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BCZT_NEW/BCZT/user/appTask.c
sunbeam a39904dbff 更新
2024-03-08 15:51:51 +08:00

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/**
* @file appTask.c
* @author sunbeam
* @brief
* @version 0.1
* @date 2023-11-14
*
* @copyright Copyright (c) 2023
*
*/
#include "appTask.h"
#include "iodefine.h"
#include "r_cg_adc.h"
#include "PINdef.h"
#include "hwCtrl.h"
#include "MotorCtrl.h"
#include "RLIN_driver.h"
#include "r_cg_wdt.h"
#include "r_cg_timer.h"
static uint8_t EEL_BUF[50];
unsigned char IGN_Voltage_error_flag, IGN_Voltage_error_count;
unsigned char Timer_1ms_flag;
unsigned char Timer_5ms_flag;
unsigned char Timer_10ms_flag;
unsigned char Timer_20ms_flag;
unsigned char Timer_50ms_flag;
unsigned char Timer_1000ms_flag;
/***************************************************/
static unsigned int EEL_SAVE_CNT_DOWN_TIMER;
static uint8_t EEL_SAVE_ENABLE;
MotorStateEE_Type MotorStateEE;
MotorStateEE_Type *pEE;
void MotorCtrl(void);
void HallDetecte(void);
void LIN_Task(void);
void TfJr_CtrlTask(void);
void JrTask(void);
void Lock_Ctrl(void);
extern uint8_t OC1flag,OC2flag,OC3flag;
uint8_t TfState,JrState;
unsigned char keybyte1,keybyte2,keybyte3;
void Apply_task(void)
{
//static uint8_t temp;
if (Timer_1ms_flag == 1)
{
Timer_1ms_flag = 0;
KeyScan();
HallDetecte();
CurrentDetecte();
JrTask();
if (EEL_SAVE_CNT_DOWN_TIMER > 0)
{
EEL_SAVE_CNT_DOWN_TIMER--;
}
}
if (Timer_5ms_flag == 1)
{
Timer_5ms_flag = 0;
KeyPro();
}
if (Timer_10ms_flag == 1)
{
Timer_10ms_flag = 0;
MotorCtrl();
LIN_Task();
}
if (Timer_20ms_flag == 1)
{
Timer_20ms_flag = 0;
//R_WDT_Restart();
}
if (Timer_50ms_flag == 1)
{
Timer_50ms_flag = 0;
TfJr_CtrlTask();
Lock_Ctrl();
}
if (Timer_1000ms_flag == 1)
{
Timer_1000ms_flag = 0;
//temp = !temp;
//MOTOR1Ctrl(temp);
}
}
extern uint16_t MotorHallLoc[6],MotorHardStop1[6],MotorHardStop2[6];
extern uint8_t Master_TxData1[];
extern uint16_t current1,current2,current3;
void LIN_Task(void)
{
static uint8_t lin_sch_count=0;
switch (lin_sch_count)
{
case 0:
Master_TxData1[0] = (JrState<<4)|(TfState<<6);
Master_TxData1[1] = keybyte3;
Master_TxData1[3] = current1;
Master_TxData1[4] = current2;
Master_TxData1[5] = current3;
//Master_TxData1[6] = MotorHallLoc[2]>>8;
//Master_TxData1[7] = MotorHallLoc[2];
RLIN_Master_HeaderTransmit(0x80);
break;
case 1:
RLIN_Master_HeaderTransmit(0x99);
break;
case 2:
RLIN_Master_HeaderTransmit(0x61);
break;
case 3:
break;
default:
lin_sch_count = 0;
break;
}
lin_sch_count++;
if (lin_sch_count > 2)
{
lin_sch_count = 0;
}
}
void LIN_Rx_Handle(uint8_t pid,uint8_t *data)
{
uint8_t id = pid & 0x3f;
switch (id)
{
case 0x21:
