F030C8T6_Kbus_MIX.git

QuakeGod

2024-11-25 9aed5d7e7b3c7bf09da712e9c272ece401a7acc9

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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;
842bb6	90	#if (ENABLE_PLC)
8b51c7	91	stBinProg1 * pProgs = (stBinProg1 *)STORE_PRG_BASE;
842bb6	92	#endif
8b51c7	93
Q	94	uint32_t us1,us2,us3,us4,us5,us6;
	95
842bb6	96	stKBusDef KBus1; //
Q	97
	98	extern stDeviceInfo MyDeviceInfo;
	99
	100	unsigned char bSLPMaster =1;
	101	unsigned char nSLPStation = 1;
	102
	103	stSLPDef SLP1;
8b51c7	104	/* USER CODE END PV */
Q	105
	106	/* Private function prototypes -----------------------------------------------*/
	107
	108
	109	/* USER CODE BEGIN PFP */
	110	/* Private function prototypes -----------------------------------------------*/
	111
	112	const unsigned char LEDSEGTAB[]={
	113	0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71, //0-F
	114	0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef,0xf7,0xfc,0xb9,0xde,0xf9,0xf1, //0.-F.
	115	0x00,0x40, // ,-,_,~,o,n,N,<,>,J,r,
	116	};
	117
	118	/* USER CODE END PFP */
	119
	120	/* USER CODE BEGIN 0 */
	121
	122	int HexToInt(char ch)
	123	{
	124	if (ch>='0' && ch <='9') return ch-'0';
	125	if (ch>='A' && ch <='F') return ch-'A'+10;
	126	if (ch>='a' && ch <='f') return ch-'a'+10;
	127	return 0;
	128	}
	129
	130	void HAL_SYSTICK_Callback(void)
	131	{
	132	static int Count=0;
	133	CurTickuS += 100;
	134	nCurTick++;
842bb6	135	KBus1.nSlaveTick++;
8b51c7	136	Count++;
Q	137	if (Count>=10000)
	138	{
	139	Count=0;
	140	KMem.CurTimeSec++;
	141	KMem.ThisRunTime++; KMem.TotalRunTime++;
	142	if (KMRunStat.bLEDFlick) KMRunStat.bLEDFlick--;
	143	if (KMRunStat.bLEDFlick >120) KMRunStat.bLEDFlick=120;
	144	}
	145
	146	return;
	147	}
	148
842bb6	149	void PendSvCallBack()
Q	150	{
	151	#if (BOARD_TYPE == 14)
	152	///*
	153	if (bSPI1RecvDone)
	154	{
	155	bSPI1RecvDone=0;
	156	FPxParsePkt(SPI1RecvBuf,nSPI1RecvLenInBuf);
	157	}
	158	//*/
	159	#endif
	160	if (Uart2Stat.bPacketRecved)
	161	{
	162	KBusParsePacket(&KBus1, (pKBPacket)Uart2RecvBuf1, Uart2RecvBuf1DataLen);
	163	Uart2RecvBuf1DataLen=0;
	164	Uart2Stat.bPacketRecved=0;
	165	Uart2RecvDMA(Uart2RecvBuf1,sizeof(Uart2RecvBuf1));
	166	}
	167	}
	168
	169	void * KBusEvCallBackFunc(void * pParam, int nEvent, void *pBuf, int nLen1)
5dd1b7	170	{
Q	171	switch (nEvent){
	172
	173	case KBusEvNone:
	174	break;
	175	case KBusEvCreate:
	176	break;
	177	case KBusEvConnected:
	178	break;
	179	case KBusEvDisConnected:
	180	break;
	181	case KBusEvClosed:
	182	break;
	183	case KBusEvStateChange:
	184	break;
	185	case KBusEvTimeSync:
	186	break;
	187	case KBusEvDataUpdate:
	188	KMem.WY[0]=KBusMem.WLY[0]; //KBus Slave
	189	KBusMem.WLX[0]=KMem.WX[0];
	190	KBusMem.WLX[1]=KMem.WX[1];
	191	KBusMem.WLX[2]=KMem.WX[2];
	192	KBusMem.WLX[3]=KMem.WX[3];
	193	break;
	194	case KBusEvCmdResponse:
	195	break;
	196
	197	default:
	198	break;
	199	}
	200	return 0;
	201	}
	202
	203	//#define RAM_START_ADDR 0x20000000 // SRAM_BASE
8b51c7	204	#define VECTOR_SIZE 46
Q	205	#define ApplicationAddress 0x08001000 //应用程序首地址定义
5dd1b7	206	/*
8b51c7	207	static void RemapIrqVector(void)
Q	208	{
	209	memcpy((void)RAM_START_ADDR, (void )ApplicationAddress, VECTOR_SIZE * 4);
	210	LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_SYSCFG);
	211	LL_SYSCFG_SetRemapMemory(LL_SYSCFG_REMAP_SRAM);
	212	}
5dd1b7	213	*/
8b51c7	214	/* USER CODE END 0 */
Q	215
	216	/**
	217	* @brief The application entry point.
