1、添加了控制阈值等级

2、添加了波形数据输出开关

Project/HC32F460/MDK/HC32F460.uvoptx

@@ -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

@@ -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">
+      <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="5.7.0"/>
+        <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

@@ -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

@@ -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

@@ -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

@@ -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[0] = 0x5A;
-	bao[1] = ch;
+		bao[1] = ch;
-	bao[2] = ad & 0xFF;
+		bao[2] = ad & 0xFF;
-	bao[3] = ad >> 8 & 0xFF;
+		bao[3] = ad >> 8 & 0xFF;
-	bao[4] = ad >> 16 & 0xFF;
+		bao[4] = ad >> 16 & 0xFF;
-	bao[5] = ad >> 24 & 0xFF;
+		bao[5] = ad >> 24 & 0xFF;
-	bao[6] = 0xA5;
+		bao[6] = 0xA5;
-	DebugUartSend(bao,7);
+		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();
 }