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variation int16_t -> int32_t, BLE上报2字节->3字节，去掉±32767截断

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This commit is contained in:
wangfq
2026-07-20 08:34:29 +08:00
parent e3a27af24f
commit 26fdfe7cd3
3 changed files with 191 additions and 191 deletions
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BLE/DLD110S_Peripheral_28K/APP/dbn_ble_srv.c
+22 -21
View File
@@ -11,7 +11,7 @@
#include "CH59x_common.h" #include "CH59x_common.h"
uint8_t g_flag_notify_temp = 0; //临时通知notify flag, 0 disable, 1 enable uint8_t g_flag_notify_temp = 0; //��ʱ֪ͨnotify flag, 0 disable, 1 enable
BLE_Notify_Buf g_notify_buftemp = {0,0, ""}; BLE_Notify_Buf g_notify_buftemp = {0,0, ""};
BLE_Notify_Buf g_ble_rcv_buf = {0,0, ""}; BLE_Notify_Buf g_ble_rcv_buf = {0,0, ""};
@@ -70,8 +70,8 @@ void clear_buf_dbn_ble_all(Buf_DBN_BLE * buf)
} }
// 0: 包检测异常 // 0: ������쳣
//检测包是否完整，Magic Byte, Header Byte, CK Byte, 校验字节（异或校验，以及和校验） //�����Ƿ�������Magic Byte, Header Byte, CK Byte, У���ֽڣ����У�飬�Լ���У�飩
uint8_t check_pkg(uint8_t * pkg, uint8_t len) uint8_t check_pkg(uint8_t * pkg, uint8_t len)
{ {
if(len < 6) //min length of ble pkg is 6 if(len < 6) //min length of ble pkg is 6
@@ -84,7 +84,7 @@ uint8_t check_pkg(uint8_t * pkg, uint8_t len)
} }
uint8_t _dxor = 0; uint8_t _dxor = 0;
uint8_t _dsum = 0; uint8_t _dsum = 0;
uint8_t _cklen = _len + 3; //不计算 校验字节 uint8_t _cklen = _len + 3; //������ У���ֽ�
uint8_t i = 0; uint8_t i = 0;
for(i = 1; i < _cklen; i++) for(i = 1; i < _cklen; i++)
{ {
@@ -200,7 +200,7 @@ uint8_t set_response_to_notify(Buf_DBN_BLE *response_ori, BLE_Notify_Buf * notif
} }
if(response_ori->pkg_amount <= 1) if(response_ori->pkg_amount <= 1)
{ {
//没有分包的情况 //û�зְ������
notify_dst->buf[0] = response_ori->magic; notify_dst->buf[0] = response_ori->magic;
if(response_ori->magic == MAGIC_BYTE_DBN_TRANSPARENT) if(response_ori->magic == MAGIC_BYTE_DBN_TRANSPARENT)
{ {
@@ -436,7 +436,7 @@ static void unpack_pkg_set_cjq_param(uint8_t *pkg, uint8_t len)
tmp[i++] = g_loop_cng_unit.sensitvity; tmp[i++] = g_loop_cng_unit.sensitvity;
tmp[i++] = g_loop_cng_unit.delay_time; tmp[i++] = g_loop_cng_unit.delay_time;
tmp[i++] = g_loop_cng_unit.output_mode; tmp[i++] = g_loop_cng_unit.output_mode;
tmp[i++] = g_loop_cng_unit.direction_mode; //默认 0 tmp[i++] = g_loop_cng_unit.direction_mode; //Ĭ�� 0
tmp[i++] = g_loop_cng_unit.loopFreq_Level; tmp[i++] = g_loop_cng_unit.loopFreq_Level;
tmp[i++] = g_loop_cng_unit.loopSafe_Timeout; tmp[i++] = g_loop_cng_unit.loopSafe_Timeout;
tmp[i++] = g_loop_cng_unit.exist_mode; tmp[i++] = g_loop_cng_unit.exist_mode;
@@ -470,7 +470,7 @@ void usart_packet_processing_acs_loop(uint8_t flag)
g_freq_tmp = (float)(g_sys_freq )/((float)(_loop_capvd)/((float)(loop1_LPCNT))); // ?? ??????? g_freq_tmp = (float)(g_sys_freq )/((float)(_loop_capvd)/((float)(loop1_LPCNT))); // ?? ???????
// why + 360? balance value ,补偿，经验值，可以根据示波器比较再进行调整 // why + 360? balance value ,����������ֵ�����Ը���ʾ�����Ƚ��ٽ��е���
_current_freq = (uint32_t)(g_freq_tmp) + 360 ;// * 32); _current_freq = (uint32_t)(g_freq_tmp) + 360 ;// * 32);
// if(flag) // if(flag)
{ {
@@ -483,7 +483,7 @@ void usart_packet_processing_acs_loop(uint8_t flag)
// { // {
// if(_current_freq - _last_freq > 30) // if(_current_freq - _last_freq > 30)
// { // {
// //稳定显示，过滤低数值的变动 // //�ȶ���ʾ�����˵���ֵ�ı䶯
// g_loop_acs_info.frequent = _current_freq; // g_loop_acs_info.frequent = _current_freq;
// _last_freq = _current_freq; // _last_freq = _current_freq;
// } // }
@@ -492,7 +492,7 @@ void usart_packet_processing_acs_loop(uint8_t flag)
// { // {
// if(_last_freq - _current_freq > 30) // if(_last_freq - _current_freq > 30)
// { // {
// // 稳定显示，过滤低数值的变动 // // �ȶ���ʾ�����˵���ֵ�ı䶯
// g_loop_acs_info.frequent = _current_freq; // g_loop_acs_info.frequent = _current_freq;
// _last_freq = _current_freq; // _last_freq = _current_freq;
// } // }
@@ -516,6 +516,7 @@ void usart_packet_processing_acs_loop(uint8_t flag)
g_tmp_report_buf.buf[i++] = (uint8_t)g_loop_acs_info.variation; g_tmp_report_buf.buf[i++] = (uint8_t)g_loop_acs_info.variation;
g_tmp_report_buf.buf[i++] = (g_loop_acs_info.variation >> 8) % 0x100; g_tmp_report_buf.buf[i++] = (g_loop_acs_info.variation >> 8) % 0x100;
g_tmp_report_buf.buf[i++] = (g_loop_acs_info.variation >> 16) % 0x100;
g_tmp_report_buf.len = i; g_tmp_report_buf.len = i;
@@ -530,7 +531,7 @@ void report_sens_acs(void)
if(g_dbn_ble_state_acs_enable.enable) if(g_dbn_ble_state_acs_enable.enable)
{ {
// 上报线圈动态数据 // �ϱ���Ȧ��̬����
// switch(g_dbn_ble_state_acs_enable.sens_type) // switch(g_dbn_ble_state_acs_enable.sens_type)
@@ -538,7 +539,7 @@ void report_sens_acs(void)
// //case SENS_LOOP_DYNAMIC: // //case SENS_LOOP_DYNAMIC:
// default: // default:
// { // {
// 线圈动态信息 // ��Ȧ��̬��Ϣ
if(g_loop_acs_info.flag_event) if(g_loop_acs_info.flag_event)
{ {
// if(g_loop_acs_info.report_counter >= 3) // if(g_loop_acs_info.report_counter >= 3)
@@ -636,7 +637,7 @@ void manage_dbn_ble_default(uint8_t *pkg, uint8_t len)
// PRINT("\nGet_Cjq_param\n"); // PRINT("\nGet_Cjq_param\n");
} break; } break;
// case CMD_DBN_LOOP_SAMPLE_PARAM:{ // case CMD_DBN_LOOP_SAMPLE_PARAM:{
// // 获取/设置 地感采样参数 // // ��ȡ/���� �ظв�������
//// PRINT("SAMPLE_CNG: %02X\n", pkg[4]); //// PRINT("SAMPLE_CNG: %02X\n", pkg[4]);
// if(pkg[4] == 0){ // if(pkg[4] == 0){
// // get param // // get param
@@ -663,13 +664,13 @@ void manage_dbn_ble_default(uint8_t *pkg, uint8_t len)
// //
// set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, i); // set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, i);
// //
// //TODO: 不整个设备复位，复位除了蓝牙的部分，即蓝牙正常，其他部分重新初始化 // //TODO: �������豸��λ����λ���������IJ��֣������������������������³�ʼ��
// para_store_init(); // para_store_init();
// } // }
// //
// } break; // } break;
// case CMD_DBN_LOOP_BALANCE_PARAM: { // case CMD_DBN_LOOP_BALANCE_PARAM: {
// // 获取/设置 漂移补偿参数 // // ��ȡ/���� Ư�Ʋ�������
//// PRINT("Balance_CNG: %02X\n", pkg[4]); //// PRINT("Balance_CNG: %02X\n", pkg[4]);
// if(pkg[4] == 0){ // if(pkg[4] == 0){
// // get param // // get param
@@ -697,14 +698,14 @@ void manage_dbn_ble_default(uint8_t *pkg, uint8_t len)
// //
// set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, i); // set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, i);
// //
// //TODO: 不整个设备复位，复位除了蓝牙的部分，即蓝牙正常，其他部分重新初始化 // //TODO: �������豸��λ����λ���������IJ��֣������������������������³�ʼ��
// para_store_init(); // para_store_init();
// //
// } // }
// //
// } break; // } break;
// case CMD_DBN_LOOP_RELEASE_PLANB: { // case CMD_DBN_LOOP_RELEASE_PLANB: {
// // 获取/设置 释放去抖动算法参数 // // ��ȡ/���� �ͷ�ȥ�����㷨����
//// PRINT("Release2_CNG: %02X\n", pkg[4]); //// PRINT("Release2_CNG: %02X\n", pkg[4]);
// if(pkg[4] == 0){ // if(pkg[4] == 0){
// // get param // // get param
@@ -732,7 +733,7 @@ void manage_dbn_ble_default(uint8_t *pkg, uint8_t len)
// //
// set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, i); // set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, i);
// //
// //TODO: 不整个设备复位，复位除了蓝牙的部分，即蓝牙正常，其他部分重新初始化 // //TODO: �������豸��λ����λ���������IJ��֣������������������������³�ʼ��
// para_store_init(); // para_store_init();
// } // }
// } break; // } break;
@@ -772,23 +773,23 @@ void manage_dbn_ble_default(uint8_t *pkg, uint8_t len)
write_cfg_to_store(Addr_Loop_Sens_List_Offset, &tmp_ble_buf[1], (i - 1)); write_cfg_to_store(Addr_Loop_Sens_List_Offset, &tmp_ble_buf[1], (i - 1));
DelayMs(10); DelayMs(10);
//TODO: 不整个设备复位，复位除了蓝牙的部分，即蓝牙正常，其他部分重新初始化 //TODO: �������豸��λ����λ���������IJ��֣������������������������³�ʼ��
para_store_init(); para_store_init();
} }
} break; } break;
case CMD_DBN_SET_CJQ_FACTORY: { case CMD_DBN_SET_CJQ_FACTORY: {
// 出厂初始化 // ������ʼ��
tmp_ble_buf[0] = 0; tmp_ble_buf[0] = 0;
set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, 1); set_response_buf(&g_buf_ble_response, MAGIC_BYTE_DBN_DEFAULT, _cmd, tmp_ble_buf, 1);
set_factory_param(); set_factory_param();
factory_dev(); factory_dev();
DelayMs(10); DelayMs(10);
//TODO: 不整个设备复位，复位除了蓝牙的部分，即蓝牙正常，其他部分重新初始化 //TODO: �������豸��λ����λ���������IJ��֣������������������������³�ʼ��
para_store_init(); para_store_init();
} break; } break;
case CMD_SENS_ACS_ENABLE: { case CMD_SENS_ACS_ENABLE: {
// 线圈动态 // ��Ȧ��̬
g_dbn_ble_state_acs_enable.enable = pkg[5]; g_dbn_ble_state_acs_enable.enable = pkg[5];
if(g_dbn_ble_state_acs_enable.enable){ if(g_dbn_ble_state_acs_enable.enable){
BLE/DLD110S_Peripheral_28K/APP/include/storage.h
+20 -20
View File
@@ -39,20 +39,20 @@
typedef struct _Loop_Sample_CNG_ typedef struct _Loop_Sample_CNG_
{ {
uint8_t flag; uint8_t flag;
uint16_t max_amplitude; // 最大幅值 uint16_t max_amplitude; // ����ֵ
}Loop_Sample_Cng; }Loop_Sample_Cng;
typedef struct _Loop_Balance_Ori_CNG_ typedef struct _Loop_Balance_Ori_CNG_
{ {
uint8_t flag; uint8_t flag;
uint16_t max_cnt ; // 最大补偿次数 uint16_t max_cnt ; // ��󲹳�����
}Loop_Balance_Ori_Cng; // 漂移补偿 }Loop_Balance_Ori_Cng; // Ư�Ʋ���
typedef struct _Loop_Release_Ori_PlanB_ typedef struct _Loop_Release_Ori_PlanB_
{ {
uint8_t flag_weight; uint8_t flag_weight;
uint16_t max_amplitude; //最大幅值 uint16_t max_amplitude; //����ֵ
uint8_t timeout; // 单位：分钟 uint8_t timeout; // ��λ������
}Loop_Release_Ori_PlanB; }Loop_Release_Ori_PlanB;
typedef struct _Loop_Release_Change_Rate_ typedef struct _Loop_Release_Change_Rate_
@@ -77,13 +77,13 @@ extern Loop_Balance_PlanB g_loop_balance_planB;
typedef struct typedef struct
{ {
uint8_t sensitvity; // 高四位表示灵敏度的数量，低四位表示当前灵敏度的序号（从0开始） uint8_t sensitvity; // ����λ��ʾ�����ȵ�����������λ��ʾ��ǰ�����ȵ���ţ���0��ʼ��
uint8_t delay_time; uint8_t delay_time;
uint8_t output_mode; uint8_t output_mode;
uint8_t direction_mode; // 方向判别模式，0 触发模式， 非0 表示方向判别模式 uint8_t direction_mode; // �����б�ģʽ��0 ����ģʽ�� ��0 ��ʾ�����б�ģʽ
uint8_t loopFreq_Level; // 高低频 uint8_t loopFreq_Level; // �ߵ�Ƶ
uint8_t loopSafe_Timeout; // 线圈安全模式， 0表示关闭，非0表示开启，以10秒为单位 uint8_t loopSafe_Timeout; // ��Ȧ��ȫģʽ�� 0��ʾ�رգ���0��ʾ��������10��Ϊ��λ
uint8_t exist_mode; // 0 永久存在，非0，表示有限存在的时间，单位为10秒 uint8_t exist_mode; // 0 ���ô��ڣ���0����ʾ���޴��ڵ�ʱ�䣬��λΪ10��
}Loop_Cng_Unit; }Loop_Cng_Unit;
extern Loop_Cng_Unit g_loop_cng_unit; extern Loop_Cng_Unit g_loop_cng_unit;
@@ -105,7 +105,7 @@ extern Loop_Sens_List g_loop_sens_list;
typedef struct _DBN_BLE_STATE_ typedef struct _DBN_BLE_STATE_
{ {
uint8_t flag; // if need to report uint8_t flag; // if need to report
uint8_t enable; // 是否使能 uint8_t enable; // �Ƿ�ʹ��
uint8_t send_flag; uint8_t send_flag;
uint8_t obj_amount; uint8_t obj_amount;
uint8_t cmd; uint8_t cmd;
@@ -126,18 +126,18 @@ extern DBN_BLE_State g_dbn_ble_state_acs_enable;
typedef enum typedef enum
{ {
SENS_NONE = 0, SENS_NONE = 0,
SENS_SUB_INFO = 1, // 传感器设备信息 SENS_SUB_INFO = 1, // �������豸��Ϣ
SENS_OBJ_DYNAMIC = 2, // 动态目标类型 SENS_OBJ_DYNAMIC = 2, // ��̬Ŀ������
SENS_SOUTPUT_STATUS = 3, // 当前开关量输出的状态 SENS_SOUTPUT_STATUS = 3, // ��ǰ�����������״̬
SENS_DETAIL_CNG = 4, // 详细配置 SENS_DETAIL_CNG = 4, // ��ϸ����
SENS_LOOP_DYNAMIC = 5, // 线圈动态信息 SENS_LOOP_DYNAMIC = 5, // ��Ȧ��̬��Ϣ
SENS_OBJ_BackGround = 6, // SENS_OBJ_BackGround = 6, //
SENS_OBJ_INSIDE = 7, // SENS_OBJ_INSIDE = 7, //
SENS_LOOP_TREND, SENS_LOOP_TREND,
SENS_OBJ_DYNAMIC_SIMPLE, SENS_OBJ_DYNAMIC_SIMPLE,
SENS_OBJ_STATIC_XuJing, //10, 0x0A SENS_OBJ_STATIC_XuJing, //10, 0x0A
SENS_DOBULE_LOOP_ESTIMATE //0x0B, 线圈环境评估 SENS_DOBULE_LOOP_ESTIMATE //0x0B, ��Ȧ��������
} SUB_SENS_TYPE; // 传感数据类型 } SUB_SENS_TYPE; // ������������
@@ -163,7 +163,7 @@ typedef struct _LOOP_ACS_INFO
uint8_t flag_change; uint8_t flag_change;
uint32_t frequent; uint32_t frequent;
uint32_t loop_capvd; uint32_t loop_capvd;
int16_t variation; int32_t variation;
uint32_t event_counter; uint32_t event_counter;
uint32_t report_counter; uint32_t report_counter;
} Loop_ACS_Info; } Loop_ACS_Info;
@@ -174,7 +174,7 @@ extern Loop_ACS_Info g_loop_acs_info;
#define HOLD_TIME 5*1200 #define HOLD_TIME 5*1200
