hpm6750/controller_yy_app/software/soft_gs.c

#include "soft_gs.h"
#include "common.h"
#include "drv_usart.h"
#include "gcs_vklink_v30.h"
#include "params.h"
#include "rkfifo.h"
#include "soft_time.h"
#include "vklink.h"

struct GCS_Link gcs_link = {
    .link_protocal_type =
        GCS_LINK_PROTOCAL_TYPE_VKLINK, /* 默认使用 VKLINK 协议 */
    .vklink_protocal_version = 300,    /* 默认 vklink v300 版本 */
    .link_status = COMP_NOEXIST,       /* 默认状态是未连接地面站 */
};

/**
 * @brief 设置地面站 vklink 的协议版本
 *
 * @param version
 */
void gs_set_vklink_protocal_version(struct GCS_Link *gcs, uint16_t version)
{
    switch (version)
    {
    case 300:
    case 400:
        gcs->vklink_protocal_version = version;
        break;

    default:
        break;
    }
}

/**
 * @brief 电台串口初始化
 *
 * @param gs_bps 串口波特率
 */
int gcs_init(struct GCS_Link *gcs, unsigned int gs_bps)
{
    int ret = 0;
    gcs_link.uart = uart_find("uart1");
    if (gcs_link.uart)
    {
        gcs_link.uart->ops->init(gs_bps);
    }
    else
    {
        ret = -1;
    }
    return ret;
}

/**
 * @brief 地面站失联检测
 *
 */
void _gs_uart_link_status_check(struct GCS_Link *pgcs)
{

    /* 检测间隔 0.5 */
    const uint32_t check_dt_us = 500000;

    /* 失联时间 */
    const uint16_t linklost_time_s = (uint16_t)conf_par.lostlink_time;

    if (micros() - pgcs->last_check_time_us > check_dt_us)
    {
        pgcs->last_check_time_us = micros();

        if (pgcs->link_status == COMP_NORMAL)
        {
            pgcs->link_lost_time_us += check_dt_us;
            if (pgcs->link_lost_time_us > linklost_time_s * 1000000 &&
                linklost_time_s > 0)
            {
                pgcs->link_status = COMP_LOST;
            }
        }
    }
}

/**
 * @brief 获取地面站连接状态
 *
 * @return comp_status
 */
comp_status gs_get_link_status(struct GCS_Link *pgcs) { return pgcs->link_status; }

/**
 * @brief 地面站解析数据循环
 *
 */
void gs_receive_msg_poll(struct GCS_Link *pgcs)
{
    uint8_t c;
    /* 如果 rx fifo 中有数据，则读出数据进行解析 */
    while (pgcs->uart->ops->read(&c, 1) == 1)
    {
        switch (pgcs->link_protocal_type)
        {
        case GCS_LINK_PROTOCAL_TYPE_VKLINK:
        default:
            if (VKlink_ParseChar(&pgcs->vklink_rx_msg, c) == 1)
            {
                /* 对接收消息进行解析 */
                switch (pgcs->vklink_protocal_version)
                {
                /* vklink v30 协议 */
                case 300:
                    gcs_vklink_v300_rx_decode(pgcs);
                    break;
                /* vklink v40 协议 */
                case 400:
                    // gcs_vklink_v400_rx_decode(&pgcs->vklink_rx_msg);
                    break;

                default:
                    break;
                }
            }
            break;
        }
    }
}

/**
 * @brief 发送数据到地面站，轮询调用
 *
 */
void gs_send_msg_poll(struct GCS_Link *pgcs)
{
    /* 检测地面站失联 */
    _gs_uart_link_status_check(pgcs);

    /* 发消息给地面站 */
    if (pgcs->link_protocal_type == GCS_LINK_PROTOCAL_TYPE_VKLINK)
    {
        switch (pgcs->vklink_protocal_version)
        {
        case 300:
            gcs_vklink_v300_tx_poll(pgcs);
            break;

        case 400:
            break;

        default:
            break;
        }
    }
}

void gs_tx_vklink_msg(struct GCS_Link *pgcs, const VKlink_Msg_Type *msg)
{
    uint8_t *tx_buff = pgcs->msg_pack_buffer;
    uint32_t tx_len = VKlink_MsgTxFormat(msg, tx_buff);
    pgcs->uart->ops->write(tx_buff, tx_len);
}

void gs_send_pos_msg(struct GCS_Link *pgcs, uint32_t pos_num)
{
    if (gcs_link.link_protocal_type == GCS_LINK_PROTOCAL_TYPE_VKLINK)
    {
        switch (gcs_link.vklink_protocal_version)
        {
        case 300:
            gcs_vklink_v300_set_tx_msg(pgcs, GCS_VKLINK_V300_POS_ID, (void *)pos_num);
            break;

        case 400:
            // gcs_vklink_v400_set_tx_msg(GCS_VKLINK_V400_POS_ID, 0);
            break;

        default:
            break;
        }
    }
}

void gs_send_ack_msg(struct GCS_Link *pgcs, void *arg)
{
    if (gcs_link.link_protocal_type == GCS_LINK_PROTOCAL_TYPE_VKLINK)
    {
        switch (gcs_link.vklink_protocal_version)
        {
        case 300:
            gcs_vklink_v300_set_tx_msg(pgcs, GCS_VKLINK_V300_ACK_ID, arg);
            break;

        case 400:
            // gcs_vklink_v400_set_tx_msg(GCS_VKLINK_V400_ACK_ID, arg);
            break;

        default:
            break;
        }
    }
}

void gs_send_payload_msg(struct GCS_Link *pgcs, const void *data, uint32_t len)
{
    if (gcs_link.link_protocal_type == GCS_LINK_PROTOCAL_TYPE_VKLINK)
    {
        switch (gcs_link.vklink_protocal_version)
        {
        case 300:
        {
            struct gcs_transparent_transmission_arg tt_arg;
            tt_arg.data = data;
            tt_arg.data_len = len;
            gcs_vklink_v300_set_tx_msg(pgcs, GCS_VKLINK_V300_PORT_UART4_DATA, &tt_arg);
        }
        break;

        case 400:
            // gcs_vklink_v400_set_tx_msg(GCS_VKLINK_V400_PAYLOAD_DATA_ID, 0);
            break;

        default:
            break;
        }
    }
}