/********************************** (C) COPYRIGHT ******************************* * File Name : peripheral_main.c * Author : WCH / wangfq * Version : V2.0 (algorithm ported from DLD154V4B) * Date : 2026/07/18 * Description : DLD154Pro 单线圈蓝牙车检器 主函数 * * 算法说明 (移植自 DLD154V4B TaskLoop V2.0, M1H 精简系): * - 自适应测量窗: LPCNT = MEASUREMENT_BASE / Xn, 测量窗时长与线圈频率无关 * - 一阶 IIR (79/256) + 斜率限幅 5% (拒绝 EMI 瞬态尖峰) * - 稳定期 128 窗快速收敛 (绕过滤波, 小窗口 100) * - 基线跟踪 窗口 500 + 冻结保护 (超时 + 稳定性双条件强制更新) * - 进入确认 3 次; 离开: 平坦性三条件判定 (专利 CN200910309382) * - 有限存在超时 / 安全复位: 全复位重建基线 ********************************************************************************* * Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd. * Attention: This software (modified or not) and binary are used for * microcontroller manufactured by Nanjing Qinheng Microelectronics. *******************************************************************************/ /******************************************************************************/ /* 头文件包含 */ #include "CONFIG.h" #include "HAL.h" #include "gattprofile.h" #include "peripheral.h" #include "storage.h" #include #include "cmcng.h" #include "dbn_ble_srv.h" #include "CH59x_pwm.h" #include "rs485_700bs.h" #include "rs485_modbus.h" uint8_t g_flag_bt_state = 0; // 0 蓝牙没有连接，1 有蓝牙连接 uint8_t g_function_mode = 0; uint8_t g_fm_700bs_disable = 0; //0: 700bs protocol; 1 Modbus protocol uint8_t g_output_radar_mode = 0; uint8_t g_opt_trigger = 0; // 光耦/雷达 处理后触发信号 (1=有效) uint32_t g_sys_freq = 0; uint8_t g_storage_uart_num = 0; uint32_t g_storage_uart_baud = 19200;//9600; uint8_t g_max_counter_bt_min = 0; uint32_t g_max_counter_bt_timeout = 0; //BT_DISABLE_IDLE_TIMEOUT * 60 * 1000; // ms unit uint8_t g_rs485_id = 0; /*=========================================================================== * IO 宏定义 -- DLD154Pro 硬件资源 * * PA8 : RLY1 存在继电器 (单刀双掷, 低电平有效) * PB22 : LEDA 绿色指示灯 (有车亮/无车灭, 低电平有效) * PB23 : LEDB 红色指示灯 (呼吸灯, 低电平有效) * PA12 : FLEVEL 线圈调频 (一级, 0=33nF, 1=0nF) * PA14 : UART0_Tx RS485发送 (700BS 协议) * PA15 : UART0_Rx RS485接收 (700BS 协议) * PA13 : UART0_RE RS485方向控制 (700BS 协议) * PB10 : IN_1 光耦输入 (逻辑待定) *===========================================================================*/ #define RLY1_ON (R32_PA_OUT |= BV(8)) #define RLY1_OFF (R32_PA_OUT &= ~BV(8)) #define LEDA_ON (R32_PB_OUT &= ~BV(22)) #define LEDA_OFF (R32_PB_OUT |= BV(22)) #define LEDA_ON_OFF() (GPIOB_ReadPortPin(GPIO_Pin_22) ? GPIOB_ResetBits(GPIO_Pin_22) : GPIOB_SetBits(GPIO_Pin_22)) #define LEDB_ON (R32_PB_OUT &= ~BV(23)) #define LEDB_OFF (R32_PB_OUT |= BV(23)) #define FLEVEL_LOW (R32_PA_OUT &= ~BV(12)) #define FLEVEL_HIGH (R32_PA_OUT |= BV(12)) /* RS485 700BS 协议 (2026-07-23) */ #define RS485_TX_PIN GPIO_Pin_14 #define