#define LC_HOLD_TIME 4*1200 //时间4分钟 #define LC_HOLD_TIME 4*1200 //ʱ��4����
#define IN_DELAY 10 #define IN_DELAY 10
#define OUT_DELAY 39 #define OUT_DELAY 39
#define PLUSE_DELAY 10 #define PLUSE_DELAY 10
BLE/DLD110S_Peripheral_28K/APP/peripheral_main.c
+149 -150
View File
@@ -3,15 +3,15 @@
* Author : WCH / wangfq * Author : WCH / wangfq
* Version : V2.0 (algorithm ported from DLD154V4B) * Version : V2.0 (algorithm ported from DLD154V4B)
* Date : 2026/07/18 * Date : 2026/07/18
* Description : DLD110SV4 单线圈蓝牙车检器 主函数 * Description : DLD110SV4 ����Ȧ���������� ������
* *
* 算法说明 (移植自 DLD154V4B TaskLoop V2.0, M1H 精简系): * �㷨˵�� (��ֲ�� DLD154V4B TaskLoop V2.0, M1H ����ϵ):
* - 自适应测量窗: LPCNT = MEASUREMENT_BASE / Xn, 测量窗时长与线圈频率无关 * - ����Ӧ������: LPCNT = MEASUREMENT_BASE / Xn, ������ʱ������ȦƵ���޹�
* - 一阶 IIR (79/256) + 斜率限幅 5% (拒绝 EMI 瞬态尖峰) * - һ�� IIR (79/256) + б���޷� 5% (�ܾ� EMI ˲̬���)
* - 稳定期 128 窗快速收敛 (绕过滤波, 小窗口 100) * - �ȶ��� 128 ���������� (�ƹ��˲�, С���� 100)
* - 基线跟踪 窗口 500 + 冻结保护 (超时 + 稳定性双条件强制更新) * - ���߸��� ���� 500 + ���ᱣ�� (��ʱ + �ȶ���˫����ǿ�Ƹ���)
* - 进入确认 3 次; 离开: 平坦性三条件判定 (专利 CN200910309382) * - ����ȷ�� 3 ��; �뿪: ƽ̹���������ж� (ר�� CN200910309382)
* - 有限存在超时 / 安全复位: 全复位重建基线 * - ���޴��ڳ�ʱ / ��ȫ��λ: ȫ��λ�ؽ�����
********************************************************************************* *********************************************************************************
* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd. * Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
* Attention: This software (modified or not) and binary are used for * Attention: This software (modified or not) and binary are used for
@@ -19,7 +19,7 @@
*******************************************************************************/ *******************************************************************************/
/******************************************************************************/ /******************************************************************************/
/* 头文件包含 */ /* ͷ�ļ����� */
#include "CONFIG.h" #include "CONFIG.h"
#include "HAL.h" #include "HAL.h"
#include "gattprofile.h" #include "gattprofile.h"
@@ -30,10 +30,11 @@
#include "dbn_ble_srv.h" #include "dbn_ble_srv.h"
uint8_t g_flag_bt_state = 0; // 0 蓝牙没有连接，1 有蓝牙连接 uint8_t g_flag_bt_state = 0; // 0 ����û�����ӣ�1 ����������
uint8_t g_flag_output = 0; uint8_t g_flag_output = 0;
uint32_t g_xn_counter = 0; uint32_t g_xn_counter = 0;
uint8_t g_function_mode = 0; uint8_t g_function_mode = 0;
uint32_t g_sys_freq = 0;
#define RLY1_ON (R32_PA_OUT |= BV(8)) #define RLY1_ON (R32_PA_OUT |= BV(8))
#define RLY1_OFF (R32_PA_OUT &= ~BV(8)) #define RLY1_OFF (R32_PA_OUT &= ~BV(8))
@@ -51,27 +52,27 @@ uint8_t g_function_mode = 0;
#define KEY_SA2 (GPIOA_ReadPortPin(GPIO_Pin_15)) #define KEY_SA2 (GPIOA_ReadPortPin(GPIO_Pin_15))
const uint8_t MAX_Store_Size = 80; const uint8_t MAX_Store_Size = 80;
uint8_t g_loop_power_up_state = 0; // 开机启动时线圈是否连接 uint8_t g_loop_power_up_state = 0; // ��������ʱ��Ȧ�Ƿ�����
__IO uint32_t TimingDelayInc; __IO uint32_t TimingDelayInc;
/*=========================================================================== /*===========================================================================
* 算法参数 -- 移植自 DLD154V4B (M4 优化版), 适配 CH591R @60MHz * �㷨���� -- ��ֲ�� DLD154V4B (M4 �Ż���), ���� CH591R @60MHz
* *
* 测量窗: MEASUREMENT_BASE 个系统时钟 tick, 与线圈频率无关 * ������: MEASUREMENT_BASE ��ϵͳʱ�� tick, ����ȦƵ���޹�
* 524288(2^19) / 60MHz ~= 8.74ms, 即 vd1_task 有效采样周期 ~8.74ms * 524288(2^19) / 60MHz ~= 8.74ms, �� vd1_task ��Ч�������� ~8.74ms
* (DLD154V4B 为 131072 @120MHz + 10ms 任务轮询, 时间尺度基本一致) * (DLD154V4B Ϊ 131072 @120MHz + 10ms ������ѯ, ʱ��߶Ȼ���һ��)
*===========================================================================*/ *===========================================================================*/
#define MEASUREMENT_BASE 524288L // 2^19, 自适应测量窗目标值 (Value ~= 524288) #define MEASUREMENT_BASE 524288L // 2^19, ����Ӧ������Ŀ��ֵ (Value ~= 524288)
#define ALFA_CAP1 79 // IIR a=79/256~=0.31 (@8.74ms -> tau~=24ms) #define ALFA_CAP1 79 // IIR a=79/256~=0.31 (@8.74ms -> tau~=24ms)
#define MAX_SLOPE_RATE 5 // 斜率限幅: 单次最大变化 5% (拒绝 EMI 尖峰) #define MAX_SLOPE_RATE 5 // б���޷�: �������仯 5% (�ܾ� EMI ���)
#define ENTRY_CONFIRM 3 // 进入确认: 连续 N 次低于阈值才判有车 #define ENTRY_CONFIRM 3 // ����ȷ��: ���� N �ε�����ֵ�����г�
#define FREEZE_TIMEOUT 1000 // 基线冻结超时: ~8.7s, 持续偏高且稳定后强制更新 #define FREEZE_TIMEOUT 1000 // ���߶��ᳬʱ: ~8.7s, ����ƫ�����ȶ���ǿ�Ƹ���
#define FREEZE_STABILITY_RATE 2 // 冻结稳定性窗口: 参考值 +-2% #define FREEZE_STABILITY_RATE 2 // �����ȶ��Դ���: �ο�ֵ +-2%
#define USE_FLATNESS_EXIT 1 // 1=平坦性三条件离开, 0=简单滞回防抖 #define USE_FLATNESS_EXIT 1 // 1=ƽ̹���������뿪, 0=���ͻط���
#define WINDOW_ORIGIN 500 // 基线跟踪窗口 (500 窗 ~= 4.4s) #define WINDOW_ORIGIN 500 // ���߸��ٴ��� (500 �� ~= 4.4s)
#define STABLE_SAMPLES 128 // 稳定期样本数 (~1.1s) #define STABLE_SAMPLES 128 // �ȶ��������� (~1.1s)
#define VARIATION_EVENT_TH 40 // BLE variation 事件阈值 (幅值基准 2^19, 对应旧代码的 5) #define VARIATION_EVENT_TH 40 // BLE variation �¼���ֵ (��ֵ��׼ 2^19, ��Ӧ�ɴ���� 5)
#define ENV_ACT_TH 30 // 环境活跃度: CAPVD 相邻差绝对值阈值 (待现场验证) #define ENV_ACT_TH 30 // ������Ծ��: CAPVD ���ڲ����ֵ��ֵ (���ֳ���֤)
uint32_t mstick(void){ uint32_t mstick(void){
return TimingDelayInc; return TimingDelayInc;
@@ -93,7 +94,7 @@ const uint8_t MacAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02};
uint8_t MACAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02}; uint8_t MACAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02};
#endif #endif
uint8_t g_dev_number[6] = ""; // 设备编号 产品编号 uint8_t g_dev_number[6] = ""; // �豸��� ��Ʒ���
char g_flag_debug = 1; char g_flag_debug = 1;
@@ -109,27 +110,27 @@ uint8_t TM1cnt = 0;
uint16_t g_hold_time = 0; uint16_t g_hold_time = 0;
/*=========================================================================== /*===========================================================================
* 捕获 & 测量 * ���� & ����
*===========================================================================*/ *===========================================================================*/
uint16_t loop1_Xn; // 相邻下降沿周期 (TMR0 直接给出) uint16_t loop1_Xn; // �����½������� (TMR0 ֱ�Ӹ���)
uint32_t loop1_dlt_ORG; // 当前灵敏度阈值 uint32_t loop1_dlt_ORG; // ��ǰ��������ֵ
uint32_t loop1_Origin; // 基线 (无车参考值) uint32_t loop1_Origin; // ���� (�޳��ο�ֵ)
uint16_t loop1_LPCNT; // 每个测量窗累加的 Xn 个数 uint16_t loop1_LPCNT; // ÿ���������ۼӵ� Xn ����
uint16_t loop1_CapCnt; // 当前窗口已累加次数 uint16_t loop1_CapCnt; // ��ǰ�������ۼӴ���
uint32_t loop1_CapSum; // 当前窗口累加和 uint32_t loop1_CapSum; // ��ǰ�����ۼӺ�
uint32_t loop1_CAPVD; // IIR 滤波后的测量值 uint32_t loop1_CAPVD; // IIR �˲���IJ���ֵ
uint32_t loop1_Value; // 一个测量窗的原始 Sigma-Xn uint32_t loop1_Value; // һ����������ԭʼ Sigma-Xn
uint32_t loop1_ORG_SUM; // 基线跟踪累加和 uint32_t loop1_ORG_SUM; // ���߸����ۼӺ�
uint16_t loop1_ORG_CNT; // 基线跟踪计数 uint16_t loop1_ORG_CNT; // ���߸��ټ���
/*=========================================================================== /*===========================================================================
* 计数器 * ������
*===========================================================================*/ *===========================================================================*/
uint8_t loop1_INCNT; uint8_t loop1_INCNT;
uint8_t loop1_OUTCNT; uint8_t loop1_OUTCNT;
/*=========================================================================== /*===========================================================================
* 标志位 * ��־λ
*===========================================================================*/ *===========================================================================*/
uint8_t loop1_INI_LOOP; uint8_t loop1_INI_LOOP;
uint8_t loop1_CAP_OK; uint8_t loop1_CAP_OK;
@@ -144,48 +145,48 @@ uint8_t loop1_FLAG_PLUSE;
uint8_t loop1_FLAG_PLUSE_IN_F = 0; uint8_t loop1_FLAG_PLUSE_IN_F = 0;
uint8_t loop1_FLAG_PLUSE_IN = 0; uint8_t loop1_FLAG_PLUSE_IN = 0;
uint8_t loop1_FLAG_CUT; uint8_t loop1_FLAG_CUT;
uint8_t loop1_FLAG_HOLD_TIMEOUT; // 有限存在超时 uint8_t loop1_FLAG_HOLD_TIMEOUT; // ���޴��ڳ�ʱ
/*=========================================================================== /*===========================================================================
* 安全复位 * ��ȫ��λ
*===========================================================================*/ *===========================================================================*/
uint8_t loop1_LC_HOLD = 0; uint8_t loop1_LC_HOLD = 0;
uint8_t loop1_LC_Reset = 0; uint8_t loop1_LC_Reset = 0;
uint32_t LC_Hold_CNT = 0; uint32_t LC_Hold_CNT = 0;
/*=========================================================================== /*===========================================================================
* 新算法状态 (DLD154V4B 移植) * ���㷨״̬ (DLD154V4B ��ֲ)
*===========================================================================*/ *===========================================================================*/
uint8_t g_loop_stable = 0; // 线圈数值已稳定 (0=稳定期中, 1=稳定) uint8_t g_loop_stable = 0; // ��Ȧ��ֵ���ȶ� (0=�ȶ�����, 1=�ȶ�)
uint16_t loop1_stable_cnt = 0; // 稳定期样本计数 uint16_t loop1_stable_cnt = 0; // �ȶ�����������
uint8_t loop1_entry_cnt = 0; // 进入确认计数 uint8_t loop1_entry_cnt = 0; // ����ȷ�ϼ���
uint8_t loop1_cnt_release = 0; // 简单离开防抖计数 (USE_FLATNESS_EXIT=0) uint8_t loop1_cnt_release = 0; // ���뿪�������� (USE_FLATNESS_EXIT=0)
uint16_t loop1_freeze_cnt = 0; // 基线冻结持续计数 uint16_t loop1_freeze_cnt = 0; // ���߶����������
uint32_t loop1_freeze_ref = 0; // 冻结稳定性参考值 uint32_t loop1_freeze_ref = 0; // �����ȶ��Բο�ֵ
#if USE_FLATNESS_EXIT #if USE_FLATNESS_EXIT
uint8_t g_exit_state = 0; // 0=追踪坡面, 1=等待平坦 uint8_t g_exit_state = 0; // 0=׷������, 1=�ȴ�ƽ̹
uint16_t g_max_slope = 0; // 第一上升坡面最大 |f'| uint16_t g_max_slope = 0; // ��һ����������� |f'|
uint16_t g_max_slope_rate = 0; // 第一上升坡面最大 |f''| uint16_t g_max_slope_rate = 0; // ��һ����������� |f''|
uint16_t g_delta2 = 0; // 一阶平坦阈值 uint16_t g_delta2 = 0; // һ��ƽ̹��ֵ
uint16_t g_delta3 = 0; // 二阶平坦阈值 uint16_t g_delta3 = 0; // ����ƽ̹��ֵ
int32_t g_prev_capvd = 0; // 上一帧 CAPVD (差分用) int32_t g_prev_capvd = 0; // ��һ֡ CAPVD (�����)
int32_t g_prev_first_deriv = 0; // 上一帧一阶导数 int32_t g_prev_first_deriv = 0; // ��һ֡һ�׵���
uint8_t g_slope_flat_cnt = 0; // 斜率趋零连续计数 uint8_t g_slope_flat_cnt = 0; // б��������������
uint8_t g_flat_ok_cnt = 0; // 平坦条件满足连续计数 uint8_t g_flat_ok_cnt = 0; // ƽ̹����������������
#endif #endif
/* 环境活跃度 (供 BLE condition 字段上报, 替代旧 flt_mgr.cnt_not_idle) */ /* ������Ծ�� (�� BLE condition �ֶ��ϱ�, ����� flt_mgr.cnt_not_idle) */
uint8_t g_env_activity = 0; uint8_t g_env_activity = 0;
uint32_t g_env_prev_capvd = 0; uint32_t g_env_prev_capvd = 0;
/*=========================================================================== /*===========================================================================
* 出厂灵敏度默认表 (写入 g_loop_sens_list, 运行时以 g_loop_sens_list 为准) * ����������Ĭ�ϱ� (д�� g_loop_sens_list, ����ʱ�� g_loop_sens_list Ϊ׼)
* 进入阈值 = Origin * sens_in / 65536; 离开阈值 = Origin * sens_out / 65536 * ������ֵ = Origin * sens_in / 65536; �뿪��ֵ = Origin * sens_out / 65536
*===========================================================================*/ *===========================================================================*/
const uint16_t SensTable[MAX_LOOP_SENS_AMOUNT] = { 108, 54, 28}; const uint16_t SensTable[MAX_LOOP_SENS_AMOUNT] = { 108, 54, 28};
const uint16_t SensTable1[MAX_LOOP_SENS_AMOUNT] = {81, 32, 16}; const uint16_t SensTable1[MAX_LOOP_SENS_AMOUNT] = {81, 32, 16};
uint16_t g_loop_out_delay = 10; // 离开延时, 50ms 为单位, 由 delay_time 配置 uint16_t g_loop_out_delay = 10; // �뿪��ʱ, 50ms Ϊ��λ, �� delay_time ����
DBN_BLE_State g_dbn_ble_state_acs_enable = {0}; DBN_BLE_State g_dbn_ble_state_acs_enable = {0};
Loop_ACS_Info g_loop_acs_info = {0,}; Loop_ACS_Info g_loop_acs_info = {0,};
@@ -193,7 +194,7 @@ Loop_ACS_Info g_loop_acs_info = {0,};
