refactor(protocol): 新增 comm_protocol 协议收发解析层，ble_transport 退化为纯传输
- 删除 protocol.h，帧定义和标定命令码统一迁入 comm_protocol.h - 新增 comm_protocol.c：上行组包(CoP/标定响应)、下行解析+msgq 分发 - ble_transport 剥离所有协议解析和参数 getter，仅保留字节收发+rx 回调注册 - main.c 初始化顺序：ble_transport → comm_protocol → adv_start → cal_init - 更新 README 架构图和项目结构表，补充标定流程章节 - 更新 BALANCE_BOARD_PROTOCOL.md 增加标定命令/响应帧格式文档
This commit is contained in:
+31
-7
@@ -2,15 +2,39 @@
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#include <stdbool.h>
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#include <stdint.h>
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/** @brief BLE 原始数据接收回调类型。 */
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typedef void (*ble_rx_cb_t)(const uint8_t *data, uint16_t len);
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/**
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* @brief 初始化 BLE 协议栈和 NUS 服务。
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*
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* @retval 0 成功。
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* @retval 负值 初始化错误码。
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*/
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int ble_transport_init(void);
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/** @brief 启动 BLE 可连接广播。 */
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void ble_transport_adv_start(void);
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/**
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* @brief 通过 NUS 发送二进制数据，内部自动重试最多 3 次。
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*
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* @param data 待发送字节缓冲区。
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* @param len 字节数。
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*/
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void ble_transport_send(const uint8_t *data, uint16_t len);
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/**
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* @brief 检查 BLE 连接是否就绪（已连接且通知已使能）。
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*
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* @retval true 可发送数据。
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* @retval false 未就绪。
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*/
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bool ble_transport_is_ready(void);
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/* --- 下行参数 getter --- */
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float ble_transport_get_resistance_K(void);
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float ble_transport_get_resistance_B(void);
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float ble_transport_get_resistance_Tau(void);
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float ble_transport_get_spotter_threshold(void);
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bool ble_transport_get_spotter_enabled(void);
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int64_t ble_transport_get_last_heartbeat_ms(void);
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/**
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* @brief 注册上层原始数据接收回调，NUS 收到数据时透传调用。
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*
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* @param cb 回调函数指针。
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*/
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void ble_transport_register_rx_cb(ble_rx_cb_t cb);
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@@ -0,0 +1,242 @@
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include <zephyr/kernel.h>
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#include <zephyr/sys/crc.h>
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/* ═══════════════════════════════════════════════════════════════════
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* 帧常量
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* ═══════════════════════════════════════════════════════════════════ */
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/* 双帧头比单字节魔数更容易在连续字节流里完成包起始判定 */
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#define PROTO_SYNC0 0xAAU
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#define PROTO_SYNC1 0x55U
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#define PROTO_TYPE_COP 0x01U /* 上行: 压力中心 (CoP) 帧 */
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#define PROTO_TYPE_ENCODER 0x02U /* 上行: 电机编码器帧（预留） */
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#define PROTO_TYPE_RESISTANCE 0x10U /* 下行: 阻力参数 (K, B, Tau) */
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#define PROTO_TYPE_SPOTTER 0x11U /* 下行: Spotter Mode 保护阈值 */
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#define PROTO_TYPE_HEARTBEAT 0x20U /* 下行: 心跳包 */
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#define PROTO_TYPE_CAL_CMD 0x30U /* 下行: 标定命令 */
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#define PROTO_TYPE_CAL_RESP 0x31U /* 上行: 标定响应 */
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/* CoP flags 位定义 */
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#define COP_FLAG_FORCE_VALID 0x01U /* 总力 > 阈值，CoP 坐标有意义 */
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/* ═══════════════════════════════════════════════════════════════════
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* 帧结构定义
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* ═══════════════════════════════════════════════════════════════════ */
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/* ─── 上行: CoP 帧 (11 bytes, 50 Hz) ───
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* [AA 55 01 flags cop_x(2) cop_y(2) force(2) crc]
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*/
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struct cop_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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uint8_t flags;
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int16_t cop_x;
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int16_t cop_y;
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int16_t force;
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uint8_t crc;
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} __attribute__((packed));
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union cop_pkt_t {
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struct cop_frame_t frame;
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uint8_t bytes[sizeof(struct cop_frame_t)];
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};
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/* ─── 上行: 电机编码器帧 (13 bytes, 预留) ───
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* [AA 55 02 flags cable_length(4) velocity(4) crc]
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*/
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struct encoder_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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uint8_t flags;
