修复雷达不能用的问题 zsxfly20240828

modules/src/debug.c

@@ -15,13 +15,13 @@
 
 #if !defined(DBG_UART_BAUD)
 #if (SYS_CLK == 1)
-    #define DBG_UART_BAUD       BRR_DIV(115200, 32M)
+    #define DBG_UART_BAUD       BRR_DIV(9600, 32M)
 #elif (SYS_CLK == 2)
-    #define DBG_UART_BAUD       BRR_DIV(115200, 48M)
+    #define DBG_UART_BAUD       BRR_DIV(9600, 48M)
 #elif (SYS_CLK == 3)
-    #define DBG_UART_BAUD       BRR_DIV(115200, 64M)
+    #define DBG_UART_BAUD       BRR_DIV(9600, 64M)
 #else
-    #define DBG_UART_BAUD       (BRR_115200)
+    #define DBG_UART_BAUD       BRR_DIV(9600, 16M)
 #endif //SYS_CLK
 #endif
 

projects/blezongkong/mdk/zhongkong.uvoptx

@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <Name>-U20090928 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(0BC11477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20003000 -FC5000 -FN1 -FF0B6x_256kB_PY_D.FLM -FS018000000 -FL040000 -FP0($$Device:B6x$.\Flash\B6x_256kB_PY_D.FLM)</Name>
+          <Name>-U20090928 -O78 -S5 -ZTIFSpeedSel1000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20003000 -FC5000 -FN1 -FF0B6x_256kB_PY_D.FLM -FS018000000 -FL040000 -FP0($$Device:B6x$.\Flash\B6x_256kB_PY_D.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -252,7 +252,7 @@
 
   <Group>
     <GroupName>core</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -400,7 +400,7 @@
 
   <Group>
     <GroupName>drivers\src</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -624,7 +624,7 @@
 
   <Group>
     <GroupName>drivers</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -664,7 +664,7 @@
 
   <Group>
     <GroupName>ble\app</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

projects/blezongkong/src/app_radar.c

@@ -6,9 +6,11 @@
 
 #include "sys_config.h"
 
-
 radar_daraframe_t radar_daraframe;
 
+/*
+
+
 // 定时处理数和获取数据
 tmr_id_t radar_timer_tmr_id;
 
@@ -64,7 +66,7 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
 #elif (1 ==RADAR_MODE)
             uint8_t data[8]={0x02,0x03,0x00,0x01,0x00,0x01,0xD5,0xf9};////读取实时值数据//120ms
 #endif
-            Car_Distance =radar_daraframe.Back_data/100;
+            Car_Distance =radar_daraframe.Back_data;
             radar_daraframe.Back_data=0xffff;
             uart_send(UART1_PORT,8,data);
         }else{
@@ -74,18 +76,18 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
 #elif (1 ==RADAR_MODE)
             uint8_t data[8]={0x01,0x03,0x00,0x01,0x00,0x01,0xD5,0xCA};////读取实时值数据//120ms
 #endif
-            Car_Distance =radar_daraframe.Front_data/100;
+            Car_Distance =radar_daraframe.Front_data;
             radar_daraframe.Front_data=0xffff;
             uart_send(UART1_PORT,8,data); 
         }
 
