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sunbeam 2024-10-26 22:23:45 +08:00
parent 26f0e690a9
commit 30d9f894d6
5 changed files with 1001 additions and 278 deletions
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app/M12.mtpj
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@ -1122,15 +1122,298 @@ user
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<DebuggerProperty-EssentialProperty-Flash-PermitFlashProgramming>Yes</DebuggerProperty-EssentialProperty-Flash-PermitFlashProgramming>
<DebuggerProperty-EssentialProperty-Flash-ForceEraseChip>No</DebuggerProperty-EssentialProperty-Flash-ForceEraseChip>
<DebuggerProperty-EssentialProperty-Flash-UseLowVoltageFlashMode>Yes</DebuggerProperty-EssentialProperty-Flash-UseLowVoltageFlashMode>
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<DebuggerProperty-EssentialProperty-TargetConnect-TargetSuppliedVoltage>Use3_3V</DebuggerProperty-EssentialProperty-TargetConnect-TargetSuppliedVoltage>
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<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-IsDefaultItem>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-IsDefaultItem>
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<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-ObjectDownload>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-ObjectDownload>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-SymbolDownload>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-SymbolDownload>
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<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-UsePicPirodPidOffset>False</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-UsePicPirodPidOffset>
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<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-GenerateInformationForInputCompletion>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-GenerateInformationForInputCompletion>
<DebuggerProperty-DownloadProperty-DebugInformation-CpuReset>True</DebuggerProperty-DownloadProperty-DebugInformation-CpuReset>
<DebuggerProperty-DownloadProperty-Download-DownloadMode>SpeedPriority</DebuggerProperty-DownloadProperty-Download-DownloadMode>
<DebuggerProperty-DownloadProperty-Download-MonitorOverwrite>Yes</DebuggerProperty-DownloadProperty-Download-MonitorOverwrite>
<DebuggerProperty-DownloadProperty-DebugInformation-FlashErase>False</DebuggerProperty-DownloadProperty-DebugInformation-FlashErase>
<DebuggerProperty-DownloadProperty-DebugInformation-EventCorrection>SuspendEvent</DebuggerProperty-DownloadProperty-DebugInformation-EventCorrection>
<DebuggerProperty-DownloadProperty-DebugInformation-SkipStartup>True</DebuggerProperty-DownloadProperty-DebugInformation-SkipStartup>
<DebuggerProperty-DownloadProperty-DebugInformation-MainSymbol>XwBtAGEAaQBuAA==</DebuggerProperty-DownloadProperty-DebugInformation-MainSymbol>
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<DebuggerProperty-DownloadProperty-None-DefaultDownloadItemSupported>True</DebuggerProperty-DownloadProperty-None-DefaultDownloadItemSupported>
<DebuggerProperty-OptionalProperty-Register-UpdateDisplayInExecutionForPC>No</DebuggerProperty-OptionalProperty-Register-UpdateDisplayInExecutionForPC>
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<DebuggerProperty-OptionalProperty-Memory-VerifyCheck>Yes</DebuggerProperty-OptionalProperty-Memory-VerifyCheck>
<DebuggerProperty-OptionalProperty-AccessMemory-PermitToStopAndRead>No</DebuggerProperty-OptionalProperty-AccessMemory-PermitToStopAndRead>
