251 lines
7.5 KiB
C
251 lines
7.5 KiB
C
#include "uart.h"
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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 MODEL(UART | SBUS | CRFS)
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模块地址 ADDR(0x00 00 00 00 00)
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对频短语 PHRASE(xxxxxx)
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切换频道 TUN(40)
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清除信息 DEL(DATA)
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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 Cmd_Parse(void) {
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if (!uart_cmd_ready) return;
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uart_cmd_ready = 0;
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char *cmd = (char *)uart_rx_buf;
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/* MODEL(SBUS) - 切换到SBUS模式 */
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if (strcmp(cmd, "MODEL(SBUS)") == 0) {
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out_mode = OUT_MODE_SBUS;
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SBUS_Init();
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Cmd_Respond("OK");
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return;
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}
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/* MODEL(PWM) - 切换到PWM模式 */
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if (strcmp(cmd, "MODEL(PWM)") == 0) {
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out_mode = OUT_MODE_PWM;
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/* 重新初始化UART1为115200 */
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UART1_Init();
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Cmd_Respond("OK");
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return;
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}
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/* MODEL(UART) - 切换到UART模式 (占位) */
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if (strcmp(cmd, "MODEL(UART)") == 0) {
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out_mode = OUT_MODE_UART;
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UART1_Init();
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Cmd_Respond("OK");
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return;
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}
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/* MODEL(CRFS) - 切换到CRFS/CRSF输出模式 */
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if (strcmp(cmd, "MODEL(CRFS)") == 0) {
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out_mode = OUT_MODE_CRFS;
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CRFS_Init();
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Cmd_Respond("OK");
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return;
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}
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/* ADDR(0xHH HH HH HH HH) - 切换NRF24L01地址 */
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if (cmd[0] == 'A' && cmd[1] == 'D' && cmd[2] == 'D' && cmd[3] == 'R') {
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/* 解析: ADDR(0xHH HH HH HH HH) */
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static uint8_t __xdata new_addr[NRF_ADDR_WIDTH];
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uint8_t ok = 1;
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char *p = cmd + 5; /* 跳过 "ADDR(" */
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for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++) {
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/* 跳过 "0x" */
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if (*p == '0' && (*(p+1) == 'x' || *(p+1) == 'X')) p += 2;
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/* 跳过空格 */
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while (*p == ' ') p++;
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/* 解析两位十六进制 */
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uint8_t hi = 0, lo = 0;
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if (*p >= '0' && *p <= '9') hi = *p - '0';
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else if (*p >= 'A' && *p <= 'F') hi = *p - 'A' + 10;
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else if (*p >= 'a' && *p <= 'f') hi = *p - 'a' + 10;
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else { ok = 0; break; }
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p++;
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if (*p >= '0' && *p <= '9') lo = *p - '0';
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else if (*p >= 'A' && *p <= 'F') lo = *p - 'A' + 10;
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else if (*p >= 'a' && *p <= 'f') lo = *p - 'a' + 10;
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else { ok = 0; break; }
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p++;
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new_addr[i] = (hi << 4) | lo;
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}
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if (ok) {
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for (uint8_t i = 0; i < NRF_ADDR_WIDTH; i++)
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tx_addr[i] = new_addr[i];
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NRF24L01_WriteBuf(NRF_TX_ADDR, tx_addr, NRF_ADDR_WIDTH);
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NRF24L01_WriteBuf(NRF_RX_ADDR_P0, tx_addr, NRF_ADDR_WIDTH);
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Cmd_Respond("OK");
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} else {
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Cmd_Respond("ERR_ADDR");
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}
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return;
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}
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/* TUN(N) - 切换RF频道 */
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if (cmd[0] == 'T' && cmd[1] == 'U' && cmd[2] == 'N') {
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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 <= NRF_MAX_CHANNEL) {
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NRF24L01_SetChannel(ch);
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Cmd_Respond("OK");
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} else {
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Cmd_Respond("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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if (strcmp(cmd, "DEL(BIND)") == 0) {
