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8 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 3f6de1523d | |||
| 3b099cdd8f | |||
| e7d1eb577d | |||
| d2759097d8 | |||
| 4fcc01530c | |||
| 72cc912895 | |||
| ff2885272f | |||
| 9fa365cee6 |
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app/OUTPUT/M12-05C_SW0102.mot
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|
||||
S11305DA19D51EFCDF14E6023CFCBF3CFC44C800EF
|
||||
S11205EADC07F6BF3CFCE51EFCD7F6BF3CFCD794
|
||||
S11305F914F64315DD2261DD717BFACFE80080BE74
|
||||
S1130609F013BEF6F6BEF2BEF4CFE800818FE8001F
|
||||
S10C06193103FAAFE00061CDD712
|
||||
S9030000FC
|
||||
@ -1,2 +1,3 @@
|
||||
SW0101:初版
|
||||
SW0201:改PCB，增加堵转检测
|
||||
SW0102:电机M1的堵转电流改为8A
|
||||
SW0103:M2电机堵转时间改为2S
|
||||
@ -7,10 +7,11 @@
|
||||
//#include "pfdl.h"
|
||||
|
||||
|
||||
uint8_t MotorState[6],MotorStateReal[6];
|
||||
volatile uint8_t MotorState[6],MotorStateReal[6];
|
||||
uint16_t current1;
|
||||
uint8_t OC1flag;
|
||||
uint8_t act_step;
|
||||
uint16_t OC_Count1=0;
|
||||
uint8_t act_step[6];
|
||||
|
||||
void MotorValueInit(void)
|
||||
{
|
||||
@ -28,62 +29,48 @@ void setMotorState(uint8_t motorid,uint8_t act)
|
||||
if (act <= ACT_XH && motorid < 6)
|
||||
{
|
||||
MotorState[motorid] = act;
|
||||
act_step = 0;
|
||||
act_step[motorid] = 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
|
||||
|
||||
#define MOTOR_DELAY_TIME_2S (200)
|
||||
|
||||
uint16_t oc_delay_time = 0;
|
||||
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)
|
||||
switch (act_step[0])
|
||||
{
|
||||
case 0:
|
||||
MotorStateReal[MOTOR1] = ACT_XQ;
|
||||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||||
act_step = 1;
|
||||
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_XQ;
|
||||
act_step = 2;
|
||||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||||
act_step[0] = 2;
|
||||
}
|
||||
break;
|
||||
|
||||
case 2:
|
||||
if (OC1flag == 1)
|
||||
{
|
||||
OC1flag = 0;
|
||||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||||
act_step = 3;
|
||||
}
|
||||
break;
|
||||
|
||||
case 3:
|
||||
@ -95,31 +82,28 @@ void MotorCtrl(void)//10ms
|
||||
break;
|
||||
|
||||
case ACT_XH://先2再1
|
||||
switch (act_step)
|
||||
switch (act_step[0])
|
||||
{
|
||||
case 0:
|
||||
MotorStateReal[MOTOR2] = ACT_XH;
|
||||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||||
act_step = 1;
|
||||
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_XH;
|
||||
act_step = 2;
|
||||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||||
act_step[0] = 2;
|
||||
}
|
||||
break;
|
||||
|
||||
case 2:
|
||||
if (OC1flag == 1)
|
||||
{
|
||||
OC1flag = 0;
|
||||
MotorStateReal[MOTOR1] = ACT_NOACT;
|
||||
MotorStateReal[MOTOR2] = ACT_NOACT;
|
||||
act_step = 3;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case 3:
|
||||
@ -134,6 +118,108 @@ void MotorCtrl(void)//10ms
|
||||
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;
|
||||
oc_delay_time = 0;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if (OC1flag == 1)
|
||||
{
|
||||
oc_delay_time++;
|
||||
if (oc_delay_time >= MOTOR_DELAY_TIME_2S)
|
||||
