From 842bb64195f958b050867c50db66fc0aa413dafb Mon Sep 17 00:00:00 2001
From: QuakeGod <quakegod@sina.com>
Date: 星期六, 27 七月 2024 10:42:56 +0800
Subject: [PATCH] KBus upgrade
---
CCT6_TestApp1/Src/main.c | 364 +++++++++++++++++++++++----------------------------
1 files changed, 167 insertions(+), 197 deletions(-)
diff --git a/CCT6_TestApp1/Src/main.c b/CCT6_TestApp1/Src/main.c
index 4c3cfa6..d056abb 100644
--- a/CCT6_TestApp1/Src/main.c
+++ b/CCT6_TestApp1/Src/main.c
@@ -56,14 +56,15 @@
#include "../src/Ethernet/socket.h"
#include "../src/Ethernet/loopback.h"
#elif (BOARD_TYPE == 14)
-#include "FP0.h"
+#include "FPx.h"
#elif (BOARD_TYPE == 15 || BOARD_TYPE == 16)
#include "KWireless.h"
//#include "user.h"
//#include "../src/radio/inc/sx126x-board.h"
#endif
#include "SLP.h"
-#include "YDLidar.h"
+//#include "YDLidar.h"
+#include "OrdLidar.h"
/* USER CODE END Includes */
@@ -76,8 +77,8 @@
#define TX2BUFSIZE 64
-unsigned char Uart1RxBuf[128];
-unsigned char Uart1TxBuf[260];
+unsigned char Uart1RxBuf[RX1BUFSIZE];
+unsigned char Uart1TxBuf[TX1BUFSIZE];
unsigned char Uart2RxBuf[RX2BUFSIZE];
unsigned char Uart2TxBuf[TX2BUFSIZE];
@@ -86,10 +87,20 @@
unsigned char FastFlicker=0;
unsigned int Uart1IdelTimer = 0;
+#if (ENABLE_PLC)
stBinProg1 * pProgs = (stBinProg1 *)STORE_PRG_BASE;
+#endif
uint32_t us1,us2,us3,us4,us5,us6;
+stKBusDef KBus1; //
+
+extern stDeviceInfo MyDeviceInfo;
+
+unsigned char bSLPMaster =1;
+unsigned char nSLPStation = 1;
+
+stSLPDef SLP1;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -121,7 +132,7 @@
static int Count=0;
CurTickuS += 100;
nCurTick++;
- nSlaveTick++;
+ KBus1.nSlaveTick++;
Count++;
if (Count>=10000)
{
@@ -135,17 +146,71 @@
return;
}
-#define RAM_START_ADDR 0x20000000
+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 //搴旂敤绋嬪簭棣栧湴鍧�瀹氫箟
-
+/*
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 */
/**
@@ -172,21 +237,6 @@
/* USER CODE BEGIN Init */
- for (int i=0;i<9;i++)
- {
-// memset(KBusChnStats[i],0,0);
- KBusChnStats[i].SendPackets=0;
- KBusChnStats[i].RecvPackets=0;
- KBusChnStats[i].LostPackets=0;
- KBusChnStats[i].CtnLstPkts=0;
- KBusChnStats[i].MaxCtnLstPkts=0;
- KBusChnStats[i].NotPkgErr=0;
- KBusChnStats[i].PkgLenErr=0;
- KBusChnStats[i].TimeOutErr=0;
- KBusChnStats[i].BCCErr=0;
- KBusChnStats[i].Delay=0;
- KBusChnStats[i].MaxDelay=0;
- }
KMem.LastScanTime=0;
KMem.ScanTimeuS=0;
@@ -217,35 +267,40 @@
/* Initialize all configured peripherals */
MX_GPIO_Init();
- LL_GPIO_InitTypeDef GPIO_InitStruct;
- GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
- GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
- GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
- LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
MX_DMA_Init();
KMachineInit();
ReadSysCfgFromFlash(&storedKMSysCfg);
KMRunStat.bLEDFlick = 1;
-
+ int bKBusMaster,bKBusSlave,bKBusRepeater;;
+ int nKBusStationId;
+ int nKBusChilds;
KMem.CurJumperSW=ReadJumperSW();
KMem.EffJumperSW=KMem.CurJumperSW;
+ nKBusStationId=KMem.EffJumperSW&0x0f;
+
+ nKBusChilds = nKBusStationId;
bSLPMaster = 1; // KMem.EffJumperSW&0x20 ; //master?
