419 lines
18 KiB
C
419 lines
18 KiB
C
#include "fault_cheak/faultcheck_task.h"
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#include "app_init/app_init.h"
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#include "app_init/task_lock.h"
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#include "mylog/mylog.h"
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#include "publicdata/publicdata.h"
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#include "flash_file_mgr/fault_flash_impl.h"
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#include "app_rtc/app_rtc.h"
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#include "wdt_task/wdt_task.h"
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#include "collect_ctrl/yk_ctrl.h"
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#include "flowctrl/flowctrl_task.h"
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/* 本任务ID定义：用于统一索引任务表、日志与锁资源。 */
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#define FAULTCHECK_TASK_ID (TASK_ID_FaultCheck)
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/* 获取本任务睡眠时间（ms）。 */
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#define FAULTCHECK_SLEEP_TIME_MS() (MY_GET_SLEEP_TIME(FAULTCHECK_TASK_ID))
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/* 本任务锁操作宏：简化锁接口调用。 */
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#define FAULTCHECK_LOCK_INIT() (u8_task_lock_ctrl(FAULTCHECK_TASK_ID, TASK_LOCK_OP_INIT))
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#define FAULTCHECK_LOCK_TAKE() (u8_task_lock_ctrl(FAULTCHECK_TASK_ID, TASK_LOCK_OP_TAKE))
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#define FAULTCHECK_LOCK_GIVE() (u8_task_lock_ctrl(FAULTCHECK_TASK_ID, TASK_LOCK_OP_GIVE))
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/* 本任务喂狗宏：标记本任务周期正常运行。 */
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#define FAULTCHECK_FEED_DOG() (v_wdt_setFlag(FAULTCHECK_TASK_ID))
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/* 本任务打印接口。 */
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#define FAULTCHECK_LOG(fmt, ...) MYLOG_MSG(FAULTCHECK_TASK_ID, (fmt), ##__VA_ARGS__)
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S_HIS_FAULT_MNG s_hisFaultMng; //故障告警信息记录
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REAL_FAULT_DATA_T s_real_fault; //实时故障告警记录存储
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#if 1 //故障检测
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/**
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* ************************************************************************
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* @brief - 遥信数据故障检查- 多次调用 因此统一函数接口
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*
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* @param[in] u8_yx_state - 遥信状态 0正常 1故障
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* @param[in] e_info - 对应故障信息
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* @param[in] f_site - 故障位置
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* @param[in] data1 - 数据1
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* @param[in] data2 - 数据2
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*
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*
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* @author jiankalka
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* @date 2025-09-09
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* ************************************************************************
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*/
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static void v_fault_yx_action_cheak(U8_T u8_yx_state, E_FAULT_INFO e_info , E_FAULT_SITE f_site, S16_T data1 , S16_T data2)
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{
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U8_T u8_fault_in_flag = u8_cheak_fault_flag(e_info , f_site); //故障存在标志
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if(u8_yx_state == 1 && u8_fault_in_flag == 0) //故障动作 且故障不存在，则设置故障动作
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v_set_fault_data(f_site,E_FAULT,e_info,0,data1,data2);
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else if(u8_yx_state == 0 && u8_fault_in_flag != 0) //故障恢复 且故障仍然存在，则设置故障恢复
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v_set_fault_data(f_site,E_RES,e_info,0,data1,data2);
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}
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/** 遥控命令与反馈不一致时的防抖：u8_slot 1=拒动类 2=粘连类，同一时间只累计一类（整桩或单枪 deb 块独立） */
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typedef struct
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{
