F030C8T6_Kbus_MIX.git

QuakeGod

2024-04-12 5dd1b7fdcc52a43867f924e8d220de8467af372a

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8b51c7	1
Q	2	/**
	3	******************************************************************************
	4	* @file : main.c
	5	* @brief : Main program body
	6	******************************************************************************
	7	** This notice applies to any and all portions of this file
	8	* that are not between comment pairs USER CODE BEGIN and
	9	* USER CODE END. Other portions of this file, whether
	10	* inserted by the user or by software development tools
	11	* are owned by their respective copyright owners.
	12	*
	13	* COPYRIGHT(c) 2018 STMicroelectronics
	14	*
	15	* Redistribution and use in source and binary forms, with or without modification,
	16	* are permitted provided that the following conditions are met:
	17	* 1. Redistributions of source code must retain the above copyright notice,
	18	* this list of conditions and the following disclaimer.
	19	* 2. Redistributions in binary form must reproduce the above copyright notice,
	20	* this list of conditions and the following disclaimer in the documentation
	21	* and/or other materials provided with the distribution.
	22	* 3. Neither the name of STMicroelectronics nor the names of its contributors
	23	* may be used to endorse or promote products derived from this software
	24	* without specific prior written permission.
	25	*
	26	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
	27	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
	28	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
	29	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
	30	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
	31	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
	32	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	33	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
	34	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
	35	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
	36	*
	37	******************************************************************************
	38	*/
	39	/* Includes ------------------------------------------------------------------*/
	40	#include "main.h"
	41	#include "stm32f0xx_hal.h"
	42
	43	/* USER CODE BEGIN Includes */
	44	#include "Globaldef.h"
	45	#include "debug.h"
	46	#include "Functions.h"
	47	#include "KMachine.h"
	48	#include "PLCfunctions.h"
	49	//#include "KBus.h"
	50	#include "KLink.h"
	51	#include "string.h"
	52	#include "BSP.h"
	53	#include "ModbusRTU.h"
	54	#if (BOARD_TYPE == 13)
	55	#include "w5500_port.h"
	56	#include "../src/Ethernet/socket.h"
	57	#include "../src/Ethernet/loopback.h"
	58	#elif (BOARD_TYPE == 14)
5dd1b7	59	#include "FPx.h"
8b51c7	60	#elif (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
Q	61	#include "KWireless.h"
	62	//#include "user.h"
	63	//#include "../src/radio/inc/sx126x-board.h"
	64	#endif
	65	#include "SLP.h"
5dd1b7	66	//#include "YDLidar.h"
Q	67	#include "OrdLidar.h"
8b51c7	68
Q	69	/* USER CODE END Includes */
	70
	71	/* Private variables ---------------------------------------------------------*/
	72
	73	/* USER CODE BEGIN PV */
	74	/* Private variables ---------------------------------------------------------*/
	75
	76	#define RX2BUFSIZE 64
	77	#define TX2BUFSIZE 64
	78
	79
5dd1b7	80	unsigned char Uart1RxBuf[RX1BUFSIZE];
Q	81	unsigned char Uart1TxBuf[TX1BUFSIZE];
8b51c7	82
Q	83	unsigned char Uart2RxBuf[RX2BUFSIZE];
	84	unsigned char Uart2TxBuf[TX2BUFSIZE];
	85
	86	unsigned char SlowFlicker=0;
	87	unsigned char FastFlicker=0;
	88
	89	unsigned int Uart1IdelTimer = 0;
	90	stBinProg1 * pProgs = (stBinProg1 *)STORE_PRG_BASE;
	91
	92	uint32_t us1,us2,us3,us4,us5,us6;
	93
	94	/* USER CODE END PV */
	95
	96	/* Private function prototypes -----------------------------------------------*/
	97
	98
	99	/* USER CODE BEGIN PFP */
	100	/* Private function prototypes -----------------------------------------------*/
	101
	102	const unsigned char LEDSEGTAB[]={
	103	0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71, //0-F
	104	0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef,0xf7,0xfc,0xb9,0xde,0xf9,0xf1, //0.-F.
