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增加说明文档

.gitignore

@@ -1,29 +1,2 @@
 /.vscode/
 output/
-*.rar
-*.o
-*.d
-*.crf
-*.htm
-*.dep
-*.map
-*.bak
-*.lnp
-*.lst
-*.ini
-*.iex
-*.scvd
-*.uvguix
-.uvoptx
-*.dbg*
-*.uvguix.*
-.mxproject
-
-!*.uvprojx
-!*.h
-!*.c
-!*.ioc
-!*.axf
-!*.bin
-!*.hex
-

ble/api/utils.h

@@ -338,6 +338,32 @@ __INLINE__ void write32p(const void *ptr32, uint32_t value)
     *ptr = (uint8_t)((value&0xff000000)>>24);
 }
 
+/**
+ ****************************************************************************************
+ * @brief Reads a 16-bit word in an array
+ * @param[in] ptr16 The address of the first byte of the 16 bits word.
+ * @return The 16 bits value.
+ ****************************************************************************************
+ */
+__INLINE__ uint16_t read16Swap(const void *ptr16)
+{
+    uint16_t value = ((uint8_t *)ptr16)[1] | ((uint8_t *)ptr16)[0] << 8;
+    return value;
+}
+/**
+ ****************************************************************************************
+ * @brief Write a 16-bit word in an array
+ * @param[in] ptr16 The address of the first byte of the 16 bits word.
+ * @param[in] value The value to write.
+ ****************************************************************************************
+ */
+__INLINE__ void write16Swap(const void *ptr16, uint16_t value)
+{
+    uint8_t *ptr=(uint8_t*)ptr16;
+
+    *ptr++ = (value&0xff00)>>8;
+    *ptr = value&0xff;
+}
 
 /**
  ****************************************************************************************

drivers/src/uart.c

@@ -142,5 +142,5 @@ void uart_send(uint8_t port, uint16_t len, const uint8_t *data)
     }
     
     while (!(uart->SR.TBEM)); // wait tx finish
-    //while (uart->SR.BUSY);    // wait idle state
+    //while (uart->SR.BUSY);    // wait idle state /*BUG：修复概率性死锁，修复方法：注释改行 zsxfly 20240615*/
 }

modules/src/debug.c

@@ -26,7 +26,7 @@
 #endif
 
 #if !defined(DBG_UART_PORT)
-    #define DBG_UART_PORT       (0) //UART1 
+    #define DBG_UART_PORT       (1) //UART1 
 #endif
 #if !defined(DBG_UART_TXD)
     #define DBG_UART_TXD        (6) //PA06

modules/src/sftmr.c

@@ -21,7 +21,7 @@
 
 /// Number of Soft-Timer Instances
 #if !defined(SFTMR_NUM)
-#define SFTMR_NUM               (8)
+#define SFTMR_NUM               (12)
 #endif
 
 #if (SFTMR_NUM > 15)
@@ -133,7 +133,15 @@ void CTMR_IRQHandler(void)
 #elif (SFTMR_SRC == TMS_SysTick)
 
 #if !defined(TMS_SysTick_ARR)
+#if (SYS_CLK == 1)
+    #define TMS_SysTick_ARR     (32 * 10000) // 10ms(32MHz CLK)
+#elif (SYS_CLK == 2)
+    #define TMS_SysTick_ARR     (48 * 10000) // 10ms(48MHz CLK)
+#elif (SYS_CLK == 3)
+    #define TMS_SysTick_ARR     (64 * 10000) // 10ms(64MHz CLK)
+#else
     #define TMS_SysTick_ARR     (16 * 10000) // 10ms(16MHz CLK)
+#endif //SYS_CLK
 #endif
 
 // SysTick configure
@@ -260,7 +268,7 @@ static __forceinline tmr_id_t find_free_tmr(void)
 {
     for (tmr_id_t idx = 0; idx < SFTMR_NUM; idx++)
     {
-        if (((sftmr_env.field & (1 << idx)) == 0) /*&& (sftmr_env.func[idx] == NULL)*/)
+        if (((sftmr_env.field & (1 << idx)) == 0) && (sftmr_env.func[idx] == NULL))
         {
             return idx + 1; // found timer
         }
@@ -289,9 +297,8 @@ tmr_id_t sftmr_start(tmr_tk_t delay, tmr_cb_t func)
     return tmr_id;
 }
 
-// ˢ<>¶<EFBFBD>ʱʱ<CAB1><CAB1>
-void sftmr_Refresh(tmr_id_t tmr_id, tmr_tk_t delay)
-{
+// Refresh timer delay time, continue mode.
+void sftmr_Refresh(tmr_id_t tmr_id, tmr_tk_t delay){
     if (TMR_ID_VALID(tmr_id)){
         tmr_id_t idx = tmr_id - 1;
         TMR_TK_RANGE(delay);

projects/blezongkong/mdk/RS485_OTA.py

@@ -0,0 +1,383 @@
+import serial
+import serial.tools.list_ports
+import struct
+import sys
+import time
+import os
+import fnmatch
+
+def crc16(data):
+    crc = 0xFFFF
+    for byte in data:
+        crc ^= byte
+        for _ in range(8):
+            if (crc & 0x0001) != 0:
+                crc >>= 1
+                crc ^= 0xA001
+            else:
+                crc >>= 1
+    return crc
+
+def create_frame(index, data):
+    crc = crc16(struct.pack('>H', index) + data)
+    frame = struct.pack('>H', index) + data + struct.pack('>H', crc)
+    return frame
+
+def list_serial_ports():
+    ports = serial.tools.list_ports.comports()
+    return [port.device for port in ports]
+
+def list_bin_files(directory):
+    bin_files = []
+    for dirpath, dirnames, filenames in os.walk(directory):
+        for filename in fnmatch.filter(filenames, '*.bin'):
+            # 使用 os.path.relpath 将路径转换为相对路径
+            relative_path = os.path.relpath(os.path.join(dirpath, filename), start=os.getcwd())
+            bin_files.append(relative_path)
+    return bin_files
+
+# def list_bin_files(directory):
+#     bin_files = []
+#     for dirpath, dirnames, filenames in os.walk(directory):
+#         for filename in fnmatch.filter(filenames, '*.bin'):
+#             bin_files.append(os.path.join(dirpath, filename))
+#     return bin_files
+
+def select_option(options, prompt):
+    for index, option in enumerate(options):
+        print(f"{index + 1}: {option}")
+    selected_index = int(input(prompt)) - 1
+    if selected_index < 0 or selected_index >= len(options):
+        print("无效的选择。")
+        sys.exit(1)
+    return options[selected_index]
+
+def main():
+    # 列出可用串口
+    serial_ports = list_serial_ports()
+    if not serial_ports:
+        print("没有找到可用的串口。")
+        sys.exit(1)
+    
+    print("可用串口:")
+    selected_port = select_option(serial_ports, "请选择串口序号: ")
+
+    # 列出当前目录及子目录下所有的bin文件
+    bin_files = list_bin_files(os.path.dirname(os.path.abspath(__file__)))
+    if not bin_files:
+        print("没有找到任何 .bin 文件。")
+        sys.exit(1)
+
+    print("找到以下 .bin 文件：")
+    selected_file = select_option(bin_files, "请选择文件序号: ")
+
+    baudrate = 9600  # 这里可以根据需要设置波特率
+    init_delay = 0.04  # 这里也可以根据需要设置延迟
+
+    COM_serial = serial.Serial(selected_port, baudrate, timeout=0)
+
+    with open(selected_file, 'rb') as f:
+        file_data = f.read()
+        
+    time.sleep(2)  # 等待串口稳定
+
+    # 发送初始化帧
+    chunk = file_data[8:11]
+    chunk = chunk.ljust(16, b'\x00')
+    init_frame = create_frame(0xFF01, chunk)
+
+    count = 0
+    ACK_OK = False
+    while True:
+        print(f"Sent start frame: {init_frame.hex().upper()}")
+        COM_serial.write(init_frame)
+        time_count = 0
+        while True:
+            response = COM_serial.read(2)
+            if len(response) == 2:
+                error_code = int.from_bytes(response, byteorder='big')
+                if 0xFF01 == error_code:
+                    ACK_OK = True
+                    print("Initialization response received: 0xFF01")
+                    break
+                elif 0x5501 == error_code:
+                    print("Firmware partition verification fails. Please check whether the selected firmware is correct.")
+                    sys.exit(1)
+                elif 0x5502 <= error_code <= 0x5514:
+                    print(f"Received error code: {error_code:04X}. Stopping file transmission.")
+                    sys.exit(1)
+            time.sleep(0.001)
+            time_count += 1
+            if time_count > 1000:
+                count += 1
+                print("Initialization response not received. Retrying...")
+                break
+        if ACK_OK:
+            break
+        if count >= 3:
+            sys.exit(1)
+
+    index = 0
+    frame_size = 16
+    num_frames = (len(file_data) + frame_size - 1) // frame_size
+
+    # 发送数据帧
+    for i in range(num_frames):
+        start = i * frame_size
+        end = start + frame_size
+        chunk = file_data[start:end]
+        
+        if len(chunk) < frame_size:
+            chunk = chunk.ljust(frame_size, b'\x00')
+        
+        frame = create_frame(index, chunk)
+        COM_serial.write(frame)
+        if (index % 16 == 0):  # 每16个数据帧delay一下
+            time.sleep(0.02)
+
+        # 尝试接收响应和错误码
+        time_count = 0
+        while True:
+            response = COM_serial.read(2)
+            if len(response) == 2:
+                error_code = int.from_bytes(response, byteorder='big')
+                if 0x5501 <= error_code <= 0x5514:
+                    print(f"Received error code: {error_code:04X}. Stopping file transmission.")
+                    sys.exit(1)
+            time.sleep(0.001)
+            time_count += 1
+            if time_count > (1000 * init_delay):
+                break
+
+        frame_crc = struct.pack('>H', crc16(struct.pack('>H', index) + chunk))
+        print(f"IDX:{struct.pack('>H', index).hex().upper()}|DATA:{chunk.hex().upper()}|CRC:{frame_crc.hex().upper()}")
+        index += 1
+
+    # 发送尾帧
+    end_frame_index = index - 1
+    end_frame_index_bytes = struct.pack('>H', end_frame_index)
+    end_frame_index_inverted = struct.pack('>H', ~end_frame_index & 0xFFFF)
+    end_frame_data = end_frame_index_bytes + end_frame_index_inverted + b'\x00' * 12
+    end_frame = create_frame(0xFF02, end_frame_data)
+
+    print(f"Sent end frame: {end_frame.hex().upper()}")
+    COM_serial.write(end_frame)
+    
+    # 尝试接收尾帧响应和错误码
+    time_count = 0
+    while True:
+        response = COM_serial.read(2)
+        if len(response) == 2:
+            error_code = int.from_bytes(response, byteorder='big')
+            if 0xFF02 == error_code:
+                print("OTA update successfully.")
+                break
+            elif 0x5501 <= error_code <= 0x5514:
+                print(f"OTA update failed: error code:{error_code:04X}")
+                sys.exit(1)
+        time.sleep(0.001)
+        time_count += 1
+        if time_count > 1500:
+            print("OTA update failed: timeout...")
+            break
+
+if __name__ == "__main__":
+    main()
+
+
+
+
+
+
+
+
+
+
+# import serial
+# import struct
+# import sys
+# import time
+
+# def crc16(data):
+#     crc = 0xFFFF
+#     for byte in data:
+#         crc ^= byte
+#         for _ in range(8):
+#             if (crc & 0x0001) != 0:
+#                 crc >>= 1
+#                 crc ^= 0xA001
+#             else:
+#                 crc >>= 1
+#     return crc
+
+# def create_frame(index, data):
+#     crc = crc16(struct.pack('>H', index) + data)
+#     frame = struct.pack('>H', index) + data + struct.pack('>H', crc)
+#     return frame
+
+# def save_frame_to_file(frame, index):
+#     with open('frames.txt', 'a') as f:
+#         f.write(f"Frame {index}: {frame.hex().upper()}\n")
+
+# def main():
+#     if len(sys.argv) != 5:
+#         print("Usage: python serial_sender.py <port> <baudrate> <file> <float_delay>")
+#         sys.exit(1)
+
+#     port = sys.argv[1]
+#     baudrate = int(sys.argv[2])
+#     file_path = sys.argv[3]
+#     init_delay = float(sys.argv[4])
+
+#     COM_serial = serial.Serial(port, baudrate, timeout=0)
+
+#     with open(file_path, 'rb') as f:
+#         file_data = f.read()
+        
+#     time.sleep(2) #等待串口稳定
+
+
+#     # 发送初始化帧
+#     chunk = file_data[8:11]
+#     chunk = chunk.ljust(16, b'\x00')
+#     init_frame = create_frame(0xFF01, chunk)
+
+#     # init_frame = create_frame(0xFF01, b'\x00' * 16)
+
+#     # response = COM_serial.read(2)
+#     # print(f"Received response: {response.hex().upper()}")
+#     count =0
+#     ACK_OK = False
+#     while True:
+#         print(f"Sent satrt frame: {init_frame.hex().upper()}")
+#         COM_serial.write(init_frame) 
+#         time_count = 0
+#         while True:
+#             response = COM_serial.read(2)
+#             error_code = int.from_bytes(response, byteorder='big')
+#             if 0xFF01 == error_code:
+#                 ACK_OK = True
+#                 print("Initialization response received: 0xFF01")
+#                 break
+#             elif 0x5501 == error_code:
+#                 print("Firmware partition verification fails. Please check whether the selected firmware is correct.")
+#                 sys.exit(1)
+#                 # break
+#             elif 0x5502 <= error_code <= 0x5514:
+#                 print(f"Received error code: {error_code:04X}. Stopping file transmission.")
+#                 # sys.exit(1)
+#                 break
+#             else:
+#                 time.sleep(0.001)
+#                 time_count += 1
+#                 if time_count > 1000:
+#                     count += 1
+#                     print("Initialization response not received. Retrying...")
+#                     break
+#         if ACK_OK:
+#             break
+#         if count >= 3:
+#             sys.exit(1)
+
+#     # save_frame_to_file(init_frame, 0)
+
+#     index = 0
+#     frame_size = 16
+#     num_frames = (len(file_data) + frame_size - 1) // frame_size
+
+#     # 发送数据帧
+#     for i in range(num_frames): 
+#         start = i * frame_size
+#         end = start + frame_size
+#         chunk = file_data[start:end]
+        
+#         if len(chunk) < frame_size:
+#             chunk = chunk.ljust(frame_size, b'\x00')
+        
+#         frame = create_frame(index, chunk) # 发送数据帧
+#         COM_serial.write(frame)
+#         if (index % 16 == 0):  # 每16个数据帧delay一下
+#             # print("delay...")
+#             time.sleep(0.02)
+#         # 尝试接收响应和错误码
+#         time_count = 0
+#         while True:
+#             response = COM_serial.read(2)
+#             error_code = int.from_bytes(response, byteorder='big')
+#             if 0x5501 <= error_code <= 0x5514:
+#                 print(f"Received error code: {error_code:04X}. Stopping file transmission.")
+#                 sys.exit(1)
+#             else:
+#                 time.sleep(0.001)
+#                 time_count += 1
+#                 if time_count > (1000 * init_delay):
+#                     # print("timeout...")
+#                     break
+
+#         # response = COM_serial.read(2)
+#         # if response:
+#         #     error_code = int.from_bytes(response, byteorder='big')
+#         #     if 0x5501 <= error_code <= 0x5514:
+#         #         print(f"Received error code: {error_code:04X}. Stopping file transmission.")
+#         #         sys.exit(1)
+#         # # save_frame_to_file(frame, index)
+#         # time.sleep(init_delay)
+
+#         frame_crc = struct.pack('>H',crc16(struct.pack('>H', index) + chunk))
+#         frame_index = struct.pack('>H', index)
+#         print(f"IDX:{frame_index.hex().upper()}|DATA:{chunk.hex().upper()}|CRC:{frame_crc.hex().upper()}")
+#         index += 1
+        
+        
+
+#     # 发送尾帧
+#     end_frame_index = index - 1
+#     end_frame_index_bytes = struct.pack('>H', end_frame_index)
+#     end_frame_index_inverted = struct.pack('>H', ~end_frame_index & 0xFFFF)
+#     end_frame_data = end_frame_index_bytes + end_frame_index_inverted + b'\x00' * 12
+#     end_frame = create_frame(0xFF02, end_frame_data)
+
+#     print(f"Sent end frame: {end_frame.hex().upper()}")
+#     COM_serial.write(end_frame)
+#     # 尝试接收尾帧响应和错误码
+#     time_count = 0
+#     while True:
+#         response = COM_serial.read(2)
+#         error_code = int.from_bytes(response, byteorder='big')
+#         if 0xFF02 == error_code:
+#             print("OTA update successfully.")
+#             break
+#         elif 0x5501 <= error_code <= 0x5514:
+#             print(f"OTA update failed: error code:{error_code:04X}")
+#             sys.exit(1)
+#         else:
+#             time.sleep(0.001)
+#             time_count += 1
+#             if time_count > 1500:
+#                 print("OTA update failed: timeout...")
+#                 break
+#     # save_frame_to_file(end_frame, index)
+
+
+#     # end_frame_count = 0
+#     # while True:
+#     #     # if COM_serial.in_waiting > 0:  # 检查是否有数据可读
+#     #     response = COM_serial.read(2)
+#     #     if response:
+#     #         print(f"Received response: {response.hex().upper()}")
+#     #         error_code = int.from_bytes(response, byteorder='big')
+#     #         if 0x5501 <= error_code <= 0x5514:
+#     #             print(f"Received error code: {error_code:04X}. Stopping file transmission.")
+#     #             sys.exit(1)
+#     #         elif error_code == 0xFF02:
+#     #             print("OTA update successfully.")
+#     #             break
+#     #     else:
+#     #         end_frame_count +=1
+#     #         if end_frame_count > 10:
+#     #             print("End frame response not received. Stopping file transmission.")
+#     #             sys.exit(1)
+#     #         print("End frame response not received. Retrying...")
+        
+# if __name__ == "__main__":
+#     main()