float g_freq_tmp = 0.0; float g_freq_tmp = 0.0;
/* 用于APP判断文件有效性 */ /* ����APP�ж��ļ���Ч�� */
const uint32_t Address = 0xFFFFFFFF; const uint32_t Address = 0xFFFFFFFF;
__attribute__((aligned(4))) uint32_t Image_Flag __attribute__((section(".ImageFlag"))) = (uint32_t)&Address; __attribute__((aligned(4))) uint32_t Image_Flag __attribute__((section(".ImageFlag"))) = (uint32_t)&Address;
@@ -263,7 +264,7 @@ void poll_sens_key(void)
static uint8_t _last_sens = 3; static uint8_t _last_sens = 3;
#if DEBUG #if DEBUG
g_freq_sens = 2; // 默认最高灵敏度 g_freq_sens = 2; // Ĭ�����������
#else #else
if(KEY_SA1){ if(KEY_SA1){
if(KEY_SA2){ if(KEY_SA2){
@@ -285,7 +286,7 @@ void poll_sens_key(void)
} }
if(_last_sens != g_freq_sens){ if(_last_sens != g_freq_sens){
/* 灵敏度阈值每周期由 g_loop_sens_list 实时计算, 无需重载 */ /* ��������ֵÿ������ g_loop_sens_list ʵʱ����, �������� */
_last_sens = g_freq_sens; _last_sens = g_freq_sens;
} }
@@ -309,7 +310,7 @@ void para_store_init(void)
poll_sens_key(); poll_sens_key();
g_loop_out_delay = g_loop_cng_unit.delay_time * 2; // 定时器以 50ms 为单位, 延时以100ms为单位 g_loop_out_delay = g_loop_cng_unit.delay_time * 2; // ��ʱ���� 50ms Ϊ��λ, ��ʱ��100msΪ��λ
g_hold_time = g_loop_cng_unit.exist_mode * 30 * 20; //50ms/per, 30s g_hold_time = g_loop_cng_unit.exist_mode * 30 * 20; //50ms/per, 30s
g_safe_max_cnt = g_loop_cng_unit.loopSafe_Timeout * 10 * (1000 / 50); g_safe_max_cnt = g_loop_cng_unit.loopSafe_Timeout * 10 * (1000 / 50);
g_freq_level = g_loop_cng_unit.loopFreq_Level - 1; g_freq_level = g_loop_cng_unit.loopFreq_Level - 1;
@@ -322,23 +323,23 @@ void para_store_init(void)
switch(g_freq_level) switch(g_freq_level)
{ {
case 0: { case 0: {
// 高频 // ��Ƶ
FLEVEL_H_LOW; FLEVEL_L_LOW; FLEVEL_H_LOW; FLEVEL_L_LOW;
} break; } break;
case 1: { case 1: {
// 中高 // �и�
FLEVEL_H_LOW; FLEVEL_L_HIGH; FLEVEL_H_LOW; FLEVEL_L_HIGH;
} break; } break;
case 2: { case 2: {
// 中低 // �е�
FLEVEL_H_HIGH; FLEVEL_L_LOW; FLEVEL_H_HIGH; FLEVEL_L_LOW;
} break; } break;
case 3: { case 3: {
// 低频 // ��Ƶ
FLEVEL_H_HIGH; FLEVEL_L_HIGH; FLEVEL_H_HIGH; FLEVEL_L_HIGH;
} break; } break;
default:{ default:{
// 默认低频 // Ĭ�ϵ�Ƶ
g_freq_level = 3; g_freq_level = 3;
FLEVEL_H_HIGH; FLEVEL_L_HIGH; FLEVEL_H_HIGH; FLEVEL_L_HIGH;
} break; } break;
@@ -360,7 +361,7 @@ void para_store_init(void)
void tm_init(void){ void tm_init(void){
// Cap 捕获 // Cap ����
GPIOA_ResetBits(GPIO_Pin_9); GPIOA_ResetBits(GPIO_Pin_9);
GPIOA_ModeCfg(GPIO_Pin_9, GPIO_ModeIN_Floating); GPIOA_ModeCfg(GPIO_Pin_9, GPIO_ModeIN_Floating);
@@ -372,29 +373,29 @@ void tm_init(void){
// TMR1 // TMR1
TMR1_TimerInit(FREQ_SYS / 200); // 设置定时时间 5ms TMR1_TimerInit(FREQ_SYS / 200); // ���ö�ʱʱ�� 5ms
TMR1_ITCfg(ENABLE, TMR0_3_IT_CYC_END); // 开启中断 TMR1_ITCfg(ENABLE, TMR0_3_IT_CYC_END); // �����ж�
PFIC_EnableIRQ(TMR1_IRQn); PFIC_EnableIRQ(TMR1_IRQn);
} }
void gpio_uart_init(void) void gpio_uart_init(void)
{ {
/* 配置串口0：先配置IO口模式，再配置串口 */ /* ���ô���0��������IO��ģʽ�������ô��� */
#ifdef DEBUG #ifdef DEBUG
GPIOPinRemap(ENABLE, RB_PIN_UART0); GPIOPinRemap(ENABLE, RB_PIN_UART0);
GPIOA_SetBits(GPIO_Pin_14); GPIOA_SetBits(GPIO_Pin_14);
GPIOA_ModeCfg(GPIO_Pin_14, GPIO_ModeOut_PP_5mA); // TXD-配置推挽输出，注意先让IO口输出高电平 GPIOA_ModeCfg(GPIO_Pin_14, GPIO_ModeOut_PP_5mA); // TXD-�������������ע������IO������ߵ�ƽ
UART0_BaudRateCfg(230400); //115200 UART0_BaudRateCfg(230400); //115200
R8_UART0_FCR = (2 << 6) | RB_FCR_TX_FIFO_CLR | RB_FCR_RX_FIFO_CLR | RB_FCR_FIFO_EN; // FIFO打开，触发点4字节 R8_UART0_FCR = (2 << 6) | RB_FCR_TX_FIFO_CLR | RB_FCR_RX_FIFO_CLR | RB_FCR_FIFO_EN; // FIFO�򿪣�������4�ֽ�
R8_UART0_LCR = RB_LCR_WORD_SZ; R8_UART0_LCR = RB_LCR_WORD_SZ;
R8_UART0_IER = RB_IER_TXD_EN; R8_UART0_IER = RB_IER_TXD_EN;
R8_UART0_DIV = 1; R8_UART0_DIV = 1;
GPIOA_ModeCfg(GPIO_Pin_15, GPIO_ModeIN_PU); // 拨动开关，调节灵敏度 GPIOA_ModeCfg(GPIO_Pin_15, GPIO_ModeIN_PU); // �������أ�����������
#else #else
GPIOA_ModeCfg(GPIO_Pin_15|GPIO_Pin_14, GPIO_ModeIN_PU); // 拨动开关，调节灵敏度 GPIOA_ModeCfg(GPIO_Pin_15|GPIO_Pin_14, GPIO_ModeIN_PU); // �������أ�����������
#endif #endif
@@ -413,7 +414,7 @@ void gpio_uart_init(void)
/*=========================================================================== /*===========================================================================
* 一阶 IIR 低通滤波器 (对齐 M1H 公式) * һ�� IIR ��ͨ�˲��� (���� M1H ��ʽ)
* CAPVD_new = a * new_value + (1-a) * CAPVD_old, a = Flt_Reg/256 * CAPVD_new = a * new_value + (1-a) * CAPVD_old, a = Flt_Reg/256
*===========================================================================*/ *===========================================================================*/
uint32_t get_flt_value(uint32_t new_value, uint32_t last_Value) { uint32_t get_flt_value(uint32_t new_value, uint32_t last_Value) {
@@ -432,8 +433,8 @@ uint32_t get_flt_value(uint32_t new_value, uint32_t last_Value) {
/*=========================================================================== /*===========================================================================
* 滑动平均基线更新 * ����ƽ�����߸���
* 注意: window 必须是 uint16_t (WINDOW_ORIGIN=500 > 255, uint8_t 会静默截断) * ע��: window ������ uint16_t (WINDOW_ORIGIN=500 > 255, uint8_t �ᾲĬ�ض�)
*===========================================================================*/ *===========================================================================*/
void update_moving_average(uint32_t* p_sum, uint16_t* p_cnt, uint32_t* p_origin, uint32_t new_value, uint16_t window) { void update_moving_average(uint32_t* p_sum, uint16_t* p_cnt, uint32_t* p_origin, uint32_t new_value, uint16_t window) {
if (!p_sum || !p_cnt || !p_origin || window == 0) { if (!p_sum || !p_cnt || !p_origin || window == 0) {
@@ -452,8 +453,8 @@ void update_moving_average(uint32_t* p_sum, uint16_t* p_cnt, uint32_t* p_origin,
/*=========================================================================== /*===========================================================================
* 初始化所有检测状态 (上电 / 有限存在超时 / 线圈重连 时调用) * ��ʼ�����м��״̬ (�ϵ� / ���޴��ڳ�ʱ / ��Ȧ���� ʱ����)
