1285 lines
43 KiB
C
1285 lines
43 KiB
C
/********************************** (C) COPYRIGHT *******************************
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* File Name : peripheral_main.c
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* Author : WCH / wangfq
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* Version : V2.0 (algorithm ported from DLD154V4B)
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* Date : 2026/07/18
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* Description : DLD110SV4 单线圈蓝牙车检器 主函数
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*
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* 算法说明 (移植自 DLD154V4B TaskLoop V2.0, M1H 精简系):
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* - 自适应测量窗: LPCNT = MEASUREMENT_BASE / Xn, 测量窗时长与线圈频率无关
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* - 一阶 IIR (79/256) + 斜率限幅 5% (拒绝 EMI 瞬态尖峰)
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* - 稳定期 128 窗快速收敛 (绕过滤波, 小窗口 100)
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* - 基线跟踪 窗口 500 + 冻结保护 (超时 + 稳定性双条件强制更新)
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* - 进入确认 3 次; 离开: 平坦性三条件判定 (专利 CN200910309382)
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* - 有限存在超时 / 安全复位: 全复位重建基线
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*********************************************************************************
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* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
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* Attention: This software (modified or not) and binary are used for
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* microcontroller manufactured by Nanjing Qinheng Microelectronics.
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*******************************************************************************/
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/******************************************************************************/
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/* 头文件包含 */
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#include "CONFIG.h"
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#include "HAL.h"
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#include "gattprofile.h"
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#include "peripheral.h"
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#include "storage.h"
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#include <stdlib.h>
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#include "cmcng.h"
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#include "dbn_ble_srv.h"
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uint8_t g_flag_bt_state = 0; // 0 蓝牙没有连接，1 有蓝牙连接
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uint8_t g_flag_output = 0;
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uint32_t g_xn_counter = 0;
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uint8_t g_function_mode = 0;
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uint32_t g_sys_freq = 0;
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#define RLY1_ON (R32_PA_OUT |= BV(8))
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#define RLY1_OFF (R32_PA_OUT &= ~BV(8))
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#define RLY2_ON (R32_PB_OUT |= BV(23))
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#define RLY2_OFF (R32_PB_OUT &= ~BV(23))
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#define LEDA_ON (R32_PB_OUT &= ~BV(22))
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#define LEDA_OFF (R32_PB_OUT |= BV(22))
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#define LEDA_ON_OFF() (GPIOB_ReadPortPin(GPIO_Pin_22) ? GPIOB_ResetBits(GPIO_Pin_22) : GPIOB_SetBits(GPIO_Pin_22))
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#define FLEVEL_H_LOW (R32_PA_OUT &= ~BV(12))
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#define FLEVEL_H_HIGH (R32_PA_OUT |= BV(12))
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#define FLEVEL_L_LOW (R32_PA_OUT &= ~BV(13))
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#define FLEVEL_L_HIGH (R32_PA_OUT |= BV(13))
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#define KEY_SA1 (GPIOA_ReadPortPin(GPIO_Pin_14))
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#define KEY_SA2 (GPIOA_ReadPortPin(GPIO_Pin_15))
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const uint8_t MAX_Store_Size = 80;
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uint8_t g_loop_power_up_state = 0; // 开机启动时线圈是否连接
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uint8_t g_disconnect_active = 0; // 当前线圈是否断开中 (1=断开)
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__IO uint32_t TimingDelayInc;
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/*===========================================================================
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* 算法参数 -- 移植自 DLD154V4B (M4 优化版), 适配 CH591R @60MHz
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*
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* 测量窗: MEASUREMENT_BASE 个系统时钟 tick, 与线圈频率无关
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* 524288(2^19) / 60MHz ~= 8.74ms, 即 vd1_task 有效采样周期 ~8.74ms
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* (DLD154V4B 为 131072 @120MHz + 10ms 任务轮询, 时间尺度基本一致)
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*===========================================================================*/
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#define MEASUREMENT_BASE 524288L // 2^19, 自适应测量窗目标值 (Value ~= 524288)
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#define ALFA_CAP1 79 // IIR a=79/256~=0.31 (@8.74ms -> tau~=24ms)
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#define MAX_SLOPE_RATE 5 // 斜率限幅: 单次最大变化 5% (拒绝 EMI 尖峰)
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#define ENTRY_CONFIRM 3 // 进入确认: 连续 N 次低于阈值才判有车
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#define FREEZE_TIMEOUT 1000 // 基线冻结超时: ~8.7s, 持续偏高且稳定后强制更新
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#define FREEZE_STABILITY_RATE 2 // 冻结稳定性窗口: 参考值 +-2%
