M12-04P/appTask.c

#include "r_cg_macrodriver.h"
#include "appTask.h"
#include "event.h"
#include "r_cg_port.h"
#include "r_cg_timer.h"
//#include "r_cg_wdt.h"
#include "hwCtrl.h"
#include "r_cg_adc.h"
#include "r_cg_serial.h"

uint8_t g_rx_buf[3];

extern uint16_t g_AdVal[3];
uint8_t flagMotorStart;
uint8_t MotorState;
uint16_t MotorCounter;
uint8_t MotorDir;
void HardWare_Init(void)
{
    //时基初始化
    R_TAU0_Channel0_Start();

    //LED初始化


    //AD 初始化
    R_ADC_Start();
    R_ADC_Set_OperationOn();
    R_TAU0_Channel1_Start();

    //UART初始化
    MotorCtrl(MOTOR_NOACT);

}

void Variable_Init(void)
{
    MotorState = 0;
    MotorDir = MOTOR_ZZ;
}

void keyLogic(uint8_t keyno)
{
    switch (keyno)
    {
    case KEY_RESET:
        MotorStart();
        break;
    default:
        break;
    }

}
void keyLogicRelease(uint8_t keyno)
{
    switch (keyno)
    {
    case KEY_RESET:
        if (MotorState != 0)
        {
            MotorStart();
        }
        
        
        break;
    default:
        break;
    }

}
#define KEY_DELAY_TIME 60

void keyScan(void)//5ms
{
    static uint16_t keydelay[9]={0,0,0,0,0,0,0,0,0};
    static uint8_t keyflag[9]={0,0,0,0,0,0,0,0,0};
    static uint8_t keep_count[9]={0,0,0,0,0,0,0,0,0};
    uint8_t keyval,i;
    for (i = 0; i < KEY_NUM; i++)
    {
        keyval = GetKeyState(i);
        if (keyval == 1 && keyflag[i] == 0)
        {
            keydelay[i]++;
            if (keydelay[i] > KEY_DELAY_TIME)//30ms
            {   
                keyflag[i] = 1;
                keydelay[i] = KEY_DELAY_TIME;
                //keyLogic(i);
                keep_count[i] = 0;
                MotorCtrl(MotorDir);
            }
            
        }
        else if (keyval == 0)
        {
            MotorCtrl(MOTOR_NOACT);
            if (keyflag[i] == 1)
            {
                if (MotorDir == MOTOR_FZ)
                {
                    MotorDir = MOTOR_ZZ;
                }
                else
                {
                    MotorDir = MOTOR_FZ;
                }
            }
            
            
            
            keyflag[i] = 0;
            keydelay[i] = 0;
        }
        
    }
    
}

void AppTask(void)
{
    static uint8_t ledno = 1,last = 0;
    if (TimeBase5msFlag == 1)
    {
        TimeBase5msFlag = 0;
        keyScan();
        
    }
    

    if (TimeBase10msFlag == 1)
    {
        TimeBase10msFlag = 0;
        //MotorTask();
    }
    
    if (TimeBase100msFlag == 1)
    {
        TimeBase100msFlag = 0;
        
        R_WDT_Restart();

    }
    
    if (TimeBase1000msFlag == 1)
    {
        TimeBase1000msFlag = 0;
    }
    
}

#define MOTOR_IDLE  0
#define MOTOR_START 1
#define MOTOR_STEP1 2
#define MOTOR_STEP2 3
#define MOTOR_STEP3 4
#define MOTOR_STOP  5
void MotorStart(void)
{
    flagMotorStart = 1;
}
const uint16_t MotorTimeArr[3] = {3000,3000,3000};
#define MOTOR_TASK_TIMEBASE 10
void MotorTask(void)//10ms
{
    switch (MotorState)
    {
    case MOTOR_IDLE:
        if (flagMotorStart == 1)
        {
            flagMotorStart = 0;
            MotorState = MOTOR_START;
        }
        break;
    case MOTOR_START:
        MotorCounter = 0;
        MotorState = MOTOR_STEP1;
    break;
    case MOTOR_STEP1:
        MotorCounter++;
        if (MotorCounter*MOTOR_TASK_TIMEBASE > MotorTimeArr[0])
        {
            MotorCounter = 0;
            MotorState++;
        }
        MotorCtrl(MOTOR_ZZ);
        
        if (flagMotorStart == 1)
        {
            flagMotorStart = 0;
            MotorState = MOTOR_STEP3;
        }
        
    break;
    case MOTOR_STEP2:
        MotorCounter++;
        if (MotorCounter*MOTOR_TASK_TIMEBASE > MotorTimeArr[1])
        {
            MotorCounter = 0;
            MotorState++;
        }
        MotorCtrl(MOTOR_NOACT);
        
        if (flagMotorStart == 1)
        {
            flagMotorStart = 0;
            MotorState = MOTOR_STEP3;
        }
        
    break;
    case MOTOR_STEP3:
        MotorCounter++;
        if (MotorCounter*MOTOR_TASK_TIMEBASE > MotorTimeArr[2])
        {
            MotorCounter = 0;
            MotorState++;
        }
        MotorCtrl(MOTOR_FZ);
        /*
        if (flagMotorStart == 1)
        {
            flagMotorStart = 0;
            MotorState = MOTOR_STOP;
        }
        */
    break;
    case MOTOR_STOP:
        MotorCtrl(MOTOR_NOACT);
        MotorState = MOTOR_IDLE;
        flagMotorStart = 0;
    break;
    default:
        MotorState = MOTOR_STOP;
    break;
    }
}