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SW0101

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This commit is contained in:
sunbeam 2024-07-27 19:55:12 +08:00
parent ff2885272f
commit 72cc912895
7 changed files with 173 additions and 227 deletions
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100
app/OUTPUT/M12-05P_SW0201.mot
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@ -1,100 +0,0 @@
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S9030000FC

3
app/OUTPUT/更改履历.txt
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@ -1,2 +1 @@
SW0101:初版
SW0201:改PCB，增加堵转检测
SW0101:初版

65
app/user/MotorCtrl.c
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@ -7,7 +7,7 @@
//#include "pfdl.h"
uint8_t MotorState[6],MotorStateReal[6];
volatile uint8_t MotorState[6],MotorStateReal[6];
uint16_t current1;
uint8_t OC1flag;
uint16_t OC_Count1=0;
@ -48,16 +48,15 @@ void setMotorState(uint8_t motorid,uint8_t act)
#define MOTOR_DELAY_TIME_6S (200)
#define MOTOR_DELAY_TIME_15S (1500)
#define MOTOR_DELAY_TIME_17S (1700)
void MotorCtrl(void)//10ms
void MotorCtrl1(void)//10ms
{
static uint16_t MotorRunCount;
switch (MotorState[0])
{
case ACT_NOACT:
MotorRunCount = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
OC1flag = 0;
//OC1flag = 0;
break;
case ACT_XQ://先1再2
switch (act_step[0])
@ -66,6 +65,8 @@ void MotorCtrl(void)//10ms
MotorStateReal[MOTOR1] = ACT_XQ;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 1;
OC1flag = 0;
OC_Count1 = 0;
break;
case 1:
if (OC1flag == 1)
@ -73,20 +74,12 @@ void MotorCtrl(void)//10ms
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_XQ;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 2;
}
break;
case 2:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 3;
}
break;
case 3:
@ -101,9 +94,11 @@ void MotorCtrl(void)//10ms
switch (act_step[0])
{
case 0:
MotorStateReal[MOTOR2] = ACT_XH;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR1] = ACT_XH;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 1;
OC1flag = 0;
OC_Count1 = 0;
break;
case 1:
if (OC1flag == 1)
@ -111,20 +106,13 @@ void MotorCtrl(void)//10ms
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR2] = ACT_NOACT;
MotorStateReal[MOTOR1] = ACT_XH;
MotorStateReal[MOTOR1] = ACT_NOACT;
act_step[0] = 2;
}
break;
case 2:
if (OC1flag == 1)
{
OC1flag = 0;
OC_Count1 = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step[0] = 3;
}
break;
case 3:
@ -139,7 +127,10 @@ void MotorCtrl(void)//10ms
default:
break;
}
}
void MotorCtrl2(void)//10ms
{
switch (MotorState[1])
{
case ACT_NOACT:
@ -151,6 +142,8 @@ void MotorCtrl(void)//10ms
case 0:
MotorStateReal[MOTOR1] = ACT_XH;
MotorStateReal[MOTOR2] = ACT_NOACT;
OC1flag = 0;
OC_Count1 = 0;
act_step[1] = 1;
break;
case 1:
@ -185,6 +178,8 @@ void MotorCtrl(void)//10ms
case 0:
MotorStateReal[MOTOR2] = ACT_XH;
MotorStateReal[MOTOR1] = ACT_NOACT;
OC1flag = 0;
OC_Count1 = 0;
act_step[1] = 1;
break;
case 1:
@ -204,9 +199,25 @@ void MotorCtrl(void)//10ms
default:
break;
}
break;
default:
break;
}
}
void MotorCtrl(void)//10ms
{
if (MotorState[1] == ACT_NOACT)
{
MotorCtrl1();
}
else
{
MotorCtrl2();
}
MOTOR1Ctrl(MotorStateReal[MOTOR1]);
MOTOR2Ctrl(MotorStateReal[MOTOR2]);
@ -217,11 +228,11 @@ uint16_t getOC_th(void)
{
if (MotorStateReal[MOTOR1] != ACT_NOACT)
{
return 60U;
return 50U;
}
else
{
return 70U;
return 50U;
}
//return 50U;

2
app/user/appTask.c
View File

@ -84,7 +84,7 @@ void keyScan(void)//5ms
keydelay[KEY1] = KEY_DELAY_TIME;
keyLogic(KEY1);
}
setMotorState(1,ACT_NOACT);
setMotorState(1,ACT_NOACT);
}
else if (keyval == 0)
{