diff --git a/.vs/VSWorkspaceState.json b/.vs/VSWorkspaceState.json deleted file mode 100644 index 6b61141..0000000 --- a/.vs/VSWorkspaceState.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "ExpandedNodes": [ - "" - ], - "PreviewInSolutionExplorer": false -} \ No newline at end of file diff --git a/.vs/pile_cm_esp32/v15/.suo b/.vs/pile_cm_esp32/v15/.suo deleted file mode 100644 index c326bd0..0000000 Binary files a/.vs/pile_cm_esp32/v15/.suo and /dev/null differ diff --git a/.vs/slnx.sqlite b/.vs/slnx.sqlite deleted file mode 100644 index cc0286b..0000000 Binary files a/.vs/slnx.sqlite and /dev/null differ diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index cf19cad..0000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "idf.adapterTargetName": "esp32s3", - "files.associations": { - "can_network.h": "c" - } -} \ No newline at end of file diff --git a/components/motor_ctrl_timer/motor_ctrl_timer.h b/components/motor_ctrl_timer/motor_ctrl_timer.h index ca9646f..222cad0 100644 --- a/components/motor_ctrl_timer/motor_ctrl_timer.h +++ b/components/motor_ctrl_timer/motor_ctrl_timer.h @@ -16,7 +16,6 @@ extern "C" { #include "freertos/FreeRTOS.h" #include "freertos/queue.h" #include "driver/timer.h" - typedef struct { int (*get_pulse_callback)(void *); void *callback_args; diff --git a/main/bt_server.c b/main/bt_server.c index b4dc1c8..2d8da6c 100644 --- a/main/bt_server.c +++ b/main/bt_server.c @@ -6,7 +6,6 @@ CONDITIONS OF ANY KIND, either express or implied. */ - #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/event_groups.h" @@ -22,6 +21,7 @@ #include "esp_bt_defs.h" #include "esp_bt_main.h" #include "bt_server.h" + #define SPP_DEBUG_MODE 1 #define GATTS_TABLE_TAG "GATTS_SPP_DEMO" diff --git a/main/main.c b/main/main.c index 3ecc7bb..7eef3a8 100644 --- a/main/main.c +++ b/main/main.c @@ -70,6 +70,8 @@ #define WIFI_CONNECTED_BIT BIT0 #define WIFI_FAIL_BIT BIT1 #define GPIO_4G_PWR GPIO_NUM_4 +#define PWR_4G_ON (0) +#define PWR_4G_OFF (1) static const char *TAG = "main"; @@ -77,7 +79,6 @@ static const char *TAG = "main"; extern void wifi_init_softap(void); -void ads1220_init(void); void PWR_4G_Init(void); extern void can_init(void); extern void FLOW_init(); @@ -103,7 +104,7 @@ void app_main(void) } ESP_ERROR_CHECK(ret); ESP_ERROR_CHECK(i2c_master_init()); - config_load(); + config_load();//读取保存在FRAM里的数据 ESP_LOGI(TAG, "ESP_WIFI_MODE_STA"); // rtc_clk_apb_freq = rtc_clk_apb_freq_get(); // ESP_LOGI(TAG, "rtc_clk_apb_freq=%u", rtc_clk_apb_freq); @@ -130,19 +131,22 @@ void app_main(void) void PWR_4G_Init(void) { // zero-initialize the config structure. - gpio_config_t io_conf = {}; - // disable interrupt - io_conf.intr_type = GPIO_INTR_DISABLE; - // set as output mode - io_conf.mode = GPIO_MODE_OUTPUT; - // bit mask of the pins that you want to set,e.g.GPIO18/19 - io_conf.pin_bit_mask = GPIO_4G_PWR; - // disable pull-down mode - io_conf.pull_down_en = 0; - // disable pull-up mode - io_conf.pull_up_en = 0; + gpio_config_t io_conf = { + // disable interrupt + .intr_type = GPIO_INTR_DISABLE, + // set as output mode + .mode = GPIO_MODE_OUTPUT, + // bit mask of the pins that you want to set,e.g.GPIO18/19 + .pin_bit_mask = GPIO_4G_PWR, + // disable pull-down mode + .pull_down_en = 0, + // disable pull-up mode + .pull_up_en = 0, + }; + // configure GPIO with the given settings gpio_config(&io_conf); - - gpio_set_level(GPIO_4G_PWR, 0); + gpio_set_level(GPIO_4G_PWR, PWR_4G_OFF); + vTaskDelay(pdMS_TO_TICKS(1000)); + gpio_set_level(GPIO_4G_PWR, PWR_4G_ON); } \ No newline at end of file diff --git a/main/stm32/ModbusS.c b/main/stm32/ModbusS.c index d4fb4ab..31f2016 100644 --- a/main/stm32/ModbusS.c +++ b/main/stm32/ModbusS.c @@ -131,10 +131,10 @@ void ModBusWordWriteHook(uint16_t addr, uint16_t length) save_flow_cfg(); } else if(addr == DEPTH_CONFIG_ADDR && gWordVar[DEPTH_CONFIG_ADDR] == 0x55aa){ - save_depth_cfg(); + save_depth_cfg(); } else if(addr == CAL_4_20MA_ADDR && gWordVar[CAL_4_20MA_ADDR] == 0x55aa){ - save_cal_4_20ma(); + save_cal_4_20ma(); } else if(addr == REBOOT_REW_ADDR ){ if(gWordVar[REBOOT_REW_ADDR] == 0x55aa){ @@ -166,21 +166,24 @@ int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_cr int i; uint8_t *pDat; uint16_t *pWordVar; - if(rxLen<4) + + if(rxLen<4){ return 0; - if((rxbuf[0]==modbus_addr) || (rxbuf[0]==255)) - { - if(is_crc != 0) - { + } + + /*地址校验*/ + if((rxbuf[0]==modbus_addr) || (rxbuf[0]==255)){ + + /*crc校验*/ + if(is_crc != 0){ crcData = rxbuf[rxLen-1]+(rxbuf[rxLen-2]<<8); crcChk = crc16(rxbuf,rxLen-2); - if( crcData != crcChk) - { + if( crcData != crcChk){ return 0; } } + add = ((uint16_t)rxbuf[2]<<8)+ rxbuf[3]; - //if(Length != length = (rxbuf[4]<<8) | rxbuf[5]; txbuf[0] = rxbuf[0]; @@ -275,7 +278,7 @@ int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_cr out_len = 3; break; } - gWordVar[add] = (rxbuf[4]<<8)+rxbuf[5]; + gWordVar[add] = (rxbuf[4]<<8)+rxbuf[5]; memcpy(txbuf,rxbuf,6); ModBusWordWriteHook(add,1); out_len = 6; diff --git a/main/stm32/ads1220.c b/main/stm32/ads1220.c index 81548e5..efe69eb 100644 --- a/main/stm32/ads1220.c +++ b/main/stm32/ads1220.c @@ -387,10 +387,11 @@ extern flow_config_t *flow_config; extern flow_t *pflow; extern uint8_t timeout[2]; extern int flow_rem[2]; + void ads1220_task(void) { uint32_t io_num; - static uint32_t ad_flow_tick = 10; + // static uint32_t ad_flow_tick = 10; while (1) { // ESP_LOGI(TAG, "xQueueReceive before\n "); diff --git a/main/stm32/capture.c b/main/stm32/capture.c index 337a8c0..3194dd3 100644 --- a/main/stm32/capture.c +++ b/main/stm32/capture.c @@ -103,7 +103,7 @@ void capture_flow2_init() .user_data = NULL}; ESP_ERROR_CHECK(mcpwm_capture_enable_channel(MCPWM_UNIT_1, MCPWM_SELECT_CAP2, &conf)); mcpwm_set_frequency(MCPWM_UNIT_1, MCPWM_TIMER_2, 1000000); - ESP_LOGI(TAG, "capture_flow_init"); + // ESP_LOGI(TAG, "capture_flow_init"); } // void capture_task(void) diff --git a/main/stm32/comm.c b/main/stm32/comm.c index e24e70c..a2d0f71 100644 --- a/main/stm32/comm.c +++ b/main/stm32/comm.c @@ -6,7 +6,6 @@ // #include "SEGGER_RTT.h" #include "ModbusM.h" -uint32_t TickDiff(uint32_t comptime); extern void modbus_master_poll(int n); extern int modbus_master_on_revice(int ch, uint8_t *rxbuf, int length); diff --git a/main/stm32/config.c b/main/stm32/config.c index fe9f66b..40fd1c2 100644 --- a/main/stm32/config.c +++ b/main/stm32/config.c @@ -136,6 +136,7 @@ void config_load(void) } } +//恢复默认配置 void restore_default(void) { memcpy(cal_4_20ma, &default_cal_4_20ma, sizeof(default_cal_4_20ma)); diff --git a/main/stm32/config.h b/main/stm32/config.h index