- nStation = 1;
+ nSLPStation = 1;
// Uart2Baud = AlterUart2Baud;
+
+
#if (BOARD_TYPE == 14)
KMem.EffJumperSW|=0x10;
- nStationID=KMem.EffJumperSW&0x0f;
+ int nKBusChilds=KMem.EffJumperSW&0x0f;
if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
else{bKBusMaster=0;bKBusSlave=1;}
- nChilds=nStationID;
- FP0_Init();
+
+ FPxSetCallBackFunc(&FPxCallBackFunc);
+ FPx_Init(nKBusChilds);
+
+ int IOByteCount = nKBusChilds;
+ FPx_SetIOCount(IOByteCount,IOByteCount);
+
#elif (BOARD_TYPE == 15 || BOARD_TYPE == 16)
nStationID=1 ;//KMem.EffJumperSW&0x0f;
@@ -254,13 +309,21 @@
// else
{bKBusMaster=0;bKBusSlave=1;}
#else
- nStationID=KMem.EffJumperSW&0x0f;
- if (KMem.EffJumperSW == 0x1f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
- else if ((KMem.EffJumperSW&0x10)!=0) {bKBusMaster=1;bKBusSlave=0;}
+ nKBusStationId=KMem.EffJumperSW&0x0f;
+ if (KMem.EffJumperSW == 0x3f) {bKBusRepeater=1;bKBusMaster=1;bKBusSlave=0;}
+ else if ((KMem.EffJumperSW&0x20)!=0) {bKBusMaster=1;bKBusSlave=0;}
else{bKBusMaster=0;bKBusSlave=1;}
#endif
- nChilds=nStationID;
- nCurPollId=1;
+
+ if (bKBusMaster) {
+ 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();
@@ -355,20 +418,21 @@
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(); }
}
- KMem.WX[7]=0x5a;
+#endif
+
#if (BOARD_TYPE == 15 || BOARD_TYPE == 16)
KWireLessInit(KMem.EffJumperSW&0x20,KMem.EffJumperSW&0x0f);
KWireLessStart();
#endif
- YdLidarStart(-1);
+ OrdLidarStart(-1);
while (1)
{
@@ -383,14 +447,14 @@
int haltick=HAL_GetTick();
int thisJumperSW=ReadJumperSW();
-
+#if (ENABLE_PLC)
if (KMRunStat.WorkMode&1){
if (thisJumperSW&0x20 && !(KMem.CurJumperSW&0x20)) // Run 寮�鍏� 姝� 璺冲彉銆�
{StartPLC();}
if (!(thisJumperSW&0x20) && (KMem.CurJumperSW&0x20)) // Run 寮�鍏� 璐� 璺冲彉銆�
{StopPLC();}
}
-
+#endif
KMem.CurJumperSW=thisJumperSW;
KMem.haltick=haltick;
// KMem.TotalRunTime=TotalRunTime;
@@ -410,21 +474,12 @@
a = LL_GPIO_ReadInputPort(GPIOD);
KMem.WDT[123]=a;
-#if (BOARD_TYPE == 14)
-// KMem.WX[0]= GetInput();
- FP0_Proc();
-#else
+
KMem.WXB[0]= GetInput();
-#endif
- if (GetBoardType() == 7 || GetBoardType() ==8
- || GetBoardType() == 9 || GetBoardType() ==10 || GetBoardType() ==15 || GetBoardType() ==16)
- {
- displayInput(KMem.WX[0]);
- }
us2=GetuS();
if (PowerDownEvent) { KMem.WX[0]=0;}
-///*
+// /*
if ((KMem.nRunCount &0x1f) == 0x02)
{
ADCProcess();
@@ -447,16 +502,10 @@
}
}
}
-//*/
-
-#if (BOARD_TYPE == 15 || BOARD_TYPE == 16)
- Radio.IrqProcess( ); // Process Radio IRQ
- KWL_Process(1);
-
-#endif
+// */
// pProgs = (stBinProg1 *) STORE_PRG_BASE;
-
+#if (ENABLE_PLC)
if ( KMRunStat.WorkMode==1 ) //&& bKBusMaster)
{
if (KMRunStat.nBinProgBank == 0){
@@ -469,7 +518,8 @@
ProcessPLCBinProg(pProgs, nSizeProg1);
