[Upload Code]:add SerializeFrame Code

CAN/XM-01/Core/Inc/protocol_parser.h

@@ -52,6 +52,7 @@ typedef struct __attribute__((packed))
 
 void Protocol_BuildFrame(ProtocolFrame *frame, uint8_t frame_ctl, uint16_t seq,
                          const uint8_t *payload, uint16_t payload_len, bool enable_crc);
+uint16_t Protocol_SerializeFrame(uint8_t *buffer, uint16_t buffer_size, const ProtocolFrame *frame);
 
 bool Protocol_ParseFrame(const uint8_t *data, uint16_t len, ProtocolFrame *frame);
 uint16_t Protocol_CRC16_CCITT(uint16_t pre_crc, const uint8_t *data, uint16_t len);

CAN/XM-01/Core/Src/myOutput_deal.c

@@ -14,7 +14,7 @@ static uint8_t send_buf[512];
 static uint8_t recv_buf[512];
 static uint16_t recv_len = 0;
 static rt_tick_t start_tick = 0;
-static rt_uint16_t seq_num = 1;
+static rt_uint16_t seq_num = 0xffff;
 static rt_uint16_t Upload_Time = 100;
 static CommState comm_state = STATE_WAIT_RECV;
 
@@ -36,9 +36,9 @@ static void upload_StatusPackage(void)
                         myPayload,
                         sizeof(myPayload),
                         true);
-    // uart_send((uint8_t *)&resp, 8 + sizeof(payload) + 2);
+    Protocol_SerializeFrame(send_buf, sizeof(send_buf), &resp);
-    hex_dump_simple((uint8_t *)&resp, 8 + sizeof(myPayload) + 2);
+    HAL_UART_Transmit(&huart3, send_buf, 8 + sizeof(myPayload) + 2, 100);
-    rt_memcpy(send_buf, (uint8_t *)&resp, 8 + sizeof(myPayload) + 2);
+    hex_dump_simple(send_buf, 8 + sizeof(myPayload) + 2);
 }
 
 // 状态机处理
@@ -50,7 +50,7 @@ static void comm_state_machine_run(void)
     case STATE_WAIT_RECV:
     {
         // rt_kprintf("Wait Message...\n");
-        if (rt_event_recv(&output_uart_rx_event, 0x01, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, RT_WAITING_FOREVER, &e) == RT_EOK)
+        if (rt_event_recv(&output_uart_rx_event, 0x01, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, 100, &e) == RT_EOK)
         {
             rt_kprintf("Deal Data Ready...\n");
             hex_dump_simple(output_uart_rx_buffer, output_uart_rx_len);
@@ -107,8 +107,10 @@ static void comm_state_machine_run(void)
                                 payload,
                                 sizeof(payload),
                                 true);
-            // uart_send((uint8_t *)&resp, 8 + sizeof(payload) + 2);
+            // 发送 数据
-            hex_dump_simple((uint8_t *)&resp, 8 + sizeof(payload) + 2);
+            Protocol_SerializeFrame(send_buf, sizeof(send_buf), &resp);
+            HAL_UART_Transmit(&huart3, send_buf, 8 + sizeof(payload) + 2, 100);
+            hex_dump_simple(send_buf, 8 + sizeof(payload) + 2);
         }
         // 设置状态包上报间隔
         else if (mcmd == 0x02 && scmd == 0x10)
@@ -131,8 +133,10 @@ static void comm_state_machine_run(void)
                                 payload,
                                 sizeof(payload),
                                 true);
-            // uart_send((uint8_t *)&resp, 8 + sizeof(payload) + 2);
+            // 发送 数据
-            hex_dump_simple((uint8_t *)&resp, 8 + sizeof(payload) + 2);
+            Protocol_SerializeFrame(send_buf, sizeof(send_buf), &resp);
+            HAL_UART_Transmit(&huart3, send_buf, 8 + sizeof(payload) + 2, 100);
+            hex_dump_simple(send_buf, 8 + sizeof(payload) + 2);
         }
         else
         {
@@ -174,8 +178,7 @@ static void output_thread_entry(void *parameter)
 {
     while (1)
     {
-        // comm_state_machine_run();
+        comm_state_machine_run();
-        upload_StatusPackage();
         rt_thread_mdelay(15);
     }
 }

