zhoujie
bc37e14fba
- 新增光泵磁力仪驱动模块，通过 USART2 中断接收 BCD 编码数据，采样率 115200bps - 重构数据包架构：引入标准包与扩展包（含光泵数据）两种类型，通过帧头魔数区分 - 新增 DataPacketWithOptic_t、CorrectedDataPacketWithOptic_t 两种扩展数据包类型 - 数据存储改为通用字节流写入（方案Y），支持任意包类型混流存储 - 将编译期配置集中到 app_config.h，包括 UART 输出、SD 存储、GPS 位置等开关 - 移除 ADC_SYNC GPIO 引脚配置，释放 PA2 用于 USART2_TX - 主循环 ProcessAdcData 改为按需选择数据包类型，光泵数据快照在 ADC 中断前完成 - 新增 USART2 错误回调处理，支持接收异常时自动恢复
71 lines
2.0 KiB
C
71 lines
2.0 KiB
C
#include "optic_mag_driver.h"
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volatile uint32_t g_optic_mag_value = 0;
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volatile uint8_t g_optic_mag_fresh = 0;
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typedef enum {
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OPTIC_STATE_IDLE = 0,
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OPTIC_STATE_COLLECTING,
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OPTIC_STATE_WAIT_END,
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} OpticState_t;
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static UART_HandleTypeDef *s_huart;
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static uint8_t s_rx_byte;
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static uint8_t s_bcd_buf[OPTIC_MAG_DATA_BYTES];
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static uint8_t s_data_count;
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static OpticState_t s_state;
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void OpticMag_Init(UART_HandleTypeDef *huart)
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{
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s_huart = huart;
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s_state = OPTIC_STATE_IDLE;
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s_data_count = 0;
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HAL_UART_Receive_IT(s_huart, &s_rx_byte, 1);
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}
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void OpticMag_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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{
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if (huart != s_huart) return;
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uint8_t byte = s_rx_byte;
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switch (s_state) {
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case OPTIC_STATE_IDLE:
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if (byte == OPTIC_MAG_FRAME_START) {
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s_data_count = 0;
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s_state = OPTIC_STATE_COLLECTING;
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}
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break;
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case OPTIC_STATE_COLLECTING:
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s_bcd_buf[s_data_count++] = byte;
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if (s_data_count == OPTIC_MAG_DATA_BYTES) {
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s_state = OPTIC_STATE_WAIT_END;
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}
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break;
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case OPTIC_STATE_WAIT_END:
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if (byte == OPTIC_MAG_FRAME_END) {
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// 取前9位BCD数字（忽略第10位），每字节低nibble为有效数字
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uint32_t value = 0;
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for (uint8_t i = 0; i < 9; i++) {
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value = value * 10u + (s_bcd_buf[i] & 0x0Fu);
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}
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g_optic_mag_value = value;
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g_optic_mag_fresh = 1;
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}
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// 无论结束字节是否合法，均回到IDLE（非法帧直接丢弃）
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s_state = OPTIC_STATE_IDLE;
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break;
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}
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HAL_UART_Receive_IT(s_huart, &s_rx_byte, 1);
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}
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void OpticMag_UART_ErrorCallback(UART_HandleTypeDef *huart)
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{
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if (huart != s_huart) return;
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s_state = OPTIC_STATE_IDLE;
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HAL_UART_Receive_IT(s_huart, &s_rx_byte, 1);
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}
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