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float cable_length;
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float velocity;
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uint8_t crc;
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} __attribute__((packed));
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union encoder_pkt_t {
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struct encoder_frame_t frame;
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uint8_t bytes[sizeof(struct encoder_frame_t)];
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};
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/* ─── 下行: 阻力参数帧 (16 bytes) ───
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* [AA 55 10 K(4) B(4) Tau(4) crc]
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*/
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struct resistance_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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float K;
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float B;
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float Tau;
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uint8_t crc;
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} __attribute__((packed));
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union resistance_pkt_t {
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struct resistance_frame_t frame;
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uint8_t bytes[sizeof(struct resistance_frame_t)];
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};
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/* ─── 下行: Spotter Mode 帧 (9 bytes) ───
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* [AA 55 11 threshold(4) enable crc]
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*/
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struct spotter_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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float threshold;
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uint8_t enable;
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uint8_t crc;
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} __attribute__((packed));
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union spotter_pkt_t {
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struct spotter_frame_t frame;
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uint8_t bytes[sizeof(struct spotter_frame_t)];
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};
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/* ─── 下行: 心跳帧 (5 bytes, ~1 Hz) ───
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* [AA 55 20 counter crc]
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*/
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struct heartbeat_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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uint8_t counter;
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uint8_t crc;
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} __attribute__((packed));
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union heartbeat_pkt_t {
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struct heartbeat_frame_t frame;
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uint8_t bytes[sizeof(struct heartbeat_frame_t)];
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};
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/* ═══════════════════════════════════════════════════════════════════
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* 标定子命令码 & 状态码
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* ═══════════════════════════════════════════════════════════════════ */
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#define CAL_SUBCMD_START_L1 0x01U
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#define CAL_SUBCMD_TARE_CH 0x02U
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#define CAL_SUBCMD_GAIN_CH 0x03U
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#define CAL_SUBCMD_COMMIT_L1 0x04U
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#define CAL_SUBCMD_ABORT 0x05U
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#define CAL_SUBCMD_START_L2 0x10U
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#define CAL_SUBCMD_RECORD_GRID 0x11U
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#define CAL_SUBCMD_COMMIT_L2 0x12U
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#define CAL_SUBCMD_ERASE 0x20U
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#define CAL_SUBCMD_QUERY 0x21U
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#define CAL_STATUS_OK 0x00U
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#define CAL_STATUS_ERR_STATE 0x01U
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#define CAL_STATUS_ERR_NVS 0x02U
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#define CAL_STATUS_ERR_PARAM 0x03U
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/* ─── 下行: 标定命令帧 (10 bytes) ───
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* [AA 55 30 subcmd target param(4) crc]
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*/
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struct cal_cmd_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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uint8_t subcmd;
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uint8_t target;
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float param;
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uint8_t crc;
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} __attribute__((packed));
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union cal_cmd_pkt_t {
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struct cal_cmd_frame_t frame;
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uint8_t bytes[sizeof(struct cal_cmd_frame_t)];
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};
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/* ─── 上行: 标定响应帧 (14 bytes) ───
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* [AA 55 31 status subcmd data(8) crc]
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*/
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struct cal_resp_frame_t {
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uint8_t sync0;
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uint8_t sync1;
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uint8_t type;
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uint8_t status;
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uint8_t subcmd;
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uint8_t data[8];
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uint8_t crc;
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} __attribute__((packed));
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union cal_resp_pkt_t {