	218	*
	219	* @retval None
	220	*/
	221	int main(void)
	222	{
	223	/* USER CODE BEGIN 1 */
	224	// RemapIrqVector();
	225	__set_PRIMASK(0); //打开全局中断
	226
	227	KMRunStat.bLEDFlick = 1;
	228
	229	InitUartstat(&Uart1Stat,Uart1RxBuf,sizeof(Uart1RxBuf),Uart1TxBuf,sizeof(Uart1TxBuf));
	230	InitUartstat(&Uart2Stat,Uart2RxBuf,sizeof(Uart2RxBuf),Uart2TxBuf,sizeof(Uart2TxBuf));
	231	/* USER CODE END 1 */
	232
	233	/* MCU Configuration----------------------------------------------------------*/
	234
	235	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	236	HAL_Init();
	237
	238	/* USER CODE BEGIN Init */
	239
	240
	241	KMem.LastScanTime=0;
	242	KMem.ScanTimeuS=0;
	243	KMem.MinScanTimeuS=99999;
	244	KMem.MaxScanTimeuS=0;
	245
	246	// KMem.SDD[14]=(unsigned int)&KMStoreSysCfg;
	247	// KMem.SDD[15]=(unsigned int)&KMStoreSysCfg1;
	248	KMem.SDD[12]=((uint32_t *)UID_BASE)[0];
	249	// KMem.SDD[13]=((uint32_t *)UID_BASE)[1];
	250	// KMem.SDD[14]=((uint32_t *)UID_BASE)[2];
	251	KMem.SDD[13]=PendSvCount;
	252	KMem.SDD[14]=RCC->CSR;
	253	// KMem.SDD[15]=(uint32_t )FLASHSIZE_BASE;
	254	// KMem.SDD[16]=(unsigned int)&KMSysCfg;
	255
	256	/* USER CODE END Init */
	257
	258	/* Configure the system clock */
	259	SystemClock_Config();
	260
	261	/* USER CODE BEGIN SysInit */
	262	TickFreq=10000; //Tick频率
	263	InituS(TickFreq);
	264	// HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/TickFreq); //重新定义SysTick的频率
	265
	266	/* USER CODE END SysInit */
	267
	268	/* Initialize all configured peripherals */
	269	MX_GPIO_Init();
	270	MX_DMA_Init();
	271
	272	KMachineInit();
	273	ReadSysCfgFromFlash(&storedKMSysCfg);
	274
	275	KMRunStat.bLEDFlick = 1;
842bb6	276	int bKBusMaster,bKBusSlave,bKBusRepeater;;
Q	277	int nKBusStationId;
	278	int nKBusChilds;
8b51c7	279	KMem.CurJumperSW=ReadJumperSW();
Q	280	KMem.EffJumperSW=KMem.CurJumperSW;
842bb6	281	nKBusStationId=KMem.EffJumperSW&0x0f;
Q	282
	283	nKBusChilds = nKBusStationId;
8b51c7	284
Q	285	bSLPMaster = 1; // KMem.EffJumperSW&0x20 ; //master?