projects/blezongkong/mdk/link_high_bank.PS1

@@ -0,0 +1,134 @@
+$Bank_A = '_0x04000'
+$Bank_B = '_0x20000'
+$Ext_lnp = '.lnp'
+$Ext_axf = '.axf'
+$Ext_hex = '.hex'
+$Ext_bin = '.bin'
+$Ext_asm = '.asm'
+$Path_lnp = '.\output\'
+
+# user defined
+$Path_cmd = 'C:\app\keil_MDK\Keil_v5\ARM\ARMCC\bin'
+$env:path+=";$Path_cmd;"
+
+# 获取最新的lnp文件(eg:\projects\bleOTA\mdk\output\bleOTA.lnp)
+$full_path = Get-ChildItem -Path $Path_lnp -Recurse -ErrorAction SilentlyContinue -Filter *.lnp | Where-Object { $_.Extension -eq '.lnp' } | Where-Object {$_.LastWriteTime} | Select-Object -last 1 | Select-Object -ExpandProperty FullName
+
+# 以.为分隔符, 分割带路径的文件名(eg:\projects\bleOTA\mdk\output\bleOTA)和后缀名(eg:lnp)
+# 去掉.lnp的长度
+$full_paht_len = $full_path.length - 4
+#$Pname, $Ext = $full_path.Split(".")
+$Pname = $full_path.Substring(0, $full_paht_len)
+
+# 带路径不带后缀的名称
+# (eg:\projects\bleOTA\mdk\output\bleOTA)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x20000)
+$Bank_A_name = $Pname
+$Bank_B_name = $Pname+$Bank_B
+
+# 获取不带路径且不带后缀的lnp文件名
+$Bank_A_File_Name = (Get-Item $full_path).BaseName
+$Bank_B_File_Name = $Bank_A_File_Name+$Bank_B
+
+# 拼成带路径的原始文件
+# (eg:\projects\bleOTA\mdk\output\bleOTA.lnp)
+# (eg:\projects\bleOTA\mdk\output\bleOTA.axf)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x04000.hex)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x04000.bin)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x04000.asm)
+$Org_lnp = $Bank_A_name+$Ext_lnp
+$Org_axf = $Bank_A_name+$Ext_axf
+$Org_hex = $Bank_A_name+'_0x04000'+$Ext_hex
+$Org_bin = $Bank_A_name+'_0x04000'+$Ext_bin
+$Org_asm = $Bank_A_name+'_0x04000'+$Ext_asm
+
+# 拼成带路径的目标文件
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x20000.lnp)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x20000.axf)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x20000.hex)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x20000.bin)
+# (eg:\projects\bleOTA\mdk\output\bleOTA_0x20000.asm)
+$Obj_lnp = $Bank_B_name+$Ext_lnp
+$Obj_axf = $Bank_B_name+$Ext_axf
+$Obj_hex = $Bank_B_name+$Ext_hex
+$Obj_bin = $Bank_B_name+$Ext_bin
+$Obj_asm = $Bank_B_name+$Ext_asm
+
+
+# 在原始lnp文件基础上替换sct文件, 并保存为目标lnp文件
+# (eg:link_xip_ble_0x04000替换为link_xip_ble_0x20000)
+(Get-Content $Org_lnp) -Replace $Bank_A, $Bank_B | Set-Content $Obj_lnp
+
+# 替换目标lnp文件中的文件名
+# (eg:bleOTA替换为bleOTA_0x20000）
+(Get-Content $Obj_lnp) -Replace $Bank_A_File_Name, $Bank_B_File_Name | Set-Content $Obj_lnp
+
+Write-Output "**************** Linking High Bank ... ****************"
+# 链接生成目标文件(axf, map)
+armlink.exe --Via $Obj_lnp
+
+# 删除目标lnp, 防止下次读取时存在多个lnp导致的报错
+Remove-Item $Obj_lnp
+
+# 生成hex
+fromelf.exe $Org_axf --i32combined --output $Org_hex
+fromelf.exe $Obj_axf --i32combined --output $Obj_hex
+
+# 生成bin
+fromelf.exe $Org_axf --bin --output $Org_bin
+fromelf.exe $Obj_axf --bin --output $Obj_bin
+
+# 生成asm
+fromelf.exe $Org_axf --text -a -c --output $Org_asm
+fromelf.exe $Obj_axf --text -a -c --output $Obj_asm
+
+# 计算CRC32
+Add-Type -TypeDefinition @"
+using System;
+using System.Runtime.InteropServices;
+
+public class Win32Api {
+    [DllImport("ntdll.dll")]
+    public static extern uint RtlComputeCrc32(uint dwInitial, byte[] pData, int iLen);
+}
+"@
+
+function Get-CRC32 {
+    [CmdletBinding()]
+    param (
+        [Parameter(Mandatory=$true,ValueFromPipeline = $true)]
+        [string]$InputFile
+    )
+
+    #Write-host $InputFile
+
+    # Read the file as bytes
+    $fileBytes = [System.IO.File]::ReadAllBytes($InputFile)
+
+    # Calculate the CRC32 checksum using the Win32 API
+    $crc32 = [Win32Api]::RtlComputeCrc32(0, $fileBytes, $fileBytes.Length)
+
+    # Convert the CRC32 value to hexadecimal string
+    $crc32String = $crc32.ToString("X8")
+
+    # Display the CRC32 checksum
+    Write-Output $crc32String
+}
+
+$Bank_A = "File : " + $Bank_A_File_Name +  '_0x04000' + $Ext_bin
+$Bank_B = "File : " + $Bank_B_File_Name + $Ext_bin
+
+$CRC32 = Get-CRC32 $Org_bin
+Write-Output "================================="
+Write-Output $Bank_A
+$CRC32 =  "CRC32: " + "0x" +$CRC32
+Write-Output $CRC32
+Write-Output "================================="
+
+$CRC32 = Get-CRC32 $Obj_bin
+Write-Output $Bank_B
+$CRC32 =  "CRC32: " + "0x" +$CRC32
+Write-Output $CRC32
+Write-Output "================================="
+
+#pause

projects/blezongkong/mdk/link_xip_0x04000.sct

@@ -0,0 +1,40 @@
+#! armcc -E -I ..\src\
+#include "cfg.h"
+
+#define SCT_FLASH_BASE          (0x18004000)
+#define SCT_FLASH_END           (0x18020000)
+#define SCT_FLASH_LEN           (SCT_FLASH_END - SCT_FLASH_BASE)
+
+LR_IROM1 SCT_FLASH_BASE SCT_FLASH_LEN
+{
+    ER_IROM1 SCT_FLASH_BASE SCT_FLASH_LEN
+    {
+        *.o (RESET, +First)
+        *(InRoot$$Sections)
+        startup*.o (+RO)
+        .ANY (+RO)
+    }
+    
+    RW_IRAM_VECT 0x20003000 EMPTY 152
+    {
+        ; sram vector
+    }
+    
+    RW_IRAM_USER +0
+    {
+        *.o(ram_func*)
+        .ANY (+RW +ZI)
+    }
+
+    RW_IRAM_STACK 0x20008000-0x600 UNINIT 0x600
+    {
+        .ANY (STACK)
+    }
+    
+    RW_IRAM_RETN 0x20008000 UNINIT 0x2000
+    {
+        ; retention memory 8KB
+        ; user manual init
+        *.o(user_retention)
+    }
+}

projects/blezongkong/mdk/link_xip_0x20000.sct

@@ -0,0 +1,40 @@
+#! armcc -E -I ..\src\
+#include "cfg.h"
+
+#define SCT_FLASH_BASE          (0x18020000)
+#define SCT_FLASH_END           (0x18040000)
+#define SCT_FLASH_LEN           (SCT_FLASH_END - SCT_FLASH_BASE)
+
+LR_IROM1 SCT_FLASH_BASE SCT_FLASH_LEN
+{
+    ER_IROM1 SCT_FLASH_BASE SCT_FLASH_LEN
+    {
+        *.o (RESET, +First)
+        *(InRoot$$Sections)
+        startup*.o (+RO)
+        .ANY (+RO)
+    }
+    
+    RW_IRAM_VECT 0x20003000 EMPTY 152
+    {
+        ; sram vector
+    }
+    
+    RW_IRAM_USER +0
+    {
+        *.o(ram_func*)
+        .ANY (+RW +ZI)
+    }
+
+    RW_IRAM_STACK 0x20008000-0x600 UNINIT 0x600
+    {
+        .ANY (STACK)
+    }
+    
+    RW_IRAM_RETN 0x20008000 UNINIT 0x2000
+    {
+        ; retention memory 8KB
+        ; user manual init
+        *.o(user_retention)
+    }
+}

projects/blezongkong/mdk/zhongkong.uvoptx

@@ -22,7 +22,7 @@
   </DaveTm>
 
   <Target>
-    <TargetName>uartTest</TargetName>
+    <TargetName>OTA</TargetName>
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
@@ -30,8 +30,8 @@
       <OPTTT>
         <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
-        <RunSim>0</RunSim>
-        <RunTarget>1</RunTarget>
+        <RunSim>1</RunSim>
+        <RunTarget>0</RunTarget>
         <RunAbUc>0</RunAbUc>
       </OPTTT>
       <OPTHX>
@@ -89,7 +89,7 @@
         <sRfunc>1</sRfunc>
         <sRbox>1</sRbox>
         <tLdApp>1</tLdApp>
-        <tGomain>1</tGomain>
+        <tGomain>0</tGomain>
         <tRbreak>1</tRbreak>
         <tRwatch>1</tRwatch>
         <tRmem>1</tRmem>
@@ -117,106 +117,25 @@
         <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>UL2CM3</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000)</Name>
-        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
-          <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($$Device:B6x$.\Flash\B6x_256kB_PY_D.FLM)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMRTXEVENTFLAGS</Key>
-          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGTARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMDBGFLAGS</Key>
-          <Name></Name>
+          <Name>-U20090928 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(0BC11477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8008 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO31 -FD20003000 -FC5000 -FN1 -FF0B6x_256kB_PY_D.FLM -FS018000000 -FL040000 -FP0($$Device:B6x$.\Flash\B6x_256kB_PY_D.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>0</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>402735504</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>0x18014190</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>0</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>402735500</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>0x1801418C</Expression>
-        </Bp>
-        <Bp>
-          <Number>2</Number>
-          <Type>0</Type>
-          <LineNumber>0</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>402735502</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>0x1801418E</Expression>
-        </Bp>
-      </Breakpoint>
-      <WatchWindow1>
-        <Ww>
-          <count>0</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>gBleSleep</ItemText>
-        </Ww>
-        <Ww>
-          <count>1</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>DMA_RX_BUFF</ItemText>
-        </Ww>
-      </WatchWindow1>
+      <Breakpoint/>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>1</periodic>
-        <aLwin>1</aLwin>
+        <periodic>0</periodic>
+        <aLwin>0</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
-        <viewmode>1</viewmode>
+        <viewmode>0</viewmode>
         <vrSel>0</vrSel>
         <aSym>0</aSym>
         <aTbox>0</aTbox>
@@ -252,7 +171,7 @@
 
   <Group>
     <GroupName>core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -379,8 +298,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\src\app_buzzer.c</PathWithFileName>
-      <FilenameWithoutPath>app_buzzer.c</FilenameWithoutPath>
+      <PathWithFileName>..\src\app_bat.c</PathWithFileName>
+      <FilenameWithoutPath>app_bat.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -391,8 +310,68 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\src\app_bat.c</PathWithFileName>
-      <FilenameWithoutPath>app_bat.c</FilenameWithoutPath>
+      <PathWithFileName>..\..\..\modules\src\CRCxx.c</PathWithFileName>
+      <FilenameWithoutPath>CRCxx.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>12</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\src\app_PAD.c</PathWithFileName>
+      <FilenameWithoutPath>app_PAD.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>13</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\src\app_Time_Event.c</PathWithFileName>
+      <FilenameWithoutPath>app_Time_Event.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>14</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>1</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\src\sys_config.c</PathWithFileName>
+      <FilenameWithoutPath>sys_config.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>15</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\src\app_ota.c</PathWithFileName>
+      <FilenameWithoutPath>app_ota.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>16</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\src\app_modbus.c</PathWithFileName>
+      <FilenameWithoutPath>app_modbus.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -406,7 +385,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -418,7 +397,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -430,7 +409,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -442,7 +421,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -454,7 +433,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -466,7 +445,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -478,7 +457,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -490,7 +469,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -502,7 +481,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -514,7 +493,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -526,7 +505,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -538,7 +517,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -550,7 +529,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -562,7 +541,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -574,7 +553,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -586,7 +565,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -598,7 +577,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -610,7 +589,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -624,13 +603,13 @@
 
   <Group>
     <GroupName>drivers</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -650,7 +629,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -664,13 +643,13 @@
 
   <Group>
     <GroupName>ble\app</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -682,7 +661,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -694,7 +673,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -706,7 +685,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -718,7 +697,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -730,7 +709,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -750,7 +729,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -770,7 +749,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -782,7 +761,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

projects/blezongkong/mdk/zhongkong.uvprojx

@@ -7,7 +7,7 @@
 
   <Targets>
     <Target>
-      <TargetName>uartTest</TargetName>
+      <TargetName>OTA</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
       <pCCUsed>5060750::V5.06 update 6 (build 750)::ARMCC</pCCUsed>
@@ -48,7 +48,7 @@
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
           <OutputDirectory>.\output\</OutputDirectory>
-          <OutputName>uartTest.elf</OutputName>
+          <OutputName>OTA_V2_8</OutputName>
           <CreateExecutable>1</CreateExecutable>
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>
@@ -79,10 +79,10 @@
             <nStopB2X>0</nStopB2X>
           </BeforeMake>
           <AfterMake>
-            <RunUserProg1>1</RunUserProg1>
-            <RunUserProg2>0</RunUserProg2>
+            <RunUserProg1>0</RunUserProg1>
+            <RunUserProg2>1</RunUserProg2>
             <UserProg1Name>fromelf.exe  --bin -o "$L@L.bin" "#L"</UserProg1Name>
-            <UserProg2Name></UserProg2Name>
+            <UserProg2Name>powershell -executionpolicy Unrestricted -file .\link_high_bank.PS1</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
@@ -184,6 +184,8 @@
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
             <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>0</StupSel>
@@ -350,7 +352,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls>--thumb</MiscControls>
               <Define></Define>
@@ -368,7 +370,7 @@
             <TextAddressRange>0x00000000</TextAddressRange>
             <DataAddressRange>0x00000000</DataAddressRange>
             <pXoBase></pXoBase>
-            <ScatterFile>..\..\..\core\mdk\link_xip.sct</ScatterFile>
+            <ScatterFile>.\link_xip_0x04000.sct</ScatterFile>
             <IncludeLibs></IncludeLibs>
             <IncludeLibsPath></IncludeLibsPath>
             <Misc>--diag_suppress=L6312,L6314,L6329</Misc>
@@ -431,16 +433,41 @@
               <FileType>1</FileType>
               <FilePath>..\src\app_radar.c</FilePath>
             </File>
-            <File>
-              <FileName>app_buzzer.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\src\app_buzzer.c</FilePath>
-            </File>
             <File>
               <FileName>app_bat.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\src\app_bat.c</FilePath>
             </File>
+            <File>
+              <FileName>CRCxx.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\..\..\modules\src\CRCxx.c</FilePath>
+            </File>
+            <File>
+              <FileName>app_PAD.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\src\app_PAD.c</FilePath>
+            </File>
+            <File>
+              <FileName>app_Time_Event.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\src\app_Time_Event.c</FilePath>
+            </File>
+            <File>
+              <FileName>sys_config.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\src\sys_config.c</FilePath>
+            </File>
+            <File>
+              <FileName>app_ota.c</FileName>
+              <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>
         </Group>
         <Group>
@@ -628,4 +655,13 @@
     <files/>
   </RTE>
 
+  <LayerInfo>
+    <Layers>
+      <Layer>
+        <LayName>zhongkong</LayName>
+        <LayPrjMark>1</LayPrjMark>
+      </Layer>
+    </Layers>
+  </LayerInfo>
+
 </Project>

