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
111 lines
4.1 KiB
C
111 lines
4.1 KiB
C
#ifndef DATA_PACKET_H
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#define DATA_PACKET_H
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#include <stdint.h>
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#include "app_config.h"
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// 帧同步魔数（高3字节固定），低字节为类型标志
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#define PACKET_TYPE_STANDARD 0xFFFFFFFFUL // 标准包（无光泵）
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#define PACKET_TYPE_WITH_OPTIC 0xFFFFFFFEUL // 扩展包（含光泵，末尾追加 optical_mag）
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#define PACKET_SYNC_MASK 0xFFFFFF00UL // 同步检测掩码
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// 兼容旧代码
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#define PACKET_START_BYTE PACKET_TYPE_STANDARD
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// GPS位置字段由 app_config.h 中 CFG_ENABLE_GPS_POSITION 控制
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#if CFG_ENABLE_GPS_POSITION
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#define ENABLE_GPS_POSITION
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#endif
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// ─── 原始ADC数据包 ────────────────────────────────────────────────────────────
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typedef struct __attribute__((packed)) {
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uint32_t start_byte; // PACKET_TYPE_STANDARD
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int32_t adc_data1;
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int32_t adc_data2;
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int32_t adc_data3;
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uint32_t gps_time; // HHMMSS格式，始终存在
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#ifdef ENABLE_GPS_POSITION
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float gps_latitude;
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float gps_longitude;
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float gps_altitude;
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#endif
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} DataPacket_t;
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typedef struct __attribute__((packed)) {
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uint32_t start_byte; // PACKET_TYPE_WITH_OPTIC
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int32_t adc_data1;
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int32_t adc_data2;
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int32_t adc_data3;
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uint32_t gps_time;
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#ifdef ENABLE_GPS_POSITION
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float gps_latitude;
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float gps_longitude;
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float gps_altitude;
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#endif
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uint32_t optical_mag; // 单位 0.0001 nT，例如 123456789 = 12345.6789 nT
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} DataPacketWithOptic_t;
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// ─── 校正数据包 ───────────────────────────────────────────────────────────────
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typedef struct __attribute__((packed)) {
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uint32_t start_byte; // PACKET_TYPE_STANDARD
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float corrected_x;
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float corrected_y;
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float corrected_z;
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uint32_t gps_time;
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#ifdef ENABLE_GPS_POSITION
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float gps_latitude;
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float gps_longitude;
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float gps_altitude;
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#endif
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} CorrectedDataPacket_t;
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// 与 CorrectedDataPacket_t 相同，保留别名兼容旧代码
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typedef CorrectedDataPacket_t CorrectedDataPacketWithGPS_t;
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typedef struct __attribute__((packed)) {
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uint32_t start_byte; // PACKET_TYPE_WITH_OPTIC
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float corrected_x;
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float corrected_y;
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float corrected_z;
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uint32_t gps_time;
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#ifdef ENABLE_GPS_POSITION
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float gps_latitude;
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float gps_longitude;
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float gps_altitude;
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#endif
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uint32_t optical_mag; // 单位 0.0001 nT
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} CorrectedDataPacketWithOptic_t;
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// ─── 函数声明 ─────────────────────────────────────────────────────────────────
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uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len);
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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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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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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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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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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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uint8_t ValidatePacket(const DataPacket_t *packet);
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uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet);
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#endif // DATA_PACKET_H
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