磁铁、舵机、网页控制、通信协议
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/**
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* @file protocol.h
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* @brief EDC 通讯协议 — I2C / UART 双通道, Cycle 收发, CRC16 校验
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*
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* 顶层概念:
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* Point = { x, y, angle_x10 }
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* Fragment = { source: Point, target: Point }
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* Cycle = { cycle_id, frag_count (2~4), fragments[] }
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*
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* 帧格式 (大端序):
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* ┌──────┬──────┬──────┬──────┬───────────────────┬──────────┐
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* │ SOF1 │ SOF2 │ CMD │ LEN │ DATA (N bytes) │ CRC16 │
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* │ 0xAA │ 0x55 │ 1B │ 1B │ variable │ 2B (LE) │
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* └──────┴──────┴──────┴──────┴───────────────────┴──────────┘
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* ◄──────── CRC 计算范围 (CMD + LEN + DATA) ─────────►
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*
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* Cycle 数据帧 DATA 区:
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* cycle_id(2B, BE) + frag_count(1B, 2~4) + fragments(N × 12B)
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*
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* Fragment (12B, 大端):
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* src.x(2B) src.y(2B) src.angle(2B) dst.x(2B) dst.y(2B) dst.angle(2B)
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*
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* 交互流程:
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* MPU ──[CYCLE_DATA]──► MCU (I2C + UART 冗余下发)
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* MCU ──[CYCLE_DONE]──► MPU (UART 上报完成, 含 cycle_id)
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* MCU ──[CYCLE_REQ]───► MPU (UART 请求下一 Cycle)
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*/
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#ifndef EDC_PROTOCOL_H
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#define EDC_PROTOCOL_H
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#include "driver/gpio.h"
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#include "driver/uart.h"
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#include "driver/i2c_slave.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ================================================================
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* 协议常量
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* ================================================================ */
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#define EDC_PROTO_SOF1 0xAA
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#define EDC_PROTO_SOF2 0x55
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#define EDC_PROTO_FRAME_MAX 80 /* 最大帧长: 2+1+1+3+4*12+2 = 57 < 80 */
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#define EDC_PROTO_FRAME_MIN 6 /* SOF(2) + CMD(1) + LEN(1) + CRC(2) */
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#define EDC_FRAG_MIN 2 /* 每 Cycle 最少 fragment 数 */
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#define EDC_FRAG_MAX 4 /* 每 Cycle 最多 fragment 数 */
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#define EDC_FRAG_BYTES 12 /* 单个 fragment 字节数 (3×uint16×2) */
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/* ---- I2C 默认 ---- */
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#define EDC_I2C_PORT_DEFAULT 0
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#define EDC_I2C_SLAVE_ADDR 0x2A
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#define EDC_I2C_SDA_DEFAULT GPIO_NUM_2
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#define EDC_I2C_SCL_DEFAULT GPIO_NUM_3
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#define EDC_I2C_BUF_SIZE 256
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/* ---- UART 默认 ---- */
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#define EDC_UART_PORT_DEFAULT UART_NUM_0
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#define EDC_UART_BAUDRATE 115200
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#define EDC_UART_RX_DEFAULT GPIO_NUM_9
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#define EDC_UART_TX_DEFAULT GPIO_NUM_8
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#define EDC_UART_BUF_SIZE 512
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/* ================================================================
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* 命令字
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* ================================================================ */
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typedef enum {
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EDC_CMD_CYCLE_DATA = 0x01, /* MPU → MCU: 下发 Cycle 数据 */
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EDC_CMD_CYCLE_DONE = 0x02, /* MCU → MPU: Cycle 执行完成 */
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EDC_CMD_CYCLE_REQUEST = 0x03, /* MCU → MPU: 请求下一个 Cycle */
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EDC_CMD_ACK = 0x80, /* 通用应答 */
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EDC_CMD_NACK = 0xFF, /* 错误 */
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} edc_cmd_t;
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/* ================================================================
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* 数据结构
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* ================================================================ */
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/** 单个坐标点 (source 或 target) */
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typedef struct {
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uint16_t x;
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uint16_t y;
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uint16_t angle_x10; /* 角度 × 10, 如 450 = 45.0° */
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} edc_point_t;
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/** 一个运动片段: 从 source 移动到 target */
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typedef struct {
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edc_point_t source;
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edc_point_t target;
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} edc_fragment_t;
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/** 一个 Cycle: 包含 2~4 个 fragment */
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typedef struct {
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uint16_t cycle_id;
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uint8_t frag_count; /* 实际 fragment 数 (2~4) */
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edc_fragment_t fragments[EDC_FRAG_MAX];
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uint32_t timestamp_ms; /* 本地时间戳 (不随帧传输) */
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} edc_cycle_t;
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/** 帧来源通道 */
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typedef enum {
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EDC_CH_NONE = 0,
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EDC_CH_I2C = 1,
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EDC_CH_UART = 2,
