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3 Commits
Author | SHA1 | Date | |
---|---|---|---|
d11e9edf36 | |||
4ffcff9f1b | |||
20a463febf |
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@ -23,6 +23,7 @@ static uint16_t upgrade_write_index = 0;
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/* 升级包数据接收长度 */
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static uint8_t upgrade_rx_buffer[1024] = {0};
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static void api_write_upgrade_buffer(void);
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static void api_notify_upgrade(uint8_t *buffer, uint16_t length);
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static void api_notify_get_fhss_channel(void);
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static void api_package(uint8_t type, uint8_t command, uint8_t *data, uint8_t length);
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@ -199,6 +200,16 @@ void api_upload_data_forwarding(uint8_t type, uint8_t value)
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__weak void api_notify_data_forwarding(uint8_t type, uint8_t value) { }
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static void api_write_upgrade_buffer(void)
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{
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/* 写入升级包数据 */
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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));
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upgrade_write_index++;
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upgrade_rx_length += upgrade_rx_index;
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upgrade_rx_index = 0;
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}
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/**
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* @brief 升级
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*/
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@ -226,24 +237,22 @@ static void api_notify_upgrade(uint8_t *buffer, uint16_t length)
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upgrade_pack_index = 0;
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}
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for (uint16_t i = 0; i < pack_length; i++)
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upgrade_rx_buffer[upgrade_rx_index++] = buffer[i + 9];
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if (index == upgrade_pack_index + 1)
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{
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/* 更改ARM接收到的升级包序号 */
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upgrade_pack_index = index;
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if (upgrade_rx_index >= 1024 || upgrade_pack_index == upgrade_pack_count)
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for (uint16_t i = 0; i < pack_length; i++)
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{
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/* 写入升级包数据 */
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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));
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upgrade_rx_buffer[upgrade_rx_index++] = buffer[i + 9];
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upgrade_write_index++;
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upgrade_rx_length += upgrade_rx_index;
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upgrade_rx_index = 0;
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if (upgrade_rx_index >= 1024)
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api_write_upgrade_buffer();
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}
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if (upgrade_pack_index == upgrade_pack_count)
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api_write_upgrade_buffer();
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/* 通知上位机当前升级包成功接收 */
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api_response_success(API_COMMAND_UPGRADE);
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@ -22,7 +22,7 @@
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#define API_FRAME_RESPONSE (0x01) /* 响应帧 */
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#define API_FRAME_NOTIFICATION (0x02) /* 通知帧 */
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#define SOFTWARE_VERSION ("V1.25")
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#define SOFTWARE_VERSION ("V1.28")
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#define HARDWARE_VERSION ("V1.01")
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extern uint8_t api_upgrade_mode;
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@ -2,22 +2,23 @@
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#include "can_parsing.h"
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#define STROBE_LIGHT_MODE_SETTING_INDEX (0x00)
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#define CAN_TYPE_SETTING_INDEX (0x01)
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#define STROBE_LIGHT_ENABLE_SETTING_INDEX (0x02)
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#define VOLUME_LEVEL_SETTING_INDEX (0x03)
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#define STROBE_LIGHT_MODE_SETTING_INDEX (0x00)
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#define CAN_TYPE_SETTING_INDEX (0x01)
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#define STROBE_LIGHT_ENABLE_SETTING_INDEX (0x02)
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#define VOLUME_LEVEL_SETTING_INDEX (0x03)
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static uint64_t can_rx_led_timestamp = 0;
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static uint64_t diaodu_rx_led_timestamp = 0;
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static uint64_t run_led_timestamp = 0;
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static uint64_t diaodu_status_rx_timestamp = 0;
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static uint8_t vehicle_status_trigger_mode = 0; /* 车辆状态触发方式:0 IO; 1 CAN */
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static uint8_t door_front_status = 1, door_front_status_temporary = 1;
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static uint8_t door_back_status = 1, door_back_status_temporary = 1;
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static uint8_t door_status = 2, door_status_temporary = 2;
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static uint8_t turn_left_type = 0, turn_left_status = 1, turn_left_status_temporary = 1; /* turn_left_type:0 IO; 1 CAN */
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static uint8_t turn_left_parsing_count = 0; /* 转向接收次数 */
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static uint8_t turn_right_type = 1, turn_right_status = 1, turn_right_status_temporary = 1;
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static uint8_t turn_left_status = 1, turn_left_status_temporary = 1;
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static uint8_t turn_left_parsing_count = 0; /* 转向接收次数 */
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static uint8_t turn_right_status = 1, turn_right_status_temporary = 1;
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static uint8_t turn_right_parsing_count = 0; /* 转向接收次数 */
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static uint8_t emergency_flashers_status = 1, emergency_flashers_status_temporary = 1; /* 双闪 */
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static uint8_t reversing_status = 1, reversing_status_temporary = 1;
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@ -51,6 +52,8 @@ static uint8_t diaodu_upload_status = 0;
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static void strobe_light_reset(void);
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/* 频闪灯闪烁*/
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static void strobe_light_toggle(uint8_t count);
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/* 投影灯控制 */
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static void lp_light_write(uint8_t status);
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/* 设置音量级别 */
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static void set_volume_level(uint8_t level);
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@ -88,30 +91,33 @@ void gpio_interrupt_callback(uint32_t pin)
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switch (pin)
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{
