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)
842bb6	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"
842bb6	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
842bb6	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)
	170	{
	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
	204	#define VECTOR_SIZE 46
	205	#define ApplicationAddress 0x08001000 //应用程序首地址定义
	206	/*
	207	static void RemapIrqVector(void)
	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	}
	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 */
842bb6	224	// RemapIrqVector();
Q	225	__set_PRIMASK(0); //打开全局中断
	226
8b51c7	227	KMRunStat.bLEDFlick = 1;
Q	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;
Q	287	SLP1.bSLPMaster = 1;
	288	SLP1.nStation = 1;
	289	SLPInit(&SLP1,Uart6SendPacket);
8b51c7	290	// Uart2Baud = AlterUart2Baud;
842bb6	291
Q	292
8b51c7	293
Q	294	#if (BOARD_TYPE == 14)
	295	KMem.EffJumperSW\|=0x10;
842bb6	296	int nKBusChilds=KMem.EffJumperSW&0x0f;
8b51c7	297	if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
Q	298	else{bKBusMaster=0;bKBusSlave=1;}
842bb6	299
Q	300	FPxSetCallBackFunc(&FPxCallBackFunc);
	301	FPx_Init(nKBusChilds);
	302
	303	int IOByteCount = nKBusChilds;
	304	FPx_SetIOCount(IOByteCount,IOByteCount);
	305
8b51c7	306
Q	307	#elif (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
	308	nStationID=1 ;//KMem.EffJumperSW&0x0f;
	309	// if (KMem.EffJumperSW == 0x1f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
	310	// else if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
	311	// else
	312	{bKBusMaster=0;bKBusSlave=1;}
	313	#else
842bb6	314	nKBusStationId=KMem.EffJumperSW&0x0f;
Q	315	if (KMem.EffJumperSW == 0x3f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
	316	else if ((KMem.EffJumperSW&0x20)!=0) {bKBusMaster=1;bKBusSlave=0;}
8b51c7	317	else{bKBusMaster=0;bKBusSlave=1;}
Q	318	#endif
842bb6	319
Q	320	if (bKBusMaster) {
	321	KBusInitMaster(&KBus1, (KBusSendPktFuncDef)PutStr2, nKBusChilds);
	322
	323	} else if (bKBusSlave) {
	324	KBusInitSlave(&KBus1, (KBusSendPktFuncDef)PutStr2, nKBusStationId,&MyDeviceInfo);
	325	}
	326
	327	KBusSetEvCallBackFunc(&KBus1, &KBusEvCallBackFunc);
	328
8b51c7	329	//if (KMem.EffJumperSW == 0x00)
Q	330	Uart1Baud = DefaultUart1Baud;
	331	MX_USART1_UART_Init();
	332	MX_USART2_UART_Init();
842bb6	333
Q	334	MX_USART3_UART_Init();
	335
	336	LL_USART_EnableIT_RXNE(USART3);
	337	LL_USART_EnableIT_IDLE(USART3);
	338
	339	MX_USART5_UART_Init();
	340	LL_USART_EnableIT_RXNE(USART5);
	341	LL_USART_EnableIT_IDLE(USART5);
8b51c7	342
Q	343	MX_USART6_UART_Init();
	344	LL_USART_EnableIT_RXNE(USART6);
	345	LL_USART_EnableIT_IDLE(USART6);
	346
	347
	348	// MX_SPI1_Init();
	349	// LL_SPI_EnableIT_RXNE(SPI1);
