491 lines
10 KiB
C
491 lines
10 KiB
C
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#include "FreeRTOS.h"
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#include "cmsis_os.h"
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#include "drv_uart.h"
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#include "middle/ParsePack.h"
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#include "monitor_task.h"
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#include "device_task.h"
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#include "drv_power.h"
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#include "drv_relay.h"
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#include "drv_fan.h"
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#include "control.h"
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Parser_t parser;
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Packer_t packer;
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uint32_T mode;
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int32_T bat_type;
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int32_T bat_num;
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int32_T run_state;
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real32_T cmd_current;
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real32_T bat_capacity;
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uint32_t getParam = 0;
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uint32_t NormalTestMode = 0;//0 normal 1 test
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uint32_t send_tick = 0;
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void StartMonitorTask(void * argument)
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{
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uint8_t buff[256];
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uint16_t len;
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Parser_init(&parser);
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Packer_init(&packer);
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init_uart_fifos();
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for(;;)
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{
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osDelay(5);
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send_tick++;
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//监控任务
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//执行UI工作，执行状态监控工作
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len = UART_RX_FIFO_read(&hub_rx, buff, sizeof(buff));
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if(len)
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{
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int rst = -1;
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for(int i = 0;i<len;i++)
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{
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rst = Parser_char(&parser, buff[i]);
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switch(rst)
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{
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case 0://设置系统
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{
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uint32_t cmd;
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uint32_t value;
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union { uint32_t W; uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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cmd = src.W;
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src.B[0] = parser.buff[4];
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src.B[1] = parser.buff[5];
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src.B[2] = parser.buff[6];
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src.B[3] = parser.buff[7];
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value = src.W;
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if(cmd != 0)
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{
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NormalTestMode = 1;
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}
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switch(cmd)
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{
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case 0:
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{
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NormalTestMode = 0x00;//normal
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}break;
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case 1:
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{
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power_set(value);
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}break;
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case 2:
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{
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relay_set(0,value);
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}break;
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case 3:
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{
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relay_set(1,value);
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}break;
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case 4:
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{
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fan_set(value);
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}break;
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}
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}break;
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case 1://设置参数
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{
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union { uint32_t W; uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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getParam = src.W;
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}break;
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case 0x02://电压P
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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voltage_p = src.F;
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}break;
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case 0x03://电压I
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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voltage_i = src.F;
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}break;
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case 0x04://电压d
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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voltage_d = src.F;
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}break;
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case 0x05://电流p
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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current_p = src.F;
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}break;
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case 0x06://电流I
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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current_i = src.F;
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}break;
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case 0x07://电流d
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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current_d = src.F;
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}break;
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case 0x10://设置运行模式
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{
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union { uint32_t W; uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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mode = src.W;
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}break;
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case 0x11://设置运行状态
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{
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union { int32_t w; uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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run_state = src.w;
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}break;
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case 0x12://设置电池数量
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{
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union { int32_t w; uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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bat_num = src.w;
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}break;
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case 0x13://电池类型
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{
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union { int32_t w; uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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bat_type = src.w;
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}break;
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case 0x14://电池充电电流
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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cmd_current = src.F;
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}break;
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case 0x15://电池容量
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{
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union { float F;uint8_t B[4];}src;
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src.B[0] = parser.buff[0];
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src.B[1] = parser.buff[1];
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src.B[2] = parser.buff[2];
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src.B[3] = parser.buff[3];
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bat_capacity = src.F * 0.001;//Ah
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}break;
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}
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}
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}
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//=======================周期消息================================
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//send meg
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if(!(send_tick % 20))//10Hz
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{
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uint8_t send_buff[200];
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size_t send_size = 0;
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size_t send_len = 0;
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union {float F; uint32_t W;int32_t w; uint16_t H[2];int16_t h[2]; uint8_t B[4];}src;
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src.F = voltage_pwr;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_buck_in;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_buck_out;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_bat;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_current;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_temp;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = control_Y.cmd_all_voltage;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = control_Y.cmd_all_current;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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send_size = Packer_pack(&packer,0x10,send_buff,send_len);
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UART_TX_FIFO_write(&hub_tx,packer.buff,send_size);
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}
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if(!(send_tick % 40))//5Hz
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{
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uint8_t send_buff[200];
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size_t send_size = 0;
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size_t send_len = 0;
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union {float F; uint32_t W;int32_t w; uint16_t H[2];int16_t h[2]; uint8_t B[4];}src;
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for(int i = 0;i<24;i++)
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{
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src.F = voltage_bat_sv[i];
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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}
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send_size = Packer_pack(&packer,0x11,send_buff,send_len);
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UART_TX_FIFO_write(&hub_tx,packer.buff,send_size);
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}
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if(!(send_tick % 200))//1Hz
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{
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uint8_t send_buff[200];
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size_t send_size = 0;
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size_t send_len = 0;
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union {float F; uint32_t W;int32_t w; uint16_t H[2];int16_t h[2]; uint8_t B[4];}src;
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src.W = power_state();
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.W = relay_state(0);
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.W = relay_state(1);
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.W = fan_state();
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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send_size = Packer_pack(&packer,0x12,send_buff,send_len);
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UART_TX_FIFO_write(&hub_tx,packer.buff,send_size);
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}
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//==========================事件消息=====================================
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if((getParam & 0x01) == 0x01)//读取PID
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{
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getParam &= 0xFFFFFFFE;//清除标志位
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uint8_t send_buff[200];
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size_t send_size = 0;
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size_t send_len = 0;
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union {float F; uint32_t W;int32_t w; uint16_t H[2];int16_t h[2]; uint8_t B[4];}src;
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src.F = voltage_p;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_i;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = voltage_d;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = current_p;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = current_i;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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src.F = current_d;
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send_buff[send_len++] = src.B[0];
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send_buff[send_len++] = src.B[1];
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send_buff[send_len++] = src.B[2];
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send_buff[send_len++] = src.B[3];
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send_size = Packer_pack(&packer,0x01,send_buff,send_len);
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UART_TX_FIFO_write(&hub_tx,packer.buff,send_size);
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}
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}
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}
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