A141/Core/Src/usart.c

/**
  ******************************************************************************
  * @file    usart.c
  * @brief   This file provides code for the configuration
  *          of the USART instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "usart.h"
#include "main.h"
#include "my.h"
#include "flash.h"

UART_HandleTypeDef huart1;

extern __IO UserData_TypeDef pardata;
extern __IO uint16_t CorrWord[2][20];

extern __IO uint16_t AMP_STATUS;
extern __IO uint16_t timerUPER;
extern __IO uint16_t timerOP;
extern __IO uint16_t timerKZ;

uint8_t iobuf[256];
uint8_t tx[256];

__IO bool needClbr = false;
__IO uint32_t faseClbr = 0;
__IO bool clbr = false;

uint8_t timeout;
uint16_t lastbyte;
uint8_t iolen = 0;
uint8_t ioa;
bool sendreq = false;
bool setbaud = true;
bool send = true;
uint8_t rx = 0;
__IO uint16_t delayREDE;
__IO bool needSave = false;
__IO bool needCorr = false;

const int8_t inversely[] = {3, 1, -1,-3};
static const uint32_t BAUDRATE[] = {4800, 7200, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 230400};


void MX_USART1_UART_Init(void)
{
	huart1.Instance = USART1;
	huart1.Init.BaudRate = BAUDRATE[pardata.BAUD];
	huart1.Init.WordLength = UART_WORDLENGTH_8B;
	huart1.Init.StopBits = UART_STOPBITS_1;
	switch(pardata.INFB)
	{
		case 0: //NONE
			huart1.Init.WordLength = UART_WORDLENGTH_8B;
			huart1.Init.Parity = UART_PARITY_NONE;
		break;
		case 1:	//ODD
			huart1.Init.WordLength = UART_WORDLENGTH_9B;
			huart1.Init.Parity = UART_PARITY_ODD;
		break;
		case 2:	//EVEN
			huart1.Init.WordLength = UART_WORDLENGTH_9B;
			huart1.Init.Parity = UART_PARITY_EVEN;
		break;
	}
	if(pardata.BAUD < 7)
	  huart1.Init.OverSampling = UART_OVERSAMPLING_8;
		else huart1.Init.OverSampling = UART_OVERSAMPLING_16;


	huart1.Init.Mode = UART_MODE_TX_RX;
	huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
	huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
	if(HAL_UART_Init(&huart1) != HAL_OK) {
		Error_Handler();
	}

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_ORE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_ORE);

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_PE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_PE);

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_FE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_FE);

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_NE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_NE);

	HAL_GPIO_WritePin(RE_GPIO_Port, RE_Pin, GPIO_PIN_RESET);
	SET_BIT(huart1.Instance->CR1, USART_CR1_RXNEIE | USART_CR1_PEIE);
}

void MX_USART1_UART_DeInit(void)
{
	if(HAL_UART_DeInit(&huart1) != HAL_OK) {
		Error_Handler();
	}
	HAL_NVIC_DisableIRQ(USART1_IRQn);
}


void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  if(uartHandle->Instance==USART1)
  {
    __HAL_RCC_USART1_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* USART1 interrupt Init */
    HAL_NVIC_SetPriority(USART1_IRQn, 3, 0);
    HAL_NVIC_EnableIRQ(USART1_IRQn);
  }
}


void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{

  if(uartHandle->Instance==USART1)
  {
  /* USER CODE BEGIN USART1_MspDeInit 0 */

  /* USER CODE END USART1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_USART1_CLK_DISABLE();

    /**USART1 GPIO Configuration
    PA9     ------> USART1_TX
    PA10     ------> USART1_RX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);

    /* USART1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USART1_IRQn);
  /* USER CODE BEGIN USART1_MspDeInit 1 */

  /* USER CODE END USART1_MspDeInit 1 */
  }
}


/* USER CODE BEGIN 1 */
void USART1_IRQHandler(void)
{
	if((__HAL_UART_GET_IT_SOURCE(&huart1, UART_IT_RXNE))  &&  (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE)))
	{
		HAL_UART_RxCpltCallback(&huart1);
	}
	else
	{
		HAL_UART_IRQHandler(&huart1);
	}


	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_ORE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_ORE);

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_PE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_PE);