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// #define USE_FLATNESS_EXIT 1 // 1=平坦性三条件离开, 0=简单滞回防抖
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#define WINDOW_ORIGIN 500 // 基线跟踪窗口 (500 窗 ~= 4.4s)
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#define STABLE_SAMPLES 128 // 稳定期样本数 (~1.1s)
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#define VARIATION_EVENT_TH 40 // BLE variation 事件阈值 (幅值基准 2^19, 对应旧代码的 5)
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#define ENV_ACT_TH 30 // 环境活跃度: CAPVD 相邻差绝对值阈值 (待现场验证)
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uint32_t mstick(void){
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return TimingDelayInc;
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}
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uint32_t u32CountWdt = 0;
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uint8_t g_loop_cut_last = 0;
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uint32_t g_loop_cut_amount = 0; // LED 快闪用 (3次上限)
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uint32_t g_loop_cut_total = 0; // 上电后持续累计断开次数 (BLE 上报用, 不截断)
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/*********************************************************************
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* GLOBAL TYPEDEFS
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*/
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__attribute__((aligned(4))) uint32_t MEM_BUF[BLE_MEMHEAP_SIZE / 4];
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#if(defined(BLE_MAC)) && (BLE_MAC == TRUE)
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const uint8_t MacAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02};
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#else
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uint8_t MACAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02};
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#endif
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uint8_t g_dev_number[6] = ""; // 设备编号 产品编号
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char g_flag_debug = 1;
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uint8_t g_freq_sens;
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uint8_t loop1_SensLevel;
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uint8_t g_freq_level;
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uint16_t g_safe_max_cnt = LC_HOLD_TIME;
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uint16_t Hold_CNT = 0;
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uint8_t Flt_Reg = 0;
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uint8_t TM1cnt = 0;
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uint16_t g_hold_time = 0;
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/*===========================================================================
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* 捕获 & 测量
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*===========================================================================*/
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uint16_t loop1_Xn; // 相邻下降沿周期 (TMR0 直接给出)
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uint32_t loop1_dlt_ORG; // 当前灵敏度阈值
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uint32_t loop1_Origin; // 基线 (无车参考值)
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uint16_t loop1_LPCNT; // 每个测量窗累加的 Xn 个数
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uint16_t loop1_CapCnt; // 当前窗口已累加次数
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uint32_t loop1_CapSum; // 当前窗口累加和
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uint32_t loop1_CAPVD; // IIR 滤波后的测量值
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uint32_t loop1_Value; // 一个测量窗的原始 Sigma-Xn
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uint32_t loop1_ORG_SUM; // 基线跟踪累加和
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uint16_t loop1_ORG_CNT; // 基线跟踪计数
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/*===========================================================================
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* 计数器
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*===========================================================================*/
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uint8_t loop1_INCNT;
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uint8_t loop1_OUTCNT;
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/*===========================================================================
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* 标志位
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*===========================================================================*/
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uint8_t loop1_INI_LOOP;
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uint8_t loop1_CAP_OK;
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uint8_t loop1_VD_FLAG;
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uint8_t loop1_VD_HOLD;
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uint8_t loop1_RF_FLAG;
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uint8_t loop1_LOOP_OK;
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uint8_t loop1_LOOP_OK0;
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uint8_t loop1_FLAG_IN;
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uint8_t loop1_FLAG_OUT;
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uint8_t loop1_FLAG_PLUSE;
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uint8_t loop1_FLAG_PLUSE_IN_F = 0;
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uint8_t loop1_FLAG_PLUSE_IN = 0;
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uint8_t loop1_FLAG_CUT;
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uint8_t loop1_FLAG_HOLD_TIMEOUT; // 有限存在超时
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/*===========================================================================
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* 安全复位
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*===========================================================================*/
