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关闭蓝牙透传功能，增加IN1输入低进入高速模式功能 zsxfly20240419

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zsxfly 2024-04-19 15:13:25 +08:00
parent b5bba5e376
commit 51c94996e0
10 changed files with 4303 additions and 76 deletions
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projects/blezongkong/mdk/zhongkong.uvprojx
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49
projects/blezongkong/src/app_control_out.c
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@ -9,10 +9,12 @@
// 使能电平 // 使能电平
bool app_control_en[PA_MAX]={ bool app_control_en[PA_MAX]={
[IN_GPS] =OE_LOW, // GPS超距 /L:超出活动区域(同)
[IN_EXTI0_Custom0] =OE_LOW, // 管理员模式
[OUT_Door_lock] =OE_HIGH, // 开锁 /H:开锁(同) [OUT_Door_lock] =OE_HIGH, // 开锁 /H:开锁(同)
[OUT_Push_key] =OE_HIGH, // 开启推车 /L:开启推车(反) [OUT_Push_key] =OE_HIGH, // 开启推车 /L:开启推车(反)
[OUT_Switch_gear] =OE_LOW, // 限速/H:限速(反) [OUT_Switch_gear] =OE_LOW, // 限速/H:限速(反)
[OUT_High_speed] =OE_HIGH, // 使能高速档位 /L:低使能(反) [OUT_High_speed] =OE_LOW, // 使能高速档位 /H:高使能(反)
[OUT_Low_speed] =OE_HIGH, // 使能低速档位 /L:低使能(反) [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_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_Low_brake] =OE_HIGH, // 使能低制动 /L:低使能(反)
@ -59,14 +61,14 @@ void app_control_init(void){
// in // in
gpio_dir_input(IN_EXTI0_Custom0, IE_UP); // Input enable, pull-up gpio_dir_input(IN_EXTI0_Custom0, IE_UP); // Input enable, pull-up
gpio_dir_input(IN_EXTI1_Custom1, IE_UP); // gpio_dir_input(IN_EXTI1_Custom1, IE_UP);
gpio_dir_input(IN_GPS, IE_UP); gpio_dir_input(IN_GPS, IE_UP);
// EXTI config // EXTI config
exti_init(EXTI_DBC(15, 4)); exti_init(EXTI_DBC(15, 4));
exti_set(EXTI_FTS, EXTI_SRC(IN_EXTI0_Custom0) | EXTI_SRC(IN_EXTI1_Custom1)); // falling exti_set(EXTI_FTS, EXTI_SRC(IN_EXTI0_Custom0) | EXTI_SRC(IN_GPS)); // falling
exti_set(EXTI_DBE, EXTI_SRC(IN_EXTI0_Custom0) | EXTI_SRC(IN_EXTI1_Custom1)); exti_set(EXTI_DBE, EXTI_SRC(IN_EXTI0_Custom0) | EXTI_SRC(IN_GPS));
exti_set(EXTI_IER, EXTI_SRC(IN_EXTI0_Custom0) | EXTI_SRC(IN_EXTI1_Custom1)); exti_set(EXTI_IER, EXTI_SRC(IN_EXTI0_Custom0) | EXTI_SRC(IN_GPS));
// IRQ enable // IRQ enable
NVIC_EnableIRQ(EXTI_IRQn); NVIC_EnableIRQ(EXTI_IRQn);
@ -77,13 +79,13 @@ void app_control_init(void){
uint8_t app_get_gears_status(void){ uint8_t app_get_gears_status(void){
uint8_t ret=0; uint8_t ret=0;
if(0 ==Get_Status(OUT_Switch_gear) && 0 ==Get_Status(OUT_High_speed) && 0 ==Get_Status(OUT_Low_speed)){ if(0 ==Get_Status(OUT_Switch_gear) && 1 ==Get_Status(OUT_High_speed) && 0 ==Get_Status(OUT_Low_speed)){
ret =0; ret =0;
