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/* Includes ------------------------------------------------------------------*/
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#include "ALLinclude.h"
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typedefStructStateSystem SysRegister ={
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.State_system =stateIdel,
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.StateMenu = StateMenu_1,
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};
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void SendCmd(TypedefID_T CmdData)
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{
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TypedefID_T CmdRegister = CmdData;
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xQueueSend(at_CmdMsg,&CmdRegister,portMAX_DELAY);
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}
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void SendCmdFromISR(TypedefID_T CmdData)
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{
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TypedefID_T CmdRegister = CmdData;
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xQueueSendFromISR(at_CmdMsg,&CmdRegister,NULL);
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}
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void SysRegisterInit(void)
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{
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SysRegister.State_system =stateIdel;
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SysRegister.StateMenu = StateMenu_1;
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}
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void StartTask(void *pvParamters)
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{
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BaseType_t Err = 0;
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TypedefID_T ECmdIDRegister;
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uint32_t TaskTimer =0;
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static uint8_t counter100ms=0;
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const TickType_t xTicksToWait = pdMS_TO_TICKS( 100UL );
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SetMotorTimes(StateMenu_1);
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MotorStart;
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for(;;)
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{
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Err = xQueueReceive(at_CmdMsg, &ECmdIDRegister, xTicksToWait );
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/* Err = pdTRUE,recreive success. */
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if(Err == pdTRUE)
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{
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//printf("ECmdIDRegister = %d\r\n",ECmdIDRegister);
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switch(ECmdIDRegister)
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{
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case(eCmd10ms):
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{
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TaskTimer++;
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if(TaskTimer % 10 ==0)
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{
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SendCmd(eCmd100ms);
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}
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if(TaskTimer % 100 ==0)
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{
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SendCmd(eCmd1000ms);
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}
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// MotorControl();
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// if(HAL_GetTick() - )
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}
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break;
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case(eCmd100ms):
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{
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}
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break;
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case(eCmd1000ms):
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{
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size_t free_start = xPortGetFreeHeapSize();
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// gif_play(Loading_map,sizeof(Loading_map));
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// gif_play(&Loading_map[0],sizeof(Loading_map));
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// Flash_Test_DMA();
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// SetGifPlay(0x0000,8);
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size_t used = free_start - xPortGetFreeHeapSize();
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}
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break;
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case(eCmdPressureOverload):
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{
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SendCmd(eCmdMotorPause);
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}
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break;
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case(eCmdMotorPause):
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{
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}
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break;
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case eCmdKeyONOFFlongPress:
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{
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SysRegister.State_system == stateIdel;//长按关机
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}
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break;
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case eCmdKeyONOFFShortPress:
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{
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uint32_t data_ = HAL_GetTick();
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SysRegister.CurrentButtonPressTime=HAL_GetTick() - SysRegister.LastButtonPressTick;
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SysRegister.LastButtonPressTick = HAL_GetTick();//更新按键时基
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//短按：模式切换、暂停、恢复
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if(SysRegister.State_system == Brushing && SysRegister.CurrentButtonPressTime>5000){
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SysRegister.State_system = Paused; //刷牙中，间隔大于5S ，暂停
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//
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}
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else if(SysRegister.State_system == Brushing && SysRegister.CurrentButtonPressTime<5000){
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if(SysRegister.StateMenu < StateMenu_4){ //刷牙中，间隔小于5S ，模式切换
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SysRegister.StateMenu ++;
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}else{
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SysRegister.StateMenu = StateMenu_1;
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}
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}
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else if(SysRegister.State_system == Paused && SysRegister.CurrentButtonPressTime>5000){
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SysRegister.State_system = Brushing; //暂停，间隔大于5S，继续刷牙
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}
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else if(SysRegister.State_system == Paused && SysRegister.CurrentButtonPressTime>5000){
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SysRegister.State_system = Brushing; //间隔小于5S，继续刷牙，并切换到下一个模式
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if(SysRegister.StateMenu < StateMenu_4){
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SysRegister.StateMenu ++;
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}else{
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SysRegister.StateMenu = StateMenu_1;
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}
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}
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else if(SysRegister.State_system == stateIdel){
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SysRegister.State_system=Brushing;
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}
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SysRegister.TickStart = HAL_GetTick();
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}
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break;
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#if 0
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case eCmdKeyModelongPress:
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{
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SysRegister.Timer =SysTimerReload;
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}
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break;
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case eCmdKeyModeShortPress:
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{
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}
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break;
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#endif
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case eCmdMotorEnable:
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{
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}
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break;
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case eCmdMotorDisable:
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{
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}
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break;
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case eCmdMotorON:
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{
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}
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break;
