除了显示驱动，其余全部测试通过

2026-08-30 14:13:24 +08:00
commit c0ace98dff
146 changed files with 9476 additions and 0 deletions
@@ -0,0 +1,726 @@
+#include "system/includes.h"
+#include "system/timer.h"
+#include "app_log.h"
+#include "r60abd1.h"
+#include "radar_uart.h"
+#include <string.h>
+
+
+/*
+ * R60ABD1协议格式：
+ *
+ * [0]      0x53
+ * [1]      0x59
+ * [2]      CTRL
+ * [3]      CMD
+ * [4]      DATA_LEN_H
+ * [5]      DATA_LEN_L
+ * [6..]    DATA
+ * [-3]     CHECKSUM
+ * [-2]     0x54
+ * [-1]     0x43
+ *
+ * full_len = 9 + data_len
+ */
+
+#define R60_FRAME_HEADER1       0x53
+#define R60_FRAME_HEADER2       0x59
+#define R60_FRAME_TAIL1         0x54
+#define R60_FRAME_TAIL2         0x43
+
+#define R60_CTRL_PRESENCE       0x80
+#define R60_CTRL_BREATH         0x81
+#define R60_CTRL_SLEEP          0x84
+#define R60_CTRL_HEART          0x85
+
+#define R60_PARSE_BUF_SIZE      128
+
+
+#ifndef R60ABD1_DEBUG_LOG
+#define R60ABD1_DEBUG_LOG       1
+#endif
+
+
+#if R60ABD1_DEBUG_LOG
+#define R60_LOG(...)            APP_LOG(__VA_ARGS__)
+#else
+#define R60_LOG(...)
+#endif
+
+
+static u8 r60_parse_buf[R60_PARSE_BUF_SIZE];
+static u16 r60_parse_len;
+
+static u32 r60_rx_bytes;
+static u32 r60_valid_frame_count;
+static u32 r60_data_update_count;
+static u32 r60_checksum_error_count;
+
+static struct radar_r60abd1_data radar_data;
+
+static OS_MUTEX radar_data_mutex;
+static u8 radar_data_mutex_ready;
+
+
+/*
+ * R60坐标格式：
+ *
+ * bit15    = 符号位
+ * bit14..0 = 数值绝对值
+ */
+static s16 r60_parse_signed_coordinate(u16 raw_value)
+{
+    s16 value = (s16)(raw_value & 0x7fff);
+
+    if (raw_value & 0x8000) {
+        value = -value;
+    }
+
+    return value;
+}
+
+
+/*
+ * 协议层初始化。
+ *
+ * 必须在：
+ * radar_r60abd1_input_bytes()
+ * radar_r60abd1_get_data()
+ *
+ * 之前调用。
+ */
+int radar_r60abd1_init(void)
+{
+    memset(r60_parse_buf, 0, sizeof(r60_parse_buf));
+    memset(&radar_data, 0, sizeof(radar_data));
+
+    r60_parse_len = 0;
+    r60_rx_bytes = 0;
+    r60_valid_frame_count = 0;
+    r60_data_update_count = 0;
+    r60_checksum_error_count = 0;
+
+    if (!radar_data_mutex_ready) {
+        os_mutex_create(&radar_data_mutex);
+        radar_data_mutex_ready = 1;
+    }
+
+    R60_LOG("[R60] init success\n");
+
+    return 0;
+}
+
+
+/*
+ * 完整帧合法性校验。
+ */
+static int r60_validate_frame(const u8 *frame, u16 frame_len)
+{
+    u8 checksum = 0;
+    u16 data_len;
+    u16 i;
+
+    if (!frame || frame_len < 9) {
+        return -1;
+    }
+
+    if (frame[0] != R60_FRAME_HEADER1 ||
+        frame[1] != R60_FRAME_HEADER2) {
+        return -2;
+    }
+
+    data_len =
+        ((u16)frame[4] << 8) |
+        frame[5];
+
+    if ((u16)(9 + data_len) != frame_len) {
+        return -3;
+    }
+
+    if (frame[frame_len - 2] != R60_FRAME_TAIL1 ||
+        frame[frame_len - 1] != R60_FRAME_TAIL2) {
+        return -4;
+    }
+
+    /*
+     * checksum:
+     *
+     * frame[0] 到 DATA最后一个字节之和。
+     * 不包含checksum本身和帧尾。
+     */
+    for (i = 0; i < frame_len - 3; i++) {
+        checksum += frame[i];
+    }
+
+    if (checksum != frame[frame_len - 3]) {
+
+        if (radar_data_mutex_ready) {
+
+            os_mutex_pend(&radar_data_mutex, 0);
+
+            r60_checksum_error_count++;
+            radar_data.checksum_errors =
