#include /* * Copyright (c) 2006-2020, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date Author Notes * 2020-05-30 Administrator the first version */ #include "beep.h" #include "hmi.h" #include "easyflash.h" #include "stdio.h" #include "sound.h" #include "dtu_uart2.h" #include "test.h" #include "sht30_collect.h" #define DBG_ENABLE #define DBG_COLOR #define DBG_TAG "control" #define DBG_LEVEL DBG_LOG #include //must after of DBG_LVL, DBG_TAG or other options // 工作检测 #define WORK_CHECK_THREAD_PRIORITY 23 // 线程优先级 #define WORK_CHECK_THREAD_STACK_SIZE 1024 // 栈大小 #define WORK_CHECK_THREAD_TIMESLICE 5 // 时间片 // 工作流程 #define WORK_LOOP_THREAD_PRIORITY 12 // 线程优先级 #define WORK_LOOP_THREAD_STACK_SIZE 2048 // 栈大小 #define WORK_LOOP_THREAD_TIMESLICE 5 // 时间片 #define PWM_EN 1 // 0关闭，1-打开 #define LOG_INR 10 // 默认的log打印间隔（作用域在本文件） extern Res_def JD_Check_Test_Sta(JD_Test_Type type); extern void Report_Limit_Error(le_def type); extern RTC_DateTypeDef GetDate; extern RTC_TimeTypeDef GetTime; // 设备状态表结构体 Device_Status_typedef device_status; rt_thread_t tid_workloop = RT_NULL; rt_thread_t tid_wkstc = RT_NULL; rt_thread_t tid_ctr = RT_NULL; rt_thread_t tid_heat = RT_NULL; volatile works_def ws_now = ws_standby; /**************************1.0定制2000W*************************************/ // rt_pin_mode /** * @brief 控制风扇输出 * * @param status_ws 开关量 * @return uint8_t - */ uint8_t ctr_Fan_PUT(uint8_t status_ws) { rt_pin_mode(FAN_P, PIN_MODE_OUTPUT); if (status_ws == ON) { rt_pin_write(FAN_P, ON); } else { rt_pin_write(FAN_P, OFF); } return 0; } /** * @brief 控制风扇输出 * * @param status_ws 开关量 * @return uint8_t - */ uint8_t ctr_Fan_IN(uint8_t status_ws) { rt_pin_mode(FAN_I, PIN_MODE_OUTPUT); if (status_ws == ON) { rt_pin_write(FAN_I, ON); } else { rt_pin_write(FAN_I, OFF); } return 0; } /****************************定制色诱*************************************/ /**/ #if Color_EN == 1 /** * @brief 检测色诱按键是否有下降沿出现 * * @param key_pin 引脚号 * @return uint8_t 无意义 */ uint8_t Read_Color_Key(rt_base_t key_pin) { rt_uint32_t sta_s = 0; rt_pin_mode(key_pin, PIN_MODE_INPUT); while (rt_pin_read(key_pin) == 1) { sta_s++; /*持续的*/ rt_thread_delay(50); } while (rt_pin_read(key_pin) == 0) { rt_thread_delay(50); if (sta_s > 0) break; } LOG_W("检测到IO0翻转!!!"); return 1; } /*读限位开关状态*/ /** * @brief 读取限位开关的状态 * * @param pin_limit 引脚号 * @return uint8_t 读取结果 */ uint8_t Read_Color_Limit(rt_base_t pin_limit) { uint8_t l_sta = 0; rt_pin_mode(pin_limit, PIN_MODE_INPUT); l_sta = rt_pin_read(pin_limit); rt_thread_delay(20); l_sta = rt_pin_read(pin_limit); return l_sta; } /*色诱板*/ /** * @brief 色诱板的控制逻辑 * * @param forward 下一步进行的动作 * @param time_board 计数? * @return int 操作完成的动作 */ int ctr_Color_board(uint8_t forward, uint16_t time_board) { if (forward == CLOSE) // 归位 { if (device_status.cul_time > 0) device_status.cul_time--; ctr_cangmen_down(OFF); ctr_cangmen_up(OFF); rt_thread_delay(1000); // if(device_status.cul_time>7) device_status.cul_time=7; // if(device_status.cul_time!=7) // { // uint8_t ct = device_status.cul_time; // while(1) // { // Beep_Tip(100); // rt_thread_delay(100); // ct--; // if(ct==0) break; // } // //return device_status.cul_time; // } if (Read_Color_Limit(LIMIT_RESET) == 0) { device_status.cul_time = 0; LOG_W("已在初始位置!"); Beep_Tip(1000); return 0; // 黄板已经在复位状态，直接返回0; } ctr_cangmen_up(CLOSE); rt_thread_delay(20000); ctr_cangmen_up(OFF); // if(device_status.cul_time==7&&Read_Color_Limit(LIMIT_BOARD)==0) // { // LOG_W("第七天!!!"); // ctr_cangmen_down(CLOSE); // rt_thread_delay(500); // } LOG_W("先打开运行到限位的右侧!"); while (Read_Color_Limit(LIMIT_BOARD) == 0) { LOG_W("归位：到达限位中间"); ctr_cangmen_down(CLOSE); if (Read_Color_Limit(LIMIT_RESET) == 0) { ctr_cangmen_down(OFF); break; } } // 先打开运行到限位的右侧 while (Read_Color_Limit(LIMIT_BOARD) == 1) { LOG_W("归位：运行！"); ctr_cangmen_down(CLOSE); if (Read_Color_Limit(LIMIT_RESET) == 0) { ctr_cangmen_down(OFF); break; } } while (Read_Color_Limit(LIMIT_BOARD) == 0) // 到达限位中间 继续运行 { LOG_W("归位：到达限位中间"); ctr_cangmen_down(CLOSE); if (Read_Color_Limit(LIMIT_RESET) == 0) { ctr_cangmen_down(OFF); break; } } if (Read_Color_Limit(LIMIT_RESET) == 0) return 0; LOG_W("到达限位左侧！"); // 停止电机 ctr_cangmen_down(OFF); rt_thread_delay(2000); // 将推杆电机归位 LOG_D("*推杆电机归位*"); /*推杆电机伸出*/ ctr_cangmen_up(OPEN); rt_thread_delay(20000); ctr_cangmen_up(OFF); return 2; } else if (forward == OPEN) { ctr_cangmen_down(OFF); ctr_cangmen_up(OFF); rt_thread_delay(1000); if (device_status.cul_time == 7) { Beep_Tip(5000); return 7; } LOG_W("打开推杆电机!"); // 2023-04-18:add // if(Read_Color_Limit(LIMIT_BOARD)==0) { LOG_D("*推杆电机归位*"); /*推杆电机归位*/ ctr_cangmen_up(CLOSE); rt_thread_delay(20000); ctr_cangmen_up(OFF); } if (device_status.cul_time < 7) device_status.cul_time++; while (Read_Color_Limit(LIMIT_BOARD) == 0) { ctr_cangmen_down(forward); rt_thread_delay(50); } while (Read_Color_Limit(LIMIT_BOARD) == 1) { time_board--; if (time_board == 0) break; ctr_cangmen_down(forward); rt_thread_delay(50); } ctr_cangmen_down(OFF); rt_thread_delay(1000); ctr_cangmen_up(OPEN); rt_thread_delay(20000); ctr_cangmen_up(OFF); // ef_set_env_blob("cul_time",&device_status.cul_time,sizeof(device_status.cul_time)); //采集时间 return OPEN; } else if (forward == RESET) { ctr_cangmen_up(OFF); ctr_cangmen_down(OFF); if (Read_Color_Limit(LIMIT_RESET) == 0) { device_status.cul_time = 0; // ef_set_env_blob("cul_time",&device_status.cul_time,sizeof(device_status.cul_time)); //采集时间 LOG_W("已在初始位置!"); Beep_Tip(1000); ctr_cangmen_up(CLOSE); rt_thread_delay(20000); ctr_cangmen_up(OFF); device_status.cul_time = 0; return 0; // 黄板已经在复位状态，直接返回0; } // if(Read_Color_Limit(LIMIT_BOARD)==0) { LOG_D("*推杆电机归位*"); /*推杆电机归位*/ ctr_cangmen_up(CLOSE); rt_thread_delay(20000); ctr_cangmen_up(OFF); } while (Read_Color_Limit(LIMIT_RESET) == 1) { time_board--; if (time_board == 0) break; ctr_cangmen_down(CLOSE); rt_thread_delay(20); } device_status.cul_time = 0; ctr_cangmen_down(OFF); } // device_status.cul_time = 0; // ef_set_env_blob("cul_time",&device_status.cul_time,sizeof(device_status.cul_time)); //采集时间 return RESET; // 复位返回0 } #endif /****************************5.0***********************************/ void ctr_turnv5(void) { rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT); rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT); // 转出 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, OFF); rt_thread_mdelay(300); // 停止 rt_pin_write(CLEAR_R, OFF); rt_pin_write(CLEAR_L, OFF); rt_thread_mdelay(300); // 转入 rt_pin_write(CLEAR_R, OFF); rt_pin_write(CLEAR_L, ON); rt_thread_mdelay(300); // 停止 rt_pin_write(CLEAR_R, OFF); rt_pin_write(CLEAR_L, OFF); rt_thread_mdelay(300); } /**************************机器人********************************/ void ctr_Motor_Robot(uint8_t status_ws) { } /*************************吸虫塔*********************************/ //// 吸虫电机 // uint8_t ctr_Motor_xichong(uint8_t status_ws) //{ // rt_pin_mode(MOTOR1_CTR_PIN, PIN_MODE_OUTPUT); // if (status_ws == ON) // { // rt_pin_write(MOTOR1_CTR_PIN, ON); // } // else // { // rt_pin_write(MOTOR1_CTR_PIN, OFF); // } // return 0; // } // // uint8_t ctr_Camera_Power(uint8_t status_ws) //{ // rt_pin_mode(CAM_CTL, PIN_MODE_OUTPUT); // if (status_ws == ON) // { // rt_pin_write(CAM_CTL, ON); // } // else // { // rt_pin_write(CAM_CTL, OFF); // } // return 0; // } // 吸附电机 uint8_t ctr_Motor_xifu(uint8_t status_ws) { rt_pin_mode(MOTOR2_CTR_PIN, PIN_MODE_OUTPUT); if (status_ws == ON) { rt_pin_write(MOTOR2_CTR_PIN, ON); } else { rt_pin_write(MOTOR2_CTR_PIN, OFF); } return 0; } // 清扫-卷带电机 void ctr_JD_Clear(uint8_t shake_sw) { rt_uint16_t turn_timeout = 0; rt_pin_mode(MOTOR_C_LIMIT, PIN_MODE_INPUT); ctr_cangmen_up(OFF); // 清扫传送带的电机 if (shake_sw == ON) { ctr_Heat(ON); // 清洁风机 Motor_shake(ON, 0); ctr_cangmen_up(OPEN); // 打开清扫 } else { Motor_shake(OFF, 0); ctr_cangmen_up(OPEN); // 打开清扫 } while (rt_pin_read(MOTOR_C_LIMIT) == 0) { Motor_Juandai(ON); rt_thread_delay(50); turn_timeout++; if (turn_timeout == 1000) break; } turn_timeout = 0; while (rt_pin_read(MOTOR_C_LIMIT) == 1) { Motor_Juandai(ON); turn_timeout++; rt_thread_delay(50); if (turn_timeout == 1000) break; } Motor_shake(OFF, 1); Motor_Juandai(OFF); ctr_cangmen_up(OFF); // 关闭清扫 ctr_Heat(OFF); } // 工作任务流程 void WorkTask_XCTm(void) { while (device_status.work_status == 1 && device_status.ds == 1) { ctr_Motor_xifu(ON); // 打开相机供电 ctr_Camera_Power(ON); // ctr_Heat(ON); //清洁风机 uint32_t photo_fre = 0; // photo_fre = device_status.dattim * 60; while (photo_fre != 0) { photo_fre--; rt_thread_delay(1000); LOG_I("收集中,等待开始拍照:%d", photo_fre); } // 卷带 ctr_JD_Clear(OFF); // 拍照 HK_TakePhoto(); // 关闭吸附风机 ctr_Motor_xifu(OFF); // 关闭相机供电 // ctr_Heat(OFF); ctr_Camera_Power(OFF); // 卷带 ctr_JD_Clear(ON); // rt_thread_delay(1000); // ctr_JD_Clear(ON); // 震动 Motor_shake(ON, device_status.shake_sec); } // 关闭风机 ctr_Motor_xichong(OFF); ctr_Motor_xifu(OFF); LOG_I("不在工作时间,未工作!!!"); } /**********************************************************************/ /*光控*/ uint8_t In_Light_status(void) { rt_pin_mode(LIGHT_PIN, PIN_MODE_INPUT); return rt_pin_read(LIGHT_PIN); } /*雨控*/ uint8_t In_Rain_status(void) { rt_pin_mode(RAIN_PIN, PIN_MODE_INPUT); return rt_pin_read(RAIN_PIN); } /*加热*/ uint8_t ctr_Heat(uint8_t status_heat) { device_status.heat_status = status_heat; rt_pin_mode(Heat_Pin, PIN_MODE_OUTPUT); rt_pin_write(Heat_Pin, status_heat); return status_heat; } /*制冷*/ uint8_t ctr_Cold(uint8_t status_cold) { device_status.cold_status = status_cold; rt_pin_mode(Cold_Pin, PIN_MODE_OUTPUT); rt_pin_write(Cold_Pin, status_cold); return status_cold; } /*相机供电*/ void ctr_photo(uint8_t status_photo) { // rt_pin_mode(PHOTO, PIN_MODE_OUTPUT); // rt_pin_write(PHOTO, status_photo); } /************************************************* Function: ctr_Cool_Fan Description: 散热风机的开关 Calls: Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序） Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序） Input: ON-开,OFF-关 Output: NULL Return: ON-开,OFF-关 Others: NULL *************************************************/ uint8_t ctr_Cool_Fan(uint8_t status_cool) { device_status.cool_fan_status = status_cool; rt_pin_mode(Cool_Fan_L, PIN_MODE_OUTPUT); rt_pin_mode(Cool_Fan_R, PIN_MODE_OUTPUT); if (status_cool == OFF) { rt_pin_write(Cool_Fan_L, OFF); rt_pin_write(Cool_Fan_R, OFF); } if (status_cool == ON) { rt_pin_write(Cool_Fan_L, ON); rt_pin_write(Cool_Fan_R, OFF); } return device_status.cool_fan_status; } #include "Work_SY2.h" extern void CollFanSetPWM(uint8_t percent); extern SYSCFG syscfg; /************************************************* Function: ctr_Collect_Fan Description: 采集风机的开关 Calls: Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序） Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序） Input: ON-开,OFF-关 Output: NULL Return: ON-开,OFF-关 Others: NULL *************************************************/ uint8_t ctr_Collect_Fan(uint8_t status_collect) { device_status.collect_fan_status = status_collect; rt_pin_mode(Collect_Fan, PIN_MODE_OUTPUT); if (status_collect == OFF) { CollFanSetPWM(0); rt_pin_write(Collect_Fan, OFF); } if (status_collect == ON) { CollFanSetPWM(syscfg.fan_speed); rt_pin_write(Collect_Fan, ON); } return device_status.collect_fan_status; } /************************************************* Function: ctr_develop Description: 培养载玻片孢子 Calls: Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序） Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序） Input: v=0(复位) v=90转90度 Output: NULL Return: NULL Others: NULL *************************************************/ void ctr_develop(void) { rt_kprintf("===============开始培养=================:%d\n", device_status.cul_time); // 已经培养的时间-分钟 device_status.stay_time = 0; rt_uint32_t ii = 0; while (device_status.develop_flag == 1) { float stayedtime = 0.01; char stayed[5]; stayedtime = (float)device_status.stay_time / 60.0; sprintf(stayed, "%0.02f", stayedtime); HMI_WRITE("workSta.staytime.txt=\"%s\"", stayed); ii++; LOG_I("developing...................................%d\n", ii); LOG_I("============================设定的培养温度:%d\n", device_status.heatvalue); LOG_I("============================培养仓实时温度:%d\n", device_status.pre_temp); if (device_status.pre_temp < (device_status.heatvalue - 5)) { // 未制冷 if (device_status.cold_status == 0) { ctr_Heat(ON); } } else { ctr_Heat(OFF); } LOG_I("============================制冷开关:%d\n", device_status.cold_sw); if (device_status.cold_sw == 1) { if (device_status.pre_temp > (device_status.heatvalue - 10)) { if (device_status.heat_status == 0) { ctr_Cold(ON); } } else { ctr_Cold(OFF); } } if (ii % 60 == 0) { device_status.stay_time++; if (device_status.stay_time / 60 == device_status.cul_time) device_status.develop_flag = 0; LOG_I("developed...................................%d分钟\n", device_status.stay_time); } if (device_status.box_temp > 35) { ctr_Cool_Fan(ON); } else if (device_status.box_temp < 30) { ctr_Cool_Fan(OFF); } rt_thread_delay(1000); } ctr_Cold(OFF); ctr_Heat(OFF); LOG_I("=========!!!培养完成!!!=========="); } /*上仓门*/ /** * @brief 控制仓门升起 * * @param status_down 指令 * @return uint8_t 执行后的状态 */ uint8_t ctr_cangmen_up(uint8_t status_up) { rt_pin_mode(Collect_fan_R, PIN_MODE_OUTPUT); rt_pin_mode(Collect_fan_L, PIN_MODE_OUTPUT); if (status_up == OFF) { rt_pin_write(Collect_fan_R, ON); rt_pin_write(Collect_fan_L, ON); device_status.ctr_up_motor = 0; rt_thread_delay(1000); } if (status_up == OPEN) { device_status.up_status = 1; rt_pin_write(Collect_fan_R, OFF); rt_pin_write(Collect_fan_L, OFF); rt_pin_write(Collect_fan_R, ON); rt_pin_write(Collect_fan_L, OFF); } if (status_up == CLOSE) { device_status.up_status = 0; rt_pin_write(Collect_fan_R, OFF); rt_pin_write(Collect_fan_L, OFF); rt_pin_write(Collect_fan_R, OFF); rt_pin_write(Collect_fan_L, ON); } return device_status.up_status; } // 下仓门 /** * @brief 控制仓门落下 * * @param status_down 指令 * @return uint8_t 执行后的状态 */ uint8_t ctr_cangmen_down(uint8_t status_down) { rt_pin_mode(C_DOWN_R, PIN_MODE_OUTPUT); rt_pin_mode(C_DOWN_L, PIN_MODE_OUTPUT); if (status_down == OFF) { rt_pin_write(C_DOWN_R, ON); rt_pin_write(C_DOWN_L, ON); device_status.ctr_down_motor = 0; rt_thread_delay(1000); } if (status_down == OPEN) { device_status.down_status = 1; rt_pin_write(C_DOWN_R, OFF); rt_pin_write(C_DOWN_L, OFF); rt_pin_write(C_DOWN_R, ON); rt_pin_write(C_DOWN_L, OFF); } if (status_down == CLOSE) { device_status.down_status = 0; rt_pin_write(C_DOWN_R, OFF); rt_pin_write(C_DOWN_L, OFF); rt_pin_write(C_DOWN_R, OFF); rt_pin_write(C_DOWN_L, ON); } return device_status.down_status; } // 镇流器 /** * @brief 控制镇流器动作 * * @param status_lamp 指令 * @param lamp_num 镇流器编号 * @return uint8_t 更新后的镇流器状态 */ uint8_t ctr_lamp(uint8_t status_lamp, uint8_t lamp_num) { rt_pin_mode(LAMP_0_SW, PIN_MODE_OUTPUT); rt_pin_mode(LAMP_1_SW, PIN_MODE_OUTPUT); rt_pin_mode(LAMP_2_SW, PIN_MODE_OUTPUT); if (status_lamp == ON) { switch (lamp_num) { case 1: rt_pin_write(LAMP_0_SW, ON); device_status.lamp_status = status_lamp; break; case 2: rt_pin_write(LAMP_1_SW, ON); device_status.lamp_status = status_lamp; break; case 3: rt_pin_write(LAMP_2_SW, ON); device_status.lamp_status = status_lamp; break; default: break; } } else { switch (lamp_num) { case 1: rt_pin_write(LAMP_0_SW, OFF); device_status.lamp_status = status_lamp; break; case 2: rt_pin_write(LAMP_1_SW, OFF); device_status.lamp1_status = status_lamp; break; case 3: rt_pin_write(LAMP_2_SW, OFF); device_status.lamp2_status = status_lamp; break; default: break; } } HMI_WRITE("sysTest.switchLamp.val=%d", device_status.lamp_status); return device_status.lamp_status; } // 震动电机 /** * @brief 控制震动电机动作 * * @param status_shake 指令 * @param shake_sec 震动时间（秒） * @return uint8_t 执行后的状态 */ uint8_t ctr_shake(uint8_t status_shake, uint16_t shake_sec) { static rt_uint16_t shake_i = 0; if (device_status.dtype == dt_BZY && device_status.version_type == vt_XCT) { return 0; } shake_i = atoi(device_status.power); LOG_I("震动电机待机电流：%d", shake_i); if (device_status.dtype == 7 && shake_sec != 0) DTU_Write("drop"); rt_pin_mode(SHAKE_SW, PIN_MODE_OUTPUT); if (status_shake == ON && device_status.shake_ws == 1) { rt_pin_write(SHAKE_SW, ON); if (device_status.dtype == 3) { while (shake_sec--) { rt_thread_delay(100); if (shake_sec == 20 && device_status.clear_status == 0 && device_status.work_status == 1 && atoi(device_status.power) - shake_i < 100 && shake_i != 0 && shake_i < 5000) { char *shake_warn = makeJson_Warn("电流不足", "震动电机"); DTU_Write("%s", shake_warn); rt_free(shake_warn); } LOG_D("震动电机:%d", atoi(device_status.power)); } } if (device_status.dtype == 7) rt_thread_delay(shake_sec * 1000); rt_pin_write(SHAKE_SW, OFF); HMI_WRITE("cangWei.switchShake.val=%d", 0); } else { rt_pin_write(SHAKE_SW, OFF); HMI_WRITE("cangWei.switchShake.val=%d", 0); } if (device_status.dtype == 7) HMI_WRITE("sysTest.switchDrop.val=%d", OFF); return status_shake; } // 补光 extern JD_Test_Sta jts; /** * @brief 控制补光灯动作 * * @param status_led 指令 * @return uint8_t 执行后的状态 */ uint8_t ctr_led(uint8_t status_led) { // rt_kprintf("ctr_led %d \n\n", status_led); rt_pin_mode(LED_SW, PIN_MODE_OUTPUT); if (device_status.version_type == 6) rt_pin_mode(LED_P, PIN_MODE_OUTPUT); if (status_led == ON) { rt_pin_write(LED_SW, ON); if (device_status.version_type == 6) rt_pin_write(LED_P, ON); HMI_WRITE("sysTest.switchFill.val=%d", ON); } else if (status_led == OFF) { rt_pin_write(LED_SW, OFF); if (device_status.version_type == 6) rt_pin_write(LED_P, OFF); if (jts.switchled_test == ON) { jts.switchled_test = OFF; Recode_e_code(e_TestLed, 2, "外部工作导致补光灯关闭"); } } return status_led; } /************************************************* Function: ctr_turn Description: 转盘驱动 Calls: Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序） Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序） Input: v=0(复位) v=90转90度 Output: NULL Return: NULL Others: NULL *************************************************/ void ctr_turn(uint8_t v, uint8_t sta) { if (device_status.dtype == dt_BZY && device_status.version_type == vt_XCT) { return; } DTU_Write("turn.mp3"); LOG_I("================v===============:%d", v); rt_uint16_t turn_cnt = 0; rt_pin_mode(TURN_ZP_R, PIN_MODE_OUTPUT); rt_pin_mode(TURN_ZP_L, PIN_MODE_OUTPUT); rt_pin_mode(LIMIT_0, PIN_MODE_INPUT); rt_pin_mode(LIMIT_90, PIN_MODE_INPUT); // if(v==0&&rt_pin_read(LIMIT_0)==0) return; //如果在初始位置,则不再往下执行 while (rt_pin_read(LIMIT_0) == 0 || rt_pin_read(LIMIT_90) == 0) { rt_pin_write(TURN_ZP_R, ON); rt_pin_write(TURN_ZP_L, OFF); // Motor_shake(ON,0); turn_cnt++; rt_thread_delay(100); if (turn_cnt == 1000) { turn_cnt = 0; rt_pin_write(TURN_ZP_R, OFF); rt_pin_write(TURN_ZP_L, OFF); // Motor_shake(OFF,0); char *turn_warn = makeJson_Warn("未检测到限位", "转盘"); DTU_Write("%s", turn_warn); rt_free(turn_warn); break; } } turn_cnt = 0; while (v == 0 && rt_pin_read(LIMIT_0) == 1) { rt_pin_write(TURN_ZP_R, ON); rt_pin_write(TURN_ZP_L, OFF); Motor_shake(ON, 0); rt_thread_delay(200); // 10 to 100 turn_cnt++; if (turn_cnt == 300) // 6000 to 600 { turn_cnt = 0; // rt_pin_write(TURN_ZP_R, OFF); // rt_pin_write(TURN_ZP_L, OFF); // char *turn_warn =makeJson_Warn("超时", "转盘复位"); // DTU_Write("%s",turn_warn); // rt_free(turn_warn); break; } } while (v == 0 && rt_pin_read(LIMIT_0) == 1) { rt_pin_write(TURN_ZP_R, ON); rt_pin_write(TURN_ZP_L, OFF); // Motor_shake(ON,0); rt_thread_delay(50); // 10 to 50 turn_cnt++; if (turn_cnt == 10) // 6000 to 1200 { turn_cnt = 0; rt_pin_write(TURN_ZP_R, OFF); rt_pin_write(TURN_ZP_L, OFF); // Motor_shake(OFF,0); char *turn_warn = makeJson_Warn("超时", "转盘复位"); DTU_Write("%s", turn_warn); rt_free(turn_warn); break; } } turn_cnt = 0; while (v == 90 && rt_pin_read(LIMIT_90) == 1) { rt_pin_write(TURN_ZP_R, ON); rt_pin_write(TURN_ZP_L, OFF); // Motor_shake(ON,0); rt_thread_delay(200); turn_cnt++; if (turn_cnt == 150) { turn_cnt = 0; // rt_pin_write(TURN_ZP_R, OFF); // rt_pin_write(TURN_ZP_L, OFF); // char *turn_warn =makeJson_Warn("超时", "转盘"); // DTU_Write(turn_warn); // rt_free(turn_warn); break; } } while (v == 90 && rt_pin_read(LIMIT_90) == 1) { // rt_pin_write(TURN_ZP_R, ON); // rt_pin_write(TURN_ZP_L, OFF); Motor_shake(ON, 0); rt_thread_delay(50); turn_cnt++; if (turn_cnt == 10) { turn_cnt = 0; rt_pin_write(TURN_ZP_R, OFF); rt_pin_write(TURN_ZP_L, OFF); // Motor_shake(OFF,0); char *turn_warn = makeJson_Warn("超时", "转盘"); DTU_Write(turn_warn); rt_free(turn_warn); break; } } if (sta != 0) { // 保存位置 device_status.run_sta = sta; ef_set_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta)); } turn_cnt = 0; rt_pin_write(TURN_ZP_R, OFF); rt_pin_write(TURN_ZP_L, OFF); Motor_shake(OFF, 0); HMI_WRITE("cangWei.rotateFlag.val=0"); } /************************************************* Function: ctr_Motor_Driver Description: 步进电机驱动 Calls: Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序） Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序） Input: 50000000 Output: NULL Return: shake_sec Others: NULL *************************************************/ extern JD_Test_Sta jts; Res_def ctr_Motor_Driver(uint8_t EN, uint8_t DIR, rt_uint32_t pwm, rt_uint32_t time_out) { Res_def result = res_OK; beep_init(); rt_pin_mode(LIMIT_UP, PIN_MODE_INPUT); rt_pin_mode(LIMIT_DOWN, PIN_MODE_INPUT); rt_pin_mode(Motor_EN, PIN_MODE_OUTPUT); rt_pin_mode(Motor_DIR, PIN_MODE_OUTPUT); JD_Test_Type EN_Type = tt_typemax; if (jts.autotest == ON) { EN_Type = tt_auto; HMI_WRITE_Force(""); if (DIR == 0) { HMI_WRITE("sysTest.result.txt=\"一键测试 > 步进上行中\""); } } if (EN == 0) { rt_pin_write(Motor_Power, 0); } else { rt_pin_write(Motor_EN, EN); } rt_pin_write(Motor_DIR, DIR); beep_set(pwm, pwm / 2); // 200kzh - 50% while (DIR == 1 && rt_pin_read(LIMIT_DOWN) == 1) { if (time_out == 0) { result = res_Timeout; switch (EN_Type) { case tt_auto: Recode_e_code(e_StepDown_Fail, 1, "一键测试：步进下行超时"); // 一键测试 break; default: if (pwm != 0) { Recode_e_code(e_StepDown_Fail, 0, "工作中：步进下行超时"); // 流程中 } break; } break; } rt_thread_delay(50); time_out--; } while (DIR == 0 && rt_pin_read(LIMIT_UP) == 1) { if (time_out == 0) { result = res_Timeout; switch (EN_Type) { case tt_auto: Recode_e_code(e_StepUp_Fail, 1, "一键测试：步进上行超时"); // 一键测试 break; default: if (pwm != 0) { Recode_e_code(e_StepUp_Fail, 0, "工作中：步进上行超时"); // 流程中 } break; } break; } rt_thread_delay(50); time_out--; if (EN_Type == tt_auto && JD_Check_Test_Sta(tt_auto) != res_OK) { HMI_WRITE_Force(""); HMI_WRITE("sysTest.result.txt=\"一键测试 > 步进上行退出\""); break; } } rt_pin_write(Motor_EN, OFF); if (device_status.autotakepic == 0) ctr_lamp(OFF, 1); beep_set(0, 0); // 200kzh - 50% return result; } /************************************************* Function: ctr_Petroleum_jelly Description: 涂凡士林 Calls: Table Accessed: // 被访问的表（此项仅对于牵扯到数据库操作的程序） Table Updated: // 被修改的表（此项仅对于牵扯到数据库操作的程序） Input: NULL Output: NULL Return: NULL Others: NULL *************************************************/ void ctr_Petroleum_jelly(rt_uint32_t delay) { beep_init(); pwm_on(2, 50000); rt_thread_delay(delay * 1000); pwm_off(2, 0); rt_thread_delay(1000); pwm_on(3, 50000); rt_thread_delay(delay * 1000); pwm_off(3, 0); device_status.fsl_sw = 0; } // 1.0转仓 void turnzp(void) { static uint16_t turn_timeout = 0; // rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT); // rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT); rt_pin_mode(CLEAR_R_LIMIT, PIN_MODE_INPUT); // rt_pin_write(CLEAR_R,OFF); // rt_pin_write(CLEAR_L,OFF); while (rt_pin_read(CLEAR_R_LIMIT) == 0) { rt_thread_delay(20); while (rt_pin_read(CLEAR_R_LIMIT) == 0) { // rt_pin_write(CLEAR_R,ON); // rt_pin_write(CLEAR_L,OFF); Motor_Juandai(ON); rt_thread_delay(50); turn_timeout++; if (turn_timeout == 600) { LOG_E("检测不到限位,电机强制停止"); char *ctr_zp_limit_warn = makeJson_Warn("电流不足/限位超时", "转盘电机"); DTU_Write("%s", ctr_zp_limit_warn); rt_free(ctr_zp_limit_warn); break; } } break; } while (rt_pin_read(CLEAR_R_LIMIT) == 1) { rt_thread_delay(20); while (rt_pin_read(CLEAR_R_LIMIT) == 1) { // rt_pin_write(CLEAR_R,ON); // rt_pin_write(CLEAR_L,OFF); Motor_Juandai(ON); rt_thread_delay(50); turn_timeout++; if (turn_timeout == 600) { LOG_E("检测不到离开限位,电机或者限位开关异常,电机强制停止"); char *ctr_zp_limit_warn = makeJson_Warn("检测不到离开限位,电机未启动或者限位开关故障", "转盘电机"); DTU_Write("%s", ctr_zp_limit_warn); rt_free(ctr_zp_limit_warn); break; } } break; } while (rt_pin_read(CLEAR_R_LIMIT) == 0) { rt_thread_delay(20); if (rt_pin_read(CLEAR_R_LIMIT) == 0) { // rt_pin_write(CLEAR_R,OFF); // rt_pin_write(CLEAR_L,OFF); Motor_Juandai(OFF); break; } else { break; } } Motor_Juandai(OFF); // rt_pin_write(CLEAR_R,OFF); // rt_pin_write(CLEAR_L,OFF); turn_timeout = 0; HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); rt_thread_delay(1000); } // 清扫-常闭型限位开关 // 新结构使用推杆电机做清扫 uint8_t ctr_clear(uint16_t status_clear) { static uint16_t clear_num = 0; // #if PWM_EN == 0 // rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT); // rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT); // #endif // rt_pin_mode(CLEAR_R_LIMIT, PIN_MODE_INPUT); // rt_pin_mode(CLEAR_L_LIMIT, PIN_MODE_INPUT); /*************************************************************外接清扫 rt_pin_mode(POWER_CLEAR, PIN_MODE_OUTPUT); rt_pin_write(POWER_CLEAR,ON); rt_thread_delay(1000*100); rt_pin_write(POWER_CLEAR,OFF); ************************************************************/ // 停止 #if PWM_EN == 0 rt_pin_write(CLEAR_R, OFF); rt_pin_write(CLEAR_L, OFF); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif if (status_clear == OFF || Read_Real_Voltage() / 100 < 12) return 0; rt_thread_delay(100); // 如果清扫位置在中间 while (rt_pin_read(CLEAR_R_LIMIT) == 0 && rt_pin_read(CLEAR_L_LIMIT) == 0) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, OFF); #else Motor_Qingsao_R_PWM(ON); Motor_Qingsao_L_PWM(OFF); #endif rt_thread_delay(50); clear_num++; // 已到达检测位置 if (rt_pin_read(CLEAR_L_LIMIT) == 1 || rt_pin_read(CLEAR_R_LIMIT) == 1) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif rt_thread_delay(2000); break; } if (clear_num >= status_clear || atoi(device_status.power) > 2000 || (Read_Real_Voltage() / 100) < 12) { rt_kprintf("Clear Motor ERR:%d", atoi(device_status.power)); // DTU_Write("%s",makeJson_Warn("Clear Motor ERR","device")); #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif rt_free(makeJson_Warn("Clear Motor ERR", "device")); if (Read_Real_Voltage() / 100 < 12) { HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); device_status.clear_status = 0; return 0; } break; } } clear_num = 0; // 如果清扫位置在左侧 while (rt_pin_read(CLEAR_R_LIMIT) == 0) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, OFF); #else Motor_Qingsao_R_PWM(ON); Motor_Qingsao_L_PWM(OFF); #endif rt_thread_delay(50); clear_num++; if (clear_num >= status_clear || atoi(device_status.power) > 2000 || (Read_Real_Voltage() / 100) < 12) { rt_kprintf("Clear Motor ERR:%d", atoi(device_status.power)); // DTU_Write("%s",makeJson_Warn("Clear Motor ERR","device")); #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif rt_free(makeJson_Warn("Clear Motor ERR", "device")); if (Read_Real_Voltage() / 100 < 12) { HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); device_status.clear_status = 0; return 0; } break; } } clear_num = 0; while (rt_pin_read(CLEAR_L_LIMIT) == 1 || rt_pin_read(CLEAR_R_LIMIT) == 1 || (Read_Real_Voltage() / 100) < 12) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif if (Read_Real_Voltage() / 100 < 12) { HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); device_status.clear_status = 0; return 0; } rt_thread_delay(2000); break; } while (rt_pin_read(CLEAR_L_LIMIT) == 0) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, OFF); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(ON); #endif rt_thread_delay(50); clear_num++; if (clear_num >= status_clear || atoi(device_status.power) > 2000 || (Read_Real_Voltage() / 100) < 12) { rt_kprintf("Clear Motor ERR:%d", atoi(device_status.power)); char *Clear_ERR = makeJson_Warn("Clear Motor ERR", "device"); // DTU_Write("%s",Clear_ERR); #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif rt_free(Clear_ERR); if (Read_Real_Voltage() / 100 < 12) { HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); device_status.clear_status = 0; return 0; } break; } } while (rt_pin_read(CLEAR_L_LIMIT) == 1 || rt_pin_read(CLEAR_R_LIMIT) == 1) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif rt_thread_delay(2000); break; } while (rt_pin_read(CLEAR_L_LIMIT) == 1 && rt_pin_read(CLEAR_R_LIMIT) == 1) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif if (device_status.version_type == 41) { rt_kprintf("Clear Motor Limit Not Access:%d", atoi(device_status.power)); char *Clear_ERR = makeJson_Warn("Clear Motor Limit Not Access", "device"); // DTU_Write("%s",Clear_ERR); rt_free(Clear_ERR); } return 0; } clear_num = 0; rt_thread_delay(2000); #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); device_status.clear_status = 0; return 1; } // 路由器供电 void ctr_router(uint8_t status_router) { rt_pin_mode(ROUTER, PIN_MODE_OUTPUT); if (device_status.version_type == 6) rt_pin_mode(ROUTER_P, PIN_MODE_OUTPUT); // rt_pin_mode(POWER_CLEAR, PIN_MODE_OUTPUT); if (status_router == ON) { rt_pin_write(ROUTER, ON); // #if LAMP_EN == 0 if (device_status.version_type == 6) rt_pin_write(ROUTER_P, ON); #endif } else { rt_pin_write(ROUTER, OFF); // #if LAMP_EN == 0 if (device_status.version_type == 6) rt_pin_write(ROUTER_P, OFF); #endif } } // 清扫-推杆电机 void ctr_TG_Clear(uint16_t clear_timeout) { #if 0 int current_clear[200]; int16_t Electric_current = atoi(device_status.power); //获取电机运动前的电流 LOG_I("清扫电机待机:%d",Electric_current); #endif static uint16_t clear_count = 0; clear_count = clear_timeout; #if PWM_EN == 0 rt_pin_mode(CLEAR_R, PIN_MODE_OUTPUT); rt_pin_mode(CLEAR_L, PIN_MODE_OUTPUT); #endif while (clear_count != 0) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, OFF); #else Motor_Qingsao_R_PWM(ON); Motor_Qingsao_L_PWM(OFF); #endif clear_count--; rt_thread_delay(100); } #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif rt_thread_delay(3000); clear_count = 0; while (clear_timeout != clear_count) { #if PWM_EN == 0 rt_pin_write(CLEAR_R, OFF); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(ON); #endif // if(clear_count<200) // current_clear[clear_count] = atoi(device_status.power); clear_count++; rt_thread_delay(100); } #if PWM_EN == 0 rt_pin_write(CLEAR_R, ON); rt_pin_write(CLEAR_L, ON); #else Motor_Qingsao_R_PWM(OFF); Motor_Qingsao_L_PWM(OFF); #endif #if 0 bubblesort(current_clear,200); if(current_clear[199]-Electric_current <100&&device_status.work_status==1&&Electric_current!