M26/app/user/appTask.c

/**
 * @file appTask.c
 * @author sunbeam 
 * @brief 
 * @version 0.1
 * @date 2023-11-14
 * 
 * @copyright Copyright (c) 2023
 * 
 */

#include "appTask.h"
#include "iodefine.h"
#include "r_cg_adc.h"
#include "PINdef.h"
#include "hwCtrl.h"
#include "MotorCtrl.h"
#include "r_cg_wdt.h"
#include "r_cg_timer.h"
#include "buzzer.h"

static uint8_t EEL_BUF[50];

unsigned char IGN_Voltage_error_flag, IGN_Voltage_error_count;

unsigned char Timer_1ms_flag;
unsigned char Timer_5ms_flag;
unsigned char Timer_10ms_flag;
unsigned char Timer_20ms_flag;
unsigned char Timer_50ms_flag;
unsigned char Timer_1000ms_flag;

/***************************************************/
static unsigned int EEL_SAVE_CNT_DOWN_TIMER;
static uint8_t EEL_SAVE_ENABLE;

MotorStateEE_Type MotorStateEE;
MotorStateEE_Type *pEE;


void MotorCtrl(void);
void HallDetecte(void);


extern uint8_t OC1flag,OC2flag,OC3flag;
uint8_t TfState,JrState;
unsigned char keybyte1,keybyte2,keybyte3;

void Apply_task(void)
{
    //static uint8_t temp;

    if (Timer_1ms_flag == 1)
    {
        Timer_1ms_flag = 0;
        KeyScan();
        HallDetecte();
        CurrentDetecte();
        if (EEL_SAVE_CNT_DOWN_TIMER > 0)
        {
            EEL_SAVE_CNT_DOWN_TIMER--;
        }
    }
    if (Timer_5ms_flag == 1)
    {
        Timer_5ms_flag = 0;
        KeyPro();
    }

    if (Timer_10ms_flag == 1)
    {
        Timer_10ms_flag = 0;
        MotorCtrl();
        buzzer_task();
    }
    if (Timer_20ms_flag == 1)
    {
        Timer_20ms_flag = 0;
        R_WDT_Restart();
    }
    if (Timer_50ms_flag == 1)
    {
        Timer_50ms_flag = 0;

    }
    if (Timer_1000ms_flag == 1)
    {
        Timer_1000ms_flag = 0;
        //temp = !temp;
        //MOTOR1Ctrl(temp);
    }
    
}





void KeyPressLogic(uint8_t keyid)
{
    switch (keyid)
    {
    case KEYID_KB_F:
        setMotorState(MOTOR1,ACT_XQ);
        break;
    case KEYID_KB_R:
        setMotorState(MOTOR1,ACT_XH);
        break;
    case KEYID_HG_F:
        setMotorState(MOTOR2,ACT_XQ);
        break;
    case KEYID_HG_R:
        setMotorState(MOTOR2,ACT_XH);
        break;
    case KEYID_ZD_UP:
        setMotorState(MOTOR3,ACT_XQ);
        break;
    case KEYID_ZD_DOWN:
        setMotorState(MOTOR3,ACT_XH);
        break;
    case KEYID_TT_UP:
        setMotorState(MOTOR4,ACT_XQ);
        break;
    case KEYID_TT_DOWN:
        setMotorState(MOTOR4,ACT_XH);
        break;
    case KEYID_FW:
        break;
    case KEYID_TP:
        break;
    case KEYID_JY_SET:
        MotorMemoryKeyMMPress();
        break;
    case KEYID_JY_1:
        break;
    case KEYID_JY_2:
        break;
    case KEYID_JY_3:
        break;
    default:
        break;
    }
}