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uint8_t loop1_LC_HOLD = 0;
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uint8_t loop1_LC_Reset = 0;
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uint32_t LC_Hold_CNT = 0;
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/*===========================================================================
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* 新算法状态 (DLD154V4B 移植)
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*===========================================================================*/
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uint8_t g_loop_stable = 0; // 线圈数值已稳定 (0=稳定期中, 1=稳定)
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uint16_t loop1_stable_cnt = 0; // 稳定期样本计数
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uint8_t loop1_entry_cnt = 0; // 进入确认计数
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uint8_t loop1_cnt_release = 0; // 简单离开防抖计数 (USE_FLATNESS_EXIT=0)
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uint16_t loop1_freeze_cnt = 0; // 基线冻结持续计数
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uint32_t loop1_freeze_ref = 0; // 冻结稳定性参考值
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#if USE_FLATNESS_EXIT
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uint8_t g_exit_state = 0; // 0=追踪坡面, 1=等待平坦
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uint16_t g_max_slope = 0; // 第一上升坡面最大 |f'|
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uint16_t g_max_slope_rate = 0; // 第一上升坡面最大 |f''|
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uint16_t g_delta2 = 0; // 一阶平坦阈值
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uint16_t g_delta3 = 0; // 二阶平坦阈值
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int32_t g_prev_capvd = 0; // 上一帧 CAPVD (差分用)
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int32_t g_prev_first_deriv = 0; // 上一帧一阶导数
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uint8_t g_slope_flat_cnt = 0; // 斜率趋零连续计数
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uint8_t g_flat_ok_cnt = 0; // 平坦条件满足连续计数
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#endif
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/* 环境活跃度 (供 BLE condition 字段上报, 替代旧 flt_mgr.cnt_not_idle) */
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uint8_t g_env_activity = 0;
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uint32_t g_env_prev_capvd = 0;
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/*===========================================================================
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* 出厂灵敏度默认表 (写入 g_loop_sens_list, 运行时以 g_loop_sens_list 为准)
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* 进入阈值 = Origin * sens_in / 65536; 离开阈值 = Origin * sens_out / 65536
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*===========================================================================*/
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const uint16_t SensTable[MAX_LOOP_SENS_AMOUNT] = { 108, 54, 28};
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const uint16_t SensTable1[MAX_LOOP_SENS_AMOUNT] = {81, 32, 16};
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uint16_t g_loop_out_delay = 10; // 离开延时, 50ms 为单位, 由 delay_time 配置
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DBN_BLE_State g_dbn_ble_state_acs_enable = {0};
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Loop_ACS_Info g_loop_acs_info = {0,};
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float g_freq_tmp = 0.0;
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/* 用于APP判断文件有效性 */
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const uint32_t Address = 0xFFFFFFFF;
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__attribute__((aligned(4))) uint32_t Image_Flag __attribute__((section(".ImageFlag"))) = (uint32_t)&Address;
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uint8_t loop_cng_default[7] = {2,1,0,0,4,0,0};
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void set_factory_param(void)
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{
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uint8_t i;
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memcpy(&g_loop_cng_unit.sensitvity, loop_cng_default, 7);
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for(i = 0; i < g_loop_sens_list.total; i++)
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{
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g_loop_sens_list.sens[i].sens_in = SensTable[i];
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g_loop_sens_list.sens[i].sens_out = SensTable1[i];
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}
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}
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void factory_dev(void){
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uint8_t i = 0, k = 0;
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uint8_t *rBuf = (uint8_t *)malloc(MAX_Store_Size);
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if(rBuf == NULL){
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SYS_ResetExecute();
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}
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for(i = 0; i < MAX_Store_Size; i++){
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rBuf[i] = 0;
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}
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rBuf[0] = 0x33;
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rBuf[1] = 0xBB;
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rBuf[2] = 0xC3;
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rBuf[3] = 0x3C;
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i = 4;
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memcpy(&rBuf[i], &g_loop_cng_unit.sensitvity, 7);
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i += 7;
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i = Addr_Loop_Sens_List_Offset;
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if(g_loop_sens_list.total > MAX_LOOP_SENS_AMOUNT)
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{
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g_loop_sens_list.total = MAX_LOOP_SENS_AMOUNT;
