int main(void)
{
// Hardware Init
delay_init(); //ÑÓʱº¯Êý³õʼ»¯
pwr_init();
#ifdef YANMING3
charger_init();
if (check_standby_flag() == SUCCESS && check_charging() != CHARGING) {
Key_GPIO_Config();
exti_key_init();
#ifdef DEBUG_POWER_OFF_WAKE_UP
Screen_Init();
OLED_Clear();
OLED_Display_On();
draw_about_mesage();
#endif
check_standby_wakeup_button_press();
// If we boot up from standby by pressing 5 times, the system will reboot again without
// this code block.
}
#endif
// OLED Init
Screen_Init();
OLED_Clear();
//
low_switch_power_init();
TIMx_Int_DeInit();
EXTIX_DeInit();
// Key
Key_GPIO_Config();
// PID related code
ADC1_Configuration();
PWM_Configuration();
VoltagePID_Init();
TIMx_Int_Init();
rtc_init();
// Our Init
system_init();
#ifndef YANMING3
//iwdg_init();
#endif
while(1) {
#ifndef YANMING3
//iwdg_feed();
#endif
task_schedule();
}
}
void oled_show(void)
{
OLED_Display_On(); //显示屏打开
//=============显示滤波器=======================//
OLED_ShowString(00,0,"WAY-");
OLED_ShowNumber(30,0, Way_Angle,1,12);
if(Way_Angle==1) OLED_ShowString(45,0,"DMP");
else if(Way_Angle==2) OLED_ShowString(45,0,"Kalman");
else if(Way_Angle==3) OLED_ShowString(45,0,"Hubu");
//=============显示温度=======================//
OLED_ShowString(00,10,"Wendu");
OLED_ShowNumber(45,10,Temperature/10,2,12);
OLED_ShowNumber(68,10,Temperature%10,1,12);
OLED_ShowString(58,10,".");
OLED_ShowString(80,10,"`C");
//=============显示编码器1=======================//
OLED_ShowString(00,20,"Enco1");
if( Encoder_Left<0) OLED_ShowString(45,20,"-"),
OLED_ShowNumber(65,20,-Encoder_Left,5,12);
else OLED_ShowString(45,20,"+"),
OLED_ShowNumber(65,20, Encoder_Left,5,12);
//=============显示编码器2=======================//
OLED_ShowString(00,30,"Enco2");
if(Encoder_Right<0) OLED_ShowString(45,30,"-"),
OLED_ShowNumber(65,30,-Encoder_Right,5,12);
else OLED_ShowString(45,30,"+"),
OLED_ShowNumber(65,30,Encoder_Right,5,12);
//=============显示电压=======================//
OLED_ShowString(00,40,"Volta");
OLED_ShowString(58,40,".");
OLED_ShowString(80,40,"V");
OLED_ShowNumber(45,40,Voltage/100,2,12);
OLED_ShowNumber(68,40,Voltage%100,2,12);
if(Voltage%100<10) OLED_ShowNumber(62,40,0,2,12);
//=============显示角度=======================//
OLED_ShowString(0,50,"Angle");
if(Angle_Balance<0) OLED_ShowNumber(45,50,Angle_Balance+360,3,12);
else OLED_ShowNumber(45,50,Angle_Balance,3,12);
//=============刷新=======================//
OLED_Refresh_Gram();
}
/*
*@功能：在空闲状态的几个任务
*1.检测是否有按键按下
*2.检测是否读到RFID
*3.检测是否接受到串口传来的指令
*4.检测是否有USB连接到计算机上
*5.检测锂电池电压是否低电
共5个任务按各自的时间轴转动，基本上无冲突
*/
void ST_Idle(void)
{
uint16_t ss_num=0;
uint16_t power_num=0;
uint16_t usb_bit;
uint8_t key_r=KEYNO;
uint8_t usb_r=0;
uint8_t bt_r=0;
uint8_t time_num=0;
uint8_t p_c=0;
uint8_t ss_flag=0;
