更新hex文件

更新SW0104
改为一个电机动作
2024-08-30 16:37:32 +08:00 · 2024-08-16 08:47:51 +08:00 · 2024-08-15 19:34:01 +08:00
3 changed files with 257 additions and 215 deletions
--- a/BCZT/output/BCZT_CTRL_20240830.mot
+++ b/BCZT/output/BCZT_CTRL_20240830.mot
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 S10B2000006450320064503208
 S214017E00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7C
 S214017E10FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF6C
--- a/BCZT/user/MotorCtrl.c
+++ b/BCZT/user/MotorCtrl.c
@ -141,7 +141,7 @@ void setMotorState(uint8_t motorid,uint8_t act)
 uint16_t MotorTarget[6] = {0};
 void setMotorTarget(uint8_t motorid,uint16_t target)
 {
-    if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0 && MotorErr[motorid] != 0)
+    if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0)
    {
        MotorTarget[motorid] = target;
    }
@ -212,8 +212,11 @@ void AutoCalCtrl(void)
        MotorArr2state = 1;
        MotorArr3state = 1;
        setMotorState(MOTOR1,ACT_XQ);
-        setMotorState(MOTOR3,ACT_XQ);
-        setMotorState(MOTOR5,ACT_XQ);
+        //setMotorState(MOTOR3,ACT_XQ);
+        //setMotorState(MOTOR5,ACT_XQ);
+        wait1=0;
+        wait2=0;
+        wait3=0;
        autocalcounter[0] = 0;
        autocalcounter[1] = 0;
        autocalcounter[2] = 0;
@ -284,7 +287,7 @@ void AutoCalCtrl(void)
        }
        if (autocalcounter[0] > 3000 || MotorErr[MOTOR1] != 0)
        {
-            MotorArr1state = 4;
+            MotorArr1state++;
            wait1 = 0;
            setMotorState(MOTOR1,ACT_NOACT);
        }
@ -342,7 +345,23 @@ void AutoCalCtrl(void)
    //2
     switch (MotorArr2state)
    {
-    case 1://motor3 xq
+    case 1:
+        if (MotorArr1state == 0)
+        {
+            wait2++;
+            if (wait2 > 50)
+            {
+                wait2 = 0;
+                MotorArr2state++;
+                setMotorState(MOTOR3,ACT_XQ);
+            }
+        }
+        else
+        {
+            wait2 = 0;
+        }
+        break;
+    case 2://motor3 xq
        autocalcounter[1]++;
        if (MotorHardStop1[MOTOR3] != 0)
        {
@ -352,12 +371,12 @@ void AutoCalCtrl(void)
        }
        if (autocalcounter[1] > 3000 || MotorErr[MOTOR3] != 0)
        {
-            MotorArr2state = 4;
+            MotorArr2state = 5;
            wait2 = 0;
            setMotorState(MOTOR3,ACT_NOACT);
        }
        break;
-    case 2://wait
+    case 3://wait
        wait2++;
        if (wait2 > 50)
        {
@ -366,7 +385,7 @@ void AutoCalCtrl(void)
            autocalcounter[1] = 0;
        }
        break;
-    case 3://motor3 xh 
+    case 4://motor3 xh 
        autocalcounter[1]++;
        if (MotorHardStop2[MOTOR3] != 0)
        {
@ -376,12 +395,12 @@ void AutoCalCtrl(void)
        }
        if (autocalcounter[1] > 3000 || MotorErr[MOTOR3] != 0)
        {
-            MotorArr2state = 4;
+            MotorArr2state++;
            wait2 = 0;
            setMotorState(MOTOR3,ACT_NOACT);
        }
        break;
-    case 4://wait
+    case 5://wait
        wait2++;
        if (wait2 > 50)
        {
@ -390,7 +409,7 @@ void AutoCalCtrl(void)
            autocalcounter[1] = 0;
        }
        break;
-    case 5://motor4 xq
+    case 6://motor4 xq
        autocalcounter[1]++;
        if (MotorHardStop1[MOTOR4] != 0)
        {
@ -404,7 +423,7 @@ void AutoCalCtrl(void)
            setMotorState(MOTOR4,ACT_NOACT);
        }
        break;
-    case 6://wait
+    case 7://wait
        wait2++;
        if (wait2 > 50)
        {
@ -413,7 +432,7 @@ void AutoCalCtrl(void)
            autocalcounter[1] = 0;
        }
        break;
-    case 7:
+    case 8:
        autocalcounter[1]++;
        if (MotorHardStop2[MOTOR4] != 0)
        {
@ -432,7 +451,23 @@ void AutoCalCtrl(void)
    }
    switch (MotorArr3state)
    {
-    case 1://motor5 xq
+    case 1:
+        if (MotorArr2state == 0)
+        {
+            wait3++;
+            if (wait3 > 50)
+            {
+                wait3 = 0;
+                MotorArr3state++;
+                setMotorState(MOTOR5,ACT_XQ);
+            }
+        }
+        else
+        {
+            wait3 = 0;
+        }
+        break;
+    case 2://motor5 xq
        autocalcounter[2]++;
        if (MotorHardStop1[MOTOR5] != 0)
        {
@ -442,12 +477,12 @@ void AutoCalCtrl(void)
        }
        if (autocalcounter[2] > 3000 || MotorErr[MOTOR5] != 0)
        {
-            MotorArr3state = 4;
+            MotorArr3state = 5;
            wait3 = 0;
            setMotorState(MOTOR5,ACT_NOACT);
        }
        break;
-    case 2://wait
+    case 3://wait
        wait3++;
        if (wait3 > 50)
        {
@ -456,7 +491,7 @@ void AutoCalCtrl(void)
            autocalcounter[2] = 0;
        }
        break;
-    case 3://motor5 xh 
+    case 4://motor5 xh 
        autocalcounter[2]++;
        if (MotorHardStop2[MOTOR5] != 0)
        {
@ -466,12 +501,12 @@ void AutoCalCtrl(void)
        }
        if (autocalcounter[2] > 3000 || MotorErr[MOTOR5] != 0)
        {
-            MotorArr3state = 4;
+            MotorArr3state = 5;
            wait3 = 0;
            setMotorState(MOTOR5,ACT_NOACT);
        }
        break;
-    case 4://wait
+    case 5://wait
        wait3++;
        if (wait3 > 50)
        {
@ -480,7 +515,7 @@ void AutoCalCtrl(void)
            autocalcounter[2] = 0;
        }
        break;
-    case 5://motor6 xq
+    case 6://motor6 xq
        autocalcounter[2]++;
        if (MotorHardStop1[MOTOR6] != 0)
        {
@ -494,7 +529,7 @@ void AutoCalCtrl(void)
            setMotorState(MOTOR6,ACT_NOACT);
        }
        break;
-    case 6://wait
+    case 7://wait
        wait3++;
        if (wait3 > 50)
        {
@ -503,7 +538,7 @@ void AutoCalCtrl(void)
            autocalcounter[2] = 0;
        }
        break;
-    case 7:
+    case 8:
        autocalcounter[2]++;
        if (MotorHardStop2[MOTOR6] != 0)
        {
@ -759,26 +794,27 @@ void MotorCtrl(void)//10ms
        MotorState[MOTOR5] = ACT_NOACT;
        MotorState[MOTOR6] = ACT_NOACT;
    }
-
    for (i = 0; i < 6; i++)
    {
        MotorStateReal[i] = MotorState[i];
-        if (MotorState[i] == ACT_NOACT  && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
-        {
-            if (MotorErr[i] != 0)
-            {
-                MotorTarget[i] = 0;
    }
    
