YuanHongbin/Acc_Support_29V_HV2.x
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1、添加了控制阈值等级

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2、添加了波形数据输出开关
This commit is contained in:
YuanHongbin
2025-09-18 15:32:27 +08:00
parent 2ff11e995c
commit 5d024ff2e2
6 changed files with 230 additions and 36 deletions
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Project/HC32F460/MDK/HC32F460.uvoptx
+31 -3
View File
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>12</nTsel>
<nTsel>6</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,13 +114,13 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
<pMon>Segger\JL2CM3.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>JL2CM3</Key>
<Name>-U2147483647 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
<Name>-U4294967295 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -245,7 +245,35 @@
<WinNumber>1</WinNumber>
<ItemText>Orl_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>RxBuff</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>argv</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>argv[1]</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>argc</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>0</SubType>
<ItemText>0x1FFFA910</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
Project/HC32F460/MDK/HC32F460.uvprojx
+4 -4
View File
@@ -10,7 +10,7 @@
<TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
<pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
@@ -330,7 +330,7 @@
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>3</v6Lang>
<v6LangP>3</v6LangP>
<v6LangP>5</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
@@ -1367,8 +1367,8 @@
<RTE>
<apis/>
<components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.4.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.7.0"/>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
<targetInfos>
<targetInfo name="Debug"/>
<targetInfo name="Release"/>
Project/HC32F460/source/User/Inc/bsp.h
+10 -1
View File
@@ -29,6 +29,7 @@
#define USE_CS1237_RIGHTUP 1 //右上CS1237开关，0、关闭，1、启用
#define USE_CS1237_RIGHTLOW 1 //右上CS1237开关，0、关闭，1、启用
#define USE_AGC 1 //算法控制开关，0、关闭，1、启用
//<<---------------------------- MCU -------------------------------->>
//< DEBUG
#if(USE_DEBUG == 1)
@@ -167,10 +168,17 @@
#endif
typedef struct {
uint32_t ControlLevel;//控制等级
uint32_t DBGWaveOut;//调试波形输出
}__attribute__ ((packed))LayoutPara_t, *LayoutPara;//上位机下发的配置参数
typedef struct {
LayoutPara_t Layout;
uint32_t FactoryFlag;//出厂标志位
}AppPara_T, *pAppPara;
#define SAVE_APP_PARA(addr) FlashWrite(addr, sizeof(App.Para) / 4)
#define READ_APP_PARA(addr) FlashRead(addr, sizeof(App.Para) / 4)
void BSP_Init(void);
uint8_t DbgUartRec(void);
@@ -179,6 +187,8 @@ void Error_Handler(void);
void FeedDog(void);
void EnterStop(void);
void Wakeup(void);
void FlashWrite(uint32_t *wData, uint32_t wLen);
void FlashRead(uint32_t *rData, uint32_t wLen);
uint8_t RS485UartRec(void);
void RS485UsartErrIrqCallback(void);
@@ -188,7 +198,6 @@ void RS485UartSend(uint8_t *sData, uint16_t sLen);
void RS485_1msRoutine(void);
void DbgUsartRxIrqCallback(void);
void DBGUsartErrIrqCallback(void);
void DBG_RxPinIntCallBack(void);
Project/HC32F460/source/User/Inc/main.h
+12 -2
View File
@@ -17,7 +17,17 @@
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
#define BDC_DOWN() Motor_Control(MOTOR_CMD_REVERSE)
/*控制等级*/
typedef enum {
LEVEL_1 = 1, // 一级
LEVEL_2 = 2, // 二级
LEVEL_3 = 3, // 三级
LEVEL_4 = 4, // 四级
LEVEL_5 = 5 // 五级
}ControlLevel_m;
/*设备阈值*/
typedef struct{
int32_t Slope_VPT;
@@ -27,7 +37,7 @@ typedef struct{
int32_t RightLowVPT;//右下设备阈值
