升级功能优化

.gitignore

@@ -5,4 +5,5 @@ GD32F103C8T6/App/Output/*
 GD32F103C8T6/Bootloader/Output/*
 GD32F103C8T6/._GD32F10x.emProject
 *.emSession
-*.jlink
+*.jlink
+._*

GD32F103C8T6/App/User/Peripheral/Api/api.c

@@ -23,6 +23,7 @@ static uint16_t upgrade_write_index = 0;
 /* 升级包数据接收长度 */
 static uint8_t upgrade_rx_buffer[1024] = {0};
 
+static void api_write_upgrade_buffer(void);
 static void api_notify_upgrade(uint8_t *buffer, uint16_t length);
 static void api_notify_get_fhss_channel(void);
 static void api_package(uint8_t type, uint8_t command, uint8_t *data, uint8_t length);
@@ -199,6 +200,16 @@ void api_upload_data_forwarding(uint8_t type, uint8_t value)
 
 __weak void api_notify_data_forwarding(uint8_t type, uint8_t value) { }
 
+static void api_write_upgrade_buffer(void)
+{
+    /* 写入升级包数据 */
+    fmc_write_bytes(FMC_ADDRESS_UPGRADE_BUFFER + upgrade_write_index * FMC_PAGE_SIZE, upgrade_rx_buffer, upgrade_rx_index / 4 + (upgrade_rx_index % 4 ? 1 : 0));
+
+    upgrade_write_index++;
+    upgrade_rx_length += upgrade_rx_index;
+    upgrade_rx_index = 0;
+}
+
 /**
  * @brief 升级
  */
@@ -226,23 +237,21 @@ static void api_notify_upgrade(uint8_t *buffer, uint16_t length)
         upgrade_pack_index = 0;
     }
 
-    for (uint16_t i = 0; i < pack_length; i++)
-        upgrade_rx_buffer[upgrade_rx_index++] = buffer[i + 9];
-
     if (index == upgrade_pack_index + 1)
     {
         /* 更改ARM接收到的升级包序号 */
         upgrade_pack_index = index;
 
-        if (upgrade_rx_index >= 1024 || upgrade_pack_index == upgrade_pack_count)
+        for (uint16_t i = 0; i < pack_length; i++)
         {
-            /* 写入升级包数据 */
-            fmc_write_bytes(FMC_ADDRESS_UPGRADE_BUFFER + upgrade_write_index * FMC_PAGE_SIZE, upgrade_rx_buffer, upgrade_rx_index / 4 + (upgrade_rx_index % 4 ? 1 : 0));
+            upgrade_rx_buffer[upgrade_rx_index++] = buffer[i + 9];
 
-            upgrade_write_index++;
-            upgrade_rx_length += upgrade_rx_index;
-            upgrade_rx_index = 0;
+            if (upgrade_rx_index >= 1024)
+                api_write_upgrade_buffer();
         }
+        
+        if (upgrade_pack_index == upgrade_pack_count)
+                api_write_upgrade_buffer();
 
         /* 通知上位机当前升级包成功接收 */
         api_response_success(API_COMMAND_UPGRADE);

GD32F103C8T6/App/User/Peripheral/Api/api.h

@@ -22,7 +22,7 @@
 #define API_FRAME_RESPONSE                  (0x01)          /* 响应帧 */
 #define API_FRAME_NOTIFICATION              (0x02)          /* 通知帧 */
 
-#define SOFTWARE_VERSION                    ("V1.24")
+#define SOFTWARE_VERSION                    ("V1.28")
 #define HARDWARE_VERSION                    ("V1.01")
 
 extern uint8_t api_upgrade_mode;

GD32F103C8T6/App/User/Peripheral/V58/v58.c

@@ -85,6 +85,8 @@ void v58_volume_down(void)
  */
 void v58_stop(void)
 {
+    delay_ms(100);
+
     /* 停止 */
     v58_send_pulse(1);
 

GD32F103C8T6/App/User/app.c

@@ -2,16 +2,17 @@
 
 #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;
@@ -51,6 +52,8 @@ static uint8_t diaodu_upload_status = 0;
 static void strobe_light_reset(void);
 /* 频闪灯闪烁*/
 static void strobe_light_toggle(uint8_t count);
+/* 投影灯控制 */
+static void lp_light_write(uint8_t status);
 
