YK

bsp/inc/can.h

@@ -1,38 +0,0 @@
-#ifndef __CAN_H
-#define __CAN_H
-
-//#include "..\common.h"
-#include "global.h"
-#define CAN_EN     1
-
-typedef enum   //CANBUS 波特率
-{
-    BPS_1M = 0,
-    BPS_500K,
-    BPS_250K,
-    BPS_125K,
-    BPS_100K,
-    BPS_33K
-}CAN_BPS_TYPE;
-
-typedef enum  //CANBUS 类型
-{
-    ID_OBD = 1,    
-    ID_OBDX,    
-}CAN_OBD_TYPE;
-
-extern void CAN_Configuration(void);
-extern void CAN_SetBps(u8 BPS);
-extern void CAN_SetFilter(u8 number,u16 ID,u16 Mask);
-extern void CAN_SetFilterExt(u8 number,u16 ID,u16 Mask);
-extern void CAN_SetFilterExt_Full(u8 number,u32 ID);
-extern void CAN_SendData(CanTxMsg *pTxMessage,u8 OBDType);
-extern void Cmd_FilterExt0(void);
-extern void Cmd_FilterExt1(void);
-extern void Cmd_Filter(u8 Status_Filter0,u8 Status_Filter1);
-extern u8   CAN_ReceData(CanRxMsg *pRxMessage,u16 TimeOut);
-extern u8   CAN_SendRece_F(const u8 *pSendBuf,u8 OBDType);
-extern u8   CAN_SendRece_V(const u8 *pSendBuf,u8 OBDType);
-extern CanTxMsg  TxMessage;                           //定义一个发送结构体
-extern CanRxMsg  RxMessage;                          //定义一个接收结构体
-#endif

bsp/src/hitest.c

@@ -372,8 +372,8 @@ void PWM_Test() {
     MOTOR1_EN1 = 1;
     MOTOR1_BK1 = 1;
     MOTOR1_FR1 = 0;
-    MOTOR1_Speed(400);
-    MOTOR2_Speed(250);
+    MOTOR1_Speed(1500);
+    MOTOR2_Speed(1500);
     LIFT1_Speed(250);
     LIFT2_Speed(250);
 

guide/inc/btn.h

@@ -3,7 +3,7 @@
 #include "base.h"
 #include "cfg.h"
 
-#define Btn_ESTOP            RMC_IN11
+#define Btn_ESTOP            IN5
 
 #define Btn_INIT             RMC_IN8
 #define Btn_STOP             RMC_IN9

guide/inc/guide.h

@@ -92,8 +92,8 @@ void CS_ManualForward(void);
 void CS_ManualBackward(void);
 void CS_ManualLeftForward(void);
 void CS_ManualRigForhtward(void);
-void CS_ManualLeftBackward(void);
-void CS_ManualRigBackhtward(void);
+void CS_ManualRoteLeft(void);
+void CS_ManualRoteRight(void);
 
 
 

guide/src/btn.c

@@ -15,6 +15,7 @@ static u8 _BtneStop(void) { //
 		if (BtneStopDelay > 1) {
 			LogDebug("_BtneStop&&Bumper pressed");
 			GDBreak();
+			CS_ManualStop();
 			Screen_SetErrorCode(ERROR_STATUS_BUMPER_ESTOP);
 			Stat.Status = STATUS_ESTOP;
 			LiftStop();
@@ -52,6 +53,7 @@ static u8 _BtnStop(void) {
 			LogDebug("_BtnStop pressed");
 			GDStop();
 			LiftStop();
+			CS_ManualStop();
 			Screen_SetErrorCode(ERROR_STATUS_REMOTE_STOP);
 			Stat.Status = STATUS_ESTOP;
 			return 1;
@@ -99,7 +101,7 @@ static u8 _BtnLeftward(void) {
 	if (Btn_LEFTWARD) {
 		if (BtnLeftDelay > 1) {
 			LogDebug("_BtnLeftward pressed");
-			CS_ManualLeftForward();
+			CS_ManualRoteLeft();
 			return 1;
 		} else {
 			BtnLeftDelay++;
@@ -115,7 +117,7 @@ static u8 _BtnRightward(void) {
 	if (Btn_RIGHTWARD) {
 		if (BtnRightDelay > 1) {
 			LogDebug("_BtnRightward pressed");
-			CS_ManualRigForhtward();
+			CS_ManualRoteRight();
 			return 1;
 		} else {
 			BtnRightDelay++;
@@ -131,7 +133,7 @@ static u8 _BtnRoteLeft(void) {
 		if (BtnRoteLeftDelay > 1) {
 			LogDebug("_BtnRoteLeft pressed");
 			GD_ManualRoteLeft();
-			CS_ManualLeftBackward();
+//			CS_ManualLeftBackward();
 			return 1;
 		} else {
 			BtnRoteLeftDelay++;
@@ -148,7 +150,7 @@ static u8 _BtnRoteRight(void) {
 		if (BtnRoteRightDelay > 1) {
 			LogDebug("_BtnRoteRight pressed");
 			GD_ManualRoteRight();
-			CS_ManualRigBackhtward();
+//			CS_ManualRigBackhtward();
 			return 1;
 		} else {
 			BtnRoteRightDelay++;

guide/src/guide.c

@@ -39,14 +39,14 @@
 /*基础速度*/
 //__STATIC_INLINE void WIFI_Input(u8 res);
 void GDInit(void) {
-    SetInit();
-    RoadInfoInit();
-    CargoInit();
-    LiftInit();
-    RfidInit();
-    ScreenInit();
-    DRInit();
-    Stat.Status = STATUS_RUN;
+	SetInit();
+	RoadInfoInit();
+	CargoInit();
+	LiftInit();
+	RfidInit();
+	ScreenInit();
+	DRInit();
+	Stat.Status = STATUS_RUN;
 }
 
