refactor(vd960Loop): 算法回退到 DLD154V4B，四通道适配
- 用 DLD154V4B vd1_task/per_channel 替换 vds_task 复杂算法
- 移除 FUNCTION_B/二次判断/快速变化/多重确认等增强特性
- 保留平坦性离开算法 (CN200910309382)，每通道独立状态
- 灵敏度表改为 DLD154V4B 4级: {216,108,36,10} / {108,72,18,9}
- 清理废弃类型: FltHistoryManager, Loop_ACS_Info, StageRangeConfig 等
- 首次添加 vd960DBN 完整源码
This commit is contained in:
wangfq
@@ -0,0 +1,173 @@
|
||||
/*
|
||||
FreeRTOS V10.4.3 - Copyright (C) 2020 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
|
||||
|
||||
***************************************************************************
|
||||
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
||||
>>! distribute a combined work that includes FreeRTOS without being !<<
|
||||
>>! obliged to provide the source code for proprietary components !<<
|
||||
>>! outside of the FreeRTOS kernel. !<<
|
||||
***************************************************************************
|
||||
|
||||
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
||||
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
#ifndef FREERTOS_CONFIG_H
|
||||
#define FREERTOS_CONFIG_H
|
||||
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
|
||||
#include <stdint.h>
|
||||
#include "system_at32f421.h"
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Application specific definitions.
|
||||
*
|
||||
* These definitions should be adjusted for your particular hardware and
|
||||
* application requirements.
|
||||
*
|
||||
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||
*
|
||||
* See http://www.freertos.org/a00110.html.
|
||||
*----------------------------------------------------------*/
|
||||
#define configUSE_PREEMPTION 1
|
||||
#define configUSE_IDLE_HOOK 0
|
||||
#define configUSE_TICK_HOOK 0
|
||||
#define configCPU_CLOCK_HZ ( ( unsigned long ) system_core_clock )
|
||||
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
|
||||
#define configMAX_PRIORITIES ( 5 )
|
||||
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
|
||||
#define configSUPPORT_DYNAMIC_ALLOCATION 1
|
||||
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 8 * 1024 ) )
|
||||
#define configMAX_TASK_NAME_LEN ( 16 )
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
#define configIDLE_SHOULD_YIELD 1
|
||||
|
||||
|
||||
/* Co-routine definitions. */
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
|
||||
|
||||
/* Set the following definitions to 1 to include the API function, or zero
|
||||
to exclude the API function. */
|
||||
|
||||
#define INCLUDE_vTaskPrioritySet 1
|
||||
#define INCLUDE_uxTaskPriorityGet 1
|
||||
#define INCLUDE_vTaskDelete 1
|
||||
#define INCLUDE_vTaskCleanUpResources 0
|
||||
#define INCLUDE_vTaskSuspend 1
|
||||
#define INCLUDE_vTaskDelayUntil 1
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
/* Cortex-M specific definitions. */
|
||||
#ifdef __NVIC_PRIO_BITS
|
||||
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
|
||||
#define configPRIO_BITS __NVIC_PRIO_BITS
|
||||
#else
|
||||
#define configPRIO_BITS 4 /* 15 priority levels */
|
||||
#endif
|
||||
|
||||
/* The lowest interrupt priority that can be used in a call to a "set priority"
|
||||
function. */
|
||||
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x0f
|
||||
|
||||
/* The highest interrupt priority that can be used by any interrupt service
|
||||
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
|
||||
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
|
||||
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
|
||||
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 0x01
|
||||
|
||||
/* Interrupt priorities used by the kernel port layer itself. These are generic
|
||||
to all Cortex-M ports, and do not rely on any particular library functions. */
|
||||
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
|
||||
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
|
||||
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
|
||||
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
|
||||
|
||||
/* Normal assert() semantics without relying on the provision of an assert.h
|
||||
header file. */
|
||||
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
|
||||
|
||||
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
|
||||
standard names. */
|
||||
#define vPortSVCHandler SVC_Handler
|
||||
#define xPortPendSVHandler PendSV_Handler
|
||||
#define xPortSysTickHandler SysTick_Handler
|
||||
|
||||
|
||||
#endif /* FREERTOS_CONFIG_H */
|
||||
|
||||
@@ -0,0 +1,194 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file TaskLoop.h
|
||||
* @version v2.0
|
||||
* @date 2025-09-08 (original), 2026-06-25 (rewrite: DLD154V4B algo × 4ch)
|
||||
* @brief 四路线圈检测 — 移植自 DLD154V4B 算法
|
||||
*
|
||||
* 算法来源: DLD154V4B vd1_task() + 平坦性离开 (CN200910309382)
|
||||
* 改动: 单路全局变量 → Loop154_Unit 结构体数组，四路独立
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
#ifndef __TASKLOOP_H__
|
||||
#define __TASKLOOP_H__
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
|
||||
/*===========================================================================
|
||||
* 时序参数（每 tick = 50ms，由 TMR15 5ms×10 产生）
|
||||
*===========================================================================*/
|
||||
#define HOLD_TIME (5 * 1200) // 有限存在保持（约 5 分钟）
|
||||
#define LC_HOLD_TIME (4 * 1200) // 安全复位时间（约 4 分钟）
|
||||
#define IN_DELAY 10 // 进入防抖 500ms
|
||||
#define OUT_DELAY 10 // 离开防抖 500ms
|
||||
#define PULSE_DELAY 10 // 脉冲宽度 500ms
|
||||
|
||||
/*===========================================================================
|
||||
* 滤波参数
|
||||
*===========================================================================*/
|
||||
#define ALFA_CAP1 79 // IIR 指数平滑 α = 79/256 ≈ 0.31
|
||||
#define STABLE_SAMPLES 128 // 稳定期样本数
|
||||
|
||||
/*===========================================================================
|
||||
* 离开检测: 1 = 平坦性三条件 (CN200910309382), 0 = cnt_release 防抖
|
||||
*===========================================================================*/
|
||||
#define USE_FLATNESS_EXIT 1
|
||||
|
||||
/*===========================================================================
|
||||
* 平坦性参数
|
||||
*===========================================================================*/
|
||||
#define K1 8
|
||||
#define K2 8
|
||||
#define SLOPE_FLAT_THRESH 100
|
||||
#define MIN_DELTA2 5
|
||||
#define MIN_DELTA3 2
|
||||
#define FLAT_CONFIRM_CNT 3
|
||||
#define WINDOW_ORIGIN 100 // 基线跟踪窗口
|
||||
|
||||
/*===========================================================================
|
||||
* 频率测量
|
||||
* MEASUREMENT_BASE = 2^17 ≈ 131072
|
||||
* LPCNT = MEASUREMENT_BASE / Xn, 使 Value 归一化到 ~131072
|
||||
*===========================================================================*/
|
||||
#define MEASUREMENT_BASE 131072
|
||||
|
||||
/*===========================================================================
|
||||
* 通道数量
|
||||
*===========================================================================*/
|
||||
#define LOOP_CAPTURE_MAX 4
|
||||
|
||||
/*===========================================================================
|
||||
* 灵敏度表（4级: 0=低, 3=高）
|
||||
* 进入阈值 = Origin × SensTable[SENS] / 65536
|
||||
* 离开阈值 = Origin × SensTable_1[SENS] / 65536
|
||||
*===========================================================================*/
|
||||
extern const uint16_t SensTable[4];
|
||||
extern const uint16_t SensTable_1[4];
|
||||
|
||||
/*===========================================================================
|
||||
* Forward declaration
|
||||
*===========================================================================*/
|
||||
struct tskTaskControlBlock;
|
||||
typedef struct tskTaskControlBlock* TaskHandle_t;
|
||||
|
||||
/*===========================================================================
|
||||
* 单通道状态结构体 — 对齐 DLD154V4B 全局变量
|
||||
*===========================================================================*/
|
||||
typedef struct {
|
||||
uint8_t loop_num; // 通道编号 0~3
|
||||
|
||||
/*--- 捕获 & 测量 ---*/
|
||||
uint16_t loop_Xn; // 相邻边沿周期差
|
||||
uint16_t loop_CapThis, loop_CapLast;
|
||||
uint16_t loop_LPCNT, loop_CapCnt;
|
||||
uint32_t loop_CapSum, loop_Value;
|
||||
uint32_t loop_CAPVD; // IIR 滤波后的频率值
|
||||
uint32_t loop_Origin; // 基线（无车参考值）
|
||||
uint32_t loop_ORG_SUM;
|
||||
uint16_t loop_ORG_CNT;
|
||||
uint16_t loop_dlt_ORG; // 当前灵敏度阈值
|
||||
uint8_t Flt_Reg; // IIR 滤波系数
|
||||
|
||||
/*--- 标志位 ---*/
|
||||
uint8_t loop_INI_LOOP;
|
||||
uint8_t loop_CAP_OK; // 新测量数据就绪
|
||||
uint8_t loop_VD_FLAG; // 有车标志
|
||||
uint8_t loop_VD_HOLD; // 有限存在计时启用
|
||||
uint8_t loop_RF_FLAG; // 本 tick 收到线圈振荡边沿
|
||||
uint8_t loop_LOOP_OK; // 线圈连接正常
|
||||
uint8_t loop_LOOP_OK0; // 上周期连接状态
|
||||
uint8_t loop_FLAG_IN; // 进入延时中
|
||||
uint8_t loop_FLAG_OUT; // 离开延时中
|
||||
uint8_t loop_FLAG_PLUSE; // 脉冲输出中
|
||||
uint8_t loop_SensLevel; // 灵敏度等级 0~3
|
||||
uint8_t loop_cnt_release; // 离开防抖计数
|
||||
uint8_t loop_stable; // 数值已稳定
|
||||
|
||||
#if USE_FLATNESS_EXIT
|
||||
/*--- 平坦性离开状态 ---*/
|
||||
uint8_t exit_state; // 0=追踪斜率, 1=等待平坦
|
||||
uint16_t max_slope; // 第一上升坡面最大 |f'|
|
||||
uint16_t max_slope_rate; // 最大 |f''|
|
||||
uint16_t delta2; // Δ2: 一阶平坦阈值
|
||||
uint16_t delta3; // Δ3: 二阶平坦阈值
|
||||
int32_t prev_capvd; // 上一帧 CAPVD
|
||||