=0&&Electric_current<5000) { LOG_E("清扫电机电流不足:%d!",current_clear[199]); char *ctr_clear_warn = makeJson_Warn("电流不足","清扫电机"); DTU_Write("%s",ctr_clear_warn); rt_free(ctr_clear_warn); } #endif rt_thread_delay(2000); device_status.clear_status = 0; HMI_WRITE("cangWei.rotateFlag.val=%d", 0); HMI_WRITE("sysTest.switchClear.val=%d", 0); } extern void CTL_CAM1(void); extern void CTL_CAM0(void); // DTU,RTU供电 extern char CamFree; // 拍照结果(供运维页远程诊断: 为什么没拍/拍了失败) Photo_Stat_t photo_stat = {0}; // 海康拍照 Res_def Hk_Take_io(char type) { Res_def result = res_OK; if (CamFree == 0) { rt_kprintf("Camera busying...\n\n"); photo_stat.io_type = type; photo_stat.res = 3; // 未执行: 相机忙 recode_timestampe_NEW(&photo_stat.tig_tm); photo_stat.res_tm = photo_stat.tig_tm; // 无等待, 立刻出结果 return res_Error; } photo_stat.io_type = type; photo_stat.res = 4; // 进行中: 等待图像传输 photo_stat.res_tm = 0; recode_timestampe_NEW(&photo_stat.tig_tm); CamFree = 0; syscfg.photo_finsh = 1; char a[30] = {0}; sprintf(a , "触发拍照-%d" , type); Recode_e_code(e_Hk_Take_io,type , a); char *takephotojson = makeJson_takephoto(); DTU_Write("%s", takephotojson); rt_free(takephotojson); rt_pin_mode(HK_IO, PIN_MODE_OUTPUT); rt_pin_write(HK_IO, 0); if (device_status.dtype == 3) Beep_Tip(1000); if (device_status.dtype == 7) rt_thread_mdelay(1000); rt_pin_write(HK_IO, 1); uint32_t cnt = 0; while (1) { if (CamFree) { LOG_I("图片上传成功"); HMI_WRITE("sysTest.work_sta.txt=\" 图片上传成功\""); photo_stat.res = 1; // 成功 recode_timestampe_NEW(&photo_stat.res_tm); UpLoad_Data(2); // 拍照完成回复（落虫计数） break; } if (cnt == 0) { UpLoad_Data(4); } if (cnt++ > 249) { rt_kprintf("Waiting for image trans to complete timeout...\n"); Recode_e_code(e_cam_timeout, (uint8_t)((rt_pin_read(RTU_DTU) << 4) | syscfg.photo_finsh), "等待图像传输完成超时"); result = res_Error; photo_stat.res = 2; // 失败: 图像传输超时 recode_timestampe_NEW(&photo_stat.res_tm); UpLoad_Data(3); // 拍照完成回复（落虫计数） break; } if (syscfg.photo_finsh == 2) { LOG_I("图片上传开始..."); syscfg.photo_finsh = 3; cnt = 1; } rt_kprintf("Waiting for image trans >>> %d\n", cnt); rt_thread_mdelay(1000); Updata_INR_Simple(); } CamFree = 1; syscfg.photo_finsh = 0; return result; } /** * @brief 控制执行加热动作 * * @param heat_time 加热时间（秒） */ void calorstat(uint16_t heat_time) { // uint8_t heat_up_cnt = 0; uint16_t n = 0; uint16_t delay_heat = 60; FlagStatus heat_flg = RESET; device_status.heat_time_min = 0; device_status.run_sta = device_status.heattem; // 初始化加热实时温度 ctr_Heat(ON); // UpLoad_Data(); //开始加热时的第一条数据 // 恒温模式 for (n = 0; n < heat_time; n++) { if (device_status.heattem > device_status.heatvalue && heat_flg == RESET) { heat_flg = SET; ctr_Heat(OFF); while (delay_heat != 0) { delay_heat--; rt_kprintf("正在恒温加热!!!:%d", delay_heat); HMI_WRITE("workSta.g0.txt=\"正在恒温加热!!!:%d\"", delay_heat); rt_thread_delay(1000); if (device_status.heattem > device_status.run_sta + 1) { device_status.run_sta = device_status.heattem; } } delay_heat = 60; // 跳出FOR循环 n = n + 60; } if (device_status.heattem < (device_status.heatvalue - 5) && heat_flg == SET) { device_status.run_sta = device_status.heattem; ctr_Heat(ON); } else if (device_status.heattem >= device_status.heatvalue && heat_flg == SET) { // if(heat_up_cnt==0) // { // UpLoad_Data(); //加热到设定温度的数据 // heat_up_cnt = 1; // } device_status.run_sta = device_status.heattem; ctr_Heat(OFF); } if ((n % 60) == 0) { device_status.heat_time_min = device_status.heat_time_min + 1; // if(device_status.heat_time_min % 5 == 0) // { // UpLoad_Data(); //从加热开始每5分钟上传的数据 // } } // 如果触发异常退出加热 if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1) { rt_thread_delay(1000); if (device_status.bat_status == 1) { rt_kprintf("============================触发异常退出加热=========================="); ctr_lamp(OFF, 1); ctr_Heat(OFF); break; } } if (device_status.timeSwitch == 0 && device_status.sun_status == 1) { ctr_Heat(OFF); rt_kprintf("异常退出!!!\n"); break; } rt_thread_delay(1000); rt_kprintf("=======正在加热======:%d-%d\n", n, heat_time); HMI_WRITE("workSta.g0.txt=\"正在加热!!!:%d-%d\"", n, heat_time); } ctr_Heat(OFF); // UpLoad_Data(); //加热结束的数据 } // 初始化所有控制驱动，关闭 void HardWare_Init(uint8_t boot) { Beep_Tip(200); // 关闭镇流器 if (device_status.autotakepic == 0) ctr_lamp(OFF, 1); // 关闭震动电机 ctr_shake(OFF, 0); // 关闭加热 ctr_Heat(OFF); // 关闭补光灯 ctr_led(OFF); // 关闭12V供电(海康相机,RTU) ctr_photo(OFF); } // 拍照 void HK_TakePhoto(void) { // 打开补光灯 DTU_Write("takephoto.mp3"); rt_thread_delay(1000); char *takephotojson = makeJson_takephoto(); DTU_Write("%s", takephotojson); rt_free(takephotojson); // 吸虫塔 if (device_status.version_type != 6) { ctr_led(ON); if (device_status.version_type == 48) { rt_thread_delay(1000 * 60); } else { rt_thread_delay(1000 * 15); } } // 触发海康相机拍照 Hk_Take_io(2); if (device_status.version_type != 6) { rt_thread_delay(1000 * 45); } else { ctr_led(ON); rt_thread_delay(1000 * 19); } ctr_led(OFF); } // 光控测试任务 void SunTest(void) { rt_uint16_t ui_timeout_l = 0; // 未检测到光照，一秒扫描等待,超时30S while (Read_Light_Voltage() < 500) { ui_timeout_l++; rt_thread_delay(1000); if (ui_timeout_l == 30) break; } rt_thread_delay(3000); if (Read_Light_Voltage() < 500) { device_status.sun_status = 0; // 光控状态 } if (Read_Light_Voltage() > 500) { rt_thread_delay(1000); } rt_thread_delay(3000); if (Read_Light_Voltage() > 500) { device_status.sun_status = 1; ctr_lamp(OFF, 1); } HMI_WRITE("sysTest.switchSun.val=%d", 0); device_status.sun_test = 0; device_status.work_status = 0; } /*上电初始化*/ void ResetInit(void) { // 关闭补光灯 ctr_led(OFF); // 关诱捕灯 ctr_lamp(OFF, 1); // 关风机 ctr_Collect_Fan(OFF); if (device_status.bat_status == 1 || atoi(device_status.fuse_voltage) < 1) { // LOG_W("欠压!"); return; } // 1.打开路由器供电 ctr_router(ON); ctr_RTU_DTU(ON); // 2.打开相机供电 ctr_photo(ON); rt_kprintf("RTU POWER ON"); } /*三色光源*/ void Led_Check(uint8_t tp) { if (tp == 3) { if (device_status.light_over_tim > 2 * 3600) { device_status.work_status = 1; device_status.lamp_status = 1; device_status.lamp1_status = 0; device_status.lamp2_status = 0; LOG_I("光控定时，计时中:光源1计数:%d", device_status.light_over_tim); } else if (device_status.light_over_tim > 3600 && device_status.light_over_tim < 7200) { device_status.work_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 1; device_status.lamp2_status = 0; LOG_I("光控定时，计时中:光源2计数:%d", device_status.light_over_tim); } else if (device_status.light_over_tim < 1 * 3600) { device_status.work_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 0; device_status.lamp2_status = 1; LOG_I("光控定时，计时中:光源3计数:%d", device_status.light_over_tim); } } else if (tp == 6) { if (device_status.light_over_tim > 4 * 3600) { device_status.work_status = 1; device_status.lamp_status = 1; device_status.lamp1_status = 0; device_status.lamp2_status = 0; LOG_I("光控定时，计时中:光源1计数:%d", device_status.light_over_tim); } else if (device_status.light_over_tim < 14400 && device_status.light_over_tim > 7200) { device_status.work_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 1; device_status.lamp2_status = 0; LOG_I("光控定时，计时中:光源2计数:%d", device_status.light_over_tim); } else if (device_status.light_over_tim < 7200) { device_status.work_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 0; device_status.lamp2_status = 1; LOG_I("光控定时，计时中:光源3计数:%d", device_status.light_over_tim); } } else if (tp == 9) { if (device_status.light_over_tim > 6 * 3600) { device_status.work_status = 1; device_status.lamp_status = 1; device_status.lamp1_status = 0; device_status.lamp2_status = 0; LOG_I("光控定时，计时中:光源1计数:%d", device_status.light_over_tim); } else if (device_status.light_over_tim < 6 * 3600 && device_status.light_over_tim > 3 * 3600) { device_status.work_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 1; device_status.lamp2_status = 0; LOG_I("光控定时，计时中:光源2计数:%d", device_status.light_over_tim); } else if (device_status.light_over_tim < 3 * 3600) { device_status.work_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 0; device_status.lamp2_status = 1; LOG_I("光控定时，计时中:光源3计数:%d", device_status.light_over_tim); } } } // 出厂前自检 0-开机自检 1-屏幕或指令下发手动自检 void HardWare_Check(uint8_t boot) { if (boot == 0 && device_status.version_type != 6) { // 停止所有动作 -完成 HardWare_Init(boot); } else { // 停止所有动作 // 读取记录待机功耗(实测大概70mA) //(需减去屏幕的功耗大概120mA) // 动作上仓门,读取功率值保存 // 动作下仓门,读取功率值保存 // 动作清扫,读取功率值保存 // 打开镇流器,读取功率值保存 // 打开海康相机供电,读取功率值保存 // 打开补光灯,读取功率值保存 // 打开路由器/RTU供电,读取功率值保存 // 打开加热,读取功率值保存 } } // 工作状态检测 void WorkCheck(void) { uint16_t log_en_inr = LOG_INR; // 打印log的速度 数值越小 打印越频繁 static int16_t log_en_cnt = -1; // 雨控检测,温控检测,电池电压检测 while (device_status.ds == 1 && device_status.rain_status == 0 && device_status.temp_status == 0 && device_status.bat_status == 0) { // 工作模式检测（RTC时间正常,1-时控/0-光控）(RTC时间异常强行使用光控) if (device_status.timeSwitch == 1) { LOG_I("***********时控*****************"); // 如果开始和结束是同一天 if (device_status.startBar < device_status.stopBar) { LOG_I("开始和结束是同一天"); time_t now; time(&now); static struct tm nowtime; // 现在 static struct tm starttime; // 开始 static struct tm endtime; // 结束 // 获取当前时间戳 nowtime = *localtime(&now); nowtime.tm_hour = nowtime.tm_hour - 8; // 获取定时开始的时间戳 starttime = *localtime(&now); starttime.tm_hour = device_status.startBar - 8; starttime.tm_min = 0; starttime.tm_sec = 0; // 获取定时结束的时间戳 endtime = *localtime(&now); endtime.tm_hour = device_status.stopBar - 8; endtime.tm_min = 0; endtime.tm_sec = 0; LOG_I("***工作结束在当天:现在时间:%d-开始时间:%d-结束时间:%d***", mktime(&nowtime), mktime(&starttime), mktime(&endtime)); // 如果当前时间大于开始时间且小于结束时间，且没有开始工作 if ((difftime(mktime(&nowtime), mktime(&starttime)) >= 0) && (difftime(mktime(&nowtime), mktime(&endtime)) < 0)) { LOG_I("当前时间大于开始时间，小于结束时间,工作中!!!"); device_status.work_status = 1; } // 如果当前时间小于开始时间 else if (difftime(mktime(&nowtime), mktime(&starttime)) < 0) { LOG_I("当前时间小于开始时间，不工作！！！-%d-%d", mktime(&nowtime), mktime(&starttime)); device_status.work_status = 0; } // 当前时间大于结束时间 else { LOG_I("当前时间大于结束时间，不工作！！！