#include "usartx.h"
SEND_DATA Send_Data;
RECEIVE_DATA Receive_Data;
extern int Time_count;

/**************************************************************************
Function: Usartx3, Usartx1,Usartx5 and CAN send data task 
Input   : none
Output  : none
函数功能：串口3、串口1、串口5、CAN发送数据任务
入口参数：无
返回  值：无
**************************************************************************/
void data_task(void *pvParameters)
{
	 u32 lastWakeTime = getSysTickCnt();
	
   while(1)
    {	
			//The task is run at 20hz
			//此任务以20Hz的频率运行
			vTaskDelayUntil(&lastWakeTime, F2T(RATE_20_HZ));
			//Assign the data to be sent
			//对要进行发送的数据进行赋值
			data_transition(); 
			USART1_SEND();     //Serial port 1 sends data //串口1发送数据
			USART3_SEND();     //Serial port 3 (ROS) sends data  //串口3(ROS)发送数据
			USART5_SEND();		 //Serial port 5 sends data //串口5发送数据
			CAN_SEND();        //CAN send data //CAN发送数据	
		}
}
/**************************************************************************
Function: The data sent by the serial port is assigned
Input   : none
Output  : none
函数功能：串口发送的数据进行赋值
入口参数：无
返回  值：无
**************************************************************************/
void data_transition(void)
{
	Send_Data.Sensor_Str.Frame_Header = FRAME_HEADER; //Frame_header //帧头
	Send_Data.Sensor_Str.Frame_Tail = FRAME_TAIL;     //Frame_tail //帧尾
	
	//According to different vehicle types, different kinematics algorithms were selected to carry out the forward kinematics solution, 
	//and the three-axis velocity was obtained from each wheel velocity
	//根据不同车型选择不同运动学算法进行运动学正解，从各车轮速度求出三轴速度
	switch(Car_Mode)
	{	
		case Mec_Car:      
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)*1000;
	    Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder-MOTOR_D.Encoder)/4)*1000; 
	    Send_Data.Sensor_Str.Z_speed = ((-MOTOR_A.Encoder-MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4/(Axle_spacing+Wheel_spacing))*1000;         
		  break; 
		
    case Omni_Car:      
			Send_Data.Sensor_Str.X_speed = ((MOTOR_C.Encoder-MOTOR_B.Encoder)/2/X_PARAMETER)*1000; 
	    Send_Data.Sensor_Str.Y_speed = ((MOTOR_A.Encoder*2-MOTOR_B.Encoder-MOTOR_C.Encoder)/3)*1000; 
	    Send_Data.Sensor_Str.Z_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder)/3/Omni_turn_radiaus)*1000;      
		  break; 
    
		case Akm_Car:  
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000; 
			Send_Data.Sensor_Str.Y_speed = 0;
			Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)*1000;
		  break; 
		
		case Diff_Car: 
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000; 
			Send_Data.Sensor_Str.Y_speed = 0;
			Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/Wheel_spacing)*1000;
			break; 
		
		case FourWheel_Car:
      Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/4)*1000; 
	    Send_Data.Sensor_Str.Y_speed = 0;
	    Send_Data.Sensor_Str.Z_speed = ((-MOTOR_B.Encoder-MOTOR_A.Encoder+MOTOR_C.Encoder+MOTOR_D.Encoder)/2/(Axle_spacing+Wheel_spacing))*1000;
		 break; 
		
		case Tank_Car:   
			Send_Data.Sensor_Str.X_speed = ((MOTOR_A.Encoder+MOTOR_B.Encoder)/2)*1000; 
			Send_Data.Sensor_Str.Y_speed = 0;
			Send_Data.Sensor_Str.Z_speed = ((MOTOR_B.Encoder-MOTOR_A.Encoder)/(Wheel_spacing)*1000);
			break; 
	}
	
	//The acceleration of the triaxial acceleration //加速度计三轴加速度
	Send_Data.Sensor_Str.Accelerometer.X_data= accel[1]; //The accelerometer Y-axis is converted to the ros coordinate X axis //加速度计Y轴转换到ROS坐标X轴
	Send_Data.Sensor_Str.Accelerometer.Y_data=-accel[0]; //The accelerometer X-axis is converted to the ros coordinate y axis //加速度计X轴转换到ROS坐标Y轴
	Send_Data.Sensor_Str.Accelerometer.Z_data= accel[2]; //The accelerometer Z-axis is converted to the ros coordinate Z axis //加速度计Z轴转换到ROS坐标Z轴
	
