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处理IO中断偶然性丢失数据的BUG

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This commit is contained in:
hehaoyang 2023-12-20 17:12:44 +08:00
parent d280ca2a05
commit 20a463febf
3 changed files with 44 additions and 35 deletions
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2
GD32F103C8T6/App/User/Peripheral/Api/api.h
View File

@ -22,7 +22,7 @@
#define API_FRAME_RESPONSE (0x01) /* 响应帧 */
#define API_FRAME_NOTIFICATION (0x02) /* 通知帧 */
#define SOFTWARE_VERSION ("V1.25")
#define SOFTWARE_VERSION ("V1.26")
#define HARDWARE_VERSION ("V1.01")
extern uint8_t api_upgrade_mode;

65
GD32F103C8T6/App/User/app.c
View File

@ -2,22 +2,23 @@
#include "can_parsing.h"
#define STROBE_LIGHT_MODE_SETTING_INDEX (0x00)
#define CAN_TYPE_SETTING_INDEX (0x01)
#define STROBE_LIGHT_ENABLE_SETTING_INDEX (0x02)
#define VOLUME_LEVEL_SETTING_INDEX (0x03)
#define STROBE_LIGHT_MODE_SETTING_INDEX (0x00)
#define CAN_TYPE_SETTING_INDEX (0x01)
#define STROBE_LIGHT_ENABLE_SETTING_INDEX (0x02)
#define VOLUME_LEVEL_SETTING_INDEX (0x03)
static uint64_t can_rx_led_timestamp = 0;
static uint64_t diaodu_rx_led_timestamp = 0;
static uint64_t run_led_timestamp = 0;
static uint64_t diaodu_status_rx_timestamp = 0;
static uint8_t vehicle_status_trigger_mode = 0; /* 车辆状态触发方式:0 IO; 1 CAN */
static uint8_t door_front_status = 1, door_front_status_temporary = 1;
static uint8_t door_back_status = 1, door_back_status_temporary = 1;
static uint8_t door_status = 2, door_status_temporary = 2;
static uint8_t turn_left_type = 0, turn_left_status = 1, turn_left_status_temporary = 1; /* turn_left_type:0 IO; 1 CAN */
static uint8_t turn_left_parsing_count = 0; /* 转向接收次数 */
static uint8_t turn_right_type = 1, turn_right_status = 1, turn_right_status_temporary = 1;
static uint8_t turn_left_status = 1, turn_left_status_temporary = 1;
static uint8_t turn_left_parsing_count = 0; /* 转向接收次数 */
static uint8_t turn_right_status = 1, turn_right_status_temporary = 1;
static uint8_t turn_right_parsing_count = 0; /* 转向接收次数 */
static uint8_t emergency_flashers_status = 1, emergency_flashers_status_temporary = 1; /* 双闪 */
static uint8_t reversing_status = 1, reversing_status_temporary = 1;
@ -88,30 +89,33 @@ void gpio_interrupt_callback(uint32_t pin)
switch (pin)
{
case DOOR_FRONT_PIN:
door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
door_front_upload_status = 0x01;
vehicle_status_trigger_mode = 0;
door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
break;
case DOOR_BACK_PIN:
door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
door_back_upload_status = 0x01;
vehicle_status_trigger_mode = 0;
door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
break;
case TURN_LEFT_PIN:
turn_left_type = 0;
turn_left_status_temporary = gpio_input_bit_get(TURN_LEFT_PERIPH, TURN_LEFT_PIN);
turn_left_upload_status = 0x01;
vehicle_status_trigger_mode = 0;
turn_left_status_temporary = gpio_input_bit_get(TURN_LEFT_PERIPH, TURN_LEFT_PIN);
break;
case TURN_RIGHT_PIN:
turn_right_type = 0;
turn_right_status_temporary = gpio_input_bit_get(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN);
turn_right_upload_status = 0x01;
vehicle_status_trigger_mode = 0;
turn_right_status_temporary = gpio_input_bit_get(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN);
break;
case REVERSING_PIN:
reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
reversing_upload_status = 0x01;
vehicle_status_trigger_mode = 0;
reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
break;
}
}
@ -350,24 +354,26 @@ static void can_parsing_task(uint8_t uuid)
{
can_channge_status = 1;
door_front_upload_status = 0x01;
vehicle_status_trigger_mode = 1;
}
if (door_back_status_temporary != door_back_status)
{
can_channge_status = 1;
door_back_upload_status = 0x01;
vehicle_status_trigger_mode = 1;
}
if (turn_left_status_temporary != turn_left_status)
{
turn_left_type = 1;
can_channge_status = 1;
turn_left_upload_status = 0x01;
vehicle_status_trigger_mode = 1;
}
if (turn_right_status_temporary != turn_right_status)
{
turn_right_type = 1;
vehicle_status_trigger_mode = 1;
can_channge_status = 1;
turn_right_upload_status = 0x01;
}
@ -376,6 +382,7 @@ static void can_parsing_task(uint8_t uuid)
{
can_channge_status = 1;
reversing_upload_status = 0x01;
vehicle_status_trigger_mode = 1;
}
if (can_channge_status == 1)
@ -470,6 +477,10 @@ static void vehicle_status_parsing_task(uint8_t uuid)
uint8_t door_change = 0;
/* IO状态下必须保持是实时状态 */
if (vehicle_status_trigger_mode == 0)
reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
/* 倒车状态判断 */
if (reversing_status != reversing_status_temporary)
{
@ -498,10 +509,17 @@ static void vehicle_status_parsing_task(uint8_t uuid)
if (reversing_status == 0)
return;
if (door_front_status_temporary != door_front_status)
/* IO状态下必须保持是实时状态 */
if (vehicle_status_trigger_mode == 0)
{
door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
}
if (door_front_status != door_front_status_temporary)
door_front_status = door_front_status_temporary;
if (door_back_status_temporary != door_back_status)
if (door_back_status != door_back_status_temporary)
door_back_status = door_back_status_temporary;
door_status_temporary = door_front_status_temporary & door_back_status_temporary;
@ -548,7 +566,7 @@ static void vehicle_status_parsing_task(uint8_t uuid)
{
status = 0x00;
status_type = 5;
door_status = 0x01;
turn_left_status = 0x01;
turn_right_status = 0x01;
@ -570,7 +588,7 @@ static void vehicle_status_parsing_task(uint8_t uuid)
/* 优先级最高，关闭语音 */
v58_stop();
door_status = 0x01;
turn_left_status = 0x01;
turn_right_status = 0x01;
@ -579,14 +597,13 @@ static void vehicle_status_parsing_task(uint8_t uuid)
goto EXECUTE;
}
}
}
/* 如果一直处于进站状态, 超过 2 分钟, 则取消该状态, 并停止语音 */
if (diaodu_status == 1)
{
/* 修改为出站状态 */
/* 修改为出站状态 */
if (diaodu_status_rx_timestamp != 0 &&
timestamp - diaodu_status_rx_timestamp >= 120000)
diaodu_arrival_or_departure_parsing(0x02);
@ -598,7 +615,7 @@ static void vehicle_status_parsing_task(uint8_t uuid)
if (turn_left_status != turn_left_status_temporary)
{
/* 只有通过IO接收的数据，才需要做脉冲判断 */
if (turn_left_type == 0)
if (vehicle_status_trigger_mode == 0)
{
/* 如果未触发状态, 需进行二次判断 */
if (turn_left_status_temporary == 1)
@ -634,7 +651,7 @@ TURN_RIGHT_STATUS_TAG2:
if (turn_right_status != turn_right_status_temporary)
{
/* 只有通过IO接收的数据，才需要做脉冲判断 */
if (turn_right_type == 0)
if (vehicle_status_trigger_mode == 0)
{
/* 如果未触发状态, 需进行二次判断 */
if (turn_right_status_temporary == 1)

