wangfq
cd0fd90770
现场测试 DLD154V4 反馈两问题修复:
1. 红灯呼吸太快 → 借鉴 vd960Loop 效果 (main.c poll_red_pwm)
- 参数按 665/6800 缩放取整: 大步 100→39(≈5.9%), 近顶 20→10(≈1.5%),
分界 585(88%), 峰值保持 660×3 步
- 周期 ≈1.6s → ≈2.6s (仿真 42 步×60ms=2520ms)
2. 绿灯上电自检闪到"稳定基准值"才停 (TaskLoop.c 稳定期判稳)
- 根因: 固定 128 样本即判稳, 与基准是否稳定无关; static 计数不清零,
二次稳定期(安全复位)1 样本瞬间判稳
- 修复: 全局 g_stable_cnt/g_settle_cnt, 每窗(100样本≈1s)Origin 均值
漂移 ≤0.1% → settle++, 连续 2 窗 + 最少 128 样本判稳; 硬兜底 500
样本(5s); 计数判稳退出/INIT_VD 清零
验证: tests/test_power_on_stable.c (200/300/500/200 样本 PASS),
tests/test_red_breath.c (周期 2520ms/峰值保持/写值≤ARR PASS),
gcc -fsyntax-only 两文件 0 error (借 vd960Loop AT32F421 库头)
文档: devlog 置顶 + 修订表回填 V2.12~V2.20 + V2.21; product-manual §5.1/
核心特性; technical-spec V2.2 (§5.2 参数表/§7 判稳语义/§15 修订记录)
待现场验证: 呼吸观感、绿灯自检时长 (无车 2~3s / 首窗尖峰 3s / 5s 兜底)
304 lines
9.4 KiB
C
304 lines
9.4 KiB
C
/**
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**************************************************************************
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* @file main.c
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* @brief main program
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**************************************************************************
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* Copyright notice & Disclaimer
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*
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* The software Board Support Package (BSP) that is made available to
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* download from Artery official website is the copyrighted work of Artery.
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* Artery authorizes customers to use, copy, and distribute the BSP
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* software and its related documentation for the purpose of design and
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* development in conjunction with Artery microcontrollers. Use of the
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* software is governed by this copyright notice and the following disclaimer.
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*
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* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
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* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
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* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
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* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
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* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
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*
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**************************************************************************
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*/
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#include "at32f421_board.h"
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#include "at32f421_clock.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "cmcng.h"
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#include "TaskLoop.h"
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/** @addtogroup UTILITIES_examples
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* @{
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*/
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/** @addtogroup FreeRTOS_demo
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* @{
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*/
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crm_clocks_freq_type g_crm_clocks_freq_struct = {0};
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tmr_input_config_type g_tmr_input_config_struct;
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__IO uint32_t sys_counter = 0;
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//uint8_t g_input_div = 1;
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TaskHandle_t loop_task_handler;
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tmr_output_config_type tmr_oc_init_structure;
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/*
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pb1 output pwm waveform, use Tmr14.
