YuanHongbin/Acc_Support_29V_HV2.x
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全功能完成版本V1.0

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YuanHongbin
2025-09-16 12:08:36 +08:00
parent b6be5c1ffe
commit ce198ed458
7 changed files with 187 additions and 97 deletions
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Project/HC32F460/source/User/Src/main.c
+43 -39
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@@ -140,15 +140,6 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
App.RightRunFalg = false;
if(LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum)
{
uint32_t UpSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[0]);
uint32_t LowSlopeSum = abs(App.LeftLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[0]);
uint32_t UpDiffSum = abs(lu_diff[0]) + abs(ru_diff[0]);
uint32_t LowDiffSum = abs(ll_diff[0]) + abs(rl_diff[0]);
// if(UpSlopeSum > LowSlopeSum && UpDiffSum > LowDiffSum)
// {
//
// }
App.LeftRunFalg = true;
if(((App.LeftUpCS1237_SlopeArray[0] <= -App.ADTrack.Slope_VPT)
&& (App.LeftUpCS1237_SlopeArray[1] <= -App.ADTrack.Slope_VPT)
@@ -161,14 +152,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Olu_diff3 >= App.ADTrack.LeftUpVPT)
&& (Oll_diff1 <= -App.ADTrack.LeftLowVPT)
&& (Oll_diff2 <= -App.ADTrack.LeftLowVPT)
&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT))
)
&& (Oll_diff3 <= -App.ADTrack.LeftLowVPT)))
{
BDC_UP();
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if((abs(Olu_diff1) > abs(Orl_diff1) + 10000)
&& (abs(Oll_diff1) > abs(Oru_diff1) + 10000))
{
BDC_UP();
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
else if(((App.LeftUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.LeftUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
@@ -181,14 +175,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (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)))
{
BDC_DOWN();
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if((abs(Oll_diff1) > abs(Oru_diff1) + 10000)
&& (abs(Olu_diff1) > abs(Orl_diff1) + 10000))
{
BDC_DOWN();
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)
@@ -205,14 +202,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Oru_diff3 >= App.ADTrack.RightUpVPT)
&& (Orl_diff1 <= -App.ADTrack.RightLowVPT)
&& (Orl_diff2 <= -App.ADTrack.RightLowVPT)
&& (Orl_diff3 <= -App.ADTrack.RightLowVPT))
)
&& (Orl_diff3 <= -App.ADTrack.RightLowVPT)))
{
BDC_UP();
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if((abs(Orl_diff1) > abs(Olu_diff1) + 10000)
&& (abs(Oru_diff1) > abs(Oll_diff1) + 10000))
{
BDC_UP();
App.UpFlag = true;
App.StopFlag = false;
App.DownFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
else if(((App.RightUpCS1237_SlopeArray[0] >= App.ADTrack.Slope_VPT)
&& (App.RightUpCS1237_SlopeArray[1] >= App.ADTrack.Slope_VPT)
@@ -228,11 +228,15 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
&& (Orl_diff3 >= App.ADTrack.RightLowVPT))
)
{
BDC_DOWN();
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
if((abs(Oru_diff1) > abs(Oll_diff1) + 10000)
&& (abs(Orl_diff1) > abs(Olu_diff1) + 10000))
{
BDC_DOWN();
App.DownFlag = true;
App.StopFlag = false;
App.UpFlag = false;
App.RunCollDelay1mSCnt = RUN_TIME_MS;
}
}
}
}
@@ -543,10 +547,10 @@ static void AppLoopHandler(void)
App.EvenRunning = false;
App.ADTrack.Slope_VPT = 2000;
App.ADTrack.LeftUpVPT = 10000;
App.ADTrack.LeftLowVPT = 10000;
App.ADTrack.RightUpVPT = 10000;
App.ADTrack.RightLowVPT = 10000;
App.ADTrack.LeftUpVPT = 40000;
App.ADTrack.LeftLowVPT = 40000;
App.ADTrack.RightUpVPT = 40000;
App.ADTrack.RightLowVPT = 40000;
App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];