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struct cal_resp_frame_t frame;
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uint8_t bytes[sizeof(struct cal_resp_frame_t)];
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};
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/* ═══════════════════════════════════════════════════════════════════
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* 下行消息队列 payload
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* ═══════════════════════════════════════════════════════════════════ */
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struct comm_msg_resistance {
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float K, B, Tau;
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};
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struct comm_msg_spotter {
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float threshold;
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bool enable;
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};
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struct comm_msg_heartbeat {
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uint8_t counter;
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};
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enum comm_msg_type {
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COMM_MSG_RESISTANCE,
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COMM_MSG_SPOTTER,
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COMM_MSG_HEARTBEAT,
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};
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struct comm_msg {
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enum comm_msg_type type;
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union {
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struct comm_msg_resistance resistance;
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struct comm_msg_spotter spotter;
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struct comm_msg_heartbeat heartbeat;
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};
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};
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/* ═══════════════════════════════════════════════════════════════════
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* 协议层 API
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* ═══════════════════════════════════════════════════════════════════ */
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/**
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* @brief 初始化协议层，注册 BLE 传输层收数据回调。
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*
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* 必须在 ble_transport_init() 之后调用。
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*
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* @retval 0 成功。
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*/
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int comm_protocol_init(void);
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/**
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* @brief 组包并发送 CoP 上行帧。
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*
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* @param flags COP_FLAG_* 位组合。
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* @param cop_x 压力中心 X (cm)。
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* @param cop_y 压力中心 Y (cm)。
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* @param force 总力 (kg)。
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*/
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void comm_protocol_send_cop(uint8_t flags, int16_t cop_x, int16_t cop_y, int16_t force);
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/**
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* @brief 组包并发送标定响应上行帧。
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*
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* @param status 结果状态码 (CAL_STATUS_*)。
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* @param subcmd 对应的子命令回显。
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* @param data 8 字节响应数据。
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*/
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void comm_protocol_send_cal_resp(uint8_t status, uint8_t subcmd, const uint8_t data[8]);
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/**
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* @brief 获取下行消息队列指针，业务层通过 k_msgq_get() 消费。
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*
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* @return 指向内部 msgq 的指针。
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*/
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struct k_msgq *comm_protocol_get_msgq(void);
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-136
@@ -1,136 +0,0 @@
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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include <zephyr/sys/crc.h>
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/* ─── 帧常量 ─── */
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/* 双帧头比单字节魔数更容易在连续字节流里完成包起始判定。 */
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#define PROTO_SYNC0 0xAAU
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#define PROTO_SYNC1 0x55U
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#define PROTO_TYPE_COP 0x01U /* 上行: 压力中心 (CoP) 帧 */
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#define PROTO_TYPE_ENCODER 0x02U /* 上行: 电机编码器帧（预留） */
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#define PROTO_TYPE_RESISTANCE 0x10U /* 下行: 阻力参数 (K, B, Tau) */
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#define PROTO_TYPE_SPOTTER 0x11U /* 下行: Spotter Mode 保护阈值 */
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#define PROTO_TYPE_HEARTBEAT 0x20U /* 下行: 心跳包 */
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/* CoP flags 位定义 */
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#define COP_FLAG_FORCE_VALID 0x01U /* 总力 > 阈值，CoP 坐标有意义 */
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/* ─── 板面几何 & 传感器标定 ─── */
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/* 传感器到板面中心的半宽、半长 (cm)。 */
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#define BOARD_HALF_WIDTH_CM 42.5f
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#define BOARD_HALF_LENGTH_CM 16.0f
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/*
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* ADC → kg 换算推导：
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* GML670 50kg: 灵敏度 1.75 mV/V, 激励 5V → 满量程输出 8.75 mV
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* ADS1256: PGA=64, VREF=2.5V → 满量程 ±78.125 mV
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* 50kg 对应 ADC counts = 8.75 / 78.125 × 8388607 ≈ 939524
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* 1 LSB = 50.0 / 939524 ≈ 5.322e-5 kg