ec24afe..e1dad48 100644 --- a/main/stm32/config.h +++ b/main/stm32/config.h @@ -19,15 +19,15 @@ #define RECORD_REG_ADDR 32 #define CAL_4_20MA_ADDR 384 -#define FLOW_CONFIG_ADDR (CAL_4_20MA_ADDR + (sizeof(cal_4_20ma_t) + 15) / 16 * 8) -#define DEPTH_CONFIG_ADDR (FLOW_CONFIG_ADDR + (sizeof(flow_config_t) + 15) / 16 * 8) +#define FLOW_CONFIG_ADDR (CAL_4_20MA_ADDR + (sizeof(cal_4_20ma_t) + 15) / 16 * 8) +#define DEPTH_CONFIG_ADDR (FLOW_CONFIG_ADDR + (sizeof(flow_config_t) + 15) / 16 * 8) #define AD_RAW_REG_ADDR 444 #define LAST_PILE_ID_ADDR 509 #define DEPTH_RESET_ADDR 510 #define REBOOT_REW_ADDR 511 - +#define TIME 264 typedef struct { uint16_t magic; diff --git a/main/stm32/depth.c b/main/stm32/depth.c index 060e7c1..b3a2f32 100644 --- a/main/stm32/depth.c +++ b/main/stm32/depth.c @@ -12,13 +12,13 @@ #include "ModbusS.h" #include "rotary_encoder.h" - #include "esp_log.h" #include "esp_check.h" #include "soc/rtc.h" #include "driver/mcpwm.h" +// #include "driver/mcpwm_prelude.h" #include "config.h" -#include "esp_gatts_api.h" +#include "../../../../components/bt/host/bluedroid/api/include/api/esp_gatts_api.h" #include "bt_server.h" #include "esp_system.h" @@ -57,6 +57,14 @@ typedef struct capture_event #define DEPTH_PIN_ENC_B 41 // 深度控制GPIO端口 TIM3_CH2 #define SEND_DATA_TEST 0 +#define PILE_STATE_STOP 0x0100 +#define PILE_STATE_PAUSE 0x0200 +#define PILE_STATE_WORK 0x0300 + +#define PILE_DIR_NONE 0x01 +#define PILE_DIR_UP 0x02 +#define PILE_DIR_DOWN 0x03 + // #define DEPTH_PIN_ENC_A 36 // 深度脉冲GPIO端口 // #define DEPTH_PIN_ENC_B 35 // 深度控制GPIO端口 @@ -158,13 +166,14 @@ typedef struct typedef struct { - int16_t up_down; // 12 + uint16_t pile_work_state_and_direction; // 12 int16_t speed; // 13 int16_t depth; // 14 uint16_t sample_count; // 15 uint16_t depth_flow[2]; // 16~17 - uint32_t last_total_flow[2]; // 18~21 + uint32_t last_total_flow[2]; // int16_t depth_offset; // 22 + uint16_t one_pile_work_time;//23 系统工作时间 // uint32_t update_time; // int16_t tilt_x; // int16_t tilt_y; @@ -219,7 +228,8 @@ void capture_depth_init() .cap_edge = MCPWM_NEG_EDGE, .cap_prescale = 1, .capture_cb = depth_isr_handler, // 绑定深度中断处理函数 - .user_data = NULL}; + .user_data = NULL + }; if (depth_config->input_type > 1) { conf.cap_edge = MCPWM_BOTH_EDGE; @@ -285,7 +295,7 @@ void depth_init(void) // // HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL); // } depth_data->depth_offset = -depth_config->depth_offset; - depth_data->up_down = 1; // 默认工作 + depth_data->pile_work_state_and_direction = (PILE_STATE_STOP | PILE_DIR_NONE); // 默认不工作 } enum @@ -404,21 +414,32 @@ void send_data_to_bt(void) // } } +/** + * _enc1_update_time 编码器1上一次更新时间 + * enc1_update_time 编码器1当前更新时间 + * time_diff 两次编码器更新时间的绝对差值 + * depth_config 预设好的深度数据 + * enc1_value 编码器1值，在深度中断中获得 + * prev_depth 上一次的深度 +*/ void depth_task(void *arg) { - ESP_LOGI(TAG, "go to depth_task sucessfully\n"); - // int enc_value; + ESP_LOGI(TAG, "depth_task start\n"); + int time_diff = 0; int speed_timeout = 0; int last_speed_enc_value = 0; // 上次速度计算的编码器值 - int speed_enc_update_time = 0; // 上次速度计算的编码器值 + int speed_enc_update_time = 0; int speed_calc_count = 0; int enc_value = 0; // int count = 0; int bt_time_count = 0; - depth_data->depth_offset = -depth_config->depth_offset; - depth_data->up_down = 1; // 默认工作 + int64_t work_start_time = 0; + uint16_t last_work_state = 0; + depth_data->depth_offset = -depth_config->depth_offset; + depth_data->pile_work_state_and_direction = 0x0300; + last_work_state = depth_data->pile_work_state_and_direction; record->pile_id = ++last_pile_id; // send_to_bt1.pile_id = ++last_pile_id; @@ -429,7 +450,6 @@ void depth_task(void *arg) if (_enc1_update_time != enc1_update_time) { ESP_LOGI(TAG, "_enc1_update_time != enc1_update_time\n"); - // int enc_update_time = enc1_update_time; enc_update_time = enc1_update_time; enc_value = enc1_value; time_diff = abs_sub(enc_update_time, _enc1_update_time); @@ -438,9 +458,11 @@ void depth_task(void *arg) if (time_diff != 0) { - ESP_LOGI(TAG, "time_diff != 0\n"); + ESP_LOGI(TAG, "time_diff = %d\n",time_diff); int16_t depth = enc_value * depth_config->N / depth_config->M; // 1mm depth_data->depth = depth - depth_data->depth_offset; + + /*深度补偿修正*/ if (depth_data->depth > depth_config->max_depth) { ESP_LOGI(TAG, "depth_data->depth > depth_config->max_depth\n"); @@ -453,13 +475,17 @@ void depth_task(void *arg) depth_data->depth_offset = depth - depth_config->min_depth; depth_data->depth = depth_config->min_depth; } + + /*更新记录值*/ if (depth_data->depth > record->max_depth) { ESP_LOGI(TAG, "depth_data->depth > record->max_depth\n"); record->max_depth = depth_data->depth; // send_to_bt1.max_depth = depth_data->depth; } - if (speed_calc_count++ > 50) // 500ms计算一次速度 + + // 500ms计算一次速度 + if (speed_calc_count++ > 50) { ESP_LOGI(TAG, "speed_calc_count++ > 50\n"); speed_calc_count = 0; @@ -485,22 +511,291 @@ void depth_task(void *arg) } } } - if (depth_data->up_down > STOP) + + uint16_t pile_work_state = (depth_data->pile_work_state_and_direction & 0xff00); + if (pile_work_state == PILE_STATE_WORK) { - ESP_LOGI(TAG, "depth_data->up_down > STOP\n"); + ESP_LOGI(TAG, "pile_work_state == PILE_STATE_WORK\n"); + /*如果机器从停止状态->工作状态，则重新记录工作开始时间*/ + if(last_work_state == PILE_STATE_STOP){ + // work_start_time = esp_timer_get_time(); + depth_data->one_pile_work_time = 0; + } + // int64_t current_work_time = esp_timer_get_time(); + // if(work_start_time != 0){ + // depth_data->one_pile_work_time = (uint16_t)((current_work_time - work_start_time)/1000000); + // } + + /*下钻，深度增加*/ if (enc_value > last_enc_value) - { // 下钻,深度增加 - if (depth_data->up_down != 1) - { // 方向改变 - depth_data->up_down = 1; + { + ESP_LOGI(TAG, "enc_value > last_enc_value\n"); + uint8_t pile_work_dir = (depth_data->pile_work_state_and_direction & 0xff); + if(pile_work_dir != PILE_DIR_DOWN) + { + // 方向改变，更新目标采样深度 + depth_data->pile_work_state_and_direction = ((depth_data->pile_work_state_and_direction & 0xff00) | PILE_DIR_DOWN); target_sample_depth = (depth_data->depth / depth_config->sample_depth) * depth_config->sample_depth; + + // 小于半个采样长度的合并到下一个采样点 if (abs(depth_data->depth - target_sample_depth) < depth_config->sample_depth / 2) - { // 小于半个采样长度的合并到下一个采样点 + { target_sample_depth += depth_config->sample_depth; } } + + // 到达或超过目标采样点 if (depth_data->depth >= target_sample_depth) - { // 到达或超过目标采样点 + { + // 由于编码器精度问题不能确保数据在采样点上，需要通过插值计算采样点 + // 当使用10线编码器时每个脉冲深度达6.25cm，当采样间隔为10cm时抖动值太大 + if ((prev_depth - depth_data->depth) != 0) + { + int i; + //uint32_t time = (target_sample_depth - prev_depth) * (enc_update_time - prev_update_time) / (depth_data->depth - prev_depth) + prev_update_time; + for (i = 0; i < 2; i++) + { + // int total_flow = get_total_flow_by_time(i, time); + int total_flow = get_total_flow_by_time(i, pflow[i].update_time); + int flow = total_flow - depth_data->last_total_flow[i]; + if (flow < 0) + { + flow = 0; + } + depth_data->depth_flow[i] = flow; + depth_data->last_total_flow[i] = total_flow; + } + depth_data->sample_count++; + target_sample_depth += depth_config->sample_depth; + add_recod_item(); + } + } + } + /*上钻，深度减少*/ + else if (enc_value < last_enc_value) + { + ESP_LOGI(TAG, "enc_value < last_enc_value\n"); + uint8_t pile_work_dir = (depth_data->pile_work_state_and_direction & 0xff); + if (pile_work_dir != PILE_DIR_UP) + { + // 方向改变 + depth_data->pile_work_state_and_direction = ((depth_data->pile_work_state_and_direction & 0xff00) | PILE_DIR_UP); + target_sample_depth = (depth_data->depth / depth_config->sample_depth - 1) * depth_config->sample_depth; + + if (abs(depth_data->depth - target_sample_depth) < depth_config->sample_depth / 2) + { + // 小于半个采样长度的合并到下一个采样点 + target_sample_depth -= depth_config->sample_depth; + } + } + if (depth_data->depth <= target_sample_depth) + { + // 由于编码器精度问题不能确保数据在采样点上，需要通过插值计算采样点 + // 当使用10线编码器时每个脉冲深度达7.6cm，当采样间隔为10cm时抖动值太大 + if ((prev_depth - depth_data->depth) != 0) + { + int i; + //uint32_t time = (prev_depth - target_sample_depth) * (enc_update_time - prev_update_time) / (prev_depth - depth_data->depth) + prev_update_time; + for (i = 0; i < 2; i++) + { + // int total_flow = get_total_flow_by_time(i, time); + int total_flow = get_total_flow_by_time(i, pflow[i].update_time); + int flow = total_flow - depth_data->last_total_flow[i]; + if (flow < 0) + { + flow = 0; + } + depth_data->depth_flow[i] = flow; + depth_data->last_total_flow[i] = total_flow; + } + depth_data->sample_count++; + add_recod_item(); + target_sample_depth -= depth_config->sample_depth; + + } + } + } + else + { + depth_data->pile_work_state_and_direction = ((depth_data->pile_work_state_and_direction & 0xff00) | PILE_DIR_NONE); + } + + if (depth_data->depth < depth_config->inc_pile_depth) // 小于指定深度时才允许行走清零 + { + if (pMoveCtx->pile_inc_req == 1) + { + pMoveCtx->pile_inc_req = 0; + reset_depth(); + } + } + else + { + if (pMoveCtx->pile_inc_req == 1) + { + pMoveCtx->pile_inc_req = 0; + } + } + } + else if((depth_data->pile_work_state_and_direction & 0xff00) == PILE_STATE_PAUSE) + { + + } + else if((depth_data->pile_work_state_and_direction & 0xff00) == PILE_STATE_STOP) + { + work_start_time = 0; + } + last_work_state = pile_work_state; + prev_depth = depth_data->depth; + prev_update_time = enc_update_time; + last_enc_value = enc_value; + } + else{ + ESP_LOGI(TAG, "time diff = 0\n"); + vTaskDelay(100); + } + + //每隔500ms向蓝牙发送一次数据 + // if(bt_time_count++ > 50){ + // ESP_LOGI(TAG, "bt_time_count++ > 50\n"); + // bt_time_count = 0; + // send_data_to_bt(); + // } + vTaskDelay(10); + } +} + +#if 0 +void depth_task(void *arg) +{ + ESP_LOGI(TAG, "go to depth_task sucessfully\n"); + // int enc_value; + int time_diff = 0; + int speed_timeout = 0; + int last_speed_enc_value = 0; // 上次速度计算的编码器值 + int speed_enc_update_time = 0; + int speed_calc_count = 0; + int enc_value = 0; + //int count = 0; + int bt_time_count = 0; + depth_data->depth_offset = -depth_config->depth_offset; + depth_data->up_down = 1; // 默认工作 + + record->pile_id = ++last_pile_id; + //send_to_bt1.pile_id = ++last_pile_id; + + gWordVar[LAST_PILE_ID_ADDR] = last_pile_id; + + /*获取当前时间*/ + uint16_t work_start_time = 0; + uint8_t is_work = 0; + + while (1) + { + if (_enc1_update_time != enc1_update_time) + { + ESP_LOGI(TAG, "_enc1_update_time != enc1_update_time\n"); + // int enc_update_time = enc1_update_time; + enc_update_time = enc1_update_time; + enc_value = enc1_value; + time_diff = abs_sub(enc_update_time, _enc1_update_time); + _enc1_update_time = enc_update_time; + } + + if (time_diff != 0) + { + ESP_LOGI(TAG, "time_diff = %d\n",time_diff); + int16_t depth = enc_value * depth_config->N / depth_config->M; // 1mm + depth_data->depth = depth - depth_data->depth_offset;//为什么要减去深度偏移 + + /*深度补偿修正*/ + if (depth_data->depth > depth_config->max_depth) + { + ESP_LOGI(TAG, "depth_data->depth > depth_config->max_depth\n"); + depth_data->depth_offset = depth - depth_config->max_depth; + depth_data->depth = depth_config->max_depth; + } + else if (depth_data->depth < depth_config->min_depth) + { + ESP_LOGI(TAG, "depth_data->depth < depth_config->min_depth\n"); + depth_data->depth_offset = depth - depth_config->min_depth; + depth_data->depth = depth_config->min_depth; + } + /*更新记录值*/ + if (depth_data->depth > record->max_depth) + { + ESP_LOGI(TAG, "depth_data->depth > record->max_depth\n"); + record->max_depth = depth_data->depth; + //send_to_bt1.max_depth = depth_data->depth; + } + + // 500ms计算一次速度 + if (speed_calc_count++ > 50) + { + ESP_LOGI(TAG, "speed_calc_count++ > 50\n"); + speed_calc_count = 0; + int speed_time_diff = abs_sub(enc_update_time, speed_enc_update_time); + int time_diff_us = speed_time_diff / (APB_CLK_FREQ / 1000000); + if (time_diff_us > 0 && time_diff_us < 5000000) + { + ESP_LOGI(TAG, "time_diff_us:%d,dist_diff=%d", time_diff_us, enc_value - last_speed_enc_value); + // speed = dist_diff / speed_time_diff speed 单位mm/min dist_diff 单位mm speed_time_diff 单位us + depth_data->speed = (enc_value - last_speed_enc_value) * depth_config->N / depth_config->M * 600000ll / time_diff_us; + speed_timeout = 0; + speed_enc_update_time = enc_update_time; + last_speed_enc_value = enc_value; + } + else + { + if (++speed_timeout > 10) + { + depth_data->speed = 0; + speed_timeout = 0; + speed_enc_update_time = enc_update_time; + last_speed_enc_value = enc_value; + } + } + } + + if (depth_data->up_down > STOP) + { + is_work ++; + if(is_work == 1){ + int64_t time = esp_timer_get_time(); + if(time < 0){ + work_start_time = 0; + } + work_start_time = (uint16_t)(time/1000000); + depth_data->one_pile_work_time = 0; + } + else{ + int64_t time = esp_timer_get_time(); + if(time > 0){ + if((uint16_t)(time/1000000) > work_start_time){ + depth_data->one_pile_work_time = ((uint16_t)(time/1000000) - work_start_time); + } + } + } + + ESP_LOGI(TAG, "depth_data->up_down > STOP\n"); + // 下钻,深度增加 + if (enc_value > last_enc_value) + { + if (depth_data->up_down != 1) + { + // 方向改变，更新目标采样深度 + depth_data->up_down = 1; + target_sample_depth = (depth_data->depth / depth_config->sample_depth) * depth_config->sample_depth; + + // 小于半个采样长度的合并到下一个采样点 + if (abs(depth_data->depth - target_sample_depth) < depth_config->sample_depth / 