M20/APP/user/MotorCtrl.c

#include "MotorCtrl.h"

#include "hwCtrl.h"
#include "PINdef.h"
#include "appTask.h"

static uint8_t amCtrl_state = 0,am_state_machine = 0;
static uint16_t am_state_machine_counter = 0;

static void amCtrl_Act1(void);
static void amCtrl_Act2(void);
static void amCtrl_Act3(void);


void amCtrl_Init(void)
{
    amCtrl_state = 0;
    am_state_machine_counter = 0;
}

void amCtrl_SetState(uint8_t state)
{
    amCtrl_state = state;
    am_state_machine = 0;
    am_state_machine_counter = 0;
}

void amCtrl_Task(void)//50ms
{
    if (amCtrl_state == 0)
    {
        setPumpState(PUMP_OFF);
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine = 0;
        am_state_machine_counter = 0;
    }
    else
    {
        setPumpState(PUMP_ON);
        switch (amCtrl_state)
        {
        case 1:
            amCtrl_Act1();
            break;
            
        case 2:
            amCtrl_Act2();
            break;

        case 3:
            amCtrl_Act3();
            break;
        default:
            break;
        }
    }
}

static void amCtrl_Act1(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 1;
        }
        break;
    case 1:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 2;
        }
        break;
    case 2:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        break;
    }
}

static void amCtrl_Act2(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 90)
        {
            am_state_machine_counter = 0;
            am_state_machine = 1;
        }
        break;
    case 1:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 2;
        }
        break;
    case 2:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        break;
    }
}

static void amCtrl_Act3(void)
{
    switch (am_state_machine)
    {
    case 0:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_OFF);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 1;
        }
        break;
    case 1:
        setValveState(VALVE3,VALVE_OFF);
        setValveState(VALVE4,VALVE_ON);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 2;
        }
        break;
    case 2:
        setValveState(VALVE3,VALVE_ON);
        setValveState(VALVE4,VALVE_OFF);
        setValveState(VALVE5,VALVE_ON);
        am_state_machine_counter++;
        if (am_state_machine_counter >= 80)
        {
            am_state_machine_counter = 0;
            am_state_machine = 0;
        }
        break;
    
    default:
        break;
    }
}