T536_DTU/dtu/dtu_main_t536/main_mod.c

/******************************************************************************
版权所有：
文件名称：	main_mod.c
文件版本：	01.01
创建作者：	sunxi
创建日期：	2025-06-09
功能说明：	实时微系统。
其它说明：
修改记录：
*/
#include <linux/fs.h>
#include <linux/sched.h>
#include <linux/wait.h>

#include "bsp.h"
#include "rt.h"
#include "app.h"
#include "head.h"
#include "tmp/bsp_share/bsp_ustimer.h"
#include <sys/prctl.h>
#include <sys/types.h>
#include <sys/syscall.h>
#include <signal.h>
#include <stdbool.h>
#include <errno.h>
#include "lvgl_app.h"

#include <stdio.h>
// #define __USE_GNU
#define _GNU_SOURCE
#include <sched.h>
#include <pthread.h>
// #include <alchemy/task.h>
#include "bsp_boardcheck.h"

int g_l_shm_init = 0xff;
static int m_reset; // 看门狗复位变量
struct completion *g_exit_completion_gprs_net_IEC_proc;
static int g_exit_flag;

bool SystemInit_finish_flag __attribute__((aligned(8))) = false;

static int sync_cnt = 0;
static pthread_t sync_tid = 0;

enum
{
    PTHREAD_MQ = 0,    // 消息队列
    PTHREAD_C0NSOLE,   // 控制台
    PTHREAD_PRINTF,    // 打印信息
    PTHREAD_MAIN_LOOP, // 主循环
    PTHREAD_MAIN_APP,
    PTHREAD_MAIN_DIDO_ADC,
    PTHREAD_RCD, // 录波
    PTHREAD_CAL_SAMPLE,

    PTHREAD_MAX_NUM
};

pthread_t AW_DTU_PTHREAD_TAB[PTHREAD_MAX_NUM]; // 线程表
struct rt_stat g_stat_periodus_5ms;

int app_main(void *arg);
int di_do_adc(void *arg);
#ifdef ENCRYPT_SM2
int gh_sm2_dev_init(void);
void gh_sm2_dev_exit(void);
#endif
int console_init(void);
void console_exit(void);
int encrypt_test(void);
int snprintf_test(void);
extern void uart_putchar(int channel, char ch);
extern int net_if_test(void);
extern int clk_test(void);
extern int ac_e2prom_test(void);
void watchdog_m_reset(int flag) {}
extern int printf_e907_exit(void);

int kernel_callback(void);

static void main_mod_exit(int signo);

// static DECLARE_WAIT_QUEUE_HEAD(wq);
static int g_soft_irq_flag = 0;

static struct proc_dir_entry *corp_info_proc_entry;

int corp_info_read_proc(char *buf, char **start, off_t offset, int len, int *eof, void *data)
{
    sprintf(buf, "XXXXXX XXXXXX XXXXXXX XXXXX XXXXXXX Co.,Ltd(XXXXXXXXXX) 2025\r\n");

    len = strlen(buf);

    return len;
}

pid_t gettid()
{
    return syscall(SYS_gettid);
}

int mainloop_soft_isr(int irq, void *dev_id)
{
    // int offset=0,tmp,count=1,count2=1,count3=0;
    // struct timespec ts;
    // struct rtc_time_t rtcs;
    struct sched_param sch_par;
    sch_par.sched_priority = 6;
    pthread_setschedparam(pthread_self(), SCHED_RR, &sch_par); // 设置当前线程优先级
    prctl(PR_SET_NAME, "mainloop_soft_isr_thread");
#ifdef RT_THREAD_DEBUG
    rt_printf("Thread created successfully: %s,PID: %d LWP: %d\r\n",
              "mainloop_soft_isr_thread", (int)getpid(), (int)syscall(SYS_gettid));
#endif
    while (1)
    {
        msleep(100); // 延时100ms
        kernel_callback();
#if 0
        if(count++>=40)
        {
            //gps_get_time(&ts);
            //timespec_to_rtc(ts, &rtcs, 0);

            //tmp=GetUsCounterValue();
            //offset=tmp-offset;
            //rt_printf("%d---%d-%d-%d,%d:%d:%d mainloop=%d,offset=%d\r\n",ts.tv_sec,rtcs.year,rtcs.month,rtcs.day,rtcs.hour,rtcs.min,rtcs.ms,tmp,offset);
            //offset=tmp;
            