 /* 设置音量级别 */
 static void set_volume_level(uint8_t level);
@@ -88,28 +91,33 @@ 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_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_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;
     }
 }
@@ -194,11 +202,14 @@ void app_init(void)
 static void strobe_light_reset(void)
 {
     gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, RESET);
+    
+        /* 恢复投影灯状态 */
+        lp_light_write(0);
 }
 
 static void strobe_light_toggle(uint8_t count)
 {
-    while(count--)
+    while (count--)
     {
         gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, SET);
         delay_ms(100);
@@ -207,6 +218,14 @@ static void strobe_light_toggle(uint8_t count)
     }
 }
 
+static void lp_light_write(uint8_t status)
+{
+    /* 激光投影设备 */
+    gpio_bit_write(LP_FRONT_DOOR_PERIPH, LP_FRONT_DOOR_PIN, (bit_status)status);
+    gpio_bit_write(LP_BACK_DOOR_PERIPH, LP_BACK_DOOR_PIN, (bit_status)status);
+    gpio_bit_write(LP_CAR_REAR_PERIPH, LP_CAR_REAR_PIN, (bit_status)status);
+}
+
 static void led_parsing_task(uint8_t uuid)
 {
     /* 超过 2s 未检测到CAN数据变化，熄灭发送指示灯 */
@@ -348,22 +367,26 @@ 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)
             {
                 can_channge_status = 1;
                 turn_left_upload_status = 0x01;
+                vehicle_status_trigger_mode = 1;
             }
 
             if (turn_right_status_temporary != turn_right_status)
             {
+                vehicle_status_trigger_mode = 1;
                 can_channge_status = 1;
                 turn_right_upload_status = 0x01;
             }
@@ -372,9 +395,10 @@ 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)
+            if (can_channge_status == 1)
             {
                 gpio_bit_write(LED_CAN_PERIPH, LED_CAN_PIN, SET);
                 can_rx_led_timestamp = timestamp;
@@ -396,6 +420,9 @@ static void strobe_light_operate_task(uint8_t uuid)
         return;
     }
 
+    
+    lp_light_write(1);
+
     strobe_light_flashing_count += 1;
 
     if (strobe_light_flashing_mode == 0)
@@ -413,8 +440,6 @@ static void strobe_light_operate_task(uint8_t uuid)
     {
         /* 频闪 */
         gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, !(strobe_light_flashing_count % 2));
-                
-        //gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);
 
         if (strobe_light_flashing_count >= 4)
         {
@@ -430,7 +455,7 @@ static void strobe_light_operate_task(uint8_t uuid)
     {
         /* 爆闪 */
         gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, !(strobe_light_flashing_count % 2));
-        //gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);
+        // gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);
 
         if (strobe_light_flashing_count >= 20)
         {
@@ -466,6 +491,10 @@ 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)
     {
@@ -477,8 +506,16 @@ static void vehicle_status_parsing_task(uint8_t uuid)
 
         /* 优先级最高, 如果状态为触发, 关闭语音 */
         if (reversing_status == 0)
+        {
             v58_stop();
 
+            /* 修改系统当前状态 */
+            diaodu_status = 0xFF;
+            door_status = 0x01;
+            turn_left_status = 0x01;
+            turn_right_status = 0x01;
+        }
+
         goto EXECUTE;
     }
 
@@ -486,50 +523,17 @@ static void vehicle_status_parsing_task(uint8_t uuid)
     if (reversing_status == 0)
         return;
 
-    /* 进出站状态判断 */
-    if (diaodu_status_temporry != 0 && diaodu_status != diaodu_status_temporry)
+    /* IO状态下必须保持是实时状态 */
+    if (vehicle_status_trigger_mode == 0)
     {
-        /* 当前为出站状态, 如果之前是进站状态,则停止播报, 否则不处理 */
-        if(diaodu_status_temporry == 2)
-        {
-            if(diaodu_status == 1)
-            {
-                status = 0x00;
-                status_type = 5;
-            }
-        }
-        /* 到站 */
-        else if (diaodu_status_temporry == 1)
-        {
-            status = 0x01;
-            status_type = 4;
-
-            /* 优先级最高，关闭语音 */
-            v58_stop();
-        }
-            
-        diaodu_status = diaodu_status_temporry;
-        
-        goto EXECUTE;
+        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);
     }
 
