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复样后的双柱支架调试

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1、修复了晃动后支架乱跳的bug
2、修复了从底部到顶部后控制力变差的bug
3、控制方式改为以上面两个传感器为主
4、控制完成后设备还未校零，马上进行侧面推拉会产生误控
This commit is contained in:
DESKTOP-KQHDCM4\97555
2026-03-13 20:00:20 +08:00
parent 4b1eb44562
commit 0e05817f63
4 changed files with 302 additions and 148 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Project/HC32F460/source/User/Inc/main.h
+4 -1
View File
@@ -11,12 +11,13 @@
#define SLOPE_CNT 20
#define SLOPE_VPT 1000
#define PRESS_VPT 10
#define FOLLOW_VPT 20
#define SHIELD_VPT 5000
#define EME_STOP_VPT 4000
#define CENTRE_VPT 2000
#define STOP_TIME_MS 1000
#define STOP_TIME_MS 500
#define RUN_TIME_MS 0
#define EME_START_MS 0
#define EME_STOP_MS 2000
@@ -112,6 +113,8 @@ typedef struct {
uint32_t SlopeCollDelay1mSCnt;
uint8_t FeedDogDlyCnt;
bool CaliZeroFlag;//校零标志位
bool SideFlag;//侧压标志位
bool UpFlag;//上升标志位
bool DownFlag;//下降标志位
bool StopFlag;//停止标志位
Project/HC32F460/source/User/Src/main.c
+240 -145
View File
@@ -220,12 +220,16 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
PeakValleyCheck ru_K = check_peaks_valleys(App.RightUpCS1237_SlopeArray, SLOPE_CNT);
PeakValleyCheck rl_K = check_peaks_valleys(App.RightLowCS1237_SlopeArray, SLOPE_CNT);
int32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]);
int32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]);
int32_t LeftDiff = abs(Oll_diff1) + abs(Olu_diff1);
int32_t RightDiff = abs(Orl_diff1) + abs(Oru_diff1);
int32_t LeftDiffSum = abs(lu_diff[0]) + abs(ll_diff[0]);
int32_t RightDiffSum = abs(ru_diff[0]) + abs(rl_diff[0]);
int32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]) + abs(App.LeftUpCS1237_SlopeArray[1]) + abs(App.LeftLowCS1237_SlopeArray[1]) + abs(App.LeftUpCS1237_SlopeArray[2]) + abs(App.LeftLowCS1237_SlopeArray[2]);
int32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[1]) + abs(App.RightLowCS1237_SlopeArray[1]) + abs(App.RightUpCS1237_SlopeArray[2]) + abs(App.RightLowCS1237_SlopeArray[2]);
int32_t LeftDiffSum = abs(lu_diff[0]) + abs(lu_diff[1]) + abs(lu_diff[2]);
int32_t RightDiffSum = abs(ru_diff[0]) + abs(ru_diff[1]) + abs(ru_diff[2]);
int32_t LeftDiff = abs(Oll_diff1) + abs(Olu_diff1) + abs(Oll_diff2) + abs(Olu_diff2) + abs(Oll_diff3) + abs(Olu_diff3);
int32_t RightDiff = abs(Orl_diff1) + abs(Oru_diff1) + abs(Orl_diff2) + abs(Oru_diff2) + abs(Orl_diff3) + abs(Oru_diff3);
int32_t LuSideDiff = lu_ad[0] - lu_ad[5];
int32_t LlSideDiff = ll_ad[0] - ll_ad[5];
int32_t RuSideDiff = ru_ad[0] - ru_ad[5];
int32_t RlSideDiff = rl_ad[0] - rl_ad[5];
if(App.EmeFlag == true)
{
@@ -282,18 +286,24 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if(LeftDiff > RightDiff)
{
App.LeftRunFalg = true;
if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
if((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT)
&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT)))
{
BDC_UP();
App.CaliZeroFlag = false;
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
if((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
if((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT)
&& (Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT)
&& (Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
{
BDC_DOWN();
App.CaliZeroFlag = false;
App.UpFlag = false;
App.StopFlag = false;
App.DownFlag = true;
@@ -304,18 +314,24 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
else if(RightDiff > LeftDiff)
{
App.RightRunFalg = true;
if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
if((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT)
&& (Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT)
&& (Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
{
BDC_UP();
App.CaliZeroFlag = false;
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
if((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
if((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT)
&& (Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT)
&& (Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT))
{
BDC_DOWN();
App.CaliZeroFlag = false;
App.UpFlag = false;
App.StopFlag = false;
App.DownFlag = true;
@@ -324,123 +340,199 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))////判断左边操作
else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))//判断左边操作
{
App.LeftRunFalg = true;
if(((App.SlopeCollDelay1mSCnt <= 0)
&& (App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) //判断正面按压
&& (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.LeftUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT))
|| ((Oll_diff1 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff2 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff3 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6))
if((
// (App.SlopeCollDelay1mSCnt <= 0)
// && (App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) //通过斜率判断上下拉方向
// && (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
// && (App.LeftUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)
// && (App.LeftLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
// && (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
// && (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)) || (
(Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6)) //通过差值判断上下拉方向
&& (Olu_diff2 >= (App.ADTrack.LeftUpVPT*5/6))
&& (Olu_diff3 >= (App.ADTrack.LeftUpVPT*5/6))))
{
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断侧面推拉
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT)
)
if((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT)
&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
{
BDC_UP();
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断是否不是侧面推拉
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT))
