#include "process.h" #include "gpio.h" #include "ac780x_gpio.h" #include "string.h" #include "adc.h" #include "Motor.h" #include "W25Q64.h" #include "AngleSensor.h" #include "pid.h" #include "cfg.h" #include "Rtcx.h" #include "storage.h" uint8_t g_devicebusy = 0; uint16_t g_blinkLedTime = 0; /*LED闪烁频率控制时间*/ uint16_t g_blinkLedTgtTime = BLINK_LED_DFTT; /*LED目标闪烁频率*/ uint16_t g_period1000ms = 0; uint8_t g_detectTime = 0; /*状态检测时间*/ uint32_t g_poweroff_count = 0; /*外部电源停止后、每秒计数加1*/ #define STATUS_DETECTINTERVAL (10) /*10ms */ uint8_t g_runstate; //运行状态，切换LED灯光 uint8_t g_lockstatus = STATUS_UNKOWN; uint8_t g_coverstatus = STATUS_COVERCLOSE; //电机状态 uint8_t g_motorstate = MOTOR_INIT; uint8_t g_runReady = 0; uint16_t g_runTime = 0; //状态持续计数，用来起到滤波作用 //uint8_t tmp_status; uint8_t g_lockcount[STATUS_LOCKALL]={0}; uint8_t g_covercount[STATUS_COVERALL]={0}; static float s_angle = 0.0; //static float tmp_angle = 0.0; static uint8_t get_lockstatus(); static PID g_pid = {0}; static uint8_t tmp_speed; //static uint8_t tmp_time = 0; static void update_runstate() { switch(g_lockstatus){ case STATUS_INTERMEDIATE: g_runstate = STATE_INTERMEDIATE; break; case STATUS_LOCK: g_runstate = STATE_LOCK; break; case STATUS_UNLOCK: g_runstate = STATE_UNLOCK; break; case STATUS_UNKOWN: g_runstate = STATE_EXCEPTION; break; default: break; }; } void Process_Init(void) { /*初始化控制变量.*/ g_blinkLedTime = 0; g_blinkLedTgtTime = BLINK_LED_DFTT; g_detectTime = 0; g_runstate = STATE_LOCK; s_angle = AngleSensor_GetAngle(); g_lockstatus=get_lockstatus(); g_coverstatus=Gpio_IsOpenCover()>0?STATUS_COVEROPEN:STATUS_COVERCLOSE; g_motorstate = MOTOR_READY; /*上电默认LED点亮.*/ update_runstate(); } void Process_RunPrd(void) { /*周期性地检查LED闪烁,LED2和LED3同时闪烁.*/ if (g_blinkLedTime >= g_blinkLedTgtTime) { g_blinkLedTime = 0; update_runstate(); switch(g_runstate){ case STATE_LOCK: REDLED_OFF; GREENLED_TOGGLE; break; case STATE_UNLOCK: GREENLED_OFF; REDLED_TOGGLE; break; case STATE_INTERMEDIATE: REDGREEN_TOGGLE; break; case STATE_OPENCOVER: REDLED_OFF; GREENLED_ON; break; case STATE_EXCEPTION: default: GREENLED_OFF; REDLED_ON; break; }; //printADCValue(); //printMotorCurrent(); //printf(" Motor Current:%f mA \r\n", getMotorCurrent()); //W25Q64_PrintInfo(); //AngleSensor_PrintInfo(); } // if(g_period1000ms >= 1000){ g_period1000ms=0; Storage_CountReduce(); g_poweroff_count++; if(Gpio_IsDC24()){ printf(" DC24 Supply \r\n"); }else{ printf(" Battery Supply \r\n"); } printf(" Battery Voltage:%f V \r\n", getBatteryVoltage()); RTCx_PrintDateTime(); //AngleSensor_PrintInfo(); } /* //10ms if(g_detectTime >= 10){ g_detectTime = 0; //锁状态 _status=get_lockstatus(); for(i=0; i= 5){ g_lockstatus = i; } }else{ g_lockcount[i]=0; } } //上盖状态 _status=Gpio_IsOpenCover()>0?STATUS_COVEROPEN:STATUS_COVERCLOSE; for(i=0; i= 10){ g_coverstatus = i; } }else{ g_covercount[i]=0; } } } */ } void Process_Timer10msCB(void) { s_angle = AngleSensor_GetAngle(); g_lockstatus=get_lockstatus(); g_coverstatus=Gpio_IsOpenCover()>0?STATUS_COVEROPEN:STATUS_COVERCLOSE; //处理开关锁 switch(g_motorstate){ case MOTOR_READY: break; case MOTOR_LOCKING: if((STATUS_LOCK == g_lockstatus)|| (STATUS_UNKOWN == g_lockstatus) ||(g_runTime >= 2000)){ Motor_Stop(); g_motorstate = MOTOR_STOPED; g_runReady =1; g_runTime=0; }else{ PID_Calc(&g_pid, config->lock_threshold+3, s_angle); if(g_pid.error > 0){ tmp_speed =(uint8_t)(g_pid.output); tmp_speed = tmp_speed<50?50:tmp_speed; Motor_Positive(tmp_speed); }else{ Motor_Stop(); g_motorstate = MOTOR_STOPED; g_runReady =1; g_runTime=0; } } break; case MOTOR_UNLOCKING: if((STATUS_UNLOCK == g_lockstatus)|| (STATUS_UNKOWN == g_lockstatus) ||(g_runTime >= 2000)){ Motor_Stop(); g_motorstate = MOTOR_STOPED; g_runReady =1; g_runTime=0; }else{ PID_Calc(&g_pid, config->unlock_threshold-3, s_angle); if(g_pid.error < 0){ tmp_speed =(uint8_t)(-g_pid.output); tmp_speed = tmp_speed<50?50:tmp_speed; Motor_Negative(tmp_speed); }else{ Motor_Stop(); g_motorstate = MOTOR_STOPED; g_runReady =1; g_runTime=0; } } break; case MOTOR_STOPED: if(g_runTime >= 5000){ //5S g_motorstate = MOTOR_READY; } break; default: break; }; //读取时间 } uint8_t get_lockstatus() { uint8_t status = STATUS_UNKOWN; if(s_angle<0){ return status; } if(config->lock_threshold > config->unlock_threshold){ if((s_angle > config->lock_threshold)){ status = STATUS_LOCK; }else if(s_angle < config->unlock_threshold){ status = STATUS_UNLOCK; }else { status = STATUS_INTERMEDIATE; } } return status; } uint8_t Process_GetLockStatus(void) { return get_lockstatus(); } uint8_t Process_GetCoverStatus(void) { if(Gpio_IsOpenCover()){ return STATUS_COVEROPEN; }else{ return STATUS_COVERCLOSE; } } uint8_t Process_OpLock(uint8_t speed) { if((MOTOR_READY == g_motorstate) & (STATUS_LOCK != g_lockstatus)){ //Motor_Positive(speed); g_motorstate = MOTOR_LOCKING; g_runReady =1; g_runTime=0; PID_Init(&g_pid, 5, 10, 0, 80, 100); } return 0; } uint8_t Process_OpUnlock(uint8_t speed) { if((MOTOR_READY == g_motorstate) & (STATUS_UNLOCK != g_lockstatus)){ //Motor_Negative(speed); g_motorstate = MOTOR_UNLOCKING; g_runReady =1; g_runTime=0; PID_Init(&g_pid,5, 10, 0, 80, 100); } return 0; } uint8_t Process_CalibrationThreshold(uint8_t islock) { if(islock){ config->lock_threshold = AngleSensor_GetAngle(); }else{ config->unlock_threshold = AngleSensor_GetAngle(); } return 0x00; } void Process_Storage(void) { static uint8_t pre_lstatus = STATUS_INTERMEDIATE; static uint8_t pre_cstatus = STATUS_COVEROPEN; if(Gpio_IsDC24()){ pre_lstatus = g_lockstatus; pre_cstatus = g_coverstatus; }else{ if(pre_lstatus != g_lockstatus){ if(STATUS_LOCK == g_lockstatus){ Storage_AddItem(ITEM_RECORD, EVENT_MANUAL_LOCK); }else if(STATUS_UNLOCK == g_lockstatus){ Storage_AddItem(ITEM_RECORD, EVENT_MANUAL_UNLOCK); } pre_lstatus = g_lockstatus; } if(pre_cstatus != g_coverstatus){ if(STATUS_COVEROPEN == g_coverstatus){ Storage_AddItem(ITEM_RECORD, EVENT_OPENCOVER); } pre_cstatus = g_coverstatus; } } } void Process_Poweroff(void) { static float battery_v = 0.0; if(Gpio_IsDC24()){ g_poweroff_count = 0; }else{ battery_v = getBatteryVoltage(); if((g_poweroff_count >= 2*60*60) || (battery_v < (3.3))){ // 2小时后或电池电压小于3.3V 关机 g_poweroff_count = 0; Storage_Save(); mdelay(500); LDOEn_DISABLE; //NVIC_SystemReset(); //printf(" NVIC_SystemReset \r\n"); } } }