634 lines
19 KiB
C++
634 lines
19 KiB
C++
/*
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* 文件: main/main.cpp
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* 角色: 系统主流程与任务调度入口
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* 说明:
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* - 本文件用于实现当前模块的核心功能或接口定义。
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* - 修改前请先确认该模块与其它任务/外设之间的数据流关系。
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* - 涉及协议与硬件时，优先保持现有接口兼容，避免联调回归。
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*/
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#include <stdio.h>
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#include <time.h>
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#include <string.h>
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#include <math.h>
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#include "wifi-connect.h"
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#include "esp_lvgl_port.h"
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#include "lvgl_st7789_use.h"
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#include "ui.h"
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#include "vars.h"
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#include "relay_ctrl.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "esp_task_wdt.h"
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#include "sntp_time.h"
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#include "esp_mac.h"
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#include "esp_system.h"
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#include "esp_efuse.h"
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#include "esp_efuse_table.h"
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#include "sntp_time.h"
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#include "bh1750_use.h"
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#include "aht30.h"
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#include "MQ-2.h"
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#include "JW01.h"
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#include "human_door.h"
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#include "fire_sensor.h"
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#include "hx711.hpp"
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#include "su-03t.h"
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#include "agri_env.h"
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#define TAG "MAIN"
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#define CO2_SPOILAGE_THRESHOLD_PPM 1500.0f
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#define FIRE_DANGER_THRESHOLD_PERCENT 35.0f
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static const gpio_num_t kClockPin = GPIO_NUM_13;
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static const gpio_num_t kDataPin = GPIO_NUM_14;
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#define HX711_TARE_SAMPLES 24
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#define HX711_READ_TIMEOUT_MS 350
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#define HX711_REFRESH_MS 120
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#define HX711_COUNTS_PER_GRAM 430.0f
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#define HX711_ZERO_DEADBAND_G 2.0f
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#define HX711_FILTER_ALPHA 0.15f
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#define HX711_STABLE_BAND_G 0.30f
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#define HX711_UNLOCK_DELTA_G 2.00f
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#define HX711_UPDATE_MIN_STEP_G 0.05f
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#define HX711_STABLE_SAMPLES 15
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#define TWDT_NORMAL_TIMEOUT_MS 5000
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#define TWDT_UI_INIT_TIMEOUT_MS 120000
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typedef struct
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{
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char time_str[32];
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float lux;
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float temp;
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float humidity;
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float gas_percent;
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float tvoc;
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float hcho;
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float co2;
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float ice_weight;
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float fire_percent;
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bool fire_danger;
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bool human_present;
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bool door_closed;
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bool fan_on;
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bool light_on;
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bool cool_on;
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bool hot_on;
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uint8_t su03t_last_msgno;
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uint32_t su03t_rx_count;
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} env_data_t;
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static env_data_t s_env_data;
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static SemaphoreHandle_t s_env_data_lock = NULL;
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static volatile bool s_ui_ready = false;
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/* 函数: reconfigure_twdt
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void reconfigure_twdt(uint32_t timeout_ms, uint32_t idle_core_mask)
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{
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const esp_task_wdt_config_t twdt_cfg = {
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.timeout_ms = timeout_ms,
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.idle_core_mask = idle_core_mask,
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.trigger_panic = true,
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};
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esp_err_t ret = esp_task_wdt_reconfigure(&twdt_cfg);
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if (ret != ESP_OK)
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{
