1355 lines
43 KiB
C
1355 lines
43 KiB
C
#include <stdlib.h>
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#include <math.h>
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#include "main.h"
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#include "Encryption.h"
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#include "Debug.h"
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#include "Algorithm.h"
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#include "dc_motor.h"
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#include "CS1237_LEFTUP.h"
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#include "CS1237_LEFTLOW.h"
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#include "CS1237_RIGHTUP.h"
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#include "CS1237_RIGHTLOW.h"
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#define MAIN_DBG_LOG(...) DBG_LOG(__VA_ARGS__)
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#define MAIN_DBG_ARRAY(ARRAY, SIZE) DBG_ARRAY(ARRAY,SIZE)
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#define SOFTWARE_VERSION 11 //软件版本
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#define HARDWARE_VERSION 20 //硬件版本
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AppDetect_t App;
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static void show(uint8_t ch,int32_t ad)
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{
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if(App.Para.Layout.DBGWaveOut == true)
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{
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uint8_t bao[7];
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bao[0] = 0x5A;
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bao[1] = ch;
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bao[2] = ad & 0xFF;
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bao[3] = ad >> 8 & 0xFF;
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bao[4] = ad >> 16 & 0xFF;
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bao[5] = ad >> 24 & 0xFF;
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bao[6] = 0xA5;
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DebugUartSend(bao,7);
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}
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}
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void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
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{
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// if(abs(AD - App.LeftUpCS1237_TrendArray[0]) > 2000000)
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// {
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// AD = App.LeftUpCS1237_TrendArray[0];
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// }
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if(App.MotorPara.CaliFlag == true)
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{
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AD = AD + App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-720];
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for(int i = OSC_CNT-1; i > 0; i--)
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{
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App.LeftUpCS1237_TrendArray[i] = App.LeftUpCS1237_TrendArray[i - 1];
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}
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App.LeftUpCS1237_TrendArray[0] = AD;
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}
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else{
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// for(int i = OSC_CNT-1; i > 0; i--)
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// {
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// App.LeftUpCS1237_TrendArray[i] = App.LeftUpCS1237_TrendArray[i - 1];
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// }
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App.LeftUpCS1237_TrendArray[0] = AD;
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}
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show(1,AD);
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App.LeftUpCS1237ReadEndFlag = true;
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}
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void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD)
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{
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// if(abs(AD - App.LeftLowCS1237_TrendArray[0]) > 2000000)
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// {
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// AD = App.LeftLowCS1237_TrendArray[0];
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// }
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if(App.MotorPara.CaliFlag == true)
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{
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AD = AD + App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-720];
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for(int i = OSC_CNT-1; i > 0; i--)
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{
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App.LeftLowCS1237_TrendArray[i] = App.LeftLowCS1237_TrendArray[i - 1];
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}
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App.LeftLowCS1237_TrendArray[0] = AD;
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}
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else
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{
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// for(int i = OSC_CNT-1; i > 0; i--)
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// {
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// App.LeftLowCS1237_TrendArray[i] = App.LeftLowCS1237_TrendArray[i - 1];
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// }
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App.LeftLowCS1237_TrendArray[0] = AD;
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}
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show(2,AD);
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App.LeftLowCS1237ReadEndFlag = true;
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}
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void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD)
