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
109 lines
4.2 KiB
C
109 lines
4.2 KiB
C
#include "data_packet.h"
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#include "stddef.h"
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#include "stm32f4xx_hal.h"
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uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len)
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{
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uint16_t crc = 0xFFFF;
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for (uint16_t i = 0; i < len; i++) {
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crc ^= data[i];
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for (uint8_t j = 0; j < 8; j++) {
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if (crc & 0x0001) {
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crc = (crc >> 1) ^ 0xA001;
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} else {
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crc = crc >> 1;
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}
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}
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}
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return crc;
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}
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// ─── 内部辅助宏：填充GPS位置字段（仅在宏开启时） ─────────────────────────────
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#ifdef ENABLE_GPS_POSITION
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#define FILL_GPS_POSITION(pkt, lat, lon, alt) \
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do { (pkt)->gps_latitude = (lat); (pkt)->gps_longitude = (lon); (pkt)->gps_altitude = (alt); } while(0)
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#else
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#define FILL_GPS_POSITION(pkt, lat, lon, alt) // 空操作
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#endif
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// ─── 原始ADC数据包 ────────────────────────────────────────────────────────────
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void PackData(DataPacket_t *packet,
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int32_t adc1, int32_t adc2, int32_t adc3,
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uint32_t gps_time, float latitude, float longitude, float altitude)
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{
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if (packet == NULL) return;
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packet->start_byte = PACKET_TYPE_STANDARD;
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packet->adc_data1 = adc1;
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packet->adc_data2 = adc2;
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packet->adc_data3 = adc3;
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packet->gps_time = gps_time;
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FILL_GPS_POSITION(packet, latitude, longitude, altitude);
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}
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void PackDataWithOptic(DataPacketWithOptic_t *packet,
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int32_t adc1, int32_t adc2, int32_t adc3,
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uint32_t gps_time, float latitude, float longitude, float altitude,
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uint32_t optical_mag)
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{
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if (packet == NULL) return;
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packet->start_byte = PACKET_TYPE_WITH_OPTIC;
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packet->adc_data1 = adc1;
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packet->adc_data2 = adc2;
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packet->adc_data3 = adc3;
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packet->gps_time = gps_time;
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FILL_GPS_POSITION(packet, latitude, longitude, altitude);
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packet->optical_mag = optical_mag;
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}
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// ─── 校正数据包 ───────────────────────────────────────────────────────────────
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void PackCorrectedData(CorrectedDataPacket_t *packet,
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float x, float y, float z,
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uint32_t gps_time, float latitude, float longitude, float altitude)
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{
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PackCorrectedDataWithGPS(packet, x, y, z, gps_time, latitude, longitude, altitude);
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}
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void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet,
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float x, float y, float z,
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uint32_t gps_time, float latitude, float longitude, float altitude)
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{
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if (packet == NULL) return;
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packet->start_byte = PACKET_TYPE_STANDARD;
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packet->corrected_x = x;
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packet->corrected_y = y;
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packet->corrected_z = z;
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packet->gps_time = gps_time;
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FILL_GPS_POSITION(packet, latitude, longitude, altitude);
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}
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void PackCorrectedDataWithOptic(CorrectedDataPacketWithOptic_t *packet,
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float x, float y, float z,
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uint32_t gps_time, float latitude, float longitude, float altitude,
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uint32_t optical_mag)
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{
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if (packet == NULL) return;
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packet->start_byte = PACKET_TYPE_WITH_OPTIC;
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packet->corrected_x = x;
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packet->corrected_y = y;
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packet->corrected_z = z;
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packet->gps_time = gps_time;
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FILL_GPS_POSITION(packet, latitude, longitude, altitude);
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packet->optical_mag = optical_mag;
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}
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// ─── 验证函数 ─────────────────────────────────────────────────────────────────
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uint8_t ValidatePacket(const DataPacket_t *packet)
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{
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if (packet == NULL) return 0;
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return (packet->start_byte == PACKET_TYPE_STANDARD) ? 1 : 0;
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}
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uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet)
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{
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if (packet == NULL) return 0;
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return (packet->start_byte == PACKET_TYPE_STANDARD) ? 1 : 0;
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}
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