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ESP_LOGW(TAG, "TWDT reconfigure failed: %s", esp_err_to_name(ret));
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}
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}
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/* 函数: wait_for_wifi_connected
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static bool wait_for_wifi_connected(TickType_t timeout_ticks)
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{
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const TickType_t start_ticks = xTaskGetTickCount();
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while ((xTaskGetTickCount() - start_ticks) < timeout_ticks)
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{
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if (wifi_connect_get_status() == WIFI_CONNECT_STATUS_CONNECTED)
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return true;
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vTaskDelay(pdMS_TO_TICKS(200));
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}
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return false;
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}
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/* 函数: env_data_update_system_info
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void env_data_update_system_info(void)
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{
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if (s_env_data_lock == NULL)
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return;
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time_t now;
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struct tm timeinfo;
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time(&now);
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localtime_r(&now, &timeinfo);
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char time_buf[32];
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strftime(time_buf, sizeof(time_buf), "%Y-%m-%d %H:%M:%S", &timeinfo);
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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strncpy(s_env_data.time_str, time_buf, sizeof(s_env_data.time_str));
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xSemaphoreGive(s_env_data_lock);
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set_var_local_time(s_env_data.time_str);
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}
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/* 函数: ui_task
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void ui_task(void *arg)
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{
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for (;;)
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{
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if (!s_ui_ready)
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{
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vTaskDelay(pdMS_TO_TICKS(20));
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continue;
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}
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env_data_update_system_info();
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lvgl_port_lock(0);
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ui_tick();
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lvgl_port_unlock();
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vTaskDelay(pdMS_TO_TICKS(30));
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}
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}
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/* 函数: ui_init_task
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void ui_init_task(void *arg)
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{
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(void)arg;
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ESP_LOGI(TAG, "UI init start");
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lvgl_port_lock(100 / portTICK_PERIOD_MS);
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ui_init();
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lvgl_port_unlock();
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ESP_LOGI(TAG, "UI init done");
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s_ui_ready = true;
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reconfigure_twdt(TWDT_NORMAL_TIMEOUT_MS, (1U << portNUM_PROCESSORS) - 1U);
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vTaskDelete(NULL);
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}
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/* 函数: status_task
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void status_task(void *arg)
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{
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(void)arg;
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for (;;)
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{
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human_door_state_t io_state{};
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if (human_door_read(&io_state) == ESP_OK)
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{
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set_var_hum_status(io_state.human_present ? "有人" : "无人");
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set_var_door_status(io_state.door_closed ? "关闭" : "开启");
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.human_present = io_state.human_present;
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s_env_data.door_closed = io_state.door_closed;
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xSemaphoreGive(s_env_data_lock);
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}
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}
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vTaskDelay(pdMS_TO_TICKS(200));
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}
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}
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/* 函数: relay_status_text
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static const char *relay_status_text(bool on)
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{
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return on ? "开" : "关";
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}
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/* 函数: relay_status_task
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void relay_status_task(void *arg)
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{
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(void)arg;
