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#include "myfreertos.h"
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//char pubTopic[512]="/sys/hp8oQhMZJ67/Device1/thing/event/property/post";//发布的主题
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//char subTopic[512]="/sys/hp8oQhMZJ67/Device1/thing/service/property/set";//订阅的主题
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//#define MQTT_SOCK 5
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//u8 cnt_flag=0,sub_flag=0,pub_flag=0;
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//u16 time=0;//记录ping服务器的时间
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extern PID pid;
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extern float kd;
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extern float ki;
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u8 batch_sync_buf[11];//单个同步剪切得到的数组
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u8 ins_1=0;
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int diff=0;
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u8 gpio_state=0x02;//继电器状态
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u8 NUM=1;//批量同步发送的阶段号
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u8 n;//阶段号
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u16 i;//序列号
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u8 chour;//已运行小时数
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u8 cminute;//运行分钟数
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u8 hot_clod_flag=0;//加热制冷标志位。hot_clod_flag=0, 不加热不制冷；hot_clod_flag=2,加热；hot_clod_flag=1,制冷
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u8 humidity_flag=0;//加湿除湿标志位。 humidity_flag=0，不加湿不除湿； humidity_flag=2,加湿； humidity_flag=1，除湿
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u8 ALARM=0;//报警标志位。ALARM=0,不报警；ALARM=1,报警
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u16 tick=0;//tick大于600，触发报警条件会报警；小于600则不报警。
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u8 now_stage=1;//当前运行阶段
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u16 tem,hum,red,blue,white;
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u8 hour,min;
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u8 change_stage_rev1=0;
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u8 change_stage_rev2=0;
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u8 change_stage_rev3=0;
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u8 rs485buf[8]={0x01,0x03,0x00,0x01,0x00,0x09,0xD4,0x0C};//传感器交换数据
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//char temp[256];//订阅与发布消息的缓存区
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int T=0,H=0,C=0,G=0, current_T=0;
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extern u8 total[];
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float Humidity=0;
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float temperature=0;
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unsigned int num=0;
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//u8 RS485_RX_BUF[64];
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//任务优先级
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#define START_TASK_PRIO 0
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//任务堆栈大小
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#define START_STK_SIZE 128
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//任务句柄
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TaskHandle_t StartTask_Handler;
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//任务函数
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void start_task(void *pvParameters);
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//任务优先级
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#define Sensor_Communication_TASK_PRIO 1//与传感器通信
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//任务堆栈大小
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#define Sensor_Communication_STK_SIZE 512
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//任务句柄
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TaskHandle_t Sensor_CommunicationTask_Handler;
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//任务函数
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void Sensor_Communication_task(void *pvParameters);
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/*********************
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**********************
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入口函数
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**********************
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*********************/
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void os_init(void)
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{
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printf("入口函数调用成功\r\n");
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xTaskCreate( (TaskFunction_t)start_task,
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(char *)"start_task",
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(uint16_t)START_STK_SIZE,
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(void *)NULL,
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(UBaseType_t)START_TASK_PRIO,
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(TaskHandle_t *)&StartTask_Handler);
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vTaskStartScheduler();
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}
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/*********************
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**********************
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创建 任务，队列，信号集等句柄,也可以测试用
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**********************
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*********************/
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BaseType_t handler=0;
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BaseType_t handler1=0;
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BaseType_t handler2=0;
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BaseType_t handler3=0;
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BaseType_t handler4=0;
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BaseType_t handler5=0;
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BaseType_t handler6=0;
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BaseType_t handler7=0;
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BaseType_t handler8=0;
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BaseType_t handler9=0;
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BaseType_t handler10=0;
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BaseType_t handler11=0;
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/*
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开始函数：创建其他函数与定时器
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*/
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void start_task(void*pvParameters)
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{
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taskENTER_CRITICAL(); //进入临界区
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//创建与传感器通信任务
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handler=xTaskCreate((TaskFunction_t )Sensor_Communication_task,
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(const char* )"Sensor_Communication_task",
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(uint16_t )Sensor_Communication_STK_SIZE,
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(void* )NULL,
