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refactor: 对齐 DLD154V4B 规格和 M1H 参考

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- 灵敏度表改为 M1H 值: {216,108,36,10} / {108,72,18,9}
- 时序参数对齐: OUT_DELAY 39→38, PULSE_DELAY 10→19
- LED 宏命名对齐 154V4B: LEDA=红(PB1), LEDB=绿(PA9), LEDC=黄(PA10)
- RLY1/RLY2 引脚交换: PA6=RLY1, PA5=RLY2
This commit is contained in:
wangfq
2026-06-22 19:52:46 +08:00
parent cc61877510
commit 1d1e7fbc19
4 changed files with 52 additions and 47 deletions
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5
project/at32f421_board/at32f421_board.c
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@@ -206,8 +206,9 @@ void loop_timer_io_init(void)
gpio_init(GPIOA, &gpio_init_struct); gpio_init(GPIOA, &gpio_init_struct);
LEDA_OFF; LEDA_OFF; // 红灭
LEDC_OFF; LEDB_OFF; // 绿灭
LEDC_OFF; // 黄灭
RLY1_OFF; RLY1_OFF;
RLY2_OFF; RLY2_OFF;

50
project/at32f421_board/at32f421_board.h
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@@ -83,7 +83,7 @@ typedef enum
#define LED_RED_GPIO GPIOB #define LED_RED_GPIO GPIOB
#define LED_GPIO_CRM_CLK CRM_GPIOB_PERIPH_CLOCK #define LED_GPIO_CRM_CLK CRM_GPIOB_PERIPH_CLOCK
#define LED_GREEN_PIN GPIO_PINS_9 // GPIO_PINS_13 //GPIO_PINS_9 #define LED_GREEN_PIN GPIO_PINS_9
#define LED_GREEN_GPIO GPIOA #define LED_GREEN_GPIO GPIOA
#define LED_GREEN_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define LED_GREEN_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
@@ -91,17 +91,26 @@ typedef enum
#define LED_YELLOW_GPIO GPIOA #define LED_YELLOW_GPIO GPIOA
#define LED_YELLOW_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define LED_YELLOW_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
#define LEDB_OFF // gpio_bits_set(LED_RED_GPIO, LED_RED_PIN) // LED 命名对齐 DLD154V4B 规格:
#define LEDB_ON // gpio_bits_reset(LED_RED_GPIO, LED_RED_PIN) // LEDA = 红色呼吸灯 (PB1, TMR14 PWM)
// LEDB = 绿色有车指示灯 (PA9)
// LEDC = 黄色故障指示灯 (PA10)
// 注意: DEBUG 模式下 PA9 复用为 UART TX，LEDB 宏为空
// LEDA — 红色 (PB1)，GPIO 直接控制（初始化闪烁用，正常运行时 PWM）
#define LEDA_OFF gpio_bits_set(LED_RED_GPIO, LED_RED_PIN)
#define LEDA_ON gpio_bits_reset(LED_RED_GPIO, LED_RED_PIN)
// LEDB — 绿色 (PA9)，有车亮
#ifdef DEBUG #ifdef DEBUG
#define LEDA_OFF #define LEDB_OFF
#define LEDA_ON #define LEDB_ON
#else #else
#define LEDA_OFF gpio_bits_set(LED_GREEN_GPIO, LED_GREEN_PIN) #define LEDB_OFF gpio_bits_set(LED_GREEN_GPIO, LED_GREEN_PIN)
#define LEDA_ON gpio_bits_reset(LED_GREEN_GPIO, LED_GREEN_PIN) #define LEDB_ON gpio_bits_reset(LED_GREEN_GPIO, LED_GREEN_PIN)
#endif #endif
// LEDC — 黄色 (PA10)，故障指示
#define LEDC_OFF gpio_bits_set(LED_YELLOW_GPIO, LED_YELLOW_PIN) #define LEDC_OFF gpio_bits_set(LED_YELLOW_GPIO, LED_YELLOW_PIN)
#define LEDC_ON gpio_bits_reset(LED_YELLOW_GPIO, LED_YELLOW_PIN) #define LEDC_ON gpio_bits_reset(LED_YELLOW_GPIO, LED_YELLOW_PIN)
@@ -110,22 +119,13 @@ typedef enum
// RLY // RLY1 — 主输出 (PA6)，存在/脉冲
//#define RLY1_PIN GPIO_PINS_6 #define RLY1_PIN GPIO_PINS_6
//#define RLY1_GPIO GPIOA
//#define RLY1_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
//#define RLY2_PIN GPIO_PINS_5
//#define RLY2_GPIO GPIOA
//#define RLY2_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
//功能继电器
#define RLY1_PIN GPIO_PINS_5
#define RLY1_GPIO GPIOA #define RLY1_GPIO GPIOA
#define RLY1_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define RLY1_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