-        if((0 < Car_Distance) && Car_Distance < (Get_Status(IN_Back)?sys_conf_info.AUTO_Brake_Distance_B :sys_conf_info.AUTO_Brake_Distance)){//小于自动刹车距离时
+        if((35 < Car_Distance) && (Car_Distance < (Get_Status(IN_Back) ? (sys_conf_info.AUTO_Brake_Distance_B * 100) : (sys_conf_info.AUTO_Brake_Distance * 100)))){//小于自动刹车距离时
             if(!SYS_AUTO_brake){
                 Time_Event_Blink(Buzzer_Event,100,100,0xffff,NULL);
             }
             SYS_AUTO_brake =1;//使能自动刹车
             SYS_AUTO_Speed_Cut=1;
-        }else if((0 < Car_Distance) && Car_Distance < (Get_Status(IN_Back)?sys_conf_info.AUTO_Speed_Cut_Distance_B :sys_conf_info.AUTO_Speed_Cut_Distance)){//小于自动减速距离时
+        }else if((35 < Car_Distance) && (Car_Distance < (Get_Status(IN_Back) ? (sys_conf_info.AUTO_Speed_Cut_Distance_B * 100) : (sys_conf_info.AUTO_Speed_Cut_Distance * 100)))){//小于自动减速距离时
             if(SYS_AUTO_brake || !SYS_AUTO_Speed_Cut){
                 Time_Event_Blink(Buzzer_Event,200,500,0xffff,NULL);
             }
@@ -186,3 +188,213 @@ void app_radar_Receive(uint8_t data){
         break;
     }
 }
+*/
+
+#define DBG_RADAR_EN  0
+
+#if (DBG_RADAR_EN)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[RADAR]" format "\r\n", ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+//#define debugHex(dat, len)
+#endif
+
+
+static bool radar_NewData_flag=0;// 新数据标志位
+static uint8_t radar_CMDSend_cnt=0; // 发送命令计数
+radar_data_t radar_data;
+
+
+// 自动刹车或减速判断处理函数
+void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance){ //距离数据30~4500mm
+
+    if(radar_id == RADAR_ID_Front){
+        radar_daraframe.Front_data =Car_Distance;
+    }else{
+        radar_daraframe.Back_data =Car_Distance;
+    }
+    // 自动刹车距离
+    uint16_t Brake_Distance     = ((radar_id == RADAR_ID_Back ) ? sys_conf_info.AUTO_Brake_Distance_B : sys_conf_info.AUTO_Brake_Distance) * 100;
+    // 自动减速距离
+    uint16_t Speed_Cut_Distance = ((radar_id == RADAR_ID_Back ) ? sys_conf_info.AUTO_Speed_Cut_Distance_B : sys_conf_info.AUTO_Speed_Cut_Distance) * 100;
+
+    if((35 < Car_Distance) && Car_Distance < Brake_Distance){//小于自动刹车距离时
+        if(!SYS_AUTO_brake){
+            Time_Event_Blink(Buzzer_Event,100,100,0xffff,NULL);
+        }
+        SYS_AUTO_brake =1;//使能自动刹车
+        SYS_AUTO_Speed_Cut=1;
+    }else if((35 < Car_Distance) && Car_Distance < Speed_Cut_Distance){//小于自动减速距离时
+        if(SYS_AUTO_brake || !SYS_AUTO_Speed_Cut){
+            Time_Event_Blink(Buzzer_Event,200,500,0xffff,NULL);
+        }
+        SYS_AUTO_brake =0;
+        SYS_AUTO_Speed_Cut=1;//使能自动减速
+    }else{
+        if(SYS_AUTO_brake || SYS_AUTO_Speed_Cut){
+            Time_Event_Off(Buzzer_Event,NULL);
+        }
+        SYS_AUTO_brake =0;
+        SYS_AUTO_Speed_Cut=0;
+    }
+     DEBUG("\r\nAB:%d,AS:%d\r\n", SYS_AUTO_brake, SYS_AUTO_Speed_Cut);
+}
+
+uint8_t radar_flag_cnt=0;
+
+// 定时处理数和获取数据
+static tmr_tk_t radar_timer_handler(tmr_id_t id){
+    (void)(id);
+
+    if(Get_Status(OUT_Door_lock)){
+        // 定时发送状态信息
+        if(radar_flag_cnt > 4){
+            uint8_t ret_data[20]={0,0};
+            radar_flag_cnt =0;
+            ret_data[radar_flag_cnt++] =BAT_Message.Bat_STA; // 电池状态
+            ret_data[radar_flag_cnt++] =BAT_Message.Bat_Voltage >> 8; //电池电压
+            ret_data[radar_flag_cnt++] =BAT_Message.Bat_Voltage & 0xff;
+            ret_data[radar_flag_cnt++] =get_in_acc_percent();// 当前油门百分比
+            ret_data[radar_flag_cnt++] =radar_daraframe.Front_data /100;// 前雷达距离信息
+            ret_data[radar_flag_cnt++] =radar_daraframe.Back_data/100;// 后雷达距离信息
+            // 读取系统配置
+            ret_data[radar_flag_cnt++]=sys_conf_info.M_mode_sLim;
+            ret_data[radar_flag_cnt++]=sys_conf_info.U_mode_sLim;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Brake_Distance;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Speed_Cut_Distance;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Brake_Distance_B;
+            ret_data[radar_flag_cnt++]=sys_conf_info.AUTO_Speed_Cut_Distance_B;
+            ret_data[radar_flag_cnt++] =(Get_Status(IN_GPS)<<0) | (Get_Status(IN_Back)<<1) | (Get_Status(OUT_Low_brake)<<2)
