M12-05P/app/user/MotorCtrl.c

#include "MotorCtrl.h"

#include "hwCtrl.h"
#include "PINdef.h"
#include "appTask.h"
//#include "pfdl.h"


volatile uint8_t MotorState[6],MotorStateReal[6];
uint16_t current1;
uint8_t OC1flag;
uint16_t OC_Count1=0;
uint8_t act_step[6];

void MotorValueInit(void)
{
    uint8_t i = 0;
    for (i = 0; i < 6; i++)
    {
        MotorState[i] = ACT_NOACT;
        MotorStateReal[i] = ACT_NOACT;
    }
}


void setMotorState(uint8_t motorid,uint8_t act)
{
    if (act <= ACT_XH && motorid < 6)
    {
        MotorState[motorid] = act;
        act_step[motorid] = 0;
    }
}

extern uint8_t key_p1_pressed, key_p2_pressed;
extern uint8_t key_p1_released, key_p2_released;
void MotorCtrl(void)//10ms
{
    static uint8_t MotorRunState = 0;
    static uint16_t p1_cnt, p2_cnt;
    switch (MotorRunState)
    {
    case 0:
        if (key_p1_pressed == 1 && p1_cnt < 0xffff)
        {
            p1_cnt++;
            if (p1_cnt >= 150)
            {
                setMotorState(MOTOR1, ACT_XQ);
                MotorRunState = 1;
                //key_p1_released = 0;
                key_p2_released = 0;
            }
            key_p1_released = 0;
        }
        if (key_p2_pressed == 1 && p2_cnt < 0xffff)
        {
            p2_cnt++;
            if (p2_cnt >= 150)
            {
                setMotorState(MOTOR1, ACT_XH);
                MotorRunState = 1;
                key_p1_released = 0;
                //key_p2_released = 0;
            }
            key_p2_released = 0;
        }
        if (key_p1_released == 1 && p1_cnt < 100 && p1_cnt > 0)
        {
            key_p1_released = 0;
            setMotorState(MOTOR1, ACT_XQ);
            MotorRunState = 2;
            p1_cnt = 0;
        }
        if (key_p2_released == 1 && p2_cnt < 100 && p2_cnt > 0)
        {
            key_p2_released = 0;
            setMotorState(MOTOR1, ACT_XH);
            MotorRunState = 2;
            p2_cnt = 0;
        }
        break;
    case 1://长按
        if (key_p1_released == 1 || key_p2_released == 1 || OC1flag)
        {
            key_p1_released = 0;
            key_p2_released = 0;
            setMotorState(MOTOR1, ACT_NOACT);
            MotorRunState = 3;
            OC1flag = 0;
        }
        break;
    case 2://短按
        if (key_p1_pressed == 1 || key_p2_pressed == 1 || OC1flag)
        {
            key_p1_pressed = 0;
            key_p2_pressed = 0;
            setMotorState(MOTOR1, ACT_NOACT);
            MotorRunState = 3;
            OC1flag = 0;
        }
        break;
    case 3:
        key_p1_pressed = 0;
        key_p2_pressed = 0;
        key_p1_released = 0;
        key_p2_released = 0;
        p1_cnt = 0;
        p2_cnt = 0;
        MotorRunState = 0;
        break;
    default:
        break;
    }
    MotorStateReal[MOTOR1] = MotorState[MOTOR1];
    
    
    MOTOR1Ctrl(MotorStateReal[MOTOR1]);
    //MOTOR2Ctrl(MotorStateReal[MOTOR2]);
    //MOTOR1Ctrl(MotorState[MOTOR1]);
}

uint16_t getOC_th(void)
{
    
    return 100U;
    
}

void CurrentDetecte(void)
{
    
    
    uint16_t OC_th;
    current1 = getAdval(ADCH_RLY1);
    OC_th = getOC_th();
    if (current1 > OC_th && OC1flag == 0)
    {
        OC_Count1++;
        if (OC_Count1 >= 200)
        {
            OC_Count1 = 0;
            OC1flag = 1;
        }
    }
    else
    {
        OC_Count1 = 0;
    }


}