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bleSDK_expansion_board
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修改串口数据接收解析策略，添加OTA升级功能 zsxfly20240820

This commit is contained in:
zsx 2024-08-20 11:02:49 +08:00
parent 87184aa643
commit 5bb0d06413
17 changed files with 5501 additions and 4714 deletions
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9329
projects/blezongkong/mdk/JLinkLog.txt
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48
projects/blezongkong/mdk/zhongkong.uvguix.zsx
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70
projects/blezongkong/mdk/zhongkong.uvoptx
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@ -444,6 +444,18 @@
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@ -550,7 +562,7 @@
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@ -562,7 +574,7 @@
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@ -598,7 +610,7 @@
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@ -610,7 +622,7 @@
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@ -622,7 +634,7 @@
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@ -634,7 +646,7 @@
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@ -646,7 +658,7 @@
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5
projects/blezongkong/mdk/zhongkong.uvprojx
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@ -461,6 +461,11 @@
<FileType>1</FileType>
<FilePath>..\src\app_ota.c</FilePath>
</File>
<File>
<FileName>app_modbus.c</FileName>
<FileType>1</FileType>
<FilePath>..\src\app_modbus.c</FilePath>
</File>
</Files>
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<Group>

3
projects/blezongkong/src/app_bat.c
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@ -79,11 +79,10 @@ static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
Time_Event_Blink(GRB_WS2812_Event,150,150,0xffff,NULL);
}else{
Time_Event_Blink(GRB_WS2812_Event,500,500,0xffff,NULL);
}
}
}else{
Time_Event_Off(GRB_WS2812_Event,NULL);
}
}
BAT_Message.Bat_Voltage =Bat_Voltage;

2
projects/blezongkong/src/app_bat.h
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@ -28,7 +28,9 @@ typedef enum {
typedef struct BAT_Message{
uint8_t Bat_STA;
uint8_t Bat_Remain_Time; // 剩余充电时间
uint16_t Bat_Voltage; // 480=48.0V
uint16_t Bat_Percent; // 420=42.0%
} BAT_Message_t;

32
projects/blezongkong/src/app_control_out.c
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@ -195,16 +195,19 @@ void app_control_init(void){
sys_sta.IOgps = Get_Status(IN_GPS);
sys_sta.IOmanager = Get_Status(IO_MANAGER_MODE);
sys_sta.O_12V = 0;
sys_sta.O_lock = 0;
sys_sta.I_01 = Get_Status(IN_01);
sys_sta.I_brake = Get_Status(IO_BRAKE);
sys_sta.I_back = Get_Status(IO_BACK);
sys_sta.IO_TX = Get_Status(IO_TTL_TX);
sys_sta.IO_RX = Get_Status(IO_TTL_RX);
sys_sta.I_brake = Get_Status(IO_BRAKE);
sys_sta.A_brake = 0;
sys_sta.A_Speed_Cut = 0;
sys_sta.Reserve = 0;
sys_sta.O_lock = 0;
sys_sta.Reserve0 = 0;
sys_sta.IO_TX = Get_Status(IO_TTL_TX);
sys_sta.IO_RX = Get_Status(IO_TTL_RX);
sys_sta.O_12V = 0;
sys_sta.Reserve1 = 0;
DEBUG("sys_sta_t:lenght=%d",sizeof(sys_sta));
DEBUG("sys_sta_t=%#04X",*(uint16_t*)&sys_sta);
@ -243,26 +246,9 @@ void EXTI_IRQHandler(void)
}
}
// // PAD控制进入管理员模式
// bool PAD_Manager_Mode =0;
// // PAD控制进入游客模式
// bool PAD_User_Mode =0;
// // PAD控制LED开关
// bool PAD_LED_ONOFF =0;
// // 系统自动刹车
// bool SYS_AUTO_brake =0;
// // 系统自动减速
// bool SYS_AUTO_Speed_Cut =0;
// uint8_t Get_SYS_Status(void){
// return (PAD_Manager_Mode << 3) | (PAD_User_Mode << 2) | (PAD_LED_ONOFF << 1) | (SYS_AUTO_brake << 0) | (SYS_AUTO_Speed_Cut << 4);
// }
// 控制进程，定时调用
void Control_procedure(void){
//电门锁
// sys_sta.Smode = 0;
sys_sta.IOgps = Get_Status(IN_GPS); //更新GPS状态

