279 lines
9.0 KiB
C
279 lines
9.0 KiB
C
/**
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****************************(C) COPYRIGHT 2019 DJI****************************
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* @file detect_task.c/h
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* @brief detect error task, judged by receiving data time. provide detect
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hook function, error exist function.
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* 检测错误任务， 通过接收数据时间来判断.提供 检测钩子函数,错误存在函数.
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. done
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* V1.1.0 Nov-11-2019 RM 1. add oled, gyro accel and mag sensors
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*
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@verbatim
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==============================================================================
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add a sensor
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1. in detect_task.h, add the sensor name at the end of errorList,like
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enum errorList
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{
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...
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XXX_TOE, //new sensor
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ERROR_LIST_LENGHT,
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};
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2.in detect_init function, add the offlineTime, onlinetime, priority params,like
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uint16_t set_item[ERROR_LIST_LENGHT][3] =
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{
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...
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{n,n,n}, //XX_TOE
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};
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3. if XXX_TOE has data_is_error_fun ,solve_lost_fun,solve_data_error_fun function,
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please assign to function pointer.
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4. when XXX_TOE sensor data come, add the function detect_hook(XXX_TOE) function.
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如果要添加一个新设备
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1.第一步在detect_task.h，添加设备名字在errorList的最后，像
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enum errorList
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{
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...
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XXX_TOE, //新设备
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ERROR_LIST_LENGHT,
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};
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2.在detect_init函数,添加offlineTime, onlinetime, priority参数
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uint16_t set_item[ERROR_LIST_LENGHT][3] =
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{
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...
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{n,n,n}, //XX_TOE
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};
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3.如果有data_is_error_fun ,solve_lost_fun,solve_data_error_fun函数，赋值到函数指针
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4.在XXX_TOE设备数据来的时候, 添加函数detect_hook(XXX_TOE).
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2019 DJI****************************
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*/
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#include "error_detect.h"
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#include "user_task.h"
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#include "r12ds.h"
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#include "nuc.h"
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/**
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* @brief init error_list, assign offline_time, online_time, priority.
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* @param[in] time: system time
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* @retval none
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*/
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/**
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* @brief 初始化error_list,赋值 offline_time, online_time, priority
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* @param[in] time:系统时间
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* @retval none
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*/
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static void detect_init(uint32_t time);
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error_t error_list[ERROR_LIST_LENGHT + 1];
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/**
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* @brief 检测任务
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* @param[in] pvParameters: NULL
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* @retval none
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*/
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uint8_t online_dev;
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void Task_error_detect(void *argument){
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_ERROR_DTC;
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static uint32_t system_time;
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system_time = xTaskGetTickCount();
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//init,初始化
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detect_init(system_time);
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online_dev =0;
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//wait a time.空闲一段时间
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vTaskDelay(DETECT_TASK_INIT_TIME);
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uint32_t tick = osKernelGetTickCount(); /*控制任务运行频率的计时 */
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while (1)
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{
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static uint8_t error_num_display = 0;
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system_time = xTaskGetTickCount();
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error_num_display = ERROR_LIST_LENGHT;
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error_list[ERROR_LIST_LENGHT].is_lost = 0;
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error_list[ERROR_LIST_LENGHT].error_exist = 0;
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//若所有设备在线，会不断翻转绿灯 存在设备离线则会红灯灯翻转
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if(online_dev == ERROR_LIST_LENGHT)
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{
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HAL_GPIO_TogglePin(GPIOH,LED_G_Pin);
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}
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else HAL_GPIO_TogglePin(GPIOH,LED_R_Pin);
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for (int i = 0; i < ERROR_LIST_LENGHT; i++)
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{
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if(i == 0) online_dev=0; //每次重新开始循环检测时需要重置在线设备
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//disable, continue
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//未使能，跳过
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if (error_list[i].enable == 0)
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{
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continue;
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}
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//judge offline.判断掉线
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if (system_time - error_list[i].new_time > error_list[i].set_offline_time)
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{
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if (error_list[i].error_exist == 0)
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{
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//record error and time
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//记录错误以及掉线时间
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error_list[i].is_lost = 1;
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error_list[i].error_exist = 1;
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error_list[i].lost_time = system_time;
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}
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//judge the priority,save the highest priority ,
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//判断错误优先级， 保存优先级最高的错误码
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if (error_list[i].priority > error_list[error_num_display].priority)
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{
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error_num_display = i;
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}
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error_list[ERROR_LIST_LENGHT].is_lost = 1;
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error_list[ERROR_LIST_LENGHT].error_exist = 1;
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//if solve_lost_fun != NULL, run it
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//如果提供解决函数，运行解决函数