	//The Angle velocity of the triaxial velocity //角速度计三轴角速度
	Send_Data.Sensor_Str.Gyroscope.X_data= gyro[1]; //The Y-axis is converted to the ros coordinate X axis //角速度计Y轴转换到ROS坐标X轴
	Send_Data.Sensor_Str.Gyroscope.Y_data=-gyro[0]; //The X-axis is converted to the ros coordinate y axis //角速度计X轴转换到ROS坐标Y轴
	if(Flag_Stop==0) 
		//If the motor control bit makes energy state, the z-axis velocity is sent normall
	  //如果电机控制位使能状态，那么正常发送Z轴角速度
		Send_Data.Sensor_Str.Gyroscope.Z_data=gyro[2];  
	else  
		//If the robot is static (motor control dislocation), the z-axis is 0
    //如果机器人是静止的（电机控制位失能），那么发送的Z轴角速度为0		
		Send_Data.Sensor_Str.Gyroscope.Z_data=0;        
	
	//Battery voltage (this is a thousand times larger floating point number, which will be reduced by a thousand times as well as receiving the data).
	//电池电压(这里将浮点数放大一千倍传输，相应的在接收端在接收到数据后也会缩小一千倍)
	Send_Data.Sensor_Str.Power_Voltage = Voltage*1000; 
	
	Send_Data.buffer[0]=Send_Data.Sensor_Str.Frame_Header; //Frame_heade //帧头
  Send_Data.buffer[1]=Flag_Stop; //Car software loss marker //小车软件失能标志位
	
	//The three-axis speed of / / car is split into two eight digit Numbers
	//小车三轴速度,各轴都拆分为两个8位数据再发送
	Send_Data.buffer[2]=Send_Data.Sensor_Str.X_speed >>8; 
	Send_Data.buffer[3]=Send_Data.Sensor_Str.X_speed ;    
	Send_Data.buffer[4]=Send_Data.Sensor_Str.Y_speed>>8;  
	Send_Data.buffer[5]=Send_Data.Sensor_Str.Y_speed;     
	Send_Data.buffer[6]=Send_Data.Sensor_Str.Z_speed >>8; 
	Send_Data.buffer[7]=Send_Data.Sensor_Str.Z_speed ;    
	
	//The acceleration of the triaxial axis of / / imu accelerometer is divided into two eight digit reams
	//IMU加速度计三轴加速度,各轴都拆分为两个8位数据再发送
	Send_Data.buffer[8]=Send_Data.Sensor_Str.Accelerometer.X_data>>8; 
	Send_Data.buffer[9]=Send_Data.Sensor_Str.Accelerometer.X_data;   
	Send_Data.buffer[10]=Send_Data.Sensor_Str.Accelerometer.Y_data>>8;
	Send_Data.buffer[11]=Send_Data.Sensor_Str.Accelerometer.Y_data;
	Send_Data.buffer[12]=Send_Data.Sensor_Str.Accelerometer.Z_data>>8;
	Send_Data.buffer[13]=Send_Data.Sensor_Str.Accelerometer.Z_data;
	
	//The axis of the triaxial velocity of the / /imu is divided into two eight digits
	//IMU角速度计三轴角速度,各轴都拆分为两个8位数据再发送
	Send_Data.buffer[14]=Send_Data.Sensor_Str.Gyroscope.X_data>>8;
	Send_Data.buffer[15]=Send_Data.Sensor_Str.Gyroscope.X_data;
	Send_Data.buffer[16]=Send_Data.Sensor_Str.Gyroscope.Y_data>>8;
	Send_Data.buffer[17]=Send_Data.Sensor_Str.Gyroscope.Y_data;
	Send_Data.buffer[18]=Send_Data.Sensor_Str.Gyroscope.Z_data>>8;
	Send_Data.buffer[19]=Send_Data.Sensor_Str.Gyroscope.Z_data;
	
	//Battery voltage, split into two 8 digit Numbers
	//电池电压,拆分为两个8位数据发送
	Send_Data.buffer[20]=Send_Data.Sensor_Str.Power_Voltage >>8; 
	Send_Data.buffer[21]=Send_Data.Sensor_Str.Power_Voltage; 