int32_t prev_first_deriv; // 上一帧一阶导数
|
||||
uint8_t slope_flat_cnt; // 斜率趋零连续计数
|
||||
uint8_t flat_ok_cnt; // 平坦条件满足连续计数
|
||||
#endif
|
||||
|
||||
/*--- 计数器 ---*/
|
||||
uint16_t Hold_CNT;
|
||||
uint8_t INCNT, OUTCNT;
|
||||
|
||||
/*--- 输出配置 ---*/
|
||||
uint8_t SET_PLUS; // 0=脉冲, 1=存在输出
|
||||
uint8_t SET_DLY; // 离开延时: 0=无, 1=500ms
|
||||
uint8_t SET_SAFE; // 1=安全复位
|
||||
|
||||
/*--- 安全复位 ---*/
|
||||
uint8_t LC_HOLD;
|
||||
uint8_t LC_Reset;
|
||||
uint32_t LC_Hold_CNT;
|
||||
|
||||
/*--- 断开检测 ---*/
|
||||
uint8_t power_up_state; // 上电后是否曾连接
|
||||
uint8_t disconnect_count; // 断开次数 (0~3)
|
||||
uint8_t disconnect_active; // 当前断开中
|
||||
uint8_t fault_phase;
|
||||
uint16_t fault_tick;
|
||||
|
||||
/*--- 稳定期 ---*/
|
||||
uint16_t stable_cnt;
|
||||
|
||||
/*--- 调试 ---*/
|
||||
uint32_t xn_counter;
|
||||
} Loop154_Unit;
|
||||
|
||||
/*===========================================================================
|
||||
* 全局状态
|
||||
*===========================================================================*/
|
||||
typedef struct {
|
||||
uint32_t report_counter;
|
||||
Loop154_Unit loop_unit[LOOP_CAPTURE_MAX];
|
||||
} Loop154_States;
|
||||
|
||||
extern Loop154_States g_loop_states;
|
||||
|
||||
/*===========================================================================
|
||||
* 全局变量
|
||||
*===========================================================================*/
|
||||
extern uint32_t g_sys_freq;
|
||||
extern uint8_t g_input_div;
|
||||
extern uint32_t g_safe_max_cnt;
|
||||
|
||||
/*===========================================================================
|
||||
* 函数声明
|
||||
*===========================================================================*/
|
||||
void loop_task_function(void *pvParameters);
|
||||
void usart_task_function(void *pvParameters);
|
||||
void led_indicator_task_function(void *pvParameters);
|
||||
|
||||
void vd1_task_per_channel(Loop154_Unit *unit);
|
||||
void init_vd_single(Loop154_Unit *unit);
|
||||
void INIT_VDs(Loop154_States *loops);
|
||||
|
||||
void poll_red_pwm(void);
|
||||
void poll_green_led(Loop154_Unit *unit);
|
||||
void poll_yellow_led_single(Loop154_Unit *unit);
|
||||
|
||||
uint32_t get_flt_value(uint32_t new_value, uint32_t last_Value);
|
||||
uint8_t update_moving_average(uint32_t* p_sum, uint16_t* p_cnt,
|
||||
uint32_t* p_origin, uint32_t new_value,
|
||||
uint8_t window);
|
||||
|
||||
void set_loops_relay_on(uint8_t loop_num);
|
||||
void set_loops_relay_off(uint8_t loop_num);
|
||||
|
||||
void wdt_feed(void);
|
||||
|
||||
extern TaskHandle_t usart_task_handler;
|
||||
|
||||
#endif /* __TASKLOOP_H__ */
|
||||
@@ -0,0 +1,44 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file at32f421_clock.h
|
||||
* @brief header file of clock program
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/* define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef __AT32F421_CLOCK_H
|
||||
#define __AT32F421_CLOCK_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* includes ------------------------------------------------------------------*/
|
||||
#include "at32f421.h"
|
||||
|
||||
/* exported functions ------------------------------------------------------- */
|
||||
void system_clock_config(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __AT32F421_CLOCK_H */
|
||||
|
||||
@@ -0,0 +1,137 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file at32f421_conf.h
|
||||
* @brief at32f421 config header file
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/* define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef __AT32F421_CONF_H
|
||||
#define __AT32F421_CONF_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief in the following line adjust the value of high speed external crystal (hext)
|
||||
* used in your application
|
||||
*
|
||||
* tip: to avoid modifying this file each time you need to use different hext, you
|
||||
* can define the hext value in your toolchain compiler preprocessor.
|
||||
*
|
||||
*/
|
||||
#if !defined HEXT_VALUE
|
||||
#define HEXT_VALUE ((uint32_t)12000000) /*!< value of the high speed external crystal in hz */
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief in the following line adjust the high speed external crystal (hext) startup
|
||||
* timeout value
|
||||
*/
|
||||
#define HEXT_STARTUP_TIMEOUT ((uint16_t)0x3000) /*!< time out for hext start up */
|
||||
#define HICK_VALUE ((uint32_t)8000000) /*!< value of the high speed internal clock in hz */
|
||||
#define LEXT_VALUE ((uint32_t)32768) /*!< value of the low speed external clock in hz */
|
||||
|
||||
/* module define -------------------------------------------------------------*/
|
||||
#define CRM_MODULE_ENABLED
|
||||
#define CMP_MODULE_ENABLED
|
||||
#define TMR_MODULE_ENABLED
|
||||
#define ERTC_MODULE_ENABLED
|
||||
#define GPIO_MODULE_ENABLED
|
||||
#define I2C_MODULE_ENABLED
|
||||
#define USART_MODULE_ENABLED
|
||||
#define PWC_MODULE_ENABLED
|
||||
#define ADC_MODULE_ENABLED
|
||||
#define SPI_MODULE_ENABLED
|
||||
#define DMA_MODULE_ENABLED
|
||||
#define DEBUG_MODULE_ENABLED
|
||||
#define FLASH_MODULE_ENABLED
|
||||
#define CRC_MODULE_ENABLED
|
||||
#define WWDT_MODULE_ENABLED
|
||||
#define WDT_MODULE_ENABLED
|
||||
#define EXINT_MODULE_ENABLED
|
||||
#define MISC_MODULE_ENABLED
|
||||
#define SCFG_MODULE_ENABLED
|
||||
|
||||
/* includes ------------------------------------------------------------------*/
|
||||
#ifdef CRM_MODULE_ENABLED
|
||||
#include "at32f421_crm.h"
|
||||
#endif
|
||||
#ifdef CMP_MODULE_ENABLED
|
||||
#include "at32f421_cmp.h"
|
||||
#endif
|
||||
#ifdef TMR_MODULE_ENABLED
|
||||
#include "at32f421_tmr.h"
|
||||
#endif
|
||||
#ifdef ERTC_MODULE_ENABLED
|
||||
#include "at32f421_ertc.h"
|
||||
#endif
|
||||
#ifdef GPIO_MODULE_ENABLED
|
||||
#include "at32f421_gpio.h"
|
||||
#endif
|
||||
#ifdef I2C_MODULE_ENABLED
|
||||
#include "at32f421_i2c.h"
|
||||
#endif
|
||||
#ifdef USART_MODULE_ENABLED
|
||||
#include "at32f421_usart.h"
|
||||
#endif
|
||||
#ifdef PWC_MODULE_ENABLED
|
||||
#include "at32f421_pwc.h"
|
||||
#endif
|
||||
#ifdef ADC_MODULE_ENABLED
|
||||
#include "at32f421_adc.h"
|
||||
#endif
|
||||
#ifdef SPI_MODULE_ENABLED
|
||||
#include "at32f421_spi.h"
|
||||
#endif
|
||||
#ifdef DMA_MODULE_ENABLED
|
||||
#include "at32f421_dma.h"
|
||||
#endif
|
||||
#ifdef DEBUG_MODULE_ENABLED
|
||||
#include "at32f421_debug.h"
|
||||
#endif
|
||||
#ifdef FLASH_MODULE_ENABLED
|
||||
#include "at32f421_flash.h"
|
||||
#endif
|
||||
#ifdef CRC_MODULE_ENABLED
|
||||
#include "at32f421_crc.h"
|
||||
#endif
|
||||
#ifdef WWDT_MODULE_ENABLED
|
||||
#include "at32f421_wwdt.h"
|
||||
#endif
|
||||
#ifdef WDT_MODULE_ENABLED
|
||||
#include "at32f421_wdt.h"
|
||||
#endif
|
||||
#ifdef EXINT_MODULE_ENABLED
|
||||
#include "at32f421_exint.h"
|
||||
#endif
|
||||
#ifdef MISC_MODULE_ENABLED
|
||||
#include "at32f421_misc.h"
|
||||
#endif
|
||||
#ifdef SCFG_MODULE_ENABLED
|
||||
#include "at32f421_scfg.h"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,56 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file at32f421_int.h
|
||||
* @brief header file of main interrupt service routines.
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/* define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef __AT32F421_INT_H
|
||||
#define __AT32F421_INT_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* includes ------------------------------------------------------------------*/
|
||||
#include "at32f421.h"
|
||||
|
||||
/* exported types ------------------------------------------------------------*/
|
||||
/* exported constants --------------------------------------------------------*/
|
||||
/* exported macro ------------------------------------------------------------*/
|
||||
/* exported functions ------------------------------------------------------- */
|
||||
|
||||
void NMI_Handler(void);
|
||||
void HardFault_Handler(void);
|
||||
void MemManage_Handler(void);
|
||||
void BusFault_Handler(void);
|
||||
void UsageFault_Handler(void);
|
||||
void SVC_Handler(void);
|
||||
void DebugMon_Handler(void);
|
||||
void PendSV_Handler(void);
|
||||
void SysTick_Handler(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,99 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file cmcng.h
|
||||
* @version v1.0
|
||||
* @date 2025-09-08
|
||||
* @brief һЩ����
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
* * Create 2025-09-08 by wangfq
|
||||
* *
|
||||
**************************************************************************
|
||||
*/
|
||||
#ifndef __CMCNG_H__
|
||||
#define __CMCNG_H__
|
||||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#define PRODUCT_MODEL "DLD960"
|
||||
#define FIRMWARE_VER "1.00"
|
||||
#define HARDWARE_VER "1.00"
|
||||
#define FIRMWARE_VER_MAIN 0
|
||||
#define FIRMWARE_VER_SUB 30
|
||||
#define FIRMWARE_VER_SSUB 0
|
||||
#define HARDWARE_VER_MAIN 1
|
||||
#define HARDWARE_VER_SUB 0
|
||||
#define HARDWARE_VER_SSUB 0
|
||||
|
||||
|
||||
#define FUNCTION_A 0x01 // 二次判断
|
||||
#define FUNCTION_B 0x02 // 二次判断增强条件判断
|
||||
#define FUNCTION_C 0x04 //
|
||||
#define FUNCTION_D 0x08 //
|
||||
|
||||
|
||||
#ifdef DEBUG
|
||||
#define PRINT(X...) printf(X)
|
||||
#else
|
||||
#define PRINT(X...)
