|
/**
|
******************************************************************************
|
* @file : main.c
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* @brief : Main program body
|
******************************************************************************
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** This notice applies to any and all portions of this file
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* that are not between comment pairs USER CODE BEGIN and
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* USER CODE END. Other portions of this file, whether
|
* inserted by the user or by software development tools
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* are owned by their respective copyright owners.
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*
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* COPYRIGHT(c) 2018 STMicroelectronics
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
|
*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f0xx_hal.h"
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|
/* USER CODE BEGIN Includes */
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#include "Globaldef.h"
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#include "debug.h"
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#include "Functions.h"
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#include "KMachine.h"
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#include "PLCfunctions.h"
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//#include "KBus.h"
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#include "KLink.h"
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#include "string.h"
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#include "BSP.h"
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#include "ModbusRTU.h"
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#if (BOARD_TYPE == 13)
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#include "w5500_port.h"
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#include "../src/Ethernet/socket.h"
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#include "../src/Ethernet/loopback.h"
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#elif (BOARD_TYPE == 14)
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#include "FPx.h"
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#elif (BOARD_TYPE == 15 || BOARD_TYPE == 16)
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#include "KWireless.h"
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//#include "user.h"
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//#include "../src/radio/inc/sx126x-board.h"
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#endif
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#include "SLP.h"
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//#include "YDLidar.h"
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#include "OrdLidar.h"
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|
/* USER CODE END Includes */
|
|
/* Private variables ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN PV */
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/* Private variables ---------------------------------------------------------*/
|
|
#define RX2BUFSIZE 64
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#define TX2BUFSIZE 64
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|
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unsigned char Uart1RxBuf[RX1BUFSIZE];
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unsigned char Uart1TxBuf[TX1BUFSIZE];
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|
unsigned char Uart2RxBuf[RX2BUFSIZE];
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unsigned char Uart2TxBuf[TX2BUFSIZE];
|
|
unsigned char SlowFlicker=0;
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unsigned char FastFlicker=0;
|
|
unsigned int Uart1IdelTimer = 0;
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#if (ENABLE_PLC)
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stBinProg1 * pProgs = (stBinProg1 *)STORE_PRG_BASE;
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#endif
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|
uint32_t us1,us2,us3,us4,us5,us6;
|
|
stKBusDef KBus1; //
|
|
extern stDeviceInfo MyDeviceInfo;
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|
unsigned char bSLPMaster =1;
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unsigned char nSLPStation = 1;
|
|
stSLPDef SLP1;
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/* USER CODE END PV */
|
|
/* Private function prototypes -----------------------------------------------*/
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|
|
/* USER CODE BEGIN PFP */
|
/* Private function prototypes -----------------------------------------------*/
|
|
const unsigned char LEDSEGTAB[]={
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0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71, //0-F
