334 lines
12 KiB
C
334 lines
12 KiB
C
#include "relay.h"
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#include "main.h"
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#include "network.h"
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#include "24c02.h"
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#include "feed_scale.h"
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#include "proto.h"
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#include <string.h>
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/* 命令执行后状态上报标志 */
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volatile uint8_t relay_report_pending = 0;
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volatile uint32_t relay_report_tick = 0;
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/* 继电器命令响应阶段控制:
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0: 空闲
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1: 已动作, 等待反馈稳定
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2: 反馈已读, 已发送 response 和 status, 结束
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*/
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volatile uint8_t relay_cmd_stage = 0;
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volatile uint32_t relay_cmd_tick = 0;
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volatile uint8_t relay_cmd_ch = 0;
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volatile GPIO_PinState relay_cmd_fb_before = GPIO_PIN_RESET;
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char relay_cmd_id[20] = {0};
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/* 运行继电器命令响应状态机，由主循环每轮调用 */
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void relayCmdProcess(void)
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{
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GPIO_PinState fb_after;
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uint8_t ch = relay_cmd_ch;
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if (relay_cmd_stage == 0) return;
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if (relay_cmd_stage == 1) {
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/* 等待继电器反馈电路稳定 */
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if (HAL_GetTick() - relay_cmd_tick < 100) return;
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fb_after = relayReadFb(ch);
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if (relayIsManualMode()) {
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log_info("> 继电器: SW%d 动作正常（手动模式）", ch);
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NET_publish_response(relay_cmd_id, 1, "OK");
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} else if (RELAY_FB_ENABLE) {
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if (MqttInfoStr.Relay_State[ch]) {
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if (relay_cmd_fb_before == FB_INACTIVE && fb_after == FB_ACTIVE) {
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log_info("> 继电器: SW%d 动作正常", ch);
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NET_publish_response(relay_cmd_id, 1, "OK");
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} else {
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log_warn("> 继电器: SW%d 未接负载或继电器断开", ch);
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NET_publish_response(relay_cmd_id, 0, "Load unpowered / relay failure !");
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}
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} else {
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if (relay_cmd_fb_before == FB_ACTIVE && fb_after == FB_INACTIVE) {
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log_info("> 继电器: SW%d 动作正常", ch);
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NET_publish_response(relay_cmd_id, 1, "OK");
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} else {
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log_warn("> 继电器: SW%d 未接负载或继电器断开", ch);
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NET_publish_response(relay_cmd_id, 0, "Load unpowered / relay failure !");
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}
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}
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} else {
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log_info("> 继电器: SW%d 动作正常", ch);
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NET_publish_response(relay_cmd_id, 1, "OK");
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}
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/* 参考 APP1: 命令响应后立即上报一次全状态, 让平台刷新开关状态 */
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relayStatueUpdata();
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relay_cmd_stage = 0;
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return;
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}
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}
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void relayInit(void)
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{
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GPIO_InitTypeDef g = {0};
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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/* 4 路继电器控制引脚初始化为推挽输出, 默认低电平释放 */
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g.Mode = GPIO_MODE_OUTPUT_PP;
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g.Pull = GPIO_NOPULL;
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g.Speed = GPIO_SPEED_FREQ_LOW;
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g.Pin = Relay1_Pin; HAL_GPIO_Init(Relay1_Port, &g);
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g.Pin = Relay2_Pin; HAL_GPIO_Init(Relay2_Port, &g);
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g.Pin = Relay3_Pin; HAL_GPIO_Init(Relay3_Port, &g);
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g.Pin = Relay4_Pin; HAL_GPIO_Init(Relay4_Port, &g);
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/* 4 路反馈输入引脚, 上拉 */
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g.Mode = GPIO_MODE_INPUT;
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g.Pull = GPIO_PULLUP;
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g.Pin = Relay1_FB_Pin; HAL_GPIO_Init(Relay1_FB_Port, &g);
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g.Pin = Relay2_FB_Pin; HAL_GPIO_Init(Relay2_FB_Port, &g);
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g.Pin = Relay3_FB_Pin; HAL_GPIO_Init(Relay3_FB_Port, &g);
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g.Pin = Relay4_FB_Pin; HAL_GPIO_Init(Relay4_FB_Port, &g);
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/* PA8 手动模式检测, 下拉, 默认低电平=正常模式 */
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__HAL_RCC_GPIOA_CLK_ENABLE();
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g.Pin = MANUAL_MODE_Pin;
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g.Mode = GPIO_MODE_INPUT;
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g.Pull = GPIO_PULLDOWN;
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HAL_GPIO_Init(MANUAL_MODE_Port, &g);
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/* 控制 GPIO 默认全部 OFF */
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Relay1_OFF; log_info("SW1:关");
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Relay2_OFF; log_info("SW2:关");
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Relay3_OFF; log_info("SW3:关");
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Relay4_OFF; log_info("SW4:关");
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}
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/* 网络连接成功后, 从 EEPROM 恢复继电器上一次状态（断电记忆）。
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* 无秤模式(基础四路继电器): 四路全部恢复；
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* 称重投喂模式: 继电器 1 是投喂通道，不恢复且强制关闭，防止上电误投料浪费饲料 */
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void relayRestoreState(void)
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{
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#if FEED_SCALE_DISABLED
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if (MqttInfoStr.Relay_State[1]) { Relay1_ON; log_info("SW1:开（恢复）"); }