+                                      | (Get_Status(IN_Manager_Mode)<<3) | ((PAD_Manager_Mode)<<4) 
+                                      | ((PAD_User_Mode)<<5) | ((SYS_AUTO_Speed_Cut)<<6) | ((SYS_AUTO_brake)<<7);
+            app_uart_Sendcmd(UART1_PORT,0x10,0x01,ret_data,radar_flag_cnt);
+            radar_flag_cnt =0;
+            goto radar_end;
+        }else {
+            radar_flag_cnt++;
+        }
+    }else{
+        radar_flag_cnt =0;
+    }
+    
+    if(radar_NewData_flag == 1){
+        radar_NewData_flag =0; // 清空新数据标志位
+        radar_CMDSend_cnt =0;  // 清空发送命令计数
+        DEBUG("ID =%d,distance =%d", radar_data.radar_id ,radar_data.distance);
+    }    
+    if((radar_CMDSend_cnt !=0)){
+        DEBUG("Clear:CMD_cnt =%d", radar_CMDSend_cnt);
+        radar_CMDSend_cnt =0;  // 清空发送命令计数
+        radar_AUTO_BrakeORSpeedCut(radar_data.radar_id , 0);//复位自动刹车和减速状态
+    }
+
+    // 进入游客模式开启雷达 //管理员模式优先于游客模式
+    if(Get_Status(OUT_Door_lock) && !(PAD_Manager_Mode || Get_Status(IN_Manager_Mode))){
+        // 根据倒车状态确定雷达ID
+        DEBUG("SendCMD:ID=%#02x", (1 == Get_Status(IN_Back)) ? RADAR_ID_Back : RADAR_ID_Front);
+        app_radar_Sendcmd((1 == Get_Status(IN_Back)) ? RADAR_ID_Back : RADAR_ID_Front,RADAR_MODE_Real);
+        radar_CMDSend_cnt++;
+// //____________
+//     radar_NewData_flag =1;
+//     radar_data.radar_id = RADAR_ID_Front;
+//     radar_data.distance =1000;
+//     radar_AUTO_BrakeORSpeedCut(radar_data.radar_id ,radar_data.distance);
+// //——————————————————————————————
+    }
+radar_end:
+    return _MS(250);//300ms
+}
+
+static uint8_t radar_buff[9];
+
+// 数据接收
+void app_radar_Receive(uint8_t data){
+    static uint8_t cnt=0,radar_state=0;
+    switch(radar_state){
+        case 0://dev_addr
+            if (data == 0x01 || data == 0x02) {
+                radar_buff[0]=data;
+                radar_state = 1;
+            }
+        break;
+        case 1://cmd_id
+            if (data == 0x03) {
+                radar_buff[1]=data;
+                radar_state = 2;
+            }else {
+                radar_state = 0;
+                radar_buff[0]=0;
+            }
+        break;
+        case 2://length
+            if (data == 0x02) {
+                radar_buff[2]=data;
+                radar_state = 3;
+                cnt=0;
+            }else {
+                radar_state = 0;
+                radar_buff[0]=0;
+            }
+        break;
+        case 3://data
+            radar_buff[3+cnt] =data;
+            cnt++;
+            if(cnt==2){
+                cnt=0;
+                radar_state = 4;
+            }
+            
+        break;
+        case 4://crc16
+            radar_buff[5+cnt] =data;
+            cnt++;
+            if(cnt==2){
+                uint16_t crc16 =crc16_checkout(radar_buff,5);
+                if(crc16 == (((uint16_t)radar_buff[6] << 8 ) | radar_buff[5])){
+                    radar_data.radar_id = radar_buff[0];
+                    radar_data.distance = ((uint16_t)radar_buff[3] << 8 ) | radar_buff[4];
+                    radar_AUTO_BrakeORSpeedCut(radar_data.radar_id ,radar_data.distance);
+                    radar_NewData_flag = 1;
+                }
+                cnt=0;
+                radar_state = 0;
+                radar_buff[0]=0;
+            }
+        break;
+    }
+}
+
+//发送读取实时值数据命令
+void app_radar_Sendcmd(uint8_t radar_id , uint8_t radar_mode){
+
+    if(radar_id == RADAR_ID_Front){
+        radar_daraframe.Front_data =0xffff;
+    }else{
+        radar_daraframe.Back_data =0xffff;
+    }
+
+    uint8_t len=0;
+    uint8_t data[8];
+
+    data[len++] = radar_id;
+    data[len++] = 0x03;
+    data[len++] = 0x01;
+    data[len++] = radar_mode ? 0x01 : 0x00; // 0x01:实时值(120ms) 0x00:处理值(520ms)
+    data[len++] = 0x00;
+    data[len++] = 0x01;
+
+    uint16_t crc16 =crc16_checkout(data,len);
+    data[len++] = crc16 & 0xff;
+    data[len++] = (crc16 >> 8) & 0xff;
+    uart_send(UART1_PORT,len,data);
+}
+
+// 雷达测离初始化
+void app_radar_init(void){
+    radar_data.radar_id = RADAR_ID_Front;
+    radar_data.distance = 0;
+    // sftmr_init(); //main函数中已初始化
+    sftmr_start(10, radar_timer_handler);
+}
+

