M12-04P/user/appTask.c

#include "r_cg_macrodriver.h"
#include "appTask.h"
#include "event.h"
#include "r_cg_port.h"
#include "r_cg_timer.h"
#include "r_cg_wdt.h"
#include "hwCtrl.h"
#include "r_cg_adc.h"
#include "r_cg_serial.h"
#include "PINdef.h"
#include "MotorCtrl.h"



extern uint16_t g_AdVal[3];
uint8_t txbuf[10];
void TxTask(void);
void HardWare_Init(void)
{
    //时基初始化
    R_TAU0_Channel0_Start();

    //UART初始化
    R_UART0_Start();

    //AD 初始化
    R_ADC_Start();
    R_ADC_Set_OperationOn();
    R_TAU0_Channel1_Start();

    //电机初始化
    MotorValueInit();
    MOTOR1Ctrl(ACT_NOACT);

}

void Variable_Init(void)
{
    txbuf[0] = 0xaa;
    txbuf[1] = 0x55;
}
#define KEY1    0
#define KEY2    1
void keyLogic(uint8_t keyno)
{
    switch (keyno)
    {
    case KEY1:
        setMotorState(0,ACT_XQ);
        break;
    case KEY2:
        setMotorState(0,ACT_XH);
        break;
    default:
        break;
    }

}
void keyLogicRelease(uint8_t keyno)
{
    switch (keyno)
    {
    case KEY1:    
        setMotorState(0,ACT_NOACT);
        break;
    case KEY2:    
        setMotorState(0,ACT_NOACT);
        break;
    default:
        break;
    }

}
#define KEY_DELAY_TIME_30ms  10
#define KEY_DELAY_TIME_200ms 60
void keyScan(void)//5ms
{
    static uint16_t keydelay[9]={0,0,0,0,0,0,0,0,0};
    static uint8_t keyflag[9]={0,0,0,0,0,0,0,0,0};
    static uint8_t keep_count[9]={0,0,0,0,0,0,0,0,0};
    uint8_t keyval,i;
    //向后
    keyval = GetIOState(SIGID_KEY1);
    if (keyval == 1 )//&& keyflag[KEY1] == 0
    {
        keydelay[KEY1]++;
        if (keydelay[KEY1] > KEY_DELAY_TIME_30ms)//30ms
        {   
            keyflag[KEY1] = 1;
        }
        if (keydelay[KEY1] > KEY_DELAY_TIME_200ms)//200ms
        {   
            keyflag[KEY1] = 1;
            keydelay[KEY1] = KEY_DELAY_TIME_200ms;
            setMotorState(0,ACT_XQ);
        }
    }
    else if (keyval == 0)
    {
        if (keyflag[KEY1] == 1 && keydelay[KEY1] < KEY_DELAY_TIME_200ms)
        {
            //自动
            setMotorAutoXH();
        }
        if (keyflag[KEY1] == 1 && keydelay[KEY1] >= KEY_DELAY_TIME_200ms)
        {
            setMotorState(0,ACT_NOACT);
        }
        keyflag[KEY1] = 0;
        keydelay[KEY1] = 0;

    }
    //向前
    keyval = GetIOState(SIGID_KEY2);
    if (keyval == 1 )//&& keyflag[KEY2] == 0
    {
        keydelay[KEY2]++;
        if (keydelay[KEY2] > KEY_DELAY_TIME_30ms)//30ms
        {   
            keyflag[KEY2] = 1;
        }
        if (keydelay[KEY2] > KEY_DELAY_TIME_200ms)//200ms
        {   
            keyflag[KEY2] = 1;
            keydelay[KEY2] = KEY_DELAY_TIME_200ms;
            setMotorState(0,ACT_XH);
        }
        
    }
    else if (keyval == 0)
    {
        if (keyflag[KEY2] == 1 && keydelay[KEY2] < KEY_DELAY_TIME_200ms)
        {
            //自动
            setMotorAutoXQ();
        }
        if (keyflag[KEY2] == 1 && keydelay[KEY2] >= KEY_DELAY_TIME_200ms)
        {
            setMotorState(0,ACT_NOACT);
        }
        keyflag[KEY2] = 0;
        keydelay[KEY2] = 0;
    }
    
}

void AppTask(void)
{
    static uint8_t ledno = 1,last = 0;
    if (TimeBase1msFlag == 1)
    {
        TimeBase1msFlag = 0;
        HallDetecte();
        CurrentDetecte();
    }
    if (TimeBase5msFlag == 1)
    {
        TimeBase5msFlag = 0;
        keyScan();
        
    }
    

    if (TimeBase10msFlag == 1)
    {
        TimeBase10msFlag = 0;
        MotorCtrl();
    }
    
    if (TimeBase100msFlag == 1)
    {
        TimeBase100msFlag = 0;
        TxTask();
        R_WDT_Restart();

    }
    
    if (TimeBase1000msFlag == 1)
    {
        TimeBase1000msFlag = 0;
    }
    
}


void TxTask(void)
{
    uint16_t temp;
    //txbuf[2] = GetIOState(SIGID_KEY1);
    //txbuf[3] = GetIOState(SIGID_KEY2);
    temp = getMotorLoc();
    txbuf[2] = temp>>8;
    txbuf[3] = temp&0xff;
    txbuf[4] = GetIOState(SIGID_HALL1);
    R_UART0_Send(txbuf,5);
}