CAN/XM-01/Core/Src/protocol_parser.c

@@ -44,9 +44,9 @@ void Protocol_BuildFrame(ProtocolFrame *frame, uint8_t frame_ctl, uint16_t seq,
     frame->head[0] = FRAME_HEAD_1;
     frame->head[1] = FRAME_HEAD_2;
     frame->version = VERSION;
-    frame->frame_ctl = frame_ctl;
+    frame->frame_ctl = (frame_ctl);
-    frame->seq_num = BSWAP16(seq);
+    frame->seq_num = (seq);
-    frame->payload_len = BSWAP16(payload_len);
+    frame->payload_len = (payload_len);
 
     rt_memcpy(frame->payload, payload, payload_len);
 
@@ -58,8 +58,7 @@ void Protocol_BuildFrame(ProtocolFrame *frame, uint8_t frame_ctl, uint16_t seq,
     if (enable_crc)
     {
         crc = Protocol_CRC16_CCITT(0xFFFF, (uint8_t *)frame, 6 + payload_len);
-				// 高低位交换
+        frame->crc = crc;
-        frame->crc = BSWAP16(crc);
     }
     else
     {
@@ -104,3 +103,53 @@ bool Protocol_ParseFrame(const uint8_t *data, uint16_t len, ProtocolFrame *frame
     }
     return true;
 }
+
+/**
+ * 将ProtocolFrame结构体的值序列化到字节数组
+ * @param buffer 目标缓冲区
+ * @param buffer_size 缓冲区大小
+ * @param frame 源ProtocolFrame结构体
+ * @return 实际写入的字节数，若缓冲区不足则返回0
+ */
+uint16_t Protocol_SerializeFrame(uint8_t *buffer, uint16_t buffer_size, const ProtocolFrame *frame)
+{
+    uint16_t offset = 0;
+    uint16_t required_size = sizeof(frame->head) + sizeof(frame->version) +
+                             sizeof(frame->frame_ctl) + sizeof(frame->seq_num) +
+                             sizeof(frame->payload_len) + frame->payload_len +
+                             sizeof(frame->crc);
+
+    // 检查缓冲区是否足够大
+    if (buffer_size < required_size)
+    {
+        return 0; // 缓冲区不足
+    }
+
+    // 复制头部
+    rt_memcpy(buffer + offset, frame->head, sizeof(frame->head));
+    offset += sizeof(frame->head);
+
+    // 复制版本号
+    buffer[offset++] = frame->version;
+
+    // 复制帧控制字段
+    buffer[offset++] = frame->frame_ctl;
+
+    // 复制序列号（按大端格式写入）
+    buffer[offset++] = (frame->seq_num >> 8) & 0xFF;
+    buffer[offset++] = frame->seq_num & 0xFF;
+
+    // 复制负载长度（按大端格式写入）
+    buffer[offset++] = (frame->payload_len >> 8) & 0xFF;
+    buffer[offset++] = frame->payload_len & 0xFF;
+
+    // 复制负载数据
+    rt_memcpy(buffer + offset, frame->payload, frame->payload_len);
+    offset += frame->payload_len;
+
+    // 复制CRC校验值（按大端格式写入）
+    buffer[offset++] = (frame->crc >> 8) & 0xFF;
+    buffer[offset++] = frame->crc & 0xFF;
+
+    return offset; // 返回实际写入的字节数
+}

CAN/XM-01/MDK-ARM/XM-01.uvoptx

@@ -158,40 +158,7 @@
           <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F405RGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
+      <Breakpoint/>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>60</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134227730</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Core\Src\protocol_parser.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\XM_01\../Core/Src/protocol_parser.c\60</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>41</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134255062</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Core\Src\myOutput_deal.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\XM_01\../Core/Src/myOutput_deal.c\41</Expression>
-        </Bp>
-      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -208,6 +175,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>send_buf</ItemText>
         </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>resp</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

README.md

@@ -67,7 +67,8 @@
 |            | CAN总线调试完成 可以通讯 完成线程   |                    |
 | 2025-06-03 | 完成算法计算腰部位置代码移植        | 后续还需要更改            |
 |            | 增加串口3作为输出 用于CAN替换     | 增加处理线程             |
-| 2025-06-04 | 完成串口协议的对接             |                    |
+| 2025-06-04 | 完成串口协议的对接，串口可输出       |                    |
+|            |                       |                    |
 
 ---