RS485_RX_PIN GPIO_Pin_15 #define RS485_RE_PIN GPIO_Pin_13 #define RS485_RE_TX (GPIOA_SetBits(RS485_RE_PIN)) // RE=1 发送模式 #define RS485_RE_RX (GPIOA_ResetBits(RS485_RE_PIN)) // RE=0 接收模式 /* 光耦输入预留 (逻辑待定) */ #define OPT_IN1 (GPIOB_ReadPortPin(GPIO_Pin_10)) /*=========================================================================== * LEDB 红色呼吸灯 (PB23, PWM11) — 快速心跳指示 (~2s 周期) * PWM freq ≈ 60MHz / (PWM_CLK_DIV * 128) ≈ 5.86kHz @DIV=80 * 周期 = 16步渐亮 + 3tick高亮 + 16步渐灭 + 3tick低亮 * ≈ (16*50ms)*2 + 150ms*2 ≈ 1.9s *===========================================================================*/ #define PWM_CLK_DIV 80 #define PWM_CYCLE 128 // 7-bit 分辨率 (0~127) #define BREATH_STEP_DELAY 1 // 每 50ms 更新一次 #define BREATH_DUTY_STEP 8 // 每步跳 8 级占空比 #define BREATH_FADE_IN 0 #define BREATH_HOLD_HIGH 1 #define BREATH_FADE_OUT 2 #define BREATH_HOLD_LOW 3 static uint8_t g_breath_phase = BREATH_FADE_IN; static uint8_t g_breath_duty = 0; static uint8_t g_breath_tick = 0; 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_disconnect_active = 0; // 当前线圈是否断开中 (1=断开) __IO uint32_t TimingDelayInc; /*=========================================================================== * 算法参数 -- 移植自 DLD154V4B (M4 优化版), 适配 CH591R @60MHz * * 测量窗: MEASUREMENT_BASE 个系统时钟 tick, 与线圈频率无关 * 524288(2^19) / 60MHz ~= 8.74ms, 即 vd1_task 有效采样周期 ~8.74ms * (DLD154V4B 为 131072 @120MHz + 10ms 任务轮询, 时间尺度基本一致) *===========================================================================*/ #define MEASUREMENT_BASE 524288L // 2^19, 自适应测量窗目标值 (Value ~= 524288) #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 ENTRY_CONFIRM 3 // 进入确认: 连续 N 次低于阈值才判有车 #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_STABILITY_RATE 2 // 冻结稳定性窗口: 参考值 +-2% // #define USE_FLATNESS_EXIT 1 // 1=平坦性三条件离开, 0=简单滞回防抖 #define WINDOW_ORIGIN 500 // 基线跟踪窗口 (500 窗 ~= 4.4s) #define STABLE_SAMPLES 128 // 稳定期样本数 (~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 ENV_ACT_TH 30 // 环境活跃度: CAPVD 相邻差绝对值阈值 (待现场验证) uint32_t mstick(void){ return TimingDelayInc; } uint32_t u32CountWdt = 0; uint8_t g_loop_cut_last = 0; uint32_t g_loop_cut_amount = 0; /********************************************************************* * GLOBAL TYPEDEFS */ __attribute__((aligned(4))) uint32_t MEM_BUF[BLE_MEMHEAP_SIZE / 4]; #if(defined(BLE_MAC)) && (BLE_MAC == TRUE) const uint8_t MacAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02}; #else uint8_t MACAddr[6] = {0x84, 0xC2, 0xE4, 0x03, 0x02, 0x02}; #endif uint8_t g_dev_number[6] = ""; // 设备编号 产品编号 char g_flag_debug = 1; uint8_t g_freq_sens; uint8_t loop1_SensLevel; uint8_t g_freq_level; uint16_t g_safe_max_cnt = LC_HOLD_TIME; uint16_t Hold_CNT = 0; uint8_t Flt_Reg = 0; uint8_t TM1cnt = 