49
projects/blezongkong/src/app_control_out.h
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@ -57,28 +57,38 @@ typedef struct sys_sta{
// uint16_t Pmode:2;
union{
uint8_t Pmode:2;
uint8_t Smode:2;
struct{
uint8_t Tourist:1;
uint8_t Manager:1;
};
};
union{
uint8_t Smode:2;
struct{
uint8_t RES0 :2;
uint8_t IOgps:1;
uint8_t IOmanager:1;
uint8_t RES1 :2;
};
};
union{// 输入状态
uint8_t I_STA:8;
struct{
uint8_t I_01 :1; // 自定义输入状态
uint8_t I_brake :1; // 制动信号输入状态
uint8_t I_back :1; // 倒车信号输入状态
uint8_t A_brake :1; // 自动刹车状态
uint8_t A_Speed_Cut :1; // 自动减速状态
uint8_t O_lock :1; // 电门锁输出状态
uint8_t Reserve0:2;
};
};
union{// 输入输出状态
uint8_t IO_STA:8;
struct{
uint8_t IO_TX :1;
uint8_t IO_RX :1;
uint8_t O_12V :1; // 12V电源输出状态
uint8_t Reserve1:5;
};
};
uint16_t O_12V:1; // 12V电源输出状态
uint16_t O_lock:1; // 电门锁输出状态
uint16_t I_01:1; // 自定义输入状态
uint16_t I_brake:1;// 制动信号输入状态
uint16_t I_back:1; // 倒车信号输入状态
uint16_t IO_TX :1;
uint16_t IO_RX :1;
uint16_t A_brake :1; // 自动刹车状态
uint16_t A_Speed_Cut :1;// 自动减速状态
uint16_t Reserve:7;
} sys_sta_t;
extern sys_sta_t sys_sta;
@ -95,15 +105,6 @@ extern bool app_control_en[PA_MAX];
#define SYS_Back_STA Get_Status(IO_BACK) //倒车状态
#define SYS_Brake_STA Get_Status(IO_BRAKE) //制动状态
// // PAD控制进入管理员模式
// extern bool PAD_Manager_Mode;
// // PAD控制进入游客模式
// extern bool PAD_User_Mode;
// // 系统自动刹车
// extern bool SYS_AUTO_brake;
// // 系统自动减速
// extern bool SYS_AUTO_Speed_Cut;
//中控控制IO初始化
void app_control_init(void);

