YuanHongbin/Acc_Support_29V_HV2.x
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YuanHongbin
2025-09-17 18:54:33 +08:00
parent ce198ed458
commit 2ff11e995c
5 changed files with 43 additions and 85 deletions
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Project/HC32F460/MDK/HC32F460.uvoptx
+7 -67
View File
@@ -101,7 +101,9 @@
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<nTsel>2</nTsel>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>12</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -151,72 +153,7 @@
<Name></Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>235</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>24890</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\source\User\Src\main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\BombSensor\../source/User/Src/main.c\235</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>211</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>24642</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\source\User\Src\main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\BombSensor\../source/User/Src/main.c\211</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>185</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>24380</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\source\User\Src\main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\BombSensor\../source/User/Src/main.c\185</Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>163</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>24122</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\source\User\Src\main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\BombSensor\../source/User/Src/main.c\163</Expression>
</Bp>
</Breakpoint>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
@@ -353,6 +290,7 @@
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>5000000</DbgClock>
@@ -440,6 +378,8 @@
<sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>-1</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
Project/HC32F460/MDK/HC32F460.uvprojx
+10 -2
View File
@@ -184,6 +184,9 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>1</hadIROM2>
<StupSel>8</StupSel>
@@ -324,6 +327,7 @@
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>3</v6Lang>
<v6LangP>3</v6LangP>
@@ -349,7 +353,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<ClangAsOpt>4</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@@ -858,6 +862,9 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>1</hadIROM2>
<StupSel>8</StupSel>
@@ -998,6 +1005,7 @@
<uThumb>0</uThumb>
<uSurpInc>0</uSurpInc>
<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>0</v6Lang>
<v6LangP>0</v6LangP>
@@ -1023,7 +1031,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<ClangAsOpt>4</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
+2 -1
View File
@@ -1,6 +1,6 @@
/*
* Auto generated Run-Time-Environment Component Configuration File
* Auto generated Run-Time-Environment Configuration File
* *** Do not modify ! ***
*
* Project: 'HC32F460'
@@ -17,4 +17,5 @@
#define CMSIS_device_header "HC32F460JETA.h"
#endif /* RTE_COMPONENTS_H */
Project/HC32F460/source/User/Inc/main.h
+11 -6
View File
@@ -4,18 +4,18 @@
#include "bsp.h"
#define USE_FILE_SYSTEM 1
#define USE_FILE_SYSTEM 1
#define SDCARD_BLOCK_MAX (10000)
#define OSC_CNT 40
#define SLOPE_CNT 40
#define OSC_CNT 40
#define SLOPE_CNT 40
#define STOP_TIME_MS 500
#define RUN_TIME_MS 0
#define STOP_TIME_MS 500
#define RUN_TIME_MS 0
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
#define BDC_DOWN() Motor_Control(MOTOR_CMD_REVERSE)
typedef struct{
@@ -26,6 +26,11 @@ typedef struct{
int32_t RightUpVPT;//右上设备阈值
int32_t RightLowVPT;//右下设备阈值
int32_t LeftUpShieldVPT; //左上屏蔽阈值
int32_t LeftLowpShieldVPT; //左下屏蔽阈值
int32_t RightUpShieldVPT; //右上屏蔽阈值
int32_t RightLowShieldVPT; //右下屏蔽阈值
int32_t LeftUp_Org_AdZero;//左上设备原始AD零点
int32_t LeftLow_Org_AdZero;//左下设备原始AD零点
int32_t RightUp_Org_AdZero;//右上设备原始AD零点
Project/HC32F460/source/User/Src/main.c
+13 -9
View File
@@ -154,8 +154,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff2 <= -App.ADTrack.LeftLowVPT)
&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT)))
{
if((abs(Olu_diff1) > abs(Orl_diff1) + 10000)
&& (abs(Oll_diff1) > abs(Oru_diff1) + 10000))
if((abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowpShieldVPT))
{
BDC_UP();
App.UpFlag = true;
@@ -177,8 +177,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)))
{
if((abs(Oll_diff1) > abs(Oru_diff1) + 10000)
&& (abs(Olu_diff1) > abs(Orl_diff1) + 10000))
if((abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT))
{
BDC_DOWN();
App.DownFlag = true;
@@ -204,8 +204,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff2 <= -App.ADTrack.RightLowVPT)
&& (Orl_diff3 <= -App.ADTrack.RightLowVPT)))
{
if((abs(Orl_diff1) > abs(Olu_diff1) + 10000)
&& (abs(Oru_diff1) > abs(Oll_diff1) + 10000))
if((abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT))
{
BDC_UP();
App.UpFlag = true;
@@ -228,8 +228,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
)
{
if((abs(Oru_diff1) > abs(Oll_diff1) + 10000)
&& (abs(Orl_diff1) > abs(Olu_diff1) + 10000))
if((abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT))
{
BDC_DOWN();
App.DownFlag = true;
@@ -550,7 +550,11 @@ static void AppLoopHandler(void)
App.ADTrack.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000;
App.ADTrack.RightLowVPT = 40000;
App.ADTrack.RightLowVPT = 40000;
App.ADTrack.LeftUpShieldVPT = 10000;
App.ADTrack.LeftLowpShieldVPT = 10000;
App.ADTrack.RightUpShieldVPT = 10000;
App.ADTrack.RightLowShieldVPT = 10000;
App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];