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liumin
2025-10-21 19:14:21 +08:00
parent 2acba0caf0
commit 5a84d13ae4
23 changed files with 2510 additions and 2079 deletions
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386
app/app_power.c
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@@ -34,73 +34,73 @@ typedef struct {
PowerSystem power_data;
static PowerButton power_button = {BUTTON_STATE_INITIAL, 0, 0, 0, {0},0};
// 电源按钮处理函数
static void handlePowerButton(void)
{
switch (power_button.state)
{
case BUTTON_STATE_INITIAL:
if (power_data.remote_power_switch == app_close())
{
power_button.state = BUTTON_STATE_SHORT_PRESS_DETECTED;
timerStart(&power_button.timer, 500, 0); // 启动短按定时器，500ms
}
break;
case BUTTON_STATE_SHORT_PRESS_DETECTED:
if (power_data.remote_power_switch == app_open())
{
if (power_button.timer.active) // 定时器未到期,短按完成，启动等待长按定时器
{
power_button.state = BUTTON_STATE_WAIT_FOR_LONG_PRESS;
timerStart(&power_button.timer, 500, 0); // 启动等待长按定时器，500ms
}
}
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
{
power_button.state = BUTTON_STATE_INITIAL;
}
break;
case BUTTON_STATE_WAIT_FOR_LONG_PRESS:
if (power_data.remote_power_switch == app_close())// 检测是否在等待时间内进行长按
{
power_button.state = BUTTON_STATE_LONG_PRESS;
timerStart(&power_button.timer, 1000, 0); // 启动长按定时器，1000ms
}
else if (!power_button.timer.active) // 等待长按超时，重置为初始状态
{
power_button.state = BUTTON_STATE_INITIAL;
}
break;
case BUTTON_STATE_LONG_PRESS:
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
{
power_button.is_power_on = !power_button.is_power_on;
printf("PowerButton: is_power_on = %d\n", power_button.is_power_on);
power_button.state = BUTTON_STATE_LONG_PRESS_WAIT;
}
else if(power_data.remote_power_switch == app_open())
{
power_button.state = BUTTON_STATE_INITIAL;
printf("Long press for short duration");
}
else
break;
case BUTTON_STATE_LONG_PRESS_WAIT:
if (power_data.remote_power_switch == app_open())// 检测按键释放
{
power_button.state = BUTTON_STATE_INITIAL;
printf("Release the button");
}
default:
power_button.state = BUTTON_STATE_INITIAL;
break;
}
}
//// 电源按钮处理函数
//static void handlePowerButton(void)
//{
// switch (power_button.state)
// {
// case BUTTON_STATE_INITIAL:
// if (power_data.remote_power_switch == app_close())
// {
// power_button.state = BUTTON_STATE_SHORT_PRESS_DETECTED;
// timerStart(&power_button.timer, 500, 0); // 启动短按定时器，500ms
// }
// break;
//
// case BUTTON_STATE_SHORT_PRESS_DETECTED:
// if (power_data.remote_power_switch == app_open())
// {
// if (power_button.timer.active) // 定时器未到期,短按完成，启动等待长按定时器
// {
// power_button.state = BUTTON_STATE_WAIT_FOR_LONG_PRESS;
// timerStart(&power_button.timer, 500, 0); // 启动等待长按定时器，500ms
// }
// }
// 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
// {
// power_button.state = BUTTON_STATE_INITIAL;
// }
// break;
//
// case BUTTON_STATE_WAIT_FOR_LONG_PRESS:
// if (power_data.remote_power_switch == app_close())// 检测是否在等待时间内进行长按
// {
// power_button.state = BUTTON_STATE_LONG_PRESS;
// timerStart(&power_button.timer, 1000, 0); // 启动长按定时器，1000ms
// }
// else if (!power_button.timer.active) // 等待长按超时，重置为初始状态
// {
// power_button.state = BUTTON_STATE_INITIAL;
// }
// break;
//
// case BUTTON_STATE_LONG_PRESS:
//
// 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
// {
// power_button.is_power_on = !power_button.is_power_on;
// printf("PowerButton: is_power_on = %d\n", power_button.is_power_on);
// power_button.state = BUTTON_STATE_LONG_PRESS_WAIT;
// }
// else if(power_data.remote_power_switch == app_open())
// {
// power_button.state = BUTTON_STATE_INITIAL;
// printf("Long press for short duration");
// }
// else
// break;
//
// case BUTTON_STATE_LONG_PRESS_WAIT:
// if (power_data.remote_power_switch == app_open())// 检测按键释放
// {
// power_button.state = BUTTON_STATE_INITIAL;
// printf("Release the button");
// }
// default:
// power_button.state = BUTTON_STATE_INITIAL;
// break;
// }
//}
// 输出处理函数
@@ -113,99 +113,111 @@ static void powerOutput(void *signal_id)
{
case POWER_PRE_CHARGE:
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
