void main(void) - the Wrong Thing

本文探讨了C语言中主函数使用void作为返回类型的问题,解释了这种做法为何不符合标准,并通过实例展示了它可能导致的问题,特别是在RISC OS系统中。

void main(void) - the Wrong Thing

The newsgroup, comp.lang.c, is plagued by an almost continuous discussion of whether we can or cannot use void as a return type for main. The ANSI standard says "no", which should be an end of it. However, a number of beginners' books on C have used void main(void) in all of their examples, leading to a huge number of people who don't know any better.

When people ask why using a void is wrong, (since it seems to work), the answer is usually one of the following:

  • Because the standard says so.
    (To which the answer is usually of the form "but it works for me!")
  • Because the startup routines that call main could be assuming that the return value will be pushed onto the stack. If main() does not do this, then this could lead to stack corruption in the program's exit sequence, and cause it to crash.
    (To which the answer is usually of the form "but it works for me!")
  • Because you are likely to return a random value to the invokation environment. This is bad, because if someone wants to check whether your program failed, or to call your program from a makefile, then they won't be able to guarantee that a non-zero return code implies failure.
    (To which the answer is usually of the form "that's their problem").

This page demonstrates a system on which a void main(void) program will very likely cause problems in the third class above. Calling the program from a script may cause the script to die, whether or not its return code is checked. Calling it from a makefile may cause make to complain. Calling it from the command line may cause an error to be reported.

RISC OS is the native operating system of Acorn's range of ARM based computers. One of the facilities of this OS is a system variable, Sys$RCLimit. The value of this variable specifies the maximum value that a program may return to the OS without causing RISC OS itself to raise an error. The default value of this variable is set by the OS at 256. I'm not too sure what the intended function of this variable was, but it exists, and that's that.

Now, let's look at an example program using int main(void).

int main(void)
{
    return 42;
}
Compiling it to ARM assembly language, using gcc (as an aside: Acorn's own C compiler reports a warning with void main(void) and converts it to an integer function returning zero) gives the following:
|main|:
        mov     ip, sp  
        stmfd   sp!, {rfp, fp, ip, lr, pc}
        sub     fp, ip, #4
        cmps    sp,sl
        bllt    |x$stack_overflow|
        bl      |___main|

        mov     r0, #42
        ldmdb   fp, {rfp, fp, sp, pc}^

The first six instructions are initialisation and stack checking. The final two return 42 to the library startup code. So, the return value of main is passed in R0. Note that the library startup code is expecting to call a function returning an integer, so will happily use the value returned in R0.

What happens with a void main function? Well, here's an example.

#include <stdio.h>

char buf[1024];
void main(void)
{
	(void)fgets(buf, 1024, stdin);
}
The program waits for a line of text from its standard input, nothing else. Again we compile it to assembler:
|.LC0|:
        dcd     |__iob|
|.LC1|:
        dcd     |buf|
|main|:
        mov     ip, sp  
        stmfd   sp!, {rfp, fp, ip, lr, pc}
        sub     fp, ip, #4
        cmps    sp,sl
        bllt    |x$stack_overflow|
        bl      |___main|

        ldr     r2, [pc, #|.LC0| - . - 8]
        mov     r1, #1024
        ldr     r0, [pc, #|.LC1| - . - 8]

        bl      |fgets|

        ldmdb   fp, {rfp, fp, sp, pc}^

        area    |buf|, DATA, COMMON, NOINIT
        %       1024

Again, the first six instructions in main set things up. The next three set up the arguments for the call to fgets. Then we call fgets and return to the caller. stdio.h says that fgets returns a pointer to the buffer. So, in this instance, what we are returning to the library startup code is a pointer to buf. Under RISC OS, all C programs are mapped into memory at 0x8000. So, we will be returning a value to the OS which is > 32768 (hence, certainly > the default value of Sys$RCLimit). The OS then raises an error.

Here's the result of compiling and running the program:

SCSI: void % gcc void.c -o void
Drlink AOF Linker  Version 0.28  30/07/95
SCSI: void % show Sys$RCLimit
Sys$RCLimit : 256
SCSI: void % void
I enter this line
Return code too large
SCSI: void % 

And, in a script file:

SCSI: void % cat script

void
echo Finished

SCSI: void % run script
I enter this line
Return code too large
SCSI: void %

The error interrupts the script before the second command is run.

Note that the example above was a little contrived in order to make the final function call return a pointer. A better example where this could cause problems is one where the program uses printf to report a usage string > 256 characters long prior to returning or, worse still, one where the program uses printf to output data depending on user input. Depending on the length of the user's input text, the program may or may not cause an error which is solely due to the use of void as a return type for main.

So, if you want your software to be portable, please make main return int. It does matter.