projects/blezongkong/src/app_PAD.c

@@ -0,0 +1,329 @@
+#include "b6x.h"
+#include "drvs.h"
+#include "dbg.h"
+#include "rbuf.h"
+#include "CRCxx.h"
+
+#include "sys_config.h"
+
+#include "app_PAD.h"
+
+
+// 用于PAD通信处理
+PAD_daraframe_t PAD_daraframe;
+volatile uint8_t Rec_state =0;
+volatile uint8_t Rec_data_cnt =0;
+
+/*
+static void PAD_Data_Hande(void){
+    uint8_t ret_data[MAX_LEN]={0,0};
+    uint8_t length=0;
+
+    if((PAD_daraframe.cmd_id == OTA_CMD_ID) && (PAD_daraframe.reg_addr == OTA_REG_ADDR) && (PAD_daraframe.length == 18)){
+        app_otas_rxd(PAD_daraframe.length ,PAD_daraframe.data);
+        goto PAD_Data_Hande_end;
+    }
+
+    switch(PAD_daraframe.reg_addr){
+        case 0x01: // 写入系统配置
+            if(PAD_daraframe.cmd_id == 0x06){// 写入
+                write_cfg(&sys_conf);
+            }
+            break;
+        case 0x02: // 管理员模式油门极限寄存器(Unit:%)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                // ret_data[length++] =0;
+                ret_data[length++] =sys_conf.Manager_sLim;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Manager_sLim =PAD_daraframe.data[0];
+                break;
+            }
+        case 0x03: // 游客模式油门极限寄存器(Unit:%)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                // ret_data[length++] =0;
+                ret_data[length++] =sys_conf.Tourist_sLim;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Tourist_sLim =PAD_daraframe.data[0];
+                break;
+            }
+        case 0x04: // 减速油门极限寄存器(Unit:%)(自动减速时油门极限)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                // ret_data[length++] =0;
+                ret_data[length++] =sys_conf.Speed_Cut_sLim;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Speed_Cut_sLim =PAD_daraframe.data[0];
+                break;
+            }
+        case 0x05: // 刹车距离极限寄存器(前进)(Unit:mm)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                ret_data[length++] =sys_conf.Brake_DLimit & 0x00FF;
+                ret_data[length++] =sys_conf.Brake_DLimit >> 8;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Brake_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
+                break;
+            }
+        case 0x06: // 减速距离极限寄存器(Unit:mm)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                ret_data[length++] =sys_conf.Speed_Cut_DLimit & 0x00FF;
+                ret_data[length++] =sys_conf.Speed_Cut_DLimit >> 8;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Speed_Cut_DLimit =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
+                break;
+            }
+        case 0x07: // 刹车距离极限寄存器(前进)(Unit:mm)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                ret_data[length++] =sys_conf.Brake_DLimit_B & 0x00FF;
+                ret_data[length++] =sys_conf.Brake_DLimit_B >> 8;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Brake_DLimit_B =(((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
+                break;
+            }
+        case 0x08: // 减速距离极限寄存器(Unit:mm)
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                ret_data[length++] =sys_conf.Speed_Cut_DLimit_B & 0x00FF;
+                ret_data[length++] =sys_conf.Speed_Cut_DLimit_B >> 8;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_conf.Speed_Cut_DLimit_B = (((uint16_t)PAD_daraframe.data[1]) << 8) | PAD_daraframe.data[0];
+                break;
+            }
+        case 0x09: //PAD模式寄存器
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                // ret_data[length++] =0;
+                ret_data[length++] =sys_sta.Pmode;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_sta.Pmode = PAD_daraframe.data[0] & 0x03;//0 退出模式//1 进入游客模式//2 进入管理员模式
+                break;
+            }
+        case 0x0A: //系统模式寄存器
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                // ret_data[length++] =0;
+                ret_data[length++] =sys_sta.Smode;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }
+        case 0x0B: //0 关闭12V输出//1 开启12V输出
+            if(PAD_daraframe.cmd_id == 0x03){// 读取
+                // ret_data[length++] =0;
+                ret_data[length++] =sys_sta.O_12V;
+                // if(0 == --PAD_daraframe.length){
+                    break;
+                // }
+            }else if(PAD_daraframe.cmd_id == 0x06){// 写入
+                sys_sta.O_12V = PAD_daraframe.data[0] & 0x01;
+                break;
+            }
+        break;
+        // default :
+        //     app_PAD_Sendcmd(PAD_daraframe.cmd_id,PAD_daraframe.reg_addr,PAD_daraframe.data,PAD_daraframe.length);
+        // break;
+    }
+    app_PAD_Sendcmd(PAD_daraframe.cmd_id ,PAD_daraframe.reg_addr ,ret_data ,length);
+
+PAD_Data_Hande_end:   
+    Rec_state =0;//数据处理完要清零，准备接收下一帧数据
+}
+*/
+
+void app_PAD_CheckData(uint8_t *dat , uint8_t len){
+	uint8_t ret_data[MAX_LEN]={0,0};
+    uint8_t length=0;
+
+    PAD_daraframe.header = dat[0] << 8 | dat[1];
+    PAD_daraframe.cmd_id = dat[2];
+    PAD_daraframe.reg_addr = dat[3];
+    PAD_daraframe.length = dat[4];
+    if(PAD_daraframe.length > MAX_LEN){
+        return;
+    }
+    for(uint8_t i=0;i<PAD_daraframe.length;i++){
+        PAD_daraframe.data[i] = dat[5+i];
+    }
+    PAD_daraframe.crc = dat[5+PAD_daraframe.length];
+
+    if(PAD_daraframe.header == FRAME_HEADER){
+        uint8_t CRC =crc8_maxim(dat ,len-1);
+        if(CRC == PAD_daraframe.crc){ //CRC校验通过
+            switch(PAD_daraframe.cmd_id){//cmd_id
+                case 0x01: // 配置系统参数
+                    // uint8_t 
+                    sys_conf.Manager_sLim= PAD_daraframe.data[0];
+                    sys_conf.Tourist_sLim= PAD_daraframe.data[1];
+                    // uint16_t
+                    sys_conf.Brake_DLimit= 100 * PAD_daraframe.data[2];
+                    sys_conf.Speed_Cut_DLimit= 100 * PAD_daraframe.data[3];
+                    sys_conf.Brake_DLimit_B= 100 * PAD_daraframe.data[4];
+                    sys_conf.Speed_Cut_DLimit_B= 100 * PAD_daraframe.data[5];
+
+                    sys_conf.VERSION =SOFTWARE_ID; // 软件版本号
+                    sys_conf.Modbus_addr =D_Modbus_addr; // MODBUS地址
+                    sys_conf.Speed_Cut_sLim =D_Speed_Cut_sLim; // 减速油门极限
+
+                    write_cfg(&sys_conf);
+                case 0x02: // 读取系统配置
+                    ret_data[length++]=sys_conf.Manager_sLim;
+                    ret_data[length++]=sys_conf.Tourist_sLim;
+
+                    ret_data[length++]=sys_conf.Brake_DLimit /100;
+                    ret_data[length++]=sys_conf.Speed_Cut_DLimit /100;
+                    ret_data[length++]=sys_conf.Brake_DLimit_B /100;
+                    ret_data[length++]=sys_conf.Speed_Cut_DLimit_B /100;
+                    
+                    // app_PAD_Sendcmd(UART1_PORT,PAD_daraframe.cmd_id,0x01,ret_data,length);
+                break;
+                case 0x03: //写 //0 命令控制进入管理员模式//1 命令控制进入游客模式
+                    sys_sta.Manager =PAD_daraframe.data[0];
+                    sys_sta.Tourist =PAD_daraframe.data[1];
+                    if(1==sys_sta.Tourist && 1==sys_sta.Manager){
+                        sys_sta.Tourist =0;
+                        sys_sta.Manager =1;
+                    }
+                    ret_data[length++] =sys_sta.Manager;
+                    ret_data[length++] =sys_sta.Tourist;
+                    // app_PAD_Sendcmd(UART1_PORT,PAD_daraframe.cmd_id,0x01,PAD_daraframe.data,PAD_daraframe.length);
+                break;
+                case 0x04: //读 系统模式
+                    ret_data[length++] =sys_sta.Smode;
+                    break;
+                case 0x05: //写 //0 关闭12V输出//1 开启12V输出
+                    ret_data[length++] =sys_sta.O_12V;
+                break;
+                case 0x06: //读 //12V输出状态
+                    sys_sta.O_12V = PAD_daraframe.data[0] & 0x01;
+                break;
+                case 0x10:
+                    ret_data[length++] =BAT_Message.Bat_STA; // 电池状态
+                    ret_data[length++] =BAT_Message.Bat_Voltage >> 8; //电池电压
+                    ret_data[length++] =BAT_Message.Bat_Voltage & 0xff;
+                    ret_data[length++] =get_in_acc_percent();// 当前油门百分比
+                    ret_data[length++] =radar_data.radar_id;// 雷达ID
+                    ret_data[length++] =radar_data.distance/100;// 雷达距离信息
+                    ret_data[length++] =(sys_sta.IOgps <<0) | (sys_sta.I_back <<1) | (sys_sta.I_brake <<2)
+                                        | (sys_sta.IOmanager <<3) | (sys_sta.Manager <<4) 
+                                        | (sys_sta.Tourist <<5) | (sys_sta.A_Speed_Cut <<6) | (sys_sta.A_brake <<7);
+            }
+            app_PAD_Sendcmd(PAD_daraframe.cmd_id ,PAD_daraframe.reg_addr ,ret_data ,length);
+        }
+    }
+}
+
+
+/*
+void app_PAD_Receive(uint8_t data){
+    uint8_t *frame = (uint8_t *)&PAD_daraframe;
+
+    switch(Rec_state){
+        case 0://header
+            if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (PAD_daraframe.header == 0x0)) {
+                PAD_daraframe.header = (FRAME_HEADER >> 8);
+            } else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (PAD_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
+                PAD_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
+                PAD_daraframe.length = 0;
+                Rec_state = 1;//to cmd id
+                //debug("header");
+            }
+        break;
+        case 1://cmd_id
+            //debug("rxcmd:%x", data);
+            PAD_daraframe.cmd_id = data;
+            Rec_state = 2;//to device addr
+        break;
+        case 2://reg addr
+            //debug("reg_addr");
+            PAD_daraframe.reg_addr = data;
+            Rec_state = 3;//to data length
+        break;
+        case 3://data length
+            //debug("length");
+            PAD_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
+            if (PAD_daraframe.length == 0) {
+                Rec_state = 5;//to crc
+            } else {
+                Rec_state = 4;//to data
+                Rec_data_cnt = 0;
+            }
+        break;
+        case 4://data
+            //debug("data");
+            if (Rec_data_cnt < PAD_daraframe.length) {
+                PAD_daraframe.data[Rec_data_cnt++] = data;
+            }
+            if (Rec_data_cnt == PAD_daraframe.length) {
+                Rec_data_cnt = 0;
+                Rec_state = 5;//to crc
+            }
+        break;
+        case 5://CRC8
+            PAD_daraframe.crc = crc8_maxim(frame, 5 + PAD_daraframe.length);
+#if !PAD_CRC8_EN         
+            PAD_daraframe.crc = data;
+#endif
+            //计算并验证crc8
+            if (PAD_daraframe.crc == data) {
+                Rec_state = 6;//to ack
+                //debug("crc correct cmd:%x", PAD_daraframe.cmd_id);
+            } else {
+                Rec_state = 0;//to haeder
+                PAD_daraframe.header = 0;
+                //debug("crc error cmd:%x-%x", PAD_daraframe.cmd_id, PAD_daraframe.crc);
+            }
+        break;
+    }
+    // uart_putc(UART1_PORT,data);//debug
+    // uart_putc(UART1_PORT,'0'+Rec_state);
+    if(Rec_state == 6){
+        PAD_daraframe.header = 0;
+        Rec_state = 7;//数据处理完，需要将状态位归零，才会接收下一帧数据，即：uart1_state =0时。
+        PAD_Data_Hande();
+        Rec_state =0;
+    }
+}
+*/
+
+
+//发送命令
+void app_PAD_Sendcmd(uint8_t cmd_id ,uint8_t reg_addr ,const uint8_t *data, uint8_t length){
+    PAD_daraframe_t frame;
+    uint8_t *cmd_data =(uint8_t *)&frame;
+    uint8_t i;
+
+	frame.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100
+	frame.cmd_id = cmd_id;
+	frame.reg_addr = reg_addr;
+	frame.length = length < MAX_LEN ? length:MAX_LEN;
+
+    for(i = 0;i < frame.length ;i ++){
+        frame.data[i] = * data++;
+    }
+    length =5 + frame.length;
+	frame.crc = crc8_maxim(cmd_data, length);
+	while(length--)
+	    uart_putc(UART1_PORT, (uint32_t)(*cmd_data ++));
+    uart_putc(UART1_PORT, (uint32_t)(frame.crc));
+}
+
+

projects/blezongkong/src/app_PAD.h

@@ -0,0 +1,40 @@
+#ifndef _APP_PAD_H_
+#define _APP_PAD_H_
+
+#include <stdint.h>
+#include "uart.h"
+
+//数据帧头
+#define FRAME_HEADER 0xA100
+
+#define OTA_CMD_ID    0xA5
+#define OTA_REG_ADDR  0x00
+
+#define MAX_LEN 32
+
+//0:失能数据校验
+#define PAD_CRC8_EN 0
+
+typedef struct PAD_daraframe{
+	uint16_t header;//0xA100
+	uint8_t cmd_id;
+	uint8_t reg_addr;
+	uint8_t length;
+	uint8_t data[MAX_LEN];
+	uint8_t crc;
+} PAD_daraframe_t;
+
+
+
+
+//初始化
+void app_uart_Init(uint8_t port, uint32_t baudrate, uint8_t io_tx, uint8_t io_rx);
+
+void app_PAD_CheckData(uint8_t *dat , uint8_t len);
+
+// 接收数据
+void app_PAD_Receive(uint8_t data);
+//发送命令
+void app_PAD_Sendcmd(uint8_t cmd_id ,uint8_t reg_addr ,const uint8_t *data, uint8_t length);
+
+#endif

projects/blezongkong/src/app_Time_Event.c

@@ -4,6 +4,16 @@
 
 #include "sys_config.h"
 
+#define DBG_TIME_ENEVT  0
+
+#if (DBG_TIME_ENEVT)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[TR_ET]" format "\r\n", ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+//#define debugHex(dat, len)
+#endif
+
 static Time_Events_t Time_Events[Time_Event_MAX];
 tmr_tk_t Time_Event_tmr_id;
 
@@ -15,10 +25,20 @@ void Event_Handle(uint16_t Event_List ,bool isOn,void *Parameter){
     (void)Parameter;
     switch(Event_List){
         case Buzzer_Event:
-            Set_Status(OUT_Buzzer,isOn);
+            Set_Status(OUT_BUZZER,isOn);
+        break;
+        case Pmode_Timeout_Event:
+            if(!isOn){
+                DEBUG("Pmode_Timeout_Event\n\nERROR\n\n");
+                // sys_sta.Pmode =0;
+            }
         break;
         case GRB_WS2812_Event:
+            if(0x01 == (sys_sta.Pmode | sys_sta.Smode)){
                 GRB_WS2812_Write_color(WS2812_GRBs.len, isOn ? WS2812_GRBs.GRBs : 0x0);
+            }else{
+                GRB_WS2812_Write_color(WS2812_GRBs.len, isOn ? GRB_ORANGE : 0x0);
+            }
         break;
         default:
 
@@ -30,7 +50,9 @@ static tmr_tk_t Time_Event_Handle(tmr_id_t id) {
     for (uint16_t i = 0; i < Time_Event_MAX; i++) {
         Time_Events_t *Events = &Time_Events[i];
 
-        if (Events->delay == 1) {
+        if(1 < Events->delay){
+            Events->delay--;
+        }else if (1 == Events->delay--) {
             switch (Events->mode) {
                 case Time_MODE_OFF:
                     // 关闭
@@ -40,6 +62,7 @@ static tmr_tk_t Time_Event_Handle(tmr_id_t id) {
                     // 打开
                     Events->isOn = true;
                     if(Events->Ms_delayoff){
+                        DEBUG("OffDelay:%d,delay:%d\n",i,Events->Ms_delayoff);
                         Events->mode = Time_MODE_OFF;
                         Events->delay =1 + Events->Ms_delayoff;
                         Events->Ms_delayoff =0;
@@ -50,11 +73,11 @@ static tmr_tk_t Time_Event_Handle(tmr_id_t id) {
                     if (Events->blinkCount > 0) {
                         if (Events->isOn) {
                             Events->isOn = false;
+                            Events->delay =1 + Events->Ms_off;
                             if(0xffff != Events->blinkCount) {Events->blinkCount--;}
-                            Events->delay =1 + Events->Ms_off / Time_delay_interval;
                         } else {
                             Events->isOn = true;
-                            Events->delay =1 + Events->Ms_on / Time_delay_interval;
+                            Events->delay =1 + Events->Ms_on;
                         }
                     } else {
                         Events->mode = Time_MODE_OFF;
@@ -63,49 +86,65 @@ static tmr_tk_t Time_Event_Handle(tmr_id_t id) {
             }
             Event_Handle(i, Events->isOn,Events->Parameter);
         }
-        if(Events->delay >= 1){
-            Events->delay--;
+
     }
-    }
-    return (Time_delay_interval / 10);
+    return (Time_delay_interval / 10);//1;
 }
 
 void Time_Event_Init(void) {
     for (uint16_t i = 0; i < Time_Event_MAX; i++) {
         Time_Events[i].mode = Time_MODE_OFF;
-        Time_Events[i].delay = 1;
+        Time_Events[i].delay = 0;
         Time_Events[i].Ms_on = 0;
         Time_Events[i].Ms_off = 0;
         Time_Events[i].blinkCount = 0;
         Time_Events[i].isOn = false;
         Time_Events[i].Parameter=NULL;
+        Time_Events[i].Ms_delayoff =0;
+        DEBUG("Delay:%d,%dms",i, Time_Events[i].Ms_delayoff);
     }
     Time_Event_tmr_id = sftmr_start(10, Time_Event_Handle);
 }
 
-void Time_Event_DelayOff(uint16_t ledIndex ,uint16_t Ms_delayoff,void *Parameter) {
-    Time_Events[ledIndex].mode = Time_MODE_ON;
-    Time_Events[ledIndex].delay = 1;
-    Time_Events[ledIndex].Ms_delayoff =1 + Ms_delayoff;
-    Time_Events[ledIndex].Parameter=Parameter;
-}
-
 void Time_Event_On(uint16_t ledIndex,void *Parameter) {
+    DEBUG("On:%d",ledIndex);
     Time_Events[ledIndex].mode = Time_MODE_ON;
     Time_Events[ledIndex].delay = 1;
+    // Time_Events[ledIndex].Ms_delayoff =0;
     Time_Events[ledIndex].Parameter=Parameter;
 }
 
 void Time_Event_Off(uint16_t ledIndex,void *Parameter) {
+    DEBUG("Off:%d",ledIndex);
     Time_Events[ledIndex].mode = Time_MODE_OFF;
     Time_Events[ledIndex].delay = 1;
+    // Time_Events[ledIndex].Ms_delayoff =0;
     Time_Events[ledIndex].Parameter=Parameter;
 }
 
+void Time_Event_DelayOff(uint16_t ledIndex ,uint16_t Ms_delayoff,void *Parameter) {
+    DEBUG("Delay:%d,%dms",ledIndex, Ms_delayoff);
+    if(0 == Ms_delayoff/Time_delay_interval){return;}
+    Time_Events[ledIndex].mode = Time_MODE_ON;
+    Time_Events[ledIndex].delay = 1;
+    Time_Events[ledIndex].Ms_delayoff =Ms_delayoff / Time_delay_interval;
+    Time_Events[ledIndex].Parameter=Parameter;
+}
+
+void Time_Event_Cancel_DelayOff(uint16_t ledIndex) {
+    DEBUG("Cancel:%d",ledIndex);
+    Time_Events[ledIndex].mode = Time_MODE_OFF;
+    Time_Events[ledIndex].delay = 0;
+    Time_Events[ledIndex].Ms_delayoff =0;
+    Time_Events[ledIndex].Parameter =NULL;
+}
+
 void Time_Event_Blink(uint16_t ledIndex, uint16_t Ms_on, uint16_t  Ms_off, uint16_t blinkCount,void *Parameter) {
+    DEBUG("Blink:%d,on%dms,off%dms,count%d",ledIndex, Ms_on, Ms_off, blinkCount);
+
     Time_Events[ledIndex].mode = Time_MODE_BLINK;
-    Time_Events[ledIndex].Ms_on =  Ms_on;
-    Time_Events[ledIndex].Ms_off =  Ms_off;
+    Time_Events[ledIndex].Ms_on =  Ms_on / Time_delay_interval;
+    Time_Events[ledIndex].Ms_off =  Ms_off / Time_delay_interval;
     Time_Events[ledIndex].blinkCount = blinkCount;
     Time_Events[ledIndex].delay =1 +  Ms_on / Time_delay_interval; 
     Time_Events[ledIndex].Parameter=Parameter;

projects/blezongkong/src/app_Time_Event.h

@@ -1,5 +1,5 @@
-#ifndef _APP_BUZZER_H_
-#define _APP_BUZZER_H_
+#ifndef _APP_TIME_EVENT_H_
+#define _APP_TIME_EVENT_H_
 
 #define Time_delay_interval 50
 
@@ -22,6 +22,7 @@ typedef struct {
 
 typedef enum {
     Buzzer_Event,
+    Pmode_Timeout_Event,
     GRB_WS2812_Event,
     Time_Event_MAX
 } Time_Event_List;
@@ -32,6 +33,8 @@ void Time_Event_Init(void);
 
 void Time_Event_DelayOff(uint16_t ledIndex ,uint16_t Ms_delayoff, void *Parameter);
 
+void Time_Event_Cancel_DelayOff(uint16_t ledIndex);
+
 void Time_Event_On(uint16_t ledIndex, void *Parameter);
 
 void Time_Event_Off(uint16_t ledIndex, void *Parameter);

projects/blezongkong/src/app_bat.c

@@ -5,19 +5,143 @@
 #include "app_bat.h"
 #include "sys_config.h"
 
-#define BAT_Message_interval 1000
+#define DBG_EN  0
+
+#if (DBG_EN)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[Bat]" format, ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+//#define debugHex(dat, len)
+#endif
+
+#define BAT_Message_interval 100
 
 tmr_id_t BAT_Message_tmr_id;
 BAT_Message_t BAT_Message;
-uint16_t Bat_Voltage_Last;
-uint16_t Voltage_lag_count;
-
-uint8_t Bat_STA_Last;
 
