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/MDK/HC32F460.uvoptx
+2 -2
View File
@@ -140,7 +140,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name> <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@@ -1079,7 +1079,7 @@
<Group> <Group>
<GroupName>dc_motor</GroupName> <GroupName>dc_motor</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
Project/HC32F460/source/User/Inc/main.h
+1 -1
View File
@@ -17,7 +17,7 @@
#define STOP_TIME_MS 500 #define STOP_TIME_MS 500
#define RUN_TIME_MS 0 #define RUN_TIME_MS 0
#define EME_START_MS 500 #define EME_START_MS 3000
#define EME_STOP_MS 3000 #define EME_STOP_MS 3000
#define TRAVEL_TIME_MS 30000 #define TRAVEL_TIME_MS 30000
Project/HC32F460/source/User/Src/main.c
+29 -21
View File
@@ -250,7 +250,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.LeftRunFalg = true; App.LeftRunFalg = true;
// if((App.LeftLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3)) // 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(); BDC_UP();
App.UpFlag = true; 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.DownFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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)) // 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(); BDC_DOWN();
App.UpFlag = false; 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.DownFlag = true;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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; App.RightRunFalg = true;
if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3)) 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(); BDC_UP();
App.UpFlag = true; 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.DownFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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)) 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(); BDC_DOWN();
App.UpFlag = false; 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.DownFlag = true;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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.DownFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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) 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.StopFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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.DownFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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) 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS; 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.LeftRunFalg == true)
{ {
if(((App.CentreRunFalg == false ) && (ll_slope > App.ADTrack.Slope_VPT)) 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(); BDC_STOP();
App.StopFlag = true; 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if(((App.CentreRunFalg == false ) && (Oll_diff1 < App.ADTrack.Stop_VPT)) 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))))
@@ -445,6 +446,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false; App.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT)) 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(); BDC_STOP();
App.StopFlag = true; 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) 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.LeftRunFalg == true)
{ {
if(((App.CentreRunFalg == false ) && (ll_slope < -App.ADTrack.Slope_VPT)) 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(); BDC_STOP();
App.StopFlag = true; 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT)) 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(); BDC_STOP();
App.StopFlag = true; 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) 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.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if(((App.CentreRunFalg == false ) && (Orl_diff1 > -App.ADTrack.Stop_VPT)) 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))))
@@ -535,6 +542,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false; App.UpFlag = false;
App.EmeFlag = false; App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS; App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
} }
else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
{ {
@@ -618,10 +626,10 @@ static void AppInit(void)
RIGHTUP_CS1237_Init(); RIGHTUP_CS1237_Init();
RIGHTLOW_CS1237_Init(); RIGHTLOW_CS1237_Init();
// App.Status = APP_STATUS_WAIT; App.Status = APP_STATUS_WAIT;
// App.TD1mSDelayCnt = 1000; App.TD1mSDelayCnt = 1000;
App.Status = APP_STATUS_UP1; // App.Status = APP_STATUS_UP1;
App.TD1mSDelayCnt = TRAVEL_TIME_MS; // App.TD1mSDelayCnt = TRAVEL_TIME_MS;
App.RStatus = READ_STATUS_START; App.RStatus = READ_STATUS_START;
GradeControl(App.Para.Layout.ControlLevel);//等级控制 GradeControl(App.Para.Layout.ControlLevel);//等级控制
@@ -882,7 +890,7 @@ int main(void)
#endif #endif
ReadLoopHandler(); ReadLoopHandler();
DcmotorLoopHandler(); DcmotorLoopHandler();
AdcLoopHander(); AdcLoopHander();
AppLoopHandler(); AppLoopHandler();
} }
} }