diff --git a/STM_ATEM_F405.ioc b/STM_ATEM_F405_App.ioc similarity index 98% rename from STM_ATEM_F405.ioc rename to STM_ATEM_F405_App.ioc index 6f0e180..fb75af0 100644 --- a/STM_ATEM_F405.ioc +++ b/STM_ATEM_F405_App.ioc @@ -177,7 +177,7 @@ NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.EXTI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.MemoryManagement_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.OTG_FS_IRQn=true\:11\:0\:true\:false\:true\:false\:true\:true NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false @@ -292,8 +292,8 @@ ProjectManager.MainLocation=Core/Src ProjectManager.NoMain=false ProjectManager.PreviousToolchain= ProjectManager.ProjectBuild=false -ProjectManager.ProjectFileName=STM_ATEM_F405.ioc -ProjectManager.ProjectName=STM_ATEM_F405 +ProjectManager.ProjectFileName=STM_ATEM_F405_App.ioc +ProjectManager.ProjectName=STM_ATEM_F405_App ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack= ProjectManager.StackSize=0x1000 diff --git a/Scripts/ATEMParse.py b/Scripts/ATEMParse.py index fef4d88..141db53 100644 --- a/Scripts/ATEMParse.py +++ b/Scripts/ATEMParse.py @@ -1,50 +1,90 @@ import sys import time +import struct import numpy as np import pandas as pd import serial import serial.tools.list_ports -from PyQt6.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, - QHBoxLayout, QPushButton, QFileDialog, QTableView, - QLabel, QRadioButton, QButtonGroup, QTabWidget, - QMessageBox, QHeaderView, QCheckBox, QComboBox, QSplitter) +from PyQt6.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, + QHBoxLayout, QPushButton, QFileDialog, QTableView, + QLabel, QRadioButton, QButtonGroup, QTabWidget, + QMessageBox, QHeaderView, QCheckBox, QComboBox, QSplitter, + QSlider) from PyQt6.QtCore import Qt, QAbstractTableModel, QThread, pyqtSignal, QTimer import pyqtgraph as pg # ========================================== -# 1. 数据结构定义 (移除了 timestamp) +# 1. 数据结构定义 # ========================================== -RAW_DTYPE_V1 = np.dtype([ - ('start_byte', ' np.dtype: + """动态构建 numpy dtype，精确匹配固件 __attribute__((packed)) 结构体布局。 + + 固件包结构: + start_byte (u32) | adc1/corr_x | adc2/corr_y | adc3/corr_z + | gps_time (u32) [| lat f32 | lon f32 | alt f32] [| optical_mag u32] + """ + fields = [('start_byte', ' 0: - data = self.serial_port.read(self.serial_port.in_waiting) - buffer.extend(data) - - packets = [] - while True: - idx = buffer.find(start_marker) - if idx == -1: - buffer = buffer[-3:] if len(buffer) >= 3 else buffer - break - - if len(buffer) >= idx + packet_size: - packet_bytes = buffer[idx : idx + packet_size] - packets.append(packet_bytes) - buffer = buffer[idx + packet_size :] + buffer.extend(self.serial_port.read(self.serial_port.in_waiting)) + + std_pkts = [] + optic_pkts = [] + + while len(buffer) >= 4: + m = struct.unpack_from('= std_size: + std_pkts.append(bytes(buffer[:std_size])) + del buffer[:std_size] + elif mixed and m == MARKER_OPTIC_INT and len(buffer) >= optic_size: + optic_pkts.append(bytes(buffer[:optic_size])) + del buffer[:optic_size] + elif m in (MARKER_STD_INT, MARKER_OPTIC_INT): + break # 包还没收完，等下次 else: - buffer = buffer[idx:] - break - - if packets: - combined_bytes = b''.join(packets) - parsed_arr = np.frombuffer(combined_bytes, dtype=self.dtype) - self.data_received.emit(parsed_arr) + del buffer[0] # 重新同步 + + if std_pkts: + self.data_received.emit( + np.frombuffer(b''.join(std_pkts), dtype=self.dtype_std)) + if optic_pkts: + self.optic_received.emit( + np.frombuffer(b''.join(optic_pkts), dtype=self.dtype_optic)) except Exception as e: - if self.is_running: + if self.is_running: self.error_occurred.emit(str(e)) finally: self.stop() @@ -132,12 +180,95 @@ class SerialReaderThread(QThread): if self.serial_port.is_open: self.serial_port.close() except Exception: - pass + pass finally: self.serial_port = None + # ========================================== -# 4. 后台线程：GPS 动态模拟输出 (10Hz) +# 4. 后台线程：光泵磁力仪数据模拟输出 +# ========================================== + +def _encode_optic_frame(value_thousandths_nT: int) -> bytes: + """将 0.001 nT 为单位的整数编码为固件期望的 BCD 帧。 + + 帧格式: 0x5A + 10字节BCD（每字节低nibble为一位十进制数字，高位在前）+ 0xA5 + 固件仅读取前9位，第10位被丢弃。 + """ + value = max(0, min(999_999_999, value_thousandths_nT)) + # 提取10位十进制数字（高位在前） + digits = [(value // (10 ** (9 - i))) % 10 for i in range(10)] + bcd_bytes = bytes([d & 0x0F for d in digits]) + return bytes([0x5A]) + bcd_bytes + bytes([0xA5]) + + +class OpticMagSimulatorThread(QThread): + """以指定频率向串口发送模拟光泵磁力仪 BCD 帧。 + + 模拟量：基础值 + 慢漂移（正弦，周期60s，幅值±100 nT）+ 白噪声（±0.5 nT） + """ + error_occurred = pyqtSignal(str) + value_updated = pyqtSignal(float) # 当前模拟值 (nT)，用于UI显示 + + def __init__(self, port, baudrate, base_nT=50000.0, rate_hz=10): + super().__init__() + self.port = port + self.baudrate = baudrate + self.base_nT = base_nT + self.rate_hz = rate_hz + self.is_running = False + self.serial_port = None + + def run(self): + self.is_running = True + interval = 1.0 / self.rate_hz + t0 = time.perf_counter() + + try: + self.serial_port = serial.Serial(self.port, self.baudrate, timeout=1) + + while self.is_running: + t = time.perf_counter() - t0 + drift = 100.0 * np.sin(2 * np.pi * t / 60.0) + noise = np.random.uniform(-0.5, 0.5) + value_nT = self.base_nT + drift + noise + + value_thousandths = int(round(value_nT * 1000)) + frame = _encode_optic_frame(value_thousandths) + + if self.serial_port and self.serial_port.is_open: + self.serial_port.write(frame) + self.value_updated.emit(value_nT) + + next_tick = t0 + (t // interval + 1) * interval + sleep_time = next_tick - time.perf_counter() + if sleep_time > 0: + time.sleep(sleep_time) + + except Exception as e: + if self.is_running: + self.error_occurred.emit(str(e)) + finally: + self.stop() + + def stop(self): + self.is_running = False + if self.serial_port: + try: + self.serial_port.cancel_write() + except Exception: + pass + try: + if self.serial_port.is_open: + self.serial_port.close() + except Exception: + pass + finally: + self.serial_port = None + + +# ========================================== +# 5. 后台线程：GPS 动态模拟输出 (10Hz) # ========================================== class GPSSimulatorThread(QThread): error_occurred = pyqtSignal(str) @@ -159,51 +290,51 @@ class GPSSimulatorThread(QThread): self.is_running = True try: self.serial_port = serial.Serial(self.port, self.baudrate, timeout=1) - + current_lat = 39.9042 current_lon = 116.3972 - current_alt = 43.0 - + current_alt = 43.0 + lat_step = 0.00001 lon_step = 0.00001 - alt_step = 0.05 - + alt_step = 0.05 + while self.is_running: start_time = time.perf_counter() - + now = time.time() gm_time = time.gmtime(now) - ms = int((now % 1) * 1000) + ms = int((now % 1) * 1000) time_str = time.strftime("%H%M%S", gm_time) + f".