【雷达灯控】安信可 Rd-03E+距离预警灯

显示全部楼层 · 2024-3-23 17:33:47

感谢

首先先感谢一下安信可举办的活动，

抱着陪跑的心态参加了抽奖，没想到居然中奖了

感谢园长

作品

这次使用的是之前参加活动送的 Ai-M61-32S-Kit

再次感谢园长

代码

先给雷达模块刷入了精准测距固件

查阅手册得到了数据帧的格式

然后写个一个解析数据帧的解析器

typedef enum
{
    WAITING_HEADER,
    HEADER_FOUND,
    STATUS,
    DISTANCE_1,
    DISTANCE_2
} ParserState;

// 数据帧解析器结构体
typedef struct
{
    ParserState state;
    unsigned char target_status;
    unsigned short distance;
} DataFrameParser;

// 初始化解析器
void init_parser(DataFrameParser *parser)
{
    parser->state = WAITING_HEADER;
    parser->target_status = 0;
    parser->distance = 0;
}

// 解析单个字节
void parse_byte(DataFrameParser *parser, unsigned char byte)
{
    // 雷达数据格式
    // 帧头(2)        目标信息(1)        距离信息(2)        帧尾(2)
    // AA AA          01                2F 00             55 55
    switch (parser->state)
    {
    case WAITING_HEADER:
        if (byte == 0xAA)
        {
            parser->state = HEADER_FOUND;
        }
        break;
    case HEADER_FOUND:
        if (byte == 0xAA)
        {
            parser->state = STATUS;
        }
        else
        {
            parser->state = WAITING_HEADER;
        }
        break;
    case STATUS:
        if (byte == 0x00 || byte == 0x01 || byte == 0x02)
        {
            parser->target_status = byte;
            parser->state = DISTANCE_1;
        }
        else
        {
            parser->state = WAITING_HEADER;
        }
        break;
    case DISTANCE_1:
        parser->distance = byte;
        parser->state = DISTANCE_2;
        break;
    case DISTANCE_2:
        parser->distance |= (byte << 8);
        parser->state = WAITING_HEADER;
        // printf("目标状态: %d\n", parser->target_status);
        // printf("距离信息: %d\n", parser->distance);
        break;
    }
}

unsigned get_distance(DataFrameParser *parser)
{
    return parser->distance;
}

然后就是其他应用代码



void red_on()
{
    bflb_gpio_set(gpio, RED_LIGHT_PIN);
}
void red_off()
{
    bflb_gpio_reset(gpio, RED_LIGHT_PIN);
}
void green_on()
{
    bflb_gpio_set(gpio, GREED_LIGHT_PIN);
}
void green_off()
{
    bflb_gpio_reset(gpio, GREED_LIGHT_PIN);
}
int main(void)
{
    DataFrameParser parser;
    init_parser(&parser);
    board_init();

    gpio = bflb_device_get_by_name("gpio");
    uart1 = bflb_device_get_by_name("uart1");

    bflb_gpio_init(gpio, RED_LIGHT_PIN, GPIO_OUTPUT | GPIO_PULLUP | GPIO_SMT_EN | GPIO_DRV_0);
    bflb_gpio_init(gpio, GREED_LIGHT_PIN, GPIO_OUTPUT | GPIO_PULLUP | GPIO_SMT_EN | GPIO_DRV_0);

    bflb_gpio_set(gpio, RED_LIGHT_PIN);
    bflb_gpio_set(gpio, GREED_LIGHT_PIN);

    bflb_gpio_uart_init(gpio, GPIO_PIN_31, GPIO_UART_FUNC_UART1_TX);
    bflb_gpio_uart_init(gpio, GPIO_PIN_30, GPIO_UART_FUNC_UART1_RX);

    struct bflb_uart_config_s cfg2 = {
        .baudrate = 256000,
        .data_bits = UART_DATA_BITS_8,
        .stop_bits = UART_STOP_BITS_1,
        .parity = UART_PARITY_NONE,
        .flow_ctrl = 0,
        .tx_fifo_threshold = 7,
        .rx_fifo_threshold = 7,
    };

    bflb_uart_init(uart1, &cfg2);

    int ch = -1;
    int len = 0;
    while (1)
    {

        // printf("test Messages");
        if (bflb_uart_rxavailable(uart1))
        {
            ch = bflb_uart_getchar(uart1);
            parse_byte(&parser, ch);
            len = get_distance(&parser);
            printf("距离信息: %d\n", len);
        }
        //设置的为大于50厘米为绿灯，小于50是红灯
        if (len < 50 && len != 0)
        {
            green_off();
            red_on();
        }
        else
        {
            green_on();
            red_off();
        }
    }
}