676 lines
18 KiB
C
676 lines
18 KiB
C
/**
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* @file app_flow.c
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* @author xxx
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* @date 2023-08-30 08:58:43
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* @brief 此文件用于管理各个任务流程
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* @copyright Copyright (c) 2023 by xxx, All Rights Reserved.
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*/
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#include <math.h>
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#include "app.h"
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#include "main.h"
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#include "flow.h"
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#include "tim.h"
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#include "filter.h"
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#include "lcds.h"
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#include "menus.h"
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#include "mode.h"
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#include "mode_diagnosis.h"
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#include "at_bluetooth.h"
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#include "bootload.h"
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#include "app_hart.h"
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// bootloader
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static struct flow bootload_system_fw; // BOOTLOAD系统流程
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uint16_t scheduler_use_time = 0;
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/**
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* @brief 100毫秒定时中断处理函数
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*
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* 当定时器到达100毫秒时，会触发此中断处理函数。
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* 在该函数中，启动或重置定时器计数。
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* @param cycle 定时器周期 毫秒
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*/
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void scheduler_time_1s_irqhandler(uint8_t cycle)
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{
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DBG_ASSERT(cycle > 0 __DBG_LINE);
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static uint32_t cnt = 0;
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uint32_t time_ms = ++cnt * cycle;
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// 考虑是否要控制器工作的时候才计时
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if (rt_save.dev_run_time_h < WORK_HOURS_MAX)
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{
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if (time_ms % 1000 == 0)
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{
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rt_save.dev_run_time_s++; // 工作时长
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}
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if (rt_save.dev_run_time_s >= 3600)
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{
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rt_save.dev_run_time_h++;
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rt_save.dev_run_time_s = 0;
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}
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}
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// 控制过程中快速闪灯
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if (mode_get()->interface_req.mode_control_idle() == FALSE)
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{
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if (time_ms % 200 == 0)
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{
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diagnosis_fault_indicate((diag_class_e)get_diagnosis_result()->priority);
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}
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}
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else
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{
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if (time_ms % 1000 == 0)
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{
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diagnosis_fault_indicate((diag_class_e)get_diagnosis_result()->priority);
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}
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}
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}
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/**
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* @brief bootload系统检测
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* @param {struct flow *} fl
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* @return {*}
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*/
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static uint8_t bootload_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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if (TRUE == BLE_IS_ENABLE())
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{
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leds_off(LEDS_RED);
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leds_toggle(LEDS_GREEN);
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}
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else
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{
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leds_off(LEDS_GREEN);
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leds_toggle(LEDS_RED);
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}
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FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
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}
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FL_TAIL(fl);
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}
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#if HART_SOFTWARE_TEST_ENABLE == FALSE
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static struct flow sensor_fw; // 传感器检测
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static struct flow business_fw; // 业务流程
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static struct flow system_fw; // 系统检测
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static struct flow idle_fw; // 空闲任务
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// 时间戳更新
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static void timestamp_update(uint8_t cycle)
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{
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BOOL ret = FALSE;
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rtc_date_t date;
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rtc_time_t time;
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uint32_t timestamp = 0;
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static uint8_t count = 0;
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if (count++ >= cycle)
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{
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count = 0;
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ret = rtc_get_datetime(&date, &time);
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if (ret == TRUE)
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{