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0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef,0xf7,0xfc,0xb9,0xde,0xf9,0xf1, //0.-F.
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0x00,0x40, // ,-,_,~,o,n,N,<,>,J,r,
|
};
|
|
/* USER CODE END PFP */
|
|
/* USER CODE BEGIN 0 */
|
|
int HexToInt(char ch)
|
{
|
if (ch>='0' && ch <='9') return ch-'0';
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if (ch>='A' && ch <='F') return ch-'A'+10;
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if (ch>='a' && ch <='f') return ch-'a'+10;
|
return 0;
|
}
|
|
void HAL_SYSTICK_Callback(void)
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{
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static int Count=0;
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CurTickuS += 100;
|
nCurTick++;
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KBus1.nSlaveTick++;
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Count++;
|
if (Count>=10000)
|
{
|
Count=0;
|
KMem.CurTimeSec++;
|
KMem.ThisRunTime++; KMem.TotalRunTime++;
|
if (KMRunStat.bLEDFlick) KMRunStat.bLEDFlick--;
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if (KMRunStat.bLEDFlick >120) KMRunStat.bLEDFlick=120;
|
}
|
|
return;
|
}
|
|
void PendSvCallBack()
|
{
|
#if (BOARD_TYPE == 14)
|
///*
|
if (bSPI1RecvDone)
|
{
|
bSPI1RecvDone=0;
|
FPxParsePkt(SPI1RecvBuf,nSPI1RecvLenInBuf);
|
}
|
//*/
|
#endif
|
if (Uart2Stat.bPacketRecved)
|
{
|
KBusParsePacket(&KBus1, (pKBPacket)Uart2RecvBuf1, Uart2RecvBuf1DataLen);
|
Uart2RecvBuf1DataLen=0;
|
Uart2Stat.bPacketRecved=0;
|
Uart2RecvDMA(Uart2RecvBuf1,sizeof(Uart2RecvBuf1));
|
}
|
}
|
|
void * KBusEvCallBackFunc(void * pParam, int nEvent, void *pBuf, int nLen1)
|
{
|
switch (nEvent){
|
|
case KBusEvNone:
|
break;
|
case KBusEvCreate:
|
break;
|
case KBusEvConnected:
|
break;
|
case KBusEvDisConnected:
|
break;
|
case KBusEvClosed:
|
break;
|
case KBusEvStateChange:
|
break;
|
case KBusEvTimeSync:
|
break;
|
case KBusEvDataUpdate:
|
KMem.WY[0]=KBusMem.WLY[0]; //KBus Slave
|
KBusMem.WLX[0]=KMem.WX[0];
|
KBusMem.WLX[1]=KMem.WX[1];
|
KBusMem.WLX[2]=KMem.WX[2];
|
KBusMem.WLX[3]=KMem.WX[3];
|
break;
|
case KBusEvCmdResponse:
|
break;
|
|
default:
|
break;
|
}
|
return 0;
|
}
|
|
//#define RAM_START_ADDR 0x20000000 // SRAM_BASE
|
#define VECTOR_SIZE 46
|
#define ApplicationAddress 0x08001000 //应用程序首地址定义
|
/*
|
static void RemapIrqVector(void)
|
{
|
memcpy((void*)RAM_START_ADDR, (void *)ApplicationAddress, VECTOR_SIZE * 4);
|
LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_SYSCFG);
|
LL_SYSCFG_SetRemapMemory(LL_SYSCFG_REMAP_SRAM);
|
}
|
*/
|
/* USER CODE END 0 */
|
|
/**
|
* @brief The application entry point.
|
*
|
* @retval None
|
*/
|
int main(void)
|
{
|
/* USER CODE BEGIN 1 */
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// RemapIrqVector();
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__set_PRIMASK(0); //打开全局中断
|
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KMRunStat.bLEDFlick = 1;
|
|
InitUartstat(&Uart1Stat,Uart1RxBuf,sizeof(Uart1RxBuf),Uart1TxBuf,sizeof(Uart1TxBuf));
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InitUartstat(&Uart2Stat,Uart2RxBuf,sizeof(Uart2RxBuf),Uart2TxBuf,sizeof(Uart2TxBuf));
|
/* USER CODE END 1 */
|
|
/* MCU Configuration----------------------------------------------------------*/
|
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
|
|
/* USER CODE BEGIN Init */
|
|
|
KMem.LastScanTime=0;
|
KMem.ScanTimeuS=0;
|
KMem.MinScanTimeuS=99999;
|
KMem.MaxScanTimeuS=0;
|
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// KMem.SDD[14]=(unsigned int)&KMStoreSysCfg;
|
// KMem.SDD[15]=(unsigned int)&KMStoreSysCfg1;
|
KMem.SDD[12]=((uint32_t *)UID_BASE)[0];
|
// KMem.SDD[13]=((uint32_t *)UID_BASE)[1];
|
// KMem.SDD[14]=((uint32_t *)UID_BASE)[2];
|
KMem.SDD[13]=PendSvCount;
|
KMem.SDD[14]=RCC->CSR;
|
// KMem.SDD[15]=*(uint32_t *)FLASHSIZE_BASE;
|
// KMem.SDD[16]=(unsigned int)&KMSysCfg;
|
|
/* USER CODE END Init */
|
|
/* Configure the system clock */
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SystemClock_Config();
|
|
/* USER CODE BEGIN SysInit */
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TickFreq=10000; //Tick频率
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InituS(TickFreq);
|
// HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/TickFreq); //重新定义SysTick的频率
|
|
/* USER CODE END SysInit */
|
|
/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
|
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KMachineInit();
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ReadSysCfgFromFlash(&storedKMSysCfg);
|
|
KMRunStat.bLEDFlick = 1;
|
int bKBusMaster,bKBusSlave,bKBusRepeater;;
|
int nKBusStationId;
|
int nKBusChilds;
|
KMem.CurJumperSW=ReadJumperSW();
|
KMem.EffJumperSW=KMem.CurJumperSW;
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nKBusStationId=KMem.EffJumperSW&0x0f;
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|
nKBusChilds = nKBusStationId;
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|
bSLPMaster = 1; // KMem.EffJumperSW&0x20 ; //master?