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for (;;)
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{
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bool relay_on = false;
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if (relay_ctrl_get(RELAY_CTRL_ID_1, &relay_on) == ESP_OK)
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{
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set_var_fan_status(relay_status_text(relay_on));
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.fan_on = relay_on;
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xSemaphoreGive(s_env_data_lock);
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}
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}
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if (relay_ctrl_get(RELAY_CTRL_ID_2, &relay_on) == ESP_OK)
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{
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set_var_light_status(relay_status_text(relay_on));
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.light_on = relay_on;
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xSemaphoreGive(s_env_data_lock);
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}
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}
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if (relay_ctrl_get(RELAY_CTRL_ID_3, &relay_on) == ESP_OK)
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{
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set_var_cool_status(relay_status_text(relay_on));
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.cool_on = relay_on;
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xSemaphoreGive(s_env_data_lock);
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}
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}
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if (relay_ctrl_get(RELAY_CTRL_ID_4, &relay_on) == ESP_OK)
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{
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set_var_hot_status(relay_status_text(relay_on));
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.hot_on = relay_on;
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xSemaphoreGive(s_env_data_lock);
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}
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}
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vTaskDelay(pdMS_TO_TICKS(200));
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}
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}
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/* 函数: sntp_task
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void sntp_task(void *arg)
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{
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(void)arg;
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if (wait_for_wifi_connected(pdMS_TO_TICKS(15000)))
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{
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esp_err_t sntp_ret = sntp_timp_sync_time(10000);
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if (sntp_ret != ESP_OK)
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{
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ESP_LOGW(TAG, "SNTP sync failed: %s", esp_err_to_name(sntp_ret));
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}
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}
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vTaskDelete(NULL);
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}
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/* 函数: su03t_rx_callback
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void su03t_rx_callback(const su03t_frame_t *frame, void *user_ctx)
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{
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(void)user_ctx;
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if (frame == NULL)
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{
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return;
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}
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char hex_buf[256];
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size_t pos = 0;
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for (size_t i = 0; i < frame->params_len && pos + 4 < sizeof(hex_buf); ++i)
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{
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int n = snprintf(&hex_buf[pos], sizeof(hex_buf) - pos, "%02X ", frame->params[i]);
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if (n <= 0)
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{
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break;
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}
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pos += (size_t)n;
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}
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if (pos == 0)
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{
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snprintf(hex_buf, sizeof(hex_buf), "(no params)");
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}
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ESP_LOGI(TAG, "SU03T RX msgno=0x%02X len=%u params=%s",
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frame->msgno,
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(unsigned)frame->params_len,
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hex_buf);
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.su03t_last_msgno = frame->msgno;
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s_env_data.su03t_rx_count++;
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xSemaphoreGive(s_env_data_lock);
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}
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}
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/* 函数: hx711_task
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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static void hx711_task(void *arg)
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{
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(void)arg;
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HX711 hx711(kClockPin, kDataPin, HX711::Mode::kChannelA128);
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int64_t tare_sum = 0;
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int tare_ok_count = 0;
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// 上电空载自动去皮：当前重量作为 0g 基准
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for (int i = 0; i < HX711_TARE_SAMPLES; ++i)