+                r60_checksum_error_count;
+
+            os_mutex_post(&radar_data_mutex);
+
+        } else {
+
+            r60_checksum_error_count++;
+        }
+
+        R60_LOG("[R60] checksum error: calc=%02X recv=%02X\n",
+                checksum,
+                frame[frame_len - 3]);
+
+        return -5;
+    }
+
+    return 0;
+}
+
+
+/*
+ * 业务解析。
+ *
+ * 只负责：
+ * 1. CTRL/CMD解释
+ * 2. 更新RAM中的最新状态
+ *
+ * 不做：
+ * Flash
+ * 网络上传
+ */
+static int r60_parse_frame(const u8 *frame, u16 frame_len)
+{
+    u8 ctrl;
+    u8 cmd;
+    u16 data_len;
+    int updated = 0;
+
+    if (!frame || frame_len < 9) {
+        return 0;
+    }
+
+    if (!radar_data_mutex_ready) {
+        return 0;
+    }
+
+    ctrl = frame[2];
+    cmd = frame[3];
+
+    data_len =
+        ((u16)frame[4] << 8) |
+        frame[5];
+
+
+    os_mutex_pend(&radar_data_mutex, 0);
+
+
+    switch (ctrl) {
+
+    /*
+     * 人体存在 / 运动 / 距离 / 坐标
+     */
+    case R60_CTRL_PRESENCE:
+
+        switch (cmd) {
+
+        case 0x01:
+        case 0x81:
+
+            if (data_len >= 1) {
+                radar_data.presence = frame[6];
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] presence=%u\n",
+                        radar_data.presence);
+            }
+
+            break;
+
+
+        case 0x02:
+
+            if (data_len >= 1) {
+                radar_data.motion = frame[6];
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] motion=%u\n",
+                        radar_data.motion);
+            }
+
+            break;
+
+
+        case 0x03:
+
+            if (data_len >= 1) {
+                radar_data.body_movement = frame[6];
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] body_movement=%u\n",
+                        radar_data.body_movement);
+            }
+
+            break;
+
+
+        case 0x04:
+
+            if (data_len >= 2) {
+
+                radar_data.distance_cm =
+                    ((u16)frame[6] << 8) |
+                    frame[7];
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] distance=%u cm\n",
+                        radar_data.distance_cm);
+            }
+
+            break;
+
+
+        case 0x05:
+
+            if (data_len >= 6) {
+
+                radar_data.pos_x_mm =
+                    r60_parse_signed_coordinate(
+                        ((u16)frame[6] << 8) |
+                        frame[7]);
+
+                radar_data.pos_y_mm =
+                    r60_parse_signed_coordinate(
+                        ((u16)frame[8] << 8) |
+                        frame[9]);
+
+                radar_data.pos_z_mm =
+                    r60_parse_signed_coordinate(
+                        ((u16)frame[10] << 8) |
+                        frame[11]);
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] pos=(%d,%d,%d) mm\n",
+                        radar_data.pos_x_mm,
+                        radar_data.pos_y_mm,
+                        radar_data.pos_z_mm);
+            }
+
+            break;
+
+
+        default:
+            break;
+        }
+
+        break;
+
+
+    /*
+     * 呼吸
+     */
+    case R60_CTRL_BREATH:
+
+        switch (cmd) {
+
+        case 0x02:
+        case 0x82:
+
+            if (data_len >= 1) {
+