}
-
+#endif
+
KMem.ScanTimeuS=us2-KMem.LastScanTime;
KMem.LastScanTime = us2;
if (KMem.ScanTimeuS < KMem.MinScanTimeuS) {KMem.MinScanTimeuS = KMem.ScanTimeuS;}
@@ -481,21 +531,7 @@
if (bKBusMaster)
{
-#if (BOARD_TYPE == 14)
- for (int i=0;i<nOutputBytes;i++)
- {BufferOut[i+1]=KMem.WYB[i];}
-#else
-// BufferOut[1]=KMem.WX[0]&0xff;
-// BufferOut[2]=(KMem.WX[0]>>8)&0xff;
-#endif
- if (nChilds>0) { KBusMasterFunc(2); }
-
-#if (BOARD_TYPE == 14)
-// KMem.WX[0]=BufferIn[1]+(BufferIn[2]<<8);
-#else
-// KMem.WY[0]=BufferIn[1]+(BufferIn[2]<<8);
-#endif
-
+ KBusLoopProcess(&KBus1);
}
if (haltick&0x00002000) SlowFlicker=1;
else SlowFlicker=0;
@@ -504,26 +540,23 @@
if (bKBusSlave)
{
-// BufferOut[0]=KMem.WX[0];
-#if (BOARD_TYPE == 15 || BOARD_TYPE == 16)
-// KBusSlaveFunc(2);
- // if (! KMem.RunStat) {BufferIn[0]=0;}
- // KMem.WY[0]=BufferIn[0];
-#else
- KBusSlaveFunc(2);
- if (! KMem.RunStat) {BufferIn[0]=0;}
- KMem.WLY[0]=BufferIn[0] + (BufferIn[1] <<8);
-#endif
- if (nSlaveTick&0x00002000) SlowFlicker=1;
+
+ 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 (nSlaveTick&0x00000800) FastFlicker=1;
+ if (KBus1.nSlaveTick&0x00000800) FastFlicker=1;
else FastFlicker=0;
}
-
-// KMem.WY[0]=nCount2>>5;
- if (KMem.RunStat) {KMem.RunStat--;}
- if (KMem.ErrStat) {KMem.ErrStat--;}
+ 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)
{
@@ -535,14 +568,18 @@
}
else
{
+#if (ENABLE_PLC)
if (KMRunStat.WorkMode==1 ) {
if (PLCMem.bPLCRunning){SetRunLed(SlowFlicker);}
else {SetRunLed(0);}
}
- else {
+ else
+#endif
+ {
if (!KMem.RunStat) SetRunLed(SlowFlicker);
else SetRunLed(FastFlicker);
}
+ KMem.ErrStat = KBus1.ErrStat + SLP1.SLPErrSign;
if (!KMem.ErrStat)
{
SetErrLed(0);
@@ -564,21 +601,6 @@
us4=GetuS();
// EffJumperSW = GetInput(20)&0xff;
-#if (BOARD_TYPE == 15 || BOARD_TYPE == 16)
-
- if ((KMem.EffJumperSW&0x10)==0x10) {
- KMem.WFY[1]=KMem.WLY[0];
- KMem.WLX[0]=KMem.WFX[1];
- }else
- {
- KMem.WFY[1]=KMem.WX[0];
- KMem.WY[0]=KMem.WFX[1];
- }
-// KMem.WY[0]=KMem.WLY[0];
-#else
- KMem.WLX[0]=KMem.WX[0];
- KMem.WY[0]=KMem.WLY[0];
-#endif
us5=GetuS();
@@ -600,16 +622,16 @@
// memcpy(&KMem.SDT[64+nSize/2],&KBusChnStats[2],nSize);
// for (int i=0;i<128;i++) { SDT[i]=i; }
// SDT[48]=55;
- if (Uart1RecvBuf1DataLen >0 && Uart1Stat.bPacketRecved)
+ if (Uart1Stat.bPacketRecved && Uart1RecvBuf1DataLen >0)
{
int res1 = -1;
- res1 = ModBusSlaveParsePkg(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
- if (res1 !=0)
- {
- KLParsePacket(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
+ if (Uart1RecvBuf1[0] == KLSignStart) {
+ res1 = KLParsePacket(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
+ }else {