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_FE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_FE);

	if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_NE))
		__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_NE);
}
/* USER CODE END 1 */



void strtOut(uint16_t n)
{
uint16_t crc;

	if(tx[0])
	{
		lastbyte = n + 2;					//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		crc = Crc16_TX(n);						//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CRC16
		tx[n] = lo(crc);				//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CRC16
		tx[n + 1] = hi(crc);		//         <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2 <20><><EFBFBD><EFBFBD><EFBFBD>
		HAL_GPIO_WritePin(RE_GPIO_Port, RE_Pin, GPIO_PIN_SET);						//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> RS485 <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
		ioa = 1;
		sendreq = true;
	}
	iolen = 0;
}


uint16_t Crc16(uint16_t len)
{
uint16_t i;
uint16_t crc = 0xFFFF;

	for(i = 0; i < len; i++) {
		crc = (crc >> 8) ^ Crc16Table[(crc & 0xFF) ^ iobuf[i]];
	}
	return crc;
}

uint16_t Crc16_TX(uint16_t len)
{
uint16_t i;
uint16_t crc = 0xFFFF;

	for(i = 0; i < len; i++) {
		crc = (crc >> 8) ^ Crc16Table[(crc & 0xFF) ^ tx[i]];
	}
	return crc;
}


void SetBaudRate()
{
	timeout = time35[pardata.BAUD];
	delayREDE = sendtime[pardata.BAUD];

	MX_USART1_UART_DeInit();
	MX_USART1_UART_Init();
}





void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
uint8_t i, j;
uint8_t *pch;
usshort crc, addr, regs;
usfloat f;
uint8_t tmp, tmp1;
uint16_t tmp16;
float tmpf;

	timeout = time35[pardata.BAUD];
	iobuf[iolen++] = (uint8_t) (USART1->RDR & 0xFF);

	if((iobuf[0] == pardata.OWN)  ||  (!iobuf[0]))
	{
		if(iolen > 1)
		{
			if(iolen == 2)
			{
				switch(iobuf[1])
				{
					case 0x03:
								lastbyte = 7;
					break;
					case 0x10:
								lastbyte = 6;
					break;
					default:
								lastbyte = 3;
								tx[0] = iobuf[0];
								tx[1] = (iobuf[1] | 0x80);
								tx[2] = 0x03;
								strtOut(3);
					break;
				}
			}


			if(iolen > lastbyte)
			{
				switch(iobuf[1])
				{
					//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
					case 0x03:
							iolen = 0;

							crc.ch[0] = iobuf[6];
							crc.ch[1] = iobuf[7];
							if(crc.sh == Crc16(6))				// ïðè êîððåêòíîì çíà÷åíèè CRC
							{
								addr.ch[1] = iobuf[2];			//ñò áàéò àäðåñà ðåãèñòðà
								addr.ch[0] = iobuf[3];			// ìë áàéò àäðåñà ðåãèñòðà
								regs.ch[1] = iobuf[4];			// ñò áàéò êîë-âà ðåãèñòðîâ (ñëîâ)
								regs.ch[0] = iobuf[5];			// ìë áàéò êîë-âî ðåãèñòðîâ (ñëîâ)

								if(addr.sh == 1000)				// ×òåíèå áàéòà ÏÅÐÅÃÐÓÇÊÈ
								{
									if(regs.ch[0] != 1)			 // åñëè çàïðîøåí íå ÎÄÈÍ ðåãèñòð
									{
										tx[0] = iobuf[0];
										tx[1] = (iobuf[1] | 0x80);
										tx[2] = 0x03;
										strtOut(3);
									}
									else						//
									{							// iobuf[0] - àäðåñ, iobuf[1]=ÊÔ
										tx[0] = iobuf[0];
										tx[1] = iobuf[1];
										tx[2] = regs.ch[0] << 1;	// êîë-âî áàéò
										tx[3] = 0;

