yuanjing/pile_com_stm32
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temp ok, need test

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This commit is contained in:
snow 2024-04-25 10:20:39 +08:00
parent e90bd57a59
commit 8f5dc1cadd
11 changed files with 221 additions and 26 deletions
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2
main/CMakeLists.txt
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@ -19,7 +19,7 @@ set(SRCS
"./stm32/led.c"
"./communication_pad/wifi_softap.c"
"./communication_pad/tcp_server.c"
"./communication_pad/udp_server.c"
"./communication_pad/ble_gatts_server.c"
"./communication_pad/communication_pad.c"

6
main/communication_pad/ble_gatts_server.c
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@ -441,7 +441,7 @@ static void gatts_profile_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_
ESP_LOGI(GATTS_TABLE_TAG, "ESP_GATTS_MTU_EVT, MTU %d", param->mtu.mtu);
break;
case ESP_GATTS_CONF_EVT:
ESP_LOGI(GATTS_TABLE_TAG, "ESP_GATTS_CONF_EVT, status = %d, attr_handle %d", param->conf.status, param->conf.handle);
// ESP_LOGI(GATTS_TABLE_TAG, "ESP_GATTS_CONF_EVT, status = %d, attr_handle %d", param->conf.status, param->conf.handle);
break;
case ESP_GATTS_START_EVT:
ESP_LOGI(GATTS_TABLE_TAG, "SERVICE_START_EVT, status %d, service_handle %d", param->start.status, param->start.service_handle);
@ -589,8 +589,8 @@ void ble_gatts_server_init(void)
static uint16_t gatts_mtu_size = 23;
void ble_write_data(int id, uint8_t *data, int len)
{
ESP_LOGI(GATTS_TABLE_TAG, "ble_write_data %d:", len);
esp_log_buffer_hex(GATTS_TABLE_TAG, data, len);
// ESP_LOGI(GATTS_TABLE_TAG, "ble_write_data %d:", len);
// esp_log_buffer_hex(GATTS_TABLE_TAG, data, len);
if (len <= gatts_mtu_size - 3) /* 包数据可以一次完整发送 */
{
esp_ble_gatts_send_indicate(ble_gatts_if, ble_gatts_conn_id, ble_gatts_handle_table[id], len, data, false);

12
main/communication_pad/communication_pad.c
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@ -7,7 +7,7 @@
#include "inc/communication_pad.h"
#include "inc/wifi_softap.h"
#include "inc/tcp_server.h"
#include "inc/udp_server.h"
#include "inc/ble_gatts_server.h"
#include "../stm32/ModbusS.h"
#include "../stm32/config.h"
@ -54,7 +54,7 @@ static void measure_data_updata(void)
measure_data.current[2] = gWordVar[AC_CURRENT_REG_ADDR + 2];
}
extern gps_message_t *gps_message;
// 上报data_ctrl中的数据
static void pad_notify_data_fun(const padDataCtrl_t *data_ctrl)
{
@ -73,8 +73,10 @@ static void pad_notify_data_fun(const padDataCtrl_t *data_ctrl)
data_len += data_ctrl->datas[i].len;
}
// ESP_LOGI(TAG, "gps message: %f, %f", gps_message->x, gps_message->y);
// 调用蓝牙和wifi的notify函数
tcp_server_notify(data, data_len);
udp_server_notify(data, data_len);
ble_server_notify(data, data_len);
}
@ -85,7 +87,7 @@ static void pad_notify_task(void *pvParameters)
while (1)
{
pad_notify_data_fun(&pad_notify_data);
vTaskDelay(pdMS_TO_TICKS(100));
vTaskDelay(pdMS_TO_TICKS(200));
}
vTaskDelete(NULL);
@ -97,7 +99,7 @@ static void pad_notify_task(void *pvParameters)
void pad_communication_init(void)
{
wifi_init_softap();
tcp_server_init();
udp_server_init();
ble_gatts_server_init();

