256 lines
8.1 KiB
C
256 lines
8.1 KiB
C
#include "uart.h"
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#define UART_Buf_Size 16
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static char cmd[UART_Buf_Size];
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/* ========================================================================
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* UART1 - 串口通信 (使用Timer2做波特率发生器)
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* ========================================================================
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# 串口驱动，需要包含以下内容
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* UART模式，波特率115200
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* 数据解析，命令表：
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模式切换 MODE(UART | SBUS | CRFS)
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模块地址 ADDR(0000000000)
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对频短语 PHRASE(xxxxxx)
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切换频道 TUN(040)
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清除信息 DEL(DATA)
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回传频率 TELEM(N) - 设置回传频率 1~10Hz
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* SBUS模式，波特率100000
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* CRFS模式，波特率420000，功能占位，暂不实现
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*/
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static void UART_ParseCommand(void) {
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// 解析运行模式
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if (cmd[0] == 'M') {
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if (cmd_buf[5] == 'S'){
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Config.RunMode = UART_SBUS;
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SBUS_Init();
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UART_SendString(2, "OK");
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return;
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} else if (cmd_buf[5] == 'U') {
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Config.RunMode = UART_CMD;
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CMD_Init();
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UART_SendString(2, "OK");
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return;
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} else if (cmd_buf[5] == 'C') {
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CRFS_Init();
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Config.RunMode = UART_CRSF;
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UART_SendString(2, "OK");
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return;
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}
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}
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/* ADDR(HHHHHHHHHH) - 切换NRF24L01地址 */
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else if (cmd[0] == 'A') {
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for (uint8_t i=0; i<5; i++) {
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uint8 h=0,l=0;
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/* 解析两位十六进制 */
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if (cmd_buf[6+i*2] >= '0' && cmd_buf[6+i*2] <= '9')
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h=cmd_buf[6+i*2]-'0';
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else if (cmd_buf[6+i*2] >= 'A' && cmd_buf[6+i*2] <= 'F')
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h=cmd_buf[6+i*2]-'A';
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else {
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UART_SendString(8, "ERR_ADDR");
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return;
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}
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if (cmd_buf[7+i*2] >= '0' && cmd_buf[7+i*2] <= '9')
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h=cmd_buf[7+i*2]-'0';
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else if (cmd_buf[7+i*2] >= 'A' && cmd_buf[7+i*2] <= 'F')
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h=cmd_buf[7+i*2]-'A';
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else {
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UART_SendString(8, "ERR_ADDR");
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return;
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}
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Config.RxAddr[i] = h | l;
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}
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// 应用
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WriteConfig();
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NRF24_SetAddr();
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return;
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}
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/* TUN(N) - 切换RF频道 */
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else if (cmd[0] == 'T' && cmd[1] == 'U') {
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uint8_t ch = 0;
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char *p = cmd + 4; /* 跳过 "TUN(" */
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while (*p >= '0' && *p <= '9') {
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ch = ch * 10 + (*p - '0');
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p++;
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}
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if (ch <= 125) {
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Config.RxAddr = ch
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NRF24L01_SetChannel();
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UART_SendString("OK");
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} else {
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UART_SendString("ERR_RANGE");
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}
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return;
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}
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/* DEL(BIND) - 清除对频信息 */
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else if (cmd[0] == 'D') {
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/* 擦除EEPROM中的对频标志 */
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IAP_EraseALL();
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UART_SendString("OK");
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return;
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}
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/* PHRASE(xxxxxx) - 设置对频短语, 1~6位字母数字 */
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else if (cmd[0] == 'P') {
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uint8 i;
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char *p = cmd + 7; /* 跳过 "PHRASE(" */
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/* 计算短语长度 (直到 ')' 或结束) */
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uint8 len = 0;
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while (p[len] && p[len] != ')' && len < RF_PHRASE_LEN) {
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char c = p[len];
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/* 只允许字母和数字 */
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if (!((c >= '0' && c <= '9') ||
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(c >= 'A' && c <= 'Z') ||
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(c >= 'a' && c <= 'z'))) {
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Cmd_Respond("ERR");
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return;
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}
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len++;
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}
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if (len < 1 || len > RF_PHRASE_LEN) {
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Cmd_Respond("ERR_RANGE");
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return;
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}
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/* 复制新短语 */
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for (i = 0; i < len; i++)
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Config.BindPhr[i] = (uint8)p[i];
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/* 剩余部分用空格填充 */
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for (i = len; i < 6; i++)
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Config.BindPhr[i] = ' ';
