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HaoJin232
Commit 3f2164c3 authored by 时昊's avatar 时昊
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🎉 init:增加车速模块

parent 48ed3aa9
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Showing with 518 additions and 24 deletions
HJ232_Source/source/Application/Line/Data_VSpeed.c 0 → 100644
View file @ 3f2164c3
#include "Common_Interface.h"
#include "Data_VSpeed.h"
#include "common.h"
static uint16_t DataVSpeedActual;
static uint16_t DataVSpeedDisp;
static uint16_t DataVSpeedHysteresis;
static uint8_t DataVSpeedValid;
static DataVSpeedSamplerStruct DataVSpeedSampler;
static DataVSPeedDampingStruct DataVSPeedDamping;
#define DATA_APPR_DIR_INC 0x01
#define DATA_APPR_DIR_DEC 0x02
/******************************************************************************
函数名：Data_Vehicle_Speed_KL30_Init
功 能：车速数据KL30初始化
参 数：无
返回值：无
******************************************************************************
注 意：该函数KL30初始化被调用一次
******************************************************************************/
void Data_Vehicle_Speed_KL30_Init(void)
{
DataVSpeedActual = 0;
DataVSpeedDisp = 0;
DataVSpeedHysteresis = 0;
DataVSpeedValid = 1;
DataVSpeedSampler.Cnt = 0;
DataVSPeedDamping.Speed = 0;
DataVSPeedDamping.Delta = 0;
DataVSPeedDamping.Dir = DATA_APPR_DIR_INC;
DataVSpeedSampler.Timer1 = 0;
DataVSpeedSampler.Timer = 0;
}
/******************************************************************************
函数名：Data_Vehicle_Speed_Wakeup_Init
功 能：车速数据唤醒初始化
参 数：无
返回值：无
******************************************************************************
注 意：该函数唤醒初始化被调用一次
******************************************************************************/
void Data_Vehicle_Speed_Wakeup_Init(void)
{
DataVSpeedDisp = 0;
DataVSpeedHysteresis = 0;
DataVSPeedDamping.Speed = 0;
DataVSPeedDamping.Delta = 0;
DataVSPeedDamping.Dir = DATA_APPR_DIR_INC;
DataVSpeedSampler.Timer1 = 0;
DataVSpeedSampler.Timer = 0;
}
/******************************************************************************
函数名：Data_Vehicle_Speed_Processing_Service
功 能：车速数据处理函数
参 数：无
返回值：无
******************************************************************************
注 意：该函数必须每20ms被调用一次
******************************************************************************/
void Data_Vehicle_Speed_Processing_Service(void)
{
uint8_t i;
uint16_t Delta;
uint32_t VSpeed;
uint32_t VSpeedCal;
uint32_t loc_1;
uint32_t loc_2;
uint8_t ESC_VehicleSpeedvalid;
uint32_t Vehicle_Speed;
//Vehicle_Speed = Get_CAN_CH0_ID_330_Sig_vehicle_speed( );
//ESC_VehicleSpeedvalid = Get_CAN_CH0_ID_330_Sig_ESC_Vehicle_speed_valid( );