  //Data check digit calculation, Pattern 1 is a data check
  //数据校验位计算，模式1是发送数据校验
	Send_Data.buffer[22]=Check_Sum(22,1); 
	
	Send_Data.buffer[23]=Send_Data.Sensor_Str.Frame_Tail; //Frame_tail //帧尾
}
/**************************************************************************
Function: Serial port 1 sends data
Input   : none
Output  : none
函数功能：串口1发送数据
入口参数：无
返回  值：无
**************************************************************************/
void USART1_SEND(void)
{
  unsigned char i = 0;	
	
	for(i=0; i<24; i++)
	{
		usart1_send(Send_Data.buffer[i]);
	}	 
}
/**************************************************************************
Function: Serial port 3 sends data
Input   : none
Output  : none
函数功能：串口3发送数据
入口参数：无
返回  值：无
**************************************************************************/
void USART3_SEND(void)
{
  unsigned char i = 0;	
	for(i=0; i<24; i++)
	{
		usart3_send(Send_Data.buffer[i]);
	}	 
}
/**************************************************************************
Function: Serial port 5 sends data
Input   : none
Output  : none
函数功能：串口5发送数据
入口参数：无
返回  值：无
**************************************************************************/
void USART5_SEND(void)
{
  unsigned char i = 0;	
	for(i=0; i<24; i++)
	{
		usart5_send(Send_Data.buffer[i]);
	}	 
}
/**************************************************************************
Function: CAN sends data
Input   : none
Output  : none
函数功能：CAN发送数据
入口参数：无
返 回 值：无
**************************************************************************/
void CAN_SEND(void) 
{
	u8 CAN_SENT[8],i;
	
	for(i=0;i<8;i++)
	{
	  CAN_SENT[i]=Send_Data.buffer[i];
	}
	CAN1_Send_Num(0x101,CAN_SENT);
	
	for(i=0;i<8;i++)
	{
	  CAN_SENT[i]=Send_Data.buffer[i+8];
	}
	CAN1_Send_Num(0x102,CAN_SENT);
	
	for(i=0;i<8;i++)
	{
	  CAN_SENT[i]=Send_Data.buffer[i+16];
	}
	CAN1_Send_Num(0x103,CAN_SENT);
}
/**************************************************************************
Function: Serial port 1 initialization
Input   : none
Output  : none
函数功能：串口1初始化
入口参数：无
返 回 值：无
**************************************************************************/
void uart1_init(u32 bound)
{  	 
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);	 //Enable the gpio clock //使能GPIO时钟
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); //Enable the Usart clock //使能USART时钟

	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1);	
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10 ,GPIO_AF_USART1);	 
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9|GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;            //输出模式
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;          //推挽输出
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;       //高速50MHZ
	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;            //上拉
	GPIO_Init(GPIOA, &GPIO_InitStructure);  		          //初始化
	
  //UsartNVIC configuration //UsartNVIC配置
	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
	//Preempt priority //抢占优先级
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
	//Subpriority //子优先级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;		
	//Enable the IRQ channel //IRQ通道使能
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;	
  //Initialize the VIC register with the specified parameters 
	//根据指定的参数初始化VIC寄存器	
	NVIC_Init(&NVIC_InitStructure);	
	
  //USART Initialization Settings 初始化设置
	USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止位
	USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//Sending and receiving mode //收发模式
	USART_Init(USART1, &USART_InitStructure); //Initialize serial port 1 //初始化串口1
	
	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
	USART_Cmd(USART1, ENABLE);                     //Enable serial port 1 //使能串口1
}
/**************************************************************************
Function: Serial port 2 initialization
Input   : none
Output  : none
函数功能：串口2初始化
入口参数：无
返回  值：无
**************************************************************************/
void uart2_init(u32 bound)
{  	 
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);	 //Enable the gpio clock  //使能GPIO时钟
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); //Enable the Usart clock //使能USART时钟
	
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource5,GPIO_AF_USART2);	
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource6 ,GPIO_AF_USART2);	 
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5|GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;            //输出模式
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;          //推挽输出
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;       //高速50MHZ
	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;            //上拉
	GPIO_Init(GPIOD, &GPIO_InitStructure);  		          //初始化
	
	//UsartNVIC configuration //UsartNVIC配置
	NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
	//Preempt priority //抢占优先级
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1 ;
	//Subpriority //子优先级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;	
  //Enable the IRQ channel //IRQ通道使能	
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  //Initialize the VIC register with the specified parameters 
	//根据指定的参数初始化VIC寄存器		
	NVIC_Init(&NVIC_InitStructure);	
	