 
/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "dma.h" #include "tim.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { if(huart == &huart2) { RS485_2_RX; // RS485 ?????? memset(usart2_data.rbuff, 0, usart2_data.len);//???????????? HAL_UART_Receive_DMA(&huart2,usart2_data.rbuff,MAX);//?????DMA???? usart2_data.sdflag = 0; //????????????? } } /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); MX_USART3_UART_Init(); MX_TIM6_Init(); /* USER CODE BEGIN 2 */ RS485_2_TX; HAL_UART_Transmit(&huart1,(uint8_t *)"123456",3,1000); printf("串口\r\n"); HAL_Delay(1); RS485_2_RX;//RS485进入接收模式 Uart1_Config(); Uart2_Config(); Uart3_Config(); //4G // Lte_Check();//确认设备连接 // Close_Heart();//关闭心跳包 /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { // HAL_Delay(1500); // HAL_GPIO_TogglePin(LED1_GPIO_Port,LED1_Pin); if(Device_Net_State==0) { G4_Connect_Net(); } else if(Device_Net_State==1) { MQTT_Connect(); } // else if(Device_Net_State==2) // { // if(PUBLISH_Period[0]>=PUBLISH_Period[1]) // {//定时器6中断累加,需要初始化 // PUBLISH_Period[0]=0; // MQTT_Publish();//上传数据 // } // } HAL_Delay(1000); /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ /* USER CODE BEGIN Header */ /** ****************************************************************************** * @file usart.c * @brief This file provides code for the configuration * of the USART instances. ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "usart.h" /* USER CODE BEGIN 0 */ struct usart usart1_data = {0}; struct usart usart2_data = {0}; struct usart usart3_data = {0}; /* USER CODE END 0 */ UART_HandleTypeDef huart1; UART_HandleTypeDef huart2; UART_HandleTypeDef huart3; DMA_HandleTypeDef hdma_usart1_rx; DMA_HandleTypeDef hdma_usart1_tx; DMA_HandleTypeDef hdma_usart2_rx; DMA_HandleTypeDef hdma_usart2_tx; DMA_HandleTypeDef hdma_usart3_rx; DMA_HandleTypeDef hdma_usart3_tx; /* USART1 init function */ void MX_USART1_UART_Init(void) { /* USER CODE BEGIN USART1_Init 0 */ /* USER CODE END USART1_Init 0 */ /* USER CODE BEGIN USART1_Init 1 */ /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; huart1.Init.Mode = UART_MODE_TX_RX; huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart1.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART1_Init 2 */ /* USER CODE END USART1_Init 2 */ } /* USART2 init function */ void MX_USART2_UART_Init(void) { /* USER CODE BEGIN USART2_Init 0 */ /* USER CODE END USART2_Init 0 */ /* USER CODE BEGIN USART2_Init 1 */ /* USER CODE END USART2_Init 1 */ huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART2_Init 2 */ /* USER CODE END USART2_Init 2 */ } /* USART3 init function */ void MX_USART3_UART_Init(void) { /* USER CODE BEGIN USART3_Init 0 */ /* USER CODE END USART3_Init 0 */ /* USER CODE BEGIN USART3_Init 1 */ /* USER CODE END USART3_Init 1 */ huart3.Instance = USART3; huart3.Init.BaudRate = 115200; huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Mode = UART_MODE_TX_RX; huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart3.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart3) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART3_Init 2 */ /* USER CODE END USART3_Init 2 */ } void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(uartHandle->Instance==USART1) { /* USER CODE BEGIN USART1_MspInit 0 */ /* USER CODE END USART1_MspInit 0 */ /* USART1 clock enable */ __HAL_RCC_USART1_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); /**USART1 GPIO Configuration PA9 ------> USART1_TX PA10 ------> USART1_RX */ GPIO_InitStruct.Pin = GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_10; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /* USART1 DMA Init */ /* USART1_RX Init */ hdma_usart1_rx.Instance = DMA1_Channel5; hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart1_rx.Init.Mode = DMA_NORMAL; hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW; if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK) { Error_Handler(); } __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx); /* USART1_TX Init */ hdma_usart1_tx.Instance = DMA1_Channel4; hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart1_tx.Init.Mode = DMA_NORMAL; hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW; if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK) { Error_Handler(); } __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx); /* USART1 interrupt Init */ HAL_NVIC_SetPriority(USART1_IRQn, 1, 0); HAL_NVIC_EnableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspInit 1 */ /* USER CODE END USART1_MspInit 1 */ } else if(uartHandle->Instance==USART2) { /* USER CODE BEGIN USART2_MspInit 0 */ /* USER CODE END USART2_MspInit 0 */ /* USART2 clock enable */ __HAL_RCC_USART2_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); /**USART2 GPIO Configuration PA2 ------> USART2_TX PA3 ------> USART2_RX */ GPIO_InitStruct.Pin = GPIO_PIN_2; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_3; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /* USART2 DMA Init */ /* USART2_RX Init */ hdma_usart2_rx.Instance = DMA1_Channel6; hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart2_rx.Init.Mode = DMA_NORMAL; hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW; if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK) { Error_Handler(); } __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx); /* USART2_TX Init */ hdma_usart2_tx.Instance = DMA1_Channel7; hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart2_tx.Init.Mode = DMA_NORMAL; hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW; if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK) { Error_Handler(); } __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx); /* USART2 interrupt Init */ HAL_NVIC_SetPriority(USART2_IRQn, 3, 0); HAL_NVIC_EnableIRQ(USART2_IRQn); /* USER CODE BEGIN USART2_MspInit 1 */ /* USER CODE END USART2_MspInit 1 */ } else if(uartHandle->Instance==USART3) { /* USER CODE BEGIN USART3_MspInit 0 */ /* USER CODE END USART3_MspInit 0 */ /* USART3 clock enable */ __HAL_RCC_USART3_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /**USART3 GPIO Configuration PB10 ------> USART3_TX PB11 ------> USART3_RX */ GPIO_InitStruct.Pin = GPIO_PIN_10; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_11; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* USART3 DMA Init */ /* USART3_RX Init */ hdma_usart3_rx.Instance = DMA1_Channel3; hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart3_rx.Init.Mode = DMA_NORMAL; hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW; if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK) { Error_Handler(); } __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx); /* USART3_TX Init */ hdma_usart3_tx.Instance = DMA1_Channel2; hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE; hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; hdma_usart3_tx.Init.Mode = DMA_NORMAL; hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW; if (HAL_DMA_Init(&hdma_usart3_tx) != HAL_OK) { Error_Handler(); } __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx); /* USART3 interrupt Init */ HAL_NVIC_SetPriority(USART3_IRQn, 2, 0); HAL_NVIC_EnableIRQ(USART3_IRQn); /* USER CODE BEGIN USART3_MspInit 1 */ /* USER CODE END USART3_MspInit 1 */ } } void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) { if(uartHandle->Instance==USART1) { /* USER CODE BEGIN USART1_MspDeInit 0 */ /* USER CODE END USART1_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_USART1_CLK_DISABLE(); /**USART1 GPIO Configuration PA9 ------> USART1_TX PA10 ------> USART1_RX */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); /* USART1 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmarx); HAL_DMA_DeInit(uartHandle->hdmatx); /* USART1 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspDeInit 1 */ /* USER CODE END USART1_MspDeInit 1 */ } else if(uartHandle->Instance==USART2) { /* USER CODE BEGIN USART2_MspDeInit 0 */ /* USER CODE END USART2_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_USART2_CLK_DISABLE(); /**USART2 GPIO Configuration PA2 ------> USART2_TX PA3 ------> USART2_RX */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3); /* USART2 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmarx); HAL_DMA_DeInit(uartHandle->hdmatx); /* USART2 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART2_IRQn); /* USER CODE BEGIN USART2_MspDeInit 1 */ /* USER CODE END USART2_MspDeInit 1 */ } else if(uartHandle->Instance==USART3) { /* USER CODE BEGIN USART3_MspDeInit 0 */ /* USER CODE END USART3_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_USART3_CLK_DISABLE(); /**USART3 GPIO Configuration PB10 ------> USART3_TX PB11 ------> USART3_RX */ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_11); /* USART3 DMA DeInit */ HAL_DMA_DeInit(uartHandle->hdmarx); HAL_DMA_DeInit(uartHandle->hdmatx); /* USART3 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART3_IRQn); /* USER CODE BEGIN USART3_MspDeInit 1 */ /* USER CODE END USART3_MspDeInit 1 */ } } /* USER CODE BEGIN 1 */ //重定向printf int fputc(int c,FILE *f) { HAL_UART_Transmit(&huart1,(uint8_t *)&c,1,1000); return c; } void Uart1_Config(void) { HAL_UART_Receive_DMA(&huart1, usart1_data.rbuff, MAX);//����DMA���գ������ݱ�����usart1_data.buff�У�MAXΪ1024 __HAL_UART_ENABLE_IT(&huart1,UART_IT_IDLE);//使能串口1空闲中断 } void Uart2_Config(void) { HAL_UART_Receive_DMA(&huart2, usart2_data.rbuff, MAX);//����DMA���գ������ݱ�����usart1_data.buff�У�MAXΪ1024 __HAL_UART_ENABLE_IT(&huart2,UART_IT_IDLE);//使能串口2空闲中断 } void Uart3_Config(void) { HAL_UART_Receive_DMA(&huart3, usart3_data.rbuff, MAX);//����DMA���գ������ݱ�����usart1_data.buff�У�MAXΪ1024 __HAL_UART_ENABLE_IT(&huart3,UART_IT_IDLE);//使能串口3空闲中断 } //函数名称:void RS485_Usart3_DMA_Send(uint8_t *buf,uint8_t len) //功能描述:串口2采用RS485总线实现DMA发送 //参数说明:*buf 数据帧的指针,len数据帧的长度 void RS485_Usart2_DMA_Send(uint8_t *buf,uint8_t len) { uint8_t i; if(usart2_data.sdflag==0) //如果串口发送处于完成状态 { RS485_2_TX; //发送控制置位到发送状态——使能高电平正在发送 usart2_data.sdflag=1; //发送完成标识置位———有发送 for( i=0;i<10;i++); //短暂延时,使EN进入高电平稳定状态 if(HAL_UART_Transmit_DMA(&huart2, buf,len)!