un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOn(); // 预充继电器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output2.bit_data.KGF10 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF11 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF04 = setPowerOn(); // E3
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
// un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
// un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
break;
case POWER_NEUTRAL:
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
un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 高压继电器
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 高压继电器
un_inf_can_kgf_output2.bit_data.KGF10 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF11 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF04 = setPowerOn(); // E3
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
// un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
// un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
break;
case POWER_STANDBY:
// 初始状态,只开启基本设备
un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output2.bit_data.KGF10 = setPowerOff(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF11 = setPowerOff(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF04 = setPowerOn(); // E3
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
// un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
// un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
break;
case POWER_WORKING:
// 工作状态,除预充继电器外所有设备开启
un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 高压继电器
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 高压继电器
un_inf_can_kgf_output2.bit_data.KGF10 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF11 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF04 = setPowerOn(); // E3
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
// un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
// un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
break;
case POWER_EMERGENCY:
// 急停状态,断开高压
un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output2.bit_data.KGF10 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF11 = setPowerOn(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF04 = setPowerOn(); // E3
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
// un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
// un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
break;
case POWER_SLEEP:
// 休眠状态,关闭所有设备
un_inf_can_kgf_output1.bit_data.KGF04 = setPowerOff(); // 预充继电器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOff(); // 高压继电器
un_inf_can_kgf_output2.bit_data.KGF10 = setPowerOff(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF11 = setPowerOff(); // 低压继电器
un_inf_can_kgf_output2.bit_data.KGF01 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF02 = setPowerOn(); // 计算机
un_inf_can_kgf_output2.bit_data.KGF03 = setPowerOn(); // 遥控器
un_inf_can_kgf_output2.bit_data.KGF05 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF06 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 网络交换机
un_inf_can_kgf_output2.bit_data.KGF04 = setPowerOn(); // E3
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
// un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
// un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
break;
default:
@@ -213,7 +225,7 @@ static void powerOutput(void *signal_id)
}
publishMessage(&power_data, 1);
publishMessage(&un_inf_can_kgf_output1, 1);
publishMessage(&un_inf_can_kgf_output2, 1);
// publishMessage(&un_inf_can_kgf_output2, 1);
}
static void wakeupProcess(void *signal_id)
@@ -246,13 +258,13 @@ static void powerTimerProcess(void *signal_id)
(void)signal_id;
// 调用电源按钮处理函数
handlePowerButton();
// handlePowerButton();
// 电源按钮状态有变化，保存到参数
if (power_button.is_power_on != power_button.old_is_power_on)
{
setParam("pwr_btn", (float)power_button.is_power_on);
power_button.old_is_power_on = power_button.is_power_on;
}
// if (power_button.is_power_on != power_button.old_is_power_on)
// {
// setParam("pwr_btn", (float)power_button.is_power_on);
// power_button.old_is_power_on = power_button.is_power_on;
// }
// 状态转换逻辑
switch (power_data.current_state)
@@ -274,7 +286,7 @@ static void powerTimerProcess(void *signal_id)