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) uint32_t loop1_dlt_ORG; // 当前灵敏度阈值 uint32_t loop1_Origin; // 基线 (无车参考值) uint16_t loop1_LPCNT; // 每个测量窗累加的 Xn 个数 uint16_t loop1_CapCnt; // 当前窗口已累加次数 uint32_t loop1_CapSum; // 当前窗口累加和 uint32_t loop1_CAPVD; // IIR 滤波后的测量值 uint32_t loop1_Value; // 一个测量窗的原始 Sigma-Xn uint32_t loop1_ORG_SUM; // 基线跟踪累加和 uint16_t loop1_ORG_CNT; // 基线跟踪计数 /*=========================================================================== * 计数器 *===========================================================================*/ uint8_t loop1_INCNT; uint8_t loop1_OUTCNT; /*=========================================================================== * 标志位 *===========================================================================*/ uint8_t loop1_INI_LOOP; uint8_t loop1_CAP_OK; uint8_t loop1_VD_FLAG; uint8_t loop1_VD_HOLD; uint8_t loop1_RF_FLAG; uint8_t loop1_LOOP_OK; uint8_t loop1_LOOP_OK0; uint8_t loop1_FLAG_IN; uint8_t loop1_FLAG_OUT; uint8_t loop1_FLAG_PLUSE; uint8_t loop1_FLAG_PLUSE_IN_F = 0; uint8_t loop1_FLAG_PLUSE_IN = 0; uint8_t loop1_FLAG_CUT; uint8_t loop1_FLAG_HOLD_TIMEOUT; // 有限存在超时 /*=========================================================================== * 安全复位 *===========================================================================*/ uint8_t loop1_LC_HOLD = 0; uint8_t loop1_LC_Reset = 0; uint32_t LC_Hold_CNT = 0; /*=========================================================================== * 新算法状态 (DLD154V4B 移植) *===========================================================================*/ uint8_t g_loop_stable = 0; // 线圈数值已稳定 (0=稳定期中, 1=稳定) uint16_t loop1_stable_cnt = 0; // 稳定期样本计数 uint8_t loop1_entry_cnt = 0; // 进入确认计数 uint8_t loop1_cnt_release = 0; // 简单离开防抖计数 (USE_FLATNESS_EXIT=0) uint16_t loop1_freeze_cnt = 0; // 基线冻结持续计数 uint32_t loop1_freeze_ref = 0; // 冻结稳定性参考值 #if USE_FLATNESS_EXIT uint8_t g_exit_state = 0; // 0=追踪坡面, 1=等待平坦 uint16_t g_max_slope = 0; // 第一上升坡面最大 |f'| uint16_t g_max_slope_rate = 0; // 第一上升坡面最大 |f''| uint16_t g_delta2 = 0; // 一阶平坦阈值 uint16_t g_delta3 = 0; // 二阶平坦阈值 int32_t g_prev_capvd = 0; // 上一帧 CAPVD (差分用) int32_t g_prev_first_deriv = 0; // 上一帧一阶导数 uint8_t g_slope_flat_cnt = 0; // 斜率趋零连续计数 uint8_t g_flat_ok_cnt = 0; // 平坦条件满足连续计数 #endif /* 环境活跃度 (供 BLE condition 字段上报, 替代旧 flt_mgr.cnt_not_idle) */ uint8_t g_env_activity = 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) * 进入阈值 = Origin * sens_in / 65536; 离开阈值 = Origin * sens_out / 65536 *===========================================================================*/ const uint16_t SensTable[MAX_LOOP_SENS_AMOUNT] = { 108, 54, 28, 14}; const uint16_t SensTable1[MAX_LOOP_SENS_AMOUNT] = {81, 32, 16, 12}; uint16_t g_loop_out_delay = 10; // 离开延时, 