156 lines
3.3 KiB
C
156 lines
3.3 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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volatile uint8_t MotorState[6],MotorStateReal[6];
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uint16_t current1;
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uint8_t OC1flag;
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uint16_t OC_Count1=0;
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uint8_t act_step[6];
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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[motorid] = 0;
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}
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}
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extern uint8_t key_p1_pressed, key_p2_pressed;
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extern uint8_t key_p1_released, key_p2_released;
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void MotorCtrl(void)//10ms
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{
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static uint8_t MotorRunState = 0;
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static uint16_t p1_cnt, p2_cnt;
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switch (MotorRunState)
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{
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case 0:
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if (key_p1_pressed == 1 && p1_cnt < 0xffff)
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{
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p1_cnt++;
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if (p1_cnt >= 150)
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{
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setMotorState(MOTOR1, ACT_XQ);
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MotorRunState = 1;
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//key_p1_released = 0;
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key_p2_released = 0;
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}
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key_p1_released = 0;
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}
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if (key_p2_pressed == 1 && p2_cnt < 0xffff)
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{
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p2_cnt++;
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if (p2_cnt >= 150)
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{
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setMotorState(MOTOR1, ACT_XH);
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MotorRunState = 1;
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key_p1_released = 0;
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//key_p2_released = 0;
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}
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key_p2_released = 0;
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}
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if (key_p1_released == 1 && p1_cnt < 100 && p1_cnt > 0)
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{
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key_p1_released = 0;
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setMotorState(MOTOR1, ACT_XQ);
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MotorRunState = 2;
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p1_cnt = 0;
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}
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if (key_p2_released == 1 && p2_cnt < 100 && p2_cnt > 0)
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{
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key_p2_released = 0;
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setMotorState(MOTOR1, ACT_XH);
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MotorRunState = 2;
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p2_cnt = 0;
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}
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break;
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case 1://长按
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if (key_p1_released == 1 || key_p2_released == 1 || OC1flag)
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{
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key_p1_released = 0;
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key_p2_released = 0;
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setMotorState(MOTOR1, ACT_NOACT);
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MotorRunState = 3;
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OC1flag = 0;
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}
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break;
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case 2://短按
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if (key_p1_pressed == 1 || key_p2_pressed == 1 || OC1flag)
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{
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key_p1_pressed = 0;
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key_p2_pressed = 0;
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setMotorState(MOTOR1, ACT_NOACT);
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MotorRunState = 3;
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OC1flag = 0;
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}
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break;
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case 3:
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key_p1_pressed = 0;
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key_p2_pressed = 0;
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key_p1_released = 0;
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key_p2_released = 0;
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p1_cnt = 0;
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p2_cnt = 0;
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MotorRunState = 0;
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break;
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default:
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break;
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}
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MotorStateReal[MOTOR1] = MotorState[MOTOR1];
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MOTOR1Ctrl(MotorStateReal[MOTOR1]);
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//MOTOR2Ctrl(MotorStateReal[MOTOR2]);
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//MOTOR1Ctrl(MotorState[MOTOR1]);
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}
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uint16_t getOC_th(void)
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{
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return 100U;
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}
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void CurrentDetecte(void)
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{
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uint16_t OC_th;
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current1 = getAdval(ADCH_RLY1);
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OC_th = getOC_th();
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if (current1 > OC_th && 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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