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调试OK

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sunbeam 2024-06-04 07:31:17 +08:00
parent 718e09e192
commit 81cbf5d41b
4 changed files with 79 additions and 28 deletions
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28
app/BCZT.sunbeam.mtud
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File diff suppressed because one or more lines are too long

70
app/user/MotorCtrl.c
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@ -1,10 +1,11 @@

#include "MotorCtrl.h"
#include "hwCtrl.h"
#include "PINdef.h"
#include "appTask.h"
#include "pfdl.h"
#include "buzzer.h"
uint8_t MotorState[6],MotorStateReal[6];
@ -12,7 +13,7 @@ uint16_t MotorHallLoc[6],MotorHardStop1[6],MotorHardStop2[6];
uint8_t MotorLearnState[6];
uint8_t MotorErr[6];
uint16_t current1,current2,current3;
uint16_t MotorTarget[6] = {0};
static uint8_t AutoCalState;
uint8_t EEL_SAVE_REQUIRE_FLAG;
@ -133,12 +134,21 @@ void MotorValueInit(void)
void setMotorState(uint8_t motorid,uint8_t act)
{
//motorid-=1;
uint8_t i;
if (act <= ACT_XH && motorid < 6)
{
MotorState[motorid] = act;
if (act!=ACT_NOACT)
{
for (i = 0; i < 4; i++)
{
MotorTarget[i] = 0;
}
}
}
}
uint16_t MotorTarget[6] = {0};
void setMotorTarget(uint8_t motorid,uint16_t target)
{
@ -156,7 +166,15 @@ void setMotorTarget(uint8_t motorid,uint16_t target)
void StartAutoCal(void)
{
AutoCalState = AUTOCAL_START;
//AutoCalState = AUTOCAL_START;
uint8_t i;
for (i = 0; i < 4; i++)
{
MotorHardStop1[i] = 0;
MotorHardStop2[i] = 0;
}
}
void StopAutoCal(void)
@ -173,6 +191,22 @@ void StopAutoCal(void)
}
}
void FW_act(void)
{
setMotorTarget(MOTOR1,MotorHardStop1[MOTOR1]-100);
setMotorTarget(MOTOR2,MotorHardStop1[MOTOR2]-100);
setMotorTarget(MOTOR3,MotorHardStop2[MOTOR3]+100);
setMotorTarget(MOTOR4,MotorHardStop1[MOTOR4]-100);
}
void TP_act(void)
{
setMotorTarget(MOTOR1,MotorHardStop2[MOTOR1]+500);//kb
setMotorTarget(MOTOR2,MotorHardStop2[MOTOR2]+100);//hg
setMotorTarget(MOTOR3,MotorHardStop1[MOTOR3]-100);//zd
setMotorTarget(MOTOR4,MotorHardStop2[MOTOR4]+100);//tt
}
void AutoCalCtrl(void)
@ -464,7 +498,7 @@ void MotorMemoryKeyM1Release(void)
flagMotorMemoryKeyStart = 0;
for (i = 0; i < 6; i++)
{
buzzer_start();
if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0)
{
MemoryLoc[0][i] = MotorHallLoc[i];
@ -492,6 +526,7 @@ void MotorMemoryKeyM2Release(void)
if (flagMotorMemoryKeyStart == 1)
{
flagMotorMemoryKeyStart = 0;
buzzer_start();
for (i = 0; i < 6; i++)
{
if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0)
@ -521,6 +556,7 @@ void MotorMemoryKeyM3Release(void)
if (flagMotorMemoryKeyStart == 1)
{
flagMotorMemoryKeyStart = 0;
buzzer_start();
for (i = 0; i < 6; i++)
{
if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0)
@ -575,19 +611,19 @@ void MotorCtrl(void)//10ms
if (OC1flag == 1)
{
OC1flag = 0;
if (MotorState[0] == ACT_XQ)
if (MotorState[0] == ACT_XQ && MotorState[1] == ACT_NOACT && MotorErr[0] == 0)
{
MotorHardStop1[0] = MotorHallLoc[0];
}
else if (MotorState[0] == ACT_XH)
else if (MotorState[0] == ACT_XH && MotorState[1] == ACT_NOACT && MotorErr[0] == 0)
{
MotorHardStop2[0] = MotorHallLoc[0];
}
else if (MotorState[1] == ACT_XQ)
else if (MotorState[1] == ACT_XQ && MotorState[0] == ACT_NOACT && MotorErr[1] == 0)
{
MotorHardStop1[1] = MotorHallLoc[1];
}
else if (MotorState[1] == ACT_XH)
else if (MotorState[1] == ACT_XH && MotorState[0] == ACT_NOACT && MotorErr[1] == 0)
{
MotorHardStop2[1] = MotorHallLoc[1];
}
@ -597,19 +633,19 @@ void MotorCtrl(void)//10ms
if (OC2flag == 1)
{
OC2flag = 0;
if (MotorState[2] == ACT_XQ)
if (MotorState[2] == ACT_XQ && MotorState[3] == ACT_NOACT && MotorErr[2] == 0)
{
MotorHardStop1[2] = MotorHallLoc[2];
}
else if (MotorState[2] == ACT_XH)
else if (MotorState[2] == ACT_XH && MotorState[3] == ACT_NOACT && MotorErr[2] == 0)
{
MotorHardStop2[2] = MotorHallLoc[2];
}
else if (MotorState[3] == ACT_XQ)
else if (MotorState[3] == ACT_XQ && MotorState[2] == ACT_NOACT && MotorErr[3] == 0)
{
MotorHardStop1[3] = MotorHallLoc[3];
}
else if (MotorState[3] == ACT_XH)
else if (MotorState[3] == ACT_XH && MotorState[2] == ACT_NOACT && MotorErr[3] == 0)
{
MotorHardStop2[3] = MotorHallLoc[3];
}
@ -683,10 +719,10 @@ void CurrentDetecte(void)
current2 = getAdval(ADCH_RLY1);
if (current1 > 30U && OC1flag == 0)
if (current1 > 160U && OC1flag == 0)
{
OC_Count1++;
if (OC_Count1 >= 100)
if (OC_Count1 >= 300)
{
OC_Count1 = 0;
OC1flag = 1;
@ -697,10 +733,10 @@ void CurrentDetecte(void)
OC_Count1 = 0;
}
if (current2 > 30U && OC2flag == 0)
if (current2 > 160U && OC2flag == 0)
{
OC_Count2++;
if (OC_Count2 >= 100)
if (OC_Count2 >= 300)
{
OC_Count2 = 0;
OC2flag = 1;

3
app/user/MotorCtrl.h
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@ -19,7 +19,8 @@ void MotorValueInit(void);
void StartAutoCal(void);
void StopAutoCal(void);
void FW_act(void);
void TP_act(void);

6
app/user/appTask.c
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@ -125,10 +125,12 @@ void KeyPressLogic(uint8_t keyid)
setMotorState(MOTOR4,ACT_XH);
break;
case KEYID_FW:
buzzer_start();
//buzzer_start();
TP_act();
break;
case KEYID_TP:
buzzer_start();
//buzzer_start();
FW_act();
break;
case KEYID_JY_SET:
MotorMemoryKeyMMPress();