ble_expansion_board

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*/
 }

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>
+        <RunSim>1</RunSim>
-        <RunTarget>1</RunTarget>
+        <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 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(0BC11477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO11 -FD20003000 -FC5000 -FN1 -FF0B6x_256kB_PY_D.FLM -FS018000000 -FL040000 -FP0($$Device:B6x$.\Flash\B6x_256kB_PY_D.FLM)</Name>
+          <Name>-U20090928 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(0BC11477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8008 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO31 -FD20003000 -FC5000 -FN1 -FF0B6x_256kB_PY_D.FLM -FS018000000 -FL040000 -FP0($$Device:B6x$.\Flash\B6x_256kB_PY_D.FLM)</Name>
-        </SetRegEntry>
-        <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>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
+      <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>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>1</periodic>
+        <periodic>0</periodic>
-        <aLwin>1</aLwin>
+        <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>
@@ -424,7 +343,7 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>14</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\src\sys_config.c</PathWithFileName>

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>
+            <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>0</RunUserProg2>
+            <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>
@@ -653,4 +655,13 @@
     <files/>
   </RTE>
 
+  <LayerInfo>
+    <Layers>
+      <Layer>
+        <LayName>zhongkong</LayName>
+        <LayPrjMark>1</LayPrjMark>
+      </Layer>
+    </Layers>
+  </LayerInfo>
+
 </Project>

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;
 
@@ -15,15 +25,20 @@ void Event_Handle(uint16_t Event_List ,bool isOn,void *Parameter){
     (void)Parameter;
     switch(Event_List){
         case Buzzer_Event:
-            Set_Status(IO_TTL_TX,isOn);
+            Set_Status(OUT_BUZZER,isOn);
         break;
         case Pmode_Timeout_Event:
             if(!isOn){
-                sys_sta.Pmode =0;
+                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:
 
@@ -47,6 +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;
@@ -72,7 +88,7 @@ static tmr_tk_t Time_Event_Handle(tmr_id_t id) {
         }
 
     }
-    return (Time_delay_interval / 10);
+    return (Time_delay_interval / 10);//1;
 }
 
 void Time_Event_Init(void) {
@@ -84,23 +100,31 @@ void Time_Event_Init(void) {
         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_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;
@@ -108,12 +132,16 @@ void Time_Event_DelayOff(uint16_t ledIndex ,uint16_t Ms_delayoff,void *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_delay_interval;
     Time_Events[ledIndex].Ms_off =  Ms_off / Time_delay_interval;

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{
@@ -89,8 +214,13 @@ static tmr_tk_t BAT_Message_Handle(tmr_id_t id) {
     
     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

@@ -1,39 +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_Low_STA=(1<<0),
-    Bat_Charge_STA=0x02,
+    Bat_30_STA=(1<<1),
-    Bat_Full_STA=0x04,
+    Bat_60_STA=(1<<2),
-    Bat_Low_STA=0x08,
+    Bat_80_STA=(1<<3),
-    Bat_30_STA=0x10,
+    Bat_100_STA=(1<<4),
-    Bat_60_STA=0x20,
+    Bat_NotCharge_STA=(1<<5),
-    Bat_100_STA=0x40,
+    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_Remain_Time; // 剩余充电时间
+    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 Bat_Percent; // 420=42.0%
+    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_control_out.c

@@ -25,31 +25,18 @@ uint16_t ACC_Dmax ;
 bool app_control_en[PA_MAX]={
 [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)
-[IN_01]             =OE_LOW,    // 自定义输入
+[IO_MANAGER_MODE]   =OE_LOW,    // 管理员模式 /低电平触发
-[IN_GPS]            =OE_HIGH,    // GPS输入0 /H:低使能/边沿触发
-[IO_MANAGER_MODE]   =OE_LOW,    // 管理员模式 /边沿触发
 [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;
-// ={
-//     .Pmode = 0,
-//     .Smode = 0,
-//     .O_12V = 0,
-//     .O_lock = 0,
-//     .I_01 = 0,
-//     .I_brake = 0,
-//     .I_back = 0,
-//     .IO_TX = 0,
-//     .IO_RX = 0,
-//     .A_brake = 0,
-//     .A_Speed_Cut = 0,
-//     .Reserve = 0,
-// };
 
 // 油门控制输入初始化/PA08/CH3
 // 电池电压检测/充电检测/PA04/CH7
@@ -60,7 +47,7 @@ static void acc_in_bat_in_sadc_init(void)
 