// 第1步：获取实际车速值及车速有效性
if ( Common_Get_IG_Sts( ) == COMMON_POWER_ON )
{
if ( 1/*(CAN_MSG_Status(&CAN_CH0_CanMsgOp, CAN_CH0_ID_ESC_330_Msg_Count) == CAN_SIG_LOST) || (ESC_VehicleSpeedvalid == 1) || (Vehicle_Speed == 0X1FFF) || (Vehicle_Speed == 0X1FFE)*/ )
{
/* 先判断掉线 */
if (1 /*CAN_MSG_Status(&CAN_CH0_CanMsgOp, CAN_CH0_ID_ESC_330_Msg_Count) == CAN_SIG_LOST*/ )
{
DataVSpeedValid = 0;
DataVSpeedActual = 0;
DataVSpeedSampler.Backup = 0;
}
else if ( ESC_VehicleSpeedvalid == 1 )//发送can无效标志位
{
if ( DataVSpeedSampler.Timer1 <= 10 ) /* 10帧无效 */
{
if ( DataVSpeedValid )//判断车速是否有效,有效采集10次,车速等于上次值
{
DataVSpeedSampler.Timer1++;
DataVSpeedActual = DataVSpeedSampler.Backup;
}
else//无效,不采集,车速=0
{
DataVSpeedSampler.Timer1 = 10;
DataVSpeedActual = 0;
DataVSpeedSampler.Backup = 0;
}
}
else//不采集就,车速=0
{
DataVSpeedValid = 0;
DataVSpeedActual = 0;
DataVSpeedSampler.Backup = 0;
}
}
else /* 收到无效值 */
{
if ( DataVSpeedSampler.Timer <= 100 ) /* 100帧无效值 */
{
if ( DataVSpeedValid )
{
DataVSpeedSampler.Timer++;
DataVSpeedActual = DataVSpeedSampler.Backup;
}
else
{
DataVSpeedSampler.Timer = 100;
DataVSpeedActual = 0;
DataVSpeedSampler.Backup = 0;
}
}
else // 接收到100帧无效值
{
DataVSpeedValid = 0;
DataVSpeedActual = 0;
DataVSpeedSampler.Backup = 0;
}
}
}
else //车速在线且有效
{
if ( DataVSpeedValid == 0 )
{
DataVSpeedValid = 1;
VSpeed = Vehicle_Speed;
// VSpeed *= 9;
// VSpeed >>= 4; /* 9/16 */
DataVSpeedActual = VSpeed;
}
else
{
DataVSpeedSampler.Buffer [ DataVSpeedSampler.Cnt ] = Vehicle_Speed;
i = DataVSpeedSampler.Cnt;
while ( (i > 0) && (DataVSpeedSampler.Buffer [ i ] < DataVSpeedSampler.Buffer [ i - 1 ]) )
{
VSpeed = DataVSpeedSampler.Buffer [ i ];
DataVSpeedSampler.Buffer [ i ] = DataVSpeedSampler.Buffer [ i - 1 ];
DataVSpeedSampler.Buffer [ i - 1 ] = VSpeed;
i--;
}
DataVSpeedSampler.Cnt++;
if ( DataVSpeedSampler.Cnt >= 3 )
{
DataVSpeedSampler.Cnt = 0;
VSpeed = DataVSpeedSampler.Buffer [ 1 ];
//VSpeed *= 9;
//VSpeed >>= 4;
DataVSpeedActual = VSpeed;
}
DataVSpeedSampler.Timer = 0;
DataVSpeedSampler.Timer1 = 0;
DataVSpeedSampler.Backup = DataVSpeedActual;
}
}
}
else
{
DataVSpeedValid = 0;
DataVSpeedActual = 0;
DataVSpeedSampler.Timer = 0;
DataVSpeedSampler.Timer1 = 0;
DataVSpeedSampler.Cnt = 0;
DataVSpeedSampler.Backup = 0;
}
// 第2步：车速的阻尼处理
VSpeed = DataVSpeedActual;
if ( VSpeed > DataVSPeedDamping.Speed ) // 实际值比当前显示值大时
{
Delta = ( uint16_t )VSpeed - DataVSPeedDamping.Speed;
if ( DataVSPeedDamping.Dir == DATA_APPR_DIR_INC ) // 显示值正在向实际值增加,则维持当前方向调节增加速度
{
if ( DataVSPeedDamping.Delta < Delta ) // 当前增量小于显示值与实际值的差值,则提升增加的速度
{
DataVSPeedDamping.Delta += DATA_VSPEED_INC_STEP;
if ( DataVSPeedDamping.Delta > Delta )