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U8_T u8_slot; /* 0 未在防抖累计；1 拒动；2 粘连 */
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U32_T u32_sec0; /* 当前 u8_slot 对应异常持续计时的起点秒 */
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} S_FAULT_KM_MISMATCH_DEB;
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/** 交流、母联、各枪直流 13004/13005 防抖块在 s_km_deb[] 中的下标；枪 g 的 13004/13005 为 DC04_BASE+g、DC05_BASE+g */
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typedef enum
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{
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E_FAULT_KM_DEB_AC = 0,
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E_FAULT_KM_DEB_BUS = 1,
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E_FAULT_KM_DEB_DC04_BASE = 2,
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E_FAULT_KM_DEB_DC05_BASE = 2 + GUN_MAX_CNT,
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E_FAULT_KM_DEB_COUNT = 2 + 2 * GUN_MAX_CNT
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} E_FAULT_KM_DEB_IDX;
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static S_FAULT_KM_MISMATCH_DEB s_km_deb[E_FAULT_KM_DEB_COUNT];
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/**
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* @brief 接触器命令与反馈不一致：NUM_10 秒防抖后置故障或恢复
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* @param[in] f_site E_WHOLE_PILE 走 v_set_fault_data；枪位 E_GUN+枪号 走 v_flow_set_fault_data
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* @param[in] u8_action_type 拔枪恢复等，与 v_flow_set_fault_data 一致
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* @param[in] s16_data1 故障记录 data1（交流/母联为遥控命令，直流枪为命令或正极反馈见调用处）
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* @param[in] s16_data2 故障记录 data2（交流/母联为单路反馈；直流枪为负极 KM 遥信）
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*/
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static void v_fault_km_mismatch_debounce_cheak(S_FAULT_KM_MISMATCH_DEB *p_deb, U8_T u8_mismatch, U8_T u8_slot, E_FAULT_INFO e_info, S16_T s16_data1, S16_T s16_data2, E_FAULT_SITE f_site, U8_T u8_action_type)
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{
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if (u8_mismatch == 0) /* 本类异常已消失 */
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{
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if (p_deb->u8_slot == u8_slot) /* 正在累计的正是本类：清零防抖状态 */
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{
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p_deb->u8_slot = 0;
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p_deb->u32_sec0 = 0;
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}
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if (u8_cheak_fault_flag(e_info, f_site) != 0) /* 列表中仍有本码则恢复 */
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{
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if (f_site == E_WHOLE_PILE)
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v_set_fault_data(f_site, E_RES, e_info, u8_action_type, s16_data1, s16_data2);
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else
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v_set_fault_data(f_site, E_RES, e_info, u8_action_type, s16_data1, s16_data2);
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}
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return;
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}
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/* 本类异常成立：若刚切换异常类型或未开始计时，则重新开始 NUM_10 秒窗口 */
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if (p_deb->u8_slot != u8_slot || p_deb->u32_sec0 == 0)
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{
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p_deb->u8_slot = u8_slot;
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p_deb->u32_sec0 = get_current_seconds();
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}
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if (u32_safe_seconds_since(p_deb->u32_sec0) > NUM_10) /* 防抖时间到 */
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{
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if (u8_cheak_fault_flag(e_info, f_site) == 0) /* 尚未登记 */
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{
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if (f_site == E_WHOLE_PILE)
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v_set_fault_data(f_site, E_FAULT, e_info, u8_action_type, s16_data1, s16_data2);
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else
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{
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v_set_fault_data(f_site, E_FAULT, e_info, u8_action_type, s16_data1, s16_data2);
