liweiyan/shoe_mcu_2022_1_10/hal/hal_mode_manage.c

#include "hal_mode_manage.h"
#include "hal_imu.h"
#include "usr_config.h"
#include "bsp_time.h"
#include "system.h"
#include "hal_wearshoes.h"

/*********************************************************************
 * LOCAL VARIABLES
 */

static hal_mode 	cur_mode;
static hal_mode 	change_mode;
static hal_mode 	process_mode;
static uint8_t 		send_signal_flag = 0;
static uint8_t		critical_zone = 0;


/*********************************************************************
 * LOCAL FUCTIONS
 */
static void Send_Signal(hal_mode mode)
{
	switch(mode)
	{
		case HAL_MODE_GAME:
			if(IMU_GetCurrentMode() != STATE_FULL_POWER_MODE){
				IMU_SetSignal(SIGNAL_FULL_POWER, IMU_SIGNAL_ON);
				send_signal_flag = 1;
			}else{
				critical_zone = 0;					//解锁
				cur_mode = HAL_MODE_GAME;
			}
			break;
		case HAL_MODE_REALSTEP:
			if(IMU_GetCurrentMode() != STATE_FULL_POWER_MODE){
				IMU_SetSignal(SIGNAL_FULL_POWER, IMU_SIGNAL_ON);
				send_signal_flag = 1;
			}else{
				critical_zone = 0;					//解锁
				cur_mode = HAL_MODE_REALSTEP;
			}
			break;
		
		case HAL_MODE_STANDBY:
			if(IMU_GetCurrentMode() != STATE_STANDBY_POWER_MODE){
				IMU_SetSignal(SIGNAL_STANDBY_POWER, IMU_SIGNAL_ON);
				send_signal_flag = 1;
			}else{
				critical_zone = 0;					//解锁
				cur_mode = HAL_MODE_STANDBY;
			}
			break;
		
		case HAL_MODE_NORMAL:
			if(IMU_GetCurrentMode() != STATE_LOW_POWER_MODE){
				IMU_SetSignal(SIGNAL_LOW_POWER, IMU_SIGNAL_ON);
				send_signal_flag = 1;
			}else{
				critical_zone = 0;					//解锁
				cur_mode = HAL_MODE_NORMAL;
			}
			break;
		
		case HAL_MODE_SELF_CHECK:
			if(IMU_GetCurrentMode() != STATE_SELF_CHECK_MODE){
				IMU_SetSignal(SIGNAL_SELF_CHECK, IMU_SIGNAL_ON);
				send_signal_flag = 1;
			}else{
				critical_zone = 0;					//解锁
				cur_mode = HAL_MODE_SELF_CHECK;
			}
			break;
			
		default:
			break;
	}	
}

static void Change_Mode(hal_mode mode)
{
	switch(mode)
	{
		case HAL_MODE_GAME:
			if(IMU_GetCurrentMode() != STATE_FULL_POWER_MODE){	//配置失败,进入异常挂起模式
				cur_mode = HAL_MODE_EXCEPT_SUSPEND;
				send_signal_flag = 0;
				critical_zone = 0;					//解锁
			}else{
				if(IMU_Get_Front_Data_Num() >= 1 && IMU_Get_Front_Data_Num() < 10){
					cur_mode = HAL_MODE_GAME;
					send_signal_flag = 0;
					critical_zone = 0;					//解锁
				}
			}
			break;
		case HAL_MODE_REALSTEP:
			if(IMU_GetCurrentMode() != STATE_FULL_POWER_MODE){
				cur_mode = HAL_MODE_EXCEPT_SUSPEND;
				send_signal_flag = 0;
				critical_zone = 0;					//解锁
			}else{
				if(IMU_Get_Front_Data_Num() >= 1 && IMU_Get_Front_Data_Num() < 10){
					cur_mode = HAL_MODE_REALSTEP;
					send_signal_flag = 0;
					critical_zone = 0;					//解锁
				}
			}
			break;
		
		case HAL_MODE_STANDBY:
			if(IMU_GetCurrentMode() != STATE_STANDBY_POWER_MODE){
				cur_mode = HAL_MODE_EXCEPT_SUSPEND;
				send_signal_flag = 0;
				critical_zone = 0;					//解锁
			}else{
				if(IMU_Get_Front_Data_Num() >= 1 && IMU_Get_Front_Data_Num() < 10){
					cur_mode = HAL_MODE_STANDBY;
					send_signal_flag = 0;
					critical_zone = 0;					//解锁
				}
			}
			break;
		