{ms:03d}" date_str = time.strftime("%d%m%y", gm_time) - + current_lat += lat_step current_lon += lon_step current_alt += alt_step - + lat_deg = int(abs(current_lat)) lat_min = (abs(current_lat) - lat_deg) * 60 lat_str = f"{lat_deg:02d}{lat_min:07.4f}" lat_dir = "N" if current_lat >= 0 else "S" - + lon_deg = int(abs(current_lon)) lon_min = (abs(current_lon) - lon_deg) * 60 lon_str = f"{lon_deg:03d}{lon_min:07.4f}" lon_dir = "E" if current_lon >= 0 else "W" - - speed_knots = "19.4" - course_true = "45.0" - + + speed_knots = "19.4" + course_true = "45.0" + gga_core = f"GPGGA,{time_str},{lat_str},{lat_dir},{lon_str},{lon_dir},1,08,1.0,{current_alt:.1f},M,0.0,M,," rmc_core = f"GPRMC,{time_str},A,{lat_str},{lat_dir},{lon_str},{lon_dir},{speed_knots},{course_true},{date_str},0.0,E" - + gga_sentence = f"${gga_core}*{self.get_nmea_checksum(gga_core)}\r\n" rmc_sentence = f"${rmc_core}*{self.get_nmea_checksum(rmc_core)}\r\n" - + if self.serial_port and self.serial_port.is_open: self.serial_port.write(gga_sentence.encode('ascii')) self.serial_port.write(rmc_sentence.encode('ascii')) - + elapsed = time.perf_counter() - start_time sleep_time = 0.1 - elapsed if sleep_time > 0: @@ -226,94 +357,106 @@ class GPSSimulatorThread(QThread): if self.serial_port.is_open: self.serial_port.close() except Exception: - pass + pass finally: self.serial_port = None + # ========================================== # 5. 主窗口 # ========================================== class DataAnalyzerUI(QMainWindow): def __init__(self): super().__init__() - self.setWindowTitle("🚀 高性能数据分析工具 (含经纬度地图与海拔曲线)") + self.setWindowTitle("ATEM 数据分析工具") self.resize(1300, 900) - + self.df = pd.DataFrame() + self.df_optic = pd.DataFrame() self.live_data_list = [] + self.live_optic_list = [] self.is_live_mode = False self.curves = [] - + self.optic_curve = None + self.last_fps_time = 0 self.frame_count = 0 self.last_packet_count = 0 self.current_packet_count = 0 - + + self.view_offset = 0 + self.is_sim_running = False self.sim_thread = None + self.is_optic_sim_running = False + self.optic_sim_thread = None pg.setConfigOptions(antialias=False) self.init_ui() - + self.plot_timer = QTimer() self.plot_timer.timeout.connect(self.update_live_plot) - + def init_ui(self): main_widget = QWidget() self.setCentralWidget(main_widget) layout = QVBoxLayout(main_widget) - - # --- 第一排工具栏 --- + + # --- 第一排工具栏：格式与模式选择 --- top_bar1 = QHBoxLayout() - self.ver_group = QButtonGroup(self) - self.rb_v2 = QRadioButton("V2 (带GPS与海拔)") - self.rb_v2.setChecked(True) - self.ver_group.addButton(self.rb_v2) - + self.mode_group = QButtonGroup(self) self.rb_raw = QRadioButton("原始数据 (Raw)") self.rb_corr = QRadioButton("校正数据 (Corr)") self.rb_raw.setChecked(True) self.mode_group.addButton(self.rb_raw) self.mode_group.addButton(self.rb_corr) - - btn_load = QPushButton("📂 打开文件") + + # 格式选项：GPS经纬度 / 光泵 + self.chk_gps_pos = QCheckBox("含GPS经纬度 (lat/lon/alt)") + self.chk_gps_pos.setChecked(True) + self.chk_optic = QCheckBox("含光泵数据 (optical mag)") + self.chk_optic.setChecked(False) + self.chk_optic.stateChanged.connect(self._on_optic_toggled) + + btn_load = QPushButton("打开文件") btn_load.clicked.connect(self.load_file) - btn_export = QPushButton("💾 导出CSV") + btn_export = QPushButton("导出CSV") btn_export.clicked.connect(self.export_csv) - - self.chk_mouse_mode = QCheckBox("🔍 鼠标框选放大") + + self.chk_mouse_mode = QCheckBox("鼠标框选放大") self.chk_mouse_mode.stateChanged.connect(self.toggle_mouse_mode) - - btn_autoscale = QPushButton("⟲ 复位视图") + + btn_autoscale = QPushButton("复位视图") btn_autoscale.clicked.connect(self.reset_view) - top_bar1.addWidget(QLabel("版本:")) - top_bar1.addWidget(self.rb_v2) - top_bar1.addSpacing(15) top_bar1.addWidget(QLabel("模式:")) top_bar1.addWidget(self.rb_raw) top_bar1.addWidget(self.rb_corr) top_bar1.addSpacing(15) + top_bar1.addWidget(QLabel("格式:")) + top_bar1.addWidget(self.chk_gps_pos) + top_bar1.addWidget(self.chk_optic) + top_bar1.addSpacing(15) top_bar1.addWidget(btn_load) top_bar1.addWidget(btn_export) top_bar1.addStretch() - top_bar1.addWidget(self.chk_mouse_mode) + top_bar1.addWidget(self.chk_mouse_mode) top_bar1.addWidget(btn_autoscale) - - # --- 第二排工具栏 --- + + # --- 第二排工具栏：接收串口 --- top_bar2 = QHBoxLayout() self.cb_ports = QComboBox() self.cb_baudrate = QComboBox() self.cb_baudrate.addItems(["9600", "115200", "230400", "460800", "921600", "2000000"]) - self.cb_baudrate.setCurrentText("115200") - btn_refresh_ports = QPushButton("🔄 刷新端口") + self.cb_baudrate.setCurrentText("2000000") + btn_refresh_ports = QPushButton("刷新端口") btn_refresh_ports.clicked.connect(self.refresh_ports) - self.btn_toggle_serial = QPushButton("▶ 打开接收串口") + self.btn_toggle_serial = QPushButton("打开接收串口") self.btn_toggle_serial.setStyleSheet("background-color: #4CAF50; color: white; font-weight: bold;") self.btn_toggle_serial.clicked.connect(self.toggle_serial) - top_bar2.addWidget(QLabel("🔌 接收串口:")) + top_bar2.addWidget(QLabel("接收串口:")) top_bar2.addWidget(self.cb_ports) top_bar2.addWidget(btn_refresh_ports) top_bar2.addWidget(QLabel("波特率:")) @@ -321,109 +464,274 @@ class DataAnalyzerUI(QMainWindow): top_bar2.addWidget(self.btn_toggle_serial) top_bar2.addStretch() - # --- 第三排工具栏 (GPS 模拟器) --- + # --- 第三排工具栏：GPS 模拟器 --- top_bar3 = QHBoxLayout() self.cb_sim_ports = QComboBox() self.cb_sim_baudrate = QComboBox() self.cb_sim_baudrate.addItems(["9600", "115200", "230400", "460800", "921600"]) self.cb_sim_baudrate.setCurrentText("115200") - self.btn_toggle_sim = QPushButton("🛰 开启GPS动态模拟 (10Hz)") + self.btn_toggle_sim = QPushButton("开启GPS动态模拟 (10Hz)") self.btn_toggle_sim.setStyleSheet("background-color: #FF9800; color: white; font-weight: bold;") self.btn_toggle_sim.clicked.connect(self.toggle_gps_sim) - - top_bar3.addWidget(QLabel("📡 输出串口:")) + + top_bar3.addWidget(QLabel("输出串口:")) top_bar3.addWidget(self.cb_sim_ports) top_bar3.addWidget(QLabel("波特率:")) top_bar3.addWidget(self.cb_sim_baudrate) top_bar3.addWidget(self.btn_toggle_sim) top_bar3.addStretch() + # --- 第四排工具栏：光泵模拟器 --- + top_bar4 = QHBoxLayout() + self.cb_optic_ports = QComboBox() + self.cb_optic_baudrate = QComboBox() + self.cb_optic_baudrate.addItems(["9600", "115200", "230400", "460800", "921600"]) + self.cb_optic_baudrate.setCurrentText("115200") + + self.sb_optic_base = QComboBox() # 用ComboBox做快速基础值选择 + self.sb_optic_base.setEditable(True) + self.sb_optic_base.addItems(["50000", "55000", "60000", "65000"]) + self.sb_optic_base.setCurrentText("50000") + self.sb_optic_base.setFixedWidth(80) + + self.cb_optic_rate = QComboBox() + self.cb_optic_rate.addItems(["1", "5", "10", "20", "50"]) + self.cb_optic_rate.setCurrentText("10") + self.cb_optic_rate.setFixedWidth(55) + + self.btn_toggle_optic_sim = QPushButton("开启光泵模拟") + self.btn_toggle_optic_sim.setStyleSheet("background-color: #673AB7; color: white; font-weight: bold;") + self.btn_toggle_optic_sim.clicked.connect(self.toggle_optic_sim) + + self.lbl_optic_sim_val = QLabel("-- nT") + self.lbl_optic_sim_val.setStyleSheet("color: #673AB7; font-weight: bold; min-width: 120px;") + + top_bar4.addWidget(QLabel("光泵输出串口:")) + top_bar4.addWidget(self.cb_optic_ports) + top_bar4.addWidget(QLabel("波特率:")) + top_bar4.addWidget(self.cb_optic_baudrate) + top_bar4.addWidget(QLabel("基础值(nT):")) + top_bar4.addWidget(self.sb_optic_base) + top_bar4.addWidget(QLabel("频率(Hz):")) + top_bar4.addWidget(self.cb_optic_rate) + top_bar4.addWidget(self.btn_toggle_optic_sim) + top_bar4.addWidget(self.lbl_optic_sim_val) + top_bar4.addStretch() + layout.addLayout(top_bar1) layout.addLayout(top_bar2) layout.addLayout(top_bar3) + layout.addLayout(top_bar4) self.refresh_ports() - + # --- 监控栏 --- info_layout = QHBoxLayout() self.lbl_info = QLabel("请加载文件或打开串口接收数据...") self.lbl_info.setStyleSheet("color: blue; font-weight: bold;") - self.lbl_fps = QLabel("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒") - self.lbl_fps.setStyleSheet("color: #E91E63; font-weight: bold;") + self.lbl_fps = QLabel("绘图帧率: -- FPS | 接收率: -- 包/秒") + self.lbl_fps.setStyleSheet("color: #E91E63; font-weight: bold;") info_layout.addWidget(self.lbl_info) info_layout.addStretch() info_layout.addWidget(self.lbl_fps) layout.addLayout(info_layout) - + + # --- 视图窗口控制栏（仅文件模式有效）--- + view_bar = QHBoxLayout() + self.cb_page_size = QComboBox() + self.cb_page_size.addItems(["1000", "5000", "10000", "50000", "全部"]) + self.cb_page_size.setCurrentText("5000") + self.cb_page_size.setFixedWidth(75) + self.cb_page_size.currentTextChanged.connect(self._on_page_size_changed) + + self.btn_prev_page = QPushButton("◀ 上一页") + self.btn_prev_page.setFixedWidth(80) + self.btn_prev_page.clicked.connect(self._prev_page) + self.btn_next_page = QPushButton("下一页 ▶") + self.btn_next_page.setFixedWidth(80) + self.btn_next_page.clicked.connect(self._next_page) + + self.sld_view = QSlider(Qt.Orientation.Horizontal) + self.sld_view.setMinimum(0) + self.sld_view.setMaximum(0) + self.sld_view.setValue(0) + self.sld_view.valueChanged.connect(self._on_slider_changed) + + self.lbl_view_range = QLabel("无数据") + self.lbl_view_range.setMinimumWidth(220) + + view_bar.addWidget(QLabel("每页点数:")) + view_bar.addWidget(self.cb_page_size) + view_bar.addWidget(self.btn_prev_page) + view_bar.addWidget(self.sld_view) + view_bar.addWidget(self.btn_next_page) + view_bar.addWidget(self.lbl_view_range) + view_bar.addStretch() + layout.addLayout(view_bar) + # ========================================== - # 多标签内容区域设置 + # 多标签内容区域 # ========================================== self.tabs = QTabWidget() layout.addWidget(self.tabs) - - # [Tab 1] 主波形图 + + # [Tab 1] 主波形图（ADC / 校正值） self.plot_widget = pg.PlotWidget() self.plot_widget.setBackground('w') self.plot_widget.showGrid(x=True, y=True, alpha=0.3) self.plot_widget.addLegend() - self.plot_widget.setLabel('bottom', 'Data Points (Index)') # 更新了标签 + self.plot_widget.setLabel('bottom', 'Data Points (Index)') self.plot_widget.setLabel('left', 'Value') self.vb = self.plot_widget.plotItem.vb - self.tabs.addTab(self.plot_widget, "📈 波形图 (Plot)") - - # [Tab 2] GPS 轨迹与海拔视图 + self.tabs.addTab(self.plot_widget, "波形图 (Plot)") + + # [Tab 2] 光泵磁场（仅含光泵时有意义） + self.optic_plot_widget = pg.PlotWidget() + self.optic_plot_widget.setBackground('w') + self.optic_plot_widget.showGrid(x=True, y=True, alpha=0.3) + self.optic_plot_widget.addLegend() + self.optic_plot_widget.setLabel('bottom', 'Data Points (Index)') + self.optic_plot_widget.setLabel('left', 'Magnetic Field (nT)') + self.optic_curve = self.optic_plot_widget.plot( + pen=pg.mkPen(color='#9C27B0', width=1.5), name='光泵磁场 (nT)') + self.tabs.addTab(self.optic_plot_widget, "光泵磁场 (Optic Mag)") + + # [Tab 3] GPS 轨迹与海拔视图 traj_container = QWidget() traj_layout = QVBoxLayout(traj_container) traj_splitter = QSplitter(Qt.Orientation.Vertical) - - self.traj_plot = pg.PlotWidget(title="🗺️ 实时轨迹 (经度 vs 纬度)") + + self.traj_plot = pg.PlotWidget(title="实时轨迹 (经度 vs 纬度)") self.traj_plot.setBackground('w') self.traj_plot.showGrid(x=True, y=True, alpha=0.5) self.traj_plot.setLabel('bottom', 'Longitude (经度)') self.traj_plot.setLabel('left', 'Latitude (纬度)') self.traj_curve = self.traj_plot.plot(pen=pg.mkPen('b', width=2), symbol='o', symbolSize=3, symbolBrush='b') - - self.alt_plot = pg.PlotWidget(title="⛰️ 海拔高度 (Altitude)") + + self.alt_plot = pg.PlotWidget(title="海拔高度 (Altitude)") self.alt_plot.setBackground('w') self.alt_plot.showGrid(x=True, y=True, alpha=0.5) - self.alt_plot.setLabel('bottom', 'Data Points (Index)') # 更新了标签 + self.alt_plot.setLabel('bottom', 'Data Points (Index)') self.alt_plot.setLabel('left', 'Altitude (m)') self.alt_curve = self.alt_plot.plot(pen=pg.mkPen('g', width=2)) - + traj_splitter.addWidget(self.traj_plot) traj_splitter.addWidget(self.alt_plot) traj_layout.addWidget(traj_splitter) - self.tabs.addTab(traj_container, "🗺️ 轨迹与海拔 (Trajectory)") - - # [Tab 3] 数据表格 + self.tabs.addTab(traj_container, "轨迹与海拔 (Trajectory)") + + # [Tab 4] 数据表格 self.table_view = QTableView() self.table_view.setAlternatingRowColors(True) self.table_view.horizontalHeader().setSectionResizeMode(QHeaderView.ResizeMode.Interactive) - self.tabs.addTab(self.table_view, "🔢 数据表 (Table)") + self.tabs.addTab(self.table_view, "数据表 (Table)") + + self._update_optic_tab_visibility() + + def _on_optic_toggled(self): + self._update_optic_tab_visibility() + + def _update_optic_tab_visibility(self): + # Tab 1 是光泵标签页 + tab_idx = 1 + if self.chk_optic.isChecked(): + self.tabs.setTabEnabled(tab_idx, True) + self.tabs.setTabText(tab_idx, "光泵磁场 (Optic Mag)") + else: + self.tabs.setTabEnabled(tab_idx, False) + self.tabs.setTabText(tab_idx, "光泵磁场 (未启用)") + + def _format_info(self): + has_pos = self.chk_gps_pos.isChecked() + has_optic = self.chk_optic.isChecked() + mode = "Raw" if self.rb_raw.isChecked() else "Corr" + parts = [mode] + if has_pos: + parts.append("含GPS经纬度") + if has_optic: + parts.append("含光泵") + return " | ".join(parts) def get_current_dtype(self): - is_v2 = self.rb_v2.isChecked() - is_raw = self.rb_raw.isChecked() - if is_v2: - return RAW_DTYPE_V2 if is_raw else CORRECTED_DTYPE_V2 - return RAW_DTYPE_V1 if is_raw else CORRECTED_DTYPE_V1 + return make_dtype( + is_raw=self.rb_raw.isChecked(), + has_gps_pos=self.chk_gps_pos.isChecked(), + has_optic=self.chk_optic.isChecked() + ) + + def get_start_marker(self): + return MARKER_OPTIC if self.chk_optic.isChecked() else MARKER_STANDARD def get_column_config(self): - is_v2 = self.rb_v2.isChecked() is_raw = self.rb_raw.isChecked() - - # 这里移除了 timestamp - if is_raw: - base_cols = ['adc1', 'adc2', 'adc3'] - labels = ['ADC 1', 'ADC 2', 'ADC 3'] - data_cols = ['adc1', 'adc2', 'adc3'] - else: - base_cols = ['corr_x', 'corr_y', 