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}
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}
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}
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}
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/**
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* @brief 单枪直流输出接触器：e_yk_get_ctrl_cmd(DC_CONT1/2) 与 u16_fault_get_sys_data(KM/流程/时长)；
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* 13004 空闲粘连、13005 充电中拒动，均经 v_fault_km_mismatch_debounce_cheak
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* @param[in] u8_gunNo 枪索引 0..GUN_MAX_CNT-1
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*/
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static void v_fault_dc_output_km_check_gun(U8_T u8_gunNo)
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{
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E_FAULT_SITE f_dc_site;
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E_CMD e_cmd_dc;
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E_YK_CTRL_TYPE e_ky_dc;
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U16_T u16_st;
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U16_T u16_pos;
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U16_T u16_neg;
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U16_T u16_char;
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if (u8_gunNo >= GUN_MAX_CNT)
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return;
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f_dc_site = (E_FAULT_SITE)(E_GUN + u8_gunNo);
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e_ky_dc = (u8_gunNo == 0u) ? E_KY_TYPE_DC_CONT1 : E_KY_TYPE_DC_CONT2;
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e_cmd_dc = e_yk_get_ctrl_cmd(e_ky_dc);
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u16_pos = u16_fault_get_sys_data(u8_gunNo, E_FAULT_GET_DATA_GUN_DC_KM_POS, 0);
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u16_neg = u16_fault_get_sys_data(u8_gunNo, E_FAULT_GET_DATA_GUN_DC_KM_NEG, 0);
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u16_st = u16_fault_get_sys_data(u8_gunNo, E_FAULT_GET_DATA_FLOW_STATE, 0);
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u16_char = u16_fault_get_sys_data(u8_gunNo, E_FAULT_GET_DATA_CHAR_TIME, 0);
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if (u16_st == (U16_T)E_FLOW_FREE)
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{
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v_fault_km_mismatch_debounce_cheak(&s_km_deb[E_FAULT_KM_DEB_DC04_BASE + u8_gunNo],
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(U8_T)(e_cmd_dc == CMD_OFF && (u16_pos == 1u || u16_neg == 1u)),
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2, E_FAULT_13004, (S16_T)u16_pos, (S16_T)u16_neg, f_dc_site, 0);
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}
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if (u16_st == (U16_T)E_FLOW_CHARGE_RUNING && u16_char > NUM_60)
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{
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v_fault_km_mismatch_debounce_cheak(&s_km_deb[E_FAULT_KM_DEB_DC05_BASE + u8_gunNo],
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(U8_T)(e_cmd_dc == CMD_ON && (u16_pos == 0u || u16_neg == 0u)),
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1, E_FAULT_13005, (S16_T)u16_pos, (S16_T)u16_neg, f_dc_site, 1);
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}
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}
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/**
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* ************************************************************************
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* @brief - 桩故障信息检查
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*
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*
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*
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* @author jiankalka
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* @date 2025-09-09
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* ************************************************************************
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*/
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void v_fault_action_cheak()
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{
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U16_T u16_yx_emergency = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_EMERGENCY, 0); //急停
