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110VCGQ/project/110VCGQV5.5/user/Src/user.c

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新增V6
2024-11-18 10:09:39 +08:00
/*
* user.c
*
* Created on: 2023年6月25日
* Author: wyf
*/
#include "user.h"
volatile uint8_t usart_count = 0; //串口接收数据个数
uint8_t RxBuff[BUFF_LEN] = {0}; //串口接收缓冲区
uint8_t TXBuff[BUFF_LEN] = {0}; //串口发送缓冲区
uint8_t uBuff[BUFF_LEN] = {0}; //用户缓冲区
volatile int8_t polarity = 1,adc_state = 1; //电场极性,投退状态
volatile uint8_t electric_flag = 0; //外加的反向电场极限，0为负，1为正
volatile uint8_t motor_state = 1; //电机状态,0为正常, 1不正常
volatile uint16_t RS485ADDR = 0; //485地址
uint16_t RegularConvData_Tab[ADCBUFF_LEN] = {0};//ADC采集原始数据
volatile int16_t adc_max = 0; //最终峰峰值
volatile int16_t adc_positive = 0, adc_negative=0; //加外加电场后的adc值
volatile int16_t estimate_value = 40; //投退判断的差值
volatile uint16_t pwm_pulse = 0; //pwm波脉宽
volatile int16_t adcValue_factor = 0; //adc测量值的修正系数*10
volatile int16_t adcValue_addnum = 0; //adc测量值的加减系数
volatile uint16_t motor_runtime =0; //电机运行时间
volatile uint16_t bad_runtime = 0; //恶劣环境运行时间
volatile int16_t baud_rate = 0; //波特率；0:9600, 1:19200 2:57600 3: 115200
uint8_t tempe = 0,humidness = 0; //温度湿度
//uint32_t current_addr = FLASHmotor_runtime; //记录当前电机运行时间的地址
int16_t threshold_value = 0; //传感器上限阈值，低于300时，认为是退
int16_t voltage = 0; //电压
int16_t reference =0; //电压参考值
int16_t voltage_thresh = 60; //投退电压阈值
char version_string[]="DCE-2406-V5.5_HAL";
uint16_t version_number = 550;
uint16_t user_temp = 0;
/*1:传感器数据 2:投退状态 3：电机状态
* 4：PWM波占空比 5：传感器缩放系数 6：传感器加减系数
* 7：电机运行时间 8:设置波特率 9：温湿度
* 10:方波投退判断阈值 11：传感器退阈值 12:电压值
* 13:电压阈值，电压小于该值时为退
*/
int16_t user_register[14] = {0}; //寄存器值
void user_init(void)
{
__HAL_UART_ENABLE_IT(&huart1,UART_IT_IDLE);
__HAL_UART_CLEAR_IT(&huart1,UART_CLEAR_IDLEF|UART_CLEAR_TCF);
bsp_InitTimer();
AHT20_Init(&SENx,2000,0x38); //2000:读取数据周期2S; 0x38:AHT20地址
motor_state =1;
}
//求adc波形的峰峰值
void ADC_MAX(void)
{
uint8_t i =0;
static uint8_t number = 0;
uint16_t max = 0,min = 0;
static int16_t adc1_max = 0;
max = RegularConvData_Tab[0];
min = RegularConvData_Tab[0];
for(i = 1;i<ADCBUFF_LEN;i++)
{
if(RegularConvData_Tab[i] > max )
{
max = RegularConvData_Tab[i];
}
else if(RegularConvData_Tab[i] < min )
{
min = RegularConvData_Tab[i];
}
}
if(max - min > 0)
{
adc1_max += max - min;
}
if(number++>=4)
{
adc1_max = adc1_max/5*3300/4095;
adc1_max = adc1_max*adcValue_factor/10 + adcValue_addnum;
adc1_max = polarity*adc1_max;
adc_max = adc1_max;
if(electric_flag == 1)
{
if(adc_max>adc_positive)
{
adc_positive = adc_max;
}
}
else if(electric_flag == 0)
{
if(adc_max<adc_negative)
{
adc_negative = adc_max;
}
}
adc1_max = 0;
number = 0;
}
}
//处理请求
void Usart_Receive(void)
{
if( (uint16_t)uBuff[0] == RS485ADDR && usart_count == 8)
{
switch(uBuff[1])
{
case 0x03: //读传感器数据
MODBUS_03H();
break;
case 0x06:
MODBUS_06H();
break;
default:break;
}
}
else if((uint16_t)uBuff[0] == 0 && usart_count== 8)
{
switch(uBuff[1])
{
case 0x06:
MODBUS_06H();
break;
default:break;
}
}
}