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case DOOR_FRONT_PIN:
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door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
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door_front_upload_status = 0x01;
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vehicle_status_trigger_mode = 0;
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door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
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break;
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case DOOR_BACK_PIN:
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door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
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door_back_upload_status = 0x01;
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vehicle_status_trigger_mode = 0;
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door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
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break;
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case TURN_LEFT_PIN:
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turn_left_type = 0;
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turn_left_status_temporary = gpio_input_bit_get(TURN_LEFT_PERIPH, TURN_LEFT_PIN);
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turn_left_upload_status = 0x01;
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vehicle_status_trigger_mode = 0;
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turn_left_status_temporary = gpio_input_bit_get(TURN_LEFT_PERIPH, TURN_LEFT_PIN);
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break;
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case TURN_RIGHT_PIN:
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turn_right_type = 0;
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turn_right_status_temporary = gpio_input_bit_get(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN);
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turn_right_upload_status = 0x01;
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vehicle_status_trigger_mode = 0;
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turn_right_status_temporary = gpio_input_bit_get(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN);
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break;
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case REVERSING_PIN:
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reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
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reversing_upload_status = 0x01;
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vehicle_status_trigger_mode = 0;
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reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
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break;
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}
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}
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@ -196,6 +202,9 @@ void app_init(void)
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static void strobe_light_reset(void)
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{
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gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, RESET);
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/* 恢复投影灯状态 */
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lp_light_write(0);
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}
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static void strobe_light_toggle(uint8_t count)
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@ -209,6 +218,14 @@ static void strobe_light_toggle(uint8_t count)
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}
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}
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static void lp_light_write(uint8_t status)
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{
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/* 激光投影设备 */
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gpio_bit_write(LP_FRONT_DOOR_PERIPH, LP_FRONT_DOOR_PIN, (bit_status)status);
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gpio_bit_write(LP_BACK_DOOR_PERIPH, LP_BACK_DOOR_PIN, (bit_status)status);
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gpio_bit_write(LP_CAR_REAR_PERIPH, LP_CAR_REAR_PIN, (bit_status)status);
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}
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static void led_parsing_task(uint8_t uuid)
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{
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/* 超过 2s 未检测到CAN数据变化,熄灭发送指示灯 */
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@ -350,24 +367,26 @@ static void can_parsing_task(uint8_t uuid)
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{
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can_channge_status = 1;
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door_front_upload_status = 0x01;
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vehicle_status_trigger_mode = 1;
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}
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if (door_back_status_temporary != door_back_status)
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{
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can_channge_status = 1;
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door_back_upload_status = 0x01;
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vehicle_status_trigger_mode = 1;
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}
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if (turn_left_status_temporary != turn_left_status)
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{
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turn_left_type = 1;
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can_channge_status = 1;
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turn_left_upload_status = 0x01;
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vehicle_status_trigger_mode = 1;
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}
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if (turn_right_status_temporary != turn_right_status)
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{
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turn_right_type = 1;
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vehicle_status_trigger_mode = 1;
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can_channge_status = 1;
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turn_right_upload_status = 0x01;
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}
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@ -376,6 +395,7 @@ static void can_parsing_task(uint8_t uuid)
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{
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can_channge_status = 1;
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reversing_upload_status = 0x01;
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vehicle_status_trigger_mode = 1;
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}
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if (can_channge_status == 1)
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@ -400,6 +420,9 @@ static void strobe_light_operate_task(uint8_t uuid)
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return;
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}
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lp_light_write(1);
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strobe_light_flashing_count += 1;
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if (strobe_light_flashing_mode == 0)
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@ -418,8 +441,6 @@ static void strobe_light_operate_task(uint8_t uuid)
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/* 频闪 */
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gpio_bit_write(LED_STROBE_PERIPH, LED_STROBE_PIN, !(strobe_light_flashing_count % 2));
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// gpio_bit_toggle(LED_STROBE_PERIPH, LED_STROBE_PIN);
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if (strobe_light_flashing_count >= 4)
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{
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strobe_light_flashing_count = 0;
