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/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];