	//USART Initialization Settings 初始化设置
	USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止
	USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//Sending and receiving mode //收发模式
	USART_Init(USART2, &USART_InitStructure);      //Initialize serial port 2 //初始化串口2
	
	USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
	USART_Cmd(USART2, ENABLE);                     //Enable serial port 2 //使能串口2 
}
/**************************************************************************
Function: Serial port 3 initialization
Input   : none
Output  : none
函数功能：串口3初始化
入口参数：无
返回  值：无
**************************************************************************/
void uart3_init(u32 bound)
{  	 
  GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);	 //Enable the gpio clock  //使能GPIO时钟
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); //Enable the Usart clock //使能USART时钟
	
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource8,GPIO_AF_USART3);	
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource9,GPIO_AF_USART3);	 
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;            //输出模式
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;          //推挽输出
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;       //高速50MHZ
	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;            //上拉
	GPIO_Init(GPIOD, &GPIO_InitStructure);  		          //初始化
	
  //UsartNVIC configuration //UsartNVIC配置
  NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
	//Preempt priority //抢占优先级
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
	//Preempt priority //抢占优先级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;		
	//Enable the IRQ channel //IRQ通道使能	
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;	
  //Initialize the VIC register with the specified parameters 
	//根据指定的参数初始化VIC寄存器		
	NVIC_Init(&NVIC_InitStructure);
	
  //USART Initialization Settings 初始化设置
	USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止
	USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//Sending and receiving mode //收发模式
  USART_Init(USART3, &USART_InitStructure);      //Initialize serial port 3 //初始化串口3
	
  USART_ITConfig(USART3, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
  USART_Cmd(USART3, ENABLE);                     //Enable serial port 3 //使能串口3 
}
/**************************************************************************
Function: Serial port 5 initialization
Input   : none
Output  : none
函数功能：串口5初始化
入口参数：无
返回  值：无
**************************************************************************/
void uart5_init(u32 bound)
{  	 
  GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	//PC12 TX
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);	 //Enable the gpio clock  //使能GPIO时钟
		//PD2 RX
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);	 //Enable the gpio clock  //使能GPIO时钟
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART5, ENABLE); //Enable the Usart clock //使能USART时钟

	GPIO_PinAFConfig(GPIOC,GPIO_PinSource12,GPIO_AF_UART5);	
	GPIO_PinAFConfig(GPIOD,GPIO_PinSource2 ,GPIO_AF_UART5);	 
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;            //输出模式
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;          //推挽输出
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;       //高速50MHZ
	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;            //上拉
	GPIO_Init(GPIOC, &GPIO_InitStructure);  		          //初始化

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;            //输出模式
	GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;          //推挽输出
	GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;       //高速50MHZ
	GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;            //上拉
	GPIO_Init(GPIOD, &GPIO_InitStructure);  		          //初始化
	
  //UsartNVIC configuration //UsartNVIC配置
  NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;
	//Preempt priority //抢占优先级
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;
	//Preempt priority //抢占优先级
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;		
	//Enable the IRQ channel //IRQ通道使能	
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;	
  //Initialize the VIC register with the specified parameters 
	//根据指定的参数初始化VIC寄存器		
	NVIC_Init(&NVIC_InitStructure);
	
  //USART Initialization Settings 初始化设置
	USART_InitStructure.USART_BaudRate = bound; //Port rate //串口波特率
	USART_InitStructure.USART_WordLength = USART_WordLength_8b; //The word length is 8 bit data format //字长为8位数据格式
	USART_InitStructure.USART_StopBits = USART_StopBits_1; //A stop bit //一个停止
	USART_InitStructure.USART_Parity = USART_Parity_No; //Prosaic parity bits //无奇偶校验位
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //No hardware data flow control //无硬件数据流控制
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//Sending and receiving mode //收发模式
  USART_Init(UART5, &USART_InitStructure);      //Initialize serial port 5 //初始化串口5
  USART_ITConfig(UART5, USART_IT_RXNE, ENABLE); //Open the serial port to accept interrupts //开启串口接受中断
  USART_Cmd(UART5, ENABLE);                     //Enable serial port 5 //使能串口5
}
/**************************************************************************
Function: Serial port 1 receives interrupted
Input   : none
Output  : none
函数功能：串口1接收中断
入口参数：无
返 回 值：无
**************************************************************************/
int USART1_IRQHandler(void)
{	
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
	{
		u8 Usart_Receive;
		static u8 Count;
		static u8 rxbuf[11];
		int check=0,error=1,i;
		