842bb6	286	nSLPStation = 1;
8b51c7	287
Q	288	// Uart2Baud = AlterUart2Baud;
	289
5dd1b7	290
Q	291
8b51c7	292	#if (BOARD_TYPE == 14)
Q	293	KMem.EffJumperSW\|=0x10;
842bb6	294	int nKBusChilds=KMem.EffJumperSW&0x0f;
8b51c7	295	if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
Q	296	else{bKBusMaster=0;bKBusSlave=1;}
842bb6	297
Q	298	FPxSetCallBackFunc(&FPxCallBackFunc);
	299	FPx_Init(nKBusChilds);
	300
	301	int IOByteCount = nKBusChilds;
	302	FPx_SetIOCount(IOByteCount,IOByteCount);
	303
8b51c7	304
Q	305	#elif (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
	306	nStationID=1 ;//KMem.EffJumperSW&0x0f;
	307	// if (KMem.EffJumperSW == 0x1f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
	308	// else if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
	309	// else
	310	{bKBusMaster=0;bKBusSlave=1;}
	311	#else
842bb6	312	nKBusStationId=KMem.EffJumperSW&0x0f;
Q	313	if (KMem.EffJumperSW == 0x3f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
	314	else if ((KMem.EffJumperSW&0x20)!=0) {bKBusMaster=1;bKBusSlave=0;}
8b51c7	315	else{bKBusMaster=0;bKBusSlave=1;}
Q	316	#endif
5dd1b7	317
842bb6	318	if (bKBusMaster) {
Q	319	KBusInitMaster(&KBus1, (KBusSendPktFuncDef)PutStr2, nKBusChilds);
5dd1b7	320
842bb6	321	} else if (bKBusSlave) {
Q	322	KBusInitSlave(&KBus1, (KBusSendPktFuncDef)PutStr2, nKBusStationId,&MyDeviceInfo);
	323	}
	324
	325	KBusSetEvCallBackFunc(&KBus1, &KBusEvCallBackFunc);
	326
8b51c7	327	//if (KMem.EffJumperSW == 0x00)
Q	328	Uart1Baud = DefaultUart1Baud;
	329	MX_USART1_UART_Init();
	330	MX_USART2_UART_Init();
	331
	332	MX_USART3_UART_Init();
	333
	334	LL_USART_EnableIT_RXNE(USART3);
	335	LL_USART_EnableIT_IDLE(USART3);
	336
	337	MX_USART5_UART_Init();
	338	LL_USART_EnableIT_RXNE(USART5);
	339	LL_USART_EnableIT_IDLE(USART5);
	340
	341	MX_USART6_UART_Init();
	342	LL_USART_EnableIT_RXNE(USART6);
	343	LL_USART_EnableIT_IDLE(USART6);
	344
	345
	346	// MX_SPI1_Init();
	347	// LL_SPI_EnableIT_RXNE(SPI1);
	348
	349	#if (BOARD_TYPE == 14)
	350	// MX_SPI2_Init();
	351	// MX_ADC_Init();
	352	#else
	353	// MX_SPI2_Init();
	354	MX_ADC_Init();
	355	#endif
	356
	357	MX_IWDG_Init();
	358
	359	MX_TIM6_Init();
	360	LL_TIM_EnableCounter(TIM6);
	361
	362	/* USER CODE BEGIN 2 */
	363	LL_USART_EnableIT_RXNE(USART1);
	364	LL_USART_EnableIT_IDLE(USART1);
	365	LL_USART_EnableIT_TC(USART1);
	366
	367	// LL_USART_EnableIT_RXNE(USART2);
	368	Uart2RecvDMA(Uart2RecvBuf1,sizeof(Uart2RecvBuf1));
	369	LL_USART_EnableIT_IDLE(USART2);
	370	LL_USART_EnableIT_TC(USART2);
	371	#if (BOARD_TYPE == 13)
	372	int res;
	373	res = w5500_init();