	105	0x00,0x40, // ,-,_,~,o,n,N,<,>,J,r,
	106	};
	107
	108	/* USER CODE END PFP */
	109
	110	/* USER CODE BEGIN 0 */
	111
	112	int HexToInt(char ch)
	113	{
	114	if (ch>='0' && ch <='9') return ch-'0';
	115	if (ch>='A' && ch <='F') return ch-'A'+10;
	116	if (ch>='a' && ch <='f') return ch-'a'+10;
	117	return 0;
	118	}
	119
	120	void HAL_SYSTICK_Callback(void)
	121	{
	122	static int Count=0;
	123	CurTickuS += 100;
	124	nCurTick++;
	125	nSlaveTick++;
	126	Count++;
	127	if (Count>=10000)
	128	{
	129	Count=0;
	130	KMem.CurTimeSec++;
	131	KMem.ThisRunTime++; KMem.TotalRunTime++;
	132	if (KMRunStat.bLEDFlick) KMRunStat.bLEDFlick--;
	133	if (KMRunStat.bLEDFlick >120) KMRunStat.bLEDFlick=120;
	134	}
	135
	136	return;
	137	}
	138
5dd1b7	139	void * KBusCallBackFunc(int nChn, int nEvent, void *pBuf, int nLen1)
Q	140	{
	141	switch (nEvent){
	142
	143	case KBusEvNone:
	144	break;
	145	case KBusEvCreate:
	146	break;
	147	case KBusEvConnected:
	148	break;
	149	case KBusEvDisConnected:
	150	break;
	151	case KBusEvClosed:
	152	break;
	153	case KBusEvStateChange:
	154	break;
	155	case KBusEvTimeSync:
	156	break;
	157	case KBusEvDataUpdate:
	158	KMem.WY[0]=KBusMem.WLY[0]; //KBus Slave
	159	KBusMem.WLX[0]=KMem.WX[0];
	160	KBusMem.WLX[1]=KMem.WX[1];
	161	KBusMem.WLX[2]=KMem.WX[2];
	162	KBusMem.WLX[3]=KMem.WX[3];
	163	break;
	164	case KBusEvCmdResponse:
	165	break;
	166
	167	default:
	168	break;
	169	}
	170	return 0;
	171	}
	172
	173	//#define RAM_START_ADDR 0x20000000 // SRAM_BASE
8b51c7	174	#define VECTOR_SIZE 46
Q	175	#define ApplicationAddress 0x08001000 //应用程序首地址定义
5dd1b7	176	/*
8b51c7	177	static void RemapIrqVector(void)
Q	178	{
	179	memcpy((void)RAM_START_ADDR, (void )ApplicationAddress, VECTOR_SIZE * 4);
	180	LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_SYSCFG);
	181	LL_SYSCFG_SetRemapMemory(LL_SYSCFG_REMAP_SRAM);
	182	}
5dd1b7	183	*/
8b51c7	184	/* USER CODE END 0 */
Q	185
	186	/**
	187	* @brief The application entry point.
