shoe_mcu/app/app_overturn.c

#include "usr_config.h"
#include "hal_battery.h"
#include "nrf_drv_saadc.h"
#include "bsp_time.h"
#include "system.h"
#include "hal_led.h"
#include "hal_imu.h"
#include "app_overturn.h"
#include "hal_step.h"
#include "hal_attitude.h"

#define acc0Value  -9000
#define acc1iValue -9000
#define acc1aValue 9000
#define acc2iValue -12000
#define acc2aValue -4000
				
/************************ 追신鞫刻든좆 ***********************************/
static uint8_t flag_move =0;

void app_BatDispaly_Process_N(void)        
{
		static uint32_t cnt = 0;
					
		if(get_isLoader()>0) return;//界岺榴檄
					
		int16_t * acc = hal_att_GetAcc();
//    SEGGER_RTT_printf(0,"0:acc[0]=%d,acc[1]=%d,acc[2]=%d\n",acc[0],acc[1],acc[2]);
		if(acc[2] > acc1iValue){
				cnt++;
				if(cnt==1){ 
						if(GetBatteryPersent()>20){
							LED_SetColor(LED_OVERTURN,COLOR_GREEN);
						}else{
							LED_SetColor(LED_OVERTURN,COLOR_RED);
						}
						LED_Start(LED_OVERTURN);
						Process_SetHoldOn(app_BatDispaly_Process_N,1);
				}
				if(cnt==100){
						LED_Stop(LED_OVERTURN);
						Process_SetHoldOn(app_BatDispaly_Process_N,0);
				}
		}else{
				if(cnt>0){ cnt = 0;
						LED_Stop(LED_OVERTURN);
						Process_SetHoldOn(app_BatDispaly_Process_N,0);
				}
				if(flag_move == 1){
					 flag_move =0;
					 LED_Stop(LED_OVERTURN);
					 Process_SetHoldOn(app_BatDispaly_Process_N,0);
				}
		}
}

void app_BatDispaly_Process(void)
{
			static uint32_t cnt = 0;
			static int16_t         acc0 = acc0Value;
			static int16_t         acc1i = acc1iValue;
			static int16_t         acc1a = acc1aValue;
			static int16_t         acc2i = acc2iValue;
			static int16_t         acc2a = acc2aValue;
			
			if(1 == IMU_GetGameMode()) {
				LED_Stop(LED_OVERTURN);
				return;//
			}
			if(get_isLoader()==0) return;//浬쨌榴檄
			
			int16_t * acc = hal_att_GetAcc();
//      SEGGER_RTT_printf(0,"1:acc[0]=%d,acc[1]=%d,acc[2]=%d\n",acc[0],acc[1],acc[2]);
			if(acc[0] < acc0 && acc[1] > acc1i && acc[1] < acc1a && acc[2] < acc2a && acc[2] > acc2i){
					cnt++;
					if(cnt==10){ 
							if(GetBatteryPersent()>20){
								LED_SetColor(LED_OVERTURN,COLOR_GREEN);
							}else{
								LED_SetColor(LED_OVERTURN,COLOR_RED);
							}
							LED_Start(LED_OVERTURN);
							Process_SetHoldOn(app_BatDispaly_Process,1);
							acc0 = acc0Value;
							acc1i = acc1iValue;
							acc1a = acc1aValue;
							acc2i = acc2iValue;
							acc2a = acc2aValue;
					}
					if(cnt==100){
							LED_Stop(LED_OVERTURN);
							Process_SetHoldOn(app_BatDispaly_Process,0);
							acc0 = acc0Value-200;
							acc1i = acc1iValue;
							acc1a = acc1aValue;
							acc2i = acc2iValue;
							acc2a = acc2aValue;
					}
			}else{
					if(cnt>0){ cnt = 0;
							LED_Stop(LED_OVERTURN);
							Process_SetHoldOn(app_BatDispaly_Process,0);
							acc0 = acc0Value;
							acc1i = acc1iValue;
							acc1a = acc1aValue;
							acc2i = acc2iValue;
							acc2a = acc2aValue;
					}
					if(flag_move == 0){
						 flag_move =1;
						 LED_Stop(LED_OVERTURN);
						 Process_SetHoldOn(app_BatDispaly_Process,0);
						 acc0 = acc0Value;
						 acc1i = acc1iValue;
						 acc1a = acc1aValue;
						 acc2i = acc2iValue;
						 acc2a = acc2aValue;
					}
			}
}


void app_overturn_Init(void)
{
		Process_Start(100,"BatDispaly",app_BatDispaly_Process);
		Process_Start(100,"BatDispaly_N",app_BatDispaly_Process_N);
}