 /**
@@ -62,7 +62,8 @@ __STATIC_INLINE u8 _InitCargo(void);
  * @retval
  * @note
  */
-__STATIC_INLINE u8 _obsProcess(void);
+//__STATIC_INLINE u8 _obsProcess(void);
+__STATIC_INLINE u8 _CsobsProcess(void);
 /**
  * @brief 处理电池
  * @param
@@ -81,26 +82,27 @@ __STATIC_INLINE u8 _NavToStation(s16 station);
 __STATIC_INLINE void _defaultAction(void);
 __STATIC_INLINE void _SetAction(u8 act);
 void GDCruise(void) {
-    _rfidProcess();
-    // 处理电池
-    _batteryProcess();
-    CargoProcess();
+	_rfidProcess();
+	// 处理电池
+	_batteryProcess();
+	CargoProcess();
 //    LiftProcess();
-    // 音乐
-    _obsProcess();
-    DR_Process();
-    _checkDriverError();
-    if (_statusProcess()) {
-        return;
-    }
-    if (Stat.Point == NULL_POINT) {
-        _defaultAction();
-        return;
-    }
-    //LogDebugGuide("GDCruise Staus run");
-    if (Set.Station != NULL_POINT) {
-        _NavToStation(Set.Station);
-    }
+	// 音乐
+//	_obsProcess();
+//	_CsobsProcess();
+	DR_Process();
+	_checkDriverError();
+//	if (_statusProcess()) {
+//		return;
+//	}
+	if (Stat.Point == NULL_POINT) {
+		_defaultAction();
+		return;
+	}
+	//LogDebugGuide("GDCruise Staus run");
+	if (Set.Station != NULL_POINT) {
+		_NavToStation(Set.Station);
+	}
 }
 /**
  * @brief 导航到站点
@@ -108,96 +110,97 @@ void GDCruise(void) {
  * @retval
  */
 __STATIC_INLINE u8 _NavToStation(s16 station) {
-    u8 act;
-    LogDebugGuide("_NavToStation");
-    act = RoadInfoGetPointAct(station, Stat.Point);
-    if (act <= 0) {
-        return 0;
-    }
-    _SetAction(act);
-    switch (act) {
-    case ACT_LEFT_STOP_CROSS:
-    case ACT_RIGHT_STOP_CROSS:
-    case ACT_FORWARD_STOP_CROSS:
-    case ACT_BACKWARD_STOP_CROSS:
-        if (Stat.CrossType == CROSS_XY) {
-            if ((Stat.Speed == 0) && (Stat.WheelAngle < 1500)) {
-                LogDebugGuide("_NavToStation arrive st %d", Set.Station);
-                return 1;
-            }
-        }
-        break;
-    case ACT_STOP:
-    case ACT_FBSTOP:
-    case ACT_LRSTOP:
-        LogDebugGuide("_NavToStation arrive st %d", Set.Station);
-        return 1;
-    }
-    return 0;
+	u8 act;
+	LogDebugGuide("_NavToStation");
+	act = RoadInfoGetPointAct(station, Stat.Point);
+	if (act <= 0) {
+		return 0;
+	}
+	_SetAction(act);
+	switch (act) {
+	case ACT_LEFT_STOP_CROSS:
+	case ACT_RIGHT_STOP_CROSS:
+	case ACT_FORWARD_STOP_CROSS:
+	case ACT_BACKWARD_STOP_CROSS:
+		if (Stat.CrossType == CROSS_XY) {
+			if ((Stat.Speed == 0) && (Stat.WheelAngle < 1500)) {
+				LogDebugGuide("_NavToStation arrive st %d", Set.Station);
+				return 1;
+			}
+		}
+		break;
+	case ACT_STOP:
+	case ACT_FBSTOP:
+	case ACT_LRSTOP:
+		LogDebugGuide("_NavToStation arrive st %d", Set.Station)
+		;
+		return 1;
+	}
+	return 0;
 }
 //__STATIC_INLINE void _taskProcess(void) {
 //
 //}
 __STATIC_INLINE void _defaultAction(void) {
-    switch (Stat.CrossType) {
-    case CROSS_OFF:
-        _SetAction(ACT_STOP);
-        break;
-    case CROSS_FB:
-    case CROSS_XY:
-        _SetAction(ACT_FORWARD);
-        break;
-    case CROSS_LR:
-        _SetAction(ACT_LEFT);
-        break;
-    }
+	switch (Stat.CrossType) {
+	case CROSS_OFF:
+		_SetAction(ACT_STOP);
+		break;
+	case CROSS_FB:
+	case CROSS_XY:
+		_SetAction(ACT_FORWARD);
+		break;
+	case CROSS_LR:
+		_SetAction(ACT_LEFT);
+		break;
+	}
 }
 void GDStart(void) {
-    Stat.Status = STATUS_RUN;
-    if (Stat.FErrorCode > 0 || Stat.BErrorCode > 0) {
-        _SetAction(ACT_RESET);
-        LogInfo("DR_ACT_RESET");
-    }
+	Stat.Status = STATUS_RUN;
+	if (Stat.FErrorCode > 0 || Stat.BErrorCode > 0) {
+		_SetAction(ACT_RESET);
+		LogInfo("DR_ACT_RESET");
+	}
 }
 void GDStop(void) {
-    Stat.Status = STATUS_STOP;
-    _SetAction(ACT_STOP);
+	Stat.Status = STATUS_STOP;
+	_SetAction(ACT_STOP);
 }
 void GDPause(void) {
-    LogInfo("GD_Pause");
-    if (Stat.Status != STATUS_OBS_STOP) {
-        Stat.PreStatus = Stat.Status;
-        Stat.Status = STATUS_OBS_STOP;
-    }
+	LogInfo("GD_Pause");
+	if (Stat.Status != STATUS_OBS_STOP) {
+		Stat.PreStatus = Stat.Status;
+		Stat.Status = STATUS_OBS_STOP;
+	}
 }
 void GDResume(void) {
-    if (Stat.Status == STATUS_OBS_STOP) {
-        Stat.Status = Stat.PreStatus;
-    }
+	if (Stat.Status == STATUS_OBS_STOP) {
+		Stat.Status = Stat.PreStatus;
+	}
 }
 void GDBreak(void) {
-    Stat.Status = STATUS_STOP;
-    _SetAction(ACT_BRAKE);
+	Stat.Status = STATUS_STOP;
+	_SetAction(ACT_BRAKE);
 }
 u8 GDSetAction(u8 action) {
-    _SetAction(action);
-    return True;
+	_SetAction(action);
+	return True;
 }
 u8 GDSetStation(u16 station) {
-    Set.Station = station;
-    return True;
+	Set.Station = station;
+	return True;
 }
 // todo
 u8 GDAddTasks(u8* data, u8 len) {
-    return True;
+	return True;
 }
 u8 GDClearTask(void) {
-    // todo
-    return True;
+	// todo
+	return True;
 }
 u8 GDSetSpeed(u16 speed) {
-    Set.Speed = speed;
-    return True;
+	Set.Speed = speed;
+	return True;
 }
 