<DebuggerProperty-OptionalProperty-AccessMemory-UpdateDisplayInExecution>Yes</DebuggerProperty-OptionalProperty-AccessMemory-UpdateDisplayInExecution>
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<DebuggerProperty-OptionalProperty-Break-BreakpointPriority>SoftwareBreak</DebuggerProperty-OptionalProperty-Break-BreakpointPriority>
<DebuggerProperty-OptionalProperty-Break-TimerPeripheralBreak>No</DebuggerProperty-OptionalProperty-Break-TimerPeripheralBreak>
<DebuggerProperty-OptionalProperty-Break-SerialPeripheralBreak>No</DebuggerProperty-OptionalProperty-Break-SerialPeripheralBreak>
<DebuggerProperty-OptionalProperty-PinMask-TargetResetMask>No</DebuggerProperty-OptionalProperty-PinMask-TargetResetMask>
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<DebuggerProperty-OptionalProperty-Step-SectionSkipStep>False</DebuggerProperty-OptionalProperty-Step-SectionSkipStep>
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<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-InputSignal>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>
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@ -1195,6 +1478,210 @@ user
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<DebuggerProperty-OptionalProperty-FailSafeBreak-UserStackSection>.stack_bss</DebuggerProperty-OptionalProperty-FailSafeBreak-UserStackSection>
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<DebuggerProperty-OptionalProperty-Step-SelectSectionList-Length>0</DebuggerProperty-OptionalProperty-Step-SelectSectionList-Length>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-InputSignal>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>
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<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem1-PulseWidth>1</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem1-PulseWidth>
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<Instance Guid="9feb165e-fbd4-4ce4-90a9-a2dbba0d90e0">
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<DebuggerProperty-EssentialProperty-Flash-IdCode-Code9>0</DebuggerProperty-EssentialProperty-Flash-IdCode-Code9>
<DebuggerProperty-EssentialProperty-Flash-PermitFlashProgramming>Yes</DebuggerProperty-EssentialProperty-Flash-PermitFlashProgramming>
<DebuggerProperty-EssentialProperty-Flash-ForceEraseChip>No</DebuggerProperty-EssentialProperty-Flash-ForceEraseChip>
<DebuggerProperty-EssentialProperty-Flash-UseLowVoltageFlashMode>Yes</DebuggerProperty-EssentialProperty-Flash-UseLowVoltageFlashMode>
<DebuggerProperty-EssentialProperty-Clock-MainClockForOCD>0</DebuggerProperty-EssentialProperty-Clock-MainClockForOCD>
<DebuggerProperty-EssentialProperty-Clock-SubClockForOCD>0</DebuggerProperty-EssentialProperty-Clock-SubClockForOCD>
<DebuggerProperty-EssentialProperty-Clock-MonitorClock>System</DebuggerProperty-EssentialProperty-Clock-MonitorClock>
<DebuggerProperty-EssentialProperty-TargetConnect-TargetSupplyPower>No</DebuggerProperty-EssentialProperty-TargetConnect-TargetSupplyPower>
<DebuggerProperty-EssentialProperty-TargetConnect-TargetSuppliedVoltage>Use3_3V</DebuggerProperty-EssentialProperty-TargetConnect-TargetSuppliedVoltage>
<DebuggerProperty-EssentialProperty-EmulatorConnect-SerialNumber />
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-Length>1</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-Length>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-DebuggerGuid />
