centralCtrSys/centralCtrSys_theEnd/User/global/global.c

/* includes ----------------------------------------------------------*/
#include "global.h"

/* typedef -----------------------------------------------------------*/


/* define ------------------------------------------------------------*/

/* macro -------------------------------------------------------------*/

/* variables ---------------------------------------------------------*/
global_par s_global_par;

/* function prototypes -----------------------------------------------*/


/**
 * @brief       绑定车辆比对
 * @param       NONE
 * @note       	NONE
 * @retval      绑定车辆比对，查看车辆VIN是否相同，若相同则不做处理，更换车辆则备份新的车辆数据
 */
void VehicleCompare(void){
	param_boot *p_param_boot = &s_param_boot;
	rs485RecDate *p_rs485RecDate = &s_rs485RecDate;
	global_par *p_global_par = &s_global_par;

	if(s_comData.vinRecSuccess == 1) { // 成功获取到车辆数据
		// 检查指针是否有效
		if(p_param_boot != NULL && p_rs485RecDate != NULL && p_global_par != NULL) {
			// 只有在VIN码不同时才执行更新操作
			if(memcmp(p_param_boot->vin, p_rs485RecDate->VIN, 26) != 0) { // 比对不成功
				// 备份新的VIN码
				memcpy(p_param_boot->vin, p_rs485RecDate->VIN, 26);
				// 备份新的车辆数据
				p_param_boot->carTotalMileage = ((uint32_t)s_rs485RecDate.accTotalMileage_h << 16) | s_rs485RecDate.accTotalMileage_l;
	
				// 写入参数区
				Write_paramArea();
				// 置位中控板迁移事件
				BIT_SET(p_global_par->ctrEvent, CtrlPanelMigration);
				// 更新围栏数据
				p_global_par->fence_update = 1;
			}
		}
	}
}


/**
 * @brief       中控板初始化
 * @param       p_param_boot : 参数区指针
 * @param       p_rs485RecDate：485接收数据区的指针
 * @note       	NONE
 * @retval      无
 */
void centralCtrSys_Init(param_boot *p_param_boot){
	uint8_t recBack = 0;
	rs485RecDate *p_rs485RecDate = &s_rs485RecDate;

	// 1. 从flash中读出存储参数
	Read_ParamArea(); // 读出参数区的所有数据

	// 3. 从备份数据中拿出初始VIN
	memcpy(p_rs485RecDate->VIN, p_param_boot->vin, 26);
	s_comData.vinRecSuccess = 1;
	

	// 4. 初始化4g模块 4g模块在这里不好处理 放在任务中，围栏数据也一样

	// 5. 读取96位（或者说是3个32位的字）的唯一ID
	GetUniqueID(s_messageDate.devId);

	// 6. 陀螺仪的初始化
	recBack = atk_ms6050_init();
	if(recBack != 0){
//		printf("ATK-MS6050 init failed!\r\n");
		BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
	}
//	printf("ATK-MS6050 init\r\n");
	
	recBack = atk_ms6050_dmp_init();
	if(recBack != 0){
//		printf("ATK-MS6050 DMP init failed!\r\n");
		BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
	}
//	printf("ATK-MS6050 DMP init!\r\n");

	// 7. 外部flash初始化
	norflash_init();

}

// 车本体故障判断
void fault_car(rs485RecDate *p_rs485RecDate, comData *p_comData){
	uint16_t errorLevel = 0;

	/* 尝试获取互斥量，等待无限长时间 */
	if(osMutexAcquire(mutex_rs485RecDateHandle, 1000) == osOK)
	{
	  	errorLevel = p_rs485RecDate->alarmLevel;
	  	/* 访问完成，释放互斥量 */
		osMutexRelease(mutex_rs485RecDateHandle);
	}

	// 存在车故障
	if(errorLevel != 0){
		BIT_SET(s_comData.Malfunction, carError); // 置位车故障
	}else{
		BIT_CLEAR(s_comData.Malfunction, carError); // 清除车故障
	}
}


/**
 * @brief       中控板故障检测
 * @param       p_global_par：global_par的全局参数指针
 * @note       	周期为1s1次 清除除电池故障的其他故障
 * @retval      无
 */
void faultDetection(global_par *p_global_par){
	// 参数定义
	static uint16_t timesCnt_gps = 0; 	// gps记时
	static uint8_t errorCnt_gyro = 0; 	// 陀螺仪数据故障滤波次数
	static uint16_t timesOut_ota = 0; 	// OTA超时计数
	static uint16_t timesCnt_runFence; 	// 超运行围栏计数
	static uint16_t timesCnt_outSpeed; 	// 超速计时器
	comData *p_comData = &s_comData;
	param_boot *p_param_boot = &s_param_boot;