}else if(1 ==Get_Status(OUT_Switch_gear) && 0 ==Get_Status(OUT_High_speed) && 0 ==Get_Status(OUT_Low_speed)){
ret =1;
}else if(0 ==Get_Status(OUT_Switch_gear) && 0 ==Get_Status(OUT_High_speed) && 1 ==Get_Status(OUT_Low_speed)){ }else if(0 ==Get_Status(OUT_Switch_gear) && 0 ==Get_Status(OUT_High_speed) && 1 ==Get_Status(OUT_Low_speed)){
ret =1;
}else if(1 ==Get_Status(OUT_Switch_gear) && 0 ==Get_Status(OUT_High_speed) && 0 ==Get_Status(OUT_Low_speed)){
ret =2; ret =2;
}else if(0 ==Get_Status(OUT_Switch_gear) && 1 ==Get_Status(OUT_High_speed) && 0 ==Get_Status(OUT_Low_speed)){ }else if(0 ==Get_Status(OUT_Switch_gear) && 0 ==Get_Status(OUT_High_speed) && 0 ==Get_Status(OUT_Low_speed)){
ret =3; ret =3;
} }
@ -93,19 +95,19 @@ uint8_t app_get_gears_status(void){
uint8_t app_set_gears_status(uint8_t val){ uint8_t app_set_gears_status(uint8_t val){
if(0 ==val){ //管理员模式速度无限制 if(0 ==val){ //管理员模式速度无限制
Set_Status(OUT_Switch_gear,0); Set_Status(OUT_Switch_gear,0);
Set_Status(OUT_High_speed,0); Set_Status(OUT_High_speed,1);
Set_Status(OUT_Low_speed,0); Set_Status(OUT_Low_speed,0);
}else if(1 ==val){//游客模式油门限速 }else if(1 ==val){//游客模式油门限速
Set_Status(OUT_Switch_gear,1);
Set_Status(OUT_High_speed,0);
Set_Status(OUT_Low_speed,0);
}else if(2 ==val){//低速模式
Set_Status(OUT_Switch_gear,0); Set_Status(OUT_Switch_gear,0);
Set_Status(OUT_High_speed,0); Set_Status(OUT_High_speed,0);
Set_Status(OUT_Low_speed,1); Set_Status(OUT_Low_speed,1);
}else if(2 ==val){//低速模式
Set_Status(OUT_Switch_gear,1);
Set_Status(OUT_High_speed,0);
Set_Status(OUT_Low_speed,0);
}else if(3 ==val){//高速模式 }else if(3 ==val){//高速模式
Set_Status(OUT_Switch_gear,0); Set_Status(OUT_Switch_gear,0);
Set_Status(OUT_High_speed,1); Set_Status(OUT_High_speed,0);
Set_Status(OUT_Low_speed,0); Set_Status(OUT_Low_speed,0);
} }
@ -179,28 +181,23 @@ void EXTI_IRQHandler(void)
if (irq_sta & EXTI_SRC(IN_GPS))// if (irq_sta & EXTI_SRC(IN_GPS))//
{ {
EXTI->ICR.Word = EXTI_SRC(IN_GPS); EXTI->ICR.Word = EXTI_SRC(IN_GPS);
if(1==Get_Status(IN_GPS)){
/* Set_Status(OUT_Door_lock,0);//GPS超出范围，直接锁车
custom code... }
*/
} }
if (irq_sta & EXTI_SRC(IN_EXTI0_Custom0)) if (irq_sta & EXTI_SRC(IN_EXTI0_Custom0))
{ {
EXTI->ICR.Word = EXTI_SRC(IN_EXTI0_Custom0); EXTI->ICR.Word = EXTI_SRC(IN_EXTI0_Custom0);
if(1==Get_Status(IN_EXTI0_Custom0)){ //进入管理员模式
/* Set_Status(OUT_High_speed,1);//开启高速模式
custom code... }
*/
} }
if (irq_sta & EXTI_SRC(IN_EXTI1_Custom1)) if (irq_sta & EXTI_SRC(IN_EXTI1_Custom1))
{ {
EXTI->ICR.Word = EXTI_SRC(IN_EXTI1_Custom1); EXTI->ICR.Word = EXTI_SRC(IN_EXTI1_Custom1);
/*
custom code...
*/
} }
} }