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* 如实际激励电压或 VREF 不同，按比例修正此系数。
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*/
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#define SENSOR_EXCITATION_V 5.0f
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#define SENSOR_SENSITIVITY_MVV 1.75f
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#define SENSOR_RATED_LOAD_KG 50.0f
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#define ADS1256_VREF_V 2.5f
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#define ADS1256_PGA 64
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#define ADC_COUNTS_AT_RATED \
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((SENSOR_SENSITIVITY_MVV * SENSOR_EXCITATION_V) / (2.0f * ADS1256_VREF_V * 1000.0f / ADS1256_PGA) * 8388607.0f)
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#define ADC_TO_FORCE_SCALE (SENSOR_RATED_LOAD_KG / ADC_COUNTS_AT_RATED)
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/* 总重低于此值时 CoP 无意义（除零保护），单位 kg */
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#define COP_MIN_FORCE_THRESHOLD 0.5f
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/* ─── 上行: CoP 帧 (11 bytes, 50 Hz) ───
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*
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* [AA 55 01 flags cop_x(2) cop_y(2) force(2) crc]
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*/
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struct cop_frame_t {
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uint8_t sync0; /* = PROTO_SYNC0 */
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uint8_t sync1; /* = PROTO_SYNC1 */
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uint8_t type; /* = PROTO_TYPE_COP */
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uint8_t flags; /* bit0: force_valid */
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int16_t cop_x; /* 压力中心 X (cm)，板面坐标系 */
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int16_t cop_y; /* 压力中心 Y (cm)，板面坐标系 */
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int16_t force; /* 总重量 (kg) */
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uint8_t crc; /* CRC-8/MAXIM, 校验 type~force */
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} __attribute__((packed));
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union cop_pkt_t {
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struct cop_frame_t frame;
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uint8_t bytes[sizeof(struct cop_frame_t)];
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};
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|
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/* ─── 上行: 电机编码器帧 (13 bytes, 预留) ───
|
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*
|
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* [AA 55 02 flags cable_length(4) velocity(4) crc]
|
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*/
|
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struct encoder_frame_t {
|
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uint8_t sync0; /* = PROTO_SYNC0 */
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uint8_t sync1; /* = PROTO_SYNC1 */
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uint8_t type; /* = PROTO_TYPE_ENCODER */
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uint8_t flags; /* 预留，填 0 */
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float cable_length; /* 拉索长度 (mm) */
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float velocity; /* 拉索速度 (mm/s) */
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uint8_t crc; /* CRC-8/MAXIM */
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} __attribute__((packed));
|
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|
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union encoder_pkt_t {
|
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struct encoder_frame_t frame;
|
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uint8_t bytes[sizeof(struct encoder_frame_t)];
|
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};
|
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|
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/* ─── 下行: 阻力参数帧 (16 bytes) ───
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*
|
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* [AA 55 10 K(4) B(4) Tau(4) crc]
|
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*/
|
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struct resistance_frame_t {
|
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uint8_t sync0; /* = PROTO_SYNC0 */
|
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uint8_t sync1; /* = PROTO_SYNC1 */
|
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uint8_t type; /* = PROTO_TYPE_RESISTANCE */
|
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float K; /* 刚度 (N/m) */
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float B; /* 阻尼 (Ns/m) */
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float Tau; /* 时间常数 (s) */
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uint8_t crc; /* CRC-8/MAXIM */
|
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} __attribute__((packed));
|
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|
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union resistance_pkt_t {
|
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struct resistance_frame_t frame;
|
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uint8_t bytes[sizeof(struct resistance_frame_t)];
|
||||
};
|
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|
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/* ─── 下行: Spotter Mode 帧 (9 bytes) ───
|
||||
*
|
||||
* [AA 55 11 threshold(4) enable crc]
|
||||
*/
|
||||
struct spotter_frame_t {
|
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uint8_t sync0; /* = PROTO_SYNC0 */
|
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uint8_t sync1; /* = PROTO_SYNC1 */
|
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uint8_t type; /* = PROTO_TYPE_SPOTTER */
|
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float threshold; /* 保护力阈值 (N) */
|
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uint8_t enable; /* 0 = 关闭, 1 = 启用 */
|
||||
uint8_t crc; /* CRC-8/MAXIM */
|
||||
} __attribute__((packed));
|
||||
|
||||
union spotter_pkt_t {
|
||||
struct spotter_frame_t frame;
|
||||
uint8_t bytes[sizeof(struct spotter_frame_t)];
|
||||
};
|
||||
|
||||
/* ─── 下行: 心跳帧 (5 bytes, ~1 Hz) ───
|
||||
*
|
||||
* [AA 55 20 counter crc]
|
||||
*/
|
||||
struct heartbeat_frame_t {
|
||||
uint8_t sync0; /* = PROTO_SYNC0 */
|
||||
uint8_t sync1; /* = PROTO_SYNC1 */
|
||||
uint8_t type; /* = PROTO_TYPE_HEARTBEAT */
|
||||
uint8_t counter; /* 滚动计数，用于活性检测 */
|
||||
uint8_t crc; /* CRC-8/MAXIM */
|
||||
} __attribute__((packed));
|
||||
|
||||
union heartbeat_pkt_t {
|
||||
struct heartbeat_frame_t frame;
|
||||
uint8_t bytes[sizeof(struct heartbeat_frame_t)];
|
||||
};
|
||||
Reference in New Issue
Block a user