23
main/communication_pad/inc/udp_server.h Normal file
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@ -0,0 +1,23 @@
#ifndef __UDP_SERVER_H
#define __UDP_SERVER_H
#include <stdint.h>
#include "lwip/ip_addr.h"
#define UDP_SERVER_PORT 6000
#define UDP_NOTIFY_TIMEOUT (60 * 5) // 200ms notify一次，5s超时
// 链表，记录连接的客户端
struct clientNode
{
struct udp_pcb *upcb;
ip_addr_t addr;
uint16_t port;
int notify_timeout; // 上报数据的超时时间，客户端需定期发送上报请求
struct clientNode *next;
};
void udp_server_init(void);
void udp_server_notify(uint8_t *data, int len);
#endif

6
main/communication_pad/tcp_server.c
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@ -136,6 +136,7 @@ static err_t ModBusSlave_poll(void *arg, struct tcp_pcb *newpcb) {
static err_t ModBusSlave_accept(void *arg, struct tcp_pcb *pcb, err_t err) {
ESP_LOGI(LOG_TAG, "TCP accept 0x%x", (unsigned int)pcb);
tcp_err(pcb, ModBusSlave_conn_err);
tcp_recv(pcb, ModBusSlave_recv);
// tcp_poll(pcb, ModBusSlave_poll, 120); // 60 second timeout
@ -159,9 +160,10 @@ void tcp_server_notify(uint8_t *data, int len)
{
if (p->enable_notify == 1) // 开启上报
{
ESP_LOGI(LOG_TAG, "tcp_server_notify");
esp_log_buffer_hex(LOG_TAG, data, len);
// ESP_LOGI(LOG_TAG, "tcp_server_notify");
// esp_log_buffer_hex(LOG_TAG, data, len);
tcp_write(p->pcb, data, len, 1);
tcp_output(p->pcb);
}
p = p->next;
}