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U16_T u16_yx_door = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_DOOR, 0); //门禁
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U16_T u16_yx_warter = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_WARTER, 0); //水浸
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U16_T u16_yx_spd = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_SPD, 0); //防雷状态
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U16_T u16_yx_smoke = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_SMOKE, 0); //烟感
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U16_T u16_yx_door_en = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_DOOR_EN, 0); //门禁使能
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U16_T u16_gunTemp_thrd = u16_fault_get_sys_data(WHOLE_PILE,E_FAULT_GET_DATA_GUN_TEMP_THRESHOLD,0); //枪温阈值 0.1度
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U16_T u16_ac_km_en = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_AC_CONTACT_EN, 0); //交流接触器检测使能
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U16_T u16_bus_km_en = u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_BUS_KM_EN, 0); //母联继电器命令/反馈检测使能（双枪及以上）
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U16_T u16_yx_DC_FUSE ; //直流熔断器状态
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U16_T u16_gunTemp_plus,u16_gunTemp_minus;
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U8_T u8_gunNo;
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E_CMD e_cmd_ac;
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U8_T u8_ac_km_fb;
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E_CMD e_cmd_bus;
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U8_T u8_bus_km_fb;
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v_fault_yx_action_cheak(u16_yx_emergency ,E_FAULT_13017, E_WHOLE_PILE,0,0); //急停 故障动作检查
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if(u16_yx_door_en) //门禁使能 检测
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v_fault_yx_action_cheak(u16_yx_door ,E_FAULT_13018, E_WHOLE_PILE,0,0); //门禁 故障动作检查
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v_fault_yx_action_cheak(u16_yx_warter ,E_FAULT_13033, E_WHOLE_PILE,0,0); //水浸 故障动作检查
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v_fault_yx_action_cheak(u16_yx_spd ,E_FAULT_13001, E_WHOLE_PILE,0,0); //防雷状态 故障动作检查
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v_fault_yx_action_cheak(u16_yx_smoke ,E_FAULT_13032, E_WHOLE_PILE,0,0); //烟感 故障动作检查
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for (u8_gunNo = 0; u8_gunNo < GUN_MAX_CNT; u8_gunNo++)
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{
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//直流熔断器状态
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u16_yx_DC_FUSE = u16_fault_get_sys_data(u8_gunNo, E_FAULT_GET_DATA_GUN_DC_FUSE, 0); //
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v_fault_yx_action_cheak(u16_yx_DC_FUSE ,E_FAULT_13006, (E_FAULT_SITE)(E_GUN + u8_gunNo),0,0); //直流熔断器状态 故障动作检查
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//枪温阈值检测
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u16_gunTemp_plus = u16_fault_get_sys_data(u8_gunNo ,E_FAULT_GET_DATA_GUN_TEMP ,0 ); //正极枪温值
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u16_gunTemp_minus = u16_fault_get_sys_data(u8_gunNo ,E_FAULT_GET_DATA_GUN_TEMP ,1 ); //负极枪温值
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u16_gunTemp_plus = (u16_gunTemp_plus > u16_gunTemp_minus)?u16_gunTemp_plus:u16_gunTemp_minus;
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v_fault_yx_action_cheak((u16_gunTemp_plus > u16_gunTemp_thrd) ,E_FAULT_13014, (E_FAULT_SITE)(E_GUN + u8_gunNo),u16_gunTemp_plus,u16_gunTemp_thrd); //直流熔断器状态 故障动作检查
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v_fault_dc_output_km_check_gun(u8_gunNo); //直流输出接触器 13004/13005（见 static 实现）
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}
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if (u16_ac_km_en) //交流接触器使能：遥控与反馈比对，防抖后判 13003 拒动 / 13002 粘连；使能 0 不检测、不清计时
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{
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e_cmd_ac = e_yk_get_ctrl_cmd(E_KY_TYPE_AC1);
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u8_ac_km_fb = (U8_T)u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_AC_KM, 0);
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v_fault_km_mismatch_debounce_cheak(&s_km_deb[E_FAULT_KM_DEB_AC], (U8_T)(e_cmd_ac == CMD_ON && u8_ac_km_fb == 0), 1, E_FAULT_13003, (S16_T)e_cmd_ac, (S16_T)u8_ac_km_fb, E_WHOLE_PILE, 0);
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v_fault_km_mismatch_debounce_cheak(&s_km_deb[E_FAULT_KM_DEB_AC], (U8_T)(e_cmd_ac == CMD_OFF && u8_ac_km_fb == 1), 2, E_FAULT_13002, (S16_T)e_cmd_ac, (S16_T)u8_ac_km_fb, E_WHOLE_PILE, 0);