|
||||
#endif
|
||||
|
||||
#define LOOP_CAPTURE_MAX 4 // 4 loop capture
|
||||
|
||||
#define CMD_DEV_Ver 0x4A // Version
|
||||
|
||||
#define CMD_DBN_SET_MCJQ_PARAM 0x63 // 设置 车检器多路参数
|
||||
#define CMD_DBN_GET_MCJQ_PARAM 0x64 // 读取 车检器多路参数
|
||||
|
||||
#define CMD_DBN_DEV_RESET 0x6D
|
||||
|
||||
#define CMD_DBN_LOOP_SAMPLE_PARAM 0x87
|
||||
#define CMD_DBN_LOOP_BALANCE_PARAM 0x88
|
||||
#define CMD_DBN_LOOP_RELEASE_PLANB 0x89
|
||||
#define CMD_DBN_LOOP_SENS_LIST 0x8A
|
||||
#define CMD_DBN_SET_CJQ_FACTORY 0x92
|
||||
|
||||
#define CMD_SUB_SENS_REPORT 0xC0 //设备主动上报传感信息
|
||||
// #define CMD_REQUIRE_DEV_MAC_ADDR 0xC1
|
||||
// #define CMD_CHANGE_DEV_ADDR_BY_MAC 0xC2
|
||||
// #define CMD_SET_LED 0xC3
|
||||
// #define CMD_SET_RELAY 0xC4
|
||||
#define CMD_SENS_ACS_ENABLE 0xC5 // 设备主动上报 使能
|
||||
|
||||
typedef enum
|
||||
{
|
||||
SENS_NONE = 0,
|
||||
SENS_SUB_INFO = 1, // 传感器设备信息
|
||||
SENS_OBJ_DYNAMIC = 2, // 动态目标类型
|
||||
SENS_SOUTPUT_STATUS = 3, // 当前开关量输出的状态
|
||||
SENS_DETAIL_CNG = 4, // 详细配置
|
||||
SENS_LOOP_DYNAMIC = 5, // 线圈动态信息
|
||||
SENS_OBJ_BackGround = 6, //
|
||||
SENS_OBJ_INSIDE = 7, //
|
||||
SENS_LOOP_TREND,
|
||||
SENS_OBJ_DYNAMIC_SIMPLE,
|
||||
SENS_OBJ_STATIC_XuJing, //10, 0x0A
|
||||
SENS_DOBULE_LOOP_ESTIMATE, //0x0B, 线圈环境评估
|
||||
SENS_MULTI_LOOP_DYNAMIC, // 0x0C, 多路线圈环境动态信息
|
||||
} SUB_SENS_TYPE; // 传感数据类型
|
||||
|
||||
|
||||
#define BUFF_STACK_SIZE 64
|
||||
// USART1
|
||||
#define USART1_RX_BUFFER_SIZE BUFF_STACK_SIZE
|
||||
extern char usart1_rx_buffer[USART1_RX_BUFFER_SIZE];
|
||||
|
||||
typedef struct _PKG_UART_
|
||||
{
|
||||
uint8_t flag;
|
||||
uint8_t offset;
|
||||
uint8_t len;
|
||||
uint8_t pkg[BUFF_STACK_SIZE];
|
||||
uint32_t tick;
|
||||
}Pkg_Uart;
|
||||
extern Pkg_Uart g_pkg_uart_1;
|
||||
extern Pkg_Uart g_pkg_uart_report;
|
||||
|
||||
void uart_report_packet_loop_acs(uint8_t flag);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,83 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file flash.h
|
||||
* @brief flash header file
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef __FLASH_H__
|
||||
#define __FLASH_H__
|
||||
|
||||
#include "at32f421_board.h"
|
||||
|
||||
/** @addtogroup AT32F421_periph_examples
|
||||
* @{
|
||||
*/
|
||||
#define DLD_BUFEER_SIZE 100 // byte number, sector
|
||||
#define DLD_FLASH_ADDRESS_START (0x08000000 + 1024 * 63 + 512) // The last sector
|
||||
#define DLD_FLASH_MAX_SIZE (0x08000000 + 1024 * 64)
|
||||
|
||||
#define MAX_Store_Size DLD_BUFEER_SIZE
|
||||
|
||||
/** @addtogroup 421_FLASH_write_read
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
/** @defgroup FLASH_write_read_functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
void flash_read(uint32_t read_addr, uint16_t *p_buffer, uint16_t num_read);
|
||||
error_status flash_write_nocheck(uint32_t write_addr, uint16_t *p_buffer, uint16_t num_write);
|
||||
error_status flash_write(uint32_t write_addr,uint16_t *p_Buffer, uint16_t num_write);
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,70 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file iap.h
|
||||
* @brief iap header file
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
#ifndef __IAP_H__
|
||||
#define __IAP_H__
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "at32f421_board.h"
|
||||
|
||||
/** @addtogroup UTILITIES_examples
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup USART_iap_bootloader
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @defgroup bootloader_definition
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* app starting address */
|
||||
#define APP_START_ADDR 0x08003400
|
||||
|
||||
/* the previous sector of app starting address is iap upgrade flag */
|
||||
#define IAP_UPGRADE_FLAG_ADDR (APP_START_ADDR - 0x800)
|
||||
|
||||
#define UPGRADE_DAT_START_ADDR APP_START_ADDR //0x0800A000 // 0x0804B000 // 0x08080000
|
||||
|
||||
|
||||
/* when app received cmd 0x5aa5 from pc-tool, will set up the flag,
|
||||
indicates that an app upgrade will follow, see iap application note for more details */
|
||||
#define IAP_UPGRADE_FLAG 0x41544B38
|
||||
#define IAP_UPGRADE_FLAG_9F 0x444C4439 //0x41544B39 //use 9F Protocol
|
||||
|
||||
#define IAP_UPGRADE_TYPE_DEFAULT 0
|
||||
#define IAP_UPGRADE_TYPE_9F 1
|
||||
|
||||
#define IAP_CMD_READY 0xA5
|
||||
#define IAP_CMD_ADDR_START 0xA6
|
||||
#define IAP_CMD_TRAN_PKG_WITH_BACK 0xA7
|
||||
#define IAP_CMD_TRAN_PKG_WITHOUT_OKBACK 0xA8
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,187 @@
|
||||
/*
|
||||
* storage.h
|
||||
*
|
||||
* Created on: Aug 27, 2024
|
||||
* Author: Thinkpad
|
||||
*/
|
||||
|
||||
#ifndef INCLUDE_STORAGE_H_
|
||||
#define INCLUDE_STORAGE_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include "cmcng.h"
|
||||
|
||||
#define Addr_Dev_Flag_Offset 0x00
|
||||
|
||||
#define Addr_Sens_Amount_Offset 0x0E
|
||||
#define Addr_Smart_Mode_Offset 0x0F
|
||||
#define Addr_Loop_Cng_Offset 0x10
|
||||
|
||||
#define Addr_Loop_PlanB_Cng_Offset 0x30
|
||||
#define Addr_Flag_Sample_In 0x30
|
||||
#define Addr_Sample_Max_Amplitude 0x31
|
||||
#define Addr_Flag_Balance_Ori_In 0x33
|
||||
#define Addr_Balance_Ori_In_Max_Cnt 0x34
|
||||
#define Addr_Flag_Release_Ori_PlanB 0x36
|
||||
#define Addr_Release_Ori_PlanB_TimeOut 0x37
|
||||
#define Addr_Release_Ori_PlanB_Weight 0x38
|
||||
#define Addr_Release_Ori_Amplitude 0x39
|
||||
#define Addr_Flag_Release_Rate 0x3B
|
||||
#define Addr_Release_Rate_First 0x3C
|
||||
#define Addr_Release_Rate_Second 0x3D
|
||||
#define Addr_Release_Rate_Weight 0x3E
|
||||
#define Addr_Release_Rate_Mode 0x3F
|
||||
|
||||
#define Addr_Loop_Sens_List_Offset 0x40
|
||||
|
||||
#define Addr_Sens_Array_In 0x40
|
||||
#define Addr_Sens_Array_Out 0x50
|
||||
|
||||
|
||||
#define MAX_LOOP_SENS_AMOUNT 8 // 4 // 5
|
||||
extern const uint16_t SensTable[MAX_LOOP_SENS_AMOUNT];
|
||||
extern const uint16_t SensTable_1[MAX_LOOP_SENS_AMOUNT];
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
typedef struct _Loop_Sample_CNG_
|
||||
{
|
||||
uint8_t flag;
|
||||
uint16_t max_amplitude; // 最大幅值
|
||||
}Loop_Sample_Cng;
|
||||
|
||||
typedef struct _Loop_Balance_Ori_CNG_
|
||||
{
|
||||
uint8_t flag;
|
||||
uint16_t max_cnt ; // 最大补偿次数
|
||||
}Loop_Balance_Ori_Cng; // 漂移补偿
|
||||
|
||||
typedef struct _Loop_Release_Ori_PlanB_
|
||||
{
|
||||
uint8_t flag_weight;
|
||||
uint16_t max_amplitude; //最大幅值
|
||||
uint8_t timeout; // 单位：分钟
|
||||
}Loop_Release_Ori_PlanB;
|
||||
|
||||
typedef struct _Loop_Release_Change_Rate_
|
||||
{
|
||||
uint8_t flag_weight;
|
||||
uint8_t rate_first;
|
||||
uint8_t rate_second;
|
||||
uint8_t mode;
|
||||
}Loop_Release_Change_Rate;
|
||||
|
||||
|
||||
typedef struct _Loop_Balance_PlanB_
|
||||
{
|
||||
Loop_Sample_Cng sample_cng;
|
||||
Loop_Balance_Ori_Cng balance_ori_cng;
|
||||
Loop_Release_Ori_PlanB release_ori_planB;
|
||||
Loop_Release_Change_Rate release_change_rate;
|
||||
}Loop_Balance_PlanB;
|
||||
|
||||
extern Loop_Balance_PlanB g_loop_balance_planB;
|
||||
|
||||
|
||||
#define SENS_Default_Amount 4
|
||||
|
||||
typedef enum
|
||||
{
|
||||
Freq_High = 0,
|
||||
Freq_Middle_High,
|
||||
Freq_Middle_Low,
|
||||
Freq_Low
|
||||
} Freq_Level;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
Smart_Mode_Disable = 0,
|
||||
Smart_Mode_Enable
|
||||
} Freq_Smart_Mode;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
LNum_1 = 0,
|
||||
LNum_2,
|
||||
LNum_3,
|
||||
LNum_4
|
||||
} Loop_Num;
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t sensitvity; // 高四位表示灵敏度的数量，低四位表示当前灵敏度的序号（从0开始）
|
||||
uint8_t delay_time;
|
||||
uint8_t output_mode;
|
||||
uint8_t direction_mode; // 方向判别模式，0 触发模式， 非0 表示方向判别模式
|
||||
uint8_t loopFreq_Level; // 高低频 0 High, 1 Middle High; 2 Middle Low, 3 Low
|
||||
uint8_t loopSafe_Timeout; // 线圈安全模式， 0表示关闭，非0表示开启，以10秒为单位
|
||||
uint8_t exist_mode; // 0 永久存在，非0，表示有限存在的时间，单位为10秒
|
||||
uint8_t rfu;
|
||||
}Loop_Cng_Unit;
|
||||
// extern Loop_Cng_Unit g_loop_cng_unit[LOOP_CAPTURE_MAX];
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t smart_mode; // 0 disable
|
||||
Loop_Cng_Unit loop_cng[LOOP_CAPTURE_MAX];
|
||||
}Loop_Cng_Info;
|
||||
extern Loop_Cng_Info g_loop_cng_info;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t sens_in;
|
||||
uint16_t sens_out;
|
||||
}Loop_Single_Sens;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t total;
|
||||
Loop_Single_Sens sens[MAX_LOOP_SENS_AMOUNT];
|
||||
}Loop_Sens_List;
|
||||
extern Loop_Sens_List g_loop_sens_list;
|
||||
|
||||
|
||||
|
||||
typedef struct _DBN_BLE_STATE_
|
||||
{
|
||||
uint8_t flag; // if need to report