keybyte3 = data[4];
break;
case 0x19:
//MOTOR1Ctrl(1);
keybyte1 = data[0];
keybyte2 = data[1];
break;
default:
break;
}
}
void KeyPressLogic(uint8_t keyid)
{
switch (keyid)
{
case KEYID_MOTOR1_XQ:
setMotorState(MOTOR1,ACT_XQ);
break;
case KEYID_MOTOR1_XH:
setMotorState(MOTOR1,ACT_XH);
break;
case KEYID_MOTOR2_XQ:
setMotorState(MOTOR2,ACT_XQ);
break;
case KEYID_MOTOR2_XH:
setMotorState(MOTOR2,ACT_XH);
break;
case KEYID_MOTOR3_XQ:
setMotorState(MOTOR3,ACT_XQ);
break;
case KEYID_MOTOR3_XH:
setMotorState(MOTOR3,ACT_XH);
break;
case KEYID_MOTOR4_XQ:
setMotorState(MOTOR4,ACT_XQ);
break;
case KEYID_MOTOR4_XH:
setMotorState(MOTOR4,ACT_XH);
break;
case KEYID_MOTOR5_XQ:
setMotorState(MOTOR5,ACT_XQ);
break;
case KEYID_MOTOR5_XH:
setMotorState(MOTOR5,ACT_XH);
break;
case KEYID_MOTOR6_XQ:
setMotorState(MOTOR6,ACT_XQ);
break;
case KEYID_MOTOR6_XH:
setMotorState(MOTOR6,ACT_XH);
break;
case KEYID_MM:
MotorMemoryKeyMMPress();
break;
case KEYID_M1:
MotorMemoryKeyM1Press();
break;
case KEYID_M2:
MotorMemoryKeyM2Press();
break;
case KEYID_M3:
MotorMemoryKeyM3Press();
break;
case KEYID_K4:
JrState++;
TfState = 0;
if (JrState > 3)
{
JrState = 0;
}
break;
case KEYID_K3:
TfState++;
JrState = 0;
if (TfState > 3)
{
TfState = 0;
}
break;
case KEYID_K2:
break;
case KEYID_K1:
break;
default:
break;
}
}
void KeyReleaseLogic(uint8_t keyid)
{
switch (keyid)
{
case KEYID_MOTOR1_XQ:
setMotorState(MOTOR1,ACT_NOACT);
break;
case KEYID_MOTOR1_XH:
setMotorState(MOTOR1,ACT_NOACT);
break;
case KEYID_MOTOR2_XQ:
setMotorState(MOTOR2,ACT_NOACT);
break;
case KEYID_MOTOR2_XH:
setMotorState(MOTOR2,ACT_NOACT);
break;
case KEYID_MOTOR3_XQ:
setMotorState(MOTOR3,ACT_NOACT);
break;
case KEYID_MOTOR3_XH:
setMotorState(MOTOR3,ACT_NOACT);
break;
case KEYID_MOTOR4_XQ:
setMotorState(MOTOR4,ACT_NOACT);
break;
case KEYID_MOTOR4_XH:
setMotorState(MOTOR4,ACT_NOACT);
break;
case KEYID_MOTOR5_XQ:
setMotorState(MOTOR5,ACT_NOACT);
break;
case KEYID_MOTOR5_XH:
setMotorState(MOTOR5,ACT_NOACT);
break;
case KEYID_MOTOR6_XQ:
setMotorState(MOTOR6,ACT_NOACT);
break;
case KEYID_MOTOR6_XH:
setMotorState(MOTOR6,ACT_NOACT);
break;
case KEYID_MM:
MotorMemoryKeyMMRelease();
break;
case KEYID_M1:
MotorMemoryKeyM1Release();
break;
case KEYID_M2:
MotorMemoryKeyM2Release();
break;
case KEYID_M3:
MotorMemoryKeyM3Release();
break;
default:
break;
}
}
void KeyPro(void)
{
uint8_t keyid;
for (keyid = 0; keyid < KEY_NUM; keyid++)
{
if (getKeyPressFlag(keyid))
{
KeyPressLogic(keyid+1);
StopAutoCal();
}
if (getKeyReleaseFlag(keyid))
{
KeyReleaseLogic(keyid+1);
}
}
}
void EEL_READ(void)
{
uint16_t checksum;
uint8_t *src,*des,i;
ReadFlashData(EEL_BUF, 0x000F1000, sizeof(MotorStateEE));
