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

/*
 * 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 uint16_t 	estimate_value  = 70;					//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

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:待定
 */
int16_t  user_register[10] = {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
}



//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;
//		if(humidness>50)
//		adc1_max += 0.3801*humidness*humidness - 16.825*humidness + 148.37;

		adc_max = adc1_max;


		if(electric_flag == 1)
		{
			adc_positive = adc_max;
		}
		else if(electric_flag == 0)
		{
			adc_negative = adc_max;
		}
		adc1_max = 0;
		number = 0;

		if(abs(adc_positive)>1500 )
		{
			estimate_value = 150;
		}
		else if(abs(adc_positive)>500 )
		{
			estimate_value = 100;
		}
		else
		{
			estimate_value = 40;
		}
	}
}


//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;
	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;
	
	if( (addr+number) <= 10 && 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);
	}

	if(addr == 0x00FF && number == 0x0001 && crcl== uBuff[6] && crch== uBuff[7])               //比较寄存器值和CRC校验值
	{
		char string[]="DCE-2302-V5.1.1_HAL";
		uint8_t i;
		for(i=0;i<strlen(string);i++)
		{
			TXBuff[i]	= string[i];
		}

		send_ack(strlen(string));	//打印版本号
	}
	if( addr == 10 && 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++] = bad_runtime >>8;
		TXBuff[cnt++] = bad_runtime & 0xFF;
		crcack = crc16_modbus(TXBuff,cnt);
		TXBuff[cnt++] = crcack & 0xff;
		TXBuff[cnt++] = crcack >>8;
		send_ack(cnt);
	}

}

//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                        //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 )
		{
			int16_t temp = adcValue_addnum;
			adcValue_addnum = data;
			if(write_flash() == 0)
			{
				send_ack(8);
			}
			else
			{
				adcValue_addnum = temp;
			}
		}
	}

	//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;
			}
		}
	}
}

uint8_t writeflash(void)
{
	FLASH_EraseInitTypeDef EraseInitType;
	uint32_t PageError;
	uint8_t a[16] = {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;
	

	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;
	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 ;
	}
	
	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;
}



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 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;

			if(adc_positive - adc_negative >estimate_value)
			{
				posinumber++;
				neganumber = 0;
				if(posinumber>=3)
				{
					adc_state = 0;				//0是退

				}
				if(posinumber>250)posinumber = 3;
			}
			else
			{
				neganumber++;
				posinumber = 0;
				if(neganumber>=3)
				{
					adc_state = 1;				//1是投
				}
				if(neganumber>250)neganumber = 3;
			}
		}
	}
	__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;
		}
	}
}


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 == 2)
	{
		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();
  }
  
 user_init();
  
}