'corr_z'] - labels = ['X Axis', 'Y Axis', 'Z Axis'] - data_cols = ['corr_x', 'corr_y', 'corr_z'] + has_gps_pos = self.chk_gps_pos.isChecked() + has_optic = self.chk_optic.isChecked() + + if is_raw: + data_cols = ['adc1', 'adc2', 'adc3'] + labels = ['ADC 1', 'ADC 2', 'ADC 3'] + else: + data_cols = ['corr_x', 'corr_y', 'corr_z'] + labels = ['X Axis', 'Y Axis', 'Z Axis'] + + cols = data_cols + ['gps_time'] + if has_gps_pos: + cols += ['gps_latitude', 'gps_longitude', 'gps_altitude'] + if has_optic: + cols.append('optical_mag') - cols = base_cols + ['gps_time', 'gps_latitude', 'gps_longitude', 'gps_altitude'] if is_v2 else base_cols + ['checksum'] return cols, data_cols, labels + def _get_page_size(self): + txt = self.cb_page_size.currentText() + if txt == "全部": + return len(self.df) if not self.df.empty else 0 + return int(txt) + + def _update_view_slider(self): + total = len(self.df) + page = self._get_page_size() + max_offset = max(0, total - page) + self.sld_view.blockSignals(True) + self.sld_view.setMaximum(max_offset) + self.sld_view.setSingleStep(max(1, page // 10)) + self.sld_view.setPageStep(page) + self.view_offset = min(self.view_offset, max_offset) + self.sld_view.setValue(self.view_offset) + self.sld_view.blockSignals(False) + self._update_view_label(total, page) + + def _update_view_label(self, total, page): + if total == 0: + self.lbl_view_range.setText("无数据") + return + start = self.view_offset + end = min(start + page, total) + self.lbl_view_range.setText(f"显示 {start} – {end} / 共 {total} 点") + + def _on_slider_changed(self, value): + self.view_offset = value + total = len(self.df) + page = self._get_page_size() + self._update_view_label(total, page) + if not self.df.empty and not self.is_live_mode: + _, data_cols, labels = self.get_column_config() + self.plot_static_data(data_cols, labels) + + def _on_page_size_changed(self): + self.view_offset = 0 + if not self.df.empty and not self.is_live_mode: + self._update_view_slider() + _, data_cols, labels = self.get_column_config() + self.plot_static_data(data_cols, labels) + + def _prev_page(self): + page = self._get_page_size() + self.sld_view.setValue(max(0, self.view_offset - page)) + + def _next_page(self): + page = self._get_page_size() + self.sld_view.setValue(min(self.sld_view.maximum(), self.view_offset + page)) + def load_file(self): if self.is_live_mode: QMessageBox.warning(self, "警告", "请先关闭串口后再加载文件。") @@ -431,17 +739,42 @@ class DataAnalyzerUI(QMainWindow): file_name, _ = QFileDialog.getOpenFileName(self, "选择文件", "", "Data (*.dat);;All (*)") if not file_name: return - + try: - dtype = self.get_current_dtype() - raw_data = np.fromfile(file_name, dtype=dtype) - if len(raw_data) == 0: return + is_raw = self.rb_raw.isChecked() + has_gps_pos = self.chk_gps_pos.isChecked() + has_optic = self.chk_optic.isChecked() + + raw_bytes = open(file_name, 'rb').read() + if len(raw_bytes) == 0: + QMessageBox.warning(self, "提示", "文件为空。") + return + + if has_optic: + # 混流解析：文件中可能同时存在标准包和光泵包 + self.df, self.df_optic = parse_mixed_stream(raw_bytes, is_raw, has_gps_pos) + else: + # 纯标准包，直接 frombuffer + dtype = make_dtype(is_raw, has_gps_pos, False) + arr = np.frombuffer(raw_bytes, dtype=dtype) + self.df = pd.DataFrame(arr) + self.df_optic = pd.DataFrame() + + if self.df.empty and self.df_optic.empty: + QMessageBox.warning(self, "提示", "未能解析到有效数据包，请检查格式选项。") + return - self.df = pd.DataFrame(raw_data) cols, data_cols, labels = self.get_column_config() - - self.lbl_info.setText(f"文件加载成功 | {len(self.df)} 行 | 版本: {'V2' if self.rb_v2.isChecked() else 'V1'}") - self.lbl_fps.setText("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒") + std_size = make_dtype(is_raw, has_gps_pos, False).itemsize + optic_size = make_dtype(is_raw, has_gps_pos, True).itemsize + self.lbl_info.setText( + f"文件加载成功 | 标准包: {len(self.df)} 行 ({std_size}B)" + + (f" | 光泵包: {len(self.df_optic)} 行 ({optic_size}B)" if has_optic else "") + + f" | 格式: {self._format_info()}" + ) + self.lbl_fps.setText("绘图帧率: -- FPS | 接收率: -- 包/秒") + self.view_offset = 0 + self._update_view_slider() self.refresh_table(cols) self.plot_static_data(data_cols, labels) @@ -449,43 +782,55 @@ class DataAnalyzerUI(QMainWindow): QMessageBox.critical(self, "解析错误", str(e)) def refresh_table(self, cols): - display_df = self.df[cols] if not self.df.empty else pd.DataFrame(columns=cols) + valid_cols = [c for c in cols if c in self.df.columns] + display_df = self.df[valid_cols] if not self.df.empty else pd.DataFrame(columns=valid_cols) self.model = BigDataModel(display_df) self.table_view.setModel(self.model) self.table_view.resizeColumnsToContents() def plot_static_data(self, data_cols, labels): - # 1. 主波形图静态渲染 + page = self._get_page_size() + start = self.view_offset + end = min(start + page, len(self.df)) if page > 0 else len(self.df) + df_view = self.df.iloc[start:end] + + # 1. 主波形图 self.plot_widget.clear() self.curves.clear() colors = ['#FF0000', '#00AA00', '#0000FF'] - - # 移除了 timestamp，改为使用数据点索引 - x_data = np.arange(len(self.df)) - + x_data = np.arange(start, start + len(df_view)) + for i, col in enumerate(data_cols): - y_data = self.df[col].values + y_data = df_view[col].values curve = pg.PlotCurveItem(x=x_data, y=y_data, pen=pg.mkPen(color=colors[i], width=1.5), name=labels[i], skipFiniteCheck=True, autoDownsample=True, clipToView=True) self.plot_widget.addItem(curve) - - self.plot_widget.setLabel('bottom', 'Data Points (Index)') - self.reset_view() - # 2. 轨迹和海拔静态渲染 - if self.rb_v2.isChecked() and 'gps_longitude' in self.df.columns: - lons = self.df['gps_longitude'].values - lats = self.df['gps_latitude'].values - alts = self.df['gps_altitude'].values if 'gps_altitude' in self.df.columns else np.zeros_like(lons) - - valid_idx = (lons != 0.0) & (lats != 0.0) - if np.any(valid_idx): - self.traj_curve.setData(lons[valid_idx], lats[valid_idx]) - else: - self.traj_curve.setData(lons, lats) - - self.alt_curve.setData(alts) + self.plot_widget.setLabel('bottom', 'Data Points (Index)') + self.plot_widget.autoRange() + + # 2. 光泵磁场图（按比例切片 df_optic） + if self.chk_optic.isChecked() and not self.df_optic.empty and 'optical_mag' in self.df_optic.columns: + total_std = max(len(self.df), 1) + total_optic = len(self.df_optic) + o_start = int(start * total_optic / total_std) + o_end = int(end * total_optic / total_std) + optic_nT = self.df_optic['optical_mag'].values[o_start:o_end] / 1000.0 + self.optic_curve.setData(x=np.arange(o_start, o_start + len(optic_nT)), y=optic_nT) + self.optic_plot_widget.autoRange() + else: + self.optic_curve.setData([], []) + + # 3. 