pEE = (MotorStateEE_Type *)EEL_BUF;
checksum = pEE->kbsoft1 + pEE->kbsoft2 + pEE->kbnow + pEE->zysoft1 + pEE->zysoft2 + pEE->zynow;
if (pEE ->start == 0x55AA && pEE->stop == 0xAA55 && checksum == pEE->checksum)
{
des = &MotorStateEE;
src = EEL_BUF;
for (i = 0; i < sizeof(MotorStateEE); i++)
{
des[i] = src[i];
}
}
}
uint16_t SupplyVoltage;
void IGN_Voltage_Detect(void)
{
uint32_t adval;
adval = getAdval(ADCH_BAT);
SupplyVoltage = (adval*57*5)>>10;
if (adval <= 305 )
{
IGN_Voltage_error_count++;
if (IGN_Voltage_error_count >= 250)
{
IGN_Voltage_error_count = 0;
IGN_Voltage_error_flag = 1;
}
}
else if (adval >= 592 )//16.5
{
IGN_Voltage_error_count++;
if (IGN_Voltage_error_count >= 250)
{
IGN_Voltage_error_count = 0;
IGN_Voltage_error_flag = 2;
}
}
else if (adval >= 323 && adval <= 574)
{
IGN_Voltage_error_count = 0;
IGN_Voltage_error_flag = 0;
}
if (IGN_Voltage_error_flag != 0)
{
// TAU0_Channel1_ChangeDuty(0);
}
}
void value_init(void)
{
R_TAU0_Channel0_Start();
R_TAU0_Channel2_Start();
R_ADC_Start();
R_ADC_Set_OperationOn();
R_TMR_RJ0_Start();
OUT_LINEN = 1;
RLIN_Master_Init();
MotorValueInit();
}
void Timer_Pro(void)
{
static unsigned int Timer_1ms_tick_count;
Timer_1ms_tick_count++;
Timer_1ms_flag=1;
if(Timer_1ms_tick_count%5==0)
{
Timer_5ms_flag=1;
}
if(Timer_1ms_tick_count%10==0)
{
Timer_10ms_flag=1;
}
if(Timer_1ms_tick_count%20==0)
{
Timer_20ms_flag=1;
}
if(Timer_1ms_tick_count%50==0)
{
Timer_50ms_flag=1;
}
if(Timer_1ms_tick_count%1000==0)
{
Timer_1000ms_flag = 1;
}
if(Timer_1ms_tick_count>=5000)
{
Timer_1ms_tick_count=0;
}
}
const uint8_t TfDutyTable[4] = {0,100,80,50};//{0,100,80,50};
const uint8_t JrDutyTable[4] = {0,100,80,50};//{0,100,80,50};
void TfJr_CtrlTask(void)
{
if (JrState < 4)
{
SetJrDuty(JrDutyTable[JrState]);
}
if (TfState < 4)
{
SetTfDuty(TfDutyTable[TfState]);
}
}
void JrTask(void)
{
static uint16_t count;
uint16_t duty;
if (JrState == 0)
{
OUT_JR1 = 0;
OUT_JR2 = 0;
count = 0;
}
else
{
duty = TfDutyTable[JrState];
}
count++;
if (count >= 100)
{
count = 0;
}
if (count >= duty)
{
OUT_JR1 = 0;
OUT_JR2 = 0;
}
else
{
OUT_JR1 = 1;
OUT_JR2 = 1;
}
}
#define LOCK_OUT_TIME 80
void Lock_Ctrl(void)//50ms
{
uint8_t key1,key2;
static uint8_t count;
key1 = GetKeyState(KEYID_K2);
key2 = GetKeyState(KEYID_K1);
if (key1 == 1 && key2 == 0)
{
if (count < LOCK_OUT_TIME)
{
count++;
OUT_LOCK1 = 1;
OUT_LOCK2 = 0;
}
else
{
OUT_LOCK1 = 0;
OUT_LOCK2 = 0;
}
}
else if (key1 == 0 && key2 == 1)
{
if (count < LOCK_OUT_TIME)
{
count++;
OUT_LOCK1 = 0;
OUT_LOCK2 = 1;
}
else
{
OUT_LOCK1 = 0;
OUT_LOCK2 = 0;
}
}
else
{
OUT_LOCK1 = 0;
OUT_LOCK2 = 0;
count = 0;
}
}
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