int32_t LeftUpShieldVPT; //左上屏蔽阈值
int32_t LeftLowpShieldVPT; //左下屏蔽阈值
int32_t LeftLowShieldVPT; //左下屏蔽阈值
int32_t RightUpShieldVPT; //右上屏蔽阈值
int32_t RightLowShieldVPT; //右下屏蔽阈值
Project/HC32F460/source/User/Src/Debug.c
+94 -6
View File
@@ -214,11 +214,13 @@ void DebugCmdHelp(int argc, char *argv[])
DBG_LOG("Debug Cmd:\r\n\
disp task on/off -->Open the task display.\r\n\
help\
dcmotor\
motor\
level\
wave\
");
}
#if 0
//// 定义一个无参函数DebugReadData，用于读取数据
//void DebugReadData(int argc, char *argv[])
//{
@@ -266,7 +268,7 @@ void DebugCmdHelp(int argc, char *argv[])
// // 调用TimeSync函数，并将num作为参数传入
// TimeSync(num);
//}
#endif
extern uint8_t KeyASta;
extern uint8_t KeyBSta;
extern uint8_t RunSta;
@@ -304,12 +306,98 @@ void MotorSwitch(int argc, char *argv[])
DBG_LOG("Motor OFF\r\n");
}
}
extern void GradeControl(ControlLevel_m level);
void LevelSwitch(int argc, char *argv[])
{
// 如果参数个数小于2，则返回
if(argc < 2)
return;
// 如果参数为“?”，则打印帮助信息
if(strcmp(argv[1], "?") == 0)
{
DBG_LOG("level Cmd:\r\n\
level 1/2/3/4/5 -->Select control level.\r\n");
return;
}
// 如果参数为“1”，则打印“Set control level: 1”
if(strcmp(argv[1], "1") == 0)
{
App.Para.Layout.ControlLevel = LEVEL_1;//等级1
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Set control level: 1\r\n");
DBG_LOG("SystemReset...\r\n");
NVIC_SystemReset();
}
// 如果参数为“2”，则打印“Set control level: 2”
else if(strcmp(argv[1], "2") == 0)
{
App.Para.Layout.ControlLevel = LEVEL_2;//等级2
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Set control level: 2\r\n");
DBG_LOG("SystemReset...\r\n");
NVIC_SystemReset();
}
// 如果参数为“3”，则打印“Set control level: 1”
else if(strcmp(argv[1], "3") == 0)
{
App.Para.Layout.ControlLevel = LEVEL_3;//等级3
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Set control level: 3\r\n");
DBG_LOG("SystemReset...\r\n");
NVIC_SystemReset();
}
// 如果参数为“4”，则打印“Set control level: 4”
else if(strcmp(argv[1], "4") == 0)
{
App.Para.Layout.ControlLevel = LEVEL_4;//等级4
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Set control level: 4\r\n");
DBG_LOG("SystemReset...\r\n");
NVIC_SystemReset();
}
// 如果参数为“5”，则打印“Set control level: 5”
else if(strcmp(argv[1], "5") == 0)
{
App.Para.Layout.ControlLevel = LEVEL_5;//等级5
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Set control level: 5\r\n");
DBG_LOG("SystemReset...\r\n");
NVIC_SystemReset();
}
}
void DBGWave_on_off(int argc, char *argv[])
{
// 如果参数个数小于2，则返回
if(argc < 2)
return;
// 如果参数为“?”，则打印帮助信息
if(strcmp(argv[1], "?") == 0)
{
DBG_LOG("wave Cmd:\r\n\
wave on/off -->Turn on or off waveform output.\r\n");
return;
}
// 如果参数为“on”，则打印“Test ON”
if(strcmp(argv[1], "on") == 0)
{
App.Para.Layout.DBGWaveOut = true;
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Waveform output on.\r\n");
}
// 如果参数为“off”，则打印“Test OFF”
else if(strcmp(argv[1], "off") == 0)
{
App.Para.Layout.DBGWaveOut = false;
SAVE_APP_PARA((uint32_t *)&App.Para);
DBG_LOG("Waveform output off.\r\n");
}
}
const DBGFunType DebugFun[DEBUG_CMD_CNT] = {
"help", DebugCmdHelp,
"motor", MotorSwitch,
"motor", MotorSwitch,
"level", LevelSwitch,
"wave", DBGWave_on_off,
};
#endif
Project/HC32F460/source/User/Src/main.c
+79 -20
View File
@@ -21,15 +21,18 @@ AppDetect_t App;
static void show(uint8_t ch,int32_t ad)
{
if(App.Para.Layout.DBGWaveOut == true)
{
uint8_t bao[7];
bao[0] = 0x5A;
bao[1] = ch;
bao[2] = ad & 0xFF;
bao[3] = ad >> 8 & 0xFF;
bao[4] = ad >> 16 & 0xFF;
bao[5] = ad >> 24 & 0xFF;
bao[6] = 0xA5;
DebugUartSend(bao,7);
bao[0] = 0x5A;
bao[1] = ch;
bao[2] = ad & 0xFF;
bao[3] = ad >> 8 & 0xFF;
bao[4] = ad >> 16 & 0xFF;
bao[5] = ad >> 24 & 0xFF;
bao[6] = 0xA5;
DebugUartSend(bao,7);