		Usart_Receive = USART_ReceiveData(USART1); //Read the data //读取数据
		if(Time_count<CONTROL_DELAY)
			// Data is not processed until 10 seconds after startup
		  //开机10秒前不处理数据
			return 0;	
			
		//Fill the array with serial data
		//串口数据填入数组
    rxbuf[Count]=Usart_Receive;  
		
		//Ensure that the first data in the array is FRAME_HEADER
		//确保数组第一个数据为FRAME_HEADER
    if(Usart_Receive == FRAME_HEADER||Count>0) 
			Count++; 
		else 
			Count=0;
		
		if (Count == 11) //Verify the length of the packet //验证数据包的长度
		{   
				Count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
				if(rxbuf[10] == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
				{			
					for(i=0; i<9; i++)
					{
						//XOR bit check, used to detect data error
						//异或位校验，用于检测数据是否出错
						check=rxbuf[i]^check; 
					}
					if(check==rxbuf[9]) 
						//XOR bit check successful
					  //异或位校验成功
					  error=0; 
					
					if(error==0)	 
				  {		
						float Vz;
            if(Usart1_ON_Flag==0)
						{	
							//Serial port 1 controls flag position 1, other flag position 0
							//串口1控制标志位置1，其它标志位置0
							//Usart_ON_Flag=1;
							Usart1_ON_Flag=1;
							APP_ON_Flag=0;
							PS2_ON_Flag=0;
							Remote_ON_Flag=0;
							CAN_ON_Flag=0;
						}		
							command_lost_count=0; //CAN/串口控制命令丢失计数清零
		
						//Calculate the 3-axis target velocity from the serial data, which is divided into 8-bit high and 8-bit low units mm/s
						//从串口数据求三轴目标速度，分高8位和低8位 单位mm/s
						Move_X=XYZ_Target_Speed_transition(rxbuf[3],rxbuf[4]);
						Move_Y=XYZ_Target_Speed_transition(rxbuf[5],rxbuf[6]);
						Vz    =XYZ_Target_Speed_transition(rxbuf[7],rxbuf[8]);
						if(Car_Mode==Akm_Car)
						{
							Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
						}
						else
						{
							Move_Z=XYZ_Target_Speed_transition(rxbuf[7],rxbuf[8]);
						}		
					}
			  }
		 }
	}
		return 0;	
}
/**************************************************************************
Function: Refresh the OLED screen
Input   : none
Output  : none
函数功能：串口2接收中断
入口参数：无
返回  值：无
**************************************************************************/
int USART2_IRQHandler(void)
{	
	int Usart_Receive;
	if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
	{	      
		static u8 Flag_PID,i,j,Receive[50],Last_Usart_Receive;
		static float Data;
				
		Usart_Receive=USART2->DR; //Read the data //读取数据
		
		if(Deviation_Count<CONTROL_DELAY)
			// Data is not processed until 10 seconds after startup
		  //开机10秒前不处理数据
		  return 0;	

		if(Usart_Receive==0x41&&Last_Usart_Receive==0x41&&APP_ON_Flag==0)
			//10 seconds after startup, press the forward button of APP to enter APP control mode
		  //The APP controls the flag position 1 and the other flag position 0
			//开机10秒之后，按下APP的前进键进入APP控制模式
		  //APP控制标志位置1，其它标志位置0
			PS2_ON_Flag=0,Remote_ON_Flag=0,APP_ON_Flag=1,CAN_ON_Flag=0,Usart1_ON_Flag=0,Usart5_ON_Flag=0;
    Last_Usart_Receive=Usart_Receive;			
	  
		if(Usart_Receive==0x4B) 
			//Enter the APP steering control interface
		  //进入APP转向控制界面
			Turn_Flag=1;  
	  else	if(Usart_Receive==0x49||Usart_Receive==0x4A) 
      // Enter the APP direction control interface		
			//进入APP方向控制界面	
			Turn_Flag=0;	
		