|
||||
uint8_t enable; // if enable
|
||||
uint8_t send_flag;
|
||||
uint8_t obj_amount;
|
||||
uint8_t cmd;
|
||||
uint8_t sens_type;
|
||||
uint8_t dat_len ;
|
||||
uint8_t dat_offset;
|
||||
uint8_t pkg_amount;
|
||||
uint8_t pkg_seq;
|
||||
uint16_t interval;
|
||||
uint32_t counter;
|
||||
uint8_t timeout_min; // minute
|
||||
uint32_t timeout_counter;
|
||||
} DBN_BLE_State;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#pragma pack()
|
||||
|
||||
|
||||
#define HOLD_TIME 5*1200
|
||||
#define LC_HOLD_TIME 4*1200 // 4 minute
|
||||
#define IN_DELAY 10
|
||||
#define OUT_DELAY 39
|
||||
#define PLUSE_DELAY 10
|
||||
|
||||
void set_flp_level(uint8_t loop_num, uint8_t freq_level);
|
||||
|
||||
void set_factory_param(void);
|
||||
void storage_dev(void);
|
||||
void para_store_init(void);
|
||||
void test_factory(void);
|
||||
|
||||
|
||||
#endif /* INCLUDE_STORAGE_H_ */
|
||||
@@ -0,0 +1,710 @@
|
||||
|
||||
#include "TaskLoop.h"
|
||||
#include "at32f421_board.h"
|
||||
#include "cmcng.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
/*===========================================================================
|
||||
* 灵敏度表 — 对齐 DLD154V4B / M1H
|
||||
* 进入阈值 = Origin × SensTable[SENS] / 65536
|
||||
* 离开阈值 = Origin × SensTable_1[SENS] / 65536 （滞回 ~50%）
|
||||
* SENS: 0=低灵敏, 3=高灵敏
|
||||
*===========================================================================*/
|
||||
const uint16_t SensTable[4] = {216, 108, 36, 10};
|
||||
const uint16_t SensTable_1[4] = {108, 72, 18, 9};
|
||||
|
||||
/*===========================================================================
|
||||
* 全局状态
|
||||
*===========================================================================*/
|
||||
Loop154_States g_loop_states = {{0}, {{{0}}}};
|
||||
uint32_t g_sys_freq = 0;
|
||||
uint8_t g_input_div = 1;
|
||||
uint32_t g_safe_max_cnt = LC_HOLD_TIME;
|
||||
|
||||
/*===========================================================================
|
||||
* 调试
|
||||
*===========================================================================*/
|
||||
uint8_t g_flag_output = 0;
|
||||
uint8_t g_flag_output2 = 0;
|
||||
|
||||
/*===========================================================================
|
||||
* 一阶 IIR 低通滤波器（对齐 DLD154V4B）
|
||||
* CAPVD_new = α·new_value + (1-α)·CAPVD_old, α = 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
|
||||
*===========================================================================*/
|
||||
uint8_t update_moving_average(uint32_t* p_sum, uint16_t* p_cnt,
|
||||
uint32_t* p_origin, uint32_t new_value,
|
||||
uint8_t window)
|
||||
{
|
||||
if (!p_sum || !p_cnt || !p_origin || window == 0) return 0;
|
||||
|
||||
*p_sum += new_value;
|
||||
(*p_cnt)++;
|
||||
|
||||
if (*p_cnt >= window) {
|
||||
*p_origin = *p_sum / window;
|
||||
*p_cnt = 0;
|
||||
*p_sum = 0;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* 继电器控制
|
||||
*===========================================================================*/
|
||||
void set_loops_relay_on(uint8_t loop_num)
|
||||
{
|
||||
switch(loop_num) {
|
||||
case 0: RLY1_ON; break;
|
||||
case 1: RLY2_ON; break;
|
||||
case 2: RLY3_ON; break;
|
||||
case 3: RLY4_ON; break;
|
||||
}
|
||||
}
|
||||
|
||||
void set_loops_relay_off(uint8_t loop_num)
|
||||
{
|
||||
switch(loop_num) {
|
||||
case 0: RLY1_OFF; break;
|
||||
case 1: RLY2_OFF; break;
|
||||
case 2: RLY3_OFF; break;
|
||||
case 3: RLY4_OFF; break;
|
||||
}
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* 单通道初始化
|
||||
*===========================================================================*/
|
||||
void init_vd_single(Loop154_Unit *unit)
|
||||
{
|
||||
unit->loop_INCNT = 0;
|
||||
unit->loop_OUTCNT = 0;
|
||||
unit->loop_CapCnt = 0;
|
||||
unit->loop_CapLast = 0;
|
||||
unit->loop_LPCNT = 0;
|
||||
unit->loop_INI_LOOP = 1;
|
||||
|
||||
unit->loop_VD_FLAG = 0;
|
||||
unit->loop_RF_FLAG = 0;
|
||||
unit->loop_LOOP_OK = 1;
|
||||
unit->loop_LOOP_OK0 = 0;
|
||||
unit->loop_CAP_OK = 0;
|
||||
unit->loop_CAPVD = 0;
|
||||
|
||||
unit->loop_SensLevel = 2; // 默认中灵敏度
|
||||
unit->Flt_Reg = ALFA_CAP1;
|
||||
|
||||
unit->loop_ORG_CNT = 0;
|
||||
unit->loop_ORG_SUM = 0;
|
||||
|
||||
unit->loop_FLAG_IN = 0;
|
||||
unit->loop_FLAG_OUT = 0;
|
||||
unit->loop_FLAG_PLUSE = 0;
|
||||
unit->loop_cnt_release = 0;
|
||||
unit->loop_stable = 0;
|
||||
|
||||
#if USE_FLATNESS_EXIT
|
||||
unit->exit_state = 0;
|
||||
unit->max_slope = 0;
|
||||
unit->max_slope_rate = 0;
|
||||
unit->delta2 = 0;
|
||||
unit->delta3 = 0;
|
||||
unit->prev_capvd = 0;
|
||||
unit->prev_first_deriv = 0;
|
||||
unit->slope_flat_cnt = 0;
|
||||
unit->flat_ok_cnt = 0;
|
||||
#endif
|
||||
|
||||
unit->LC_HOLD = 0;
|
||||
unit->LC_Reset = 0;
|
||||
unit->LC_Hold_CNT = 0;
|
||||
unit->Hold_CNT = 0;
|
||||
|
||||
unit->power_up_state = 0;
|
||||
unit->disconnect_count = 0;
|
||||
unit->disconnect_active = 0;
|
||||
unit->fault_phase = 0;
|
||||
unit->fault_tick = 0;
|
||||
|
||||
unit->SET_PLUS = 1; // 存在输出
|
||||
unit->SET_DLY = 0;
|
||||
unit->SET_SAFE = 1;
|
||||
|
||||
unit->stable_cnt = 0;
|
||||
unit->xn_counter = 0;
|
||||
}
|
||||
|
||||
void INIT_VDs(Loop154_States *loops)
|
||||
{
|
||||
uint8_t i;
|
||||
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
|
||||
loops->loop_unit[i].loop_num = i;
|
||||
init_vd_single(&loops->loop_unit[i]);
|
||||
}
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* TMR3 输入捕获中断 — 四路线圈频率测量（对齐 DLD154V4B CAP0 ISR）
|
||||
*
|
||||
* 每个通道独立捕获，使用 MEASUREMENT_BASE 自适应测量窗口。
|
||||
* LPCNT = MEASUREMENT_BASE / Xn，使 Value ≈ 131072，无需后续 >> 移位。
|
||||
*===========================================================================*/
|
||||
void TMR3_GLOBAL_IRQHandler(void)
|
||||
{
|
||||
#define PROCESS_CHANNEL(ch_flag, ch_select, idx) \
|
||||
if (tmr_interrupt_flag_get(TMR3, ch_flag) != RESET) { \
|
||||
tmr_flag_clear(TMR3, ch_flag); \
|
||||
uint16_t cap_this = tmr_channel_value_get(TMR3, ch_select); \
|
||||
Loop154_Unit *unit = &g_loop_states.loop_unit[idx]; \
|
||||
if (!unit->loop_RF_FLAG) { \
|
||||
unit->loop_CapLast = cap_this; \
|
||||
unit->loop_RF_FLAG = 1; \
|
||||
} else { \
|
||||
uint16_t xn; \
|
||||
if (cap_this > unit->loop_CapLast) { \
|
||||
xn = cap_this - unit->loop_CapLast; \
|
||||
} else { \
|
||||
xn = (0x10000 - unit->loop_CapLast) + cap_this; \
|
||||
} \
|
||||
unit->loop_Xn = xn; \
|
||||
unit->xn_counter++; \
|
||||
unit->loop_CapLast = cap_this; \
|
||||
unit->loop_CapCnt++; \
|
||||
if (unit->loop_INI_LOOP) { \
|
||||
if (unit->loop_LPCNT == 0) { \
|
||||
if (unit->loop_CapCnt > 10) { \
|
||||
unit->loop_LPCNT = MEASUREMENT_BASE / xn; \
|
||||
PRINT("Loop%d LPCNT:%d Xn:%d\n", idx+1, unit->loop_LPCNT, xn); \
|
||||
if (unit->loop_LPCNT == 0) unit->loop_LPCNT = 100; \
|
||||
unit->loop_CAPVD = 0; \
|
||||
unit->loop_CapSum = 0; \
|
||||
unit->loop_CapCnt = 0; \
|
||||
} \
|
||||
} else { \
|
||||
unit->loop_CapSum += xn; \
|
||||
if (unit->loop_CapCnt >= unit->loop_LPCNT) { \
|
||||
unit->loop_CAPVD = unit->loop_CapSum; \
|
||||
unit->loop_Origin = unit->loop_CAPVD; \
|
||||
PRINT("Loop%d Origin:%d\n", idx+1, unit->loop_Origin); \
|
||||
unit->loop_INI_LOOP = 0; \
|
||||
unit->loop_CapSum = 0; \
|
||||
unit->loop_Value = 0; \
|
||||
unit->loop_CapCnt = 0; \
|
||||
} \
|
||||
} \
|
||||
} else { \
|
||||
unit->loop_CapSum += xn; \
|
||||
if (unit->loop_CapCnt >= unit->loop_LPCNT) { \
|
||||
unit->loop_Value = unit->loop_CapSum; \
|
||||
unit->loop_CAP_OK = 1; \
|
||||
unit->loop_CapSum = 0; \
|
||||
unit->loop_CapCnt = 0; \
|
||||
unit->loop_INI_LOOP = 0; \
|
||||
} \
|
||||
} \
|
||||
} \
|
||||
}
|
||||
|
||||
PROCESS_CHANNEL(TMR_C1_FLAG, TMR_SELECT_CHANNEL_1, 0)
|
||||
PROCESS_CHANNEL(TMR_C2_FLAG, TMR_SELECT_CHANNEL_2, 1)
|
||||
PROCESS_CHANNEL(TMR_C3_FLAG, TMR_SELECT_CHANNEL_3, 2)
|
||||
PROCESS_CHANNEL(TMR_C4_FLAG, TMR_SELECT_CHANNEL_4, 3)
|
||||
|
||||
#undef PROCESS_CHANNEL
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* TMR15 定时器中断 — 5ms tick，主状态机（对齐 DLD154V4B Timer1 ISR）
|
||||
*
|
||||
* 职责：
|
||||
* 1. 50ms tick 分频
|
||||
* 2. 四通道 进入/离开/脉冲 时序状态机
|
||||
* 3. 有限存在超时 / 安全复位超时
|
||||
* 4. 线圈载波检测 (RF_FLAG) 及继电器输出刷新
|
||||
* 5. 呼吸灯、指示灯驱动
|
||||
*===========================================================================*/
|
||||
void TMR15_GLOBAL_IRQHandler(void)
|
||||
{
|
||||
static uint16_t _counter1_init = 0;
|
||||
static uint8_t TM1cnt = 0;
|
||||
uint8_t i;
|
||||
|
||||
if (tmr_interrupt_flag_get(TMR15, TMR_OVF_FLAG) != RESET) {
|
||||
|
||||
/*--- 上报计数器 ---*/
|
||||
g_loop_states.report_counter++;
|
||||
|
||||