// 固定继电器 存在继电器 // RLY2 — 辅助输出 (PA5)，方向/第二路
#define RLY2_PIN GPIO_PINS_6 #define RLY2_PIN GPIO_PINS_5
#define RLY2_GPIO GPIOA #define RLY2_GPIO GPIOA
#define RLY2_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define RLY2_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
@@ -155,23 +155,23 @@ typedef enum
#define USER_BUTTON_PORT GPIOA #define USER_BUTTON_PORT GPIOA
#define USER_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define USER_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
// 灵敏度L // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>L
#define SW1_BUTTON_PIN GPIO_PINS_0 #define SW1_BUTTON_PIN GPIO_PINS_0
#define SW1_BUTTON_PORT GPIOA #define SW1_BUTTON_PORT GPIOA
#define SW1_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define SW1_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
// 灵敏度H // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>H
#define SW2_BUTTON_PIN GPIO_PINS_1 #define SW2_BUTTON_PIN GPIO_PINS_1
#define SW2_BUTTON_PORT GPIOA #define SW2_BUTTON_PORT GPIOA
#define SW2_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define SW2_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
// 输出方式 // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
#define SW3_BUTTON_PIN GPIO_PINS_2 #define SW3_BUTTON_PIN GPIO_PINS_2
#define SW3_BUTTON_PORT GPIOA #define SW3_BUTTON_PORT GPIOA
#define SW3_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define SW3_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
// 延时 // <EFBFBD><EFBFBD>ʱ
#define SW4_BUTTON_PIN GPIO_PINS_3 #define SW4_BUTTON_PIN GPIO_PINS_3
#define SW4_BUTTON_PORT GPIOA #define SW4_BUTTON_PORT GPIOA
#define SW4_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define SW4_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK
// 安全复位 // <EFBFBD><EFBFBD>ȫ<EFBFBD><EFBFBD>λ
#define SW5_BUTTON_PIN GPIO_PINS_4 #define SW5_BUTTON_PIN GPIO_PINS_4
#define SW5_BUTTON_PORT GPIOA #define SW5_BUTTON_PORT GPIOA
#define SW5_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK #define SW5_BUTTON_CRM_CLK CRM_GPIOA_PERIPH_CLOCK

11
utilities/at32f421_freertos_demo/inc/TaskLoop.h
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@@ -16,11 +16,12 @@
#include <stdint.h> #include <stdint.h>
#define HOLD_TIME 5*1200 // 时序参数（每 tick ≈50ms），对齐 M1H 参考实现
#define LC_HOLD_TIME 4*1200 //时间4分钟 #define HOLD_TIME (5 * 1200) // 有限存在保持（约5分钟）
#define IN_DELAY 10 #define LC_HOLD_TIME (4 * 1200) // 安全复位时间（约4分钟）
#define OUT_DELAY 39 #define IN_DELAY 10 // 进入防抖 500ms
#define PLUSE_DELAY 10 #define OUT_DELAY 38 // 离开防抖 1.9s
#define PULSE_DELAY 19 // 脉冲宽度 950ms
#define MAX_CMP_LOOP_UNIT 4 // 5 组 #define MAX_CMP_LOOP_UNIT 4 // 5 组

31
utilities/at32f421_freertos_demo/src/TaskLoop.c
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@@ -9,8 +9,11 @@
const uint16_t SensTable[4] = {300, 60, 32, 21 }; // 灵敏度表（对齐 M1H 参考实现）
const uint16_t SensTable_1[4] = {60, 32, 21, 14 }; //释放灵敏度 // 进入阈值 = Origin × SensTable[SENS] / 65536
// 离开阈值（滞回）= Origin × SensTable_1[SENS] / 65536，约为进入的一半
const uint16_t SensTable[4] = {216, 108, 36, 10}; // 0=低灵敏, 3=高灵敏
const uint16_t SensTable_1[4] = {108, 72, 18, 9}; // 释放灵敏度（滞回）
const uint16_t DELAY_TIME[4] = {0, 10}; //0、0.6秒、1.6秒、3秒 {0,12,32,60}; //0、0.6秒、1.6秒、3秒 const uint16_t DELAY_TIME[4] = {0, 10}; //0、0.6秒、1.6秒、3秒 {0,12,32,60}; //0、0.6秒、1.6秒、3秒
@@ -345,7 +348,7 @@ void update_flt_history(uint32_t new_flt, int32_t firstOrder, int32_t secondOrde
