From 445e67f23425645140f3968b9caa71d8b0d66996 Mon Sep 17 00:00:00 2001 From: "DESKTOP-KQHDCM4\\97555" <975559679@qq.com> Date: Mon, 27 Oct 2025 17:50:31 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E4=BF=AE=E5=A4=8D=E4=BA=86=E5=B0=8F?= =?UTF-8?q?=E6=A6=82=E7=8E=87=E9=87=87=E9=9B=86=E5=88=B0=E9=94=99=E8=AF=AF?= =?UTF-8?q?ad=E5=80=BC=E7=9A=84bug=202=E3=80=81=E4=BC=98=E5=8C=96=E4=BA=86?= =?UTF-8?q?=E4=B8=AD=E9=97=B4=E6=8A=AC=E5=8D=87=E4=B8=8B=E9=99=8D=E7=9A=84?= =?UTF-8?q?bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Project/HC32F460/MDK/HC32F460.uvoptx | 26 ++++++++-- Project/HC32F460/source/User/Inc/bsp.h | 4 +- Project/HC32F460/source/User/Src/main.c | 63 ++++++++++++++++++------- 3 files changed, 71 insertions(+), 22 deletions(-) diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx index 44340c8..8cd6355 100644 --- a/Project/HC32F460/MDK/HC32F460.uvoptx +++ b/Project/HC32F460/MDK/HC32F460.uvoptx @@ -208,7 +208,27 @@ 11 1 - DcMotorDispEn + App.EmergencyDelay1mSCnt,0x0A + + + 12 + 1 + App.ADTrack.LeftLow_Org_AdZero,0x0A + + + 13 + 1 + Oll_diff1,0x0A + + + 14 + 1 + Orl_diff1,0x0A + + + 15 + 1 + -(App.ADTrack.Stop_VPT),0x0A @@ -217,7 +237,7 @@ 0 1 - 1 + 0 0 0 0 @@ -1018,7 +1038,7 @@ CS1237 - 0 + 1 0 0 0 diff --git a/Project/HC32F460/source/User/Inc/bsp.h b/Project/HC32F460/source/User/Inc/bsp.h index 1b45351..4fa2a17 100644 --- a/Project/HC32F460/source/User/Inc/bsp.h +++ b/Project/HC32F460/source/User/Inc/bsp.h @@ -180,8 +180,8 @@ #define CLR_TWIN_BIT1() PORT_ResetBits(TWIN_BIT1_PORTx, TWIN_BIT1_PINx)//拉低 typedef struct { - uint32_t ControlLevel;//控制等级 - uint32_t DBGWaveOut;//调试波形输出 + int32_t ControlLevel;//控制等级 + int32_t DBGWaveOut;//调试波形输出 }__attribute__ ((packed))LayoutPara_t, *LayoutPara;//上位机下发的配置参数 typedef struct { diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c index a7b6021..87e0757 100644 --- a/Project/HC32F460/source/User/Src/main.c +++ b/Project/HC32F460/source/User/Src/main.c @@ -36,6 +36,10 @@ static void show(uint8_t ch,int32_t ad) } void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD) { + if(abs(AD - App.LeftUpCS1237_TrendArray[0]) > 2000000) + { + AD = App.LeftUpCS1237_TrendArray[0]; + } show(1,AD); for(int i = OSC_CNT-1; i > 0; i--) { @@ -46,6 +50,11 @@ void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD) } void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD) { + + if(abs(AD - App.LeftLowCS1237_TrendArray[0]) > 2000000) + { + AD = App.LeftLowCS1237_TrendArray[0]; + } show(2,AD); for(int i = OSC_CNT-1; i > 0; i--) { @@ -56,6 +65,10 @@ void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD) } void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD) { + if(abs(AD - App.RightUpCS1237_TrendArray[0]) > 2000000) + { + AD = App.RightUpCS1237_TrendArray[0]; + } show(3,AD); for(int i = OSC_CNT-1; i > 0; i--) { @@ -66,6 +79,10 @@ void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD) } void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD) { + if(abs(AD - App.RightLowCS1237_TrendArray[0]) > 2000000) + { + AD = App.RightLowCS1237_TrendArray[0]; + } show(4,AD); for(int i = OSC_CNT-1; i > 0; i--) { @@ -250,7 +267,7 @@ 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+Orl_diff1) < -App.ADTrack.LeftLowVPT/3) + if((Oll_diff1+Orl_diff1) < -(App.ADTrack.LeftLowVPT/(App.Para.Layout.ControlLevel+1))) { BDC_UP(); App.UpFlag = true; @@ -263,7 +280,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ // } // else if((App.LeftLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3)) // { - if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/3) + if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/(App.Para.Layout.ControlLevel+1)) { BDC_DOWN(); App.UpFlag = false; @@ -278,9 +295,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ else if(abs(Oll_diff1) < abs(Orl_diff1)) { App.RightRunFalg = true; - if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3)) - { - if((Oll_diff1+Orl_diff1) < -App.ADTrack.RightLowVPT/3) +// if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3)) +// { + if((Oll_diff1+Orl_diff1) < -(App.ADTrack.RightLowVPT/(App.Para.Layout.ControlLevel+1))) { BDC_UP(); App.UpFlag = true; @@ -290,10 +307,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ App.RunCollDelay1mSCnt = RUN_TIME_MS; //App.EmergencyDelay1mSCnt = EME_START_MS; } - } - else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3)) - { - if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/3) +// } +// else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3)) +// { + if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/(App.Para.Layout.ControlLevel+1)) { BDC_DOWN(); App.UpFlag = false; @@ -303,7 +320,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ App.RunCollDelay1mSCnt = RUN_TIME_MS; //App.EmergencyDelay1mSCnt = EME_START_MS; } - } +// } } } else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum)) @@ -448,7 +465,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ 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((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) + && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) { BDC_STOP(); App.EmeFlag = true; @@ -469,7 +489,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ 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; @@ -479,7 +499,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ 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(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) + && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) { BDC_STOP(); App.EmeFlag = true; @@ -492,7 +515,7 @@ 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; @@ -503,7 +526,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ 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; @@ -513,7 +536,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ 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((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) + && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) { BDC_STOP(); App.EmeFlag = true; @@ -544,7 +570,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_ 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(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) + && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false) { BDC_STOP(); App.EmeFlag = true;