DataVSPeedDamping.Delta = Delta;
}
else // 当前增量大于等于显示值与实际值的差值,保持增量与当前差值同步,增加的速度即逐步减小
DataVSPeedDamping.Delta = Delta;
Delta = DataVSPeedDamping.Delta;
Delta /= DATA_VSPEED_DAMPING_FACTOR;
if ( Delta < DATA_VSPEED_APPR_SPEED_MIN )
Delta = DATA_VSPEED_APPR_SPEED_MIN;
DataVSPeedDamping.Speed += Delta;
if ( DataVSPeedDamping.Speed > VSpeed )
DataVSPeedDamping.Speed = ( uint16_t )VSpeed;
}
else // 显示值正在减小,则尽快减速至速度为最小时更换方向
{
if ( DataVSPeedDamping.Delta > DATA_VSPEED_DEC_STEP )
DataVSPeedDamping.Delta -= DATA_VSPEED_DEC_STEP;
else
DataVSPeedDamping.Delta = 0;
Delta = DataVSPeedDamping.Delta;
Delta /= DATA_VSPEED_DAMPING_FACTOR;
if ( Delta < DATA_VSPEED_APPR_SPEED_MIN ) // 已减速至最小速度
DataVSPeedDamping.Dir = DATA_APPR_DIR_INC; // 更换方向
else
{
if ( DataVSPeedDamping.Speed > Delta )
DataVSPeedDamping.Speed -= Delta;
else
DataVSPeedDamping.Speed = 0;
}
}
}
else if ( VSpeed < DataVSPeedDamping.Speed ) // 实际值比当前显示值小时
{
Delta = DataVSPeedDamping.Speed - ( uint16_t )VSpeed;
if ( DataVSPeedDamping.Dir == DATA_APPR_DIR_INC ) // 显示值仍在增加,则尽快减速至速度为最小时更换方向
{
if ( DataVSPeedDamping.Delta > DATA_VSPEED_DEC_STEP )
DataVSPeedDamping.Delta -= DATA_VSPEED_DEC_STEP;
else
DataVSPeedDamping.Delta = 0;
Delta = DataVSPeedDamping.Delta;
Delta /= DATA_VSPEED_DAMPING_FACTOR;
if ( Delta < DATA_VSPEED_APPR_SPEED_MIN ) // 已减速至最小速度
DataVSPeedDamping.Dir = DATA_APPR_DIR_DEC; // 更换方向
else
{
DataVSPeedDamping.Speed += Delta;
if ( DataVSPeedDamping.Speed > 2400 )
DataVSPeedDamping.Speed = 2400;
}
}
else // 显示值正在向实际值减小,则维持当前方向调节增加速度
{
if ( DataVSPeedDamping.Delta < Delta ) // 当前(负)增量小于显示值与实际值的差值,则提升减小的速度
{
DataVSPeedDamping.Delta += DATA_VSPEED_INC_STEP;
if ( DataVSPeedDamping.Delta > Delta )
DataVSPeedDamping.Delta = Delta;
}
else // 当前(负)增量大于等于显示值与实际值的差值,保持(负)增量与当前差值同步,减小的速度即逐步减小
DataVSPeedDamping.Delta = Delta;
Delta = DataVSPeedDamping.Delta;
Delta /= DATA_VSPEED_DAMPING_FACTOR;
if ( Delta < DATA_VSPEED_APPR_SPEED_MIN )
Delta = DATA_VSPEED_APPR_SPEED_MIN;
if ( DataVSPeedDamping.Speed < VSpeed + Delta )
DataVSPeedDamping.Speed = ( uint16_t )VSpeed;
else
DataVSPeedDamping.Speed -= Delta;
}
}
else // 实际值与当前显示值相等时
{
Delta = DataVSPeedDamping.Delta;
Delta /= DATA_VSPEED_DAMPING_FACTOR;
if ( Delta > DATA_VSPEED_APPR_SPEED_MIN ) // 当前的速度不是最小,说明数值正在增加/减小中,则继续原过程
{
if ( DataVSPeedDamping.Delta > DATA_VSPEED_DEC_STEP ) // 显示值越过了实际值,必然要先减速至最小速度,再改变方向返回实际值
DataVSPeedDamping.Delta -= DATA_VSPEED_DEC_STEP;
else
DataVSPeedDamping.Delta = 0;
Delta = DataVSPeedDamping.Delta;
Delta /= DATA_VSPEED_DAMPING_FACTOR;
if ( DataVSPeedDamping.Dir == DATA_APPR_DIR_INC ) // 显示值当前是增加方向
{
if ( Delta < DATA_VSPEED_APPR_SPEED_MIN ) // 已减速至最小速度