+                radar_data.breath_rate_x10 =
+                    (u16)frame[6] * 10;
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] breath=%u /min\n",
+                        radar_data.breath_rate_x10 / 10);
+            }
+
+            break;
+
+
+        case 0x05:
+
+            if (data_len >= 1) {
+                radar_data.breath_waveform = frame[6];
+                updated = 1;
+            }
+
+            break;
+
+
+        default:
+            break;
+        }
+
+        break;
+
+
+    /*
+     * 心率
+     */
+    case R60_CTRL_HEART:
+
+        switch (cmd) {
+
+        case 0x02:
+        case 0x82:
+
+            if (data_len >= 1) {
+
+                radar_data.heart_rate_x10 =
+                    (u16)frame[6] * 10;
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] heart=%u bpm\n",
+                        radar_data.heart_rate_x10 / 10);
+            }
+
+            break;
+
+
+        case 0x05:
+
+            if (data_len >= 1) {
+                radar_data.heart_waveform = frame[6];
+                updated = 1;
+            }
+
+            break;
+
+
+        default:
+            break;
+        }
+
+        break;
+
+
+    /*
+     * 睡眠
+     */
+    case R60_CTRL_SLEEP:
+
+        switch (cmd) {
+
+        case 0x0c:
+        case 0x8d:
+
+            if (data_len >= 2) {
+
+                radar_data.presence = frame[6];
+                radar_data.sleep_state = frame[7];
+                updated = 1;
+
+                R60_LOG("[R60][PARSE] sleep presence=%u state=%u\n",
+                        radar_data.presence,
+                        radar_data.sleep_state);
+            }
+
+            break;
+
+
+        default:
+            break;
+        }
+
+        break;
+
+
+    /*
+     * 手册已确认、但当前公共状态结构尚未承载的合法帧，例如：
+     *
+     * ctrl=07 cmd=07
+     * ctrl=81 cmd=01
+     *
+     * 本阶段暂不映射，避免顺带扩展业务字段。
+     */
+    default:
+        break;
+    }
+
+
+    /*
+     * 通信统计和业务新鲜度严格分开：
+     *
+     * frame_count:
+     *   所有checksum正确的合法帧都会增加。
+     *
+     * data_update_count / update_ms:
+     *   只有当前parser真正识别并更新业务字段时才推进。
+     *
+     * 因此07/07、01/01等未知合法帧不会把旧数据“续鲜”。
+     */
+    radar_data.rx_bytes = r60_rx_bytes;
+    radar_data.frame_count = r60_valid_frame_count;
+    radar_data.checksum_errors =
+        r60_checksum_error_count;
+
+    if (updated) {
+        r60_data_update_count++;
+        radar_data.data_update_count =
+            r60_data_update_count;
+        radar_data.update_ms = timer_get_ms();
+    } else {
+        R60_LOG(
+            "[R60] ignored business frame ctrl=%02X cmd=%02X "
+            "frame=%u data=%u\n",
+            ctrl,
+            cmd,
+            r60_valid_frame_count,
+            r60_data_update_count
+        );
+    }
+
+
+    os_mutex_post(&radar_data_mutex);
+
+    return updated;
+}
+
+
+/*
+ * 收到一帧完整数据。
+ */
+static void r60_frame_received(const u8 *frame, u16 frame_len)
+{
+    int ret;
+    u32 frame_count;
+
+    ret = r60_validate_frame(frame, frame_len);
+
+    if (ret != 0) {
+
+        R60_LOG("[R60] invalid frame, ret=%d\n",
+                ret);
+
+        return;
+    }
+
+
+    if (!radar_data_mutex_ready) {
+        return;
+    }
+
+
+    os_mutex_pend(&radar_data_mutex, 0);
+
+    r60_valid_frame_count++;