projects/blezongkong/src/app_radar.h

@@ -10,6 +10,21 @@ typedef struct radar_daraframe{
     volatile uint16_t Back_data;
 } radar_daraframe_t;
 
+enum RADAR_MODE{
+    RADAR_MODE_Dispose  = 0,  //处理模式
+    RADAR_MODE_Real     = 1,  //实时模式
+};
+
+enum RADAR_ID{
+    RADAR_ID_Front  = 0x01,  //前雷达ID
+    RADAR_ID_Back   = 0x02,  //后雷达ID
+};
+
+typedef struct radar_data{
+    uint8_t radar_id;
+    uint16_t distance;
+} radar_data_t;
+
 extern radar_daraframe_t radar_daraframe;
 extern uint8_t radar_buff[];
 extern uint8_t Rec_lenght;
@@ -20,4 +35,9 @@ void app_radar_init(void);
 // 串口数据接收 
 void app_radar_Receive(uint8_t data);
 
+//发送读取实时值数据命令
+void app_radar_Sendcmd(uint8_t radar_id , uint8_t radar_mode);
+
 #endif
+
+

projects/blezongkong/src/main.c

@@ -64,7 +64,7 @@ static void devInit(void)
 {
     uint16_t rsn = rstrsn();
 	
-    dbgInit();
+    // dbgInit();
     // debug("Start(rsn:0x%X)...\r\n", rsn);    
 #if (1 ==BLE_ENABLE)
     // Init BLE App