= HAL_OK) //判断是否发送正常,如果出现异常则进入异常中断函数 { Error_Handler(); } } } /* USER CODE END 1 */ /* USER CODE BEGIN Header */ /** ****************************************************************************** * @file stm32f1xx_it.c * @brief Interrupt Service Routines. ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "stm32f1xx_it.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "usart.h" #include "string.h" #include "tim.h" #include "4G.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN TD */ /* USER CODE END TD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /* External variables --------------------------------------------------------*/ extern TIM_HandleTypeDef htim6; extern DMA_HandleTypeDef hdma_usart1_rx; extern DMA_HandleTypeDef hdma_usart1_tx; extern DMA_HandleTypeDef hdma_usart2_rx; extern DMA_HandleTypeDef hdma_usart2_tx; extern DMA_HandleTypeDef hdma_usart3_rx; extern DMA_HandleTypeDef hdma_usart3_tx; extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart3; /* USER CODE BEGIN EV */ /* USER CODE END EV */ /******************************************************************************/ /* Cortex-M3 Processor Interruption and Exception Handlers */ /******************************************************************************/ /** * @brief This function handles Non maskable interrupt. */ void NMI_Handler(void) { /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ /* USER CODE END NonMaskableInt_IRQn 0 */ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ while (1) { } /* USER CODE END NonMaskableInt_IRQn 1 */ } /** * @brief This function handles Hard fault interrupt. */ void HardFault_Handler(void) { /* USER CODE BEGIN HardFault_IRQn 0 */ /* USER CODE END HardFault_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_HardFault_IRQn 0 */ /* USER CODE END W1_HardFault_IRQn 0 */ } } /** * @brief This function handles Memory management fault. */ void MemManage_Handler(void) { /* USER CODE BEGIN MemoryManagement_IRQn 0 */ /* USER CODE END MemoryManagement_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ /* USER CODE END W1_MemoryManagement_IRQn 0 */ } } /** * @brief This function handles Prefetch fault, memory access fault. */ void BusFault_Handler(void) { /* USER CODE BEGIN BusFault_IRQn 0 */ /* USER CODE END BusFault_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_BusFault_IRQn 0 */ /* USER CODE END W1_BusFault_IRQn 0 */ } } /** * @brief This function handles Undefined instruction or illegal state. */ void UsageFault_Handler(void) { /* USER CODE BEGIN UsageFault_IRQn 0 */ /* USER CODE END UsageFault_IRQn 0 */ while (1) { /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ /* USER CODE END W1_UsageFault_IRQn 0 */ } } /** * @brief This function handles System service call via SWI instruction. */ void SVC_Handler(void) { /* USER CODE BEGIN SVCall_IRQn 0 */ /* USER CODE END SVCall_IRQn 0 */ /* USER CODE BEGIN SVCall_IRQn 1 */ /* USER CODE END SVCall_IRQn 1 */ } /** * @brief This function handles Debug monitor. */ void DebugMon_Handler(void) { /* USER CODE BEGIN DebugMonitor_IRQn 0 */ /* USER CODE END DebugMonitor_IRQn 0 */ /* USER CODE BEGIN DebugMonitor_IRQn 1 */ /* USER CODE END DebugMonitor_IRQn 1 */ } /** * @brief This function handles Pendable request for system service. */ void PendSV_Handler(void) { /* USER CODE BEGIN PendSV_IRQn 0 */ /* USER CODE END PendSV_IRQn 0 */ /* USER CODE BEGIN PendSV_IRQn 1 */ /* USER CODE END PendSV_IRQn 1 */ } /** * @brief This function handles System tick timer. */ void SysTick_Handler(void) { /* USER CODE BEGIN SysTick_IRQn 0 */ /* USER CODE END SysTick_IRQn 0 */ HAL_IncTick(); /* USER CODE BEGIN SysTick_IRQn 1 */ /* USER CODE END SysTick_IRQn 1 */ } /******************************************************************************/ /* STM32F1xx Peripheral Interrupt Handlers */ /* Add here the Interrupt Handlers for the used peripherals. */ /* For the available peripheral interrupt handler names, */ /* please refer to the startup file (startup_stm32f1xx.s). */ /******************************************************************************/ /** * @brief This function handles DMA1 channel2 global interrupt. */ void DMA1_Channel2_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel2_IRQn 0 */ /* USER CODE END DMA1_Channel2_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart3_tx); /* USER CODE BEGIN DMA1_Channel2_IRQn 1 */ /* USER CODE END DMA1_Channel2_IRQn 1 */ } /** * @brief This function handles DMA1 channel3 global interrupt. */ void DMA1_Channel3_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel3_IRQn 0 */ /* USER CODE END DMA1_Channel3_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart3_rx); /* USER CODE BEGIN DMA1_Channel3_IRQn 1 */ /* USER CODE END DMA1_Channel3_IRQn 1 */ } /** * @brief This function handles DMA1 channel4 global interrupt. */ void DMA1_Channel4_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */ /* USER CODE END DMA1_Channel4_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart1_tx); /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */ /* USER CODE END DMA1_Channel4_IRQn 1 */ } /** * @brief This function handles DMA1 channel5 global interrupt. */ void DMA1_Channel5_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */ /* USER CODE END DMA1_Channel5_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart1_rx); /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */ /* USER CODE END DMA1_Channel5_IRQn 1 */ } /** * @brief This function handles DMA1 channel6 global interrupt. */ void DMA1_Channel6_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel6_IRQn 0 */ /* USER CODE END DMA1_Channel6_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart2_rx); /* USER CODE BEGIN DMA1_Channel6_IRQn 1 */ /* USER CODE END DMA1_Channel6_IRQn 1 */ } /** * @brief This function handles DMA1 channel7 global interrupt. */ void DMA1_Channel7_IRQHandler(void) { /* USER CODE BEGIN DMA1_Channel7_IRQn 0 */ /* USER CODE END DMA1_Channel7_IRQn 0 */ HAL_DMA_IRQHandler(&hdma_usart2_tx); /* USER CODE BEGIN DMA1_Channel7_IRQn 1 */ /* USER CODE END DMA1_Channel7_IRQn 1 */ } /** * @brief This function handles USART1 global interrupt. */ void USART1_IRQHandler(void) { /* USER CODE BEGIN USART1_IRQn 0 */ //�жϿ��б�־λ�Ƿ���λ if (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE) != RESET) { __HAL_UART_CLEAR_IDLEFLAG(&huart1);//��������жϱ�־λ HAL_UART_DMAStop(&huart1);//ֹͣDMA�������� usart1_data.len = MAX - __HAL_DMA_GET_COUNTER(huart1.hdmarx);//����˴ν��յ������ݳ��� usart1_data.rdflag = 1;//���ý�����ɱ�־ // #if debug //�����ã����Խ��յ�������ת����ȥ������һ������֮�������¿���DMA���� if(usart1_data.rdflag == 1 && usart3_data.sdflag == 0) { // printf("USART1接收: %s\n", usart1_data.rbuff); // HAL_UART_Transmit_DMA(&huart1,usart1_data.rbuff,usart1_data.len); usart3_data.sdflag = 1; if(HAL_UART_Transmit(&huart3,usart1_data.rbuff,usart1_data.len,100) != HAL_OK) { printf("USART3发送失败\n"); // 调试打印 } memset(usart1_data.rbuff, 0, usart1_data.len); usart1_data.rdflag = 0; usart3_data.sdflag = 0; HAL_UART_Receive_DMA(&huart1, usart1_data.rbuff, MAX); } // #endif } /* USER CODE END USART1_IRQn 0 */ HAL_UART_IRQHandler(&huart1); /* USER CODE BEGIN USART1_IRQn 1 */ /* USER CODE END USART1_IRQn 1 */ } /** * @brief This function handles USART2 global interrupt. */ void USART2_IRQHandler(void) { /* USER CODE BEGIN USART2_IRQn 0 */ uint32_t tmp_flag = 0; uint32_t temp; tmp_flag =__HAL_UART_GET_FLAG(&huart2,UART_FLAG_IDLE); //获取IDLE标志位 if((tmp_flag != RESET)) //idle标志被置位 { __HAL_UART_CLEAR_IDLEFLAG(&huart2); //清除标志位 HAL_UART_DMAStop(&huart2); //停止DMA传输,防止串行总线其他帧的干扰 temp = __HAL_DMA_GET_COUNTER(&hdma_usart2_rx); //获取DMA中未传输的数据个数 usart2_data.len = MAX - temp; //总计数减去未传输的数据个数,得到实际接收的数据个数 usart2_data.rdflag = 1; // 接收完成标志位置1 //如果是从设备,此处可以用条件语句判断是否应该应答主机的呼叫(从设备地址与呼叫地址一致),如果是就发送(应答)。