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(UBaseType_t )Sensor_Communication_TASK_PRIO,
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(TaskHandle_t* )&Sensor_CommunicationTask_Handler);
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if(handler==pdPASS){printf("与传感器通信任务创建成功\r\n");}
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else{printf("与传感器通信任务创建失败\r\n");}
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// //创建控灯任务
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// handler4=xTaskCreate((TaskFunction_t )led_task,
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// (const char* )"led_task",
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// (uint16_t )LED_STK_SIZE,
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// (void* )NULL,
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// (UBaseType_t )LED_TASK_PRIO,
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// (TaskHandle_t* )&LEDTask_Handler);
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// if(handler4==pdPASS){printf("控灯任务创建成功\r\n");}
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// else{printf("控灯任务创建失败\r\n");}
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vTaskDelete(StartTask_Handler); //删除开始任务
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taskEXIT_CRITICAL(); //退出临界区
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}
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void Sensor_Communication_task(void *pvParameters)
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{
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while(1)
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{
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Read_Init();
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now_stage=timelong_Compare();//
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printf("%d %d\r\n",chour,cminute);
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Array(&now_stage,&hour,&min,&tem,&hum,&red,&blue,&white);//更新对应阶段号的参数
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printf("current stage: %d\r\n",now_stage);
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RS485_1_Send_Data_1(rs485buf,8);//(RS485_RX_CNT=0已被注释)
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printf("send finish\r\n");
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delay_xms(1000);
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RX_BUF_Printf(128);
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RS485_1_Send_Data_3();
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delay_xms(1000);
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RX_BUF_Printf(128);
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while(!(RS485_RX_BUF[0]==0 && RS485_RX_BUF[1]==0 && RS485_RX_BUF[2]==0 && RS485_RX_BUF[3]==0 && RS485_RX_BUF[4]==0))
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{
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printf("enter while\r\n");
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if(RS485_RX_BUF[0]==0x01 && RS485_RX_BUF[1]==0x03) // 判断是否校验成功
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{
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T = RS485_RX_BUF[3];
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T = T<<8|RS485_RX_BUF[4];
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H = RS485_RX_BUF[5];
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H = H<<8|RS485_RX_BUF[6];
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C= RS485_RX_BUF[19];
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C = C<<8|RS485_RX_BUF[20];
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printf("now_tem=%d.%d℃,now_hum=%d.%d%% ,co2=%d\r\n",T/10,T%10,H/10,H%10,C);
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/*GPIO1->报警铃 GPIO2->压缩机 GPIO3->四通阀 GPIO4—>新风风扇 GPIO5->加湿器 */
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if((T<(tem-20)||T>(tem+20)||H<(hum-100)||H>(hum+100))&&(tick>610))//温度偏差2℃报警，湿度偏差10报警
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{
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HC595_Send_Byte(gpio_state|=0x01);
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//GPIO_SetBits(GPIOB,GPIO_Pin_1);//打开报警铃 GPIO1->PB1 |=0000 0001 0x01
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ALARM=1;
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}
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else
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{
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HC595_Send_Byte(gpio_state&=0xFE);
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//GPIO_ResetBits(GPIOB,GPIO_Pin_1);//关闭报警铃 &=1111 1110 0xFE
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ALARM=0;
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}
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if(T<600&&T>-30)
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{
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diff=current_T-T;
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if(diff<0)diff=-diff;
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if(diff<3||current_T==0) //最近两次温差相差0.3℃,消除传感器感应出错的影响
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{
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pid.set_tem=tem/10.0;
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pid.now_tem=T/10.0;
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PID_Calc();
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num=(((pid.OUT*400)/pid.pwmcycle)-1);//请问这个pid.OUT与pwm占空比的值是如何换算过来的
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TIM_SetCompare4(TIM4,num); //0-200对应0-100%，如果pid.out=50,占空比就是25%，//num=50*400/200=100，100/400=25%
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printf("%d ,%d ,%d ,%d ,%f ,%f ,%f ,%f ,%f ,%f ,%f ,%.3f\r\n",T,H,C,num,(pid.set_tem*10),pid.Kp,ki,kd,pid.Pout,pid.Iout,pid.Dout,num/399.0);
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current_T=T;
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}
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}
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if(H>(hum+50))//湿度高于设定值5，打开新风风扇 GPIO4->PD1
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{
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HC595_Send_Byte(gpio_state|=0x08);
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HC595_Send_Byte(gpio_state&=0xEF);
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// GPIO_SetBits(GPIOD,GPIO_Pin_1);//打开新风风扇 |=0000 1000 0x08
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// GPIO_ResetBits(GPIOD,GPIO_Pin_0);//关闭加湿器 &=1110 1111 0xEF
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humidity_flag=1; //除湿
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}
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if(H<(hum-50))//湿度低于设定值5，打开加湿器 GPIO5->PD0
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{
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HC595_Send_Byte(gpio_state|=0x10);
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HC595_Send_Byte(gpio_state&=0xF7);
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// GPIO_SetBits(GPIOD,GPIO_Pin_0);//启动加湿器 |=0001 0000 0x10
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// GPIO_ResetBits(GPIOD,GPIO_Pin_1);//关闭风扇 &=1111 0111 0xF7
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humidity_flag=2;
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}
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if( humidity_flag==1 && H<=hum)
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{