169
main/communication_pad/udp_server.c Normal file
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@ -0,0 +1,169 @@
#include <stdint.h>
#include <string.h>
#include "lwip/ip_addr.h"
#include "lwip/udp.h"
#include "lwip/err.h"
#include "lwip/opt.h"
#include "lwip/sockets.h"
#include "esp_log.h"
#include "inc/udp_server.h"
#include "inc/communication_pad.h"
#define LOG_TAG "[communication_udp_server]: "
struct clientNode client_list; // 客户端链表头结点
struct clientNode *client_r_p = &client_list; // 客户端链表尾指针
struct clientNode *client_list_add(struct udp_pcb * upcb, ip_addr_t *addr, uint16_t port)
{
struct clientNode *p = client_list.next;
struct clientNode *ret = NULL;
while (p)
{
if (ip_addr_cmp(&p->addr, addr) && p->port == port)
{
ret = p;
break;
}
p = p->next;
}
if (ret == NULL)
{
struct clientNode *client = (struct clientNode *)malloc(sizeof(struct clientNode));
client->upcb = upcb;
ip_addr_copy(client->addr, *addr);
client->port = port;
client->notify_timeout = UDP_NOTIFY_TIMEOUT;
client->next = NULL;
client_r_p->next = client;
client_r_p = client;
ret = client;
}
return ret;
}
// 返回删除的前一个
struct clientNode *client_list_delete(ip_addr_t *addr, uint16_t port)
{
struct clientNode *p = &client_list;
while (p->next)
{
if (ip_addr_cmp(&p->next->addr, addr) && p->next->port == port)
{
struct clientNode *q = p->next;
if (q == client_r_p)
{
client_r_p = p;
}
p->next = q->next;
free(q);
return p;
}
p = p->next;
}
return NULL;
}
void cilent_list_delete_all(void)
{
struct clientNode *p = &client_list;
while (p->next)
{
struct clientNode *q = p->next;
p->next = q->next;
free(q);
}
client_r_p = &client_list;
}
void udp_server_recived(void *arg, struct udp_pcb *upcb, struct pbuf *pkt_buf,
ip_addr_t *addr, u16_t port)
{
uint8_t *rxbuf;
uint8_t *txbuf = NULL;
int rxlen, txlen = 0;
rxbuf = (uint8_t *)pkt_buf->payload;
rxlen = pkt_buf->len;
ESP_LOGI(LOG_TAG, "recive data %d:", rxlen);
esp_log_buffer_hex(LOG_TAG, rxbuf, rxlen);
// 接受到数据，调用pad_deal_recived_data处理，如果需要回复（读操作），则再将数据发送出去
struct clientNode* client = client_list_add(upcb, addr, port);
int enable_notify = -1;
pad_deal_recived_data(rxbuf, rxlen, &enable_notify, &txbuf, &txlen);
if (enable_notify == 1)
{
client->notify_timeout = UDP_NOTIFY_TIMEOUT;
}
else if (enable_notify == 0)
{
client->notify_timeout = 0;
}
if (txbuf)
{
struct pbuf *pkt_txbuf = pbuf_alloc(PBUF_TRANSPORT, 1400, PBUF_RAM);
char *buf = (char *)pkt_txbuf->payload;
pkt_txbuf->len = txlen;
pkt_txbuf->tot_len = txlen;
memcpy(buf, txbuf, txlen);
err_t err = udp_sendto(upcb, pkt_txbuf, &addr, port);
pbuf_free(pkt_txbuf);
free(txbuf);
}
pbuf_free(pkt_buf);
}
void udp_server_init(void) {
err_t err;
struct udp_pcb *UDPpcb;
UDPpcb = udp_new();
if (!UDPpcb)
{
return;
}
err = udp_bind(UDPpcb, IP_ADDR_ANY, UDP_SERVER_PORT);
if (err != ERR_OK)
{
return;
}
udp_recv(UDPpcb, udp_server_recived, NULL);
}
// 遍历所有客户端，如果允许上报，则将数据上报
void udp_server_notify(uint8_t *data, int len)
{
struct clientNode *p = client_list.next;
while (p)
{
if (p->notify_timeout > 0)
{
// ESP_LOGI(LOG_TAG, "tcp_server_notify");
// esp_log_buffer_hex(LOG_TAG, data, len);
struct pbuf *pkt_txbuf = pbuf_alloc(PBUF_TRANSPORT, 1400, PBUF_RAM);
char *buf = (char *)pkt_txbuf->payload;
pkt_txbuf->len = len;
pkt_txbuf->tot_len = len;
memcpy(buf, data, len);
udp_sendto(p->upcb, pkt_txbuf, &p->addr, p->port);
pbuf_free(pkt_txbuf);
p->notify_timeout--;
}
else if (p->notify_timeout == 0) // 时间耗尽，删除
{
p = client_list_delete(&p->addr, p->port);
if (p == NULL)
{
ESP_LOGI(LOG_TAG, "err, confilct");
return;
}
}
p = p->next;
}
}

8
main/main.c
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@ -119,16 +119,11 @@ void app_main(void)
// *cur_pile_id = 0;
// save_pile_id();
config_load();//读取保存在FRAM里的数据
// ESP_LOGI(TAG, "ESP_WIFI_MODE_STA");
// rtc_clk_apb_freq = rtc_clk_apb_freq_get();
// ESP_LOGI(TAG, "rtc_clk_apb_freq=%u", rtc_clk_apb_freq);
// wifi_init_softap();//ok
// wifi_init_sta();
// can_init();
// PWR_4G_Init();
// ModBusTCPSlave_init();
// communication_tcp_init();
led_init();
ads1220_task_start(); /* 两路电流AD采样获取瞬时流量，计算累计流量，目前配置的是10HZ，取决于SPS */
@ -138,10 +133,7 @@ void app_main(void)
pile_id_init();
uart0_modbus_slave_init();
// ble_gatts_server_init();
pad_communication_init();
// bt_client_init();//ok
//ESP32_Uart_Receive_Data();
}