     // ADC
     iom_ctrl(PA08, IOM_ANALOG);//ACC//AIN7//油门
-    iom_ctrl(PA02, IOM_ANALOG);//ACC_FEEDBACK//AIN2//油门反馈
+    // 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
@@ -146,44 +133,42 @@ void set_out_acc_percent(uint8_t percent){
 
 //中控控制IO初始化
 void app_control_init(void){
-    // out   
+    // 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_output(IO_MANAGER_MODE,OE_LOW);// 管理员模式 /边沿触发
+    gpio_dir_input(OUT_Door_lock,IE_UP);
-    gpio_dir_output(IO_BACK,OE_HIGH);       // 倒车 /H:前进/L:后退
+
+    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_output(IO_TTL_TX,OE_HIGH);     // 串口发送
+    gpio_dir_input(IO_TTL_TX,IE_UP);     // 串口发送
-    gpio_dir_output(IO_TTL_RX,OE_LOW);      // 串口接收
+    gpio_dir_input(IO_TTL_RX,IE_UP);     // 串口接收
-    //in
-    // gpio_dir_input(OUT_12V_Control,IE_DOWN);// 12V电源控制输出 /H:12V输出
-    gpio_dir_input(OUT_Door_lock,IE_DOWN);  // 电门锁 /H:开锁
-    gpio_dir_input(IO_MANAGER_MODE,IE_DOWN);// 管理员模式 /边沿触发
-    gpio_dir_input(IO_BACK,IE_DOWN);       // 倒车 /H:前进/L:后退
-    gpio_dir_input(IO_BRAKE,IE_DOWN);       // 制动 /L:低使能
 
-    gpio_dir_input(IO_TTL_TX,IE_DOWN);     // 串口发送
+    gpio_dir_output(OUT_BUZZER,OE_LOW);  // 蜂鸣器输出
-    gpio_dir_input(IO_TTL_RX,IE_DOWN);      // 串口接收
+
+    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(IO_MANAGER_MODE,0);
+    Set_Status(IO_AUTO_BRAKE,0);
-    Set_Status(IO_BACK,0); //失能倒车
     Set_Status(IO_BRAKE,0);
-
+    Set_Status(OUT_BUZZER,0);
-    Set_Status(IO_TTL_TX,0);
-    Set_Status(IO_TTL_RX,0);
-
-    // in
-    gpio_dir_input(IN_01,IE_UP);          // 自定义输入
-    gpio_dir_input(IN_GPS,IE_UP);         // GPS输入0 /边沿触发
-
     // // EXTI config
     // exti_init(EXTI_DBC(15, 4));
-    // exti_set(EXTI_FTS, EXTI_SRC(IN_GPS) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE)); // falling
+    // 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(IN_GPS) | EXTI_SRC(IO_BACK) | EXTI_SRC(IO_BRAKE) | EXTI_SRC(IO_MANAGER_MODE));
+    // 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(IN_GPS) | 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);
@@ -192,13 +177,13 @@ void app_control_init(void){
     sys_sta.Manager =0;
     sys_sta.Tourist =0;
     // sys_sta.Smode = 0;
-    sys_sta.IOgps = Get_Status(IN_GPS);
+    sys_sta.IOgps = 0;
     sys_sta.IOmanager = Get_Status(IO_MANAGER_MODE);
 
-    sys_sta.I_01 = Get_Status(IN_01);
+    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_brake = 0;
     sys_sta.A_Speed_Cut = 0;
     sys_sta.O_lock = 0;
     sys_sta.P_Radar_EN =1;
@@ -223,9 +208,9 @@ 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);
         
     }
     
@@ -252,26 +237,24 @@ void EXTI_IRQHandler(void)
 void Control_procedure(void){
     //电门锁
     // sys_sta.Smode = 0;
-    sys_sta.IOgps = Get_Status(IN_GPS); //更新GPS状态
+    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);
-    // Set_Status(OUT_Door_lock,(PAD_User_Mode || PAD_Manager_Mode || Get_Status(IN_GPS) || SYS_Manager_STA));
     
     //12V电源
     Set_Status(OUT_12V_Control ,sys_sta.O_12V);// 更新12V电源状态
-    // Set_Status(OUT_12V_Control,(PAD_LED_ONOFF));
 
     // 刹车
-    Set_Status(IO_BRAKE ,sys_sta.A_brake);// 输出为低电平时，可刹车
+    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
-    // Set_Status(IO_BRAKE,SYS_AUTO_brake);
 