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}
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rBuf[i++] = g_loop_sens_list.total;
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for(k = 0; k < MAX_LOOP_SENS_AMOUNT; k++)
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{
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rBuf[i++] = g_loop_sens_list.sens[k].sens_in;
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rBuf[i++] = g_loop_sens_list.sens[k].sens_in >> 8;
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rBuf[i++] = g_loop_sens_list.sens[k].sens_out;
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rBuf[i++] = g_loop_sens_list.sens[k].sens_out >> 8;
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}
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write_cfg_to_store(0, rBuf, MAX_Store_Size);
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free(rBuf);
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}
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void poll_sens_key(void)
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{
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static uint8_t _last_sens = 3;
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#if DEBUG
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g_freq_sens = 2; // 默认最高灵敏度
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#else
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if(KEY_SA1){
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if(KEY_SA2){
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g_freq_sens = 0;
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}
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else {
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g_freq_sens = 2;
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}
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}
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else{
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if (KEY_SA2) {
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g_freq_sens = 1;
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}
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}
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#endif
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if(_last_sens == 3){
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_last_sens = g_freq_sens;
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}
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if(_last_sens != g_freq_sens){
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/* 灵敏度阈值每周期由 g_loop_sens_list 实时计算, 无需重载 */
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_last_sens = g_freq_sens;
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}
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}
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void para_store_init(void)
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{
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uint8_t *rBuf = (uint8_t *)malloc(MAX_Store_Size);
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if(rBuf == NULL){
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SYS_ResetExecute();
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}
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memset(rBuf, 0, MAX_Store_Size);
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read_cfg_from_store(0, rBuf, MAX_Store_Size);
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if(rBuf[0] == 0x33 && rBuf[1] == 0xBB && rBuf[2] == 0xC3 && rBuf[3] == 0x3C){
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memcpy(&g_loop_cng_unit, &rBuf[4], sizeof(g_loop_cng_unit));
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memcpy(&g_loop_sens_list, &rBuf[Addr_Loop_Sens_List_Offset], sizeof(g_loop_sens_list));
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poll_sens_key();
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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
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g_hold_time = g_loop_cng_unit.exist_mode * 20 * 5; //50ms/per, period: 5s
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g_safe_max_cnt = g_loop_cng_unit.loopSafe_Timeout * 10 * (1000 / 50);
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g_freq_level = g_loop_cng_unit.loopFreq_Level - 1;
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g_function_mode = g_loop_cng_unit.direction_mode >> 4;
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#ifdef DEBUG
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g_freq_level = 0;
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#endif
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switch(g_freq_level)
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{
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case 0: {
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// 高频
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FLEVEL_H_LOW; FLEVEL_L_LOW;
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} break;
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case 1: {
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// 中高
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FLEVEL_H_LOW; FLEVEL_L_HIGH;
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} break;
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case 2: {
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// 中低
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FLEVEL_H_HIGH; FLEVEL_L_LOW;
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} break;
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case 3: {
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// 低频
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FLEVEL_H_HIGH; FLEVEL_L_HIGH;
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} break;
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default:{
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// 默认低频
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g_freq_level = 3;
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FLEVEL_H_HIGH; FLEVEL_L_HIGH;
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} break;