3
main/stm32/ModbusS.c
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@ -297,7 +297,7 @@ int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_cr
break;
}
gWordVar[add] = (rxbuf[4]<<8)+rxbuf[5];
// ESP_LOGI(TAG, "gWordVar[%d]=0x%04x", add, gWordVar[add]);
ESP_LOGI(TAG, "gWordVar[%d]=0x%04x", add, (rxbuf[4]<<8)+rxbuf[5]);
// ESP_LOGI(TAG, "%d %d", depth_config->input_type, depth_config->port);
memcpy(txbuf,rxbuf,6);
ModBusWordWriteHook(add,1);
@ -328,7 +328,6 @@ int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_cr
out_len = 6;
break;
case 0x10: //Write Multiple registers
ESP_LOGI(TAG, "write");
if((add+length) > gWORD_SIZE)
{
txbuf[1] = 0x90;

12
main/stm32/depth.c
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@ -452,6 +452,7 @@ void depth_task(void *arg)
int speed_calc_count = 0;
int enc_value = 0;
int64_t work_start_time = 0;
int64_t pause_start_time = 0;
uint16_t last_work_state = 0;
// depth_data->depth_offset = -depth_config->depth_offset;
@ -508,6 +509,7 @@ void depth_task(void *arg)
// ESP_LOGI(TAG, "depth_data->depth:0x%x", (unsigned int)depth_data->depth);
uint16_t pile_work_state = (depth_data->pile_work_state_and_direction & 0xff00);
int64_t current_work_time = esp_timer_get_time();
if (pile_work_state == PILE_STATE_WORK)
{
// ESP_LOGI(TAG, "pile_work_state == PILE_STATE_WORK\n");
@ -516,7 +518,10 @@ void depth_task(void *arg)
work_start_time = esp_timer_get_time();
depth_data->one_pile_work_time = 0;
}
int64_t current_work_time = esp_timer_get_time();
else if (last_work_state == PILE_STATE_PAUSE) // 暂停->开始，减去暂停所占的时间（将工作时间的开始时间后移）
{
work_start_time += current_work_time - pause_start_time;
}
if(work_start_time != 0){
depth_data->one_pile_work_time = (uint16_t)((current_work_time - work_start_time)/1000000); // s
// ESP_LOGI(TAG, "time : %ud", (int)depth_data->one_pile_work_time);
@ -648,7 +653,10 @@ void depth_task(void *arg)
}
else if((depth_data->pile_work_state_and_direction & 0xff00) == PILE_STATE_PAUSE)
{
if (last_work_state == PILE_STATE_WORK)
{
pause_start_time = current_work_time;
}
}
else if((depth_data->pile_work_state_and_direction & 0xff00) == PILE_STATE_STOP)
{

5
main/stm32/pile_id.c
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@ -16,7 +16,6 @@
uint16_t *cur_pile_id = &gWordVar[LAST_PILE_ID_ADDR];
gps_message_t *gps_message = (gps_message_t *)&gWordVar[REG_GPS_MESSAGE];
double gps_xy[2];
double inc_pile_distance = 5;
int none_flag = 1;
extern move_t *pMoveCtx;
@ -36,8 +35,8 @@ int gps_distance_check(void)
return 0;
}
if (none_flag) return 0;
if (double_abs(gps_message->x, gps_xy[0]) > inc_pile_distance) return 1;
if (double_abs(gps_message->y, gps_xy[1]) > inc_pile_distance) return 1;
if (double_abs(gps_message->x, gps_xy[0]) > GPS_DISTANCE_TH) return 1;
if (double_abs(gps_message->y, gps_xy[1]) > GPS_DISTANCE_TH) return 1;
return 0;
}

1
main/stm32/pile_id.h
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@ -3,6 +3,7 @@
#define CURRENT0_TH 1000
#define CURRENT2_TIMEOUT_TH 200 // 单位100ms
#define GPS_DISTANCE_TH (0.5)
void pile_id_init(void);