50ms 为单位, 由 delay_time 配置 DBN_BLE_State g_dbn_ble_state_acs_enable = {0}; Loop_ACS_Info g_loop_acs_info = {0,}; float g_freq_tmp = 0.0; /* 用于APP判断文件有效性 */ const uint32_t Address = 0xFFFFFFFF; __attribute__((aligned(4))) uint32_t Image_Flag __attribute__((section(".ImageFlag"))) = (uint32_t)&Address; uint8_t loop_cng_default[7] = {2,1,0,0x00,4,0,0}; void set_factory_param(void) { uint8_t i; memcpy(&g_loop_cng_unit.sensitvity, loop_cng_default, 7); g_loop_sens_list.total = MAX_LOOP_SENS_AMOUNT; for(i = 0; i < g_loop_sens_list.total; i++) { g_loop_sens_list.sens[i].sens_in = SensTable[i]; g_loop_sens_list.sens[i].sens_out = SensTable1[i]; } } void factory_dev(void){ uint8_t i = 0, k = 0; uint8_t *rBuf = (uint8_t *)malloc(MAX_Store_Size); if(rBuf == NULL){ SYS_ResetExecute(); } for(i = 0; i < MAX_Store_Size; i++){ rBuf[i] = 0; } rBuf[0] = 0x33; rBuf[1] = 0xBB; rBuf[2] = 0xC3; rBuf[3] = 0x3C; i = 4; memcpy(&rBuf[i], &g_loop_cng_unit.sensitvity, 7); i += 7; rBuf[Addr_RS485_ID_Offset] = 1; rBuf[Addr_RS485_Baud_Offset] = RS_BAUD_DEFAULT & 0xFF; rBuf[Addr_RS485_Baud_Offset + 1] = (RS_BAUD_DEFAULT >> 8) & 0xFF; rBuf[Addr_RS485_Baud_Offset + 2] = (RS_BAUD_DEFAULT >> 16) & 0xFF; rBuf[ADDR_BT_Close_TIMEOUT_Offset] = 0; i = Addr_Loop_Sens_List_Offset; if(g_loop_sens_list.total > MAX_LOOP_SENS_AMOUNT) { g_loop_sens_list.total = MAX_LOOP_SENS_AMOUNT; } rBuf[i++] = g_loop_sens_list.total; for(k = 0; k < MAX_LOOP_SENS_AMOUNT; k++) { rBuf[i++] = g_loop_sens_list.sens[k].sens_in; rBuf[i++] = g_loop_sens_list.sens[k].sens_in >> 8; rBuf[i++] = g_loop_sens_list.sens[k].sens_out; rBuf[i++] = g_loop_sens_list.sens[k].sens_out >> 8; } write_cfg_to_store(0, rBuf, MAX_Store_Size); free(rBuf); } void para_store_init(void) { uint8_t *rBuf = (uint8_t *)malloc(MAX_Store_Size); if(rBuf == NULL){ SYS_ResetExecute(); } memset(rBuf, 0, MAX_Store_Size); read_cfg_from_store(0, rBuf, MAX_Store_Size); if(rBuf[0] == 0x33 && rBuf[1] == 0xBB && rBuf[2] == 0xC3 && rBuf[3] == 0x3C){ memcpy(&g_loop_cng_unit, &rBuf[4], sizeof(g_loop_cng_unit)); memcpy(&g_loop_sens_list, &rBuf[Addr_Loop_Sens_List_Offset], sizeof(g_loop_sens_list)); g_rs485_id = rBuf[Addr_RS485_ID_Offset]; g_storage_uart_baud = rBuf[Addr_RS485_Baud_Offset] | (rBuf[Addr_RS485_Baud_Offset + 1] << 8) | (rBuf[Addr_RS485_Baud_Offset + 2] << 16); g_max_counter_bt_min = rBuf[ADDR_BT_Close_TIMEOUT_Offset]; // unit: minute g_max_counter_bt_timeout = g_max_counter_bt_min * 60 * 1000; // unit: ms 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_hold_time = g_loop_cng_unit.exist_mode * 20 * 5; //50ms/per, period: 5s g_safe_max_cnt = g_loop_cng_unit.loopSafe_Timeout * 10 * (1000 / 50); g_freq_level = g_loop_cng_unit.loopFreq_Level - 