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nSLPStation = 1;
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|
// Uart2Baud = AlterUart2Baud;
|
|
|
|
#if (BOARD_TYPE == 14)
|
KMem.EffJumperSW|=0x10;
|
int nKBusChilds=KMem.EffJumperSW&0x0f;
|
if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
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else{bKBusMaster=0;bKBusSlave=1;}
|
|
FPxSetCallBackFunc(&FPxCallBackFunc);
|
FPx_Init(nKBusChilds);
|
|
int IOByteCount = nKBusChilds;
|
FPx_SetIOCount(IOByteCount,IOByteCount);
|
|
|
#elif (BOARD_TYPE == 15 || BOARD_TYPE == 16)
|
nStationID=1 ;//KMem.EffJumperSW&0x0f;
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// if (KMem.EffJumperSW == 0x1f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
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// else if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
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// else
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{bKBusMaster=0;bKBusSlave=1;}
|
#else
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nKBusStationId=KMem.EffJumperSW&0x0f;
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if (KMem.EffJumperSW == 0x3f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
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else if ((KMem.EffJumperSW&0x20)!=0) {bKBusMaster=1;bKBusSlave=0;}
|
else{bKBusMaster=0;bKBusSlave=1;}
|
#endif
|
|
if (bKBusMaster) {
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KBusInitMaster(&KBus1, (KBusSendPktFuncDef)PutStr2, nKBusChilds);
|
|
} else if (bKBusSlave) {
|
KBusInitSlave(&KBus1, (KBusSendPktFuncDef)PutStr2, nKBusStationId,&MyDeviceInfo);
|
}
|
|
KBusSetEvCallBackFunc(&KBus1, &KBusEvCallBackFunc);
|
|
//if (KMem.EffJumperSW == 0x00)
|
Uart1Baud = DefaultUart1Baud;
|
MX_USART1_UART_Init();
|
MX_USART2_UART_Init();
|
|
MX_USART3_UART_Init();
|
|
LL_USART_EnableIT_RXNE(USART3);
|
LL_USART_EnableIT_IDLE(USART3);
|
|
MX_USART5_UART_Init();
|
LL_USART_EnableIT_RXNE(USART5);
|
LL_USART_EnableIT_IDLE(USART5);
|
|
MX_USART6_UART_Init();
|
LL_USART_EnableIT_RXNE(USART6);
|
LL_USART_EnableIT_IDLE(USART6);
|
|
|
// MX_SPI1_Init();
|
// LL_SPI_EnableIT_RXNE(SPI1);
|
|
#if (BOARD_TYPE == 14)
|
// MX_SPI2_Init();
|
// MX_ADC_Init();
|
#else
|
// MX_SPI2_Init();
|
MX_ADC_Init();
|
#endif
|
|
MX_IWDG_Init();
|
|
MX_TIM6_Init();
|
LL_TIM_EnableCounter(TIM6);
|
|
/* USER CODE BEGIN 2 */
|
LL_USART_EnableIT_RXNE(USART1);
|
LL_USART_EnableIT_IDLE(USART1);
|
LL_USART_EnableIT_TC(USART1);
|
|
// LL_USART_EnableIT_RXNE(USART2);
|
Uart2RecvDMA(Uart2RecvBuf1,sizeof(Uart2RecvBuf1));
|
LL_USART_EnableIT_IDLE(USART2);
|
LL_USART_EnableIT_TC(USART2);
|
#if (BOARD_TYPE == 13)
|
int res;
|
res = w5500_init();
|
KMem.SDD[28]=res;
|
|
// res=socket(0,Sn_MR_TCP,5000,0);
|
KMem.SDD[29]=res;
|
|
// res = listen(0);
|
#endif
|