	// 开启超级权限 不判断所有故障
	if(p_global_par->superUser == 1){
		p_comData->Malfunction = 0; // 清除所有故障
		return;
	}

	// 1. 车本体故障判断
	fault_car(&s_rs485RecDate, &s_comData); // 车故障判断

	// 2. 超出围栏故障判断
	if(p_comData->fenceStatus == 1){
		if(timesCnt_runFence < p_param_boot->fenceBreach_Timeout){
			timesCnt_runFence++;
		}else{
			timesCnt_runFence = p_param_boot->fenceBreach_Timeout;
			BIT_SET(s_comData.Malfunction, fence);
		}
	}else{
		timesCnt_runFence = 0;
		BIT_CLEAR(s_comData.Malfunction, fence); 
	}

	// 3. GPS信号丢失 
	// 获取gps失败，但陀螺仪数据正常的情况下，一分钟之后置位gps故障
	// 获取gps失败，陀螺仪数据异常，直接置位gps故障
	if((p_global_par->positionErrorCnt >= 3) && (BIT_CHECK(s_comData.Malfunction, fence) == 0)){
		if(timesCnt_gps < FILTER_TIME_GPS){ // 4分钟滤波时间
			timesCnt_gps++;
		}else{
			timesCnt_gps = FILTER_TIME_GPS;
			BIT_SET(s_comData.Malfunction, positionError);
		}
	}else if((p_global_par->positionErrorCnt >= 3) && (BIT_CHECK(s_comData.Malfunction, fence) == 1)){
		timesCnt_gps = 0;
		BIT_SET(s_comData.Malfunction, positionError);
	}else{
		timesCnt_gps = 0;
	}

	if(p_global_par->positionErrorCnt == 0){ // 清除gps故障
		BIT_CLEAR(s_comData.Malfunction, positionError);
	}

	// 4. MQTT通信异常
	if(p_global_par->mqttTimeoutCnt >= PUBLISH_TIME_MS){
		BIT_SET(s_comData.Malfunction, errorMqtt); // 置位MQTT故障 
	}

	if(p_global_par->mqttTimeoutCnt == 0){ // 清除MQTT故障 
		BIT_CLEAR(s_comData.Malfunction, errorMqtt);
	}

	// 5. 4G模块初始化故障 
	if(p_global_par->InitFaultFlag_4G == 1){
		BIT_SET(s_comData.Malfunction, init_4G_error); // 置位4g模块初始化故障
	}else{
		BIT_CLEAR(s_comData.Malfunction, init_4G_error); // 清除4g模块初始化故障
	}

	// 6. 485通信故障
	if(p_global_par->timeoutCnt_485 >= TIMEOUT_485){
		BIT_SET(s_comData.Malfunction, com485); // 置位485通信故障
	}

	if(p_global_par->timeoutCnt_485 == 0){
		BIT_CLEAR(s_comData.Malfunction, com485); // 置位485通信故障
	}

	// 7. 陀螺仪数据故障-- 获取的姿态角数据全部为0
	if(p_global_par->gyroDataFaultFlag == 1){
		if(errorCnt_gyro < FILTER_TIME_gyro){
			errorCnt_gyro++;
		}else{
			errorCnt_gyro = FILTER_TIME_gyro;
			BIT_SET(s_comData.Malfunction, gyroscope); // 置位陀螺仪数据异常故障
		}
	}else{
		errorCnt_gyro  = 0;
		BIT_CLEAR(s_comData.Malfunction, gyroscope);
	}

	// 8. 超速故障
	if(s_rs485RecDate.vehicleSpeed > s_param_boot.speed_limit){
		if(timesCnt_outSpeed < s_param_boot.overspeed_Timeout){
			timesCnt_outSpeed++;
		}else{
			timesCnt_outSpeed = s_param_boot.overspeed_Timeout;
			BIT_SET(s_comData.Malfunction, outSpeed); // 置位超速故障
		}
	}else{
		timesCnt_outSpeed = 0;
		BIT_CLEAR(s_comData.Malfunction, outSpeed); // 清零超速故障
	}

	// 9. 升级故障--开始升级后，开始记时，2分钟还未升级成功的话，置位升级故障，
	// 退出升级，此次升级失败，旧版本运行，清除升级状态变量、标志、数据，重启释放
	// OTA开始后任务周期为200ms
	if(p_global_par->otaUpgradeStartFlag == 1){
		if(timesOut_ota < TIME_OUT_OTA){
			timesOut_ota++;
		}else{
			timesOut_ota = TIME_OUT_OTA;
			BIT_SET(s_comData.Malfunction, OTA_fault); // 置位OTA异常故障
		}
	}

	// 10. 订阅主题失败
	if(p_global_par->subscribe_fail == 1){
		BIT_SET(s_comData.Malfunction, subscribeFail); // 置位订阅主题失败故障
	}else{
		BIT_CLEAR(s_comData.Malfunction, subscribeFail); // 清除订阅主题失败故障
	}

