diff --git a/sample/peagsus/uart_sample.c b/sample/peagsus/uart_sample.c new file mode 100644 index 0000000000000000000000000000000000000000..1e990383aa086c56989efac6989dbb246ac072ff --- /dev/null +++ b/sample/peagsus/uart_sample.c @@ -0,0 +1,293 @@ +/* + * Copyright (C) 2021 HiHope Open Source Organization . + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * + * limitations under the License. + */ + +#include +#include +#include "ohos_init.h" +#include "cmsis_os2.h" +#include "iot_gpio.h" +#include "iot_uart.h" +#include "hi_io.h" +#include "iot_pwm.h" +#include "hi_pwm.h" + +#define IOT_UART_IDX_1 (1) +#define STACK_SIZE (1024) +#define DELAY_US (20000) +#define IOT_GPIO_0 (0) //uart1 +#define IOT_GPIO_1 (1) +#define IOT_GPIO_9 9 // Beep +#define IOT_GPIO_10 10 // Red +#define IOT_GPIO_11 11 // Green +#define IOT_GPIO_12 12 // Yellow + +#define IOT_PWM_PORT_PWM0 0 +#define PWM_DUTY_50 (50) +#define PWM_DUTY_99 (99) +#define PWM_FREQ_4K (4000) +#define DTOF_DATA_LEN 137 +#define CRC_LEN 133 + + +unsigned char uartReadBuff[300] = {0}; +unsigned char crcBuff[300] = {0}; +static unsigned int crc32table[256]; + +/* + * 初始化uart1接口配置 + * Initialize uart1 interface configuration + */ +int usr_uart_config(void) +{ + IotUartAttribute g_uart_cfg = {115200, 8, 1, IOT_UART_PARITY_NONE, 500, 500, 0}; + int ret = IoTUartInit(IOT_UART_IDX_1, &g_uart_cfg); + if (ret != 0) { + printf("uart init fail\r\n"); + } + + return ret; +} + + +static void init_crc_table(void){ + unsigned int c; + unsigned int i, j; + for (i = 0; i < 256; i++) { + c = (unsigned int)i; + for (j = 0; j < 8; j++) { + if (c & 1) + c = 0xedb88320L ^ (c >> 1); + else + c = c >> 1; + } + crc32table[i] = c; + } +}; + +/* + * crc校验 + * crc checking + */ + +static unsigned int crc32(const unsigned char *buf, unsigned int size) +{ + unsigned int i, crc = 0xFFFFFFFF; + + for (i = 0; i < size; i++) { + crc = crc32table[(crc ^ buf[i]) & 0xff] ^ (crc >> 8); /* 8: 右移8bit */ + } + return crc ^ 0xFFFFFFFF; +} + +/* + * 配置uart1、pwm0、红灯、黄灯、绿灯的gpio管脚 + * Configure GPIO pins for uart1, wm0, red light, yellow light, and green light + */ +void gpio_init(void) +{ + + IoTGpioInit(IOT_GPIO_0); + hi_io_set_func(IOT_GPIO_0, HI_IO_FUNC_GPIO_0_UART1_TXD); + IoTGpioInit(IOT_GPIO_1); + hi_io_set_func(IOT_GPIO_1, HI_IO_FUNC_GPIO_1_UART1_RXD); + + IoTGpioInit(IOT_GPIO_9); + hi_io_set_func(IOT_GPIO_9, HI_IO_FUNC_GPIO_9_PWM0_OUT); + IoTGpioSetDir(IOT_GPIO_9, IOT_GPIO_DIR_OUT); + IoTPwmInit(IOT_PWM_PORT_PWM0); + + + IoTGpioInit(IOT_GPIO_10); + hi_io_set_func(IOT_GPIO_10, HI_IO_FUNC_GPIO_10_GPIO); + IoTGpioSetDir(IOT_GPIO_10, IOT_GPIO_DIR_OUT); + + IoTGpioInit(IOT_GPIO_11); + hi_io_set_func(IOT_GPIO_11, HI_IO_FUNC_GPIO_11_GPIO); + IoTGpioSetDir(IOT_GPIO_11, IOT_GPIO_DIR_OUT); + + IoTGpioInit(IOT_GPIO_12); + hi_io_set_func(IOT_GPIO_12, HI_IO_FUNC_GPIO_12_GPIO); + IoTGpioSetDir(IOT_GPIO_12, IOT_GPIO_DIR_OUT); +} + +/* + * 接收dtof数据并处理 + * Receive dtof data and process it + */ +static void* UartDemo_Task(void) +{ + static int r = 0; //统计距离小于0.2米的点云数量，满足条件亮红灯 + static int g = 0; //统计距离在0.5米到1米之间的点云数量，满足条件亮绿灯 + static int y = 0; //统计距离在0.2米到0.5米之间的点云数量，满足条件亮黄灯 + static int d = 0; + unsigned short int *data = NULL; + short int i = 0; + + unsigned int len = 0; //接收到的串口数据长度 + unsigned int crc_data = 0; //接收CRC校验后的值 + + gpio_init(); + + usr_uart_config(); + + init_crc_table(); + + while (1) { + len += IoTUartRead(IOT_UART_IDX_1, uartReadBuff+len, DTOF_DATA_LEN); + if (len >= DTOF_DATA_LEN) { + if(uartReadBuff[0] == 0xAA && uartReadBuff[1] == 0x55 && uartReadBuff[132] == 0xFF) + { + memcpy(crcBuff,uartReadBuff,CRC_LEN); + crc_data = crc32(crcBuff,CRC_LEN); + + if(crc_data == *(unsigned int *)(&uartReadBuff[CRC_LEN])) + { + for(i = 0; i < 64; i++) + { + data = (unsigned short int *)(&uartReadBuff[i*2+4]); + if((*data) < 200) + { + r += 1; + } + else if ((*data) >= 200 && (*data) < 500) + { + y += 1; + } + else if((*data) >= 500 && (*data) < 1000) + { + g += 1; + } + + } + d = d + 1; + if (r >= 50) + { + IoTGpioSetOutputVal(IOT_GPIO_10, IOT_GPIO_VALUE1); + IoTGpioSetOutputVal(IOT_GPIO_11, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_12, IOT_GPIO_VALUE0); + + if((*data) >= 100 && (*data) < 150) + { + IoTPwmStart(IOT_PWM_PORT_PWM0, 99, PWM_FREQ_4K); + d = 0; + } + else if((*data) >= 150 && (*data) < 200 && d >= 3) + { + IoTPwmStart(IOT_PWM_PORT_PWM0, PWM_DUTY_50, PWM_FREQ_4K); + d = 0; + } + + } + else if(y >= 50) + { + IoTGpioSetOutputVal(IOT_GPIO_10, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_11, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_12, IOT_GPIO_VALUE1); + + if((*data) >= 200 && (*data) < 300 && d >= 6) + { + IoTPwmStart(IOT_PWM_PORT_PWM0, PWM_DUTY_50, PWM_FREQ_4K); + d = 0; + } + else if((*data) >= 300 && (*data) < 400 && d >= 9) + { + IoTPwmStart(IOT_PWM_PORT_PWM0, PWM_DUTY_50, PWM_FREQ_4K); + d = 0; + } + else if((*data) >= 400 && (*data) < 500 && d >= 12) + { + IoTPwmStart(IOT_PWM_PORT_PWM0, PWM_DUTY_50, PWM_FREQ_4K); + d = 0; + } + } + else if (g >= 50) + { + IoTGpioSetOutputVal(IOT_GPIO_10, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_11, IOT_GPIO_VALUE1); + IoTGpioSetOutputVal(IOT_GPIO_12, IOT_GPIO_VALUE0); + IoTPwmStop(IOT_PWM_PORT_PWM0); + } + else + { + IoTGpioSetOutputVal(IOT_GPIO_10, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_11, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_12, IOT_GPIO_VALUE0); + + IoTPwmStop(IOT_PWM_PORT_PWM0); + } + } + else + { + printf("crc32 fail ！！！\r\n"); + } + } + len = 0; + crc_data = 0; + printf("Uart read data:r = %d,y = %d,g = %d\r\n", r,y,g); + r = y = g = 0; + data = NULL; + memset(uartReadBuff,0,sizeof(uartReadBuff)); + memset(crcBuff,0,sizeof(crcBuff)); + } + usleep(DELAY_US); + if(len == 0) + { + crc_data = 0; + printf("Uart read data:r = %d,y = %d,g = %d\r\n", r,y,g); + r = y = g = 0; + data = NULL; + memset(uartReadBuff,0,sizeof(uartReadBuff)); + memset(crcBuff,0,sizeof(crcBuff)); + + IoTGpioSetOutputVal(IOT_GPIO_10, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_11, IOT_GPIO_VALUE0); + IoTGpioSetOutputVal(IOT_GPIO_12, IOT_GPIO_VALUE0); + + IoTPwmStop(IOT_PWM_PORT_PWM0); + } + } + + return NULL; +} + +/* + * 任务入口函数 + * Task Entry Function + */ +static void UartDemo_Entry(void) +{ + osThreadAttr_t attr = {0}; + + printf("[UartDemo] UartDemo_Entry()\n"); + + attr.name = "UartDemo_Task"; + attr.attr_bits = 0U; + attr.cb_mem = NULL; + attr.cb_size = 0U; + attr.stack_mem = NULL; + attr.stack_size = STACK_SIZE; + attr.priority = osPriorityNormal; + + if (osThreadNew((osThreadFunc_t)UartDemo_Task, NULL, &attr) == NULL) { + printf("[UartDemo] Falied to create UartDemo_Task!\n"); + } +} + +/* + * 注册模块 + * registration module + */ +SYS_RUN(UartDemo_Entry);