update to sdk5.1.2

.vs/VSWorkspaceState.json

@@ -1,6 +0,0 @@
-{
-  "ExpandedNodes": [
-    ""
-  ],
-  "PreviewInSolutionExplorer": false
-}

.vscode/settings.json

@@ -1,6 +0,0 @@
-{
-    "idf.adapterTargetName": "esp32s3",
-    "files.associations": {
-        "can_network.h": "c"
-    }
-}

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;

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"

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 = {};
+   gpio_config_t io_conf = {
-   // disable interrupt
+      // disable interrupt
-   io_conf.intr_type = GPIO_INTR_DISABLE;
+      .intr_type = GPIO_INTR_DISABLE,
-   // set as output mode
+      // set as output mode
-   io_conf.mode = GPIO_MODE_OUTPUT;
+      .mode = GPIO_MODE_OUTPUT,
-   // bit mask of the pins that you want to set,e.g.GPIO18/19
+      // bit mask of the pins that you want to set,e.g.GPIO18/19
-   io_conf.pin_bit_mask = GPIO_4G_PWR;
+      .pin_bit_mask = GPIO_4G_PWR,
-   // disable pull-down mode
+      // disable pull-down mode
-   io_conf.pull_down_en = 0;
+      .pull_down_en = 0,
-   // disable pull-up mode
+      // disable pull-up mode
-   io_conf.pull_up_en = 0;
+      .pull_up_en = 0,
+   };
+   
    // configure GPIO with the given settings
    gpio_config(&io_conf);
-
+   gpio_set_level(GPIO_4G_PWR, PWR_4G_OFF);
-   gpio_set_level(GPIO_4G_PWR, 0);
+   vTaskDelay(pdMS_TO_TICKS(1000));
+   gpio_set_level(GPIO_4G_PWR, PWR_4G_ON);
 }

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;

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 ");

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)

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);
 

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));

main/stm32/config.h

@@ -27,7 +27,7 @@
 #define 	DEPTH_RESET_ADDR 510
 #define 	REBOOT_REW_ADDR 511
 
-
+#define  	TIME  264
 typedef struct
 {
 	uint16_t magic;

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");
+	ESP_LOGI(TAG, "depth_task start\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; // 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;
+	int64_t work_start_time = 0;
-	depth_data->up_down = 1; // 默认工作
+	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)
+					ESP_LOGI(TAG, "enc_value > last_enc_value\n");
-					{ // 方向改变
+					uint8_t pile_work_dir = (depth_data->pile_work_state_and_direction & 0xff);
-						depth_data->up_down = 1;
+					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()

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);
 }

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)
 

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

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