YuanHongbin/Acc_Support_29V_HV2.x
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双柱双电机S型传感器独立分支初始版本

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YuanHongbin
2025-09-30 15:25:12 +08:00
parent 105824c0c3
commit a923808ede
7 changed files with 62 additions and 33 deletions
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Project/HC32F460/source/User/Inc/bsp.h
+12
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@@ -167,6 +167,18 @@
#define CLR_RIGHTLOW_CS1237_SCLK() PORT_ResetBits(RIGHTLOW_CS1237_SCLK_PORTx, RIGHTLOW_CS1237_SCLK_PINx)//拉低
#endif
//< BIT0
#define TWIN_BIT0_PORTx (PortB)
#define TWIN_BIT0_PINx (Pin12)
#define SET_TWIN_BIT0() PORT_SetBits(TWIN_BIT0_PORTx, TWIN_BIT0_PINx)//拉高
#define CLR_TWIN_BIT0() PORT_ResetBits(TWIN_BIT0_PORTx, TWIN_BIT0_PINx)//拉低
//< BIT1
#define TWIN_BIT1_PORTx (PortB)
#define TWIN_BIT1_PINx (Pin13)
#define SET_TWIN_BIT1() PORT_SetBits(TWIN_BIT1_PORTx, TWIN_BIT1_PINx)//拉高
#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
Project/HC32F460/source/User/Inc/main.h
+3 -3
View File
@@ -13,9 +13,9 @@
#define STOP_TIME_MS 500
#define RUN_TIME_MS 0
#define BDC_STOP() Motor_Control(MOTOR_CMD_STOP)
#define BDC_UP() Motor_Control(MOTOR_CMD_FORWARD)
#define BDC_DOWN() Motor_Control(MOTOR_CMD_REVERSE)
#define BDC_STOP() (SET_TWIN_BIT0(),SET_TWIN_BIT1())
#define BDC_UP() (CLR_TWIN_BIT0(),SET_TWIN_BIT1())
#define BDC_DOWN() (SET_TWIN_BIT0(),CLR_TWIN_BIT1())
/*控制等级*/
typedef enum {
Project/HC32F460/source/User/Src/bsp.c
+3
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@@ -445,6 +445,9 @@ static void GPIO_Config(void)
PORT_Init(RIGHTUP_CS1237_SCLK_PORTx, RIGHTUP_CS1237_SCLK_PINx, &stcPortInit);
PORT_Init(RIGHTLOW_CS1237_SCLK_PORTx, RIGHTLOW_CS1237_SCLK_PINx, &stcPortInit);
stcPortInit.enPullUp = Enable;//上拉
PORT_Init(TWIN_BIT0_PORTx, TWIN_BIT0_PINx, &stcPortInit);
PORT_Init(TWIN_BIT1_PORTx, TWIN_BIT1_PINx, &stcPortInit);
}
/*********************************左上传感器
*******************************************************************************
Project/HC32F460/source/User/Src/main.c
+24 -24
View File
@@ -410,36 +410,36 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
if (lu_K.peaks_positive
&& lu_K.valleys_negative
&& lu_diff[0] < App.ADTrack.Slope_VPT / 2
&& lu_diff[0] > -App.ADTrack.Slope_VPT / 2
&& lu_diff[1] < App.ADTrack.Slope_VPT / 2
&& lu_diff[1] > -App.ADTrack.Slope_VPT / 2
&& lu_diff[2] < App.ADTrack.Slope_VPT / 2
&& lu_diff[2] > -App.ADTrack.Slope_VPT / 2
&& App.LeftUpCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2
&& App.LeftUpCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
&& App.LeftUpCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2
&& App.LeftUpCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
&& App.LeftUpCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2
&& App.LeftUpCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2
&& ll_K.peaks_positive
&& ll_K.valleys_negative
&& ll_diff[0] < App.ADTrack.Slope_VPT / 2
&& ll_diff[0] > -App.ADTrack.Slope_VPT / 2
&& ll_diff[1] < App.ADTrack.Slope_VPT / 2
&& ll_diff[1] > -App.ADTrack.Slope_VPT / 2
&& ll_diff[2] < App.ADTrack.Slope_VPT / 2
&& ll_diff[2] > -App.ADTrack.Slope_VPT / 2
&& App.LeftLowCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2
&& App.LeftLowCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
&& App.LeftLowCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2
&& App.LeftLowCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
&& App.LeftLowCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2
&& App.LeftLowCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2
&& ru_K.peaks_positive
&& ru_K.valleys_negative
&& ru_diff[0] < App.ADTrack.Slope_VPT / 2
&& ru_diff[0] > -App.ADTrack.Slope_VPT / 2
&& ru_diff[1] < App.ADTrack.Slope_VPT / 2
&& ru_diff[1] > -App.ADTrack.Slope_VPT / 2
&& ru_diff[2] < App.ADTrack.Slope_VPT / 2
&& ru_diff[2] > -App.ADTrack.Slope_VPT / 2
&& App.RightUpCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2
&& App.RightUpCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
&& App.RightUpCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2
&& App.RightUpCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
&& App.RightUpCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2
&& App.RightUpCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2
&& rl_K.peaks_positive
&& rl_K.valleys_negative
&& rl_diff[0] < App.ADTrack.Slope_VPT / 2
&& rl_diff[0] > -App.ADTrack.Slope_VPT / 2
&& rl_diff[1] < App.ADTrack.Slope_VPT / 2
&& rl_diff[1] > -App.ADTrack.Slope_VPT / 2
&& rl_diff[2] < App.ADTrack.Slope_VPT / 2
&& rl_diff[2] > -App.ADTrack.Slope_VPT / 2)
&& App.RightLowCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2
&& App.RightLowCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
&& App.RightLowCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2
&& App.RightLowCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
&& App.RightLowCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2
&& App.RightLowCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2)
{
if(App.StopFlag == true && App.StopCollDelay1mSCnt <= 0){
App.ADTrack.LeftUp_Org_AdZero = lu_ad[0];