void KeyReleaseLogic(uint8_t keyid)
{
    switch (keyid)
    {
    case KEYID_KB_F:
        setMotorState(MOTOR1,ACT_NOACT);
        break;
    case KEYID_KB_R:
        setMotorState(MOTOR1,ACT_NOACT);
        break;
    case KEYID_HG_F:
        setMotorState(MOTOR2,ACT_NOACT);
        break;
    case KEYID_HG_R:
        setMotorState(MOTOR2,ACT_NOACT);
        break;
    case KEYID_ZD_UP:
        setMotorState(MOTOR3,ACT_NOACT);
        break;
    case KEYID_ZD_DOWN:
        setMotorState(MOTOR3,ACT_NOACT);
        break;
    case KEYID_TT_UP:
        setMotorState(MOTOR4,ACT_NOACT);
        break;
    case KEYID_TT_DOWN:
        setMotorState(MOTOR4,ACT_NOACT);
        break;
    case KEYID_FW:
        break;
    case KEYID_TP:
        break;

    case KEYID_JY_SET:
        MotorMemoryKeyMMRelease();
        break;
    case KEYID_JY_1:
        MotorMemoryKeyM1Release();
        break;
    case KEYID_JY_2:
        MotorMemoryKeyM2Release();
        break;
    case KEYID_JY_3:
        MotorMemoryKeyM3Release();
        break;
    default:
        break;
    }
}


void KeyPro(void)
{
    uint8_t keyid;
    for (keyid = 0; keyid < KEY_NUM; keyid++)
    {
        if (getKeyPressFlag(keyid))
        {
            KeyPressLogic(keyid);
            StopAutoCal();
        }
        if (getKeyReleaseFlag(keyid))
        {
            KeyReleaseLogic(keyid);
        }
    }
    
}




void EEL_READ(void)
{
    uint16_t checksum;
    uint8_t *src,*des,i;
    ReadFlashData(EEL_BUF, 0x000F1000, sizeof(MotorStateEE));
    pEE = (MotorStateEE_Type *)EEL_BUF;
    checksum = pEE->kbsoft1 + pEE->kbsoft2 + pEE->kbnow + pEE->zysoft1 + pEE->zysoft2 + pEE->zynow;
    if (pEE ->start == 0x55AA && pEE->stop == 0xAA55 && checksum == pEE->checksum)
    {
        des = &MotorStateEE;
        src = EEL_BUF;
        for (i = 0; i < sizeof(MotorStateEE); i++)
        {
            des[i] = src[i];
        }
    }
    
}



uint16_t SupplyVoltage;
void IGN_Voltage_Detect(void)
{
    uint32_t adval;
    adval = getAdval(ADCH_BAT);
    SupplyVoltage = (adval*57*5)>>10;   
    if (adval <= 305 )
    {
        IGN_Voltage_error_count++;
        if (IGN_Voltage_error_count >= 250)
        {
            IGN_Voltage_error_count = 0;
            IGN_Voltage_error_flag = 1;
        }
    }
    else if (adval >= 592 )//16.5
    {
        IGN_Voltage_error_count++;
        if (IGN_Voltage_error_count >= 250)
        {
            IGN_Voltage_error_count = 0;
            IGN_Voltage_error_flag = 2;
        }
    }
    else if (adval >= 323 && adval <= 574)
    {
        IGN_Voltage_error_count = 0;
        IGN_Voltage_error_flag = 0;
    }


    if (IGN_Voltage_error_flag != 0)
    {
        // TAU0_Channel1_ChangeDuty(0);
    }
}


void value_init(void)
{
    R_TAU0_Channel0_Start();


    R_ADC_Start();
    R_ADC_Set_OperationOn();
    R_TAU0_Channel1_Start();



    MotorValueInit();
    buzzer_init();
}



void Timer_Pro(void)
{
	static unsigned int Timer_1ms_tick_count; 
	Timer_1ms_tick_count++;
    Timer_1ms_flag=1;
	if(Timer_1ms_tick_count%5==0)
	{
		Timer_5ms_flag=1;
	}
	if(Timer_1ms_tick_count%10==0)
	{
		Timer_10ms_flag=1;
	}
	if(Timer_1ms_tick_count%20==0)
	{
		Timer_20ms_flag=1;
	}
    if(Timer_1ms_tick_count%50==0)
	{
		Timer_50ms_flag=1;
	}
	if(Timer_1ms_tick_count%1000==0)
	{
		Timer_1000ms_flag = 1;
	}
	if(Timer_1ms_tick_count>=5000)
	{
		Timer_1ms_tick_count=0;
	}
}