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-IsDefaultItem>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-IsDefaultItem>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-DefaultItemProjectGuid>11607c7f-5d75-41e0-bfd3-04a1f8133273</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-DefaultItemProjectGuid>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-FileName>DefaultBuild\M12.abs</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-FileName>
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<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-ObjectDownload>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-ObjectDownload>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-SymbolDownload>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-SymbolDownload>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-UsePicPidOffset>False</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-UsePicPidOffset>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-UsePicPirodPidOffset>False</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-UsePicPirodPidOffset>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-PicOffset>0</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-PicOffset>
<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-PirodOffset>0</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-PirodOffset>
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<DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-GenerateInformationForInputCompletion>True</DebuggerProperty-DownloadProperty-DebugInformation-DownloadFiles-DownloadItem0-GenerateInformationForInputCompletion>
<DebuggerProperty-DownloadProperty-DebugInformation-CpuReset>True</DebuggerProperty-DownloadProperty-DebugInformation-CpuReset>
<DebuggerProperty-DownloadProperty-Download-DownloadMode>SpeedPriority</DebuggerProperty-DownloadProperty-Download-DownloadMode>
<DebuggerProperty-DownloadProperty-Download-MonitorOverwrite>Yes</DebuggerProperty-DownloadProperty-Download-MonitorOverwrite>
<DebuggerProperty-DownloadProperty-DebugInformation-FlashErase>False</DebuggerProperty-DownloadProperty-DebugInformation-FlashErase>
<DebuggerProperty-DownloadProperty-DebugInformation-EventCorrection>SuspendEvent</DebuggerProperty-DownloadProperty-DebugInformation-EventCorrection>
<DebuggerProperty-DownloadProperty-DebugInformation-SkipStartup>True</DebuggerProperty-DownloadProperty-DebugInformation-SkipStartup>
<DebuggerProperty-DownloadProperty-DebugInformation-MainSymbol>XwBtAGEAaQBuAA==</DebuggerProperty-DownloadProperty-DebugInformation-MainSymbol>
<DebuggerProperty-DownloadProperty-DebugInformation-MaxLoaderMemorySize>500</DebuggerProperty-DownloadProperty-DebugInformation-MaxLoaderMemorySize>
<DebuggerProperty-DownloadProperty-None-DefaultDownloadItemSupported>True</DebuggerProperty-DownloadProperty-None-DefaultDownloadItemSupported>
<DebuggerProperty-OptionalProperty-Register-UpdateDisplayInExecutionForPC>No</DebuggerProperty-OptionalProperty-Register-UpdateDisplayInExecutionForPC>
<DebuggerProperty-OptionalProperty-Register-UpdateIntervalForPC>500</DebuggerProperty-OptionalProperty-Register-UpdateIntervalForPC>
<DebuggerProperty-OptionalProperty-Memory-VerifyCheck>Yes</DebuggerProperty-OptionalProperty-Memory-VerifyCheck>
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<DebuggerProperty-OptionalProperty-AccessMemory-UpdateDisplayInExecution>Yes</DebuggerProperty-OptionalProperty-AccessMemory-UpdateDisplayInExecution>
<DebuggerProperty-OptionalProperty-AccessMemory-UpdateInterval>500</DebuggerProperty-OptionalProperty-AccessMemory-UpdateInterval>
