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SW0101

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sunbeam 2024-11-15 22:30:59 +08:00
parent 3b099cdd8f
commit 92187ab261
8 changed files with 162 additions and 464 deletions
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app/OUTPUT/更改履历.txt
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@ -1,2 +1 @@
SW0101:初版 SW0101:初版
SW0102:电机M1的堵转电流改为8A

214
app/user/MotorCtrl.c
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@ -23,11 +23,32 @@ void MotorValueInit(void)
} }
} }
void ToggleMotorState(void)
{
static uint8_t KeyMode1 = 0;
if(MotorState[0] != ACT_NOACT)
{
setMotorState(0,ACT_NOACT);
return;
}
if (KeyMode1 == 0)
{
setMotorState(0,ACT_XQ);
KeyMode1 = 1;
}
else
{
setMotorState(0,ACT_XH);
KeyMode1 = 0;
}
}
void setMotorState(uint8_t motorid,uint8_t act) void setMotorState(uint8_t motorid,uint8_t act)
{ {
if (act <= ACT_XH && motorid < 6) if (act <= ACT_XH && motorid < 6)
{ {
MotorState[motorid] = act; MotorState[motorid] = act;
act_step[motorid] = 0; act_step[motorid] = 0;
} }
@ -35,206 +56,29 @@ 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
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) if (OC1flag == 1)
{ {
MotorCtrl1(); OC1flag = 0;
} OC_Count1 = 0;
else MotorState[MOTOR1] = ACT_NOACT;
{
MotorCtrl2();
} }
MotorStateReal[MOTOR1] = MotorState[MOTOR1];
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 100U;
return 80U;
}
else
{
return 110U;
}
//return 50U;
} }

2
app/user/MotorCtrl.h
View File

@ -15,6 +15,6 @@ void MotorCtrl(void);
void MotorValueInit(void); void MotorValueInit(void);
void setMotorState(uint8_t motorid,uint8_t act); void setMotorState(uint8_t motorid,uint8_t act);
void CurrentDetecte(void); void CurrentDetecte(void);
void ToggleMotorState(void);
#endif #endif

70
app/user/appTask.c
View File

@ -64,66 +64,45 @@ void keyLogicRelease(uint8_t keyno)
} }
} }
#define KEY_DELAY_TIME 60
#define KEY_DELAY_TIME 6
#define KEY_LONG_TIME 300
#define KEY_SHORT_TIME 200
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;
static uint8_t KeyMode1 = 0,KeyMode2 = 0;
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 )
{ {
keydelay[KEY1]++; keydelay[KEY1]++;
if (keydelay[KEY1] > KEY_DELAY_TIME)//300ms if (keydelay[KEY1] > KEY_DELAY_TIME)//30ms
{ {
keyflag[KEY1] = 1;
keydelay[KEY1] = KEY_DELAY_TIME;
if (KeyMode1 == 0)
{
keyLogic(KEY1);
KeyMode1 = 1;
}
else
{
keyLogic(KEY2);
KeyMode1 = 0;
}
} }
setMotorState(1,ACT_NOACT); if (keydelay[KEY1] > KEY_LONG_TIME)//300ms
{
keydelay[KEY1] = KEY_LONG_TIME;
setMotorState(0,ACT_NOACT);
}
//setMotorState(0,ACT_NOACT);
} }
else if (keyval == 0) else if (keyval == 0)
{ {
if (keyflag[KEY1] == 1) if (keydelay[KEY1] > KEY_DELAY_TIME && keydelay[KEY1] < KEY_SHORT_TIME)
{ {
keyLogicRelease(KEY1); ToggleMotorState();
}
if (keydelay[KEY1] > 0 && keydelay[KEY1] < KEY_DELAY_TIME)
{
if (KeyShort2Counter1 == 0)//第一次按下
{
KeyShort2Counter1 = 200;//1S
}
else
{
if (KeyMode2 == 0)
{
setMotorState(1,ACT_XQ);
KeyMode2 = 1;
}
else
{
setMotorState(1,ACT_XH);
KeyMode2 = 0;
}
}
} }
keyflag[KEY1] = 0; keyflag[KEY1] = 0;
@ -131,15 +110,6 @@ void keyScan(void)//5ms
} }
if (KeyShort2Counter1 > 0)
{
KeyShort2Counter1--;
}
if (KeyShort2Counter2 > 0)
{
KeyShort2Counter2--;
}
} }