 void CS_ManualStop(void) {
@@ -214,8 +217,8 @@ void CS_ManualForward(void) {
 	MOTOR1_FR1 = 0;
 	MOTOR2_BK2 = 0;
 	MOTOR2_EN2 = 1;
-	MOTOR1_Speed(1500);
-	MOTOR2_Speed(1500);
+	MOTOR1_Speed(1000);
+	MOTOR2_Speed(1000);
 }
 void CS_ManualBackward(void) {
 
@@ -224,414 +227,468 @@ void CS_ManualBackward(void) {
 	MOTOR1_FR1 = 1;
 	MOTOR2_BK2 = 1;
 	MOTOR2_EN2 = 1;
-	MOTOR1_Speed(1500);
-	MOTOR2_Speed(1500);
+	MOTOR1_Speed(1000);
+	MOTOR2_Speed(1000);
 }
-void CS_ManualLeftForward(void) {
+void CS_ManualRoteLeft(void) {
 	MOTOR1_BK1 = 1;
 	MOTOR1_EN1 = 1;
-	MOTOR1_FR1 = 0;
+	MOTOR1_FR1 = 1;
 	MOTOR2_BK2 = 0;
 	MOTOR2_EN2 = 1;
-	MOTOR1_Speed(100);
-	MOTOR2_Speed(200);
+	MOTOR1_Speed(500);
+	MOTOR2_Speed(500);
 }
-void CS_ManualRigForhtward(void) {
+void CS_ManualRoteRight(void) {
 	MOTOR1_BK1 = 1;
 	MOTOR1_EN1 = 1;
 	MOTOR1_FR1 = 0;
-	MOTOR2_BK2 = 0;
+	MOTOR2_BK2 = 1;
 	MOTOR2_EN2 = 1;
-	MOTOR1_Speed(200);
-	MOTOR2_Speed(100);
+	MOTOR1_Speed(500);
+	MOTOR2_Speed(500);
 }
-void CS_ManualLeftBackward(void) {
+void CS_ManualLeftForward(void) {
 	MOTOR1_BK1 = 1;
 	MOTOR1_EN1 = 1;
-	MOTOR1_FR1 = 1;
-	MOTOR2_BK2 = 1;
+	MOTOR1_FR1 = 0;
+	MOTOR2_BK2 = 0;
 	MOTOR2_EN2 = 1;
 	MOTOR1_Speed(100);
 	MOTOR2_Speed(200);
 }
-void CS_ManualRigBackhtward(void) {
+void CS_ManualRigForhtward(void) {
 	MOTOR1_BK1 = 1;
 	MOTOR1_EN1 = 1;
-	MOTOR1_FR1 = 1;
-	MOTOR2_BK2 = 1;
+	MOTOR1_FR1 = 0;
+	MOTOR2_BK2 = 0;
 	MOTOR2_EN2 = 1;
 	MOTOR1_Speed(200);
 	MOTOR2_Speed(100);
 }
 void GD_ManualStop(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_STOP);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_STOP);
 }
 void GD_ManualForward(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_FORWARD);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_FORWARD);
 }
 void GD_ManualBackward(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_BACKWARD);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_BACKWARD);
 }
 void GD_ManualLeftward(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_LEFT);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_LEFT);
 }
 void GD_ManualRightward(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_RIGHT);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_RIGHT);
 }
 void GD_ManualTurnLeft(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_LEFT);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_LEFT);
 }
 void GD_ManualTurnRight(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_RIGHT);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_RIGHT);
 }
 void GD_ManualRoteLeft(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_TRUN_LEFT);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_TRUN_LEFT);
 }
 void GD_ManualRoteRight(void) {
-    Stat.Status = STATUS_REMOTE_MANUAL;
-    _SetAction(ACT_MANUAL_TURN_RIGHT);
+	Stat.Status = STATUS_REMOTE_MANUAL;
+	_SetAction(ACT_MANUAL_TURN_RIGHT);
 }
 