	350
	351	#if (BOARD_TYPE == 14)
	352	// MX_SPI2_Init();
	353	// MX_ADC_Init();
	354	#else
	355	// MX_SPI2_Init();
	356	MX_ADC_Init();
	357	#endif
	358
	359	MX_IWDG_Init();
	360
	361	MX_TIM6_Init();
	362	LL_TIM_EnableCounter(TIM6);
	363
	364	/* USER CODE BEGIN 2 */
	365	LL_USART_EnableIT_RXNE(USART1);
	366	LL_USART_EnableIT_IDLE(USART1);
	367	LL_USART_EnableIT_TC(USART1);
	368
	369	// LL_USART_EnableIT_RXNE(USART2);
	370	Uart2RecvDMA(Uart2RecvBuf1,sizeof(Uart2RecvBuf1));
	371	LL_USART_EnableIT_IDLE(USART2);
	372	LL_USART_EnableIT_TC(USART2);
	373	#if (BOARD_TYPE == 13)
	374	int res;
	375	res = w5500_init();
	376	KMem.SDD[28]=res;
	377
	378	// res=socket(0,Sn_MR_TCP,5000,0);
	379	KMem.SDD[29]=res;
	380
	381	// res = listen(0);
	382	#endif
	383	// if (bKBusSlave)
	384	{
	385	// LL_USART_EnableAutoBaudRate(USART1);
	386	// LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	387	// LL_USART_EnableAutoBaudRate(USART2);
	388	// LL_USART_SetAutoBaudRateMode(USART2, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	389	}
	390	//LL_USART_EnableIT_TXE(USART1);
	391	/* USER CODE END 2 */
	392
	393
	394	/* Infinite loop */
	395	/* USER CODE BEGIN WHILE */
	396
	397	HAL_Delay(10);
	398	SetRunLed(1); //Turn On Run Led
	399	SetErrLed(0); //Turn Off Err Led
	400
	401	#if (BOARD_TYPE == 14)
	402	// PutOutput (0); //Clear all Output
	403	// Enable595(1); //Enable 595 Output
	404	#else
	405	PutOutput (0); //Clear all Output
	406	Enable595(1); //Enable 595 Output
	407	#endif
	408
	409	if (GetBoardType() == 7 \|\| GetBoardType() ==8
	410	\|\| GetBoardType() == 9 \|\| GetBoardType() ==10 \|\|GetBoardType() ==13 \|\|GetBoardType() ==15 \|\| BOARD_TYPE == 16)
	411	{
	412	displayInput(0xffff); //
	413	EnableDisIn(1); //Input Diaplay Enable 595
	414	}
	415	SetOutStat(0); //OK Good, signal
	416	ShowInitInfo();
	417	KMem.LastScanTime = GetuS();
	418
	419	KMRunStat.WorkMode=0;
	420	KMRunStat.WorkMode2=0;
	421
	422	KMRunStat.WorkMode = storedKMSysCfg.theKMSysCfg.workmode;
842bb6	423	#if (ENABLE_PLC)
8b51c7	424	if (KMRunStat.WorkMode == 1){
Q	425	InitPLC();
	426	KMRunStat.WorkMode2 = KMem.CurJumperSW&0x20 ;
	427	if (KMRunStat.WorkMode2) {
	428	StartPLC(); }
	429	}
842bb6	430	#endif
Q	431
8b51c7	432	#if (BOARD_TYPE == 15 \|\| BOARD_TYPE == 16)
Q	433	KWireLessInit(KMem.EffJumperSW&0x20,KMem.EffJumperSW&0x0f);
	434	KWireLessStart();
	435	#endif
842bb6	436
Q	437	OrdLidarStart(-1);
8b51c7	438
Q	439	while (1)
	440	{
	441	//int MyKeyStat1,MyKeyStat2;
	442	//MyKeyStat1=GetInput();
	443
	444	//((unsigned int )&(PLCMem.SDT[10]))=nRunCount;
	445	// KMem.nRunCount=nRunCount;
	446	SlowFlicker=0;
	447	FastFlicker=1;
	448	us1=GetuS();
	449	int haltick=HAL_GetTick();
	450
	451	int thisJumperSW=ReadJumperSW();