										tx[4] = lo(AMP_STATUS);
										tx[5] = hi(AMP_STATUS);
										strtOut(3 + tx[2]);
									}
											// Ôëàã çàïðîñà ïåðåäà÷è
								}
								else
								switch(addr.sh)
								{
									case 5001:	//IIN
									case 5002:	//IFV
									case 5003:	//IFN
									case 5004:	//IKU
									case 5005:	//IKE
									case 5006:	//IKD
									case 5007:	//IKS
									case 5008:	//IPZ
									case 5009:	//OPZ
									case 5010:	//VAL
										if(regs.ch[0] > (5011 - addr.sh))
										{
											tx[0] = iobuf[0];
											tx[1] = (iobuf[1] | 0x80);
											tx[2] = 0x03;
											strtOut(3);
										}
										else
										{
											tx[0] = iobuf[0];
											tx[1] = iobuf[1];
											tx[2] = regs.ch[0] << 1;
											pch = (uint8_t *) &pardata.IIN + ((addr.sh - 5001) << 1);
											for(j = 0; j < tx[2]; j++)
												tx[j + 3] = *(pch + (j ^ 1));

											strtOut(3 + tx[2]);
										}
									break;

									case 7002:						// ×òåíèå Kcond ïî êîë-âó áàéò
									case 7501:						// ×òåíèå Kcond	ïî êîë-âó ñëîâ
										tmp = 3;
										tx[0] = iobuf[0];
										tx[1] = iobuf[1];
										tx[2] = regs.ch[0] << 2;	// êîë-âî áàéò äàííûõ
										if(addr.sh == 7002)
										{
											tmp <<= 1;		//tmp=6
											tx[2] >>= 1;	//êîë-âî ñëîâ äàííûõ
										}
										if(regs.ch[0] > tmp)
										{
											tx[0] = iobuf[0];
											tx[1] = (iobuf[1] | 0x80);
											tx[2] = 0x03;
											strtOut(3);
										}
										else
										{
											f.fl = pardata.KCOND;
											tx[3] = f.ch[3];
											tx[4] = f.ch[2];
											tx[5] = f.ch[1];
											tx[6] = f.ch[0];
											strtOut(3 + tx[2]);
										}

									break;
									case 7004: 							// ×òåíèå Sens
									case 7502:
										tmp = 2;
										tx[0] = iobuf[0];
										tx[1] = iobuf[1];
										tx[2] = regs.ch[0] << 2;
										if(addr.sh == 7004)
										{
											tmp <<= 1;
											tx[2] >>= 1;
										}
										if(regs.ch[0] > tmp)
										{
											tx[0] = iobuf[0];
											tx[1] = (iobuf[1] | 0x80);
											tx[2] = 0x03;
											strtOut(3);
										}
										else
										{
											f.fl = pardata.SENS;
											tx[3] = f.ch[3];
											tx[4] = f.ch[2];
											tx[5] = f.ch[1];
											tx[6] = f.ch[0];
											strtOut(3 + tx[2]);
										}

									break;
									case 7006: 								// ×òåíèå Accel
									case 7503:
										tmp = 1;
										tx[0] = iobuf[0];
										tx[1] = iobuf[1];
										tx[2] = regs.ch[0] << 2;
										if(addr.sh == 7006)
										{
											tmp <<= 1;
											tx[2] >>= 1;
										}
										if(regs.ch[0] > tmp)
										{
											tx[0] = iobuf[0];
											tx[1] = (iobuf[1] | 0x80);
											tx[2] = 0x03;
											strtOut(3);
										}
										else
										{
											f.fl = pardata.ACCEL;
											tx[3] = f.ch[3];
											tx[4] = f.ch[2];
											tx[5] = f.ch[1];
											tx[6] = f.ch[0];
											strtOut(3 + tx[2]);
										}
									break;
									default:
										tx[0] = iobuf[0];
										tx[1] = (iobuf[1] | 0x80);
										tx[2] = 0x02;
										strtOut(3);
									break;
								}
							}
					break;

					//--------------------------
					// ЗАПИСЬ данных в устройство
					//--------------------------
					case 0x10:
						addr.ch[1] = iobuf[2];
						addr.ch[0] = iobuf[3];
						regs.ch[1] = iobuf[4];
						regs.ch[0] = iobuf[5];