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}
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if (u16_bus_km_en) //母联：e_yk_get_ctrl_cmd(E_KY_TYPE_DC_CONT_BUS) 与 YX_PILE_BUS_KM，防抖后判 13023 拒动 / 13024 粘连
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{
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e_cmd_bus = e_yk_get_ctrl_cmd(E_KY_TYPE_DC_CONT_BUS);
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u8_bus_km_fb = (U8_T)u16_fault_get_sys_data(WHOLE_PILE, E_FAULT_GET_DATA_BUS_KM, 0);
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v_fault_km_mismatch_debounce_cheak(&s_km_deb[E_FAULT_KM_DEB_BUS], (U8_T)(e_cmd_bus == CMD_ON && u8_bus_km_fb == 0), 1, E_FAULT_13023, (S16_T)e_cmd_bus, (S16_T)u8_bus_km_fb, E_WHOLE_PILE, 0);
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v_fault_km_mismatch_debounce_cheak(&s_km_deb[E_FAULT_KM_DEB_BUS], (U8_T)(e_cmd_bus == CMD_OFF && u8_bus_km_fb == 1), 2, E_FAULT_13024, (S16_T)e_cmd_bus, (S16_T)u8_bus_km_fb, E_WHOLE_PILE, 0);
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}
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}
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#endif
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#if 1 //拔枪恢复故障检查
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/****************************************************
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*函数名称： v_fault_res_cheak()
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*功能说明： 拔枪故障恢复检查
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*参数说明：
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* 输入参数：
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* 输出参数： void
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****************************************************/
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void v_fault_res_cheak(U8_T u8_gunNo)
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{
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U8_T i;
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HIS_FAULT_DATA_T fault_data;
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Comm_Time curTime;
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U32_T u32_now_time;
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static U32_T u32_gun_free_time[GUN_MAX_CNT] = {0}; //枪空闲时间-从工作变到空闲的时间 时间戳
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U8_T u8_gunLink = u16_fault_get_sys_data(u8_gunNo,E_FAULT_GET_DATA_GUN_LINK,0); //枪连接标志
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U8_T u8_gunWork = u16_fault_get_sys_data(u8_gunNo,E_FAULT_GET_DATA_GUN_CHAR_FLAG,0); //充电标志 1充电中 0未充电
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//获取当前时间
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GetCurrentTime(&curTime);
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u32_now_time = xDate2Seconds(&curTime); //获取当前时间 时间戳
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//更新工作空闲时间
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if(u8_gunWork == 1)
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{
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u32_gun_free_time[u8_gunNo] = 0; //工作中，时间清零
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}
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else //非工作 获取当前时间
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{
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if(u32_gun_free_time[u8_gunNo] == 0) u32_gun_free_time[u8_gunNo] = u32_now_time;
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}
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//故障数量检查
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if(s_real_fault.u8_fault_cnt == 0 &&
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s_real_fault.u8_warn_cnt == 0) //不存在故障 则不需要判断故障恢复
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return;
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//判断拔枪恢复 或 充电完成5分钟后恢复条件是否满足
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if(u8_gunLink == 1 && //枪连接 且时间没有到到超时时间，不做恢复判断
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(u32_gun_free_time[u8_gunNo] == 0 || (u32_now_time - u32_gun_free_time[u8_gunNo]) < FAULT_GUN_NOLINK_RES_TIME))
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return;
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//遍历所有故障信息 检查故障恢复内容
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for(i=0;i<CURR_FAULT_MAX_CNT;i++)
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{
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if(s_real_fault.fault_data[i].e_ingun == (u8_gunNo+1+E_GUN) && //故障归属本枪(故障存储枪号从1000开始，+E_GUN) 且为 拔枪恢复