 // 门锁状态更新标志
 bool GRB_Door_lock_updata=0;
+uint8_t Bat_STA_Last;
+uint16_t Voltage_lag_count;
+uint16_t Voltage_update_count;
+float temp_bat_voltage=0;
+// uint16_t Bat_Voltage_Last;
+
 // uint8_t bat_str[50]={0,0},bat_str_len=0;
 
+
+const uint16_t coulomp_voltage_table[11] = {
+    BAT_LEVEL_0PERCENT_VOLT,
+    BAT_LEVEL_10PERCENT_VOLT,
+    BAT_LEVEL_20PERCENT_VOLT,
+    BAT_LEVEL_30PERCENT_VOLT,
+    BAT_LEVEL_40PERCENT_VOLT,
+    BAT_LEVEL_50PERCENT_VOLT,
+    BAT_LEVEL_60PERCENT_VOLT,
+    BAT_LEVEL_70PERCENT_VOLT,
+    BAT_LEVEL_80PERCENT_VOLT,
+    BAT_LEVEL_90PERCENT_VOLT,
+    BAT_LEVEL_100PERCENT_VOLT,
+};
+
+uint8_t pmu_voltage_to_percent(uint32_t volt){//电压转百分比
+    uint8_t i, percent;
+    float step, base;
+    if((volt < coulomp_voltage_table[0])){
+        return 0;
+    }
+    if((volt >= coulomp_voltage_table[10])){
+        return 100;
+    }
+
+    for (i = 0; i < 10; i++) {
+        if((volt < coulomp_voltage_table[i+1]) && (volt >= coulomp_voltage_table[i])){
+            step = (coulomp_voltage_table[i+1] - coulomp_voltage_table[i]) / 10.0;
+            base = coulomp_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;
+}
+
+uint8_t LED_control =0,LED_control_last =0;
+
+static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
+    uint16_t in_acc_percent= get_in_acc_percent();
+
+    if(BAT_Message.Runing_Time < 0xFFFF){
+        BAT_Message.Runing_Time++;
+    }
+    
+    temp_bat_voltage += get_bat_voltage() * 10;
+
+    Voltage_update_count++;
+    if(Voltage_update_count >= (1000/BAT_Message_interval)){//1s
+        BAT_Message.Bat_Voltage = temp_bat_voltage / Voltage_update_count;
+        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/BAT_Message_interval)){//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;
+        WS2812_GRBs.GRBs=GRB_RED;
+    }else if(BAT_Message.Bat_Percent < 30){ // 7~30%
+        BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_30_STA;
+        WS2812_GRBs.GRBs=GRB_RED;
+    }else if(BAT_Message.Bat_Percent < 60){ // 30~60%
+        BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_60_STA;
+        WS2812_GRBs.GRBs=GRB_BLUE;
+    }else if(BAT_Message.Bat_Percent < 80){ // 60~80%
+        BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_80_STA;
+        WS2812_GRBs.GRBs=GRB_WHITE;
+    }else{
+        BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xE0)|Bat_100_STA;
+        WS2812_GRBs.GRBs=GRB_WHITE;
+    }
+
+    if((Bat_STA_Last != BAT_Message.Bat_STA) || (GRB_Door_lock_updata != Get_Status(OUT_Door_lock)) || (LED_control != LED_control_last)){
+        GRB_Door_lock_updata=Get_Status(OUT_Door_lock);
+        LED_control_last =LED_control;
+        Bat_STA_Last =BAT_Message.Bat_STA;
+        if( Get_Status(OUT_Door_lock) || (LED_control != 0)){
+           if(BAT_Message.Bat_STA & Bat_Charge_STA){
+                Time_Event_Blink(GRB_WS2812_Event,500,500,0xffff,NULL);
+            }else{
+                if(BAT_Message.Bat_STA & Bat_Low_STA){
+                    Time_Event_Blink(GRB_WS2812_Event,200,200,0xffff,NULL);
+                }else{
+                    Time_Event_Blink(GRB_WS2812_Event,500,500,0xffff,NULL);
+                }
+            }
+        }else{
+            Time_Event_Off(GRB_WS2812_Event,NULL);
+        }
+    }   
+    DEBUG("\n\nSTA:0x%#X,V:%d,%d %%,Run:%d,D_A:%d\n\n",BAT_Message.Bat_STA,BAT_Message.Bat_Voltage,BAT_Message.Bat_Percent,BAT_Message.Runing_Time,BAT_Message.Deep_ACC_Time);
+    return (BAT_Message_interval / 10);
+}
+
+/*
 static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
     uint16_t Bat_Voltage = get_bat_voltage() * 10;
 
@@ -33,10 +157,10 @@ static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
             WS2812_GRBs.GRBs=GRB_BLUE;
         }else if(Bat_Percent_100 > Bat_Voltage){
             BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0x03)|Bat_100_STA;
-            WS2812_GRBs.GRBs=GRB_GREEN;
+            WS2812_GRBs.GRBs=GRB_WHITE;
         }else{
             BAT_Message.Bat_STA =(BAT_Message.Bat_STA & 0xF3)|Bat_Full_STA;
-            WS2812_GRBs.GRBs=GRB_GREEN;
+            WS2812_GRBs.GRBs=GRB_WHITE;
         }
         if(0==(BAT_Message.Bat_STA & Bat_Charge_STA)){
             Bat_Voltage_Last =Bat_Voltage;
@@ -74,7 +198,8 @@ static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
         Bat_STA_Last =BAT_Message.Bat_STA;
         if( Get_Status(OUT_Door_lock)){
            if(BAT_Message.Bat_STA & Bat_Charge_STA){
-                Time_Event_On(GRB_WS2812_Event,NULL);
+                // Time_Event_On(GRB_WS2812_Event,NULL);
+                Time_Event_Blink(GRB_WS2812_Event,500,500,0xffff,NULL);
             }else if(BAT_Message.Bat_STA & Bat_Low_STA){
                 Time_Event_Blink(GRB_WS2812_Event,150,150,0xffff,NULL);
             }else{
@@ -83,15 +208,19 @@ static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
         }else{
             Time_Event_Off(GRB_WS2812_Event,NULL);
         }
-        
     }
 
     BAT_Message.Bat_Voltage =Bat_Voltage;
     
     return (BAT_Message_interval / 10);
 }
+*/
 
 void BAT_Message_Init(void) {
     BAT_Message_tmr_id = sftmr_start(10, BAT_Message_Handle);
-	Bat_Voltage_Last =get_bat_voltage() * 10;
+	BAT_Message.Bat_Voltage = get_bat_voltage() * 10;
+    BAT_Message.Bat_Percent = pmu_voltage_to_percent(BAT_Message.Bat_Voltage);
+    BAT_Message.Runing_Time = 0;
+    BAT_Message.Deep_ACC_Time = 0;
+    BAT_Message.Bat_STA = 0;
 }

projects/blezongkong/src/app_bat.h

@@ -1,37 +1,61 @@
 #ifndef _APP_BAT_H_
 #define _APP_BAT_H_
 
+
+#define BAT_SxP1            4 // 电池四串一并 
+#define BAT_VOLT(_Volt)     (_Volt * BAT_SxP1) //电压单位转换
+#define BAT_Low_VOLT        BAT_VOLT(105) //10.5V x 4 = 42V
+#define BAT_Full_VOLT       BAT_VOLT(144) //14.4V x 4 = 57.6V
+
+// #define BAT_LEVEL_0PERCENT_VOLT             BAT_VOLT(105) //  0%:(105~110]=(42.0V~44.0V]
+// #define BAT_LEVEL_10PERCENT_VOLT            BAT_VOLT(113) // 10%:(110~113]=(44.0V~45.2V]
+// #define BAT_LEVEL_20PERCENT_VOLT            BAT_VOLT(116) // 20%:(113~116]=(45.2V~46.4V]
+// #define BAT_LEVEL_30PERCENT_VOLT            BAT_VOLT(119) // 30%:(116~119]=(46.4V~47.6V]
+// #define BAT_LEVEL_40PERCENT_VOLT            BAT_VOLT(122) // 40%:(119~122]=(47.6V~48.8V]
+// #define BAT_LEVEL_50PERCENT_VOLT            BAT_VOLT(125) // 50%:(122~125]=(48.8V~50.0V]
+// #define BAT_LEVEL_60PERCENT_VOLT            BAT_VOLT(128) // 60%:(125~128]=(50.0V~51.2V]
+// #define BAT_LEVEL_70PERCENT_VOLT            BAT_VOLT(131) // 70%:(128~131]=(51.2V~52.4V]
+// #define BAT_LEVEL_80PERCENT_VOLT            BAT_VOLT(134) // 80%:(131~134]=(52.4V~53.6V]
+// #define BAT_LEVEL_90PERCENT_VOLT            BAT_VOLT(137) // 90%:(134~137]=(53.6V~54.8V]
+// #define BAT_LEVEL_100PERCENT_VOLT           BAT_VOLT(144) //100%:(137~144]=(54.8V~57.6V]
+
+// 内阻 20mΩ * 4 =80mΩ // 线损 10A 0.1V
+
+#define BAT_LEVEL_0PERCENT_VOLT             BAT_VOLT(105) //  0%
+#define BAT_LEVEL_10PERCENT_VOLT            BAT_VOLT(107) // 10%
+#define BAT_LEVEL_20PERCENT_VOLT            BAT_VOLT(109) // 20%
+#define BAT_LEVEL_30PERCENT_VOLT            BAT_VOLT(111) // 30%
+#define BAT_LEVEL_40PERCENT_VOLT            BAT_VOLT(113) // 40%
+#define BAT_LEVEL_50PERCENT_VOLT            BAT_VOLT(115) // 50%
+#define BAT_LEVEL_60PERCENT_VOLT            BAT_VOLT(117) // 60%
+#define BAT_LEVEL_70PERCENT_VOLT            BAT_VOLT(119) // 70%
+#define BAT_LEVEL_80PERCENT_VOLT            BAT_VOLT(123) // 80%
+#define BAT_LEVEL_90PERCENT_VOLT            BAT_VOLT(127) // 90%
+#define BAT_LEVEL_100PERCENT_VOLT           BAT_VOLT(134) //100%
+
+
 // 充电状态
 typedef enum {
-    Bat_NotCharge_STA=0x01,
-    Bat_Charge_STA=0x02,
-    Bat_Full_STA=0x04,
-    Bat_Low_STA=0x08,
-    Bat_30_STA=0x10,
-    Bat_60_STA=0x20,
-    Bat_100_STA=0x40,
+    Bat_Low_STA=(1<<0),
+    Bat_30_STA=(1<<1),
+    Bat_60_STA=(1<<2),
+    Bat_80_STA=(1<<3),
+    Bat_100_STA=(1<<4),
+    Bat_NotCharge_STA=(1<<5),
+    Bat_Charge_STA=(1<<6),
 } BAT_STA_t;
 
-typedef enum {
-    Bat_Percent_Low =420,
-    Bat_Percent_30 =454,
-    Bat_Percent_60 =489,
-    Bat_Percent_100 =535,
-} BAT_Percent_t;
-
-// typedef enum {
-//     Bat_Percent_Low =240,
-//     Bat_Percent_30 =260,
-//     Bat_Percent_60 =300,
-//     Bat_Percent_100 =350,
-// } BAT_Percent_t;
 
 typedef struct BAT_Message{
     uint8_t Bat_STA;
+    uint8_t Bat_Percent; // 42=42%
+    uint8_t Bat_Low_Volt_count; // 低压计数
     uint16_t Bat_Voltage; // 480=48.0V
+    uint16_t Runing_Time; // 系统运行时间
+    uint16_t Deep_ACC_Time; // 深踩油门时间
 } BAT_Message_t;
 
-
+uint8_t pmu_voltage_to_percent(uint32_t volt); // 电压转百分比
 void BAT_Message_Init(void);
 
 #endif

projects/blezongkong/src/app_ble_uart_proc.c

@@ -28,10 +28,10 @@ void sess_cb_rxd(uint8_t conidx, uint16_t len, const uint8_t *data)
 
         // app_set_speed(*(int8_t *)(&data[2]));
 
-        Set_Status(OUT_High_brake,(0x01 & (data[1] >> 0)));
-        Set_Status(OUT_Low_brake,(0x01 & (data[1] >> 1)));
+        Set_Status(IO_BACK,(0x01 & (data[1] >> 0)));
+        Set_Status(IO_BRAKE,(0x01 & (data[1] >> 1)));
 
-        Set_Status(OUT_Low_speed,(0x01 & (data[1] >> 4)));
+        // Set_Status(OUT_Low_speed,(0x01 & (data[1] >> 4)));
         Set_Status(OUT_Door_lock,(0x01 & (data[1] >> 5)));
 
 

projects/blezongkong/src/app_control_out.c

@@ -5,40 +5,50 @@
 #include "sys_config.h"
 #include "stdio.h"
 
+#include "app_control_out.h"
+
+#define DBG_CONTROL_EN  1
+
+#if (DBG_CONTROL_EN)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[control]" format "\r\n", ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+#define debugHex(dat, len)
+#endif
+
+
 uint16_t ACC_Dmin ;
 uint16_t ACC_Dmax ;
 
-//管理员模式速度极限
-uint8_t M_mode_sLim =M_DEFAULT_sLim;
-//游客模式速度极限
-uint8_t U_mode_sLim =U_DEFAULT_sLim;
-
 // 使能电平
 bool app_control_en[PA_MAX]={
-    [IN_GPS]            =OE_LOW,    // GPS输入0 /边沿触发/L:低使能(反)
-    [IN_Back]           =OE_LOW,    // 倒车 /边沿触发
-    [IN_Brake]          =OE_LOW,    // 制动 /边沿触发
-    [IN_Manager_Mode]   =OE_LOW,    // 管理员模式 /边沿触发
-
-    [OUT_Buzzer]        =OE_HIGH,   // 蜂鸣器 /H:高使能
-    [OUT_Low_speed]     =OE_HIGH,   // 使能低速档位 /L:低使能(反)
-    [OUT_Back_car]      =OE_HIGH,   // 使能倒车 /L:低使能倒车(反)
-    [OUT_Low_brake]     =OE_HIGH,   // 使能低制动 /L:低使能(反)
-    [OUT_High_brake]    =OE_LOW,    // 使能高制动 /H:高使能(反)    
+[OUT_12V_Control]   =OE_HIGH,   // 12V电源控制输出 /H:12V输出
 [OUT_Door_lock]     =OE_HIGH,   // 开锁 /H:开锁(同)
-};
+[IO_MANAGER_MODE]   =OE_LOW,    // 管理员模式 /低电平触发
+[IO_BACK]           =OE_LOW,    // 倒车 /H:前进/L:后退
+[IO_AUTO_BRAKE]     =OE_HIGH,    // 自动刹车 /H:高使能
+[IO_BRAKE]          =OE_LOW,    // 制动 /L:低使能
 
+[IO_TTL_TX]         =OE_LOW,    // 串口发送
+[IO_TTL_RX]         =OE_LOW,    // 串口接收
+
+[OUT_BUZZER]        =OE_HIGH,   // 蜂鸣器输出 /H:蜂鸣器响
+[IO_INTERACTION]    =OE_LOW,    // 交互信号输入 （人体感应器） /L:低电平触发
+};
+sys_sta_t sys_sta;
 
 // 油门控制输入初始化/PA08/CH3
 // 电池电压检测/充电检测/PA04/CH7
 static void acc_in_bat_in_sadc_init(void)
 {
     // Analog Enable
-    GPIO_DIR_CLR(GPIO08 | GPIO04);
+    GPIO_DIR_CLR(GPIO08 | GPIO04 | GPIO02);
 
     // ADC
-    iom_ctrl(PA04, IOM_ANALOG);//BAT//AIN3//电池电量
     iom_ctrl(PA08, IOM_ANALOG);//ACC//AIN7//油门
+    // iom_ctrl(PA02, IOM_ANALOG);//ACC_FEEDBACK//AIN2//油门反馈
+    iom_ctrl(PA04, IOM_ANALOG);//BAT//AIN3//电池电量
 
     // sadc init
 #if SADC_VREF==VREF_VDD
@@ -73,20 +83,22 @@ static void acc_in_bat_in_sadc_init(void)
 
 // 获取油门输入信号原始ADC值
 uint16_t get_in_acc_raw(void){
-    return (sadc_read(SADC_CH_AIN7, 0));
+    return (sadc_read(ACC_IN_CH, 0));
 }
 
 // 获取油门输入电压信号（unit:mV)
 uint16_t get_in_acc_voltage(void){
-    return ((((SADC_VREF * sadc_read(SADC_CH_AIN7, 3))/1024)/ACC_DOWN_Res)*(ACC_UP_Res+ACC_DOWN_Res));
+    return ((((SADC_VREF * sadc_read(ACC_IN_CH, 3)) / 1024) / ACC_DOWN_Res) * (ACC_UP_Res + ACC_DOWN_Res));
 }
 
 // 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_in_acc_voltage();
-    if(900 > acc_voltage) {return 0;}
-    else if(3800 < acc_voltage){return 100;}
-    else{
+    if(900 > acc_voltage) {
+        return 0;
+    }else if(3800 < acc_voltage){
+        return 100;
+    }else{
         return ((acc_voltage-900)/29);
         // return (100*(acc_voltage - 900)/(3800-900));
     }
@@ -94,7 +106,7 @@ uint16_t get_in_acc_percent(void){
 
 // 获取电池电压值（unit:V)
 float get_bat_voltage(void){
-    return (((((SADC_VREF / 1000.0) * sadc_read(SADC_CH_AIN3, 3))/1024.0)/BAT_DOWN_Res)*(BAT_UP_Res+BAT_DOWN_Res));
+    return (((((SADC_VREF / 1000.0) * sadc_read(BAT_IN_CH, 3))/1024.0)/BAT_DOWN_Res)*(BAT_UP_Res+BAT_DOWN_Res));
 }
 
 // 油门调节输出初始化/PWM4/PA05
@@ -121,44 +133,70 @@ void set_out_acc_percent(uint8_t percent){
 