	188	*
	189	* @retval None
	190	*/
	191	int main(void)
	192	{
	193	/* USER CODE BEGIN 1 */
	194	// RemapIrqVector();
	195	__set_PRIMASK(0); //打开全局中断
	196
	197	KMRunStat.bLEDFlick = 1;
	198
	199	InitUartstat(&Uart1Stat,Uart1RxBuf,sizeof(Uart1RxBuf),Uart1TxBuf,sizeof(Uart1TxBuf));
	200	InitUartstat(&Uart2Stat,Uart2RxBuf,sizeof(Uart2RxBuf),Uart2TxBuf,sizeof(Uart2TxBuf));
	201	/* USER CODE END 1 */
	202
	203	/* MCU Configuration----------------------------------------------------------*/
	204
	205	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	206	HAL_Init();
	207
	208	/* USER CODE BEGIN Init */
	209
	210
	211	KMem.LastScanTime=0;
	212	KMem.ScanTimeuS=0;
	213	KMem.MinScanTimeuS=99999;
	214	KMem.MaxScanTimeuS=0;
	215
	216	// KMem.SDD[14]=(unsigned int)&KMStoreSysCfg;
	217	// KMem.SDD[15]=(unsigned int)&KMStoreSysCfg1;
	218	KMem.SDD[12]=((uint32_t *)UID_BASE)[0];
	219	// KMem.SDD[13]=((uint32_t *)UID_BASE)[1];
	220	// KMem.SDD[14]=((uint32_t *)UID_BASE)[2];
	221	KMem.SDD[13]=PendSvCount;
	222	KMem.SDD[14]=RCC->CSR;
	223	// KMem.SDD[15]=(uint32_t )FLASHSIZE_BASE;
	224	// KMem.SDD[16]=(unsigned int)&KMSysCfg;
	225
	226	/* USER CODE END Init */
	227
	228	/* Configure the system clock */
	229	SystemClock_Config();
	230
	231	/* USER CODE BEGIN SysInit */
	232	TickFreq=10000; //Tick频率
	233	InituS(TickFreq);
	234	// HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/TickFreq); //重新定义SysTick的频率
	235
	236	/* USER CODE END SysInit */
	237
	238	/* Initialize all configured peripherals */
	239	MX_GPIO_Init();
	240	LL_GPIO_InitTypeDef GPIO_InitStruct;
	241	GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
	242	GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
	243	GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
	244	GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
	245	LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
	246
	247	MX_DMA_Init();
	248
	249	KMachineInit();
	250	ReadSysCfgFromFlash(&storedKMSysCfg);
	251
	252	KMRunStat.bLEDFlick = 1;
	253
	254	KMem.CurJumperSW=ReadJumperSW();
	255	KMem.EffJumperSW=KMem.CurJumperSW;
	256
	257	bSLPMaster = 1; // KMem.EffJumperSW&0x20 ; //master?
	258	nStation = 1;
	259
	260	// Uart2Baud = AlterUart2Baud;
	261
5dd1b7	262
Q	263
8b51c7	264	#if (BOARD_TYPE == 14)
Q	265	KMem.EffJumperSW\|=0x10;
	266	nStationID=KMem.EffJumperSW&0x0f;
	267	if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
	268	else{bKBusMaster=0;bKBusSlave=1;}
	269	nChilds=nStationID;
5dd1b7	270	FPx_Init();
8b51c7	271
Q	272	#elif (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
	273	nStationID=1 ;//KMem.EffJumperSW&0x0f;
	274	// if (KMem.EffJumperSW == 0x1f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
	275	// else if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
	276	// else
	277	{bKBusMaster=0;bKBusSlave=1;}
	278	#else
	279	nStationID=KMem.EffJumperSW&0x0f;
