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140 lines
3.4 KiB
140 lines
3.4 KiB
3 years ago
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#ifndef __asp_oid_H__
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#define __asp_oid_H__
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/**************************************************************************************
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asp_oid.c
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****************************************************************************************/
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#include "../bsp/bsp_oid.h"
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#include "msp_uart0.h"
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#include "../ctask/task.h"
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#include "../app/app_config.h"
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/**********
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``````` `\___________________/` ` ` ` ` ` ` `````````\___________________/````````
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222222 2 21000000000000000000032 2 2 2 2 2 2 222222221000000000000000000032222222
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package no 0 1 2 3 0 1 2 3
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package no 0 1 2 3 4 5 6 7
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packageNo 00000111112222233333xxxxx xxxxxxxxxxx00000111112222233333xxxxx
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111111111 12222222
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123456789012345678 901234567890
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gcode收到固定码
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坐标码
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按下开始,
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个数累计到了,
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或者抬起
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都要发送
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寄存器模式: 一般指的是单个变量的保存,写入和读取按寄存器号读取即可
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缓存模式:数据连续放入某个缓存,然后进行批量读取,缓存号(地址)可以作为寄存器
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************/
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/*******************.
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write to uart -->send
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Layer3: app tcp
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s->ts_frame.cd->R.point
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-----------------------------
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状态判断，数据缓存
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Layer2: asp asp_oid
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ts.oid ->s->ts_frame.cd
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-------------------------
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L1_Oid_readoid
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Layer1: bsp: bsp_oid 最底层的点的采样
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*******************/
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#define POINT_LEN 20///cc fixme
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typedef struct
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{///6Byte
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U16 x100;
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U16 y100;
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}TS_xy100;
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typedef union{
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TS_xy100 xy100;
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U32 gcode;
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}TU_code;
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#define D_PEN_normal 0
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#define D_PEN_down 1
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#define D_PEN_none 2
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#define D_PEN_up 3
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#define D_PEN_gcode 4
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typedef struct
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{
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U16 angle:9;///360
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U16 packageNo:4; ///0-2^5
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U16 sta:3; /// =0 nomal =1 按下 =3 抬起 =2 没有按下 =4 gcode
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}Oid_flag;
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////一帧数据,也是一个点
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typedef struct
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{
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Oid_flag flag;
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TU_code cd;
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TtimeStamp time; ///最好一个包一个时间戳 一个点(一帧)一个时间戳有点浪费
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/// 前提1 是采样的点是固定间隔而且连续
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////时间戳甚至是相对的 甚至误差相对于采样而言也比较大
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}Ts_OID_frame_xy_;///8Bytes
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typedef struct _s_task_oid_
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{
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TS_task task;
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vU8 can_send;///
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U16 p_ok;///
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U16 send_t;
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TtimeStamp tts;
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U16 point;
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U16 extra;
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U16 send_p;
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Ts_OID_frame_xy_ ts_frame;
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/// Ts_OID_out_ out;
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}TS_task_oid_;
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extern TS_task_oid_ ts_task_oid;
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extern void L3_task_oid_handle(TS_task_oid_ *s);
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extern Ts_OID_frame_xy_ oid_buf[POINT_LEN+10];
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extern Ts_OID_frame_xy_ points[POINT_LEN+10];
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//>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>for debug
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typedef struct _ts_debug_oid_cmd_
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{///6bytes 去掉了filter和命令字
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U8 cmd;
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/// U8 rw; /// 写还是读： =1 读，=0写
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U8 dat; ///数据
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U16 reg; ///
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U16 end; ///
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}TS_oid_cmd;
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#define UDCMD_wakeup 0x11 ///
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#define UDCMD_cmdsend 0x22 ///
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#define UDCMD_readreg 0x23 ///
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#define UDCMD_log 0x33 ///
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#define UDCMD_get 0x44 ///
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#define UDCMD_CheckVersion 0x45 ///
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#define UDCMD_testtime_us 0x55 ///
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#define UDCMD_testtime_ms 0x66 ///
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///<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<for debug
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extern void L1_oid_init(void);
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extern void L1_oid_main(void);
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extern void L1_oid_debug(u8 *para);
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#endif
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