84 lines
2.7 KiB
C
84 lines
2.7 KiB
C
#include "main.h"
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#include "app.h"
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#include "flow.h"
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#include "sys.h"
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#include "delay.h"
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#include "board.h"
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extern __IO app_t app;
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extern motor_t *motor;
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extern uint8_t detect_result;
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static struct flow fl_adc_inspection; // ADC
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static struct flow fl_systom_inspection; // 系统
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static struct flow idle_tm; // 空闲任务
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static uint8_t adc_inspection(struct flow *fl)
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{
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FL_HEAD(fl);
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for (;;)
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{
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detect_result = ST_DEV_NORMAL;
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// 扭力
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app.adc.torsion_in13.original_value = get_sensor_adc(GET_TORSION_VALUE);
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app.adc.torsion_in13.calibration_value = torsion_detect();
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sensor_adc[GET_TORSION_VALUE] = S2B_UINT16(app.adc.torsion_in13.original_value);
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// 输入压力
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app.adc.ipressure_in7.original_value = get_sensor_adc(GET_INPUT_PRESS_VALUE);
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app.adc.ipressure_in7.calibration_value = pressure_detect(GET_INPUT_PRESS_VALUE);
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sensor_adc[GET_INPUT_PRESS_VALUE] = S2B_UINT16(app.adc.ipressure_in7.original_value);
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// 输出压力
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app.adc.opressure_in9.original_value = get_sensor_adc(GET_OUTPUT_PRESS_VALUE);
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app.adc.opressure_in9.calibration_value = pressure_detect(GET_OUTPUT_PRESS_VALUE);
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sensor_adc[GET_OUTPUT_PRESS_VALUE] = S2B_UINT16(app.adc.opressure_in9.original_value);
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// 输入流量
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app.adc.iflow_in8.original_value = get_sensor_adc(GET_INPUT_FLOW_VALUE);
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app.adc.iflow_in8.calibration_value = flow_detect(GET_INPUT_FLOW_VALUE);
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sensor_adc[GET_INPUT_FLOW_VALUE] = S2B_UINT16(app.adc.iflow_in8.original_value);
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// 输出流量
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app.adc.oflow_in10.original_value = get_sensor_adc(GET_OUTPUT_FLOW_VALUE);
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app.adc.oflow_in10.calibration_value = flow_detect(GET_OUTPUT_FLOW_VALUE);
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sensor_adc[GET_OUTPUT_FLOW_VALUE] = S2B_UINT16(app.adc.oflow_in10.original_value);
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FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时10毫秒 */
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}
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FL_TAIL(fl);
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}
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static uint8_t systom_inspection(struct flow *fl)
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{
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FL_HEAD(fl);
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for (;;)
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{
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host_rx_msg_deal();
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FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时10毫秒 */
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}
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FL_TAIL(fl);
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}
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static uint8_t idle_inspection(struct flow *fl)
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{
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FL_HEAD(fl);
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for (;;)
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{
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test_process();
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cpu_percent = scheduler_time_occupancy_get(1000);
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FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC);
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}
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FL_TAIL(fl);
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}
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void flow_start(void)
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{
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adc_inspection(&fl_adc_inspection); // adc检测
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systom_inspection(&fl_systom_inspection); // 系统检测
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idle_inspection(&idle_tm); // 空闲任务用来计算CPU占用率
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}
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void flow_init(void)
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{
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FL_INIT(&fl_adc_inspection);
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FL_INIT(&fl_systom_inspection);
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FL_INIT(&idle_tm);
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}
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