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@ -470,6 +491,10 @@ static void vehicle_status_parsing_task(uint8_t uuid)
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uint8_t door_change = 0;
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/* IO状态下必须保持是实时状态 */
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if (vehicle_status_trigger_mode == 0)
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reversing_status_temporary = gpio_input_bit_get(REVERSING_PERIPH, REVERSING_PIN);
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/* 倒车状态判断 */
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if (reversing_status != reversing_status_temporary)
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{
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@ -498,10 +523,17 @@ static void vehicle_status_parsing_task(uint8_t uuid)
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if (reversing_status == 0)
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return;
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if (door_front_status_temporary != door_front_status)
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/* IO状态下必须保持是实时状态 */
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if (vehicle_status_trigger_mode == 0)
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{
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door_front_status_temporary = gpio_input_bit_get(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN);
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door_back_status_temporary = gpio_input_bit_get(DOOR_BACK_PERIPH, DOOR_BACK_PIN);
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}
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if (door_front_status != door_front_status_temporary)
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door_front_status = door_front_status_temporary;
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if (door_back_status_temporary != door_back_status)
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if (door_back_status != door_back_status_temporary)
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door_back_status = door_back_status_temporary;
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door_status_temporary = door_front_status_temporary & door_back_status_temporary;
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@ -579,14 +611,13 @@ static void vehicle_status_parsing_task(uint8_t uuid)
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goto EXECUTE;
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}
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}
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}
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/* 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 */
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if (diaodu_status == 1)
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{
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/* 修改为出站状态 */
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/* 修改为出站状态 */
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if (diaodu_status_rx_timestamp != 0 &&
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timestamp - diaodu_status_rx_timestamp >= 120000)
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diaodu_arrival_or_departure_parsing(0x02);
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@ -598,7 +629,7 @@ static void vehicle_status_parsing_task(uint8_t uuid)
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if (turn_left_status != turn_left_status_temporary)
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{
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/* 只有通过IO接收的数据,才需要做脉冲判断 */
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if (turn_left_type == 0)
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if (vehicle_status_trigger_mode == 0)
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{
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/* 如果未触发状态, 需进行二次判断 */
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if (turn_left_status_temporary == 1)
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@ -634,7 +665,7 @@ TURN_RIGHT_STATUS_TAG2:
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if (turn_right_status != turn_right_status_temporary)
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{
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/* 只有通过IO接收的数据,才需要做脉冲判断 */
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if (turn_right_type == 0)
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if (vehicle_status_trigger_mode == 0)
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{
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/* 如果未触发状态, 需进行二次判断 */
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if (turn_right_status_temporary == 1)
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@ -49,19 +49,11 @@ static void bsp_initialization(void)
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gpio_config(VOLUME_3_PERIPH, VOLUME_3_PIN, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, nullptr);
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gpio_config(VOLUME_4_PERIPH, VOLUME_4_PIN, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, nullptr);
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/* 前门 检测引脚 初始化 */
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/* 前门 后门 左转弯 右转弯 倒车 检测引脚 初始化 */
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gpio_interrupt_config(DOOR_FRONT_PERIPH, DOOR_FRONT_PIN, EXTI_TRIG_BOTH);
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/* 后门 检测引脚 初始化 */
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gpio_interrupt_config(DOOR_BACK_PERIPH, DOOR_BACK_PIN, EXTI_TRIG_BOTH);
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/* 左转弯 检测引脚 初始化 */
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gpio_interrupt_config(TURN_LEFT_PERIPH, TURN_LEFT_PIN, EXTI_TRIG_BOTH);
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/* 右转弯 检测引脚 初始化 */
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gpio_interrupt_config(TURN_RIGHT_PERIPH, TURN_RIGHT_PIN, EXTI_TRIG_BOTH);
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/* 倒车 检测引脚 初始化 */
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gpio_interrupt_config(REVERSING_PERIPH, REVERSING_PIN, EXTI_TRIG_BOTH);
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/* 功放控制脚,默认开启 */
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@ -75,6 +67,12 @@ static void bsp_initialization(void)
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iic_config(M62429_SDA_PERIPH, M62429_SDA_PIN, M62429_SCL_PERIPH, M62429_SCL_PIN);
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/* 激光投影设备 控制引脚 初始化 */
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gpio_config(LP_FRONT_DOOR_PERIPH, LP_FRONT_DOOR_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
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gpio_config(LP_BACK_DOOR_PERIPH, LP_BACK_DOOR_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
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gpio_config(LP_CAR_REAR_PERIPH, LP_CAR_REAR_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
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/* CAN指示灯 控制引脚 初始化 */
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gpio_config(LED_CAN_PERIPH, LED_CAN_PIN, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, RESET);
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@ -104,6 +104,18 @@
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#define M62429_SDA_PERIPH GPIOB
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#define M62429_SDA_PIN GPIO_PIN_11
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/* 激光投影设备(前门) */
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#define LP_FRONT_DOOR_PERIPH GPIOC
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#define LP_FRONT_DOOR_PIN GPIO_PIN_13
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/* 激光投影设备(后门) */
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#define LP_BACK_DOOR_PERIPH GPIOC
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#define LP_BACK_DOOR_PIN GPIO_PIN_14
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/* 激光投影设备(车尾) */
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#define LP_CAR_REAR_PERIPH GPIOC
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#define LP_CAR_REAR_PIN GPIO_PIN_15
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#define LED_CAN_PERIPH GPIOA
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#define LED_CAN_PIN GPIO_PIN_5
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