	374	KMem.SDD[28]=res;
	375
	376	// res=socket(0,Sn_MR_TCP,5000,0);
	377	KMem.SDD[29]=res;
	378
	379	// res = listen(0);
	380	#endif
	381	// if (bKBusSlave)
	382	{
	383	// LL_USART_EnableAutoBaudRate(USART1);
	384	// LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	385	// LL_USART_EnableAutoBaudRate(USART2);
	386	// LL_USART_SetAutoBaudRateMode(USART2, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	387	}
	388	//LL_USART_EnableIT_TXE(USART1);
	389	/* USER CODE END 2 */
	390
	391
	392	/* Infinite loop */
	393	/* USER CODE BEGIN WHILE */
	394
	395	HAL_Delay(10);
	396	SetRunLed(1); //Turn On Run Led
	397	SetErrLed(0); //Turn Off Err Led
	398
	399	#if (BOARD_TYPE == 14)
	400	// PutOutput (0); //Clear all Output
	401	// Enable595(1); //Enable 595 Output
	402	#else
	403	PutOutput (0); //Clear all Output
	404	Enable595(1); //Enable 595 Output
	405	#endif
	406
	407	if (GetBoardType() == 7 \|\| GetBoardType() ==8
	408	\|\| GetBoardType() == 9 \|\| GetBoardType() ==10 \|\|GetBoardType() ==13 \|\|GetBoardType() ==15 \|\| BOARD_TYPE == 16)
	409	{
	410	displayInput(0xffff); //
	411	EnableDisIn(1); //Input Diaplay Enable 595
	412	}
	413	SetOutStat(0); //OK Good, signal
	414	ShowInitInfo();
	415	KMem.LastScanTime = GetuS();
	416
	417	KMRunStat.WorkMode=0;
	418	KMRunStat.WorkMode2=0;
	419
	420	KMRunStat.WorkMode = storedKMSysCfg.theKMSysCfg.workmode;
842bb6	421	#if (ENABLE_PLC)
8b51c7	422	if (KMRunStat.WorkMode == 1){
Q	423	InitPLC();
	424	KMRunStat.WorkMode2 = KMem.CurJumperSW&0x20 ;
	425	if (KMRunStat.WorkMode2) {
	426	StartPLC(); }
	427	}
842bb6	428	#endif
Q	429
8b51c7	430	#if (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
Q	431	KWireLessInit(KMem.EffJumperSW&0x20,KMem.EffJumperSW&0x0f);
	432	KWireLessStart();
	433	#endif
	434
5dd1b7	435	OrdLidarStart(-1);
8b51c7	436
Q	437	while (1)
	438	{
	439	//int MyKeyStat1,MyKeyStat2;
	440	//MyKeyStat1=GetInput();
	441
	442	//((unsigned int )&(PLCMem.SDT[10]))=nRunCount;
	443	// KMem.nRunCount=nRunCount;
	444	SlowFlicker=0;
	445	FastFlicker=1;
	446	us1=GetuS();
	447	int haltick=HAL_GetTick();
	448
	449	int thisJumperSW=ReadJumperSW();
842bb6	450	#if (ENABLE_PLC)
8b51c7	451	if (KMRunStat.WorkMode&1){
Q	452	if (thisJumperSW&0x20 && !(KMem.CurJumperSW&0x20)) // Run 开关正跳变。
	453	{StartPLC();}
	454	if (!(thisJumperSW&0x20) && (KMem.CurJumperSW&0x20)) // Run 开关负跳变。
	455	{StopPLC();}
	456	}
842bb6	457	#endif
8b51c7	458	KMem.CurJumperSW=thisJumperSW;
Q	459	KMem.haltick=haltick;
	460	// KMem.TotalRunTime=TotalRunTime;
	461	// KMem.ThisRunTime=ThisRunTime;
	462
	463	// ((unsigned int )&(PLCMem.SDT[2]))=nChilds;
