2024-05-19 17:07:18 +08:00
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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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2024-05-19 20:26:03 +08:00
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static uint8_t amCtrl_state = 0,am_state_machine = 0;
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static uint16_t am_state_machine_counter = 0;
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2024-05-26 21:09:14 +08:00
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static uint8_t amCtrl_YTstate;
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2024-05-23 13:28:44 +08:00
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static void amCtrl_Act1(void);
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static void amCtrl_Act2(void);
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static void amCtrl_Act3(void);
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2024-06-04 08:36:56 +08:00
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static uint16_t amCtrl_counter;
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2024-05-19 20:26:03 +08:00
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void amCtrl_Init(void)
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{
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amCtrl_state = 0;
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am_state_machine_counter = 0;
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}
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void amCtrl_SetState(uint8_t state)
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{
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amCtrl_state = state;
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2024-05-23 13:28:44 +08:00
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am_state_machine = 0;
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am_state_machine_counter = 0;
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2024-05-26 21:09:14 +08:00
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amCtrl_YTstate = 0;
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2024-05-19 20:26:03 +08:00
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}
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2024-05-26 20:36:33 +08:00
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void amCtrl_SetYTState(QD_STATE_type qd1,QD_STATE_type qd2)
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{
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if (amCtrl_state != 0)
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{
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return;
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}
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switch (qd1)
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{
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case QD_NONE_ACT:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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break;
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case QD_CQ:
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setPumpState(PUMP_ON);
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setValveState(VALVE1,VALVE_ON);
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setValveState(VALVE6,VALVE_OFF);
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break;
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case QD_FQ:
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2024-05-26 23:52:58 +08:00
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//setPumpState(PUMP_ON);
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2024-05-26 20:36:33 +08:00
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE6,VALVE_ON);
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break;
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default:
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break;
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}
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switch (qd2)
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{
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case QD_NONE_ACT:
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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break;
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case QD_CQ:
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setPumpState(PUMP_ON);
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setValveState(VALVE2,VALVE_ON);
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setValveState(VALVE7,VALVE_OFF);
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break;
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case QD_FQ:
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2024-05-26 23:52:58 +08:00
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//setPumpState(PUMP_ON);
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2024-05-26 20:36:33 +08:00
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE7,VALVE_ON);
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break;
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default:
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break;
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}
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if (qd1 == QD_NONE_ACT && qd2 == QD_NONE_ACT)
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{
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setPumpState(PUMP_OFF);
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2024-05-26 21:09:14 +08:00
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amCtrl_YTstate = 0;
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}
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else
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{
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amCtrl_YTstate = 1;
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2024-05-26 20:36:33 +08:00
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}
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}
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2024-05-19 20:26:03 +08:00
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void amCtrl_Task(void)//50ms
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{
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if (amCtrl_state == 0)
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{
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2024-05-26 21:09:14 +08:00
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if (amCtrl_YTstate == 0)
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{
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setPumpState(PUMP_OFF);
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}
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2024-05-19 21:15:43 +08:00
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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2024-05-19 20:26:03 +08:00
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am_state_machine = 0;
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am_state_machine_counter = 0;
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2024-06-04 08:36:56 +08:00
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amCtrl_counter = 0;
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2024-05-19 20:26:03 +08:00
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}
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else
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{
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setPumpState(PUMP_ON);
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2024-05-23 13:28:44 +08:00
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switch (amCtrl_state)
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2024-05-19 20:26:03 +08:00
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{
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case 1:
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2024-05-31 18:31:00 +08:00
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amCtrl_Act2();
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2024-05-19 20:26:03 +08:00
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break;
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case 2:
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2024-05-31 18:31:00 +08:00
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amCtrl_Act1();
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2024-05-23 13:28:44 +08:00
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break;
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case 3:
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amCtrl_Act3();
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break;
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2024-05-19 20:26:03 +08:00
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default:
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break;
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}
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2024-06-22 16:10:09 +08:00
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/*
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//20240622取消定时15分钟
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2024-06-04 08:36:56 +08:00
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amCtrl_counter++;
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if (amCtrl_counter > 18000)
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{
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amCtrl_state = 0;