 void GD_ManualLiftUp(void) {
-    LiftUp();
+	LiftUp();
 }
 void GD_ManualLiftDown(void) {
-    LiftDown();
-}
-__STATIC_INLINE u8 _obsProcess(void) {
-    static u32 interval = 0;
-    if (interval == Timer100ms) {
-        return 0;
-    }
-    interval = Timer100ms;
-    switch (Stat.Direction) {
-    case DIRECTION_FORWARD:
-        if (OBS1_IN1) {
-            GDPause();
-            Screen_SetErrorCode(ERROR_STATUS_OBS);
-            return 1;
-        }
-        break;
-    case DIRECTION_BACKWARD:
-        if (OBS1_IN2) {
-            GDPause();
-            Screen_SetErrorCode(ERROR_STATUS_OBS);
-            return 1;
-        }
-        break;
-    case DIRECTION_LEFT:
-        if (OBS1_IN3) {
-            GDPause();
-            Screen_SetErrorCode(ERROR_STATUS_OBS);
-            return 1;
-        }
-        break;
-    case DIRECTION_RIGHT:
-        if (OBS1_IN4) {
-            GDPause();
-            Screen_SetErrorCode(ERROR_STATUS_OBS);
-            return 1;
-        }
-        break;
-    }
-    GDResume();
-    return 0;
+	LiftDown();
+}
+__STATIC_INLINE u8 _CsobsProcess(void) {
+	if (MOTOR1_FR1 == 0) {
+		if (!OBS3_IN1) {
+			LogInfo("OBS3_IN1");
+			CS_ManualStop();
+			LED1_V1 = 1;
+			LED1_V3 = 0;
+			MusicPlay(MUSIC_SCRAM);
+		} else {
+			CS_ManualForward();
+			LED1_V1 = 0;
+			LED1_V3 = 1;
+			MusicPlay(MUSIC_OFF);
+		}
+	} else {
+		if (!OBS2_IN1) {
+			LogInfo("OBS2_IN1");
+			CS_ManualStop();
+			LED1_V1 = 1;
+			LED1_V3 = 0;
+			MusicPlay(MUSIC_SCRAM);
+		} else {
+			CS_ManualBackward();
+			LED1_V1 = 0;
+			LED1_V3 = 1;
+			MusicPlay(MUSIC_OFF);
+		}
+	}
+	return 0;
 }
+
+//__STATIC_INLINE u8 _obsProcess(void) {
+//    static u32 interval = 0;
+//    if (interval == Timer100ms) {
+//        return 0;
+//    }
+//    interval = Timer100ms;
+//	if (!OBS3_IN1) {
+//		LogInfo("OBS3_IN1");
+////                GDPause();
+//		CS_ManualStop();
+//		LED1_V1 = 1;
+//		Screen_SetErrorCode(ERROR_STATUS_OBS);
+//		return 0;
+//	} else {
+//
+//		CS_ManualForward();
+//		LED1_V1 = 0;
+//	}
+//
+//	switch (Stat.Direction) {
+//	case DIRECTION_FORWARD:
+//		if (OBS3_IN1) {
+//			LogInfo("OBS3_IN1");
+//			GDPause();
+//			CS_ManualStop();
+//			LED1_V1 = !LED1_V1;
+//			Screen_SetErrorCode(ERROR_STATUS_OBS);
+//			return 1;
+//		}
+//		break;
+//	case DIRECTION_BACKWARD:
+//		if (OBS1_IN2) {
+//			GDPause();
+//			Screen_SetErrorCode(ERROR_STATUS_OBS);
+//			return 1;
+//		}
+//		break;
+//	case DIRECTION_LEFT:
+//		if (OBS1_IN3) {
+//			GDPause();
+//			Screen_SetErrorCode(ERROR_STATUS_OBS);
+//			return 1;
+//		}
+//		break;
+//	case DIRECTION_RIGHT:
+//		if (OBS1_IN4) {
+//			GDPause();
+//			Screen_SetErrorCode(ERROR_STATUS_OBS);
+//			return 1;
+//		}
+//		break;
+//	}
+//	GDResume();
+//	return 0;
+//}
 __STATIC_INLINE void _batteryProcess(void) {
-    static u32 interval = 0;
-    static u32 lowCnt = 0;
-    if (interval == Timer1s) {
-        return;
-    }
-    interval = Timer1s;
-    if (Stat.BatteryVolt <= Cfg.BatteryVoltStop) {
-        if (Stat.BatteryStatus == BATTERY_STATUS_STOP) {
-            lowCnt = 0;
-        } else {
-            lowCnt++;
-            if (lowCnt > 60) {
-                Stat.BatteryStatus = BATTERY_STATUS_STOP;
-            }
-        }
-    }
-    lowCnt = 0;
-    if (Stat.BatteryStatus == BATTERY_STATUS_STOP) {
-        Stat.Status = STATUS_BATTERY_LOW_STOP;
-    } else if (Stat.BatteryVolt > Cfg.BatteryVoltFull) {
-        Stat.BatteryStatus = BATTERY_STATUS_FULL;
-    } else if (Stat.BatteryVolt > Cfg.BatteryVoltHigh) {
-        Stat.BatteryStatus = BATTERY_STATUS_HIGH;
-    } else if (Stat.BatteryVolt > Cfg.BatteryVoltMid) {
-        Stat.BatteryStatus = BATTERY_STATUS_MID;
-    } else if (Stat.BatteryVolt > Cfg.BatteryVoltLow) {
-        Stat.BatteryStatus = BATTERY_STATUS_LOW;
-    } else {
-        Stat.BatteryStatus = BATTERY_STATUS_WARN;
-    }
-    Screen_SetBatteryStatus(Stat.BatteryStatus);
+	static u32 interval = 0;
+	static u32 lowCnt = 0;
+	if (interval == Timer1s) {
+		return;
+	}
+	interval = Timer1s;
+	if (Stat.BatteryVolt <= Cfg.BatteryVoltStop) {
+		if (Stat.BatteryStatus == BATTERY_STATUS_STOP) {
+			lowCnt = 0;
+		} else {
+			lowCnt++;
+			if (lowCnt > 60) {
+				Stat.BatteryStatus = BATTERY_STATUS_STOP;
+			}
+		}
+	}
+	lowCnt = 0;
+	if (Stat.BatteryStatus == BATTERY_STATUS_STOP) {
+		Stat.Status = STATUS_BATTERY_LOW_STOP;
+	} else if (Stat.BatteryVolt > Cfg.BatteryVoltFull) {
+		Stat.BatteryStatus = BATTERY_STATUS_FULL;
+	} else if (Stat.BatteryVolt > Cfg.BatteryVoltHigh) {
+		Stat.BatteryStatus = BATTERY_STATUS_HIGH;
+	} else if (Stat.BatteryVolt > Cfg.BatteryVoltMid) {
+		Stat.BatteryStatus = BATTERY_STATUS_MID;
+	} else if (Stat.BatteryVolt > Cfg.BatteryVoltLow) {
+		Stat.BatteryStatus = BATTERY_STATUS_LOW;
+	} else {
+		Stat.BatteryStatus = BATTERY_STATUS_WARN;
+	}
+	Screen_SetBatteryStatus(Stat.BatteryStatus);
 }
 