<DebuggerProperty-OptionalProperty-Break-BreakpointPriority>SoftwareBreak</DebuggerProperty-OptionalProperty-Break-BreakpointPriority>
<DebuggerProperty-OptionalProperty-Break-TimerPeripheralBreak>No</DebuggerProperty-OptionalProperty-Break-TimerPeripheralBreak>
<DebuggerProperty-OptionalProperty-Break-SerialPeripheralBreak>No</DebuggerProperty-OptionalProperty-Break-SerialPeripheralBreak>
<DebuggerProperty-OptionalProperty-PinMask-TargetResetMask>No</DebuggerProperty-OptionalProperty-PinMask-TargetResetMask>
<DebuggerProperty-OptionalProperty-PinMask-InternalResetMask>No</DebuggerProperty-OptionalProperty-PinMask-InternalResetMask>
<DebuggerProperty-OptionalProperty-Step-SectionSkipStep>False</DebuggerProperty-OptionalProperty-Step-SectionSkipStep>
<DebuggerProperty-OptionalProperty-Step-SelectSectionList-Length>0</DebuggerProperty-OptionalProperty-Step-SelectSectionList-Length>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem0-InputSignal>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem0-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem0-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem0-PulseWidth>1</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem0-PulseWidth>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem1-IsUse>False</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem1-IsUse>
<DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem1-PulseWidth>1</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerOutputItemList-ExternalTriggerOutputItem1-PulseWidth>
<DebuggerProperty-HookProperty-HookTransaction-Downloading-Length>0</DebuggerProperty-HookProperty-HookTransaction-Downloading-Length>
<DebuggerProperty-HookProperty-HookTransaction-Downloaded-Length>0</DebuggerProperty-HookProperty-HookTransaction-Downloaded-Length>
<DebuggerProperty-HookProperty-HookTransaction-Reset-Length>0</DebuggerProperty-HookProperty-HookTransaction-Reset-Length>
<DebuggerProperty-HookProperty-HookTransaction-Going-Length>0</DebuggerProperty-HookProperty-HookTransaction-Going-Length>
<DebuggerProperty-HookProperty-HookTransaction-Broke-Length>0</DebuggerProperty-HookProperty-HookTransaction-Broke-Length>
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<DebuggerProperty-HookProperty-HookTransaction-Disconnecting-Length>0</DebuggerProperty-HookProperty-HookTransaction-Disconnecting-Length>
</Instance> </Instance>
</Class> </Class>
<Class Guid="9f7af90c-526c-4f28-af29-524df208b9e0"> <Class Guid="9f7af90c-526c-4f28-af29-524df208b9e0">
@ -3050,7 +3537,7 @@ user
&lt;/Effect&gt; &lt;/Effect&gt;
&lt;/IICA0&gt; &lt;/IICA0&gt;
&lt;ProjectName Name="PrjName" Text="M12" /&gt; &lt;ProjectName Name="PrjName" Text="M12" /&gt;
&lt;ProjectPath Name="PrjPath" Text="F:\FCB_project\temp\M12\M12-05P\code\app" /&gt; &lt;ProjectPath Name="PrjPath" Text="E:\workspace\M12-05P\CODE\app" /&gt;
&lt;ProjectKind Name="PrjKind" Text="Project78K0R" /&gt; &lt;ProjectKind Name="PrjKind" Text="Project78K0R" /&gt;
&lt;DeviceName Name="DeviceName" Fixed="" Text="RL78G12" /&gt; &lt;DeviceName Name="DeviceName" Fixed="" Text="RL78G12" /&gt;
&lt;MCUName Name="MCUName" Text="RL78G12_20pin" /&gt; &lt;MCUName Name="MCUName" Text="RL78G12_20pin" /&gt;
@ -4227,7 +4714,6 @@ user
&lt;/RL78G12&gt;</CodeGenerator> &lt;/RL78G12&gt;</CodeGenerator>
<FormatVersion>1.0</FormatVersion> <FormatVersion>1.0</FormatVersion>
<ToolGUID>6c6bb60a-ffe1-4884-8dec-f255a2e58155</ToolGUID> <ToolGUID>6c6bb60a-ffe1-4884-8dec-f255a2e58155</ToolGUID>
<CodeGeneratorItem>b8348788-df17-4b71-a9fa-eab0f1824fb1</CodeGeneratorItem>
