277 lines
8.2 KiB
C
277 lines
8.2 KiB
C
#include "b6x.h"
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#include "drvs.h"
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#include "dbg.h"
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#include "sftmr.h"
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#include "sys_config.h"
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#include "stdio.h"
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#include "app_control_out.h"
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#define DBG_CONTROL_EN 1
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#if (DBG_CONTROL_EN)
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#include "dbg.h"
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#define DEBUG(format, ...) debug("[control]" format "\r\n", ##__VA_ARGS__)
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#else
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#define DEBUG(format, ...)
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#define debugHex(dat, len)
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#endif
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uint16_t ACC_Dmin ;
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uint16_t ACC_Dmax ;
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// 使能电平
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bool app_control_en[PA_MAX]={
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[OUT_12V_Control] =OE_HIGH, // 12V电源控制输出 /H:12V输出
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[OUT_Door_lock] =OE_HIGH, // 开锁 /H:开锁(同)
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[IO_MANAGER_MODE] =OE_LOW, // 管理员模式 /低电平触发
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[IO_BACK] =OE_LOW, // 倒车 /H:前进/L:后退
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[IO_AUTO_BRAKE] =OE_HIGH, // 自动刹车 /H:高使能
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[IO_BRAKE] =OE_LOW, // 制动 /L:低使能
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[IO_TTL_TX] =OE_LOW, // 串口发送
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[IO_TTL_RX] =OE_LOW, // 串口接收
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[OUT_BUZZER] =OE_HIGH, // 蜂鸣器输出 /H:蜂鸣器响
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[IO_INTERACTION] =OE_LOW, // 交互信号输入 （人体感应器） /L:低电平触发
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};
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sys_sta_t sys_sta;
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// 油门控制输入初始化/PA08/CH3
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// 电池电压检测/充电检测/PA04/CH7
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static void acc_in_bat_in_sadc_init(void)
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{
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// Analog Enable
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GPIO_DIR_CLR(GPIO08 | GPIO04 | GPIO02);
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// ADC
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iom_ctrl(PA08, IOM_ANALOG);//ACC//AIN7//油门
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// iom_ctrl(PA02, IOM_ANALOG);//ACC_FEEDBACK//AIN2//油门反馈
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iom_ctrl(PA04, IOM_ANALOG);//BAT//AIN3//电池电量
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// sadc init
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#if SADC_VREF==VREF_VDD
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sadc_init(SADC_ANA_VREF_VDD);//设置参考电压(3.3V)
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#elif SADC_VREF==VREF_1V2
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sadc_init(SADC_ANA_VREF_1V2);//设置参考电压(1.2V)
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#elif SADC_VREF==VREF_2V4
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sadc_init(SADC_ANA_VREF_2V4);//设置参考电压(2.4V)
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#endif
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uint16_t ACC_val=0;
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uint8_t time =0;
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// uint8_t len, dat[20];
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while(1){
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bootDelayMs(300);
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ACC_val =2*((SADC_VREF * sadc_read(SADC_CH_VDD33, 3))/1024);
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// len =sprintf((char *)dat,"\nVDD:%d\n",ACC_val);
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// uart_send(UART1_PORT,len,dat);
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// uart_send(UART1_PORT,len,dat);
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if(3000 <=ACC_val && 6 > time){ //&& 3500 >= ACC_val){
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break;
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}
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if(20 < time++){
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ACC_val=3300;
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break;
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}
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}
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ACC_ADC_init(ACC_val); //获取VDD33实际电压，纠正DAC输出电压误差
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}
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// 获取油门输入信号原始ADC值
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uint16_t get_in_acc_raw(void){
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return (sadc_read(ACC_IN_CH, 0));
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}
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// 获取油门输入电压信号（unit:mV)
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uint16_t get_in_acc_voltage(void){
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return ((((SADC_VREF * sadc_read(ACC_IN_CH, 3)) / 1024) / ACC_DOWN_Res) * (ACC_UP_Res + ACC_DOWN_Res));
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}
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// 获取输入油门百分比（unit:%)(踏板信号)
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uint16_t get_in_acc_percent(void){