* 注意: 不复位 g_loop_power_up_state / g_loop_cut_amount (BLE 上报用) * ע��: ����λ g_loop_power_up_state / g_loop_cut_amount (BLE �ϱ���)
*===========================================================================*/ *===========================================================================*/
void INIT_VD(void) void INIT_VD(void)
{ {
@@ -493,7 +494,7 @@ void INIT_VD(void)
loop1_LC_Reset = 0; loop1_LC_Reset = 0;
LC_Hold_CNT = 0; LC_Hold_CNT = 0;
/* 新算法状态 */ /* ���㷨״̬ */
g_loop_stable = 0; g_loop_stable = 0;
loop1_stable_cnt = 0; loop1_stable_cnt = 0;
loop1_entry_cnt = 0; loop1_entry_cnt = 0;
@@ -519,7 +520,7 @@ void INIT_VD(void)
/*=========================================================================== /*===========================================================================
* 车辆离开 / 释放 公共处理 * �����뿪 / �ͷ� ��������
*===========================================================================*/ *===========================================================================*/
static void loop_release_common(void) static void loop_release_common(void)
{ {
@@ -539,19 +540,19 @@ static void loop_release_common(void)
/*=========================================================================== /*===========================================================================
* vd1_task -- 核心检测算法 (移植 DLD154V4B, 每次 CAP_OK 调用, ~8.74ms) * vd1_task -- ���ļ���㷨 (��ֲ DLD154V4B, ÿ�� CAP_OK ����, ~8.74ms)
* *
* 流程: * ����:
* 1. IIR 滤波 + 斜率限幅 * 1. IIR �˲� + б���޷�
* 2. 稳定期: 小窗口快速收敛基线 * 2. �ȶ���: С���ڿ�����������
* 3. 无车: 基线跟踪 (冻结保护) + 进入确认 * 3. �޳�: ���߸��� (���ᱣ��) + ����ȷ��
* 4. 有车: 平坦性三条件离开判定 (带滞回) * 4. �г�: ƽ̹���������뿪�ж� (���ͻ�)
*===========================================================================*/ *===========================================================================*/
void vd1_task(void){ void vd1_task(void){
if (loop1_Origin == 0) return; if (loop1_Origin == 0) return;
/*--- 1. IIR 滤波 + 斜率限幅 ---*/ /*--- 1. IIR �˲� + б���޷� ---*/
if (loop1_CAPVD == 0) { if (loop1_CAPVD == 0) {
loop1_CAPVD = loop1_Value; loop1_CAPVD = loop1_Value;
} else { } else {
@@ -565,7 +566,7 @@ void vd1_task(void){
loop1_CAPVD = get_flt_value(clamped_value, loop1_CAPVD); loop1_CAPVD = get_flt_value(clamped_value, loop1_CAPVD);
} }
/*--- 2. 稳定期: 绕过 IIR/斜率限幅, 小窗口快速收敛 ---*/ /*--- 2. �ȶ���: �ƹ� IIR/б���޷�, С���ڿ������� ---*/
if (!g_loop_stable) { if (!g_loop_stable) {
loop1_CAPVD = loop1_Value; loop1_CAPVD = loop1_Value;
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, 100); update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, 100);
@@ -577,19 +578,17 @@ void vd1_task(void){
return; return;
} }
/*--- 3. BLE 上报状态刷新 (flag_change 置位期间冻结, 保持事件时刻的值) ---*/ /*--- 3. BLE �ϱ�״̬ˢ�� (flag_change ��λ�ڼ䶳��, �����¼�ʱ�̵�ֵ) ---*/
if (g_loop_acs_info.flag_change == 0) { if (g_loop_acs_info.flag_change == 0) {
int32_t _var = (int32_t)loop1_Origin - (int32_t)loop1_CAPVD; int32_t _var = (int32_t)loop1_Origin - (int32_t)loop1_CAPVD;
g_loop_acs_info.loop_capvd = loop1_CAPVD; g_loop_acs_info.loop_capvd = loop1_CAPVD;
if (_var > 32767) _var = 32767; g_loop_acs_info.variation = _var;
if (_var < -32768) _var = -32768;
g_loop_acs_info.variation = (int16_t)_var;
if (g_flag_bt_state && (_var > VARIATION_EVENT_TH || _var < -VARIATION_EVENT_TH)) { if (g_flag_bt_state && (_var > VARIATION_EVENT_TH || _var < -VARIATION_EVENT_TH)) {
g_loop_acs_info.flag_event = 1; g_loop_acs_info.flag_event = 1;
} }
} }
/*--- 4. 环境活跃度 (BLE condition 字段, 0~15) ---*/ /*--- 4. ������Ծ�� (BLE condition �ֶ�, 0~15) ---*/
{ {
int32_t d = (int32_t)loop1_CAPVD - (int32_t)g_env_prev_capvd; int32_t d = (int32_t)loop1_CAPVD - (int32_t)g_env_prev_capvd;
if (d < 0) d = -d; if (d < 0) d = -d;
@@ -603,7 +602,7 @@ void vd1_task(void){
if (!loop1_VD_FLAG) { if (!loop1_VD_FLAG) {
/*================================================================ /*================================================================
* 无车状态: 基线跟踪 (冻结保护) + 进入确认 * �޳�״̬: ���߸��� (���ᱣ��) + ����ȷ��
*================================================================*/ *================================================================*/
loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_in) >> 16; loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_in) >> 16;
{ {
@@ -612,7 +611,7 @@ void vd1_task(void){
loop1_freeze_cnt = 0; loop1_freeze_cnt = 0;
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN); update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN);
} else { } else {
/*--- CAPVD 异常偏高: 暂停跟踪, 冻结超时 + 稳定性双条件 ---*/ /*--- CAPVD �쳣ƫ��: ��ͣ����, ���ᳬʱ + �ȶ���˫���� ---*/
if (loop1_freeze_cnt == 0) { if (loop1_freeze_cnt == 0) {
loop1_freeze_ref = loop1_CAPVD; loop1_freeze_ref = loop1_CAPVD;
} else { } else {
@@ -625,7 +624,7 @@ void vd1_task(void){
} }
loop1_freeze_cnt++; loop1_freeze_cnt++;
if (loop1_freeze_cnt >= FREEZE_TIMEOUT) { if (loop1_freeze_cnt >= FREEZE_TIMEOUT) {
loop1_Origin = loop1_CAPVD; /* 确认稳定的新常态 */ loop1_Origin = loop1_CAPVD; /* ȷ���ȶ����³�̬ */
loop1_freeze_cnt = 0; loop1_freeze_cnt = 0;
loop1_freeze_ref = 0; loop1_freeze_ref = 0;
} }
@@ -634,7 +633,7 @@ void vd1_task(void){
} }
} }
/*--- 进入确认: 连续 ENTRY_CONFIRM 次低于阈值才判有车 ---*/ /*--- ����ȷ��: ���� ENTRY_CONFIRM �ε�����ֵ�����г� ---*/
if (loop1_CAPVD < (loop1_Origin - loop1_dlt_ORG)) { if (loop1_CAPVD < (loop1_Origin - loop1_dlt_ORG)) {
loop1_entry_cnt++; loop1_entry_cnt++;
if (loop1_entry_cnt >= ENTRY_CONFIRM) { if (loop1_entry_cnt >= ENTRY_CONFIRM) {
@@ -645,11 +644,11 @@ void vd1_task(void){
loop1_VD_FLAG = 1; loop1_VD_FLAG = 1;
loop1_FLAG_IN = 1; loop1_FLAG_IN = 1;
if (g_loop_cng_unit.exist_mode) { /* 有限存在 */ if (g_loop_cng_unit.exist_mode) { /* ���޴��� */
loop1_VD_HOLD = 1; loop1_VD_HOLD = 1;
Hold_CNT = 0; Hold_CNT = 0;
} }
if (g_loop_cng_unit.loopSafe_Timeout) { /* 线圈安全模式: 启动安全复位计时 */ if (g_loop_cng_unit.loopSafe_Timeout) { /* ��Ȧ��ȫģʽ: ������ȫ��λ��ʱ */
loop1_LC_HOLD = 1; loop1_LC_HOLD = 1;
LC_Hold_CNT = 0; LC_Hold_CNT = 0;