            //rt_printf("di=0x%08X\r\n",gpio_get_di());

           if(count3==0)
              gpio_kout_do(0,DO_OUT7);
           else
           {
              if((count3-1)!=DO_OUT4)
                gpio_kout_do(0,count3-1);
           }
           gpio_kout_do(1,count3);
           rt_printf("count=%d\r\n",count3);
           ++count3;
           if(count3>=DO_NUM)
             count3=0;
          gpio_kout_do(1,DO_PWM0);
           count=1; 
        }
#endif
    }
}

void mainloop_wakeup(void)
{
    // rt_sirq_force(11);
}

int kernel_callback(void)
{
    static unsigned char init_end_flag = 0; // sunxi 20190416 added
    // 延时100ms
    // wait_event_interruptible_timeout(wq,g_soft_irq_flag,HZ/10);

    g_soft_irq_flag = 0;

    // sunxi 20190416 added start
    if (!init_end_flag)
    {
        // corp_info_proc_entry = create_proc_entry("corp_info", 0400, NULL);
        if (corp_info_proc_entry)
        {
            // corp_info_proc_entry->read_proc = corp_info_read_proc;
            // corp_info_proc_entry->write_proc = NULL;
        }

        init_end_flag = 1;
    }
    // sunxi 20190416 added end

    // 检查是否需要退出。
    if (g_exit_flag)
    {
        hzk_exit();
        led_exit();
        net_debug_exit();
        net_debug_s_exit();
        if (g_exit_completion_gprs_net_IEC_proc)
        {
            ; // wait_for_completion(g_exit_completion_gprs_net_IEC_proc);
        }
        printf_e907_exit();
        // complete_and_exit(&exit_completion, 1);
    }

    return 0;
}

int cal_thread(void *arg)
{
    uint32_t us0;
    int ms;
    struct sched_param sch_par;

    sch_par.sched_priority = 8;

    pthread_setschedparam(pthread_self(), SCHED_RR, &sch_par); // 设置当前线程优先级暂定 20200910

    while (SystemInit_finish_flag == false)
    {
        msleep(10);
    }

    uint32_t wdt_id;
    int rc = watchdog_add_item("cal_thread", &wdt_id, 120);
    if (rc != 0)
    {
        printf("can not add cal_thread task to wdt\r\n");
        return -1;
    }

    ms = 50;
    us0 = ustimer_get_origin();

    prctl(PR_SET_NAME, "cal_thread");
#ifdef RT_THREAD_DEBUG
    rt_printf("Thread created successfully: %s, PID: %d LWP: %d\r\n",
              "cal_thread", (int)getpid(), (int)syscall(SYS_gettid));
#endif
    while (1)
    {
        watchdog_feed(wdt_id);

        // 100ms执行一次
        ms = 50 - (ustimer_get_duration(us0) / USTIMER_US + 500) / 1000;
        if (ms < 0)
        {
            ms = 0;
        }
        msleep(ms);
        us0 = ustimer_get_origin();

        // 检查是否需要退出。
        if (g_exit_flag)
        {
            // complete_and_exit(&exit_completion2, 1);
            break;
        }

        sw_cal_app();
        hisory_file_app();
        // pw_quality_app();
        rec_chnl_zero_drift_handle();
    }

    watchdog_remove_item(wdt_id);

    return 0;
}

int main_mod_is_exit(void)
{
    return g_exit_flag;
}

// sunxi 20190417 added start
/*
 * 该接口在模块装载时调用，防止我们的模块在之前的内核版本中能被轻易使用。函数名称不要定义跟功能一样。
 */
int mod_init(void)
{
    char buf[256] = {0x00};
    int fd = rt_file_open("/proc/version", O_RDONLY, 0);
    if (fd < 0)
        return -1;

    rt_file_read(fd, buf, 256, NULL);
    rt_file_close(fd, 0);

    if (strstr(buf, "root@Ubuntu") && strstr(buf, "-LYQ"))
        return 0;

    return -3;
}

extern void gps_isr(void);
int di_do_adc(void *unused)
{
    pid_t tid;
    cpu_set_t set;
    struct sched_param sch_par;
    sch_par.sched_priority = 90;

