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/MDK/HC32F460.uvoptx
+4 -9
View File
@@ -101,9 +101,7 @@
<sRunDeb>0</sRunDeb> <sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime> <sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf> <nTsel>2</nTsel>
<bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@@ -114,7 +112,7 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry> <SetRegEntry>
@@ -253,7 +251,7 @@
<Ww> <Ww>
<count>19</count> <count>19</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>argv</ItemText> <ItemText>argv,0x10</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>20</count> <count>20</count>
@@ -318,7 +316,6 @@
<pMultCmdsp></pMultCmdsp> <pMultCmdsp></pMultCmdsp>
<DebugDescription> <DebugDescription>
<Enable>1</Enable> <Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog> <EnableLog>0</EnableLog>
<Protocol>2</Protocol> <Protocol>2</Protocol>
<DbgClock>5000000</DbgClock> <DbgClock>5000000</DbgClock>
@@ -406,8 +403,6 @@
<sRunDeb>0</sRunDeb> <sRunDeb>0</sRunDeb>
<sLrtime>0</sLrtime> <sLrtime>0</sLrtime>
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>-1</nTsel> <nTsel>-1</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
@@ -534,7 +529,7 @@
<Group> <Group>
<GroupName>common</GroupName> <GroupName>common</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
Project/HC32F460/MDK/HC32F460.uvprojx
+7 -14
View File
@@ -10,7 +10,8 @@
<TargetName>Debug</TargetName> <TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber> <ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName> <ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed> <pArmCC>5060528::V5.06 update 5 (build 528)::ARMCC</pArmCC>
<pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
<uAC6>0</uAC6> <uAC6>0</uAC6>
<TargetOption> <TargetOption>
<TargetCommonOption> <TargetCommonOption>
@@ -184,9 +185,6 @@
<hadXRAM>0</hadXRAM> <hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam> <uocXRam>0</uocXRam>
<RvdsVP>2</RvdsVP> <RvdsVP>2</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2> <hadIRAM2>1</hadIRAM2>
<hadIROM2>1</hadIROM2> <hadIROM2>1</hadIROM2>
<StupSel>8</StupSel> <StupSel>8</StupSel>
@@ -327,10 +325,9 @@
<uThumb>0</uThumb> <uThumb>0</uThumb>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<uC99>1</uC99> <uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO> <useXO>0</useXO>
<v6Lang>3</v6Lang> <v6Lang>3</v6Lang>
<v6LangP>5</v6LangP> <v6LangP>3</v6LangP>
<vShortEn>1</vShortEn> <vShortEn>1</vShortEn>
<vShortWch>1</vShortWch> <vShortWch>1</vShortWch>
<v6Lto>0</v6Lto> <v6Lto>0</v6Lto>
@@ -353,7 +350,7 @@
<NoWarn>0</NoWarn> <NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<useXO>0</useXO> <useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt> <uClangAs>0</uClangAs>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define></Define> <Define></Define>
@@ -862,9 +859,6 @@
<hadXRAM>0</hadXRAM> <hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam> <uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP> <RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>1</hadIRAM2> <hadIRAM2>1</hadIRAM2>
<hadIROM2>1</hadIROM2> <hadIROM2>1</hadIROM2>
<StupSel>8</StupSel> <StupSel>8</StupSel>
@@ -1005,7 +999,6 @@
<uThumb>0</uThumb> <uThumb>0</uThumb>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<uC99>1</uC99> <uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO> <useXO>0</useXO>
<v6Lang>0</v6Lang> <v6Lang>0</v6Lang>
<v6LangP>0</v6LangP> <v6LangP>0</v6LangP>
@@ -1031,7 +1024,7 @@
<NoWarn>0</NoWarn> <NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc> <uSurpInc>0</uSurpInc>
<useXO>0</useXO> <useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt> <uClangAs>0</uClangAs>
<VariousControls> <VariousControls>
<MiscControls></MiscControls> <MiscControls></MiscControls>
<Define></Define> <Define></Define>
@@ -1367,8 +1360,8 @@
<RTE> <RTE>
<apis/> <apis/>
<components> <components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device"> <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.0.1" condition="ARMv6_7_8-M Device">
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/> <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.0.1"/>
<targetInfos> <targetInfos>
<targetInfo name="Debug"/> <targetInfo name="Debug"/>
<targetInfo name="Release"/> <targetInfo name="Release"/>
Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
+1 -2
View File
@@ -1,6 +1,6 @@
/* /*
* Auto generated Run-Time-Environment Configuration File * Auto generated Run-Time-Environment Component Configuration File
* *** Do not modify ! *** * *** Do not modify ! ***
* *
* Project: 'HC32F460' * Project: 'HC32F460'
@@ -17,5 +17,4 @@
#define CMSIS_device_header "HC32F460JETA.h" #define CMSIS_device_header "HC32F460JETA.h"
