huahua/M26
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新

Browse Source
This commit is contained in:
sunbeam 2024-01-20 20:02:40 +08:00
parent 00ac229a6a
commit d63083247c
6 changed files with 86 additions and 270 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
app/user/MotorCtrl.c
View File

@ -705,30 +705,9 @@ void MotorCtrl(void)//10ms
MotorState[MOTOR3] = ACT_NOACT;
MotorState[MOTOR4] = ACT_NOACT;
}
if (OC3flag == 1)
{
OC3flag = 0;
if (MotorState[4] == ACT_XQ)
{
MotorHardStop1[4] = MotorHallLoc[4];
}
else if (MotorState[4] == ACT_XH)
{
MotorHardStop2[4] = MotorHallLoc[4];
}
else if (MotorState[5] == ACT_XQ)
{
MotorHardStop1[5] = MotorHallLoc[5];
}
else if (MotorState[5] == ACT_XH)
{
MotorHardStop2[5] = MotorHallLoc[5];
}
MotorState[MOTOR5] = ACT_NOACT;
MotorState[MOTOR6] = ACT_NOACT;
}
for (i = 0; i < 6; i++)
for (i = 0; i < 4; i++)
{
MotorStateReal[i] = MotorState[i];
if (MotorState[i] == ACT_NOACT && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
@ -773,8 +752,7 @@ void MotorCtrl(void)//10ms
MOTOR2Ctrl(MotorStateReal[MOTOR2]);
MOTOR3Ctrl(MotorStateReal[MOTOR3]);
MOTOR4Ctrl(MotorStateReal[MOTOR4]);
MOTOR5Ctrl(MotorStateReal[MOTOR5]);
MOTOR6Ctrl(MotorStateReal[MOTOR6]);
}
@ -790,9 +768,9 @@ void CurrentDetecte(void)
static uint16_t OC_Count1=0,OC_Count2=0,OC_Count3 = 0;
current1 = getAdval(ADCH_RLY3);
current1 = getAdval(ADCH_RLY1);
current2 = getAdval(ADCH_RLY2);
current3 = getAdval(ADCH_RLY1);
if (current1 > 100U && OC1flag == 0)
{
@ -823,20 +801,6 @@ void CurrentDetecte(void)
OC_Count2 = 0;
}
if (current3 > 100U && OC3flag == 0)
{
OC_Count3++;
if (OC_Count3 >= 100)
{
OC_Count3 = 0;
OC3flag = 1;
}
}
else
{
OC_Count3 = 0;
}
}
@ -852,9 +816,9 @@ void HallDetecte(void)
{
static uint8_t HallLastState[6],HallDelay[6];
uint8_t i,hallstate;
for (i = 0; i < 6; i++)
for (i = 0; i < 4; i++)
{
hallstate = GetIOState(i+1);
hallstate = GetIOState(SIGID_HALL1 + i);
if (hallstate != HallLastState[i])
{
HallDelay[i]++;