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}
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free(rBuf);
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}
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else{
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free(rBuf);
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set_factory_param();
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factory_dev();
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DelayMs(10);
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SYS_ResetExecute();
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}
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}
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void tm_init(void){
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// Cap 捕获
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GPIOA_ResetBits(GPIO_Pin_9);
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GPIOA_ModeCfg(GPIO_Pin_9, GPIO_ModeIN_Floating);
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TMR0_CapInit(FallEdge_To_FallEdge);
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TMR0_CAPTimeoutCfg(0xFFFFFFFF);
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TMR0_ClearITFlag(TMR0_3_IT_DATA_ACT);
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TMR0_ITCfg(ENABLE, TMR0_3_IT_DATA_ACT);
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PFIC_EnableIRQ(TMR0_IRQn);
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// TMR1
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TMR1_TimerInit(FREQ_SYS / 200); // 设置定时时间 5ms
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TMR1_ITCfg(ENABLE, TMR0_3_IT_CYC_END); // 开启中断
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PFIC_EnableIRQ(TMR1_IRQn);
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}
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void gpio_uart_init(void)
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{
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/* 配置串口0：先配置IO口模式，再配置串口 */
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#ifdef DEBUG
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GPIOPinRemap(ENABLE, RB_PIN_UART0);
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GPIOA_SetBits(GPIO_Pin_14);
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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
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UART0_BaudRateCfg(230400); //115200
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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
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R8_UART0_LCR = RB_LCR_WORD_SZ;
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R8_UART0_IER = RB_IER_TXD_EN;
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R8_UART0_DIV = 1;
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GPIOA_ModeCfg(GPIO_Pin_15, GPIO_ModeIN_PU); // 拨动开关，调节灵敏度
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#else
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GPIOA_ModeCfg(GPIO_Pin_15|GPIO_Pin_14, GPIO_ModeIN_PU); // 拨动开关，调节灵敏度
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|
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#endif
|
||
|
||
|
||
GPIOA_SetBits(GPIO_Pin_12|GPIO_Pin_13);
|
||
GPIOA_ModeCfg(GPIO_Pin_12|GPIO_Pin_13, GPIO_ModeOut_PP_5mA);
|
||
FLEVEL_H_LOW; FLEVEL_L_LOW;
|
||
|
||
GPIOA_SetBits(GPIO_Pin_8);
|
||
GPIOA_ModeCfg(GPIO_Pin_8, GPIO_ModeOut_PP_5mA);
|
||
GPIOB_SetBits(GPIO_Pin_22|GPIO_Pin_23);
|
||
GPIOB_ModeCfg(GPIO_Pin_22|GPIO_Pin_23, GPIO_ModeOut_PP_5mA);
|
||
RLY1_OFF; RLY2_OFF; LEDA_OFF;
|
||
|
||
}
|
||
|
||
|
||
/*===========================================================================
|
||
* 一阶 IIR 低通滤波器 (对齐 M1H 公式)
|
||
* 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 value_Flt;
|
||
uint32_t delta = (new_value > last_Value) ? (new_value - last_Value) : (last_Value - new_value);
|
||
uint32_t scaled_delta = (delta * (uint32_t)Flt_Reg) >> 8;
|
||
|
||
if (new_value > last_Value) {
|
||
value_Flt = last_Value + scaled_delta;
|
||
} else {
|
||
value_Flt = last_Value - scaled_delta;
|
||
}
|
||
|
||
return value_Flt;
|
||
}
|
||
|
||
|
||
/*===========================================================================
|
||
* 滑动平均基线更新
|
||
* 注意: window 必须是 uint16_t (WINDOW_ORIGIN=500 > 255, uint8_t 会静默截断)
|
||
*===========================================================================*/
|
||
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) {
|
||
return;
|
||
}
|
||
|
||
*p_sum += new_value;
|
||
(*p_cnt)++;
|
||
|
||
if (*p_cnt >= window) {
|
||
*p_origin = (uint32_t)(*p_sum / window);
|
||
*p_cnt = 0;
|
||
*p_sum = 0;
|
||
}
|
||
}
|
||
|
||
|
||
/*===========================================================================
|
||
* 初始化所有检测状态 (上电 / 有限存在超时 / 线圈重连 时调用)
|
||
* 注意: 不复位 g_loop_power_up_state / g_loop_cut_amount (BLE 上报用)
|
||
*===========================================================================*/
|
||
void INIT_VD(void)
|
||
{
|
||
loop1_INI_LOOP = 1;
|
||
loop1_LPCNT = 0;
|
||
loop1_INCNT = 0;
|
||
loop1_OUTCNT = 0;
|
||
loop1_CapCnt = 0;
|
||
loop1_CapSum = 0;
|
||
loop1_Value = 0;
|
||
loop1_CAPVD = 0;
|
||
loop1_Origin = 0;
|
||
|
||
loop1_VD_FLAG = 0;
|
||
loop1_RF_FLAG = 0;
|
||
loop1_LOOP_OK = 1;
|
||
loop1_LOOP_OK0 = 0;
|
||
loop1_CAP_OK = 0;
|
||
|
||
loop1_SensLevel = 2;
|
||
Flt_Reg = ALFA_CAP1; //79
|
||
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
|
||
loop1_FLAG_IN = 0;
|
||
loop1_FLAG_OUT = 0;
|
||
loop1_FLAG_PLUSE = 0;
|
||
loop1_FLAG_PLUSE_IN_F = 0;
|
||
loop1_FLAG_PLUSE_IN = 0;
|
||
loop1_FLAG_CUT = 0;
|
||
loop1_FLAG_HOLD_TIMEOUT = 0;
|
||
g_disconnect_active = 0;
|
||
|
||
loop1_VD_HOLD = 0;
|
||
Hold_CNT = 0;
|
||
loop1_LC_HOLD = 0;
|
||
loop1_LC_Reset = 0;
|
||
LC_Hold_CNT = 0;
|
||
|
||
/* 新算法状态 */
|
||
g_loop_stable = 0;
|
||
loop1_stable_cnt = 0;
|
||
loop1_entry_cnt = 0;
|
||
loop1_cnt_release = 0;
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = 0;
|
||
#if USE_FLATNESS_EXIT
|
||
g_exit_state = 0;
|
||
g_max_slope = 0;
|
||
g_max_slope_rate = 0;
|
||
g_delta2 = 0;
|
||
g_delta3 = 0;
|
||
g_prev_capvd = 0;
|
||
g_prev_first_deriv = 0;
|
||
g_slope_flat_cnt = 0;
|
||
g_flat_ok_cnt = 0;
|