/************************************************************
* Name: CRC-16/MODBUS x16+x15+x2+1
* Poly: 0x8005
* Init: 0xFFFF
* Refin: True
* Refout: True
* Xorout: 0x0000
* Note:
**********************************************************/
uint16_t crc16_modbus(uint8_t *data, uint16_t length)
{
uint8_t i;
uint16_t crc = 0xffff; // Initial value
while(length--)
{
crc ^= *data++; // crc ^= *data; data++;
for (i = 0; i < 8; ++i)
{
if (crc & 1)
crc = (crc >> 1) ^ 0xA001; // 0xA001 = reverse 0x8005
else
crc = (crc >> 1);
}
}
return crc;
}
//03指令，读取传感器数据
void MODBUS_03H(void)
{
//接收到的数据帧
//485地址 功能位 寄存器地址 寄存器个数 crc低位 crc高位
uint8_t crch,crcl;
uint16_t crcack;
uint16_t addr = (uint16_t)uBuff[2]<<8 | uBuff[3]; //寄存器地址
uint16_t number = (uint16_t)uBuff[4]<<8 | uBuff[5]; //寄存器数量
uint16_t crc = crc16_modbus(uBuff,6); //计算CRC
crch = crc>>8;
crcl = crc&0x00FF;
user_register[1] = adc_max;
user_register[2] = adc_state;
if(voltage == 0) user_register[2]= 0;
else if(abs(voltage) < voltage_thresh && user_temp>6)
{
user_register[2]= 0;
voltage = 0;
}
user_register[3] = motor_state;
user_register[4] = pwm_pulse;
user_register[5] = adcValue_factor;
user_register[6] = adcValue_addnum;
user_register[7] = motor_runtime;
user_register[8] = baud_rate;
user_register[9] = (humidness<<8)|tempe;
user_register[10] = estimate_value;
user_register[11] = threshold_value;
user_register[12] = voltage;
user_register[13] = voltage_thresh;
if( (addr+number) <= 14 && crcl == uBuff[6] && crch == uBuff[7])
{
uint8_t cnt = 0;
TXBuff[cnt++] = uBuff[0];
TXBuff[cnt++] = uBuff[1];
TXBuff[cnt++] = number*2; //数据个数，单位/字节
for(uint8_t i =0;i<number;i++)
{
TXBuff[cnt++] = user_register[addr+i] >>8;
TXBuff[cnt++] = user_register[addr+i] & 0xFF;
}
crcack = crc16_modbus(TXBuff,cnt);
TXBuff[cnt++] = crcack & 0xff;
TXBuff[cnt++] = crcack >>8;
send_ack(cnt);
}
//读取版本号
if(addr == 0x00FF && number == 0x0001 && crcl== uBuff[6] && crch== uBuff[7]) //比较寄存器值和CRC校验值
{
uint8_t i;
for(i=0;i<strlen(version_string);i++)
{
TXBuff[i] = version_string[i];
}
send_ack(strlen(version_string)); //打印版本号
}
//版本号
if( addr == 0xFD && crcl == uBuff[6] && crch == uBuff[7])
{
uint8_t cnt = 0;
TXBuff[cnt++] = uBuff[0];
TXBuff[cnt++] = uBuff[1];
TXBuff[cnt++] = number*2; //数据个数，单位/字节
TXBuff[cnt++] = version_number >>8;
TXBuff[cnt++] = version_number & 0xFF;
crcack = crc16_modbus(TXBuff,cnt);
TXBuff[cnt++] = crcack & 0xff;
TXBuff[cnt++] = crcack >>8;
send_ack(cnt);
}
}
uint8_t reference_flag =0;
//06指令，设置寄存器
void MODBUS_06H(void)
{
int16_t data = ((int16_t)uBuff[4]<<8)|uBuff[5]; //要修改的数据
uint16_t reg = ((int16_t)uBuff[2]<<8)|uBuff[3]; //寄存器地址
uint16_t crc = crc16_modbus( uBuff,6); //计算CRC
for(uint8_t i = 0; i<6; i++)
{
TXBuff[i] = uBuff[i];
}
TXBuff[6] = crc&0xff;
TXBuff[7] = crc>>8;
//修改地址
if(reg == 0x000f && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data>=1 && data <= 247)
{
uint8_t temp = RS485ADDR;
RS485ADDR = data;
if(write_flash() == 0)
{
if(uBuff[1] != 0)
{
send_ack(8);
}
}
else
{
RS485ADDR = temp;
}
}
else {
TXBuff[4] = 0xFF;
