wangfq
5f7082c0ba
负偏差(dev>0,CAPVD>Origin)只冻结永不超时更新Origin, 对称窗口[-4×dlt,+4×dlt] 补drift取绝对值(与V4B/vd960Loop一致); 与DLD154V4B V4.20修复同构
1544 lines
56 KiB
C
1544 lines
56 KiB
C
/********************************** (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 <stdlib.h>
|
||
#include "cmcng.h"
|
||
#include "dbn_ble_srv.h"
|
||
#include "CH59x_pwm.h"
|
||
#include "CH59x_sys.h" /* WWDG 看门狗 */
|
||
#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=66nF(低频), 1=33nF(高频))
|
||
* 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) — 心跳指示
|
||
* PWM freq ≈ 60MHz / (PWM_CLK_DIV * 128) ≈ 5.86kHz @DIV=80
|
||
* 无光耦信号: 周期 ≈ 16步×2 + 3tick×2 ≈ 1.9s (DUTY_STEP=8, HOLD=3)
|
||
* 光耦有信号: 周期 ≈ 4步×2 + 1tick×2 ≈ 0.5s (DUTY_STEP=32, HOLD=1)
|
||
* 复位模式(6)除外，光耦有信号不加速
|
||
*===========================================================================*/
|
||
#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_HOLD_TICKS 3 // 高/低电平保持 tick 数
|
||
#define BREATH_FADE_IN 0
|
||
#define BREATH_HOLD_HIGH 1
|
||
#define BREATH_FADE_OUT 2
|
||
#define BREATH_HOLD_LOW 3
|
||
|
||
/* 光耦有信号时加速参数 (周期 ~1s) */
|
||
#define BREATH_OPTO_DUTY_STEP 64 // 步长 8x → 渐亮/渐灭各 2 步 (~0.55s 周期, 光耦有信号加速)
|
||
#define BREATH_OPTO_HOLD_TICKS 1 // 保持 50ms
|
||
|
||
/* 看门狗超时: Fsys=60MHz, WDOG_CLK=Fsys/131072≈458Hz, 0xFF≈558ms */
|
||
#define WDOG_TIMEOUT 0xFF
|
||
|
||
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;
|
||
}
|
||
|
||
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;
|
||
|
||
uint16_t g_wdg_counter = 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=66nF(低频), 1=33nF(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 66nF (低频)
|
||
|
||
/*--- 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;
|
||
{
|
||
/* 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();
|
||
}
|
||
}// 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;
|
||
}
|
||
}
|
||
}
|
||
|
||
void poll_wdg(void)
|
||
{
|
||
if(g_wdg_counter >= 100) //500ms
|
||
{
|
||
g_wdg_counter = 0;
|
||
WWDG_SetCounter(0);
|
||
}
|
||
}
|
||
|
||
|
||
/*********************************************************************
|
||
* @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;
|
||
}
|
||
}
|
||
|
||
poll_wdg(); // 喂狗
|
||
}
|
||
}
|
||
|
||
|
||
/*********************************************************************
|
||
* @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();
|
||
|
||
/* 使能看门狗复位: 超时 ~558ms, 主循环喂狗 */
|
||
WWDG_ResetCfg(ENABLE);
|
||
WWDG_SetCounter(0);
|
||
|
||
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++;
|
||
g_wdg_counter++;
|
||
|
||
/*--- 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, 光耦有信号时加速 ~1s) ---*/
|
||
{
|
||
uint8_t _step, _hold;
|
||
|
||
/* 非复位模式下光耦有信号 → 红灯快闪 (现场判断光耦是否正常) */
|
||
if (g_opt_trigger && g_output_radar_mode != OUTPUT_MODE_LOOP_X_RESET) {
|
||
_step = BREATH_OPTO_DUTY_STEP;
|
||
_hold = BREATH_OPTO_HOLD_TICKS;
|
||
} else {
|
||
_step = BREATH_DUTY_STEP;
|
||
_hold = BREATH_HOLD_TICKS;
|
||
}
|
||
|
||
g_breath_tick++;
|
||
switch (g_breath_phase) {
|
||
case BREATH_FADE_IN:
|
||
if (g_breath_tick >= BREATH_STEP_DELAY) {
|
||
g_breath_tick = 0;
|
||
if (g_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 += _step;
|
||
}
|
||
PWM11_ActDataWidth(g_breath_duty);
|
||
}
|
||
break;
|
||
case BREATH_HOLD_HIGH:
|
||
if (g_breath_tick >= _hold) {
|
||
g_breath_phase = BREATH_FADE_OUT;
|
||
g_breath_tick = 0;
|
||
}
|
||
break;
|
||
case BREATH_FADE_OUT:
|
||
if (g_breath_tick >= BREATH_STEP_DELAY) {
|
||
g_breath_tick = 0;
|
||
if (g_breath_duty <= _step) {
|
||
g_breath_duty = 0;
|
||
g_breath_phase = BREATH_HOLD_LOW;
|
||
g_breath_tick = 0;
|
||
} else {
|
||
g_breath_duty -= _step;
|
||
}
|
||
PWM11_ActDataWidth(g_breath_duty);
|
||
}
|
||
break;
|
||
case BREATH_HOLD_LOW:
|
||
if (g_breath_tick >= _hold) {
|
||
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 ******************************/
|