||
#endif
|
||
g_env_activity = 0;
|
||
g_env_prev_capvd = 0;
|
||
|
||
g_loop_acs_info.car_state = 0;
|
||
}
|
||
|
||
|
||
/*===========================================================================
|
||
* 车辆离开 / 释放 公共处理
|
||
*===========================================================================*/
|
||
static void loop_release_common(void)
|
||
{
|
||
loop1_VD_FLAG = 0;
|
||
loop1_FLAG_OUT = 1;
|
||
loop1_VD_HOLD = 0;
|
||
loop1_LC_HOLD = 0;
|
||
Hold_CNT = 0;
|
||
LC_Hold_CNT = 0;
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
|
||
g_loop_acs_info.flag_change = 1;
|
||
g_loop_acs_info.flag_event = 1;
|
||
g_loop_acs_info.car_state = 0;
|
||
}
|
||
|
||
|
||
/*===========================================================================
|
||
* vd1_task -- 核心检测算法 (移植 DLD154V4B, 每次 CAP_OK 调用, ~8.74ms)
|
||
*
|
||
* 流程:
|
||
* 1. IIR 滤波 + 斜率限幅
|
||
* 2. 稳定期: 小窗口快速收敛基线
|
||
* 3. 无车: 基线跟踪 (冻结保护) + 进入确认
|
||
* 4. 有车: 平坦性三条件离开判定 (带滞回)
|
||
*===========================================================================*/
|
||
void vd1_task(void){
|
||
|
||
if (loop1_Origin == 0) return;
|
||
|
||
/*--- 1. IIR 滤波 + 斜率限幅 ---*/
|
||
if (loop1_CAPVD == 0) {
|
||
loop1_CAPVD = loop1_Value;
|
||
} else {
|
||
int32_t raw_delta = (int32_t)loop1_Value - (int32_t)loop1_CAPVD;
|
||
int32_t max_step = (int32_t)(loop1_CAPVD * MAX_SLOPE_RATE / 100);
|
||
uint32_t clamped_value;
|
||
if (max_step < 100) max_step = 100;
|
||
if (raw_delta > max_step) raw_delta = max_step;
|
||
if (raw_delta < -max_step) raw_delta = -max_step;
|
||
clamped_value = (uint32_t)((int32_t)loop1_CAPVD + raw_delta);
|
||
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 ---*/
|
||
if (!g_loop_stable) {
|
||
loop1_CAPVD = loop1_Value;
|
||
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, 100);
|
||
loop1_stable_cnt++;
|
||
if (loop1_stable_cnt >= STABLE_SAMPLES) {
|
||
loop1_stable_cnt = 0;
|
||
g_loop_stable = 1;
|
||
}
|
||
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) ---*/
|
||
if (g_loop_acs_info.flag_change == 0) {
|
||
int32_t _var = (int32_t)loop1_Origin - (int32_t)loop1_CAPVD;
|
||
g_loop_acs_info.loop_capvd = loop1_CAPVD;
|
||
g_loop_acs_info.variation = _var;
|
||
if (g_flag_bt_state && (_var > VARIATION_EVENT_TH || _var < -VARIATION_EVENT_TH)) {
|
||
g_loop_acs_info.flag_event = 1;
|
||
}
|
||
}
|
||
|
||
/*--- 4. 环境活跃度 (BLE condition 字段, 0~15) ---*/
|
||
{
|
||
int32_t d = (int32_t)loop1_CAPVD - (int32_t)g_env_prev_capvd;
|
||
if (d < 0) d = -d;
|
||
if (g_env_prev_capvd != 0 && d > ENV_ACT_TH) {
|
||
if (g_env_activity < 200) g_env_activity++;
|
||
} else {
|
||
if (g_env_activity) g_env_activity--;
|
||
}
|
||
g_env_prev_capvd = loop1_CAPVD;
|
||
}
|
||
|
||
if (!loop1_VD_FLAG) {
|
||
/*================================================================
|
||
* 无车状态: 基线跟踪 (冻结保护) + 进入确认
|
||
*================================================================*/
|
||
loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_in) >> 16;
|
||
{
|
||
/* V4B V4.20 同步: 双向对称保护 — 负variation(铁块磁导率)也冻结基线
|
||
* 原单边只挡 dev>+4×dlt, 负variation会把Origin污染抬高 → 离开时假进入 → 锁死不释放
|
||
* 修复: ① 对称窗口 [-4×dlt, +4×dlt] ② 负偏差只冻结永不超时更新 */
|
||
int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin;
|
||
int32_t freeze_band = (int32_t)(loop1_dlt_ORG * 4);
|
||
if (dev < freeze_band && dev > -freeze_band) {
|
||
/* 对称窗口内 → 正常基线跟踪 */
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = 0;
|
||
update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN);
|
||
} else if (dev < 0) {
|
||
/* 正variation (疑似车) → 冻结, 保留超时兜底更新 */
|
||
if (loop1_freeze_cnt == 0) {
|
||
loop1_freeze_ref = loop1_CAPVD;
|
||
} else {
|
||
int32_t drift = (int32_t)loop1_CAPVD - (int32_t)loop1_freeze_ref;
|
||
if (drift < 0) drift = -drift;
|
||
if (drift > (int32_t)(loop1_freeze_ref * FREEZE_STABILITY_RATE / 100)) {
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = loop1_CAPVD;
|
||
}
|
||
}
|
||
loop1_freeze_cnt++;
|
||
if (loop1_freeze_cnt >= FREEZE_TIMEOUT) {
|
||
loop1_Origin = loop1_CAPVD; /* 确认稳定的新常态 */
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = 0;
|
||
}
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
} else {
|
||
/* 负variation (CAPVD高于Origin, 特殊铁块磁导率主导) → 只冻结, 永不更新 Origin */
|
||
if (loop1_freeze_cnt == 0) {
|
||
loop1_freeze_ref = loop1_CAPVD;
|
||
}
|
||
loop1_freeze_cnt++;
|
||
if (loop1_freeze_cnt > FREEZE_TIMEOUT) loop1_freeze_cnt = FREEZE_TIMEOUT;
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
}
|
||
}
|
||
|
||
/*--- 进入确认: 连续 ENTRY_CONFIRM 次低于阈值才判有车 ---*/
|
||
if (loop1_CAPVD < (loop1_Origin - loop1_dlt_ORG)) {
|
||
loop1_entry_cnt++;
|
||
if (loop1_entry_cnt >= ENTRY_CONFIRM) {
|
||
loop1_entry_cnt = 0;
|
||
loop1_freeze_cnt = 0;
|
||
loop1_freeze_ref = 0;
|
||
|
||
loop1_VD_FLAG = 1;
|
||
loop1_FLAG_IN = 1;
|
||
|
||
if (g_loop_cng_unit.exist_mode) { /* 有限存在 */
|
||
loop1_VD_HOLD = 1;
|
||
Hold_CNT = 0;
|
||
}
|
||
if (g_loop_cng_unit.loopSafe_Timeout) { /* 线圈安全模式: 启动安全复位计时 */
|
||
loop1_LC_HOLD = 1;
|
||
LC_Hold_CNT = 0;
|
||
} else {
|
||
loop1_LC_HOLD = 0;
|
||
}
|
||
if (loop1_LC_Reset) {
|
||
loop1_LC_Reset = 0;
|
||
}
|
||
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
|
||
g_loop_acs_info.flag_change = 1;
|
||
g_loop_acs_info.flag_event = 1;
|
||
g_loop_acs_info.car_state = 1;
|
||
|
||
#if USE_FLATNESS_EXIT
|
||
/* 重置平坦性状态 (专利 CN200910309382) */
|
||
g_exit_state = 0;
|
||
g_max_slope = 0;
|
||
g_max_slope_rate = 0;
|
||
g_delta2 = 0;
|
||
g_delta3 = 0;
|
||
g_slope_flat_cnt = 0;
|
||
g_flat_ok_cnt = 0;
|
||
g_prev_capvd = (int32_t)loop1_CAPVD;
|
||
g_prev_first_deriv = 0;
|
||
#endif
|
||
}
|
||
} else {
|
||
if (loop1_entry_cnt > 0) loop1_entry_cnt = 0;
|
||
}
|
||
}
|
||
else {
|
||
#if USE_FLATNESS_EXIT
|
||
/*================================================================
|
||
* 有车状态: 平坦性三条件判定离开 (专利 CN200910309382)
|
||
* 幅值阈值按新测量基准 2^19 缩放 (DLD154V4B: 100/5/2 @2^17)
|
||
*================================================================*/
|
||
#define K1 8
|
||
#define K2 8
|
||
#define SLOPE_FLAT_THRESH 350
|
||
#define MIN_DELTA2 18
|
||
#define MIN_DELTA3 7
|
||
#define FLAT_CONFIRM_CNT 3
|
||
|
||
int32_t first_deriv, abs_fd, abs_sd, second_deriv;
|
||
|
||
first_deriv = (int32_t)loop1_CAPVD - g_prev_capvd;
|
||