轨迹（显示全部）和海拔（随窗口切片） + if self.chk_gps_pos.isChecked() and 'gps_longitude' in self.df.columns: + lons_all = self.df['gps_longitude'].values + lats_all = self.df['gps_latitude'].values + valid_idx = (lons_all != 0.0) & (lats_all != 0.0) + self.traj_curve.setData(lons_all[valid_idx], lats_all[valid_idx]) if np.any(valid_idx) else self.traj_curve.setData(lons_all, lats_all) self.traj_plot.autoRange() + + alts_view = df_view['gps_altitude'].values if 'gps_altitude' in df_view.columns else np.zeros(len(df_view)) + self.alt_curve.setData(x=x_data, y=alts_view) self.alt_plot.autoRange() else: self.traj_curve.setData([], []) @@ -494,11 +839,19 @@ class DataAnalyzerUI(QMainWindow): def refresh_ports(self): self.cb_ports.clear() self.cb_sim_ports.clear() + self.cb_optic_ports.clear() ports = serial.tools.list_ports.comports() for p in ports: port_name = f"{p.device} - {p.description}" self.cb_ports.addItem(port_name, p.device) self.cb_sim_ports.addItem(port_name, p.device) + self.cb_optic_ports.addItem(port_name, p.device) + + def _set_format_controls_enabled(self, enabled: bool): + self.rb_raw.setEnabled(enabled) + self.rb_corr.setEnabled(enabled) + self.chk_gps_pos.setEnabled(enabled) + self.chk_optic.setEnabled(enabled) def toggle_serial(self): if not self.is_live_mode: @@ -506,20 +859,27 @@ class DataAnalyzerUI(QMainWindow): if not port: QMessageBox.warning(self, "提示", "未找到有效串口") return - - baud = int(self.cb_baudrate.currentText()) - dtype = self.get_current_dtype() + + baud = int(self.cb_baudrate.currentText()) + is_raw = self.rb_raw.isChecked() + has_gps_pos = self.chk_gps_pos.isChecked() + has_optic = self.chk_optic.isChecked() + dtype_std = make_dtype(is_raw, has_gps_pos, False) + dtype_optic = make_dtype(is_raw, has_gps_pos, True) if has_optic else None self.df = pd.DataFrame() + self.df_optic = pd.DataFrame() self.live_data_list = [] - + self.live_optic_list = [] + self.plot_widget.clear() self.curves.clear() + self.optic_curve.setData([], []) self.traj_curve.setData([], []) self.alt_curve.setData([]) - + self.plot_widget.setLabel('bottom', 'Latest Points (Index)') - + colors = ['#FF0000', '#00AA00', '#0000FF'] _, _, labels = self.get_column_config() for i in range(len(labels)): @@ -531,67 +891,68 @@ class DataAnalyzerUI(QMainWindow): self.last_packet_count = 0 self.frame_count = 0 self.last_fps_time = time.perf_counter() - self.lbl_fps.setText("📈 绘图帧率: 计算中... | 📥 接收率: 计算中...") + self.lbl_fps.setText("绘图帧率: 计算中... | 接收率: 计算中...") - self.serial_thread = SerialReaderThread(port, baud, dtype) + self.serial_thread = SerialReaderThread(port, baud, dtype_std, dtype_optic) self.serial_thread.data_received.connect(self.on_live_data_received) + self.serial_thread.optic_received.connect(self.on_live_optic_received) self.serial_thread.error_occurred.connect(self.on_serial_error) self.serial_thread.start() - self.plot_timer.start(50) + self.plot_timer.start(50) self.is_live_mode = True - self.btn_toggle_serial.setText("⏹ 关闭串口停止接收") + self.btn_toggle_serial.setText("关闭串口停止接收") self.btn_toggle_serial.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;") - - self.rb_v2.setEnabled(False) - self.rb_raw.setEnabled(False) - self.rb_corr.setEnabled(False) - + self._set_format_controls_enabled(False) + else: self.serial_thread.stop() self.serial_thread.wait() self.plot_timer.stop() - + self.is_live_mode = False - self.btn_toggle_serial.setText("▶ 打开接收串口") + self.btn_toggle_serial.setText("打开接收串口") self.btn_toggle_serial.setStyleSheet("background-color: #4CAF50; color: white; font-weight: bold;") - self.lbl_fps.setText("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒") - - self.rb_v2.setEnabled(True) - self.rb_raw.setEnabled(True) - self.rb_corr.setEnabled(True) - + self.lbl_fps.setText("绘图帧率: -- FPS | 接收率: -- 包/秒") + self._set_format_controls_enabled(True) + if self.live_data_list: - full_array = np.concatenate(self.live_data_list) - self.df = pd.DataFrame(full_array) - cols, _, _ = self.get_column_config() - self.refresh_table(cols) - self.lbl_info.setText(f"串口采集完毕。总计收集 {len(self.df)} 行数据。") + self.df = pd.DataFrame(np.concatenate(self.live_data_list)) + if self.live_optic_list: + self.df_optic = pd.DataFrame(np.concatenate(self.live_optic_list)) + cols, _, _ = self.get_column_config() + self.refresh_table(cols) + self.lbl_info.setText( + f"串口采集完毕。标准包: {len(self.df)} 行" + + (f" | 光泵包: {len(self.df_optic)} 行" if not self.df_optic.empty else "") + ) def on_live_data_received(self, data_array): self.live_data_list.append(data_array) self.current_packet_count += len(data_array) - self.lbl_info.setText(f"🟢 正在接收数据... 已接收: {self.current_packet_count} 帧") + self.lbl_info.setText(f"正在接收数据... 标准包: {self.current_packet_count} 帧 | 格式: {self._format_info()}") + + def on_live_optic_received(self, data_array): + self.live_optic_list.append(data_array) def update_live_plot(self): self.frame_count += 1 current_time = time.perf_counter() elapsed = current_time - self.last_fps_time - + if elapsed >= 1.0: fps = self.frame_count / elapsed pps = (self.current_packet_count - self.last_packet_count) / elapsed - self.lbl_fps.setText(f"📈 绘图帧率: {fps:.1f} FPS | 📥 接收率: {pps:.0f} 包/秒") - + self.lbl_fps.setText(f"绘图帧率: {fps:.1f} FPS | 接收率: {pps:.0f} 包/秒") self.last_fps_time = current_time self.frame_count = 0 self.last_packet_count = self.current_packet_count if not self.live_data_list: return - - MAX_POINTS = 5000 + + MAX_POINTS = 5000 recent_chunks = [] point_count = 0 for arr in reversed(self.live_data_list): @@ -599,33 +960,35 @@ class DataAnalyzerUI(QMainWindow): point_count += len(arr) if point_count >= MAX_POINTS: break - + recent_data = np.concatenate(recent_chunks[::-1]) if len(recent_data) > MAX_POINTS: recent_data = recent_data[-MAX_POINTS:] - # 1. 更新主波形图 (自动以接收点索引作为 X 轴) + # 主波形图 _, data_cols, _ = self.get_column_config() for i, col in enumerate(data_cols): - y_data = recent_data[col]# / 429496729.0 - self.curves[i].setData(y_data) + self.curves[i].setData(recent_data[col]) - # 2. 更新轨迹和海拔 - if self.rb_v2.isChecked() and 'gps_longitude' in recent_data.dtype.names: + # 光泵磁场（实时，来自独立的 live_optic_list） + if self.chk_optic.isChecked() and self.live_optic_list: + MAX_OPTIC = 500 + recent_optic = np.concatenate( + list(reversed(self.live_optic_list))[:10][::-1])[-MAX_OPTIC:] + self.optic_curve.setData(recent_optic['optical_mag'] / 1000.0) + + # 轨迹和海拔（实时） + if self.chk_gps_pos.isChecked() and 'gps_longitude' in recent_data.dtype.names: lons = recent_data['gps_longitude'] lats = recent_data['gps_latitude'] alts = recent_data['gps_altitude'] if 'gps_altitude' in recent_data.dtype.names else np.zeros_like(lons) - + valid_idx = (lons != 0.0) & (lats != 0.0) - if np.any(valid_idx): - self.traj_curve.setData(lons[valid_idx], lats[valid_idx]) - else: - self.traj_curve.setData(lons, lats) - + self.traj_curve.setData(lons[valid_idx], lats[valid_idx]) if np.any(valid_idx) else self.traj_curve.setData(lons, lats) self.alt_curve.setData(alts) def on_serial_error(self, err_msg): - self.toggle_serial() + self.toggle_serial() QMessageBox.critical(self, "接收串口错误", f"发生错误：\n{err_msg}") def toggle_gps_sim(self): @@ -634,33 +997,75 @@ class DataAnalyzerUI(QMainWindow): if not port: QMessageBox.warning(self, "提示", "未找到有效的输出串口") return - + if self.is_live_mode and port == self.cb_ports.currentData(): - reply = QMessageBox.question(self, "警告", + reply = QMessageBox.question(self, "警告", "模拟输出端口与当前接收端口相同，可能会导致端口冲突。