ResetKey(); //KeyNum是一个全局变量
//Init_KeyNumuber(); //Key_Num =KEYINIT
//根据flsah中的信息，更改主菜单中的信息
SPI_FLASH_Read(HsMenu[1].Name,GROUP_INFORMATION,10);
SPI_FLASH_Read(HsMenu[2].Name,KEY_INFORMATION,8);
// //for debug
// SPI_FLASH_Read(item,GROUP_INFORMATION,10);
// UART1nSendChar(1,item,10);
// delay_ms(1000);
// //for dedug
// SPI_FLASH_Read(item,KEY_INFORMATION,8);
// UART1nSendChar(1,item,8);
// delay_ms(1000);
//for dedug
// UART1nSendChar(1,HsMenu[1].Name,10);
// delay_ms(1000);
// UART1nSendChar(1,HsMenu[2].Name,8);
// delay_ms(1000);
OLED_Clear();
ShowMenuNoInverse(HsMenu);
Main_Oled_Power();
Main_Oled_Time();
//Choose_MenuOp1(); //主界面显示
while(1)
{
// if(g_State!=ST_IDLE)
// return;
if(time_num==20)
{
Main_Oled_Time();
time_num=0;
}
++time_num;
delay_ms(50);
//按键按下检测，如果有按键就按下就进入菜单操作
key_r =GetKey(); //判断是否有按键操作
if(ss_flag==0&&key_r==KEYNO) //超时关屏
{
ss_num++;
if(ss_num>=choosetime*6)//按下超过10秒钟 300/50=6
{
OLED_Display_Off();
ss_flag=1;
ss_num=0;
}
}
if(ss_flag==1&&(key_r ==KEYCLEAR||key_r ==KEYSURE||key_r ==KEYDOWN||key_r == KEYUP))
{
OLED_Display_On();
ss_flag=0;
ResetKey();
key_r=KEYNO;
}
if(key_r !=KEYNO&&key_r !=KEYINIT)
{
//ResetKey(); //读完按键值后，将按键值复位
g_State =ST_LCDMENU;
return;
//按任意按键进入可选择菜单
}
// //RFID检测
// nChar =Read_RfidData(2,Rfid_Buff,0xff); //非常重要的一点，是理解Trismit（）的关键
// if(nChar >=3)
// {
// g_State =ST_KEY;return; //检测ID信息数据,如果读到了rfid数据，则将g_State置为st_key
// }
//检测上位机连接下位机命令，从菜单界面进入USB通信中
usb_r =UART1ReadFrm(1,g_Buff,MAX_BUFF); //USB串口1，g_Buff是一个全局变量；#define MAX_BUFF 520
if(usb_r==7&&g_Buff[0]==0xaa&&g_Buff[1]==0x75&&g_Buff[2]==0x0d&&g_Buff[3]==0x02&&g_Buff[4]==0x00&&g_Buff[5]==0x01&&g_Buff[6]==0xD1)//如果返回0x00就发下一条授权
{
usb_bit=(USB_CHEAK&(GPIO_Pin_1))>>1;
if(usb_bit==1) //USB插上
{
bluetooth_uart_switch=0;
pc_to_slave(); //上位机连接下位机的处理
g_State =ST_USB; //进入USB通信
return;
}
}
bt_r =UART3ReadFrm(3,g_Buff,MAX_BUFF); //蓝牙串口2，g_Buff是一个全局变量；#define MAX_BUFF 520
if(bt_r==7&&g_Buff[0]==0xaa&&g_Buff[1]==0x75&&g_Buff[2]==0x0d&&g_Buff[3]==0x02&&g_Buff[4]==0x00&&g_Buff[5]==0x01&&g_Buff[6]==0xD1)//如果返回0x00就发下一条授权
{
bluetooth_uart_switch=1;
pc_to_slave(); //上位机连接下位机的处理；使用接受到的g_Buff
// m_UB3;
// m_UB3.RBuff;
g_State =ST_USB; //进入USB通信
return;
}
usb_bit=(USB_CHEAK&(GPIO_Pin_1))>>1;
if(usb_bit==1) //USB已经插上,即从蓝牙切换到USB
bluetooth_uart_switch=0;
//电池电量检测
power_num++;
if( power_num==0x15) //0x15*20时Power_Cheak()才会返回有效值
{
power_num =0;
IWDG_Feed();
Main_Oled_Power(); //更新电池电量
p_c=Power_Cheak(); //此函数运行20次才返回有效值
if(p_c==4) //检测电池电压，如果电池电压过低，则进入关机模式，并进行提示
{
// Main_Oled_Time();
// Main_Oled_Power();
OLED_Show_LowBattry();
//延时1s后关机
g_WaitTimeOut = 0;
SetTimer(TIMER_TIMEOUT,100,Do_TimeOut,THREE_MIN);
while( g_WaitTimeOut == 0 )
{
IWDG_Feed();
}
KillTimer(TIMER_TIMEOUT);
Sys_Enter_Standby();
}
}
}