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/* 擦除EEPROM中的对频标志 */
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IAP_EraseSector(0x0000);
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IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, 0x00);
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rx_state = RX_STATE_BINDING;
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NRF_EnterBindMode();
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Cmd_Respond("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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if (cmd[0] == 'P' && cmd[1] == 'H' && cmd[2] == 'R' && cmd[3] == 'A'
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&& cmd[4] == 'S' && cmd[5] == 'E') {
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uint8_t 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_t 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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bind_phrase[i] = (uint8_t)p[i];
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/* 剩余部分用空格填充 */
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for (i = len; i < RF_PHRASE_LEN; i++)
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bind_phrase[i] = ' ';
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/* 保存到EEPROM */
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IAP_EraseSector(0x0000);
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IAP_WriteByte(EEPROM_ADDR_BIND_FLAG, EEPROM_BIND_MAGIC);
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for (i = 0; i < NRF_ADDR_WIDTH; i++)
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IAP_WriteByte(EEPROM_ADDR_TX_ADDR + i, tx_addr[i]);
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IAP_WriteByte(EEPROM_ADDR_RF_CH, rf_channel);
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for (i = 0; i < RF_PHRASE_LEN; i++)
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IAP_WriteByte(EEPROM_ADDR_BIND_PHRASE + i, bind_phrase[i]);
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/* 重新初始化NRF以使用新短语 */
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NRF24L01_Init();
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NRF24L01_RXMode();
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Cmd_Respond("OK");
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return;
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}
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/* TELEM(N) - 设置回传频率 1~10Hz */
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if (cmd[0] == 'T' && cmd[1] == 'E' && cmd[2] == 'L' && cmd[3] == 'E'
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&& cmd[4] == 'M') {
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uint8_t hz = 0;
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char *p = cmd + 6; /* 跳过 "TELEM(" */
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while (*p >= '0' && *p <= '9') {
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hz = hz * 10 + (*p - '0');
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p++;
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}
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if (hz >= 1 && hz <= 10) {
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telem_rate_hz = hz;
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Cmd_Respond("OK");
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} else {
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Cmd_Respond("ERR_RANGE");
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}
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return;
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}
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/* 未知命令 */
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Cmd_Respond("UNK");
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}
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static void UART1_SendByte(uint8_t 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 UART1_SendString(const char *s) {
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while (*s) {
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UART1_SendByte((uint8_t)(*s++));
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}
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}
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static void UART1_SendStringLen(const char *s, uint8_t len) {
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for (uint8_t i = 0; i < len; i++) {
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UART1_SendByte((uint8_t)s[i]);
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}
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}
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static void SBUS_Init(void) {
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/* 切换到 SBUS 波特率 100kbps */
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/* 100000 @ 24MHz: T2 reload = 65536 - 60 = 0xFFC4 */
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T2H = 0xFF;
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T2L = 0xC4;
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AUXR |= T2x12;
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AUXR |= T2R;
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/* 8E2: 8数据位, 偶校验, 2停止位 */
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PCON |= SMOD0; /* SMOD0=1, 帧格式由SM2控制 */
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SCON &= ~0x0E; /* 清除SM2, TB8 */
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/* 注意: 对于SBUS, 标准是8E2, 但这里通过三极管反相,
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* 所以实际发送的是反相SBUS信号 */
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}
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/* UART1 中断服务 */
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void UART1_Interrupt(void) __interrupt(4) {
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if (RI) {
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RI = 0;
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uint8_t dat = SBUF;
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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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uart_rx_buf[uart_rx_idx] = '\0';
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uart_cmd_ready = 1;
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}
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uart_rx_idx = 0;
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} else {
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if (uart_rx_idx < UART_BUF_SIZE - 1) {
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uart_rx_buf[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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