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{
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int32_t raw = hx711.Read(pdMS_TO_TICKS(HX711_READ_TIMEOUT_MS));
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if (raw != HX711::kUndefined)
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{
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tare_sum += raw;
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tare_ok_count++;
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}
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vTaskDelay(pdMS_TO_TICKS(40));
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}
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int32_t tare_offset = 0;
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if (tare_ok_count > 0)
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{
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tare_offset = (int32_t)(tare_sum / tare_ok_count);
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ESP_LOGI(TAG, "HX711 tare done: raw0=%ld, samples=%d", (long)tare_offset, tare_ok_count);
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}
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else
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{
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ESP_LOGW(TAG, "HX711 tare failed, use 0 as offset");
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}
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float filtered_weight_g = 0.0f;
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float display_weight_g = 0.0f;
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bool display_initialized = false;
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bool display_locked = false;
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uint32_t stable_count = 0;
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uint32_t err_cnt = 0;
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for (;;)
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{
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int32_t value = hx711.Read(pdMS_TO_TICKS(HX711_READ_TIMEOUT_MS));
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if (value != HX711::kUndefined)
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{
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float weight_g = ((float)(value - tare_offset)) / HX711_COUNTS_PER_GRAM;
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if (fabsf(weight_g) < HX711_ZERO_DEADBAND_G)
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{
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weight_g = 0.0f;
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}
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if (weight_g < 0.0f)
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{
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weight_g = 0.0f;
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}
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// 一阶低通，减小抖动
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filtered_weight_g = filtered_weight_g * (1.0f - HX711_FILTER_ALPHA) + weight_g * HX711_FILTER_ALPHA;
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float rounded_weight_g = roundf(filtered_weight_g * 100.0f) / 100.0f;
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if (!display_initialized)
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{
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display_weight_g = rounded_weight_g;
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display_initialized = true;
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}
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float diff_from_display = fabsf(rounded_weight_g - display_weight_g);
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// 稳定后锁定显示，重量明显变化时再解锁并继续更新
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if (display_locked)
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{
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if (diff_from_display >= HX711_UNLOCK_DELTA_G)
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{
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display_locked = false;
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stable_count = 0;
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}
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}
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if (!display_locked)
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{
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if (diff_from_display <= HX711_STABLE_BAND_G)
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{
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if (stable_count < HX711_STABLE_SAMPLES)
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{
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stable_count++;
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}
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if (stable_count >= HX711_STABLE_SAMPLES)
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{
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display_locked = true;
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}
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}
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else
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{
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stable_count = 0;
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}
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if (diff_from_display >= HX711_UPDATE_MIN_STEP_G)
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{
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display_weight_g = rounded_weight_g;
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}
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}
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set_var_ice_weight(display_weight_g);
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if (s_env_data_lock)
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{
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xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
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s_env_data.ice_weight = display_weight_g;
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xSemaphoreGive(s_env_data_lock);
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}
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err_cnt = 0;
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}
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else