		if(Turn_Flag==0) 
		{
			//App rocker control interface command
			//APP摇杆控制界面命令
			if(Usart_Receive>=0x41&&Usart_Receive<=0x48)  
			{	
				Flag_Direction=Usart_Receive-0x40;
			}
			else	if(Usart_Receive<=8)   
			{			
				Flag_Direction=Usart_Receive;
			}	
			else  Flag_Direction=0;
		}
		else if(Turn_Flag==1)
		{
			//APP steering control interface command
			//APP转向控制界面命令
			if     (Usart_Receive==0x43) Flag_Left=0,Flag_Right=1; //Right rotation //右自转
			else if(Usart_Receive==0x47) Flag_Left=1,Flag_Right=0; //Left rotation  //左自转
			else                         Flag_Left=0,Flag_Right=0;
			if     (Usart_Receive==0x41||Usart_Receive==0x45) Flag_Direction=Usart_Receive-0x40;
			else  Flag_Direction=0;
		}
		if(Usart_Receive==0x58)  RC_Velocity=RC_Velocity+100; //Accelerate the keys, +100mm/s //加速按键，+100mm/s
		if(Usart_Receive==0x59)  RC_Velocity=RC_Velocity-100; //Slow down buttons,   -100mm/s //减速按键，-100mm/s
	  
	 // The following is the communication with the APP debugging interface
	 //以下是与APP调试界面通讯
	 if(Usart_Receive==0x7B) Flag_PID=1;   //The start bit of the APP parameter instruction //APP参数指令起始位
	 if(Usart_Receive==0x7D) Flag_PID=2;   //The APP parameter instruction stops the bit    //APP参数指令停止位

	 if(Flag_PID==1) //Collect data //采集数据
	 {
		Receive[i]=Usart_Receive;
		i++;
	 }
	 if(Flag_PID==2) //Analyze the data //分析数据
	 {
			if(Receive[3]==0x50) 	 PID_Send=1;
			else  if(Receive[1]!=0x23) 
      {								
				for(j=i;j>=4;j--)
				{
					Data+=(Receive[j-1]-48)*pow(10,i-j);
				}
				switch(Receive[1])
				 {
					 case 0x30:  RC_Velocity=Data;break;
					 case 0x31:  Velocity_KP=Data;break;
					 case 0x32:  Velocity_KI=Data;break;
					 case 0x33:  break;
					 case 0x34:  break;
					 case 0x35:  break;
					 case 0x36:  break;
					 case 0x37:  break;
					 case 0x38:  break; 	
				 }
      }		
      //Relevant flag position is cleared			
      //相关标志位清零			
			Flag_PID=0;
			i=0;
			j=0;
			Data=0;
			memset(Receive, 0, sizeof(u8)*50); //Clear the array to zero//数组清零
	 }
   if(RC_Velocity<0)   RC_Velocity=0; 	 
  }
  return 0;	
}
/**************************************************************************
Function: Serial port 3 receives interrupted
Input   : none
Output  : none
函数功能：串口3接收中断
入口参数：无
返回  值：无
**************************************************************************/
float test_movz = 0;
int USART3_IRQHandler(void)
{	
	static u8 Count=0;
	u8 Usart_Receive;

	if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
	{
		Usart_Receive = USART_ReceiveData(USART3);//Read the data //读取数据
		if(Time_count<CONTROL_DELAY)
			// Data is not processed until 10 seconds after startup
		  //开机10秒前不处理数据
		  return 0;	
		
		//Fill the array with serial data
		//串口数据填入数组
    Receive_Data.buffer[Count]=Usart_Receive;
		
		// Ensure that the first data in the array is FRAME_HEADER
		//确保数组第一个数据为FRAME_HEADER
		if(Usart_Receive == FRAME_HEADER||Count>0) 
			Count++; 
		else 
			Count=0;
		
		if (Count == 11) //Verify the length of the packet //验证数据包的长度
		{   
				Count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
				if(Receive_Data.buffer[10] == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
				{
					//Data exclusionary or bit check calculation, mode 0 is sent data check
					//数据异或位校验计算，模式0是发送数据校验
					if(Receive_Data.buffer[9] ==Check_Sum(9,0))	 
				  {	
						float Vz;						
						//All modes flag position 0, USART3 control mode
            //所有模式标志位置0，为Usart3控制模式						
						PS2_ON_Flag=0;
						Remote_ON_Flag=0;
						APP_ON_Flag=0;
						CAN_ON_Flag=0;
						Usart1_ON_Flag=0;
						Usart5_ON_Flag=0;
						command_lost_count=0; //CAN/串口控制命令丢失计数清零