+ res1 = ModBusSlaveParsePkg(1, Uart1RecvBuf1, Uart1RecvBuf1DataLen);
}
- Uart1RecvBuf1DataLen=0;
Uart1Stat.bPacketRecved=0;
+ Uart1RecvBuf1DataLen=0;
Uart1IdelTimer = 0;
}else {
if (Uart1IdelTimer>600000) { // 瓒呰繃60绉掓病鏈夋暟鎹紶杈擄紝閲嶆柊杩涘叆鑷�傚簲娉㈢壒鐜囩姸鎬�
@@ -622,30 +644,32 @@
if (bKBusSlave) HAL_Delay(0);
if (Uart6Stat.bPacketRecved){
- SLPparsePacket(Uart6RxBuf,Uart6RecvBuf1DataLen);
+ SLPparsePacket(&SLP1,Uart6RxBuf,Uart6RecvBuf1DataLen);
Uart6RecvBuf1DataLen =0;
Uart6Stat.bPacketRecved = 0;
}
-
- SLPinputB = KMem.WYB[1];
- SLPProcess();
- KMem.WXB[1] = SLPoutputB;
+ SLP1.SLPinputB = KMem.WYB[1];
+ SLPProcess(&SLP1);
+ KMem.WXB[1] = SLP1.SLPoutputB;
// YDLiDar process;
if (Uart3Stat.bPacketRecved){
KMem.WDT[8]++;
- YdLidarParsePkt(0,(stLidarDotsPkt *)Uart3RxBuf,Uart3RecvBuf1DataLen);
+ 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]++;
- YdLidarParsePkt(1,(stLidarDotsPkt *)Uart5RxBuf,Uart5RecvBuf1DataLen);
+ OrdLidarParsePkt(1,(OradarLidarFrame *)Uart5RxBuf,Uart5RecvBuf1DataLen);
Uart5RecvBuf1DataLen =0;
Uart5Stat.bPacketRecved = 0;
}
@@ -662,79 +686,25 @@
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];
-/*
- if ((KMem.nRunCount&0x7f)==1) {
-
- SLPSendPacket("ABCDEF",6);
-
- };
-*/
-
- /*
- if (!IsEmpty(&Uart1Stat.QRx))
- {
- unsigned char k=PopOne(&Uart1Stat.QRx);
- if (k=='L')
- {
- clearscreen();
- }
- }
-*/
-#if (BOARD_TYPE == 14)
-// PutOutput (KMem.WY[0]);
-#else
- PutOutput (KMem.WY[0]);
-
-#endif
-
-#if (BOARD_TYPE == 14)
-const unsigned int pins[6]= { LL_GPIO_PIN_10,LL_GPIO_PIN_11,LL_GPIO_PIN_12,LL_GPIO_PIN_13,LL_GPIO_PIN_14,LL_GPIO_PIN_15};
- //process 6 output
- {
- // mapping bits.
- for (int i=0;i<6;i++)
- {
- USHORT bitaddr = storedKMSysCfg.theKMSysCfg.OutMappings[i];
- UCHAR type = (bitaddr&0xf000) >>12;
- USHORT byteaddr = (bitaddr&0x0ff0) >>4;
- UCHAR bitpos = bitaddr &0x0f;
- UCHAR bitvalue = 0 ;
- if (byteaddr>0) {
- if (type == 0) bitvalue = KMem.WXB[byteaddr-1] & ( 1 << bitpos );
- else if (type == 1 ) bitvalue = KMem.WYB[byteaddr-1] & ( 1 << bitpos );
- }
- if (bitvalue){ LL_GPIO_SetOutputPin(GPIOB,pins[i]);}
- else {LL_GPIO_ResetOutputPin(GPIOB,pins[i]);}
- }
- }
-#endif
-
-/*
- {
- unsigned char pos,seg;
- unsigned short val;
- pos=((KMem.nRunCount)&0x3);
- //val=(KMem.nRunCount)&0xfff;
- val=KMem.ErrStat;
- char buf5[20];
- sprintf(buf5,"%4d",val);
- val=buf5[3-pos];
- if (val <'0' || val >'9') {seg=0;}
- else {seg=LEDSEGTAB[val-'0'];}
-
- pos=1<<pos;
- //pos=1;
- //seg=2;
- seg=~seg;
- // PutOutputSPI1(pos|(seg<<8));
- }
-*/
-
-#if (BOARD_TYPE == 13)
- w5500_network_info_show();
-// loopback_tcps(0,str1,5000);
-#endif
+
+ 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);
--
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