DataVSPeedDamping.Dir = DATA_APPR_DIR_DEC; // 更换方向
else
{
DataVSPeedDamping.Speed += Delta;
if ( DataVSPeedDamping.Speed > 2400 )
DataVSPeedDamping.Speed = 2400;
}
}
else // 显示值当前是减小方向
{
if ( Delta < DATA_VSPEED_APPR_SPEED_MIN ) // 已减速至最小速度
DataVSPeedDamping.Dir = DATA_APPR_DIR_INC; // 更换方向
else
{
if ( DataVSPeedDamping.Speed > Delta )
DataVSPeedDamping.Speed -= Delta;
else
DataVSPeedDamping.Speed = 0;
}
}
}
}
// 第3步：生成显示车速
if ( (DataVSPeedDamping.Speed >= DataVSpeedHysteresis) || (DataVSPeedDamping.Speed < DATA_VSPEED_HYSTERESIS) )
{
DataVSpeedHysteresis = DataVSPeedDamping.Speed;
}
else
{
if ( DataVSpeedHysteresis - DataVSPeedDamping.Speed >= DATA_VSPEED_HYSTERESIS )
{
DataVSpeedHysteresis = DataVSPeedDamping.Speed;
}
}
VSpeedCal = ( uint32_t )DataVSpeedHysteresis;
if ( DataVSpeedValid )
{
if ( VSpeedCal < 30 )
{
// if((VSpeedCal % 10) >= 5)
// {
// VSpeedCal += 5; /* 四舍五入 */
// }
DataVSpeedDisp = 0;//横展,小于3显示0
}
else
{
VSpeedCal *= 108;
VSpeedCal /= 100;
DataVSpeedDisp = ( uint16_t )VSpeedCal;
}
}
else
{
DataVSpeedDisp = 0;
}
if ( DataVSpeedDisp >= 1200 )
{
DataVSpeedDisp = 1200;
}
}
/*车速有效位：有效=1，无效=0*/
uint8_t Get_VechileSpeedValid(void)
{
return DataVSpeedValid;
}
/*真实的车速，精度10倍,*/
uint16_t Get_ActualVechileSpeed(void)
{
return DataVSpeedActual;
}
/*显示车速，精度10倍，取整，舍去小数点*/
uint16_t Get_DispVechileSpeed(void)
{
return DataVSpeedDisp;
}
HJ232_Source/source/Application/Line/Data_VSpeed.h 0 → 100644
View file @ 3f2164c3
#ifndef _Data_Vspeed_H_
#define _Data_Vspeed_H_
#include "common.h"
/*** 参数设置 ***/
#define DATA_VEHICLE_RUNNING_THRESHOLD 25 //汽车行进阈值
#define DATA_VEHICLE_STOP_THRESHOLD 20 //汽车停止阈值
#define DATA_VSPEED_DAMPING_FACTOR 3 //阻尼系数
#define DATA_VSPEED_INC_STEP 2 //速度增加时慢加速速度变化步长
#define DATA_VSPEED_DEC_STEP 6 //方向改变时急减速速度变化步长
#define DATA_VSPEED_APPR_SPEED_MIN 2 //最小逼近速度
#define DATA_VSPEED_HYSTERESIS 10 //回差
/*** 控制结构 ***/
typedef struct
{
uint16_t Timer;
uint16_t Timer1;
uint16_t Backup;
uint16_t Buffer[3];
uint8_t Cnt;
} DataVSpeedSamplerStruct; //车速采样结构
typedef struct
{
uint16_t Speed;
uint16_t Delta;
uint8_t Dir;
} DataVSPeedDampingStruct; //车速阻尼结构
/******************************************************************************
函数名：Data_Vehicle_Speed_KL30_Init
功 能：车速数据KL30初始化
参 数：无
返回值：无
******************************************************************************
注 意：该函数KL30初始化被调用一次
******************************************************************************/
void Data_Vehicle_Speed_KL30_Init(void);
/******************************************************************************
函数名：Data_Vehicle_Speed_Wakeup_Init
功 能：车速数据唤醒初始化
参 数：无
返回值：无