						//Calculate the target speed of three axis from serial data, unit m/s
						//从串口数据求三轴目标速度， 单位m/s
						Move_X=XYZ_Target_Speed_transition(Receive_Data.buffer[3],Receive_Data.buffer[4]);
						Move_Y=XYZ_Target_Speed_transition(Receive_Data.buffer[5],Receive_Data.buffer[6]);
						Vz    =XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
						test_movz = Vz;
						if(Car_Mode==Akm_Car)
						{
							Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
						}
						else
						{
							Move_Z=XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
						}				  }

			}
		}
	} 
  return 0;	
}

/**************************************************************************
Function: Serial port 5 receives interrupted
Input   : none
Output  : none
函数功能：串口5接收中断
入口参数：无
返回  值：无
**************************************************************************/
int UART5_IRQHandler(void)
{	
	static u8 Count=0;
	u8 Usart_Receive;

	if(USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) //Check if data is received //判断是否接收到数据
	{
		Usart_Receive = USART_ReceiveData(UART5);//Read the data //读取数据
		if(Time_count<CONTROL_DELAY)
			// Data is not processed until 10 seconds after startup
		  //开机10秒前不处理数据
		  return 0;	
		
		//Fill the array with serial data
		//串口数据填入数组
    Receive_Data.buffer[Count]=Usart_Receive;
		
		// Ensure that the first data in the array is FRAME_HEADER
		//确保数组第一个数据为FRAME_HEADER
		if(Usart_Receive == FRAME_HEADER||Count>0) 
			Count++; 
		else 
			Count=0;
		
		if (Count == 11) //Verify the length of the packet //验证数据包的长度
		{   
				Count=0; //Prepare for the serial port data to be refill into the array //为串口数据重新填入数组做准备
				if(Receive_Data.buffer[10] == FRAME_TAIL) //Verify the frame tail of the packet //验证数据包的帧尾
				{
					//Data exclusionary or bit check calculation, mode 0 is sent data check
					//数据异或位校验计算，模式0是发送数据校验
					if(Receive_Data.buffer[9] ==Check_Sum(9,0))	 
				  {	
						float Vz;						
						//All modes flag position 0, USART3 control mode
            //所有模式标志位置0，为Usart5控制模式						
						PS2_ON_Flag=0;
						Remote_ON_Flag=0;
						APP_ON_Flag=0;
						CAN_ON_Flag=0;
						Usart5_ON_Flag=0;
						command_lost_count=0; //CAN/串口控制命令丢失计数清零

						//Calculate the target speed of three axis from serial data, unit m/s
						//从串口数据求三轴目标速度， 单位m/s
						Move_X=XYZ_Target_Speed_transition(Receive_Data.buffer[3],Receive_Data.buffer[4]);
						Move_Y=XYZ_Target_Speed_transition(Receive_Data.buffer[5],Receive_Data.buffer[6]);
						Vz    =XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
						if(Car_Mode==Akm_Car)
						{
							Move_Z=Vz_to_Akm_Angle(Move_X, Vz);
						}
						else
						{
							Move_Z=XYZ_Target_Speed_transition(Receive_Data.buffer[7],Receive_Data.buffer[8]);
						}				  }
					
			}
		}
	} 
  return 0;	
}
/**************************************************************************
Function: After the top 8 and low 8 figures are integrated into a short type data, the unit reduction is converted
Input   : 8 bits high, 8 bits low
Output  : The target velocity of the robot on the X/Y/Z axis
函数功能：将上位机发过来目标前进速度Vx、目标角速度Vz，转换为阿克曼小车的右前轮转角
入口参数：目标前进速度Vx、目标角速度Vz，单位：m/s，rad/s
返回  值：阿克曼小车的右前轮转角，单位：rad
**************************************************************************/

float test_z=0;
float Vz_to_Akm_Angle(float Vx, float Vz)
{
	float R, AngleR, Min_Turn_Radius;
	//float AngleL;
	
