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liumin
2025-07-05 20:11:15 +08:00
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#include "app_config.h"
#include "interface.h"
#include "app_frm_monitor.h"
#include "app_frm_signal.h"
#include "app_frm_timer.h"
#include "app_param_manage.h"
#include "app_power.h"
// 定义按钮状态枚举
typedef enum {
BUTTON_STATE_INITIAL,
BUTTON_STATE_SHORT_PRESS,
BUTTON_STATE_SHORT_PRESS_DETECTED,
BUTTON_STATE_WAIT_FOR_LONG_PRESS,
BUTTON_STATE_LONG_PRESS,
BUTTON_STATE_LONG_PRESS_WAIT
} ButtonState;
// 定义按钮结构体
typedef struct {
ButtonState state;
uint32_t press_start_time;
uint32_t release_start_time;
uint8_t is_power_on;
Timer timer;
uint8_t old_is_power_on;
Timer timer1;
} PowerButton;
// 全局变量
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;
}
}
// 输出处理函数
static void powerOutput(void *signal_id)
{
(void)signal_id;
// 根据当前状态,控制各个设备的电源
switch (power_data.current_state)
{
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
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
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
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
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
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
break;
default:
break;
}
publishMessage(&power_data, 1);
publishMessage(&un_inf_can_kgf_output1, 1);
publishMessage(&un_inf_can_kgf_output2, 1);
}
static void wakeupProcess(void *signal_id)
{
(void)signal_id;
un_gather_output.bit_data.sleep_duration = (uint16_t)getParam("sleepTm");
un_gather_output.bit_data.wakeup_interval = (uint16_t)getParam("wakeTm");
if(un_gather_output.bit_data.sleep_duration < 5)//最小值限定
{
un_gather_output.bit_data.sleep_duration = 5;
}
if(un_gather_output.bit_data.wakeup_interval < 5)//最小值限定
{
un_gather_output.bit_data.wakeup_interval = 5;
}
un_gather_output.bit_data.vehicle_mode = power_data.current_state;
publishMessage(&un_gather_output, 1);
timerStart(&power_data.timer1, 500, 1); //周期调用
}
// 定时器处理函数
static void powerTimerProcess(void *signal_id)
{
(void)signal_id;
// 调用电源按钮处理函数
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;
}
// 状态转换逻辑
switch (power_data.current_state)
{
case POWER_PRE_CHARGE:
if (!power_data.timer_pre_charge.active) // 预充时间到
{
power_data.current_state = POWER_NEUTRAL; // 工作
power_data.pre_charge_finish = 1; // 预充完成
printf("Power: Transitioning from PRE_CHARGE to POWER_NEUTRAL state\n");
}
break;
case POWER_NEUTRAL://20250316增加，发送空挡信号
if (power_data.neutral_cnt >= 5) // 运行5次
{
power_data.neutral_cnt = 0;
power_data.current_state = POWER_WORKING; // 工作
power_data.pre_charge_finish = 1; // 预充完成
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
}
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");
}
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
{
power_data.current_state = POWER_EMERGENCY; // 急停
printf("Power: Transitioning from WORKING to EMERGENCY state\n");
printf("emergency_stop_switch: %d, remote_emergency_stop: %d\n", power_data.emergency_stop_switch, power_data.remote_emergency_stop); //打印状态
printf("remote_stop: %d\n", un_remote_control_input.bit_data.switch_b);
}
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
{
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
printf("Power: Transitioning from EMERGENCY to PRE_CHARGE state\n");
}
break;
case POWER_SLEEP:
if (power_data.high_voltage_switch == app_close()) // 高压开关闭合
{
power_data.current_state = POWER_STANDBY; // 待机
printf("Power: Transitioning from SLEEP to STANDBY state\n");
}
break;
default:
power_data.current_state = POWER_STANDBY; // 待机
break;
}
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");
}