2) + { + target_sample_depth += depth_config->sample_depth; + } + } + + // 到达或超过目标采样点 + if (depth_data->depth >= target_sample_depth) + { // 由于编码器精度问题不能确保数据在采样点上，需要通过插值计算采样点 // 当使用10线编码器时每个脉冲深度达6.25cm，当采样间隔为10cm时抖动值太大 if ((prev_depth - depth_data->depth) != 0) @@ -584,6 +879,10 @@ void depth_task(void *arg) } } } + else{ + is_work = 0; + depth_data->one_pile_work_time = 0; + } prev_depth = depth_data->depth; prev_update_time = enc_update_time; last_enc_value = enc_value; @@ -605,7 +904,7 @@ void depth_task(void *arg) vTaskDelay(10); } } - +#endif void add_recod_item(void) { // 每10cm计算一次 @@ -669,7 +968,7 @@ void reset_depth(void) depth_data->depth = depth_config->depth_offset; enc1_value = 0; enc1_update_time = 0; - depth_data->up_down = 1; // 默认工作 + depth_data->pile_work_state_and_direction = PILE_STATE_STOP | PILE_DIR_NONE; // 默认不工作 } void DEPTH_init() diff --git a/main/stm32/uart0_modbus_slave.c b/main/stm32/uart0_modbus_slave.c index 0bb286d..69cac5d 100644 --- a/main/stm32/uart0_modbus_slave.c +++ b/main/stm32/uart0_modbus_slave.c @@ -27,6 +27,22 @@ static const char *TAG = "UART0"; uint8_t txbuf[BUF_SIZE]; uint8_t rxbuf[BUF_SIZE]; extern int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc); +extern uint16_t gWordVar[]; + +void LED1_Toggle(void) +{ + static unsigned char flg = 1; + if (flg) + { + gpio_set_level(LED1_GPIO_PIN, 0); + flg = 0; + } + else + { + gpio_set_level(LED1_GPIO_PIN, 1); + flg = 1; + } +} void uart0_init(void) { @@ -61,26 +77,14 @@ void uart0_init(void) ESP_ERROR_CHECK(uart_set_rx_timeout(uart_num, UART_READ_TOUT)); } -void LED1_Toggle(void) -{ - static unsigned char flg = 1; - if (flg) - { - gpio_set_level(LED1_GPIO_PIN, 0); - flg = 0; - } - else - { - gpio_set_level(LED1_GPIO_PIN, 1); - flg = 1; - } -} - void uart0_modbus_slave_task(void *arg) { + uart0_init(); + // uint8_t count = 0; while (1) { + // ESP_LOGI("modbus_slave","enter while"); // Read data from UART int txlen = 0; int len = uart_read_bytes(UART_PORT_NUM, rxbuf, BUF_SIZE, UART_READ_TOUT); @@ -88,15 +92,20 @@ void uart0_modbus_slave_task(void *arg) // Write data back to UART if (len > 0) { + ESP_LOGI("modbus_slave","len = %d",len); // uart_write_bytes(UART_PORT_NUM, rxbuf, len); // ESP_LOGI(TAG, "uart_read_bytes len=%d", len); txlen = ModbusSlaveProcess(txbuf, rxbuf, len, 1); if (txlen > 0) { + ESP_LOGI("modbus_slave","txlen = %d",txlen); LED1_Toggle(); - uart_write_bytes(UART_PORT_NUM, txbuf, txlen); + int uart_write_length = uart_write_bytes(UART_PORT_NUM, txbuf, txlen); + ESP_LOGI("modbus_slave","uart_write_length = %d",uart_write_length); + ESP_LOGI("modbus_slave","gWordVar[12] = 0x%04x",gWordVar[12]); } } + // if (tick - last_rxtick >= PACKET_READ_TICS) // { // com_poll_modbus_master_poll(0); @@ -120,6 +129,5 @@ void uart0_modbus_slave_task(void *arg) void uart0_modbus_slave_init(void) { - uart0_init(); xTaskCreate(uart0_modbus_slave_task, "uart0_modbus_slave_task", 4096, NULL, 10, NULL); } diff --git a/main/uart_example.c b/main/uart_example.c index 7247c49..de7364e 100644 --- a/main/uart_example.c +++ b/main/uart_example.c @@ -50,7 +50,7 @@ #define PRINT_UART_BAUD_RATE (115200) #define PRINT_TASK_STACK_SIZE (1024) -static const char *TAG = "UART"; +// static const char *TAG = "UART"; #define BUF_SIZE (1024) diff --git