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uint16_t acc_voltage =get_in_acc_voltage();
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if(900 > acc_voltage) {
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return 0;
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}else if(3800 < acc_voltage){
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return 100;
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}else{
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return ((acc_voltage-900)/29);
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// return (100*(acc_voltage - 900)/(3800-900));
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}
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}
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// 获取电池电压值（unit:V)
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float get_bat_voltage(void){
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return (((((SADC_VREF / 1000.0) * sadc_read(BAT_IN_CH, 3))/1024.0)/BAT_DOWN_Res)*(BAT_UP_Res+BAT_DOWN_Res));
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}
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// 油门调节输出初始化/PWM4/PA05
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static void acc_out_pwm_init(void){
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iom_ctrl(PA05, IOM_SEL_TIMER);
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// CTMR
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pwm_init(PWM_CTMR, 15, 1023);//fo =16MHz /((15+1)*(1023+1))
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pwm_chnl_cfg_t chnl_conf;
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chnl_conf.duty = 0;
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chnl_conf.ccer = PWM_CCER_SIPH;
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chnl_conf.ccmr = PWM_CCMR_MODE1;
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pwm_chnl_set(PWM_CTMR_CH4, &chnl_conf);
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pwm_start(PWM_CTMR);
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}
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// 设置输出油门大小
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void set_out_acc_percent(uint8_t percent){
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pwm_duty_upd(PWM_CTMR_CH4 , ACC_PERCENT(percent));
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}
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//中控控制IO初始化
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void app_control_init(void){
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// IO init
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gpio_dir_output(OUT_12V_Control,OE_LOW);// 12V电源控制输出 /H:12V输出
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gpio_dir_input(OUT_12V_Control,IE_UP);
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gpio_dir_output(OUT_Door_lock,OE_LOW); // 电门锁 /H:开锁
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gpio_dir_input(OUT_Door_lock,IE_UP);
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gpio_dir_output(IO_MANAGER_MODE,OE_HIGH);// 管理员模式 /边沿触发
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gpio_dir_input(IO_MANAGER_MODE,IE_UP);
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gpio_dir_output(IO_BACK,OE_HIGH);// 倒车 /H:前进/L:后退
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gpio_dir_input(IO_BACK,IE_UP);
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gpio_dir_output(IO_AUTO_BRAKE,OE_HIGH); // 自动刹车 /H:高使能
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gpio_dir_input(IO_AUTO_BRAKE,IE_UP);
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gpio_dir_output(IO_BRAKE,OE_LOW); // 制动 /L:低使能
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gpio_dir_input(IO_BRAKE,IE_UP);
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gpio_dir_input(IO_TTL_TX,IE_UP); // 串口发送
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gpio_dir_input(IO_TTL_RX,IE_UP); // 串口接收
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gpio_dir_output(OUT_BUZZER,OE_LOW); // 蜂鸣器输出
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gpio_dir_output(IO_INTERACTION,OE_HIGH);
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gpio_dir_input(IO_INTERACTION,IE_UP); // 交互信号输入 （人体感应器）
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//默认都失能
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Set_Status(OUT_12V_Control,0);
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Set_Status(OUT_Door_lock,0);
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Set_Status(IO_AUTO_BRAKE,0);
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Set_Status(IO_BRAKE,0);
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Set_Status(OUT_BUZZER,0);
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// // EXTI config
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// exti_init(EXTI_DBC(15, 4));
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// exti_set(EXTI_FTS, EXTI_SRC(IO_INTERACTION) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE)); // falling
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// exti_set(EXTI_DBE, EXTI_SRC(IO_INTERACTION) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE));
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// exti_set(EXTI_IER, EXTI_SRC(IO_INTERACTION) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE));
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// IRQ enable
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// NVIC_EnableIRQ(EXTI_IRQn);
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// sys_sta.Pmode = 0;
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sys_sta.Manager =0;
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sys_sta.Tourist =0;
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// sys_sta.Smode = 0;
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sys_sta.IOgps = 0;
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sys_sta.IOmanager = Get_Status(IO_MANAGER_MODE);
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sys_sta.I_interaction = Get_Status(IO_INTERACTION);