TXBuff[5] = 0xFF;
crc = crc16_modbus( uBuff,6); //计算CRC
TXBuff[6] = crc&0xff;
TXBuff[7] = crc>>8;
if(uBuff[0] != 0) //广播地址不返回
{
send_ack(8);
}
}
}
//设置PWM波占空比
else if(reg == 0x0004 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data>=0 && data<= 1000) //从机地址要大于等于1，小于等于247
{
int16_t temp = pwm_pulse;
pwm_pulse = data; //更新地址
if(write_flash() == 0)
{
send_ack(8);
__HAL_TIM_SET_COMPARE(&htim14,TIM_CHANNEL_1,pwm_pulse); //设置脉宽
}
else
{
pwm_pulse = temp;
}
}
}
//设置传感器缩放系数
else if(reg == 0x0005 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data>=-3300 && data<= 3300) //数据大于1小于3300
{
int16_t temp = adcValue_factor;
adcValue_factor = data*10/adc_max;
if(data >= 5 && data <= 20)adcValue_factor = data;
if(adcValue_factor>=5 && adcValue_factor<=20)
{
if(write_flash() == 0)
{
send_ack(8);
}
else
{
adcValue_factor = temp;
}
}
}
}
//设置传感器加减系数
else if(reg == 0x0006 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data >= -3300 && data <= 3300 && data != 0)
{
int16_t temp = adcValue_addnum;
adcValue_addnum = data;
if(write_flash() == 0)
{
send_ack(8);
}
else
{
adcValue_addnum = temp;
}
}
if(data ==0)
{
send_ack(8);
DISABLE_INT();
NVIC_SystemReset();
}
}
/*
//设置电机运行时间
else if(reg == 0x0007 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
uint16_t temp = motor_runtime;
motor_runtime = data;
current_addr = 0x080077D8; //在开头的位置写，则会清除整个区域
bad_runtime =0;
if(write_runtime() == 0)
{
send_ack(8);
}
else
{
motor_runtime =temp ;
}
}
*/
//设置波特率
else if(reg == 0x0008 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data >= 0 && data <= 3 )
{
int16_t temp = baud_rate;
baud_rate = data;
if(write_flash() == 0)
{
send_ack(8);
Uart_SetBaud(baud_rate);
}
else
{
baud_rate = temp;
}
}
}
//设置投退方波阈值
else if(reg == 0x000A && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data >= 0 && data <= 1500 )
{
int16_t temp = estimate_value;
estimate_value = data;
if(write_flash() == 0)
{
send_ack(8);
}
else
{
estimate_value = temp;
}
}
}
//设置退阈值
else if(reg == 0x000B && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data >= 0 && data <= 1500 )
{
int16_t temp = threshold_value;
threshold_value = data;
if(write_flash() == 0)
{
send_ack(8);
}
else
{
threshold_value = temp;
}
}
}
//设置电压参考值
else if(reg == 12 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data >= -220 && data <= 220 )
{
int16_t temp = reference;
if(data != 0)
{
reference = 110.0/data*adc_max;
}
else {
reference =1;
}
reference_flag = 1;
if(write_flash() == 0)
{
send_ack(8);
}
else
{
reference = temp;
}
}
}
//设置电压阈值
else if(reg == 13 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7])
{
if(data >= 0 && data <= 220 )
{
int16_t temp = voltage_thresh;
voltage_thresh = data;
if(write_flash() == 0)
{
send_ack(8);
}
else
{
voltage_thresh = temp;
}
}
}
}
uint8_t writeflash(void)
{
FLASH_EraseInitTypeDef EraseInitType;
uint32_t PageError;
uint8_t a[24] = {0};
int16_t reference_temp;
//电压标定值
reference_temp = *(int16_t*)(FLASH485_ADDR+14);
if(reference_temp == 0x0000 ||reference_temp == -1)
{
reference_temp = 0;