	464	// KMem.SDD[13]=PendSvCount;
	465	// KMem.SDD[14]=RCC->CSR;
	466
	467	int a;
	468	a = LL_GPIO_ReadInputPort(GPIOA);
	469	KMem.WDT[120]=a;
	470	a = LL_GPIO_ReadInputPort(GPIOB);
	471	KMem.WDT[121]=a;
	472	a = LL_GPIO_ReadInputPort(GPIOC);
	473	KMem.WDT[122]=a;
	474	a = LL_GPIO_ReadInputPort(GPIOD);
	475	KMem.WDT[123]=a;
	476
5dd1b7	477
8b51c7	478	KMem.WXB[0]= GetInput();
Q	479
	480	us2=GetuS();
	481	if (PowerDownEvent) { KMem.WX[0]=0;}
5dd1b7	482	// /*
8b51c7	483	if ((KMem.nRunCount &0x1f) == 0x02)
Q	484	{
	485	ADCProcess();
	486	if (PowerDownEvent)
	487	{
	488	KMem.WX[0]=0;
	489	if (!OldPowerDownEvent)
	490	{
	491	OldPowerDownEvent = PowerDownEvent;
	492	OldPowerDownEventTime = nCurTick;
	493	PowerDownProcess();
	494	}
	495	}else
	496	{
	497	if (OldPowerDownEvent)
	498	{
	499	OldPowerDownEvent=PowerDownEvent;
	500	PowerRecoverProcess();
	501
	502	}
	503	}
	504	}
5dd1b7	505	// */
8b51c7	506
Q	507	// pProgs = (stBinProg1 *) STORE_PRG_BASE;
842bb6	508	#if (ENABLE_PLC)
8b51c7	509	if ( KMRunStat.WorkMode==1 ) //&& bKBusMaster)
Q	510	{
	511	if (KMRunStat.nBinProgBank == 0){
	512	pProgs=(stBinProg1 *)STORE_PRG_BASE;
	513	}else {
	514	pProgs=(stBinProg1 *)ALT_PRG_BASE;
	515	}
	516	nSizeProg1=KMRunStat.nBinProgSize;
	517	// pProgs=(stBinProg1 *)prog1;
	518
	519	ProcessPLCBinProg(pProgs, nSizeProg1);
	520	}
842bb6	521	#endif
Q	522
8b51c7	523	KMem.ScanTimeuS=us2-KMem.LastScanTime;
Q	524	KMem.LastScanTime = us2;
	525	if (KMem.ScanTimeuS < KMem.MinScanTimeuS) {KMem.MinScanTimeuS = KMem.ScanTimeuS;}
	526	if (KMem.ScanTimeuS > KMem.MaxScanTimeuS) {KMem.MaxScanTimeuS = KMem.ScanTimeuS;}
	527
	528	// if (bKBusRepeater) { KBusRepeaterFunc(); }
	529
	530	us3=GetuS();
	531
	532	if (bKBusMaster)
	533	{
842bb6	534	KBusLoopProcess(&KBus1);
8b51c7	535	}
Q	536	if (haltick&0x00002000) SlowFlicker=1;
	537	else SlowFlicker=0;
	538	if (haltick&0x00000800) FastFlicker=1;
	539	else FastFlicker=0;
	540
	541	if (bKBusSlave)
	542	{
5dd1b7	543
842bb6	544	KBusLoopProcess(&KBus1);
Q	545	// if (! KBus1.RunStat) {KBusMem.WLY[0]=0;}
5dd1b7	546	KMem.WLY[0]=KBusMem.WLY[0];
Q	547
842bb6	548	if (KBus1.nSlaveTick&0x00002000) SlowFlicker=1;
8b51c7	549	else SlowFlicker=0;
842bb6	550	if (KBus1.nSlaveTick&0x00000800) FastFlicker=1;
8b51c7	551	else FastFlicker=0;
Q	552
	553	}
5dd1b7	554	KBusMem.WLX[0]=KMem.WX[0];
Q	555	KMem.WY[0]=KBusMem.WLY[0];
	556	KBusMem.WLX[1]=KMem.WX[1];
	557	KBusMem.WLX[2]=KMem.WX[2];
	558	KBusMem.WLX[3]=KMem.WX[3];
	559
8b51c7	560
Q	561	if (KMRunStat.bLEDFlick)
	562	{
	563	SetRunLed(FastFlicker);
	564	SetErrLed(FastFlicker);
