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M26B初版

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This commit is contained in:
sunbeam 2024-10-25 23:30:26 +08:00
parent 7caeaa4dcd
commit 6abc8093ac
4 changed files with 215 additions and 32 deletions
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31
app/BCZT.sunbeam.mtud
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File diff suppressed because one or more lines are too long

32
app/user/MotorCtrl.c
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@ -148,7 +148,10 @@ void setMotorState(uint8_t motorid,uint8_t act)
} }
} }
} }
uint8_t getMotorState(uint8_t motorid)
{
return MotorState[motorid];
}
void setMotorTarget(uint8_t motorid,uint16_t target) void setMotorTarget(uint8_t motorid,uint16_t target)
{ {
@ -256,7 +259,7 @@ void MotorMemoryKeyM1Release(void)
if (flagMotorMemoryKeyStart == 1) if (flagMotorMemoryKeyStart == 1)
{ {
flagMotorMemoryKeyStart = 0; flagMotorMemoryKeyStart = 0;
for (i = 0; i < 6; i++) for (i = 0; i < 3; i++)
{ {
buzzer_start(); buzzer_start();
if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0) if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0)
@ -269,7 +272,7 @@ void MotorMemoryKeyM1Release(void)
} }
else else
{ {
for (i = 0; i < 6; i++) for (i = 0; i < 3; i++)
{ {
setMotorTarget(i,MemoryLoc[0][i]); setMotorTarget(i,MemoryLoc[0][i]);
} }
@ -287,7 +290,7 @@ void MotorMemoryKeyM2Release(void)
{ {
flagMotorMemoryKeyStart = 0; flagMotorMemoryKeyStart = 0;
buzzer_start(); buzzer_start();
for (i = 0; i < 6; i++) for (i = 0; i < 3; i++)
{ {
if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0) if (MotorHardStop1[i]!=0 && MotorHardStop2[i]!=0)
{ {
@ -299,7 +302,7 @@ void MotorMemoryKeyM2Release(void)
} }
else else
{ {
for (i = 0; i < 6; i++) for (i = 0; i < 3; i++)
{ {
setMotorTarget(i,MemoryLoc[1][i]); setMotorTarget(i,MemoryLoc[1][i]);
} }
@ -570,3 +573,22 @@ void HallDetecte(void)
} }
} }
void setJSMomory(void)
{
buzzer_start();
MemoryLoc[0][3] = MotorHallLoc[MOTOR1];
MemoryLoc[1][3] = MotorHallLoc[MOTOR2];
MemoryLoc[2][3] = MotorHallLoc[MOTOR3];
EEL_SAVE_Counter = 1000;
EEL_SAVE_REQUIRE_FLAG = 1;
}
void gotoJSLoc(void)
{
setMotorTarget(MOTOR1,MemoryLoc[0][3]);
setMotorTarget(MOTOR2,MemoryLoc[1][3]);
setMotorTarget(MOTOR3,MemoryLoc[2][3]);
}

5
app/user/MotorCtrl.h
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@ -25,6 +25,8 @@ void TP_act(void);
void setMotorState(uint8_t motorid,uint8_t act); void setMotorState(uint8_t motorid,uint8_t act);
uint8_t getMotorState(uint8_t motorid);
void MotorMemoryKeyM1Press(void); void MotorMemoryKeyM1Press(void);
void MotorMemoryKeyM1Release(void); void MotorMemoryKeyM1Release(void);
@ -35,4 +37,7 @@ void MotorMemoryKeyM3Release(void);
void MotorMemoryKeyMMPress(void); void MotorMemoryKeyMMPress(void);
void MotorMemoryKeyMMRelease(void); void MotorMemoryKeyMMRelease(void);
void setJSMomory(void);
void gotoJSLoc(void);
#endif #endif