	280	if (KMem.EffJumperSW == 0x1f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
	281	else if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
	282	else{bKBusMaster=0;bKBusSlave=1;}
	283	#endif
5dd1b7	284
Q	285	KBusInit(2, bKBusMaster, nChilds);
	286	KBusSetCallBackFunc(2, &KBusCallBackFunc),
	287
8b51c7	288	nChilds=nStationID;
Q	289	nCurPollId=1;
	290	//if (KMem.EffJumperSW == 0x00)
	291	Uart1Baud = DefaultUart1Baud;
	292	MX_USART1_UART_Init();
	293	MX_USART2_UART_Init();
	294
	295	MX_USART3_UART_Init();
	296
	297	LL_USART_EnableIT_RXNE(USART3);
	298	LL_USART_EnableIT_IDLE(USART3);
	299
	300	MX_USART5_UART_Init();
	301	LL_USART_EnableIT_RXNE(USART5);
	302	LL_USART_EnableIT_IDLE(USART5);
	303
	304	MX_USART6_UART_Init();
	305	LL_USART_EnableIT_RXNE(USART6);
	306	LL_USART_EnableIT_IDLE(USART6);
	307
	308
	309	// MX_SPI1_Init();
	310	// LL_SPI_EnableIT_RXNE(SPI1);
	311
	312	#if (BOARD_TYPE == 14)
	313	// MX_SPI2_Init();
	314	// MX_ADC_Init();
	315	#else
	316	// MX_SPI2_Init();
	317	MX_ADC_Init();
	318	#endif
	319
	320	MX_IWDG_Init();
	321
	322	MX_TIM6_Init();
	323	LL_TIM_EnableCounter(TIM6);
	324
	325	/* USER CODE BEGIN 2 */
	326	LL_USART_EnableIT_RXNE(USART1);
	327	LL_USART_EnableIT_IDLE(USART1);
	328	LL_USART_EnableIT_TC(USART1);
	329
	330	// LL_USART_EnableIT_RXNE(USART2);
	331	Uart2RecvDMA(Uart2RecvBuf1,sizeof(Uart2RecvBuf1));
	332	LL_USART_EnableIT_IDLE(USART2);
	333	LL_USART_EnableIT_TC(USART2);
	334	#if (BOARD_TYPE == 13)
	335	int res;
	336	res = w5500_init();
	337	KMem.SDD[28]=res;
	338
	339	// res=socket(0,Sn_MR_TCP,5000,0);
	340	KMem.SDD[29]=res;
	341
	342	// res = listen(0);
	343	#endif
	344	// if (bKBusSlave)
	345	{
	346	// LL_USART_EnableAutoBaudRate(USART1);
	347	// LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	348	// LL_USART_EnableAutoBaudRate(USART2);
	349	// LL_USART_SetAutoBaudRateMode(USART2, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	350	}
	351	//LL_USART_EnableIT_TXE(USART1);
	352	/* USER CODE END 2 */
	353
	354
	355	/* Infinite loop */
	356	/* USER CODE BEGIN WHILE */
	357
	358	HAL_Delay(10);
	359	SetRunLed(1); //Turn On Run Led
	360	SetErrLed(0); //Turn Off Err Led
	361
	362	#if (BOARD_TYPE == 14)
	363	// PutOutput (0); //Clear all Output
	364	// Enable595(1); //Enable 595 Output
	365	#else
	366	PutOutput (0); //Clear all Output
	367	Enable595(1); //Enable 595 Output
	368	#endif
	369
	370	if (GetBoardType() == 7 \|\| GetBoardType() ==8
	371	\|\| GetBoardType() == 9 \|\| GetBoardType() ==10 \|\|GetBoardType() ==13 \|\|GetBoardType() ==15 \|\| BOARD_TYPE == 16)
	372	{
	373	displayInput(0xffff); //
	374	EnableDisIn(1); //Input Diaplay Enable 595
	375	}
	376	SetOutStat(0); //OK Good, signal
	377	ShowInitInfo();
	378	KMem.LastScanTime = GetuS();
	379
	380	KMRunStat.WorkMode=0;
	381	KMRunStat.WorkMode2=0;
	382
	383	KMRunStat.WorkMode = storedKMSysCfg.theKMSysCfg.workmode;
	384
	385	if (KMRunStat.WorkMode == 1){