}
//stm32g030F4P6: flash 32k,2k一页，共16页
EraseInitType.TypeErase = FLASH_TYPEERASE_PAGES; //页擦页
EraseInitType.Banks =FLASH_BANK_1;
EraseInitType.Page = 15; //擦除页地址
EraseInitType.NbPages = 1; //擦除数量
//stm32是小端模式，低位在前
a[0] = RS485ADDR&0xFF; //地址
a[1] = RS485ADDR>>8;
a[2] = pwm_pulse&0xFF; //占空比
a[3] = pwm_pulse>>8;
a[4] = adcValue_factor&0xFF; //数据修正的比例系数
a[5] = adcValue_factor>>8;
a[6] = adcValue_addnum & 0xFF; //加减系数
a[7] = adcValue_addnum >>8;
a[8] = baud_rate & 0xFF; //加减系数
a[9] = baud_rate >>8;
a[10] = estimate_value & 0xFF;
a[11] = estimate_value >>8;
a[12] = threshold_value & 0xFF;
a[13] = threshold_value >>8;
a[14] = reference_temp & 0xFF;
a[15] = reference_temp >> 8;
if(reference_flag == 1)
{
a[14] = reference & 0xFF;
a[15] = reference >> 8;
reference_flag = 0;
}
a[16] = voltage_thresh & 0xFF;
a[17] = voltage_thresh >> 8;
HAL_FLASH_Unlock(); //解锁
if(HAL_FLASHEx_Erase(&EraseInitType, &PageError) != HAL_OK) //擦除
{
HAL_FLASH_Lock();
return 1;
}
uint64_t *b = (uint64_t*)a;
// uint8_t i = 0;
// for(i=0;i++;i<3)
// {
// if(HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, FLASH485_ADDR+i*8, *(b+i)) != HAL_OK)
// {
// HAL_FLASH_Lock();
// return 3 ;
// }
// }
if(HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, FLASH485_ADDR, *b) != HAL_OK)
{
HAL_FLASH_Lock();
return 3 ;
}
if(HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, FLASH485_ADDR+8, *(b+1) ) != HAL_OK)
{
HAL_FLASH_Lock();
return 3 ;
}
if(HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, FLASH485_ADDR+16, *(b+2) ) != HAL_OK)
{
HAL_FLASH_Lock();
return 3 ;
}
HAL_FLASH_Lock();
return 0;
}
//把参数写到flash中
uint8_t write_flash(void)
{
uint8_t a =0;
DISABLE_INT();
a= writeflash();
ENABLE_INT();
return a;
}
//取消运行时间功能
/*
uint8_t write_runtime(void)
{
FLASH_EraseInitTypeDef EraseInitType;
uint32_t PageError;
//stm32g030F4P6: flash 32k,2k一页，共16页
EraseInitType.TypeErase = FLASH_TYPEERASE_PAGES; //页擦页
EraseInitType.Banks =FLASH_BANK_1;
EraseInitType.Page = 14; //擦除页地址
EraseInitType.NbPages = 1; //擦除数量
current_addr += 8;
HAL_FLASH_Unlock();
if(current_addr > 0x080077D8)
{
current_addr = FLASHmotor_runtime; //解锁
if(HAL_FLASHEx_Erase(&EraseInitType, &PageError) != HAL_OK) //擦除
{
HAL_FLASH_Lock();
return 1;
}
}
uint64_t b = motor_runtime; //<<16 | bad_runtime;
if(HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, current_addr, b) != HAL_OK)
{
HAL_FLASH_Lock();
return 3 ;
}
HAL_FLASH_Lock();
return 0;
}
*/
//发送数据，参数：数据长度；数据放在全局变量txbuff中
void send_ack(uint8_t a)
{
HAL_GPIO_WritePin(TX485_EN_GPIO_Port, TX485_EN_Pin, GPIO_PIN_SET);//使能485芯片发送
HAL_UART_Transmit_DMA(&huart1, TXBuff, a);
while(HAL_DMA_GetState(&hdma_usart1_tx) != HAL_DMA_STATE_READY);
delay_ms(5);
HAL_GPIO_WritePin(TX485_EN_GPIO_Port, TX485_EN_Pin, GPIO_PIN_RESET);//使能485芯片接收
}
//外部中断回调函数，
void HAL_GPIO_EXTI_Rising_Callback(uint16_t GPIO_Pin)
{
static uint8_t count = 0,polaNumber =0;
static int16_t last_negative = 0;
static GPIO_PinState PH2_value =GPIO_PIN_RESET,PH1_value = GPIO_PIN_RESET;
PH2_value = HAL_GPIO_ReadPin(PH2_GPIO_Port, PH2_Pin);
