SW0201代码

app/r_cg_adc_user.c

@@ -62,15 +62,15 @@ static void __near r_adc_interrupt(void)
     
     switch (ADS)
     {
-        /*
+        
-    case _02_AD_INPUT_CHANNEL_2:
+    case _00_AD_INPUT_CHANNEL_0:
         R_ADC_Get_Result(g_AdVal+1);
         ADS = _01_AD_INPUT_CHANNEL_1;
         break;
-        */
+
     case _01_AD_INPUT_CHANNEL_1:
         R_ADC_Get_Result(g_AdVal);
-        //ADS = _02_AD_INPUT_CHANNEL_2;
+        ADS = _00_AD_INPUT_CHANNEL_0;
         break;
     default:
         ADS = _01_AD_INPUT_CHANNEL_1;

app/user/MotorCtrl.c

@@ -8,8 +8,9 @@
 
 
 uint8_t MotorState[6],MotorStateReal[6];
-
+uint16_t current1;
-
+uint8_t OC1flag;
+uint8_t act_step;
 
 void MotorValueInit(void)
 {
@@ -24,10 +25,10 @@ void MotorValueInit(void)
 
 void setMotorState(uint8_t motorid,uint8_t act)
 {
-    //motorid-=1;
     if (act <= ACT_XH && motorid < 6)
     {
         MotorState[motorid] = act;
+        act_step = 0;
     }
 }
 
@@ -35,11 +36,11 @@ void setMotorState(uint8_t motorid,uint8_t act)
 
 /*
 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
+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。
+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
+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。
+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)
@@ -56,50 +57,69 @@ void MotorCtrl(void)//10ms
         MotorStateReal[MOTOR1] = ACT_NOACT;
         MotorStateReal[MOTOR2] = ACT_NOACT;
         break;
-    case ACT_XQ:
+    case ACT_XQ://先1再2
-        MotorRunCount++;
+        switch (act_step)
-        if (MotorRunCount > MOTOR_DELAY_TIME_15S)
-        {
-            MotorRunCount = MOTOR_DELAY_TIME_15S;
-            MotorStateReal[MOTOR1] = ACT_NOACT;
-        }
-        else
         {
+        case 0:
             MotorStateReal[MOTOR1] = ACT_XQ;
-        }
+            act_step = 1;
-        
+            break;
-        if (MotorRunCount > MOTOR_DELAY_TIME_6S)
+        case 1:
-        {
+            if (OC1flag == 1)
-            //MotorRunCount = MOTOR_DELAY_TIME_6S;
+            {
-            MotorStateReal[MOTOR2] = ACT_XQ;
+                MotorStateReal[MOTOR1] = ACT_NOACT;
-        }
+                MotorStateReal[MOTOR2] = ACT_XQ;
-        else
+                act_step = 2;
-        {
+            }
-            MotorStateReal[MOTOR2] = ACT_NOACT;
+            break;
-
+            
+        case 2:
+            if (OC1flag == 1)
+            {
+                MotorStateReal[MOTOR1] = ACT_NOACT;
+                MotorStateReal[MOTOR2] = ACT_NOACT;
+                act_step = 3;
+            }
+            break;
+            
+        case 3:
+            break;
+            
+        default:
+            break;
         }
         break;
         
-    case ACT_XH:
+    case ACT_XH://先2再1
-        MotorRunCount++;
+        switch (act_step)
-        if (MotorRunCount > MOTOR_DELAY_TIME_17S)
-        {
-            MotorRunCount = MOTOR_DELAY_TIME_17S;
-            MotorStateReal[MOTOR2] = ACT_NOACT;
-        }
-        else
         {
+        case 0:
             MotorStateReal[MOTOR2] = ACT_XH;
-        }
+            act_step = 1;
-        
+            break;
-        if (MotorRunCount > MOTOR_DELAY_TIME_8S)
+        case 1:
-        {
+            if (OC1flag == 1)
-            //MotorRunCount = MOTOR_DELAY_TIME_8S;
+            {
-            MotorStateReal[MOTOR1] = ACT_XH;
+                MotorStateReal[MOTOR2] = ACT_NOACT;
-        }
+                MotorStateReal[MOTOR1] = ACT_XH;
-        else
+                act_step = 2;
-        {
+            }
-            MotorStateReal[MOTOR1] = ACT_NOACT;
+            break;
+            
+        case 2:
+            if (OC1flag == 1)
+            {
+                MotorStateReal[MOTOR1] = ACT_NOACT;
+                MotorStateReal[MOTOR2] = ACT_NOACT;
+                act_step = 3;
+            }
+            break;
+            
+        case 3:
+            break;
+            
+        default:
+            break;
         }
         break;
 
@@ -113,5 +133,27 @@ void MotorCtrl(void)//10ms
 }
 
 
+void CurrentDetecte(void)
+{
+    
+    static uint16_t OC_Count1=0;
+    
+    current1 = getAdval(ADCH_RLY1);
+    
+    if (current1 > 100U && OC1flag == 0)
+    {
+        OC_Count1++;
+        if (OC_Count1 >= 200)
+        {
+            OC_Count1 = 0;
+            OC1flag = 1;
+        }
+    }
+    else
+    {
+        OC_Count1 = 0;
+    }
+
+}
 
 

app/user/MotorCtrl.h

@@ -14,7 +14,7 @@
 void MotorCtrl(void);
 void MotorValueInit(void);
 void setMotorState(uint8_t motorid,uint8_t act);
-
+void CurrentDetecte(void);
 
 
 #endif

app/user/PINdef.h

@@ -17,8 +17,8 @@
 #define OUT_RLY2P   P1_bit.no3
 #define OUT_RLY2N   P1_bit.no4
 
-#define ADCH_BAT  0
+#define ADCH_BAT   0
-
+#define ADCH_RLY1  1
 
 
 #endif

app/user/appTask.c

@@ -124,6 +124,7 @@ void AppTask(void)
     if (TimeBase1msFlag == 1)
     {
         TimeBase1msFlag = 0;
+        CurrentDetecte();
     }
     if (TimeBase5msFlag == 1)
     {