// if (bKBusSlave)
|
{
|
// LL_USART_EnableAutoBaudRate(USART1);
|
// LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
|
// LL_USART_EnableAutoBaudRate(USART2);
|
// LL_USART_SetAutoBaudRateMode(USART2, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
|
}
|
//LL_USART_EnableIT_TXE(USART1);
|
/* USER CODE END 2 */
|
|
|
/* Infinite loop */
|
/* USER CODE BEGIN WHILE */
|
|
HAL_Delay(10);
|
SetRunLed(1); //Turn On Run Led
|
SetErrLed(0); //Turn Off Err Led
|
|
#if (BOARD_TYPE == 14)
|
// PutOutput (0); //Clear all Output
|
// Enable595(1); //Enable 595 Output
|
#else
|
PutOutput (0); //Clear all Output
|
Enable595(1); //Enable 595 Output
|
#endif
|
|
if (GetBoardType() == 7 || GetBoardType() ==8
|
|| GetBoardType() == 9 || GetBoardType() ==10 ||GetBoardType() ==13 ||GetBoardType() ==15 || BOARD_TYPE == 16)
|
{
|
displayInput(0xffff); //
|
EnableDisIn(1); //Input Diaplay Enable 595
|
}
|
SetOutStat(0); //OK Good, signal
|
ShowInitInfo();
|
KMem.LastScanTime = GetuS();
|
|
KMRunStat.WorkMode=0;
|
KMRunStat.WorkMode2=0;
|
|
KMRunStat.WorkMode = storedKMSysCfg.theKMSysCfg.workmode;
|
#if (ENABLE_PLC)
|
if (KMRunStat.WorkMode == 1){
|
InitPLC();
|
KMRunStat.WorkMode2 = KMem.CurJumperSW&0x20 ;
|
if (KMRunStat.WorkMode2) {
|
StartPLC(); }
|
}
|
#endif
|
|
#if (BOARD_TYPE == 15 || BOARD_TYPE == 16)
|
KWireLessInit(KMem.EffJumperSW&0x20,KMem.EffJumperSW&0x0f);
|
KWireLessStart();
|
#endif
|
|
OrdLidarStart(-1);
|
|
while (1)
|
{
|
//int MyKeyStat1,MyKeyStat2;
|
//MyKeyStat1=GetInput();
|
|
//*((unsigned int *)&(PLCMem.SDT[10]))=nRunCount;
|
// KMem.nRunCount=nRunCount;
|
SlowFlicker=0;
|
FastFlicker=1;
|
us1=GetuS();
|
int haltick=HAL_GetTick();
|
|
int thisJumperSW=ReadJumperSW();
|
#if (ENABLE_PLC)
|
if (KMRunStat.WorkMode&1){
|
if (thisJumperSW&0x20 && !(KMem.CurJumperSW&0x20)) // Run 开关 正 跳变。
|
{StartPLC();}
|
if (!(thisJumperSW&0x20) && (KMem.CurJumperSW&0x20)) // Run 开关 负 跳变。
|
{StopPLC();}
|
}
|
#endif
|
KMem.CurJumperSW=thisJumperSW;
|
KMem.haltick=haltick;
|
// KMem.TotalRunTime=TotalRunTime;
|
// KMem.ThisRunTime=ThisRunTime;
|
|
// *((unsigned int *)&(PLCMem.SDT[2]))=nChilds;
|
// KMem.SDD[13]=PendSvCount;
|
// KMem.SDD[14]=RCC->CSR;
|
|
int a;
|
a = LL_GPIO_ReadInputPort(GPIOA);
|
KMem.WDT[120]=a;
|
a = LL_GPIO_ReadInputPort(GPIOB);
|
KMem.WDT[121]=a;
|
a = LL_GPIO_ReadInputPort(GPIOC);
|
KMem.WDT[122]=a;
|
a = LL_GPIO_ReadInputPort(GPIOD);
|
KMem.WDT[123]=a;
|
|
|
KMem.WXB[0]= GetInput();
|
|
us2=GetuS();
|
if (PowerDownEvent) { KMem.WX[0]=0;}
|
// /*
|
if ((KMem.nRunCount &0x1f) == 0x02)
|
{
|
ADCProcess();
|
if (PowerDownEvent)
|
{
|
KMem.WX[0]=0;
|
if (!OldPowerDownEvent)
|
{
|
OldPowerDownEvent = PowerDownEvent;
|
OldPowerDownEventTime = nCurTick;
|
PowerDownProcess();
|
}
|
}else
|
{
|
if (OldPowerDownEvent)
|
{
|
OldPowerDownEvent=PowerDownEvent;
|
PowerRecoverProcess();
|
|
}
|
}
|
}
|
// */
|
|