a/main/wifi_softap.c b/main/wifi_softap.c index 6a2835e..ace22c0 100644 --- a/main/wifi_softap.c +++ b/main/wifi_softap.c @@ -11,17 +11,16 @@ #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "esp_system.h" -#include "esp_wifi.h" +#include "../../../components/esp_wifi/include/esp_wifi.h" #include "esp_event.h" #include "esp_log.h" #include "nvs_flash.h" #include "lwip/err.h" #include "lwip/sys.h" - #include "driver/ledc.h" #include "esp_err.h" - +#include "../../../components/esp_hw_support/include/esp_mac.h" /* The examples use WiFi configuration that you can set via project configuration menu. If you'd rather not, just change the below entries to strings with diff --git a/sdkconfig.old b/sdkconfig.old index 24b20cd..4fa920a 100644 --- a/sdkconfig.old +++ b/sdkconfig.old @@ -221,7 +221,10 @@ CONFIG_BT_CTRL_HCI_MODE_VHCI=y # CONFIG_BT_CTRL_HCI_MODE_UART_H4 is not set CONFIG_BT_CTRL_HCI_TL=1 CONFIG_BT_CTRL_ADV_DUP_FILT_MAX=30 -# CONFIG_BT_CTRL_HW_CCA is not set +CONFIG_BT_BLE_CCA_MODE_NONE=y +# CONFIG_BT_BLE_CCA_MODE_HW is not set +# CONFIG_BT_BLE_CCA_MODE_SW is not set +CONFIG_BT_BLE_CCA_MODE=0 CONFIG_BT_CTRL_HW_CCA_VAL=20 CONFIG_BT_CTRL_HW_CCA_EFF=0 CONFIG_BT_CTRL_CE_LENGTH_TYPE_ORIG=y @@ -301,6 +304,9 @@ CONFIG_BT_GATT_MAX_SR_ATTRIBUTES=100 # CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MANUAL is not set CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_AUTO=y CONFIG_BT_GATTS_SEND_SERVICE_CHANGE_MODE=0 +# CONFIG_BT_GATTS_ROBUST_CACHING_ENABLED is not set +# CONFIG_BT_GATTS_DEVICE_NAME_WRITABLE is not set +# CONFIG_BT_GATTS_APPEARANCE_WRITABLE is not set CONFIG_BT_GATTC_ENABLE=y CONFIG_BT_GATTC_MAX_CACHE_CHAR=40 # CONFIG_BT_GATTC_CACHE_NVS_FLASH is not set @@ -491,8 +497,10 @@ CONFIG_BT_SMP_ENABLE=y # CONFIG_BT_BLE_ACT_SCAN_REP_ADV_SCAN is not set CONFIG_BT_BLE_ESTAB_LINK_CONN_TOUT=30 CONFIG_BT_MAX_DEVICE_NAME_LEN=32 +CONFIG_BT_BLE_RPA_TIMEOUT=900 # CONFIG_BT_BLE_50_FEATURES_SUPPORTED is not set CONFIG_BT_BLE_42_FEATURES_SUPPORTED=y +# CONFIG_BT_BLE_HIGH_DUTY_ADV_INTERVAL is not set # end of Bluedroid Options # end of Bluetooth @@ -781,6 +789,7 @@ CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20 CONFIG_ESP_PHY_MAX_TX_POWER=20 +# CONFIG_ESP_PHY_REDUCE_TX_POWER is not set CONFIG_ESP_PHY_ENABLE_USB=y CONFIG_ESP_PHY_RF_CAL_PARTIAL=y # CONFIG_ESP_PHY_RF_CAL_NONE is not set @@ -827,14 +836,17 @@ CONFIG_ESP_MAIN_TASK_AFFINITY_CPU0=y # CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set CONFIG_ESP_MAIN_TASK_AFFINITY=0x0 CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048 -# CONFIG_ESP_CONSOLE_UART_DEFAULT is not set +CONFIG_ESP_CONSOLE_UART_DEFAULT=y # CONFIG_ESP_CONSOLE_USB_CDC is not set -CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y +# CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG is not set # CONFIG_ESP_CONSOLE_UART_CUSTOM is not set # CONFIG_ESP_CONSOLE_NONE is not set -CONFIG_ESP_CONSOLE_SECONDARY_NONE=y +# CONFIG_ESP_CONSOLE_SECONDARY_NONE is not set +CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y +CONFIG_ESP_CONSOLE_UART=y CONFIG_ESP_CONSOLE_MULTIPLE_UART=y -CONFIG_ESP_CONSOLE_UART_NUM=-1 +CONFIG_ESP_CONSOLE_UART_NUM=0 +CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200 CONFIG_ESP_INT_WDT=y CONFIG_ESP_INT_WDT_TIMEOUT_MS=300 CONFIG_ESP_INT_WDT_CHECK_CPU1=y