    // Set CPU affinity [T536-CPU-3]
    tid = gettid();
    CPU_ZERO(&set);
    CPU_SET(3, &set);
    sched_setaffinity(tid, sizeof(cpu_set_t), &set);

    while (SystemInit_finish_flag == false)
    {
        msleep(10);
    }

    uint32_t wdt_id;
    int rc = watchdog_add_item("di_do_adc", &wdt_id, 120);
    if (rc != 0)
    {
        printf("can not add di_do_adc task to wdt\r\n");
        return -1;
    }

    rt_stat_init(&g_stat_periodus_5ms, "pit_5ms_priod(1us)");
    pthread_setschedparam(pthread_self(), SCHED_FIFO, &sch_par); // 设置当前线程优先级
    prctl(PR_SET_NAME, "di_do_adc");
#ifdef RT_THREAD_DEBUG
    rt_printf("Thread created successfully: %s, PID: %d LWP: %d\r\n",
              "di_do_adc", (int)getpid(), (int)syscall(SYS_gettid));
#endif

#ifdef CPU_FUXI
    // zhl add
    struct shmem_fd shmem_fd;
    if (share_mem_init_v2(&shmem_fd) < 0)
    {
        dp_err_n_c("--->shmem_init fail !!!");
        g_l_shm_init = -1;
        return -1;
    }
    else
    {
        g_l_shm_init = 0;
        dp_info_n_c("--->shmem_init success !!!");
    }

    // 写入毫秒时间戳
    struct t_shmdata_timestamp t_rv_msts;
#if (0) /* 统一使用gps接口 */
    struct timeval tv;
    gettimeofday(&tv, NULL);
    uint64_t milliseconds = (uint64_t)(tv.tv_sec * 1000 + tv.tv_usec / 1000);
#else
    struct timespec ts_gps;
    gps_get_time(&ts_gps);
    uint64_t milliseconds = (uint64_t)((ts_gps.tv_sec + 28800) * 1000 + ts_gps.tv_nsec / 1000000);
#endif
    t_rv_msts.ull_timestamp = milliseconds;
    shm_packet_write_v2(SHM_ADDR_R_TIMESTAMP, (uint8_t *)&t_rv_msts, sizeof(struct t_shmdata_timestamp));

    check_shmdata_change();

    // 装置类型us_machine_type （分布式：1，集中式：2）
    struct t_shmdata_machine_type t_rv_mt = {0};
    t_rv_mt.us_machine_type = 1;
    shm_packet_write_v2(SHM_ADDR_R_MACHINETYPE, (uint8_t *)&t_rv_mt, sizeof(struct t_shmdata_machine_type));
    // printf("write SHM_ADDR_R_MACHINETYPE::0x%X -> us_updata: %d, us_op: %d, us_op_bk: %d, us_machine_type: %d, us_crc: 0x%04x\n\n",
    // 		SHM_ADDR_R_MACHINETYPE, t_rv_mt.us_updata, t_rv_mt.us_op, t_rv_mt.us_op_bk, t_rv_mt.us_machine_type, t_rv_mt.us_crc);
    sleep(5); // 注：下发装置类型后，需要等待大于5s，才能读取到R核的ADC初始化标志信息

    // ADC初始化标志信息
    struct t_shmdata_flag t_rv_adc = {0};
    int ret_flag = shm_packet_read_v2(SHM_ADDR_W_FLAG, sizeof(t_rv_adc), (uint8_t *)&t_rv_adc, sizeof(t_rv_adc));
    if (t_rv_adc.us_cfg_adc_err == 1 || ret_flag < 0)
    {
        dp_err_a_c("adc init err!");
        rt_err_set(ERR_CODE_INIT_ADC, 0);
    }
    else
    {
        dp_info_nt("adc init ok!");
    }
    // printf("ret_flag: %d, read SHM_ADDR_W_FLAG:0x%X -> us_updata: %u, us_op: %u, us_op_bk: %u, us_cfg_adc_err: %u, us_crc: 0x%04x\n\n",
    // 		ret_flag, SHM_ADDR_W_FLAG, t_rv_adc.us_updata, t_rv_adc.us_op, t_rv_adc.us_op_bk, t_rv_adc.us_cfg_adc_err, t_rv_adc.us_crc);

