160 lines
3.2 KiB
C
160 lines
3.2 KiB
C
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#include "MotorCtrl.h"
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#include "hwCtrl.h"
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#include "PINdef.h"
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#include "appTask.h"
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//#include "pfdl.h"
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uint8_t MotorState[6],MotorStateReal[6];
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uint16_t current1;
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uint8_t OC1flag;
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uint8_t act_step;
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void MotorValueInit(void)
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{
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uint8_t i = 0;
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for (i = 0; i < 6; i++)
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{
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MotorState[i] = ACT_NOACT;
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MotorStateReal[i] = ACT_NOACT;
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}
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}
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void setMotorState(uint8_t motorid,uint8_t act)
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{
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if (act <= ACT_XH && motorid < 6)
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{
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MotorState[motorid] = act;
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act_step = 0;
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}
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}
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/*
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20240106
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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
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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。
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20240111
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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
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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。
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*/
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#define MOTOR_DELAY_TIME_8S (500)
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#define MOTOR_DELAY_TIME_6S (200)
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#define MOTOR_DELAY_TIME_15S (1500)
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#define MOTOR_DELAY_TIME_17S (1700)
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void MotorCtrl(void)//10ms
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{
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static uint16_t MotorRunCount;
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switch (MotorState[0])
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{
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case ACT_NOACT:
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MotorRunCount = 0;
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MotorStateReal[MOTOR1] = ACT_NOACT;
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MotorStateReal[MOTOR2] = ACT_NOACT;
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break;
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case ACT_XQ://先1再2
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switch (act_step)
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{
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case 0:
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MotorStateReal[MOTOR1] = ACT_XQ;
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act_step = 1;
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break;
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case 1:
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if (OC1flag == 1)
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{
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MotorStateReal[MOTOR1] = ACT_NOACT;
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MotorStateReal[MOTOR2] = ACT_XQ;
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act_step = 2;
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}
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break;
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case 2:
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if (OC1flag == 1)
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{
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MotorStateReal[MOTOR1] = ACT_NOACT;
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MotorStateReal[MOTOR2] = ACT_NOACT;
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act_step = 3;
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}
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break;
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case 3:
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break;
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default:
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break;
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}
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break;
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case ACT_XH://先2再1
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switch (act_step)
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{
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case 0:
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MotorStateReal[MOTOR2] = ACT_XH;
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act_step = 1;
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break;
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case 1:
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if (OC1flag == 1)
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{
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MotorStateReal[MOTOR2] = ACT_NOACT;
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MotorStateReal[MOTOR1] = ACT_XH;
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act_step = 2;
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}
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break;
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case 2:
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if (OC1flag == 1)
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{
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MotorStateReal[MOTOR1] = ACT_NOACT;
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MotorStateReal[MOTOR2] = ACT_NOACT;
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act_step = 3;
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}
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break;
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case 3:
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break;
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default:
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break;
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}
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break;
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default:
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break;
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}
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MOTOR1Ctrl(MotorStateReal[MOTOR1]);
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MOTOR2Ctrl(MotorStateReal[MOTOR2]);
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}
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void CurrentDetecte(void)
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{
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static uint16_t OC_Count1=0;
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current1 = getAdval(ADCH_RLY1);
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if (current1 > 100U && OC1flag == 0)
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{
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OC_Count1++;
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if (OC_Count1 >= 200)
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{
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OC_Count1 = 0;
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OC1flag = 1;
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}
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}
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else
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{
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OC_Count1 = 0;
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}
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}
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