确定要继续吗？", QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No) if reply == QMessageBox.StandardButton.No: return - + baud = int(self.cb_sim_baudrate.currentText()) self.sim_thread = GPSSimulatorThread(port, baud) self.sim_thread.error_occurred.connect(self.on_sim_error) self.sim_thread.start() - + self.is_sim_running = True - self.btn_toggle_sim.setText("⏹ 关闭GPS动态模拟") + self.btn_toggle_sim.setText("关闭GPS动态模拟") self.btn_toggle_sim.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;") else: self.sim_thread.stop() self.sim_thread.wait() - + self.is_sim_running = False - self.btn_toggle_sim.setText("🛰 开启GPS动态模拟 (10Hz)") + self.btn_toggle_sim.setText("开启GPS动态模拟 (10Hz)") self.btn_toggle_sim.setStyleSheet("background-color: #FF9800; color: white; font-weight: bold;") def on_sim_error(self, err_msg): - self.toggle_gps_sim() + self.toggle_gps_sim() QMessageBox.critical(self, "输出串口错误", f"模拟器串口发生错误：\n{err_msg}") + def toggle_optic_sim(self): + if not self.is_optic_sim_running: + port = self.cb_optic_ports.currentData() + if not port: + QMessageBox.warning(self, "提示", "未找到有效的光泵输出串口") + return + + try: + base_nT = float(self.sb_optic_base.currentText()) + except ValueError: + QMessageBox.warning(self, "提示", "基础值请输入有效数字（单位 nT）") + return + + rate_hz = int(self.cb_optic_rate.currentText()) + baud = int(self.cb_optic_baudrate.currentText()) + + self.optic_sim_thread = OpticMagSimulatorThread(port, baud, base_nT, rate_hz) + self.optic_sim_thread.error_occurred.connect(self.on_optic_sim_error) + self.optic_sim_thread.value_updated.connect( + lambda v: self.lbl_optic_sim_val.setText(f"{v:.3f} nT")) + self.optic_sim_thread.start() + + self.is_optic_sim_running = True + self.btn_toggle_optic_sim.setText("关闭光泵模拟") + self.btn_toggle_optic_sim.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;") + self.sb_optic_base.setEnabled(False) + self.cb_optic_rate.setEnabled(False) + else: + self.optic_sim_thread.stop() + self.optic_sim_thread.wait() + + self.is_optic_sim_running = False + self.btn_toggle_optic_sim.setText("开启光泵模拟") + self.btn_toggle_optic_sim.setStyleSheet("background-color: #673AB7; color: white; font-weight: bold;") + self.lbl_optic_sim_val.setText("-- nT") + self.sb_optic_base.setEnabled(True) + self.cb_optic_rate.setEnabled(True) + + def on_optic_sim_error(self, err_msg): + self.toggle_optic_sim() + QMessageBox.critical(self, "光泵串口错误", f"光泵模拟器串口发生错误：\n{err_msg}") + def toggle_mouse_mode(self, state): mode = self.vb.RectMode if state == 2 else self.vb.PanMode self.vb.setMouseMode(mode) @@ -669,6 +1074,7 @@ class DataAnalyzerUI(QMainWindow): def reset_view(self): self.plot_widget.autoRange() + self.optic_plot_widget.autoRange() self.traj_plot.autoRange() self.alt_plot.autoRange() @@ -676,11 +1082,14 @@ class DataAnalyzerUI(QMainWindow): if self.df.empty: return path, _ = QFileDialog.getSaveFileName(self, "保存", "export.csv", "CSV (*.csv)") if path: - self.df.to_csv(path, index=False) + cols, _, _ = self.get_column_config() + valid_cols = [c for c in cols if c in self.df.columns] + self.df[valid_cols].to_csv(path, index=False) QMessageBox.information(self, "完成", "导出成功") + if __name__ == "__main__": app = QApplication(sys.argv) w = DataAnalyzerUI() w.show() - sys.exit(app.exec()) \ No newline at end of file + sys.exit(app.exec()) diff --git a/Scripts/磁通门_光泵_ 示例数据.dat b/Scripts/磁通门_光泵_ 示例数据.dat new file mode 100644 index 0000000..1aa7819 Binary files /dev/null and b/Scripts/磁通门_光泵_ 示例数据.dat differ diff --git a/User/app_config.h b/User/app_config.h index 3d5b502..8b0d5d6 100644 --- a/User/app_config.h +++ b/User/app_config.h @@ -26,7 +26,7 @@ // RS485 串口输出开关 // 1 = 每帧 ADC 数据通过 USART1 以 2Mbps 发送 // 0 = 禁用串口输出，降低功耗和 CPU 占用 -#define CFG_UART_OUTPUT_ENABLED 1 +#define CFG_UART_OUTPUT_ENABLED 0 // SD 卡数据存储开关 // 1 = 每帧数据写入 SD 卡 DATA/SESSION_xxx/ 目录下的文件 diff --git a/User/data_storage.c b/User/data_storage.c index bb281a7..780588e 100644 --- a/User/data_storage.c +++ b/User/data_storage.c @@ -1,6 +1,5 @@ #include "data_storage.h" #include "system_monitor.h" -#include "config_manager.h" #include #include #include @@ -31,14 +30,16 @@ HAL_StatusTypeDef DataStorage_Init(DataStorageHandle_t *handle) handle->flush_buffer = 1; handle->flush_in_progress = 0; - // 创建新的会话文件夹（每次上电创建新文件夹） - if (DataStorage_CreateSessionFolder(handle) != HAL_OK) { - return HAL_ERROR; - } - + // 读取Flash计数器，计算本次会话起始值并立即写回 + // 策略：上电读取存储值+1000作为本次起始，立即写入，防止异常断电重复使用同一区间 + uint32_t flash_base = 0; + FlashCounter_Init(&flash_base); + handle->file_counter = flash_base + 1000; + FlashCounter_Write(handle->file_counter); + handle->stats.state = DATA_STORAGE_IDLE; handle->initialized = 1; - + return HAL_OK; } @@ -212,26 +213,49 @@ HAL_StatusTypeDef DataStorage_CreateNewFile(DataStorageHandle_t *handle) if (handle == NULL || !handle->initialized) { return HAL_ERROR; } - - // 生成文件名 (基于时间戳)，文件存储在当前会话文件夹中 - uint32_t timestamp = HAL_GetTick(); - snprintf(handle->stats.current_filename, sizeof(handle->stats.current_filename), - "%s%s%08lX.dat", handle->current_session_path, DATA_STORAGE_FILE_PREFIX, timestamp); - - // 创建并打开文件 + + GPS_Data_t gps; + GPS_GetData(&gps); + + if (gps.data_valid) { + // GPS有效：用 HHMMSS 命名，同秒冲突时追加 _1 _2 ... + char base[DATA_STORAGE_MAX_PATH_LEN]; + snprintf(base, sizeof(base), "%s/%02u%02u%02u", + handle->current_session_path, + gps.time.hour, gps.time.minute, gps.time.second); + + FILINFO fno; + snprintf(handle->stats.current_filename, + sizeof(handle->stats.current_filename), "%s.dat", base); + + if (f_stat(handle->stats.current_filename, &fno) == FR_OK) { + for (int i = 1; i <= 99; i++) { + snprintf(handle->stats.current_filename, + sizeof(handle->stats.current_filename), + "%s_%d.dat", base, i); + if (f_stat(handle->stats.current_filename, &fno) != FR_OK) break; + } + } + } else { + // 无GPS：用Flash计数器命名 C0001000.dat + snprintf(handle->stats.current_filename, + sizeof(handle->stats.current_filename), + "%s/C%08lu.dat", + handle->current_session_path, handle->file_counter++); + } + FRESULT res = f_open(&handle->file, handle->stats.current_filename, FA_CREATE_ALWAYS | FA_WRITE); - if (res != FR_OK) { handle->stats.error_count++; - SystemMonitor_ReportSDWriteError(); // 报告文件创建错误 + SystemMonitor_ReportSDWriteError(); return HAL_ERROR; } - + handle->stats.file_count++; handle->stats.current_file_size = 