    int l_retrv_di = equ_init_rv_di();
    if (0 > l_retrv_di)
    {
        rt_err_set(ERR_CODE_INIT_SOFTWARE, 0);
    }
    else
    {
        l_retrv_di = 0;
        dp_info_nt("rvdi init ok!");
    }
    // dp_info_nt("l_retrv_di = %d", l_retrv_di);
#endif

    while (1)
    {
        static u8 flags = 0;
        static unsigned long us1 = 0;
        unsigned long origin_ext = 0;

        usleep(1000);
        // bsp_ustimer_delay(1000); // 1ms

        // 检查是否需要退出。
        if (g_exit_flag)
        {
            // complete_and_exit(&exit_completion2, 1);
            break;
        }

        origin_ext = bsp_ustimer_get_origin();
        if (flags)
        {
            rt_stat_in(&g_stat_periodus_5ms, (origin_ext - us1));
        }

        watchdog_feed(wdt_id);

        // adc_isr(0);
        if (t_rv_adc.us_cfg_adc_err == 0 && ret_flag > 0)
        {
            adc_isr_new(0);
            freq_get_shm_data();
        }

        // 保护计算
        if (prt_flag)
        {
            pit_5ms_main(0);
            prt_flag = false;
        }

#ifdef CPU_FUXI
        if (0 == l_retrv_di)
        {
            if (pRunSet->lb_dint)
            {
                get_shm_dintdata();
            }
            get_shm_didata();
        }
#endif

        // gps_isr(); // zhl upadte 放在另一个线程跑
        us1 = origin_ext;
        flags = 1;
    }
    watchdog_remove_item(wdt_id);

    return 0;
}

// 当装置修改app文件夹里面的文件时，需要调用该函数，以sync_cnt数减为0时，调用sync，写入flash,保存数文件。
void start_sync(void)
{
    sync_cnt = 50; // 500ms
}

static int sync_func(void *arg)
{

    // int ret = 0;

    uint32_t wdt_id;
    int rc = watchdog_add_item("sync_func", &wdt_id, 60);
    if (rc != 0)
    {
        printf("can not add sync_func task to wdt\r\n");
        return 0;
    }

    sync_cnt = 0;

    prctl(PR_SET_NAME, "sync_func");
#ifdef RT_THREAD_DEBUG
    rt_printf("Thread created successfully: %s, PID: %d LWP: %d\r\n",
              "sync_func", (int)getpid(), (int)syscall(SYS_gettid));
#endif
    while (1)
    {

        msleep(10);

        watchdog_feed(wdt_id);

        if (main_mod_is_exit())
        {
            break;
        }

        if (sync_cnt > 0)
        {
            if (--sync_cnt <= 0)
            {
                system("sync");
                // rt_printf_time("--- sync.\r\n");
            }
        }
    }

    watchdog_remove_item(wdt_id);

    return 0;
}

int main(void)
{
    // pid_t pid;

    char *argv[] = {"/sbin/ifconfig", "eth1", "192.168.2.100", NULL};
    char *envp[] = {NULL};

    // struct task_struct * ts;
    // struct sched_param sp;
    int ret;

    SystemInit_finish_flag = false;

    // 停止喂狗,让程序复位 m_reset=1
    if (m_reset == 1)
    {
        rt_printf("watchdog_m_reset(1)...\n");
        watchdog_m_reset(1);
        return 0;
    }

    call_usermodehelper("/sbin/ifconfig", argv, envp, UMH_WAIT_PROC);

    rt_printf("\r\n");
    dp_info_nt("%s %s", __DATE__, __TIME__);
    float f_version = ((VER_NUM >> 12) & 0xff) + ((VER_NUM & 0xfff) * 0.001f);
    dp_info_nt("版本信息: SV%06.03f %s", f_version, DEVICE_VERSION_INFORMATION);

    // if(mod_init() < 0)    //jack.liu 20200904 认证信息先不使用
    //	return -1;

    bsp_init(); // bsp必须先初始化
    rt_init();  // 实时系统后初始化
    app_init(); // 应用初始化最后初始化
    adc_init();

    bsp_board_init();