12
GD32F103C8T6/App/main.c
View File

@ -49,21 +49,13 @@ static void bsp_initialization(void)
gpio_config(VOLUME_3_PERIPH, VOLUME_3_PIN, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, nullptr);
gpio_config(VOLUME_4_PERIPH, VOLUME_4_PIN, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, nullptr);
/* 前门 检测引脚 初始化 */
/* 前门 后门 左转弯 右转弯 倒车 检测引脚 初始化 */
gpio_interrupt_config(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN, EXTI_TRIG_BOTH);
/* 后门 检测引脚 初始化 */
gpio_interrupt_config(DOOR_BACK_PERIPH, DOOR_BACK_PIN, EXTI_TRIG_BOTH);
/* 左转弯 检测引脚 初始化 */
gpio_interrupt_config(TURN_LEFT_PERIPH, TURN_LEFT_PIN, EXTI_TRIG_BOTH);
/* 右转弯 检测引脚 初始化 */
gpio_interrupt_config(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN, EXTI_TRIG_BOTH);
/* 倒车 检测引脚 初始化 */
gpio_interrupt_config(REVERSING_PERIPH, REVERSING_PIN, EXTI_TRIG_BOTH);
/* 功放控制脚，默认开启 */
gpio_config(AMP_CTRL_PERIPH, AMP_CTRL_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, SET);