0; - SystemMonitor_ReportSDFileCreated(); // 报告文件创建成功 - + SystemMonitor_ReportSDFileCreated(); + return HAL_OK; } @@ -264,7 +288,13 @@ HAL_StatusTypeDef DataStorage_StartRecording(DataStorageHandle_t *handle) if (handle->stats.state == DATA_STORAGE_RECORDING) { return HAL_OK; // 已经在记录中 } - + + // 每次开始录制时确定会话目录（此时GPS可能已定位） + if (DataStorage_CreateSessionFolder(handle) != HAL_OK) { + handle->stats.state = DATA_STORAGE_ERROR; + return HAL_ERROR; + } + // 创建新文件 if (DataStorage_CreateNewFile(handle) != HAL_OK) { handle->stats.state = DATA_STORAGE_ERROR; @@ -451,109 +481,33 @@ HAL_StatusTypeDef DataStorage_CreateSessionFolder(DataStorageHandle_t *handle) if (handle == NULL) { return HAL_ERROR; } - - // 从配置管理器获取并递增会话序号 - uint32_t session_number = Config_IncrementSessionNumber(); - - // 生成会话文件夹名（基于序号） - snprintf(handle->current_session_path, sizeof(handle->current_session_path), - "%s/%s%06lu", DATA_STORAGE_BASE_PATH, DATA_STORAGE_FOLDER_PREFIX, session_number); - - // 创建基础数据目录（如果不存在） + + // 创建基础数据目录 FRESULT res = f_mkdir(DATA_STORAGE_BASE_PATH); if (res != FR_OK && res != FR_EXIST) { return HAL_ERROR; } - - // 创建会话文件夹 + + GPS_Data_t gps; + GPS_GetData(&gps); + + if (gps.date_valid) { + // GPS日期有效：目录格式 0:/DATA/YYYYMMDD + snprintf(handle->current_session_path, sizeof(handle->current_session_path), + "%s/%04u%02u%02u", + DATA_STORAGE_BASE_PATH, + gps.date.year, gps.date.month, gps.date.day); + } else { + // 无GPS日期：统一放入 NOFX 目录 + snprintf(handle->current_session_path, sizeof(handle->current_session_path), + "%s", DATA_STORAGE_NOFX_DIR); + } + res = f_mkdir(handle->current_session_path); if (res != FR_OK && res != FR_EXIST) { return HAL_ERROR; } - - // 保存更新后的配置（包含新的会话序号） - if (Config_Save() != HAL_OK) { - // 即使保存失败，也继续使用该文件夹 - // 这不是致命错误 - } - + return HAL_OK; } -/** - * @brief 从文件加载会话序号 - * @param session_number: 用于存储序号的指针 - * @retval HAL_StatusTypeDef - */ -HAL_StatusTypeDef DataStorage_LoadSessionNumber(uint32_t *session_number) -{ - if (session_number == NULL) { - return HAL_ERROR; - } - - FIL file; - FRESULT res; - UINT bytes_read; - char buffer[16]; - - // 打开PARAM.TXT文件 - res = f_open(&file, DATA_STORAGE_PARAM_FILE, FA_READ); - if (res != FR_OK) { - // 文件不存在，返回初始序号0 - *session_number = 0; - return HAL_OK; - } - - // 读取序号 - res = f_read(&file, buffer, sizeof(buffer) - 1, &bytes_read); - if (res != FR_OK) { - f_close(&file); - *session_number = 0; - return HAL_OK; - } - - // 添加字符串结束符 - buffer[bytes_read] = '\0'; - - // 关闭文件 - f_close(&file); - - // 转换为数字 - *session_number = (uint32_t)atoi(buffer); - - return HAL_OK; -} - -/** - * @brief 保存会话序号到文件 - * @param session_number: 要保存的序号 - * @retval HAL_StatusTypeDef - */ -HAL_StatusTypeDef DataStorage_SaveSessionNumber(uint32_t session_number) -{ - FIL file; - FRESULT res; - UINT bytes_written; - char buffer[16]; - - // 创建或覆盖PARAM.TXT文件 - res = f_open(&file, DATA_STORAGE_PARAM_FILE, FA_CREATE_ALWAYS | FA_WRITE); - if (res != FR_OK) { - return HAL_ERROR; - } - - // 将序号转换为字符串 - snprintf(buffer, sizeof(buffer), "%lu", session_number); - - // 写入序号 - res = f_write(&file, buffer, strlen(buffer), &bytes_written); - if (res != FR_OK || bytes_written != strlen(buffer)) { - f_close(&file); - return HAL_ERROR; - } - - // 关闭文件 - f_close(&file); - - return HAL_OK; -} diff --git a/User/data_storage.h b/User/data_storage.h index f1b723a..b6ff86e 100644 --- a/User/data_storage.h +++ b/User/data_storage.h @@ -7,15 +7,15 @@ #include "ff.h" #include "data_packet.h" #include "correction.h" +#include "flash_counter.h" +#include "gps_driver.h" #include // 数据存储配置（数值由 app_config.h 中 CFG_* 统一管理） #define DATA_STORAGE_BUFFER_SIZE CFG_STORAGE_BUFFER_SIZE #define DATA_STORAGE_FILE_MAX_SIZE CFG_STORAGE_FILE_MAX_SIZE #define DATA_STORAGE_BASE_PATH "0:/DATA" // 数据存储基础路径 -#define DATA_STORAGE_FILE_PREFIX "/ADC_DATA_" // 文件名前缀 -#define DATA_STORAGE_FOLDER_PREFIX "SESSION_" // 文件夹名前缀 -#define DATA_STORAGE_PARAM_FILE "0:/PARAM.TXT" // 记录会话序号的文件 +#define DATA_STORAGE_NOFX_DIR "0:/DATA/NOFX" // 无GPS定位时的目录 #define DATA_STORAGE_MAX_PATH_LEN 128 // 最大路径长度 // 缓冲区状态 @@ -61,6 +61,7 @@ typedef struct { uint8_t initialized; uint8_t flush_in_progress; // 刷新进行中标志 char current_session_path[DATA_STORAGE_MAX_PATH_LEN]; // 当前会话文件夹路径 + uint32_t file_counter; // NOFX模式下的文件序号（从Flash读取后+1000） } DataStorageHandle_t; // 函数声明 @@ -76,10 +77,6 @@ HAL_StatusTypeDef DataStorage_CreateNewFile(DataStorageHandle_t *handle); // 文件夹管理函数 HAL_StatusTypeDef DataStorage_CreateSessionFolder(DataStorageHandle_t *handle); -// 序号管理函数 -HAL_StatusTypeDef DataStorage_LoadSessionNumber(uint32_t *session_number); -HAL_StatusTypeDef DataStorage_SaveSessionNumber(uint32_t session_number); - // 双缓冲区管理函数 HAL_StatusTypeDef DataStorage_SwitchBuffer(DataStorageHandle_t *handle); HAL_StatusTypeDef DataStorage_FlushBuffer(DataStorageHandle_t *handle, uint8_t buffer_index); diff --git a/User/flash_counter.c b/User/flash_counter.c new file mode 100644 index 0000000..a7c20d9 --- /dev/null +++ b/User/flash_counter.c @@ -0,0 +1,59 @@ +#include "flash_counter.h" + +typedef struct __attribute__((packed)) { + uint32_t magic; + uint32_t counter; + uint32_t checksum; // magic ^ counter，用于检测 Flash 损坏 +} FlashCounterData_t; + +HAL_StatusTypeDef FlashCounter_Init(uint32_t *counter) +{ + const FlashCounterData_t *p = (const FlashCounterData_t *)FLASH_COUNTER_ADDR; + + if (p->magic == FLASH_COUNTER_MAGIC && + (p->magic ^ p->counter) == p->checksum) { + *counter = p->counter; + } else { + // 未初始化或校验失败，视为 0 + *counter = 0; + } + return HAL_OK; +} + +HAL_StatusTypeDef FlashCounter_Write(uint32_t counter) +{ + FLASH_EraseInitTypeDef erase = { + .TypeErase = FLASH_TYPEERASE_SECTORS, + .Sector = FLASH_COUNTER_SECTOR, + .NbSectors = 1, + .VoltageRange = FLASH_VOLTAGE_RANGE_3, // 2.7 ~ 3.6 V + }; + uint32_t sector_error = 0; + + HAL_FLASH_Unlock(); + + if (HAL_FLASHEx_Erase(&erase, §or_error) != HAL_OK) { + HAL_FLASH_Lock(); + return HAL_ERROR; + } + + FlashCounterData_t data = { + .magic = FLASH_COUNTER_MAGIC, + .counter = counter, + .checksum = FLASH_COUNTER_MAGIC ^ counter, + }; + + uint32_t addr = FLASH_COUNTER_ADDR; + uint32_t *word = (uint32_t *)&data; + + for (uint8_t i = 0; i < sizeof(FlashCounterData_t) / 4; i++) { + if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, addr, word[i]) != HAL_OK) { + HAL_FLASH_Lock(); + return HAL_ERROR; + } + addr += 4; + } + + HAL_FLASH_Lock(); + return HAL_OK; +} diff --git a/User/flash_counter.h b/User/flash_counter.h new file mode 100644 index 0000000..61ca6a7 --- /dev/null +++ b/User/flash_counter.h @@ -0,0 +1,20 @@ +#ifndef FLASH_COUNTER_H +#define FLASH_COUNTER_H + +#include "main.h" +#include + +// STM32F405 1MB Flash 最后一个扇区（Sector 11, 128KB） +// 地址范围 0x080E0000 ~ 0x080FFFFF +// 确保链接脚本 FLASH ORIGIN+LENGTH 不超过 0x080E0000 +#define FLASH_COUNTER_SECTOR FLASH_SECTOR_11 +#define FLASH_COUNTER_ADDR 0x080E0000UL +#define FLASH_COUNTER_MAGIC 0x5A5A1234UL + +// 从 Flash 读取计数器。