	386	InitPLC();
	387	KMRunStat.WorkMode2 = KMem.CurJumperSW&0x20 ;
	388	if (KMRunStat.WorkMode2) {
	389	StartPLC(); }
	390	}
	391	KMem.WX[7]=0x5a;
	392	#if (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
	393	KWireLessInit(KMem.EffJumperSW&0x20,KMem.EffJumperSW&0x0f);
	394	KWireLessStart();
	395	#endif
	396
5dd1b7	397	OrdLidarStart(-1);
8b51c7	398
Q	399	while (1)
	400	{
	401	//int MyKeyStat1,MyKeyStat2;
	402	//MyKeyStat1=GetInput();
	403
	404	//((unsigned int )&(PLCMem.SDT[10]))=nRunCount;
	405	// KMem.nRunCount=nRunCount;
	406	SlowFlicker=0;
	407	FastFlicker=1;
	408	us1=GetuS();
	409	int haltick=HAL_GetTick();
	410
	411	int thisJumperSW=ReadJumperSW();
	412
	413	if (KMRunStat.WorkMode&1){
	414	if (thisJumperSW&0x20 && !(KMem.CurJumperSW&0x20)) // Run 开关正跳变。
	415	{StartPLC();}
	416	if (!(thisJumperSW&0x20) && (KMem.CurJumperSW&0x20)) // Run 开关负跳变。
	417	{StopPLC();}
	418	}
	419
	420	KMem.CurJumperSW=thisJumperSW;
	421	KMem.haltick=haltick;
	422	// KMem.TotalRunTime=TotalRunTime;
	423	// KMem.ThisRunTime=ThisRunTime;
	424
	425	// ((unsigned int )&(PLCMem.SDT[2]))=nChilds;
	426	// KMem.SDD[13]=PendSvCount;
	427	// KMem.SDD[14]=RCC->CSR;
	428
	429	int a;
	430	a = LL_GPIO_ReadInputPort(GPIOA);
	431	KMem.WDT[120]=a;
	432	a = LL_GPIO_ReadInputPort(GPIOB);
	433	KMem.WDT[121]=a;
	434	a = LL_GPIO_ReadInputPort(GPIOC);
	435	KMem.WDT[122]=a;
	436	a = LL_GPIO_ReadInputPort(GPIOD);
	437	KMem.WDT[123]=a;
	438
5dd1b7	439
8b51c7	440	KMem.WXB[0]= GetInput();
Q	441
	442	us2=GetuS();
	443	if (PowerDownEvent) { KMem.WX[0]=0;}
5dd1b7	444	// /*
8b51c7	445	if ((KMem.nRunCount &0x1f) == 0x02)
Q	446	{
	447	ADCProcess();
	448	if (PowerDownEvent)
	449	{
	450	KMem.WX[0]=0;
	451	if (!OldPowerDownEvent)
	452	{
	453	OldPowerDownEvent = PowerDownEvent;
	454	OldPowerDownEventTime = nCurTick;
	455	PowerDownProcess();
	456	}
	457	}else
	458	{
	459	if (OldPowerDownEvent)
	460	{
	461	OldPowerDownEvent=PowerDownEvent;
	462	PowerRecoverProcess();
	463
	464	}
	465	}
	466	}
5dd1b7	467	// */
8b51c7	468
Q	469	// pProgs = (stBinProg1 *) STORE_PRG_BASE;
	470
	471	if ( KMRunStat.WorkMode==1 ) //&& bKBusMaster)
	472	{
	473	if (KMRunStat.nBinProgBank == 0){
	474	pProgs=(stBinProg1 *)STORE_PRG_BASE;
	475	}else {
	476	pProgs=(stBinProg1 *)ALT_PRG_BASE;
	477	}
	478	nSizeProg1=KMRunStat.nBinProgSize;
	479	// pProgs=(stBinProg1 *)prog1;
	480
	481	ProcessPLCBinProg(pProgs, nSizeProg1);
	482	}
	483
	484	KMem.ScanTimeuS=us2-KMem.LastScanTime;
	485	KMem.LastScanTime = us2;
	486	if (KMem.ScanTimeuS < KMem.MinScanTimeuS) {KMem.MinScanTimeuS = KMem.ScanTimeuS;}
	487	if (KMem.ScanTimeuS > KMem.MaxScanTimeuS) {KMem.MaxScanTimeuS = KMem.ScanTimeuS;}
	488
	489	// if (bKBusRepeater) { KBusRepeaterFunc(); }
	490
	491	us3=GetuS();
	492
	493	if (bKBusMaster)
	494	{
	495
5dd1b7	496	if (nChilds>0) { KBusMasterFunc(2); }
8b51c7	497
Q	498	}
	499	if (haltick&0x00002000) SlowFlicker=1;
	500	else SlowFlicker=0;
