194 lines
4.7 KiB
C
194 lines
4.7 KiB
C
#ifndef SYS_H__
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#define SYS_H__
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#include <stdio.h>
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#include <string.h>
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#include <stdint.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "esp_err.h"
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#define FLOW_REG_ADDR 0
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#define DEPTH_REG_ADDR 12
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#define AC_CURRENT_REG_ADDR 24
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#define MOVE_REG_ADDR 27
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#define TILT_SENSER_ADDR 30
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#define RECORD_REG_ADDR 32
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#define TIME 264
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#define CAL_4_20MA_ADDR 384
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#define FLOW_CONFIG_ADDR (CAL_4_20MA_ADDR + (sizeof(cal_4_20ma_t) + 15) / 16 * 8)
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#define DEPTH_CONFIG_ADDR (FLOW_CONFIG_ADDR + (sizeof(flow_config_t) + 15) / 16 * 8)
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#define AD_RAW_REG_ADDR 444
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#define LAST_PILE_ID_ADDR 509
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#define DEPTH_RESET_ADDR 510
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#define REBOOT_REW_ADDR 511
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#define REG_GPS_MESSAGE (512 + 48)
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#define REG_GPS_WRITE_DATA (REG_GPS_MESSAGE + sizeof(gps_message_t))
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// GPS数据
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typedef struct gps_message
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{
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uint8_t gps_status; // GPS定位状态
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uint8_t gps_view; // GPS可视状态
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uint8_t gps_use; // GPS使用状态
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uint8_t reg[1]; // 保留
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uint32_t utc; // utc时间
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double x; // 大地平面坐标
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double y;
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double dir; // 方向
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double pitch; // 俯仰角
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} gps_message_t;
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extern gps_message_t *gpsMessageP;
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#define WRITE_DOWN_MAGIC 0x55BB // 控制gps采用参数进行运算
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#define WRITE_SAVE_MAGIC 0x55AA // 控制gps将参数保存成json文件，开机的时候自动加载
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typedef struct gps_write_data // addr 600
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{
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uint16_t magic; // 600 2
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uint16_t ellipsoidal_datum; // 椭圆基准 601 2
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uint8_t reg[4];
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// 604 8
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int16_t x0; // 卫星接收器点坐标（坐标系以基站为原点建立）
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int16_t y0;
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int16_t x1; // 待求点坐标
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int16_t y1;
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// 608 16
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uint64_t central_meridian; // 中央子午线
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uint64_t elevation; // 投影高程
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// 616 16
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int64_t dx; // x轴平移
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int64_t ax; // x轴旋转
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// 624 16
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int64_t dy; // y轴平移
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int64_t ay; // y轴旋转
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// 632 16
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int64_t dz; // z轴平移
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int64_t az; // z轴旋转
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// 640 8
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int64_t k; // 缩放比例
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} gps_write_data_t;
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extern gps_write_data_t *gpsWriteDataP;
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typedef struct
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{
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uint16_t magic;
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struct _ch
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{
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uint16_t ad_4ma;
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uint16_t ad_20ma;
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} ch[2];
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} cal_4_20ma_t;
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typedef struct
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{
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int16_t flow_min;
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int16_t flow_max;
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} ad_flow_cal_t; //存储ad转换的最大流量和最小流量
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typedef struct
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{
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uint16_t magic; //可能是一个用于标识流量配置的特殊字段或标志?
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uint16_t input_type; // 1 : 4~20ma 2: 0~3.6K
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int16_t min_flow[2]; // 小流量切除
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ad_flow_cal_t ad_cal[2];
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uint16_t pulse_coef[2]; //可能代表了脉冲输出的系数或倍率?
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uint16_t rsv[6]; //可能是预留给未来扩展使用的保留字段?
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} flow_config_t;
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typedef struct
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{
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uint16_t magic;
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uint8_t input_type; // 0：正交 1:正交反向 2:方向脉冲 3:方向脉冲反向
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uint8_t port; // 编码器端口
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uint16_t N; //编码器系数分子
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uint16_t M; //编码器系数分母
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// int pluse_coef; // 脉冲系数0.001mm
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int16_t min_depth; // 最小深度 mm
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int16_t max_depth; // 最大深度 mm
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int16_t sample_depth; // 采样深度 mm
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int16_t depth_offset; // 默认深度偏移
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int16_t min_valid_depth; // 最小有效深度
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int16_t inc_pile_depth; // 允许换桩深度
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uint16_t current_on_threshold; // 行走电机开启电流
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uint16_t current_off_threshold; // 行走电机关闭电流
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uint16_t move_on_duratino; // 持续时间
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uint16_t move_off_duration; // 持续时间
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uint16_t move_current_channel; //行走电流通道
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} depth_config_t;
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typedef struct
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{
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int16_t flow_;
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int16_t flow;
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int32_t total_flow;
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uint32_t update_time;
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} flow_t;
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typedef struct
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{
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uint16_t status; // 0:未开始 1:开始 2:结束
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uint16_t time_count; //持续时间
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uint16_t pile_inc_req;
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} move_t;
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typedef struct
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{
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uint16_t pile_work_state_and_direction; // 12
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int16_t speed; // 13
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int16_t depth; // 14
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uint16_t sample_count; // 15
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uint16_t depth_flow[2]; // 16~17
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uint32_t last_total_flow[2]; //
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int16_t depth_offset; // 22
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uint16_t one_pile_work_time;//23 系统工作时间
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// uint32_t update_time;
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// int16_t tilt_x;
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// int16_t tilt_y;
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// uint16_t current1;
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// uint16_t current2;
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// uint16_t current3;
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} depth_t;
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typedef struct
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{
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int16_t max_depth;
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uint16_t pile_id;
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uint16_t count;
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// uint16_t work_time;
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struct _item
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{
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int16_t speed;
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int16_t depth;
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int16_t flow[2];
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uint32_t total_flow[2];
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int16_t tilt_x;
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int16_t tilt_y;
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uint16_t current1;
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uint16_t current2;
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} item[10];
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} record_t;
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extern depth_config_t *depth_config;
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void config_load(void);
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void save_cal_4_20ma(void);
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void save_flow_cfg(void);
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void save_depth_cfg(void);
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void restore_default(void);
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#endif
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