/* * 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,1为正常, 0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 int16_t motor_runtime =0; //电机运行时间 uint32_t current_addr = FLASHmotor_runtime; //记录当前电机运行时间的 /*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 8,9: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); } //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 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) { adc_positive = adc_max; } else if(electric_flag == 0) { 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; 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; 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>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-V5.0_HAL"; uint8_t i; for(i=0;i>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 { pwm_pulse = data; //更新地址 __HAL_TIM_SET_COMPARE(&htim14,TIM_CHANNEL_1,pwm_pulse); //设置脉宽 if(write_flash() == 0) { send_ack(8); } } } //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 { 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); } } } } //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 ) { adcValue_addnum = data; if(write_flash() == 0) { send_ack(8); } } } //设置电机运行时间 else if(reg == 0x0007 && TXBuff[6]== uBuff[6] && TXBuff[7]== uBuff[7]) { motor_runtime = data; current_addr = 0x080077D8; if(write_runtime() == 0) { send_ack(8); } } } uint8_t writeflash(void) { FLASH_EraseInitTypeDef EraseInitType; uint32_t PageError; uint8_t a[8] = {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 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; 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 ; } 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; 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) { if(GPIO_Pin == PH1_Pin) //判断电场极性 { 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; } GPIO_PinState PH2_value = HAL_GPIO_ReadPin(PH2_GPIO_Port, PH2_Pin); static uint8_t count = 0,polaNumber =0; if(PH2_value==GPIO_PIN_SET) { polaNumber ++; } count++; if(count>5) { 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++; if(posinumber>=3) { adc_state = 0; //0是退 neganumber = 0; } if(posinumber>250)posinumber = 3; } else { neganumber++; if(neganumber>=3) { adc_state = 1; //1是投 posinumber = 0; } if(neganumber>250)neganumber = 3; } } else { electric_flag = 0; if(abs(adc_positive)>1500 ) { estimate_value = 150; } else if(abs(adc_positive)>500 ) { estimate_value = 100; } else { estimate_value = 40; } } } }