-    sys_sta.I_01 = Get_Status(IN_01);
+    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(0 != (sys_sta.Pmode | sys_sta.Smode)){
         uint8_t acc_percent =0;
@@ -282,31 +265,12 @@ void Control_procedure(void){
                 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);
     }
-
-    // //油门控制
-    // if((PAD_User_Mode || PAD_Manager_Mode || Get_Status(IN_GPS) || SYS_Manager_STA)){
-    //     uint8_t acc_percent =0;
-
-    //     // acc_percent = get_in_acc_percent() * 
-    //     // (((PAD_Manager_Mode || SYS_Manager_STA) ? sys_conf.Manager_sLim : (SYS_AUTO_Speed_Cut ? sys_conf.Speed_Cut_sLim : sys_conf.Tourist_sLim)) / 100.0);
-        
-    //     if(PAD_Manager_Mode || SYS_Manager_STA){//管理员模式
-    //         acc_percent = (get_in_acc_percent() * sys_conf.Manager_sLim) / 100.0;
-    //     }else{//游客模式
-    //         if(SYS_AUTO_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;
-    //         }
-    //     }
-    //     set_out_acc_percent(acc_percent);
-    // }else{
-    //     set_out_acc_percent(0);
-    // }
 }

projects/blezongkong/src/app_control_out.h

@@ -22,7 +22,6 @@ extern uint16_t ACC_Dmax ;
 
 enum app_adc_dac_chx{
     ACC_IN_CH =SADC_CH_AIN7,   // 油门输入
-    ACC_FEED_CH =SADC_CH_AIN2, // 油门输出监测
     BAT_IN_CH =SADC_CH_AIN3,  // 电池输入
 };
 
@@ -30,27 +29,28 @@ enum app_adc_dac_chx{
 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
-    IN_01 =PA19,             // 自定义输入
-    IN_GPS =PA03,            // GPS输入0 /边沿触发
     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_BRAKE =PA15,          // 制动 /L:低使能
+    IO_AUTO_BRAKE =PA03,     // 高制动 /高:高使能
+    IO_BRAKE =PA15,          // 低制动 /L:低使能
 
     IO_TTL_TX =PA11,         // 串口发送
     IO_TTL_RX =PA12,         // 串口接收
     
-    RADAR_TXD0 =PA07,        // 串口0发送
+    RADAR_TXD0 =PA06,        // 串口0发送
-    RADAR_RXD0 =PA06,        // 串口0接收
+    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
-    ACC_FEEDBACK_ADC2 =PA02, // 油门输出监测
 
     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{
@@ -74,7 +74,7 @@ typedef struct sys_sta{
     union{// 输入状态
         uint8_t I_STA:8;
         struct{
-            uint8_t I_01    :1;     // 自定义输入状态
+            uint8_t I_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

projects/blezongkong/src/app_modbus.c

@@ -24,25 +24,6 @@ static uint8_t  MODBUS_ReceCount =0;
 static uint8_t  MODBUS_Rece_BUF[MODBUS_MAX_LEN];
 static uint8_t  MODBUS_Sent_BUF[MODBUS_MAX_LEN];
 
-// 需掉电不丢失数据12*2字节//40027-40030//40514-40520
-uint16_t MODBUS_FLASH_DAT[12] ={
-[0]=1,//MODBUS从机地址
-[1]=1,// 出厂模式状态 //写入 1，设备将重置进入出厂模式
-[2]=100,// 固件版本
-[3]=1,// 硬件版本
-
-[4]=30,//30*100ms // 代码过期时间
-[5]=30,//30*100ms// 输出继电器的关闭时间
-[6]=100,//100*100ms// Led 激活时间
-[7]=10,//10*10ms// 蜂鸣器激活时间
-
-[8]=0x001f,// Led 键盘颜色//RGB565 格式
-[9]=0xf800,// Led Mifare 读卡颜色//RGB565 格式
-[10]=0x07E0,// Led 状态灯0颜色//RGB565 格式
-[11]=0x07ff,// Led 状态灯1颜色//RGB565 格式
-};
-
-
 bool app_modbus_CheckData(uint8_t *dat , uint8_t len);
 
 
@@ -80,6 +61,8 @@ void FunctionalCode_01(uint16_t reg_addr){//ID寄存器地址//返回7字节
 	}
 }
 
