#include #include "cm_adc.h" #include "cm_gpio.h" #include "cm_iomux.h" #include "cm_pwm.h" #include "local_tts.h" #include "control_out.h" #include "radar.h" #define ADC_DAC_DEBUG_ENABLE 0 #if ADC_DAC_DEBUG_ENABLE #include "app_uart.h" #define DEBUG(fmt, args...) app_printf("[CONTROL_OUT]" fmt, ##args) #else #define DEBUG(fmt, ...) #endif #define PWM0_IOMUX CM_IOMUX_PIN_74, CM_IOMUX_FUNC_FUNCTION1 #define PWM1_IOMUX CM_IOMUX_PIN_75, CM_IOMUX_FUNC_FUNCTION1 #define PWM2_IOMUX CM_IOMUX_PIN_21, CM_IOMUX_FUNC_FUNCTION2 #define PWM3_IOMUX 0, 0 osThreadId_t control_out_TaskHandle = NULL; // SYS_CONF_t sys_conf ={ // .SW_version = 1, // .HW_version = 1, // .VER_type = 1, // .Manager_sLim =100, // .Tourist_sLim =50, // .Speed_Cut_sLim =20, // .Brake_DLimit =1200, // .Speed_Cut_DLimit =2000, // .Brake_DLimit_B =1200, // .Speed_Cut_DLimit_B =2000, // }; sys_sta_t sys_sta; typedef enum { ADC_power = 0, ADC_acc = 1, }adc_chx_t; // 获取电压值 unit:mV int32_t get_voltage(adc_chx_t chx){ int32_t voltage = 0; if(chx == ADC_acc){ cm_gpio_set_level(CM_GPIO_NUM_20, 0); }else if(chx == ADC_power){ cm_gpio_set_level(CM_GPIO_NUM_20, 1); }else{ return 0; } osDelay(1);//5ms if(0 != cm_adc_read(CM_ADC_0,&voltage)){ DEBUG("ADC read fail\r\n"); voltage = 0; } if(chx == ADC_acc){ voltage = voltage * ((ACC_RES_UP+ACC_RES_DOWN) / ACC_RES_DOWN); //转化为电压值 cm_gpio_set_level(CM_GPIO_NUM_20, 1); }else if(chx == ADC_power){ voltage = voltage * ((VIN_RES_UP+VIN_RES_DOWN) / VIN_RES_DOWN); //转化为电压值 cm_gpio_set_level(CM_GPIO_NUM_20, 0); }else{ return 0; } // cm_gpio_set_level(CM_GPIO_NUM_20, 1); //恢复默认状态 // DEBUG("CH%d voltage:%d\n",chx ,voltage); return voltage; } uint32_t ACC_Dmin =(((ACC_OUT_Voltage_MIN*ACC_OUT_RES_DOWN)/(ACC_OUT_RES_UP+ACC_OUT_RES_DOWN))*(ACC_OUT_PERIOD_US/(1800))); uint32_t ACC_Dmax =(((ACC_OUT_Voltage_MAX*ACC_OUT_RES_DOWN)/(ACC_OUT_RES_UP+ACC_OUT_RES_DOWN))*(ACC_OUT_PERIOD_US/(1800))); // 获取输入油门百分比（unit:%)(踏板信号) uint16_t get_in_acc_percent(void){ uint16_t acc_voltage =get_voltage(ADC_acc); // DEBUG("acc_voltage:%d\n",acc_voltage); if(acc_voltage < 900){ return 0; }else if(acc_voltage > 3800){ return 100; }else{ return ((acc_voltage-900)/29); // return (100*(acc_voltage - 900)/(3800-900)); } } // 设置输出油门大小 void set_out_acc_percent(uint8_t percent){//1000000设置频率为10KHz if(0 != cm_pwm_open_ns(CM_PWM_DEV_0,ACC_OUT_PERIOD_US,(ACC_Dmin+((ACC_Dmax-ACC_Dmin)*(percent))/100))){ DEBUG("pwm0 open error\n"); } } // // 设置输出油门大小 // void set_out_acc_percent(uint8_t percent){//1000000设置频率为10KHz // static uint32_t last_period_h = 0; // uint32_t period_h = (ACC_Dmin+((ACC_Dmax-ACC_Dmin)*(percent))/100); // if(last_period_h != period_h){ // last_period_h = period_h; // if(0 != cm_pwm_open_ns(CM_PWM_DEV_0,ACC_OUT_PERIOD_US,period_h){ // DEBUG("pwm0 open error\n"); // } // } // } const float coulomp_voltage_tablesSLA[3][21] = { { // 4串 420.0f, 423.6f, 427.2f, 430.8f, 434.4f, 438.0f, 441.6f, 445.2f, 448.8f, 452.4f, 456.0f, 459.6f, 463.2f, 466.8f, 470.4f, 474.0f, 477.6f, 481.2f, 484.8f, 