179
app/user/appTask.c
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@ -40,11 +40,21 @@ MotorStateEE_Type *pEE;
void MotorCtrl(void); void MotorCtrl(void);
void HallDetecte(void); void HallDetecte(void);
void fw_tp_ctrl(void);
void js_ctrl(void);
extern uint8_t OC1flag,OC2flag,OC3flag; extern uint8_t OC1flag,OC2flag,OC3flag;
uint8_t TfState,JrState; uint8_t TfState,JrState;
unsigned char keybyte1,keybyte2,keybyte3; unsigned char keybyte1,keybyte2,keybyte3;
uint8_t fw_tp_pressed,fw_tp_stop;
uint16_t fw_tp_cnt;
uint8_t js_pressed;
uint16_t js_cnt;
#define PLAN1 0
#define PLAN2 1
#define M26B_PLAN PLAN1
void Apply_task(void) void Apply_task(void)
{ {
@ -81,7 +91,8 @@ void Apply_task(void)
if (Timer_50ms_flag == 1) if (Timer_50ms_flag == 1)
{ {
Timer_50ms_flag = 0; Timer_50ms_flag = 0;
fw_tp_ctrl();
js_ctrl();
} }
if (Timer_1000ms_flag == 1) if (Timer_1000ms_flag == 1)
{ {
@ -125,12 +136,14 @@ void KeyPressLogic(uint8_t keyid)
setMotorState(MOTOR3,ACT_XH); setMotorState(MOTOR3,ACT_XH);
break; break;
case KEYID_JS: case KEYID_JS:
js_pressed = 1;
//buzzer_start(); //buzzer_start();
//TP_act(); //TP_act();
break; break;
case KEYID_TP: case KEYID_TP:
//buzzer_start(); //buzzer_start();
FW_act(); //FW_act();
fw_tp_pressed = 1;
break; break;
case KEYID_JY_SET: case KEYID_JY_SET:
MotorMemoryKeyMMPress(); MotorMemoryKeyMMPress();
@ -175,9 +188,10 @@ void KeyReleaseLogic(uint8_t keyid)
setMotorState(MOTOR3,ACT_NOACT); setMotorState(MOTOR3,ACT_NOACT);
break; break;
case KEYID_JS: case KEYID_JS:
js_pressed = 0;
break; break;
case KEYID_TP: case KEYID_TP:
fw_tp_pressed = 0;
break; break;
case KEYID_JY_SET: case KEYID_JY_SET:
@ -207,6 +221,7 @@ void KeyPro(void)
{ {
KeyPressLogic(keyid); KeyPressLogic(keyid);
StopAutoCal(); StopAutoCal();
fw_tp_stop = 1;
} }
if (getKeyReleaseFlag(keyid)) if (getKeyReleaseFlag(keyid))
{ {
@ -327,7 +342,161 @@ void Timer_Pro(void)
} }
} }
#define FW_TP_STATE_IDLE 0
#define FW_TP_STATE_START 1
#define FW_TP_STATE_RUNNING 2
#define FW_TP_STATE_STOP 3
void fw_tp_ctrl(void)//50ms
{
static uint8_t fw_tp_state,fw_tp_switch;
if (fw_tp_pressed)
{
fw_tp_cnt++;
if (fw_tp_cnt >= 100)//5s
{
fw_tp_cnt = 0;
fw_tp_pressed = 0;
fw_tp_state = FW_TP_STATE_START;
}
}
else
{
fw_tp_cnt = 0;
}
switch (fw_tp_state)
{
case FW_TP_STATE_IDLE:
break;
case FW_TP_STATE_START:
if (fw_tp_switch)
{
TP_act();
}
else
{
FW_act();
}
fw_tp_switch = !fw_tp_switch;
fw_tp_stop = 0;
break;
case FW_TP_STATE_RUNNING:
if (fw_tp_stop == 1)
{
fw_tp_state = FW_TP_STATE_STOP;
fw_tp_stop = 0;
}
break;
case FW_TP_STATE_STOP:
setMotorState(MOTOR1,ACT_NOACT);
setMotorState(MOTOR2,ACT_NOACT);
setMotorState(MOTOR3,ACT_NOACT);
fw_tp_state = FW_TP_STATE_IDLE;
break;
default:
break;
}
}
#define JS_STATE_IDLE 0
#define JS_STATE_START 1
#define JS_STATE_RUNNING 2
#define JS_STATE_STOP 3
void js_ctrl(void)//50ms
{
static uint8_t js_state=JS_STATE_IDLE;
static uint16_t js_running_cnt;
switch (js_state)
{
case JS_STATE_IDLE:
if (js_pressed == 1)
{
if (js_cnt < 0xFFFF)
{
js_cnt++;
}
if (js_cnt >= 60)//3s
{
js_pressed = 0;
//todo
#if M26B_PLAN == PLAN2
setJSMomory();
#endif
}
}
else
{
if (js_cnt <= 20 && js_cnt > 0)
{
js_state = JS_STATE_START;
//setMotorState(MOTOR4,ACT_XQ);
js_running_cnt = 0;
}
js_cnt = 0;
}
break;
case JS_STATE_START:
#if M26B_PLAN == PLAN1
//setMotorState(MOTOR1,ACT_XQ);
setMotorState(MOTOR2,ACT_XQ);
setMotorState(MOTOR3,ACT_XH);
#else
gotoJSLoc();
#endif
js_state = JS_STATE_RUNNING;
js_running_cnt = 0;
break;
case JS_STATE_RUNNING:
#if M26B_PLAN == PLAN1
if (getMotorState(MOTOR2) == ACT_NOACT)
{
setMotorState(MOTOR1,ACT_XQ);
}
#endif
js_running_cnt++;
if (js_running_cnt < 40)//2s
{
MOTOR4Ctrl(ACT_XQ);
}
else if (js_running_cnt >= 40 && js_running_cnt < 840)//2-42s
{
MOTOR4Ctrl(ACT_NOACT);
}
else if (js_running_cnt >= 840 && js_running_cnt < 880)//42-44s
{
MOTOR4Ctrl(ACT_XH);
}
else
{
MOTOR4Ctrl(ACT_NOACT);
js_state = JS_STATE_STOP;
}
if (js_pressed == 1)
{
js_state = JS_STATE_STOP;
setMotorState(MOTOR1,ACT_NOACT);
setMotorState(MOTOR2,ACT_NOACT);
setMotorState(MOTOR3,ACT_NOACT);
}
break;
case JS_STATE_STOP:
MOTOR4Ctrl(ACT_NOACT);
js_state = JS_STATE_IDLE;
break;
default:
break;
}
}