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898 @@ -1348,7 +1348,7 @@ .\USER\mian.c 1 - 101 + 96 97 1 @@ -1357,7 +1357,7 @@ .\FWLIB\source\ENS1_UART.c 11 - 330 + 331 355 1 @@ -1375,7 +1375,7 @@ .\FWLIB\include\ENS1_UART.h 17 - 152 + 153 196 1 @@ -1384,7 +1384,7 @@ .\FWLIB\source\ENS1_WAVEGEN.c 1 - 258 + 259 295 1 @@ -1393,7 +1393,7 @@ .\FWLIB\include\ENS1_WAVEGEN.h 25 - 18 + 19 62 1 diff --git a/UART电刺激控制系统技术文档.md b/UART电刺激控制系统技术文档.md new file mode 100644 index 0000000..297f861 --- /dev/null +++ b/UART电刺激控制系统技术文档.md @@ -0,0 +1,430 @@ +# UART电刺激控制系统技术文档 + +## 1. 系统概述 + +本系统基于ENS1芯片实现UART通信控制的电刺激(EMS)功能，通过串口接收控制指令，实时调整电刺激参数并控制输出波形。 + +### 1.1 主要功能 +- UART数据接收与解析 +- 电刺激参数配置 +- 实时波形控制 +- 数据回传确认 + +### 1.2 技术特点 +- 中断驱动的UART通信 +- CRC校验确保数据完整性 +- 实时参数更新 +- 渐进式波形控制 + +## 2. 系统架构 + +### 2.1 文件结构 +``` +USER/ +├── mian.c # 主程序文件 +├── ENS001_CONFIG.h # 配置文件 +└── MY_HEADER.h # 自定义头文件 + +FWLIB/ +├── source/ +│ ├── ENS1_UART.c # UART驱动实现 +│ ├── ENS1_TIMER.c # 定时器控制 +│ └── ENS1_WAVEGEN.c # 波形生成 +└── include/ + └── ENS1_UART.h # UART驱动头文件 +``` + +### 2.2 核心模块 +- **UART通信模块**: 负责数据接收、解析和回传 +- **电刺激控制模块**: 负责参数配置和波形控制 +- **定时器模块**: 提供系统时钟基准 +- **波形生成模块**: 生成电刺激输出波形 + +## 3. UART通信协议 + +### 3.1 数据包格式 +``` +总长度: 19字节 +┌─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┬─────────┐ +│ 功能码 │ 功能码 │ 数据长度│ 数据长度│ 开关类型│ 强度 │ 频率 │ 频率 │ 持续时间│ 持续时间│ 休息时间│ 休息时间│ 静默时间│ 静默时间│ 缓进时间│ 保持时间│ 缓出时间│ CRC16 │ CRC16 │ +│ (低字节)│ (高字节)│ (低字节)│ (高字节)│ │ │ (低字节)│ (高字节)│ (低字节)│ (高字节)│ (低字节)│ (高字节)│ (低字节)│ (高字节)│ │ │ │ (低字节)│ (高字节)│ +└─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┴─────────┘ +``` + +### 3.2 字段说明 +| 字段 | 字节位置 | 长度 | 说明 | 示例值 | +|------|----------|------|------|--------| +| 功能码 | 0-1 | 2字节 | 固定值0x0003 | 0x0003 | +| 数据长度 | 2-3 | 2字节 | 数据部分长度 | 0x000D | +| 开关类型 | 4 | 1字节 | 0x00=关闭, 0x10~0x1F=开启 | 0x10 | +| 强度 | 5 | 1字节 | 电刺激强度(0-255) | 50 | +| 频率 | 6-7 | 2字节 | 电刺激频率(Hz) | 100 | +| 持续时间 | 8-9 | 2字节 | 总持续时间(ms) | 5000 | +| 休息时间 | 10-11 | 2字节 | 休息间隔(ms) | 1000 | +| 静默时间 | 12-13 | 2字节 | 静默间隔(ms) | 244 | +| 缓进时间 | 14 | 1字节 | 渐入时间(ms) | 1 | +| 保持时间 | 15 | 1字节 | 保持时间(ms) | 1 | +| 缓出时间 | 16 | 1字节 | 渐出时间(ms) | 3 | +| CRC16 | 17-18 | 2字节 | CRC-16-CCITT-FALSE校验 | 0x90B7 | + +### 3.3 字节序说明 +- 多字节字段采用小端序(Little Endian) +- 低字节在前，高字节在后 + +## 4. 工作流程 + +### 4.1 系统初始化流程 +```mermaid +graph TD + A[系统启动] --> B[MTP初始化] + B --> C[GPIO配置] + C --> D[UART初始化] + D --> E[定时器初始化] + E --> F[电刺激模块初始化] + F --> G[进入主循环] +``` + +### 4.2 UART数据接收流程 +```mermaid +graph TD + A[UART中断触发] --> B[读取FIFO数据] + B --> C[存储到接收缓冲区] + C --> D[回传数据确认] + D --> E{数据包完整?