488.4f, 492.0f }, { // 5串 525.0f, 529.5f, 534.0f, 538.5f, 543.0f, 547.5f, 552.0f, 556.5f, 561.0f, 565.5f, 570.0f, 574.5f, 579.0f, 583.5f, 588.0f, 592.5f, 597.0f, 601.5f, 606.0f, 610.5f, 615.0f }, { // 6串 630.0f, 635.4f, 640.8f, 646.2f, 651.6f, 657.0f, 662.4f, 667.8f, 673.2f, 678.6f, 684.0f, 689.4f, 694.8f, 700.2f, 705.6f, 711.0f, 716.4f, 721.8f, 727.2f, 732.6f, 738.0f } }; const float coulomp_voltage_tablesLi[3][21] = { { // 4串 }, { // 5串 }, { // 6串 } }; uint8_t pmu_voltage_to_percent(uint32_t volt){//电压转百分比 uint8_t i, percent; float step, base; uint32_t table_index; table_index = jt808_term_param_item.set_term_param.BatPack_V; const float* voltage_table = coulomp_voltage_tablesSLA[table_index]; if((volt < voltage_table[0])){ return 0; } if((volt >= voltage_table[20])){ return 100; } for (i = 0; i < 20; i++) { if((volt < voltage_table[i+1]) && (volt >= voltage_table[i])){ step = (voltage_table[i+1] - voltage_table[i]) / 10.0; base = voltage_table[i]; percent = (10 * i) + (volt - base) / step; // DEBUG("\n\ni:%d,volt:%d,step:%02.2f,base:%02.2f,percent:%d\n\n",i,volt,step,base,percent); return (uint8_t)percent; } } return 0; } #define _out_UPDETE_TIME 10 // static uint32_t back_timecount = 0; static uint8_t door_lock_last_status = 0; static uint8_t S_MODE_last_status = 1; static uint8_t P_MODE_last_status = 1; BAT_Message_t BAT_Message; // 门锁状态更新标志 bool GRB_Door_lock_updata=0; uint16_t Voltage_lag_count; uint16_t Voltage_update_count; float temp_bat_voltage=0; void control_out_task(void *argument){ cm_gpio_level_e level = 0; BAT_Message.Bat_Voltage = get_voltage(ADC_power) / 100; BAT_Message.Rsp_BigBat_Voltage =Swap16(BAT_Message.Bat_Voltage); BAT_Message.Bat_Percent = pmu_voltage_to_percent(BAT_Message.Bat_Voltage); while(1){ uint16_t in_acc_percent= get_in_acc_percent(); // DEBUG("in_acc_percent:%d\n\n",in_acc_percent); if(BAT_Message.Runing_Time < 0xFFFF){ BAT_Message.Runing_Time++; } temp_bat_voltage += get_voltage(ADC_power) / 100; Voltage_update_count++; if(Voltage_update_count >= (1000/_out_UPDETE_TIME)){ // 1s BAT_Message.Bat_Voltage = temp_bat_voltage / Voltage_update_count; BAT_Message.Rsp_BigBat_Voltage =Swap16(BAT_Message.Bat_Voltage); Voltage_update_count=0; temp_bat_voltage = 0; } // in_acc_percent =80; if(in_acc_percent >= 80){ // 油门大于80%时， if(BAT_Message.Deep_ACC_Time < 0xFFFF){ BAT_Message.Deep_ACC_Time++; } Voltage_lag_count++; if(Voltage_lag_count >= (2000/_out_UPDETE_TIME)){ // 2s Voltage_lag_count=0; BAT_Message.Bat_Percent = pmu_voltage_to_percent(BAT_Message.Bat_Voltage); } if(BAT_Message.Bat_Percent < 12){ BAT_Message.Bat_Low_Volt_count++; } }else{ Voltage_lag_count=0; } if(BAT_Message.Bat_Percent < 7){ BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_Low_STA; }else if(BAT_Message.Bat_Percent < 30){ // 7~30% BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_30_STA; }else if(BAT_Message.Bat_Percent < 60){ // 30~60% BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_60_STA; }else if(BAT_Message.Bat_Percent < 