#endif /* RTE_COMPONENTS_H */ #endif /* RTE_COMPONENTS_H */
Project/HC32F460/source/User/Inc/main.h
+2 -2
View File
@@ -9,10 +9,10 @@
#define OSC_CNT 40 #define OSC_CNT 40
#define SLOPE_CNT 40 #define SLOPE_CNT 20
#define STOP_TIME_MS 500 #define STOP_TIME_MS 500
#define RUN_TIME_MS 0 #define RUN_TIME_MS 200
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP) #define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD) #define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
Project/HC32F460/source/User/Src/main.c
+92 -72
View File
@@ -14,7 +14,7 @@
#define MAIN_DBG_LOG(...) DBG_LOG(__VA_ARGS__) #define MAIN_DBG_LOG(...) DBG_LOG(__VA_ARGS__)
#define MAIN_DBG_ARRAY(ARRAY, SIZE) DBG_ARRAY(ARRAY,SIZE) #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 #define HARDWARE_VERSION 20 //硬件版本
AppDetect_t App; AppDetect_t App;
@@ -78,31 +78,63 @@ void GradeControl(ControlLevel_m level)
{ {
switch(level){ switch(level){
case LEVEL_1:{ 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;} break;}
case LEVEL_2:{ 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;} break;}
case LEVEL_3:{ 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.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000; App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000; App.ADTrack.RightUpVPT = 40000;
App.ADTrack.RightLowVPT = 40000; App.ADTrack.RightLowVPT = 40000;
App.ADTrack.LeftUpShieldVPT = 10000; App.ADTrack.LeftUpShieldVPT = 4000;
App.ADTrack.LeftLowShieldVPT = 10000; App.ADTrack.LeftLowShieldVPT = 4000;
App.ADTrack.RightUpShieldVPT = 10000; App.ADTrack.RightUpShieldVPT = 4000;
App.ADTrack.RightLowShieldVPT = 10000; App.ADTrack.RightLowShieldVPT = 4000;
break;}
case LEVEL_4:{
break;} break;}
case LEVEL_5:{ 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;} 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 ll_slope = result_ll.slope;
int32_t ru_slope = result_ru.slope; int32_t ru_slope = result_ru.slope;
int32_t rl_slope = result_rl.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--) 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) else if(App.DownFlag == true)
{ {
if(App.RunCollDelay1mSCnt <= 0)
{
if(App.LeftRunFalg == true) if(App.LeftRunFalg == true)
{ {
if(lu_slope < -App.ADTrack.Slope_VPT if(lu_slope < -App.ADTrack.Slope_VPT
&& ll_slope > App.ADTrack.Slope_VPT) && ll_slope > App.ADTrack.Slope_VPT
&& App.RunCollDelay1mSCnt <= 0)
{ {
BDC_STOP(); BDC_STOP();
App.StopFlag = true; 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 if(ru_slope < -App.ADTrack.Slope_VPT
&& rl_slope > App.ADTrack.Slope_VPT && rl_slope > App.ADTrack.Slope_VPT
) && App.RunCollDelay1mSCnt <= 0)
{ {
BDC_STOP(); BDC_STOP();
App.StopFlag = true; 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) 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 BDC_STOP();
&& ll_slope < -App.ADTrack.Slope_VPT) App.StopFlag = true;
{ App.DownFlag = false;
BDC_STOP(); App.UpFlag = false;
App.StopFlag = true; App.StopCollDelay1mSCnt = STOP_TIME_MS;
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;
}
} }
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 BDC_STOP();
&& rl_slope < -App.ADTrack.Slope_VPT App.StopFlag = true;
) App.DownFlag = false;
{ App.UpFlag = false;
BDC_STOP(); App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.StopFlag = true; }
App.DownFlag = false; }
App.UpFlag = false; else if(App.RightRunFalg == true)
App.StopCollDelay1mSCnt = STOP_TIME_MS; {
} if(ru_slope > App.ADTrack.Slope_VPT
else if(Oru_diff1 < (App.ADTrack.RightUpVPT / 2) && rl_slope < -App.ADTrack.Slope_VPT
&& Orl_diff1 > -(App.ADTrack.RightLowVPT / 2) && App.RunCollDelay1mSCnt <= 0)
) {
{ BDC_STOP();
BDC_STOP(); App.StopFlag = true;
App.StopFlag = true; App.DownFlag = false;
App.DownFlag = false; App.UpFlag = false;
App.UpFlag = false; App.StopCollDelay1mSCnt = STOP_TIME_MS;
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) #if(USE_WDT == 1)
FeedDogHandler(); FeedDogHandler();
#endif #endif
#if(USE_DEBUG == 1)
DebugLoopHandler(); DebugLoopHandler();
#endif
#if(USE_CS1237_LEFTUP == 1) #if(USE_CS1237_LEFTUP == 1)
LEFTUP_CS1237DataLoopCollect(); LEFTUP_CS1237DataLoopCollect();
#endif #endif
@@ -676,20 +706,10 @@ void SysTick_IrqHandler(void)
SysTick_IncTick(); SysTick_IncTick();
App1mSRoutine(); App1mSRoutine();
Dbg1msRoutine(); Dbg1msRoutine();
#if(USE_CS1237_LEFTUP == 1)
LEFTUP_CS12371mSRoutine(); LEFTUP_CS12371mSRoutine();
#endif
#if(USE_CS1237_LEFTLOW == 1)
LEFTLOW_CS12371mSRoutine(); LEFTLOW_CS12371mSRoutine();
#endif
#if(USE_CS1237_RIGHTUP == 1)
RIGHTUP_CS12371mSRoutine(); RIGHTUP_CS12371mSRoutine();
#endif
#if(USE_CS1237_RIGHTLOW == 1)
RIGHTLOW_CS12371mSRoutine(); RIGHTLOW_CS12371mSRoutine();
#endif
Dcmotor1msRoutine(); Dcmotor1msRoutine();
} }