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case eCmdMotorOFF:
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{
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// StopMotor();
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}
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break;
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case eCmdLCDBlack:
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LCD_Clear(BLACK);
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break;
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case eCmdLCDRed:
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LCD_Clear(RED);
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break;
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case eCmdLCDBlue:
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LCD_Clear(GBLUE);
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break;
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default:break;
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}
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}
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vTaskDelay(2);
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}
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}
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// 设定当前模式的时间周期
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void SetMotorTimes(typedefStateMotor mode) {
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switch (mode) {
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case StateMenu_1:
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SysRegister.motorRunTime = 100; // 运行100ms
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SysRegister.motorStopTime = 40; // 停止40ms
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SysRegister.motorPauseTime = 180; // 30秒后暂停180ms
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SysRegister.cycleTime = 100+40; // 每循环一次是330ms
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SysRegister.totalRunTime = 180000; // 运行3分钟
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SysRegister.Period = 160; // 运行3分钟
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SysRegister.Duty = 20; // 运行3分钟
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break;
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case StateMenu_2:
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SysRegister.motorRunTime = 10000; // 第一次运行10秒
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SysRegister.motorStopTime = 160; // 停止160ms
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SysRegister.motorPauseTime = 160; // 每40秒暂停160ms
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SysRegister.cycleTime = 40000+160; // 每个周期是40000+160 ms
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SysRegister.totalRunTime = 180000; // 运行3分钟
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SysRegister.Period = 160; // 运行3分钟
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SysRegister.Duty = 25; // 运行3分钟
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break;
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case StateMenu_3:
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SysRegister.motorRunTime = 30000; // 运行30秒
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SysRegister.motorStopTime = 160; // 停止160ms
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SysRegister.motorPauseTime = 160; // 每次暂停160ms
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SysRegister.cycleTime = 30000+160; // 每个周期是30160ms
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SysRegister.totalRunTime = 120000; // 运行2分钟
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SysRegister.Period = 160; // 运行3分钟
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SysRegister.Duty = 25; // 运行3分钟
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break;
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case StateMenu_4:
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SysRegister.motorRunTime = 30000; // 运行30秒
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SysRegister.motorStopTime = 160; // 停止160ms
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SysRegister.motorPauseTime = 160; // 每次暂停160ms
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SysRegister.cycleTime = 30000+160; // 每个周期是30160ms
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SysRegister.totalRunTime = 180000; // 运行3分钟
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SysRegister.Period = 160; // 运行3分钟
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SysRegister.Duty = 50; // 运行3分钟
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break;
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default:
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break;
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}
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SysRegister.modeStartTime = HAL_GetTick(); // 记录模式开始时间
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}
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// 模式控制逻辑
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void MotorControl(void) {
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uint32_t currentTick = HAL_GetTick(); // 获取系统运行时间 (ms)
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// 检查系统状态，如果是暂停状态，直接停止电机
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if (SysRegister.State_system != Brushing) {
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MotorStop;
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return;
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}
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// 判断当前模式是否已经结束
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if ((currentTick - SysRegister.modeStartTime) >= SysRegister.totalRunTime) {
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SysRegister.State_system = stateIdel; // 完成后回到空闲状态
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MotorStop;
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return;
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}
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// 执行不同模式下的时间控制逻辑
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switch (SysRegister.StateMenu) {
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case StateMenu_1:
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{
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// 每330ms循环一次，运行100ms，停止40ms，30秒后暂停180ms
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if((currentTick - SysRegister.modeStartTime) % (30000 + SysRegister.motorPauseTime) > 30000){
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MotorStop;
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}
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else if ((currentTick - SysRegister.modeStartTime) % SysRegister.cycleTime < SysRegister.motorRunTime) {
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MotorStart; // 运行电机
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} else if ((currentTick - SysRegister.modeStartTime) % SysRegister.cycleTime < (SysRegister.motorRunTime + SysRegister.motorStopTime)) {
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MotorStop; // 停止电机
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}else {
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// 继续下一个周期
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MotorStop;
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}
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}
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break;
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case StateMenu_2:
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{
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// 运行10秒，暂停160ms，之后每40秒暂停160ms
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if ((currentTick - SysRegister.modeStartTime) < SysRegister.motorRunTime) {
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MotorStart; // 运行电机
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} else if ((currentTick - SysRegister.modeStartTime) < (SysRegister.motorRunTime + SysRegister.motorStopTime)) {
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MotorStop; // 停止电机
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} else if ((currentTick - SysRegister.modeStartTime) % SysRegister.cycleTime < SysRegister.motorPauseTime) {
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// 每40秒暂停160ms
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MotorStop;
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} else {
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MotorStart; // 恢复电机运行
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}
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}
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break;
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case StateMenu_3:
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case StateMenu_4:
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{
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// 每30秒运行，暂停160ms
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if ((currentTick - SysRegister.modeStartTime) % SysRegister.cycleTime < SysRegister.motorRunTime) {
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MotorStart; // 运行电机
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} else if ((currentTick - SysRegister.modeStartTime) % SysRegister.cycleTime < (SysRegister.motorRunTime + SysRegister.motorStopTime)) {
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MotorStop; // 停止电机
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} else {
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MotorStop; // 暂停160ms
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}
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}
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break;
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default:
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break;
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}
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}
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/************************ (C) COPYRIGHT ZZY *****END OF FILE******************/
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