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}
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2024-06-22 16:10:09 +08:00
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*/
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2024-05-19 20:26:03 +08:00
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}
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2024-05-23 13:28:44 +08:00
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}
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2024-05-26 20:36:33 +08:00
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#if CONFIG == HIGH_CONFIG
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2024-06-22 16:10:09 +08:00
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#define CHONGQI_TIME 130U
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2024-05-26 20:36:33 +08:00
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static void amCtrl_Act1(void)
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{
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switch (am_state_machine)
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{
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case 0:
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setValveState(VALVE1,VALVE_ON);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 1:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_ON);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_ON);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 2:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_ON);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_ON);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 3:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_ON);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 4:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_ON);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine = 0;
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}
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break;
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default:
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am_state_machine = 0;
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break;
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}
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}
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static void amCtrl_Act2(void)
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{
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switch (am_state_machine)
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{
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case 0:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_ON);
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setValveState(VALVE6,VALVE_ON);
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2024-05-31 18:31:00 +08:00
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setValveState(VALVE7,VALVE_ON);
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2024-05-26 20:36:33 +08:00
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 1:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_ON);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 2:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_ON);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 3:
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setValveState(VALVE1,VALVE_OFF);
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setValveState(VALVE2,VALVE_ON);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_OFF);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine++;
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}
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break;
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case 4:
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setValveState(VALVE1,VALVE_ON);
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setValveState(VALVE2,VALVE_OFF);
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setValveState(VALVE3,VALVE_OFF);
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setValveState(VALVE4,VALVE_OFF);
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setValveState(VALVE5,VALVE_OFF);
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setValveState(VALVE6,VALVE_OFF);
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setValveState(VALVE7,VALVE_ON);
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am_state_machine_counter++;
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2024-06-22 16:10:09 +08:00
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if (am_state_machine_counter >= CHONGQI_TIME)
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2024-05-26 20:36:33 +08:00
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{
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am_state_machine_counter = 0;
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am_state_machine = 0;
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}
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|
|
|
break;
|
|
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
am_state_machine = 0;
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
static void amCtrl_Act3(void)
|
|
|
|
|
{
|
|
|
|
|
switch (am_state_machine)
|
|
|
|
|
{
|
|
|
|
|
case 0:
|
|
|
|
|
setValveState(VALVE1,VALVE_ON);
|
|
|
|
|
setValveState(VALVE2,VALVE_ON);
|
|
|
|
|
setValveState(VALVE3,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE4,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE5,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE6,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE7,VALVE_OFF);
|
|
|
|
|
am_state_machine_counter++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 90U)
|
2024-05-26 20:36:33 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine++;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case 1:
|
|
|
|
|
setValveState(VALVE1,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE2,VALVE_ON);
|
|
|
|
|
setValveState(VALVE3,VALVE_ON);
|
|
|
|
|
setValveState(VALVE4,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE5,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE6,VALVE_ON);
|
|
|
|
|
setValveState(VALVE7,VALVE_OFF);
|
|
|
|
|
am_state_machine_counter++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 90U)
|
2024-05-26 20:36:33 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine++;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case 2:
|
|
|
|
|
setValveState(VALVE1,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE2,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE3,VALVE_ON);
|
|
|
|
|
setValveState(VALVE4,VALVE_ON);
|
|
|
|
|
setValveState(VALVE5,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE6,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE7,VALVE_ON);
|
|
|
|
|
am_state_machine_counter++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 90U)
|
2024-05-26 20:36:33 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine++;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case 3:
|
|
|
|
|
setValveState(VALVE1,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE2,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE3,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE4,VALVE_ON);
|
|
|
|
|
setValveState(VALVE5,VALVE_ON);
|
|
|
|
|
setValveState(VALVE6,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE7,VALVE_OFF);
|
|
|
|
|
am_state_machine_counter++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 90U)
|
2024-05-26 20:36:33 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine++;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case 4:
|
|
|
|
|
setValveState(VALVE1,VALVE_ON);
|
|
|
|
|
setValveState(VALVE2,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE3,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE4,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE5,VALVE_ON);
|
|
|
|
|
setValveState(VALVE6,VALVE_OFF);
|
|
|
|
|
setValveState(VALVE7,VALVE_OFF);
|
|
|
|
|
am_state_machine_counter++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 90U)
|
2024-05-26 20:36:33 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine = 0;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
am_state_machine = 0;
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#else
|
2024-06-22 16:10:09 +08:00
|
|
|
#define CHONGQI_TIME 160
|
2024-05-23 13:28:44 +08:00
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= CHONGQI_TIME)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= CHONGQI_TIME)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= CHONGQI_TIME)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine = 0;
|
|
|
|
|
}
|
|
|
|
|
break;
|
2024-05-19 20:26:03 +08:00
|
|
|
|
2024-05-23 13:28:44 +08:00
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= CHONGQI_TIME)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= CHONGQI_TIME)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= CHONGQI_TIME)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine = 0;
|
|
|
|
|
}
|
|
|
|
|
break;
|
2024-05-19 20:26:03 +08:00
|
|
|
|
2024-05-23 13:28:44 +08:00
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 110)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 110)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
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++;
|
2024-06-22 16:10:09 +08:00
|
|
|
if (am_state_machine_counter >= 110)
|
2024-05-23 13:28:44 +08:00
|
|
|
{
|
|
|
|
|
am_state_machine_counter = 0;
|
|
|
|
|
am_state_machine = 0;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
break;
|
|
|
|
|
}
|
2024-05-26 20:36:33 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
#endif
|