		case HAL_MODE_NORMAL:
			if(IMU_GetCurrentMode() != STATE_LOW_POWER_MODE){
				cur_mode = HAL_MODE_EXCEPT_SUSPEND;
				send_signal_flag = 0;
				critical_zone = 0;					//解锁
			}else{
				if(IMU_Get_Front_Data_Num() >= 10 && IMU_Get_Front_Data_Num() < 30){
					cur_mode = HAL_MODE_NORMAL;
					send_signal_flag = 0;
					critical_zone = 0;					//解锁
				}
			}
			break;
		
		case HAL_MODE_SELF_CHECK:
			if(IMU_GetCurrentMode() != STATE_SELF_CHECK_MODE){
				cur_mode = HAL_MODE_EXCEPT_SUSPEND;
				send_signal_flag = 0;
				critical_zone = 0;					//解锁
			}else{
				if(IMU_Get_Front_Data_Num() >= 1 && IMU_Get_Front_Data_Num() < 10){
					cur_mode = HAL_MODE_SELF_CHECK;
					send_signal_flag = 0;
					critical_zone = 0;					//解锁
				}
			}
			break;
			
		default:
			break;
	}	
}

//转换规则
static void hal_mode_manage_Discipline(hal_mode *source_mode, hal_mode target_mode)
{
	switch(*source_mode)
	{
		case HAL_MODE_EXCEPT_SUSPEND:
			*source_mode = target_mode;					//异常挂起模式可转为任意模式
			break;
		case HAL_MODE_STANDBY:
			*source_mode = target_mode;					//待机模式可转为任意模式
			break;
		case HAL_MODE_NORMAL:
			*source_mode = target_mode;					//正常模式可转为任意模式
			break;
		case HAL_MODE_SELF_CHECK:
			if(target_mode == HAL_MODE_NORMAL){
				*source_mode = target_mode;				//自检模式只能转为正常模式
			}
			break;
		case HAL_MODE_GAME:
			if(target_mode == HAL_MODE_NORMAL){
				*source_mode = target_mode;				//游戏模式只能转为正常模式
			}
			break;
		case HAL_MODE_REALSTEP:
			if(target_mode == HAL_MODE_NORMAL){
				*source_mode = target_mode;				//实时计步模式只能转为正常模式
			}
			break;
	}
}


static void hal_mode_manage_Process(void)
{
	//锁上期间，不更新 process_mode
	if(!critical_zone){
		hal_mode_manage_Discipline(&process_mode, change_mode);
		critical_zone = 1;						//锁上
	}
	
	
	//没有信号的时候处理
	if(IMU_IsNoSignal()){
		if(!send_signal_flag){	//发送信号
			Send_Signal(process_mode);
		}else{	//配置判断
			Change_Mode(process_mode);
		}
	}
}



/********************** 外部接口声明区 *************************/

void hal_mode_set(hal_mode mode)
{
	hal_mode_manage_Discipline(&change_mode, mode);
}

hal_mode hal_mode_get(void)
{
	return cur_mode;
}

static void hal_mode_manage_test_Process(void)
{
	SEGGER_RTT_printf(0,"IMU_IsNoSignal():%d change_mode=%d cur_mode=%d process_mode=%d critical_zone:%d IMU_GetCurrentMode():%d IMU_Get_Front_Data_Num():%d send_signal_flag:%d\r\n",IMU_IsNoSignal(),change_mode,cur_mode,process_mode,critical_zone,IMU_GetCurrentMode(),IMU_Get_Front_Data_Num(),send_signal_flag);
}

void hal_mode_manage_Init(void)
{
	if(INIT_MODE == HAL_MODE_NORMAL){
		cur_mode = HAL_MODE_NORMAL;
		change_mode = HAL_MODE_NORMAL;
		process_mode = HAL_MODE_NORMAL;
	}
	else if(INIT_MODE == HAL_MODE_STANDBY){
		cur_mode = HAL_MODE_STANDBY;
		change_mode = HAL_MODE_STANDBY;
		process_mode = HAL_MODE_STANDBY;
	}
	
	Process_Start(0,"hal_mode_manage_Process",hal_mode_manage_Process);
	
	Process_Start(1000,"hal_mode_manage_test_Process",hal_mode_manage_test_Process);
}