second_deriv = first_deriv - g_prev_first_deriv;
|
||
abs_fd = (first_deriv >= 0) ? first_deriv : -first_deriv;
|
||
abs_sd = (second_deriv >= 0) ? second_deriv : -second_deriv;
|
||
|
||
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 ---*/
|
||
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_fd < SLOPE_FLAT_THRESH) {
|
||
g_slope_flat_cnt++;
|
||
if (g_slope_flat_cnt >= 3) {
|
||
g_delta2 = g_max_slope / K1;
|
||
g_delta3 = g_max_slope_rate / K2;
|
||
if (g_delta2 < MIN_DELTA2) g_delta2 = MIN_DELTA2;
|
||
if (g_delta3 < MIN_DELTA3) g_delta3 = MIN_DELTA3;
|
||
g_exit_state = 1;
|
||
g_flat_ok_cnt = 0;
|
||
}
|
||
} else {
|
||
g_slope_flat_cnt = 0;
|
||
}
|
||
} else {
|
||
/*--- 阶段1: 幅值回归 + 一阶平坦 + 二阶平坦 三条件确认离开 ---*/
|
||
int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin;
|
||
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;
|
||
if (cond1 < (int32_t)loop1_dlt_ORG && abs_fd < (int32_t)g_delta2
|
||
&& abs_sd < (int32_t)g_delta3) {
|
||
g_flat_ok_cnt++;
|
||
if (g_flat_ok_cnt >= FLAT_CONFIRM_CNT) {
|
||
g_flat_ok_cnt = 0;
|
||
g_exit_state = 0;
|
||
loop_release_common();
|
||
}
|
||
} else {
|
||
g_flat_ok_cnt = 0;
|
||
}
|
||
}
|
||
g_prev_capvd = (int32_t)loop1_CAPVD;
|
||
g_prev_first_deriv = first_deriv;
|
||
#else
|
||
/*================================================================
|
||
* 有车状态: 简单滞回 + 防抖离开
|
||
*================================================================*/
|
||
loop1_dlt_ORG = ((uint32_t)loop1_Origin * g_loop_sens_list.sens[g_freq_sens].sens_out) >> 16;
|
||
|
||
if ((loop1_Origin - loop1_dlt_ORG) < loop1_CAPVD) {
|
||
loop1_cnt_release++;
|
||
if (loop1_cnt_release >= 3) {
|
||
loop1_cnt_release = 0;
|
||
loop_release_common();
|
||
}
|
||
} else {
|
||
if (loop1_cnt_release > 0) loop1_cnt_release = 0;
|
||
}
|
||
#endif
|
||
}
|
||
}
|
||
|
||
|
||
/*===========================================================================
|
||
* cjq_srv -- 车检器主循环服务
|
||
* - 有限存在超时 / 线圈断开重连: 全复位重建基线
|
||
* (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)
|
||
* - CAP_OK 到达时执行核心检测算法
|
||
*===========================================================================*/
|
||
void cjq_srv(void){
|
||
|
||
if(loop1_LOOP_OK){
|
||
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 */
|
||
INIT_VD();
|
||
return;
|
||
}
|
||
if(loop1_FLAG_CUT){
|
||
/* 线圈断开后重连: 不丢 VD_FLAG, CAPVD=0 直锁首个样本快速收敛 */
|
||
g_disconnect_active = 0;
|
||
loop1_FLAG_CUT = 0;
|
||
g_loop_cut_last = 0; // 同步复位边沿记忆, 确保下次断开触发计数
|
||
loop1_CAPVD = 0; // 首个样本直锁, 跳过 IIR
|
||
loop1_ORG_CNT = 0; // 丢弃断开期间过期数据
|
||
loop1_ORG_SUM = 0;
|
||
if(loop1_Origin == 0) {
|
||
/* Origin 意外丢失: 全复位 (不应发生, 做防御) */
|
||
INIT_VD();
|
||
}
|
||
return;
|
||
}
|
||
if(!loop1_LOOP_OK0){
|
||
DelayMs(200); /* 线圈重新起振后等待 200ms 再消费数据 */
|
||
loop1_LOOP_OK0 = 1;
|
||
}
|
||
if(loop1_CAP_OK){
|
||
loop1_CAP_OK = 0;
|
||
if(!g_loop_power_up_state){
|
||
g_loop_power_up_state = 1; // 表示连接了线圈
|
||
}
|
||
vd1_task();
|
||
poll_sens_key();
|
||
}
|
||
}// end if loop1_LOOP_OK
|
||
else{
|
||
loop1_FLAG_CUT = 1;
|
||
g_disconnect_active = 1;
|
||
// 不丢 VD_FLAG (保留有车状态, 重连后恢复)
|
||
loop1_FLAG_IN = 0;
|
||
loop1_FLAG_OUT = 0;
|
||
loop1_FLAG_PLUSE = 0;
|
||
loop1_FLAG_PLUSE_IN_F = 0;
|
||
loop1_FLAG_PLUSE_IN = 0;
|
||
|
||
// 线圈断开: 继电器释放
|
||
RLY1_OFF; RLY2_OFF;
|
||
g_loop_acs_info.relay1_state = 0;
|
||
g_loop_acs_info.relay2_state = 0;
|
||
g_loop_acs_info.car_state = 0;
|
||
|
||
if(g_loop_cut_last != loop1_FLAG_CUT){
|
||
g_loop_cut_last = loop1_FLAG_CUT;
|
||
if(g_loop_power_up_state){
|
||
g_loop_cut_amount++;
|
||
if(g_loop_cut_amount > 3){
|
||
g_loop_cut_amount = 3;
|
||
}
|
||
g_loop_cut_total++; // 持续累计, 不截断 (BLE 上报用)
|
||
}
|
||
}
|
||
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
/*********************************************************************
|
||
* @fn Main_Circulation
|
||
*
|
||
* @brief 主循环
|
||
*
|
||
* @return none
|
||
*/
|
||
__HIGH_CODE
|
||
__attribute__((noinline))
|
||
void Main_Circulation()
|
||
{
|
||
|
||
while(1)
|
||
{
|
||
TMOS_SystemProcess();
|
||
#ifndef DEBUG
|
||
poll_dbn_ble();
|
||
#endif
|
||
|
||
cjq_srv();
|
||
|
||
if(g_flag_bt_state == 0){
|
||
// 如果蓝牙断开，主动上报需要禁用
|
||
if(g_dbn_ble_state_acs_enable.enable){
|
||
g_dbn_ble_state_acs_enable.enable = 0;
|
||
}
|
||
}
|
||
|
||
#ifdef DEBUG
|
||
if(g_flag_output){
|
||
uint32_t tmp;
|
||
g_flag_output = 0;
|
||
tmp = (loop1_Xn) ? (g_sys_freq / loop1_Xn) : 0;
|
||
PRINT("Xn:%d, LPCNT:%d, edges:%d, CAPVD:%d, Origin:%d, VD:%d, freq:%d\n",
|
||
loop1_Xn, loop1_LPCNT, g_xn_counter, loop1_CAPVD, loop1_Origin, loop1_VD_FLAG, tmp);
|
||
|
||
g_xn_counter = 0;
|
||
}
|
||
#endif
|
||
}
|
||
}
|
||
|
||
|
||
/*********************************************************************
|
||
* @fn main
|
||
*
|
||
* @brief 主函数
|
||
*
|
||
* @return none
|
||
*/
|
||
int main(void)
|
||
{
|
||
uint8_t i;
|
||
#if(defined(DCDC_ENABLE)) && (DCDC_ENABLE == TRUE)
|
||
PWR_DCDCCfg(ENABLE);
|
||
#endif
|
||
SetSysClock(CLK_SOURCE_PLL_60MHz);
|
||
#if(defined(HAL_SLEEP)) && (HAL_SLEEP == TRUE)
|
||
GPIOA_ModeCfg(GPIO_Pin_All, GPIO_ModeIN_PU);
|
||
GPIOB_ModeCfg(GPIO_Pin_All, GPIO_ModeIN_PU);
|
||
#endif
|
||
|
||
gpio_uart_init();
|
||
g_sys_freq = FREQ_SYS;
|
||
GetMACAddress(MACAddr);
|
||
for(i = 0; i < 6; i++)
|
||
{
|
||
g_dev_number[i] = MACAddr[i];
|
||
}
|
||
g_loop_sens_list.total = MAX_LOOP_SENS_AMOUNT; // max
|
||
INIT_VD();
|
||
para_store_init();
|
||
|
||
tm_init();
|
||
|
||
CH59x_BLEInit();
|
||
HAL_Init();
|
||
GAPRole_PeripheralInit();
|
||
Peripheral_Init();
|
||
Main_Circulation();
|
||
}
|
||
|
||
|
||
|
||
/* @fn TMR0_IRQHandler
|
||
*
|
||
* @brief TMR0 输入捕获中断 -- 线圈频率测量
|
||
* FallEdge_To_FallEdge 模式, CAPGetData 直接给出相邻下降沿周期 Xn
|
||
* 累加 LPCNT 次 -> 一个测量窗 Value (~= MEASUREMENT_BASE)
|
||
*
|
||
* @return none
|
||
*/
|
||
__INTERRUPT
|
||
__HIGH_CODE
|
||
void TMR0_IRQHandler(void) // TMR0 捕获中断
|
||
{
|
||
if(TMR0_GetITFlag(TMR0_3_IT_DATA_ACT)){
|
||
loop1_Xn = (uint16_t)TMR0_CAPGetData();
|
||
|
||
#ifdef DEBUG
|
||
g_xn_counter++;
|
||
#endif
|
||
|
||
if(loop1_Xn == 0){
|
||
R8_TMR0_INT_FLAG |= 0xff;
|
||
return;
|
||
}
|
||
|
||
if(!loop1_RF_FLAG){
|
||
loop1_RF_FLAG = 1;
|
||
}
|
||
else{
|
||
loop1_CapCnt++;
|
||
|
||
if(loop1_INI_LOOP){
|
||
