DoubleColumn_Trolley/Project/HC32F460/source/User/Inc/main.h

#ifndef __MAIN__H
#define __MAIN__H
#include <stdlib.h>
#include "bsp.h"


#define 	USE_FILE_SYSTEM									1
#define		SDCARD_BLOCK_MAX								(10000)

#define 	OSC_CNT    			40
#define 	SLOPE_CNT			  20

#define 	SLOPE_VPT				1000
#define		PRESS_VPT				3
#define		FOLLOW_VPT			10
#define		SHIELD_VPT			2
#define		EME_STOP_VPT		4000

#define		CENTRE_FRONT_CNT			0
#define		CENTRE_FRONT_SUM			0
#define		CENTRE_FRONT_VPT			0
#define		CENTRE_VPT			0

#define 	STOP_TIME_MS		500
#define 	CENT_TIME_MS		200
#define 	RUN_TIME_MS			0
#define		EME_START_MS		0
#define		EME_STOP_MS			2000
#define		SLOPE_START_MS	3000

#define		TRAVEL_TIME_MS	50000

#define		PEAK						1200		//1200mm
#define		VALLEY					720			//720mm

#define	BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
#define BDC_DOWN()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
#define	BDC_UP()			(SET_TWIN_BIT1(),CLR_TWIN_BIT0())

//#define	BDC_STOP()				Motor_Control(MOTOR_CMD_STOP)
//#define BDC_UP()					Motor_Control(MOTOR_CMD_FORWARD)
//#define	BDC_DOWN()				Motor_Control(MOTOR_CMD_REVERSE)

/*控制等级*/
typedef enum {
	LEVEL_1 = 1,  		// 一级
	LEVEL_2 = 2,      // 二级
	LEVEL_3 = 3,      // 三级
	LEVEL_4 = 4,      // 四级
	LEVEL_5 = 5       // 五级
}ControlLevel_m;

/*设备阈值*/
typedef struct{
	int32_t Slope_VPT;
	int32_t	Stop_VPT;
	
	int32_t LeftUpVPT;//左上设备阈值
	int32_t LeftLowVPT;//左下设备阈值
	int32_t RightUpVPT;//右上设备阈值
	int32_t RightLowVPT;//右下设备阈值
	
	int32_t LeftUp_Org_AdZero;//左上设备原始AD零点
	int32_t LeftLow_Org_AdZero;//左下设备原始AD零点
	int32_t RightUp_Org_AdZero;//右上设备原始AD零点
	int32_t RightLow_Org_AdZero;//右下设备原始AD零点
}ADTrack_t;
typedef struct{//电机参数
	bool InitialFlag;//初始标志位
	bool RestFlag;
	bool CaliFlag;
	bool LoopOne;//循环一次标志位
	int16_t Current_height;//当前高度mm
	int16_t CaliNum;//标校数量
	int32_t LU_HeightStress[488];//左上传感器对应高度应力
	int32_t LL_HeightStress[488];//左下传感器对应高度应力
	int32_t RU_HeightStress[488];//右上传感器对应高度应力
	int32_t RL_HeightStress[488];//右上传感器对应高度应力
}MotorPara_t;
/*数据读取状态机*/
typedef enum {
	READ_STATUS_IDLE,
	READ_STATUS_START,
	READ_STATUS_LEFTUP,
	READ_STATUS_WAIT_LEFTUP,
	READ_STATUS_LEFTLOW,
	READ_STATUS_WAIT_LEFTLOW,
	READ_STATUS_RIGHTUP,
	READ_STATUS_WAIT_RIGHTUP,
	READ_STATUS_RIGHTLOW,
	READ_STATUS_WAIT_RIGHTLOW,
	READ_STATUS_SUPPORT_CONT
}ReadStatus_m;

/*主程序状态机*/
typedef enum {
	APP_STATUS_IDLE,
	APP_STATUS_ON,
	APP_STATUS_OFF,
	APP_STATUS_MOTOR_INIT,
	APP_STATUS_WAIT_MOTOR_INIT,
	APP_STATUS_WAIT_MOTOR_CALI_UP,
	APP_STATUS_WAIT_MOTOR_CALI_DOWN,
	APP_STATUS_WAIT_STEADY,
	APP_STATUS_ZERO_MARKING,
	APP_STATUS_HEIGHT_CONTROL,
}AppStatus_m;

typedef struct{
	__IO uint16_t rPayLen;
	__IO bool HeaderFrame;
	__IO uint16_t RxLen;
	uint8_t RxBuff[10];
}Uart1Rx_t;

typedef struct{
	__IO uint16_t rPayLen;
	__IO bool HeaderFrame;
	__IO uint16_t RxLen;
	uint8_t RxBuff[4];
}Uart3Rx_t;

typedef struct {
	AppStatus_m Status;//状态
	ReadStatus_m RStatus;
	AppPara_T Para;
	Uart1Rx_t RxUart1Data;
	Uart3Rx_t RxUart3Data;

	ADTrack_t ADTrack;
	MotorPara_t	MotorPara;
	uint32_t TD1mSDelayCnt;
	uint32_t Read1mSDelayCnt;
	uint32_t Uart1Delay1mSCnt;
	uint32_t Uart3RxTimeOut1mSCnt;
	uint32_t StopCollDelay1mSCnt;
	uint32_t RunCollDelay1mSCnt;
	uint32_t CentCollDelay1mSCnt;
	uint32_t EmergencyDelay1mSCnt;
	uint32_t SlopeCollDelay1mSCnt;
	uint32_t CailUp1mSCnt;
	uint32_t HeightContRolCnt;
	uint8_t FeedDogDlyCnt;
	
	bool CaliZeroFlag;//校零标志位
	bool SideFlag;//侧压标志位
	bool UpFlag;//上升标志位
	bool DownFlag;//下降标志位
	bool StopFlag;//停止标志位
	bool EmeFlag;//应急标志位
	bool LeftRunFalg;
	bool RightRunFalg;
	bool CentreRunFalg;

	bool LeftUpCS1237ReadEndFlag;
	bool LeftLowCS1237ReadEndFlag;
	bool RightUpCS1237ReadEndFlag;
	bool RightLowCS1237ReadEndFlag;	

	int32_t LeftUpCS1237_TrendArray[OSC_CNT];
	int32_t LeftLowCS1237_TrendArray[OSC_CNT];
	int32_t RightUpCS1237_TrendArray[OSC_CNT];
	int32_t RightLowCS1237_TrendArray[OSC_CNT];
	
	int32_t LeftUpCS1237_SlopeArray[SLOPE_CNT];
	int32_t LeftLowCS1237_SlopeArray[SLOPE_CNT];
	int32_t RightUpCS1237_SlopeArray[SLOPE_CNT];
	int32_t RightLowCS1237_SlopeArray[SLOPE_CNT];
	
	int32_t aaa;
	int32_t bbb;
	int32_t ccc;
	int32_t ddd;
	
	bool WaitFlag;
}AppDetect_t;
extern AppDetect_t App;

#endif