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HC595_Send_Byte(gpio_state&=0xE7);
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// GPIO_ResetBits(GPIOD,GPIO_Pin_1);//关闭风扇 &=1110 0111 0xE7
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// GPIO_ResetBits(GPIOD,GPIO_Pin_0);//关闭加湿器
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humidity_flag=0;
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}
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if( humidity_flag==2 && H>=hum)
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{
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HC595_Send_Byte(gpio_state&=0xE7);
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// GPIO_ResetBits(GPIOD,GPIO_Pin_0);//关闭加湿器 &=1110 0111 0xE7
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// GPIO_ResetBits(GPIOD,GPIO_Pin_1);//关闭风扇
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humidity_flag=0;
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}
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printf("!!!");
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RS485_1_Send_Data_2(); //上传参数
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RX_BUF_ZERO(23);
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//printf(" \r\n");
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RX_BUF_Transfer(0,23);
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printf("\r\n");
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RX_BUF_Printf(128);
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printf("\r\n");
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}
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else if(RS485_RX_BUF[0]==0xEE&&RS485_RX_BUF[1]==0xB6&&RS485_RX_BUF[2]==0x03)//单个同步
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{
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Analysis(&n,&i,RS485_RX_BUF);
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printf("B6 03 cmd: batch sync\r\n");
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RX_BUF_ZERO(11);
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printf(" \r\n");
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RX_BUF_Transfer(0,11);
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printf("\r\n");
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RX_BUF_Printf(128);
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printf("\r\n");
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}
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else if(RS485_RX_BUF[0]==0xEE&&RS485_RX_BUF[1]==0xB6&&RS485_RX_BUF[2]==0x04)//切换阶段
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{
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change_stage_rev1=RS485_RX_BUF[3];
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printf("B6 04 cmd: change stage\r\n");
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RTC_synchronization_ins(2023,9,1,0,00,00);
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now_stage=change_stage_rev1;
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RX_BUF_ZERO(8);
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printf(" \r\n");
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RX_BUF_Transfer(0,8);
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printf("\r\n");
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//RX_BUF_Printf(128);
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printf("\r\n");
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}
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else if(RS485_RX_BUF[0]==0xEE&&RS485_RX_BUF[1]==0xB6&&RS485_RX_BUF[2]==0x01)//批量同步
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{
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Batch_synchronization(&n,RS485_RX_BUF);
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printf("B6 01 cmd: get one %d\r\n", n);
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Write_Init();
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RX_BUF_ZERO(20);
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printf(" \r\n");
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RX_BUF_Transfer(0,20);
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printf("\r\n");
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//RX_BUF_Printf(128);
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printf("\r\n");
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}
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else
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{
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printf("previous array cut\r\n");
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RX_BUF_Transfer(0,1);
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printf(" \r\n");
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printf("\r\n");
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//RX_BUF_Printf(128);
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printf("\r\n");
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}
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}
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printf("%d %d %d\r\n",T,H,C);
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printf("current params: %d:%d,hot or cold flag:%d, humidity flag:%d, alarm: %d\r\n",chour, cminute, hot_clod_flag, humidity_flag, ALARM);
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printf("led!!!\r\n");
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if(red<=1000&&blue<=1000)
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{
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PWM_SetCompare1((red/100.0*3.5+28));//J9
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PWM_SetCompare2((blue/100.0*3.5+28));//J11
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//PWM_SetCompare4((white/10));//J10
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printf("red=%d\r\n",red);
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printf("bule=%d\r\n",blue);
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}
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RS485_RX_CNT=0;
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//printf("end data to serial monitor end");
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// }
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// }
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}
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}
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//void led_task(void *pvParameters)
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//{
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// while(1)
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// {
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// printf("led!!!\r\n");
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// if(red<=1000&&blue<=1000)
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// {
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// PWM_SetCompare1((red/10));//J9
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// PWM_SetCompare2((blue/10));//J11
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// //PWM_SetCompare4((white/10));//J10
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// }
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// vTaskDelay(5000);
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//
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// }
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//}
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