80){ // 60~80% BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_80_STA; }else{ BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_100_STA; } // DEBUG("Bat_Percent:%d,Bat_Voltage:%d,Bat_STA:%X\r\n",BAT_Message.Bat_Percent,BAT_Message.Bat_Voltage,BAT_Message.Bat_STA); // DEBUG("ADC_acc:%dmV\r\n",get_voltage(ADC_acc)); // DEBUG("ADC_power:%dmV\r\n\n",get_voltage(ADC_power)); // 系统模式状态 if(0 ==cm_gpio_get_level(IO_MANAGER_MODE, &level)){ // 更新系统模式 sys_sta.MAG_MODE = level; // 1:游客模式,0:管理模式 // DEBUG("IO_SYS_MODE:%d\r\n",level); } // 倒车状态 if(0 ==cm_gpio_get_level(IO_RX_BACK, &level)){ // 更新倒车模式 sys_sta.IO_RX_back = level; // 0:倒车模式,1:正常模式 // DEBUG("IO_RX_back:%d\r\n",level); } // 刹车状态 if(1 == sys_sta.A_brake){ // 自动刹车触发 cm_gpio_set_direction(IO_TX_BRAKE, CM_GPIO_DIRECTION_OUTPUT); cm_gpio_set_level(IO_TX_BRAKE, 0); // 打开刹车 // DEBUG("auto brake\r\n"); }else{ cm_gpio_set_direction(IO_TX_BRAKE, CM_GPIO_DIRECTION_INPUT); cm_gpio_set_pull(IO_TX_BRAKE, CM_GPIO_PULL_UP); // 关闭刹车 cm_gpio_set_level(IO_TX_BRAKE, 1); // DEBUG("close brake\r\n"); } if(0 ==cm_gpio_get_level(IO_TX_BRAKE, &level)){ // 更新刹车状态 // if(level != sys_sta.IO_TX_brake && level == 0){ // local_tts_text_play("刹车",0,0); // } sys_sta.IO_TX_brake = level; // 0:刹车模式,1:正常模式 // DEBUG("IO_TX_brake:%d\r\n",level); // if(level == 0){ // sys_sta.O_door_lock = 1; // 电门锁打开 // sys_sta.PLT_MODE = 1; // // }else{ // sys_sta.O_door_lock = 0; // 电门锁打开 // sys_sta.PLT_MODE = 1; // // } } // 动作语音提示 if((door_lock_last_status != sys_sta.O_door_lock) && (1 == sys_sta.MAG_MODE ) && (1 == sys_sta.PLT_MODE)){ // 游客模式下，电门锁状态变化时触发 door_lock_last_status = sys_sta.O_door_lock; if(1 == sys_sta.O_door_lock){ // 电门锁打开 // DEBUG("\n\ndoor lock open\r\n\n"); // local_tts_set(5, 15, CM_LOCAL_TTS_DIGIT_AUTO); local_tts_text_play("车辆已开锁",0,0); }else{ // 电门锁关闭 // DEBUG("\n\ndoor lock close\r\n\n"); // local_tts_set(5, 15, CM_LOCAL_TTS_DIGIT_AUTO); local_tts_text_play("已锁车",0,0); // local_tts_text_play("行程结束，祝您生活愉快",0,0); } } if((S_MODE_last_status != sys_sta.MAG_MODE)||(P_MODE_last_status != sys_sta.PLT_MODE)){ // 管理员模式状态变化时触发 S_MODE_last_status = sys_sta.MAG_MODE; P_MODE_last_status = sys_sta.PLT_MODE; if((0 == sys_sta.MAG_MODE)||(0 == sys_sta.PLT_MODE)){ // 管理模式 DEBUG("\n\nMAG_MODE\r\n\n"); // local_tts_set(5, 7, CM_LOCAL_TTS_DIGIT_AUTO); local_tts_text_play("管理员模式",0,1); DEBUG("MAGmMODE=%d, PLTMODE=%d\r\n\n",sys_sta.MAG_MODE,sys_sta.PLT_MODE); }else{ // 退出管理员模式 DEBUG("\n\nPLT_MODE\r\n\n"); // local_tts_set(10, 7, CM_LOCAL_TTS_DIGIT_AUTO); local_tts_text_play("退出管理员模式",0,1); } } // if((sys_sta.IO_RX_back == 0)&&((1 == sys_sta.O_door_lock) || (0 == sys_sta.MAG_MODE ))){ // 倒车模式 // back_timecount++; // // DEBUG("back_timecount:%d\r\n\n",back_timecount); // if(back_timecount > _out_UPDETE_TIME*10){ // 3秒播报倒车提示语一次 // back_timecount = 0; // DEBUG("\n\n>>>>>>>>>>>>back time play.......... \r\n\n"); // // local_tts_set(5, 15, CM_LOCAL_TTS_DIGIT_AUTO); // local_tts_text_play("请注意倒车！",0,0); // 忙时自动取消倒车提示语 // } // } //油门控制 if((1 == sys_sta.O_door_lock) || (0 == sys_sta.MAG_MODE )){ cm_gpio_set_level(OUT_Door_lock, 1); // 打开电门锁 uint8_t acc_percent =0; if((1 == sys_sta.MAG_MODE)&&(1 == sys_sta.PLT_MODE )){ // 游客模式 osMutexAcquire(radar_mutex, osWaitForever); if(sys_sta.A_Speed_Cut){ // 自动减速 acc_percent = (in_acc_percent * SYS_CONF_SPEED_CUT_ACC) / 100.0; }else{ acc_percent = (in_acc_percent * SYS_CONF_TOURIST_ACC) / 100.0; } osMutexRelease(radar_mutex); }else{ // 管理员模式 acc_percent = (in_acc_percent * SYS_CONF_MANAGER_ACC) / 100.0; } set_out_acc_percent(acc_percent); // DEBUG("in_acc_percent:%d ,acc_percent:%d \r\n",in_acc_percent, acc_percent); // DEBUG("SYS_CONF_SPEED_CUT_ACC:%d,SYS_CONF_TOURIST_ACC:%d,SYS_CONF_MANAGER_ACC:%d\r\n",SYS_CONF_SPEED_CUT_ACC,SYS_CONF_TOURIST_ACC,SYS_CONF_MANAGER_ACC); // DEBUG("IO_RX_back:%d,IO_TX_brake:%d,PLT_MODE:%d\r\n",sys_sta.IO_RX_back,sys_sta.IO_TX_brake,sys_sta.PLT_MODE); }else{ cm_gpio_set_level(OUT_Door_lock, 0); // 关闭电门锁 set_out_acc_percent(0); } // osDelay(_out_UPDETE_TIME/5); } } void control_out_init(void){ cm_gpio_cfg_t cfg = {0}; // 手动设置初始值 sys_sta.O_door_lock = 0; // 电门锁状态:关闭 sys_sta.PLT_MODE = 1; // 模式:游客模式 sys_sta.P_Radar_EN = 1; // 雷达使能状态:开启 // 自动设置 sys_sta.MAG_MODE = 1; // 系统模式:游客模式 sys_sta.IO_RX_back = 1; // 倒车模式:正常模式 sys_sta.IO_TX_brake = 1; // 刹车模式:正常模式 sys_sta.A_brake = 0; // 自动刹车状态:关闭 sys_sta.A_Speed_Cut = 0; // 自动减速状态:关闭 // SW_ADC cfg.direction = CM_GPIO_DIRECTION_OUTPUT; cfg.pull = CM_GPIO_PULL_UP; cm_iomux_set_pin_func(CM_IOMUX_PIN_86, CM_IOMUX_FUNC_FUNCTION2);//初始化之前一定要先设置引脚复用 cm_gpio_init(CM_GPIO_NUM_20, &cfg); cm_gpio_set_level(CM_GPIO_NUM_20, 1); // 电门锁IO初始化 (输出) cfg.direction = CM_GPIO_DIRECTION_OUTPUT; cfg.pull = CM_GPIO_PULL_UP; cm_iomux_set_pin_func(CM_IOMUX_PIN_87, CM_IOMUX_FUNC_FUNCTION2); cm_gpio_init(OUT_Door_lock, &cfg); cm_gpio_set_level(OUT_Door_lock, 0);//默认关闭 // 管理员模式IO初始化 (输入) cfg.direction = CM_GPIO_DIRECTION_INPUT; cfg.pull = CM_GPIO_PULL_UP; cm_iomux_set_pin_func(CM_IOMUX_PIN_76, CM_IOMUX_FUNC_FUNCTION2); cm_gpio_init(IO_MANAGER_MODE, &cfg); // cm_gpio_set_level(IO_MANAGER_MODE, 0); // 倒车IO初始化 (输入) cfg.direction = CM_GPIO_DIRECTION_INPUT; cfg.pull = CM_GPIO_PULL_UP; cm_iomux_set_pin_func(CM_IOMUX_PIN_50, CM_IOMUX_FUNC_FUNCTION2); cm_gpio_init(IO_RX_BACK, &cfg); // cm_gpio_set_level(IO_RX_BACK, 0); // 刹车IO初始化 (输入输出) cfg.direction = CM_GPIO_DIRECTION_INPUT; cfg.pull = CM_GPIO_PULL_UP; cm_iomux_set_pin_func(CM_IOMUX_PIN_51, CM_IOMUX_FUNC_FUNCTION2); cm_gpio_init(IO_TX_BRAKE, &cfg); // cm_gpio_set_level(IO_TX_BRAKE, 0); // pwm init cm_iomux_set_pin_func(PWM0_IOMUX); if(0 != cm_pwm_set_clk(CM_PWM_DEV_0, CM_PWM_CLK_12800K)){//时钟源选择需要放在open之前 DEBUG("pwm0 set clk fail\r\n"); return; } set_out_acc_percent(0); // 设置输出油门大小为0% osThreadAttr_t control_out_task_attr = {0}; control_out_task_attr.name = "control_out_task"; control_out_task_attr.stack_size = 4096*4; control_out_task_attr.priority = osPriorityNormal; control_out_TaskHandle = osThreadNew((osThreadFunc_t)control_out_task,0,&control_out_task_attr); }