下面是直接发送收到的信息 RS485_Usart2_DMA_Send(usart2_data.rbuff,usart2_data.len); //RS485发送数据 usart2_data.rdflag = 0; // 接收完成标志位置0 //下面的语句通常在回调函数内调用,在此处调用也可以 //HAL_UART_Receive_DMA(&huart2,usart2_data.rbuff,MAX);//重新打开DMA接收 } /* USER CODE END USART2_IRQn 0 */ HAL_UART_IRQHandler(&huart2); /* USER CODE BEGIN USART2_IRQn 1 */ /* USER CODE END USART2_IRQn 1 */ } /** * @brief This function handles USART3 global interrupt. */ void USART3_IRQHandler(void) { /* USER CODE BEGIN USART3_IRQn 0 */ // printf("USART3中断触发\n"); // 新增:打印中断触发提示 if (__HAL_UART_GET_FLAG(&huart3, UART_FLAG_IDLE) != RESET) { // printf("USART3检测到空闲中断\n"); // 新增:确认IDLE标志触发 __HAL_UART_CLEAR_IDLEFLAG(&huart3);//��������жϱ�־λ HAL_UART_DMAStop(&huart3);//ֹͣDMA�������� usart3_data.len = MAX - __HAL_DMA_GET_COUNTER(huart3.hdmarx);//����˴ν��յ������ݳ��� usart3_data.rdflag = 1;//���ý�����ɱ�־ // #if debug //�����ã����Խ��յ�������ת����ȥ������һ������֮�������¿���DMA���� if(usart3_data.rdflag == 1) { // printf("4G:%s\n",usart3_data.rbuff); HAL_UART_Transmit(&huart1,usart3_data.rbuff,usart3_data.len,100); memcpy(G4.R_Buff,usart3_data.rbuff,usart3_data.len); G4.R_Cont = usart3_data.len; memset(usart3_data.rbuff, 0, usart3_data.len); usart3_data.rdflag = 0; HAL_UART_Receive_DMA(&huart3, usart3_data.rbuff, MAX); } // #endif } /* USER CODE END USART3_IRQn 0 */ HAL_UART_IRQHandler(&huart3); /* USER CODE BEGIN USART3_IRQn 1 */ /* USER CODE END USART3_IRQn 1 */ } /** * @brief This function handles TIM6 global interrupt. */ void TIM6_IRQHandler(void) { /* USER CODE BEGIN TIM6_IRQn 0 */ //在此写状态机的计时 //1.判断中断是否发生 if((TIM6->SR & (0x01<<0))!=0) { //2.执行中断服务函数内容 PUBLISH_Period[0]++; //3.清除中断标志位 TIM6->SR &= ~(0x01<<0); } /* USER CODE END TIM6_IRQn 0 */ HAL_TIM_IRQHandler(&htim6); /* USER CODE BEGIN TIM6_IRQn 1 */ /* USER CODE END TIM6_IRQn 1 */ } /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ #include "4G.h" struct WH_LTE_7S1 G4; uint8_t Connect_Step; uint8_t Device_Net_State; //单字节发送函数 void SendByte(uint8_t data) { HAL_UART_Transmit(&huart3,&data,1,1000); } //发送字符串 //参数 字符串的首地址 void SendStr(uint8_t *Str) { while(*Str != '\0') {//*Str++ (1)先算*Str (2)再算Str++ SendByte(*Str++); } } //发送数组 //参数1 数组的首地址 //参数2 数组的长度 void SendBuff(uint8_t *Buff , uint16_t Length) { for(uint16_t i=0;i<Length;i++) { SendByte(Buff[i]); //两种发送都可以 // ESP_SendByte(*Buff++); } } //清除接收缓冲区 void R_BUFF_CLEAR(void) { memset(G4.R_Buff,0,sizeof(G4.R_Buff)); G4.R_Cont=0; } //确认设备连接 //uint8_t Lte_Check(void) //{ // if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT\r\nOK",(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,500,1)) // { // printf("%d\n",G4.R_Cont); // printf("%s",G4.R_Buff); // printf("4G module is functioning properly. \n"); // return 1; // } // return 0; //} //关闭心跳包 //uint8_t Close_Heart(void) //{ // if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+HEARTEN=OFF\r\nOK",(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,500,1)) // { // return 1; // } // return 0; //} //链接服务器 uint8_t SetSeverInfomation(uint8_t *SeverIP,uint16_t SeverPORT) { char buff[128] = {0}; printf("SeverIP:%s \r\nSeverPort:%d\r\n",SeverIP,SeverPORT); sprintf(buff,"usr.cn#AT+SOCKA=TCP,%s,%d\r\n",SeverIP,SeverPORT); if(SendCMD_CheckRES((uint8_t *)buff,(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,1000,1)) { return 1; } return 0; } //重启4G模块使配置生效 //uint8_t RestartLte(void) //{ // if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+S\r\nOK",(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,10000,1)) // { // return 1; // } // return 0; //} void G4_Connect_Net(void) { switch(Connect_Step) { case 0://确认设备连接 printf("1、测试设备\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT\r\nOK",(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,500,1)==1) Connect_Step++; break; case 1://关闭心跳包 printf("2、关闭心跳\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+HEARTEN=OFF\r\nOK",(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,500,1)==1) Connect_Step++; break; case 2: printf("3、退出套接字\r\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+SDPEN=OFF\r\n",(uint8_t *)"OK",G4.R_Buff,100,1)==1) Connect_Step++; break; case 3: printf("4、退出注册\r\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+REGEN=OFF\r\n",(uint8_t *)"OK",G4.R_Buff,100,1)==1) Connect_Step++; break; case 4: printf("5、同步NTP服务器\r\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+NTPEN=ON\r\n",(uint8_t *)"OK",G4.R_Buff,10000,1)==1) Connect_Step++; break; case 5: printf("6、设置时间60s\r\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+NTPTM=60\r\n",(uint8_t *)"OK",G4.R_Buff,10000,1)==1) Connect_Step++; break; case 6://链接服务器 printf("7、链接华为云\n"); if(SetSeverInfomation((uint8_t *)HostName,PORT)==1) Connect_Step++; break; case 7://重启4G模块使配置生效 printf("8、重启模块使能配置\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+S\r\nOK",(uint8_t *)"usr.cn#\r\nOK",G4.R_Buff,10000,1) ==1) Connect_Step++; break; case 8: printf("9、查看已链接服务器\n"); if(SendCMD_CheckRES((uint8_t *)"usr.cn#AT+SOCKALK\r\n",(uint8_t *)"Connected",G4.R_Buff,1000,1) == 1) { Connect_Step=0; // Connect_Step++; Device_Net_State=1; //设备网络状态置1 } break; case 9: // HAL_Delay(500); // MQTT_Connect(); // Connect_Step=0; //联网步骤清0 // HAL_Delay(1000); break; } } //检测发送AT指令后,是否正确回复 /* 参数1 要发送的命令 参数2 期望的回复 参数3 接收缓冲区 参数4 超时时间 单位:ms 参数5 是否需要检测回复 1需要检测回复 0不需要检测回复 返回值:1 查找成功 0 查找失败 */ uint8_t SendCMD_CheckRES(uint8_t *cmd,uint8_t *res,uint8_t *buff,uint16_t timeout,uint8_t check_flag) { //1.清除接收缓冲区,让接收到数据从头接受 R_BUFF_CLEAR(); //2.发送指定的AT指令 SendStr(cmd); //3.判断是否需要检测回复 if(check_flag==0) {//不需要检测回复 HAL_Delay(timeout); return 1; } while(strstr((char *)buff,(char *)res)==NULL) {//未查找到期望的回复 HAL_Delay(1); timeout--; if(timeout==0) {//超过等待的时间还未等到,返回查找失败 return 0; } } //查找到期望的回复 return 1; } /* strcmp 两个字符串完全相同 strstr 母串中查找子串 */ #include "ali.h" uint8_t LEDSwitch_State=0; uint8_t Connect_flag = 0; //打包连接报文并发送 //注意:连接报文只发送1次 void MQTT_Connect(void) { MQTTPacket_connectData data = MQTTPacket_connectData_initializer; int len = 0; data.clientID.cstring = ClientID; //客户端ID data.keepAliveInterval = 100; //保持连接时间 超过1.5*60的时间未上报数据,平台显示离线 96页手册图例3.5 data.cleansession = 1; //是否清理会话 图例 3.4的位1 data.username.cstring = Username; //用户名 data.password.cstring = Password; //密码 //参数1 打包之后数据存放的缓冲区 //参数2 该缓冲区的大小,避免数组越界 //参数3 连接报文相关的参数 //返回值 成功 打包之后的有效长度 失败 -1 len = MQTTSerialize_connect(G4.S_Buff, Buff_Length, &data); if(len<=0) { printf("连接报文打包失败\r\n"); } printf("拼接connect连接报文成功 报文长度:%d\r\n",len); if(Connect_flag == 0) { R_BUFF_CLEAR(); //发送之前清除一下接收缓冲区 HAL_UART_Transmit(&huart1,G4.S_Buff,len,1000);//只是为了调试使用,通过串口1查看要发送给串口3的数据 HAL_UART_Transmit(&huart3,G4.S_Buff,len,1000); //通过串口3发送函数,将数据发送给4G模块 Connect_flag = 1; } HAL_Delay(5000); printf("\r\n接收到的数据为%s\r\n",G4.R_Buff); if(G4.R_Buff[0]==0x20&&G4.R_Buff[1]==0x02&&G4.R_Buff[2]==0x00&&G4.R_Buff[3]==0x00) {//20 02 00 00是正确的连接应答 Device_Net_State=2; //设备的网络状态修改 printf("连接报文应答成功\r\n"); } else { printf("连接报文应答失败\r\n"); R_BUFF_CLEAR(); } } //{"id":1735270458995,"params":{"temperature":11,"Humidity":22,"LEDSwitch":0,"TemperatureThreshold":33,"LightLux":44,"Smoke_Value":55},"version":"1.0","method":"thing.event.property.post"} //打包发布报文并发送 void MQTT_Publish(void) { MQTTString topicString = MQTTString_initializer; topicString.cstring = Publish_Topic; int len=0; char payload[300] ={0}; //更改下面的格式一定要注意是否符合JSON格式 //需要改 snprintf(payload,sizeof(payload), "{\"services\":[{\"properties\":{\"temp\":%d},\"service_id\":\"dtu\",\"event_time\":null}]}" ,26); int payloadlen = strlen(payload); //strlen是字符串的长度 sizeof数组的长度 //参数1 打包之后数据存放的缓冲区 //参数2 该缓冲区的大小,避免数组越界 //参数3 DUP QOS==0的话,DUP必须是0 //参数4 QOS /*Qos选择0 0 1 2 2最靠谱*/ //参数5 Retained 填0 1 保留该消息,作为问候消息 0不需要保留该消息 //参数6 报文标识符 Qos==0 无报文标识符 //参数7 主题名 //参数8 有效载荷的数组首地址 //参数9 有效载荷的长度 //返回值 成功 打包之后的有效长度 失败 -1 /sys/a1P0lkJ9Jw0/Device_202/thing/event/property/post len = MQTTSerialize_publish(G4.S_Buff, Buff_Length, 0, 0, 0, 0, topicString, (unsigned char*)payload, payloadlen); if(len<=0) { printf("发布报文打包失败\r\n"); } R_BUFF_CLEAR(); //发送之前清除一下接收缓冲区 HAL_UART_Transmit(&huart1,G4.S_Buff,len,1000); //只是为了调试使用,通过串口1查看要发送给串口3的数据 SendBuff(G4.S_Buff,len); //通过串口3发送函数,将数据发送给4G模块 } //订阅下发主题 void MQTT_Subscribe(void) { int msgid = 1; int req_qos = 0; int len = 0; MQTTString topicString = MQTTString_initializer; topicString.cstring = Subcribe_Topic; //参数1 打包之后数据存放的缓冲区 //参数2 该缓冲区的大小,避免数组越界 //参数3 DUP QOS==0的话,DUP必须是0 //参数4 报文标识符 Qos==0 无报文标识符,参数随便给 //参数5 订阅的主题数量 可以支持1次订阅多个主题 //参数6 待订阅的主题 //参数7 主题的消息质量等级 //返回值 成功 打包之后的有效长度 失败 -1 len = MQTTSerialize_subscribe(G4.S_Buff, Buff_Length, 0, msgid, 1, &topicString, &req_qos); if(len<=0) { printf("订阅报文打包失败\r\n"); } R_BUFF_CLEAR(); //发送之前清除一下接收缓冲区 HAL_UART_Transmit(&huart1,G4.S_Buff,len,1000); //只是为了调试使用,通过串口1查看要发送给串口3的数据 SendBuff(G4.S_Buff,len); //通过串口3发送函数,将数据发送给4G模块 // Delay_ms(1000); HAL_Delay(1000); if(G4.R_Buff[0]==0x90) {//是正确的订阅应答 90 03 00 01 01 Device_Net_State=3; //设备的网络状态修改 printf("订阅报文应答成功\r\n"); } else { printf("订阅报文应答失败\r\n"); } } //发送心跳 void MQTT_Ping(void) { int len = 0; //参数1 打包之后数据存放的缓冲区 //参数2 该缓冲区的大小,避免数组越界 //返回值 成功 打包之后的有效长度 失败 -1 len=MQTTSerialize_pingreq(G4.S_Buff, Buff_Length); if(len<=0) { printf("心跳报文打包失败\r\n"); } R_BUFF_CLEAR(); //发送之前清除一下接收缓冲区 HAL_UART_Transmit(&huart1,G4.S_Buff,len,1000); //只是为了调试使用,通过串口1查看要发送给串口3的数据 SendBuff(G4.S_Buff,len); //通过串口3发送函数,将数据发送给4G模块 } 为何在发送连接报文后,收不到服务器返回的连接报文应答