163
app/user/appTask.c
View File

@ -15,9 +15,9 @@
#include "PINdef.h"
#include "hwCtrl.h"
#include "MotorCtrl.h"
#include "RLIN_driver.h"
#include "r_cg_wdt.h"
#include "r_cg_timer.h"
#include "buzzer.h"
static uint8_t EEL_BUF[50];
@ -40,7 +40,7 @@ MotorStateEE_Type *pEE;
void MotorCtrl(void);
void HallDetecte(void);
void LIN_Task(void);
void TfJr_CtrlTask(void);
extern uint8_t OC1flag,OC2flag,OC3flag;
uint8_t TfState,JrState;
@ -64,7 +64,6 @@ void Apply_task(void)
if (Timer_5ms_flag == 1)
{
Timer_5ms_flag = 0;
KeyPro();
}
@ -72,7 +71,7 @@ void Apply_task(void)
{
Timer_10ms_flag = 0;
MotorCtrl();
LIN_Task();
buzzer_task();
}
if (Timer_20ms_flag == 1)
{
@ -82,7 +81,7 @@ void Apply_task(void)
if (Timer_50ms_flag == 1)
{
Timer_50ms_flag = 0;
TfJr_CtrlTask();
}
if (Timer_1000ms_flag == 1)
{
@ -91,98 +90,35 @@ void Apply_task(void)
//MOTOR1Ctrl(temp);
}
}
extern uint8_t Master_TxData1[];
void LIN_Task(void)
{
static uint8_t lin_sch_count=0;
switch (lin_sch_count)
{
case 0:
Master_TxData1[0] = (JrState<<4)|(TfState<<6);
Master_TxData1[1] = keybyte3;
RLIN_Master_HeaderTransmit(0x80);
break;
case 1:
RLIN_Master_HeaderTransmit(0x99);
break;
case 2:
RLIN_Master_HeaderTransmit(0x61);
break;
case 3:
break;
default:
lin_sch_count = 0;
break;
}
lin_sch_count++;
if (lin_sch_count > 2)
{
lin_sch_count = 0;
}
}
void LIN_Rx_Handle(uint8_t pid,uint8_t *data)
{
uint8_t id = pid & 0x3f;
switch (id)
{
case 0x21:
keybyte3 = data[4];
break;
case 0x19:
//MOTOR1Ctrl(1);
keybyte1 = data[0];
keybyte2 = data[1];
break;
default:
break;
}
}
void KeyPressLogic(uint8_t keyid)
{
switch (keyid)
{
case KEYID_MOTOR1_XQ:
setMotorState(MOTOR1,ACT_XQ);
break;
case KEYID_MOTOR1_XH:
setMotorState(MOTOR1,ACT_XH);
break;
case KEYID_MOTOR2_XQ:
case KEYID_HGXQ:
setMotorState(MOTOR2,ACT_XQ);
break;
case KEYID_MOTOR2_XH:
case KEYID_HGXH:
setMotorState(MOTOR2,ACT_XH);
break;
case KEYID_MOTOR3_XQ:
case KEYID_ZDUP:
setMotorState(MOTOR3,ACT_XQ);
break;
case KEYID_MOTOR3_XH:
case KEYID_ZDDOWN:
setMotorState(MOTOR3,ACT_XH);
break;
case KEYID_MOTOR4_XQ:
case KEYID_TTUP:
setMotorState(MOTOR4,ACT_XQ);
break;
case KEYID_MOTOR4_XH:
case KEYID_TTDOWN:
setMotorState(MOTOR4,ACT_XH);