1; g_function_mode = g_loop_cng_unit.direction_mode >> 4; g_fm_700bs_disable = g_function_mode & 0x01; g_output_radar_mode = g_loop_cng_unit.direction_mode & 0x0F; g_freq_sens = (g_loop_cng_unit.sensitvity > 0) ? (g_loop_cng_unit.sensitvity - 1) : 0; #ifdef DEBUG g_freq_level = 0; #endif // DLD154Pro: 一级调频, 0=33nF(低频), 1=0nF(高频) if (g_freq_level == 0) { FLEVEL_LOW; } else { FLEVEL_HIGH; } free(rBuf); } else{ free(rBuf); set_factory_param(); factory_dev(); DelayMs(10); SYS_ResetExecute(); } } static void pwm_led_init(void); void tm_init(void){ // Cap 捕获 GPIOA_ResetBits(GPIO_Pin_9); GPIOA_ModeCfg(GPIO_Pin_9, GPIO_ModeIN_Floating); TMR0_CapInit(FallEdge_To_FallEdge); TMR0_CAPTimeoutCfg(0xFFFFFFFF); TMR0_ClearITFlag(TMR0_3_IT_DATA_ACT); TMR0_ITCfg(ENABLE, TMR0_3_IT_DATA_ACT); PFIC_EnableIRQ(TMR0_IRQn); // TMR1 TMR1_TimerInit(FREQ_SYS / 200); // 设置定时时间 5ms TMR1_ITCfg(ENABLE, TMR0_3_IT_CYC_END); // 开启中断 PFIC_EnableIRQ(TMR1_IRQn); } void gpio_uart_init(void) { // /*--- RS485 通信 (PA14=TX, PA15=RX, PA13=RE) ---*/ // rs485_init(); /* 初始化 UART0 + GPIO + 中断 */ // modbus_init(); /* 初始化 Modbus 协议状态 */ /*--- 光耦输入 (PB10=IN_1) ---*/ R32_PIN_CONFIG2 &= ~(1UL << 26); // 使能 PB10 数字输入 (默认关闭省电) GPIOB_ModeCfg(GPIO_Pin_10, GPIO_ModeIN_PU); /*--- 线圈调频 (PA12=FLEVEL, 一级) ---*/ GPIOA_SetBits(GPIO_Pin_12); GPIOA_ModeCfg(GPIO_Pin_12, GPIO_ModeOut_PP_5mA); FLEVEL_LOW; // 默认接入 33nF /*--- 继电器 (PA8=RLY1) ---*/ GPIOA_SetBits(GPIO_Pin_8); GPIOA_ModeCfg(GPIO_Pin_8, GPIO_ModeOut_PP_5mA); RLY1_OFF; /*--- LEDA 绿色 (PB22, GPIO, 低电平有效) ---*/ GPIOB_SetBits(GPIO_Pin_22); GPIOB_ModeCfg(GPIO_Pin_22, GPIO_ModeOut_PP_5mA); LEDA_OFF; /*--- LEDB 红色 (PB23, PWM11, 呼吸灯) ---*/ pwm_led_init(); } /*=========================================================================== * pwm_led_init -- 初始化 LEDB (PB23) 红色呼吸灯 (PWM11) * PWM 频率 ≈ 60MHz / (80 * 128) ≈ 5.86kHz * 初始占空比 = 0 (LED 灭) * 注: PB23 需在 ISP 烧录时关闭外部复位功能 (RB_CFG_RESET_EN=0) *===========================================================================*/ static void pwm_led_init(void) { GPIOB_SetBits(GPIO_Pin_23); GPIOB_ModeCfg(GPIO_Pin_23, GPIO_ModeOut_PP_5mA); PWMX_CLKCfg(PWM_CLK_DIV); PWMX_CycleCfg(PWMX_Cycle_128); // 128 级占空比分辨率 PWMX_ACTOUT(CH_PWM11, 0, Low_Level, ENABLE); // 初始 duty=0, LED 灭 } /*=========================================================================== * 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; { int32_t dev = (int32_t)loop1_CAPVD - (int32_t)loop1_Origin; if (dev < (int32_t)(loop1_dlt_ORG * 4)) { loop1_freeze_cnt = 0; update_moving_average(&loop1_ORG_SUM, &loop1_ORG_CNT, &loop1_Origin, loop1_CAPVD, WINDOW_ORIGIN); } else { /*--- CAPVD 异常偏高: 暂停跟踪, 冻结超时 + 稳定性双条件 ---*/ 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; } } /*--- 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(); } }// 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; g_loop_acs_info.relay1_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++; } } } } /*=========================================================================== * opt_input_poll — 光耦输入处理 * * 产出 g_opt_trigger (1=有效, 0=无效)，供继电器输出段融合判决。 * 各模式逻辑: * MODE 0 (LOOP_OR_RADAR): g_opt_trigger = 光耦信号, 或关系 * MODE 1 (HUMAN_VD_MIX): 状态机 — 屏蔽→地感触发后解禁→离场 3s 防砸窗口 * MODE 2 (ETC): 状态机 — 屏蔽→地感触发后解禁→光耦断开 500ms 防抖 * MODE 3 (LOOP_AND_RADAR): g_opt_trigger = 光耦信号, 且关系 * MODE 4 (LOOP_ONLY): 光耦忽略, g_opt_trigger=0 * MODE 5 (RADAR_ONLY): g_opt_trigger = 光耦信号 (3 样本多数表决防抖) * MODE 6 (LOOP_X_RESET): 光耦=复位信号，≥400ms 低电平后上升沿芯片复位 * * 注意: mstick() 单位 5ms/tick *===========================================================================*/ #define OPT_DEBOUNCE_CNT 6 // 防抖: 6 样本多数表决 (~30ms @5ms) #define OPT_VM_WINDOW_TICK 600 // 人车混行防砸窗口: 600×5ms=3s #define OPT_ETC_DEBOUNCE_TICK 100 // ETC 防抖: 100×5ms=500ms /* 人车混行 / ETC 状态机 */ #define OPT_STATE_IDLE 0 // 雷达屏蔽，等线圈触发 #define OPT_STATE_ARMED 1 // 雷达解禁，地感 || 雷达 #define OPT_STATE_WINDOW 2 // 防砸窗口 (HUMAN_VD_MIX 专用) #define OPT_STATE_DEBOUNCE 3 // 防抖释放 (ETC 专用) static void opt_input_poll(void) { uint8_t raw = (OPT_IN1 == 0) ? 1 : 0; // 0=低电平有效→1=active /*--- 光耦信号防抖: 3-sample 多数表决 ---*/ static uint8_t _db_hist = 0; // 位历史: bit0=最新 _db_hist = (uint8_t)((_db_hist << 1) | raw); { uint8_t ones = 0; uint8_t mask = _db_hist & 0x07; // 取低 3 位 if (mask & 0x01) ones++; if (mask & 0x02) ones++; if (mask & 0x04) ones++; raw = (ones >= 2) ? 1 : 0; // ≥2票 → 有效 } /*================================================================ * 模式 6 — 光耦复位 *================================================================*/ if (g_output_radar_mode == OUTPUT_MODE_LOOP_X_RESET) { static uint32_t _rst_low_since = 0; static uint8_t _rst_armed = 0; g_opt_trigger = 0; if (OPT_IN1 == 0) { // 干接点接通 → 低电平 if (_rst_low_since == 0) { _rst_low_since = mstick(); } else if (!_rst_armed && (mstick() - _rst_low_since >= 80)) { _rst_armed = 1; // 满足 ≥400ms, 等待上升沿 } } else { // 干接点断开 → 高电平 if (_rst_armed) { SYS_ResetExecute(); // 上升沿触发芯片复位 } _rst_low_since = 0; _rst_armed = 0; } return; } /*================================================================ * 模式 4 — 纯地感 *================================================================*/ if (g_output_radar_mode == OUTPUT_MODE_LOOP_ONLY) { g_opt_trigger = 0; return; } /*================================================================ * 模式 0/3/5 — 或 / 且 / 纯雷达 * g_opt_trigger 直出光耦信号, 融合判决在继电器输出段 *================================================================*/ if (g_output_radar_mode == OUTPUT_MODE_RADAR_ONLY || g_output_radar_mode == OUTPUT_MODE_LOOP_OR_RADAR || g_output_radar_mode == OUTPUT_MODE_LOOP_AND_RADAR) { g_opt_trigger = raw; return; } /*================================================================ * 模式 1/2 — 人车混行 / ETC (状态机) *================================================================*/ { static uint8_t _opt_state = OPT_STATE_IDLE; static uint8_t _opt_mode_last = 0xFF; static uint32_t _opt_timer_start = 0; /* 模式切换 → 状态机复位 */ if (_opt_mode_last != g_output_radar_mode) { _opt_mode_last = g_output_radar_mode; _opt_state = OPT_STATE_IDLE; g_opt_trigger = 0; return; } uint8_t coil_active = (loop1_VD_FLAG | loop1_FLAG_OUT) ? 1 : 0; switch (_opt_state) { case OPT_STATE_IDLE: /* 雷达屏蔽, 等线圈触发 */ g_opt_trigger = 0; if (coil_active) { _opt_state = OPT_STATE_ARMED; } break; case OPT_STATE_ARMED: /* 雷达解禁: 地感 || 雷达 (OR 关系) */ g_opt_trigger = raw; if (!coil_active && !raw) { /* 两者均释放 → 进入释放过渡 */ if (g_output_radar_mode == OUTPUT_MODE_HUMAN_VD_MIX) { _opt_state = OPT_STATE_WINDOW; _opt_timer_start = mstick(); } else { // ETC _opt_state = OPT_STATE_DEBOUNCE; _opt_timer_start = mstick(); } } break; case OPT_STATE_WINDOW: /* HUMAN_VD_MIX 专用: 3s 防砸窗口 */ if (coil_active) { /* 车辆重新上线圈 → 回到解禁态 */ _opt_state = OPT_STATE_ARMED; g_opt_trigger = raw; } else if (raw) { /* 雷达检测到人 → 立即触发, 窗口复位 */ g_opt_trigger = 1; _opt_timer_start = mstick(); } else { g_opt_trigger = 0; if (mstick() - _opt_timer_start >= OPT_VM_WINDOW_TICK) { /* 3s 内无雷达触发 → 回到屏蔽态, 落杆 */ _opt_state = OPT_STATE_IDLE; } } break; case OPT_STATE_DEBOUNCE: /* ETC 专用: 500ms 防抖 */ if (coil_active || raw) { /* 重新触发 → 取消防抖, 回到解禁态 */ _opt_state = OPT_STATE_ARMED; g_opt_trigger = raw; } else { g_opt_trigger = 0; if (mstick() - _opt_timer_start >= OPT_ETC_DEBOUNCE_TICK) { /* 500ms 无触发 → 确认释放 */ _opt_state = OPT_STATE_IDLE; } } break; default: _opt_state = OPT_STATE_IDLE; g_opt_trigger = 0; break; } } } /********************************************************************* * @fn Main_Circulation * * @brief 主循环 * * @return none */ __HIGH_CODE __attribute__((noinline)) void Main_Circulation() { while(1) { TMOS_SystemProcess(); poll_dbn_ble(); cjq_srv(); opt_input_poll(); // 光耦输入处理 (复位 / 雷达) if (g_fm_700bs_disable) { modbus_poll(); // RS485 Modbus RTU 协议 } else { rs485_poll(); // RS485 700BS 协议: 命令处理 + 心跳上报 } 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; } } } } /********************************************************************* * @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(); /*--- RS485 通信 (PA14=TX, PA15=RX, PA13=RE) ---*/ rs485_init(); /* 初始化 UART0 + GPIO + 中断 */ modbus_init(); /* 初始化 Modbus 协议状态 */ 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(); 