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tmr3 channel1 duty cycle = (tmr3_c1dt/ tmr3_pr)* 100 = 50%
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tmr3 channel2 duty cycle = (tmr3_c2dt/ tmr3_pr)* 100 = 37.5%
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tmr3 channel3 duty cycle = (tmr3_c3dt/ tmr3_pr)* 100 = 25%
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tmr3 channel4 duty cycle = (tmr3_c4dt/ tmr3_pr)* 100 = 12.5%
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*/
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uint16_t c1dt_val = 333;
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//uint16_t c2dt_val = 249;
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//uint16_t c3dt_val = 166;
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//uint16_t c4dt_val = 83;
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uint16_t prescaler_value = 0;
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__IO uint16_t pulse=0;//55; //脉冲宽度
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uint8_t g_pulse_counter = 0;
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uint8_t g_flag_pulse = 1;
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/* Basic timr6 */
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void Timr6_Init(void)
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{
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crm_periph_clock_enable(CRM_TMR6_PERIPH_CLOCK, TRUE);
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//TODO: 定时的计算方法
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// tmr_base_init(TMR6, 9999, (g_crm_clocks_freq_struct.ahb_freq / 10000) - 1); // 1s
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tmr_base_init(TMR6, 999, (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1); // 1ms
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tmr_cnt_dir_set(TMR6, TMR_COUNT_UP);
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tmr_interrupt_enable(TMR6, TMR_OVF_INT, TRUE);
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nvic_irq_enable(TMR6_GLOBAL_IRQn, 0, 0);
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tmr_counter_enable(TMR6, TRUE);
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// crm_periph_clock_enable(CRM_TMR14_PERIPH_CLOCK, TRUE);
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//
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// //TODO: 定时的计算方法
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//// tmr_base_init(TMR6, 9999, (g_crm_clocks_freq_struct.ahb_freq / 10000) - 1); // 1s
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// tmr_base_init(TMR14, (5000-1), (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1); // 5ms
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//// tmr_base_init(TMR14, 9999, (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1); // 10ms
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//
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//
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// tmr_cnt_dir_set(TMR14, TMR_COUNT_UP);
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//
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// tmr_interrupt_enable(TMR14, TMR_OVF_INT, TRUE);
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//
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// nvic_irq_enable(TMR14_GLOBAL_IRQn, 0, 0);
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//
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// tmr_counter_enable(TMR14, TRUE);
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crm_periph_clock_enable(CRM_TMR15_PERIPH_CLOCK, TRUE);
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//TODO: 定时的计算方法
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// tmr_base_init(TMR6, 9999, (g_crm_clocks_freq_struct.ahb_freq / 10000) - 1); // 1s
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tmr_base_init(TMR15, (5000-1), (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1); // 5ms
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// tmr_base_init(TMR14, 9999, (g_crm_clocks_freq_struct.ahb_freq / 1000000) - 1); // 10ms
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tmr_cnt_dir_set(TMR15, TMR_COUNT_UP);
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tmr_interrupt_enable(TMR15, TMR_OVF_INT, TRUE);
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nvic_irq_enable(TMR15_GLOBAL_IRQn, 0, 0);
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tmr_counter_enable(TMR15, TRUE);
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gpio_init_type gpio_init_struct;
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gpio_default_para_init(&gpio_init_struct);
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gpio_init_struct.gpio_pins = GPIO_PINS_1;
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gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
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gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
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gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
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gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
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gpio_init(GPIOB, &gpio_init_struct);
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gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE1, GPIO_MUX_0);
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crm_periph_clock_enable(CRM_TMR14_PERIPH_CLOCK, TRUE);
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/* compute the prescaler value */
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prescaler_value = (uint16_t)(system_core_clock / 24000000) - 1;
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tmr_base_init(TMR14, 665, prescaler_value);
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tmr_cnt_dir_set(TMR14, TMR_COUNT_UP);
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tmr_clock_source_div_set(TMR14, TMR_CLOCK_DIV1);
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tmr_output_default_para_init(&tmr_oc_init_structure);
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tmr_oc_init_structure.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
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tmr_oc_init_structure.oc_idle_state = FALSE;
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tmr_oc_init_structure.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
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tmr_oc_init_structure.oc_output_state = TRUE;
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c1dt_val = 670;
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tmr_output_channel_config(TMR14, TMR_SELECT_CHANNEL_1, &tmr_oc_init_structure);
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tmr_channel_value_set(TMR14, TMR_SELECT_CHANNEL_1, c1dt_val);
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tmr_output_channel_buffer_enable(TMR14, TMR_SELECT_CHANNEL_1, TRUE);
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tmr_period_buffer_enable(TMR14, TRUE);
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/* tmr enable counter */
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tmr_counter_enable(TMR14, TRUE);
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}
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/*===========================================================================
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* 红灯呼吸 (PB1 / TMR14 PWM) — V4.23: 呼吸节奏对齐 vd960Loop (LED_PWR)
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*
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* vd960Loop 参考 (周期≈2.6s, 60ms/步): 满量程 6800
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* 升: <6000 大步 +400(≈5.9%), ≥6000 小步 +100(≈1.5%)
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* 峰值保持 3 步后回落; 降: -400(≈5.9%)
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* V4B PWM 满量程 = TMR14 ARR 665, 参数按 665/6800 ≈ 0.0978 缩放取整:
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* 大歩 39(≈5.9%) / 小步 10(≈1.5%) / 分界 585(≈88%) / 峰值保持 660(≈99%)
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* 全周期 ≈ 2.6s, 与 vd960Loop 观感一致
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*===========================================================================*/
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#define RED_BREATH_ARR 665 /* 必须与 tmr_base_init(TMR14,665,...) 一致 */
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#define RED_STEP_BIG 39 /* 低段升/全程降步长 ≈ 400×665/6800 */
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#define RED_STEP_SMALL 10 /* 近顶小步 ≈ 100×665/6800 */
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#define RED_SPLIT 585 /* 大步/小步分界 ≈ 6000×665/6800 (88%) */
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#define RED_HOLD_LEVEL 660 /* 峰值保持占空比 (≈99%) */
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#define RED_HOLD_TICKS 3 /* 峰值保持 3 步 × 60ms = 180ms */
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uint8_t g_cnt_pwm_red_low_timeout = 0;
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void poll_red_pwm(void)
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{
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g_pulse_counter++;
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if (g_pulse_counter >= 12) { /* 12 × 5ms = 60ms/步 (同 vd960Loop) */
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g_pulse_counter = 0;
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if (g_flag_pulse) {
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/* 渐亮: 低段大步, 近顶小步 */
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if (pulse < RED_SPLIT)
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pulse += RED_STEP_BIG;
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else
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pulse += RED_STEP_SMALL;
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/* 到最亮: 保持 RED_HOLD_TICKS 步再回落 */
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if (pulse >= RED_BREATH_ARR) {
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g_cnt_pwm_red_low_timeout++;
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if (g_cnt_pwm_red_low_timeout >= RED_HOLD_TICKS) {
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g_flag_pulse = 0;
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g_cnt_pwm_red_low_timeout = 0;
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}
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pulse = RED_HOLD_LEVEL;
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}
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} else {
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/* 渐暗 */
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if (pulse <= RED_STEP_BIG) {
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pulse = 0;
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g_flag_pulse = 1;
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} else {
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pulse -= RED_STEP_BIG;
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}
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}
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tmr_channel_value_set(TMR14, TMR_SELECT_CHANNEL_1, pulse);
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}
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}
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/**
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* @brief main function.
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* @param none
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* @retval none
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*/
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int main(void)
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{
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nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
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system_clock_config();
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/* get system clock */
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crm_clocks_freq_get(&g_crm_clocks_freq_struct);
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at32_board_init();
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/* init usart1 */
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//2250000
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// 115200
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#ifdef DEBUG
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uart_print_init(230400); //115200
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PRINT("sys_clock:%d, ahb_freq:%d, sclk_freq:%d\n", system_core_clock, g_crm_clocks_freq_struct.ahb_freq, g_crm_clocks_freq_struct.sclk_freq);
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#endif
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loop_timer_io_init();
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Timr6_Init();
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wdt_init(); // IWDT 看门狗使能 (超时约1.64s), 主循环 poll_wdg() 喂狗
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/* enter critical */
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taskENTER_CRITICAL();
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/* create loop task */
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if(xTaskCreate((TaskFunction_t )loop_task_function,
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(const char* )"Loop_task",
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(uint16_t )512,
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(void* )NULL,
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(UBaseType_t )2,
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(TaskHandle_t* )&loop_task_handler) != pdPASS)
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{
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PRINT("loop task could not be created as there was insufficient heap memory remaining.\r\n");
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}
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else
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{
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PRINT("loop task was created successfully.\r\n");
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}
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/* exit critical */
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taskEXIT_CRITICAL();
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/* start scheduler */
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vTaskStartScheduler();
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}
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uint8_t g_flag_output = 0;
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uint8_t g_flag_output2 = 0;
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// 1ms interval
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void TMR6_GLOBAL_IRQHandler(void)
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{
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static uint16_t _cnt_5ms = 0;
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static uint32_t _cnt = 0;
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if(tmr_interrupt_flag_get(TMR6, TMR_OVF_FLAG) != RESET)
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{
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#ifdef DEBUG
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_cnt++;
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if(_cnt >= 2000){
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g_flag_output = 1;
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_cnt = 0;
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}
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#endif
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tmr_flag_clear(TMR6, TMR_OVF_FLAG);
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}
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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