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sys_sta.A_brake = Get_Status(IO_AUTO_BRAKE);
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sys_sta.I_back = Get_Status(IO_BACK);
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sys_sta.I_brake = Get_Status(IO_BRAKE);
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sys_sta.A_Speed_Cut = 0;
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sys_sta.O_lock = 0;
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sys_sta.P_Radar_EN =1;
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sys_sta.Reserve0 = 0;
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sys_sta.IO_TX = Get_Status(IO_TTL_TX);
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sys_sta.IO_RX = Get_Status(IO_TTL_RX);
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sys_sta.O_12V = 0;
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sys_sta.Reserve1 = 0;
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DEBUG("sys_sta_t:lenght=%d",sizeof(sys_sta));
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DEBUG("sys_sta_t=%#04X",*(uint16_t*)&sys_sta);
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acc_in_bat_in_sadc_init();
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acc_out_pwm_init();
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__enable_irq();
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}
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// GPIO外部中端处理
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void EXTI_IRQHandler(void)
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{
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uint32_t irq_sta = EXTI->RIF.Word;
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if (irq_sta & EXTI_SRC(IO_INTERACTION))//
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{
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EXTI->ICR.Word = EXTI_SRC(IO_INTERACTION);
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}
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if (irq_sta & EXTI_SRC(IO_BACK))
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{
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EXTI->ICR.Word = EXTI_SRC(IO_BACK);
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}
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if (irq_sta & EXTI_SRC(IO_BRAKE))
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{
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EXTI->ICR.Word = EXTI_SRC(IO_BRAKE);
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}
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if (irq_sta & EXTI_SRC(IO_MANAGER_MODE))
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{
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EXTI->ICR.Word = EXTI_SRC(IO_MANAGER_MODE);
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}
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}
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// 控制进程，定时调用
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void Control_procedure(void){
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//电门锁
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// sys_sta.Smode = 0;
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sys_sta.IOgps = 0; //更新GPS状态
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sys_sta.IOmanager = Get_Status(IO_MANAGER_MODE); //更新管理员模式状态
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sys_sta.O_lock = (0 != (sys_sta.Pmode | sys_sta.Smode));
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Set_Status(OUT_Door_lock, sys_sta.O_lock);
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//12V电源
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Set_Status(OUT_12V_Control ,sys_sta.O_12V);// 更新12V电源状态
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// 刹车
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Set_Status(IO_AUTO_BRAKE ,sys_sta.A_brake);// 高刹车
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Set_Status(IO_BRAKE ,sys_sta.A_brake);// 低刹车
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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
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sys_sta.I_interaction = Get_Status(IO_INTERACTION);
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sys_sta.I_back = Get_Status(IO_BACK);
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sys_sta.IO_TX = Get_Status(IO_TTL_TX);
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sys_sta.IO_RX = Get_Status(IO_TTL_RX);
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// GRB_WS2812_Write_color(64, 0xffffff);
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//油门控制
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if(0 != (sys_sta.Pmode | sys_sta.Smode)){
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uint8_t acc_percent =0;
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if(0x01 == (sys_sta.Pmode | sys_sta.Smode)){//游客模式
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if(sys_sta.A_Speed_Cut){//自动减速
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acc_percent = (get_in_acc_percent() * sys_conf.Speed_Cut_sLim) / 100.0;
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}else{
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acc_percent = (get_in_acc_percent() * sys_conf.Tourist_sLim) / 100.0;
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}
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}else{//管理员模式
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// Time_Event_Blink(GRB_WS2812_Event,500,500,0xffff,NULL);
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acc_percent = (get_in_acc_percent() * sys_conf.Manager_sLim) / 100.0;
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}
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set_out_acc_percent(acc_percent);
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}else{
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// Time_Event_Off(GRB_WS2812_Event,NULL);
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set_out_acc_percent(0);
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}
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}
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