236 lines
7.5 KiB
C
236 lines
7.5 KiB
C
#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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