} + E -->|否| F[继续接收] + E -->|是| G[解析数据包] + G --> H{解析成功?} + H -->|否| I[丢弃数据包] + H -->|是| J[更新电刺激配置] + J --> K[启动/停止电刺激] + K --> L[清除缓冲区] +``` + +### 4.3 电刺激控制流程 +```mermaid +graph TD + A[接收UART数据] --> B[解析数据包] + B --> C{开关类型检查} + C -->|0x00| D[停止电刺激] + C -->|0x10~0x1F| E[参数有效性检查] + E --> F[创建新配置] + F --> G[应用配置] + G --> H[启动电刺激] + H --> I[波形生成] +``` + +## 5. 电刺激缓进缓出实现 + +### 5.1 缓进缓出原理 + +电刺激的缓进缓出功能通过三个阶段实现平滑的强度变化： + +#### 5.1.1 三个阶段 +1. **缓进阶段 (Ramp Up)**: 强度从0逐渐增加到目标值 +2. **保持阶段 (Hold)**: 强度保持在目标值 +3. **缓出阶段 (Ramp Down)**: 强度从目标值逐渐减少到0 + +#### 5.1.2 时间控制 +```c +// 时间参数（单位：毫秒） +uint32_t ramp_up_ms = g_ems_config.ramp_up_time * 1000; // 缓进时间 +uint32_t hold_ms = g_ems_config.hold_time * 1000; // 保持时间 +uint32_t ramp_down_ms = g_ems_config.ramp_down_time * 1000; // 缓出时间 +``` + +#### 5.1.3 强度计算算法 +- **缓进阶段**: `target_intensity = (time_count * max_intensity) / ramp_up_ms` +- **保持阶段**: `target_intensity = max_intensity` +- **缓出阶段**: `target_intensity = max_intensity - (ramp_down_elapsed * max_intensity) / ramp_down_ms` + +### 5.2 缓进缓出实现代码 + +```c +// 缓进缓出处理函数（在电刺激处理中调用） +void EMS_Process_Ramp(void) +{ + if(ems_state) + { + time_count++; + if (!g_ems_config.enable_ramp || !g_ems_running) + { + return; // 如果未启用缓进缓出或未运行，直接返回 + } + + // 计算各阶段时间（毫秒） + uint32_t ramp_up_ms = g_ems_config.ramp_up_time * 1000; + uint32_t hold_ms = g_ems_config.hold_time * 1000; + uint32_t ramp_down_ms = g_ems_config.ramp_down_time * 1000; + + switch (g_ramp_phase) + { + case 0: // 缓进阶段 + { + if (time_count <= g_ems_config.ramp_up_time * 1000) + { + // 线性递增强度 + uint16_t target_intensity = (time_count * g_ems_config.intensity) / ramp_up_ms; + if (target_intensity > g_ems_config.intensity) { + target_intensity = g_ems_config.intensity; + } + g_current_intensity = target_intensity; + } + else + { + // 缓进完成，进入保持阶段 + g_ramp_phase = 1; + g_current_intensity = g_ems_config.intensity; + } + break; + } + + case 1: // 保持阶段 + { + if(time_count <= (ramp_up_ms + hold_ms)) + { + g_current_intensity = g_ems_config.intensity; + } + else + { + g_ramp_phase = 2; // 进入缓出阶段 + } + break; + } + + case 2: // 缓出阶段 + { + if(time_count <= (ramp_up_ms + hold_ms + ramp_down_ms)) + { + // 计算缓出阶段的时间偏移 + uint32_t ramp_down_start = ramp_up_ms + hold_ms; + uint32_t ramp_down_elapsed = time_count - ramp_down_start; + + // 线性递减强度 + uint16_t target_intensity = g_ems_config.intensity - + (ramp_down_elapsed * g_ems_config.intensity) / ramp_down_ms; + + if (target_intensity > g_ems_config.intensity) { + target_intensity = 0; + } + g_current_intensity = target_intensity; + } + else + { + // 缓出完成，停止电刺激 + g_current_intensity = 0; + g_ramp_phase = 0; // 重置为缓进阶段 + } + break; + } + } + } +} +``` + +### 5.3 波形强度更新 + +```c +// 更新波形强度（不重新配置硬件） +void wavegen_UpdateIntensity(CMSDK_WAVE_GEN_TypeDef *CMSDK_WAVEGEN_DRVA, uint16_t intensity) +{ + // 只更新波形数据，不重新配置硬件 + for (int i = 0; i < 64; i++) + { + CMSDK_WAVEGEN_DRVA->WAVE_GEN_DRV_IN_WAVE_ADDR_REG = i; + CMSDK_WAVEGEN_DRVA->WAVE_GEN_DRV_IN_WAVE_DATA_REG = intensity; + } +} +``` + +### 5.4 状态管理变量 + +```c +// 全局状态变量 +uint8_t g_ramp_phase = 0; // 渐进阶段：0=缓进, 1=保持, 2=缓出 +uint32_t time_count = 0; // 时间计数器（毫秒） +uint16_t g_current_intensity = 0; // 当前强度值 +uint8_t g_ems_running = 0; // 电刺激运行状态 +``` + +### 5.5 缓进缓出流程图 + +```mermaid +graph TD + A[开始电刺激] --> B[缓进阶段] + B --> C{时间 < 缓进时间?} + C -->|是| D[线性增加强度] + C -->|否| E[进入保持阶段] + D --> F[更新波形强度] + F --> C + E --> G{时间 < 保持时间?} + G -->|是| H[保持最大强度] + G -->|否| I[进入缓出阶段] + H --> J[更新波形强度] + J --> G + I --> K{时间 < 缓出时间?} + K -->|是| L[线性减少强度] + K -->|否| M[停止电刺激] + L --> N[更新波形强度] + N --> K + M --> O[重置状态] + O --> A +``` + +## 6. 核心代码实现 + +### 6.1 UART中断处理函数 +```c +void UART1_Handler(void) { + uint8_t rev_data = 0; + uint32_t ParamNumber = 0; + + // 清除NVIC中断挂起位 + NVIC_ClearPendingIRQ(UART1_IRQn); + + // 检查中断类型 + uint8_t int_type = UART_INT_TYPE(CMSDK_UART1); + + // 数据就绪中断处理 + if((int_type == INT_RCV_DATA_AVAILABLE) || (int_type == INT_CHAR_TIMEOUT_INDICATION)) { + ParamNumber = (CMSDK_UART1->FSR >> 16) & 0x1f; + + // 读取FIFO中的所有数据 + for(uint32_t i = 0; i < ParamNumber; i++) { + rev_data = CMSDK_UART1->RBR; + + // 存储到缓冲区 + if(uart_rx_count < sizeof(uart_rx_buffer)) { + uart_rx_buffer[uart_rx_count] = rev_data; + uart_rx_count++; + } + + // 回传数据确认 + UartPutc(CMSDK_UART1, rev_data); + } + + // 检查完整数据包 + if(uart_rx_count >= 19) { + UART_EMS_Packet_t ems_packet; + if(ParseUART_EMS_Packet(uart_rx_buffer, uart_rx_count, &ems_packet)) { + UpdateEMS_ConfigFromUART(&ems_packet); + } + uart_rx_count = 0; // 清除缓冲区 + } + } +} +``` + +### 6.2 数据包解析函数 +```c +uint8_t ParseUART_EMS_Packet(uint8_t *data, uint16_t length, UART_EMS_Packet_t *packet) { + // 解析数据包（小端序） + packet->function_code = (data[1] << 8) | data[0]; + packet->data_length = (data[3] << 8) | data[2]; + packet->switch_type = data[4]; + packet->intensity = data[5]; + packet->frequency = (data[7] << 8) | data[6]; + packet->duration = (data[9] << 8) | data[8]; + packet->rest_time = (data[11] << 8) | data[10]; + packet->silent_time = (data[13] << 