	// 11. 发布消息失败
	if((p_global_par->publish_fail == 1) || (s_global_par.reconnect_server_flag == 1)){
		BIT_SET(s_comData.Malfunction, publishFail); // 置位发布消息失败故障
	}else{
		BIT_CLEAR(s_comData.Malfunction, publishFail); // 清除发布消息失败故障
	}

	// 12. 获取定位信息失败
	if(p_global_par->get_location_error == 1){
		BIT_SET(s_comData.Malfunction, getLocationError); // 置位获取定位信息失败故障
	}else{
		BIT_CLEAR(s_comData.Malfunction, getLocationError); // 清除获取定位信息失败故障
	}
}

/**
 * @brief 控制蜂鸣器响停
 * @param count 当前计数
 * @param on_threshold 响的阈值
 * @param off_threshold 停的阈值
 * @retval 无
 */
void beep_control(uint8_t count, uint8_t on_threshold, uint8_t off_threshold) {
    if (count < on_threshold) {
        GPIO_BEEP(GPIO_PIN_SET);
    } else if (count < off_threshold) {
        GPIO_BEEP(GPIO_PIN_RESET);
    }
}


/**
 * @brief 控制蜂鸣器响应
 * @note  根据不同条件控制蜂鸣器的响停 进入周期为100ms
 * @param 无
 * @retval 无
 */
void control_beep_response(void) {
    global_par *p_global_par = &s_global_par;

    // 蜂鸣器计数器
    static uint8_t beep_count_fence = 0;
//    static uint8_t beep_count_fault = 0;
    static uint8_t beep_count_ota = 0;

    // 超出围栏 500ms频率响应
    if (BIT_CHECK(s_comData.Malfunction, fence)) {
        beep_control(beep_count_fence, 5, 10);
        beep_count_fence = (beep_count_fence >= 10) ? 0 : beep_count_fence + 1;
    }
    // OTA升级 2s的响应频率
    else if (p_global_par->otaUpgradeStartFlag == 1) {
        beep_control(beep_count_ota, 20, 40);
        beep_count_ota = (beep_count_ota >= 40) ? 0 : beep_count_ota + 1;
    }
	// 不存在蜂鸣器响应，蜂鸣器应关闭
	else{
		GPIO_BEEP(GPIO_PIN_RESET); 
	}
}

// 格式转换函数
void formatDateTimeAndMalfunction(uint16_t year, uint8_t month, uint8_t day,
                                  uint8_t hour, uint8_t minute, uint8_t sec,
                                  uint32_t malfunction, char *output) {
    // 确保提供的output数组足够大
    // 格式化字符串为 YYYYMMDD-HHMM:0xXXXXXXXX 格式
    sprintf(output, "%04u%02u%02u-%02u%02u%02u:0x%08X,", 
            year, month, day, hour, minute, sec, malfunction);

    output[29] = '\0'; // 确保字符串以空字符结尾
}


/**
 * @brief 历史故障存储
 * @note  此函数1s1次
 * @param 无
 * @retval 无
 */
void storeFaultRecord(void) {
    uint16_t id = 0;
	char storeFaultData[30] = {0};
	static uint32_t fault_log = 0; // 用来同当前故障数据对比，看是否产生故障变化
	static uint16_t timeCnt_delay = 0; // 存在故障
	
	id = norflash_read_id(); /* 读取FLASH ID */

	if((id == 0) || (id == 0XFFFF)) { // 检测不到FLASH芯片
		return;
	}

	// 检查是否存在故障
    if (s_comData.Malfunction == 0) {
        return; // 如果没有故障，直接返回
    }

	// 检查是否产生故障变化或者到达计时时间
	if((fault_log == s_comData.Malfunction) && (timeCnt_delay < FAULT_RECORD_TIME)){
		timeCnt_delay++;
		return; // 如果没有故障变化或者未到达计时时间，直接返回
	}else{
		// 更新计数值和故障log
		timeCnt_delay = 0;
		fault_log = s_comData.Malfunction;
	}

	// 存储格式转换成 这样的20240513-172203:0x0000000f,字符串数据
	formatDateTimeAndMalfunction(s_nmea_utc_time.year,s_nmea_utc_time.month,s_nmea_utc_time.date,
					s_nmea_utc_time.hour,s_nmea_utc_time.min,s_nmea_utc_time.sec,s_comData.Malfunction, storeFaultData);

    // 写入数据
    norflash_write((uint8_t *)storeFaultData, s_param_boot.nextFaultAddr, strlen(storeFaultData));

    // 更新索引
    s_param_boot.faultRecordIndex = (s_param_boot.faultRecordIndex < MAX_RECORDS) ? (s_param_boot.faultRecordIndex + 1) : 0 ;