842bb6	452	#if (ENABLE_PLC)
8b51c7	453	if (KMRunStat.WorkMode&1){
Q	454	if (thisJumperSW&0x20 && !(KMem.CurJumperSW&0x20)) // Run 开关正跳变。
	455	{StartPLC();}
	456	if (!(thisJumperSW&0x20) && (KMem.CurJumperSW&0x20)) // Run 开关负跳变。
	457	{StopPLC();}
	458	}
842bb6	459	#endif
8b51c7	460	KMem.CurJumperSW=thisJumperSW;
Q	461	KMem.haltick=haltick;
	462	// KMem.TotalRunTime=TotalRunTime;
	463	// KMem.ThisRunTime=ThisRunTime;
	464
	465	// ((unsigned int )&(PLCMem.SDT[2]))=nChilds;
	466	// KMem.SDD[13]=PendSvCount;
	467	// KMem.SDD[14]=RCC->CSR;
	468
	469	int a;
	470	a = LL_GPIO_ReadInputPort(GPIOA);
	471	KMem.WDT[120]=a;
	472	a = LL_GPIO_ReadInputPort(GPIOB);
	473	KMem.WDT[121]=a;
	474	a = LL_GPIO_ReadInputPort(GPIOC);
	475	KMem.WDT[122]=a;
	476	a = LL_GPIO_ReadInputPort(GPIOD);
	477	KMem.WDT[123]=a;
	478
842bb6	479
8b51c7	480	KMem.WXB[0]= GetInput();
Q	481
	482	us2=GetuS();
	483	if (PowerDownEvent) { KMem.WX[0]=0;}
842bb6	484	// /*
8b51c7	485	if ((KMem.nRunCount &0x1f) == 0x02)
Q	486	{
	487	ADCProcess();
	488	if (PowerDownEvent)
	489	{
	490	KMem.WX[0]=0;
	491	if (!OldPowerDownEvent)
	492	{
	493	OldPowerDownEvent = PowerDownEvent;
	494	OldPowerDownEventTime = nCurTick;
	495	PowerDownProcess();
	496	}
	497	}else
	498	{
	499	if (OldPowerDownEvent)
	500	{
	501	OldPowerDownEvent=PowerDownEvent;
	502	PowerRecoverProcess();
	503
	504	}
	505	}
	506	}
842bb6	507	// */
8b51c7	508
Q	509	// pProgs = (stBinProg1 *) STORE_PRG_BASE;
842bb6	510	#if (ENABLE_PLC)
8b51c7	511	if ( KMRunStat.WorkMode==1 ) //&& bKBusMaster)
Q	512	{
	513	if (KMRunStat.nBinProgBank == 0){
	514	pProgs=(stBinProg1 *)STORE_PRG_BASE;
	515	}else {
	516	pProgs=(stBinProg1 *)ALT_PRG_BASE;
	517	}
	518	nSizeProg1=KMRunStat.nBinProgSize;
	519	// pProgs=(stBinProg1 *)prog1;
	520
	521	ProcessPLCBinProg(pProgs, nSizeProg1);
	522	}
842bb6	523	#endif
Q	524
8b51c7	525	KMem.ScanTimeuS=us2-KMem.LastScanTime;
Q	526	KMem.LastScanTime = us2;
	527	if (KMem.ScanTimeuS < KMem.MinScanTimeuS) {KMem.MinScanTimeuS = KMem.ScanTimeuS;}
	528	if (KMem.ScanTimeuS > KMem.MaxScanTimeuS) {KMem.MaxScanTimeuS = KMem.ScanTimeuS;}
	529
	530	// if (bKBusRepeater) { KBusRepeaterFunc(); }
	531
	532	us3=GetuS();
	533
	534	if (bKBusMaster)
	535	{
842bb6	536	KBusLoopProcess(&KBus1);
8b51c7	537	}
Q	538	if (haltick&0x00002000) SlowFlicker=1;
	539	else SlowFlicker=0;
	540	if (haltick&0x00000800) FastFlicker=1;
	541	else FastFlicker=0;
	542
	543	if (bKBusSlave)
	544	{
842bb6	545
Q	546	KBusLoopProcess(&KBus1);
	547	// if (! KBus1.RunStat) {KBusMem.WLY[0]=0;}
	548	KMem.WLY[0]=KBusMem.WLY[0];
	549
	550	if (KBus1.nSlaveTick&0x00002000) SlowFlicker=1;
8b51c7	551	else SlowFlicker=0;
842bb6	552	if (KBus1.nSlaveTick&0x00000800) FastFlicker=1;
8b51c7	553	else FastFlicker=0;