-%d-%d", mktime(&nowtime), mktime(&starttime)); device_status.work_status = 0; } #if LAMP_EN == 1 // 如果当前时间超过20点，未到21点 if ((difftime(mktime(&nowtime), mktime(&starttime)) >= 0) && (difftime(mktime(&nowtime), mktime(&starttime) + 3600) < 0)) { LOG_I("3led:20~21"); device_status.lamp_status = 1; device_status.lamp1_status = 0; device_status.lamp2_status = 0; } else if ((difftime(mktime(&nowtime), mktime(&starttime) + 3600) >= 0) && (difftime(mktime(&nowtime), mktime(&starttime) + 7200) < 0)) { LOG_I("3led:21~22"); device_status.lamp1_status = 1; device_status.lamp_status = 0; device_status.lamp2_status = 0; } else if ((difftime(mktime(&nowtime), mktime(&starttime) + 7200) >= 0) && (difftime(mktime(&nowtime), mktime(&starttime) + 10800) < 0)) { LOG_I("3led:22~23"); device_status.lamp2_status = 1; device_status.lamp_status = 0; device_status.lamp1_status = 0; } #endif } // 如果结束时间是第二天 else if (device_status.startBar > device_status.stopBar) { time_t now; time(&now); static struct tm nowtime; // 现在 static struct tm starttime; // 开始 static struct tm endtime; // 结束 // 获取当前时间戳 nowtime = *localtime(&now); nowtime.tm_hour = nowtime.tm_hour - 8; // 获取定时开始的时间戳 starttime = *localtime(&now); starttime.tm_hour = device_status.startBar - 8; starttime.tm_min = 0; starttime.tm_sec = 0; // 获取定时结束的时间戳 endtime = *localtime(&now); endtime.tm_hour = device_status.stopBar - 8; endtime.tm_min = 0; endtime.tm_sec = 0; LOG_I("工作结束在第二天:现在时间:%d-开始时间:%d-结束时间:%d!!!", mktime(&nowtime), mktime(&starttime), mktime(&endtime)); // 如果当前时间大于开始时间,且没有开始工作 ，注意时间戳日期加1 if ((difftime(mktime(&nowtime), mktime(&starttime)) > 0)) { // 获取定时结束的时间戳 endtime = *localtime(&now); // 将获取到的时间转换为时间戳 endtime.tm_hour = device_status.stopBar - 8; // 这里需减8用于时区转换 endtime.tm_min = 0; endtime.tm_sec = 0; device_status.work_status = 1; LOG_I("当前前时间大于开始时间,且没有开始工作"); } // 当前时间小于开始时间 else if ((difftime(mktime(&nowtime), mktime(&starttime)) < 0)) { // 获取定时结束的时间戳 endtime = *localtime(&now); // 将获取到的时间转换为时间戳 endtime.tm_hour = device_status.stopBar - 8; // 这里需减8用于时区转换 endtime.tm_min = 0; endtime.tm_sec = 0; // 如果当前时间戳小于结束时间戳 if (difftime(mktime(&nowtime), mktime(&endtime)) < 0) { LOG_I("当前时间大于开始时间，且没有开始工作，当前时间小于结束时间的情况：计算工作时间:从当前时间工作第二天的结束时间"); device_status.work_status = 1; } else { LOG_I("当前时间小于开始时间，且没有开始工作，不是重启引起的，即还没到开始时间"); device_status.work_status = 0; // 不在工作时间,待机 } } } } else { LOG_I("光控定时模式!"); /* time_t now; time(&now); static struct tm nowstamp; nowstamp =*localtime(&now); nowstamp.tm_hour = nowstamp.tm_hour - 8; static rt_uint32_t nowstamp_num = 0; nowstamp_num = mktime(&nowstamp); rt_kprintf("now stamp:%d\n",nowstamp_num); */ if (device_status.sun_status == 0 && device_status.light_over_tim != 0) { device_status.light_over_tim--; #if LAMP_EN == 1 Led_Check(device_status.sunBar); #else device_status.work_status = 1; ; LOG_I("光控定时，计时中>>>>>>>>>:%d", device_status.light_over_tim); #endif } else { if (device_status.test_flag == 0) { ctr_lamp(OFF, 1); #if LAMP_EN == 1 ctr_lamp(OFF, 2); ctr_lamp(OFF, 3); #endif } device_status.work_status = 0; if (device_status.light_over_tim == 0 && device_status.sun_status == 1) device_status.light_over_tim = device_status.sunBar * 3600; LOG_I("光控中,白天：%d!!!", device_status.sun_status); } } rt_thread_delay(1000); } if (chk_log_time) { LOG_I("雨控状态,温控状态，电压状态:%d-%d-%d", device_status.rain_status, device_status.temp_status, device_status.bat_status); } device_status.work_status = 0; rt_thread_delay(1000); } /** * @brief 孢子仪工作线程 * */ void WorkTask_BZY(void) { if (device_status.ds == 1) { // 时间段判断 // 先判断第一个时间段 time_t now; time(&now); static struct tm now_stamp; // 现在 static struct tm cul_sh1_stamp; // 开始1 static struct tm cul_eh1_stamp; // 结束1 static struct tm cul_sh2_stamp; // 开始2 static struct tm cul_eh2_stamp; // 结束2 static struct tm cul_sh3_stamp; // 开始3 static struct tm cul_eh3_stamp; // 结束3 now_stamp = *localtime(&now); // 获取定时开始的时间戳 cul_sh1_stamp = *localtime(&now); cul_sh1_stamp.tm_hour = device_status.collecting_sh1; cul_sh1_stamp.tm_min = 0; cul_sh1_stamp.tm_sec = 0; cul_sh2_stamp = *localtime(&now); cul_sh2_stamp.tm_hour = device_status.collecting_sh2; cul_sh2_stamp.tm_min = 0; cul_sh2_stamp.tm_sec = 0; cul_sh3_stamp = *localtime(&now); cul_sh3_stamp.tm_hour = device_status.collecting_sh3; cul_sh3_stamp.tm_min = 0; cul_sh3_stamp.tm_sec = 0; // 获取定时结束的时间戳 cul_eh1_stamp = *localtime(&now); cul_eh1_stamp.tm_hour = device_status.collecting_eh1; cul_eh1_stamp.tm_min = 0; cul_eh1_stamp.tm_sec = 0; cul_eh2_stamp = *localtime(&now); cul_eh2_stamp.tm_hour = device_status.collecting_eh2; cul_eh2_stamp.tm_min = 0; cul_eh2_stamp.tm_sec = 0; cul_eh3_stamp = *localtime(&now); cul_eh3_stamp.tm_hour = device_status.collecting_eh3; cul_eh3_stamp.tm_min = 0; cul_eh3_stamp.tm_sec = 0; LOG_I("采集时间1-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec); LOG_I("采集时间2-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec); LOG_I("采集时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh3_stamp.tm_year + 1900, cul_sh3_stamp.tm_mon + 1, cul_sh3_stamp.tm_mday, cul_sh3_stamp.tm_hour, cul_sh3_stamp.tm_min, cul_sh3_stamp.tm_sec); LOG_I("结束时间1-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh1_stamp.tm_year + 1900, cul_eh1_stamp.tm_mon + 1, cul_eh1_stamp.tm_mday, cul_eh1_stamp.tm_hour, cul_eh1_stamp.tm_min, cul_eh1_stamp.tm_sec); LOG_I("结束时间2-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh2_stamp.tm_year + 1900, cul_eh2_stamp.tm_mon + 1, cul_eh2_stamp.tm_mday, cul_eh2_stamp.tm_hour, cul_eh2_stamp.tm_min, cul_eh2_stamp.tm_sec); LOG_I("结束时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh3_stamp.tm_year + 1900, cul_eh3_stamp.tm_mon + 1, cul_eh3_stamp.tm_mday, cul_eh3_stamp.tm_hour, cul_eh3_stamp.tm_min, cul_eh3_stamp.tm_sec); // 此处判断，一个一个时间段判断，判断当前时间是否大于开始时间： // 当前时间戳小于第一段开始时间戳 if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) < 0) { time_t now; time(&now); cul_sh1_stamp = *localtime(&now); cul_sh1_stamp.tm_hour = device_status.collecting_sh1; cul_sh1_stamp.tm_min = 0; cul_sh1_stamp.tm_sec = 0; now_stamp = *localtime(&now); LOG_I("======收集时间1:%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec); LOG_I("======未到收集时间1:%04d年%02d月%02d日%02d时%02d分%02d秒.", now_stamp.tm_year + 1900, now_stamp.tm_mon + 1, now_stamp.tm_mday, now_stamp.tm_hour, now_stamp.tm_min, now_stamp.tm_sec); LOG_D("run_sta:%d", device_status.run_sta); } // 当前时间戳小于第二段结束 时间戳并且大于第1段结束时间戳 if (difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) < 0 && difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)) > 0) { time_t now; time(&now); cul_sh2_stamp = *localtime(&now); cul_sh2_stamp.tm_hour = device_status.collecting_sh2; cul_sh2_stamp.tm_min = 0; cul_sh2_stamp.tm_sec = 0; now_stamp = *localtime(&now); LOG_I("==============收集时间2:%04d年%02d月%02d日%02d时%02d分%02d秒.\n", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec); LOG_I("==============未到收集时间2:%04d年%02d月%02d日%02d时%02d分%02d秒.\n", now_stamp.tm_year + 1900, now_stamp.tm_mon + 1, now_stamp.tm_mday, now_stamp.tm_hour, now_stamp.tm_min, now_stamp.tm_sec); LOG_D("run_sta:%d", device_status.run_sta); } // 如果当前 时间戳大于开始时间戳并且小于 结束时间戳 if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh2_stamp)) < 0) { // 转盘到涂凡士林位置 if (device_status.run_sta == 0) { LOG_I("start to collect!!!"); DTU_Write("collect.mp3"); ctr_turn(90, 4); rt_thread_delay(2000); // 涂凡士林 ctr_Petroleum_jelly(10); rt_thread_delay(5000); } /*转盘到采集位置*/ if (device_status.run_sta == 4) ctr_turn(90, 1); // 只有开始和结束时刻不同的时间段,才有效 if ((difftime(mktime(&cul_eh1_stamp), mktime(&now_stamp)) > 0) || (difftime(mktime(&cul_eh2_stamp), mktime(&now_stamp)) > 0)) { if ((difftime(mktime(&cul_eh1_stamp), mktime(&now_stamp)) > 0) && difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) > 0) { device_status.work_status = 1; ctr_Collect_Fan(ON); // 当前时间戳小于第一段结束时间戳 while (difftime(mktime(&cul_eh1_stamp), mktime(&now_stamp)) > 0) { time(&now); now_stamp = *localtime(&now); cul_eh1_stamp = *localtime(&now); cul_eh1_stamp.tm_hour = device_status.collecting_eh1; cul_eh1_stamp.tm_min = 0; cul_eh1_stamp.tm_sec = 0; if (device_status.run_sta != 1) break; LOG_I("1===========采集风机启动,正在收集.....%d-%d", mktime(&now_stamp), mktime(&cul_eh1_stamp)); rt_thread_mdelay(10000); } } else { device_status.work_status = 0; ctr_Collect_Fan(OFF); LOG_I("未到收集1时间!"); } if (difftime(mktime(&cul_eh2_stamp), mktime(&now_stamp)) > 0 && difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) > 0) { device_status.work_status = 1; ctr_Collect_Fan(ON); while (difftime(mktime(&cul_eh2_stamp), mktime(&now_stamp)) > 0) { time(&now); now_stamp = *localtime(&now); cul_eh2_stamp = *localtime(&now); cul_eh2_stamp.tm_hour = device_status.collecting_eh2; cul_eh2_stamp.tm_min = 0; cul_eh2_stamp.tm_sec = 0; if (device_status.run_sta != 1) break; LOG_I("2===========采集风机启动,正在收集.....%d-%d", mktime(&now_stamp), mktime(&cul_eh2_stamp)); rt_thread_mdelay(10000); } } else { device_status.work_status = 0; ctr_Collect_Fan(OFF); LOG_I("未到收集2时间!"); } } else { LOG_I("this collect time is 0s,The wait time cannot be negative!"); } } if (device_status.run_sta == 2) { ctr_Collect_Fan(OFF); device_status.develop_flag = 1; device_status.work_status = 2; ctr_develop(); // 培养 ctr_turn(90, 3); } if (device_status.run_sta == 3) { ctr_Collect_Fan(OFF); device_status.work_status = 3; device_status.autotakepic = 1; // 对焦拍照 } // 在培养之前再次确认时间戳 time(&now); now_stamp = *localtime(&now); cul_eh2_stamp = *localtime(&now); cul_eh2_stamp.tm_hour = device_status.collecting_eh2; cul_eh2_stamp.tm_min = 0; cul_eh2_stamp.tm_sec = 0; // 当前时间戳大于收集结束时间戳并且run_sta==1 if (device_status.run_sta == 1 && difftime(mktime(&now_stamp), mktime(&cul_eh2_stamp)) > 0) { ctr_Collect_Fan(OFF); LOG_I("===============collect ok,turn to drop!!!"); device_status.develop_flag = 1; device_status.work_status = 2; // 现在是培养 DTU_Write("develop.mp3"); if (device_status.run_sta == 1) ctr_turn(90, 2); /*转盘到培养位置*/ rt_thread_delay(1000); ctr_shake(ON, device_status.shake_sec); rt_thread_delay(1000); ctr_develop(); // 培养 if (device_status.run_sta == 2) ctr_turn(90, 3); /*转盘到拍照位置*/ rt_thread_delay(1000); device_status.work_status = 3; // 现在是拍照 device_status.autotakepic = 1; // 对焦拍照 while (device_status.autotakepic == 0) { rt_thread_mdelay(1000); LOG_I("正在对焦拍照............B"); } device_status.work_status = 0; // 待机 DTU_Write("wait.mp3"); LOG_I("=====================work finished=================="); } rt_thread_delay(1000); } device_status.work_status = 0; // 待机 LOG_W("==================!!!