YuanHongbin/Acc_Support_29V_HV2.x
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DESKTOP-KQHDCM4\97555
2025-10-25 18:01:23 +08:00
parent c2976eff6b
commit 2cb9446870
3 changed files with 32 additions and 24 deletions
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Project/HC32F460/source/User/Src/main.c
+29 -21
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@@ -250,7 +250,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.LeftRunFalg = true;
// if((App.LeftLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
// {
if(Oll_diff1 < -App.ADTrack.LeftLowVPT/3)
if((Oll_diff1+Orl_diff1) < -App.ADTrack.LeftLowVPT/3)
{
BDC_UP();
App.UpFlag = true;
@@ -258,12 +258,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
// }
// else if((App.LeftLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
// {
if(Oll_diff1 > App.ADTrack.LeftLowVPT/3)
if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/3)
{
BDC_DOWN();
App.UpFlag = false;
@@ -271,7 +271,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = true;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
// }
}
@@ -280,7 +280,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.RightRunFalg = true;
if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
{
if(Orl_diff1 < -App.ADTrack.RightLowVPT/3)
if((Oll_diff1+Orl_diff1) < -App.ADTrack.RightLowVPT/3)
{
BDC_UP();
App.UpFlag = true;
@@ -288,12 +288,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
{
if(Orl_diff1 > App.ADTrack.RightLowVPT/3)
if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/3)
{
BDC_DOWN();
App.UpFlag = false;
@@ -301,7 +301,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = true;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
}
@@ -333,7 +333,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
@@ -360,7 +360,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
}
@@ -390,7 +390,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
@@ -417,7 +417,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
//App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
}
@@ -427,7 +427,7 @@ 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))
|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) < -App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
{
BDC_STOP();
App.StopFlag = true;
@@ -435,6 +435,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Oll_diff1 < App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
@@ -445,6 +446,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
@@ -464,9 +466,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (-App.ADTrack.Stop_VPT))))
{
BDC_STOP();
App.StopFlag = true;
@@ -474,6 +477,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
@@ -488,7 +492,7 @@ 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))
|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > -App.ADTrack.Slope_VPT))
{
BDC_STOP();
App.StopFlag = true;
@@ -496,9 +500,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1)> -(App.ADTrack.Stop_VPT))))
|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT))))
{
BDC_STOP();
App.StopFlag = true;
@@ -506,6 +511,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
@@ -525,6 +531,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(((App.CentreRunFalg == false ) && (Orl_diff1 > -App.ADTrack.Stop_VPT))
|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT))))
@@ -535,6 +542,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{
@@ -618,10 +626,10 @@ static void AppInit(void)
RIGHTUP_CS1237_Init();
RIGHTLOW_CS1237_Init();
// App.Status = APP_STATUS_WAIT;
// App.TD1mSDelayCnt = 1000;
App.Status = APP_STATUS_UP1;
App.TD1mSDelayCnt = TRAVEL_TIME_MS;
App.Status = APP_STATUS_WAIT;
App.TD1mSDelayCnt = 1000;
// App.Status = APP_STATUS_UP1;
// App.TD1mSDelayCnt = TRAVEL_TIME_MS;
App.RStatus = READ_STATUS_START;
GradeControl(App.Para.Layout.ControlLevel);//等级控制
@@ -882,7 +890,7 @@ int main(void)
#endif
ReadLoopHandler();
DcmotorLoopHandler();
AdcLoopHander();
AdcLoopHander();
AppLoopHandler();
}
}