首次使用（未写入）时 *counter = 0，返回 HAL_OK +HAL_StatusTypeDef FlashCounter_Init(uint32_t *counter); + +// 将新计数器值擦除写入 Flash（约 1~2 ms） +HAL_StatusTypeDef FlashCounter_Write(uint32_t counter); + +#endif // FLASH_COUNTER_H diff --git a/User/gps_driver.c b/User/gps_driver.c index a6eb5ff..0754d89 100644 --- a/User/gps_driver.c +++ b/User/gps_driver.c @@ -26,6 +26,7 @@ static GPS_Data_t gps_data; // GPS数据 /* Private function prototypes -----------------------------------------------*/ static void GPS_ParseNMEA(char *nmea); static void GPS_ParseGPGGA(char *nmea); +static void GPS_ParseGPRMC(char *nmea); static double GPS_ConvertToDecimal(const char *coord, char direction); /* Exported functions --------------------------------------------------------*/ @@ -147,6 +148,23 @@ void GPS_GetPositionString(char *buffer, uint16_t size) } } +/** + * @brief 获取GPS日期字符串（格式 YYYYMMDD） + */ +void GPS_GetDateString(char *buffer, uint16_t size) +{ + if (buffer == NULL || size == 0) return; + + if (gps_data.date_valid) { + snprintf(buffer, size, "%04u%02u%02u", + gps_data.date.year, + gps_data.date.month, + gps_data.date.day); + } else { + buffer[0] = '\0'; + } +} + /** * @brief UART接收完成回调函数 * @param huart: UART句柄 @@ -209,11 +227,11 @@ static void GPS_ParseNMEA(char *nmea) return; } - // 检查是否为GPGGA或GNGGA语句 if (strncmp(nmea, "$GPGGA", 6) == 0 || strncmp(nmea, "$GNGGA", 6) == 0) { GPS_ParseGPGGA(nmea); + } else if (strncmp(nmea, "$GPRMC", 6) == 0 || strncmp(nmea, "$GNRMC", 6) == 0) { + GPS_ParseGPRMC(nmea); } - // 可以添加其他NMEA语句的解析，如GPRMC等 } /** @@ -347,12 +365,56 @@ static void GPS_ParseGPGGA(char *nmea) } } +/** + * @brief 解析 GPRMC / GNRMC 语句，提取日期字段 + * + * GPRMC 格式: + * $GPRMC,HHMMSS.ss,A,lat,N,lon,E,speed,course,DDMMYY,mv,mvE*CS + * field 0: $GPRMC + * field 1: 时间 HHMMSS.ss + * field 2: 状态 A=有效 V=无效 + * field 9: 日期 DDMMYY ← 目标字段 + */ +static void GPS_ParseGPRMC(char *nmea) +{ + char *token; + char *saveptr; + int field_index = 0; + uint8_t status_valid = 0; + + token = strtok_r(nmea, ",", &saveptr); + while (token != NULL) { + switch (field_index) { + case 2: // 状态 + status_valid = (token[0] == 'A') ? 1 : 0; + break; + + case 9: // 日期 DDMMYY + if (status_valid && strlen(token) >= 6) { + char dd[3] = {token[0], token[1], '\0'}; + char mm[3] = {token[2], token[3], '\0'}; + char yy[3] = {token[4], token[5], '\0'}; + gps_data.date.day = (uint8_t)atoi(dd); + gps_data.date.month = (uint8_t)atoi(mm); + gps_data.date.year = 2000u + (uint16_t)atoi(yy); + gps_data.date_valid = 1; + } + break; + + default: + break; + } + token = strtok_r(NULL, ",", &saveptr); + field_index++; + } +} + /** * @brief 将GPS坐标格式转换为十进制度 * @param coord: GPS坐标字符串 (ddmm.mmmm 或 dddmm.mmmm) * @param direction: 方向字符 (N/S/E/W) * @retval 十进制度数 - * + * * 示例: * 输入: "4807.038", 'N' * 输出: 48.1173 (度) diff --git a/User/gps_driver.h b/User/gps_driver.h index d5cb01b..75cee4c 100644 --- a/User/gps_driver.h +++ b/User/gps_driver.h @@ -54,6 +54,15 @@ typedef struct { uint16_t millisec; // 毫秒 } GPS_Time_t; +/** + * @brief GPS日期结构体（来自 GPRMC/GNRMC） + */ +typedef struct { + uint8_t day; // 日 (1~31) + uint8_t month; // 月 (1~12) + uint16_t year; // 年 (完整年份，如 2025) +} GPS_Date_t; + /** * @brief GPS位置结构体 */ @@ -72,9 +81,11 @@ typedef struct { * @brief GPS数据结构体 */ typedef struct { - GPS_Time_t time; // GPS时间 + GPS_Time_t time; // GPS时间（来自GPGGA） + GPS_Date_t date; // GPS日期（来自GPRMC） GPS_Position_t position; // GPS位置 - uint8_t data_valid; // 数据有效标志 (1=有效, 0=无效) + uint8_t data_valid; // 时间与位置有效（GPGGA fix > 0） + uint8_t date_valid; // 日期有效（GPRMC 已收到且 status='A'） uint32_t last_update_tick; // 最后更新时间戳 } GPS_Data_t; @@ -143,6 +154,14 @@ void GPS_UART_RxCpltCallback(UART_HandleTypeDef *huart); */ void GPS_UART_IdleCallback(UART_HandleTypeDef *huart); +/** + * @brief 获取GPS日期字符串（格式 YYYYMMDD，无定位时返回空字符串） + * @param buffer: 输出缓冲区（至少9字节） + * @param size: 缓冲区大小 + * @retval None + */ +void GPS_GetDateString(char *buffer, uint16_t size); + #ifdef __cplusplus } #endif diff --git a/User/ltc2508_driver.c b/User/ltc2508_driver.c index 8ffe978..93cc24e 100644 --- a/User/ltc2508_driver.c +++ b/User/ltc2508_driver.c @@ -91,30 +91,33 @@ LTC2508_StatusTypeDef LTC2508_TriggerDmaRead(void) current_buffer->dma_complete_count = 0; current_buffer->timestamp = HAL_GetTick(); - // SPI2 和 SPI3 作为从机只接收 + // SPI2 和 SPI3 作为从机只接收；必须在 SPI1（主机）启动时钟前挂好 DMA，否则从机会丢失前几个时钟 if (HAL_SPI_Receive_DMA(g_hspi2, (uint8_t*)current_buffer->data[1], LTC2508_DATA_LEN) != HAL_OK) { current_buffer->state = LTC2508_BUFFER_EMPTY; g_ltc2508_stats.dma_error_count++; g_ltc2508_stats.error_count++; g_ltc2508_stats.last_error = LTC2508_ERROR_DMA; -// return LTC2508_ERROR_DMA; + return LTC2508_ERROR_DMA; } if (HAL_SPI_Receive_DMA(g_hspi3, (uint8_t*)current_buffer->data[2], LTC2508_DATA_LEN) != HAL_OK) { current_buffer->state = LTC2508_BUFFER_EMPTY; + HAL_SPI_DMAStop(g_hspi2); g_ltc2508_stats.dma_error_count++; g_ltc2508_stats.error_count++; g_ltc2508_stats.last_error = LTC2508_ERROR_DMA; -// return LTC2508_ERROR_DMA; + return LTC2508_ERROR_DMA; } - // SPI1 作为主机收发，先发一个 dummy 数据触发时钟 - uint16_t dummy_tx[LTC2508_DATA_LEN] = {0}; // 可以是任意值 - if (HAL_SPI_TransmitReceive_DMA(g_hspi1, (uint8_t*)dummy_tx, (uint8_t*)current_buffer->data[0], LTC2508_DATA_LEN) != HAL_OK) + // static：DMA 传输异步完成，必须保证缓冲区生命周期覆盖整个传输过程 + static uint16_t s_dummy_tx[LTC2508_DATA_LEN] = {0}; + if (HAL_SPI_TransmitReceive_DMA(g_hspi1, (uint8_t*)s_dummy_tx, (uint8_t*)current_buffer->data[0], LTC2508_DATA_LEN) != HAL_OK) { current_buffer->state = LTC2508_BUFFER_EMPTY; + HAL_SPI_DMAStop(g_hspi2); + HAL_SPI_DMAStop(g_hspi3); g_ltc2508_stats.dma_error_count++; g_ltc2508_stats.error_count++; g_ltc2508_stats.last_error = LTC2508_ERROR_DMA; diff --git a/User/rs485_driver.c b/User/rs485_driver.c index 1418c80..db4604d 100644 --- a/User/rs485_driver.c +++ b/User/rs485_driver.c @@ -7,6 +7,11 @@ static GPIO_TypeDef* g_de_re_port = NULL; static uint16_t g_de_re_pin = 0; volatile uint8_t g_rs485_tx_busy = 0; +/* DMA 异步读取期间此缓冲区必须保持有效； + 静态副本隔离调用方的包结构体，防止下一 TIM2 ISR 覆盖源包时 DMA 仍在读取 */ +#define RS485_TX_BUF_SIZE 64 +static uint8_t s_tx_buf[RS485_TX_BUF_SIZE]; + void RS485_Init(UART_HandleTypeDef *huart, GPIO_TypeDef* de_re_port, uint16_t de_re_pin) { g_huart_485 = huart; @@ -26,11 +31,15 @@ HAL_StatusTypeDef RS485_SendData(uint8_t *pData, uint16_t Size) return HAL_BUSY; // 上一次传输未完成，返回忙状态 } + if (Size > RS485_TX_BUF_SIZE) return HAL_ERROR; + + memcpy(s_tx_buf, pData, Size); + g_rs485_tx_busy = 1; // 标记为忙状态 HAL_GPIO_WritePin(g_de_re_port, g_de_re_pin, GPIO_PIN_SET); // 设置为发送模式 - + // 使用DMA非阻塞发送 - ret = HAL_UART_Transmit_DMA(g_huart_485, pData, Size); + ret = HAL_UART_Transmit_DMA(g_huart_485, s_tx_buf, Size); if (ret != HAL_OK) {