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; if(TMR1_GetITFlag(TMR0_3_IT_CYC_END)) { 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; } } /*--- 光耦参与模式: LED 同步继电器实际状态 ---*/ /* (非 LOOP_ONLY/LOOP_X_RESET 时开启) ---*/ /* 断开/稳定期闪烁已在 5ms 段优先处理 ---*/ if (g_output_radar_mode != OUTPUT_MODE_LOOP_ONLY && g_output_radar_mode != OUTPUT_MODE_LOOP_X_RESET && !g_disconnect_active && g_loop_power_up_state && g_loop_stable) { if (g_loop_acs_info.relay1_state) LEDA_ON; else LEDA_OFF; } 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; g_loop_acs_info.relay1_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 } } /*--- LEDB 红色呼吸灯 (PWM11, 50ms tick, ~1.9s 心跳周期) ---*/ g_breath_tick++; switch (g_breath_phase) { case BREATH_FADE_IN: // 渐亮 0 → max, ~800ms if (g_breath_tick >= BREATH_STEP_DELAY) { g_breath_tick = 0; if (g_breath_duty + BREATH_DUTY_STEP >= PWM_CYCLE) { g_breath_duty = PWM_CYCLE - 1; g_breath_phase = BREATH_HOLD_HIGH; g_breath_tick = 0; } else { g_breath_duty += BREATH_DUTY_STEP; } PWM11_ActDataWidth(g_breath_duty); } break; case BREATH_HOLD_HIGH: // 最亮保持 ~150ms if (g_breath_tick >= 3) { g_breath_phase = BREATH_FADE_OUT; g_breath_tick = 0; } break; case BREATH_FADE_OUT: // 渐灭 max → 0, ~800ms if (g_breath_tick >= BREATH_STEP_DELAY) { g_breath_tick = 0; if (g_breath_duty <= BREATH_DUTY_STEP) { g_breath_duty = 0; g_breath_phase = BREATH_HOLD_LOW; g_breath_tick = 0; } else { g_breath_duty -= BREATH_DUTY_STEP; } PWM11_ActDataWidth(g_breath_duty); } break; case BREATH_HOLD_LOW: // 最暗保持 ~150ms if (g_breath_tick >= 3) { g_breath_phase = BREATH_FADE_IN; g_breath_tick = 0; } break; } } /*--- 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 (线圈+光耦融合判决) { uint8_t coil_sig = (loop1_VD_FLAG | loop1_FLAG_OUT) ? 1 : 0; uint8_t relay_on = 0; switch (g_output_radar_mode) { case OUTPUT_MODE_LOOP_ONLY: case OUTPUT_MODE_LOOP_X_RESET: relay_on = coil_sig; break; case OUTPUT_MODE_RADAR_ONLY: relay_on = g_opt_trigger; break; case OUTPUT_MODE_LOOP_OR_RADAR: relay_on = coil_sig || g_opt_trigger; break; case OUTPUT_MODE_LOOP_AND_RADAR: relay_on = coil_sig && g_opt_trigger; break; case OUTPUT_MODE_HUMAN_VD_MIX: case OUTPUT_MODE_ETC: relay_on = coil_sig || g_opt_trigger; break; default: relay_on = coil_sig; break; } if(relay_on)// 输出存在信号 { RLY1_ON; g_loop_acs_info.relay1_state = 1; } else { RLY1_OFF; g_loop_acs_info.relay1_state = 0; } } break; case 1: // 进入脉冲 { 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_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: { // DLD154Pro 单继电器, 默认存在模式 if(loop1_VD_FLAG) { RLY1_ON; g_loop_acs_info.relay1_state = 1; } else { RLY1_OFF; g_loop_acs_info.relay1_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 ******************************/