	565	SetErr2Led(FastFlicker);
	566	SetOutStat(!FastFlicker);
	567	//KMRunStat.bLEDFlick-- ;
	568	}
	569	else
	570	{
842bb6	571	#if (ENABLE_PLC)
8b51c7	572	if (KMRunStat.WorkMode==1 ) {
Q	573	if (PLCMem.bPLCRunning){SetRunLed(SlowFlicker);}
	574	else {SetRunLed(0);}
	575	}
842bb6	576	else
Q	577	#endif
	578	{
8b51c7	579	if (!KMem.RunStat) SetRunLed(SlowFlicker);
Q	580	else SetRunLed(FastFlicker);
	581	}
842bb6	582	KMem.ErrStat = KBus1.ErrStat + SLP1.SLPErrSign;
8b51c7	583	if (!KMem.ErrStat)
Q	584	{
	585	SetErrLed(0);
	586	SetErr2Led(0);
	587	SetOutStat(1);
	588	}
	589	else
	590	{
	591	SetErrLed(FastFlicker);
	592	SetErr2Led(FastFlicker);
	593	SetOutStat(0);
	594
	595	}
	596	}
	597
	598	// SetRunLed(RunStat);
	599	// SetErrLed(ErrStat);
	600
	601	us4=GetuS();
	602	// EffJumperSW = GetInput(20)&0xff;
	603
	604
	605	us5=GetuS();
	606
	607
	608	//PutOutput (KMem.nRunCount>>8);
	609	//PutOutput(0x0f70);
	610
	611	// if (bKBusMaster) ShowInfo();
	612	// if (bKBusSlave) ShowInfo();
	613	us6=GetuS();
	614	add1(10,10);
	615	for (int i=0;i<64;i++)
	616	{
	617	// ProcessTimer(i);
	618	}
	619	KMem.nRunCount++;
	620	// int nSize=sizeof(stKBusChnStat);
	621	// memcpy(&KMem.SDT[64],&KBusChnStats[1],nSize);
	622	// memcpy(&KMem.SDT[64+nSize/2],&KBusChnStats[2],nSize);
	623	// for (int i=0;i<128;i++) { SDT[i]=i; }
	624	// SDT[48]=55;
5dd1b7	625	if (Uart1Stat.bPacketRecved && Uart1RecvBuf1DataLen >0)
8b51c7	626	{
Q	627	int res1 = -1;
5dd1b7	628	if (Uart1RecvBuf1[0] == KLSignStart) {
Q	629	res1 = KLParsePacket(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
	630	}else {
	631	res1 = ModBusSlaveParsePkg(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
8b51c7	632	}
Q	633	Uart1Stat.bPacketRecved=0;
5dd1b7	634	Uart1RecvBuf1DataLen=0;
8b51c7	635	Uart1IdelTimer = 0;
Q	636	}else {
	637	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
	638	LL_USART_EnableAutoBaudRate(USART1);
	639	LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	640	}else {
	641	Uart1IdelTimer++;
	642	}
	643	}
	644	if (bKBusSlave) HAL_Delay(0);
	645
	646	if (Uart6Stat.bPacketRecved){
842bb6	647	SLPparsePacket(&SLP1,Uart6RxBuf,Uart6RecvBuf1DataLen);
8b51c7	648	Uart6RecvBuf1DataLen =0;
Q	649	Uart6Stat.bPacketRecved = 0;
	650	}
842bb6	651	SLP1.SLPinputB = KMem.WYB[1];
Q	652	SLPProcess(&SLP1);
	653	KMem.WXB[1] = SLP1.SLPoutputB;
8b51c7	654
Q	655	// YDLiDar process;
	656
	657	if (Uart3Stat.bPacketRecved){
	658	KMem.WDT[8]++;
5dd1b7	659	OrdLidarParsePkt(0,(OradarLidarFrame *)Uart3RxBuf,Uart3RecvBuf1DataLen);
8b51c7	660	Uart3RecvBuf1DataLen =0;
Q	661	Uart3Stat.bPacketRecved = 0;
	662	}
