420 lines
19 KiB
C
420 lines
19 KiB
C
#include "app_config.h"
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#include "interface.h"
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#include "app_frm_monitor.h"
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#include "app_frm_signal.h"
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#include "app_frm_timer.h"
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#include "app_param_manage.h"
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#include "app_power.h"
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// 定义按钮状态枚举
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typedef enum {
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BUTTON_STATE_INITIAL,
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BUTTON_STATE_SHORT_PRESS,
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BUTTON_STATE_SHORT_PRESS_DETECTED,
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BUTTON_STATE_WAIT_FOR_LONG_PRESS,
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BUTTON_STATE_LONG_PRESS,
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BUTTON_STATE_LONG_PRESS_WAIT
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} ButtonState;
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// 定义按钮结构体
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typedef struct {
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ButtonState state;
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uint32_t press_start_time;
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uint32_t release_start_time;
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uint8_t is_power_on;
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Timer timer;
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uint8_t old_is_power_on;
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Timer timer1;
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} PowerButton;
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// 全局变量
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PowerSystem power_data;
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static PowerButton power_button = {BUTTON_STATE_INITIAL, 0, 0, 0, {0},0};
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// 电源按钮处理函数
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static void handlePowerButton(void)
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{
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switch (power_button.state)
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{
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case BUTTON_STATE_INITIAL:
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if (power_data.remote_power_switch == app_close())
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{
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power_button.state = BUTTON_STATE_SHORT_PRESS_DETECTED;
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timerStart(&power_button.timer, 500, 1); // 启动短按定时器，500ms
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}
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break;
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case BUTTON_STATE_SHORT_PRESS_DETECTED:
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if (power_data.remote_power_switch == app_open())
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{
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if (power_button.timer.active) // 定时器未到期,短按完成，启动等待长按定时器
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{
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power_button.state = BUTTON_STATE_WAIT_FOR_LONG_PRESS;
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timerStart(&power_button.timer, 500, 1); // 启动等待长按定时器，500ms
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}
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}
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else if (!power_button.timer.active)// 短按定时器到期，按键仍被按下，视为无效，重置为初始状态
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{
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power_button.state = BUTTON_STATE_INITIAL;
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}
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break;
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case BUTTON_STATE_WAIT_FOR_LONG_PRESS:
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if (power_data.remote_power_switch == app_close())// 检测是否在等待时间内进行长按
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{
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power_button.state = BUTTON_STATE_LONG_PRESS;
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timerStart(&power_button.timer, 1000, 1); // 启动长按定时器，1000ms
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}
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else if (!power_button.timer.active) // 等待长按超时，重置为初始状态
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{
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power_button.state = BUTTON_STATE_INITIAL;
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}
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break;
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case BUTTON_STATE_LONG_PRESS:
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if (!power_button.timer.active)// 长按完成，切换电源状态 20250423 修改不需要判断松开按键就打开控制器
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{
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power_button.is_power_on = !power_button.is_power_on;
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printf("PowerButton: is_power_on = %d\n", power_button.is_power_on);
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power_button.state = BUTTON_STATE_LONG_PRESS_WAIT;
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}
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else if(power_data.remote_power_switch == app_open())
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{
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power_button.state = BUTTON_STATE_INITIAL;
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printf("Long press for short duration");
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}
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else
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break;
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case BUTTON_STATE_LONG_PRESS_WAIT:
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if (power_data.remote_power_switch == app_open())// 检测按键释放
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{
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power_button.state = BUTTON_STATE_INITIAL;
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printf("Release the button");
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}
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default:
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power_button.state = BUTTON_STATE_INITIAL;
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break;
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}
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}
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// 输出处理函数
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static void powerOutput(void *signal_id)
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{
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(void)signal_id;
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// 根据当前状态,控制各个设备的电源
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switch (power_data.current_state)
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{
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case POWER_PRE_CHARGE:
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publishMessage(&power_data.pre_charge_finish, 1);//发布预充完成信号，100ms发送一次，直到预充完成
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un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOn(); // 预充继电器
