centralCtrSys/centralCtrSys_end/si/centralCtrSys.si4project/Backup/task_handleData(81).c

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


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

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


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

/* variables ---------------------------------------------------------*/

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

// 故障处理 尝试重新连接，并按照正常上传时间上传
void gyroscope_fault_deal(void){
	uint8_t recBack = 0;

	if(BIT_CHECK(s_comData.Malfunction, gyroscope)){
		turnFlag = 0; // 按照正常上传时间上传
	
		recBack = atk_ms6050_init();
		if(recBack != 0){
			printf("ATK-MS6050 init failed!\r\n");
			return;
		}
		printf("ATK-MS6050 init\r\n");

		recBack = atk_ms6050_dmp_init();
		if(recBack != 0){
			printf("ATK-MS6050 DMP init failed!\r\n");
			return;
		}
		printf("ATK-MS6050 DMP init!\r\n");

		BIT_CLEAR(s_comData.Malfunction, gyroscope);
	}
}


/**
 * @brief       数据处理任务
 * @param       None
 * @note       	None
 * @retval      None
 */
void task_handle_data(void){

	// 检测是否正在升级固件
	if(s_ec800Date.hardwareUpdate == 1){
		osDelay(100);
		return;
	}

	// 陀螺仪故障处理 尝试重新连接
	gyroscope_fault_deal();

	// 判断车辆是否正在转弯 陀螺仪数据
	if (isTurning()) {
		printf("The vehicle is turning.\r\n");
	} else {
		printf("Vehicle not turning.\r\n");
	}

	osDelay(100);
}