 __STATIC_INLINE void _checkDriverError(void) {
-    if ((Stat.FErrorCode == 0) && (Stat.BErrorCode == 0)) {
-        return;
-    }
-    Stat.Status = STATUS_ERROR_DRIVER;
-    return;
+	if ((Stat.FErrorCode == 0) && (Stat.BErrorCode == 0)) {
+		return;
+	}
+	Stat.Status = STATUS_ERROR_DRIVER;
+	return;
 }
 
 __STATIC_INLINE void _statusNotifyProcess(void) {
-    static u32 interval = 0;
+	static u32 interval = 0;
 //    if (!Cfg.LogStatus) {
 //        return;
 //    }
-    if (timerSecondSub(Timer1s, interval) < 5) {
-        return;
-    }
-    MsgSend(OP_GET_STATUS, (u8*) (&Stat), sizeof(Status_t));
-    //LogStatusInfo("Task_Status:%d,Task_Src:%d,Task_Dst:%d,Status:%d,PreStatus:%d,NavStatus:%d,TargetStation:0x%x,CurStation:0x%x,RoadPoint:0x%x,LiftStatus:%d,TPStatus:%d,BatteryVolt:%d", curTask.Status, curTask.Src, curTask.Dst, Stat.Status, Stat.PreStatus, Stat.NavStatus, Set.Station, Stat.Station, Stat.Point, Stat.LiftStatus, Stat.CargoStatus, Stat.BatteryVolt);
-    interval = Timer1s;
+	if (timerSecondSub(Timer1s, interval) < 5) {
+		return;
+	}
+	MsgSend(OP_GET_STATUS, (u8*) (&Stat), sizeof(Status_t));
+	//LogStatusInfo("Task_Status:%d,Task_Src:%d,Task_Dst:%d,Status:%d,PreStatus:%d,NavStatus:%d,TargetStation:0x%x,CurStation:0x%x,RoadPoint:0x%x,LiftStatus:%d,TPStatus:%d,BatteryVolt:%d", curTask.Status, curTask.Src, curTask.Dst, Stat.Status, Stat.PreStatus, Stat.NavStatus, Set.Station, Stat.Station, Stat.Point, Stat.LiftStatus, Stat.CargoStatus, Stat.BatteryVolt);
+	interval = Timer1s;
 }
 
 __STATIC_INLINE u8 _statusProcess(void) {
-    _statusNotifyProcess();
-    if (Stat.Point == 0xFFFF) {
-        if (Stat.CargoStatus != CARGO_STATUS_NULL) {
-            MusicPlay(MUSIC_SCRAM);
-            return 1;
-        }
-    }
-    switch (Stat.Status) {
-    case STATUS_INIT:
-        if (_InitCargo()) {
-            return 1;
-        }
-        MusicPlay(MUSIC_OFF);
-        Stat.Status = STATUS_STOP;
-        return 0;
-    case STATUS_BATTERY_LOW_STOP:
-        MusicPlay(MUSIC_CHARGING);
-        _SetAction(ACT_STOP);
-        return 1;
-    case STATUS_STOP:
-        MusicPlay(MUSIC_OFF);
-        _SetAction(ACT_STOP);
-        return 1;
-    case STATUS_OBS_STOP:
-        MusicPlay(MUSIC_SCRAM);
-        _SetAction(ACT_STOP);
-        return 1;
-    case STATUS_ESTOP:
-        MusicPlay(MUSIC_SCRAM);
-        _SetAction(ACT_BRAKE);
-        return 1;
-    case STATUS_REMOTE_MANUAL:
-        MusicPlay(MUSIC_OFF);
-        return 1;
-    case STATUS_ERROR_DRIVER:
-        MusicPlay(MUSIC_OFF);
-        LED_Flashing(2);
-        _SetAction(ACT_STOP);
-        return 1;
-    case STATUS_ERROR_EDGE_MARKER:
-    case STATUS_ERROR_BOOT_WITH_TP_FULL:
-        LED_Flashing(5);
-        MusicPlay(MUSIC_SCRAM);
-        _SetAction(ACT_STOP);
-        return 1;
-    case STATUS_BATTERY_LOW:
-    case STATUS_RUN:
-        MusicPlay(MUSIC_OFF);
-        LED1_V1 = SIGNAL_LED_HIGH;
-        // 后面处理
-        return 0;
-    default:
-        LogError("GDCruise Stat.Status error %d undefine.", Stat.Status);
-        return 1;
-    }
+	_statusNotifyProcess();
+	if (Stat.Point == 0xFFFF) {
+		if (Stat.CargoStatus != CARGO_STATUS_NULL) {
+			MusicPlay(MUSIC_SCRAM);
+			return 1;
+		}
+	}
+	switch (Stat.Status) {
+	case STATUS_INIT:
+		if (_InitCargo()) {
+			return 1;
+		}
+		MusicPlay(MUSIC_OFF);
+		Stat.Status = STATUS_STOP;
+		return 0;
+	case STATUS_BATTERY_LOW_STOP:
+		MusicPlay(MUSIC_CHARGING);
+		_SetAction(ACT_STOP);
+		return 1;
+	case STATUS_STOP:
+		MusicPlay(MUSIC_OFF);
+		_SetAction(ACT_STOP);
+		return 1;
+	case STATUS_OBS_STOP:
+		MusicPlay(MUSIC_SCRAM);
+		_SetAction(ACT_STOP);
+		return 1;
+	case STATUS_ESTOP:
+		MusicPlay(MUSIC_SCRAM);
+		_SetAction(ACT_BRAKE);
+		return 1;
+	case STATUS_REMOTE_MANUAL:
+		MusicPlay(MUSIC_OFF);
+		return 1;
+	case STATUS_ERROR_DRIVER:
+		MusicPlay(MUSIC_OFF);
+		LED_Flashing(2);
+		_SetAction(ACT_STOP);
+		return 1;
+	case STATUS_ERROR_EDGE_MARKER:
+	case STATUS_ERROR_BOOT_WITH_TP_FULL:
+		LED_Flashing(5);
+		MusicPlay(MUSIC_SCRAM);
+		_SetAction(ACT_STOP);
+		return 1;
+	case STATUS_BATTERY_LOW:
+	case STATUS_RUN:
+		MusicPlay(MUSIC_OFF);
+		// 后面处理
+		return 0;
+	default:
+		LogError("GDCruise Stat.Status error %d undefine.", Stat.Status);
+		return 1;
+	}
 }
 