/*--- 50ms tick 分频 ---*/
|
||||
TM1cnt++;
|
||||
if (TM1cnt >= 10) {
|
||||
TM1cnt = 0;
|
||||
|
||||
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
|
||||
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
|
||||
|
||||
/* FLAG_IN: 进入延时 500ms */
|
||||
if (unit->loop_FLAG_IN) {
|
||||
unit->INCNT++;
|
||||
if (unit->INCNT > IN_DELAY) {
|
||||
unit->loop_FLAG_IN = 0;
|
||||
unit->INCNT = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* FLAG_OUT: 离开延时 → 脉冲 */
|
||||
if (unit->loop_FLAG_OUT) {
|
||||
if (!unit->SET_DLY) {
|
||||
unit->OUTCNT++;
|
||||
if (unit->OUTCNT > OUT_DELAY) {
|
||||
unit->loop_FLAG_OUT = 0;
|
||||
unit->loop_FLAG_PLUSE = 1;
|
||||
unit->OUTCNT = 0;
|
||||
}
|
||||
} else {
|
||||
unit->loop_FLAG_OUT = 0;
|
||||
unit->loop_FLAG_PLUSE = 1;
|
||||
unit->OUTCNT = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* FLAG_PLUSE: 脉冲宽度 500ms */
|
||||
if (unit->loop_FLAG_PLUSE) {
|
||||
unit->OUTCNT++;
|
||||
if (unit->OUTCNT > PULSE_DELAY) {
|
||||
unit->loop_FLAG_PLUSE = 0;
|
||||
unit->OUTCNT = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* 有限存在超时 */
|
||||
if (unit->loop_VD_HOLD) {
|
||||
unit->Hold_CNT++;
|
||||
if (unit->Hold_CNT > HOLD_TIME) {
|
||||
unit->loop_VD_HOLD = 0;
|
||||
unit->Hold_CNT = 0;
|
||||
if (unit->loop_VD_FLAG) {
|
||||
set_loops_relay_off(unit->loop_num);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* 安全复位超时 */
|
||||
if (unit->LC_HOLD) {
|
||||
unit->LC_Hold_CNT++;
|
||||
if (unit->LC_Hold_CNT > g_safe_max_cnt) {
|
||||
unit->LC_Reset = 1;
|
||||
unit->loop_INI_LOOP = 1;
|
||||
unit->loop_LOOP_OK0 = 0;
|
||||
unit->loop_stable = 0;
|
||||
#if USE_FLATNESS_EXIT
|
||||
unit->exit_state = 0;
|
||||
unit->max_slope = 0;
|
||||
unit->max_slope_rate = 0;
|
||||
#endif
|
||||
unit->LC_Hold_CNT = 0;
|
||||
unit->loop_ORG_CNT = 0;
|
||||
unit->loop_ORG_SUM = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*================================================================
|
||||
* 线圈载波检测 & 继电器输出刷新（每 5ms）
|
||||
*================================================================*/
|
||||
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
|
||||
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
|
||||
|
||||
if (unit->loop_RF_FLAG) {
|
||||
unit->loop_LOOP_OK = 1;
|
||||
unit->loop_RF_FLAG = 0;
|
||||
|
||||
if (unit->LC_Reset == 0) {
|
||||
if (unit->SET_PLUS) {
|
||||
/* 存在输出模式：有车或离开延时中 */
|
||||
if (unit->loop_VD_FLAG || unit->loop_FLAG_OUT)
|
||||
set_loops_relay_on(unit->loop_num);
|
||||
else
|
||||
set_loops_relay_off(unit->loop_num);
|
||||
} else {
|
||||
/* 脉冲输出模式：脉冲期间吸合 */
|
||||
if (unit->loop_FLAG_PLUSE)
|
||||
set_loops_relay_on(unit->loop_num);
|
||||
else
|
||||
set_loops_relay_off(unit->loop_num);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
unit->loop_LOOP_OK0 = unit->loop_LOOP_OK;
|
||||
unit->loop_LOOP_OK = 0;
|
||||
}
|
||||
|
||||
/*--- LED 指示 ---*/
|
||||
poll_green_led(unit);
|
||||
}
|
||||
|
||||
/*--- 呼吸灯 ---*/
|
||||
poll_red_pwm();
|
||||
|
||||
tmr_flag_clear(TMR15, TMR_OVF_FLAG);
|
||||
}
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* 绿灯指示 — 每通道独立
|
||||
*
|
||||
* 模式：
|
||||
* 自检/稳定中 (loop_INI_LOOP || 未连 || !loop_stable):
|
||||
* → 慢闪 (200ms 亮/灭)
|
||||
* 正常工作:
|
||||
* → 有车亮, 无车灭
|
||||
*===========================================================================*/
|
||||
void poll_green_led(Loop154_Unit *unit)
|
||||
{
|
||||
#define GREEN_SLOW_HALF 40 // 200ms (40 × 5ms)
|
||||
|
||||
static uint16_t _slow_tick[LOOP_CAPTURE_MAX] = {0};
|
||||
uint8_t idx = unit->loop_num;
|
||||
|
||||
if (unit->disconnect_active) {
|
||||
at32_led_off(idx);
|
||||
_slow_tick[idx] = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
if (unit->loop_INI_LOOP || !unit->power_up_state || !unit->loop_stable) {
|
||||
_slow_tick[idx]++;
|
||||
if (_slow_tick[idx] >= GREEN_SLOW_HALF) {
|
||||
_slow_tick[idx] = 0;
|
||||
at32_led_toggle(idx);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
_slow_tick[idx] = 0;
|
||||
if (unit->loop_VD_FLAG)
|
||||
at32_led_on(idx);
|
||||
else
|
||||
at32_led_off(idx);
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* vd1_task_per_channel — 核心检测算法（移植自 DLD154V4B vd1_task）
|
||||
*
|
||||
* 每次 loop_CAP_OK 时调用。
|
||||
* 流程：
|
||||
* 1. IIR 滤波：CAPVD = α·Value + (1-α)·CAPVD
|
||||
* 2. 稳定期：只跟踪基线，不检测车辆 (STABLE_SAMPLES=128)
|
||||
* 3. 无车时：基线跟踪 + 进入检测（带基线污染保护）
|
||||
* 4. 有车时：平坦性离开 (USE_FLATNESS_EXIT=1) 或 cnt_release 防抖
|
||||
*===========================================================================*/
|
||||
void vd1_task_per_channel(Loop154_Unit *unit)
|
||||
{
|
||||
if (unit->loop_Origin == 0) return;
|
||||
|
||||
/*--- 1. IIR 一阶低通滤波 ---*/
|
||||
if (unit->loop_CAPVD == 0) {
|
||||
unit->loop_CAPVD = unit->loop_Value;
|
||||
} else {
|
||||
uint8_t saved_flt_reg = Flt_Reg;
|
||||
Flt_Reg = unit->Flt_Reg;
|
||||
unit->loop_CAPVD = get_flt_value(unit->loop_Value, unit->loop_CAPVD);
|
||||
Flt_Reg = saved_flt_reg;
|
||||
}
|
||||
|
||||
/*--- 2. 稳定期：只跟踪基线，不检测车辆 ---*/
|
||||
if (!unit->loop_stable) {
|
||||
update_moving_average(&unit->loop_ORG_SUM, &unit->loop_ORG_CNT,
|
||||
&unit->loop_Origin, unit->loop_CAPVD, WINDOW_ORIGIN);
|
||||
unit->stable_cnt++;
|
||||
if (unit->stable_cnt >= STABLE_SAMPLES) {
|
||||
unit->loop_stable = 1;
|
||||
PRINT("Loop%d stable, Origin:%d\n", unit->loop_num + 1, unit->loop_Origin);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
if (!unit->loop_VD_FLAG) {
|
||||
/*================================================================
|
||||
* 无车状态
|
||||
*================================================================*/
|
||||
|
||||
/* 基线跟踪（有车时冻结）
|
||||
* 保护: CAPVD 异常上升时暂停跟踪，防止基线被污染 */
|
||||
unit->loop_dlt_ORG = ((uint32_t)unit->loop_Origin * SensTable[unit->loop_SensLevel]) >> 16;
|
||||
{
|
||||
int32_t dev = (int32_t)unit->loop_CAPVD - (int32_t)unit->loop_Origin;
|
||||
if (dev < (int32_t)(unit->loop_dlt_ORG * 4)) {
|
||||
update_moving_average(&unit->loop_ORG_SUM, &unit->loop_ORG_CNT,
|
||||
&unit->loop_Origin, unit->loop_CAPVD, WINDOW_ORIGIN);
|
||||
} else {
|
||||
unit->loop_ORG_CNT = 0;
|
||||
unit->loop_ORG_SUM = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* 进入检测 */
|
||||
if (unit->loop_CAPVD < (unit->loop_Origin - unit->loop_dlt_ORG)) {
|
||||
PRINT("Loop%d Car_In, Value:%d CAPVD:%d Origin:%d dlt:%d\n",
|
||||
unit->loop_num + 1, unit->loop_Value, unit->loop_CAPVD,
|
||||
unit->loop_Origin, unit->loop_dlt_ORG);
|
||||
|
||||
unit->loop_VD_FLAG = 1;
|
||||
unit->loop_FLAG_IN = 1;
|
||||
at32_led_on(unit->loop_num);
|
||||
|
||||
if (!unit->SET_SAFE) {
|
||||
unit->LC_HOLD = 1;
|
||||
} else {
|
||||
unit->LC_HOLD = 0;
|
||||
}
|
||||
if (unit->LC_Reset)
|
||||
unit->LC_Reset = 0;
|
||||
|
||||
unit->loop_ORG_CNT = 0;
|
||||
unit->loop_ORG_SUM = 0;
|
||||
|
||||
#if USE_FLATNESS_EXIT
|
||||
unit->exit_state = 0;
|
||||
unit->max_slope = 0;
|
||||
unit->max_slope_rate = 0;
|
||||
unit->delta2 = 0;
|
||||
unit->delta3 = 0;
|
||||
unit->slope_flat_cnt = 0;
|
||||
unit->flat_ok_cnt = 0;
|
||||
#endif
|
||||
}
|
||||
} else {
|
||||
#if USE_FLATNESS_EXIT
|
||||
/*================================================================
|
||||
* 有车状态 — 平坦性判定离开 (CN200910309382)
|
||||
*================================================================*/
|
||||
int32_t first_deriv, abs_fd, abs_sd, second_deriv;
|
||||
|
||||
first_deriv = (int32_t)unit->loop_CAPVD - unit->prev_capvd;
|
||||
second_deriv = first_deriv - unit->prev_first_deriv;
|
||||
abs_fd = (first_deriv >= 0) ? first_deriv : -first_deriv;
|
||||
abs_sd = (second_deriv >= 0) ? second_deriv : -second_deriv;
|
||||
|
||||
if (unit->exit_state == 0) {
|
||||
/* 追踪第一上升坡面最大斜率 */
|
||||
if (abs_fd > unit->max_slope) unit->max_slope = abs_fd;
|
||||
if (abs_sd > unit->max_slope_rate) unit->max_slope_rate = abs_sd;
|
||||
if (abs_fd < SLOPE_FLAT_THRESH) {
|
||||
unit->slope_flat_cnt++;
|
||||
if (unit->slope_flat_cnt >= 3) {
|
||||
unit->delta2 = unit->max_slope / K1;
|
||||
unit->delta3 = unit->max_slope_rate / K2;
|
||||
if (unit->delta2 < MIN_DELTA2) unit->delta2 = MIN_DELTA2;
|
||||
if (unit->delta3 < MIN_DELTA3) unit->delta3 = MIN_DELTA3;
|
||||
unit->exit_state = 1;
|
||||
unit->flat_ok_cnt = 0;
|
||||
}
|
||||
} else {
|
||||
unit->slope_flat_cnt = 0;
|
||||
}
|
||||
} else {
|
||||
int32_t dev = (int32_t)unit->loop_CAPVD - (int32_t)unit->loop_Origin;
|
||||
int32_t cond1 = (dev >= 0) ? dev : -dev;
|
||||
unit->loop_dlt_ORG = ((uint32_t)unit->loop_Origin * SensTable_1[unit->loop_SensLevel]) >> 16;
|
||||
if (cond1 < (int32_t)unit->loop_dlt_ORG && abs_fd < (int32_t)unit->delta2