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s_real_fault.fault_data[i].u8_type == 1)
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{
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memset(&fault_data,0,sizeof(HIS_FAULT_DATA_T));
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memcpy(&fault_data.s_occur_time, &curTime, sizeof(Comm_Time)); //发生时间
|
||
fault_data.e_site = (E_FAULT_SITE)(u8_gunNo + E_GUN);
|
||
fault_data.ActType = E_RES;
|
||
fault_data.e_fault_info = s_real_fault.fault_data[i].e_mag;
|
||
//v_hisFault_save_record(&fault_data); //保存动作记录
|
||
if(s_real_fault.u8_fault_cnt != 0)
|
||
s_real_fault.u8_fault_cnt -- ;
|
||
memset(&s_real_fault.fault_data[i],0,sizeof(Fault_data));
|
||
}
|
||
}
|
||
for(i=0;i<CURR_ALARM_MAX_CNT;i++)
|
||
{
|
||
if(s_real_fault.warn_data[i].e_ingun == (u8_gunNo+1+E_GUN) && s_real_fault.warn_data[i].u8_type == 1) //拔枪恢复
|
||
{
|
||
memset(&fault_data,0,sizeof(HIS_FAULT_DATA_T));
|
||
memcpy(&fault_data.s_occur_time, &curTime, sizeof(Comm_Time)); //发生时间
|
||
fault_data.e_site = (E_FAULT_SITE)(u8_gunNo + E_GUN);
|
||
fault_data.ActType = E_RES;
|
||
fault_data.e_fault_info = s_real_fault.warn_data[i].e_mag;
|
||
//v_hisFault_save_record(&fault_data); //保存动作记录
|
||
if(s_real_fault.u8_warn_cnt != 0)
|
||
s_real_fault.u8_warn_cnt -- ;
|
||
memset(&s_real_fault.warn_data[i],0,sizeof(Fault_data));
|
||
}
|
||
}
|
||
}
|
||
#endif
|
||
|
||
#if 1 //故障信息打印
|
||
/**
|
||
* ************************************************************************
|
||
* @brief - 故障信息打印
|
||
*
|
||
*
|
||
*
|
||
* @author jiankalka
|
||
* @date 2025-09-10
|
||
* ************************************************************************
|
||
*/
|
||
static void v_fault_info_print()
|
||
{
|
||
U8_T i,mag[FAULT_GET_MAG_MAX_LEN]={0};
|
||
char c_site_mag[NUM_30] = {0};
|
||
E_FAULT_INFO e_info;
|
||
E_FAULT_SITE e_site;
|
||
|
||
|
||
if(s_real_fault.u8_fault_cnt != 0 || s_real_fault.u8_warn_cnt != 0) //存在故障 或者告警
|
||
{
|
||
FAULTCHECK_LOG("**** Fault=%d, Warn=%d ****\n",
|
||
s_real_fault.u8_fault_cnt,s_real_fault.u8_warn_cnt);
|
||
for(i=0;i<CURR_FAULT_MAX_CNT;i++)
|
||
{
|
||
if(s_real_fault.fault_data[i].e_mag != 0)
|
||
{
|
||
e_info = s_real_fault.fault_data[i].e_mag;
|
||
e_site = s_real_fault.fault_data[i].e_ingun;
|
||
v_fault_get_site_mag(e_site,c_site_mag,NUM_30);
|
||
|
||
v_get_fault_info(e_info , (char*)mag,FAULT_GET_MAG_MAX_LEN);
|
||
FAULTCHECK_LOG("%s Fault %d %s\n",c_site_mag,e_info,mag);
|
||
}
|
||
}
|
||
for(i=0;i<CURR_ALARM_MAX_CNT;i++)
|
||
{
|
||
if(s_real_fault.warn_data[i].e_mag != 0)
|
||
{
|
||
e_info = s_real_fault.warn_data[i].e_mag;
|
||
e_site = s_real_fault.warn_data[i].e_ingun;
|
||
v_fault_get_site_mag(e_site,c_site_mag,NUM_30);
|
||
v_get_fault_info(e_info , (char*)mag,FAULT_GET_MAG_MAX_LEN);
|
||
FAULTCHECK_LOG("%s Warn %d %s\n",c_site_mag,e_info,mag);
|
||
}
|
||
}
|
||
|
||
FAULTCHECK_LOG("*************************************\n",
|
||
s_real_fault.u8_fault_cnt,s_real_fault.u8_warn_cnt);
|
||
}
|
||
|
||
}
|
||
#endif
|
||
//故障记录相关初始化
|
||
void v_fault_data_init(void)
|
||
{
|
||
/* 统一走 flash_file_mgr 初始化，避免与 BSP 初始化逻辑分叉。 */
|
||
#if (FAULT_FLASH_MGR_ENABLE)
|
||
v_fault_flash_init();
|
||
#endif
|
||
|
||
//初始化后 增加历史故障数量打印
|
||
FAULTCHECK_LOG("history fault count: %d", u16_fault_get_his_count());
|
||
}
|
||
|
||
void v_fault_task(void *argument)
|
||
{
|
||
uint16_t sleep_time_ms;
|
||
uint32_t last_send_time;
|
||
uint32_t current_time;
|
||
|
||
v_fault_data_init();
|
||
|
||
(void)argument;
|
||
(void)FAULTCHECK_LOCK_INIT();
|
||
sleep_time_ms = FAULTCHECK_SLEEP_TIME_MS();
|
||
last_send_time = get_current_seconds();
|
||
U8_T u8_gunNo, u8_gunCnt = u16_fault_get_sys_data(0,E_FAULT_GET_DATA_GUN_CNT,0); //枪数量
|
||
|
||
for (;;) {
|
||
FAULTCHECK_FEED_DOG();
|
||
current_time = get_current_seconds();
|
||
if ((TASK_RUN_PRINT_TIME != 0U) && (u32_safe_seconds_since(last_send_time) >= TASK_RUN_PRINT_TIME)) {
|
||
if (FAULTCHECK_LOCK_TAKE() == 1U) {
|
||
FAULTCHECK_LOG("faultcheck task is runing, sleep time is %ums", sleep_time_ms);
|
||
(void)FAULTCHECK_LOCK_GIVE();
|
||
}
|
||
last_send_time = current_time;
|
||
}
|
||
|
||
//故障信息打印
|
||
if (FUALT_INFO_PRINT_TIME != 0 && u32_safe_seconds_since(last_send_time) >= FUALT_INFO_PRINT_TIME) {
|
||
v_fault_info_print(); //故障信息打印
|
||
last_send_time = current_time;
|
||
}
|
||
|
||
for (u8_gunNo = 0; u8_gunNo < u8_gunCnt; u8_gunNo++)
|
||
{
|
||
v_fault_res_cheak(u8_gunNo); //故障拔枪恢复检测
|
||
}
|
||
|
||
v_fault_action_cheak() ; //故障动作检查
|
||
|
||
// 处理缓存中的故障动作
|
||
v_fault_cache_process();
|
||
|
||
mSleep(sleep_time_ms);
|
||
}
|
||
}
|