 //中控控制IO初始化
 void app_control_init(void){
-    // out   
-    gpio_dir_output(OUT_Door_lock,OE_LOW);// 默认锁车
-    gpio_dir_output(OUT_Low_speed,OE_LOW);// 低速档位，默认失能
-    gpio_dir_output(OUT_Back_car,OE_LOW);// 默认前进模式
-    gpio_dir_output(OUT_Low_brake,OE_LOW);// 默认关低制动
-    gpio_dir_output(OUT_High_brake,OE_HIGH);// 默认关高制动
-    gpio_dir_output(OUT_Buzzer,OE_LOW);// 默认关蜂鸣器
-    //in
-    gpio_dir_input(OUT_Door_lock,IE_DOWN);// 默认锁车
-    gpio_dir_input(OUT_Low_speed,IE_DOWN);// 低速档位，默认失能
-    gpio_dir_input(OUT_Back_car,IE_DOWN);// 默认前进模式
-    gpio_dir_input(OUT_Low_brake,IE_DOWN);// 默认关低制动
-    gpio_dir_input(OUT_High_brake,IE_UP);// 默认关高制动
-    gpio_dir_input(OUT_Buzzer,IE_DOWN);// 默认关蜂鸣器
+    // IO init
+    gpio_dir_output(OUT_12V_Control,OE_LOW);// 12V电源控制输出 /H:12V输出
+    gpio_dir_input(OUT_12V_Control,IE_UP);
+    gpio_dir_output(OUT_Door_lock,OE_LOW);  // 电门锁 /H:开锁
+    gpio_dir_input(OUT_Door_lock,IE_UP);
+
+    gpio_dir_output(IO_MANAGER_MODE,OE_HIGH);// 管理员模式 /边沿触发
+    gpio_dir_input(IO_MANAGER_MODE,IE_UP);
+
+    gpio_dir_output(IO_BACK,OE_HIGH);// 倒车 /H:前进/L:后退
+    gpio_dir_input(IO_BACK,IE_UP); 
+
+    gpio_dir_output(IO_AUTO_BRAKE,OE_HIGH); // 自动刹车 /H:高使能
+    gpio_dir_input(IO_AUTO_BRAKE,IE_UP);
+    gpio_dir_output(IO_BRAKE,OE_LOW); // 制动 /L:低使能
+    gpio_dir_input(IO_BRAKE,IE_UP);
+
+    gpio_dir_input(IO_TTL_TX,IE_UP);     // 串口发送
+    gpio_dir_input(IO_TTL_RX,IE_UP);     // 串口接收
+
+    gpio_dir_output(OUT_BUZZER,OE_LOW);  // 蜂鸣器输出
+
+    gpio_dir_output(IO_INTERACTION,OE_HIGH);
+    gpio_dir_input(IO_INTERACTION,IE_UP);    // 交互信号输入 （人体感应器）
     
     //默认都失能
+    Set_Status(OUT_12V_Control,0);
     Set_Status(OUT_Door_lock,0);
-    Set_Status(OUT_Low_speed,0);
-    Set_Status(OUT_Back_car,0); //失能倒车
-    Set_Status(OUT_Low_brake,0);
-    Set_Status(OUT_High_brake,0);
-    Set_Status(OUT_Buzzer,0);
-
-    // in
-    gpio_dir_input(IN_GPS, IE_UP);  // Input enable, pull-up
-    gpio_dir_input(IN_Back, IE_UP);    
-    gpio_dir_input(IN_Brake, IE_UP);
-    gpio_dir_input(IN_Manager_Mode, IE_UP);
-
+    Set_Status(IO_AUTO_BRAKE,0);
+    Set_Status(IO_BRAKE,0);
+    Set_Status(OUT_BUZZER,0);
     // // EXTI config
     // exti_init(EXTI_DBC(15, 4));
-    // exti_set(EXTI_FTS, EXTI_SRC(IN_GPS) | EXTI_SRC(IN_Back) | EXTI_SRC(IN_Brake) | EXTI_SRC(IN_Manager_Mode)); // falling
-    // exti_set(EXTI_DBE, EXTI_SRC(IN_GPS) | EXTI_SRC(IN_Back) | EXTI_SRC(IN_Brake) | EXTI_SRC(IN_Manager_Mode));
-    // exti_set(EXTI_IER, EXTI_SRC(IN_GPS) | EXTI_SRC(IN_Back) | EXTI_SRC(IN_Brake) | EXTI_SRC(IN_Manager_Mode));
+    // exti_set(EXTI_FTS, EXTI_SRC(IO_INTERACTION) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE)); // falling
+    // exti_set(EXTI_DBE, EXTI_SRC(IO_INTERACTION) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE));
+    // exti_set(EXTI_IER, EXTI_SRC(IO_INTERACTION) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE));
     
     // IRQ enable
     // NVIC_EnableIRQ(EXTI_IRQn);
 
+    // sys_sta.Pmode = 0;
+    sys_sta.Manager =0;
+    sys_sta.Tourist =0;
+    // sys_sta.Smode = 0;
+    sys_sta.IOgps = 0;
+    sys_sta.IOmanager = Get_Status(IO_MANAGER_MODE);
+
+    sys_sta.I_interaction = Get_Status(IO_INTERACTION);
+    sys_sta.A_brake = Get_Status(IO_AUTO_BRAKE);
+    sys_sta.I_back = Get_Status(IO_BACK);
+    sys_sta.I_brake = Get_Status(IO_BRAKE);
+    sys_sta.A_Speed_Cut = 0;
+    sys_sta.O_lock = 0;
+    sys_sta.P_Radar_EN =1;
+    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);
+
     acc_in_bat_in_sadc_init();
     acc_out_pwm_init();
 
@@ -170,56 +208,69 @@ void EXTI_IRQHandler(void)
 {
     uint32_t irq_sta = EXTI->RIF.Word;
 
-    if (irq_sta & EXTI_SRC(IN_GPS))//
+    if (irq_sta & EXTI_SRC(IO_INTERACTION))//
     {
-        EXTI->ICR.Word = EXTI_SRC(IN_GPS);
+        EXTI->ICR.Word = EXTI_SRC(IO_INTERACTION);
         
     }
     
-    if (irq_sta & EXTI_SRC(IN_Back))
+    if (irq_sta & EXTI_SRC(IO_BACK))
     {
-        EXTI->ICR.Word = EXTI_SRC(IN_Back);
+        EXTI->ICR.Word = EXTI_SRC(IO_BACK);
         
     }
     
-    if (irq_sta & EXTI_SRC(IN_Brake))
+    if (irq_sta & EXTI_SRC(IO_BRAKE))
     {
-        EXTI->ICR.Word = EXTI_SRC(IN_Brake);
+        EXTI->ICR.Word = EXTI_SRC(IO_BRAKE);
 
     }
 
-    if (irq_sta & EXTI_SRC(IN_Manager_Mode))
+    if (irq_sta & EXTI_SRC(IO_MANAGER_MODE))
     {
-        EXTI->ICR.Word = EXTI_SRC(IN_Manager_Mode);
+        EXTI->ICR.Word = EXTI_SRC(IO_MANAGER_MODE);
 
     }
 }
 
-// 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;
-// 系统自动刹车
-bool SYS_AUTO_brake=0;
-// 系统自动减速
-bool SYS_AUTO_Speed_Cut=0;
-
 // 控制进程，定时调用
 void Control_procedure(void){
-   
     //电门锁
-    Set_Status(OUT_Door_lock,(PAD_User_Mode || PAD_Manager_Mode || Get_Status(IN_GPS) || Get_Status(IN_Manager_Mode)));
+    // sys_sta.Smode = 0;
+    sys_sta.IOgps = 0; //更新GPS状态
+    sys_sta.IOmanager = Get_Status(IO_MANAGER_MODE); //更新管理员模式状态
+    sys_sta.O_lock = (0 != (sys_sta.Pmode | sys_sta.Smode));
+    Set_Status(OUT_Door_lock, sys_sta.O_lock);
+    
+    //12V电源
+    Set_Status(OUT_12V_Control ,sys_sta.O_12V);// 更新12V电源状态
 
-    // 倒车
-    Set_Status(OUT_Back_car,Get_Status(IN_Back));
     // 刹车
-    Set_Status(OUT_Low_brake,(Get_Status(IN_Brake) || SYS_AUTO_brake));
-    Set_Status(OUT_High_brake,(Get_Status(IN_Brake) || SYS_AUTO_brake));
+    Set_Status(IO_AUTO_BRAKE ,sys_sta.A_brake);// 高刹车
+    Set_Status(IO_BRAKE ,sys_sta.A_brake);// 低刹车
+    sys_sta.I_brake = Get_Status(IO_BRAKE); //更新刹车状态// 输出为高电平时，可读取外部刹车状态
 
+    sys_sta.I_interaction = Get_Status(IO_INTERACTION);
+    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);
+    // GRB_WS2812_Write_color(64, 0xffffff);
     //油门控制
-    if(Get_Status(OUT_Door_lock)){
-        set_out_acc_percent((SYS_AUTO_Speed_Cut?0.5:1)*get_in_acc_percent()*((PAD_Manager_Mode || Get_Status(IN_Manager_Mode)) ? sys_conf_info.M_mode_sLim : sys_conf_info.U_mode_sLim) / 100.0);
+    if(0 != (sys_sta.Pmode | sys_sta.Smode)){
+        uint8_t acc_percent =0;
+        if(0x01 == (sys_sta.Pmode | sys_sta.Smode)){//游客模式
+            if(sys_sta.A_Speed_Cut){//自动减速
+                acc_percent = (get_in_acc_percent() * sys_conf.Speed_Cut_sLim) / 100.0;
             }else{
+                acc_percent = (get_in_acc_percent() * sys_conf.Tourist_sLim) / 100.0;
+            }
+        }else{//管理员模式
+            // Time_Event_Blink(GRB_WS2812_Event,500,500,0xffff,NULL);
+            acc_percent = (get_in_acc_percent() * sys_conf.Manager_sLim) / 100.0;
+        }
+        set_out_acc_percent(acc_percent);
+    }else{
+        // Time_Event_Off(GRB_WS2812_Event,NULL);
         set_out_acc_percent(0);
     }
 }

projects/blezongkong/src/app_control_out.h

@@ -20,39 +20,94 @@ extern uint16_t ACC_Dmax ;
 
 #define ACC_PERCENT(s) (ACC_Dmin + ((ACC_Dmax - ACC_Dmin)*(s))/100)
 
-
- // GPIO的输出需反向
- enum  app_control{
-    IN_GPS =PA09,               // GPS输入0 /边沿触发
-    IN_Back =PA10,              // 倒车 /边沿触发
-    IN_Brake =PA11,             // 制动 /边沿触发
-    IN_Manager_Mode =PA12,      // 管理员模式 /边沿触发
-
-    OUT_Buzzer =PA13,           // 蜂鸣器 /H:高使能
-    OUT_Low_speed =PA14,        // 低速档位 /L:低使能
-    OUT_Back_car =PA15,         // 前进后退 /H:前进/L:后退
-    OUT_Low_brake =PA16,        // 低制动 /L:低使能
-    OUT_High_brake =PA17,       // 高制动 /H:低使能
-    OUT_Door_lock =PA18,        // 电门锁 /H:开锁
+enum app_adc_dac_chx{
+    ACC_IN_CH =SADC_CH_AIN7,   // 油门输入
+    BAT_IN_CH =SADC_CH_AIN3,  // 电池输入
 };
 
 
-extern bool app_control_en[PA_MAX];
+enum app_control{
+    OUT_12V_Control =PA17,   // 12V电源控制输出 /H:12V输出
+    OUT_Door_lock =PA18,     // 电门锁 /H:开锁
+    IO_MANAGER_MODE =PA13,   // 管理员模式 /边沿触发
+    IO_BACK =PA14,           // 倒车 /H:前进/L:后退
+    IO_AUTO_BRAKE =PA03,     // 高制动 /高:高使能
+    IO_BRAKE =PA15,          // 低制动 /L:低使能
 
-// 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;
+    IO_TTL_TX =PA11,         // 串口发送
+    IO_TTL_RX =PA12,         // 串口接收
+    
+    RADAR_TXD0 =PA06,        // 串口0发送
+    RADAR_RXD0 =PA07,        // 串口0接收
+    PAD_TXD1   =PA10,        // 串口1发送
+    PAD_RXD1   =PA09,        // 串口1接收
+
+    ACC_PA8_ADC7 =PA08,      // 油门输入
+    PWM4_DAC =PA05,          // 油门输出
+
+    RGB_DATA_IO =PA16,       // RGB数据输出
+
+    BAT_PA4_ADC3 =PA04,      // 电池电压输入
+
+    OUT_BUZZER =PA19,         // 蜂鸣器输出
+    IO_INTERACTION =PA02,    // 交互信号输入 （人体感应器）
+};
+
+typedef struct sys_sta{
+    // uint16_t Pmode:2;
+    union{
+        uint8_t Pmode;
+        struct{
+            uint8_t Tourist:1;
+            uint8_t Manager:1;
+            uint8_t RES_0:6;
+        };
+    };
+    union{
+        uint8_t Smode;
+        struct{
+            uint8_t IOgps:1;
+            uint8_t IOmanager:1;
+            uint8_t RES_1:6;
+        };
+    };
+    union{// 输入状态
+        uint8_t I_STA:8;
+        struct{
+            uint8_t I_interaction :1; // 交互信号（人体感应器）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 P_Radar_EN  :1; // PAD雷达输出使能状态
+            uint8_t Reserve0:1;
+        };
+    };
+    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;
+        };
+    };
+} sys_sta_t;
+
+extern sys_sta_t sys_sta;
+
+
+extern bool app_control_en[PA_MAX];
 
 //  写1使能,写0失能
 #define Set_Status(pad,activity)  (gpio_put(pad, ((0 == activity) ? !app_control_en[pad] : app_control_en[pad])))
 // 获取状态 1使能,0失能
 #define Get_Status(pad)  ((app_control_en[pad] == gpio_get(pad)) ? 1 : 0)
 
+#define SYS_Manager_STA    Get_Status(IO_MANAGER_MODE)  //管理员输入状态
+#define SYS_Back_STA       Get_Status(IO_BACK)          //倒车状态
+#define SYS_Brake_STA      Get_Status(IO_BRAKE)         //制动状态
 
 //中控控制IO初始化
 void app_control_init(void);

projects/blezongkong/src/app_modbus.c

@@ -0,0 +1,573 @@
+#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 1
+
+#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];
+
+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;
+	}
+}
+
+extern uint8_t LED_control;
+
+// 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){//寄存器个数计数
+		MODBUS_Sent_BUF[2] =0;
+		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;
+			}
+		case 0x0002: // 设备的软件版本号
+			if(CMDCode == 0x03){
+				MODBUS_Sent_BUF[len_count++] =(sys_conf.VERSION | VER_TYPE) >> 8;
+				MODBUS_Sent_BUF[len_count++] =(sys_conf.VERSION | VER_TYPE) & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				len_count =0;
+				// sys_conf.VERSION =reg_val_num;
+				// MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION >> 8;
+				// MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION & 0xff;
+				break;
+			}
+			case 0x0003: // 系统自检(只读)
+			if(CMDCode == 0x03){
+				uint16_t sys_sta=0;
+				MODBUS_Sent_BUF[len_count++] =sys_sta >> 8;
+				MODBUS_Sent_BUF[len_count++] =sys_sta & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				len_count =0;
+				// sys_conf.VERSION =reg_val_num;
+				// MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION >> 8;
+				// MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION & 0xff;
+				break;
+			}
+{ // 0x0101-0x0002
+		case 0x0101: // // 写系统配置
+			if(CMDCode == 0x03){ // # 读 - 保持寄存器
+				len_count =0;
+				break;
+			}else if(CMDCode == 0x06){ // # 写 - 单个寄存器
+				write_cfg(&sys_conf); //保存写入配置
+				MODBUS_Sent_BUF[len_count++] =reg_val_num >> 8;
+				MODBUS_Sent_BUF[len_count++] =reg_val_num & 0xff;
+				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 > 100 ? 100 : reg_val_num;
+				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 > 100 ? 100 : reg_val_num;
+				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 > 100 ? 100 : reg_val_num;
+				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>4500 ? 4500 : 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>4500 ? 4500 : 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>4500 ? 4500 : 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>4500 ? 4500 : 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++] =0;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.Pmode & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				// uint8_t Pmode_Timeout =((reg_val_num >> 8) & 0xff);
+				// if(0 == Pmode_Timeout){
+				// 	Time_Event_Cancel_DelayOff(Pmode_Timeout_Event);
+				// }else{
+				// 	if(Pmode_Timeout > 65){
+				// 		Pmode_Timeout =65;
+				// 	}
+				// 	Time_Event_DelayOff(Pmode_Timeout_Event ,1000 * Pmode_Timeout ,NULL);
+				// }
+				sys_sta.Pmode =reg_val_num & 0x03;
+				LED_control = (0 ==(reg_val_num & 0x80))?0:1;
+				MODBUS_Sent_BUF[len_count++] =reg_val_num >> 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++] =0;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.Smode & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				len_count =0;
+				// 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 ? 1 : 0;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.O_12V >> 8;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.O_12V & 0xff;
+				break;
+			}
+		case 0x0206: //0 关闭游客雷达//1 开启游客雷达
+			if(CMDCode == 0x03){
+				MODBUS_Sent_BUF[len_count++] =sys_sta.P_Radar_EN >> 8;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.P_Radar_EN & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				sys_sta.P_Radar_EN =reg_val_num ? 1 : 0;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.P_Radar_EN >> 8;
+				MODBUS_Sent_BUF[len_count++] =sys_sta.P_Radar_EN & 0xff;
+				break;
+			}
+}
+{ // 0x0201-0x0203
+		case 0x0301:  // 电池状态及电量信息
+			if(CMDCode == 0x03){
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Percent;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				BAT_Message.Bat_Voltage = get_bat_voltage() * 10;
+    			BAT_Message.Bat_Percent = pmu_voltage_to_percent(BAT_Message.Bat_Voltage);
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Percent;
+				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){
+				len_count =0;
+				break;
+			}
+		case 0x0303:  // 系统运行时间
+			if(CMDCode == 0x03){
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Runing_Time >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Runing_Time & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				BAT_Message.Runing_Time =0;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Runing_Time >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Runing_Time & 0xff;
+				break;
+			}
+		case 0x0304:  // 深踩油门时间
+			if(CMDCode == 0x03){
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Deep_ACC_Time >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Deep_ACC_Time & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				BAT_Message.Deep_ACC_Time =0;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Deep_ACC_Time >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Deep_ACC_Time & 0xff;
+				break;
+			}
+		case 0x0305:  // 低压计数
+			if(CMDCode == 0x03){
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Low_Volt_count >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Low_Volt_count & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				len_count =0;
+				break;
+			}
+		case 0x0306:  // 当前油门百分比
+			if(CMDCode == 0x03){
+				uint16_t in_acc_percent= get_in_acc_percent();
+				MODBUS_Sent_BUF[len_count++] =in_acc_percent >> 8;
+				MODBUS_Sent_BUF[len_count++] =in_acc_percent & 0xff;
+				MODBUS_Sent_BUF[2] +=2;
+				if(0 == --reg_val_num){
+					break;
+				}
+			}else if(CMDCode == 0x06){
+				len_count =0;
+				break;
+			}
+		case 0x0307:  // 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){
+				len_count =0;
+				break;
+			}
+}
+		default:
+			len_count =0;
+			break;
+	}
+	if(len_count == 0){
+		return;
+	}
+	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 || dat[0] == 0xff){//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);
+
+	app_PAD_CheckData(MODBUS_Rece_BUF, MODBUS_ReceCount);//PAD数据解析
+
+    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
+    }
+}
+