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{
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// if(abs(AD - App.RightUpCS1237_TrendArray[0]) > 2000000)
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// {
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// AD = App.RightUpCS1237_TrendArray[0];
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// }
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if(App.MotorPara.CaliFlag == true)
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{
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AD = AD + App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-720];
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for(int i = OSC_CNT-1; i > 0; i--)
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{
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App.RightUpCS1237_TrendArray[i] = App.RightUpCS1237_TrendArray[i - 1];
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}
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App.RightUpCS1237_TrendArray[0] = AD;
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}
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else
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{
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// for(int i = OSC_CNT-1; i > 0; i--)
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// {
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// App.RightUpCS1237_TrendArray[i] = App.RightUpCS1237_TrendArray[i - 1];
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// }
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App.RightUpCS1237_TrendArray[0] = AD;
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}
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show(3,AD);
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App.RightUpCS1237ReadEndFlag = true;
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}
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void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD)
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{
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// if(abs(AD - App.RightLowCS1237_TrendArray[0]) > 2000000)
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// {
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// AD = App.RightLowCS1237_TrendArray[0];
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// }
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if(App.MotorPara.CaliFlag == true)
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{
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AD = AD + App.MotorPara.RL_HeightStress[(App.MotorPara.Current_height)-720];
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for(int i = OSC_CNT-1; i > 0; i--)
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{
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App.RightLowCS1237_TrendArray[i] = App.RightLowCS1237_TrendArray[i - 1];
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}
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App.RightLowCS1237_TrendArray[0] = AD;
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}
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else
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{
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// for(int i = OSC_CNT-1; i > 0; i--)
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// {
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// App.RightLowCS1237_TrendArray[i] = App.RightLowCS1237_TrendArray[i - 1];
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// }
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App.RightLowCS1237_TrendArray[0] = AD;
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}
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show(4,AD);
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App.RightLowCS1237ReadEndFlag = true;
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}
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void GradeControl(ControlLevel_m level)
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{
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switch(level){
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case LEVEL_1:{
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App.ADTrack.Slope_VPT = SLOPE_VPT;
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App.ADTrack.LeftUpVPT = 5000;
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App.ADTrack.LeftLowVPT = 5000;
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App.ADTrack.RightUpVPT = 5000;
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App.ADTrack.RightLowVPT = 5000;
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App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
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App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
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App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
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App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
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App.ADTrack.Stop_VPT = 4000;
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break;}
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case LEVEL_2:{
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App.ADTrack.Slope_VPT = SLOPE_VPT;
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App.ADTrack.LeftUpVPT = 10000;
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App.ADTrack.LeftLowVPT = 10000;
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App.ADTrack.RightUpVPT = 10000;
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App.ADTrack.RightLowVPT = 10000;
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App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
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App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
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App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
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App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
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App.ADTrack.Stop_VPT = 8000;
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break;}
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case LEVEL_3:{
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App.ADTrack.Slope_VPT = SLOPE_VPT;