493
projects/blezongkong/src/app_modbus.c Normal file
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@ -0,0 +1,493 @@
#include "b6x.h"
#include "drvs.h"
#include "dbg.h"
#include "sftmr.h"
#include "app_modbus.h"
#include "CRCxx.h"
#include "app_ota.h"
#include "sys_config.h"
#define ModbusCRC16_EN 0
#define DEBUG_MODBUS 1
#if DEBUG_MODBUS
#define DEBUG(fmt, args...) debug("[modbus]" fmt, ##args)
#else
#define DEBUG(fmt, args...)
#endif
#define MODBUS_MAX_LEN 64
static uint8_t MODBUS_ReceCount =0;
static uint8_t MODBUS_Rece_BUF[MODBUS_MAX_LEN];
static uint8_t MODBUS_Sent_BUF[MODBUS_MAX_LEN];
// 需掉电不丢失数据12*2字节//40027-40030//40514-40520
uint16_t MODBUS_FLASH_DAT[12] ={
[0]=1,//MODBUS从机地址
[1]=1,// 出厂模式状态 //写入 1，设备将重置进入出厂模式
[2]=100,// 固件版本
[3]=1,// 硬件版本
[4]=30,//30*100ms // 代码过期时间
[5]=30,//30*100ms// 输出继电器的关闭时间
[6]=100,//100*100ms// Led 激活时间
[7]=10,//10*10ms// 蜂鸣器激活时间
[8]=0x001f,// Led 键盘颜色//RGB565 格式
[9]=0xf800,// Led Mifare 读卡颜色//RGB565 格式
[10]=0x07E0,// Led 状态灯0颜色//RGB565 格式
[11]=0x07ff,// Led 状态灯1颜色//RGB565 格式
};
bool app_modbus_CheckData(uint8_t *dat , uint8_t len);
//发送数据并计算CRC
void app_modbus_SendData(uint8_t *dat ,uint8_t len){
if(0 == len){
return;
}
uint16_t CRC16=crc16_modbus(dat ,len);
dat[len++] =CRC16 & 0xff;// CRC低字节在前
dat[len++] =CRC16 >> 8;
uart_send(UART1_PORT ,len ,dat);
while(len){//清空发送数据缓存
dat[--len] =0;
}
}
// 01 功能码
void FunctionalCode_01(uint16_t reg_addr){//ID寄存器地址//返回7字节
uint8_t len_count=0;
// DEBUG("FuncCode_01:0x%X\n",reg_addr);
MODBUS_Sent_BUF[len_count++] =MODBUS_ADDR;
MODBUS_Sent_BUF[len_count++] =0x01;
switch(reg_addr){
case 0x0005:
break;
default:
len_count =0;
break;
}
}
// 03 功能码 # 读 - 保持寄存器
// 06 功能码 # 写 - 单个寄存器
void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_num){//寄存器地址//返回8字节或15字节
uint8_t len_count=0;
// DEBUG("FuncCode_03:0x%X\n",reg_addr);
MODBUS_Sent_BUF[len_count++] =MODBUS_ADDR;
MODBUS_Sent_BUF[len_count++] =CMDCode;
if(CMDCode == 0x03){
len_count++;
}else if(CMDCode == 0x06){
MODBUS_Sent_BUF[len_count++] =(reg_addr >> 8) & 0xff;
MODBUS_Sent_BUF[len_count++] =reg_addr & 0xff;
}
switch(reg_addr){
case 0x0001: // 设备的 Modbus地址
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =0x00;
MODBUS_Sent_BUF[len_count++] =MODBUS_ADDR & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
MODBUS_ADDR =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =MODBUS_ADDR >> 8;
MODBUS_Sent_BUF[len_count++] =MODBUS_ADDR & 0xff;
break;
}
{ // 0x0101-0x0002
case 0x0101: // // 读写系统配置
if(CMDCode == 0x03){ // # 读 - 保持寄存器
break;
}else if(CMDCode == 0x06){ // # 写 - 单个寄存器
write_cfg(&sys_conf); //保存写入配置
break;
}
case 0x0102: // 管理员模式油门极限寄存器(Unit:%)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Manager_sLim >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Manager_sLim & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Manager_sLim =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =sys_conf.Manager_sLim >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Manager_sLim & 0xff;
break;
}
case 0x0103: // 游客模式油门极限寄存器(Unit:%)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Tourist_sLim >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Tourist_sLim & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Tourist_sLim =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =sys_conf.Tourist_sLim >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Tourist_sLim & 0xff;
break;
}
case 0x0104: // 减速油门极限寄存器(Unit:%)(自动减速时油门极限)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_sLim >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_sLim & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Speed_Cut_sLim =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_sLim >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_sLim & 0xff;