						switch(addr.sh)	   // Запись pardata
						{
							case 3000:	//CALIBR_ON_OFF
								if((regs.ch[0] > 1) || (iobuf[6] != (regs.ch[0] << 1)))
								{
									tx[0] = iobuf[0];
									tx[1] = (iobuf[1] | 0x80);
									tx[2] = 0x03;
									strtOut(3);
								}
								else
								{
									j = 8 + iobuf[6];
									if(iolen > j)
									{
										iolen = 0;
										crc.ch[0] = iobuf[j - 1];
										crc.ch[1] = iobuf[j];
										if(crc.sh == Crc16(j - 1))
										{
											if(!iobuf[8])
											{
												faseClbr = 0;
												clbr = false;
											}
											else
											{
												needClbr = true;
												faseClbr = iobuf[8] - 1;
											}

											for(j = 0; j < 6; j++) {
												tx[j] = iobuf[j];
											}
											strtOut(6);
										}
									}
								}
							break;
							case 3001:	//CHARGE_0.1
							case 3002:	//CHARGE_0.2
							case 3003:	//CHARGE_0.5
							case 3004:	//CHARGE_1
							case 3005:	//CHARGE_2
							case 3006:	//CHARGE_5
							case 3007:	//CHARGE_10
							case 3008:	//CHARGE_20
							case 3009:	//CHARGE_50
							case 3010:	//CHARGE_100
							case 3011:	//CHARGE_200
							case 3012:	//CHARGE_500
							case 3013:	//CHARGE_1000

							case 3014:	//ICP_1
							case 3015:	//ICP_2
							case 3016:	//ICP_5
							case 3017:	//ICP_10
							case 3018:	//ICP_20
							case 3019:	//ICP_50
							case 3020:	//ICP_100
							case 3021:	//ICP_200
							case 3022:	//ICP_500
							case 3023:	//ICP_1000
								if((regs.ch[0] > 1) || (iobuf[6] != (regs.ch[0] << 1)))
								{
									tx[0] = iobuf[0];
									tx[1] = (iobuf[1] | 0x80);
									tx[2] = 0x03;
									strtOut(3);
								}
								else
								{
									j = 8 + iobuf[6];
									if(iolen > j)
									{
										iolen = 0;
										crc.ch[0] = iobuf[j - 1];
										crc.ch[1] = iobuf[j];
										if(crc.sh == Crc16(j - 1))
										{
											if(clbr)
											{
												switch(iobuf[8])
												{
													case 0x01:	//+1
														if(CorrWord[pardata.IIN][pardata.IKU] < 4095)
															CorrWord[pardata.IIN][pardata.IKU]++;
													break;
													case 0x81:	//-1
														if(CorrWord[pardata.IIN][pardata.IKU] > 0)
															CorrWord[pardata.IIN][pardata.IKU]--;
													break;
													case 0x0A:	//+10
														if(CorrWord[pardata.IIN][pardata.IKU] < 4085)
															CorrWord[pardata.IIN][pardata.IKU] += 10;
													break;
													case 0x8A:	//-10
														if(CorrWord[pardata.IIN][pardata.IKU] > 10)
															CorrWord[pardata.IIN][pardata.IKU] -= 10;
													break;
													case 0x64:	//+100
														if(CorrWord[pardata.IIN][pardata.IKU] < 3995)
															CorrWord[pardata.IIN][pardata.IKU] += 100;
													break;
													case 0xE4:	//-100
														if(CorrWord[pardata.IIN][pardata.IKU] > 100)
															CorrWord[pardata.IIN][pardata.IKU] -= 100;
													break;
												}

												SetAndCorrect();
												wrCorr();

											}

											for(j = 0; j < 6; j++) {
												tx[j] = iobuf[j];
											}
											strtOut(6);

											/*if(!iobuf[8])
											{
												faseClbr = 0;
												clbr = false;
											}
											else
											{
												if(iobuf[8] <= 12)
												{
													needClbr = true;
													faseClbr = iobuf[8] - 1;
												}
												else
												{
													faseClbr = 0;
													clbr = false;
												}
											}
											
											for(j = 0; j < 6; j++) {
												tx[j] = iobuf[j];
											}
											strtOut(6);*/
											