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timestamp = time2stamp(&date, &time);
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if (timestamp > rt_data.seconds)
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{
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rt_save.real_time.date.year = date.year;
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rt_save.real_time.date.month = date.month;
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rt_save.real_time.date.day = date.day;
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rt_save.real_time.date.hour = time.hour;
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rt_save.real_time.date.minute = time.minute;
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rt_save.real_time.date.second = time.second;
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rt_data.seconds = timestamp;
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}
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// 如果rtc_get_datetime失败，则不需要额外操作，但可以在调试时记录
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// else
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// {
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// // 记录错误或进行其他处理
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// }
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}
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}
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}
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// 实时数据部分更新
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static void rt_data_update(void)
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{
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rt_data.board_current = get_board_current();
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rt_data.cpu_percent = scheduler_time_occupancy_get(1000);
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rt_data.cpu_temperature = get_cpu_temperature();
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rt_data.cpu_volt = get_cpu_volt();
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rt_data.mem_percent = my_mem_perused(SRAMIN);
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rt_data.dc = CPU_VREF * adc_raw[ADC_DCDC_CHANNEL] * 4 / ADC_MAX;
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rt_data.vdd = CPU_VREF * adc_raw[ADC_VDD_CHANNEL] * 4 / ADC_MAX;
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timestamp_update(3); // 这个周期数量根据外面的任务时间来定
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}
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/**
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* @brief 菜单检测
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* @return {*}
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* @note
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*/
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void menu_inspection(void)
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{
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if (lcd->info.need_build == TRUE)
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{
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lcd->info.need_build = FALSE; // need_build 在menu_build中被置位
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menus_rebuild();
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}
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menu_task();
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}
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/**
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* @brief 图标检测
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* @return {*}
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* @note
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*/
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static void icon_inspection(void)
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{
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if (FALSE == HART_IS_ENABLE())
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{
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driver_icon_enable.bits.hart = 0; // 禁用HART
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}
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else
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{
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driver_icon_enable.bits.hart = 1; // 使能HART
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}
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if (FALSE == BLE_IS_ENABLE()) // 检查蓝牙是否已启用
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{
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driver_icon_enable.bits.bluetooth = 0; // 禁用蓝牙
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}
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else
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{
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driver_icon_enable.bits.bluetooth = 1; // 使能蓝牙
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}
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driver_icon_enable.bits.work_mode = (uint8_t)udevice.control_mode; // 工作模式
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// TODO 设备是否锁定检查
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}
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static void bootload_start_inspection(void)
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{
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}
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// LCD 、LED检测
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static void lcd_detection(float32 loop_current, float32 temperature)
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{
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BOOL lcd_close = FALSE, led_close = FALSE;
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// LCD扩展板必须接入
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if (is_lcd_ext_board() == FALSE)
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{
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lcd_close = TRUE;
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rt_data.flag.bits.lcd_detect = FALSE;
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// GPS2000的LED在板子上，简单处理LED不要反初始化了
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// led_close = TRUE;
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}
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else
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{
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rt_data.flag.bits.lcd_detect = TRUE;
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}
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if (gui_can_work() == FALSE)
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{
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lcd_close = TRUE;
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}
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if (*mode_get()->ctrl.mode == STOP_MODE)
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{
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lcd_close = TRUE;
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}
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/**
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* 检查温度是否在LCD的有效工作范围内。
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* 如果温度低于最小值或高于最大值，则关闭LCD。
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*