-    /* 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)
-    {
-        if(diaodu_status_rx_timestamp != 0 && 
-           timestamp - diaodu_status_rx_timestamp >= 120000)
-        {
-            /* 修改为出站状态 */
-            diaodu_arrival_or_departure_parsing(0x02);
-                        
-            goto EXECUTE;
-        }
-    }
-
-    if (door_front_status_temporary != door_front_status)
+    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;
@@ -543,8 +547,8 @@ static void vehicle_status_parsing_task(uint8_t uuid)
         status_type = 0;
     }
 
-    /* 当前后门开启后 */
-    if(door_status == 0)
+    /* 当前、后门开启后 */
+    if (door_status == 0)
     {
         /* 进站状态, 不继续执行 */
         if (diaodu_status == 1)
@@ -556,20 +560,85 @@ static void vehicle_status_parsing_task(uint8_t uuid)
             diaodu_status_temporry = diaodu_status = 0;
         }
 
+        turn_left_status = 0x01;
+        turn_right_status = 0x01;
+
         /* 不处理其他数据 */
         goto EXECUTE;
     }
 
+    /* 当前、后车门状态关闭, 才进行调度处理 */
+    if (door_status == 1)
+    {
+        /* 进出站状态判断 */
+        if (diaodu_status_temporry != 0 && diaodu_status != diaodu_status_temporry)
+        {
+            /* 当前为出站状态, 如果之前是进站状态,则停止播报, 否则不处理 */
+            if (diaodu_status_temporry == 2)
+            {
+                if (diaodu_status == 1)
+                {
+                    status = 0x00;
+                    status_type = 5;
+
+                    door_status = 0x01;
+                    turn_left_status = 0x01;
+                    turn_right_status = 0x01;
+
+                    diaodu_status = diaodu_status_temporry;
+
+                    goto EXECUTE;
+                }
+
+                diaodu_status = diaodu_status_temporry;
+
+                return;
+            }
+            /* 到站 */
+            else if (diaodu_status_temporry == 1)
+            {
+                status = 0x01;
+                status_type = 4;
+
+                /* 优先级最高，关闭语音 */
+                v58_stop();
+
+                door_status = 0x01;
+                turn_left_status = 0x01;
+                turn_right_status = 0x01;
+
+                diaodu_status = diaodu_status_temporry;
+
+                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 */
+        if (diaodu_status_rx_timestamp != 0 &&
+            timestamp - diaodu_status_rx_timestamp >= 120000)
+            diaodu_arrival_or_departure_parsing(0x02);
+
+        return;
+    }
+
     /* 左转弯状态判断 */
     if (turn_left_status != turn_left_status_temporary)
     {
-        /* 如果未触发状态, 需进行二次判断 */
-        if (turn_left_status_temporary == 1)
+        /* 只有通过IO接收的数据，才需要做脉冲判断 */
+        if (vehicle_status_trigger_mode == 0)
         {
-            turn_left_parsing_count++;
+            /* 如果未触发状态, 需进行二次判断 */
+            if (turn_left_status_temporary == 1)
+            {
+                turn_left_parsing_count++;
 
-            if (turn_left_parsing_count < 3)
-                goto TURN_RIGHT_STATUS_TAG2;
+                if (turn_left_parsing_count < 3)
+                    goto TURN_RIGHT_STATUS_TAG2;
+            }
         }
 
         turn_left_parsing_count = 0;
@@ -585,7 +654,7 @@ static void vehicle_status_parsing_task(uint8_t uuid)
 
             status_type = 1;
 
-            //printf("left status = %d \r\n", status);
+            // printf("left status = %d \r\n", status);
 
             goto EXECUTE;
         }
@@ -595,13 +664,17 @@ TURN_RIGHT_STATUS_TAG2:
     /* 右转弯状态判断 */
     if (turn_right_status != turn_right_status_temporary)
     {
-        /* 如果未触发状态, 需进行二次判断 */
-        if (turn_right_status_temporary == 1)
+        /* 只有通过IO接收的数据，才需要做脉冲判断 */
+        if (vehicle_status_trigger_mode == 0)
         {
-            turn_right_parsing_count++;
+            /* 如果未触发状态, 需进行二次判断 */
+            if (turn_right_status_temporary == 1)
+            {
+                turn_right_parsing_count++;
 