最新发布
08-13
/* This is a library written for the BNO080 SparkFun sells these at its website: www.sparkfun.com Do you like this library? Help support SparkFun. Buy a board! https://www.sparkfun.com/products/14586 Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017 The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor to maintain and complete all the complex calculations for various VR, inertial, step counting, and movement operations. This library handles the initialization of the BNO080 and is able to query the sensor for different readings. https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library Development environment specifics: Arduino IDE 1.8.3 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include "SparkFun_BNO080_Arduino_Library.h" //Attempt communication with the device //Return true if we got a 'Polo' back from Marco boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort) { _deviceAddress = deviceAddress; //If provided, store the I2C address from user _i2cPort = &wirePort; //Grab which port the user wants us to use //We expect caller to begin their I2C port, with the speed of their choice external to the library //But if they forget, we start the hardware here. _i2cPort->begin(); //Begin by resetting the IMU softReset(); //Check communication with device shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved //Transmit packet on channel 2, 2 bytes sendPacket(CHANNEL_CONTROL, 2); //Now we wait for response if (receivePacket() == true) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { return(true); } } return(false); //Something went wrong } //Calling this function with nothing sets the debug port to Serial //You can also call it with other streams like Serial1, SerialUSB, etc. void BNO080::enableDebugging(Stream &debugPort) { _debugPort = &debugPort; _printDebug = true; } //Updates the latest variables if possible //Returns false if new readings are not available bool BNO080::dataAvailable(void) { if (receivePacket() == true) { //Check to see if this packet is a sensor reporting its data to us if (shtpHeader[2] == CHANNEL_REPORTS && shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP) { parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found return(true); } } return(false); } //This function pulls the data from the input report //The input reports vary in length so this function stores the various 16-bit values as globals //Unit responds with packet that contains the following: //shtpHeader[0:3]: First, a 4 byte header //shtpData[0:4]: Then a 5 byte timestamp of microsecond clicks since reading was taken //shtpData[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector) //shtpData[5 + 1]: Sequence number (See 6.5.18.2) //shtpData[5 + 2]: Status //shtpData[3]: Delay //shtpData[4:5]: i/accel x/gyro x/etc //shtpData[6:7]: j/accel y/gyro y/etc //shtpData[8:9]: k/accel z/gyro z/etc //shtpData[10:11]: real/gyro temp/etc //shtpData[12:13]: Accuracy estimate void BNO080::parseInputReport(void) { //Calculate the number of data bytes in this packet int16_t dataLength = ((uint16_t)shtpHeader[1] << 8 | shtpHeader[0]); dataLength &= ~(1 << 15); //Clear the MSbit. This bit indicates if this package is a continuation of the last. //Ignore it for now. TODO catch this as an error and exit dataLength -= 4; //Remove the header bytes from the data count uint8_t status = shtpData[5 + 2] & 0x03; //Get status bits uint16_t data1 = (uint16_t)shtpData[5 + 5] << 8 | shtpData[5 + 4]; uint16_t data2 = (uint16_t)shtpData[5 + 7] << 8 | shtpData[5 + 6]; uint16_t data3 = (uint16_t)shtpData[5 + 9] << 8 | shtpData[5 + 8]; uint16_t data4 = 0; uint16_t data5 = 0; if(dataLength - 5 > 9) { data4= (uint16_t)shtpData[5 + 11] << 8 | shtpData[5 + 10]; } if(dataLength - 5 > 11) { data5 = (uint16_t)shtpData[5 + 13] << 8 | shtpData[5 + 12]; } //Store these generic values to their proper global variable if(shtpData[5] == SENSOR_REPORTID_ACCELEROMETER) { accelAccuracy = status; rawAccelX = data1; rawAccelY = data2; rawAccelZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_LINEAR_ACCELERATION) { accelLinAccuracy = status; rawLinAccelX = data1; rawLinAccelY = data2; rawLinAccelZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_GYROSCOPE) { gyroAccuracy = status; rawGyroX = data1; rawGyroY = data2; rawGyroZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_MAGNETIC_FIELD) { magAccuracy = status; rawMagX = data1; rawMagY = data2; rawMagZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR) { quatAccuracy = status; rawQuatI = data1; rawQuatJ = data2; rawQuatK = data3; rawQuatReal = data4; rawQuatRadianAccuracy = data5; //Only available on rotation vector, not game rot vector } else if(shtpData[5] == SENSOR_REPORTID_STEP_COUNTER) { stepCount = data3; //Bytes 8/9 } else if(shtpData[5] == SENSOR_REPORTID_STABILITY_CLASSIFIER) { stabilityClassifier = shtpData[5 + 4]; //Byte 4 only } else if(shtpData[5] == SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER) { activityClassifier = shtpData[5 + 5]; //Most likely state //Load activity classification confidences into the array for(uint8_t x = 0 ; x < 9 ; x++) //Hardcoded to max of 9. TODO - bring in array size _activityConfidences[x] = shtpData[5 + 6 + x]; //5 bytes of timestamp, byte 6 is first confidence byte } else { //This sensor report ID is unhandled. //See reference manual to add additional feature reports as needed } //TODO additional feature reports may be strung together. Parse them all. } //Return the rotation vector quaternion I float BNO080::getQuatI() { float quat = qToFloat(rawQuatI, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion J float BNO080::getQuatJ() { float quat = qToFloat(rawQuatJ, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion K float BNO080::getQuatK() { float quat = qToFloat(rawQuatK, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion Real float BNO080::getQuatReal() { float quat = qToFloat(rawQuatReal, rotationVector_Q1); return(quat); } //Return the rotation vector accuracy float BNO080::getQuatRadianAccuracy() { float quat = qToFloat(rawQuatRadianAccuracy, rotationVector_Q1); return(quat); } //Return the acceleration component uint8_t BNO080::getQuatAccuracy() { return(quatAccuracy); } //Return the acceleration component float BNO080::getAccelX() { float accel = qToFloat(rawAccelX, accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getAccelY() { float accel = qToFloat(rawAccelY, accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getAccelZ() { float accel = qToFloat(rawAccelZ, accelerometer_Q1); return(accel); } //Return the acceleration component uint8_t BNO080::getAccelAccuracy() { return(accelAccuracy); } // linear acceleration, i.e. minus gravity //Return the acceleration component float BNO080::getLinAccelX() { float accel = qToFloat(rawLinAccelX, linear_accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getLinAccelY() { float accel = qToFloat(rawLinAccelY, linear_accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getLinAccelZ() { float accel = qToFloat(rawLinAccelZ, linear_accelerometer_Q1); return(accel); } //Return the acceleration component uint8_t BNO080::getLinAccelAccuracy() { return(accelLinAccuracy); } //Return the gyro component float BNO080::getGyroX() { float gyro = qToFloat(rawGyroX, gyro_Q1); return(gyro); } //Return the gyro component float BNO080::getGyroY() { float gyro = qToFloat(rawGyroY, gyro_Q1); return(gyro); } //Return the gyro component float BNO080::getGyroZ() { float gyro = qToFloat(rawGyroZ, gyro_Q1); return(gyro); } //Return the gyro component uint8_t BNO080::getGyroAccuracy() { return(gyroAccuracy); } //Return the magnetometer component float BNO080::getMagX() { float mag = qToFloat(rawMagX, magnetometer_Q1); return(mag); } //Return the magnetometer component float BNO080::getMagY() { float mag = qToFloat(rawMagY, magnetometer_Q1); return(mag); } //Return the magnetometer component float BNO080::getMagZ() { float mag = qToFloat(rawMagZ, magnetometer_Q1); return(mag); } //Return the mag component uint8_t BNO080::getMagAccuracy() { return(magAccuracy); } //Return