设备已待机!!!==================="); } /********************* 胶带结构的孢子仪主工作流程 ************************/ #define test_min 0 /** * @brief 检查是否到工作时间段 * * @return uint8_t 0-未到 / 已到:时间段编号(1-2-3) */ static uint8_t Confirm_time_period(void) { static uint8_t once_print = 0; uint8_t log_en_inr = LOG_INR * 3; // 打印log的速度 数值越小 打印越频繁 static int16_t log_en_cnt = -1; uint8_t time_period = 0; // 时间段判断 // 先判断第一个时间段 time_t now; time(&now); static struct tm now_stamp; // 现在 static struct tm cul_sh1_stamp; // 开始1 static struct tm cul_eh1_stamp; // 结束1 static struct tm cul_sh2_stamp; // 开始2 static struct tm cul_eh2_stamp; // 结束2 static struct tm cul_sh3_stamp; // 开始3 static struct tm cul_eh3_stamp; // 结束3 now_stamp = *localtime(&now); // 获取定时开始的时间戳 cul_sh1_stamp = *localtime(&now); cul_sh1_stamp.tm_hour = device_status.collecting_sh1; cul_sh1_stamp.tm_min = 0 + test_min; cul_sh1_stamp.tm_sec = 0; cul_sh2_stamp = *localtime(&now); cul_sh2_stamp.tm_hour = device_status.collecting_sh2; cul_sh2_stamp.tm_min = 0 + test_min; cul_sh2_stamp.tm_sec = 0; cul_sh3_stamp = *localtime(&now); cul_sh3_stamp.tm_hour = device_status.collecting_sh3; cul_sh3_stamp.tm_min = 0 + test_min; cul_sh3_stamp.tm_sec = 0; // 获取定时结束的时间戳 cul_eh1_stamp = *localtime(&now); cul_eh1_stamp.tm_hour = device_status.collecting_eh1; cul_eh1_stamp.tm_min = 0 + test_min; cul_eh1_stamp.tm_sec = 0; cul_eh2_stamp = *localtime(&now); cul_eh2_stamp.tm_hour = device_status.collecting_eh2; cul_eh2_stamp.tm_min = 0 + test_min; cul_eh2_stamp.tm_sec = 0; cul_eh3_stamp = *localtime(&now); cul_eh3_stamp.tm_hour = device_status.collecting_eh3; cul_eh3_stamp.tm_min = 0 + test_min; cul_eh3_stamp.tm_sec = 0; if (once_print == 0 || chk_log_time) { rt_kprintf("\n\n"); LOG_I("采集时间1-%04d-%02d-%02d %02d:%02d:%02d", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec); LOG_I("结束时间1-%04d-%02d-%02d %02d:%02d:%02d\n", cul_eh1_stamp.tm_year + 1900, cul_eh1_stamp.tm_mon + 1, cul_eh1_stamp.tm_mday, cul_eh1_stamp.tm_hour, cul_eh1_stamp.tm_min, cul_eh1_stamp.tm_sec); LOG_I("采集时间2-%04d-%02d-%02d %02d:%02d:%02d", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec); LOG_I("结束时间2-%04d-%02d-%02d %02d:%02d:%02d", cul_eh2_stamp.tm_year + 1900, cul_eh2_stamp.tm_mon + 1, cul_eh2_stamp.tm_mday, cul_eh2_stamp.tm_hour, cul_eh2_stamp.tm_min, cul_eh2_stamp.tm_sec); // LOG_I("采集时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_sh3_stamp.tm_year + 1900, cul_sh3_stamp.tm_mon + 1, cul_sh3_stamp.tm_mday, cul_sh3_stamp.tm_hour, cul_sh3_stamp.tm_min, cul_sh3_stamp.tm_sec); // LOG_I("结束时间3-%04d年%02d月%02d日%02d时%02d分%02d秒.", cul_eh3_stamp.tm_year + 1900, cul_eh3_stamp.tm_mon + 1, cul_eh3_stamp.tm_mday, cul_eh3_stamp.tm_hour, cul_eh3_stamp.tm_min, cul_eh3_stamp.tm_sec); rt_kprintf("\n\n"); once_print = 1; } // 此处判断，一个一个时间段判断，判断当前时间是否大于开始时间： // 当前时间戳小于第一段开始时间戳 if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) < 0) { if (chk_log_time) { uint32_t time_cache = cul_sh1_stamp.tm_hour * 3600 + cul_sh1_stamp.tm_min * 60 + cul_sh1_stamp.tm_sec; uint32_t time_now = now_stamp.tm_hour * 3600 + now_stamp.tm_min * 60 + now_stamp.tm_sec; uint32_t time_remainder = time_cache - time_now; uint8_t hour = time_remainder / 3600; uint8_t min = (time_remainder % 3600) / 60; uint8_t sec = time_remainder % 60; LOG_I(" ====== 未到收集时间 A :%04d-%02d-%02d %02d:%02d:%02d 剩余：%02d:%02d:%02d ====== run_sta %d", cul_sh1_stamp.tm_year + 1900, cul_sh1_stamp.tm_mon + 1, cul_sh1_stamp.tm_mday, cul_sh1_stamp.tm_hour, cul_sh1_stamp.tm_min, cul_sh1_stamp.tm_sec, hour, min, sec, device_status.run_sta); } time_period = 0; } // 当前时间戳小于第二段结束 时间戳并且大于第1段结束时间戳 if (difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) < 0 && difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)) > 0) { if (chk_log_time) { uint32_t time_cache = cul_sh2_stamp.tm_hour * 3600 + cul_sh2_stamp.tm_min * 60 + cul_sh2_stamp.tm_sec; uint32_t time_now = now_stamp.tm_hour * 3600 + now_stamp.tm_min * 60 + now_stamp.tm_sec; uint32_t time_remainder = time_cache - time_now; uint8_t hour = time_remainder / 3600; uint8_t min = (time_remainder % 3600) / 60; uint8_t sec = time_remainder % 60; LOG_I(" ====== 未到收集时间 B :%04d-%02d-%02d %02d:%02d:%02d 剩余：%02d:%02d:%02d ====== run_sta %d", cul_sh2_stamp.tm_year + 1900, cul_sh2_stamp.tm_mon + 1, cul_sh2_stamp.tm_mday, cul_sh2_stamp.tm_hour, cul_sh2_stamp.tm_min, cul_sh2_stamp.tm_sec, hour, min, sec, device_status.run_sta); } time_period = 0; } // 如果当前 时间戳大于开始时间戳并且小于 结束时间戳 if (difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp)) < 0) { time_period = 1; } else if (difftime(mktime(&now_stamp), mktime(&cul_sh2_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh2_stamp)) < 0) { time_period = 2; } else if (difftime(mktime(&now_stamp), mktime(&cul_sh3_stamp)) >= 0 && difftime(mktime(&now_stamp), mktime(&cul_eh3_stamp)) < 0) { time_period = 3; } // if (chk_log_time) // rt_kprintf("time_period > %d %X %X\n", time_period, difftime(mktime(&now_stamp), mktime(&cul_sh1_stamp)), difftime(mktime(&now_stamp), mktime(&cul_eh1_stamp))); return time_period; } /** * @brief * * @param mot 电机选择 * @param limit1 限位1选择 * @param limit2 限位2选择（不需要的话填0） * @param mct 电机操作选择 * @return Res_def 0-成功 */ Res_def Mtor_Control(Motor_type mot, Limit_type limit1, Limit_type limit2, Motor_Ctl_type mct, uint16_t timeout, int8_t ctime) { uint8_t res = res_OK; uint16_t Motor_L, Motor_R, Lim1, Lim2 = LIMIT_0; uint16_t wait_out = 0; uint16_t time_out10 = timeout / 10; uint8_t Check_EN = 0; if (JD_Check_Test_Sta(tt_auto) == res_OK) { Check_EN = 2; } if (ctime < 0 || ctime > 10) { ctime = 0; } switch (mot) // 电机选型 { case mot_ZP: Motor_L = TURN_ZP_L; Motor_R = TURN_ZP_R; break; case mot_CM: Motor_L = TURN_CM_L; Motor_R = TURN_CM_R; break; default: LOG_W("illegal Motor_type %d", mot); return res_Verifi; break; } switch (limit1) // 限位选型1 { case lt_Angle_0: Lim1 = LIMIT_0; break; case lt_Angle_90: Lim1 = LIMIT_90; break; default: LOG_W("illegal limit1_type %d", limit1); return res_Verifi; break; } if (limit2 != 0) { switch (limit2) // 限位选型2 { case lt_Angle_0: Lim2 = LIMIT_0; rt_pin_mode(Lim2, PIN_MODE_INPUT); break; case lt_Angle_90: Lim2 = LIMIT_90; rt_pin_mode(Lim2, PIN_MODE_INPUT); break; default: LOG_W("illegal limit2_type %d", limit2); return res_Verifi; break; } } rt_pin_mode(Motor_L, PIN_MODE_OUTPUT); rt_pin_mode(Motor_R, PIN_MODE_OUTPUT); rt_pin_mode(Lim1, PIN_MODE_INPUT); // 走出限位 while ((rt_pin_read(Lim1) == 1) && (wait_out < time_out10) && (mot == mot_ZP)) { switch (mct) { case mct_Foreward: rt_pin_write(Motor_R, ON); rt_pin_write(Motor_L, OFF); break; case mct_Reversal: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, ON); break; case mct_Stop: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, OFF); break; default: LOG_W("illegal Motor_Ctl_type %d", mct); return res_Verifi; break; } wait_out++; rt_thread_mdelay(10); if (wait_out % 100 == 0) { rt_kprintf("wait exit limit %d/%d \n", wait_out, time_out10); } } // 参数校验完成 开始操作 switch (mct) { case mct_Foreward: rt_pin_write(Motor_R, ON); rt_pin_write(Motor_L, OFF); break; case mct_Reversal: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, ON); break; case mct_Stop: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, OFF); break; default: LOG_W("illegal Motor_Ctl_type %d", mct); return res_Verifi; break; } if (mct == mct_Stop) { rt_thread_mdelay(10); return res; } res = res_Timeout; while ((wait_out < time_out10) && (limit2 == 0)) { switch (mct) { case mct_Foreward: rt_pin_write(Motor_R, ON); rt_pin_write(Motor_L, OFF); break; case mct_Reversal: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, ON); break; case mct_Stop: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, OFF); break; default: LOG_W("illegal Motor_Ctl_type %d", mct); return res_Verifi; break; } if (rt_pin_read(Lim1) == 1 && mot_ZP == mot) { // LOG_W("lim1 TIG"); res = res_OK; if (ctime > 0 && jts.FBtest != ON) { for (char i = 0; i < ctime; i++) { rt_kprintf("ctime enable %d\n", i + 1); rt_thread_mdelay(1000); } } break; } wait_out++; rt_thread_mdelay(10); if ((Check_EN == 2) && (JD_Check_Test_Sta(tt_auto) != res_OK)) { rt_kprintf("tt_tape Break 2\n"); break; } } while ((wait_out < time_out10) && (limit2 != 0)) { switch (mct) { case mct_Foreward: rt_pin_write(Motor_R, ON); rt_pin_write(Motor_L, OFF); break; case mct_Reversal: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, ON); break; case mct_Stop: rt_pin_write(Motor_R, OFF); rt_pin_write(Motor_L, OFF); break; default: LOG_W("illegal Motor_Ctl_type %d", mct); return res_Verifi; break; } if (rt_pin_read(Lim1) == 0 || rt_pin_read(Lim2) == 0) { // LOG_W("lim1 or 2 TIG"); res = res_OK; break; } wait_out++; rt_thread_mdelay(10); if ((Check_EN == 2) && (JD_Check_Test_Sta(tt_auto) != res_OK)) { rt_kprintf("tt_tape Break 2\n"); break; } } rt_pin_write(TURN_ZP_R, OFF); rt_pin_write(TURN_ZP_L, OFF); uint16_t out_cnt = 0; ef_get_env_blob("out_cnt", &out_cnt, sizeof(out_cnt), NULL); if (wait_out >= time_out10 && Check_EN == 0 && (mot == mot_ZP)) { Report_Limit_Error(le_limit_tape); rt_kprintf("胶带限位失效啦\n"); out_cnt++; rt_kprintf(" TAPE out_cnt %d", out_cnt); ef_set_env_blob("out_cnt", &out_cnt, sizeof(out_cnt)); } else if(out_cnt > 0) { if (out_cnt > 10) { RTC_SET_TigVal(0); Recode_e_code(e_CNT_RESET, 0, "自动清空计数"); } out_cnt = 0; ef_set_env_blob("out_cnt", &out_cnt, sizeof(out_cnt)); } return res; } /** * @brief 控制转盘电机 * * @param mct 控制操作 * @return Res_def 执行结果 */ Res_def Mtor_Control_ZP(Motor_Ctl_type mct, int8_t ctime) { static char free = OFF; static Motor_Ctl_type Mtor_sta = mct_Foreward; uint16_t read_cnt = RTC_GET_TigVal(); char cnt = 0; while (cnt < 30 && free == ON) { rt_kprintf("waitting for Mtor_Control_ZP free %d\n", cnt); rt_thread_mdelay(1000); cnt++; } free = ON; if (mct != mct_auto) { Mtor_sta = mct; } else { if (Mtor_sta == mct_Foreward) { Mtor_sta = mct_Reversal; } else { Mtor_sta = mct_Foreward; } } Mtor_sta = mct_Foreward; if (Mtor_sta == mct_Foreward) { LOG_I("Mtor_Control_ZP Start mct_Foreward\n"); } else { LOG_I("Mtor_Control_ZP Start mct_Reversal\n"); } uint8_t res = Mtor_Control(mot_ZP, lt_Angle_0, 0, Mtor_sta, 15000, ctime); LOG_I("Mtor_Control Finsh %d - %d\n", mct, res); /** * @brief 251021 新增胶带计数 * */ read_cnt++; RTC_SET_TigVal(read_cnt); /** * @brief 251021 新增胶带计数 * */ free = OFF; return res; } /** * @brief 控制仓门电机 * * @param mct 控制操作 * @return Res_def 执行结果 */ Res_def Mtor_Control_CM(Motor_Ctl_type mct, uint16_t time_ms) { if (mct == mct_Foreward) { LOG_I(" ↓↓↓ Mtor_Control_CM Start mct_Foreward ↓↓↓\n"); } else { LOG_I(" ↓↓↓ Mtor_Control_CM Start mct_Reversal ↓↓↓\n"); } uint8_t res = Mtor_Control(mot_CM, lt_Angle_0, 0, mct, time_ms, 0); LOG_I(" ↑↑↑ Mtor_Control_CM Finsh %d - %d ↑↑↑\n", mct, res); return res; } /** * @brief 获取当前时间 * * @param now_stamp 存放时间戳的指针 */ void Get_now_time(struct tm *now_stamp) { time_t now; time(&now); *now_stamp = *localtime(&now); } /** * @brief 检查是否处于工作时间段 * * @param coll_ch 时间段通道 * @return Temporal_list 检查结果 */ Temporal_list Check_Work_time_period(uint8_t coll_ch) { static struct tm now_stamp = {0}; // 现在 static struct tm cul_s_stamp = {0}; // 开始 static struct tm cul_e_stamp = {0}; // 结束 Get_now_time(&now_stamp); Get_now_time(&cul_s_stamp); Get_now_time(&cul_e_stamp); switch (coll_ch) { case 1: cul_s_stamp.tm_hour = device_status.collecting_sh1; cul_s_stamp.tm_min = 0 + test_min; cul_s_stamp.tm_sec = 0; cul_e_stamp.tm_hour = device_status.collecting_eh1; cul_e_stamp.tm_min = 0 + test_min; cul_e_stamp.tm_sec = 0; break; case 2: cul_s_stamp.tm_hour = device_status.collecting_sh2; cul_s_stamp.tm_min = 0 + test_min; cul_s_stamp.tm_sec = 0; cul_e_stamp.tm_hour = device_status.collecting_eh2; cul_e_stamp.tm_min = 0 + test_min; cul_e_stamp.tm_sec = 0; // rt_kprintf("cul_s_stamp %d cul_e_stamp %d\n", cul_s_stamp.tm_hour, cul_e_stamp.tm_hour); if (cul_s_stamp.tm_hour == cul_e_stamp.tm_hour) // 检查第二时间段是否有效 { return tl_Error; } break; default: return tl_Verifi; break; } if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) >= 0 && // 大于开始时间 difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) < 0) // 小于结束时间 { return tl_Center; } if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) < 0) // 小于开始时间 { return tl_Front; } if (difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) >= 0) // 大于结束时间 { // rt_kprintf("now %02d:%02d:%02d start %02d:%02d:%02d end %02d:%02d:%02d\n" , // now_stamp.tm_hour,now_stamp.tm_min,now_stamp.tm_sec, // cul_s_stamp.tm_hour,cul_s_stamp.tm_min,cul_s_stamp.tm_sec, // cul_e_stamp.tm_hour,cul_e_stamp.tm_min,cul_e_stamp.tm_sec // ); return tl_Back; } return tl_Verifi; } /** * @brief 检查是否处于工作时间段 跨0点模式 * * @param coll_ch 时间段通道 * @return Temporal_list 检查结果 */ Temporal_list Check_Work_time_period_0oclock(void) { static struct tm now_stamp = {0}; // 现在 static struct tm cul_s_stamp = {0}; // 开始 static struct tm cul_e_stamp = {0}; // 结束 Get_now_time(&now_stamp); Get_now_time(&cul_s_stamp); Get_now_time(&cul_e_stamp); /** STEP1:get cheange value * */ uint8_t cv_start = 0, cv_end = 0; cv_start = device_status.collecting_sh1 + 24; cv_end = device_status.collecting_eh1 + 48; /** STEP2: make zero * */ cv_end -= cv_start; /** SETP3: get Dvalue * */ if (now_stamp.tm_hour >= device_status.collecting_eh1 && now_stamp.tm_hour < device_status.collecting_sh1) // not yet { // rt_kprintf("未到定时区间\n"); return tl_Front; } else if (now_stamp.tm_hour >= device_status.collecting_sh1 && now_stamp.tm_hour < 24) // Phase 1 { // rt_kprintf("阶段1\n"); now_stamp.tm_hour += 24; now_stamp.tm_hour -= cv_start; } else { // rt_kprintf("阶段2\n"); now_stamp.tm_hour += 48; now_stamp.tm_hour -= cv_start; } // rt_kprintf("当前时间为 %d 设定时间为 0 ~ %d\n" ,now_stamp.tm_hour ,cv_end); cul_s_stamp.tm_hour = 0; cul_s_stamp.tm_min = 0 + test_min; cul_s_stamp.tm_sec = 0; cul_e_stamp.tm_hour = cv_end; cul_e_stamp.tm_min = 0 + test_min; cul_e_stamp.tm_sec = 0; if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) >= 0 && // 大于开始时间 difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) < 0) // 小于结束时间 { return tl_Center; } if (difftime(mktime(&now_stamp), mktime(&cul_s_stamp)) < 0) // 小于开始时间 { return tl_Front; } if (difftime(mktime(&now_stamp), mktime(&cul_e_stamp)) >= 0) // 大于结束时间 { // rt_kprintf("now %02d:%02d:%02d start %02d:%02d:%02d end %02d:%02d:%02d\n" , // now_stamp.tm_hour,now_stamp.tm_min,now_stamp.tm_sec, // cul_s_stamp.tm_hour,cul_s_stamp.tm_min,cul_s_stamp.tm_sec, // cul_e_stamp.tm_hour,cul_e_stamp.tm_min,cul_e_stamp.tm_sec // ); return tl_Back; } return tl_Verifi; } /** * @brief 写工作运行状态 * * @param sta 要写入的值 */ static void Set_run_sta(run_sta_list sta) { device_status.run_sta = sta; ef_set_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta)); uint8_t check = 0; ef_get_env_blob("run_sta", &check, sizeof(device_status.run_sta), NULL); if (check != sta) { ef_set_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta)); } rt_kprintf("Set_run_sta > %d \n", check); } void Set_runsta_reset(void) { Recode_e_code(e_set_rs_RESET, 1, "工作流程被复位"); Set_run_sta(rs_RESET); } MSH_CMD_EXPORT(Set_runsta_reset, Set_runsta_reset); /** * @brief 读工作运行状态 * * @return run_sta_list 读出的值 */ static run_sta_list Get_run_sta(void) { ef_get_env_blob("run_sta", &device_status.run_sta, sizeof(device_status.run_sta), NULL); return device_status.run_sta; } /** * @brief 获取剩余工作时间 * * @param coll_ch 工作时间段通道号 * @return uint8_t 百分比的值 */ static int8_t Get_remainder_time(uint8_t coll_ch) { static struct tm now_stamp = {0}; // 现在 static struct tm cul_s_stamp = {0}; // 开始 static struct tm cul_e_stamp = {0}; // 结束 uint32_t dividend = 0, divisor = 0, quotient = 0; int8_t result = 0; Get_now_time(&now_stamp); Get_now_time(&cul_s_stamp); Get_now_time(&cul_e_stamp); switch (coll_ch) { case 1: cul_s_stamp.tm_hour = device_status.collecting_sh1; cul_s_stamp.tm_min = 0 + test_min; cul_s_stamp.tm_sec = 0; cul_e_stamp.tm_hour = device_status.collecting_eh1; cul_e_stamp.tm_min = 0 + test_min; cul_e_stamp.tm_sec = 0; break; case 2: cul_s_stamp.tm_hour = device_status.collecting_sh2; cul_s_stamp.tm_min = 0 + test_min; cul_s_stamp.tm_sec = 0; cul_e_stamp.tm_hour = device_status.collecting_eh2; cul_e_stamp.tm_min = 0 + test_min; cul_e_stamp.tm_sec = 0; if (cul_s_stamp.tm_hour == cul_e_stamp.tm_hour) // 检查第二时间段是否有效 { return -1; } break; default: return -1; break; } dividend = (cul_e_stamp.tm_hour * 3600 + cul_e_stamp.tm_min * 60 + cul_e_stamp.tm_sec) - (cul_s_stamp.tm_hour * 3600 + cul_s_stamp.tm_min * 60 + cul_s_stamp.tm_sec); divisor = (cul_e_stamp.tm_hour * 3600 + cul_e_stamp.tm_min * 60 + cul_e_stamp.tm_sec) - (now_stamp.tm_hour * 3600 + now_stamp.tm_min * 60 + now_stamp.tm_sec); divisor *= 100; quotient = divisor / dividend; result = abs(100 - quotient); return result; } /*********************↓ 胶带结构的孢子仪主工作流程 ↓************************/ /** * @brief 检查工作事件 * * @return Temporal_list */ Temporal_list Check_WorkDay(void) { work_day_def work_day = {0}; if (ef_get_env_blob("work_day", &work_day, sizeof(work_day), NULL) == 0) { return res_Verifi; } else if (work_day.year == 0 && work_day.month == 0 && work_day.day == 0) { // rt_kprintf("work_day %d.%d.%d \n", work_day.year, work_day.month, work_day.day); return tl_Error; } static struct tm now_stamp = {0}; // 现在 Get_now_time(&now_stamp); now_stamp.tm_mon += 1; // 时间已过期 if (work_day.year > now_stamp.tm_year) { return tl_Back; } else if (work_day.month > now_stamp.tm_mon) { return tl_Back; } else if (work_day.day > now_stamp.tm_mday) { return tl_Back; } if (work_day.year == now_stamp.tm_year && work_day.month == now_stamp.tm_mon && work_day.day == now_stamp.tm_mday) { return tl_Center; } if (work_day.year < now_stamp.tm_year) { return tl_Front; } else if (work_day.month < now_stamp.tm_mon) { return tl_Front; } else if (work_day.day < now_stamp.tm_mday) { return tl_Front; } return res_Verifi; } void Recode_WorkDay(void) { work_day_def work_day = {0}; static struct tm now_stamp = {0}; // 现在 Get_now_time(&now_stamp); work_day.year = now_stamp.tm_year; work_day.month = now_stamp.tm_mon + 1; work_day.day = now_stamp.tm_mday; ef_set_env_blob("work_day", &work_day, sizeof(work_day)); LOG_E("Recode_WorkDay > %d.%02d.%02d\n", work_day.year % 100, work_day.month, work_day.day); char buf[100] = {0}; sprintf(buf, "今日(%d)工作结束", now_stamp.tm_mday); Recode_e_code(e_ReWorkDay, now_stamp.tm_mday, buf); // 工作结束 } MSH_CMD_EXPORT(Recode_WorkDay, Recode_WorkDay); void Clear_WorkDay(void) { work_day_def work_day = {0}; rt_kprintf("WorkDay SET %d \n", ef_set_env_blob("work_day", &work_day, sizeof(work_day))); } uint8_t ws_stop_waitA = 0; uint8_t ws_stop_waitB = 0; /*********************↑ 胶带结构的孢子仪主工作流程 ↑************************/ /** * @brief 孢子仪工作线程V2 * */ void WorkTask_BZYV2(void) { // 打开采集风机 ctr_Collect_Fan(ON); // 打开胶带步进电机 // 等待采集结束 // 拍照 // 打开相机供电 // 打开补光灯 // 滑台归位 // 滑台启动 } // 工作任务流程s void WorkTask(void) { static int clt_time = 0; // 收集时间差秒数 static int heat_time = 0; uint16_t log_en_inr = LOG_INR; // 打印log的速度 数值越小 打印越频繁 static int16_t log_en_cnt = -1; if (chk_log_time) { LOG_I("工作状态:%d", device_status.work_status); LOG_I("开关机状态:%d", device_status.ds); } while (device_status.work_status == 1 && device_status.temp_status == 0 && device_status.bat_status == 0 && device_status.rain_status == 0 && device_status.ds == 1 && device_status.clear_status == 0) { device_status.work_done = 0; if (clt_time == 0) { #if 0 if(device_status.version_type==41&&atoi(device_status.power)<350) { LOG_W("相机电流不足!"); char *ctr_hk_p_warn = makeJson_Warn("电流不足", "相机"); DTU_Write("%s",ctr_hk_p_warn); rt_free(ctr_hk_p_warn); } #endif #if LAMP_EN == 0 ctr_Fan_PUT(ON); #endif DTU_Write("workstart.mp3"); } // 1.打开灯管 #if LAMP_EN == 1 if (device_status.lamp_status == 1) { ctr_lamp(ON, 1); ctr_lamp(OFF, 2); ctr_lamp(OFF, 3); } else if (device_status.lamp1_status == 1) { ctr_lamp(OFF, 1); ctr_lamp(ON, 2); ctr_lamp(OFF, 3); } else if (device_status.lamp2_status == 1) { ctr_lamp(OFF, 1); ctr_lamp(OFF, 2); ctr_lamp(ON, 3); } #else ctr_lamp(ON, 1); #endif LOG_I("打开灯管!!!"); #if 0 rt_thread_delay(2000); if(atoi(device_status.power)<450) { LOG_I("Current is:%d",atoi(device_status.power)); if(atoi(device_status.power)>50&&atoi(device_status.power)<5000) //过滤电流检测芯片损坏导致电流异常 { char* lamp_err_warn = makeJson_Warn("电流不足", "灯管"); DTU_Write("%s",lamp_err_warn); rt_free(lamp_err_warn); } } #endif if (device_status.version_type != 5) { if (clt_time == 0) { rt_thread_delay(5000); // 待灯管启动再往下执行，否则会触发电机过流 // 2.