	501	if (haltick&0x00000800) FastFlicker=1;
	502	else FastFlicker=0;
	503
	504	if (bKBusSlave)
	505	{
5dd1b7	506
8b51c7	507	KBusSlaveFunc(2);
5dd1b7	508	if (! KMem.RunStat) {KBusMem.WLY[0]=0;}
Q	509	KMem.WLY[0]=KBusMem.WLY[0];
	510
8b51c7	511	if (nSlaveTick&0x00002000) SlowFlicker=1;
Q	512	else SlowFlicker=0;
	513	if (nSlaveTick&0x00000800) FastFlicker=1;
	514	else FastFlicker=0;
	515
	516	}
5dd1b7	517	KBusMem.WLX[0]=KMem.WX[0];
Q	518	KMem.WY[0]=KBusMem.WLY[0];
	519	KBusMem.WLX[1]=KMem.WX[1];
	520	KBusMem.WLX[2]=KMem.WX[2];
	521	KBusMem.WLX[3]=KMem.WX[3];
	522
8b51c7	523	// KMem.WY[0]=nCount2>>5;
Q	524	if (KMem.RunStat) {KMem.RunStat--;}
	525	if (KMem.ErrStat) {KMem.ErrStat--;}
	526
	527	if (KMRunStat.bLEDFlick)
	528	{
	529	SetRunLed(FastFlicker);
	530	SetErrLed(FastFlicker);
	531	SetErr2Led(FastFlicker);
	532	SetOutStat(!FastFlicker);
	533	//KMRunStat.bLEDFlick-- ;
	534	}
	535	else
	536	{
	537	if (KMRunStat.WorkMode==1 ) {
	538	if (PLCMem.bPLCRunning){SetRunLed(SlowFlicker);}
	539	else {SetRunLed(0);}
	540	}
	541	else {
	542	if (!KMem.RunStat) SetRunLed(SlowFlicker);
	543	else SetRunLed(FastFlicker);
	544	}
	545	if (!KMem.ErrStat)
	546	{
	547	SetErrLed(0);
	548	SetErr2Led(0);
	549	SetOutStat(1);
	550	}
	551	else
	552	{
	553	SetErrLed(FastFlicker);
	554	SetErr2Led(FastFlicker);
	555	SetOutStat(0);
	556
	557	}
	558	}
	559
	560	// SetRunLed(RunStat);
	561	// SetErrLed(ErrStat);
	562
	563	us4=GetuS();
	564	// EffJumperSW = GetInput(20)&0xff;
	565
	566
	567	us5=GetuS();
	568
	569
	570	//PutOutput (KMem.nRunCount>>8);
	571	//PutOutput(0x0f70);
	572
	573	// if (bKBusMaster) ShowInfo();
	574	// if (bKBusSlave) ShowInfo();
	575	us6=GetuS();
	576	add1(10,10);
	577	for (int i=0;i<64;i++)
	578	{
	579	// ProcessTimer(i);
	580	}
	581	KMem.nRunCount++;
	582	// int nSize=sizeof(stKBusChnStat);
	583	// memcpy(&KMem.SDT[64],&KBusChnStats[1],nSize);
	584	// memcpy(&KMem.SDT[64+nSize/2],&KBusChnStats[2],nSize);
	585	// for (int i=0;i<128;i++) { SDT[i]=i; }
	586	// SDT[48]=55;
5dd1b7	587	if (Uart1Stat.bPacketRecved && Uart1RecvBuf1DataLen >0)
8b51c7	588	{
Q	589	int res1 = -1;
5dd1b7	590	if (Uart1RecvBuf1[0] == KLSignStart) {
Q	591	res1 = KLParsePacket(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
	592	}else {
	593	res1 = ModBusSlaveParsePkg(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
8b51c7	594	}
Q	595	Uart1Stat.bPacketRecved=0;
5dd1b7	596	Uart1RecvBuf1DataLen=0;
8b51c7	597	Uart1IdelTimer = 0;
Q	598	}else {
	599	if (Uart1IdelTimer>600000) { // 超过60秒没有数据传输，重新进入自适应波特率状态
	600	LL_USART_EnableAutoBaudRate(USART1);
	601	LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	602	}else {
	603	Uart1IdelTimer++;
	604	}
	605	}
	606	if (bKBusSlave) HAL_Delay(0);
	607
	608	if (Uart6Stat.bPacketRecved){
	609	SLPparsePacket(Uart6RxBuf,Uart6RecvBuf1DataLen);
	610	Uart6RecvBuf1DataLen =0;
	611	Uart6Stat.bPacketRecved = 0;
	612	}
	613