	663	KMem.WDT[9]=pCount1;
	664	KMem.WDT[10]=dCount1;
	665	KMem.WDT[11]=vCount1;
5dd1b7	666
Q	667	KMem.WDT[12] = eCount1;
	668	KMem.WDT[13] = eCount2;
8b51c7	669
Q	670	if (Uart5Stat.bPacketRecved){
	671	KMem.WDT[16]++;
5dd1b7	672	OrdLidarParsePkt(1,(OradarLidarFrame *)Uart5RxBuf,Uart5RecvBuf1DataLen);
8b51c7	673	Uart5RecvBuf1DataLen =0;
Q	674	Uart5Stat.bPacketRecved = 0;
	675	}
	676
	677	// nPosX,nPosY,nPosZ,nPosZ1,nPosZ2;
	678
	679	KMem.WDT[17]=pCount2;
	680	KMem.WDT[18]=dCount2;
	681	KMem.WDT[19]=vCount2;
	682
	683	KMem.WDT[24]=nPosX;
	684	KMem.WDT[25]=nPosY;
	685	KMem.WDT[26]=nPosZ;
	686	KMem.WDT[27]=nPosZ1;
	687	KMem.WDT[28]=nPosZ2;
	688
5dd1b7	689	KMem.WDT[32]=results[0];
Q	690	KMem.WDT[33]=results[1];
	691	KMem.WDT[34]=results[2];
	692	KMem.WDT[35]=results[3];
	693	KMem.WDT[36]=results[4];
	694	KMem.WDT[37]=results[5];
	695	KMem.WDT[38]=results[6];
	696	KMem.WDT[39]=results[7];
8b51c7	697
5dd1b7	698
Q	699	KMem.WX[1] = nPosX ;
	700	KMem.WX[2] = nPosY ;
	701	KMem.WX[3] = nPosZ;
	702
	703	// KMem.WX[1]++ ;
	704	// KMem.WX[2]++;
	705
842bb6	706	// KMem.WYB[0]=1;
5dd1b7	707	PutOutput (KMem.WY[0]);
8b51c7	708
Q	709	LL_IWDG_ReloadCounter(IWDG);
	710
	711	} //while (1) ;
	712	/* USER CODE END WHILE */
	713
	714	/* USER CODE BEGIN 3 */
	715
	716	/* USER CODE END 3 */
	717
	718	}
	719
	720
	721	/* USER CODE BEGIN 4 */
	722
	723	/* USER CODE END 4 */
	724
	725	/**
	726	* @brief This function is executed in case of error occurrence.
	727	* @param file: The file name as string.
	728	* @param line: The line in file as a number.
	729	* @retval None
	730	*/
	731	void _Error_Handler(char *file, int line)
	732	{
	733	/* USER CODE BEGIN Error_Handler_Debug */
	734	/* User can add his own implementation to report the HAL error return state */
	735	while(1)
	736	{
	737	}
	738	/* USER CODE END Error_Handler_Debug */
	739	}
	740
	741	#ifdef USE_FULL_ASSERT
	742	/**
	743	* @brief Reports the name of the source file and the source line number
	744	* where the assert_param error has occurred.
	745	* @param file: pointer to the source file name
	746	* @param line: assert_param error line source number
	747	* @retval None
	748	*/
	749	void assert_failed(uint8_t* file, uint32_t line)
	750	{
	751	/* USER CODE BEGIN 6 */
	752	/* User can add his own implementation to report the file name and line number,
	753	tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	754	/* USER CODE END 6 */
	755	}
	756	#endif /* USE_FULL_ASSERT */
	757
	758	/**
	759	* @}
	760	*/
	761
	762	/**
	763	* @}
	764	*/
	765
	766	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/