+    for (i = 0; i < 6; i++)
+    {
+        
+        if (MotorState[i] == ACT_NOACT  && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
+        {
            if (MotorTarget[i]!=0 && MotorHardStop1[i] > MotorTarget[i] && MotorTarget[i] > MotorHardStop2[i])
            {
                if (MotorTarget[i] > MotorHallLoc[i]+10)
                {
                    MotorStateReal[i] = ACT_XQ;
+                    break;
                }
                else if (MotorTarget[i] < MotorHallLoc[i]-10)
                {
                    MotorStateReal[i] = ACT_XH;
+                    break;
                }
                else
                {
@ -797,9 +833,7 @@ void MotorCtrl(void)//10ms
            {
                MotorStateReal[i] = ACT_NOACT;
            }
-            
        }
-        
        else
        {
            MotorTarget[i] = 0;
@ -975,7 +1009,6 @@ void HallDetecte(void)
                {
                    HallErrorCount[i] = 500;
                    MotorErr[i] = 1;
-                    MotorTarget[i] = 0;
                }
                
            }
--- a/BCZT/user/appTask.c
+++ b/BCZT/user/appTask.c
@ -67,13 +67,12 @@ void Apply_task(void)
    if (Timer_5ms_flag == 1)
    {
        Timer_5ms_flag = 0;
-        
+        KeyPro();
    }

    if (Timer_10ms_flag == 1)
    {
        Timer_10ms_flag = 0;
-        KeyPro();
        MotorCtrl();
        LIN_Task();
    }
Author	SHA1	Message	Date
sunbeam	5edb68af06	更新hex文件	2024-08-30 16:37:32 +08:00
sunbeam	2123375f41	更新SW0104	2024-08-16 08:47:51 +08:00
sunbeam	14c3b38c04	改为一个电机动作	2024-08-15 19:34:01 +08:00