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un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF15 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF16 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
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un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
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un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
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break;
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case POWER_NEUTRAL:
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publishMessage(&power_data.pre_charge_finish, 1);//20250316增加，发送空挡信号，保证电机控制器高压上电后，发送空挡信号
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un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
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un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF15 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF16 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
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un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
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un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
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break;
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case POWER_STANDBY:
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// 初始状态,只开启基本设备
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un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
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un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOff(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOff(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOff(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOff(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOff(); // 导航计算机
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un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOff(); // 导航计算机
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un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF15 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF16 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
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un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
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un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
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break;
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case POWER_WORKING:
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// 工作状态,除预充继电器外所有设备开启
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un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
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un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF15 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF16 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
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un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
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un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
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break;
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case POWER_EMERGENCY:
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// 急停状态,断开高压
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un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
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un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 导航计算机
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un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF15 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF16 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
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un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
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un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
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break;
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case POWER_SLEEP:
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// 休眠状态,关闭所有设备
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un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
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un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOff(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOff(); // 上装转台继电器
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un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
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un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOff(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOff(); // 低压继电器
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un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOff(); // 导航计算机
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un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOff(); // 导航计算机
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un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF15 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF16 = setPowerOn(); // 计算机
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un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
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un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
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un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
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break;
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default:
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break;
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}
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publishMessage(&power_data, 1);
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publishMessage(&un_inf_can_kgf_output1, 1);
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publishMessage(&un_inf_can_kgf_output2, 1);
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}
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static void wakeupProcess(void *signal_id)
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{
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(void)signal_id;
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un_gather_output.bit_data.sleep_duration = (uint16_t)getParam("sleepTm");
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un_gather_output.bit_data.wakeup_interval = (uint16_t)getParam("wakeTm");
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if(un_gather_output.bit_data.sleep_duration < 10)//最小值限定
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{
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un_gather_output.bit_data.sleep_duration = 10;
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}
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if(un_gather_output.bit_data.wakeup_interval < 10)//最小值限定
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{
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un_gather_output.bit_data.wakeup_interval = 10;
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}
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un_gather_output.bit_data.vehicle_mode = power_data.current_state;
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publishMessage(&un_gather_output, 1);
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timerStart(&power_data.timer1, 500, 1); //周期调用
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}
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// 定时器处理函数
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static void powerTimerProcess(void *signal_id)
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{