	614	SLPinputB = KMem.WYB[1];
	615	SLPProcess();
	616	KMem.WXB[1] = SLPoutputB;
	617
	618	// YDLiDar process;
	619
	620	if (Uart3Stat.bPacketRecved){
	621	KMem.WDT[8]++;
5dd1b7	622	OrdLidarParsePkt(0,(OradarLidarFrame *)Uart3RxBuf,Uart3RecvBuf1DataLen);
8b51c7	623	Uart3RecvBuf1DataLen =0;
Q	624	Uart3Stat.bPacketRecved = 0;
	625	}
	626	KMem.WDT[9]=pCount1;
	627	KMem.WDT[10]=dCount1;
	628	KMem.WDT[11]=vCount1;
5dd1b7	629
Q	630	KMem.WDT[12] = eCount1;
	631	KMem.WDT[13] = eCount2;
8b51c7	632
Q	633	if (Uart5Stat.bPacketRecved){
	634	KMem.WDT[16]++;
5dd1b7	635	OrdLidarParsePkt(1,(OradarLidarFrame *)Uart5RxBuf,Uart5RecvBuf1DataLen);
8b51c7	636	Uart5RecvBuf1DataLen =0;
Q	637	Uart5Stat.bPacketRecved = 0;
	638	}
	639
	640	// nPosX,nPosY,nPosZ,nPosZ1,nPosZ2;
	641
	642	KMem.WDT[17]=pCount2;
	643	KMem.WDT[18]=dCount2;
	644	KMem.WDT[19]=vCount2;
	645
	646	KMem.WDT[24]=nPosX;
	647	KMem.WDT[25]=nPosY;
	648	KMem.WDT[26]=nPosZ;
	649	KMem.WDT[27]=nPosZ1;
	650	KMem.WDT[28]=nPosZ2;
	651
5dd1b7	652	KMem.WDT[32]=results[0];
Q	653	KMem.WDT[33]=results[1];
	654	KMem.WDT[34]=results[2];
	655	KMem.WDT[35]=results[3];
	656	KMem.WDT[36]=results[4];
	657	KMem.WDT[37]=results[5];
	658	KMem.WDT[38]=results[6];
	659	KMem.WDT[39]=results[7];
8b51c7	660
5dd1b7	661
Q	662	KMem.WX[1] = nPosX ;
	663	KMem.WX[2] = nPosY ;
	664	KMem.WX[3] = nPosZ;
	665
	666	// KMem.WX[1]++ ;
	667	// KMem.WX[2]++;
	668
8b51c7	669
5dd1b7	670	PutOutput (KMem.WY[0]);
8b51c7	671
Q	672	LL_IWDG_ReloadCounter(IWDG);
	673
	674	} //while (1) ;
	675	/* USER CODE END WHILE */
	676
	677	/* USER CODE BEGIN 3 */
	678
	679	/* USER CODE END 3 */
	680
	681	}
	682
	683
	684	/* USER CODE BEGIN 4 */
	685
	686	/* USER CODE END 4 */
	687
	688	/**
	689	* @brief This function is executed in case of error occurrence.
	690	* @param file: The file name as string.
	691	* @param line: The line in file as a number.
	692	* @retval None
	693	*/
	694	void _Error_Handler(char *file, int line)
	695	{
	696	/* USER CODE BEGIN Error_Handler_Debug */
	697	/* User can add his own implementation to report the HAL error return state */
	698	while(1)
	699	{
	700	}
	701	/* USER CODE END Error_Handler_Debug */
	702	}
	703
	704	#ifdef USE_FULL_ASSERT
	705	/**
	706	* @brief Reports the name of the source file and the source line number
	707	* where the assert_param error has occurred.
	708	* @param file: pointer to the source file name
	709	* @param line: assert_param error line source number
	710	* @retval None
	711	*/
	712	void assert_failed(uint8_t* file, uint32_t line)
	713	{
	714	/* USER CODE BEGIN 6 */
	715	/* User can add his own implementation to report the file name and line number,
	716	tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	717	/* USER CODE END 6 */
	718	}
	719	#endif /* USE_FULL_ASSERT */
	720
	721	/**
	722	* @}
	723	*/
	724
	725	/**
	726	* @}
	727	*/
	728
	729	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/