projects/blezongkong/src/app_modbus.h

@@ -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

projects/blezongkong/src/app_ota.c

@@ -0,0 +1,421 @@
+/**
+ ****************************************************************************************
+ *
+ * @file ota.c
+ *
+ * @brief Main loop of the application.
+ *
+ ****************************************************************************************
+ */
+#include "drvs.h"
+#include "regs.h"
+// #include "prf_otas.h"
+// #include "app.h"
+#include "sftmr.h"
+#include "list.h"
+#include "utils.h"
+
+#include "app_ota.h"
+// #include "app_led_control.h"
+#include "app_modbus.h"
+
+
+/*
+ * DEFINES
+ ****************************************************************************************
+ */
+/// examples\loader
+#define CFG_USE_LOAD  0
+#define DBG_OTAS  1
+
+#if (DBG_OTAS)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[OTA]" format "\r\n", ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+#define debugHex(dat, len)
+#endif
+
+
+#ifndef FLASH_BASE
+#define FLASH_BASE            (0x18000000)
+#endif
+
+#define FLASH_SIZE            (0x40000) // 256KB
+#define FLASH_PAGE_SIZE       (0x100)   // 256B
+#define FLASH_SECTOR_SIZE     (0x1000)  // 4KB
+#define FLASH_PAGE_SIZE_WLEN  (FLASH_PAGE_SIZE >> 2)
+
+#define FLASH_INFO_PAGE       (0x00)
+#define FLASH_INFO_MAGIC      (FLASH_BASE + 0x00)
+#define FLASH_INFO_CODE_LEN   (FLASH_BASE + 0x04)
+#define FLASH_INFO_CODE_ADDR  (FLASH_BASE + 0x08)
+
+#define OTA_BANK_A_BASE       (0x18004000)
+#if (CFG_USE_LOAD)
+#define OTA_BANK_B_BASE       (0x18020100)
+#else
+#define OTA_BANK_B_BASE       (0x18020000)
+#endif
+#define OTA_BANK_A            (OTA_BANK_A_BASE - FLASH_BASE)
+#define OTA_BANK_B            (OTA_BANK_B_BASE - FLASH_BASE)
+
+#define FLASH_ADDR_INVALID    (0xFFFFFFFF)
+
+#define OTA_FW_SECTOR_MAX_SIZE   ((FLASH_SIZE - OTA_BANK_B) / FLASH_SECTOR_SIZE)
+#define OTA_FW_MAX_SIZE          (OTA_FW_SECTOR_MAX_SIZE * FLASH_SECTOR_SIZE) / 16 // 112K
+
+#define OTA_PKT_LEN              (20) // 2B peer_index + 16B ota data + 2B CRC
+#define OTA_DATA_LEN             (OTA_PKT_LEN - 4)
+
+#define OTA_DATA_OLD             (0x55)
+#define OTA_DATA_NEW             (0xAA)
+
+#define OTA_TIMER_TICK           _MS(3000) // 3s
+#define OTA_MAX_TIMEOUT          (400) // 600s/20min
+
+enum ota_state{
+    OTA_IDLE,
+    OTA_START,
+    OTA_BUSY,
+    OTA_ERROR,
+};
+
+enum ota_cmd{
+    OTA_CMD_START     = 0xFF01,
+    OTA_CMD_END       = 0xFF02,
+};
+
+enum ota_err_code{
+    OTA_ERR_NONE      = 0, // No error
+    OTA_ERR_BANK_ADDR = 0x5501,//升级固件地址无效
+    OTA_ERR_FAIL      = 0x5502,//升级失败
+    OTA_ERR_CRC       = 0x5503,//CRC校验失败
+    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
+};
+
+typedef struct ota_env{
+    uint32_t bank;  //当前选择的BANK
+    uint8_t  ota_sta;//OTA状态
+    uint8_t  new_data_flag; //新数据标志
+    uint16_t data_idx;//本地OTA数据索引
+    uint16_t err_info; //错误信息
+    tmr_tk_t tick_cnt; //计时器
+    tmr_tk_t time_id; //定时器ID
+}ota_env_t;
+
+
+uint8_t  ota_recv_buf[OTA_PKT_LEN];
+uint32_t ota_wr_data[FLASH_PAGE_SIZE_WLEN];
+
+volatile ota_env_t ota_env;
+
+/*
+ * FUNCTION DEFINITIONS
+ ****************************************************************************************
+ */
+__attribute__((section("ram_func.ota.124")))
+static void flash_sector_erase(uint32_t offset)
+{
+    GLOBAL_INT_DISABLE();
+    
+    while (SYSCFG->ACC_CCR_BUSY);
+    
+    fshc_erase(offset, FSH_CMD_ER_SECTOR);
+    
+    GLOBAL_INT_RESTORE();
+}
+
+__attribute__((section("ram_func.ota.136")))
+static void flash_wr_protect(uint8_t val)
+{
+    GLOBAL_INT_DISABLE();
+    
+    while (SYSCFG->ACC_CCR_BUSY);
+    
+    uint8_t sta_reg0 = fshc_rd_sta(FSH_CMD_RD_STA0, 1);
+    
+    if (val != sta_reg0)
+    {
+        // д<><D0B4><EFBFBD><EFBFBD>0x000-0xFFF (4KB)
+        // write en singal
+        fshc_en_cmd(FSH_CMD_WR_EN);
+
+        // send write sta cmd
+        fshc_wr_sta(FSH_CMD_WR_STA, 1, val);
+        
+        bootDelayUs(12000);
+    }
+    
+    GLOBAL_INT_RESTORE();
+}
+
+
+/******************************************************************************
+ * Name:    CRC-16/MODBUS
+ * Poly:    0x8005  ( x16+x15+x2+1 )
+ * Init:    0xFFFF
+ * Refin:   True
+ * Refout:  True
+ * Xorout:  0x0000
+ *****************************************************************************/
+static uint16_t crc16_modbus(uint8_t *data, uint16_t length)
+{
+    uint8_t  i;
+    uint16_t crc = 0xFFFF; // Initial value
+
+    while (length--)
+    {
+        crc ^= *data++;
+        
+        for (i = 0; i < 8; ++i)
+        {
+            if (crc & 1)
+            {
+                crc = (crc >> 1) ^ 0xA001; // 0xA001 = reverse 0x8005
+            }
+            else
+            {
+                crc = (crc >> 1);
+            }
+        }
+    }
+
+    return crc;
+}
+
+void app_otas_rxd(uint16_t len, const uint8_t *data)
+{
+    // 接收20字节数据包
+    if (len > OTA_PKT_LEN){
+        len = OTA_PKT_LEN;
+    }
+
+    // memcpy(ota_recv_buf, data, ota_env.data_len);
+    for(uint16_t i = 0; i < OTA_PKT_LEN; i++){
+        ota_recv_buf[i] = data[i];
+    }
+    // uart_send(UART1_PORT ,len ,ota_recv_buf);
+    ota_env.new_data_flag = OTA_DATA_NEW;
+}
+
+void app_otas_txd(uint16_t len, const uint8_t *data){
+    uart_send(UART1_PORT ,len ,data);
+}
+
+tmr_tk_t ota_time_handle(uint8_t timeid){
+    ota_env.tick_cnt++;
+    DEBUG("sta:%d,tick_cnt:%d",ota_env.ota_sta, ota_env.tick_cnt);
+    if (ota_env.tick_cnt > OTA_MAX_TIMEOUT){
+        ota_env.tick_cnt = 0;
+        ota_env.ota_sta = OTA_ERROR;
+        ota_env.err_info = OTA_ERR_TIMEOUT;
+        DEBUG("time_handle -> OTA_TIMEOUT");
+        sftmr_clear(ota_env.time_id);
+    }else if (ota_env.ota_sta == OTA_IDLE){
+        DEBUG("time_handle -> OTA_IDLE");
+        ota_env.tick_cnt = 0;
+        sftmr_clear(ota_env.time_id);
+    }
+
+    return OTA_TIMER_TICK;
+}
+
+#define PEER_IDX (read16Swap(p_OTAData))
+#define PEER_CRC (read16Swap(p_OTAData + OTA_PKT_LEN - 2))
+#define PEER_DAT (p_OTAData + 2)
+
+uint32_t OTA_read32(const void *ptr32){
+    uint32_t value = (0xff & ((uint8_t *)ptr32)[0]) | ((0xff & ((uint8_t *)ptr32)[1]) << 8) | ((0xff & ((uint8_t *)ptr32)[2]) << 16) | ((0xff & ((uint8_t *)ptr32)[3]) << 24);
+    return value;
+}
+
+void app_ota_proc(void){
+    uint8_t *p_OTAData = ota_recv_buf;
+
+    switch (ota_env.ota_sta){
+        case OTA_IDLE:{
+            if (ota_env.new_data_flag == OTA_DATA_OLD){ //跳过旧包数据
+                return;
+            }
+            ota_env.new_data_flag = OTA_DATA_OLD;
+            if ((PEER_IDX == OTA_CMD_START) && (ota_env.err_info == OTA_ERR_NONE)){ //初始帧
+                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);
+                    ota_env.ota_sta = OTA_ERROR;
+                    ota_env.err_info = OTA_ERR_CRC;
+                    DEBUG("OTA_ERR_CRC");
+                    return;
+                }
+                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);
+                    uint32_t erase_end     = (ota_env.bank == OTA_BANK_B ? FLASH_SIZE : OTA_BANK_B);
+                    DEBUG("erase_offset:0x%X,erase_end:0x%X", erase_offset, erase_end);
+                    for (;erase_offset < erase_end; erase_offset += FLASH_SECTOR_SIZE){
+                        flash_sector_erase(erase_offset);
+                    }
+                    DEBUG("sector_erase OK");
+                    ota_env.ota_sta = OTA_START;
+                    ota_env.err_info = OTA_ERR_NONE;
+
+                    app_otas_txd(2, p_OTAData);//初始帧应答 FF01
+                }else{
+                    ota_env.ota_sta = OTA_ERROR;
+                    ota_env.err_info = OTA_ERR_BANK_ADDR;
+                    DEBUG("OTA_PACK_INVALID");
+                    return;
+                }
+            }
+        }break;
+        case OTA_START:{
+            DEBUG("OTA_START");
+            ota_env.ota_sta   = OTA_BUSY;
+            ota_env.err_info  = OTA_ERR_NONE;
+            ota_env.data_idx  = 0;
+            ota_env.tick_cnt  = 0;
+            if(0==ota_env.time_id)ota_env.time_id   = sftmr_start(OTA_TIMER_TICK, ota_time_handle);
+            // app_led_TurnOff(LED_Keyboard);
+            // app_led_Blink(LED_Mifare,200,200,0xffff);
+        }break;
+        case OTA_BUSY:{  //按扇区编程数据
+            if (ota_env.new_data_flag == OTA_DATA_OLD){ //跳过旧包数据
+                return;
+            }
+            ota_env.new_data_flag = OTA_DATA_OLD;
+
+            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);
+                ota_env.ota_sta = OTA_ERROR;
+                ota_env.err_info = OTA_ERR_CRC;
+                DEBUG("OTA_ERR_CRC");
+                return;
+            }
+            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;
+                memcpy(((uint8_t *)ota_wr_data + wr_data_pos), PEER_DAT, OTA_DATA_LEN);
+                if((ota_env.data_idx % OTA_DATA_LEN) == (OTA_DATA_LEN - 1)){
+                    DEBUG("ADDRW:0x%X,peer_idx:%d", wr_addr, ota_env.data_idx);
+                    flash_write(wr_addr, ota_wr_data, FLASH_PAGE_SIZE_WLEN);
+                }
+                ota_env.data_idx ++;
+                // ota_env.err_info = OTA_ERR_NONE;
+            }else if((PEER_IDX == OTA_CMD_END ) && (read16Swap(PEER_DAT) == (0xffff & (~read16Swap(PEER_DAT+2))))
+                                                             && (ota_env.data_idx == read16Swap(PEER_DAT) + 1)){//尾帧
+
+                // uint16_t txd_data = read16Swap(&PEER_IDX);
+                // app_otas_txd(2, (uint8_t *)&txd_data);
+
+                app_otas_txd(2, p_OTAData);//尾帧应答 FF02
+
+                // write remain data
+                if ((ota_env.data_idx % OTA_DATA_LEN) != 0){
+                    uint32_t wr_addr = (ota_env.data_idx / OTA_DATA_LEN) * FLASH_PAGE_SIZE + ota_env.bank;
+                    DEBUG("ADDRW:0x%X,ota_app_idx:%d", wr_addr, ota_env.data_idx);
+                    flash_write(wr_addr, ota_wr_data, FLASH_PAGE_SIZE_WLEN);
+                }
+                DEBUG("OTA_success");
+            
+#if (CFG_USE_LOAD)
+                DEBUG("data_idx:%d", ota_env.data_idx);
+                memset((uint8_t *)ota_wr_data, 0xFF, sizeof(ota_wr_data));
+                ota_wr_data[0] = 0x55AA5AA5;
+                ota_wr_data[1] = (ota_env.data_idx * 16);
+                ota_wr_data[2] = OTA_BANK_B_BASE;
+
+                flash_page_erase(OTA_BANK_B - FLASH_PAGE_SIZE);
+                flash_write(OTA_BANK_B - FLASH_PAGE_SIZE, ota_wr_data, FLASH_PAGE_SIZE_WLEN);
+#else
+                flash_wr_protect(0x00);
+                
+                flash_read(FLASH_INFO_PAGE, ota_wr_data, FLASH_PAGE_SIZE_WLEN);
+                ota_wr_data[1] = ota_env.data_idx * 16;
+                ota_wr_data[2] = ota_env.bank | FLASH_BASE;
+
+                flash_page_erase(FLASH_INFO_PAGE);
+                flash_write(FLASH_INFO_PAGE, ota_wr_data, FLASH_PAGE_SIZE_WLEN);
+                
+                flash_wr_protect(0x64);
+#endif
+                ota_env.ota_sta   = OTA_IDLE;
+                ota_env.err_info  = OTA_ERR_NONE;
+                ota_env.data_idx  = 0;
+                ota_env.tick_cnt  = 0;
+
+                // app_led_TurnOn(LED_Keyboard);
+                // app_led_Blink(LED_Mifare,80,80,0xffff);
+                bootDelayMs(5000);
+                NVIC_SystemReset();
+            }else{//数据索引错误
+                DEBUG("IDX_ERR:env_idx:0x%04X,peer_idx:0x%04X-0x%04X=0x%04X", ota_env.data_idx, PEER_IDX,read16Swap(PEER_DAT),(0xffff & (~read16Swap(PEER_DAT+2))));
+                ota_env.ota_sta = OTA_ERROR;
+                ota_env.err_info = OTA_ERR_INDEX;
+                DEBUG("INDEX_ERROR");
+                return;
+            }
+        } break;
+        case OTA_ERROR:{
+            if(OTA_ERR_NONE != ota_env.err_info){
+                DEBUG("ERROR_CODE:0x%x", ota_env.err_info);
+
+                ota_env.err_info = read16Swap((void *)&ota_env.err_info);
+                app_otas_txd(2, (uint8_t *)&ota_env.err_info);//错误帧应答 5501~5507
+
+                // app_led_Blink(LED_Keyboard,200,200,10);//4S
+                // app_led_Blink(LED_Mifare,200,200,10);
+
+                ota_env.ota_sta         = OTA_IDLE;
+                // ota_env.new_data_flag   = OTA_DATA_OLD;
+                ota_env.data_idx        = 0;
+                ota_env.err_info        = OTA_ERR_NONE;
+                ota_env.tick_cnt        = 0;
+                DEBUG("OTA_IDLE");
+                // NVIC_SystemReset();
+            }
+        }break;
+        default:
+            break;
+    }
+}
+
+bool app_is_ota_proc(void){
+    return (ota_env.ota_sta != OTA_IDLE);
+}
+
+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;
+    ota_env.data_idx       = 0;
+    ota_env.err_info       = OTA_ERR_NONE;
+    ota_env.tick_cnt       = 0;
+    ota_env.time_id        = TMR_ID_NONE;
+}
+
+void app_ota_init(void){
+    ota_env_init();
+    
+    #if (CFG_USE_LOAD)
+    ota_env.bank = OTA_BANK_B;
+    #else
+    uint32_t curr_code_addr = RD_32(FLASH_INFO_CODE_ADDR);
+    DEBUG("Curr Addr:0x%x", curr_code_addr);
+    ota_env.bank = FLASH_ADDR_INVALID;
+    if(curr_code_addr == OTA_BANK_A_BASE){
+        ota_env.bank = OTA_BANK_B;
+    }
+    else if(curr_code_addr == OTA_BANK_B_BASE){
+        ota_env.bank = OTA_BANK_A;
+    }
+    #endif
+    // app_led_Blink(LED_Keyboard,200,200,0xffff);
+    // app_led_TurnOff(LED_Mifare);
+                            
+    DEBUG("OTA_BANK:0x%x", ota_env.bank);
+}

projects/blezongkong/src/app_ota.h

@@ -0,0 +1,12 @@
+#ifndef _APP_OTA_H_
+#define _APP_OTA_H_
+
+#include <stdbool.h>
+
+void app_ota_init(void);
+void app_ota_proc(void);
+bool app_is_ota_proc(void);
+
+void app_otas_rxd(uint16_t len, const uint8_t *data);
+
+#endif  

projects/blezongkong/src/app_radar.c

@@ -4,192 +4,10 @@
 #include "app_radar.h"
 #include "sftmr.h"
 