} else { } else {
@@ -667,7 +666,7 @@ void vd1_task(void){
g_loop_acs_info.car_state = 1; g_loop_acs_info.car_state = 1;
#if USE_FLATNESS_EXIT #if USE_FLATNESS_EXIT
/* 重置平坦性状态 (专利 CN200910309382) */ /* ����ƽ̹��״̬ (ר�� CN200910309382) */
g_exit_state = 0; g_exit_state = 0;
g_max_slope = 0; g_max_slope = 0;
g_max_slope_rate = 0; g_max_slope_rate = 0;
@@ -686,8 +685,8 @@ void vd1_task(void){
else { else {
#if USE_FLATNESS_EXIT #if USE_FLATNESS_EXIT
/*================================================================ /*================================================================
* 有车状态: 平坦性三条件判定离开 (专利 CN200910309382) * �г�״̬: ƽ̹���������ж��뿪 (ר�� CN200910309382)
* 幅值阈值按新测量基准 2^19 缩放 (DLD154V4B: 100/5/2 @2^17) * ��ֵ��ֵ���²�����׼ 2^19 ���� (DLD154V4B: 100/5/2 @2^17)
*================================================================*/ *================================================================*/
#define K1 8 #define K1 8
#define K2 8 #define K2 8
@@ -704,7 +703,7 @@ void vd1_task(void){
abs_sd = (second_deriv >= 0) ? second_deriv : -second_deriv; abs_sd = (second_deriv >= 0) ? second_deriv : -second_deriv;
if (g_exit_state == 0) { if (g_exit_state == 0) {
/*--- 阶段0: 追踪第一上升坡面, 自适应计算平坦阈值 ---*/ /*--- �׶�0: ׷�ٵ�һ��������, ����Ӧ����ƽ̹��ֵ ---*/
if (abs_fd > (int32_t)g_max_slope) g_max_slope = (uint16_t)abs_fd; if (abs_fd > (int32_t)g_max_slope) g_max_slope = (uint16_t)abs_fd;
if (abs_sd > (int32_t)g_max_slope_rate) g_max_slope_rate = (uint16_t)abs_sd; if (abs_sd > (int32_t)g_max_slope_rate) g_max_slope_rate = (uint16_t)abs_sd;
if (abs_fd < SLOPE_FLAT_THRESH) { if (abs_fd < SLOPE_FLAT_THRESH) {
@@ -721,7 +720,7 @@ void vd1_task(void){
g_slope_flat_cnt = 0; g_slope_flat_cnt = 0;
} }
} else { } else {
/*--- 阶段1: 幅值回归 + 一阶平坦 + 二阶平坦 三条件确认离开 ---*/ /*--- �׶�1: ��ֵ�ع� + һ��ƽ̹ + ����ƽ̹ ������ȷ���뿪 ---*/
int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin; int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin;
int32_t cond1 = (dev >= 0) ? dev : -dev; int32_t cond1 = (dev >= 0) ? dev : -dev;
loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_out) >> 16; loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_out) >> 16;
@@ -741,7 +740,7 @@ void vd1_task(void){
g_prev_first_deriv = first_deriv; g_prev_first_deriv = first_deriv;
#else #else
/*================================================================ /*================================================================
* 有车状态: 简单滞回 + 防抖离开 * �г�״̬: ���ͻ� + �����뿪
*================================================================*/ *================================================================*/
loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_out) >> 16; loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_out) >> 16;
@@ -760,33 +759,33 @@ void vd1_task(void){
/*=========================================================================== /*===========================================================================
* cjq_srv -- 车检器主循环服务 * cjq_srv -- ��������ѭ������
* - 有限存在超时 / 线圈断开重连: 全复位重建基线 * - ���޴��ڳ�ʱ / ��Ȧ�Ͽ�����: ȫ��λ�ؽ�����
* (线圈仍被占用时, 新基线落在占用值上, 继电器保持释放 -- 对齐 M1H 行为) * (��Ȧ�Ա�ռ��ʱ, �»�������ռ��ֵ��, �̵��������ͷ� -- ���� M1H ��Ϊ)
* - CAP_OK 到达时执行核心检测算法 * - CAP_OK ����ʱִ�к��ļ���㷨
*===========================================================================*/ *===========================================================================*/
void cjq_srv(void){ void cjq_srv(void){
if(loop1_LOOP_OK){ if(loop1_LOOP_OK){
if(loop1_FLAG_HOLD_TIMEOUT){ if(loop1_FLAG_HOLD_TIMEOUT){
/* 有限存在超时: 全复位, 重新经历稳定期重建基线 */ /* ���޴��ڳ�ʱ: ȫ��λ, ���¾����ȶ����ؽ����� */
INIT_VD(); INIT_VD();
return; return;
} }
if(loop1_FLAG_CUT){ if(loop1_FLAG_CUT){
/* 线圈断开后重连: 全复位, 重新自适应测量窗并重建基线 */ /* ��Ȧ�Ͽ�������: ȫ��λ, ��������Ӧ���������ؽ����� */
g_loop_cut_last = 0; g_loop_cut_last = 0;
INIT_VD(); INIT_VD();
return; return;
} }
if(!loop1_LOOP_OK0){ if(!loop1_LOOP_OK0){
DelayMs(200); /* 线圈重新起振后等待 200ms 再消费数据 */ DelayMs(200); /* ��Ȧ���������ȴ� 200ms ���������� */
loop1_LOOP_OK0 = 1; loop1_LOOP_OK0 = 1;
} }
if(loop1_CAP_OK){ if(loop1_CAP_OK){
loop1_CAP_OK = 0; loop1_CAP_OK = 0;
if(!g_loop_power_up_state){ if(!g_loop_power_up_state){
g_loop_power_up_state = 1; // 表示连接了线圈 g_loop_power_up_state = 1; // ��ʾ��������Ȧ
} }
vd1_task(); vd1_task();
poll_sens_key(); poll_sens_key();
@@ -801,7 +800,7 @@ void cjq_srv(void){
loop1_FLAG_PLUSE_IN_F = 0; loop1_FLAG_PLUSE_IN_F = 0;
loop1_FLAG_PLUSE_IN = 0; loop1_FLAG_PLUSE_IN = 0;
// 线圈断开: 继电器释放, 车辆状态清零 // ��Ȧ�Ͽ�: �̵����ͷ�, ����״̬����
RLY1_OFF; RLY2_OFF; RLY1_OFF; RLY2_OFF;
g_loop_acs_info.relay1_state = 0; g_loop_acs_info.relay1_state = 0;
g_loop_acs_info.relay2_state = 0; g_loop_acs_info.relay2_state = 0;
@@ -826,7 +825,7 @@ void cjq_srv(void){
/********************************************************************* /*********************************************************************
* @fn Main_Circulation * @fn Main_Circulation
* *
* @brief 主循环 * @brief ��ѭ��
* *
* @return none * @return none
*/ */
@@ -845,7 +844,7 @@ void Main_Circulation()
cjq_srv(); cjq_srv();
if(g_flag_bt_state == 0){ if(g_flag_bt_state == 0){
// 如果蓝牙断开，主动上报需要禁用 // ��������Ͽ��������ϱ���Ҫ����
if(g_dbn_ble_state_acs_enable.enable){ if(g_dbn_ble_state_acs_enable.enable){
g_dbn_ble_state_acs_enable.enable = 0; g_dbn_ble_state_acs_enable.enable = 0;
} }
@@ -869,7 +868,7 @@ void Main_Circulation()
/********************************************************************* /*********************************************************************
* @fn main * @fn main
* *
* @brief 主函数 * @brief ������
* *
* @return none * @return none
*/ */
@@ -909,15 +908,15 @@ int main(void)
/* @fn TMR0_IRQHandler /* @fn TMR0_IRQHandler
* *
* @brief TMR0 输入捕获中断 -- 线圈频率测量 * @brief TMR0 ���벶���ж� -- ��ȦƵ�ʲ���
* FallEdge_To_FallEdge 模式, CAPGetData 直接给出相邻下降沿周期 Xn * FallEdge_To_FallEdge ģʽ, CAPGetData ֱ�Ӹ��������½������� Xn
* 累加 LPCNT 次 -> 一个测量窗 Value (~= MEASUREMENT_BASE) * �ۼ� LPCNT �� -> һ�������� Value (~= MEASUREMENT_BASE)
