, 2, 4, 1}, {2, 5, 4, 3, 1},
+	{2, 4, 1, 5, 3}, {4, 1, 3, 2, 5}, {4, 2, 1, 5, 3}, {3, 2, 5, 1, 4},
+	{2, 5, 1, 4, 3}, {4, 3, 1, 2, 5}, {1, 3, 2, 4, 5}, {5, 3, 4, 2, 1},
+	{5, 3, 1, 2, 4}, {1, 4, 2, 5, 3}, {3, 2, 1, 4, 5}, {1, 4, 5, 2, 3},
+	{4, 1, 2, 5, 3}, {4, 2, 3, 5, 1}, {2, 1, 4, 3, 5}, {4, 3, 1, 5, 2},
+	{5, 1, 2, 4, 3}, {5, 1, 3, 4, 2}, {2, 1, 3, 5, 4}, {1, 5, 3, 4, 2},
+	{3, 5, 4, 2, 1}, {1, 2, 3, 5, 4}, {4, 5, 3, 2, 1}, {5, 3, 4, 2, 1}
+};
+
+//数据位加密表：
+const unsigned char EPT_D[32] = {
+	0x23, 0x4c, 0x92, 0x38, 0x52, 0xa4, 0x9a, 0x61, 
+	0x86, 0xc8, 0x70, 0x16, 0x32, 0x58, 0x62, 0x83, 
+	0xa5, 0x16, 0x1c, 0x49, 0x48, 0xc1, 0x8c, 0x91, 
+	0xd0, 0x2c, 0x49, 0x42, 0xc1, 0x8c, 0x98, 0xd0
+};
+
+/****************************************************************/
+/*			加密函数										*/
+/*																	*/
+/*函数入口:	*data,未加密的普通协议数据					*/
+/*																*/
+/*函数出口:	*EPT_data，生成的加密协议				*/
+/****************************************************************/
+void Encrypt_Code(unsigned char *data, unsigned char *EPT_data) {
+	unsigned char Edata[6];
+	unsigned char i = 0;
+	unsigned char check;
+	unsigned char ept_byte;
+
+	check = (data[0]+data[1]+data[2]+data[3]+data[4]+data[5]) % 0xff;
+	ept_byte = check % 32;
+
+	for (i = 0; i < 6; i++) {
+		Edata[i] = ((~(data[i] & EPT_D[ept_byte])) & EPT_D[ept_byte]) | (data[i] & (~EPT_D[ept_byte]));
+	}
+
+	for (i = 0; i < 6; i++) {
+		EPT_data[i] = Edata[EPT_Table[ept_byte][i]-1];
+	}
+
+	EPT_data[6] = ((~(check & 0xaa)) & 0xaa) | (check & 0x55);
+}
+
+/****************************************************************/
+/*						解密函数							*/
+/*																*/
+/*函数入口：	*EPT_data，需要解密的加密协议	*/
+/*																*/	
+/*函数出口：	*DPT_data，生成的普通协议			*/
+/****************************************************************/
+void Decrypt_Code(unsigned char *EPT_data,unsigned char *DPT_data) {
+	unsigned char data[5];
+	unsigned char i = 0;
+	unsigned char check;
+	unsigned char ept_byte;
+
+	check = ((~(EPT_data[5]&0xaa))&0xaa)|(EPT_data[5]&0x55);
+	ept_byte = check % 32;
+
+	for(i=0;i<5;i++) {
+		data[i] = ((~(EPT_data[i]&EPT_D[ept_byte]))&EPT_D[ept_byte])|(EPT_data[i]&(~EPT_D[ept_byte]));
+	}
+	for(i=0;i<5;i++) {
+		DPT_data[DPT_Table[ept_byte][i]-1] = data[i];
+	}
+	DPT_data[5] = check;
+}
+
+