+#include "CRCxx.h"
+
 #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;
-
-bool radar_flag=0;
-uint8_t radar_flag_cnt=0;
-
-// uint8_t radar_str[50]={0,0},radar_str_len=0;
-
-// 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) | (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++;
-        }
-    }
-
-    if(radar_flag == 1){
-        // radar_str_len =sprintf((char *)radar_str, "F=%d,B=%d\n", radar_daraframe.Front_data ,radar_daraframe.Back_data);
-        // uart_send(UART1_PORT,radar_str_len,radar_str);
-        radar_flag = 0;
-    }    
-    if(Get_Status(OUT_Door_lock) && !(PAD_Manager_Mode || Get_Status(IN_Manager_Mode))){
-        if(Get_Status(IN_Back)){//如果是倒车状态
-#if (0 ==RADAR_MODE)
-            // uint8_t data[8]={0x02,0x03,0x01,0x00,0x00,0x01,0x85,0xC5};//读取处理值数据//520ms
-            uint8_t data[8]={0x02,0x03,0x01,0x01,0x00,0x01,0xD4,0x05};////读取实时值数据//120ms
-#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;
-            radar_daraframe.Back_data=0xffff;
-            uart_send(UART1_PORT,8,data);
-        }else{
-#if (0 ==RADAR_MODE)
-            // uint8_t data[8]={0x01,0x03,0x01,0x00,0x00,0x01,0x85,0xf6};//读取处理值数据//520ms
-            uint8_t data[8]={0x01,0x03,0x01,0x01,0x00,0x01,0xD4,0x36};//读取实时值数据//120ms
-#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;
-            radar_daraframe.Front_data=0xffff;
-            uart_send(UART1_PORT,8,data); 
-        }
-
-        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((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);
-            }
-            SYS_AUTO_brake =0;
-            SYS_AUTO_Speed_Cut=1;
-        }else{
-            if(SYS_AUTO_brake || SYS_AUTO_Speed_Cut){
-                Time_Event_Off(Buzzer_Event,NULL);
-            }
-            SYS_AUTO_brake =0;
-            SYS_AUTO_Speed_Cut=0;
-        }
-    }else{
-        if(SYS_AUTO_brake || SYS_AUTO_Speed_Cut){
-            Time_Event_Off(Buzzer_Event,NULL);
-        }
-        SYS_AUTO_brake =0;
-        SYS_AUTO_Speed_Cut=0;
-    }
-radar_end:
-    return _MS(300);//300ms
-}
-
-// 雷达测离初始化
-void app_radar_init(void){
-    // sftmr_init(); //main函数中已初始化
-    radar_timer_tmr_id = sftmr_start(10, radar_timer_handler);
-}
-
-#if (1 ==BLE_ENABLE)
-extern uint16_t Front_data;
-extern uint16_t Back_data;
-#endif
-
-uint8_t radar_buff[10],radar_state;
-uint16_t i;
-
-// 串口数据接收
-void app_radar_Receive(uint8_t data){
-    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;
-                i=0;
-            }else {
-                radar_state = 0;
-                radar_buff[0]=0;
-            }
-        break;
-        case 3://data
-            radar_buff[3+i] =data;
-            i++;
-            if(i==2){
-                i=0;
-                radar_state = 4;
-            }
-            
-        break;
-        case 4://crc16
-            radar_buff[5+i] =data;
-            i++;
-            if(i==2){
-                uint16_t crc16 =crc16_checkout(radar_buff,5);
-                if(crc16 == (((uint16_t)radar_buff[6] << 8 ) | radar_buff[5])){
-                    if(0x01 == radar_buff[0]){
-                        radar_daraframe.Front_data = ((uint16_t)radar_buff[3] << 8 ) | radar_buff[4];
-#if (1 ==BLE_ENABLE)
-                        Front_data=radar_daraframe.Front_data;
-#endif
-                    }else if(0x02 == radar_buff[0]){
-                        radar_daraframe.Back_data =  ((uint16_t)radar_buff[3] << 8 ) | radar_buff[4];  
-#if (1 ==BLE_ENABLE)                        
-                        Back_data=radar_daraframe.Back_data;
-#endif                        
-                    }
-                    radar_flag = 1;
-                }
-                i=0;
-                radar_state = 0;
-                radar_buff[0]=0;
-            }
-        break;
-    }
-}
-*/
-
 #define DBG_RADAR_EN  0
 
 #if (DBG_RADAR_EN)
@@ -208,82 +26,37 @@ 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;
+    uint16_t Brake_Distance     = ((radar_id == RADAR_ID_Back )? sys_conf.Brake_DLimit_B : sys_conf.Brake_DLimit);
     // 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;
+    uint16_t Speed_Cut_Distance = ((radar_id == RADAR_ID_Back )? sys_conf.Speed_Cut_DLimit_B : sys_conf.Speed_Cut_DLimit);
 
     if((35 < Car_Distance) && Car_Distance < Brake_Distance){//小于自动刹车距离时
-        if(!SYS_AUTO_brake){
+        if(!sys_sta.A_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;
+        sys_sta.A_brake =1;//使能自动刹车
+        sys_sta.A_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){
+        if(sys_sta.A_brake || !sys_sta.A_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
+        sys_sta.A_brake =0;
+        sys_sta.A_Speed_Cut=1;//使能自动减速
     }else{
-        if(SYS_AUTO_brake || SYS_AUTO_Speed_Cut){
+        if(sys_sta.A_brake || sys_sta.A_Speed_Cut){
             Time_Event_Off(Buzzer_Event,NULL);
         }
-        SYS_AUTO_brake =0;
-        SYS_AUTO_Speed_Cut=0;
+        sys_sta.A_brake =0;
+        sys_sta.A_Speed_Cut=0;
     }
-     DEBUG("\r\nAB:%d,AS:%d\r\n", SYS_AUTO_brake, SYS_AUTO_Speed_Cut);
 }
 
-uint8_t radar_flag_cnt=0;
-
 static uint8_t new_state_cnt=3;//标记状态是否变化
 
-// 雷达开关 //0:关 1:开
-bool radar_ONOFF =1;
-
-
 // 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 > 8){
-            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;
-            return _MS(250);//300ms
-        }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
@@ -298,18 +71,18 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
         new_state_cnt--;
     }
     // 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)) && (1 == radar_ONOFF)){
+    if((0x01 == (sys_sta.Pmode | sys_sta.Smode)) && sys_sta.P_Radar_EN){
         // 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);
+        DEBUG("SendCMD:ID=%#02x", SYS_Back_STA ? RADAR_ID_Back : RADAR_ID_Front);
+        app_radar_Sendcmd(SYS_Back_STA ? RADAR_ID_Back : RADAR_ID_Front,RADAR_MODE_Real);
         new_state_cnt =3;
         radar_CMDSend_cnt++;
     }
 
-    return _MS(150);//300ms
+    return _MS(140);//300ms
 }
 
-static uint8_t radar_buff[9];
+static uint8_t radar_buff[RADAR_BUFF_MAX];
 
 // 数据接收
 void app_radar_Receive(uint8_t data){
@@ -353,7 +126,7 @@ void app_radar_Receive(uint8_t data){
             radar_buff[5+cnt] =data;
             cnt++;
             if(cnt==2){
-                uint16_t crc16 =crc16_checkout(radar_buff,5);
+                uint16_t crc16 =crc16_modbus(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];
@@ -370,13 +143,6 @@ 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){
-
-    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];
 
@@ -387,10 +153,10 @@ void app_radar_Sendcmd(uint8_t radar_id , uint8_t radar_mode){
     data[len++] = 0x00;
     data[len++] = 0x01;
 
-    uint16_t crc16 =crc16_checkout(data,len);
+    uint16_t crc16 =crc16_modbus(data,len);
     data[len++] = crc16 & 0xff;
     data[len++] = (crc16 >> 8) & 0xff;
-    uart_send(UART1_PORT,len,data);
+    uart_send(UART2_PORT,len,data);
 }
 
 // 雷达测离初始化
@@ -400,4 +166,3 @@ void app_radar_init(void){
     // sftmr_init(); //main函数中已初始化
     sftmr_start(10, radar_timer_handler);
 }
-

projects/blezongkong/src/app_radar.h

@@ -2,8 +2,7 @@
 #define _RADAR_H_
 #include "sftmr.h"
 
-#define BUFF_MAX 10
-
+#define RADAR_BUFF_MAX  9
 
 typedef struct radar_daraframe{
 	volatile uint16_t Front_data;
@@ -25,22 +24,13 @@ typedef struct radar_data{
     uint16_t distance;
 } radar_data_t;
 
-extern radar_daraframe_t radar_daraframe;
-extern uint8_t radar_buff[];
-extern uint8_t Rec_lenght;
-
-// 雷达开关 //0:关 1:开
-extern bool radar_ONOFF;
+extern radar_data_t radar_data;
 
 // 雷达测离初始化
 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/app_uart.c

@@ -2,8 +2,11 @@
 #include "drvs.h"
 #include "dbg.h"
 #include "rbuf.h"
+
 #include "sys_config.h"
 
+#include "app_PAD.h"
+
 void app_uart_Init(uint8_t port, uint32_t baudrate, uint8_t io_tx, uint8_t io_rx)
 {
     uart_init(port, io_tx, io_rx);
@@ -14,215 +17,25 @@ 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;
     
-//CRC-8/MAXIM：x8+X5+X4+1
-uint8_t crc8_checkout(uint8_t *buff, uint8_t length)
-{
-    uint8_t i;
-    uint8_t crc = 0; //initial value
+//     if (state & 0x01) //(BIT_RXRD)
+//     {
+//         UART1->IDR.RXRD = 1; // Disable RXRD Interrupt
+//         uint8_t data = UART1->RBR;
         
-    while (length--) {
-        crc ^= *buff++; //crc ^= *buff; buff++;
-        for(i = 0; i < 8; i++) {
-            if(crc & 1)
-                crc = (crc >> 1) ^ 0x8C; //0x8C = reverse 0x31
-            else
-                crc >>= 1;
-        }
-    }
-    return crc;
-}
-
-// CRC-16/MODBUS polynomial: x^16 + x^15 + x^2 + 1 (0x8005)
-uint16_t crc16_checkout(uint8_t *buff, uint16_t length) {
-    uint8_t i;
-    uint16_t crc = 0xffff; // Initial value
-    while (length--)
-    {
-        crc ^= *buff++;
-        for (i = 0; i < 8; ++i)
-        {
-            if (crc & 1)
-                crc = (crc >> 1) ^ 0xA001; // 0xA001 = reverse 0x8005
-            else
-                crc = (crc >> 1);
-        }
-    }
-    return crc;
-}
-
-
-
-uart_daraframe_t uart1_daraframe;
-volatile uint8_t uart1_state =0;
-volatile uint8_t uart1_data_cnt =0;
-
-bool uart2_Back_car=0;
-
-static void app_uart1_hande(void){
-    uint8_t ret_data[MAX_LEN]={0,0};
-    uint8_t length=0;
-
-    switch(uart1_daraframe.cmd_id){
-        case 0x01: // 配置系统参数
-            sys_conf_info.M_mode_sLim= uart1_daraframe.data[0];
-            sys_conf_info.U_mode_sLim= uart1_daraframe.data[1];
-            sys_conf_info.AUTO_Brake_Distance= uart1_daraframe.data[2];
-            sys_conf_info.AUTO_Speed_Cut_Distance= uart1_daraframe.data[3];
-            sys_conf_info.AUTO_Brake_Distance_B= uart1_daraframe.data[4];
-            sys_conf_info.AUTO_Speed_Cut_Distance_B= uart1_daraframe.data[5];
-            write_cfg(&sys_conf_info);
-        case 0x02: // 读取系统配置
-            ret_data[length++]=sys_conf_info.M_mode_sLim;
-            ret_data[length++]=sys_conf_info.U_mode_sLim;
-            ret_data[length++]=sys_conf_info.AUTO_Brake_Distance;
-            ret_data[length++]=sys_conf_info.AUTO_Speed_Cut_Distance;
-            ret_data[length++]=sys_conf_info.AUTO_Brake_Distance_B;
-            ret_data[length++]=sys_conf_info.AUTO_Speed_Cut_Distance_B;
-            
-            app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,0x01,ret_data,length);
-        break;
-        case 0x03: //0 命令控制进入管理员模式//1 命令控制进入游客模式
-            PAD_Manager_Mode =uart1_daraframe.data[0];
-            PAD_User_Mode =uart1_daraframe.data[1];
-            if(1==PAD_User_Mode && 1==PAD_Manager_Mode){
-                PAD_User_Mode=0;
-                PAD_Manager_Mode=1;
-            }
-            app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,0x01,uart1_daraframe.data,uart1_daraframe.length);
-        break;
-        case 0x04: 
-            ret_data[length++] =BAT_Message.Bat_STA; // 电池状态
-            ret_data[length++] =BAT_Message.Bat_Voltage >> 8; //电池电压
-            ret_data[length++] =BAT_Message.Bat_Voltage & 0xff;
-            ret_data[length++] =get_in_acc_percent();// 当前油门百分比
-            ret_data[length++] =radar_daraframe.Front_data /100;// 前雷达距离信息
-            ret_data[length++] =radar_daraframe.Back_data/100;// 后雷达距离信息
-            // 读取系统配置
-            ret_data[length++]=sys_conf_info.M_mode_sLim;
-            ret_data[length++]=sys_conf_info.U_mode_sLim;
-            ret_data[length++]=sys_conf_info.AUTO_Brake_Distance;
-            ret_data[length++]=sys_conf_info.AUTO_Speed_Cut_Distance;
-            ret_data[length++]=sys_conf_info.AUTO_Brake_Distance_B;
-            ret_data[length++]=sys_conf_info.AUTO_Speed_Cut_Distance_B;
-            ret_data[length++] =(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,0x4,0x01,ret_data,length);
-        break;
-        case 0x05: //0 关闭雷达//1 启用雷达
-            radar_ONOFF = 0 == uart1_daraframe.data[0] ? 0 : 1;
-            app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,0x01,uart1_daraframe.data,uart1_daraframe.length);
-        break;
-        default :
-            app_uart_Sendcmd(UART1_PORT,uart1_daraframe.cmd_id,uart1_daraframe.reg_addr,uart1_daraframe.data,uart1_daraframe.length);
-        break;
-        /*
-            其他功能....
-        */
-    }
-    uart1_state =0;//数据处理完要清零，准备接收下一帧数据
-}
-
-static void uart1_Receive(uint8_t data)
-{
-    uint8_t *frame = (uint8_t *)&uart1_daraframe;
-
-    switch(uart1_state){
-        case 0://header
-            if ((data == (uint8_t)(FRAME_HEADER >> 8)) && (uart1_daraframe.header == 0x0)) {
-                uart1_daraframe.header = (FRAME_HEADER >> 8);
-            } else if ((data == (uint8_t)(FRAME_HEADER & 0x00FF)) && (uart1_daraframe.header == (uint8_t)(FRAME_HEADER >> 8))) {
-                uart1_daraframe.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100;
-                uart1_daraframe.length = 0;
-                uart1_state = 1;//to cmd id
-                //debug("header");
-            }
-        break;
-        case 1://cmd_id
-            //debug("rxcmd:%x", data);
-            uart1_daraframe.cmd_id = data;
-            uart1_state = 2;//to device addr
-        break;
-        case 2://reg addr
-            //debug("reg_addr");
-            uart1_daraframe.reg_addr = data;
-            uart1_state = 3;//to data length
-        break;
-        case 3://data length
-            //debug("length");
-            uart1_daraframe.length = (data < MAX_LEN) ? data : MAX_LEN;
-            if (uart1_daraframe.length == 0) {
-                uart1_state = 5;//to crc
-            } else {
-                uart1_state = 4;//to data
-                uart1_data_cnt = 0;
-            }
-        break;
-        case 4://data
-            //debug("data");
-            if (uart1_data_cnt < uart1_daraframe.length) {
-                uart1_daraframe.data[uart1_data_cnt++] = data;
-            }
-            if (uart1_data_cnt == uart1_daraframe.length) {
-                uart1_data_cnt = 0;
-                uart1_state = 5;//to crc
-            }
-        break;
-        case 5://CRC8
-            uart1_daraframe.crc = crc8_checkout(frame, 5 + uart1_daraframe.length);
-#if DISABLE_CRC8            
-            uart1_daraframe.crc = data;
-#endif
-            //计算并验证crc8
-            if (uart1_daraframe.crc == data) {
-                uart1_state = 6;//to ack
-                //debug("crc correct cmd:%x", uart1_daraframe.cmd_id);
-            } else {
-                uart1_state = 0;//to haeder
-                uart1_daraframe.header = 0;
-                //debug("crc error cmd:%x-%x", uart1_daraframe.cmd_id, uart1_daraframe.crc);
-            }
-        break;
-    }
-    // uart_putc(UART1_PORT,data);//debug
-    // uart_putc(UART1_PORT,'0'+uart1_state);
-    if(uart1_state == 6){
-        uart1_daraframe.header = 0;
-        uart1_state = 7;//数据处理完，需要将状态位归零，才会接收下一帧数据，即：uart1_state =0时。
-        app_uart1_hande();
-        uart1_state =0;
-        /*
-            rx handler codes....
-        */
-    }
-}
-
-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;
-        app_radar_Receive(data);
-        uart1_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*****************************************************
 */
 
-static void uart2_Receive(uint8_t data)
-{
-
-}
-
 void UART2_IRQHandler(void)
 {
     uint32_t state = UART2->IFM.Word; // UART2->RIF.Word;
@@ -230,33 +43,11 @@ void UART2_IRQHandler(void)
     if (state & 0x01) //(BIT_RXRD)
     {
         UART2->IDR.RXRD = 1; // Disable RXRD Interrupt
+        uint8_t data = UART2->RBR;
 
-        uart2_Receive(UART2->RBR);
+        app_radar_Receive(data);
         UART2->ICR.RXRD = 1; // Clear RXRD Interrupt Flag
         UART2->IER.RXRD = 1; // Enable RXRD Interrupt
     }
 }
 
-//发送命令
-void app_uart_Sendcmd(uint8_t port, volatile uint8_t cmd_id ,volatile uint8_t reg_addr ,volatile uint8_t *data, volatile uint8_t length)
-{
-    uart_daraframe_t frame;
-    uint8_t *cmd_data =(uint8_t *)&frame;
-    uint8_t i;
-
-	frame.header = ((uint16_t)((FRAME_HEADER << 8)|(FRAME_HEADER >> 8)));//0xA100
-	frame.cmd_id = cmd_id;
-	frame.reg_addr = reg_addr;
-	frame.length = length < MAX_LEN ? length:MAX_LEN;
-
-    for(i = 0;i < frame.length ;i ++){
-        frame.data[i] = * data++;
-    }
-    length =5 + frame.length;
-	frame.crc = crc8_checkout(cmd_data, length);
-	while(length--)
-	    uart_putc(port, (uint32_t)(*cmd_data ++));
-    uart_putc(port, (uint32_t)(frame.crc));
-}
-
-

projects/blezongkong/src/app_uart.h

@@ -9,8 +9,8 @@
 
 #define MAX_LEN 32
 
-//1:失能数据校验
-#define DISABLE_CRC8 0
+//0:失能数据校验
+#define ENABLE_CRC8 1
 
 typedef struct uart_daraframe
 {

projects/blezongkong/src/app_ws2812.c

@@ -2,9 +2,9 @@
 #include "drvs.h"
 #include "dbg.h"
 #include "app_ws2812.h"
+#include "sys_config.h"
 
-
-#define OUT_GRB_WS2812_DIN PA02
+#define OUT_GRB_WS2812_DIN RGB_DATA_IO
 
 uint32_t ___WS2812_DIN___ =1<< OUT_GRB_WS2812_DIN;
 //0x02 = 1<<PA01
@@ -37,6 +37,7 @@ void GRB_WS2812_Write_24Bits(uint32_t GRB888)
 {
 	uint32_t i;
 
+	__disable_irq();
 	for(i=0x800000;i!=0;i>>=1){
 		WS2812_DIN_H;
 		if(GRB888 & i ){
@@ -49,7 +50,7 @@ void GRB_WS2812_Write_24Bits(uint32_t GRB888)
 		}
 		WS2812_DIN_L;
 	}
-	
+	__enable_irq();
 }
 
 void GRB_WS2812_Write_GRBs(uint8_t len, uint32_t *GRB888)

projects/blezongkong/src/app_ws2812.h

@@ -14,9 +14,41 @@ typedef struct BLE_GRB_Data{
     uint32_t GRBs;
 } BLE_GRB_Data_t;
 