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App.ADTrack.LeftUpVPT = 20000;
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App.ADTrack.LeftLowVPT = 20000;
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App.ADTrack.RightUpVPT = 20000;
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App.ADTrack.RightLowVPT = 20000;
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App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
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App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
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App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
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App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
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App.ADTrack.Stop_VPT = 14000;
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break;}
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case LEVEL_4:{
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App.ADTrack.Slope_VPT = SLOPE_VPT;
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App.ADTrack.LeftUpVPT = 25000;
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App.ADTrack.LeftLowVPT = 25000;
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App.ADTrack.RightUpVPT = 25000;
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App.ADTrack.RightLowVPT = 25000;
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App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
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App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
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App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
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App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
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App.ADTrack.Stop_VPT = 19000;
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break;}
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case LEVEL_5:{
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App.ADTrack.Slope_VPT = SLOPE_VPT;
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App.ADTrack.LeftUpVPT = 30000;
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App.ADTrack.LeftLowVPT = 30000;
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App.ADTrack.RightUpVPT = 30000;
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App.ADTrack.RightLowVPT = 30000;
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App.ADTrack.LeftUpShieldVPT = SHIELD_VPT;
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App.ADTrack.LeftLowShieldVPT = SHIELD_VPT;
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App.ADTrack.RightUpShieldVPT = SHIELD_VPT;
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App.ADTrack.RightLowShieldVPT = SHIELD_VPT;
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App.ADTrack.Stop_VPT = 25000;
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break;}
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}
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}
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#if(USE_AGC == 1)
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void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_t *rl_ad)
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{
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int32_t lu_diff[OSC_CNT], Olu_diff1, Olu_diff2, Olu_diff3, Olu_diff4, Olu_diff5, Olu_diff6;
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int32_t ll_diff[OSC_CNT], Oll_diff1, Oll_diff2, Oll_diff3, Oll_diff4, Oll_diff5, Oll_diff6;
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int32_t ru_diff[OSC_CNT], Oru_diff1, Oru_diff2, Oru_diff3, Oru_diff4, Oru_diff5, Oru_diff6;
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int32_t rl_diff[OSC_CNT], Orl_diff1, Orl_diff2, Orl_diff3, Orl_diff4 ,Orl_diff5, Orl_diff6;
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Olu_diff1 = lu_ad[0] - App.ADTrack.LeftUp_Org_AdZero;
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Olu_diff2 = lu_ad[1] - App.ADTrack.LeftUp_Org_AdZero;
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Olu_diff3 = lu_ad[2] - App.ADTrack.LeftUp_Org_AdZero;
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Olu_diff4 = lu_ad[3] - App.ADTrack.LeftUp_Org_AdZero;
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Olu_diff5 = lu_ad[4] - App.ADTrack.LeftUp_Org_AdZero;
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Olu_diff6 = lu_ad[5] - App.ADTrack.LeftUp_Org_AdZero;
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Oll_diff1 = ll_ad[0] - App.ADTrack.LeftLow_Org_AdZero;
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Oll_diff2 = ll_ad[1] - App.ADTrack.LeftLow_Org_AdZero;
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Oll_diff3 = ll_ad[2] - App.ADTrack.LeftLow_Org_AdZero;
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Oll_diff4 = ll_ad[3] - App.ADTrack.LeftLow_Org_AdZero;
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Oll_diff5 = ll_ad[4] - App.ADTrack.LeftLow_Org_AdZero;
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Oll_diff6 = ll_ad[5] - App.ADTrack.LeftLow_Org_AdZero;
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Oru_diff1 = ru_ad[0] - App.ADTrack.RightUp_Org_AdZero;
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Oru_diff2 = ru_ad[1] - App.ADTrack.RightUp_Org_AdZero;
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Oru_diff3 = ru_ad[2] - App.ADTrack.RightUp_Org_AdZero;
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Oru_diff4 = ru_ad[3] - App.ADTrack.RightUp_Org_AdZero;
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Oru_diff5 = ru_ad[4] - App.ADTrack.RightUp_Org_AdZero;
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Oru_diff6 = ru_ad[5] - App.ADTrack.RightUp_Org_AdZero;
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Orl_diff1 = rl_ad[0] - App.ADTrack.RightLow_Org_AdZero;
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Orl_diff2 = rl_ad[1] - App.ADTrack.RightLow_Org_AdZero;
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Orl_diff3 = rl_ad[2] - App.ADTrack.RightLow_Org_AdZero;
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Orl_diff4 = rl_ad[3] - App.ADTrack.RightLow_Org_AdZero;
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Orl_diff5 = rl_ad[4] - App.ADTrack.RightLow_Org_AdZero;