										}
									}
								}
							break;





							case 5001:	//IIN
							case 5002:	//IFV
							case 5003:	//IFN
							case 5004:	//IKU
							case 5005:	//IKE
							case 5006:	//IKD
							case 5007:	//IKS
							case 5008:	//IPZ
							case 5009:	//OPZ
							case 5010:	//VAL
								if((regs.ch[0] > (5011 - addr.sh)) || (iobuf[6] != (regs.ch[0] << 1)))
								{
									tx[0] = iobuf[0];
									tx[1] = (iobuf[1] | 0x80);
									tx[2] = 0x03;
									strtOut(3);
								}
								else
								{
									j = 8 + iobuf[6];
									if(iolen > j)
									{
										iolen = 0;
										crc.ch[0] = iobuf[j - 1];
										crc.ch[1] = iobuf[j];
										if(crc.sh == Crc16(j - 1))
										{
											pch = (uint8_t *) &pardata.IIN + ((addr.sh - 5001) << 1);
											for(j = 0; j < iobuf[6]; j++)
												*(pch + (j ^ 1)) = iobuf[j + 7];

											if((pardata.IIN > ICP)  ||  (pardata.IKU > Ku1000)  ||  (pardata.IFV > Hp10)  ||  (pardata.IFN > Lp100000)  ||  (pardata.VAL > mV))
											{
												rdCorr();

												tx[0] = iobuf[0];
												tx[1] = (iobuf[1] | 0x80);
												tx[2] = 0x03;
												strtOut(3);
											}
											else
											{
												needSave = true;
												if(iobuf[0])
												{
													for(j = 0; j < 6; j++) {
														tx[j] = iobuf[j];
													}
													strtOut(6);
												}
											}
										}
									}
								}
							break;
							case 7002:						// Запись Kcond
							case 7501:
								tmp = 3;
								tmp1 = 2;
								if(addr.sh == 7002)
								{
									tmp <<= 1;
									tmp1 = 1;
								}
								if((regs.ch[0] > tmp) || (iobuf[6] != (regs.ch[0] << tmp1)))
								{
									tx[0] = iobuf[0];
									tx[1] |= 0x80;		//модификация кода функции на ошибку
									tx[2] = 0x03;		//Адрес данных указанный в запросе не доступен
									strtOut(3);
								}
								else
								{
									j = 8 + iobuf[6];
									if(iolen > j)
									{
										crc.ch[0] = iobuf[j - 1];
										crc.ch[1] = iobuf[j];
										if(crc.sh == Crc16(j - 1))
										{
											if(iobuf[6] == 4)
											{
												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[7 + j];
												pardata.KCOND = f.fl;

												needSave = true;
												strtOut(6);
											}
											else
											if(iobuf[6] == 8)
											{
												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[7 + j];
												pardata.KCOND = f.fl;

												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[11 + j];
												pardata.SENS = f.fl;

												needSave = true;
												strtOut(6);
											}
											else
											if(iobuf[6] == 12)
											{
												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[7 + j];
												pardata.KCOND = f.fl;

												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[11 + j];
												pardata.SENS = f.fl;

												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[15 + j];
												pardata.ACCEL = f.fl;

												needSave = true;
												strtOut(6);
											}
											else
											{
												tx[0] = iobuf[0];
												tx[1] |= 0x80;		//модификация кода функции на ошибку
												tx[2] = 0x03;		//Адрес данных указанный в запросе не доступен
												strtOut(3);
											}
										}
									}
								}
							break;
							case 7004:						// Запись Sens
							case 7502:
								tmp = 2;
								tmp1 = 2;
								if(addr.sh == 7004)
								{
									tmp <<= 1;
									tmp1 = 1;
								}
								if((regs.ch[0] > tmp) || (iobuf[6] != (regs.ch[0] << tmp1)))
								{
									tx[0] = iobuf[0];
									tx[1] |= 0x80;		//модификация кода функции на ошибку
									tx[2] = 0x03;		//Адрес данных указанный в запросе не доступен
									strtOut(3);
								}
								else
								{
									j = 8 + iobuf[6];
									if(iolen > j)
									{
										crc.ch[0] = iobuf[j - 1];
										crc.ch[1] = iobuf[j];
										if(crc.sh == Crc16(j - 1))
										{
											if(iobuf[6] == 4)
											{
												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[7 + j];
												pardata.SENS = f.fl;

												needSave = true;
												strtOut(6);
											}
											else
											if(iobuf[6] == 8)
											{
												/*for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[3 + j];
												pardata.SENS = f.fl;*/