break;
}
case 0x0105: // 刹车距离寄存器(前进)(Unit:mm)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Brake_DLimit =reg_val_num;
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit & 0xff;
break;
}
case 0x0106: // 减速距离寄存器(Unit:mm)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Speed_Cut_DLimit =reg_val_num;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit & 0xff;
break;
}
case 0x0107: // 刹车距离极限寄存器(后退)(Unit:mm)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit_B >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit_B & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Brake_DLimit_B =reg_val_num;
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit_B >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Brake_DLimit_B & 0xff;
break;
}
case 0x0108: // 减速距离极限寄存器(Unit:mm)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit_B >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit_B & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_conf.Speed_Cut_DLimit_B =reg_val_num;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit_B >> 8;
MODBUS_Sent_BUF[len_count++] =sys_conf.Speed_Cut_DLimit_B & 0xff;
break;
}
}
{ // 0x0109-0x010D
case 0x0201: //PAD模式寄存器
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_sta.Pmode >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.Pmode & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_sta.Pmode =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =sys_sta.Pmode >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.Pmode & 0xff;
break;
}
case 0x0202: //系统模式寄存器(只读)
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_sta.Smode >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.Smode & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
// sys_sta.Smode =reg_val_num & 0xff;
// MODBUS_Sent_BUF[len_count++] =sys_sta.Smode >> 8;
// MODBUS_Sent_BUF[len_count++] =sys_sta.Smode & 0xff;
break;
}
case 0x0203: //输入输出状态寄存器
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_sta.IO_STA >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.IO_STA & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){// 输入输出状态寄存器可写
// sys_sta.I_STA =reg_val_num & 0xff;//输入寄存器不可写
sys_sta.IO_STA =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =sys_sta.IO_STA >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.IO_STA & 0xff;
break;
}
case 0x0204: //输入状态寄存器
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_sta.I_STA >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.I_STA & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
// sys_sta.I_STA =reg_val_num & 0xff;//输入寄存器不可写
MODBUS_Sent_BUF[len_count++] =sys_sta.I_STA >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.I_STA & 0xff;
break;
}
case 0x0205: //0 关闭12V输出//1 开启12V输出
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =sys_sta.O_12V >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.O_12V & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
sys_sta.O_12V =reg_val_num & 0xff;
MODBUS_Sent_BUF[len_count++] =sys_sta.O_12V >> 8;
MODBUS_Sent_BUF[len_count++] =sys_sta.O_12V & 0xff;
break;
}
}
{ // 0x0201-0x0203
case 0x0301: // 电池状态
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA >> 8;
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
break;
}
case 0x0302: // 电池电压
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Voltage >> 8;
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Voltage & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
break;
}
case 0x0303: // 电池电量
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Percent >> 8;
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Percent & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