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{
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if ((++err_cnt % 20) == 0)
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{
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ESP_LOGW(TAG, "HX711 read timeout, check DOUT/SCK wiring and power");
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}
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}
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vTaskDelay(pdMS_TO_TICKS(HX711_REFRESH_MS));
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}
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}
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/* 函数: app_main
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* 作用: 执行模块内与函数名对应的业务逻辑。
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* 重点: 关注输入合法性、返回码与并发安全。
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*/
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extern "C" void app_main(void)
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{
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vTaskDelay(pdMS_TO_TICKS(100));
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ESP_LOGI(TAG, "--- APP STARTING ---");
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s_env_data_lock = xSemaphoreCreateMutex();
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// 1. 初始化 Wi-Fi
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ESP_ERROR_CHECK(wifi_connect_init());
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// 2. 初始化显示屏和 LVGL
|
||
start_lvgl_demo();
|
||
|
||
// UI 初始化期间，临时放宽 TWDT（仅监控 CPU0 空闲任务）
|
||
reconfigure_twdt(TWDT_UI_INIT_TIMEOUT_MS, 1U << 0);
|
||
|
||
// 3. 在 CPU1 上执行 UI 初始化，避免 app_main 长时间占用 CPU0
|
||
xTaskCreatePinnedToCore(ui_init_task, "ui_init_task", 8192, NULL, 8, NULL, 1);
|
||
set_var_food_status("良好");
|
||
set_var_fire_status("安全");
|
||
|
||
// 7. 创建 UI 刷新任务并固定在 CPU1（与 ui_init_task 同核）
|
||
xTaskCreatePinnedToCore(ui_task, "ui_task", 8192, NULL, 5, NULL, 1);
|
||
|
||
if (wait_for_wifi_connected(pdMS_TO_TICKS(15000)))
|
||
{
|
||
set_var_system_ip(wifi_connect_get_ip());
|
||
|
||
esp_err_t err = agri_env_mqtt_start();
|
||
if (err != ESP_OK)
|
||
{
|
||
ESP_LOGW(TAG, "MQTT 启动失败: %s", esp_err_to_name(err));
|
||
}
|
||
}
|
||
|
||
// 4. 独立 SNTP 对时任务
|
||
xTaskCreate(sntp_task, "sntp_task", 4096, NULL, 4, NULL);
|
||
|
||
// HX711 电子秤：GPIO13(SCK) / GPIO14(DOUT)
|
||
xTaskCreate(hx711_task, "hx711_task", 4096, NULL, 6, NULL);
|
||
|
||
// 初始化继电器 (独立配置每个通道)
|
||
const relay_config_t relay_cfg[RELAY_CTRL_ID_MAX] = {
|
||
{.pin = GPIO_NUM_12, .active_high = true},
|
||
{.pin = GPIO_NUM_11, .active_high = true},
|
||
{.pin = GPIO_NUM_10, .active_high = true},
|
||
{.pin = GPIO_NUM_9, .active_high = true},
|
||
};
|
||
ESP_ERROR_CHECK(relay_ctrl_init(relay_cfg));
|
||
set_var_fan_status("关");
|
||
set_var_light_status("关");
|
||
set_var_cool_status("关");
|
||
set_var_hot_status("关");
|
||
s_env_data.fan_on = false;
|
||
s_env_data.light_on = false;
|
||
s_env_data.cool_on = false;
|
||
s_env_data.hot_on = false;
|
||
|
||
// 5. 初始化 I2C 总线并注册传感器 (共享总线)
|
||
ESP_ERROR_CHECK(bh1750_user_init());
|
||
i2c_master_bus_handle_t i2c_bus = bh1750_get_i2c_bus_handle();
|
||
|
||
// AHT30 挂载到同一条 I2C 总线上
|
||
aht30_handle_t aht30_dev = NULL;
|
||
ESP_ERROR_CHECK(aht30_create(i2c_bus, AHT30_I2C_ADDRESS, &aht30_dev));
|
||
|
||
// MQ-2 使用 ADC(GPIO8)
|
||
ESP_ERROR_CHECK(mq2_init());
|
||
|
||
// JW01 使用 UART0(GPIO43/44)
|
||
ESP_ERROR_CHECK(jw01_init());
|
||
|
||
// 火焰传感器使用 ADC(GPIO3)
|
||
ESP_ERROR_CHECK(fire_sensor_init());
|
||
|
||
// SU-03T 语音模块（UART2: RX=IO41 TX=IO42）
|
||
ESP_ERROR_CHECK(su03t_init());
|
||
ESP_ERROR_CHECK(su03t_start_receiver(su03t_rx_callback, NULL, 4096, 5));
|
||
|
||
// GPIO16: HC-SR312, GPIO17: Door switch(低电平=关门)
|
||
ESP_ERROR_CHECK(human_door_init());
|
||
set_var_hum_status("无人");
|
||
set_var_door_status("关闭");
|
||
|
||
// 6. 创建传感器读取任务
|
||
xTaskCreate([](void *arg)
|
||
{
|
||
aht30_handle_t aht30 = (aht30_handle_t)arg;
|
||
uint32_t log_cnt = 0;
|
||
for (;;) {
|
||
float lux = 0.0f, temp = 0.0f, hum = 0.0f, gas_percent = 0.0f, fire_percent = 0.0f;
|
||
jw01_data_t jw01{};
|
||
esp_err_t bh_ret = ESP_FAIL;
|
||
esp_err_t aht_ret = ESP_FAIL;
|
||
esp_err_t mq2_ret = ESP_FAIL;
|
||
esp_err_t jw_ret = ESP_FAIL;
|
||
esp_err_t fire_ret = ESP_FAIL;
|
||
// 读取 BH1750
|
||
bh_ret = bh1750_user_read(&lux);
|
||
if (bh_ret == ESP_OK) {
|
||
set_var_light_val(lux);
|
||
}
|
||
// 读取 AHT30
|
||
aht_ret = aht30_get_temperature_humidity_value(aht30, &temp, &hum);
|
||
if (aht_ret == ESP_OK) {
|
||
set_var_temp(temp);
|
||
set_var_humity_val(hum);
|
||
}
|
||
|
||
// 读取 MQ-2，更新空气质量变量
|
||
mq2_ret = mq2_read_percent(&gas_percent);
|
||
if (mq2_ret == ESP_OK) {
|
||
set_var_air_quity(gas_percent);
|
||
}
|
||
|
||
// 读取火焰传感器，更新火焰状态
|
||
fire_ret = fire_sensor_read_percent(&fire_percent);
|
||
if (fire_ret == ESP_OK) {
|
||
set_var_fire_status(fire_sensor_is_danger(fire_percent, FIRE_DANGER_THRESHOLD_PERCENT) ? "危险" : "安全");
|
||
}
|
||
|
||
// 读取 JW01（TVOC/HCHO/CO2）
|
||
jw_ret = jw01_read(&jw01, 200);
|
||
if (jw_ret == ESP_OK) {
|
||
if (jw01.co2_valid) {
|
||
if (jw01.co2 >= CO2_SPOILAGE_THRESHOLD_PPM) {
|
||
set_var_food_status("变质");
|
||
} else {
|
||
set_var_food_status("良好");
|
||
}
|
||
|
||
}
|
||
}
|
||
|
||
// 每 5 次打印一次综合状态，避免日志刷屏
|
||
if ((log_cnt++ % 10) == 0) {
|
||
ESP_LOGI(TAG,
|
||
"SENS bh=%s lux=%.1f | aht=%s t=%.1f h=%.1f | mq2=%s gas=%.1f | fire=%s fp=%.1f | jw01=%s co2_valid=%d co2=%.1f",
|
||
esp_err_to_name(bh_ret), lux,
|
||
esp_err_to_name(aht_ret), temp, hum,
|
||
esp_err_to_name(mq2_ret), gas_percent,
|
||
esp_err_to_name(fire_ret), fire_percent,
|
||
esp_err_to_name(jw_ret), jw01.co2_valid ? 1 : 0, jw01.co2);
|
||
}
|
||
|
||
|
||
// 数据存入共享结构体
|
||
if (s_env_data_lock) {
|
||
xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
|
||
s_env_data.lux = lux;
|
||
s_env_data.temp = temp;
|
||
s_env_data.humidity = hum;
|
||
s_env_data.gas_percent = gas_percent;
|
||
s_env_data.fire_percent = fire_percent;
|
||
s_env_data.fire_danger = fire_sensor_is_danger(fire_percent, FIRE_DANGER_THRESHOLD_PERCENT);
|
||
if (jw01.tvoc_valid) s_env_data.tvoc = jw01.tvoc;
|
||
if (jw01.hcho_valid) s_env_data.hcho = jw01.hcho;
|
||
if (jw01.co2_valid) s_env_data.co2 = jw01.co2;
|
||
xSemaphoreGive(s_env_data_lock);
|
||
}
|
||
vTaskDelay(pdMS_TO_TICKS(1000));
|
||
} }, "sensor_task", 4096 * 3, (void *)aht30_dev, 6, NULL);
|
||
|
||
// 独立任务：人体与门状态检测
|
||
xTaskCreate(status_task, "status_task", 4096, NULL, 6, NULL);
|
||
|
||
// 独立任务：继电器状态同步到 UI
|
||
xTaskCreate(relay_status_task, "relay_status_task", 4096, NULL, 5, NULL);
|
||
}
|