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} edc_channel_t;
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/** 每通道统计 */
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typedef struct {
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uint32_t cycles_ok;
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uint32_t cycles_err;
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uint32_t bytes_total;
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} edc_channel_stat_t;
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/** 统一收发统计 */
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typedef struct {
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edc_channel_stat_t i2c;
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edc_channel_stat_t uart;
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edc_channel_t last_channel;
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uint32_t last_tick;
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uint32_t done_sent; /* 已发送 DONE 次数 */
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uint32_t request_sent; /* 已发送 REQUEST 次数 */
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} edc_proto_stat_t;
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/** 帧解析状态 */
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typedef enum {
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EDC_PARSE_OK = 0,
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EDC_PARSE_WAITING = 1,
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EDC_PARSE_CRC_ERR = -1,
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EDC_PARSE_LEN_ERR = -2,
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EDC_PARSE_SOF_ERR = -3,
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EDC_PARSE_CMD_ERR = -4,
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} edc_parse_result_t;
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/** 帧解析上下文 (逐字节喂入) */
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typedef struct {
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uint8_t buf[EDC_PROTO_FRAME_MAX];
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uint8_t len;
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uint8_t idx;
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edc_parse_result_t state;
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} edc_frame_ctx_t;
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/* ================================================================
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* 配置
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* ================================================================ */
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typedef struct {
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bool i2c_enable;
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int i2c_port;
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uint16_t i2c_addr;
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gpio_num_t i2c_sda;
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gpio_num_t i2c_scl;
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bool uart_enable;
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uart_port_t uart_port;
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int uart_baudrate;
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gpio_num_t uart_rx;
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gpio_num_t uart_tx;
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} edc_proto_config_t;
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/* ================================================================
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* CRC16 / 组帧 / 逐字节解析 (底层)
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* ================================================================ */
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uint16_t edc_crc16(const uint8_t *data, size_t len);
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/** 将 Cycle 序列化为协议字节流 (含帧头与 CRC) */
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int edc_cycle_pack(const edc_cycle_t *cycle, uint8_t *out);
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/** 逐字节解析器 (与旧版兼容, 内部使用 edc_cycle_parse_byte) */
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edc_parse_result_t edc_cycle_parse_byte(edc_frame_ctx_t *ctx, uint8_t byte,
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edc_cycle_t *cycle);
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/** 从完整缓冲区一次性解析 Cycle */
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edc_parse_result_t edc_cycle_parse_buf(const uint8_t *data, size_t len,
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edc_cycle_t *cycle);
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/* ================================================================
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* 统一收发器 API (I2C 从机 + UART 双向)
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* ================================================================ */
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/**
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* @brief 初始化协议栈 (I2C 从机 + UART)
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* @param cfg 传 NULL 使用默认值
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*/
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void edc_proto_init(const edc_proto_config_t *cfg);
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/**
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* @brief 轮询双通道接收 + 返回最新 Cycle (非阻塞)
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* @return >0: 有新 Cycle; 0: 无; <0: 错误
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*/
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int edc_proto_poll(edc_cycle_t *cycle);
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/**
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* @brief 发送 CYCLE_DONE (通过 UART)
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* @param cycle_id 已完成的 Cycle ID
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*/
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void edc_proto_send_done(uint16_t cycle_id);
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/**
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* @brief 发送 CYCLE_REQUEST (通过 UART)
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*/
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void edc_proto_send_request(void);
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/**
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* @brief 获取统计信息
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*/
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void edc_proto_get_stats(edc_proto_stat_t *stat);
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/* ---- FreeRTOS 任务 + 回调 ---- */
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void edc_proto_task(void *pvParam);
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/**
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* @brief Cycle 回调 (弱符号, 用户实现)
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* @param cycle 已校验的有效 Cycle
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* @param ch 来源通道
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*/
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void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch);
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#ifdef __cplusplus
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}
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#endif
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#endif /* EDC_PROTOCOL_H */
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