</Instance> </Instance>
</Class> </Class>
<Class Guid="2a2c2a43-ecdb-4e88-80bd-e75f3e33db90"> <Class Guid="2a2c2a43-ecdb-4e88-80bd-e75f3e33db90">

5
app/M12.rcpe
View File

@ -37,9 +37,8 @@
<Path>user\MotorCtrl.c</Path> <Path>user\MotorCtrl.c</Path>
</Files> </Files>
<DebugOptions> <DebugOptions>
<DebugTool>Simulator</DebugTool>
<ConnectSettings> <ConnectSettings>
<MainClock>4000000</MainClock> <MainClock>0</MainClock>
</ConnectSettings> </ConnectSettings>
<DebugToolSettings /> <DebugToolSettings />
</DebugOptions> </DebugOptions>
@ -230,7 +229,7 @@
&lt;/Effect&gt; &lt;/Effect&gt;
&lt;/IICA0&gt; &lt;/IICA0&gt;
&lt;ProjectName Name="PrjName" Text="M12" /&gt; &lt;ProjectName Name="PrjName" Text="M12" /&gt;
&lt;ProjectPath Name="PrjPath" Text="F:\FCB_project\temp\M12\M12-05P\code\app" /&gt; &lt;ProjectPath Name="PrjPath" Text="E:\workspace\M12-05P\CODE\app" /&gt;
&lt;ProjectKind Name="PrjKind" Text="Project78K0R" /&gt; &lt;ProjectKind Name="PrjKind" Text="Project78K0R" /&gt;
&lt;DeviceName Name="DeviceName" Fixed="" Text="RL78G12" /&gt; &lt;DeviceName Name="DeviceName" Fixed="" Text="RL78G12" /&gt;
&lt;MCUName Name="MCUName" Text="RL78G12_20pin" /&gt; &lt;MCUName Name="MCUName" Text="RL78G12_20pin" /&gt;

450
app/M12.sunbeam.mtud
View File

File diff suppressed because one or more lines are too long

271
app/user/MotorCtrl.c
View File

@ -33,208 +33,98 @@ void setMotorState(uint8_t motorid,uint8_t act)
} }
} }
extern uint8_t key_p1_pressed, key_p2_pressed;
extern uint8_t key_p1_released, key_p2_released;
/*
20240106
正转时：第一个电机M1正转6秒后，M2电机正转，M1最大运行时间15秒
反转时：第一个电机M2反转8秒后，M1电机反转，M2最大运行时间17秒。
20240111
正转时：第一个电机M1正转2秒后，M2电机正转，M1最大运行时间15秒
反转时：第一个电机M2反转5秒后，M1电机反转，M2最大运行时间17秒。
*/
#define MOTOR_DELAY_TIME_8S (500)
#define MOTOR_DELAY_TIME_6S (200)
#define MOTOR_DELAY_TIME_15S (1500)
#define MOTOR_DELAY_TIME_17S (1700)
void MotorCtrl1(void)//10ms
{
switch (MotorState[0])
{
case ACT_NOACT:
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
//OC1flag = 0;
break;
case ACT_XQ://先1再2
switch (act_step[0])
{
case 0:
MotorStateReal[MOTOR1] = ACT_XQ;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 1;
OC1flag = 0;
OC_Count1 = 0;
break;
case 1:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 2;
}
break;
case 2:
break;
case 3:
break;
default:
break;
}
break;
case ACT_XH://先2再1
switch (act_step[0])
{
case 0:
MotorStateReal[MOTOR1] = ACT_XH;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 1;
OC1flag = 0;
OC_Count1 = 0;
break;
case 1:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR2] = ACT_NOACT;
MotorStateReal[MOTOR1] = ACT_NOACT;
act_step[0] = 2;
}
break;
case 2:
break;
case 3:
break;
default:
break;
}
break;
default:
break;
}
}
void MotorCtrl2(void)//10ms
{
switch (MotorState[1])
{
case ACT_NOACT:
/* code */
break;
case ACT_XQ:
switch (act_step[1])
{
case 0:
MotorStateReal[MOTOR1] = ACT_XH;
MotorStateReal[MOTOR2] = ACT_NOACT;
OC1flag = 0;
OC_Count1 = 0;
act_step[1] = 1;
break;
case 1:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_XQ;
act_step[1] = 2;
}
break;
case 2:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[1] = 3;
}
break;
case 3:
break;
default:
break;
}
break;
case ACT_XH:
switch (act_step[1])
{
case 0:
MotorStateReal[MOTOR2] = ACT_XH;
MotorStateReal[MOTOR1] = ACT_NOACT;
OC1flag = 0;
OC_Count1 = 0;
act_step[1] = 1;
break;
case 1:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR2] = ACT_NOACT;
MotorStateReal[MOTOR1] = ACT_NOACT;
act_step[1] = 2;
}
break;
case 2:
break;
case 3:
break;
default:
break;
}
break;
default:
break;