-            if (turn_right_parsing_count < 3)
-                goto EXECUTE;
+                if (turn_right_parsing_count < 3)
+                    goto EXECUTE;
+            }
         }
 
         turn_right_parsing_count = 0;
@@ -612,12 +685,12 @@ TURN_RIGHT_STATUS_TAG2:
         else
         {
             turn_right_status = turn_right_status_temporary;
-            
+
             status = turn_right_status == 0 ? 1 : 0;
 
             status_type = 2;
 
-            //printf("right status = %d \r\n", status);
+            // printf("right status = %d \r\n", status);
 
             goto EXECUTE;
         }
@@ -630,7 +703,7 @@ TURN_RIGHT_STATUS_TAG2:
     if (emergency_flashers_status != emergency_flashers_status_temporary)
     {
         emergency_flashers_status = emergency_flashers_status_temporary;
-    
+
         if (emergency_flashers_status_temporary == 0)
         {
             /* 挂起 频闪灯控制任务 */
@@ -646,9 +719,9 @@ TURN_RIGHT_STATUS_TAG2:
             task_resume(emergency_flashers_operate_task_uuid);
 
 #if defined(USE_AK517)
-        ak517_please_note_that();
+            ak517_please_note_that();
 #elif defined(USE_QGEL50X)
-        qgel50x_please_note_that();
+            qgel50x_please_note_that();
 #endif
         }
         else if (emergency_flashers_status_temporary == 1)
@@ -791,26 +864,6 @@ void diaodu_arrival_or_departure_parsing(uint8_t status)
     gpio_bit_write(LED_DIAODU_PERIPH, LED_DIAODU_PIN, SET);
 }
 
-//void ir_key_triggered(uint8_t key)
-//{
-//    uint8_t level = 0x00;
-
-//    if (key == 0x98) /* + */
-//        level = volume_level - 1;
-//    else if (key == 0x68) /* - */
-//        level = volume_level + 1;
-//    else if(key == 0xA2)
-//        level = 3;
-//    else
-//        return;
-
-//    strobe_light_toggle(2);
-    
-//    set_volume_level(level);
-
-//    api_upload_data_forwarding(0x06, level);
-//}
-
 void api_notify_data_upload(uint8_t *buffer, uint16_t length)
 {
     led_tx_update();
@@ -911,8 +964,7 @@ void api_notify_data_forwarding(uint8_t type, uint8_t value)
         break;
 
     case 0x05:
-        diaodu_upload_status = 0x01;
-        diaodu_status_temporry = value;
+        diaodu_arrival_or_departure_parsing(value);
         break;
 
     case 0x06:

GD32F103C8T6/App/main.c

@@ -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);
 
@@ -74,7 +66,13 @@ static void bsp_initialization(void)
     gpio_config(V58_STATUS_PERIPH, V58_STATUS_PIN, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, nullptr);
 
     iic_config(M62429_SDA_PERIPH, M62429_SDA_PIN, M62429_SCL_PERIPH, M62429_SCL_PIN);
-    
+
+    /* 激光投影设备 控制引脚 初始化 */
+    gpio_config(LP_FRONT_DOOR_PERIPH, LP_FRONT_DOOR_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
+    gpio_config(LP_BACK_DOOR_PERIPH, LP_BACK_DOOR_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
+    gpio_config(LP_CAR_REAR_PERIPH, LP_CAR_REAR_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
+
+
     /* CAN指示灯 控制引脚 初始化 */
     gpio_config(LED_CAN_PERIPH, LED_CAN_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
     

GD32F103C8T6/App/main.h

@@ -104,6 +104,18 @@
 #define M62429_SDA_PERIPH           GPIOB
 #define M62429_SDA_PIN              GPIO_PIN_11
 
+/* 激光投影设备(前门) */
+#define LP_FRONT_DOOR_PERIPH        GPIOC
+#define LP_FRONT_DOOR_PIN           GPIO_PIN_13
+
+/* 激光投影设备(后门) */
+#define LP_BACK_DOOR_PERIPH         GPIOC
+#define LP_BACK_DOOR_PIN            GPIO_PIN_14
+
+/* 激光投影设备(车尾) */
+#define LP_CAR_REAR_PERIPH          GPIOC
+#define LP_CAR_REAR_PIN             GPIO_PIN_15
+
 #define LED_CAN_PERIPH              GPIOA          
 #define LED_CAN_PIN                 GPIO_PIN_5