 __STATIC_INLINE u8 _InitCargo(void) {
-    if (Stat.CargoStatus != CARGO_STATUS_NULL) {
-        if (Stat.LiftStatus == LIFT_STATUS_TOP) {
-            LiftStop();
-            return 0;
-        } else {
-            _SetAction(ACT_STOP);
-            return LiftUp();
-        }
-    } else {
-        if (Stat.LiftStatus == LIFT_STATUS_BOTTOM) {
-            LiftStop();
-            return 0;
-        } else {
-            _SetAction(ACT_STOP);
-            return LiftDown();
-        }
-    }
+	if (Stat.CargoStatus != CARGO_STATUS_NULL) {
+		if (Stat.LiftStatus == LIFT_STATUS_TOP) {
+			LiftStop();
+			return 0;
+		} else {
+			_SetAction(ACT_STOP);
+			return LiftUp();
+		}
+	} else {
+		if (Stat.LiftStatus == LIFT_STATUS_BOTTOM) {
+			LiftStop();
+			return 0;
+		} else {
+			_SetAction(ACT_STOP);
+			return LiftDown();
+		}
+	}
 }
 __STATIC_INLINE void _rfidForwardProces(u8 data) {
-    switch (data) {
-    case RDM_DRIFT_LEFT:
-        _SetAction(ACT_FORWARD_LEFT);
-        break;
-    case RDM_DRIFT_RIGHT:
-        _SetAction(ACT_FORWARD_RIGHT);
-        break;
-    case RDM_STOP_CROSS:
-        _SetAction(ACT_FORWARD_STOP_CROSS);
-        break;
-    case RDM_BACK:
-        _SetAction(ACT_BACKWARD);
-        break;
-    }
+	switch (data) {
+	case RDM_DRIFT_LEFT:
+		_SetAction(ACT_FORWARD_LEFT);
+		break;
+	case RDM_DRIFT_RIGHT:
+		_SetAction(ACT_FORWARD_RIGHT);
+		break;
+	case RDM_STOP_CROSS:
+		_SetAction(ACT_FORWARD_STOP_CROSS);
+		break;
+	case RDM_BACK:
+		_SetAction(ACT_BACKWARD);
+		break;
+	}
 }
 __STATIC_INLINE void _rfidBackwardProces(u8 data) {
-    switch (data) {
-    case RDM_DRIFT_LEFT:
-        _SetAction(ACT_BACKWARD_RIGHT);
-        break;
-    case RDM_DRIFT_RIGHT:
-        _SetAction(ACT_BACKWARD_LEFT);
-        break;
-    case RDM_STOP_CROSS:
-        _SetAction(ACT_BACKWARD_STOP_CROSS);
-        break;
-    case RDM_BACK:
-        _SetAction(ACT_FORWARD);
-        break;
-    }
+	switch (data) {
+	case RDM_DRIFT_LEFT:
+		_SetAction(ACT_BACKWARD_RIGHT);
+		break;
+	case RDM_DRIFT_RIGHT:
+		_SetAction(ACT_BACKWARD_LEFT);
+		break;
+	case RDM_STOP_CROSS:
+		_SetAction(ACT_BACKWARD_STOP_CROSS);
+		break;
+	case RDM_BACK:
+		_SetAction(ACT_FORWARD);
+		break;
+	}
 }
 __STATIC_INLINE void _rfidLeftProces(u8 data) {
-    switch (data) {
-    case RDM_DRIFT_LEFT:
-        _SetAction(ACT_LEFT_BACKWARD);
-        break;
-    case RDM_DRIFT_RIGHT:
-        _SetAction(ACT_LEFT_FORWARD);
-        break;
-    case RDM_STOP_CROSS:
-        _SetAction(ACT_LEFT_STOP_CROSS);
-        break;
-    case RDM_BACK:
-        _SetAction(ACT_RIGHT);
-        break;
-    }
+	switch (data) {
+	case RDM_DRIFT_LEFT:
+		_SetAction(ACT_LEFT_BACKWARD);
+		break;
+	case RDM_DRIFT_RIGHT:
+		_SetAction(ACT_LEFT_FORWARD);
+		break;
+	case RDM_STOP_CROSS:
+		_SetAction(ACT_LEFT_STOP_CROSS);
+		break;
+	case RDM_BACK:
+		_SetAction(ACT_RIGHT);
+		break;
+	}
 }
 __STATIC_INLINE void _rfidRightProces(u8 data) {
-    switch (data) {
-    case RDM_DRIFT_LEFT:
-        _SetAction(ACT_RIGHT_FORWARD);
-        break;
-    case RDM_DRIFT_RIGHT:
-        _SetAction(ACT_RIGHT_BACKWARD);
-        break;
-    case RDM_STOP_CROSS:
-        _SetAction(ACT_RIGHT_STOP_CROSS);
-        break;
-    case RDM_BACK:
-        _SetAction(ACT_LEFT);
-        break;
-    }
+	switch (data) {
+	case RDM_DRIFT_LEFT:
+		_SetAction(ACT_RIGHT_FORWARD);
+		break;
+	case RDM_DRIFT_RIGHT:
+		_SetAction(ACT_RIGHT_BACKWARD);
+		break;
+	case RDM_STOP_CROSS:
+		_SetAction(ACT_RIGHT_STOP_CROSS);
+		break;
+	case RDM_BACK:
+		_SetAction(ACT_LEFT);
+		break;
+	}
 }
 __STATIC_INLINE void _rfidRDMProcess(void) {
-    u8 rfidData;
-    if (Stat.FR == WARD_FORWARD) {
-        rfidData = Stat.RfidData8;
-    } else {
-        rfidData = Stat.RfidData7;
-    }
-    switch (rfidData) {
-    case RDM_PASS:
-        break;
-    case RDM_BRANCH_LEFT:
-        Stat.Branch = BRANCH_LEFT;
-        break;
-    case RDM_BRANCH_RIGHT:
-        Stat.Branch = BRANCH_RIGHT;
-        break;
-    case RDM_STOP:
-        _SetAction(ACT_STOP);
-        break;
-    case RDM_TRUN_LEFT:
-        break;
-    case RDM_TRUN_RIGHT:
-        break;
-    default:
-        switch (Stat.Direction) {
-        case DIRECTION_FORWARD:
-            _rfidForwardProces(rfidData);