打开上仓门 rt_kprintf("打开上仓门!!!\n"); device_status.ctr_up_motor = 1; } // 3.收集 clt_time = device_status.clt_time * 60; while (clt_time != 1) { #if LAMP_EN == 0 ctr_Fan_IN(ON); #endif clt_time--; rt_thread_delay(1000); #if LAMP_EN == 0 if (clt_time % 30 == 0) ctr_Fan_PUT(OFF); #endif rt_kprintf("正在收集.....剩余时间:%d分-%d秒\n", device_status.clt_time, clt_time); HMI_WRITE("workSta.g0.txt=\"正在收集.....剩余时间:%d分-%d秒\"", device_status.clt_time, clt_time); // 如果触发异常 if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1) { ctr_lamp(OFF, 1); #if LAMP_EN == 1 ctr_lamp(OFF, 2); ctr_lamp(OFF, 3); #endif #if LAMP_EN == 0 ctr_Fan_IN(OFF); #endif rt_kprintf("异常退出!!!\n"); HMI_WRITE("workSta.g0.txt=\"异常退出\""); break; } if (device_status.timeSwitch == 0 && device_status.sun_status == 1) { ctr_lamp(OFF, 1); #if LAMP_EN == 1 ctr_lamp(OFF, 2); ctr_lamp(OFF, 3); #endif #if LAMP_EN == 0 ctr_Fan_IN(OFF); #endif rt_kprintf("异常退出!!!\n"); HMI_WRITE("workSta.g0.txt=\"异常退出\""); break; } } clt_time = 1; if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1) { ctr_lamp(OFF, 1); #if LAMP_EN == 1 ctr_lamp(OFF, 2); ctr_lamp(OFF, 3); #endif #if LAMP_EN == 0 ctr_Fan_IN(OFF); #endif rt_kprintf("异常退出!!!\n"); HMI_WRITE("workSta.g0.txt=\"异常退出\""); break; } if (device_status.timeSwitch == 0 && device_status.sun_status == 1) { ctr_lamp(OFF, 1); #if LAMP_EN == 1 ctr_lamp(OFF, 2); ctr_lamp(OFF, 3); #endif #if LAMP_EN == 0 ctr_Fan_IN(OFF); #endif rt_kprintf("异常退出!!!\n"); HMI_WRITE("workSta.g0.txt=\"异常退出\""); break; } #if LAMP_EN == 0 ctr_Fan_IN(OFF); #endif // 4.关闭上仓门 device_status.ctr_up_motor = 2; rt_kprintf("关闭上仓门!!!\n"); HMI_WRITE("workSta.g0.txt=\"关闭上仓门!\""); while (device_status.ctr_up_motor != 0) { rt_thread_delay(100); LOG_I("等待上仓门关闭!!!"); } // 5.加热 if (device_status.heat_sw == 0) { calorstat(device_status.heattime * 60); } else { heat_time = device_status.heattime * 60; while (heat_time != 0) { heat_time--; LOG_I("正在加热状态!!!"); rt_thread_delay(1000); } } // 6.打开下仓门 if (device_status.rain_status == 0) { device_status.ctr_down_motor = 1; } else { device_status.ctr_down_motor = 2; device_status.ctr_up_motor = 2; } // 待下仓门完全打开 while (device_status.ctr_down_motor != 0) { rt_thread_delay(100); rt_kprintf("等待下仓门打开!!!\n"); HMI_WRITE("workSta.g0.txt=\"等待下仓门打开!\""); } rt_thread_delay(3000); // 关闭下仓门 device_status.ctr_down_motor = 2; while (device_status.ctr_down_motor != 0) { rt_thread_delay(100); rt_kprintf("等待下仓门关闭!!!\n"); HMI_WRITE("workSta.g0.txt=\"等待下仓门关闭!\""); } // 2022-04-12add： LOG_I("打开上仓门!!!"); HMI_WRITE("workSta.g0.txt=\"打开上仓门!\""); device_status.ctr_up_motor = 1; } else { // 打开高压 ctr_Heat(ON); // 打开补光 ctr_led(ON); LOG_I("打开补光!!"); rt_pin_mode(CLEAR_L_LIMIT, PIN_MODE_INPUT); // 2.翻转清虫 while (rt_pin_read(CLEAR_L_LIMIT) == 1) rt_thread_delay(20); rt_thread_delay(500); Hk_Take_io(3); // 触发海康相机拍照 rt_thread_delay(500); ctr_turnv5(); // 摆动清虫 LOG_I("摆动清虫!"); } } if (device_status.bat_status == 1 || device_status.temp_status == 1 || device_status.rain_status == 1 || device_status.ds == 0) { if (chk_log_time) { rt_kprintf("-------------------not work--------------------\n"); } device_status.work_status = 0; } // 工作结束 if (device_status.work_done == 0 && device_status.work_status == 0) { DTU_Write("workdone"); HMI_WRITE("workSta.g0.txt=\"工作任务已完成!\""); ResetInit(); } if (chk_log_time) { rt_kprintf(" ***not work-device status:%d\n", device_status.ds); } } /* 入口函数-工作状态检测 */ /** * @brief 工作状态检测线程服务函数 * * @param parameter - */ static void Work_status_thread_entry(void *parameter) { static uint16_t sun_status_num = 120; // 如果是光控定时,进行光控监测的消抖 if (device_status.timeSwitch == 0 && device_status.sun_status == 0) { rt_kprintf("光控定时!!!\n"); while (sun_status_num != 0) { sun_status_num--; rt_thread_delay(1000); rt_kprintf("开机光控检测:%d\n", sun_status_num); } device_status.light_over_tim = device_status.sunBar * 3600; device_status.test_flag = 0; } while (1) { WorkCheck(); } } extern int RayDualTriggerInit(void); extern void KeyThreadStart(void); /*入口函数-工作流程*/ /** * @brief 工作流程线程服务函数 * * @param parameter - */ static void Work_Loop_thread_entry(void *parameter) { // uint16_t log_en_inr = LOG_INR; // 打印log的速度 数值越小 打印越频繁 // static int16_t log_en_cnt = -1; rt_thread_delay(1000); ResetInit(); // RayDualTriggerInit(); // Mtor_Control_CM(mct_Foreward, 2000); // Mtor_Control_CM(mct_Reversal, 300); // Mtor_Control_ZP(mct_Foreward); // 开始工作前给翻版复位 // Mtor_Control_CM(mct_Reversal, 1500); // rt_kprintf(" dtype = %d vtype = %d \n\n", device_status.dtype, device_status.version_type); // rt_kprintf("Version : %s %s\n", VERSION_BZY , device_status.driver_compile); UpLoad_Data(0); while (1) { rt_thread_mdelay(1000); WorkTask_SY2(); } } /*入口函数清扫*/ /** * @brief 控制清扫线程服务函数 * * @param parameter - */ static void Control_Clear_thread_entry(void *parameter) { while (1) { #if ROBOT_EN == 1 ctr_Motor_Robot(ON); rt_thread_delay(100); #else #if Color_EN == 1 /*复位*/ if (Read_Color_Key(KEY_RESET) == 1) { ctr_Color_board(RESET, 1200); rt_thread_delay(5000); } #else if (device_status.clear_status == 1) { if (ctr_clear(1200) == 0) ctr_TG_Clear(400); } rt_thread_delay(100); #endif #endif } } /*入口函数加热*/ /** * @brief 控制加热线程服务函数 * * @param parameter - */ static void Control_Heat_thread_entry(void *parameter) { uint16_t var_clear = 0; #if ROBOT_EN == 1 static uint8_t key_on = 0; #else #if Color_EN == 0 while (device_status.work_status == 0) { rt_thread_delay(1000); } #endif #endif while (1) { #if ROBOT_EN == 1 // 磁悬浮供电 // 监测磁悬浮限位位置` LOG_D("Read 磁悬浮:%d", device_status.heattem); // 等待10S if (device_status.heattem < 30 && Read_Real_Voltage() / 100 > 12) // 磁悬浮处于关闭状态 { key_on = 0; // 发送触摸按钮信号 rt_pin_mode(EMS_Dir, PIN_MODE_OUTPUT); rt_pin_write(EMS_Dir, 0); rt_thread_delay(50); rt_pin_write(EMS_Dir, 1); } else if (device_status.heattem < 30 && Read_Real_Voltage() / 100 < 12) { ctr_router(OFF); } if (device_status.heattem > 40) { key_on = 1; rt_thread_delay(1000); LOG_D("Read 磁悬浮已打开:%d", device_status.heattem); } // 磁悬浮供电 // 监测磁悬浮限位位置 // 根据位置确定是否 按下按钮+ if (Read_Real_Voltage() / 100 < 12 && key_on == 1) { key_on = 0; rt_pin_mode(EMS_Dir, PIN_MODE_OUTPUT); rt_pin_write(EMS_Dir, 0); rt_thread_delay(50); rt_pin_write(EMS_Dir, 1); } #else #if Color_EN == 1 /*黄板归位*/ if (Read_Color_Key(KEY_BACK) == 1) { LOG_W("黄板归位！"); ctr_Color_board(CLOSE, 300); rt_thread_delay(5000); } #else if (device_status.work_status == 1 && device_status.heat_sw == 1) { ctr_lamp(ON, 1); rt_thread_delay(10000); calorstat(device_status.heattime * 60); } else { LOG_I("Not calorstat!"); } if (device_status.work_status == 1 && device_status.version_type == 5) { var_clear++; if (var_clear == 300) { var_clear = 0; ctr_cangmen_down(ON); rt_thread_mdelay(5000); ctr_cangmen_down(OFF); rt_thread_mdelay(500); ctr_cangmen_down(ON); rt_thread_mdelay(5000); ctr_cangmen_down(OFF); } } // //吸虫塔补光灯测试 // while(device_status.vol!=200) // { // if(var_led==0) ctr_led(ON); // var_led++; // if(var_led>10) // { // ctr_led(OFF); // var_ledoff++; // if(var_ledoff>10) // { // var_led = 0; // var_ledoff = 0; // ctr_led(ON); // } // } // rt_thread_delay(1000); // } rt_thread_delay(1000); #endif #endif } } /*清扫线程*/ /** * @brief 创建用于控制清扫操作的线程 * * @return int - */ int Control_clear(void) { /* 创建线程*/ tid_ctr = rt_thread_create("Control_Clear_thread_entry", Control_Clear_thread_entry, RT_NULL, 2048, // 2048 24, // 23 WORK_CHECK_THREAD_TIMESLICE); // 5 if (tid_ctr != RT_NULL) { rt_thread_startup(tid_ctr); } return 0; } /*恒温加热线程*/ /** * @brief 创建用于恒温加热操作的线程 * * @return int - */ int Control_heat(void) { /* 创建线程*/ tid_heat = rt_thread_create("Control_Heat_thread_entry", Control_Heat_thread_entry, RT_NULL, 1024, // 2048 25, // 23 WORK_CHECK_THREAD_TIMESLICE); // 5 if (tid_heat != RT_NULL) { rt_thread_startup(tid_heat); } return 0; } /* 创建线程 -工作状态检测*/ int Workstatus_check(void) { /* 创建线程*/ tid_wkstc = rt_thread_create("work_status_check_thread", Work_status_thread_entry, RT_NULL, WORK_CHECK_THREAD_STACK_SIZE, // 1024 WORK_CHECK_THREAD_PRIORITY, // 23 WORK_CHECK_THREAD_TIMESLICE); // 5 if (tid_wkstc != RT_NULL) { rt_thread_startup(tid_wkstc); } return 0; } /*工作流程线程*/ int Work_Loop_Task(void) { /* 创建线程*/ tid_workloop = rt_thread_create("work_loop_thread", Work_Loop_thread_entry, RT_NULL, WORK_LOOP_THREAD_STACK_SIZE, // 2048 WORK_LOOP_THREAD_PRIORITY, // 12 WORK_LOOP_THREAD_TIMESLICE); // 5 #if Color_EN == 0 if (tid_workloop != RT_NULL) { rt_thread_startup(tid_workloop); } #endif return 0; } MSH_CMD_EXPORT(HardWare_Check, HardWare_Check); MSH_CMD_EXPORT(ctr_lamp, ctr_lamp); MSH_CMD_EXPORT(ctr_clear, ctr_clear); MSH_CMD_EXPORT(ctr_led, sample : ctr_led); extern void CMD_getFullData(void); /** 复位RTU * */ static void UART2_Enter_LowPower(void) { rt_pin_write(RTU_DTU, OFF); /* 1. 关闭串口时钟 */ __HAL_RCC_USART2_CLK_DISABLE(); /* 2. 设置TX/RX引脚为模拟输入（高阻态） */ rt_pin_mode(GET_PIN(A, 2), PIN_MODE_INPUT); // TX引脚（PA2） rt_pin_mode(GET_PIN(A, 3), PIN_MODE_INPUT); // RX引脚（PA3） for (uint8_t a = 0; a < 30; a++) { rt_kprintf("UART2_Enter_LowPower! %d / %d\n", a + 1, 30); for (char a = 0; a < 60; a++) { rt_thread_mdelay(1000); CMD_getFullData(); } } Recode_e_code(e_rtu_fail, 0, "rtu无法正常通信"); rt_hw_cpu_reset(); } extern char stop_getinfo; extern char errcnt_getinfo; Res_def SendReadInfo(char c) { char wait_dtuwrite = 0; while (wait_dtuwrite < 150 && stop_getinfo) { rt_thread_mdelay(100); wait_dtuwrite++; // rt_kprintf("stop_getinfo\n"); } static uint32_t tim_getinfo = 0; if (tim_getinfo == 0) { recode_timestampe_NEW(&tim_getinfo); } if (math_timestampe_NEW(&tim_getinfo) < 2) { // LOG_I("exit getinfo %d",math_timestampe_NEW(&tim_getinfo)); return res_Error; } char readinfo[] = "{\"uart\":\"getinfo\"}"; DTU_Write("%s", readinfo); LOG_I("SendReadInfo (%c) > %s\n", c, readinfo); recode_timestampe_NEW(&tim_getinfo); errcnt_getinfo++; if (errcnt_getinfo >= 30) { UART2_Enter_LowPower(); } return res_ok; }