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添加 vofa/vofa_client.c

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lhye200
2025-05-03 12:55:13 +00:00
parent 6f1a25d74e
commit b852509595
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vofa/vofa_client.c Normal file
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// 文件编码: GB18030
/*
* vofa_client.c
*
* Created on: 2025年4月4日
* Author: LHYe200
*/
#include "vofa_client.h"
float vofa_data[VOFA_RECEIVE_CH] = {0}; // 记录接收数据
float vofa_last_data = 0;
uint8 vofa_last_ch = -1;
uint8 vofa_receive_new_data[VOFA_RECEIVE_CH] = {0}; // 接收新数据标志位
uint8 rev_count = 0; // 接收计数
uint8 rev_buffer[8] = {0}; // 接收缓冲区
uint8 failed_flag = 1;
typedef union
{
uint8 send[4];
float data;
}float_data;
float_data fdata[VOFA_RECEIVE_CH + 1];
uint8 endian_flag = 0; // 大小端标志位
uint8 tail[4] = {0x00, 0x00, 0x80, 0x7f};
static inline void Chage_BS(uint8 *data)
{
if(endian_flag)
{
return;
}
for(int i = 0; i < 2; i++)
{
uint8 temp = data[i];
data[i] = data[3 - i];
data[3 - i] = temp;
}
}
uint8 VOFA_Client_Init()
{
unsigned int x = 1;
uint8 *endian_check = (uint8*)&x;
if(endian_check[0] != 1)
{
endian_flag = 0;
}
// printf("flag:%d\n\r",endian_flag);
memcpy(fdata[VOFA_SEND_CH].send, tail, sizeof(tail));
memset(vofa_data, 0, sizeof(vofa_data)); // 清除接收数据
memset(vofa_receive_new_data, 0, sizeof(vofa_receive_new_data)); // 清除接收新数据标志位
#if VOFA_CLIENT_COM_INTERFACE == 0
// 使用串口通信
uart_init(VOFA_CLIENT_UART_PORT, VOFA_CLIENT_UART_BAUDRATE, VOFA_CLIENT_UART_RX, VOFA_CLIENT_UART_TX); // 串口初始化
uart_rx_interrupt(VOFA_CLIENT_UART_PORT, 1);
#elif VOFA_CLIENT_COM_INTERFACE == 1
// 使用WIFI SPI通信
uint32 failure_count = 0;
while(wifi_spi_init(VOFA_CLIENT_WIFI_SSID, VOFA_CLIENT_WIFI_PASSWORD))
{
#if VOFA_CLIENT_WIFI_ENABLE_PRINTF
printf("\r\n connect wifi failed. \r\n");
#endif
failure_count ++;
if(failure_count > VOFA_CLIENT_WIFI_FAILURE_RETRY) // 如果连接失败超过指定次数则退出
{
return 0;
}
system_delay_ms(100); // 初始化失败 等待 100ms
}
#if VOFA_CLIENT_WIFI_ENABLE_PRINTF
printf("\r\n module version:%s",wifi_spi_version); // 模块固件版本
printf("\r\n module mac :%s",wifi_spi_mac_addr); // 模块 MAC 信息
printf("\r\n module ip :%s",wifi_spi_ip_addr_port); // 模块 IP 地址
#endif
failure_count = 0;
if(0 == WIFI_SPI_AUTO_CONNECT) // 如果没有开启自动连接 就需要手动连接目标 IP
{
while(wifi_spi_socket_connect( // 向指定目标 IP 的端口建立 TCP 连接
"TCP", // 指定使用TCP方式通讯
VOFA_CLIENT_WIFI_TARGET_IP, // 指定远端的IP地址，填写上位机的IP地址
VOFA_CLIENT_WIFI_TARGET_PORT, // 指定远端的端口号，填写上位机的端口号，通常上位机默认是8080
VOFA_CLIENT_WIFI_LOCAL_PORT)) // 指定本机的端口号
{
#if VOFA_CLIENT_WIFI_ENABLE_PRINTF