{
BDC_DOWN();
App.CaliZeroFlag = false;
App.UpFlag = false;
App.DownFlag = true;
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
else
{
BDC_DOWN();
App.CaliZeroFlag = false;
App.UpFlag = false;
App.DownFlag = true;
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
else if(((App.SlopeCollDelay1mSCnt <= 0)
&& (App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) //判断上下拉方向
&& (App.LeftUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.LeftUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))
|| ((Oll_diff1 >= (App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff2 >= (App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff3 >= (App.ADTrack.LeftLowVPT*5/6))
&& (Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))
else if((
// (App.SlopeCollDelay1mSCnt <= 0)
// && (App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) //通过斜率判断上下拉方向
// && (App.LeftUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
// && (App.LeftUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)
// && (App.LeftLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
// && (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
// && (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)) || (
(Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))//通过差值判断上下拉方向
&& (Olu_diff2 <= -(App.ADTrack.LeftUpVPT*5/6))
&& (Olu_diff3 <= -(App.ADTrack.LeftUpVPT*5/6))))
{
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断侧面推拉
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT)
)
if((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT)
&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
{
BDC_DOWN();
App.UpFlag = false;
App.DownFlag = true;
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断是否不是侧面推拉
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT))
{
BDC_UP();
App.CaliZeroFlag = false;
App.UpFlag = true;
App.DownFlag = false;
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
else
{
BDC_UP();
App.CaliZeroFlag = false;
App.UpFlag = true;
App.DownFlag = false;
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
}
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)//上下拉屏幕右边
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)//判断右边操作
{
App.RightRunFalg = true;
if(((App.SlopeCollDelay1mSCnt <= 0)
&& (App.RightUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) //判断上下拉方向
&& (App.RightUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.RightUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT))
|| ((Orl_diff1 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff2 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff3 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6))
if((
// (App.SlopeCollDelay1mSCnt <= 0)
// && (App.RightUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT) //通过斜率判断上下拉方向
// && (App.RightUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
// && (App.RightUpCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)
// && (App.RightLowCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
// && (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
// && (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)) || (
(Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
&& (Oru_diff2 >= (App.ADTrack.RightUpVPT*5/6))
&& (Oru_diff3 >= (App.ADTrack.RightUpVPT*5/6))))
{
if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)//判断侧面推拉
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)
)
if((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT)
&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT))
{
BDC_UP();
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)//判断是否不是侧面推拉
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT))
{
BDC_DOWN();
App.CaliZeroFlag = false;
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
else
{
BDC_DOWN();
App.CaliZeroFlag = false;
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
else if(((App.SlopeCollDelay1mSCnt <= 0)
&& (App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) //判断上下拉方向
&& (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.RightUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))
|| ((Orl_diff1 >= (App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff2 >= (App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff3 >= (App.ADTrack.RightLowVPT*5/6))
&& (Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6))
else if((
// (App.SlopeCollDelay1mSCnt <= 0)
// && (App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT) //通过斜率判断上下拉方向
// && (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
// && (App.RightUpCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)
// && (App.RightLowCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
// && (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
// && (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT))|| (
(Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
&& (Oru_diff2 <= -(App.ADTrack.RightUpVPT*5/6))
&& (Oru_diff3 <= -(App.ADTrack.RightUpVPT*5/6))))
{
if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)//判断侧面推拉
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)
)
if((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT)
&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT))
{
BDC_DOWN();
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if(App.CaliZeroFlag == true)//判断是否校零
{
if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)//判断是否不是侧面推拉
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT))
{
BDC_UP();
App.CaliZeroFlag = false;
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
else
{
BDC_UP();
App.CaliZeroFlag = false;
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
}
@@ -449,7 +541,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
{
