#include?“nrz.h“
#include?“usart.h“
#include?“tamagawa_interface.h“
#include?
#include?
//#include?
//#include?
//#include?“resource_table_empty.h“
#include?“tamagawa_interface.h“

/*?The?FIFO?size?on?the?PRU?UART?is?16?bytes;?however?we?are?（arbitrarily）
?*?only?going?to?send?8?at?a?time?*/
#define?FIFO_SIZE???16
#define?MAX_CHARS???12

//volatile?register?uint32_t?__R30;

//volatile?__near?struct?TamagawaInterface?TamagawaInterface?__attribute__（（
//????????????cregister（“PRU_DMEM_0_1“?near）?peripheral））;

struct?TamagawaInterface?ti;
uint8_t?tx_size?=?0?rx_size?=?0;
uint8_t?tx[4]?rx[12];
uint8_t?nrz_rx_cnt?=?0;
uint32_t?abs_data?=?0;
uint8_t?encoder_id?=?0;

uint8_t?crc（uint8_t?*s?uint8_t?len）;
int?tx_prepare（uint8_t?*tx?uint8_t?*tx_size?uint8_t?*rx_size）;
int?rx_parse（uint8_t?*p）;
void?crc_verify（uint8_t?*p?uint8_t?len）;
????
void?nrz_init（void）
{
	GPIO_InitTypeDef?GPIO_InitStructure;
	RCC_AHB1PeriphClockCmd?（RCC_AHB1Periph_GPIOB?ENABLE）;?	//IO口時鐘配置

	//IO配置
	GPIO_InitStructure.GPIO_Mode??=?GPIO_Mode_OUT;???	?//復(fù)用模式
	GPIO_InitStructure.GPIO_OType?=?GPIO_OType_PP;???//推挽
	GPIO_InitStructure.GPIO_PuPd??=?GPIO_PuPd_UP;		?//上拉
	GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_100MHz;?//速度等級

????//ADM485?CTL
????GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_9;	
	GPIO_Init（GPIOB?&GPIO_InitStructure）;	
????
????ti.version?=?0x00000001;
????ti.data_id?=?DATA_ID_0;
????
????//TX_ENABLE;
????TX_DISABLE;
????
#ifdef?USART2_USE_DMA

????usart2_dma_init（2500000）;
????
#else

????usart2_init（2500000）;
????
#endif?
????
????//memset（rx?0x6B?MAX_CHARS）;
}

void?nrz_send_byte（uint8_t?data）
{
????USART_SendData（USART2data）;
????while?（USART_GetFlagStatus（USART2?USART_FLAG_TXE）?==?RESET）;
}

//tx_rx（tx_size?rx_size?tx?rx）;
void?nrz_tx（uint8_t?tx_size?uint8_t?rx_size?uint8_t?*tx_buffer?uint8_t?*rx_buffer）
{
????TX_ENABLE;
????//ADM485_delay（10）;
????
????while（tx_size--）
????{
????????//nrz_send_byte（*tx_buffer++）;
????????USART_SendData（USART2*tx_buffer++）;
????????while?（USART_GetFlagStatus（USART2?USART_FLAG_TXE）?==?RESET）;
????}
????
????ADM485_delay（80）;
????TX_DISABLE;
????
//????while（rx_size--）
//????{
//????????while（USART_GetFlagStatus（USART2USART_FLAG_RXNE）==0）;

//????????*rx_buffer++?=?USART_ReceiveData（USART2）;
//????}
}

void?nrz_read（uint8_t?data_id）
{
????ti.data_id?=?data_id;
????nrz_rx_cnt?=?0;
????tx_prepare（tx?&tx_size?&rx_size）;
????nrz_tx（tx_size?rx_size?tx?rx）;
????rx_parse（rx）;
}

uint8_t?crc（uint8_t?*s?uint8_t?len）
{
????uint8_t?crc?=?0;
????uint8_t?val;
????int??i?j;
????uint8_t?data[12];

????strncpy（（char?*）data?（const?char?*）s?len）;

????for（i?=?0;?i?????????for（j?=?0;?j?????????{
????????????val?=?（data[i]?>>?7）?^?（crc?>>?7）;

????????????crc?<<=?1;
????????????data[i]?<<=?1;
????????????crc?|=?val;
????????}

????return?crc;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????176??2017-04-01?09:51??prj_F429_TS5668N21\Drive\Include\delay.h

?????文件???????1193??2018-02-28?19:38??prj_F429_TS5668N21\Drive\Include\led.h

?????文件????????781??2017-08-27?16:46??prj_F429_TS5668N21\Drive\Include\tim.h

?????文件???????1305??2018-08-06?15:35??prj_F429_TS5668N21\Drive\Include\usart.h

?????文件???????6434??2018-08-06?18:04??prj_F429_TS5668N21\Drive\nrz.c

?????文件????????806??2018-08-06?17:54??prj_F429_TS5668N21\Drive\nrz.h

?????文件???????3315??2015-08-17?22:47??prj_F429_TS5668N21\Drive\pru_types.h

?????文件???????2895??2018-08-03?18:01??prj_F429_TS5668N21\Drive\resource_table_empty.h

?????文件??????13265??2015-08-17?22:47??prj_F429_TS5668N21\Drive\rsc_types.h

?????文件???????1038??2017-05-17?17:31??prj_F429_TS5668N21\Drive\Source\delay.c

?????文件???????1756??2018-02-28?19:46??prj_F429_TS5668N21\Drive\Source\led.c

?????文件???????2249??2018-08-03?16:15??prj_F429_TS5668N21\Drive\Source\tim.c

?????文件??????11729??2018-08-06?17:49??prj_F429_TS5668N21\Drive\Source\usart.c

?????文件??????16280??2017-05-30?09:21??prj_F429_TS5668N21\Drive\spi_flash.c

?????文件???????3430??2017-05-30?09:31??prj_F429_TS5668N21\Drive\spi_flash.h

?????文件???????1822??2018-08-06?17:55??prj_F429_TS5668N21\Drive\tamagawa_interface.h

?????文件????????399??2011-04-23?10:24??prj_F429_TS5668N21\keilkilll.bat

?????文件???????6079??2018-03-01?19:47??prj_F429_TS5668N21\MY\divider.c

?????文件????????272??2018-03-01?19:47??prj_F429_TS5668N21\MY\divider.h

?????文件????????237??2018-03-01?19:24??prj_F429_TS5668N21\MY\hardware.h

?????文件???????4024??2018-08-06?18:05??prj_F429_TS5668N21\MY\main.c

?????文件???????1246??2018-03-01?18:24??prj_F429_TS5668N21\MY\params.c

?????文件????????848??2018-03-01?18:16??prj_F429_TS5668N21\MY\params.h

?????文件???????5851??2016-11-09?02:19??prj_F429_TS5668N21\MY\stm32f4xx_conf.h

?????文件???????3785??2018-08-03?20:27??prj_F429_TS5668N21\MY\stm32f4xx_it.c

?????文件???????2224??2016-11-09?02:19??prj_F429_TS5668N21\MY\stm32f4xx_it.h

?????文件???????1911??2018-03-01?19:45??prj_F429_TS5668N21\MY\trigger.c

?????文件????????226??2018-03-01?19:42??prj_F429_TS5668N21\MY\trigger.h

?????文件???????2084??2015-10-27?12:06??prj_F429_TS5668N21\Project\DebugConfig\LED_STM32F429BITx.dbgconf

?????文件???????2084??2015-10-27?12:06??prj_F429_TS5668N21\Project\DebugConfig\Target_1_STM32F429BITx.dbgconf

............此處省略263個文件信息