/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
uint8_t RxBuffer[300];
uint8_t cnt;
uint8_t Rx_data[300];
#include <string.h>
#include <stdio.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
int fputc(int ch, FILE *f)
{
HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff);
return ch;
}
/**
* 函数功能: 重定向c库函数getchar,scanf到DEBUG_USARTx
* 输入参数: 无
* 返 回 值: 无
* 说 明：无
*/
int fgetc(FILE *f)
{
uint8_t ch = 0;
HAL_UART_Receive(&huart1, &ch, 1, 0xffff);
return ch;
}
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
void servo(float angle1,float angle2,float angle3,float angle4)
{
}
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
static float AixAngf1 = 0;
static float AixAngf2 = 0;
static float AixAngf3 = 0;
static float AixAngf4 = 0;
/* USER CODE END PFP */
static uint16_t AixAng1 = 0;
static uint16_t AixAng2 = 0;
static uint16_t AixAng3 = 0;
static uint16_t AixAng4 = 0;
static uint16_t open_angle =0;
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance==USART2)//首先判断是否是USART2触发的中断
{
// printf("%c%c%c%c%c",Rx_data[0],Rx_data[1],Rx_data[2],Rx_data[3],Rx_data[4]);
// &&Rx_data[1]==0x01&&Rx_data[17]==0x77
if(Rx_data[0]==0x7F&&Rx_data[1]==0x01&&Rx_data[17]==0x77) {
AixAng1 = Rx_data[3]|(Rx_data[4]<<8);
AixAng2 = Rx_data[5]|(Rx_data[6]<<8);
AixAng3 = Rx_data[7]|(Rx_data[8]<<8);
AixAng4 = Rx_data[9]|(Rx_data[10]<<8);
open_angle = Rx_data[13]|(Rx_data[14]<<8);
printf("%d\r\n",open_angle);
AixAngf1= 90.0-(float) ((AixAng1+5)/10);//是经过处理之后的数据，AixAngf1的现象为前后可转动90度，所以AixAngf1的数值为-90~90度
AixAngf2= (float) ((AixAng2+5)/10)*0.9-260.0;
//AixAngf2的现象也是向前可以达到-90度，向后45度最多，但是这个传感器在0~90这个区间有点问题，感觉像是2倍的关系，直接就偏移过去了
//实际应该是0~45但是传感器输出的数据是0~90
AixAngf3= (-1)*((float) ((AixAng3+5)/10)-78.0)+99.0;
//AixAngf3，它的实际现象是向前为0度，但是向后为0~135度
AixAngf4= (186.0-(float) ((AixAng4+5)/10))*0.9;
printf("%f\r\n",AixAngf1);
printf("%f\r\n",AixAngf2);
printf("%f\r\n",AixAngf3);
printf("%f\r\n",AixAngf4);
// }
// if(Rx_data[1]==0x02)
// {
// printf("关灯");
// }
// if(Rx_data[1]==0x03)
// {
// printf("老等");
// }
//
// switch (Rx_data[1]) {
// case 0x01: {
// printf("Servo_1 turn\r\n");
// printf("angle=%d\r\n", Rx_data[2] * 256 + Rx_data[3]);
// }
// break;
// case 0x02: {
// printf("Servo_2 turn\r\n");
// printf("angle=%d\r\n", Rx_data[2] * 256 + Rx_data[3]);
// }
// break;
// case 0x03: {
// printf("Servo_3 turn\r\n");
// printf("angle=%d\r\n", Rx_data[2] * 256 + Rx_data[3]);
// }
// break;
// case 0x04: {
// printf("Servo_4 turn\r\n");
// printf("angle=%d\r\n", Rx_data[2] * 256 + Rx_data[3]);
// }
// break;
// default:
// printf("data_error!");
// }
// }
// else
// {
// printf("Data——error!\r\n");
// }
}
for (int i = 0; i < 18; ++i) {
Rx_data[i]=0;
}
HAL_UART_Receive_IT(&huart2,(uint8_t*)Rx_data,18);
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart2,(uint8_t*)Rx_data,18);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// HAL_UART_Transmit(&huart1 ,(uint8_t*)Tx_data , 5,0xffff);
// HAL_Delay(2000);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