the step count uint16_t BNO080::getStepCount() { return(stepCount); } //Return the stability classifier uint8_t BNO080::getStabilityClassifier() { return(stabilityClassifier); } //Return the activity classifier uint8_t BNO080::getActivityClassifier() { return(activityClassifier); } //Given a record ID, read the Q1 value from the metaData record in the FRS (ya, it's complicated) //Q1 is used for all sensor data calculations int16_t BNO080::getQ1(uint16_t recordID) { //Q1 is always the lower 16 bits of word 7 uint16_t q = readFRSword(recordID, 7) & 0xFFFF; //Get word 7, lower 16 bits return(q); } //Given a record ID, read the Q2 value from the metaData record in the FRS //Q2 is used in sensor bias int16_t BNO080::getQ2(uint16_t recordID) { //Q2 is always the upper 16 bits of word 7 uint16_t q = readFRSword(recordID, 7) >> 16; //Get word 7, upper 16 bits return(q); } //Given a record ID, read the Q3 value from the metaData record in the FRS //Q3 is used in sensor change sensitivity int16_t BNO080::getQ3(uint16_t recordID) { //Q3 is always the upper 16 bits of word 8 uint16_t q = readFRSword(recordID, 8) >> 16; //Get word 8, upper 16 bits return(q); } //Given a record ID, read the resolution value from the metaData record in the FRS for a given sensor float BNO080::getResolution(uint16_t recordID) { //The resolution Q value are 'the same as those used in the sensor's input report' //This should be Q1. int16_t Q = getQ1(recordID); //Resolution is always word 2 uint32_t value = readFRSword(recordID, 2); //Get word 2 float resolution = qToFloat(value, Q); return(resolution); } //Given a record ID, read the range value from the metaData record in the FRS for a given sensor float BNO080::getRange(uint16_t recordID) { //The resolution Q value are 'the same as those used in the sensor's input report' //This should be Q1. int16_t Q = getQ1(recordID); //Range is always word 1 uint32_t value = readFRSword(recordID, 1); //Get word 1 float range = qToFloat(value, Q); return(range); } //Given a record ID and a word number, look up the word data //Helpful for pulling out a Q value, range, etc. //Use readFRSdata for pulling out multi-word objects for a sensor (Vendor data for example) uint32_t BNO080::readFRSword(uint16_t recordID, uint8_t wordNumber) { if(readFRSdata(recordID, wordNumber, 1) == true) //Get word number, just one word in length from FRS return(metaData[0]); //Return this one word return(0); //Error } //Ask the sensor for data from the Flash Record System //See 6.3.6 page 40, FRS Read Request void BNO080::frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize) { shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST; //FRS Read Request shtpData[1] = 0; //Reserved shtpData[2] = (readOffset >> 0) & 0xFF; //Read Offset LSB shtpData[3] = (readOffset >> 8) & 0xFF; //Read Offset MSB shtpData[4] = (recordID >> 0) & 0xFF; //FRS Type LSB shtpData[5] = (recordID >> 8) & 0xFF; //FRS Type MSB shtpData[6] = (blockSize >> 0) & 0xFF; //Block size LSB shtpData[7] = (blockSize >> 8) & 0xFF; //Block size MSB //Transmit packet on channel 2, 8 bytes sendPacket(CHANNEL_CONTROL, 8); } //Given a sensor or record ID, and a given start/stop bytes, read the data from the Flash Record System (FRS) for this sensor //Returns true if metaData array is loaded successfully //Returns false if failure bool BNO080::readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead) { uint8_t spot = 0; //First we send a Flash Record System (FRS) request frsReadRequest(recordID, startLocation, wordsToRead); //From startLocation of record, read a # of words //Read bytes until FRS reports that the read is complete while (1) { //Now we wait for response while (1) { uint8_t counter = 0; while(receivePacket() == false) { if(counter++ > 100) return(false); //Give up delay(1); } //We have the packet, inspect it for the right contents //See page 40. Report ID should be 0xF3 and the FRS types should match the thing we requested if (shtpData[0] == SHTP_REPORT_FRS_READ_RESPONSE) if ( ( (uint16_t)shtpData[13] << 8 | shtpData[12]) == recordID) break; //This packet is one we are looking for } uint8_t dataLength = shtpData[1] >> 4; uint8_t frsStatus = shtpData[1] & 0x0F; uint32_t data0 = (uint32_t)shtpData[7] << 24 | (uint32_t)shtpData[6] << 16 | (uint32_t)shtpData[5] << 8 | (uint32_t)shtpData[4]; uint32_t data1 = (uint32_t)shtpData[11] << 24 | (uint32_t)shtpData[10] << 16 | (uint32_t)shtpData[9] << 8 | (uint32_t)shtpData[8]; //Record these words to the metaData array if (dataLength > 0) { metaData[spot++] = data0; } if (dataLength > 1) { metaData[spot++] = data1; } if (spot >= MAX_METADATA_SIZE) { if(_printDebug == true) _debugPort->println(F("metaData array over run. Returning.")); return(true); //We have run out of space in our array. Bail. } if (frsStatus == 3 || frsStatus == 6 || frsStatus == 7) { return(true); //FRS status is read completed! We're done! } } } //Send command to reset IC //Read all advertisement packets from sensor //The sensor has been seen to reset twice if we attempt too much too quickly. //This seems to work reliably. void BNO080::softReset(void) { shtpData[0] = 1; //Reset //Attempt to start communication with sensor sendPacket(CHANNEL_EXECUTABLE, 1); //Transmit packet on channel 1, 1 byte //Read all incoming data and flush it delay(50); while (receivePacket() == true) ; delay(50); while (receivePacket() == true) ; } //Get the reason for the last reset //1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other uint8_t BNO080::resetReason() { shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved //Transmit packet on channel 2, 2 bytes sendPacket(CHANNEL_CONTROL, 2); //Now we wait for response if (receivePacket() == true) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { return(shtpData[1]); } } return(0); } //Given a register value and a Q point, convert to float //See https://en.wikipedia.org/wiki/Q_(number_format) float BNO080::qToFloat(int16_t fixedPointValue, uint8_t qPoint) { float qFloat = fixedPointValue; qFloat *= pow(2, qPoint * -1); return (qFloat); } //Sends the packet to enable the rotation vector void BNO080::enableRotationVector(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_ROTATION_VECTOR, timeBetweenReports); } //Sends the packet to enable the rotation vector void BNO080::enableGameRotationVector(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_GAME_ROTATION_VECTOR, timeBetweenReports); } //Sends the packet to enable the accelerometer void BNO080::enableAccelerometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_ACCELEROMETER, timeBetweenReports); } //Sends the packet to enable the accelerometer void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports); } //Sends the packet to enable the gyro void BNO080::enableGyro(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_GYROSCOPE, timeBetweenReports); } //Sends the packet to enable the magnetometer void BNO080::enableMagnetometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_MAGNETIC_FIELD, timeBetweenReports); } //Sends the packet to enable the step counter void BNO080::enableStepCounter(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_STEP_COUNTER, timeBetweenReports); } //Sends the packet to enable the Stability Classifier void BNO080::enableStabilityClassifier(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_STABILITY_CLASSIFIER, timeBetweenReports); } //Sends the packet to enable the various activity classifiers void BNO080::enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]) { _activityConfidences = activityConfidences; //Store pointer to array setFeatureCommand(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, timeBetweenReports, activitiesToEnable); } //Sends the commands to begin calibration of the accelerometer void BNO080::calibrateAccelerometer() { sendCalibrateCommand(CALIBRATE_ACCEL); } //Sends the commands to begin calibration of the gyro void BNO080::calibrateGyro() { sendCalibrateCommand(CALIBRATE_GYRO); } //Sends the commands to begin calibration of the magnetometer void BNO080::calibrateMagnetometer() { sendCalibrateCommand(CALIBRATE_MAG); } //Sends the commands to begin calibration of the planar accelerometer void BNO080::calibratePlanarAccelerometer() { sendCalibrateCommand(CALIBRATE_PLANAR_ACCEL); } //See 2.2 of the Calibration Procedure document 1000-4044 void BNO080::calibrateAll() { sendCalibrateCommand(CALIBRATE_ACCEL_GYRO_MAG); } void BNO080::endCalibration() { sendCalibrateCommand(CALIBRATE_STOP); //Disables all calibrations } //Given a sensor's report ID, this tells the BNO080 to begin reporting the values void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports) { setFeatureCommand(reportID, timeBetweenReports, 0); //No specific config } //Given a sensor's report ID, this tells the BNO080 to begin reporting the values //Also sets the specific config word. Useful for personal activity classifier void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig) { long microsBetweenReports = (long)timeBetweenReports * 1000L; shtpData[0] = SHTP_REPORT_SET_FEATURE_COMMAND; //Set feature command. Reference page 55 shtpData[1] = reportID; //Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector shtpData[2] = 0; //Feature flags shtpData[3] = 0; //Change sensitivity (LSB) shtpData[4] = 0; //Change sensitivity (MSB) shtpData[5] = (microsBetweenReports >> 0) & 0xFF; //Report interval (LSB) in microseconds. 