YuanHongbin/Acc_Support_29V_HV2.x
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YuanHongbin
2025-09-18 19:02:02 +08:00
parent 5d024ff2e2
commit 7f660d9939
5 changed files with 106 additions and 99 deletions
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Project/HC32F460/source/User/Src/main.c
+92 -72
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@@ -14,7 +14,7 @@
#define MAIN_DBG_LOG(...) DBG_LOG(__VA_ARGS__)
#define MAIN_DBG_ARRAY(ARRAY, SIZE) DBG_ARRAY(ARRAY,SIZE)
#define SOFTWARE_VERSION 10 //软件版本
#define SOFTWARE_VERSION 11 //软件版本
#define HARDWARE_VERSION 20 //硬件版本
AppDetect_t App;
@@ -78,31 +78,63 @@ void GradeControl(ControlLevel_m level)
{
switch(level){
case LEVEL_1:{
App.ADTrack.Slope_VPT = 500;
App.ADTrack.LeftUpVPT = 10000;
App.ADTrack.LeftLowVPT = 10000;
App.ADTrack.RightUpVPT = 10000;
App.ADTrack.RightLowVPT = 10000;
App.ADTrack.LeftUpShieldVPT = 4000;
App.ADTrack.LeftLowShieldVPT = 4000;
App.ADTrack.RightUpShieldVPT = 4000;
App.ADTrack.RightLowShieldVPT = 4000;
break;}
case LEVEL_2:{
App.ADTrack.Slope_VPT = 500;
App.ADTrack.LeftUpVPT = 20000;
App.ADTrack.LeftLowVPT = 20000;
App.ADTrack.RightUpVPT = 20000;
App.ADTrack.RightLowVPT = 20000;
App.ADTrack.LeftUpShieldVPT = 4000;
App.ADTrack.LeftLowShieldVPT = 4000;
App.ADTrack.RightUpShieldVPT = 4000;
App.ADTrack.RightLowShieldVPT = 4000;
break;}
case LEVEL_3:{
App.ADTrack.Slope_VPT = 2000;
App.ADTrack.Slope_VPT = 500;
App.ADTrack.LeftUpVPT = 30000;
App.ADTrack.LeftLowVPT = 30000;
App.ADTrack.RightUpVPT = 30000;
App.ADTrack.RightLowVPT = 30000;
App.ADTrack.LeftUpShieldVPT = 4000;
App.ADTrack.LeftLowShieldVPT = 4000;
App.ADTrack.RightUpShieldVPT = 4000;
App.ADTrack.RightLowShieldVPT = 4000;
break;}
case LEVEL_4:{
App.ADTrack.Slope_VPT = 500;
App.ADTrack.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000;
App.ADTrack.RightLowVPT = 40000;
App.ADTrack.LeftUpShieldVPT = 10000;
App.ADTrack.LeftLowShieldVPT = 10000;
App.ADTrack.RightUpShieldVPT = 10000;
App.ADTrack.RightLowShieldVPT = 10000;
break;}
case LEVEL_4:{
App.ADTrack.LeftUpShieldVPT = 4000;
App.ADTrack.LeftLowShieldVPT = 4000;
App.ADTrack.RightUpShieldVPT = 4000;
App.ADTrack.RightLowShieldVPT = 4000;
break;}
case LEVEL_5:{
App.ADTrack.Slope_VPT = 500;
App.ADTrack.LeftUpVPT = 50000;
App.ADTrack.LeftLowVPT = 50000;
App.ADTrack.RightUpVPT = 50000;
App.ADTrack.RightLowVPT = 50000;
App.ADTrack.LeftUpShieldVPT = 4000;
App.ADTrack.LeftLowShieldVPT = 4000;
App.ADTrack.RightUpShieldVPT = 4000;
App.ADTrack.RightLowShieldVPT = 4000;
break;}
}
}
@@ -143,7 +175,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
int32_t ll_slope = result_ll.slope;
int32_t ru_slope = result_ru.slope;
int32_t rl_slope = result_rl.slope;
//show(A2_slope);
// show(1, lu_slope);
// show(2, ll_slope);
// show(3, ru_slope);
// show(4, rl_slope);
for(int i = SLOPE_CNT-1; i > 0; i--)
{
@@ -278,12 +314,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
else if(App.DownFlag == true)
{
if(App.RunCollDelay1mSCnt <= 0)
{
if(App.LeftRunFalg == true)
{
if(lu_slope < -App.ADTrack.Slope_VPT
&& ll_slope > App.ADTrack.Slope_VPT)
&& ll_slope > App.ADTrack.Slope_VPT
&& App.RunCollDelay1mSCnt <= 0)
{
BDC_STOP();
App.StopFlag = true;
@@ -305,7 +340,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
{
if(ru_slope < -App.ADTrack.Slope_VPT
&& rl_slope > App.ADTrack.Slope_VPT
)
&& App.RunCollDelay1mSCnt <= 0)
{
BDC_STOP();
App.StopFlag = true;
@@ -324,54 +359,51 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
}
}
}
}
else if(App.UpFlag == true)
{
if(App.RunCollDelay1mSCnt <= 0)
if(App.LeftRunFalg == true)
{
if(App.LeftRunFalg == true)
if(lu_slope > App.ADTrack.Slope_VPT
&& ll_slope < -App.ADTrack.Slope_VPT
&& App.RunCollDelay1mSCnt <= 0)
{
if(lu_slope > App.ADTrack.Slope_VPT
&& ll_slope < -App.ADTrack.Slope_VPT)
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(Olu_diff1 < (App.ADTrack.LeftUpVPT / 2)
&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(App.RightRunFalg == true)
else if(Olu_diff1 < (App.ADTrack.LeftUpVPT / 2)
&& Oll_diff1 > -(App.ADTrack.LeftLowVPT / 2))
{
if(ru_slope > App.ADTrack.Slope_VPT
&& rl_slope < -App.ADTrack.Slope_VPT
)
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
)
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
}
else if(App.RightRunFalg == true)
{
if(ru_slope > App.ADTrack.Slope_VPT
&& rl_slope < -App.ADTrack.Slope_VPT
&& App.RunCollDelay1mSCnt <= 0)
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2)
&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2)
)
{
BDC_STOP();
App.StopFlag = true;
App.DownFlag = false;
App.UpFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
}
}
}
@@ -644,9 +676,7 @@ int main(void)
#if(USE_WDT == 1)
FeedDogHandler();
#endif
#if(USE_DEBUG == 1)
DebugLoopHandler();
#endif
#if(USE_CS1237_LEFTUP == 1)
LEFTUP_CS1237DataLoopCollect();
#endif
@@ -676,20 +706,10 @@ void SysTick_IrqHandler(void)
SysTick_IncTick();
App1mSRoutine();
Dbg1msRoutine();
#if(USE_CS1237_LEFTUP == 1)
LEFTUP_CS12371mSRoutine();
#endif
#if(USE_CS1237_LEFTLOW == 1)
LEFTLOW_CS12371mSRoutine();
#endif
#if(USE_CS1237_RIGHTUP == 1)
RIGHTUP_CS12371mSRoutine();
#endif
#if(USE_CS1237_RIGHTLOW == 1)
RIGHTLOW_CS12371mSRoutine();
#endif
Dcmotor1msRoutine();
}