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(void)signal_id;
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// 调用电源按钮处理函数
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handlePowerButton();
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// 电源按钮状态有变化，保存到参数
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if (power_button.is_power_on != power_button.old_is_power_on)
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{
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setParam("pwr_btn", (float)power_button.is_power_on);
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power_button.old_is_power_on = power_button.is_power_on;
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}
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// 状态转换逻辑
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switch (power_data.current_state)
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{
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case POWER_PRE_CHARGE:
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if (!power_data.timer_pre_charge.active) // 预充时间到
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{
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power_data.current_state = POWER_WORKING; // 工作
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power_data.pre_charge_finish = 1; // 预充完成
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printf("Power: Transitioning from PRE_CHARGE to WORKING state\n");
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}
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break;
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case POWER_STANDBY:
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if (power_button.is_power_on == app_close() && power_data.emergency_stop == app_close()) // 遥控器电源开关闭合且急停开关闭合
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{
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power_data.current_state = POWER_EMERGENCY; // 急停
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printf("Power: Transitioning from STANDBY to EMERGENCY state\n");
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}
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break;
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case POWER_WORKING:
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if (power_data.emergency_stop == app_close()) // 急停开关闭合
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{
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power_data.current_state = POWER_EMERGENCY; // 急停
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printf("Power: Transitioning from WORKING to EMERGENCY state\n");
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}
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break;
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case POWER_EMERGENCY:
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if (power_button.is_power_on == app_open()) // 遥控器电源开关断开
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{
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power_data.current_state = POWER_STANDBY; // 待机
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printf("Power: Transitioning from EMERGENCY to STANDBY state\n");
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}
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else if (power_data.emergency_stop == app_open()) // 急停断开
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{
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power_data.current_state = POWER_PRE_CHARGE; // 预充
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timerStart(&power_data.timer_pre_charge, (uint32_t)(getParam("prCTime") * 1000), 1); // 启动预充定时器
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printf("Power: Transitioning from EMERGENCY to PRE_CHARGE state\n");
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}
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break;
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// case POWER_SLEEP:
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// if (power_data.high_voltage_switch == app_close()) // 高压开关闭合
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// {
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// power_data.current_state = POWER_STANDBY; // 待机
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// printf("Power: Transitioning from SLEEP to STANDBY state\n");
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// }
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// break;
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default:
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power_data.current_state = POWER_STANDBY; // 待机
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break;
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}
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|
||
powerOutput(NULL); // 输出
|
||
|
||
// 电源状态有变化，记录到参数
|
||
if (power_data.old_state != power_data.current_state)
|
||
{
|
||
power_data.old_state = power_data.current_state;
|
||
setParam("pwr_sta", (float)power_data.current_state);
|
||
}
|
||
|
||
timerStart(&power_data.timer, 100, 1); //周期调用
|
||
}
|
||
|
||
|
||
|
||
|
||
// 处理所有输入信号的函数
|
||
static void powerInput(void *signal_id)
|
||
{
|
||
//不能直接赋值，用memcpy
|
||
PowerSystem old_data;
|
||
memcpy(&old_data, &power_data, sizeof(PowerSystem));
|
||
|
||
// 填充数据
|
||
if (signal_id == &un_sw_sample)
|
||
{
|
||
power_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;//急停开关
|
||
power_data.high_voltage_switch = (uint8_t)un_sw_sample.bit_data.High_voltage_switch;//高压开关
|
||
}
|
||
else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
|
||
{
|
||
power_data.remote_power_switch = (uint8_t)un_remote_control_input.bit_data.switch_d; // 遥控器电源开关
|
||
power_data.remote_emergency_stop = ((uint8_t)un_remote_control_input.bit_data.switch_b == 1) ? 0 : 1;// 遥控器急停开关
|
||
}
|
||
// 急停开关
|
||
power_data.emergency_stop = (uint8_t)( (power_data.emergency_stop_switch == app_close()) || (power_data.remote_emergency_stop == app_close()) );
|
||
|
||
// 急停开关有变化，记录到参数
|
||
if (power_data.old_emergency_stop != power_data.emergency_stop)
|
||
{
|
||
power_data.old_emergency_stop = power_data.emergency_stop;
|
||
setParam("stop_sw", (float)power_data.emergency_stop);
|
||
}
|
||
|
||
// 高压开关状态有变化，记录到参数
|
||
if (power_data.old_high_voltage_switch != power_data.high_voltage_switch)
|
||
{
|
||
power_data.old_high_voltage_switch = power_data.high_voltage_switch;
|
||
setParam("high_sw", (float)power_data.high_voltage_switch);
|
||
}
|
||
}
|
||
|
||
|
||
// APP模块的初始化
|
||
void powerAppInit(void)
|
||
{
|
||
// 初始化变量
|
||
memset(&power_data, 0, sizeof(PowerSystem));
|
||
power_data.current_state = POWER_STANDBY;
|
||
// 初始化时恢复电源状态
|
||
power_data.current_state = (PowerState)getParam("pwr_sta");
|
||
power_data.old_state = power_data.current_state;
|
||
// 恢复电源按钮状态
|
||
power_button.is_power_on = (uint8_t)getParam("pwr_btn");
|
||
power_button.old_is_power_on = power_button.is_power_on;
|
||
//恢复高压开关状态
|
||
power_data.high_voltage_switch = (uint8_t)getParam("high_sw");
|
||
power_data.old_high_voltage_switch = power_data.high_voltage_switch;
|
||
//恢复急停开关状态
|
||
power_data.emergency_stop = (uint8_t)getParam("stop_sw");
|
||
power_data.old_emergency_stop = power_data.emergency_stop;
|
||
|
||
// 订阅输入信号
|
||
subscribe(&un_sw_sample, powerInput); // 急停开关、高压开关
|
||
subscribe(&un_remote_control_input, powerInput); // 遥控器电源开关
|
||
// 定时器
|
||
timerInit(&power_data.timer);
|
||
subscribe(&power_data.timer, powerTimerProcess);
|
||
timerStart(&power_data.timer, 500, 1); // 周期调用
|
||
//定时器唤醒
|
||
timerInit(&power_data.timer1);
|
||
subscribe(&power_data.timer1, wakeupProcess);
|
||
timerStart(&power_data.timer1, 500, 1); // 周期调用
|
||
//预充定时器
|
||
timerInit(&power_data.timer_pre_charge);
|
||
subscribe(&power_data.timer_pre_charge, powerTimerProcess);
|
||
|
||
printf("app_power: initial OK\n");
|
||
}
|