|
||||
&& abs_sd < (int32_t)unit->delta3) {
|
||||
unit->flat_ok_cnt++;
|
||||
if (unit->flat_ok_cnt >= FLAT_CONFIRM_CNT) {
|
||||
PRINT("Loop%d Car_OFF_FLAT, CAPVD:%d Origin:%d d1:%d d2:%d d3:%d f':%d f'':%d\n",
|
||||
unit->loop_num + 1, unit->loop_CAPVD, unit->loop_Origin,
|
||||
unit->loop_dlt_ORG, unit->delta2, unit->delta3,
|
||||
first_deriv, second_deriv);
|
||||
unit->loop_VD_FLAG = 0;
|
||||
unit->loop_FLAG_OUT = 1;
|
||||
unit->loop_VD_HOLD = 0;
|
||||
unit->LC_HOLD = 0;
|
||||
unit->loop_ORG_CNT = 0;
|
||||
unit->loop_ORG_SUM = 0;
|
||||
unit->Hold_CNT = 0;
|
||||
unit->flat_ok_cnt = 0;
|
||||
unit->exit_state = 0;
|
||||
}
|
||||
} else {
|
||||
unit->flat_ok_cnt = 0;
|
||||
}
|
||||
}
|
||||
unit->prev_capvd = unit->loop_CAPVD;
|
||||
unit->prev_first_deriv = first_deriv;
|
||||
#else
|
||||
/*================================================================
|
||||
* 有车状态 — cnt_release 防抖离开
|
||||
*================================================================*/
|
||||
unit->loop_dlt_ORG = ((uint32_t)unit->loop_Origin * SensTable_1[unit->loop_SensLevel]) >> 16;
|
||||
|
||||
if ((unit->loop_Origin - unit->loop_dlt_ORG) < unit->loop_CAPVD) {
|
||||
unit->loop_cnt_release++;
|
||||
if (unit->loop_cnt_release >= 3) {
|
||||
PRINT("Loop%d Car_OFF, Value:%d CAPVD:%d Origin:%d dlt:%d\n",
|
||||
unit->loop_num + 1, unit->loop_Value, unit->loop_CAPVD,
|
||||
unit->loop_Origin, unit->loop_dlt_ORG);
|
||||
unit->loop_VD_FLAG = 0;
|
||||
unit->loop_FLAG_OUT = 1;
|
||||
unit->loop_VD_HOLD = 0;
|
||||
unit->LC_HOLD = 0;
|
||||
unit->loop_ORG_CNT = 0;
|
||||
unit->loop_ORG_SUM = 0;
|
||||
unit->Hold_CNT = 0;
|
||||
unit->loop_cnt_release = 0;
|
||||
}
|
||||
} else {
|
||||
if (unit->loop_cnt_release > 0) unit->loop_cnt_release = 0;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* loop_task_function — FreeRTOS 主任务（对齐 DLD154V4B main 循环）
|
||||
* 10ms 周期，独立处理每路线圈。
|
||||
*===========================================================================*/
|
||||
void loop_task_function(void *pvParameters)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
g_sys_freq = g_crm_clocks_freq_struct.sclk_freq;
|
||||
INIT_VDs(&g_loop_states);
|
||||
|
||||
while (1) {
|
||||
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
|
||||
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
|
||||
|
||||
if (unit->loop_LOOP_OK) {
|
||||
/* 线圈重连 */
|
||||
if (!unit->loop_LOOP_OK0) {
|
||||
unit->loop_LOOP_OK0 = 1;
|
||||
unit->disconnect_active = 0;
|
||||
unit->loop_CAPVD = 0; // 强制 IIR 重新收敛
|
||||
}
|
||||
|
||||
if (unit->loop_CAP_OK) {
|
||||
taskENTER_CRITICAL();
|
||||
unit->loop_CAP_OK = 0;
|
||||
taskEXIT_CRITICAL();
|
||||
|
||||
if (!unit->power_up_state) {
|
||||
unit->power_up_state = 1;
|
||||
}
|
||||
|
||||
/* 核心检测算法 */
|
||||
vd1_task_per_channel(unit);
|
||||
}
|
||||
} else {
|
||||
/* 线圈断开 */
|
||||
set_loops_relay_off(unit->loop_num);
|
||||
|
||||
if (unit->power_up_state && !unit->disconnect_active) {
|
||||
unit->disconnect_active = 1;
|
||||
if (unit->disconnect_count < 3) {
|
||||
unit->disconnect_count++;
|
||||
}
|
||||
unit->fault_phase = 0;
|
||||
unit->fault_tick = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
wdt_feed();
|
||||
vTaskDelay(10);
|
||||
}
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* LED 指示灯后台任务 — 线圈未连接时的闪烁指示
|
||||
*===========================================================================*/
|
||||
void led_indicator_task_function(void *pvParameters)
|
||||
{
|
||||
uint8_t i;
|
||||
static uint8_t led_step[LOOP_CAPTURE_MAX] = {0};
|
||||
|
||||
while (1) {
|
||||
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
|
||||
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
|
||||
|
||||
if (unit->loop_LOOP_OK0 == 0) {
|
||||
if (led_step[i] % 2 == 0) {
|
||||
at32_led_toggle(i);
|
||||
}
|
||||
if (unit->loop_stable) {
|
||||
unit->loop_LOOP_OK0 = 1;
|
||||
continue;
|
||||
}
|
||||
led_step[i]++;
|
||||
if (led_step[i] > 16) {
|
||||
led_step[i] = 0;
|
||||
unit->loop_LOOP_OK0 = 1;
|
||||
at32_led_off(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
vTaskDelay(200);
|
||||
}
|
||||
}
|
||||
|
||||
/*===========================================================================
|
||||
* USART1 接收缓冲区 & 任务
|
||||
*===========================================================================*/
|
||||
char usart1_rx_buffer[USART1_RX_BUFFER_SIZE];
|
||||
volatile uint16_t usart1_rx_head = 0;
|
||||
volatile uint16_t usart1_rx_tail = 0;
|
||||
TaskHandle_t usart_task_handler = NULL;
|
||||
|
||||
void usart_task_function(void *pvParameters)
|
||||
{
|
||||
while (1) {
|
||||
if (g_pkg_uart_1.flag) {
|
||||
manage_dbn_ble_default(g_pkg_uart_1.pkg, g_pkg_uart_1.offset);
|
||||
InitPkgUart(&g_pkg_uart_1);
|
||||
}
|
||||
uart_report_packet_loop_acs(0);
|
||||
|
||||
#ifdef DEBUG
|
||||
if (g_flag_output) {
|
||||
g_flag_output = 0;
|
||||
PRINT("xnC:%d,%d,%d,%d LPCNT:%d,%d,%d,%d CAPVD:%d,%d,%d,%d Origin:%d,%d,%d,%d VD:%d,%d,%d,%d\n",
|
||||
g_loop_states.loop_unit[0].xn_counter, g_loop_states.loop_unit[1].xn_counter,
|
||||
g_loop_states.loop_unit[2].xn_counter, g_loop_states.loop_unit[3].xn_counter,
|
||||
g_loop_states.loop_unit[0].loop_LPCNT, g_loop_states.loop_unit[1].loop_LPCNT,
|
||||
g_loop_states.loop_unit[2].loop_LPCNT, g_loop_states.loop_unit[3].loop_LPCNT,
|
||||
g_loop_states.loop_unit[0].loop_CAPVD, g_loop_states.loop_unit[1].loop_CAPVD,
|
||||
g_loop_states.loop_unit[2].loop_CAPVD, g_loop_states.loop_unit[3].loop_CAPVD,
|
||||
g_loop_states.loop_unit[0].loop_Origin, g_loop_states.loop_unit[1].loop_Origin,
|
||||
g_loop_states.loop_unit[2].loop_Origin, g_loop_states.loop_unit[3].loop_Origin,
|
||||
g_loop_states.loop_unit[0].loop_VD_FLAG, g_loop_states.loop_unit[1].loop_VD_FLAG,
|
||||
g_loop_states.loop_unit[2].loop_VD_FLAG, g_loop_states.loop_unit[3].loop_VD_FLAG);
|
||||
g_loop_states.loop_unit[0].xn_counter = 0;
|
||||
g_loop_states.loop_unit[1].xn_counter = 0;
|
||||
g_loop_states.loop_unit[2].xn_counter = 0;
|
||||
g_loop_states.loop_unit[3].xn_counter = 0;
|
||||
}
|
||||
#endif
|
||||
vTaskDelay(10);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file at32f421_clock.c
|
||||
* @brief system clock config program
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/* includes ------------------------------------------------------------------*/
|
||||
#include "at32f421_clock.h"
|
||||
|
||||
/**
|
||||
* @brief system clock config program
|
||||
* @note the system clock is configured as follow:
|
||||
* system clock (sclk) = hext * pll_mult
|
||||
* system clock source = pll (hext)
|
||||
* - hext = HEXT_VALUE
|
||||
* - sclk = 120000000
|
||||
* - ahbdiv = 1
|
||||
* - ahbclk = 120000000
|
||||
* - apb2div = 1
|
||||
* - apb2clk = 120000000
|
||||
* - apb1div = 1
|
||||
* - apb1clk = 120000000
|
||||
* - pll_mult = 15
|
||||
* - flash_wtcyc = 3 cycle
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void system_clock_config(void)
|
||||
{
|
||||
/* reset crm */
|
||||
crm_reset();
|
||||
|
||||
/* config flash psr register */
|
||||
flash_psr_set(FLASH_WAIT_CYCLE_3);
|
||||
|
||||
crm_clock_source_enable(CRM_CLOCK_SOURCE_HEXT, TRUE);
|
||||
|
||||
/* wait till hext is ready */
|
||||
while(crm_hext_stable_wait() == ERROR)
|
||||
{
|
||||
}
|
||||
|
||||
/* config pll clock resource */
|
||||
crm_pll_config(CRM_PLL_SOURCE_HEXT, CRM_PLL_MULT_10);
|
||||
|
||||
/* enable pll */
|
||||
crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE);
|
||||
|
||||
/* wait till pll is ready */
|
||||
while(crm_flag_get(CRM_PLL_STABLE_FLAG) != SET)
|
||||
{
|
||||
}
|
||||
|
||||
/* config ahbclk */
|
||||
crm_ahb_div_set(CRM_AHB_DIV_1);
|
||||
|
||||
/* config apb2clk, the maximum frequency of APB1/APB2 clock is 120 MHz */
|
||||
crm_apb2_div_set(CRM_APB2_DIV_1);
|
||||
|
||||
/* config apb1clk, the maximum frequency of APB1/APB2 clock is 120 MHz */
|
||||
crm_apb1_div_set(CRM_APB1_DIV_1);
|
||||
|
||||
/* enable auto step mode */
|
||||
crm_auto_step_mode_enable(TRUE);
|
||||
|
||||
/* select pll as system clock source */
|
||||
crm_sysclk_switch(CRM_SCLK_PLL);
|
||||
|
||||
/* wait till pll is used as system clock source */
|
||||
while(crm_sysclk_switch_status_get() != CRM_SCLK_PLL)
|
||||
{
|
||||
}
|
||||
|
||||
/* disable auto step mode */
|
||||
crm_auto_step_mode_enable(FALSE);
|
||||
|
||||
/* update system_core_clock global variable */
|
||||
system_core_clock_update();
|
||||
}
|
||||
@@ -0,0 +1,142 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file at32f421_int.c
|
||||
* @brief main interrupt service routines.
