194 lines
3.6 KiB
C
194 lines
3.6 KiB
C
#include "r_cg_macrodriver.h"
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#include "appTask.h"
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#include "event.h"
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#include "r_cg_port.h"
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#include "r_cg_timer.h"
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#include "r_cg_wdt.h"
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#include "hwCtrl.h"
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#include "r_cg_adc.h"
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#include "r_cg_serial.h"
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#include "PINdef.h"
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#include "MotorCtrl.h"
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extern uint16_t g_AdVal[3];
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void HardWare_Init(void)
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{
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//时基初始化
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R_TAU0_Channel0_Start();
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//AD 初始化
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R_ADC_Start();
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R_ADC_Set_OperationOn();
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R_TAU0_Channel1_Start();
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MOTOR1Ctrl(ACT_NOACT);
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MOTOR2Ctrl(ACT_NOACT);
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}
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void Variable_Init(void)
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{
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MotorValueInit();
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}
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#define KEY1 0
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#define KEY2 1
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void keyLogic(uint8_t keyno)
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{
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switch (keyno)
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{
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case KEY1:
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setMotorState(0,ACT_XQ);
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break;
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case KEY2:
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setMotorState(0,ACT_XH);
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break;
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default:
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break;
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}
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}
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void keyLogicRelease(uint8_t keyno)
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{
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switch (keyno)
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{
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case KEY1:
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setMotorState(0,ACT_NOACT);
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break;
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case KEY2:
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setMotorState(0,ACT_NOACT);
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break;
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default:
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break;
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}
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}
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#define KEY_DELAY_TIME 60
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void keyScan(void)//5ms
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{
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static uint16_t keydelay[9]={0,0,0,0,0,0,0,0,0};
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static uint8_t keyflag[9]={0,0,0,0,0,0,0,0,0};
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static uint8_t keep_count[9]={0,0,0,0,0,0,0,0,0};
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static uint8_t KeyShort2Counter1,KeyShort2Counter2;
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uint8_t keyval,i;
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keyval = GetIOState(SIGID_KEY1);
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if (keyval == 1 && keyflag[KEY1] == 0)
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{
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keydelay[KEY1]++;
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if (keydelay[KEY1] > KEY_DELAY_TIME)//300ms
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{
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keyflag[KEY1] = 1;
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keydelay[KEY1] = KEY_DELAY_TIME;
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keyLogic(KEY1);
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}
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setMotorState(1,ACT_NOACT);
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}
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else if (keyval == 0)
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{
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if (keyflag[KEY1] == 1)
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{
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keyLogicRelease(KEY1);
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}
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if (keydelay[KEY1] > 0 && keydelay[KEY1] < KEY_DELAY_TIME)
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{
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if (KeyShort2Counter1 == 0)//第一次按下
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{
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KeyShort2Counter1 = 100;
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}
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else
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{
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setMotorState(1,ACT_XQ);
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}
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}
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keyflag[KEY1] = 0;
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keydelay[KEY1] = 0;
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}
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keyval = GetIOState(SIGID_KEY2);
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if (keyval == 1 && keyflag[KEY2] == 0)
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{
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keydelay[KEY2]++;
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if (keydelay[KEY2] > KEY_DELAY_TIME)//30ms
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{
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keyflag[KEY2] = 1;
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keydelay[KEY2] = KEY_DELAY_TIME;
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keyLogic(KEY2);
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}
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setMotorState(1,ACT_NOACT);
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}
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else if (keyval == 0)
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{
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if (keyflag[KEY2] == 1)
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{
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keyLogicRelease(KEY2);
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}
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if (keydelay[KEY2] > 0 && keydelay[KEY2] < KEY_DELAY_TIME)
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{
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if (KeyShort2Counter2 == 0)//第一次按下
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{
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KeyShort2Counter2 = 100;
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}
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else
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{
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setMotorState(1,ACT_XH);
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}
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}
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keyflag[KEY2] = 0;
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keydelay[KEY2] = 0;
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}
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if (KeyShort2Counter1 > 0)
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{
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KeyShort2Counter1--;
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}
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if (KeyShort2Counter2 > 0)
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{
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KeyShort2Counter2--;
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}
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}
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void AppTask(void)
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{
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static uint8_t ledno = 1,last = 0;
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if (TimeBase1msFlag == 1)
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{
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TimeBase1msFlag = 0;
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CurrentDetecte();
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}
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if (TimeBase5msFlag == 1)
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{
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TimeBase5msFlag = 0;
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keyScan();
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}
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if (TimeBase10msFlag == 1)
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{
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TimeBase10msFlag = 0;
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MotorCtrl();
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}
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if (TimeBase100msFlag == 1)
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{
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TimeBase100msFlag = 0;
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R_WDT_Restart();
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}
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if (TimeBase1000msFlag == 1)
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{
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TimeBase1000msFlag = 0;
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}
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}
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