+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
@@ -115,25 +98,44 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_
 			}
 		case 0x0002: // 设备的软件版本号
 			if(CMDCode == 0x03){
-				MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION >> 8;
+				MODBUS_Sent_BUF[len_count++] =(sys_conf.VERSION | VER_TYPE) >> 8;
-				MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION & 0xff;
+				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){
-				sys_conf.VERSION =reg_val_num;
+				len_count =0;
-				MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION >> 8;
+				// sys_conf.VERSION =reg_val_num;
-				MODBUS_Sent_BUF[len_count++] =sys_conf.VERSION & 0xff;
+				// 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:%)
@@ -245,13 +247,17 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_
 					break;
 				}
 			}else if(CMDCode == 0x06){
-				uint8_t Pmode_Timeout =((reg_val_num >> 8) & 0xff);
+				// uint8_t Pmode_Timeout =((reg_val_num >> 8) & 0xff);
-				if(0 == Pmode_Timeout){
+				// if(0 == Pmode_Timeout){
-					Time_Event_Cancel_DelayOff(Pmode_Timeout_Event);
+				// 	Time_Event_Cancel_DelayOff(Pmode_Timeout_Event);
-				}else{
+				// }else{
-					Time_Event_DelayOff(Pmode_Timeout_Event ,1000 * Pmode_Timeout ,NULL);
+				// 	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;
@@ -265,6 +271,7 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_
 					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;
@@ -329,16 +336,19 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_
 			}
 }
 { // 0x0201-0x0203
-		case 0x0301:  // 电池状态
+		case 0x0301:  // 电池状态及电量信息
 			if(CMDCode == 0x03){
-				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA;
-				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_STA & 0xff;
+				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
@@ -350,34 +360,63 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_
 					break;
 				}
 			}else if(CMDCode == 0x06){
-
+				len_count =0;
 				break;
 			}
-		case 0x0303:  // 电池电量
+		case 0x0303:  // 系统运行时间
 			if(CMDCode == 0x03){
-				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Percent >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Runing_Time >> 8;
-				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Percent & 0xff;
+				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:  // 剩余充电时间
+		case 0x0304:  // 深踩油门时间
 			if(CMDCode == 0x03){
-				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Remain_Time >> 8;
+				MODBUS_Sent_BUF[len_count++] =BAT_Message.Deep_ACC_Time >> 8;
-				MODBUS_Sent_BUF[len_count++] =BAT_Message.Bat_Remain_Time & 0xff;
+				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:  // 雷达距离信息
+		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;
@@ -386,7 +425,7 @@ void FunctionalCode_03_06(uint8_t CMDCode, uint16_t reg_addr , uint16_t reg_val_
 					break;
 				}
 			}else if(CMDCode == 0x06){
-
+				len_count =0;
 				break;
 			}
 }

projects/blezongkong/src/app_radar.c

@@ -52,6 +52,8 @@ void radar_AUTO_BrakeORSpeedCut(uint8_t radar_id , uint16_t Car_Distance){ //距
     }
 }
 
+static uint8_t new_state_cnt=3;//标记状态是否变化
+
 // 定时处理数和获取数据
 static tmr_tk_t radar_timer_handler(tmr_id_t id){
     (void)(id);
@@ -60,21 +62,24 @@ static tmr_tk_t radar_timer_handler(tmr_id_t id){
         radar_CMDSend_cnt =0;  // 清空发送命令计数
         DEBUG("ID =%d,distance =%d", radar_data.radar_id ,radar_data.distance);
     }    
-    if((radar_CMDSend_cnt !=0)){
+    if((radar_CMDSend_cnt !=0)||(1 ==new_state_cnt)){//
         DEBUG("Clear:CMD_cnt =%d", radar_CMDSend_cnt);
         radar_CMDSend_cnt =0;  // 清空发送命令计数
-        radar_AUTO_BrakeORSpeedCut(0 , 0);//复位自动刹车和减速状态
+        radar_AUTO_BrakeORSpeedCut(radar_data.radar_id , 0);//复位自动刹车和减速状态
+    }
+    if(new_state_cnt > 0){
+        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((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", 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(160);//300ms
+    return _MS(140);//300ms
 }
 
 static uint8_t radar_buff[RADAR_BUFF_MAX];

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_RED     0x00ff00
-#define GRB_GREEN   0xff0000;
+#define GRB_GREEN   0xff0000
-#define GRB_BLUE    0x0000ff;
+#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/sys_config.h

@@ -16,7 +16,14 @@
 
 // 必须4字节对齐
 typedef struct SYS_CONF{
+    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
@@ -50,7 +57,14 @@ void conf_init(void);
 
 /**************************系统版本**************************/
 // 软件本号
-#define SOFTWARE_ID    0x0101
+#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)
+
 #define D_Modbus_addr  0x37
 /************************油门(Unit:%)************************/
 // 管理员模式默认油门极限(0-100%)