												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[7 + j];
												pardata.ACCEL = f.fl;

												needSave = true;
												strtOut(6);
											}
											else
											{
												tx[0] = iobuf[0];
												tx[1] |= 0x80;		//модификация кода функции на ошибку
												tx[2] = 0x03;		//Адрес данных указанный в запросе не доступен
												strtOut(3);
											}
										}
									}
								}
							break;
							case 7006:						// Запись Accel
							case 7503:
								tmp = 1;
								tmp1 = 2;
								if(addr.sh == 7006)
								{
									tmp <<= 1;
									tmp1 = 1;
								}
								if((regs.ch[0] > tmp) || (iobuf[6] != (regs.ch[0] << tmp1)))
								{
									tx[0] = iobuf[0];
									tx[1] |= 0x80;		//модификация кода функции на ошибку
									tx[2] = 0x03;		//Адрес данных указанный в запросе не доступен
									strtOut(3);
								}
								else
								{
									j = 8 + iobuf[6];
									if(iolen > j)
									{
										crc.ch[0] = iobuf[j - 1];
										crc.ch[1] = iobuf[j];
										if(crc.sh == Crc16(j - 1))
										{
											if(iobuf[6] == 4)
											{
												for(j = 0; j < 4; j++)
													f.ch[3 - j] = iobuf[3 + j];
												pardata.ACCEL = f.fl;

												needSave = true;
												strtOut(6);
											}
											else
											{
												tx[0] = iobuf[0];
												tx[1] |= 0x80;		//модификация кода функции на ошибку
												tx[2] = 0x03;		//Адрес данных указанный в запросе не доступен
												strtOut(3);
											}
										}
									}
								}
							break;
							default://Команда неопознана
								tx[0] = iobuf[0];
								tx[1] |= 0x80;		//модификация кода функции на ошибку
								tx[2] = 0x02;		//Адрес данных указанный в запросе не доступен
								strtOut(3);
							break;
						}
					break;
				}
			}
		}
	}

	//iolen++;
}


void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{
__IO uint16_t a;

	a = delayREDE;
	while(a)
	{
		 a--; a++; a--; a++; a--;
	}

	if(setbaud)
	{
		setbaud = false;
		needSave = true;
		SetBaudRate();
	}

	__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_TC);
	HAL_GPIO_WritePin(RE_GPIO_Port, RE_Pin, GPIO_PIN_RESET);
}



void StartTransfer(void)
{
__IO uint16_t a;

	/*a = delayREDE;
	while(a)
	{
		 a--; a++; a--; a++; a--;
	}*/

	HAL_UART_Transmit_IT(&huart1, tx, lastbyte);
}



void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{

//	if(GPIO_Pin == UPER_Pin) // Overdrive
	{
	//	__HAL_GPIO_EXTI_CLEAR_FLAG(UPER_Pin);

		if(HAL_GPIO_ReadPin(GPIOA, UPER_Pin) == GPIO_PIN_SET)
		{
			timerUPER = 1000;
			HAL_GPIO_WritePin(GPIOA, PER_Pin, GPIO_PIN_SET);
			AMP_STATUS |= UPER_Pin;
		}
		else
		{
			if(timerUPER==0){
			AMP_STATUS &= ~UPER_Pin;
			HAL_GPIO_WritePin(GPIOA, PER_Pin, GPIO_PIN_RESET);
			}
		}
	}



//	if(GPIO_Pin == OP_Pin) // OP
	{
	//	__HAL_GPIO_EXTI_CLEAR_FLAG(OP_Pin);

		if(HAL_GPIO_ReadPin(GPIOA, OP_Pin) == GPIO_PIN_SET)
		{
			timerOP = 1000;
			AMP_STATUS |= OP_Pin;
		}
		else
		{
			if(timerOP==0){
			AMP_STATUS &= ~OP_Pin;
			}
		}
	}



//	if(GPIO_Pin == KZ_Pin) // KZ
	{
//		__HAL_GPIO_EXTI_CLEAR_FLAG(KZ_Pin);

		if(HAL_GPIO_ReadPin(GPIOA, KZ_Pin) == GPIO_PIN_SET)
		{
			timerKZ = 1000;
			AMP_STATUS |= KZ_Pin;
		}
		else
		{
			if(timerKZ==0){
			AMP_STATUS &= ~KZ_Pin;
			}
		}
	}
}



/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/