增加调试

python/mcu/DebugUart.py

@@ -0,0 +1,165 @@
+import os
+import time
+
+from lief import Object
+
+from collections import OrderedDict
+
+
+class DebugUart(Object):
+
+    def __init__(self, mcu):
+        super().__init__()
+        self.mcu = mcu
+        # 0x01 0x42 0x6C 0x6b
+
+    def set(self, text):
+        #  1 0x42 0x6C 0x6b
+        # text = self.ui.textEdit.toPlainText()
+        # self.ui.textEdit_2.clear()
+        if not text:
+            return
+        text = text.replace("，", ",")
+        text = text.replace(" ", ",")
+        text = text.replace("\n", ",")
+        data = text.split(",")
+        try:
+            buf = [
+                self.mcu.command["signal_forwarding"],
+                0x01,
+                0x01,
+                0x00,
+                0x00,
+            ]
+            data = [int(x, 16) for x in data if x]
+            buf.extend(data)
+            # text = " ".join([f"0x{x:02X}" for x in data])
+            # self.ui.textEdit.setText(text)
+            # # 刷新界面命令
+            # QApplication.processEvents()
+            self.mcu.add_send_data_queue(buf)
+            self.get()
+        except BaseException as e:
+            print("解析错误", e)
+            pass
+
+    def get(self, *args):
+
+        self.mcu.last_from_mcu_move_respond_data = None
+        _s = time.time()
+        print("_s", _s)
+        while 1:
+            time.sleep(0.1)
+            if time.time() - _s > 3:
+                return False
+            if self.mcu.last_from_mcu_move_respond_data is not None:
+                break
+        receive_data = self.mcu.last_from_mcu_move_respond_data
+        receive_data = receive_data[2:]
+        print("<------------------get_from_mcu_move_respond_data")
+        # self.ui.textEdit_2.setText(" ".join([hex(x) for x in receive_data]))
+        if len(receive_data) >= 37:
+            # 锁定按键菜单 Lock 为 Disable（0x01 为 Enable）；
+            data = OrderedDict()
+            # 锁定按键菜单 Lock 为 Disable（0x01 为 Enable）；
+            data["锁定按键菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=4, len_data=1
+            )
+            # 控制模式菜单 Ctrl_Mode 为 CR_VFOC，即 FOC 矢量闭环控制模式；
+            data["控制模式菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=5, len_data=1
+            )
+            # 脉冲端口复用功能菜单 P_PUL 为 PUL_ENA，即使能脉冲输入控制
+            data["脉冲端口复用功能菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=6, len_data=1
+            )
+            # 通讯端口复用功能菜单 P_Serial 为 UART_FUN，即使能串口通讯；
+            data["通讯端口复用功能菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=7, len_data=1
+            )
+            # En 引脚的有效电平菜单 En 为 Hold，即一直有效
+            data["En引脚的有效电平菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=8, len_data=1
+            )
+            # 电机旋转正方向菜单 Dir 为 CW，即顺时针方向
+            data["电机旋转正方向菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=9, len_data=1
+            )
+            # 细分菜单 MStep 为 16 细分;（注：256 细分用 00 表示）
+            data["细分菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=10, len_data=1
+            )
+            # 细分插补功能菜单 MPlyer 为 Enable，即使能细分插补；
+            data["细分插补功能菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=11, len_data=1
+            )
+            # 自动熄屏功能菜单 AutoSDD 为 Disable，即关闭自动熄屏功能
+            data["自动熄屏功能菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=12, len_data=1
+            )
+            # 采样电流低通滤波器强度菜单 LPFilter 为 Def
+            data["采样电流低通滤波器强度菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=13, len_data=1
+            )
+            # 开环模式工作电流菜单 Ma 为 120 0Ma
+            data["开环模式工作电流菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=14, len_data=2
+            )
+            # 闭环模式最大电流菜单 Ma_Limit 为 2200Ma；
+            data["闭环模式最大电流菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=16, len_data=2
+            )
+            # 闭环模式最大转速菜单 Vm_Limit 为 3000RPM（转/每分钟）；
+            data["闭环模式最大转速菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=18, len_data=2
+            )
+            # 电流环带宽菜单 CurBW_Hz 为 1000rad/s；
+            data["电流环带宽菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=20, len_data=2
+            )
+            # 串口波特率菜单 UartBaud 为 115200;（对应小屏幕选项顺序）
+            data["串口波特率菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=22, len_data=1
+            )
+            # CAN 通讯速率菜单 CAN_Baud 为 500000;（对应小屏幕选项顺序）
+            data["CAN通讯速率菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=23, len_data=1
+            )
+            # 通讯校验方式菜单 Checksum 为 0x6B;
+            data["通讯校验方式菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=24, len_data=1
+            )
+            # 控制命令应答菜单 Response 为 Receive，即只返回确认收到命令;
+            data["控制命令应答菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=25, len_data=1
+            )
+            # 通讯控制输入角度精确度选项菜单 S_PosTDP 为 Disable;
+            data["通讯控制输入角度精确度选项菜单"] = (
+                self.mcu.get_data_from_receive_data(
+                    receive_data=receive_data, start=26, len_data=1
+                )
+            )
+            # 堵转保护功能菜单 Clog_Pro 为 Enable，即使能堵转保护;
+            data["堵转保护功能菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=27, len_data=1
+            )
+            # 堵转保护转速阈值菜单 Clog_Rpm 为 8RPM（转/每分钟）;
+            data["堵转保护转速阈值菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=28, len_data=2
+            )
+            # 堵转保护电流阈值菜单 Clog_Ma 为 2000Ma;
+            data["堵转保护电流阈值菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=30, len_data=2
+            )
+            # 堵转保护检测时间阈值菜单 Clog_Ms 为 2000ms;
+            data["堵转保护检测时间阈值菜单"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=32, len_data=2
+            )
+            # 位置到达窗口为 0.3
+            data["位置到达窗口"] = self.mcu.get_data_from_receive_data(
+                receive_data=receive_data, start=34, len_data=2
+            )
+
+            for k, v in data.items():
+                print("{}:{}".format(k, v))
+            return data