YuanHongbin
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1. 激光定时自动关闭：默认10分钟，laser on启动计时，超时自动关并上报 2. laser time <min>可配置定时分钟数，0=关闭定时 3. att on/off持续输出姿态角(Pitch/Roll/Yaw)，不注册不低功耗 4. 20个源文件从GB2312编码转为UTF-8 with BOM
118 lines
3.2 KiB
C
118 lines
3.2 KiB
C
#ifndef __MAIN_H
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#define __MAIN_H
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#include "bsp.h"
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#include "UartDebug.h"
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#include "Update.h"
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#include "Imu.h"
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#define SOFTWARE_VERSION 12 //软件版本
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#define HARDWARE_VERSION 11 //硬件版本
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#define MAIN_DBG_LOG(...) { if(MainDispEn) DBG_LOG(__VA_ARGS__);}
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#define DATA_DBG_LOG(...) { if(DataDispEn) DBG_LOG(__VA_ARGS__);}
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#define X 0
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#define Y 1
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#define Z 2
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#define XYZ 3
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#define SYSTEM_TIMING_LOGIN (86400 / 30) //系统定时注册时间(一天86400秒)
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#define ERR_TIMING_LOGIN (1800 / 30) //注册错误重新注册时间(半个小时1800秒)
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#define TEST_TIME (60*60*1000)
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#define ERINTERVAL_VPT 10 //紧急上报阈值，单位0.1°
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#define ERINTERVAL_VPT 10 //紧急上报阈值，单位0.1°
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typedef struct {//传感器原始数据
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float acce[XYZ];
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float gy[XYZ];
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float mag[XYZ];
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}__attribute__ ((packed))SensorData_T,*SensorDp;//传感器数据
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typedef struct {//转换的数据
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int16_t Pitch; //俯仰角偏斜 （范围±900）单位0.1°
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int16_t Roll; //横滚角偏斜 （范围±900）单位0.1°
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int16_t Yaw; //偏航角偏斜 （范围0~3600）单位0.1°
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// int16_t Temp; //温度值
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// int32_t AD; //AD值
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}__attribute__ ((packed))ConvertedData_T, *ConvertedDp;
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typedef struct {// 姿态角数据
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Rad_T Rad;
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Deg_T Deg;
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}__attribute__ ((packed))AHRSData_T,*AHRSDp;
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/*主程序状态机*/
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typedef enum {
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APP_STATUS_IDLE,
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APP_STATUS_SLEEP,
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APP_STATUS_ON,
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APP_STATUS_OFF,
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APP_STATUS_ACTION,
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APP_STATUS_WAIT_LOGIN,
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APP_STATUS_WAIT_UPLOAD,
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}AppStatus_m;
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/*数据读取状态机*/
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typedef enum {
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READDATA_STATUS_IDLE,
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READDATA_STATUS_UPDAING,
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READDATA_STATUS_WAIT_UPDAING,
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READDATA_STATUS_DATA_HANDLE,
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}ReadDataStatus_m;
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typedef struct {
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AppStatus_m Status;//状态
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ReadDataStatus_m RDStatus;//读取数据状态
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uint32_t TD1mSDelayCnt;
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uint8_t FeedDogDlyCnt;
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uint32_t ReadData1mSDelayCnt;
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uint32_t SysResetTimeCnt;
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SensorData_T Sensor;
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AppPara_T Para;
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AHRSData_T AHRSData;
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ConvertedData_T ConvertedData;
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uint32_t RepeLoginCount; //24h重复注册计数
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uint8_t Login30MinCount; //注册30分定时计数
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uint8_t Login2Min30SCount; //注册100ms~2分+30s定时计数
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bool Login_RTC; //注册30分定时器启动标志位
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bool Login_LPTimer0; //注册100ms~2分+30s定时器启动标志位
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bool LoginFlag; //注册标志位
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uint16_t Coll_N; //数据采集时间计数
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uint16_t Repor_N; //上报时间计数
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uint16_t ERInterval_N; //紧急上报时间间隔计数
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uint8_t ERTime_N; //紧急上报时间计数
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bool ERFlag; //紧急上报标志位
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bool UploadFlag; //上传数据标志位
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uint8_t Upload45S10SCount; //上传数据超时计数
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bool Upload_LPTimer0; //上传100~10000ms+45秒定时器启动标志位
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bool MagRead_EndFlag;
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bool AccRead_EndFlag;
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bool UpdateOk; //数据更新标志位
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bool CaliFlag; //标校标志位
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uint16_t Nonce; //随机数
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bool AttTestMode; //姿态测试模式标志位
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uint32_t AttTestCnt; //姿态测试打印计数(ms)
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}AppDetect_t;
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extern AppDetect_t App;
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void MainDBGOnOff(bool OnOff);
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void DataDBGOnOff(bool OnOff);
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#endif
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