printf("\r\n socket connect failed. \r\n");
#endif
failure_count ++;
if(failure_count > VOFA_CLIENT_WIFI_FAILURE_RETRY) // 如果连接失败超过指定次数则退出
{
return 0;
}
system_delay_ms(100); // 建立连接失败 等待 100ms
}
}
#elif VOFA_CLIENT_COM_INTERFACE == 2
// 填写自定义接口的初始化代码
#endif
failed_flag = 0;
return 1;
}
void VOFA_Sender(uint8 *p, uint32 len)
{
if(failed_flag) // 如果初始化失败则不发送数据
{
return;
}
#if VOFA_CLIENT_COM_INTERFACE == 0
uart_write_buffer(VOFA_CLIENT_UART_PORT,p,len);
#elif VOFA_CLIENT_COM_INTERFACE == 1
wifi_spi_send_buffer(p,len);
#elif VOFA_CLIENT_COM_INTERFACE == 2
// 填写自定义接口的发送代码
#endif
}
void VOFA_Receiver_Callback()
{
if(failed_flag) // 如果初始化失败则不发送数据
{
return;
}
uint8 rev_tmp = 0;
uint8 tmp[4] = {0};
#if VOFA_CLIENT_COM_INTERFACE == 0
while(uart_query_byte(VOFA_CLIENT_UART_PORT, &rev_tmp))
#elif VOFA_CLIENT_COM_INTERFACE == 1
while(wifi_spi_read_buffer(&rev_tmp,1))
#elif VOFA_CLIENT_COM_INTERFACE == 2
// 填写自定义接口的接收代码,每次获取一个字节循环进行处理
#endif
{
if(rev_tmp == 0xA6 && rev_buffer[0] != 0xA6) // 判断帧头
{
rev_count = 0; // 未收到帧头或者未正确包含帧头则重新接收
}
rev_buffer[rev_count++] = rev_tmp; // 保存数据
if(rev_count >= 7) // 判断是否接收到指定数量的数据
{
if(rev_buffer[0] == 0xA6) // 判断帧头是否正确
{
if(rev_buffer[1] == rev_buffer[6] && rev_buffer[1] < VOFA_RECEIVE_CH)
{
tmp[0] = rev_buffer[2]; // 低字节
tmp[1] = rev_buffer[3]; // 高字节
tmp[2] = rev_buffer[4]; // 低字节
tmp[3] = rev_buffer[5]; // 高字节
// Chage_BS(tmp);
vofa_last_ch = rev_buffer[1]; // 保存上次接收通道
memcpy(&vofa_data[vofa_last_ch], tmp, 4); // 拷贝数据
vofa_receive_new_data[rev_buffer[1]] = 1; // 接收新数据标志位置位
vofa_last_data = vofa_data[vofa_last_ch]; // 保存上次接收数据
}
}
rev_count = 0; // 清除缓冲区计数值
rev_buffer[0] = 0; // 清除缓冲区数据
}
}
}
void VOFA_Set_JustFloat_Data(int CH, float data)
{
fdata[CH].data = data;
// Chage_BS(fdata[CH].send);
}
void VOFA_Set_JustFloat_Datas_From_Start(int num,...)
{
va_list Valist;
int i = 0;
va_start(Valist, num);
for(i = 0; i < num; ++i)
{
fdata[i].data = va_arg(Valist, float);
Chage_BS(fdata[i].send);
}
va_end(Valist);
}
void VOFA_Send_Datas(int num)
{
uint8 *p = fdata[0].send;
memcpy(fdata[num].send, tail, sizeof(tail));
VOFA_Sender(p, 4 * (num + 1));
}
void VOFA_Send_JustFloat_Image(int IMG_ID, int IMG_WIDTH, int IMG_HEIGHT,int IMG_DATA_SIZE, ImgFormat IMG_FORMAT,uint8* IMG_DATA)
{
int preFrame[7] = {
IMG_ID,
IMG_DATA_SIZE,
IMG_WIDTH,
IMG_HEIGHT,
(int)IMG_FORMAT,
0x7F800000,
0x7F800000
};
uint8 preFrameData[28] = {0};
memcpy(preFrameData, preFrame, sizeof(int)*7); // 拷贝预处理数据
VOFA_Sender(preFrameData, sizeof(int)*7); // 发送预处理数据
VOFA_Sender(IMG_DATA, IMG_DATA_SIZE); // 发送图像数据
}