180 lines
4.0 KiB
C
180 lines
4.0 KiB
C
#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include "LED.h"
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#include "Buzzer.h"
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#include "CAN.h"
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#include "Delay.h"
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#include "LinkCheck.h"
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#include "GM6020.h"
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#include "M3508.h"
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#include "M2006.h"
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/*==================== 报警列表 ====================
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遥控器未连接 ················1s里红灯连闪两下
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遥控器数据错误报警 ············红灯常亮
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CAN总线设备连接异常············2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
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IST8310连接错误 ················绿灯以1s为周期闪烁
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BMI088连接错误 ················1s里绿灯连闪两下
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陀螺仪温度过高报警 ············绿灯常亮
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电机报警状态 ················电机静止
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======================================================*/
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/*
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*函数简介:报警初始化
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*参数说明:无
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*返回类型:无
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*备注:报警功能用于各种错误的提示
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*备注:报警有两种方式-LED和蜂鸣器
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*/
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void Warming_Init(void)
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{
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LED_Init();
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Buzzer_Init();
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}
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/*
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*函数简介:报警关闭
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*参数说明:无
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*返回类型:无
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*备注:无
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*/
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void Warming_Stop(void)
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{
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TIM_SetCompare1(TIM10,0);
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}
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/*
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*函数简介:报警LED清理
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*参数说明:无
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*返回类型:无
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*备注:关闭所有灯
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*/
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void Warming_LEDClean(void)
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{
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LED_BOFF();LED_GOFF();LED_ROFF();
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}
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/*
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*函数简介:报警蜂鸣器清理
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*参数说明:无
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*返回类型:无
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*备注:关闭所有蜂鸣器
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*/
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void Warming_BuzzerClean(void)
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{
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Buzzer_ON(P);
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}
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/*
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*函数简介:遥控器未连接报警
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*参数说明:无
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*返回类型:无
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*备注:遥控器连接检测TIM7定时更新中断调用,定时25ms
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*报警现象:1s里红灯连闪两下
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*/
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void Warming_RemoteNoCheck(void)
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{
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static uint8_t Counter=0;
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Counter++;
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if(Counter==1)LED_RON();
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else if(Counter==5)LED_ROFF();
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else if(Counter==13)LED_RON();
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else if(Counter==17)LED_ROFF();
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else if(Counter==40)Counter=0;
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}
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/*
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*函数简介:遥控器数据错误报警
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*参数说明:无
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*返回类型:无
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*报警现象:红灯常量
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*/
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void Warming_RemoteDataERROR(void)
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{
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LED_RON();
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}
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/*
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*函数简介:CAN总线设备连接异常报警
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*参数说明:无
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*返回类型:无
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*备注:闭环控制TIM6定时更新中断调用,定时2ms
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*报警现象:2s内蜂鸣器以高音6响n下,n为连接异常的设备在ID列表的索引(LinkCheck.h文件中LinkCheck_ErrorID变量)
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*/
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void Warming_LinkError(void)
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{
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static uint8_t i=0;
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static uint16_t Counter=0;
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Counter++;
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if(i<LinkCheck_ErrorID+1)//高音6响LinkCheck_ErrorID下
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{
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if(Counter==100*i+1)Buzzer_ON(H6);
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else if(Counter==100*i+51)Buzzer_ON(P);
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else if(Counter==100*i+100)i++;
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}
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if(Counter==1000){Counter=0;i=0;}
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}
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/*
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*函数简介:IST8310连接错误
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*参数说明:无
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*返回类型:无
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*备注:IST8310初始化调用,周期25ms
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*报警现象:绿灯以1s为周期闪烁
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*/
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void Warming_IST8310LinkError(void)
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{
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static uint8_t Counter=0;
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Counter++;
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if(Counter==1)LED_GON();
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else if(Counter==5)LED_GOFF();
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else if(Counter==40)Counter=0;
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}
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/*
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*函数简介:BMI088连接错误
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*参数说明:无
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*返回类型:无
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*备注:BMI088初始化调用,周期25ms
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*报警现象:1s里绿灯连闪两下
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*/
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void Warming_BMI088LinkError(void)
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{
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static uint8_t Counter=0;
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Counter++;
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if(Counter==1)LED_GON();
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else if(Counter==5)LED_GOFF();
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else if(Counter==13)LED_GON();
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else if(Counter==17)LED_GOFF();
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else if(Counter==40)Counter=0;
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}
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/*
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*函数简介:陀螺仪温度过高报警
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*参数说明:无
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*返回类型:无
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*备注:IMU恒温控制调用,温度警戒50℃
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*报警现象:绿灯常亮
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*/
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void Warming_IMUTemperatureTooHigh(void)
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{
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LED_GON();
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}
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/*
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*函数简介:电机报警状态
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*参数说明:无
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*返回类型:无
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*报警现象:电机静止
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*/
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void Warming_MotorControl(void)
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{
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GM6020_CAN2SetLIDVoltage(0,0,0,0);
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M3508_CANSetLIDCurrent(0,0,0,0);
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M2006_CANSetHIDCurrent(0,0,0,0);
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}
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