0x7A120 = 500ms shtpData[6] = (microsBetweenReports >> 8) & 0xFF; //Report interval shtpData[7] = (microsBetweenReports >> 16) & 0xFF; //Report interval shtpData[8] = (microsBetweenReports >> 24) & 0xFF; //Report interval (MSB) shtpData[9] = 0; //Batch Interval (LSB) shtpData[10] = 0; //Batch Interval shtpData[11] = 0; //Batch Interval shtpData[12] = 0; //Batch Interval (MSB) shtpData[13] = (specificConfig >> 0) & 0xFF; //Sensor-specific config (LSB) shtpData[14] = (specificConfig >> 8) & 0xFF; //Sensor-specific config shtpData[15] = (specificConfig >> 16) & 0xFF; //Sensor-specific config shtpData[16] = (specificConfig >> 24) & 0xFF; //Sensor-specific config (MSB) //Transmit packet on channel 2, 17 bytes sendPacket(CHANNEL_CONTROL, 17); } //Tell the sensor to do a command //See 6.3.8 page 41, Command request //The caller is expected to set P0 through P8 prior to calling void BNO080::sendCommand(uint8_t command) { shtpData[0] = SHTP_REPORT_COMMAND_REQUEST; //Command Request shtpData[1] = commandSequenceNumber++; //Increments automatically each function call shtpData[2] = command; //Command //Caller must set these /*shtpData[3] = 0; //P0 shtpData[4] = 0; //P1 shtpData[5] = 0; //P2 shtpData[6] = 0; shtpData[7] = 0; shtpData[8] = 0; shtpData[9] = 0; shtpData[10] = 0; shtpData[11] = 0;*/ //Transmit packet on channel 2, 12 bytes sendPacket(CHANNEL_CONTROL, 12); } //This tells the BNO080 to begin calibrating //See page 50 of reference manual and the 1000-4044 calibration doc void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate) { /*shtpData[3] = 0; //P0 - Accel Cal Enable shtpData[4] = 0; //P1 - Gyro Cal Enable shtpData[5] = 0; //P2 - Mag Cal Enable shtpData[6] = 0; //P3 - Subcommand 0x00 shtpData[7] = 0; //P4 - Planar Accel Cal Enable shtpData[8] = 0; //P5 - Reserved shtpData[9] = 0; //P6 - Reserved shtpData[10] = 0; //P7 - Reserved shtpData[11] = 0; //P8 - Reserved*/ for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array shtpData[x] = 0; if(thingToCalibrate == CALIBRATE_ACCEL) shtpData[3] = 1; else if(thingToCalibrate == CALIBRATE_GYRO) shtpData[4] = 1; else if(thingToCalibrate == CALIBRATE_MAG) shtpData[5] = 1; else if(thingToCalibrate == CALIBRATE_PLANAR_ACCEL) shtpData[7] = 1; else if(thingToCalibrate == CALIBRATE_ACCEL_GYRO_MAG) { shtpData[3] = 1; shtpData[4] = 1; shtpData[5] = 1; } else if(thingToCalibrate == CALIBRATE_STOP) ; //Do nothing, bytes are set to zero //Using this shtpData packet, send a command sendCommand(COMMAND_ME_CALIBRATE); } //This tells the BNO080 to save the Dynamic Calibration Data (DCD) to flash //See page 49 of reference manual and the 1000-4044 calibration doc void BNO080::saveCalibration() { /*shtpData[3] = 0; //P0 - Reserved shtpData[4] = 0; //P1 - Reserved shtpData[5] = 0; //P2 - Reserved shtpData[6] = 0; //P3 - Reserved shtpData[7] = 0; //P4 - Reserved shtpData[8] = 0; //P5 - Reserved shtpData[9] = 0; //P6 - Reserved shtpData[10] = 0; //P7 - Reserved shtpData[11] = 0; //P8 - Reserved*/ for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array shtpData[x] = 0; //Using this shtpData packet, send a command sendCommand(COMMAND_DCD); //Save DCD command } //Wait a certain time for incoming I2C bytes before giving up //Returns false if failed boolean BNO080::waitForI2C() { for (uint8_t counter = 0 ; counter < 100 ; counter++) //Don't got more than 255 { if (_i2cPort->available() > 0) return (true); delay(1); } if(_printDebug == true) _debugPort->println(F("I2C timeout")); return (false); } //Check to see if there is any new data available //Read the contents of the incoming packet into the shtpData array boolean BNO080::receivePacket(void) { _i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)4); //Ask for four bytes to find out how much data we need to read if (waitForI2C() == false) return (false); //Error //Get the first four bytes, aka the packet header uint8_t packetLSB = _i2cPort->read(); uint8_t packetMSB = _i2cPort->read(); uint8_t channelNumber = _i2cPort->read(); uint8_t sequenceNumber = _i2cPort->read(); //Not sure if we need to store this or not //Store the header info. shtpHeader[0] = packetLSB; shtpHeader[1] = packetMSB; shtpHeader[2] = channelNumber; shtpHeader[3] = sequenceNumber; //Calculate the number of data bytes in this packet int16_t dataLength = ((uint16_t)packetMSB << 8 | packetLSB); dataLength &= ~(1 << 15); //Clear the MSbit. //This bit indicates if this package is a continuation of the last. Ignore it for now. //TODO catch this as an error and exit if (dataLength == 0) { //Packet is empty return (false); //All done } dataLength -= 4; //Remove the header bytes from the data count getData(dataLength); return (true); //We're done! } //Sends multiple requests to sensor until all data bytes are received from sensor //The shtpData buffer has max capacity of MAX_PACKET_SIZE. Any bytes over this amount will be lost. //Arduino I2C read limit is 32 bytes. Header is 4 bytes, so max data we can read per interation is 28 bytes boolean BNO080::getData(uint16_t bytesRemaining) { uint16_t dataSpot = 0; //Start at the beginning of shtpData array //Setup a series of chunked 32 byte reads while (bytesRemaining > 0) { uint16_t numberOfBytesToRead = bytesRemaining; if (numberOfBytesToRead > (I2C_BUFFER_LENGTH-4)) numberOfBytesToRead = (I2C_BUFFER_LENGTH-4); _i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)(numberOfBytesToRead + 4)); if (waitForI2C() == false) return (0); //Error //The first four bytes are header bytes and are throw away _i2cPort->read(); _i2cPort->read(); _i2cPort->read(); _i2cPort->read(); for (uint8_t x = 0 ; x < numberOfBytesToRead ; x++) { uint8_t incoming = _i2cPort->read(); if (dataSpot < MAX_PACKET_SIZE) { shtpData[dataSpot++] = incoming; //Store data into the shtpData array } else { //Do nothing with the data } } bytesRemaining -= numberOfBytesToRead; } return (true); //Done! } //Given the data packet, send the header then the data //Returns false if sensor does not ACK //TODO - Arduino has a max 32 byte send. Break sending into multi packets if needed. boolean BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength) { uint8_t packetLength = dataLength + 4; //Add four bytes for the header //if(packetLength > I2C_BUFFER_LENGTH) return(false); //You are trying to send too much. Break into smaller packets. _i2cPort->beginTransmission(_deviceAddress); //Send the 4 byte packet header _i2cPort->write(packetLength & 0xFF); //Packet length LSB _i2cPort->write(packetLength >> 8); //Packet length MSB _i2cPort->write(channelNumber); //Channel number _i2cPort->write(sequenceNumber[channelNumber]++); //Send the sequence number, increments with each packet sent, different counter for each channel //Send the user's data packet for (uint8_t i = 0 ; i < dataLength ; i++) { _i2cPort->write(shtpData[i]); } if (_i2cPort->endTransmission() != 0) { return (false); } return (true); } //Pretty prints the contents of the current shtp header and data packets void BNO080::printPacket(void) { if(_printDebug == true) { uint16_t packetLength = (uint16_t)shtpHeader[1] << 8 | shtpHeader[0]; //Print the four byte header _debugPort->print(F("Header:")); for(uint8_t x = 0 ; x < 4 ; x++) { _debugPort->print(F(" ")); if(shtpHeader[x] < 0x10) _debugPort->print(F("0")); _debugPort->print(shtpHeader[x], HEX); } uint8_t printLength = packetLength - 4; if(printLength > 40) printLength = 40; //Artificial limit. We don't want the phone book. _debugPort->print(F(" Body:")); for(uint8_t x = 0 ; x < printLength ; x++) { _debugPort->print(F(" ")); if(shtpData[x] < 0x10) _debugPort->print(F("0")); _debugPort->print(shtpData[x], HEX); } if (packetLength & 1 << 15) { _debugPort->println(F(" [Continued packet] ")); packetLength &= ~(1 << 15); } _debugPort->print(F(" Length:")); _debugPort->print (packetLength); _debugPort->print(F(" Channel:")); if (shtpHeader[2] == 0) _debugPort->print(F("Command")); else if (shtpHeader[2] == 1) _debugPort->print(F("Executable")); else if (shtpHeader[2] == 2) _debugPort->print(F("Control")); else if (shtpHeader[2] == 3) _debugPort->print(F("Sensor-report")); else if (shtpHeader[2] == 4) _debugPort->print(F("Wake-report")); else if (shtpHeader[2] == 