rgv-kinco/applications/hardware.c

/*
 *********************************************************************************************************
 *                                                xmk guide
 *                                          huali xmk guide process
 *
 *                                 (c) Copyright 2016-2020, hualijidian.com
 *                                           All Rights Reserved
 *
 * File    : hardware.c
 * By      : eric
 * Date    : 2018��7��10��
 * Version : V0.0.1
 *********************************************************************************************************
 */
#include "stdlib.h"
#include "env.h"
#include "hardware.h"
#include "iocfg.h"

#define DBG_TAG                "hard"
#define DBG_LVL           DBG_INFO
#include <rtdbg.h>

#define CHECK_INPUT(in, v)				\
	do{									\
		if(preI.in && (v)){				\
			 I.in = 1;					\
		}								\
		preI.in = (v);					\
	}while(0)


rt_inline uint8_t checkWithPre(uint8_t input, uint8_t cnt) {
    static uint8_t pre[64];
    if(pre[cnt] && input){
        return 1;
    }
    pre[cnt] = input;
    return 0;
}

rt_inline void checkInput(void) {
    uint8_t i = 0;
    I.BtnRun = checkWithPre(!IN_RUN, i++);
    I.BtnRev = checkWithPre(!IN_REV, i++);
    I.BtnEStop = checkWithPre(IN2, i++);
    I.BtnCStop = checkWithPre(!IN3, i++);
    I.BtnLiftUp = checkWithPre(!IN4, i++);
    I.BtnLiftDown = checkWithPre(!IN5, i++);

    I.RmcStart = checkWithPre(!RMC_IN1, i++);
    I.RmcEStop = checkWithPre(RMC_IN2, i++);
    I.RmcForward = checkWithPre(!RMC_IN3, i++);
    I.RmcBackward = checkWithPre(!RMC_IN4, i++);
    I.RmcDriftLeft = checkWithPre(!RMC_IN6, i++);
    I.RmcDriftRight = checkWithPre(!RMC_IN5, i++);
    I.RmcRoteLeft = checkWithPre(!RMC_IN7, i++);
    I.RmcRoteRight = checkWithPre(!RMC_IN8, i++);
    I.RmcLiftUp = checkWithPre(!RMC_IN9, i++);
    I.RmcLiftDown = checkWithPre(!RMC_IN10, i++);
    I.RmcStop = checkWithPre(!RMC_IN11, i++);

    I.OBS1In1 = checkWithPre(!OBS1_IN1, i++);
    I.OBS1In2 = checkWithPre(!OBS1_IN2, i++);
    I.OBS1In3 = checkWithPre(!OBS1_IN3, i++);
    I.OBS1In4 = checkWithPre(!OBS1_IN4, i++);

    I.OBS2In1 = checkWithPre(!OBS2_IN1, i++);
    I.OBS2In2 = checkWithPre(!OBS2_IN2, i++);
    I.OBS2In3 = checkWithPre(!OBS2_IN3, i++);
    I.OBS2In4 = checkWithPre(!OBS2_IN4, i++);

    I.OBS3In1 = checkWithPre(!OBS3_IN1, i++);
    I.OBS3In2 = checkWithPre(!OBS3_IN2, i++);
    I.OBS3In3 = checkWithPre(!OBS3_IN3, i++);
    I.OBS3In4 = checkWithPre(!OBS3_IN4, i++);

    I.OBS4In1 = checkWithPre(!OBS4_IN1, i++);
    I.OBS4In2 = checkWithPre(!OBS4_IN2, i++);
    I.OBS4In3 = checkWithPre(!OBS4_IN3, i++);
    I.OBS4In4 = checkWithPre(!OBS4_IN4, i++);

    I.Npn1 = checkWithPre(!NPN1_IN1, i++);
    I.Npn2 = checkWithPre(!NPN1_IN2, i++);
    I.Npn3 = checkWithPre(!NPN2_IN3, i++);
    I.Npn4 = checkWithPre(!NPN2_IN4, i++);
    I.Npn5 = checkWithPre(!NPN3_IN5, i++);
    I.Npn6 = checkWithPre(!NPN3_IN6, i++);
    I.Npn7 = checkWithPre(!NPN4_IN7, i++);
    I.Npn8 = checkWithPre(!NPN4_IN8, i++);
    I.Npn9 = checkWithPre(!NPN5_IN9, i++);
    I.Npn10 = checkWithPre(!NPN5_IN10, i++);

    I.Lft1InTop = checkWithPre(NPN1_IN1, i++);
    I.Lft1InBottom = checkWithPre(NPN1_IN2, i++);

    I.Lft2InTop = checkWithPre(!NPN2_IN3, i++);
    I.Lft2InBottom = checkWithPre(!NPN2_IN4, i++);

    I.Motor1DET = checkWithPre(!MOTOR1_DET1, i++);
    I.Motor2DET = checkWithPre(!MOTOR2_DET2, i++);
}

void HWProcess(void *param)
{
	uint8_t i;
	while(1)
	{
	    checkInput();
		
	    rt_thread_mdelay(100);
		i++;
		if(i>20)
		{
			i = 0;
			LOG_I("OBS1 [%d %d %d %d]",I.OBS1In1,I.OBS1In2,I.OBS1In3,I.OBS1In4);
			LOG_I("OBS2 [%d %d %d %d]",I.OBS2In1,I.OBS2In2,I.OBS2In3,I.OBS2In4);
			LOG_I("OBS3 [%d %d %d %d]",I.OBS3In1,I.OBS3In2,I.OBS3In3,I.OBS3In4);
			LOG_I("OBS4 [%d %d %d %d]",I.OBS4In1,I.OBS4In2,I.OBS4In3,I.OBS4In4);
			LOG_I("Npn1 [%d %d %d %d %d]",I.Npn1,I.Npn2,I.Npn3,I.Npn4,I.Npn5);
			LOG_I("Npn6 [%d %d %d %d %d]",I.Npn6,I.Npn7,I.Npn8,I.Npn9,I.Npn10);
			LOG_I("Lft1 [%d %d] Lft2 [%d %d]",I.Lft1InTop,I.Lft1InBottom,I.Lft2InTop,I.Lft2InBottom);		
		}
		
		
	}
}

int HWInit(void)
{
    rt_thread_t tid;
    // thread
    tid = rt_thread_create("hw",
            HWProcess, RT_NULL,
                              512,
                              RT_THREAD_PRIORITY_MAX - 5, 10);

    if (tid != RT_NULL)
    {
        rt_thread_startup(tid);
    }
    return RT_EOK;
}
INIT_APP_EXPORT(HWInit);


//void Battery_Process(void) {
//    S.BatteryVolt = S.Driver1Volt;
//	if (Cfg.MainPower == CFG_MAIN_POWER_24V) {
//		S.BatteryVolt = S.Driver1Volt;
//		return;
//	}
//}