break;
}
case 0x0304: // 剩余充电时间
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Remain_Time >> 8;
MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Remain_Time & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
break;
}
case 0x0305: // 雷达距离信息
if(CMDCode == 0x03){
MODBUS_Sent_BUF[len_count++] =radar_data.distance >> 8;
MODBUS_Sent_BUF[len_count++] =radar_data.distance & 0xff;
MODBUS_Sent_BUF[2] +=2;
if(0 == --reg_val_num){
break;
}
}else if(CMDCode == 0x06){
break;
}
}
default:
len_count =0;
break;
}
app_modbus_SendData(MODBUS_Sent_BUF ,len_count);
}
bool app_modbus_CheckData(uint8_t *dat , uint8_t len){//检查数据
uint16_t CRC16;
// DEBUG("len:%d\n",len);
if(len > 8){
len = 8;
}
if(dat[0] ==MODBUS_ADDR){//验证从机地址
CRC16 =crc16_modbus(dat ,len-2);//计算CRC
DEBUG("CRC16:0x%X\n",CRC16);
#if !ModbusCRC16_EN
CRC16 =((uint16_t)(dat[len-1])<<8) + dat[len-2];
#endif
if(CRC16 ==((uint16_t)(dat[len-1])<<8) + dat[len-2]){//CRC低字节在前
switch(dat[1]){//功能码
case 0x01:// 功能码 01
FunctionalCode_01(((uint16_t)dat[2]<<8) + dat[3]);
break;
case 0x03:// 功能码03 # 读 - 保持寄存器
FunctionalCode_03_06(0x03,((uint16_t)dat[2]<<8) + dat[3] ,((uint16_t)dat[4]<<8) + dat[5]);
// FunctionalCode_03(((uint16_t)dat[2]<<8) + dat[3] ,((uint16_t)dat[4]<<8) + dat[5]);
break;
case 0x06:// 功能码06 # 写 - 单个寄存器
FunctionalCode_03_06(0x06,((uint16_t)dat[2]<<8) + dat[3] ,((uint16_t)dat[4]<<8) + dat[5]);
// FunctionalCode_06(((uint16_t)dat[2]<<8) + dat[3] ,((uint16_t)dat[4]<<8) + dat[5]);
break;
default:
break;
}
return true;
}
}
return false;
}
#if !defined(Modbus_RBUF_SIZE)
#define Modbus_RBUF_SIZE 0x100
#endif
#define Modbus_FIFO_RXTL 8
#undef RBUF_SIZE
#define RBUF_SIZE Modbus_RBUF_SIZE
#include "rbuf.h"
/// RingBuffer for modbus1
static rbuf_t ModbusRbRx;
void app_modbus_Rb_Reset(void){
rbuf_init(&ModbusRbRx);
}
uint16_t app_modbus_Rb_Len(void){
return rbuf_len(&ModbusRbRx);
}
uint16_t app_modbus_Rb_Read(uint8_t *buff, uint16_t max){
return rbuf_gets(&ModbusRbRx, buff, max);
}
#define Rx_timeout _MS(20) // 接收超时时间
static tmr_tk_t Rx_timeout_id=0;
static tmr_tk_t Rx_timeout_handler(tmr_id_t id){
(void)(id);
MODBUS_ReceCount = app_modbus_Rb_Read(&MODBUS_Rece_BUF[0], MODBUS_MAX_LEN);
DEBUG("RC:%d\n",MODBUS_ReceCount);
// uart_send(UART1_PORT ,MODBUS_ReceCount ,MODBUS_Rece_BUF);
app_modbus_CheckData(MODBUS_Rece_BUF, MODBUS_ReceCount);//modbus数据解析
app_otas_rxd(MODBUS_ReceCount ,MODBUS_Rece_BUF);//otas数据解析
while(MODBUS_ReceCount){
MODBUS_Rece_BUF[--MODBUS_ReceCount] = 0;
}
return 0;
}
void app_modbus_Init(uint32_t baudrate, uint8_t io_tx, uint8_t io_rx){
uart_init(UART1_PORT, io_tx, io_rx);
uart_conf(UART1_PORT, BRR_BAUD(baudrate), LCR_BITS(8, 1, none));
// 使能FIFO 接收8字节时触发、使能超过20字节触发超时中断
uart_fctl(UART1_PORT, FCR_FIFOEN_BIT | FCR_RXTL_8BYTE,
20/*bits_rto*/, UART_IR_RXRD_BIT | UART_IR_RTO_BIT);
// empty buffer
rbuf_init(&ModbusRbRx);
DEBUG("MODBUS init success!\n");
NVIC_EnableIRQ(UART1_IRQn);
Rx_timeout_id =sftmr_start(10, Rx_timeout_handler);
}
void UART1_IRQHandler(void){
uint32_t state = UART1->IFM.Word; // UART1->RIF.Word;
if (state & 0x01){ //(BIT_RXRD)
UART1->IDR.RXRD = 1; // Disable RXRD Interrupt
for (uint8_t i = 0; i < Modbus_FIFO_RXTL; i++){
rbuf_putc(&ModbusRbRx, UART1->RBR);
}
sftmr_Refresh(Rx_timeout_id ,Rx_timeout);
UART1->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
UART1->IER.RXRD = 1; // Enable RXRD Interrupt
}
if (state & 0x10){ //(BIT_RTO)
UART1->IDR.RTO = 1; // Disable RTO Interrupt
while (UART1->SR.RFNE){
rbuf_putc(&ModbusRbRx, UART1->RBR);
if(0 ==UART1->SR.RFNE){
sftmr_Refresh(Rx_timeout_id ,Rx_timeout);
}
}
UART1->ICR.RTO = 1; // Clear RTO Interrupt Flag
UART1->IER.RTO = 1; // Enable RTO Interrupt
}
}