// pProgs = (stBinProg1 *) STORE_PRG_BASE;
|
#if (ENABLE_PLC)
|
if ( KMRunStat.WorkMode==1 ) //&& bKBusMaster)
|
{
|
if (KMRunStat.nBinProgBank == 0){
|
pProgs=(stBinProg1 *)STORE_PRG_BASE;
|
}else {
|
pProgs=(stBinProg1 *)ALT_PRG_BASE;
|
}
|
nSizeProg1=KMRunStat.nBinProgSize;
|
// pProgs=(stBinProg1 *)prog1;
|
|
ProcessPLCBinProg(pProgs, nSizeProg1);
|
}
|
#endif
|
|
KMem.ScanTimeuS=us2-KMem.LastScanTime;
|
KMem.LastScanTime = us2;
|
if (KMem.ScanTimeuS < KMem.MinScanTimeuS) {KMem.MinScanTimeuS = KMem.ScanTimeuS;}
|
if (KMem.ScanTimeuS > KMem.MaxScanTimeuS) {KMem.MaxScanTimeuS = KMem.ScanTimeuS;}
|
|
// if (bKBusRepeater) { KBusRepeaterFunc(); }
|
|
us3=GetuS();
|
|
if (bKBusMaster)
|
{
|
KBusLoopProcess(&KBus1);
|
}
|
if (haltick&0x00002000) SlowFlicker=1;
|
else SlowFlicker=0;
|
if (haltick&0x00000800) FastFlicker=1;
|
else FastFlicker=0;
|
|
if (bKBusSlave)
|
{
|
|
KBusLoopProcess(&KBus1);
|
// if (! KBus1.RunStat) {KBusMem.WLY[0]=0;}
|
KMem.WLY[0]=KBusMem.WLY[0];
|
|
if (KBus1.nSlaveTick&0x00002000) SlowFlicker=1;
|
else SlowFlicker=0;
|
if (KBus1.nSlaveTick&0x00000800) FastFlicker=1;
|
else FastFlicker=0;
|
|
}
|
KBusMem.WLX[0]=KMem.WX[0];
|
KMem.WY[0]=KBusMem.WLY[0];
|
KBusMem.WLX[1]=KMem.WX[1];
|
KBusMem.WLX[2]=KMem.WX[2];
|
KBusMem.WLX[3]=KMem.WX[3];
|
|
|
if (KMRunStat.bLEDFlick)
|
{
|
SetRunLed(FastFlicker);
|
SetErrLed(FastFlicker);
|
SetErr2Led(FastFlicker);
|
SetOutStat(!FastFlicker);
|
//KMRunStat.bLEDFlick-- ;
|
}
|
else
|
{
|
#if (ENABLE_PLC)
|
if (KMRunStat.WorkMode==1 ) {
|
if (PLCMem.bPLCRunning){SetRunLed(SlowFlicker);}
|
else {SetRunLed(0);}
|
}
|
else
|
#endif
|
{
|
if (!KMem.RunStat) SetRunLed(SlowFlicker);
|
else SetRunLed(FastFlicker);
|
}
|
KMem.ErrStat = KBus1.ErrStat + SLP1.SLPErrSign;
|
if (!KMem.ErrStat)
|
{
|
SetErrLed(0);
|
SetErr2Led(0);
|
SetOutStat(1);
|
}
|
else
|
{
|
SetErrLed(FastFlicker);
|
SetErr2Led(FastFlicker);
|
SetOutStat(0);
|
|
}
|
}
|
|
// SetRunLed(RunStat);
|
// SetErrLed(ErrStat);
|
|
us4=GetuS();
|
// EffJumperSW = GetInput(20)&0xff;
|
|
|
us5=GetuS();
|
|
|
//PutOutput (KMem.nRunCount>>8);
|
//PutOutput(0x0f70);
|
|
// if (bKBusMaster) ShowInfo();
|
// if (bKBusSlave) ShowInfo();
|
us6=GetuS();
|
add1(10,10);
|
for (int i=0;i<64;i++)
|
{
|
// ProcessTimer(i);
|
}
|
KMem.nRunCount++;
|
// int nSize=sizeof(stKBusChnStat);
|
// memcpy(&KMem.SDT[64],&KBusChnStats[1],nSize);
|
// memcpy(&KMem.SDT[64+nSize/2],&KBusChnStats[2],nSize);
|
// for (int i=0;i<128;i++) { SDT[i]=i; }
|
// SDT[48]=55;
|
if (Uart1Stat.bPacketRecved && Uart1RecvBuf1DataLen >0)
|
{
|
int res1 = -1;
|
if (Uart1RecvBuf1[0] == KLSignStart) {
|
res1 = KLParsePacket(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
|
}else {
|
res1 = ModBusSlaveParsePkg(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
|
}
|
Uart1Stat.bPacketRecved=0;
|
Uart1RecvBuf1DataLen=0;
|
Uart1IdelTimer = 0;
|
}else {
|