-            break;
-        case DIRECTION_BACKWARD:
-            _rfidBackwardProces(rfidData);
-            break;
-        case DIRECTION_LEFT:
-            _rfidLeftProces(rfidData);
-            break;
-        case DIRECTION_RIGHT:
-            _rfidRightProces(rfidData);
-            break;
-        default:
-            LogError("_RfidRDMProcess: Stat.DrDirection error!");
-        }
-    }
+	u8 rfidData;
+	if (Stat.FR == WARD_FORWARD) {
+		rfidData = Stat.RfidData8;
+	} else {
+		rfidData = Stat.RfidData7;
+	}
+	switch (rfidData) {
+	case RDM_PASS:
+		break;
+	case RDM_BRANCH_LEFT:
+		Stat.Branch = BRANCH_LEFT;
+		break;
+	case RDM_BRANCH_RIGHT:
+		Stat.Branch = BRANCH_RIGHT;
+		break;
+	case RDM_STOP:
+		_SetAction(ACT_STOP);
+		break;
+	case RDM_TRUN_LEFT:
+		break;
+	case RDM_TRUN_RIGHT:
+		break;
+	default:
+		switch (Stat.Direction) {
+		case DIRECTION_FORWARD:
+			_rfidForwardProces(rfidData);
+			break;
+		case DIRECTION_BACKWARD:
+			_rfidBackwardProces(rfidData);
+			break;
+		case DIRECTION_LEFT:
+			_rfidLeftProces(rfidData);
+			break;
+		case DIRECTION_RIGHT:
+			_rfidRightProces(rfidData);
+			break;
+		default:
+			LogError("_RfidRDMProcess: Stat.DrDirection error!");
+		}
+	}
 }
 __STATIC_INLINE u8 _rfidProcess(void) {
-    if (Stat.RfidNeedHandle) {
-        LogDebugGuide("ReadRfidCard: Dir = %d, Cross= %d, type= %d, data8= 0x%x\r\n", Stat.Direction, Stat.CrossType, Stat.RfidType, Stat.RfidData8);
-        switch (Stat.RfidType) {
-        case RFID_TYPE_RDM:
-            _rfidRDMProcess();
-            break;
-        case RFID_TYPE_ACT:
-            _SetAction(Stat.RfidData8);
-            break;
-        case RFID_TYPE_POINT:
-            if (Stat.RfidData8 < GD_MAX_STATION) {
-                Stat.Point = Stat.RfidData8;
-            }
-            break;
-        }
-        Stat.RfidNeedHandle = 0;
-    }
-    return 0;
+	if (Stat.RfidNeedHandle) {
+		LogDebugGuide(
+				"ReadRfidCard: Dir = %d, Cross= %d, type= %d, data8= 0x%x\r\n",
+				Stat.Direction, Stat.CrossType, Stat.RfidType, Stat.RfidData8);
+		switch (Stat.RfidType) {
+		case RFID_TYPE_RDM:
+			_rfidRDMProcess();
+			break;
+		case RFID_TYPE_ACT:
+			_SetAction(Stat.RfidData8);
+			break;
+		case RFID_TYPE_POINT:
+			if (Stat.RfidData8 < GD_MAX_STATION) {
+				Stat.Point = Stat.RfidData8;
+			}
+			break;
+		}
+		Stat.RfidNeedHandle = 0;
+	}
+	return 0;
 }
 __STATIC_INLINE void _SetAction(u8 act) {
-    switch (act) {
-    case ACT_LEFT:
-    case ACT_RIGHT:
-        Set.SpeedNav = 0;
-        Set.SpeedDrift = (Set.Speed <= Cfg.SpeedMaxDrift)? Set.Speed:Cfg.SpeedMaxDrift;
-        break;
-    case ACT_FORWARD:
-    case ACT_BACKWARD:
-        Set.SpeedNav = Set.Speed;
-        Set.SpeedDrift = 0;
-        break;
-    case ACT_FORWARD_LEFT:
-    case ACT_FORWARD_RIGHT:
-    case ACT_BACKWARD_LEFT:
-    case ACT_BACKWARD_RIGHT:
-        Set.SpeedNav = Set.SpeedApproach;
-        Set.SpeedDrift = (Set.Speed <= Cfg.SpeedMaxDrift)? Set.Speed:Cfg.SpeedMaxDrift;
-        break;
-    case ACT_LEFT_FORWARD:
-    case ACT_LEFT_BACKWARD:
-    case ACT_RIGHT_FORWARD:
-    case ACT_RIGHT_BACKWARD:
-        Set.SpeedNav = Set.Speed;
-        Set.SpeedDrift = (Set.Speed <= Cfg.SpeedMaxDrift)? Set.Speed:Cfg.SpeedMaxDrift;
-        break;
-    }
-    if (Set.Action != act) {
-        Set.Action = act;
-        LogDebug("DR_SetAction: 0x%x", act);
-    }
+	switch (act) {
+	case ACT_LEFT:
+	case ACT_RIGHT:
+		Set.SpeedNav = 0;
+		Set.SpeedDrift =
+				(Set.Speed <= Cfg.SpeedMaxDrift) ?
+						Set.Speed : Cfg.SpeedMaxDrift;
+		break;
+	case ACT_FORWARD:
+	case ACT_BACKWARD:
+		Set.SpeedNav = Set.Speed;
+		Set.SpeedDrift = 0;
+		break;
+	case ACT_FORWARD_LEFT:
+	case ACT_FORWARD_RIGHT:
+	case ACT_BACKWARD_LEFT:
+	case ACT_BACKWARD_RIGHT:
+		Set.SpeedNav = Set.SpeedApproach;
+		Set.SpeedDrift =
+				(Set.Speed <= Cfg.SpeedMaxDrift) ?
+						Set.Speed : Cfg.SpeedMaxDrift;
+		break;
+	case ACT_LEFT_FORWARD:
+	case ACT_LEFT_BACKWARD:
+	case ACT_RIGHT_FORWARD:
+	case ACT_RIGHT_BACKWARD:
+		Set.SpeedNav = Set.Speed;
+		Set.SpeedDrift =
+				(Set.Speed <= Cfg.SpeedMaxDrift) ?
+						Set.Speed : Cfg.SpeedMaxDrift;
+		break;
+	}
+	if (Set.Action != act) {
+		Set.Action = act;
+		LogDebug("DR_SetAction: 0x%x", act);
+	}
 }