break;
case KEYID_MOTOR5_XQ:
setMotorState(MOTOR5,ACT_XQ);
break;
case KEYID_MOTOR5_XH:
setMotorState(MOTOR5,ACT_XH);
break;
case KEYID_MOTOR6_XQ:
setMotorState(MOTOR6,ACT_XQ);
break;
case KEYID_MOTOR6_XH:
setMotorState(MOTOR6,ACT_XH);
break;
case KEYID_MM:
case KEYID_SET:
MotorMemoryKeyMMPress();
break;
case KEYID_M1:
@ -191,27 +127,6 @@ void KeyPressLogic(uint8_t keyid)
break;
case KEYID_M3:
break;
case KEYID_K4:
JrState++;
TfState = 0;
if (JrState > 3)
{
JrState = 0;
}
break;
case KEYID_K3:
TfState++;
JrState = 0;
if (TfState > 3)
{
TfState = 0;
}
break;
case KEYID_K2:
break;
case KEYID_K1:
break;
default:
break;
}
@ -221,43 +136,26 @@ void KeyReleaseLogic(uint8_t keyid)
{
switch (keyid)
{
case KEYID_MOTOR1_XQ:
setMotorState(MOTOR1,ACT_NOACT);
break;
case KEYID_MOTOR1_XH:
setMotorState(MOTOR1,ACT_NOACT);
break;
case KEYID_MOTOR2_XQ:
case KEYID_HGXQ:
setMotorState(MOTOR2,ACT_NOACT);
break;
case KEYID_MOTOR2_XH:
case KEYID_HGXH:
setMotorState(MOTOR2,ACT_NOACT);
break;
case KEYID_MOTOR3_XQ:
case KEYID_ZDUP:
setMotorState(MOTOR3,ACT_NOACT);
break;
case KEYID_MOTOR3_XH:
case KEYID_ZDDOWN:
setMotorState(MOTOR3,ACT_NOACT);
break;
case KEYID_MOTOR4_XQ:
case KEYID_TTUP:
setMotorState(MOTOR4,ACT_NOACT);
break;
case KEYID_MOTOR4_XH:
case KEYID_TTDOWN:
setMotorState(MOTOR4,ACT_NOACT);
break;
case KEYID_MOTOR5_XQ:
setMotorState(MOTOR5,ACT_NOACT);
break;
case KEYID_MOTOR5_XH:
setMotorState(MOTOR5,ACT_NOACT);
break;
case KEYID_MOTOR6_XQ:
setMotorState(MOTOR6,ACT_NOACT);
break;
case KEYID_MOTOR6_XH:
setMotorState(MOTOR6,ACT_NOACT);
break;
case KEYID_MM:
case KEYID_SET:
MotorMemoryKeyMMRelease();
break;
case KEYID_M1:
@ -282,14 +180,13 @@ void KeyPro(void)
{
if (getKeyPressFlag(keyid))
{
KeyPressLogic(keyid+1);
KeyPressLogic(keyid);
StopAutoCal();
}
if (getKeyReleaseFlag(keyid))
{
KeyReleaseLogic(keyid+1);
KeyReleaseLogic(keyid);
}
}
}
@ -404,20 +301,6 @@ void Timer_Pro(void)
}
const uint8_t TfDutyTable[4] = {0,100,80,50};//{0,100,80,50};
const uint8_t JrDutyTable[4] = {0,100,80,50};//{0,100,80,50};
void TfJr_CtrlTask(void)
{
if (JrState < 4)
{
SetJrDuty(JrDutyTable[JrState]);
}
if (TfState < 4)
{
SetTfDuty(TfDutyTable[TfState]);
}
}

