centralCtrSys/centralCtrSys_theEnd/si/centralCtrSys.si4project/Backup/global(5516).c

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

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


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

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

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

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

/**
 * @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, global_par *p_global_par){
	uint8_t recBack = 0;
	rs485RecDate *p_rs485RecDate = &s_rs485RecDate;

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

	// 2. 与车通信获取vin数据（读取所有寄存器的值）
	modbus_read_holding_registers(0x01, 0x0000, 67); 
	HAL_Delay(3000); // 延时5s

	// 3. vin码比对
	if(s_comData.vinRecSuccess == 1){ // 成功获取到车辆数据
		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);
			Write_paramArea();
			// 置位中控板迁移事件
			BIT_SET(p_global_par->ctrEvent, CtrlPanelMigration);
		}
	}

	// 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");
}

// 电池故障判断
void fault_bat(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, osWaitForever) == osOK)
	{
	  	errorLevel = p_rs485RecDate->alarmLevel;
	  	/* 访问完成，释放互斥量 */
		osMutexRelease(mutex_rs485RecDateHandle);
	}

	// 存在电池故障
	if(errorLevel != 0){
		BIT_SET(s_comData.Malfunction, batError); // 置位电池故障
	}else{
		BIT_CLEAR(s_comData.Malfunction, batError); // 清除电池故障
	}
}


/**
 * @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
	uint8_t timesCnt_gps = 0; // gps记时
	uint8_t errorCnt_gyro = 0; // 陀螺仪数据故障滤波次数
	uint16_t timesOut_ota = 0;  // OTA超时计数
	comData *p_comData = &s_comData;

	// 1. 电池故障判断
	fault_bat(&s_rs485RecDate, &s_comData); // 电池故障判断

	// 开启超级权限 不判断除电池故障的其他故障
	if(p_global_par->superUser == 1){
		BIT_CLEAR(s_comData.Malfunction, fence); 
		BIT_CLEAR(s_comData.Malfunction, positionError);
		BIT_CLEAR(s_comData.Malfunction, errorMqtt);
		BIT_CLEAR(s_comData.Malfunction, errorMqtt);
		BIT_CLEAR(s_comData.Malfunction, init_4G_error); 
		BIT_CLEAR(s_comData.Malfunction, com485); 
		BIT_CLEAR(s_comData.Malfunction, gyroscope);
		BIT_CLEAR(s_comData.Malfunction, OTA_fault); 
		return;
	}

	// 2. 超出围栏故障判断
	if(p_comData->fenceStatus == 1){
		BIT_SET(s_comData.Malfunction, fence);
	}else{
		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 < 60){
			timesCnt_gps++;
		}else{
			timesCnt_gps = 60;
			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. 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
	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
		}
	}
}

/**
 * @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) {
    comData *p_comData = &s_comData;
    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 (p_comData->fenceStatus == 1) {
        beep_control(beep_count_fence, 5, 10);
        beep_count_fence = (beep_count_fence >= 10) ? 0 : beep_count_fence + 1;
    }
    // 运行中限制车速的故障 1s的频率响应
    else if ((BIT_CHECK(s_comData.Malfunction, fence))
			|| (BIT_CHECK(s_comData.Malfunction, batError))
			|| (BIT_CHECK(s_comData.Malfunction, positionError))){ 
        beep_control(beep_count_fault, 10, 20);
        beep_count_fault = (beep_count_fault >= 20) ? 0 : beep_count_fault + 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;
    }
}