guide/src/music.c

@@ -15,6 +15,7 @@ void MusicPlay(u8 music) {
 	_musicTemplate[MUSIC_IDX_MUSIC] = music;
 	_musicTemplate[MUSIC_IDX_XOR] = 0x01 ^ 0x51 ^ music ^ _musicTemplate[3]
 			^ _musicTemplate[4];
+	UartConfig(USART3, 9600, USART_Parity_No);
 	HI_USART3_Send(_musicTemplate, 7);
 	LogHex(_musicTemplate, 7);
 }

guide/src/rfid.c

@@ -18,7 +18,7 @@ __STATIC_INLINE void RfidHsSetInput(u8 res);
 void RfidInit(void) {
     // 兴松 RFID
 		LogInfo("RfidInit:HS");
-    UartConfig(USART3, 115200, USART_Parity_No);
+    UartConfig(USART2, 115200, USART_Parity_No);
     HI_USART3_SetRecvCallback(&RfidHsSetInput);
 }
 #define RFID_RECV_STATUS_READ_CARD              7
@@ -92,12 +92,12 @@ __STATIC_INLINE void RfidHsSetInput(u8 res) {
 #else
 __STATIC_INLINE void RfidEMRSetInput(u8 res);
 
-// 初始化串口2接收RFID数据
+ //初始化串口2接收RFID数据
 void RfidInit(void) {
     LogInfo("RfidInit:EMR");
    // EMR RFID
-    UartConfig(USART2, 9600, USART_Parity_No);
-    HI_USART2_SetRecvCallback(&RfidEMRSetInput);
+//    UartConfig(USART2, 9600, USART_Parity_No);
+//    HI_USART2_SetRecvCallback(&RfidEMRSetInput);
 }
 
 #define RFID_RECV_STATUS_02      0x02

user/main.c

@@ -42,7 +42,7 @@ int main(void) {
     LogInfo("start main loop");
     while (1) {
         ConnProcess();
-        if (timerSecondSub(Timer1s, loopTime) > 3) {
+        if (timerSecondSub(Timer1s, loopTime) > 1) {
             LED0 = !LED0;
             // 喂狗
             IWDGFeed();
@@ -53,9 +53,7 @@ int main(void) {
 //            Test_IN();
 
         }
-
 		BtnProcess();
-//		PWM_Test();
 		//Test_UsartRecv();
 		//Test_UsartSend();
 //		if (BtnProcess()) {