/*--- 初始化阶段 ---*/
|
||
if(loop1_LPCNT == 0){
|
||
if(loop1_CapCnt > 200){ /* 上电/换频后等待振荡稳定 */
|
||
uint32_t lpcnt = (uint32_t)MEASUREMENT_BASE / loop1_Xn;
|
||
if(lpcnt == 0 || lpcnt > 65535){
|
||
lpcnt = 100; /* 异常 Xn 保护 */
|
||
}
|
||
loop1_LPCNT = (uint16_t)lpcnt;
|
||
|
||
g_freq_tmp = (float)g_sys_freq/((float)loop1_Xn);
|
||
|
||
loop1_CAPVD = 0;
|
||
loop1_CapSum = 0;
|
||
loop1_CapCnt = 0;
|
||
}
|
||
}
|
||
else{
|
||
/* 第一个测量窗: 直接作为基线 Origin */
|
||
loop1_CapSum += loop1_Xn;
|
||
if(loop1_CapCnt >= loop1_LPCNT){
|
||
loop1_CAPVD = loop1_CapSum;
|
||
loop1_Origin = loop1_CAPVD;
|
||
if(g_loop_acs_info.flag_change == 0){
|
||
g_loop_acs_info.loop_capvd = loop1_CAPVD;
|
||
}
|
||
loop1_INI_LOOP = 0;
|
||
loop1_CapSum = 0;
|
||
loop1_Value = 0;
|
||
loop1_CapCnt = 0;
|
||
}
|
||
}
|
||
}// end if loop1_INI_LOOP
|
||
else {
|
||
/*--- 正常运行: 累加到测量窗 ---*/
|
||
loop1_CapSum += loop1_Xn;
|
||
|
||
if(loop1_CapCnt >= loop1_LPCNT){
|
||
loop1_Value = loop1_CapSum;
|
||
loop1_CAP_OK = 1;
|
||
loop1_CapSum = 0;
|
||
loop1_CapCnt = 0;
|
||
}
|
||
}
|
||
}
|
||
|
||
R8_TMR0_INT_FLAG |= 0xff;
|
||
}
|
||
}
|
||
|
||
|
||
|
||
/*********************************************************************
|
||
* @fn TMR1_IRQHandler
|
||
*
|
||
* @brief TMR1 定时中断 5ms/per -- 时序状态机 / 继电器输出 / LED
|
||
*
|
||
* @return none
|
||
*/
|
||
__INTERRUPT
|
||
__HIGH_CODE
|
||
void TMR1_IRQHandler(void)
|
||
{
|
||
static uint16_t _counter1_init = 0;
|
||
#ifdef DEBUG
|
||
static uint16_t _cnt = 0;
|
||
#endif
|
||
|
||
if(TMR1_GetITFlag(TMR0_3_IT_CYC_END))
|
||
{
|
||
#ifdef DEBUG
|
||
_cnt++;
|
||
if(_cnt >= 400){
|
||
g_flag_output = 1;
|
||
_cnt = 0;
|
||
}
|
||
#endif
|
||
|
||
if(g_dbn_ble_state_acs_enable.enable && g_flag_bt_state){
|
||
g_loop_acs_info.report_counter++;
|
||
}
|
||
|
||
TimingDelayInc++;
|
||
u32CountWdt++;
|
||
|
||
/*--- LED: 断开中 200ms 快闪; 稳定期 200ms 慢闪 ---*/
|
||
if(g_disconnect_active || !g_loop_power_up_state)
|
||
{
|
||
/* 线圈断开中 / 上电从未连接 → 200ms 快闪 (故障指示) */
|
||
_counter1_init++;
|
||
if(_counter1_init >= 40) // 40: 200ms
|
||
{
|
||
_counter1_init = 0;
|
||
LEDA_ON_OFF();
|
||
}
|
||
}
|
||
else if(!g_loop_stable)
|
||
{
|
||
/* 稳定期 → 200ms 慢闪 (自检中) */
|
||
_counter1_init++;
|
||
if(_counter1_init >= 40) // 40: 200ms
|
||
{
|
||
_counter1_init = 0;
|
||
LEDA_ON_OFF();
|
||
}
|
||
}
|
||
|
||
TM1cnt++;
|
||
if(TM1cnt >= 10) //about=50ms
|
||
{
|
||
TM1cnt = 0;
|
||
if(loop1_FLAG_IN) // 线圈1 从无车到有车
|
||
{
|
||
loop1_FLAG_OUT = 0;
|
||
loop1_OUTCNT = 0;
|
||
loop1_FLAG_IN = 0;
|
||
if(g_loop_cng_unit.output_mode == 1) // 进入脉冲
|
||
{
|
||
loop1_FLAG_PLUSE_IN_F = 1;
|
||
}
|
||
loop1_INCNT = 0;
|
||
LEDA_ON;
|
||
}
|
||
|
||
if(loop1_FLAG_PLUSE_IN_F)
|
||
{
|
||
loop1_INCNT++;
|
||
if(loop1_INCNT > g_loop_out_delay)
|
||
{
|
||
loop1_INCNT = 0;
|
||
loop1_FLAG_PLUSE_IN_F = 0;
|
||
loop1_FLAG_PLUSE_IN = 1;
|
||
}
|
||
}
|
||
|
||
if(loop1_FLAG_PLUSE_IN)
|
||
{
|
||
loop1_INCNT++;
|
||
if(loop1_INCNT > IN_DELAY) // 500ms
|
||
{
|
||
loop1_INCNT = 0;
|
||
loop1_FLAG_PLUSE_IN = 0;
|
||
}
|
||
}
|
||
|
||
|
||
if(loop1_FLAG_OUT) // 从有车到无车的标志
|
||
{
|
||
loop1_OUTCNT++;
|
||
if(loop1_OUTCNT > g_loop_out_delay)
|
||
{
|
||
loop1_FLAG_OUT = 0;
|
||
loop1_FLAG_PLUSE = 1;
|
||
loop1_OUTCNT = 0;
|
||
LEDA_OFF;
|
||
}
|
||
}
|
||
|
||
if(loop1_FLAG_PLUSE) // Give 500ms
|
||
{
|
||
loop1_OUTCNT++;
|
||
if(loop1_OUTCNT > PLUSE_DELAY)
|
||
{
|
||
loop1_FLAG_PLUSE = 0;
|
||
loop1_OUTCNT = 0;
|
||
}
|
||
}
|
||
|
||
|
||
if(loop1_VD_HOLD)
|
||
{
|
||
Hold_CNT++;
|
||
if(Hold_CNT > g_hold_time) // 超过有限存在时间
|
||
{
|
||
loop1_VD_HOLD = 0;
|
||
Hold_CNT = 0;
|
||
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 */
|
||
loop1_FLAG_HOLD_TIMEOUT = 1;
|
||
RLY1_OFF; RLY2_OFF;
|
||
g_loop_acs_info.relay1_state = 0;
|
||
g_loop_acs_info.relay2_state = 0;
|
||
}
|
||
}
|
||
}
|
||
|
||
if(loop1_LC_HOLD)
|
||
{
|
||
LC_Hold_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) */
|
||
loop1_LC_Reset = 1;
|
||
loop1_INI_LOOP = 1;
|
||
loop1_LOOP_OK0 = 0;
|
||
g_loop_stable = 0;
|
||
loop1_stable_cnt = 0;
|
||
LC_Hold_CNT = 0;
|
||
loop1_ORG_CNT = 0;
|
||
loop1_ORG_SUM = 0;
|
||
#if USE_FLATNESS_EXIT
|
||
g_exit_state = 0;
|
||
g_max_slope = 0;
|
||
g_max_slope_rate = 0;
|
||
g_slope_flat_cnt = 0;
|
||
g_flat_ok_cnt = 0;
|
||
#endif
|
||
}
|
||
}
|
||
}
|
||
|
||
/*--- 线圈载波检测 & 继电器输出刷新 (每 5ms) ---*/
|
||
if(loop1_RF_FLAG)
|
||
{
|
||
loop1_LOOP_OK = 1;
|
||
loop1_RF_FLAG = 0;
|
||
|
||
if(loop1_LC_Reset == 0)
|
||
{
|
||
switch(g_loop_cng_unit.output_mode)
|
||
{ // 输出方式
|
||
case 0: // 存在输出
|
||
{
|
||
if(loop1_VD_FLAG | loop1_FLAG_OUT)// 输出存在信号
|
||
{
|
||
RLY1_ON;
|
||
g_loop_acs_info.relay1_state = 1;
|
||
RLY2_ON;
|
||
g_loop_acs_info.relay2_state = 1;
|
||
}
|
||
else
|
||
{
|
||
RLY1_OFF;
|
||
g_loop_acs_info.relay1_state = 0;
|
||
RLY2_OFF;
|
||
g_loop_acs_info.relay2_state = 0;
|
||
}
|
||
} break;
|
||
case 1: // 进入脉冲
|
||
{
|
||
if(loop1_VD_FLAG) // 继电器2存在信号
|
||
{
|
||
RLY2_ON;
|
||
g_loop_acs_info.relay2_state = 1;
|
||
}
|
||
else
|
||
{
|
||
RLY2_OFF;
|
||
g_loop_acs_info.relay2_state = 0;
|
||
}
|
||
|
||
if(loop1_FLAG_PLUSE_IN)
|
||
{
|
||
RLY1_ON;
|
||
g_loop_acs_info.relay1_state = 1;
|
||
}
|
||
else
|
||
{
|
||
RLY1_OFF;
|
||
g_loop_acs_info.relay1_state = 0;
|
||
}
|
||
} break;
|
||
case 2: // 离开脉冲
|
||
{
|
||
if(loop1_VD_FLAG) // 继电器2存在信号
|
||
{
|
||
RLY2_ON;
|
||
g_loop_acs_info.relay2_state = 1;
|
||
}
|
||
else
|
||
{
|
||
RLY2_OFF;
|
||
g_loop_acs_info.relay2_state = 0;
|
||
}
|
||
|
||
if(loop1_FLAG_PLUSE) // 输出离开脉冲
|
||
{
|
||
RLY1_ON;
|
||
g_loop_acs_info.relay1_state = 1;
|
||
}
|
||
else
|
||
{
|
||
RLY1_OFF;
|
||
g_loop_acs_info.relay1_state = 0;
|
||
}
|
||
} break;
|
||
default: {
|
||
if(loop1_VD_FLAG) // 继电器2存在信号
|
||
{
|
||
RLY2_ON;
|
||
g_loop_acs_info.relay2_state = 1;
|
||
}
|
||
else
|
||
{
|
||
RLY2_OFF;
|
||
g_loop_acs_info.relay2_state = 0;
|
||
}
|
||
} break;
|
||
}
|
||
}// end if loop1_LC_Reset == 0
|
||
} // end if loop1_RF_FLAG
|
||
else
|
||
{
|
||
loop1_LOOP_OK0 = loop1_LOOP_OK;
|
||
loop1_LOOP_OK = 0;
|
||
}
|
||
|
||
|
||
|
||
TMR1_ClearITFlag(TMR0_3_IT_CYC_END); // 清除中断标志
|
||
}
|
||
}
|
||
|
||
|
||
|
||
|
||
/******************************** endfile @ main ******************************/
|