Q	554
	555	}
842bb6	556	KBusMem.WLX[0]=KMem.WX[0];
Q	557	KMem.WY[0]=KBusMem.WLY[0];
	558	KBusMem.WLX[1]=KMem.WX[1];
	559	KBusMem.WLX[2]=KMem.WX[2];
	560	KBusMem.WLX[3]=KMem.WX[3];
	561
8b51c7	562
Q	563	if (KMRunStat.bLEDFlick)
	564	{
	565	SetRunLed(FastFlicker);
	566	SetErrLed(FastFlicker);
	567	SetErr2Led(FastFlicker);
	568	SetOutStat(!FastFlicker);
	569	//KMRunStat.bLEDFlick-- ;
	570	}
	571	else
	572	{
842bb6	573	#if (ENABLE_PLC)
8b51c7	574	if (KMRunStat.WorkMode==1 ) {
Q	575	if (PLCMem.bPLCRunning){SetRunLed(SlowFlicker);}
	576	else {SetRunLed(0);}
	577	}
842bb6	578	else
Q	579	#endif
	580	{
8b51c7	581	if (!KMem.RunStat) SetRunLed(SlowFlicker);
Q	582	else SetRunLed(FastFlicker);
	583	}
842bb6	584	KMem.ErrStat = KBus1.ErrStat + SLP1.SLPErrSign;
8b51c7	585	if (!KMem.ErrStat)
Q	586	{
	587	SetErrLed(0);
	588	SetErr2Led(0);
	589	SetOutStat(1);
	590	}
	591	else
	592	{
	593	SetErrLed(FastFlicker);
	594	SetErr2Led(FastFlicker);
	595	SetOutStat(0);
	596
	597	}
	598	}
	599
	600	// SetRunLed(RunStat);
	601	// SetErrLed(ErrStat);
	602
	603	us4=GetuS();
	604	// EffJumperSW = GetInput(20)&0xff;
	605
	606
	607	us5=GetuS();
	608
	609
	610	//PutOutput (KMem.nRunCount>>8);
	611	//PutOutput(0x0f70);
	612
	613	// if (bKBusMaster) ShowInfo();
	614	// if (bKBusSlave) ShowInfo();
	615	us6=GetuS();
	616	add1(10,10);
	617	for (int i=0;i<64;i++)
	618	{
	619	// ProcessTimer(i);
	620	}
	621	KMem.nRunCount++;
	622	// int nSize=sizeof(stKBusChnStat);
	623	// memcpy(&KMem.SDT[64],&KBusChnStats[1],nSize);
	624	// memcpy(&KMem.SDT[64+nSize/2],&KBusChnStats[2],nSize);
	625	// for (int i=0;i<128;i++) { SDT[i]=i; }
	626	// SDT[48]=55;
842bb6	627	if (Uart1Stat.bPacketRecved && Uart1RecvBuf1DataLen >0)
8b51c7	628	{
Q	629	int res1 = -1;
842bb6	630	if (Uart1RecvBuf1[0] == KLSignStart) {
Q	631	res1 = KLParsePacket(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
	632	}else {
	633	res1 = ModBusSlaveParsePkg(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
8b51c7	634	}
Q	635	Uart1Stat.bPacketRecved=0;
842bb6	636	Uart1RecvBuf1DataLen=0;
8b51c7	637	Uart1IdelTimer = 0;
Q	638	}else {
	639	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
	640	LL_USART_EnableAutoBaudRate(USART1);
	641	LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
	642	}else {
	643	Uart1IdelTimer++;
	644	}
	645	}
	646	if (bKBusSlave) HAL_Delay(0);
	647
	648	if (Uart6Stat.bPacketRecved){
842bb6	649	SLPparsePacket(&SLP1,Uart6RxBuf,Uart6RecvBuf1DataLen);
8b51c7	650	Uart6RecvBuf1DataLen =0;
Q	651	Uart6Stat.bPacketRecved = 0;
	652	}
842bb6	653	SLP1.SLPinputB = KMem.WYB[1];
Q	654	SLPProcess(&SLP1);
	655	KMem.WXB[1] = SLP1.SLPoutputB;
8b51c7	656
842bb6	657	// YDLiDar process;
8b51c7	658
842bb6	659	if (Uart3Stat.bPacketRecved){