52
projects/blezongkong/src/app_control_out.h
View File

@ -3,36 +3,36 @@
#include "b6x.h" #include "b6x.h"
#include "drvs.h" #include "drvs.h"
// // GPIO的输出需反向 // GPIO的输出需反向
// enum app_control{ enum app_control{
IN_GPS =PA03, // GPS输入/0:被拉低就执行锁车
IN_EXTI0_Custom0 =PA08, // 自定义输入0
IN_EXTI1_Custom1 =PA09, // 自定义输入1 /防盗检测/下降沿触发防盗
OUT_Door_lock =PA18, // 电门锁 /H:开锁
OUT_Push_key =PA14, // 推车键 /L:开启推车
OUT_Switch_gear =PA13, // 调速模式选择/H:限速模式/L:不限速
OUT_High_speed =PA11, // 高速档位 /L:低使能
OUT_Low_speed =PA12, // 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
};
//enum app_control{
// IN_GPS =PA08, // GPS输入/0:锁车 // IN_GPS =PA08, // GPS输入/0:锁车
// IN_EXTI0_Custom0 =PA08, // 自定义输入0 // IN_EXTI0_Custom0 =PA08, // 自定义输入0
// IN_EXTI1_Custom1 =PA09, // 自定义输入1 /防盗检测/下降沿触发防盗 // IN_EXTI1_Custom1 =PA09, // 自定义输入1 /防盗检测/下降沿触发防盗
// OUT_Door_lock =PA18, // 电门锁 /H:开锁
// OUT_Push_key =PA14, // 推车键 /L:开启推车
// OUT_Switch_gear =PA13, // 调速模式选择/H:限速模式/L:不限速
// OUT_High_speed =PA11, // 高速档位 /L:低使能
// OUT_Low_speed =PA12, // 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 =PA13, // 电门锁 /1:开锁
enum app_control{ // OUT_Push_key =PA12, // 推车键 /1:开启推车
IN_GPS =PA08, // GPS输入/0:锁车 // OUT_Switch_gear =PA11, // 调速模式选择/1:限速模式/0:不限速
IN_EXTI0_Custom0 =PA08, // 自定义输入0 // OUT_High_speed =PA14, // 高速档位 /1:使能
IN_EXTI1_Custom1 =PA09, // 自定义输入1 /防盗检测/下降沿触发防盗 // OUT_Low_speed =PA15, // 低速档位 /1:使能
// OUT_Back_car =PA16, // 前进后退 /0:前进/1:后退
OUT_Door_lock =PA13, // 电门锁 /1:开锁 // OUT_Low_brake =PA17, // 低制动 /1:使能
OUT_Push_key =PA12, // 推车键 /1:开启推车 // OUT_High_brake =PA18 // 高制动 /1:使能
OUT_Switch_gear =PA11, // 调速模式选择/1:限速模式/0:不限速 //};
OUT_High_speed =PA14, // 高速档位 /1:使能
OUT_Low_speed =PA15, // 低速档位 /1:使能
OUT_Back_car =PA16, // 前进后退 /0:前进/1:后退
OUT_Low_brake =PA17, // 低制动 /1:使能
OUT_High_brake =PA18 // 高制动 /1:使能
};
extern bool app_control_en[PA_MAX]; extern bool app_control_en[PA_MAX];

2
projects/blezongkong/src/app_speed_governor.c
View File

@ -62,7 +62,7 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
radar_daraframe.Left_data =0; radar_daraframe.Left_data =0;
radar_daraframe.Right_data =0; radar_daraframe.Right_data =0;
uart_putc(UART2_PORT,'R'); uart_putc(UART1_PORT,'R');
return 0;//单次 return 0;//单次
} }

11
projects/blezongkong/src/app_uart.c
View File

@ -58,6 +58,9 @@ static void app_uart1_hande(void){
break; break;
case 0x02://油门控制 case 0x02://油门控制
if(3 ==uart1_daraframe.length){ if(3 ==uart1_daraframe.length){
if(1==Get_Status(IN_GPS)){
Set_Status(OUT_Door_lock,0);//GPS超出范围，直接锁车
}
if(app_get_Door_lock_status()){//开锁时 if(app_get_Door_lock_status()){//开锁时
if(0 > *(int8_t *)(&uart1_daraframe.data[0])){//倒车 if(0 > *(int8_t *)(&uart1_daraframe.data[0])){//倒车
if(1 == uart2_Back_car){ if(1 == uart2_Back_car){
@ -78,7 +81,11 @@ static void app_uart1_hande(void){
app_set_speed(*(int8_t *)(&uart1_daraframe.data[0])); app_set_speed(*(int8_t *)(&uart1_daraframe.data[0]));
ret_data[0] = uart1_daraframe.data[0];//当前油门状态 倒车：-100~0 / 前进：0~100 ret_data[0] = uart1_daraframe.data[0];//当前油门状态 倒车：-100~0 / 前进：0~100
ret_data[1] = app_set_brake_status(uart1_daraframe.data[1]);//当前刹车状态 ret_data[1] = app_set_brake_status(uart1_daraframe.data[1]);//当前刹车状态
if(1==Get_Status(IN_EXTI0_Custom0)){
ret_data[2] = app_set_gears_status(0);//进入管理员模式
}else {
ret_data[2] = app_set_gears_status(uart1_daraframe.data[2]);//当前速度档位 ret_data[2] = app_set_gears_status(uart1_daraframe.data[2]);//当前速度档位
}
ret_data[3] = radar_daraframe.Left_data; ret_data[3] = radar_daraframe.Left_data;
ret_data[4] = radar_daraframe.Right_data; ret_data[4] = radar_daraframe.Right_data;
length = 5; length = 5;
@ -239,8 +246,8 @@ static void uart2_Receive(uint8_t data)
break; break;
} }
uart_putc(UART2_PORT,data); // uart_putc(UART2_PORT,data);
uart_putc(UART2_PORT,'0'+uart2_state); // uart_putc(UART2_PORT,'0'+uart2_state);
if(uart2_state == 2){ if(uart2_state == 2){
radar_daraframe.header = 0; radar_daraframe.header = 0;
app_updata_radar(); app_updata_radar();

