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