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if (error_list[i].solve_lost_fun != NULL)
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{
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error_list[i].solve_lost_fun();
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}
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}
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else if (system_time - error_list[i].work_time < error_list[i].set_online_time)
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{
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//just online, maybe unstable, only record
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//刚刚上线，可能存在数据不稳定，只记录不丢失，
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error_list[i].is_lost = 0;
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error_list[i].error_exist = 1;
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}
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else
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{
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online_dev++;
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error_list[i].is_lost = 0;
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//判断是否存在数据错误
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//judge if exist data error
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if (error_list[i].data_is_error != NULL)
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{
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error_list[i].error_exist = 1;
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}
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else
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{
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error_list[i].error_exist = 0;
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}
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//calc frequency
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//计算频率
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if (error_list[i].new_time > error_list[i].last_time)
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{
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error_list[i].frequency = configTICK_RATE_HZ / (fp32)(error_list[i].new_time - error_list[i].last_time);
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}
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}
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}
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tick += delay_tick; /*计算下一个唤醒时刻*/
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osDelayUntil(tick); /*绝对延时 等待下一个唤醒时刻 */
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}
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}
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/**
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* @brief 获取设备对应的错误状态
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* @param[in] toe:设备目录
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* @retval true(错误) 或者false(没错误)
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*/
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bool_t toe_is_error(uint8_t toe)
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{
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return (error_list[toe].error_exist == 1);
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}
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/**
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* @brief 记录时间
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* @param[in] toe:设备目录
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* @retval none
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*/
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void detect_hook(uint8_t toe)
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{
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error_list[toe].last_time = error_list[toe].new_time;
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error_list[toe].new_time = xTaskGetTickCount();
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if (error_list[toe].is_lost)
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{
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error_list[toe].is_lost = 0;
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error_list[toe].work_time = error_list[toe].new_time;
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}
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if (error_list[toe].data_is_error_fun != NULL)
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{
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if (error_list[toe].data_is_error_fun())
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{
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error_list[toe].error_exist = 1;
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error_list[toe].data_is_error = 1;
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if (error_list[toe].solve_data_error_fun != NULL)
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{
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error_list[toe].solve_data_error_fun();
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}
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}
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else
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{
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error_list[toe].data_is_error = 0;
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}
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}
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else
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{
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error_list[toe].data_is_error = 0;
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}
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}
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/**
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* @brief 得到错误列表
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* @param[in] none
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* @retval error_list的指针
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*/
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const error_t *get_error_list_point(void)
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{
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return error_list;
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}
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static void detect_init(uint32_t time)
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{
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//设置离线时间，上线稳定工作时间，优先级 offlineTime onlinetime priority
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uint16_t set_item[ERROR_LIST_LENGHT][3] =
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{
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// {150, 150, 15}, //NUC
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// {30, 30, 10}, //motor1
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// {30, 30, 10}, //motor2
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// {30, 30, 10}, //motor3
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// {30, 30, 10}, //motor4
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//pitch
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// {30, 30, 10}, //motor5
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{15, 5, 7}, //board gyro
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{15, 5, 7}, //board accel
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{20, 10, 7}, //rm imu
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};
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for (uint8_t i = 0; i < ERROR_LIST_LENGHT; i++)
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{
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error_list[i].set_offline_time = set_item[i][0];
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error_list[i].set_online_time = set_item[i][1];
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error_list[i].priority = set_item[i][2];
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error_list[i].data_is_error_fun = NULL;
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error_list[i].solve_lost_fun = NULL;
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error_list[i].solve_data_error_fun = NULL;
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error_list[i].enable = 1;
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error_list[i].error_exist = 1;
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error_list[i].is_lost = 1;
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error_list[i].data_is_error = 1;
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error_list[i].frequency = 0.0f;
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error_list[i].new_time = time;
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error_list[i].last_time = time;
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error_list[i].lost_time = time;
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error_list[i].work_time = time;
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}
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// error_list[NUC_TOE].solve_lost_fun = NUC_HandleOffline;
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// error_list[DBUSTOE].dataIsErrorFun = RC_data_is_error;
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}
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