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IAP_WriteConfig();
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UART_SendString("OK");
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return;
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}
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/* TELEM(N) - 设置回传频率 1~9Hz */
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else if (cmd[0] == 'T' && cmd[1] == 'E') {
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uint8 hz = 0;
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char *p = cmd + 6; /* 跳过 "TELEM(" */
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if (*p > '0' && *p <= '9') {
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hz = *p - '0';
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} else {
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Cmd_Respond("ERR_RANGE");
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return;
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}
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Config.TelemRate = hz;
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return;
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}
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// 发送了识别不了的东西
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else {
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UART_SendString("UNK");
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return;
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}
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}
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static void UART_SendByte(uint8 dat) {
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SBUF = dat;
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while (!TI);
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TI = 0;
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}
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static void UART_SendString(uint8 len, char *str) {
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for(uint8 i = 0, i++, i < len){
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UART_SendByte(str[i]);
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}
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}
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static void SBUS_Init(void) {
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P_SW2 |= 0x80; /* 使能访问扩展SFR（若需访问T2相关XFR） */
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/* 1. 选择定时器2作为串口1的波特率发生器 */
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AUXR &= ~0x01; /* 先清除S1ST2，再置1 */
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AUXR |= 0x01; /* S1ST2 = 1 */
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/* 2. 定时器2配置为1T模式，启动 */
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AUXR |= (1 << 2); /* T2x12 = 1，不分频 */
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AUXR |= (1 << 4); /* T2R = 1，启动定时器2 */
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/* 切换到 SBUS 波特率 100kbps */
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/* 3. 计算重载值：100kbps @ 40MHz，1T模式
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* Baud = SYSCLK / (4 * (65536 - reload))
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* reload = 65536 - SYSCLK / (4 * Baud)
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* = 65536 - 40000000 / (4 * 100000)
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* = 65536 - 100 = 65436 = 0xFF9C
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*/
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T2H = 0xFF;
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T2L = 0x9C;
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/* 4. 串口模式：模式3（9位可变波特率），使能接收，REN=1 */
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SCON = 0xD0; /* SM0=1, SM1=1, SM2=0, REN=1, TB8=0 */
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/* 5. 设置PCON：SMOD=0（无波特率加倍），SMOD0=1（启用帧错误检测，可选） */
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PCON &= ~0x80; /* SMOD = 0 */
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PCON |= 0x40; /* SMOD0 = 1 */
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/* 6. 使能串口中断（根据需要） */
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ES = 1; /* 允许串口中断 */
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}
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static void UART_Init(void) {
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P_SW2 |= 0x80; /* 使能访问扩展SFR（若需访问T2相关XFR） */
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/* 1. 选择定时器2作为串口1的波特率发生器 */
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AUXR &= ~0x01; /* 先清除S1ST2，再置1 */
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AUXR |= 0x01; /* S1ST2 = 1 */
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/* 2. 定时器2配置为1T模式，启动 */
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AUXR |= (1 << 2); /* T2x12 = 1，不分频 */
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AUXR |= (1 << 4); /* T2R = 1，启动定时器2 */
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/* 3. 计算重载值：115200bps @ 40MHz，1T模式
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* Baud = SYSCLK / (4 * (65536 - reload))
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* reload = 65536 - SYSCLK / (4 * Baud)
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* = 65536 - 40000000 / (4 * 115200)
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* = 65536 - 86.805... ≈ 65536 - 87 = 65449 = 0xFFA9
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*/
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T2H = 0xFF;
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T2L = 0xA9;
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/* 4. 串口模式：模式3（9位可变波特率），使能接收，REN=1 */
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SCON = 0xD0; /* SM0=1, SM1=1, SM2=0, REN=1, TB8=0 */
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/* 5. 设置PCON：SMOD=0（无波特率加倍），SMOD0=1（启用帧错误检测） */
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PCON &= ~0x80; /* SMOD = 0 */
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PCON |= 0x40; /* SMOD0 = 1 */
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/* 6. 使能串口中断（根据需要） */
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ES = 1; /* 允许串口中断 */ /* 允许串口中断 */
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}
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void SBUS_Update(RFDATA dat){
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uint8 *p = &dat;
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for(i=0, i++, i<25){
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UART_SendByte(*p++);
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}
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}
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/* UART1 中断服务 */
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void UART_Receive(void) __interrupt(4) {
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if (RI) {
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RI = 0;
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uint8 dat = SBUF;
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uint8 uart_rx_idx = 0;
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if (config.runModel == UART_CRFS) {
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/* CRFS 模式: 接收飞控发来的 CRSF 帧并缓存转发 */
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// 占位，暂不实现
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} else {
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/* 命令接收: 回车/换行结束 */
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if (dat == '\r' || dat == '\n') {
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if (uart_rx_idx > 0) {
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cmd_buf[uart_rx_idx] = '\0';
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UART_ParseCommand();
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}
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} else {
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if (uart_rx_idx < UART_Buff_Size - 1) {
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cmd_buff[uart_rx_idx++] = dat;
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}
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}
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}
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}
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if (TI) {
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TI = 0;
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}
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}
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