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/* includes ------------------------------------------------------------------*/
|
||||
#include "at32f421_int.h"
|
||||
|
||||
|
||||
|
||||
/** @addtogroup FreeRTOS_demo
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief this function handles nmi exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void NMI_Handler(void)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief this function handles hard fault exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void HardFault_Handler(void)
|
||||
{
|
||||
/* go to infinite loop when hard fault exception occurs */
|
||||
while(1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief this function handles memory manage exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void MemManage_Handler(void)
|
||||
{
|
||||
/* go to infinite loop when memory manage exception occurs */
|
||||
while(1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief this function handles bus fault exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void BusFault_Handler(void)
|
||||
{
|
||||
/* go to infinite loop when bus fault exception occurs */
|
||||
while(1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief this function handles usage fault exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void UsageFault_Handler(void)
|
||||
{
|
||||
/* go to infinite loop when usage fault exception occurs */
|
||||
while(1)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief this function handles svcall exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
//void SVC_Handler(void)
|
||||
//{
|
||||
//}
|
||||
|
||||
/**
|
||||
* @brief this function handles debug monitor exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
void DebugMon_Handler(void)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief this function handles pendsv_handler exception.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
//void PendSV_Handler(void)
|
||||
//{
|
||||
//}
|
||||
|
||||
/**
|
||||
* @brief this function handles systick handler.
|
||||
* @param none
|
||||
* @retval none
|
||||
*/
|
||||
//void SysTick_Handler(void)
|
||||
//{
|
||||
//}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
@@ -0,0 +1,195 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file flash.c
|
||||
* @brief flash program
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
#include "at32f421_board.h"
|
||||
#include "flash.h"
|
||||
|
||||
/** @addtogroup AT32F421_periph_examples
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup 421_FLASH_write_read
|
||||
* @{
|
||||
*/
|
||||
|
||||
#define SECTOR_SIZE 512 //1024 /* this parameter depends on the specific model of the chip */
|
||||
|
||||
uint16_t flash_buf[SECTOR_SIZE / 2];
|
||||
|
||||
/**
|
||||
* @brief read data using halfword mode
|
||||
* @param read_addr: the address of reading
|
||||
* @param p_buffer: the buffer of reading data
|
||||
* @param num_read: the number of reading data
|
||||
* @retval none
|
||||
*/
|
||||
void flash_read(uint32_t read_addr, uint16_t *p_buffer, uint16_t num_read)
|
||||
{
|
||||
uint16_t i;
|
||||
for(i = 0; i < num_read; i++)
|
||||
{
|
||||
p_buffer[i] = *(uint16_t*)(read_addr);
|
||||
read_addr += 2;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief write data using halfword mode without checking
|
||||
* @param write_addr: the address of writing
|
||||
* @param p_buffer: the buffer of writing data
|
||||
* @param num_write: the number of writing data
|
||||
* @retval result
|
||||
*/
|
||||
error_status flash_write_nocheck(uint32_t write_addr, uint16_t *p_buffer, uint16_t num_write)
|
||||
{
|
||||
uint16_t i;
|
||||
flash_status_type status = FLASH_OPERATE_DONE;
|
||||
for(i = 0; i < num_write; i++)
|
||||
{
|
||||
status = flash_halfword_program(write_addr, p_buffer[i]);
|
||||
if(status != FLASH_OPERATE_DONE)
|
||||
return ERROR;
|
||||
write_addr += 2;
|
||||
}
|
||||
return SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief write data using halfword mode with checking
|
||||
* @param write_addr: the address of writing
|
||||
* @param p_buffer: the buffer of writing data
|
||||
* @param num_write: the number of writing data
|
||||
* @retval result
|
||||
*/
|
||||
error_status flash_write(uint32_t write_addr, uint16_t *p_buffer, uint16_t num_write)
|
||||
{
|
||||
uint32_t offset_addr = write_addr + DLD_FLASH_ADDRESS_START;
|
||||
uint16_t i;
|
||||
flash_status_type status = FLASH_OPERATE_DONE;
|
||||
if(offset_addr < FLASH_BASE || (offset_addr + num_write) >= DLD_FLASH_MAX_SIZE){
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
flash_unlock();
|
||||
flash_read(DLD_FLASH_ADDRESS_START, flash_buf, DLD_BUFEER_SIZE);
|
||||
|
||||
/* wait for operation to be completed */
|
||||
status = flash_operation_wait_for(ERASE_TIMEOUT);
|
||||
|
||||
if((status == FLASH_PROGRAM_ERROR) || (status == FLASH_EPP_ERROR))
|
||||
flash_flag_clear(FLASH_PRGMERR_FLAG | FLASH_EPPERR_FLAG);
|
||||
else if(status == FLASH_OPERATE_TIMEOUT)
|
||||
return ERROR;
|
||||
status = flash_sector_erase(DLD_FLASH_ADDRESS_START);
|
||||
if(status != FLASH_OPERATE_DONE)
|
||||
return ERROR;
|
||||
for(i = 0; i < num_write; i++)
|
||||
{
|
||||
flash_buf[write_addr + i] = p_buffer[i];
|
||||
}
|
||||
if(flash_write_nocheck(DLD_FLASH_ADDRESS_START, flash_buf, SECTOR_SIZE / 2) != SUCCESS)
|
||||
return ERROR;
|
||||
|
||||
flash_lock();
|
||||
|
||||
return SUCCESS;
|
||||
}
|
||||
|
||||
|
||||
error_status flash_write_old(uint32_t write_addr, uint16_t *p_buffer, uint16_t num_write)
|
||||
{
|
||||
uint32_t offset_addr;
|
||||
uint32_t sector_position;
|
||||
uint16_t sector_offset;
|
||||
uint16_t sector_remain;
|
||||
uint16_t i;
|
||||
flash_status_type status = FLASH_OPERATE_DONE;
|
||||
|
||||
flash_unlock();
|
||||
offset_addr = write_addr - FLASH_BASE;
|
||||
sector_position = offset_addr / SECTOR_SIZE;
|
||||
sector_offset = (offset_addr % SECTOR_SIZE) / 2;
|
||||
sector_remain = SECTOR_SIZE / 2 - sector_offset;
|
||||
if(num_write <= sector_remain)
|
||||
sector_remain = num_write;
|
||||
while(1)
|
||||
{
|
||||
flash_read(sector_position * SECTOR_SIZE + FLASH_BASE, flash_buf, SECTOR_SIZE / 2);
|
||||
for(i = 0; i < sector_remain; i++)
|
||||
{
|
||||
if(flash_buf[sector_offset + i] != 0xFFFF)
|
||||
break;
|
||||
}
|
||||
if(i < sector_remain)
|
||||
{
|
||||
/* wait for operation to be completed */
|
||||
status = flash_operation_wait_for(ERASE_TIMEOUT);
|
||||
|
||||
if((status == FLASH_PROGRAM_ERROR) || (status == FLASH_EPP_ERROR))
|
||||
flash_flag_clear(FLASH_PRGMERR_FLAG | FLASH_EPPERR_FLAG);
|
||||
else if(status == FLASH_OPERATE_TIMEOUT)
|
||||
return ERROR;
|
||||
status = flash_sector_erase(sector_position * SECTOR_SIZE + FLASH_BASE);
|
||||
if(status != FLASH_OPERATE_DONE)
|
||||
return ERROR;
|
||||
for(i = 0; i < sector_remain; i++)
|
||||
{
|
||||
flash_buf[i + sector_offset] = p_buffer[i];
|
||||
}
|
||||
if(flash_write_nocheck(sector_position * SECTOR_SIZE + FLASH_BASE, flash_buf, SECTOR_SIZE / 2) != SUCCESS)
|
||||
return ERROR;
|
||||
}
|
||||
else
|
||||
{
|
||||
if(flash_write_nocheck(write_addr, p_buffer, sector_remain) != SUCCESS)
|
||||
return ERROR;
|
||||
}
|
||||
if(num_write == sector_remain)
|
||||
break;
|
||||
else
|
||||
{
|
||||
sector_position++;
|
||||
sector_offset = 0;
|
||||
p_buffer += sector_remain;
|
||||
write_addr += (sector_remain * 2);
|
||||
num_write -= sector_remain;
|
||||
if(num_write > (SECTOR_SIZE / 2))
|
||||
sector_remain = SECTOR_SIZE / 2;
|
||||
else
|
||||
sector_remain = num_write;
|
||||
}
|
||||
}
|
||||
flash_lock();
|
||||
return SUCCESS;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
@@ -0,0 +1,50 @@
|
||||
/**
|
||||
**************************************************************************
|
||||