-#define GRB_RED     0x00ff00;
-#define GRB_GREEN   0xff0000;
-#define GRB_BLUE    0x0000ff;
+#define GRB_RED     0x00ff00
+#define GRB_GREEN   0xff0000
+#define GRB_BLUE    0x0000ff
+#define GRB_WHITE   0xffffff
+#define GRB_BLACK   0x000000
+#define GRB_YELLOW  0xffff00
+#define GRB_CYAN    0x00ffff
+#define GRB_MAGENTA 0xff00ff
+#define GRB_ORANGE  0x2B73F5//0xa5ff00
+#define GRB_PURPLE  0x800080
+#define GRB_PINK    0xffc0cb
+#define GRB_BROWN   0xa52a2a
+#define GRB_GRAY    0x808080
+#define GRB_LIGHT_BLUE 0xadd8e6
+#define GRB_DARK_BLUE  0x00008b
+#define GRB_LIGHT_GREEN 0x90ee90
+#define GRB_DARK_GREEN  0x006400
+#define GRB_LIGHT_RED   0xffc0cb
+#define GRB_DARK_RED    0x8b0000
+#define GRB_LIGHT_YELLOW 0xffffe0
+#define GRB_DARK_YELLOW  0xffa500
+#define GRB_LIGHT_CYAN  0xe0ffff
+#define GRB_DARK_CYAN   0x008b8b
+#define GRB_LIGHT_MAGENTA 0xffa07a
+#define GRB_DARK_MAGENTA  0x8b008b
+#define GRB_LIGHT_ORANGE 0xffa500
+#define GRB_DARK_ORANGE  0xff8c00
+#define GRB_LIGHT_PURPLE 0x800080
+#define GRB_DARK_PURPLE  0x663399
+#define GRB_LIGHT_PINK   0xffc0cb
+#define GRB_DARK_PINK    0xff1493
+#define GRB_LIGHT_BROWN  0xa52a2a
+#define GRB_DARK_BROWN   0x663300
+#define GRB_LIGHT_GRAY   0xd3d3d3
+#define GRB_DARK_GRAY    0x808080
 
 
 extern BLE_GRB_Data_t WS2812_GRBs;

projects/blezongkong/src/cfg.h

@@ -14,7 +14,7 @@
 /// System Clock(0=16MHz, 1=32MHz, 2=48MHz, 3=64MHz)
 #define SYS_CLK                (0)
 /// Debug Mode(0=Disable, 1=via UART, 2=via RTT)
-#define DBG_MODE               (0)
+#define DBG_MODE               (1)
 
 #define UART_IRQ_MODE       (0)
 #define UART_RTS_CTRL       (1)

projects/blezongkong/src/main.c

@@ -8,19 +8,25 @@
 
 #include "prf_sess.h"
 #include "sys_config.h"
+#include "app_modbus.h"
+
+
+#define DBG_MAIN_EN  1
+
+#if (DBG_MAIN_EN)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[MAIN]" format "\r\n", ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+#define debugHex(dat, len)
+#endif
 
 
 void HardFault_Handler(void){
-    debug("HardFault_Handler\r\n");
+    DEBUG("HardFault_Handler\r\n");
     NVIC_SystemReset();
 }
 
-#define FLASH_INFO_CODE_ADDR  (FLASH_BASE + 0x08)
-#define OTA_BANK_A_BASE       (0x18004000)
-#define OTA_BANK_B_BASE       (0x18020000)
-#define OTA_BANK_A            (OTA_BANK_A_BASE - FLASH_BASE)
-#define OTA_BANK_B            (OTA_BANK_B_BASE - FLASH_BASE)
-
 
 BLE_GRB_Data_t BLE_WS2812_GRBs;
 
@@ -60,12 +66,14 @@ static void sysInit(void)
     APBMISC->XOSC16M_CTRL.XOSC16M_CAP_TR = 0x22;
 }
 
-static void devInit(void)
-{
+static void devInit(void){
     uint16_t rsn = rstrsn();
     
+	iospc_rstpin(true);// 复用为GPIO
+
     // dbgInit();
-    // debug("Start(rsn:0x%X)...\r\n", rsn);    
+    DEBUG("Start(rsn:0x%X)...\r\n", rsn);// 复位原因
+
 #if (1 ==BLE_ENABLE)
     // Init BLE App
     app_init(rsn);
@@ -120,27 +128,6 @@ static tmr_tk_t test_timer_handler(tmr_id_t id){
 }
 #endif
 
-
-uint32_t bank;
-SYS_CONF_t sys_conf_info;
-
-__attribute__((section("ram_func.fshc.")))
-static void flash_sector_erase(uint32_t offset)
-{
-    GLOBAL_INT_DISABLE();
-    
-    while (SYSCFG->ACC_CCR_BUSY);
-    
-    fshc_erase(offset, FSH_CMD_ER_SECTOR);
-    
-    GLOBAL_INT_RESTORE();
-}
-
-void write_cfg(SYS_CONF_t *sys_config_info_t){
-  flash_sector_erase(bank);
-  flash_write(bank, (uint32_t *)sys_config_info_t,sizeof(SYS_CONF_t)/sizeof(uint32_t));
-}
-
 int main(void)
 {
     sysInit();
@@ -148,79 +135,99 @@ int main(void)
 
     // Global Interrupt Enable
     GLOBAL_INT_START();
+    /**************** 
+    bootDelayMs(2000);
+    gpio_dir_output(PA02, OE_HIGH);
+    gpio_dir_output(PA03, OE_HIGH);
+    gpio_dir_output(PA04, OE_HIGH);
+    gpio_dir_output(PA05, OE_HIGH);
+    gpio_dir_output(PA06, OE_HIGH);
+    gpio_dir_output(PA07, OE_HIGH);
+    gpio_dir_output(PA08, OE_HIGH);
+    gpio_dir_output(PA09, OE_HIGH);
+    gpio_dir_output(PA10, OE_HIGH);
+    gpio_dir_output(PA11, OE_HIGH);
+    gpio_dir_output(PA12, OE_HIGH);
+    gpio_dir_output(PA13, OE_HIGH);
+    gpio_dir_output(PA14, OE_HIGH);
+    gpio_dir_output(PA15, OE_HIGH);
+    gpio_dir_output(PA16, OE_HIGH);
+    gpio_dir_output(PA17, OE_HIGH);
+    gpio_dir_output(PA18, OE_HIGH);
+    gpio_dir_output(PA19, OE_HIGH);
 
-  uint32_t curr_code_addr = RD_32(FLASH_INFO_CODE_ADDR);
-    if(curr_code_addr == OTA_BANK_A_BASE)
-    {
-        bank = OTA_BANK_B;
+    while(1){
+        gpio_put(PA02, OE_HIGH);
+        gpio_put(PA03, OE_HIGH);
+        gpio_put(PA04, OE_HIGH);
+        gpio_put(PA05, OE_HIGH);
+        gpio_put(PA06, OE_HIGH);
+        gpio_put(PA07, OE_HIGH);
+        gpio_put(PA08, OE_HIGH);
+        gpio_put(PA09, OE_HIGH);
+        gpio_put(PA10, OE_HIGH);
+        gpio_put(PA11, OE_HIGH);
+        gpio_put(PA12, OE_HIGH);
+        gpio_put(PA13, OE_HIGH);
+        gpio_put(PA14, OE_HIGH);
+        gpio_put(PA15, OE_HIGH);
+        gpio_put(PA16, OE_HIGH);
+        gpio_put(PA17, OE_HIGH);
+        gpio_put(PA18, OE_HIGH);
+        gpio_put(PA19, OE_HIGH);
+        bootDelayMs(200);
+        gpio_put(PA02, OE_LOW);
+        gpio_put(PA03, OE_LOW);
+        gpio_put(PA04, OE_LOW);
+        gpio_put(PA05, OE_LOW);
+        gpio_put(PA06, OE_LOW);
+        gpio_put(PA07, OE_LOW);
+        gpio_put(PA08, OE_LOW);
+        gpio_put(PA09, OE_LOW);
+        gpio_put(PA10, OE_LOW);
+        gpio_put(PA11, OE_LOW);
+        gpio_put(PA12, OE_LOW);
+        gpio_put(PA13, OE_LOW);
+        gpio_put(PA14, OE_LOW);
+        gpio_put(PA15, OE_LOW);
+        gpio_put(PA16, OE_LOW);
+        gpio_put(PA17, OE_LOW);
+        gpio_put(PA18, OE_LOW);
+        gpio_put(PA19, OE_LOW);
+        bootDelayMs(200);
     }
-    else if(curr_code_addr == OTA_BANK_B_BASE)
-    {
-        bank = OTA_BANK_A;
-    }
-  // read config
-  // read flash
-  flash_read(bank, (uint32_t *)(&sys_conf_info),sizeof(sys_conf_info)/sizeof(uint32_t));
-
-  if(0xA5 !=sys_conf_info.HEAD){
-    sys_conf_info.HEAD=0xA5;
-    sys_conf_info.M_mode_sLim = M_DEFAULT_sLim,//read flash
-    sys_conf_info.U_mode_sLim = U_DEFAULT_sLim,//read flash
-    sys_conf_info.AUTO_Brake_Distance =DEF_AUTO_Brake_Distance,//自动刹车距离
-    sys_conf_info.AUTO_Speed_Cut_Distance =DEF_AUTO_Speed_Cut_Distance,//自动减速距离
-    sys_conf_info.AUTO_Brake_Distance_B =DEF_AUTO_Brake_Distance,//自动刹车距离
-    sys_conf_info.AUTO_Speed_Cut_Distance_B =DEF_AUTO_Speed_Cut_Distance,//自动减速距离
-    write_cfg(&sys_conf_info);
-  }
-  
-  
-  app_uart_Init(UART1_PORT,9600,PA06,PA07);//上位机//倒车雷达
-  // app_uart_Init(UART2_PORT,9600,20,PA03);
+    *****************/
     
+    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();
-
-  uint8_t str[50]={0,0},str_len=0;
-
-  str_len =sprintf((char *)str, "HEAD=%#X,M_s=%d,U_s=%d\n Brake=%d,Speed_Cut=%d\n Brake_B=%d,Speed_Cut_B=%d\n OKzsxfly", 
-                                                                                    sys_conf_info.HEAD, 
-                                                                                    sys_conf_info.M_mode_sLim,
-                                                                                    sys_conf_info.U_mode_sLim, 
-                                                                                    sys_conf_info.AUTO_Brake_Distance,
-                                                                                    sys_conf_info.AUTO_Speed_Cut_Distance, 
-                                                                                    sys_conf_info.AUTO_Brake_Distance_B,
-                                                                                    sys_conf_info.AUTO_Speed_Cut_Distance_B);
-  uart_send(UART1_PORT,str_len,str);
-
     GRB_WS2812_Init();
-
-  // GRB_WS2812_Write_color(WS2812_GRBs.len,0xff);
-  // bootDelayMs(1000);
-  // GRB_WS2812_Write_color(WS2812_GRBs.len,0x00);
-  // bootDelayMs(1000);
-  // GRB_WS2812_Write_color(WS2812_GRBs.len,0xff00);
-  // bootDelayMs(1000);
-  // GRB_WS2812_Write_color(WS2812_GRBs.len,0x00);
-  // bootDelayMs(1000);
-  // GRB_WS2812_Write_color(WS2812_GRBs.len,0xff0000);
-  // bootDelayMs(1000);
-
     BAT_Message_Init();
+    app_ota_init();
+
 #if (1 ==BLE_ENABLE)
   // ADC初始化
   sftmr_start(20, test_timer_handler);
 #endif
+
   while(1){
     // SoftTimer Polling
     sftmr_schedule();
+
 #if (1 ==BLE_ENABLE)
     // Schedule Messages & Events
     ble_schedule();
 #endif
+
     // User's Procedure
     // app_ble_procedure();
 
+    // OTA Procedure
+    app_ota_proc();
+
     Control_procedure();
     iwdt_feed();//喂狗
   }

projects/blezongkong/src/sys_config.c

@@ -0,0 +1,88 @@
+#include "b6x.h"
+#include "regs.h"
+#include "drvs.h"
+#include "dbg.h"
+#include "sftmr.h"
+#include "CRCxx.h"
+
+#include "bledef.h"
+#include "app.h"
+#include "prf_sess.h"
+
+#include "sys_config.h"
+
+#define DBG_CONF_EN  1
+
+#if (DBG_CONF_EN)
+#include "dbg.h"
+#define DEBUG(format, ...) debug("[CONF]" format "\r\n", ##__VA_ARGS__)
+#else
+#define DEBUG(format, ...)
+#define debugHex(dat, len)
+#endif
+
+
+SYS_CONF_t sys_conf;
+
+// __attribute__((section("ram_func.fshc.")))
+// static void flash_sector_erase(uint32_t offset)
+// {
+//     GLOBAL_INT_DISABLE();
+    
+//     while (SYSCFG->ACC_CCR_BUSY);
+    
+//     fshc_erase(offset, FSH_CMD_ER_SECTOR);
+    
+//     GLOBAL_INT_RESTORE();
+// }
+
+
+// 写配置
+void write_cfg(SYS_CONF_t *sys_config_info_t){
+	flash_page_erase(CONF_OFFSET_ADDR & 0x00FFFF00);
+
+	sys_config_info_t->CRC16 = crc16_modbus((uint8_t *)sys_config_info_t,sizeof(SYS_CONF_t)-2); //计算CRC16
+	DEBUG("Write: CRC16:%#04x",sys_config_info_t->CRC16);
+	flash_write(CONF_OFFSET_ADDR & 0x00FFFF00, (uint32_t *)sys_config_info_t,sizeof(SYS_CONF_t)/sizeof(uint32_t));
+}
+
+// 读配置 // 返回 0 成功 1 数据校验错误
+uint8_t read_cfg(SYS_CONF_t *sys_config_info_t){
+	uint16_t crc16;
+
+	flash_read(CONF_OFFSET_ADDR & 0x00FFFF00, (uint32_t *)sys_config_info_t,sizeof(SYS_CONF_t)/sizeof(uint32_t));
+
+	crc16 = crc16_modbus((uint8_t *)sys_config_info_t,sizeof(SYS_CONF_t)-2); //计算CRC16
+	DEBUG("READ: CRC16:%#04x ,CRC16_CAL:%#04x",sys_config_info_t->CRC16 ,crc16);
+
+	return ((sys_config_info_t->CRC16 == crc16) ? 0 : 1);
+}
+
+void conf_init(void){
+	// read config
+    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.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);
+    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\n",sys_conf.Speed_Cut_DLimit_B);
+}
+

projects/blezongkong/src/sys_config.h

@@ -5,26 +5,45 @@
 #include "stdio.h"
 #include "app_radar.h"
 #include "app_ws2812.h"
-#include "app_buzzer.h"
+#include "app_Time_Event.h"
 #include "app_bat.h"
+#include "app_PAD.h"
+#include "app_ota.h"
 
+// 存储在第1扇区第0页
+#define CONF_OFFSET_BASE (0x18001000) // 配置信息存储地址(以页为单位：0x100)
+#define CONF_OFFSET_ADDR (CONF_OFFSET_BASE - FLASH_BASE)
+
+// 必须4字节对齐
 typedef struct SYS_CONF{
-  uint32_t HEAD;
-  uint32_t M_mode_sLim;
-  uint32_t U_mode_sLim;
-  uint32_t AUTO_Brake_Distance;
-  uint32_t AUTO_Speed_Cut_Distance;
-  uint32_t AUTO_Brake_Distance_B;
-  uint32_t AUTO_Speed_Cut_Distance_B;
-
+    union{
+        uint16_t VERSION;           // 软件版本号
+        struct{
+            uint16_t SW_version:11;         // 软件版本序号
+            uint16_t HW_version:4;          // 硬件版本序号
+            uint16_t VER_type:1;        // 当前固件类型0：0x04000；1：0x20000
+        };
+    };
+    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)
+    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)
+    uint16_t Speed_Cut_DLimit_B;// 减速距离极限
+    uint16_t CRC16;             // 配置信息CRC16校验码
 }SYS_CONF_t;
 
-extern uint32_t bank;
-extern SYS_CONF_t sys_conf_info;
+extern SYS_CONF_t sys_conf;
 extern BAT_Message_t BAT_Message;
 
 // 写配置
 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
@@ -32,29 +51,44 @@ void write_cfg(SYS_CONF_t *sys_config_info_t);
 #define ACC_DOWN_Res 5.1    //下分压电阻
 
 // 电池ADC
-#define BAT_UP_Res  68.0  //上分压电阻（unit:KΩ)
-#define BAT_DOWN_Res 3.0  //下分压电阻
+#define BAT_UP_Res  197.0  //上分压电阻（unit:KΩ)
+#define BAT_DOWN_Res 4.7   //下分压电阻
 
 
-/*****************************速度************************/
-// 管理员模式默认速度极限(0-100%)
-#define M_DEFAULT_sLim 100
-// 游客模式默认速度极限(0-100%)
-#define U_DEFAULT_sLim 50
+/**************************系统版本**************************/
+// 软件本号
+#define SW_VERSION  (8)
+// 硬件本号
+#define HW_VERSION  (2)
+// 版本类型：0：0x04000；1：0x20000//不可修改
+#define VER_TYPE    ((0x18004000 ==RD_32(0x18000008))?0x0000:0x8000)
 
+#define SOFTWARE_ID    (((SW_VERSION & 0x07FF) | ((HW_VERSION & 0x0F)<<11)) & 0x7fff)
 
-/*****************************刹车************************/
-// 默认自动刹车距离0~45dm(分米)
-#define DEF_AUTO_Brake_Distance 10
-// 默认自动减速距离0~45dm
-#define DEF_AUTO_Speed_Cut_Distance 16
+#define D_Modbus_addr  0x37
+/************************油门(Unit:%)************************/
+// 管理员模式默认油门极限(0-100%)
+#define D_Manager_sLim 100
+// 游客模式默认油门极限(0-100%)
+#define D_Tourist_sLim 50
+// 减速油门极限(0-100%)(自动减速时油门极限)
+#define D_Speed_Cut_sLim 50
+/*****************刹车减速距离(前进)(Unit:mm)*****************/
+// 默认自动刹车距离35~4500mm(毫米)
+#define D_Brake_DLimit 1000
+// 默认自动减速距离35~4500mm
+#define D_Speed_Cut_DLimit 1600
+/*****************刹车减速距离(后退)(Unit:mm)*****************/
+// 默认自动刹车距离35~4500mm(毫米)
+#define D_Brake_DLimit_B 1000
+// 默认自动减速距离35~4500mm
+#define D_Speed_Cut_DLimit_B 1600
 
 
 /*****************************BLE************************/
 #define BLE_ENABLE  0
 
 
-
 /*****************************雷达************************/
 #define RADAR_MODE  0   // 0：电应普  1：FD07-3