YuanHongbin/Acc_Support_29V_HV2.x
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1、修复了上班去传感器灵敏度低的问题

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DESKTOP-KQHDCM4\97555
2025-11-03 16:44:59 +08:00
parent 7dfff142c2
commit 89939cf1e1
3 changed files with 64 additions and 62 deletions
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Project/HC32F460/source/User/Src/main.c
+56 -59
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@@ -266,8 +266,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if(abs(Oll_diff1) > abs(Orl_diff1))
{
App.LeftRunFalg = true;
if((Oll_diff1+Orl_diff1) < -(App.ADTrack.LeftLowVPT/(App.Para.Layout.ControlLevel+1)))
if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
{
BDC_UP();
App.UpFlag = true;
@@ -275,9 +274,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/(App.Para.Layout.ControlLevel+1))
if((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
{
BDC_DOWN();
App.UpFlag = false;
@@ -285,13 +283,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = true;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
else if(abs(Oll_diff1) < abs(Orl_diff1))
{
App.RightRunFalg = true;
if((Oll_diff1+Orl_diff1) < -(App.ADTrack.RightLowVPT/(App.Para.Layout.ControlLevel+1)))
if((Oll_diff1+Orl_diff1) < -(App.ADTrack.Stop_VPT))
{
BDC_UP();
App.UpFlag = true;
@@ -299,9 +296,8 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/(App.Para.Layout.ControlLevel+1))
if((Oll_diff1+Orl_diff1) > (App.ADTrack.Stop_VPT))
{
BDC_DOWN();
App.UpFlag = false;
@@ -309,7 +305,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = true;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
}
@@ -323,16 +318,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.LeftLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)
&& (App.SlopeCollDelay1mSCnt <= 0))
|| (
(Olu_diff1 >= App.ADTrack.LeftUpVPT*5/6)
&& (Olu_diff2 >= App.ADTrack.LeftUpVPT*5/6)
&& (Olu_diff3 >= App.ADTrack.LeftUpVPT*5/6)
&& (Oll_diff1 <= -(App.ADTrack.LeftLowVPT*5/6))
|| ((Oll_diff1 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff2 <= -(App.ADTrack.LeftLowVPT*5/6))
&& (Oll_diff3 <= -(App.ADTrack.LeftLowVPT*5/6))))
{
if((abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)
)
{
BDC_UP();
@@ -341,7 +331,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
@@ -351,16 +340,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.LeftLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.LeftLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)
&& ((App.SlopeCollDelay1mSCnt <= 0)))
|| (
(Olu_diff1 <= -App.ADTrack.LeftUpVPT)
&& (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
&& (Olu_diff1 <= -App.ADTrack.LeftUpVPT)
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
|| ((Oll_diff1 >= App.ADTrack.LeftLowVPT)
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)
&& (Oll_diff1 >= App.ADTrack.LeftLowVPT)))
{
if((abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)
)
{
BDC_DOWN();
@@ -369,7 +353,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.StopFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
}
@@ -383,15 +366,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.RightLowCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[2] >= App.ADTrack.Slope_VPT)
&& (App.SlopeCollDelay1mSCnt <= 0))
|| ((Oru_diff1 >= App.ADTrack.RightUpVPT*5/6)
&& (Oru_diff2 >= App.ADTrack.RightUpVPT*5/6)
&& (Oru_diff3 >= App.ADTrack.RightUpVPT*5/6)
&& (Orl_diff1 <= -(App.ADTrack.RightLowVPT*5/6))
|| ((Orl_diff1 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff2 <= -(App.ADTrack.RightLowVPT*5/6))
&& (Orl_diff3 <= -(App.ADTrack.RightLowVPT*5/6))))
{
if((abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)
)
{
BDC_UP();
@@ -400,7 +379,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.DownFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
@@ -410,16 +388,12 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (App.RightLowCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
&& (App.RightLowCS1237_SlopeArray[2] <= -App.ADTrack.Slope_VPT)
&& (App.SlopeCollDelay1mSCnt <= 0))
|| ((Oru_diff1 <= -App.ADTrack.RightUpVPT)
&& (Oru_diff2 <= -App.ADTrack.RightUpVPT)
&& (Oru_diff3 <= -App.ADTrack.RightUpVPT)
&& (Orl_diff1 >= App.ADTrack.RightLowVPT)
|| ((Orl_diff1 >= App.ADTrack.RightLowVPT)
&& (Orl_diff2 >= App.ADTrack.RightLowVPT)
&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
)
{
if((abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)
)
{
BDC_DOWN();
@@ -428,7 +402,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.UpFlag = false;
App.EmeFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
}
}
@@ -438,7 +411,7 @@ 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) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
App.StopFlag = true;
@@ -447,9 +420,14 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
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*2/3))
&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
App.StopFlag = true;
@@ -458,10 +436,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
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)
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();
@@ -472,7 +451,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
else if(App.RightRunFalg == true)
{
if(((App.CentreRunFalg == false ) && (rl_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) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
App.StopFlag = true;
@@ -481,9 +460,14 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
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*2/3))
&& ((Oll_diff2 + Orl_diff2) < (App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) < (App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
App.StopFlag = true;
@@ -492,10 +476,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
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)
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();
@@ -509,7 +494,7 @@ 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) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
App.StopFlag = true;
@@ -518,9 +503,14 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
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*2/3))
&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
App.StopFlag = true;
@@ -529,10 +519,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
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)
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();
@@ -543,7 +534,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
else if(App.RightRunFalg == true)
{
if(((App.CentreRunFalg == false ) && (rl_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) && (App.SlopeCollDelay1mSCnt <= 0)))
{
BDC_STOP();
App.StopFlag = true;
@@ -552,9 +543,14 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
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*2/3))
&& ((Oll_diff2 + Orl_diff2) > -(App.ADTrack.Stop_VPT*2/3))
&& ((Oll_diff3 + Orl_diff3) > -(App.ADTrack.Stop_VPT*2/3))
))
{
BDC_STOP();
App.StopFlag = true;
@@ -563,10 +559,11 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.EmeFlag = false;
App.StopCollDelay1mSCnt = STOP_TIME_MS;
App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
App.EmergencyDelay1mSCnt = EME_START_MS;
}
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)
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();