25
projects/blezongkong/src/app_modbus.h Normal file
View File

@ -0,0 +1,25 @@
#ifndef _APP_MODBUS_H_
#define _APP_MODBUS_H_
#include <stdint.h>
//MODBUS从机地址(广播地址0)
#define MODBUS_ADDR sys_conf.Modbus_addr
void app_modbus_Init(uint32_t baudrate, uint8_t io_tx, uint8_t io_rx);
// Empty RingBuffer to reset.
void app_modbus_Rb_Reset(void);
// Get Length of data in RB.
uint16_t app_modbus_Rb_Len(void);
// Read data from RB, return the Length of data copied.
uint16_t app_modbus_Rb_Read(uint8_t *buff, uint16_t max);
// Uart Data procedure
void app_modbus_procedure(void);
#endif

41
projects/blezongkong/src/app_ota.c
View File

@ -16,8 +16,8 @@
#include "utils.h"
#include "app_ota.h"
#include "sys_config.h"
// #include "app_led_control.h"
#include "app_modbus.h"
/*
@ -74,8 +74,6 @@
#define OTA_TIMER_TICK _MS(3000) // 3s
#define OTA_MAX_TIMEOUT (400) // 600s/20min
#define OTA_CRC_EN 0 // CRC校验使能/0:不检验/1:检验
enum ota_state{
OTA_IDLE,
OTA_START,
@ -96,7 +94,7 @@ enum ota_err_code{
OTA_ERR_FW = 0x5504,//固件过大
OTA_ERR_TIMEOUT = 0x5505,//升级超时
OTA_ERR_INDEX = 0x5506,//数据索引错误
OTA_ERR_DLEN = 0x5507,//数据长度错误
OTA_ERR_DLEN = 0x5507,//数据长度错误
};
typedef struct ota_env{
@ -164,7 +162,6 @@ static void flash_wr_protect(uint8_t val)
* Refout: True
* Xorout: 0x0000
*****************************************************************************/
#if (OTA_CRC_EN)
static uint16_t crc16_modbus(uint8_t *data, uint16_t length)
{
uint8_t i;
@ -189,34 +186,24 @@ static uint16_t crc16_modbus(uint8_t *data, uint16_t length)
return crc;
}
#endif
void app_otas_rxd(uint16_t len, const uint8_t *data)
{
#if (OTA_CRC_EN)
uint8_t OTA_pack_len =OTA_PKT_LEN;
#else
uint8_t OTA_pack_len = OTA_DATA_LEN - 2;//减去CRC16的两字节
#endif
// 接收20字节数据包
if (len > OTA_pack_len){
len = OTA_pack_len;
if (len > OTA_PKT_LEN){
len = OTA_PKT_LEN;
}
// memcpy(ota_recv_buf, data, ota_env.data_len);
for(uint16_t i = 0; i < len; i++){
for(uint16_t i = 0; i < OTA_PKT_LEN; i++){
ota_recv_buf[i] = data[i];
}
// uart_send(UART1_PORT ,len ,ota_recv_buf);
// debugHex(ota_recv_buf, len);
ota_env.new_data_flag = OTA_DATA_NEW;
app_ota_proc();
}
void app_otas_txd(uint16_t len, const uint8_t *data){
// uart_send(UART1_PORT ,len ,data);
app_PAD_Sendcmd(OTA_CMD_ID ,OTA_REG_ADDR ,data ,len);
uart_send(UART1_PORT ,len ,data);
}
tmr_tk_t ota_time_handle(uint8_t timeid){
@ -256,7 +243,6 @@ void app_ota_proc(void){
}
ota_env.new_data_flag = OTA_DATA_OLD;
if ((PEER_IDX == OTA_CMD_START) && (ota_env.err_info == OTA_ERR_NONE)){ //初始帧
#if (OTA_CRC_EN)
uint16_t local_crc16 = crc16_modbus(p_OTAData, OTA_PKT_LEN - 2);
if(local_crc16 != PEER_CRC){
DEBUG("CRC16:0x%X,local_crc16:0x%X", PEER_CRC, local_crc16);
@ -265,7 +251,6 @@ void app_ota_proc(void){
DEBUG("OTA_ERR_CRC");
return;
}
#endif
if((ota_env.bank != FLASH_ADDR_INVALID) && (ota_env.bank ==(0xFFF000 & OTA_read32(PEER_DAT)))){//检验数据包的是否有效
// Erase
uint32_t erase_offset = (ota_env.bank & 0xFFFFF000UL);
@ -303,7 +288,6 @@ void app_ota_proc(void){
}
ota_env.new_data_flag = OTA_DATA_OLD;
#if (OTA_CRC_EN)
uint16_t local_crc16 = crc16_modbus(p_OTAData, OTA_PKT_LEN - 2);
if(local_crc16 != PEER_CRC){
DEBUG("IDX:%d,CRC16:0x%X,local_crc16:0x%X",PEER_IDX, PEER_CRC, local_crc16);
@ -312,8 +296,6 @@ void app_ota_proc(void){
DEBUG("OTA_ERR_CRC");
return;
}
#endif
if(ota_env.data_idx == PEER_IDX && ota_env.data_idx < OTA_FW_MAX_SIZE){ //数据索引正确
uint8_t wr_data_pos = (ota_env.data_idx % OTA_DATA_LEN) * OTA_DATA_LEN;
uint32_t wr_addr = (ota_env.data_idx / OTA_DATA_LEN) * FLASH_PAGE_SIZE + ota_env.bank;
@ -402,13 +384,11 @@ void app_ota_proc(void){
}
}
bool app_is_ota_proc(void)
{
bool app_is_ota_proc(void){
return (ota_env.ota_sta != OTA_IDLE);
}
static void ota_env_init(void)
{
static void ota_env_init(void){
ota_env.bank = FLASH_ADDR_INVALID;
ota_env.ota_sta = OTA_IDLE;
ota_env.new_data_flag = OTA_DATA_OLD;
@ -418,8 +398,7 @@ static void ota_env_init(void)
ota_env.time_id = TMR_ID_NONE;
}
void app_ota_init(void)
{
void app_ota_init(void){
ota_env_init();
#if (CFG_USE_LOAD)

34
projects/blezongkong/src/app_radar.c
View File

@ -55,37 +55,6 @@ void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance){ //距
// 定时处理数和获取数据
static tmr_tk_t radar_timer_handler(tmr_id_t id){
(void)(id);
// uint16_t Car_Distance=0;
// 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) | (SYS_Back_STA<<1) | (Get_Status(IO_BRAKE)<<2)
// | (SYS_Manager_STA<<3) | ((PAD_Manager_Mode)<<4)
// | ((PAD_User_Mode)<<5) | ((sys_sta.A_Speed_Cut)<<6) | ((sys_sta.A_brake)<<7);
// app_PAD_Sendcmd(0x10,0x01,ret_data,radar_flag_cnt);
// radar_flag_cnt =0;
// goto radar_end;
// }else {
// radar_flag_cnt++;
// }
// }
// DEBUG("RADAR...");
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
@ -108,9 +77,6 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
return _MS(160);//300ms
}
static uint8_t radar_buff[RADAR_BUFF_MAX];
// 数据接收