    // 建立主函数入口线程
    ret = pthread_create(&AW_DTU_PTHREAD_TAB[PTHREAD_MAIN_LOOP], NULL, (void *)mainloop_soft_isr, NULL);
    if (ret)
    {
        rt_printf("mainloop_soft_isr thread create failed!\r\n");
        rt_printf("ret = %d, err = %s\r\n", ret, strerror(ret));
        memset((char *)&AW_DTU_PTHREAD_TAB, 0, sizeof(AW_DTU_PTHREAD_TAB));
        return ret;
    }

    // 创建主循环线程
    ret = pthread_create(&AW_DTU_PTHREAD_TAB[PTHREAD_MAIN_APP], NULL, (void *)app_main, NULL);
    if (ret)
    {
        rt_printf("app_main thread create failed!\r\n");
        rt_printf("ret = %d, err = %s\r\n", ret, strerror(ret));
        AW_DTU_PTHREAD_TAB[PTHREAD_MAIN_APP] = 0;
        memset((char *)&AW_DTU_PTHREAD_TAB, 0, sizeof(AW_DTU_PTHREAD_TAB));
        return ret;
    }

#if 1
    // 创建三遥线程
    ret = pthread_create(&AW_DTU_PTHREAD_TAB[PTHREAD_MAIN_DIDO_ADC], NULL, (void *)di_do_adc, NULL);
    if (ret)
    {
        rt_printf("di_do_adc thread create failed!\r\n");
        rt_printf("ret = %d, err = %s\r\n", ret, strerror(ret));
        AW_DTU_PTHREAD_TAB[PTHREAD_MAIN_DIDO_ADC] = 0;
        memset((char *)&AW_DTU_PTHREAD_TAB, 0, sizeof(AW_DTU_PTHREAD_TAB));
        return ret;
    }

    // 创建采样数据计算线程
    ret = pthread_create(&AW_DTU_PTHREAD_TAB[PTHREAD_CAL_SAMPLE], NULL, (void *)cal_thread, NULL);
    if (ret)
    {
        rt_printf("cal_thread thread create failed!\r\n");
        rt_printf("ret = %d, err = %s\r\n", ret, strerror(ret));
        AW_DTU_PTHREAD_TAB[PTHREAD_CAL_SAMPLE] = 0;
        memset((char *)&AW_DTU_PTHREAD_TAB, 0, sizeof(AW_DTU_PTHREAD_TAB));
        return ret;
    }

    ret = pthread_create(&sync_tid, NULL, (void *)sync_func, NULL);
    if (ret)
    {
        rt_printf("ret = %d, err = %s\r\n", ret, strerror(ret));
        sync_tid = 0;
        return ret;
    }

    printf("LVGL application start...\n");

    // 启动 LVGL 线程（函数声明在gui/lvgl_app.h中）
    start_lvgl_thread();

    // 设置进程名字
    prctl(PR_SET_NAME, "AW_DTU_CALL", 0, 0, 0);

    signal(SIGINT, main_mod_exit);
#endif
#ifdef RT_THREAD_DEBUG
    rt_printf("thread create success!\r\n");
#endif

    scaio_init_data();

    // 主线程阻塞
    while (1)
    {
        bsp_board_check();
        rsio_get_runtime();
        scaio_save_data();
        usleep(1000 * 100);
    }

    return 0;
}

int net_debug_exit(void);
int net_maintain_exit(void);
int net_104_exit(void);

static void main_mod_exit(int signo)
{

    if (corp_info_proc_entry)
    {
        ; // remove_proc_entry("corp_info", NULL);
    }

    //
    if (m_reset == 1)
    {
        watchdog_m_reset(0);
        rt_printf("watchdog_m_reset(0)...\n");
        return;
    }
    // gh_sm2_dev_exit();
    // console_exit();

    // watchdog_unregister_all();

    // rt_sirq_unregister(RT_SOFT_IRQ_MAINLOOP);

    net_maintain_exit();
    net_104_exit();
    net_104link_exit();
    g_exit_flag = 1;

    // wait_for_completion(&exit_completion);
    // wait_for_completion(&exit_completion2);

    app_exit();
    rt_exit();
    bsp_exit();

    // sunxi 20190418 goose_app_exit();
    open_inet_port();

    rt_printf("main_mod_exit\n");
}