	//Ackermann car needs to set minimum turning radius
	//If the target speed requires a turn radius less than the minimum turn radius,
	//This will greatly improve the friction force of the car, which will seriously affect the control effect
	//阿克曼小车需要设置最小转弯半径
	//如果目标速度要求的转弯半径小于最小转弯半径，
	//会导致小车运动摩擦力大大提高，严重影响控制效果
	Min_Turn_Radius=MINI_AKM_MIN_TURN_RADIUS;
	
	if(Vz!=0 && Vx!=0)
	{
		//If the target speed requires a turn radius less than the minimum turn radius
		//如果目标速度要求的转弯半径小于最小转弯半径
//		if(float_abs(Vx/Vz)<=Min_Turn_Radius)
//		{
//			//Reduce the target angular velocity and increase the turning radius to the minimum turning radius in conjunction with the forward speed
//			//降低目标角速度，配合前进速度，提高转弯半径到最小转弯半径
//			if(Vz>0)
//				Vz= float_abs(Vx)/(Min_Turn_Radius);
//			else	
//				Vz=-float_abs(Vx)/(Min_Turn_Radius);	
//		}		
		//R=Vx/Vz;
		R=Vx/Vz;
		//AngleL=atan(Axle_spacing/(R+0.5*Wheel_spacing));
		AngleR=atan(Axle_spacing/(R+0.05*Wheel_spacing));//2025.7.20edit
	}
	else
	{
		AngleR=0;
	}
	test_z = AngleR;//test
	return AngleR;
}
/**************************************************************************
Function: After the top 8 and low 8 figures are integrated into a short type data, the unit reduction is converted
Input   : 8 bits high, 8 bits low
Output  : The target velocity of the robot on the X/Y/Z axis
函数功能：将上位机发过来的高8位和低8位数据整合成一个short型数据后，再做单位还原换算
入口参数：高8位，低8位
返回  值：机器人X/Y/Z轴的目标速度
**************************************************************************/
float XYZ_Target_Speed_transition(u8 High,u8 Low)
{
	//Data conversion intermediate variable
	//数据转换的中间变量
	short transition; 
	
	//将高8位和低8位整合成一个16位的short型数据
	//The high 8 and low 8 bits are integrated into a 16-bit short data
	transition=((High<<8)+Low); 
	return 
		transition/1000+(transition%1000)*0.001; //Unit conversion, mm/s->m/s //单位转换, mm/s->m/s						
}
/**************************************************************************
Function: Serial port 1 sends data
Input   : The data to send
Output  : none
函数功能：串口1发送数据
入口参数：要发送的数据
返回  值：无
**************************************************************************/
void usart1_send(u8 data)
{
	USART1->DR = data;
	while((USART1->SR&0x40)==0);	
}
/**************************************************************************
Function: Serial port 2 sends data
Input   : The data to send
Output  : none
函数功能：串口2发送数据
入口参数：要发送的数据
返回  值：无
**************************************************************************/
void usart2_send(u8 data)
{
	USART2->DR = data;
	while((USART2->SR&0x40)==0);	
}
/**************************************************************************
Function: Serial port 3 sends data
Input   : The data to send
Output  : none
函数功能：串口3发送数据
入口参数：要发送的数据
返回  值：无
**************************************************************************/
void usart3_send(u8 data)
{
	USART3->DR = data;
	while((USART3->SR&0x40)==0);	
}

/**************************************************************************
Function: Serial port 5 sends data
Input   : The data to send
Output  : none
函数功能：串口5发送数据
入口参数：要发送的数据
返回  值：无
**************************************************************************/
void usart5_send(u8 data)
{
	UART5->DR = data;
	while((UART5->SR&0x40)==0);	
}
/**************************************************************************
Function: Calculates the check bits of data to be sent/received
Input   : Count_Number: The first few digits of a check; Mode: 0-Verify the received data, 1-Validate the sent data
Output  : Check result
函数功能：计算要发送/接收的数据校验结果
入口参数：Count_Number：校验的前几位数；Mode：0-对接收数据进行校验，1-对发送数据进行校验
返回  值：校验结果
**************************************************************************/
u8 Check_Sum(unsigned char Count_Number,unsigned char Mode)
{
	unsigned char check_sum=0,k;
	
	//Validate the data to be sent
	//对要发送的数据进行校验
	if(Mode==1)
	for(k=0;k<Count_Number;k++)
	{
	check_sum=check_sum^Send_Data.buffer[k];
	}
	
	//Verify the data received
	//对接收到的数据进行校验
	if(Mode==0)
	for(k=0;k<Count_Number;k++)
	{
	check_sum=check_sum^Receive_Data.buffer[k];
	}
	return check_sum;
}