8) | data[12]; + packet->ramp_up_time = data[14]; + packet->hold_time = data[15]; + packet->ramp_down_time = data[16]; + packet->crc16 = (data[18] << 8) | data[17]; + + // CRC校验（当前已注释） + // uint16_t calculated_crc = CalculateCRC16_CCITT_FALSE(data, 17); + // if(calculated_crc != packet->crc16) return 0; + + return 1; // 解析成功 +} +``` + +### 6.3 电刺激配置更新函数 +```c +void UpdateEMS_ConfigFromUART(UART_EMS_Packet_t *packet) { + // 检查开关状态 + if(packet->switch_type == 0x00) { + EMS_Stop(); + return; + } + + // 检查电刺激类型有效性 + if(packet->switch_type < 0x10 || packet->switch_type > 0x1F) { + return; + } + + // 创建新配置 + EMS_Config_TypeDef new_config = { + .frequency = packet->frequency, + .duration = packet->duration, + .intensity = packet->intensity, + .rest_time = packet->rest_time, + .silent_time = packet->silent_time, + .ramp_up_time = packet->ramp_up_time, + .hold_time = packet->hold_time, + .ramp_down_time = packet->ramp_down_time, + .enable_ramp = 1 + }; + + // 应用配置并启动 + EMS_Configure(&new_config); + EMS_Start(); +} +``` + +## 7. 关键数据结构 + +### 7.1 UART数据包结构 +```c +typedef struct { + uint16_t function_code; // 功能码 (0x0003) + uint16_t data_length; // 数据长度 (0x000D) + uint8_t switch_type; // 开关状态以及电刺激类型 + uint8_t intensity; // 强度值 + uint16_t frequency; // 频率值 + uint16_t duration; // 总持续时间 (ms) + uint16_t rest_time; // 休息时间 (ms) + uint16_t silent_time; // 静默时间 (ms) + uint8_t ramp_up_time; // 缓进时间 + uint8_t hold_time; // 保持时间 + uint8_t ramp_down_time; // 缓出时间 + uint16_t crc16; // CRC16校验 +} UART_EMS_Packet_t; +``` + +### 7.2 电刺激配置结构 +```c +typedef struct { + uint16_t frequency; // 频率 + uint16_t duration; // 持续时间 + uint8_t intensity; // 强度 + uint16_t rest_time; // 休息时间 + uint16_t silent_time; // 静默时间 + uint8_t ramp_up_time; // 缓进时间 + uint8_t hold_time; // 保持时间 + uint8_t ramp_down_time; // 缓出时间 + uint8_t enable_ramp; // 启用渐进控制 +} EMS_Config_TypeDef; +``` + +## 8. 调试与测试 + +### 8.1 调试输出 +系统提供详细的调试输出，包括： +- 接收到的原始数据 +- 解析后的参数值 +- 配置更新状态 +- 错误信息 + +### 8.2 测试用例 +1. **停止指令测试** + ``` + 数据包: 03 00 0d 00 00 32 64 00 88 13 e8 03 f4 01 01 03 01 b7 90 + 预期: 停止电刺激 + ``` + +2. **启动指令测试** + ``` + 数据包: 03 00 0d 00 10 32 64 00 88 13 e8 03 f4 01 01 03 01 [CRC] + 预期: 启动电刺激，频率100Hz，强度50 + ``` diff --git a/USER/mian.c b/USER/mian.c index ec7c10c..0cc57f6 100644 --- a/USER/mian.c +++ b/USER/mian.c @@ -150,7 +150,7 @@ void UpdateEMS_ConfigFromUART(UART_EMS_Packet_t *packet) .enable_ramp = 1 // 启用渐进控制 }; - // 打印接收到的参数数据 + printf("0x%02X\n", packet->switch_type); printf("%d\n", packet->intensity); printf("%d\n", packet->frequency);