if (flt_mgr.init_samples >= INIT_SAMPLE_COUNT) { if (flt_mgr.init_samples >= INIT_SAMPLE_COUNT) {
flt_mgr.stable_init_value = flt_mgr.init_sum / INIT_SAMPLE_COUNT; flt_mgr.stable_init_value = flt_mgr.init_sum / INIT_SAMPLE_COUNT;
flt_mgr.is_initialized = 1; flt_mgr.is_initialized = 1;
LEDA_OFF; LEDB_OFF;
stage_config[0].base_value = flt_mgr.stable_init_value; stage_config[0].base_value = flt_mgr.stable_init_value;
update_lower_upper(&stage_config[0]); update_lower_upper(&stage_config[0]);
flt_mgr.init_freq = (float)(g_sys_freq )/((float)(flt_mgr.stable_init_value << XNSUM_FOR_ORIGIN_FACTOR)/((float)(loop1_LPCNT))) * g_input_div; flt_mgr.init_freq = (float)(g_sys_freq )/((float)(flt_mgr.stable_init_value << XNSUM_FOR_ORIGIN_FACTOR)/((float)(loop1_LPCNT))) * g_input_div;
@@ -727,7 +730,7 @@ void TMR15_GLOBAL_IRQHandler(void)
loop1_FLAG_PLUSE_IN_F = 1; loop1_FLAG_PLUSE_IN_F = 1;
} }
loop1_INCNT = 0; loop1_INCNT = 0;
LEDA_ON; LEDB_ON;
} }
if(loop1_FLAG_PLUSE_IN_F) if(loop1_FLAG_PLUSE_IN_F)
@@ -760,14 +763,14 @@ void TMR15_GLOBAL_IRQHandler(void)
loop1_FLAG_OUT = 0; loop1_FLAG_OUT = 0;
loop1_FLAG_PLUSE = 1; loop1_FLAG_PLUSE = 1;
loop1_OUTCNT = 0; loop1_OUTCNT = 0;
LEDA_OFF; LEDB_OFF;
} }
} }
if(loop1_FLAG_PLUSE) // Give 500ms if(loop1_FLAG_PLUSE) // Give 500ms
{ {
loop1_OUTCNT++; loop1_OUTCNT++;
if(loop1_OUTCNT > PLUSE_DELAY) if(loop1_OUTCNT > PULSE_DELAY)
{ {
loop1_FLAG_PLUSE = 0; loop1_FLAG_PLUSE = 0;
loop1_OUTCNT = 0; loop1_OUTCNT = 0;
@@ -971,7 +974,7 @@ void vd1_task(void){
loop1_VD_FLAG = 1; //???????1 loop1_VD_FLAG = 1; //???????1
loop1_FLAG_IN = 1; //?????? loop1_FLAG_IN = 1; //??????
LEDA_ON; LEDB_ON;
if(!SET_SAFE) if(!SET_SAFE)
@@ -1026,7 +1029,7 @@ void vd1_task(void){
g_loop_acs_info.flag_event = 1; g_loop_acs_info.flag_event = 1;
g_loop_acs_info.car_state = 0; g_loop_acs_info.car_state = 0;
// g_led_A_state = 0; // g_led_A_state = 0;
LEDA_OFF; LEDB_OFF;
loop1_ORG_CNT = 0; loop1_ORG_CNT = 0;
loop1_ORG_SUM = 0; loop1_ORG_SUM = 0;
Hold_CNT = 0; Hold_CNT = 0;
@@ -1085,16 +1088,16 @@ void loop_task_function(void *pvParameters)
if(!loop1_LOOP_OK0){ if(!loop1_LOOP_OK0){
for(swcnt = 0; swcnt < 6; swcnt++){ for(swcnt = 0; swcnt < 6; swcnt++){
if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){ if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){
LEDA_ON; LEDB_ON;
} }
else{ else{
LEDA_OFF; LEDB_OFF;
} }
vTaskDelay(200); vTaskDelay(200);
// TODO: 添加看门狗 // TODO: 添加看门狗
} }
loop1_LOOP_OK0= 1; loop1_LOOP_OK0= 1;
LEDA_OFF; LEDB_OFF;
} }
if(loop1_CAP_OK){ if(loop1_CAP_OK){
@@ -1132,7 +1135,7 @@ void loop_task_function(void *pvParameters)
// loop1_FLAG_PLUSE = 0; // loop1_FLAG_PLUSE = 0;
// 线圈断开，继电器释放，状态为0，车辆状态也为0 // 线圈断开，继电器释放，状态为0，车辆状态也为0
RLY1_OFF; RLY2_OFF; LEDA_OFF; RLY1_OFF; RLY2_OFF; LEDB_OFF;
if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){ if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){
LED_YELLOW_ON; LED_YELLOW_ON;
@@ -1152,10 +1155,10 @@ void loop_task_function(void *pvParameters)
g_xn_counter = 0; g_xn_counter = 0;
// if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){ // if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){
// LEDA_ON; // LEDB_ON;
// } // }
// else{ // else{
// LEDA_OFF; // LEDB_OFF;
// } // }
// //
// if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){ // if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){