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* @param rt_data 包含温度值的实时数据结构。
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*/
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if (temperature < temperature_c2unit(LCD_WORK_TEMP_MIN, udevice.temp_unit) || temperature > temperature_c2unit(LCD_WORK_TEMP_MAX, udevice.temp_unit))
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{
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lcd_close = TRUE;
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}
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// 如果工作模式为停止模式，则关闭LCD
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if (*mode_get()->ctrl.mode == STOP_MODE)
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{
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lcd_close = TRUE;
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}
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if (lcd_close == TRUE)
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{
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gui_clr(); // 清除LCD
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lcd_dinit();
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get_menus()->run_enable = FALSE;
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}
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else
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{
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lcd_init(); // 初始化LCD
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if (rt_data.flag.bits.lcd_detect == TRUE) // 检查LCD是否已关闭，如果是，则打开LCD
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{
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if (get_menus()->run_enable == FALSE)
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{
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#if LCD_DESIGN == FALSE
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menus_jump(MENUS_WORK, FALSE); // 跳转到工作界面
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#endif
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}
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get_menus()->run_enable = TRUE;
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}
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else
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{
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get_menus()->run_enable = FALSE;
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}
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gui_set_scandir(udevice.display_direction); // 更新扫描方向
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menus_set_scandir(udevice.display_direction); // 设置菜单显示方向
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gui_open(); // 打开LCD
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}
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if (led_close == TRUE)
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{
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leds_dinit();
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}
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else
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{
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leds_init(); // 初始化LED
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}
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}
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static void ble_detection(float32 loop_current, float32 temperature)
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{
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float32 ble_close = FALSE;
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// 判断当前电流是否大于等于3.8mA，如果是，则启动UART
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if (loop_current >= INPUT_CURRENT_MIN_UART)
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{
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driver_init(); // 初始化驱动
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if (FALSE == HART_IS_ENABLE()) // 检查HART是否已启用，如果否，则初始化HART UART
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{
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hart_uart_init();
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}
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else
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{
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// #if DEBUG_ENABLE == TRUE
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// static uint8_t hart_send_test_cnt = 0;
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// if (hart_send_test_cnt++ <= 2)
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// {
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// hart_write_test();
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// }
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// #endif
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}
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}
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// 否则，关闭UART
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else
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{
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driver_dinit(); // 关闭驱动
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hart_uart_dinit(); // 关闭HART UART
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}
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if (temperature < BLE_WORK_TEMP_MIN || temperature > BLE_WORK_TEMP_MAX)
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{
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ble_close = TRUE;
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}
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// 蓝牙
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// 判断当前电流是否大于等于xx mA且工作模式在离线模式下，如果是，则启动蓝牙
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if (udevice.wireless_enable == TRUE)
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{
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if ((loop_current >= BLE_CURRENT_WORK && udevice.control_mode == DIGITAL_CTRL_MODE) ||
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(loop_current >= BLE_CURRENT_WORK && DEBUG_ENABLE == TRUE))
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{
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if (FALSE == BLE_IS_ENABLE()) // 检查蓝牙是否已启用，如果否，则初始化蓝牙
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{
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hart_ble_init();
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delay_ms(500);
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}
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else
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{
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// 检查蓝牙是否正常工作
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if (BIT_IS_CLR(bluetooth_state, BIT2))
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{
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delay_ms(500);
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if (BIT_IS_CLR(bluetooth_state, BIT0))
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{
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bluetooth_work(AT_CMD_TEST);
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delay_ms(500);
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}
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if (BIT_IS_SET(bluetooth_state, BIT0))
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{
