LoRa UART

10 半双工的模块收到和发送数据的问题

发布于 2021-10-02 10:25:52 浏览：314

3 个回答

世界另有计划 2021-10-02

This guy hasn't written anything yet

世界另有计划 2021-10-02

This guy hasn't written anything yet

```c
   //收发数据的线程
   
    while(1)
    {
        dat=lora_getobj();                                     //获取数据
        switch(dat.ver)//解析数据
        {
        case 0:
            break;
        case 1:
            data.dot_one.X=dat.X;
            data.dot_one.Y=dat.Y;
            data.dot_one.ver=1;
            break;
        case 2:
            data.dot_two.X=dat.ang_X;
            data.dot_two.Y=dat.ang_Y;
            data.dot_two.ver=1;
            break;
        case 3:
            data.car_zero.X=dat.CAR_X;
            data.car_zero.Y=dat.CAR_Y;
            data.car_zero.xy_ver=1;
            //rt_kprintf("lora3... X: %d  Y: %d \r\n",data.car_zero.X,data.car_zero.Y);
            break;
        case 4:
            data.car_zero.TarCRC1=dat.ang;
            data.car_zero.TARCRC1_ver=1;
            break;
        case 42:
            data.car_zero.TarCRC2=dat.ang2;
            data.car_zero.TARCRC2_ver=1;
            break;
        case 5:
            data.car_zero.flag=dat.flag;
            data.car_zero.flag_ver=1;
            break;
        }

if(data.car_zero.xy_ver&&data.car_zero.TARCRC1_ver&&data.car_zero.TARCRC2_ver&&data.car_zero.flag_ver)
        {
            //接收到的东西 x y crc1 crc2 flag 发过去
            msg_ptr_lora = (struct msg*)rt_malloc(sizeof(struct msg));
            msg_ptr_lora->data_ptr = &data.car_zero; /* 指向相应的数据块地址 */
            msg_ptr_lora->data_size = sizeof(data.car_zero);
            rt_mb_send(&mb3, (rt_uint32_t)msg_ptr_lora);
            data.car_zero.xy_ver=0;
            data.car_zero.TARCRC1_ver=0;
            data.car_zero.TARCRC2_ver=0;
            data.car_zero.flag_ver=0;
            // rt_kprintf("lora... X: %d  Y: %d \r\n",data.dot_one.X,data.dot_one.Y);
            rt_kprintf("lora...  %d %d %d %d %d \r\n",data.car_zero.X,data.car_zero.Y,data.car_zero.TarCRC1,data.car_zero.TarCRC2,data.car_zero.flag);
            for(j=0;j<2;j++){                                 //发送数据
            rt_thread_mdelay(5);
            rt_memset(c1, 0, 32);
            rt_memset(str, 0, 10);
            strcat(c1,"&");
            itoa(uwb.X++,str,10);
            strcat(c1,str);
            strcat(c1,"X");
            rt_memset(str, 0, 10);
            itoa(uwb.Y++,str,10);
            strcat(c1,str);
            strcat(c1,"Y#");
            lora_senddata(c1,(sizeof(c1)-1));
           // rt_kprintf("uwb... X: %d  Y: %d \r\n",uwb.X,uwb.Y);

//发送flag
            rt_thread_mdelay(5);
            rt_memset(c1, 0, 32);
            rt_memset(str, 0, 10);
            strcat(c1,"*");
            itoa(Mode++,str,10);
            strcat(c1,str);
            strcat(c1,"F#");
            if( lora_senddata(c1,(sizeof(c1)-1))!=RT_EOK){rt_kprintf("fssb");}}
        }
    }
    
 
 
 //收数据的函数   
my_lora_coord_t lora_getobj(void)
{
    
    my_lora_coord_t location;
    char buff[128]={0}, *buff_p=buff, ch = 0,ar=0;
    location.ver= 0 ;
    while (1)
    {
        /* 从串口读取一个字节的数据，没有读取到则等待接收信号量 */
        while (rt_device_read(uart, 0, &ar, 1) != 1)
        {
            //    rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
            if(rt_sem_take(&rx_sem, RT_WAITING_FOREVER)!=RT_EOK)   //永久等待第一个字符
            {
                location.ver= 0 ;
                //return location;
            }
        }
        while(ar=='$' || ar=='%' || ar=='&' || ar=='*')
        { while (rt_device_read(uart, 0, &ch, 1) != 1)
        {
            rt_sem_take(&rx_sem, RT_WAITING_FOREVER);

}
        if (ch == 'X'&&ar=='$')
        {
            location.X=(int)atof(buff);
            rt_memset(buff, 0, 128);
            buff_p = buff;
            continue;
        }
        else if (ch == 'X'&&ar=='%')
        {
            location.ang_X=(int)atof(buff);
            rt_memset(buff, 0, 128);
            buff_p = buff;
            continue;
        }
        else if (ch == 'X'&&ar=='&')
        {
            //这个时候buff里面就放着接受到的信息
            location.CAR_X=(int)atof(buff);
            rt_memset(buff, 0, 128);
            buff_p = buff;
            continue;
        }
        else  if (ch == 'Y'&&ar=='$')
        {
            location.Y = (int)atof(buff);
            location.ver= 1 ;
            continue;
        }
        else if (ch == 'Y'&&ar=='%')
        {
            location.ang_Y=(int)atof(buff);
            location.ver= 2 ;
            continue;
        }
        else  if (ch == 'Y'&&ar=='&')
        {
            location.CAR_Y=(int)atof(buff);
            location.ver= 3 ;
            continue;
        }
             }
        else  if (ch == 'F'&&ar=='*')
        {
            location.flag=(int)atof(buff);
            location.ver= 5 ;
            continue;
        }
         }
        else   if (ch == '#')
        {
            rt_memset(buff, 0, 128);
            buff_p = buff;
            ar=0;
            return location;
        }
        else{
            *buff_p++ = ch;
        }
        }
    }
}
```