* @file include_port.c
|
||||
* @brief include_port program
|
||||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup UTILITIES_examples
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup FreeRTOS_demo
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* support ac5 and ac6 compiler */
|
||||
#if (__ARMCC_VERSION > 6000000)
|
||||
|
||||
#include "..\..\..\middlewares\freertos\source\portable\GCC\ARM_CM3\port.c"
|
||||
|
||||
#else
|
||||
|
||||
#include "..\..\..\middlewares\freertos\source\portable\rvds\ARM_CM3\port.c"
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,233 @@
|
||||
|
||||
#include "storage.h"
|
||||
#include "flash.h"
|
||||
#include <stdlib.h>
|
||||
#include "TaskLoop.h"
|
||||
|
||||
|
||||
Loop_Balance_PlanB g_loop_balance_planB;
|
||||
Loop_Cng_Info g_loop_cng_info = {0, {0}};
|
||||
Loop_Sens_List g_loop_sens_list;
|
||||
|
||||
|
||||
uint8_t loop_cng_default[8] = {2,1,0,0,4,0,0,0};
|
||||
uint8_t loops_cng_default[LOOP_CAPTURE_MAX][8] = {
|
||||
{2, 1, 0, 0, Freq_Low, 0, 0, 0 },
|
||||
{2, 1, 0, 0, Freq_Middle_High, 0, 0, 0},
|
||||
{2, 1, 0, 0, Freq_Middle_Low, 0, 0, 0 },
|
||||
{2, 1, 0, 0, Freq_Low, 0, 0, 0 }
|
||||
};
|
||||
|
||||
|
||||
void set_factory_param(void)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
g_loop_cng_info.smart_mode = Smart_Mode_Disable;
|
||||
Loop_Cng_Unit *unit = g_loop_cng_info.loop_cng;
|
||||
for(i = 0; i < LOOP_CAPTURE_MAX; i++)
|
||||
{
|
||||
memcpy(unit, loops_cng_default[i], 8);
|
||||
unit++;
|
||||
}
|
||||
|
||||
|
||||
g_loop_sens_list.total = SENS_Default_Amount;
|
||||
for(i = 0; i < g_loop_sens_list.total && i < 4; i++)
|
||||
{
|
||||
g_loop_sens_list.sens[i].sens_in = SensTable[i];
|
||||
g_loop_sens_list.sens[i].sens_out = SensTable_1[i];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void storage_dev(void)
|
||||
{
|
||||
uint8_t i = 0, k = 0;
|
||||
|
||||
uint8_t *rBuf = (uint8_t *)malloc(MAX_Store_Size);
|
||||
if(rBuf == NULL){
|
||||
// PRINT("Not enough memory!!");
|
||||
nvic_system_reset();
|
||||
}
|
||||
for(i = 0; i < MAX_Store_Size; i++){
|
||||
rBuf[i] = 0;
|
||||
}
|
||||
|
||||
PRINT("Will_storage_dev\r\n");
|
||||
|
||||
rBuf[0] = 0x33;
|
||||
rBuf[1] = 0xBB;
|
||||
rBuf[2] = 0xC3;
|
||||
rBuf[3] = 0x3C;
|
||||
|
||||
// g_freq_sens = 1;
|
||||
rBuf[Addr_Sens_Amount_Offset] = g_loop_sens_list.total;
|
||||
rBuf[Addr_Smart_Mode_Offset] = g_loop_cng_info.smart_mode;
|
||||
i = Addr_Loop_Cng_Offset;
|
||||
memcpy(&rBuf[i], (uint8_t *)g_loop_cng_info.loop_cng, sizeof(Loop_Cng_Unit) * LOOP_CAPTURE_MAX );
|
||||
i += sizeof(Loop_Cng_Unit) * LOOP_CAPTURE_MAX;
|
||||
|
||||
// i = Addr_Loop_PlanB_Cng_Offset;
|
||||
// rBuf[i++] = g_loop_balance_planB.sample_cng.flag;
|
||||
// rBuf[i++] = g_loop_balance_planB.sample_cng.max_amplitude;
|
||||
// rBuf[i++] = g_loop_balance_planB.sample_cng.max_amplitude >> 8;
|
||||
// rBuf[i++] = g_loop_balance_planB.balance_ori_cng.flag;
|
||||
// rBuf[i++] = g_loop_balance_planB.balance_ori_cng.max_cnt;
|
||||
// rBuf[i++] = g_loop_balance_planB.balance_ori_cng.max_cnt >> 8;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_ori_planB.flag_weight;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_ori_planB.max_amplitude;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_ori_planB.max_amplitude >> 8;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_ori_planB.timeout;
|
||||
//
|
||||
// rBuf[i++] = g_loop_balance_planB.release_change_rate.flag_weight;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_change_rate.rate_first;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_change_rate.rate_second;
|
||||
// rBuf[i++] = g_loop_balance_planB.release_change_rate.mode;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
// PRINT("Will_write: \n");
|
||||
// for(i = 0; i < MAX_Store_Size; i++)
|
||||
// {
|
||||
// PRINT(" %02X", rBuf[i]);
|
||||
// }
|
||||
|
||||
flash_write(Addr_Dev_Flag_Offset, (uint16_t *)rBuf, DLD_BUFEER_SIZE/2);
|
||||
|
||||
free(rBuf);
|
||||
|
||||
|
||||
}
|
||||
|
||||
// set frequent level
|
||||
void set_flp_level(uint8_t loop_num, uint8_t freq_level)
|
||||
{
|
||||
switch( freq_level)
|
||||
{
|
||||
case Freq_High: // 33nF
|
||||
{
|
||||
if(loop_num == 0) { FLPA1_HIGH; FLPA2_HIGH; }
|
||||
else if(loop_num == 1){ FLPB1_HIGH; FLPB2_HIGH; }
|
||||
else if(loop_num == 2){ FLPC1_HIGH; FLPC2_HIGH; }
|
||||
else if(loop_num == 3){ FLPD1_HIGH; FLPD2_HIGH; }
|
||||
} break;
|
||||
case Freq_Middle_High: // 43nF
|
||||
{
|
||||
if(loop_num == 0) { FLPA1_HIGH; FLPA2_LOW; }
|
||||
else if(loop_num == 1){ FLPB1_HIGH; FLPB2_LOW; }
|
||||
else if(loop_num == 2){ FLPC1_HIGH; FLPC2_LOW; }
|
||||
else if(loop_num == 3){ FLPD1_HIGH; FLPD2_LOW; }
|
||||
} break;
|
||||
case Freq_Middle_Low: // 66nF
|
||||
{
|
||||
if(loop_num == 0) { FLPA1_LOW; FLPA2_HIGH; }
|
||||
else if(loop_num == 1){ FLPB1_LOW; FLPB2_HIGH; }
|
||||
else if(loop_num == 2){ FLPC1_LOW; FLPC2_HIGH; }
|
||||
else if(loop_num == 3){ FLPD1_LOW; FLPD2_HIGH; }
|
||||
} break;
|
||||
case Freq_Low: //76nF
|
||||
{
|
||||
if(loop_num == 0) { FLPA1_LOW; FLPA2_LOW; }
|
||||
else if(loop_num == 1){ FLPB1_LOW; FLPB2_LOW; }
|
||||
else if(loop_num == 2){ FLPC1_LOW; FLPC2_LOW; }
|
||||
else if(loop_num == 3){ FLPD1_LOW; FLPD2_LOW; }
|
||||
} break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void para_store_init(void)
|
||||
{
|
||||
uint8_t i;
|
||||
uint8_t *rBuf = (uint8_t *)malloc(MAX_Store_Size);
|
||||
|
||||
if(rBuf == NULL){
|
||||
// PRINT("Not enough memory!!");
|
||||
nvic_system_reset();
|
||||
}
|
||||
memset(rBuf, 0, MAX_Store_Size);
|
||||
|
||||
flash_read(DLD_FLASH_ADDRESS_START, (uint16_t *)rBuf, MAX_Store_Size/2);
|
||||
PRINT("Read_Cng_Store:\n");
|
||||
for(i = 0; i < MAX_Store_Size; i++){
|
||||
PRINT("%02X ", rBuf[i]);
|
||||
}
|
||||
PRINT("\n");
|
||||
|
||||
if(rBuf[0] == 0x33 && rBuf[1] == 0xBB && rBuf[2] == 0xC3 && rBuf[3] == 0x3C){
|
||||
g_loop_sens_list.total = rBuf[Addr_Sens_Amount_Offset];
|
||||
g_loop_cng_info.smart_mode = rBuf[Addr_Smart_Mode_Offset];
|
||||
memcpy(g_loop_cng_info.loop_cng, &rBuf[Addr_Loop_Cng_Offset], sizeof(Loop_Cng_Unit) * LOOP_CAPTURE_MAX);
|
||||
memcpy(&g_loop_sens_list.sens, &rBuf[Addr_Loop_Sens_List_Offset], sizeof(g_loop_sens_list) - 1);
|
||||
|
||||
Loop_Cng_Unit *unitout = g_loop_cng_info.loop_cng;
|
||||
for(i = 0; i < LOOP_CAPTURE_MAX; i++)
|
||||
{
|
||||
PRINT("loop_%d, sens:%d,delay:%d, exit_mode:%d, out_put:%d\n", i, unitout->sensitvity, unitout->delay_time, unitout->exist_mode, unitout->output_mode);
|
||||
set_flp_level(i, unitout->loopFreq_Level);
|
||||
|
||||
// 同步灵敏度到检测单元
|
||||
g_loop_states.loop_unit[i].loop_SensLevel = unitout->sensitvity & 0x03;
|
||||
g_loop_states.loop_unit[i].SET_PLUS = unitout->output_mode & 0x01;
|
||||
g_loop_states.loop_unit[i].SET_DLY = (unitout->output_mode >> 1) & 0x01;
|
||||
|
||||
unitout++;
|
||||
}
|
||||
|
||||
// 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 * 30 * 20; //50ms/per, 30s
|
||||
|
||||
|
||||
// g_safe_max_cnt = g_loop_cng_unit.loopSafe_Timeout * 10 * (1000 / 50);
|
||||
// g_freq_level = g_loop_cng_unit.loopFreq_Level - 1;
|
||||
|
||||
// flt_mgr.max_cnt_flat_release = g_loop_cng_unit.delay_time * 20 /2;
|
||||
// if(flt_mgr.max_cnt_flat_release < 40){ // 至少检查400毫秒
|
||||
// flt_mgr.max_cnt_flat_release = 40;
|
||||
// }
|
||||
|
||||
|
||||
free(rBuf);
|
||||
}
|
||||
else{
|
||||
free(rBuf);
|
||||
//TODO: need to be normal
|
||||
set_factory_param();
|
||||
|
||||
storage_dev();
|
||||
//
|
||||
delay_ms(10);
|
||||
nvic_system_reset();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void test_factory(void)
|
||||
{
|
||||
set_factory_param();
|
||||
|
||||
storage_dev();
|
||||
|
||||
// delay_ms(10);
|
||||
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user