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// 检查蓝牙名称
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bluetooth_work(AT_CMD_NAME_REQ);
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delay_ms(500);
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if (BIT_IS_CLR(bluetooth_state, BIT1))
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{
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// 设置蓝牙名称
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bluetooth_work(AT_CMD_NAME);
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}
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#if BLE_TYPE == BLE_TYPE_MX02
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delay_ms(100);
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bluetooth_work(AT_CMD_TX_POWER);
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#endif
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BIT_SET(bluetooth_state, BIT2);
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}
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else
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{
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BIT_SET(bluetooth_state, BIT2); // 如果蓝牙被主动连接的话，上面的AT指令不会有响应
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}
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}
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else
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{
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// bluetooth_work(100);
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}
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}
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}
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else
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{
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ble_close = TRUE;
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}
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}
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else
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{
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ble_close = TRUE;
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}
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if (ble_close == TRUE)
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{
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if (TRUE == BLE_IS_ENABLE())
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{
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hart_ble_dinit(); // 关闭蓝牙
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}
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bluetooth_state = BIT0;
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}
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}
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/************************************************ 以下为应用线程 ************************************************/
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static uint8_t sensor_detection(struct flow *fl)
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{
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FL_HEAD(fl);
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static float32 current = 0.0f;
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static float32 temperature = 0.0f, humidity = 0.0f;
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for (;;)
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{
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scheduler_time_start();
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// 计算当前电流，方法为读取ADC通道ADC_LOOP_CHANNEL的平均值并转换为浮点数
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current = get_current_by_resistance();
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// 获取当前温度
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rt_data.temperature = get_temperature();
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// 获取当前湿度
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if (sht40_read(&temperature, &humidity) == TRUE)
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{
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rt_data.humidity = (uint16_t)humidity;
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}
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if (current < INPUT_CURRENT_RUN) // 待机状态是如果电流小于INPUT_CURRENT_MIN_MCU，则进行系统复位
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{
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sys_soft_reset();
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}
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else
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{
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if (current < SYSTEM_CLOCK_HIGHT_CURRENT_MIN)
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{
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rt_data.flag.bits.current_low = TRUE;
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}
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else
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{
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if (rt_data.flag.bits.current_low == TRUE)
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{
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#if LCD_DESIGN == FALSE
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menus_jump(MENUS_WORK, FALSE); // 跳转到工作界面
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#endif
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}
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rt_data.flag.bits.current_low = FALSE;
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}
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// 蓝牙
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ble_detection(current, rt_data.temperature);
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// LCD 、LED
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lcd_detection(current, rt_data.temperature);
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}
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scheduler_use_time = scheduler_time_stop();
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FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
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}
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FL_TAIL(fl);
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}
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/**
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* @brief 系统检测
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* @param {struct flow *} fl
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* @return {*}
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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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static BOOL run_first = TRUE;
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for (;;)
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{
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scheduler_time_start();
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// 图标检测
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icon_inspection();
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scheduler_use_time = scheduler_time_stop();
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if (run_first == FALSE)
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{
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menus_set_language(udevice.display_language);