}
}
void MotorCtrl(void)//10ms void MotorCtrl(void)//10ms
{ {
if (MotorState[1] == ACT_NOACT) static uint8_t MotorRunState = 0;
static uint16_t p1_cnt, p2_cnt;
switch (MotorRunState)
{ {
MotorCtrl1(); 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;
} }
else MotorStateReal[MOTOR1] = MotorState[MOTOR1];
{
MotorCtrl2();
}
MOTOR1Ctrl(MotorStateReal[MOTOR1]); MOTOR1Ctrl(MotorStateReal[MOTOR1]);
MOTOR2Ctrl(MotorStateReal[MOTOR2]); //MOTOR2Ctrl(MotorStateReal[MOTOR2]);
//MOTOR1Ctrl(MotorState[MOTOR1]); //MOTOR1Ctrl(MotorState[MOTOR1]);
} }
uint16_t getOC_th(void) uint16_t getOC_th(void)
{ {
if (MotorStateReal[MOTOR1] != ACT_NOACT)
{ return 20U;
return 50U;
}
else
{
return 110U;
}
//return 50U;
} }
@ -259,6 +149,7 @@ void CurrentDetecte(void)
OC_Count1 = 0; OC_Count1 = 0;
} }
} }

61
app/user/appTask.c
View File

@ -39,10 +39,10 @@ void keyLogic(uint8_t keyno)
switch (keyno) switch (keyno)
{ {
case KEY1: case KEY1:
setMotorState(0,ACT_XQ); //setMotorState(0,ACT_XQ);
break; break;
case KEY2: case KEY2:
setMotorState(0,ACT_XH); //setMotorState(0,ACT_XH);
break; break;
default: default:
break; break;
@ -54,56 +54,46 @@ void keyLogicRelease(uint8_t keyno)
switch (keyno) switch (keyno)
{ {
case KEY1: case KEY1:
setMotorState(0,ACT_NOACT); //setMotorState(0,ACT_NOACT);
break; break;
case KEY2: case KEY2:
setMotorState(0,ACT_NOACT); //setMotorState(0,ACT_NOACT);
break; break;
default: default:
break; break;
} }
} }
#define KEY_DELAY_TIME 60 #define KEY_DELAY_TIME 6
uint8_t key_p1_pressed, key_p2_pressed;
uint8_t key_p1_released, key_p2_released;
void keyScan(void)//5ms void keyScan(void)//5ms
{ {
static uint16_t keydelay[9]={0,0,0,0,0,0,0,0,0}; 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 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}; static uint8_t keep_count[9]={0,0,0,0,0,0,0,0,0};
static uint8_t KeyShort2Counter1,KeyShort2Counter2;
uint8_t keyval,i; uint8_t keyval,i;
keyval = GetIOState(SIGID_KEY1); keyval = GetIOState(SIGID_KEY1);
if (keyval == 1 && keyflag[KEY1] == 0) if (keyval == 1 && keyflag[KEY1] == 0)
{ {
keydelay[KEY1]++; keydelay[KEY1]++;
if (keydelay[KEY1] > KEY_DELAY_TIME)//300ms if (keydelay[KEY1] > KEY_DELAY_TIME)//30ms
{ {
keyflag[KEY1] = 1; keyflag[KEY1] = 1;
keydelay[KEY1] = KEY_DELAY_TIME; keydelay[KEY1] = KEY_DELAY_TIME;
keyLogic(KEY1); key_p1_pressed = 1;
} }
setMotorState(1,ACT_NOACT);
} }
else if (keyval == 0) else if (keyval == 0)
{ {
if (keyflag[KEY1] == 1) if (keyflag[KEY1] == 1)
{ {
keyLogicRelease(KEY1); key_p1_released = 1;
} }
if (keydelay[KEY1] > 0 && keydelay[KEY1] < KEY_DELAY_TIME) key_p1_pressed = 0;
{
if (KeyShort2Counter1 == 0)//第一次按下
{
KeyShort2Counter1 = 200;//1S
}
else
{
setMotorState(1,ACT_XQ);
}
}
keyflag[KEY1] = 0; keyflag[KEY1] = 0;
keydelay[KEY1] = 0; keydelay[KEY1] = 0;
} }
@ -116,40 +106,21 @@ void keyScan(void)//5ms
{ {
keyflag[KEY2] = 1; keyflag[KEY2] = 1;
keydelay[KEY2] = KEY_DELAY_TIME; keydelay[KEY2] = KEY_DELAY_TIME;
keyLogic(KEY2); key_p2_pressed = 1;
} }
setMotorState(1,ACT_NOACT);
} }
else if (keyval == 0) else if (keyval == 0)
{ {
if (keyflag[KEY2] == 1) if (keyflag[KEY2] == 1)
{ {
keyLogicRelease(KEY2); key_p2_released = 1;
}
if (keydelay[KEY2] > 0 && keydelay[KEY2] < KEY_DELAY_TIME)
{
if (KeyShort2Counter2 == 0)//第一次按下
{
KeyShort2Counter2 = 200;//1S
}
else
{
setMotorState(1,ACT_XH);
}
} }
key_p2_pressed = 0;
keyflag[KEY2] = 0; keyflag[KEY2] = 0;
keydelay[KEY2] = 0; keydelay[KEY2] = 0;
} }
if (KeyShort2Counter1 > 0)
{
KeyShort2Counter1--;
}
if (KeyShort2Counter2 > 0)
{
KeyShort2Counter2--;
}
} }