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10 Commits
M12-05P ... M12-05C1

Author SHA1 Message Date
sunbeam
c4cc37e34a 修改电流 2024-12-12 00:06:36 +08:00
sunbeam
3edcf4b584 SW0102:堵转时间改为2S 2024-11-28 23:11:40 +08:00
sunbeam
92187ab261 SW0101 2024-11-15 22:30:59 +08:00
sunbeam
3b099cdd8f SW0102 2024-10-26 20:22:59 +08:00
sunbeam
e7d1eb577d 测试OK 2024-08-04 15:00:14 +08:00
sunbeam
d2759097d8 初版 2024-08-04 11:49:51 +08:00
sunbeam
4fcc01530c SW0102:双击间隔时间改为1S，M2堵转电流改为11A 2024-07-30 13:27:36 +08:00
sunbeam
72cc912895 SW0101 2024-07-27 19:55:12 +08:00
sunbeam
ff2885272f 更新按键 2024-07-27 17:17:25 +08:00
sunbeam
9fa365cee6 初版代码 2024-07-27 00:45:26 +08:00
12 changed files with 424 additions and 357 deletions
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app/OUTPUT/M12-05P_SW0201.mot
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@ -1,100 +0,0 @@
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2
app/OUTPUT/更改履历.txt
View File

@ -1,2 +1,2 @@
SW0101:初版 SW0101:初版
SW0201:改PCB，增加堵转检测 SW0102:堵转改为2S

160
app/user/MotorCtrl.c
View File

@ -7,10 +7,11 @@
//#include "pfdl.h" //#include "pfdl.h"
uint8_t MotorState[6],MotorStateReal[6]; volatile uint8_t MotorState[6],MotorStateReal[6];
uint16_t current1; uint16_t current1;
uint8_t OC1flag; uint8_t OC1flag;
uint8_t act_step; uint16_t OC_Count1=0;
uint8_t act_step[6];
void MotorValueInit(void) void MotorValueInit(void)
{ {
@ -22,142 +23,91 @@ 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 = 0; act_step[motorid] = 0;
} }
} }
uint16_t MotorOCDelay = 0;
/*
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 MotorCtrl(void)//10ms void MotorCtrl(void)//10ms
{ {
static uint16_t MotorRunCount; uint16_t OC_time_th;
switch (MotorState[0]) if (OC1flag == 1)
{ {
case ACT_NOACT: if (MotorState[MOTOR1] == ACT_XQ)
MotorRunCount = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
OC1flag = 0;
break;
case ACT_XQ://先1再2
switch (act_step)
{ {
case 0: OC_time_th = 300;
MotorStateReal[MOTOR1] = ACT_XQ;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 1;
break;
case 1:
if (OC1flag == 1)
{
OC1flag = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_XQ;
act_step = 2;
}
break;
case 2:
if (OC1flag == 1)
{
OC1flag = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 3;
}
break;
case 3:
break;
default:
break;
} }
break; else
case ACT_XH://先2再1
switch (act_step)
{ {
case 0: OC_time_th = 200;
MotorStateReal[MOTOR2] = ACT_XH; }
MotorStateReal[MOTOR1] = ACT_NOACT; if (MotorOCDelay > OC_time_th)
act_step = 1; {
break; OC1flag = 0;
case 1: OC_Count1 = 0;
if (OC1flag == 1) MotorState[MOTOR1] = ACT_NOACT;
{ MotorOCDelay = 0;
OC1flag = 0; }
MotorStateReal[MOTOR2] = ACT_NOACT; else
MotorStateReal[MOTOR1] = ACT_XH; {
act_step = 2; MotorOCDelay++;
}
break;
case 2:
if (OC1flag == 1)
{
OC1flag = 0;
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 3;
}
break;
case 3:
break;
default:
break;
} }
break;
}
default: else
break; {
MotorOCDelay = 0;
} }
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 150U;
return 100U;
}
else
{
return 70U;
}
//return 50U;
} }
void CurrentDetecte(void) void CurrentDetecte(void)
{ {
static uint16_t OC_Count1=0;
uint16_t OC_th; uint16_t OC_th;
current1 = getAdval(ADCH_RLY1); current1 = getAdval(ADCH_RLY1);
OC_th = getOC_th(); OC_th = getOC_th();

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

51
app/user/appTask.c
View File

@ -1,4 +1,4 @@
#include "r_cg_macrodriver.h" #include "r_cg_macrodriver.h"
#include "appTask.h" #include "appTask.h"
#include "event.h" #include "event.h"
#include "r_cg_port.h" #include "r_cg_port.h"
@ -64,57 +64,52 @@ void keyLogicRelease(uint8_t keyno)
} }
} }
#define KEY_DELAY_TIME 40
#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};
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)//30ms if (keydelay[KEY1] > KEY_DELAY_TIME)//30ms
{ {
keyflag[KEY1] = 1;
keydelay[KEY1] = KEY_DELAY_TIME;
keyLogic(KEY1);
} }
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();
} }
keyflag[KEY1] = 0; keyflag[KEY1] = 0;
keydelay[KEY1] = 0; keydelay[KEY1] = 0;
} }
keyval = GetIOState(SIGID_KEY2);
if (keyval == 1 && keyflag[KEY2] == 0)
{
keydelay[KEY2]++;
if (keydelay[KEY2] > KEY_DELAY_TIME)//30ms
{
keyflag[KEY2] = 1;
keydelay[KEY2] = KEY_DELAY_TIME;
keyLogic(KEY2);
}
}
else if (keyval == 0)
{
if (keyflag[KEY2] == 1)
{
keyLogicRelease(KEY2);
}
keyflag[KEY2] = 0;
keydelay[KEY2] = 0;
}
} }