	// 更新地址
	s_param_boot.nextFaultAddr += strlen(storeFaultData);
	if(s_param_boot.faultRecordIndex == 0){
		s_param_boot.nextFaultAddr = 0;
	}

	// 保存最新的索引和地址数据
	Write_paramArea();
}

/**
 * @brief 更新保存的时间信息
 * @note  此函数1s1次
 * @param 无
 * @retval 无
 */
void refreshSavedTime(void){
	static uint8_t timesCnt = 0;

	// 未获取到时间数据，则不保存
	if(s_global_par.time_stamp_flag != 1){
		return;
	}

	s_param_boot.year  = s_nmea_utc_time.year;
	s_param_boot.month = s_nmea_utc_time.month;
	s_param_boot.date  = s_nmea_utc_time.date;
	s_param_boot.hour  = s_nmea_utc_time.hour;
	s_param_boot.min   = s_nmea_utc_time.min;
	s_param_boot.sec   = s_nmea_utc_time.sec;

	// 10s保存一次时间数据，发生故障时保存一次，固件更新时保存一次
	if(timesCnt  < times_10s){
		timesCnt++;
	}else{
		timesCnt = 0;
		Write_paramArea();
	}
}

// 车辆行驶里程计算
// 参数：day 
// 参数2：累积行驶总里程 485下发的总里程
void calculate_driving_distance(uint32_t totalMileage){
	param_boot *p_param_boot = &s_param_boot;

	// 问询的车辆总里程没有备份的大，则不做操作
	if(totalMileage <= p_param_boot->carTotalMileage){
		return;
	}

	// 1. 计算当日行驶里程
	p_param_boot->dailyMileage += totalMileage - p_param_boot->carTotalMileage;


	// 2. 备份总里程信息
	p_param_boot->carTotalMileage = totalMileage;
}

// 车辆行驶时长计算
// 参数1 ：单次行驶时长
// 参数2 ：当日行驶时长
// 参数3 ：累积行驶时长
// 周期为1s1次
void calculateDriveTime(void){
	static uint16_t run_sec = 0;
	param_boot *p_param_boot = &s_param_boot;

	// 数据累加 按s累加
	run_sec++;
	p_param_boot->dailyDriveTime++;
	p_param_boot->totalDriveTime++;

	// 计算本次行驶时长
	int hours = (run_sec % 86400) / 3600; // 计算剩余秒数对应的小时数
	int minutes = (run_sec % 3600) / 60; // 计算剩余秒数对应的分钟数
	s_rs485RecDate.runTime = (uint16_t)hours << 8 | minutes;
}


// 车辆状态参数数据迁移vehicle state data migration
void vehStateDataMig(uint8_t timeDate){
    param_boot *p_param_boot = &s_param_boot;
    rs485RecDate *p_rs485RecDate = &s_rs485RecDate;

	// 判断没有在当日 跨天则当日行驶里程清零 
	if(timeDate != p_param_boot->dailyDate){ 
		p_param_boot->dailyDriveTime = 0;
		p_param_boot->dailyMileage = 0; 
		p_param_boot->dailyDate = timeDate; // 更新时间信息
	}

    p_rs485RecDate->dailyDrivMileage = p_param_boot->dailyMileage * 10; // 单位转换

	int hours = (p_param_boot->dailyDriveTime % 86400) / 3600; // 计算剩余秒数对应的小时数
	int minutes = (p_param_boot->dailyDriveTime % 3600) / 60; // 计算剩余秒数对应的分钟数
    p_rs485RecDate->dailyDrivTime = (uint16_t)hours << 8 | minutes;

	int days = p_param_boot->totalDriveTime / 86400; // 计算天数
	hours = (p_param_boot->totalDriveTime % 86400) / 3600; // 计算剩余秒数对应的小时数
	minutes = (p_param_boot->totalDriveTime % 3600) / 60; // 计算剩余秒数对应的分钟数
    p_rs485RecDate->accTotalDrivTime_day =  days;
    p_rs485RecDate->accTotalDrivTime_h_min = (uint16_t)hours << 8 | minutes;

}


// 测试使用
void fun(void){
    static uint8_t cnt = 0;
    uint32_t accTotalMileage = 0;

    accTotalMileage = (uint32_t)s_rs485RecDate.accTotalMileage_h << 16 | s_rs485RecDate.accTotalMileage_l;

    if(cnt < times_5s){
        cnt++;
        return;
    }else{
        cnt = 0;
        accTotalMileage++;
    }

    s_rs485RecDate.accTotalMileage_h = accTotalMileage >> 16;
    s_rs485RecDate.accTotalMileage_l = accTotalMileage & 0x0000FFFF; // 使用位与操作符
}