if(App.LeftRunFalg == true)
{
if(((App.CentreRunFalg == false ) && (ll_slope > App.ADTrack.Slope_VPT))
if(((App.CentreRunFalg == false ) && (lu_slope > App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
@@ -461,11 +553,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Oll_diff1 < App.ADTrack.Stop_VPT))
else if(((App.CentreRunFalg == false ) && (Olu_diff1 < App.ADTrack.Stop_VPT) && (Olu_diff2 < App.ADTrack.Stop_VPT) && (Olu_diff3 < App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true)
&& ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
@@ -478,12 +570,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if((abs(Oll_diff1) + EME_STOP_VPT) < abs(Orl_diff1)
&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2)
&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3)
&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1)
&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2)
&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2)
&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3)
&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1)
&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2)
&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
BDC_STOP();
App.EmeFlag = true;
@@ -492,8 +584,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
else if(App.RightRunFalg == true)
{
if(((App.CentreRunFalg == false ) && (rl_slope > App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
if(((App.CentreRunFalg == false ) && (ru_slope > App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
App.StopFlag = true;
@@ -504,11 +596,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT))
else if(((App.CentreRunFalg == false ) && (Oru_diff1 < App.ADTrack.Stop_VPT) && (Oru_diff2 < App.ADTrack.Stop_VPT) && (Oru_diff3 < App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true)
&& ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
@@ -521,12 +613,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(abs(Oll_diff1) > (abs(Orl_diff1) + EME_STOP_VPT)
&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT)
&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT)
&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT)
&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT)
&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT)
&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT)
&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT)
&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT)
&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
BDC_STOP();
App.EmeFlag = true;
@@ -538,7 +630,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
{
if(App.LeftRunFalg == true)
{
if(((App.CentreRunFalg == false ) && (ll_slope < -App.ADTrack.Slope_VPT))
if(((App.CentreRunFalg == false ) && (lu_slope < -App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
@@ -550,11 +642,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT))
else if(((App.CentreRunFalg == false ) && (Olu_diff1 > -App.ADTrack.Stop_VPT) && (Olu_diff2 > -App.ADTrack.Stop_VPT) && (Olu_diff3 > -App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true)
&& ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
@@ -567,12 +659,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if((abs(Oll_diff1) + EME_STOP_VPT) < abs(Orl_diff1)
&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2)
&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3)
&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1)
&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2)
&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2)
&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3)
&& (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1)
&& (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2)
&& (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
BDC_STOP();
App.EmeFlag = true;
@@ -581,7 +673,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
else if(App.RightRunFalg == true)
{
if(((App.CentreRunFalg == false ) && (rl_slope < -App.ADTrack.Slope_VPT))
if(((App.CentreRunFalg == false ) && (ru_slope < -App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && ((App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
@@ -593,11 +685,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Orl_diff1 > -App.ADTrack.Stop_VPT))
else if(((App.CentreRunFalg == false ) && (Oru_diff1 > -App.ADTrack.Stop_VPT) && (Oru_diff2 > -App.ADTrack.Stop_VPT) && (Oru_diff3 > -App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true)
&& ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
@@ -610,12 +702,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(abs(Oll_diff1) > (abs(Orl_diff1) + EME_STOP_VPT)
&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT)
&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT)
&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT)
&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT)
&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT)
&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT)
&& abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT)
&& abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT)
&& abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT)
&& App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
BDC_STOP();
App.EmeFlag = true;
@@ -663,6 +755,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.ADTrack.LeftLow_Org_AdZero = ll_ad[0];
App.ADTrack.RightUp_Org_AdZero = ru_ad[0];
App.ADTrack.RightLow_Org_AdZero = rl_ad[0];
App.CaliZeroFlag = true;
}
}
}
@@ -897,6 +990,8 @@ static void AppLoopHandler(void)
if(App.TD1mSDelayCnt <= 0)
{
App.WaitFlag = true;
App.SideFlag = false;
App.CaliZeroFlag = false;
App.UpFlag = false;
App.DownFlag = false;
App.EmeFlag = false;