24
projects/blezongkong/src/app_uart.c
View File

@ -17,20 +17,20 @@ void app_uart_Init(uint8_t port, uint32_t baudrate, uint8_t io_tx, uint8_t io_rx
NVIC_EnableIRQ(port==UART1_PORT?UART1_IRQn:UART2_IRQn);
}
void UART1_IRQHandler(void)
{
uint32_t state = UART1->IFM.Word; // UART1->RIF.Word;
// void UART1_IRQHandler(void)
// {
// uint32_t state = UART1->IFM.Word; // UART1->RIF.Word;
if (state & 0x01) //(BIT_RXRD)
{
UART1->IDR.RXRD = 1; // Disable RXRD Interrupt
uint8_t data = UART1->RBR;
// if (state & 0x01) //(BIT_RXRD)
// {
// UART1->IDR.RXRD = 1; // Disable RXRD Interrupt
// uint8_t data = UART1->RBR;
app_PAD_Receive(data);
UART1->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
UART1->IER.RXRD = 1; // Enable RXRD Interrupt
}
}
// app_PAD_Receive(data);
// UART1->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
// UART1->IER.RXRD = 1; // Enable RXRD Interrupt
// }
// }
/*
***************************************UART2*****************************************************

1
projects/blezongkong/src/app_ws2812.c
View File

@ -49,7 +49,6 @@ void GRB_WS2812_Write_24Bits(uint32_t GRB888)
}
WS2812_DIN_L;
}
}
void GRB_WS2812_Write_GRBs(uint8_t len, uint32_t *GRB888)

32
projects/blezongkong/src/main.c
View File

@ -8,6 +8,8 @@
#include "prf_sess.h"
#include "sys_config.h"
#include "app_modbus.h"
#define DBG_MAIN_EN 1
@ -196,40 +198,16 @@ int main(void)
}
*****************/
app_uart_Init(UART1_PORT,9600,PAD_TXD1,PAD_RXD1);//上位机PAD
app_modbus_Init(9600,PAD_TXD1,PAD_RXD1);//modbus
app_uart_Init(UART2_PORT,9600,RADAR_TXD0,RADAR_RXD0);//雷达
app_control_init();
conf_init();
app_radar_init();
Time_Event_Init();
GRB_WS2812_Init();
BAT_Message_Init();
app_ota_init();
// read config
uint8_t ret = read_cfg(&sys_conf);
if(ret || sys_conf.VERSION != SOFTWARE_ID){
DEBUG("Read Config ERROR!\r\n");//读取配置文件失败//使用默认配置
sys_conf.VERSION =SOFTWARE_ID;
sys_conf.Manager_sLim = D_Manager_sLim,
sys_conf.Tourist_sLim = D_Tourist_sLim,
sys_conf.Speed_Cut_sLim = D_Speed_Cut_sLim,
sys_conf.Brake_DLimit = D_Brake_DLimit,//自动刹车距离
sys_conf.Speed_Cut_DLimit = D_Speed_Cut_DLimit,//自动减速距离
sys_conf.Brake_DLimit_B = D_Brake_DLimit_B,//自动刹车距离
sys_conf.Speed_Cut_DLimit_B = D_Speed_Cut_DLimit_B,//自动减速距离
sys_conf.Reserve =0;
write_cfg(&sys_conf);
}
DEBUG("sys_conf:lenght=%d",sizeof(sys_conf));
DEBUG("VERSION:%#04X",sys_conf.VERSION);
DEBUG("Manager_sLim:%d",sys_conf.Manager_sLim);
DEBUG("Tourist_sLim:%d",sys_conf.Tourist_sLim);
DEBUG("Speed_Cut_sLim:%d",sys_conf.Speed_Cut_sLim);
DEBUG("Brake_DLimit:%d",sys_conf.Brake_DLimit);
DEBUG("Speed_Cut_DLimit:%d",sys_conf.Speed_Cut_DLimit);
DEBUG("Brake_DLimit_B:%d",sys_conf.Brake_DLimit_B);
DEBUG("Speed_Cut_DLimit_B:%d",sys_conf.Speed_Cut_DLimit_B);
#if (1 ==BLE_ENABLE)
// ADC初始化
sftmr_start(20, test_timer_handler);
@ -248,7 +226,7 @@ int main(void)
// app_ble_procedure();
// OTA Procedure
// app_ota_proc();
app_ota_proc();
Control_procedure();
iwdt_feed();//喂狗