******************************************************************************
注 意：该函数唤醒初始化被调用一次
******************************************************************************/
void Data_Vehicle_Speed_Wakeup_Init(void);
/******************************************************************************
函数名：Data_Vehicle_Speed_Processing_Service
功 能：车速数据处理函数
参 数：无
返回值：无
******************************************************************************
注 意：该函数必须每20ms被调用一次
******************************************************************************/
void Data_Vehicle_Speed_Processing_Service(void);
uint8_t Get_VechileSpeedValid(void);
/*真实的车速，精度10倍,*/
uint16_t Get_ActualVechileSpeed(void);
/*显示车速，精度10倍，取整，舍去小数点*/
uint16_t Get_DispVechileSpeed(void);
#endif
\ No newline at end of file
HJ232_Source/source/Application/PowerManagement/PowerManagement_user.c
View file @ 3f2164c3
...@@ -43,6 +43,7 @@ void Power_KL30_Init ( void ) ...@@ -43,6 +43,7 @@ void Power_KL30_Init ( void )
Data_User_Mileage_KL30Init(); Data_User_Mileage_KL30Init();
BU2703_Senser_Init(); BU2703_Senser_Init();
GUI_Light_Init(); GUI_Light_Init();
Data_Vehicle_Speed_KL30_Init();
} }
...@@ -190,6 +191,8 @@ void Power_Wakeup_Init ( void ) ...@@ -190,6 +191,8 @@ void Power_Wakeup_Init ( void )
Data_User_Mileage_WakeupInit(); Data_User_Mileage_WakeupInit();
BU2703_Senser_Init(); BU2703_Senser_Init();
GUI_Light_Init(); GUI_Light_Init();
Data_Vehicle_Speed_KL30_Init();
Data_Vehicle_Speed_Wakeup_Init();
} }
......
HJ232_Source/source/System/tasks.c
View file @ 3f2164c3
...@@ -103,6 +103,7 @@ void Sys_Run_Mode_20ms_Tasks(void) ...@@ -103,6 +103,7 @@ void Sys_Run_Mode_20ms_Tasks(void)
{ {
BU98R10_Update_Request(); BU98R10_Update_Request();
Diag_Req_Send(20); Diag_Req_Send(20);
Data_Vehicle_Speed_Processing_Service( );
} }
/*============================================================================*/ /*============================================================================*/
......
HJ232_Source/tim4DelayCounter.uvoptx
View file @ 3f2164c3
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...@@ -1474,7 +1498,7 @@ ...@@ -1474,7 +1498,7 @@
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...@@ -1546,7 +1570,7 @@ ...@@ -1546,7 +1570,7 @@
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...@@ -1570,7 +1594,7 @@ ...@@ -1570,7 +1594,7 @@
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......
HJ232_Source/tim4DelayCounter.uvprojx
View file @ 3f2164c3
...@@ -823,6 +823,16 @@ ...@@ -823,6 +823,16 @@
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......
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