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
|
LL_USART_EnableAutoBaudRate(USART1);
|
LL_USART_SetAutoBaudRateMode(USART1, LL_USART_AUTOBAUD_DETECT_ON_FALLINGEDGE);
|
}else {
|
Uart1IdelTimer++;
|
}
|
}
|
if (bKBusSlave) HAL_Delay(0);
|
|
if (Uart6Stat.bPacketRecved){
|
SLPparsePacket(&SLP1,Uart6RxBuf,Uart6RecvBuf1DataLen);
|
Uart6RecvBuf1DataLen =0;
|
Uart6Stat.bPacketRecved = 0;
|
}
|
SLP1.SLPinputB = KMem.WYB[1];
|
SLPProcess(&SLP1);
|
KMem.WXB[1] = SLP1.SLPoutputB;
|
|
// YDLiDar process;
|
|
if (Uart3Stat.bPacketRecved){
|
KMem.WDT[8]++;
|
OrdLidarParsePkt(0,(OradarLidarFrame *)Uart3RxBuf,Uart3RecvBuf1DataLen);
|
Uart3RecvBuf1DataLen =0;
|
Uart3Stat.bPacketRecved = 0;
|
}
|
KMem.WDT[9]=pCount1;
|
KMem.WDT[10]=dCount1;
|
KMem.WDT[11]=vCount1;
|
|
KMem.WDT[12] = eCount1;
|
KMem.WDT[13] = eCount2;
|
|
if (Uart5Stat.bPacketRecved){
|
KMem.WDT[16]++;
|
OrdLidarParsePkt(1,(OradarLidarFrame *)Uart5RxBuf,Uart5RecvBuf1DataLen);
|
Uart5RecvBuf1DataLen =0;
|
Uart5Stat.bPacketRecved = 0;
|
}
|
|
// nPosX,nPosY,nPosZ,nPosZ1,nPosZ2;
|
|
KMem.WDT[17]=pCount2;
|
KMem.WDT[18]=dCount2;
|
KMem.WDT[19]=vCount2;
|
|
KMem.WDT[24]=nPosX;
|
KMem.WDT[25]=nPosY;
|
KMem.WDT[26]=nPosZ;
|
KMem.WDT[27]=nPosZ1;
|
KMem.WDT[28]=nPosZ2;
|
|
KMem.WDT[32]=results[0];
|
KMem.WDT[33]=results[1];
|
KMem.WDT[34]=results[2];
|
KMem.WDT[35]=results[3];
|
KMem.WDT[36]=results[4];
|
KMem.WDT[37]=results[5];
|
KMem.WDT[38]=results[6];
|
KMem.WDT[39]=results[7];
|
|
|
KMem.WX[1] = nPosX ;
|
KMem.WX[2] = nPosY ;
|
KMem.WX[3] = nPosZ;
|
|
// KMem.WX[1]++ ;
|
// KMem.WX[2]++;
|
|
// KMem.WYB[0]=1;
|
PutOutput (KMem.WY[0]);
|
|
LL_IWDG_ReloadCounter(IWDG);
|
|
} //while (1) ;
|
/* USER CODE END WHILE */
|
|
/* USER CODE BEGIN 3 */
|
|
/* USER CODE END 3 */
|
|
}
|
|
|
/* USER CODE BEGIN 4 */
|
|
/* USER CODE END 4 */
|
|
/**
|
* @brief This function is executed in case of error occurrence.
|
* @param file: The file name as string.
|
* @param line: The line in file as a number.
|
* @retval None
|
*/
|
void _Error_Handler(char *file, int line)
|
{
|
/* USER CODE BEGIN Error_Handler_Debug */
|
/* User can add his own implementation to report the HAL error return state */
|
while(1)
|
{
|
}
|
/* USER CODE END Error_Handler_Debug */
|
}
|
|
#ifdef USE_FULL_ASSERT
|
/**
|
* @brief Reports the name of the source file and the source line number
|
* where the assert_param error has occurred.
|
* @param file: pointer to the source file name
|
* @param line: assert_param error line source number
|
* @retval None
|
*/
|
void assert_failed(uint8_t* file, uint32_t line)
|
{
|
/* USER CODE BEGIN 6 */
|
/* User can add his own implementation to report the file name and line number,
|
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
/* USER CODE END 6 */
|
}
|
#endif /* USE_FULL_ASSERT */
|
|
/**
|
* @}
|
*/
|
|
/**
|
* @}
|
*/
|
|
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