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else { Relay1_OFF; log_info("SW1:关（恢复）"); }
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#else
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MqttInfoStr.Relay_State[1] = 0;
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Relay1_OFF; log_info("SW1:关（不恢复，投喂安全保护）");
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#endif
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if (MqttInfoStr.Relay_State[2]) { Relay2_ON; log_info("SW2:开（恢复）"); }
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else { Relay2_OFF; log_info("SW2:关（恢复）"); }
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if (MqttInfoStr.Relay_State[3]) { Relay3_ON; log_info("SW3:开（恢复）"); }
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else { Relay3_OFF; log_info("SW3:关（恢复）"); }
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if (MqttInfoStr.Relay_State[4]) { Relay4_ON; log_info("SW4:开（恢复）"); }
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else { Relay4_OFF; log_info("SW4:关（恢复）"); }
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}
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/* 读取指定继电器反馈引脚原始电平 */
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GPIO_PinState relayReadFb(uint8_t ch)
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{
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switch (ch) {
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case 1: return HAL_GPIO_ReadPin(Relay1_FB_Port, Relay1_FB_Pin);
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case 2: return HAL_GPIO_ReadPin(Relay2_FB_Port, Relay2_FB_Pin);
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case 3: return HAL_GPIO_ReadPin(Relay3_FB_Port, Relay3_FB_Pin);
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case 4: return HAL_GPIO_ReadPin(Relay4_FB_Port, Relay4_FB_Pin);
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default: return GPIO_PIN_RESET;
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}
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}
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/* 读取 PA8 手动模式输入: 1=手动模式, 0=正常模式 */
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int relayIsManualMode(void)
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{
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return (HAL_GPIO_ReadPin(MANUAL_MODE_Port, MANUAL_MODE_Pin) == MANUAL_MODE_ACTIVE) ? 1 : 0;
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}
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/* 设置指定继电器开关状态: 只写 GPIO 和 Relay_State, 不碰 EEPROM/网络 */
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void relaySet(uint8_t ch, uint8_t on)
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{
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if (ch < 1 || ch > 4) return;
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MqttInfoStr.Relay_State[ch] = on ? 1 : 0;
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switch (ch) {
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case 1: if (on) Relay1_ON; else Relay1_OFF; break;
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case 2: if (on) Relay2_ON; else Relay2_OFF; break;
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case 3: if (on) Relay3_ON; else Relay3_OFF; break;
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case 4: if (on) Relay4_ON; else Relay4_OFF; break;
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}
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}
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/* 请求一次状态上报: 由主循环检测到 relay_report_pending 后延时统一上报 */
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void relayRequestReport(void)
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{
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relay_report_tick = HAL_GetTick();
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relay_report_pending = 1;
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}
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/* 上报继电器当前状态到MQTT平台 */
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void relayStatueUpdata(void)
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{
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/* 云平台字段映射：把剩余料重放到 zero 字段，空载重量放到 weight 字段 */
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/* sw1 与 feeding 均上报继电器 1 状态，平台两个开关都能同步刷新 */
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NET_publish_status(
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MqttInfoStr.Relay_State[1] ? 1 : 0,
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MqttInfoStr.Relay_State[1] ? 1 : 0,
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MqttInfoStr.Relay_State[2] ? 1 : 0,
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MqttInfoStr.Relay_State[3] ? 1 : 0,
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MqttInfoStr.Relay_State[4] ? 1 : 0,
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(float)feedScaleGetZero() / 10.0f,
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(float)feedScaleGetOnceWeight() / 10.0f,
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(float)feedScaleGetWeight() / 10.0f);
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}
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/* 从 JSON 报文中解析控制指令并执行（取值统一走 proto 模块，按键名定位） */
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void relayAction(uint8_t *data)
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{
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char *p;
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char CmdId[20] = {0};
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uint8_t ch = 0;
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GPIO_PinState fb_before;
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log_info("> 继电器命令: %.80s", data);
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/* 支持两种 id 格式："id":"xxx" 或 "id":xxx */
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if (!proto_get_id((char *)data, CmdId, sizeof(CmdId))) {
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log_warn("> 继电器: id 解析失败");
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return;
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}
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if (strstr((char *)data, "\"sw")) {
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char swkey[4];
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int on = 0;
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p = strstr((char *)data, "\"sw");
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ch = p[3] - '0';
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/* sw1 与 feeding 指令等效, 均控制继电器 1 */
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if (ch < 1 || ch > 4) { log_warn("> 继电器: sw 编号无效，仅支持 sw1~sw4"); return; }
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swkey[0] = 's'; swkey[1] = 'w'; swkey[2] = (char)('0' + ch); swkey[3] = '\0';
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if (!proto_get_bool((char *)data, swkey, &on)) {
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log_warn("> 继电器: sw%d 值无效", ch);
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NET_publish_response(CmdId, 0, "bad sw value");
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return;
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}
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/* 控制继电器前先读取反馈电平 */
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fb_before = relayReadFb(ch);
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#if !FEED_SCALE_DISABLED
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/* 称重自动投喂模式下继电器 1 仅由 feeding 指令控制, sw1 直接忽略 */
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if (ch == 1) {
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log_warn("> 继电器: 称重投喂模式下忽略 sw1，请用 feeding 指令");
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NET_publish_response(CmdId, 0, "sw1 disabled, use feeding");
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return;
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}
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#endif