printf("Power: Transitioning from POWER_NEUTRAL to WORKING state\n");
}
else
{
{
power_data.neutral_cnt ++;
power_data.current_state = POWER_NEUTRAL; // 空挡
power_data.pre_charge_finish = 1; // 预充完成
@@ -282,25 +294,27 @@ static void powerTimerProcess(void *signal_id)
break;
case POWER_STANDBY:
if (power_data.high_voltage_switch == app_open()) // 高压开关断开
{
power_data.current_state = POWER_SLEEP; // 休眠
printf("Power: Transitioning from STANDBY to SLEEP state\n");
}
else 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
{
power_data.current_state = POWER_EMERGENCY; // 急停
printf("Power: Transitioning from STANDBY to EMERGENCY state\n");
}
power_data.current_state = POWER_WORKING; // 休眠 20251005 修改不需要休眠，直接上电
// if (power_data.high_voltage_switch == app_open()) // 高压开关断开
// {
// power_data.current_state = POWER_SLEEP; // 休眠
// printf("Power: Transitioning from STANDBY to SLEEP state\n");
// }
// else 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
// {
// power_data.current_state = POWER_EMERGENCY; // 急停
// printf("Power: Transitioning from STANDBY to EMERGENCY state\n");
// }
break;
case POWER_WORKING:
if (power_data.high_voltage_switch == app_open()) // 高压开关断开
{
power_data.current_state = POWER_SLEEP; // 休眠
printf("Power: Transitioning from STANDBY to SLEEP state\n");
}
else if (power_data.emergency_stop == app_close()) // 急停开关闭合
// if (power_data.high_voltage_switch == app_open()) // 高压开关断开
// {
// power_data.current_state = POWER_SLEEP; // 休眠
// printf("Power: Transitioning from STANDBY to SLEEP state\n");
//
if (power_data.emergency_stop == app_close()) // 急停开关闭合
{
power_data.current_state = POWER_EMERGENCY; // 急停
printf("Power: Transitioning from WORKING to EMERGENCY state\n");
@@ -310,17 +324,17 @@ static void powerTimerProcess(void *signal_id)
}
break;
case POWER_EMERGENCY:
if (power_data.high_voltage_switch == app_open()) // 高压开关断开
{
power_data.current_state = POWER_SLEEP; // 休眠
printf("Power: Transitioning from EMERGENCY to SLEEP state\n");
}
else if (power_button.is_power_on == app_open()) // 遥控器电源开关断开
{
power_data.current_state = POWER_STANDBY; // 待机
printf("Power: Transitioning from EMERGENCY to STANDBY state\n");
}
else if (power_data.emergency_stop == app_open()) // 急停断开
// if (power_data.high_voltage_switch == app_open()) // 高压开关断开
// {
// power_data.current_state = POWER_SLEEP; // 休眠
// printf("Power: Transitioning from EMERGENCY to SLEEP state\n");
// }
// else if (power_button.is_power_on == app_open()) // 遥控器电源开关断开 //20251005 修改不需要电源开关
// {
// power_data.current_state = POWER_STANDBY; // 待机
// printf("Power: Transitioning from EMERGENCY to STANDBY state\n");
// }
if (power_data.emergency_stop == app_open()) // 急停断开
{
power_data.current_state = POWER_PRE_CHARGE; // 预充
timerStart(&power_data.timer_pre_charge, (uint32_t)(getParam("prCTime") * 1000), 1); // 启动预充定时器
@@ -362,10 +376,13 @@ static void powerInput(void *signal_id)
memcpy(&old_data, &power_data, sizeof(PowerSystem));
// 填充数据
power_data.emergency_stop_switch = 0;//急停开关 20251005 修改四轮四转车无急停开关以及采集模块 高压
power_data.high_voltage_switch = 1;//高压开关
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
// 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
{
@@ -408,7 +425,22 @@ void powerAppInit(void)
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;
power_data.old_emergency_stop = power_data.emergency_stop;
un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff(); // E3 初始化上电默认打开
un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff(); // 导航仪
un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn(); // 交换机、路由器
un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn(); // 计算机
un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn(); // 上装
un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn(); // 待定
un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn(); // 前左右红灯
un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn(); // 后左右红灯
un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn(); // 网络摄像头
un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn(); // 遥控器
// 订阅输入信号
subscribe(&un_sw_sample, powerInput); // 急停开关、高压开关