* *
* @return none * @return none
*/ */
__INTERRUPT __INTERRUPT
__HIGH_CODE __HIGH_CODE
void TMR0_IRQHandler(void) // TMR0 捕获中断 void TMR0_IRQHandler(void) // TMR0 �����ж�
{ {
if(TMR0_GetITFlag(TMR0_3_IT_DATA_ACT)){ if(TMR0_GetITFlag(TMR0_3_IT_DATA_ACT)){
loop1_Xn = (uint16_t)TMR0_CAPGetData(); loop1_Xn = (uint16_t)TMR0_CAPGetData();
@@ -938,12 +937,12 @@ void TMR0_IRQHandler(void) // TMR0
loop1_CapCnt++; loop1_CapCnt++;
if(loop1_INI_LOOP){ if(loop1_INI_LOOP){
/*--- 初始化阶段 ---*/ /*--- ��ʼ���׶� ---*/
if(loop1_LPCNT == 0){ if(loop1_LPCNT == 0){
if(loop1_CapCnt > 200){ /* 上电/换频后等待振荡稳定 */ if(loop1_CapCnt > 200){ /* �ϵ�/��Ƶ��ȴ����ȶ� */
uint32_t lpcnt = (uint32_t)MEASUREMENT_BASE / loop1_Xn; uint32_t lpcnt = (uint32_t)MEASUREMENT_BASE / loop1_Xn;
if(lpcnt == 0 || lpcnt > 65535){ if(lpcnt == 0 || lpcnt > 65535){
lpcnt = 100; /* 异常 Xn 保护 */ lpcnt = 100; /* �쳣 Xn ���� */
} }
loop1_LPCNT = (uint16_t)lpcnt; loop1_LPCNT = (uint16_t)lpcnt;
@@ -955,7 +954,7 @@ void TMR0_IRQHandler(void) // TMR0
} }
} }
else{ else{
/* 第一个测量窗: 直接作为基线 Origin */ /* ��һ��������: ֱ����Ϊ���� Origin */
loop1_CapSum += loop1_Xn; loop1_CapSum += loop1_Xn;
if(loop1_CapCnt >= loop1_LPCNT){ if(loop1_CapCnt >= loop1_LPCNT){
loop1_CAPVD = loop1_CapSum; loop1_CAPVD = loop1_CapSum;
@@ -971,7 +970,7 @@ void TMR0_IRQHandler(void) // TMR0
} }
}// end if loop1_INI_LOOP }// end if loop1_INI_LOOP
else { else {
/*--- 正常运行: 累加到测量窗 ---*/ /*--- ��������: �ۼӵ������� ---*/
loop1_CapSum += loop1_Xn; loop1_CapSum += loop1_Xn;
if(loop1_CapCnt >= loop1_LPCNT){ if(loop1_CapCnt >= loop1_LPCNT){
@@ -992,7 +991,7 @@ void TMR0_IRQHandler(void) // TMR0
/********************************************************************* /*********************************************************************
* @fn TMR1_IRQHandler * @fn TMR1_IRQHandler
* *
* @brief TMR1 定时中断 5ms/per -- 时序状态机 / 继电器输出 / LED * @brief TMR1 ��ʱ�ж� 5ms/per -- ʱ��״̬�� / �̵������ / LED
* *
* @return none * @return none
*/ */
@@ -1022,7 +1021,7 @@ void TMR1_IRQHandler(void)
TimingDelayInc++; TimingDelayInc++;
u32CountWdt++; u32CountWdt++;
/*--- LED: 稳定期 200ms 快闪; 线圈断开 150ms 快闪 ---*/ /*--- LED: �ȶ��� 200ms ����; ��Ȧ�Ͽ� 150ms ���� ---*/
if(loop1_FLAG_CUT == 0) if(loop1_FLAG_CUT == 0)
{ {
if(!g_loop_stable) if(!g_loop_stable)
@@ -1049,12 +1048,12 @@ void TMR1_IRQHandler(void)
if(TM1cnt >= 10) //about=50ms if(TM1cnt >= 10) //about=50ms
{ {
TM1cnt = 0; TM1cnt = 0;
if(loop1_FLAG_IN) // 线圈1 从无车到有车 if(loop1_FLAG_IN) // ��Ȧ1 ���޳����г�
{ {
loop1_FLAG_OUT = 0; loop1_FLAG_OUT = 0;
loop1_OUTCNT = 0; loop1_OUTCNT = 0;
loop1_FLAG_IN = 0; loop1_FLAG_IN = 0;
if(g_loop_cng_unit.output_mode == 1) // 进入脉冲 if(g_loop_cng_unit.output_mode == 1) // ��������
{ {
loop1_FLAG_PLUSE_IN_F = 1; loop1_FLAG_PLUSE_IN_F = 1;
} }
@@ -1084,7 +1083,7 @@ void TMR1_IRQHandler(void)
} }
if(loop1_FLAG_OUT) // 从有车到无车的标志 if(loop1_FLAG_OUT) // ���г����޳��ı�־
{ {
loop1_OUTCNT++; loop1_OUTCNT++;
if(loop1_OUTCNT > g_loop_out_delay) if(loop1_OUTCNT > g_loop_out_delay)
@@ -1110,13 +1109,13 @@ void TMR1_IRQHandler(void)
if(loop1_VD_HOLD) if(loop1_VD_HOLD)
{ {
Hold_CNT++; Hold_CNT++;
if(Hold_CNT > g_hold_time) // 超过有限存在时间 if(Hold_CNT > g_hold_time) // �������޴���ʱ��
{ {
loop1_VD_HOLD = 0; loop1_VD_HOLD = 0;
Hold_CNT = 0; Hold_CNT = 0;
if(loop1_VD_FLAG) if(loop1_VD_FLAG)
{ {
/* 有限存在超时: 释放继电器, 主循环全复位重建基线 */ /* ���޴��ڳ�ʱ: �ͷż̵���, ��ѭ��ȫ��λ�ؽ����� */
loop1_FLAG_HOLD_TIMEOUT = 1; loop1_FLAG_HOLD_TIMEOUT = 1;
RLY1_OFF; RLY2_OFF; RLY1_OFF; RLY2_OFF;
g_loop_acs_info.relay1_state = 0; g_loop_acs_info.relay1_state = 0;
@@ -1130,7 +1129,7 @@ void TMR1_IRQHandler(void)
LC_Hold_CNT++; LC_Hold_CNT++;
if(LC_Hold_CNT > g_safe_max_cnt) if(LC_Hold_CNT > g_safe_max_cnt)
{ {
/* 安全复位: 重新初始化测量, 重建基线 (对齐 M1H) */ /* ��ȫ��λ: ���³�ʼ������, �ؽ����� (���� M1H) */
loop1_LC_Reset = 1; loop1_LC_Reset = 1;
loop1_INI_LOOP = 1; loop1_INI_LOOP = 1;
loop1_LOOP_OK0 = 0; loop1_LOOP_OK0 = 0;
@@ -1150,7 +1149,7 @@ void TMR1_IRQHandler(void)
} }
} }
/*--- 线圈载波检测 & 继电器输出刷新 (每 5ms) ---*/ /*--- ��Ȧ�ز���� & �̵������ˢ�� (ÿ 5ms) ---*/
if(loop1_RF_FLAG) if(loop1_RF_FLAG)
{ {
loop1_LOOP_OK = 1; loop1_LOOP_OK = 1;
@@ -1159,10 +1158,10 @@ void TMR1_IRQHandler(void)
if(loop1_LC_Reset == 0) if(loop1_LC_Reset == 0)
{ {
switch(g_loop_cng_unit.output_mode) switch(g_loop_cng_unit.output_mode)
{ // 输出方式 { // �����ʽ
case 0: // 存在输出 case 0: // �������
{ {
if(loop1_VD_FLAG | loop1_FLAG_OUT)// 输出存在信号 if(loop1_VD_FLAG | loop1_FLAG_OUT)// ��������ź�
{ {
RLY1_ON; RLY1_ON;
g_loop_acs_info.relay1_state = 1; g_loop_acs_info.relay1_state = 1;
@@ -1177,9 +1176,9 @@ void TMR1_IRQHandler(void)
g_loop_acs_info.relay2_state = 0; g_loop_acs_info.relay2_state = 0;
} }
} break; } break;
case 1: // 进入脉冲 case 1: // ��������
{ {
if(loop1_VD_FLAG) // 继电器2存在信号 if(loop1_VD_FLAG) // �̵���2�����ź�
{ {
RLY2_ON; RLY2_ON;
g_loop_acs_info.relay2_state = 1; g_loop_acs_info.relay2_state = 1;
@@ -1201,9 +1200,9 @@ void TMR1_IRQHandler(void)
g_loop_acs_info.relay1_state = 0; g_loop_acs_info.relay1_state = 0;
} }
} break; } break;
case 2: // 离开脉冲 case 2: // �뿪����
{ {
if(loop1_VD_FLAG) // 继电器2存在信号 if(loop1_VD_FLAG) // �̵���2�����ź�
{ {
RLY2_ON; RLY2_ON;
g_loop_acs_info.relay2_state = 1; g_loop_acs_info.relay2_state = 1;
@@ -1214,7 +1213,7 @@ void TMR1_IRQHandler(void)
g_loop_acs_info.relay2_state = 0; g_loop_acs_info.relay2_state = 0;
} }
if(loop1_FLAG_PLUSE) // 输出离开脉冲 if(loop1_FLAG_PLUSE) // ����뿪����
{ {
RLY1_ON; RLY1_ON;
g_loop_acs_info.relay1_state = 1; g_loop_acs_info.relay1_state = 1;
@@ -1226,7 +1225,7 @@ void TMR1_IRQHandler(void)
} }
} break; } break;
default: { default: {
if(loop1_VD_FLAG) // 继电器2存在信号 if(loop1_VD_FLAG) // �̵���2�����ź�
{ {
RLY2_ON; RLY2_ON;
g_loop_acs_info.relay2_state = 1; g_loop_acs_info.relay2_state = 1;
@@ -1248,7 +1247,7 @@ void TMR1_IRQHandler(void)
TMR1_ClearITFlag(TMR0_3_IT_CYC_END); // 清除中断标志 TMR1_ClearITFlag(TMR0_3_IT_CYC_END); // ����жϱ�־
} }
} }