5) _debugPort->print(F("Gyro-vector")); else _debugPort->print(shtpHeader[2]); _debugPort->println(); } } /* This is a library written for the BNO080 SparkFun sells these at its website: www.sparkfun.com Do you like this library? Help support SparkFun. Buy a board! https://www.sparkfun.com/products/14586 Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017 The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor to maintain and complete all the complex calculations for various VR, inertial, step counting, and movement operations. This library handles the initialization of the BNO080 and is able to query the sensor for different readings. https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library Development environment specifics: Arduino IDE 1.8.3 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #pragma once #if (ARDUINO >= 100) #include "Arduino.h" #else #include "WProgram.h" #endif #include <Wire.h> //The default I2C address for the BNO080 on the SparkX breakout is 0x4B. 0x4A is also possible. #define BNO080_DEFAULT_ADDRESS 0x4B //Platform specific configurations //Define the size of the I2C buffer based on the platform the user has //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) //I2C_BUFFER_LENGTH is defined in Wire.H #define I2C_BUFFER_LENGTH BUFFER_LENGTH #elif defined(__SAMD21G18A__) //SAMD21 uses RingBuffer.h #define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE #elif __MK20DX256__ //Teensy #elif ARDUINO_ARCH_ESP32 //ESP32 based platforms #else //The catch-all default is 32 #define I2C_BUFFER_LENGTH 32 #endif //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //Registers const byte CHANNEL_COMMAND = 0; const byte CHANNEL_EXECUTABLE = 1; const byte CHANNEL_CONTROL = 2; const byte CHANNEL_REPORTS = 3; const byte CHANNEL_WAKE_REPORTS = 4; const byte CHANNEL_GYRO = 5; //All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual //These are used for low level communication with the sensor, on channel 2 #define SHTP_REPORT_COMMAND_RESPONSE 0xF1 #define SHTP_REPORT_COMMAND_REQUEST 0xF2 #define SHTP_REPORT_FRS_READ_RESPONSE 0xF3 #define SHTP_REPORT_FRS_READ_REQUEST 0xF4 #define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8 #define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9 #define SHTP_REPORT_BASE_TIMESTAMP 0xFB #define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD //All the different sensors and features we can get reports from //These are used when enabling a given sensor #define SENSOR_REPORTID_ACCELEROMETER 0x01 #define SENSOR_REPORTID_GYROSCOPE 0x02 #define SENSOR_REPORTID_MAGNETIC_FIELD 0x03 #define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04 #define SENSOR_REPORTID_ROTATION_VECTOR 0x05 #define SENSOR_REPORTID_GRAVITY 0x06 #define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08 #define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09 #define SENSOR_REPORTID_TAP_DETECTOR 0x10 #define SENSOR_REPORTID_STEP_COUNTER 0x11 #define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13 #define SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER 0x1E //Record IDs from figure 29, page 29 reference manual //These are used to read the metadata for each sensor type #define FRS_RECORDID_ACCELEROMETER 0xE302 #define FRS_RECORDID_GYROSCOPE_CALIBRATED 0xE306 #define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309 #define FRS_RECORDID_ROTATION_VECTOR 0xE30B //Command IDs from section 6.4, page 42 //These are used to calibrate, initialize, set orientation, tare etc the sensor #define COMMAND_ERRORS 1 #define COMMAND_COUNTER 2 #define COMMAND_TARE 3 #define COMMAND_INITIALIZE 4 #define COMMAND_DCD 6 #define COMMAND_ME_CALIBRATE 7 #define COMMAND_DCD_PERIOD_SAVE 9 #define COMMAND_OSCILLATOR 10 #define COMMAND_CLEAR_DCD 11 #define CALIBRATE_ACCEL 0 #define CALIBRATE_GYRO 1 #define CALIBRATE_MAG 2 #define CALIBRATE_PLANAR_ACCEL 3 #define CALIBRATE_ACCEL_GYRO_MAG 4 #define CALIBRATE_STOP 5 #define MAX_PACKET_SIZE 128 //Packets can be up to 32k but we don't have that much RAM. #define MAX_METADATA_SIZE 9 //This is in words. There can be many but we mostly only care about the first 9 (Qs, range, etc) class BNO080 { public: boolean begin(uint8_t deviceAddress = BNO080_DEFAULT_ADDRESS, TwoWire &wirePort = Wire); //By default use the default I2C addres, and use Wire port void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used. void softReset(); //Try to reset the IMU via software uint8_t resetReason(); //Query the IMU for the reason it last reset float qToFloat(int16_t fixedPointValue, uint8_t qPoint); //Given a Q value, converts fixed point floating to regular floating point number boolean waitForI2C(); //Delay based polling for I2C traffic boolean receivePacket(void); boolean getData(uint16_t bytesRemaining); //Given a number of bytes, send the requests in I2C_BUFFER_LENGTH chunks boolean sendPacket(uint8_t channelNumber, uint8_t dataLength); void printPacket(void); //Prints the current shtp header and data packets void enableRotationVector(uint16_t timeBetweenReports); void enableGameRotationVector(uint16_t timeBetweenReports); void enableAccelerometer(uint16_t timeBetweenReports); void enableLinearAccelerometer(uint16_t timeBetweenReports); void enableGyro(uint16_t timeBetweenReports); void enableMagnetometer(uint16_t timeBetweenReports); void enableStepCounter(uint16_t timeBetweenReports); void enableStabilityClassifier(uint16_t timeBetweenReports); void enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]); bool dataAvailable(void); void parseInputReport(void); float getQuatI(); float getQuatJ(); float getQuatK(); float getQuatReal(); float getQuatRadianAccuracy(); uint8_t getQuatAccuracy(); float getAccelX(); float getAccelY(); float getAccelZ(); uint8_t getAccelAccuracy(); float getLinAccelX(); float getLinAccelY(); float getLinAccelZ(); uint8_t getLinAccelAccuracy(); float getGyroX(); float getGyroY(); float getGyroZ(); uint8_t getGyroAccuracy(); float getMagX(); float getMagY(); float getMagZ(); uint8_t getMagAccuracy(); void calibrateAccelerometer(); void calibrateGyro(); void calibrateMagnetometer(); void calibratePlanarAccelerometer(); void calibrateAll(); void endCalibration(); void saveCalibration(); uint16_t getStepCount(); uint8_t getStabilityClassifier(); uint8_t getActivityClassifier(); void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports); void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig); void sendCommand(uint8_t command); void sendCalibrateCommand(uint8_t thingToCalibrate); //Metadata functions int16_t getQ1(uint16_t recordID); int16_t getQ2(uint16_t recordID); int16_t getQ3(uint16_t recordID); float getResolution(uint16_t recordID); float getRange(uint16_t recordID); uint32_t readFRSword(uint16_t recordID, uint8_t wordNumber); void frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize); bool readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead); //Global Variables uint8_t shtpHeader[4]; //Each packet has a header of 4 bytes uint8_t shtpData[MAX_PACKET_SIZE]; uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0}; //There are 6 com channels. Each channel has its own seqnum uint8_t commandSequenceNumber = 0; //Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel uint32_t metaData[MAX_METADATA_SIZE]; //There is more than 10 words in a metadata record but we'll stop at Q point 3 private: //Variables TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware uint8_t _deviceAddress; //Keeps track of I2C address. setI2CAddress changes this. Stream *_debugPort; //The stream to send debug messages to if enabled. Usually Serial. boolean _printDebug = false; //Flag to print debugging variables //These are the raw sensor values pulled from the user requested Input Report uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy; uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy; uint16_t rawGyroX, rawGyroY, rawGyroZ, gyroAccuracy; uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy; uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy; uint16_t stepCount; uint8_t stabilityClassifier; uint8_t activityClassifier; uint8_t *_activityConfidences; //Array that store the confidences of the 9 possible activities //These Q values are defined in the datasheet but can also be obtained by querying the meta data records //See the read metadata example for more info int16_t rotationVector_Q1 = 14; int16_t accelerometer_Q1 = 8; int16_t linear_accelerometer_Q1 = 8; int16_t gyro_Q1 = 9; int16_t magnetometer_Q1 = 4; }; 请根据以上参考代码,写出我所需的STM32F411ceu6基于I2C控制BNO080的库函数
07-23
评论
添加红包

请填写红包祝福语或标题

红包个数最小为10个

红包金额最低5元

当前余额3.43前往充值 >
需支付:10.00
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明:

1.余额是钱包充值的虚拟货币,按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载,可以购买VIP、付费专栏及课程。

余额充值