From d7bc818b86c335b19c627cb956f3d0ed6b612a69 Mon Sep 17 00:00:00 2001
From: g122622 <3300925806@qq.com>
Date: Mon, 29 Apr 2024 18:51:51 +0800
Subject: [PATCH] =?UTF-8?q?1.=E5=BC=95=E5=85=A5=E7=94=B5=E6=BA=90=E7=AE=A1?=
 =?UTF-8?q?=E7=90=86=E7=B3=BB=E7=BB=9F=202.=E5=A2=9E=E5=8A=A0=E6=A0=A1?=
 =?UTF-8?q?=E5=87=86=E7=94=A8=E6=97=B6=EF=BC=8C=E6=8F=90=E9=AB=98=E6=A0=A1?=
 =?UTF-8?q?=E5=87=86=E7=B2=BE=E5=BA=A6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 main/BMS/BMSTick.h                  | 32 +++++++++++++++++++++++++++++
 main/LED/StatusLED.h                | 15 ++++++++++++--
 main/globalStates/controllerState.h |  2 +-
 main/mpu6050/motionData.h           |  4 ++--
 main/tasks/BMSTaskLoop.h            | 10 ++++-----
 5 files changed, 52 insertions(+), 11 deletions(-)
 create mode 100644 main/BMS/BMSTick.h

diff --git a/main/BMS/BMSTick.h b/main/BMS/BMSTick.h
new file mode 100644
index 0000000..41bcd7d
--- /dev/null
+++ b/main/BMS/BMSTick.h
@@ -0,0 +1,32 @@
+/*
+ * File: \BMSTick.h
+ * Project: BMS
+ * Created Date: 2024-04-28 22:52:22
+ * Author: Guoyi
+ * -----
+ * Last Modified: 2024-04-28 23:10:33
+ * Modified By: Guoyi
+ * -----
+ * Copyright (c) 2024 Guoyi Inc.
+ *
+ * ------------------------------------
+ */
+
+#include "../BMS/ADC/batteryVoltage.h"
+#include "../globalStates/BMSState.h"
+#include "../globalStates/controllerState.h"
+#include "FlightController/motor/motor.h"
+#include "LED/StatusLED.h"
+
+#define BATTERY_VOLTAGE_LOW_THR (3200)
+#define BATTERY_VOLTAGE_EXTREMELY_LOW_THR (3000)
+
+void BMSTick()
+{
+    batteryVoltage = BMS_ADC_ReadBatteryVoltage();
+    if (batteryVoltage != -1 && batteryVoltage < BATTERY_VOLTAGE_EXTREMELY_LOW_THR){
+        flightState = 0;
+        stopAllMotors(); // 多余的一步。在这里是为了万无一失，确保关停所有电机。
+        flashStatusLED(10, 500);
+    }
+}
diff --git a/main/LED/StatusLED.h b/main/LED/StatusLED.h
index 02d35be..c22dbd8 100644
--- a/main/LED/StatusLED.h
+++ b/main/LED/StatusLED.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-28 15:07:32
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 15:19:25
+ * Last Modified: 2024-04-28 23:00:13
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -19,7 +19,7 @@
 #include "freertos/task.h"
 #include "driver/gpio.h"
 
-static gpio_num_t gpio_led_num = GPIO_NUM_32; // 连接LED的GPIO
+static gpio_num_t gpio_led_num = GPIO_NUM_23; // 连接LED的GPIO
 
 void StatusLED_Init()
 {
@@ -37,4 +37,15 @@ void disableStatusLED()
     gpio_set_level(gpio_led_num, 0);
 }
 
+void flashStatusLED(int count, int duration)
+{
+    for (int i = 0; i < count; i++)
+    {
+        enableStatusLED();
+        vTaskDelay(duration / portTICK_PERIOD_MS);
+        disableStatusLED();
+        vTaskDelay(duration / portTICK_PERIOD_MS);
+    }
+}
+
 #endif
diff --git a/main/globalStates/controllerState.h b/main/globalStates/controllerState.h
index 8140f06..a07bbe6 100644
--- a/main/globalStates/controllerState.h
+++ b/main/globalStates/controllerState.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-05 21:25:11
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 00:38:58
+ * Last Modified: 2024-04-28 23:08:52
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
diff --git a/main/mpu6050/motionData.h b/main/mpu6050/motionData.h
index c3fe632..7e98f72 100644
--- a/main/mpu6050/motionData.h
+++ b/main/mpu6050/motionData.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-03-07 22:51:03
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-28 15:19:41
+ * Last Modified: 2024-04-29 18:50:44
  * Modified By: Guoyi
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -73,7 +73,7 @@ void MotionData_Calibrate()
     // 开始校准
     enableStatusLED();
     float gyroZ_SUM = 0;
-    for (int i = 0; i < 10; i++)
+    for (int i = 0; i < 30; i++)
     {
         vTaskDelay(30 / portTICK_PERIOD_MS);
         // F3D accel = getAccelData();
diff --git a/main/tasks/BMSTaskLoop.h b/main/tasks/BMSTaskLoop.h
index b6fe300..7079de5 100644
--- a/main/tasks/BMSTaskLoop.h
+++ b/main/tasks/BMSTaskLoop.h
@@ -4,7 +4,7 @@
  * Created Date: 2024-04-24 17:28:06
  * Author: Guoyi
  * -----
- * Last Modified: 2024-04-27 13:00:59
+ * Last Modified: 2024-04-28 23:02:35
  * Modified By:
  * -----
  * Copyright (c) 2024 Guoyi Inc.
@@ -17,17 +17,15 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-
-#include "../BMS/ADC/batteryVoltage.h"
-#include "../globalStates/BMSState.h"
+#include "BMS/BMSTick.h"
 
 void BMSTaskLoop(void *argument)
 {
     BMS_ADC_Init();
     while (1)
     {
-        batteryVoltage = BMS_ADC_ReadBatteryVoltage();
-        vTaskDelay(500 / portTICK_PERIOD_MS);
+        vTaskDelay(50 / portTICK_PERIOD_MS);
+        BMSTick();
     }
 }