3
projects/blezongkong/src/app_ws2812.c
View File

@ -52,10 +52,9 @@ void GRB_WS2812_Write_GRBs(uint8_t len, uint32_t *GRB888)
} }
void GRB_WS2812_Write_color(uint8_t len, uint32_t GRB888) void GRB_WS2812_Write_color(uint8_t len, uint32_t GRB888)
{__disable_irq(); {
GRB_WS2812_Reset(); GRB_WS2812_Reset();
while(len--)GRB_WS2812_Write_24Bits(GRB888); while(len--)GRB_WS2812_Write_24Bits(GRB888);
__enable_irq();
} }

28
projects/blezongkong/src/main.c
View File

@ -21,8 +21,8 @@ static void sysInit(void)
// Todo config, if need // Todo config, if need
iwdt_disable(); iwdt_disable();
rcc_ble_en(); // rcc_ble_en();
rcc_adc_en(); // rcc_adc_en();
rcc_fshclk_set(FSH_CLK_DPSC42); rcc_fshclk_set(FSH_CLK_DPSC42);
APBMISC->XOSC16M_CTRL.XOSC16M_CAP_TR = 0x22; APBMISC->XOSC16M_CTRL.XOSC16M_CAP_TR = 0x22;
@ -30,15 +30,15 @@ static void sysInit(void)
static void devInit(void) static void devInit(void)
{ {
uint16_t rsn = rstrsn(); // uint16_t rsn = rstrsn();
// dbgInit(); // dbgInit();
// debug("Start(rsn:0x%X)...\r\n", rsn); // debug("Start(rsn:0x%X)...\r\n", rsn);
// Init BLE App // Init BLE App
app_init(rsn); // app_init(rsn);
rf_pa_set(0x0C); // rf_pa_set(0x0C);
} }
@ -47,9 +47,9 @@ static tmr_tk_t test_timer_handler(tmr_id_t id){
(void)(id); (void)(id);
// GRB_WS2812_Write_GRBs(WS2812_GRBs.len ,WS2812_GRBs.GRBs); GRB_WS2812_Write_GRBs(WS2812_GRBs.len ,WS2812_GRBs.GRBs);
GRB_WS2812_Write_color(BLE_WS2812_GRBs.len,BLE_WS2812_GRBs.GRBs); // GRB_WS2812_Write_color(BLE_WS2812_GRBs.len,BLE_WS2812_GRBs.GRBs);
return 100; return 10;
} }
int main(void) int main(void)
@ -63,11 +63,11 @@ int main(void)
app_control_init(); app_control_init();
app_speed_governing_init(0); app_speed_governing_init(0);
// app_uart_Init(UART1_PORT,115200,PA06,PA07);//上位机 app_uart_Init(UART1_PORT,115200,PA06,PA07);//上位机
// app_uart_Init(UART2_PORT,9600,PA03,PA04);//倒车雷达 app_uart_Init(UART2_PORT,9600,20,PA04);//倒车雷达
app_uart_Init(UART1_PORT,115200,PA03,PA04);//上位机 // app_uart_Init(UART1_PORT,115200,PA03,PA04);//上位机
app_uart_Init(UART2_PORT,9600,PA06,PA07);//倒车雷达 // app_uart_Init(UART2_PORT,9600,PA06,PA07);//倒车雷达
bootDelayMs(1000); bootDelayMs(1000);
GRB_WS2812_Init(); GRB_WS2812_Init();
@ -76,11 +76,11 @@ int main(void)
// SoftTimer Polling // SoftTimer Polling
sftmr_schedule(); sftmr_schedule();
// Schedule Messages & Events // Schedule Messages & Events
ble_schedule(); // ble_schedule();
// User's Procedure // User's Procedure
app_ble_procedure(); // app_ble_procedure();
} }
} }