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// 参数复位检测
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params_restart_inspection();
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set_app_preload_language_flag(udevice.display_language); // 缓存语言实时更新，用于重启是第一时间判断语言
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// 在停机模式下，不进行诊断
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if (*mode_get()->ctrl.mode != STOP_MODE)
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{
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// 过程报警 1s一次（时间可以改）
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diagnosis_inspection(); // 第一次不做诊断，防止报错
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// 故障处理
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diagnosis_fault_deal();
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}
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}
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else
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{
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run_first = FALSE;
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}
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scheduler_use_time = scheduler_time_stop();
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bootload_start_inspection();
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FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
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}
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FL_TAIL(fl);
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}
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/**
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* @brief 业务流程
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* @param {flow} *fl
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* @return {*}
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*/
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static uint8_t business_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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scheduler_time_start();
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// 实时数据更新
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rt_data_update();
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// 工作模式检测
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mode_master_detection();
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// HART检测
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app_hart_inspection();
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// KEIL窗口强制跳转到自整定流程，需要在这里做判断
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if (mode_get()->interface_req.mode_is_adjusting() == TRUE && is_selftune_menu() == FALSE)
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{
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// 跳转到自动整定界面
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menus_jump(MENUS_SELFTUNE, TRUE);
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}
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uart1_set_idel_handle_1_sec(); // 设置UART1空闲处理函数
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noinit_data_set(); // 设置未初始化的数据
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scheduler_use_time = scheduler_time_stop();
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FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
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}
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FL_TAIL(fl);
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}
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/**
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* @brief 空闲任务用来计算CPU占用率和内存使用率
|
||
* @param {flow} *fl
|
||
* @return {*}
|
||
* @note
|
||
*/
|
||
static uint8_t idle_inspection(struct flow *fl)
|
||
{
|
||
FL_HEAD(fl);
|
||
for (;;)
|
||
{
|
||
scheduler_time_start();
|
||
scheduler_use_time = scheduler_time_stop();
|
||
FL_LOCK_DELAY(fl, FL_CLOCK_SEC * 1);
|
||
}
|
||
FL_TAIL(fl);
|
||
}
|
||
|
||
#endif
|
||
|
||
#if HART_SOFTWARE_TEST_ENABLE == TRUE
|
||
static struct flow hart_soft_test; // HART软件测试
|
||
static uint8_t hart_soft_test_inspection(struct flow *fl)
|
||
{
|
||
FL_HEAD(fl);
|
||
for (;;)
|
||
{
|
||
// 模拟传感器数据
|
||
rt_data.loop_current = 5;
|
||
rt_data.temperature = 20;
|
||
rt_data.pressure_a = 210;
|
||
rt_data.actual_travel = i2psb(rt_data.loop_current);
|
||
rt_data.driver_signal = 50;
|
||
rt_data.pressure_b = 210;
|
||
rt_save.travel_set_pt = i2psb(rt_data.loop_current);
|
||
rt_data.pressure_cross_point = 60;
|
||
rt_data.pressure_s = 210;
|
||
rt_data.target_travel = i2psb(rt_data.loop_current);
|
||
rt_data.servo_feedback = 50;
|
||
leds_toggle(LEDS_GREEN);
|
||
FL_LOCK_DELAY(fl, FL_CLOCK_SEC * 1);
|
||
}
|
||
FL_TAIL(fl);
|
||
}
|
||
|
||
#endif
|
||
|
||
#if HART_HARDWARE_TEST_ENABLE == TRUE
|
||
static struct flow hart_hardware_test; // HART硬件测试
|
||
static uint8_t hart_hardware_test_inspection(struct flow *fl)
|
||
{
|
||
FL_HEAD(fl);
|
||
static uint8_t data[64];
|
||
for (;;)
|
||
{
|
||
if (rt_data.flag.bits.hart_rts_on == TRUE)
|
||
{
|
||
if (rt_data.flag.bits.hart_send_test != 0)
|
||
{
|
||
if (rt_data.flag.bits.hart_send_test == 1)
|
||
{
|
||
osel_memset(data, 0x00, ARRAY_LEN(data));
|
||
}
|
||
else
|
||
{
|
||
osel_memset(data, 0xff, ARRAY_LEN(data));
|
||
}
|
||
HART_RTS_OFF();
|
||
hart_get_handle()->interface.response(APP_UART_1, data, ARRAY_LEN(data));
|
||
}
|
||
}
|
||
FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC);
|
||
}
|
||
|
||
FL_TAIL(fl);
|
||
}
|
||
#endif
|
||
|
||
/**
|
||
* @brief: 流程启动
|
||
* @return {*}
|
||
*/
|
||
void flow_start(void)
|
||
{
|
||
#if HART_HARDWARE_TEST_ENABLE == TRUE
|
||
hart_hardware_test_inspection(&hart_hardware_test); // HART硬件测试流程
|
||
#elif HART_SOFTWARE_TEST_ENABLE == TRUE
|
||
hart_soft_test_inspection(&hart_soft_test); // HART软件测试流程
|
||
|
||
// 参数复位检测
|
||
params_restart_inspection();
|
||
if (get_current_by_resistance() >= FAL_WRITE_CURRENT)
|
||
{
|
||
fal_execution_process(); // fal执行
|
||
}
|
||
#else
|
||
sensor_detection(&sensor_fw);
|
||
systom_inspection(&system_fw); // 系统检测
|
||
business_inspection(&business_fw); // 业务流程检测
|
||
|
||
menus_process(); // 菜单处理
|
||
if (get_current_by_resistance() >= FAL_WRITE_CURRENT)
|
||
{
|
||
fal_execution_process(); // fal执行
|
||
}
|
||
|
||
idle_inspection(&idle_fw); // 空闲任务用来计算CPU占用率
|
||
#endif
|
||
}
|
||
|
||
/**
|
||
* @brief: bootload流程启动
|
||
* @return {*}
|
||
*/
|
||
void bootload_flow_start(void)
|
||
{
|
||
bootload_systom_inspection(&bootload_system_fw); // BOOTLOAD系统流程
|
||
if (BIT_IS_CLR(bluetooth_state, BIT2) == FALSE)
|
||
{
|
||
bootload_inspection(); // BOOTLOAD检测
|
||
if (bootload_timeout() == TRUE)
|
||
{
|
||
// 如果超时退出bootload模式
|
||
set_app_preload_bootload_flag(BOOTLOAD_UNSET_FLAG);
|
||
leds_off_all();
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 初始化流程
|
||
* @return {*}
|
||
*/
|
||
void flow_init(void)
|
||
{
|
||
#if HART_HARDWARE_TEST_ENABLE == TRUE
|
||
hart_uart_init();
|
||
FL_INIT(&hart_hardware_test); // HART硬件测试流程
|
||
#elif HART_SOFTWARE_TEST_ENABLE == TRUE
|
||
hart_uart_init();
|
||
FL_INIT(&hart_soft_test);
|
||
#else
|
||
rt_data.flag.bits.current_low == TRUE;
|
||
FL_INIT(&sensor_fw); // 电流检测
|
||
FL_INIT(&system_fw); // 系统检测
|
||
FL_INIT(&business_fw); // 业务流程
|
||
FL_INIT(&idle_fw); // 空闲任务
|
||
FL_INIT(&bootload_system_fw); // bootload系统流程
|
||
#endif
|
||
}
|