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huahua:M12-05P
huahua:M12-05C1
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huahua:M12-05P

8 Commits
M12-05P ... M12-05D

Author SHA1 Message Date
sunbeam
ca9696e72c SW0102:提高电流 2024-11-11 22:14:57 +08:00
sunbeam
1b7c7975d6 更新阈值 2024-10-26 22:58:42 +08:00
sunbeam
30d9f894d6 SW0101 2024-10-26 22:23:45 +08:00
sunbeam
26f0e690a9 初版 2024-10-26 22:21:30 +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 1256 additions and 366 deletions
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app/M12.mtpj
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@ -1122,15 +1122,298 @@ user
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<DebuggerProperty-OptionalProperty-FailSafeBreak-FlashIllegal>False</DebuggerProperty-OptionalProperty-FailSafeBreak-FlashIllegal>
<DebuggerProperty-OptionalProperty-Trace-ClearTraceMemory>Yes</DebuggerProperty-OptionalProperty-Trace-ClearTraceMemory>
<DebuggerProperty-OptionalProperty-Trace-TraceRate>0</DebuggerProperty-OptionalProperty-Trace-TraceRate>
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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-CpuReset>True</DebuggerProperty-DownloadProperty-DebugInformation-CpuReset>
<DebuggerProperty-DownloadProperty-Download-DownloadMode>SpeedPriority</DebuggerProperty-DownloadProperty-Download-DownloadMode>
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<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>
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<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-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>RisingEdge</DebuggerProperty-OptionalProperty-ExpansionInterface-ExternalTriggerInputItemList-ExternalTriggerInputItem1-InputSignal>
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@ -1195,6 +1478,210 @@ user
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@ -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:\work\wk\M12-05\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>
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5
app/M12.rcpe
View File

@ -37,9 +37,8 @@
<Path>user\MotorCtrl.c</Path> <Path>user\MotorCtrl.c</Path>
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<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;
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459
app/M12.sunbeam.mtud
View File

File diff suppressed because one or more lines are too long

106
app/OUTPUT/M12-05D_SW0101.mot Normal file
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106
app/OUTPUT/M12-05D_SW0102.mot Normal file
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@ -0,0 +1,106 @@
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94
app/OUTPUT/M12-05P_SW0101.mot
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@ -1,94 +0,0 @@
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100
app/OUTPUT/M12-05P_SW0201.mot
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@ -1,100 +0,0 @@
S00E00004D313220202020206D6F7451
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S9030000FC

3
app/OUTPUT/更改履历.txt
View File

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

175
app/user/MotorCtrl.c
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@ -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)
{ {
@ -28,136 +29,109 @@ 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;
} }
} }
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 MotorCtrl(void)//10ms void MotorCtrl(void)//10ms
{ {
static uint16_t MotorRunCount; static uint8_t MotorRunState = 0;
switch (MotorState[0]) static uint16_t p1_cnt, p2_cnt;
switch (MotorRunState)
{ {
case ACT_NOACT: case 0:
MotorRunCount = 0; if (key_p1_pressed == 1 && p1_cnt < 0xffff)
MotorStateReal[MOTOR1] = ACT_NOACT;
MotorStateReal[MOTOR2] = ACT_NOACT;
OC1flag = 0;
break;
case ACT_XQ://先1再2
switch (act_step)
{ {
case 0: p1_cnt++;
MotorStateReal[MOTOR1] = ACT_XQ; if (p1_cnt >= 150)
MotorStateReal[MOTOR2] = ACT_NOACT;
act_step = 1;
break;
case 1:
if (OC1flag == 1)
{ {
OC1flag = 0; setMotorState(MOTOR1, ACT_XQ);
MotorStateReal[MOTOR1] = ACT_NOACT; MotorRunState = 1;
MotorStateReal[MOTOR2] = ACT_XQ; //key_p1_released = 0;
act_step = 2; key_p2_released = 0;
} }
break; key_p1_released = 0;
}
case 2: if (key_p2_pressed == 1 && p2_cnt < 0xffff)
if (OC1flag == 1) {
p2_cnt++;
if (p2_cnt >= 150)
{ {
OC1flag = 0; setMotorState(MOTOR1, ACT_XH);
MotorStateReal[MOTOR1] = ACT_NOACT; MotorRunState = 1;
MotorStateReal[MOTOR2] = ACT_NOACT; key_p1_released = 0;
act_step = 3; //key_p2_released = 0;
} }
break; key_p2_released = 0;
}
case 3: if (key_p1_released == 1 && p1_cnt < 100 && p1_cnt > 0)
break; {
key_p1_released = 0;
default: setMotorState(MOTOR1, ACT_XQ);
break; 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; break;
case 1://长按
case ACT_XH://先2再1 if (key_p1_released == 1 || key_p2_released == 1 || OC1flag)
switch (act_step)
{ {
case 0: key_p1_released = 0;
MotorStateReal[MOTOR2] = ACT_XH; key_p2_released = 0;
MotorStateReal[MOTOR1] = ACT_NOACT; setMotorState(MOTOR1, ACT_NOACT);
act_step = 1; MotorRunState = 3;
break; OC1flag = 0;
case 1:
if (OC1flag == 1)
{
OC1flag = 0;
MotorStateReal[MOTOR2] = ACT_NOACT;
MotorStateReal[MOTOR1] = ACT_XH;
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; 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: default:
break; break;
} }
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 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();
@ -175,6 +149,7 @@ void CurrentDetecte(void)
OC_Count1 = 0; OC_Count1 = 0;
} }
} }

28
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"
@ -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;
@ -54,23 +54,26 @@ 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 40 #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};
uint8_t keyval,i; uint8_t keyval,i;
keyval = GetIOState(SIGID_KEY1); keyval = GetIOState(SIGID_KEY1);
@ -81,15 +84,16 @@ void keyScan(void)//5ms
{ {
keyflag[KEY1] = 1; keyflag[KEY1] = 1;
keydelay[KEY1] = KEY_DELAY_TIME; keydelay[KEY1] = KEY_DELAY_TIME;
keyLogic(KEY1); key_p1_pressed = 1;
} }
} }
else if (keyval == 0) else if (keyval == 0)
{ {
if (keyflag[KEY1] == 1) if (keyflag[KEY1] == 1)
{ {
keyLogicRelease(KEY1); key_p1_released = 1;
} }
key_p1_pressed = 0;
keyflag[KEY1] = 0; keyflag[KEY1] = 0;
keydelay[KEY1] = 0; keydelay[KEY1] = 0;
} }
@ -102,19 +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;
} }
} }
else if (keyval == 0) else if (keyval == 0)
{ {
if (keyflag[KEY2] == 1) if (keyflag[KEY2] == 1)
{ {
keyLogicRelease(KEY2); key_p2_released = 1;
} }
key_p2_pressed = 0;
keyflag[KEY2] = 0; keyflag[KEY2] = 0;
keydelay[KEY2] = 0; keydelay[KEY2] = 0;
} }
} }