PH1_value = HAL_GPIO_ReadPin(PH1_GPIO_Port, PH1_Pin);
if(GPIO_Pin == PH1_Pin && PH1_value == GPIO_PIN_SET )
{
//判断电机运动状态
static uint32_t last_tick = 0;
// last_tick = HAL_GetTick();
uint32_t a = HAL_GetTick();
if( (a -last_tick) < 8)
{
bsp_StartAutoTimer(4,1000); //1秒没有检测到上升沿，说明电机不正常或红外线发射接收不正常
if(motor_state == 1)
{
bsp_StartAutoTimer(2,500); //led2闪烁
motor_state = 0;
}
}
last_tick = a;
//判断极性
if(PH2_value==GPIO_PIN_SET)
{
polaNumber ++;
}
count++;
if(count>=10)
{
if(polaNumber>=3)polarity=1;
else
{polarity = -1;}
count =0;
polaNumber =0;
}
}
else if(GPIO_Pin == SDA_Pin) //判断压板投退状态
{
bsp_StartAutoTimer(3,5000); //5秒没有上升下降沿，说明可能没有加反向电场
static uint8_t posinumber =0,neganumber = 0;
if(HAL_GPIO_ReadPin(SDA_GPIO_Port, SDA_Pin) == GPIO_PIN_SET) //上升沿
{
electric_flag = 1;
motor_runtime = adc_positive - adc_negative;
if(adc_positive - adc_negative >estimate_value)
{
if(adc_positive>0) //电压为正
{
posinumber++;
neganumber = 0;
if(posinumber>=3)
{
adc_state = 0; //0是退
}
}
else { //电压为负时，峰峰值计算时，当前的正值减上上次的负值
motor_runtime = adc_positive - last_negative;
if(adc_positive-last_negative>estimate_value)
{
posinumber++;
neganumber = 0;
if(posinumber>=3)
{
adc_state = 0; //0是退
}
}
else {
neganumber++;
posinumber = 0;
if(neganumber>=3)
{
adc_state = 1; //1是投
}
if(neganumber>250)neganumber = 3;
}
}
if(posinumber>250)posinumber = 3;
}
else
{
neganumber++;
posinumber = 0;
if(neganumber>=2)
{
adc_state = 1; //1是投
}
if(neganumber>250)neganumber = 3;
}
last_negative =adc_negative;
if(threshold_value>=10 && abs(adc_positive)<threshold_value && abs(adc_negative)<threshold_value)
{
adc_state = 0; //0是退
}
adc_positive = adc_max; //上升沿赋值正值，下降沿赋值负值
}
}
__HAL_GPIO_EXTI_CLEAR_RISING_IT(GPIO_Pin);
}
void HAL_GPIO_EXTI_Falling_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == SDA_Pin)
{
if(HAL_GPIO_ReadPin(SDA_GPIO_Port, SDA_Pin) == GPIO_PIN_RESET)
{
electric_flag = 0;
}
adc_negative = adc_max;
}
}
void Uart_SetBaud(int16_t baud)
{
HAL_UART_DeInit(&huart1); //如果不清除，DMA会产生bug
huart1.Instance = USART1;
huart1.Init.BaudRate = 9600;
if(baud == 1)
{
huart1.Init.BaudRate = 19200;
}
else if(baud == 2)
{
huart1.Init.BaudRate = 57600;
}
else if(baud == 3)
{
huart1.Init.BaudRate = 115200;
}
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
__HAL_UART_ENABLE_IT(&huart1,UART_IT_IDLE);
__HAL_UART_CLEAR_IT(&huart1,UART_CLEAR_IDLEF|UART_CLEAR_TCF);
}
//计算电压值，每6秒钟调用一次
void calculate_voltage(void)
{
static uint16_t last_count = 0,count =0;
static int16_t last_adc = 0;
static int8_t a = 0;
if(adc_state == 0)
{
voltage = 0;
}
else
{
if(reference == 0) //0为默认处理方式，
{
count++;
a = adc_max/abs(adc_max);
voltage =a*110;
if(count -last_count >= 5 ) //每6秒钟调用一次
{
if(abs(adc_max-last_adc) < 30 && count >= 30)
{
reference = adc_max;
count =0;
}
last_count = count;
last_adc = adc_max;
}
}
else if(reference == 1) //人为设置电压参考值为0时的处理
{
voltage =0;
if(abs(adc_max-last_adc)>300 )
{
reference = 0;
write_flash();
}
last_adc = adc_max;
}
}
}
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