Q	660	KMem.WDT[8]++;
	661	OrdLidarParsePkt(0,(OradarLidarFrame *)Uart3RxBuf,Uart3RecvBuf1DataLen);
	662	Uart3RecvBuf1DataLen =0;
	663	Uart3Stat.bPacketRecved = 0;
8b51c7	664	}
842bb6	665	KMem.WDT[9]=pCount1;
Q	666	KMem.WDT[10]=dCount1;
	667	KMem.WDT[11]=vCount1;
	668
	669	KMem.WDT[12] = eCount1;
	670	KMem.WDT[13] = eCount2;
	671
	672	if (Uart5Stat.bPacketRecved){
	673	KMem.WDT[16]++;
	674	OrdLidarParsePkt(1,(OradarLidarFrame *)Uart5RxBuf,Uart5RecvBuf1DataLen);
	675	Uart5RecvBuf1DataLen =0;
	676	Uart5Stat.bPacketRecved = 0;
	677	}
	678
	679	// nPosX,nPosY,nPosZ,nPosZ1,nPosZ2;
	680
	681	KMem.WDT[17]=pCount2;
	682	KMem.WDT[18]=dCount2;
	683	KMem.WDT[19]=vCount2;
	684
	685	KMem.WDT[24]=nPosX;
	686	KMem.WDT[25]=nPosY;
	687	KMem.WDT[26]=nPosZ;
	688	KMem.WDT[27]=nPosZ1;
	689	KMem.WDT[28]=nPosZ2;
	690
	691	KMem.WDT[32]=results[0];
	692	KMem.WDT[33]=results[1];
	693	KMem.WDT[34]=results[2];
	694	KMem.WDT[35]=results[3];
	695	KMem.WDT[36]=results[4];
	696	KMem.WDT[37]=results[5];
	697	KMem.WDT[38]=results[6];
	698	KMem.WDT[39]=results[7];
	699
	700
	701	KMem.WX[1] = nPosX ;
	702	KMem.WX[2] = nPosY ;
	703	KMem.WX[3] = nPosZ;
	704
	705	// KMem.WX[1]++ ;
	706	// KMem.WX[2]++;
	707
	708	// KMem.WYB[0]=1;
	709	PutOutput (KMem.WY[0]);
8b51c7	710
Q	711	LL_IWDG_ReloadCounter(IWDG);
	712
	713	} //while (1) ;
	714	/* USER CODE END WHILE */
	715
	716	/* USER CODE BEGIN 3 */
	717
	718	/* USER CODE END 3 */
	719
	720	}
	721
	722
	723	/* USER CODE BEGIN 4 */
	724
	725	/* USER CODE END 4 */
	726
	727	/**
	728	* @brief This function is executed in case of error occurrence.
	729	* @param file: The file name as string.
	730	* @param line: The line in file as a number.
	731	* @retval None
	732	*/
	733	void _Error_Handler(char *file, int line)
	734	{
	735	/* USER CODE BEGIN Error_Handler_Debug */
	736	/* User can add his own implementation to report the HAL error return state */
	737	while(1)
	738	{
	739	}
	740	/* USER CODE END Error_Handler_Debug */
	741	}
	742
	743	#ifdef USE_FULL_ASSERT
	744	/**
	745	* @brief Reports the name of the source file and the source line number
	746	* where the assert_param error has occurred.
	747	* @param file: pointer to the source file name
	748	* @param line: assert_param error line source number
	749	* @retval None
	750	*/
	751	void assert_failed(uint8_t* file, uint32_t line)
	752	{
	753	/* USER CODE BEGIN 6 */
	754	/* User can add his own implementation to report the file name and line number,
	755	tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
	756	/* USER CODE END 6 */
	757	}
	758	#endif /* USE_FULL_ASSERT */
	759
	760	/**
	761	* @}
	762	*/
	763
	764	/**
	765	* @}
	766	*/
	767
	768	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/