+
+    radar_data.frame_count =
+        r60_valid_frame_count;
+
+    frame_count =
+        r60_valid_frame_count;
+
+    os_mutex_post(&radar_data_mutex);
+
+
+    R60_LOG("[R60] valid frame=%u len=%u ctrl=%02X cmd=%02X\n",
+            frame_count,
+            frame_len,
+            frame[2],
+            frame[3]);
+
+
+    r60_parse_frame(frame, frame_len);
+}
+
+
+/*
+ * 逐字节组帧。
+ */
+static void r60_feed_byte(u8 byte)
+{
+    u16 data_len;
+    u16 full_len;
+
+
+    /*
+     * 找0x53。
+     */
+    if (r60_parse_len == 0) {
+
+        if (byte != R60_FRAME_HEADER1) {
+            return;
+        }
+
+        r60_parse_buf[0] = byte;
+        r60_parse_len = 1;
+
+        return;
+    }
+
+
+    /*
+     * 已收到0x53，找0x59。
+     */
+    if (r60_parse_len == 1) {
+
+        if (byte == R60_FRAME_HEADER2) {
+
+            r60_parse_buf[1] = byte;
+            r60_parse_len = 2;
+
+            return;
+        }
+
+        /*
+         * 53 53：
+         * 后一个53仍可能是新帧头。
+         */
+        if (byte == R60_FRAME_HEADER1) {
+            return;
+        }
+
+        r60_parse_len = 0;
+
+        return;
+    }
+
+
+    /*
+     * parser buffer保护。
+     */
+    if (r60_parse_len >= sizeof(r60_parse_buf)) {
+
+        R60_LOG("[R60] frame buffer overflow\n");
+
+        r60_parse_len = 0;
+
+        return;
+    }
+
+
+    r60_parse_buf[r60_parse_len++] = byte;
+
+
+    /*
+     * 前6字节收齐后才能读取DATA_LEN。
+     */
+    if (r60_parse_len < 6) {
+        return;
+    }
+
+
+    data_len =
+        ((u16)r60_parse_buf[4] << 8) |
+        r60_parse_buf[5];
+
+
+    full_len =
+        (u16)(9 + data_len);
+
+
+    if (full_len > sizeof(r60_parse_buf)) {
+
+        R60_LOG("[R60] invalid frame length: data=%u full=%u\n",
+                data_len,
+                full_len);
+
+        r60_parse_len = 0;
+
+        return;
+    }
+
+
+    if (r60_parse_len < full_len) {
+        return;
+    }
+
+
+    r60_frame_received(
+        r60_parse_buf,
+        full_len
+    );
+
+
+    r60_parse_len = 0;
+}
+
+
+/*
+ * UART层收到数据后调用。
+ */
+int radar_r60abd1_input_bytes(const u8 *data, u16 len)
+{
+    u16 i;
+
+    if (!data || !len) {
+        return -1;
+    }
+
+    if (!radar_data_mutex_ready) {
+        return -2;
+    }
+
+
+    /*
+     * 统计UART输入字节数。
+     */
+    os_mutex_pend(&radar_data_mutex, 0);
+
+    r60_rx_bytes += len;
+    radar_data.rx_bytes = r60_rx_bytes;
+
+    os_mutex_post(&radar_data_mutex);
+
+
+    /*
+     * 逐字节送入组帧器。
+     */
+    for (i = 0; i < len; i++) {
+        r60_feed_byte(data[i]);
+    }
+
+    return 0;
+}
+
+
+/*
+ * 获取当前最新雷达状态快照。
+ *
+ * 可供其他任务调用。
+ */
+int radar_r60abd1_get_data(struct radar_r60abd1_data *out)
+{
+    if (!out) {
+        return -1;
+    }
+
+    if (!radar_data_mutex_ready) {
+        return -2;
+    }
+
+
+    os_mutex_pend(&radar_data_mutex, 0);
+
+    memcpy(out,
+           &radar_data,
+           sizeof(*out));
+
+    os_mutex_post(&radar_data_mutex);
+
+
+    return 0;
+}
+
+
+/*
+ * 向R60ABD1发送原始协议命令。
+ *
+ * 协议层只负责把完整命令交给UART层发送。
+ */
+int radar_r60abd1_send_command(const u8 *cmd, u16 len)
+{
+    if (!cmd || !len) {
+        return -1;
+    }
+
+    return radar_uart_write(
+               cmd,
+               len
+           );
+}