YuanHongbin/Acc_Support_29V_HV2.x
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1、修复了小概率采集到错误ad值的bug

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2、优化了中间抬升下降的bug
This commit is contained in:
DESKTOP-KQHDCM4\97555
2025-10-27 17:50:31 +08:00
parent 291a41e850
commit 445e67f234
3 changed files with 71 additions and 22 deletions
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Project/HC32F460/source/User/Src/main.c
+46 -17
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@@ -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;