}
}
void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
{
@@ -71,7 +74,39 @@ void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD)
App.RightLowCS1237_TrendArray[0] = AD;
App.RightLowCS1237ReadEndFlag = true;
}
#if 1
void GradeControl(ControlLevel_m level)
{
switch(level){
case LEVEL_1:{
break;}
case LEVEL_2:{
break;}
case LEVEL_3:{
App.ADTrack.Slope_VPT = 2000;
App.ADTrack.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000;
App.ADTrack.RightLowVPT = 40000;
App.ADTrack.LeftUpShieldVPT = 10000;
App.ADTrack.LeftLowShieldVPT = 10000;
App.ADTrack.RightUpShieldVPT = 10000;
App.ADTrack.RightLowShieldVPT = 10000;
break;}
case LEVEL_4:{
break;}
case LEVEL_5:{
break;}
}
}
#if(USE_AGC == 1)
void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_t *rl_ad)
{
int32_t lu_diff[OSC_CNT], Olu_diff1, Olu_diff2, Olu_diff3;
@@ -155,7 +190,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT)))
{
if((abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowpShieldVPT))
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT))
{
BDC_UP();
App.UpFlag = true;
@@ -404,6 +439,19 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
#endif
static void AppInit(void)
{
memset(&App, 0x00, sizeof(App));
READ_APP_PARA((uint32_t *)&App.Para);
if(App.Para.FactoryFlag != 0x00){
App.Para.FactoryFlag = 0x00;
/*参数初始化*/
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
App.Para.Layout.DBGWaveOut = false;
SAVE_APP_PARA((uint32_t *)&App.Para);
}
if(App.Para.Layout.ControlLevel > 5 || App.Para.Layout.ControlLevel < 1){
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
SAVE_APP_PARA((uint32_t *)&App.Para);
}
DBG_LOG("\r\n\r\n");
DBG_LOG("****************************************************\r\n");
DBG_LOG("** **\r\n");
@@ -423,6 +471,7 @@ static void AppInit(void)
App.Status = APP_STATUS_WAIT;
App.TD1mSDelayCnt = 2000;
App.RStatus = READ_STATUS_START;
GradeControl(App.Para.Layout.ControlLevel);//等级控制
App.WaitFlag = false;
}
@@ -515,7 +564,9 @@ static void ReadLoopHandler(void)
App.RightLowCS1237ReadEndFlag == true &&
App.WaitFlag == true)
{
#if(USE_AGC == 1)
SupportControlHandle(App.LeftUpCS1237_TrendArray, App.LeftLowCS1237_TrendArray, App.RightUpCS1237_TrendArray, App.RightLowCS1237_TrendArray);
#endif
}
App.RStatus = READ_STATUS_START;
break;}
@@ -546,16 +597,6 @@ static void AppLoopHandler(void)
App.StopFlag = true;
App.EvenRunning = false;
App.ADTrack.Slope_VPT = 2000;
App.ADTrack.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000;
App.ADTrack.RightLowVPT = 40000;
App.ADTrack.LeftUpShieldVPT = 10000;
App.ADTrack.LeftLowpShieldVPT = 10000;
App.ADTrack.RightUpShieldVPT = 10000;
App.ADTrack.RightLowShieldVPT = 10000;
App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];
App.ADTrack.RightUp_Org_AdZero = App.RightUpCS1237_TrendArray[0];
@@ -606,10 +647,18 @@ int main(void)
#if(USE_DEBUG == 1)
DebugLoopHandler();
#endif
#if(USE_CS1237_LEFTUP == 1)
LEFTUP_CS1237DataLoopCollect();
#endif
#if(USE_CS1237_LEFTLOW == 1)
LEFTLOW_CS1237DataLoopCollect();
#endif
#if(USE_CS1237_RIGHTUP == 1)
RIGHTUP_CS1237DataLoopCollect();
#endif
#if(USE_CS1237_RIGHTLOW == 1)
RIGHTLOW_CS1237DataLoopCollect();
#endif
ReadLoopHandler();
DcmotorLoopHandler();
AppLoopHandler();
@@ -627,10 +676,20 @@ void SysTick_IrqHandler(void)
SysTick_IncTick();
App1mSRoutine();
Dbg1msRoutine();
#if(USE_CS1237_LEFTUP == 1)
LEFTUP_CS12371mSRoutine();
#endif
#if(USE_CS1237_LEFTLOW == 1)
LEFTLOW_CS12371mSRoutine();
#endif
#if(USE_CS1237_RIGHTUP == 1)
RIGHTUP_CS12371mSRoutine();
#endif
#if(USE_CS1237_RIGHTLOW == 1)
RIGHTLOW_CS12371mSRoutine();
#endif
Dcmotor1msRoutine();
}