{
|
||||
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;
|
||||
oc_delay_time = 0;
|
||||
break;
|
||||
case 1:
|
||||
if (OC1flag == 1)
|
||||
{
|
||||
oc_delay_time++;
|
||||
if (oc_delay_time >= MOTOR_DELAY_TIME_2S)
|
||||
{
|
||||
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
|
||||
{
|
||||
if (MotorState[1] == ACT_NOACT)
|
||||
{
|
||||
MotorCtrl1();
|
||||
}
|
||||
else
|
||||
{
|
||||
MotorCtrl2();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
MOTOR1Ctrl(MotorStateReal[MOTOR1]);
|
||||
MOTOR2Ctrl(MotorStateReal[MOTOR2]);
|
||||
@ -144,11 +230,11 @@ uint16_t getOC_th(void)
|
||||
{
|
||||
if (MotorStateReal[MOTOR1] != ACT_NOACT)
|
||||
{
|
||||
return 100U;
|
||||
return 80U;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 70U;
|
||||
return 110U;
|
||||
}
|
||||
//return 50U;
|
||||
|
||||
@ -157,7 +243,7 @@ uint16_t getOC_th(void)
|
||||
void CurrentDetecte(void)
|
||||
{
|
||||
|
||||
static uint16_t OC_Count1=0;
|
||||
|
||||
uint16_t OC_th;
|
||||
current1 = getAdval(ADCH_RLY1);
|
||||
OC_th = getOC_th();
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#include "r_cg_macrodriver.h"
|
||||
#include "r_cg_macrodriver.h"
|
||||
#include "appTask.h"
|
||||
#include "event.h"
|
||||
#include "r_cg_port.h"
|
||||
@ -64,25 +64,39 @@ void keyLogicRelease(uint8_t keyno)
|
||||
}
|
||||
|
||||
}
|
||||
#define KEY_DELAY_TIME 40
|
||||
#define KEY_DELAY_TIME 60
|
||||
|
||||
void keyScan(void)//5ms
|
||||
{
|
||||
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 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;
|
||||
|
||||
keyval = GetIOState(SIGID_KEY1);
|
||||
if (keyval == 1 && keyflag[KEY1] == 0)
|
||||
{
|
||||
keydelay[KEY1]++;
|
||||
if (keydelay[KEY1] > KEY_DELAY_TIME)//30ms
|
||||
if (keydelay[KEY1] > KEY_DELAY_TIME)//300ms
|
||||
{
|
||||
keyflag[KEY1] = 1;
|
||||
keydelay[KEY1] = KEY_DELAY_TIME;
|
||||
keyLogic(KEY1);
|
||||
|
||||
if (KeyMode1 == 0)
|
||||
{
|
||||
keyLogic(KEY1);
|
||||
KeyMode1 = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
keyLogic(KEY2);
|
||||
KeyMode1 = 0;
|
||||
}
|
||||
|
||||
}
|
||||
setMotorState(1,ACT_NOACT);
|
||||
}
|
||||
else if (keyval == 0)
|
||||
{
|
||||
@ -90,32 +104,43 @@ void keyScan(void)//5ms
|
||||
{
|
||||
keyLogicRelease(KEY1);
|
||||
}
|
||||
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;
|
||||
keydelay[KEY1] = 0;
|
||||
}
|
||||
|
||||
keyval = GetIOState(SIGID_KEY2);
|
||||
if (keyval == 1 && keyflag[KEY2] == 0)
|
||||
|
||||
if (KeyShort2Counter1 > 0)
|
||||
{
|
||||
keydelay[KEY2]++;
|
||||
if (keydelay[KEY2] > KEY_DELAY_TIME)//30ms
|
||||
{
|
||||
keyflag[KEY2] = 1;
|
||||
keydelay[KEY2] = KEY_DELAY_TIME;
|
||||
keyLogic(KEY2);
|
||||
}
|
||||
|
||||
KeyShort2Counter1--;
|
||||
}
|
||||
else if (keyval == 0)
|
||||
if (KeyShort2Counter2 > 0)
|
||||
{
|
||||
if (keyflag[KEY2] == 1)
|
||||
{
|
||||
keyLogicRelease(KEY2);
|
||||
}
|
||||
keyflag[KEY2] = 0;
|
||||
keydelay[KEY2] = 0;
|
||||
KeyShort2Counter2--;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void AppTask(void)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user