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relaySet(ch, (uint8_t)on);
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log_info("> SW%d %s", ch, on ? "开" : "关");
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} else if (strstr((char *)data, "\"feeding\"")) {
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/* 喂料/投喂指令: body.feeding.value=true 启动, value=false 停止 */
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int value_true = 0;
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if (!proto_get_bool((char *)data, "feeding", &value_true)) {
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log_warn("> 继电器: feeding 值无效");
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NET_publish_response(CmdId, 0, "bad feeding value");
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return;
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}
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ch = 1;
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fb_before = relayReadFb(ch);
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#if FEED_SCALE_DISABLED
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if (value_true) {
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relaySet(1, 1);
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log_info("> 继电器: 手动投喂开（无秤）");
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} else {
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relaySet(1, 0);
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log_info("> 继电器: 手动投喂关（无秤）");
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}
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#else
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if (value_true) {
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/* 首次上电查询到有效重量前不允许启动投喂 */
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if (feedScaleGetWeight() == 0) {
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log_warn("> 继电器: 拒绝启动投喂，重量未就绪");
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NET_publish_response(CmdId, 0, "weight not ready");
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return;
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}
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/* 优先使用本次指令中携带的 onceWt, 否则使用 EEPROM 保存的值 */
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uint16_t once_wt_100g = 0;
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proto_get_kg100((char *)data, "onceWt", &once_wt_100g);
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if (once_wt_100g == 0) {
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once_wt_100g = feedScaleGetOnceWeight();
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} else {
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feedScaleSetOnceWeight(once_wt_100g);
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}
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if (once_wt_100g == 0) {
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log_warn("> 继电器: 无 onceWt 单次投喂量，已忽略");
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NET_publish_response(CmdId, 0, "no onceWt");
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return;
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}
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log_info("> 继电器: 开始投喂，onceWt=%.1fKG", (float)once_wt_100g / 10.0f);
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feedScaleStart(once_wt_100g);
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} else {
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log_info("> 继电器: 停止投喂");
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feedScaleStop();
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}
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#endif
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} else if (proto_locate((char *)data, "onceWt")) {
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#if FEED_SCALE_DISABLED
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/* 无秤模式：无单次投喂量概念，拒绝设置 */
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log_warn("> 继电器: 拒绝设置 onceWt（无秤）");
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NET_publish_response(CmdId, 0, "no scale on this device");
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return;
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#else
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/* 单独设置单次投喂量, 持久化到 EEPROM */
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uint16_t once_wt_100g = 0;
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proto_get_kg100((char *)data, "onceWt", &once_wt_100g);
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if (once_wt_100g == 0 || once_wt_100g > 5000) {
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log_warn("> 继电器: onceWt 无效");
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NET_publish_response(CmdId, 0, "invalid onceWt");
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return;
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}
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feedScaleSetOnceWeight(once_wt_100g);
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NET_publish_response(CmdId, 1, "OK");
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relayStatueUpdata();
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return;
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#endif
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} else if (proto_locate((char *)data, "zero")) {
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#if FEED_SCALE_DISABLED
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/* 无秤模式：无去皮/空载重量概念，拒绝设置 */
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log_warn("> 继电器: 拒绝设置 zero（无秤）");
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NET_publish_response(CmdId, 0, "no scale on this device");
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return;
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#else
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/* 平台下发空载重量/去皮值，直接解析 value 并保存 */
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uint16_t zero_100g = 0;
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proto_get_kg100((char *)data, "zero", &zero_100g);
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if (zero_100g == 0 || zero_100g > 5000) {
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log_warn("> 继电器: zero 无效");
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NET_publish_response(CmdId, 0, "invalid zero");
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return;
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}
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feedScaleSetZero(zero_100g);
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NET_publish_response(CmdId, 1, "OK");
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relayStatueUpdata();
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return;
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#endif
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} else {
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log_warn("> 继电器: 未知指令（无 sw/feeding/zero）");
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return;
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}
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/* 保存继电器状态到EEPROM, 掉电后恢复 */
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eepromWriteData(102, &MqttInfoStr.Relay_State[0], 7);
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/* 启动非阻塞反馈检测与响应流程 */
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relay_cmd_stage = 1;
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relay_cmd_tick = HAL_GetTick();
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relay_cmd_ch = ch;
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relay_cmd_fb_before = fb_before;
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memset(relay_cmd_id, 0, sizeof(relay_cmd_id));
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memcpy(relay_cmd_id, CmdId, sizeof(relay_cmd_id) - 1);
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}
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