23
app/user/buzzer.c
View File

@ -2,26 +2,39 @@
#include "buzzer.h"
static uint8_t buzzer_state;
static uint16_t buzzer_count;
void buzzer_init(void)
{
buzzer_state = 0;
buzzer_count = 0;
}
void buzzer_start(void)
{
buzzer_state = 1;
buzzer_count = 0;
R_TAU0_Channel4_Start();
}
void buzzer_stop(void)
{
buzzer_state = 0;
R_TAU0_Channel4_Stop();
}
void buzzer_task(void)
void buzzer_task(void)//10ms
{
if (buzzer_state == 1)
{
buzzer_count++;
if (buzzer_count >= 20)
{
buzzer_stop();
}
}
}

6
app/user/buzzer.h
View File

@ -4,5 +4,11 @@
#include "r_cg_macrodriver.h"
#include "r_cg_userdefine.h"
void buzzer_init(void);
void buzzer_start(void);
void buzzer_stop(void);
void buzzer_task(void);
#endif

84
app/user/hwCtrl.c
View File

@ -63,19 +63,7 @@ void KeyScan(void)
key_nopress = 0;
for (i = 0; i < KEY_NUM; i++)
{
if (i<8)
{
key = (keybyte1 & 0x01<<i)?1:0;
}
else if (i<16)
{
key = (keybyte2 & 0x01<<(i-8))?1:0;
}
else
{
key = (keybyte3 & 0x01<<(i-16))?1:0;
}
//key = GetIOState(i+1);
key = GetIOState(i);
if (key == KEY_PRESSED && keystate[i] == KEY_NOPRESSED)
{
keydelay[i]++;
@ -108,13 +96,41 @@ void KeyScan(void)
uint8_t GetIOState(uint8_t keyno)
{
uint16_t keyad;
switch (keyno)
{
case KEYID_KBXQ:
return IN_KEY_KBXQ;
case KEYID_KBXH:
return IN_KEY_KBXH;
case KEYID_HGXQ:
return IN_KEY_HGXQ;
case KEYID_HGXH:
return IN_KEY_HGXH;
case KEYID_ZDUP:
return IN_KEY_ZDUP;
case KEYID_ZDDOWN:
return IN_KEY_ZDDOWN;
case KEYID_TTUP:
return IN_KEY_TTUP;
case KEYID_TTDOWN:
return IN_KEY_TTDOWN;
case KEYID_TP:
return IN_KEY_TP;
case KEYID_FW:
return IN_KEY_FW;
case KEYID_SET:
keyad = getAdval(ADCH_JYKEY);
return keyad<20?1:0;
case KEYID_M1:
keyad = getAdval(ADCH_JYKEY);
return (keyad>200 && keyad<250)?1:0;
case KEYID_M2:
keyad = getAdval(ADCH_JYKEY);
return (keyad>450 && keyad<550)?1:0;
case KEYID_M3:
keyad = getAdval(ADCH_JYKEY);
return (keyad>700 && keyad<800)?1:0;
case SIGID_HALL1:
return IN_HALL1;
case SIGID_HALL2:
@ -221,46 +237,6 @@ void MOTOR4Ctrl(uint8_t act)
break;
}
}
void MOTOR5Ctrl(uint8_t act)
{
switch (act)
{
case ACT_NOACT:
OUT_RLY5P = OUT_OFF;
OUT_RLY5N = OUT_OFF;
break;
case ACT_XH:
OUT_RLY5P = OUT_ON;
OUT_RLY5N = OUT_OFF;
break;
case ACT_XQ:
OUT_RLY5P = OUT_OFF;
OUT_RLY5N = OUT_ON;
break;
default:
break;
}
}
void MOTOR6Ctrl(uint8_t act)
{
switch (act)
{
case ACT_NOACT:
OUT_RLY6P = OUT_OFF;
OUT_RLY6N = OUT_OFF;
break;
case ACT_XH:
OUT_RLY6P = OUT_ON;
OUT_RLY6N = OUT_OFF;
break;
case ACT_XQ:
OUT_RLY6P = OUT_OFF;
OUT_RLY6N = OUT_ON;
break;
default:
break;
}
}
uint16_t getAdval(uint8_t ch)
{

30
app/user/hwCtrl.h
View File

@ -9,37 +9,14 @@
#define KEY_PRESSED 1
#define KEY_NOPRESSED 0
#define KEY_NUM 20
#define KEY_NUM 14
#define ACT_NOACT 0
#define ACT_XQ 1
#define ACT_XH 2
#define KEYID_K1 17
#define KEYID_K2 18
#define KEYID_K3 19
#define KEYID_K4 20
#define KEYID_MOTOR1_XQ 13
#define KEYID_MOTOR1_XH 16
#define KEYID_MOTOR2_XQ 14
#define KEYID_MOTOR2_XH 15
#define KEYID_MOTOR3_XQ 9
#define KEYID_MOTOR3_XH 12
#define KEYID_MOTOR4_XQ 10
#define KEYID_MOTOR4_XH 11
#define KEYID_MOTOR5_XQ 1
#define KEYID_MOTOR5_XH 2
#define KEYID_MOTOR6_XQ 3
#define KEYID_MOTOR6_XH 4
#define KEYID_MM 5
#define KEYID_M1 8
#define KEYID_M2 7
#define KEYID_M3 6
void ad_handle(void);
uint16_t getAdval(uint8_t ch);
void KeyScan(void);
@ -55,10 +32,7 @@ void MOTOR1Ctrl(uint8_t act);
void MOTOR2Ctrl(uint8_t act);
void MOTOR3Ctrl(uint8_t act);
void MOTOR4Ctrl(uint8_t act);
void MOTOR5Ctrl(uint8_t act);
void MOTOR6Ctrl(uint8_t act);
void SetTfDuty(uint8_t duty);
void SetJrDuty(uint8_t duty);
#endif