19
projects/blezongkong/src/sys_config.c
View File

@ -60,22 +60,23 @@ uint8_t read_cfg(SYS_CONF_t *sys_config_info_t){
void conf_init(void){
// read config
if(read_cfg(&sys_conf)){
if( read_cfg(&sys_conf) || (sys_conf.VERSION != SOFTWARE_ID)){
DEBUG("Read Config :CRC_ERROR ");//读取配置文件失败//使用默认配置
sys_conf.VERSION =SOFTWARE_ID;
sys_conf.Manager_sLim = D_Manager_sLim,
sys_conf.Tourist_sLim = D_Tourist_sLim,
sys_conf.Speed_Cut_sLim = D_Speed_Cut_sLim,//(自动减速时油门极限)
sys_conf.Brake_DLimit = D_Brake_DLimit,//自动刹车距离(前进)
sys_conf.Speed_Cut_DLimit = D_Speed_Cut_DLimit,//自动减速距离
sys_conf.Brake_DLimit_B = D_Brake_DLimit_B,//自动刹车距离(后退)
sys_conf.Speed_Cut_DLimit_B = D_Speed_Cut_DLimit_B,//自动减速距离
sys_conf.Reserve =0;
sys_conf.Modbus_addr =D_Modbus_addr;
sys_conf.Manager_sLim = D_Manager_sLim;
sys_conf.Tourist_sLim = D_Tourist_sLim;
sys_conf.Speed_Cut_sLim = D_Speed_Cut_sLim;//(自动减速时油门极限)
sys_conf.Brake_DLimit = D_Brake_DLimit;//自动刹车距离(前进)
sys_conf.Speed_Cut_DLimit = D_Speed_Cut_DLimit;//自动减速距离
sys_conf.Brake_DLimit_B = D_Brake_DLimit_B;//自动刹车距离(后退)
sys_conf.Speed_Cut_DLimit_B = D_Speed_Cut_DLimit_B;//自动减速距离
DEBUG("write Default Config!!!");// 写入默认配置
write_cfg(&sys_conf);
}
DEBUG("\nsys_conf:lenght=%d",sizeof(sys_conf));
DEBUG("VERSION:%#04X",sys_conf.VERSION);
DEBUG("Modbus_addr:%#04X",sys_conf.Modbus_addr);
DEBUG("Manager_sLim:%d",sys_conf.Manager_sLim);
DEBUG("Tourist_sLim:%d",sys_conf.Tourist_sLim);
DEBUG("Speed_Cut_sLim:%d",sys_conf.Speed_Cut_sLim);

8
projects/blezongkong/src/sys_config.h
View File

@ -17,10 +17,10 @@
// 必须4字节对齐
typedef struct SYS_CONF{
uint16_t VERSION; // 软件版本号
uint8_t Modbus_addr; // MODBUS地址
uint8_t Manager_sLim; // 管理员模式油门极限(Unit:%)
uint8_t Tourist_sLim; // 游客模式油门极限
uint8_t Speed_Cut_sLim; // 减速油门极限(Unit:%)(自动减速时油门极限)
uint8_t Reserve; // 保留凑足4字节对齐
uint16_t Brake_DLimit; // 刹车距离极限(前进)(Unit:mm)
uint16_t Speed_Cut_DLimit; // 减速距离极限
uint16_t Brake_DLimit_B; // 刹车距离极限(后退)
@ -35,7 +35,8 @@ extern BAT_Message_t BAT_Message;
void write_cfg(SYS_CONF_t *sys_config_info_t);
// 读配置
uint8_t read_cfg(SYS_CONF_t *sys_config_info_t);
// 初始化配置
void conf_init(void);
// 油门ADC
@ -49,7 +50,8 @@ uint8_t read_cfg(SYS_CONF_t *sys_config_info_t);
/**************************系统版本**************************/
// 软件本号
#define SOFTWARE_ID 0x0101
#define SOFTWARE_ID 0x0102
#define D_Modbus_addr 0x01
/************************油门(Unit:%)************************/
// 管理员模式默认油门极限(0-100%)
#define D_Manager_sLim 100