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Orl_diff6 = rl_ad[5] - App.ADTrack.RightLow_Org_AdZero;
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for(int i = 0; i < OSC_CNT; i++)
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{
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lu_diff[i] = lu_ad[i] - lu_ad[OSC_CNT - 1];
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ll_diff[i] = ll_ad[i] - ll_ad[OSC_CNT - 1];
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ru_diff[i] = ru_ad[i] - ru_ad[OSC_CNT - 1];
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rl_diff[i] = rl_ad[i] - rl_ad[OSC_CNT - 1];
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}
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TrendResult result_lu = analyze_trend(lu_diff, OSC_CNT);
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TrendResult result_ll = analyze_trend(ll_diff, OSC_CNT);
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TrendResult result_ru = analyze_trend(ru_diff, OSC_CNT);
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TrendResult result_rl = analyze_trend(rl_diff, OSC_CNT);
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int32_t lu_slope = result_lu.slope;
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int32_t ll_slope = result_ll.slope;
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int32_t ru_slope = result_ru.slope;
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int32_t rl_slope = result_rl.slope;
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// show(1, lu_slope);
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// show(2, ll_slope);
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// show(3, ru_slope);
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// show(4, rl_slope);
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for(int i = SLOPE_CNT-1; i > 0; i--)
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{
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App.LeftUpCS1237_SlopeArray[i] = App.LeftUpCS1237_SlopeArray[i - 1];
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App.LeftLowCS1237_SlopeArray[i] = App.LeftLowCS1237_SlopeArray[i - 1];
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App.RightUpCS1237_SlopeArray[i] = App.RightUpCS1237_SlopeArray[i - 1];
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App.RightLowCS1237_SlopeArray[i] = App.RightLowCS1237_SlopeArray[i - 1];
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}
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App.LeftUpCS1237_SlopeArray[0] = lu_slope;
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App.LeftLowCS1237_SlopeArray[0] = ll_slope;
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App.RightUpCS1237_SlopeArray[0] = ru_slope;
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App.RightLowCS1237_SlopeArray[0] = rl_slope;
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PeakValleyCheck lu_K = check_peaks_valleys(App.LeftUpCS1237_SlopeArray, SLOPE_CNT);
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PeakValleyCheck ll_K = check_peaks_valleys(App.LeftLowCS1237_SlopeArray, SLOPE_CNT);
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PeakValleyCheck ru_K = check_peaks_valleys(App.RightUpCS1237_SlopeArray, SLOPE_CNT);
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PeakValleyCheck rl_K = check_peaks_valleys(App.RightLowCS1237_SlopeArray, SLOPE_CNT);
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int32_t LeftSlopeSum = abs(App.LeftUpCS1237_SlopeArray[0]) + abs(App.LeftLowCS1237_SlopeArray[0]) + abs(App.LeftUpCS1237_SlopeArray[1]) + abs(App.LeftLowCS1237_SlopeArray[1]) + abs(App.LeftUpCS1237_SlopeArray[2]) + abs(App.LeftLowCS1237_SlopeArray[2]);
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int32_t RightSlopeSum = abs(App.RightUpCS1237_SlopeArray[0]) + abs(App.RightLowCS1237_SlopeArray[0]) + abs(App.RightUpCS1237_SlopeArray[1]) + abs(App.RightLowCS1237_SlopeArray[1]) + abs(App.RightUpCS1237_SlopeArray[2]) + abs(App.RightLowCS1237_SlopeArray[2]);
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int32_t LeftDiffSum = abs(lu_diff[0]) + abs(lu_diff[1]) + abs(lu_diff[2]) + abs(ll_diff[0]) + abs(ll_diff[1]) + abs(ll_diff[2]);
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int32_t RightDiffSum = abs(ru_diff[0]) + abs(ru_diff[1]) + abs(ru_diff[2]) + abs(rl_diff[0]) + abs(rl_diff[1]) + abs(rl_diff[2]);
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int32_t LeftDiff = abs(Oll_diff1) + abs(Olu_diff1) + abs(Oll_diff2) + abs(Olu_diff2) + abs(Oll_diff3) + abs(Olu_diff3);
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int32_t RightDiff = abs(Orl_diff1) + abs(Oru_diff1) + abs(Orl_diff2) + abs(Oru_diff2) + abs(Orl_diff3) + abs(Oru_diff3);
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int32_t LuSideDiff = lu_ad[0] - lu_ad[5];
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int32_t LlSideDiff = ll_ad[0] - ll_ad[5];
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int32_t RuSideDiff = ru_ad[0] - ru_ad[5];
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int32_t RlSideDiff = rl_ad[0] - rl_ad[5];
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if(App.EmeFlag == true)
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{
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if(App.DownFlag == true && App.EmergencyDelay1mSCnt > 0)
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{
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BDC_UP();
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}
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else if(App.UpFlag == true && App.EmergencyDelay1mSCnt > 0)
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{
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BDC_DOWN();
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}
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else if(App.EmergencyDelay1mSCnt <= 0)
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{
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BDC_STOP();
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App.StopFlag = true;
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App.DownFlag = false;
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App.UpFlag = false;
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App.EmeFlag = false;
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App.StopCollDelay1mSCnt = STOP_TIME_MS;
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App.SlopeCollDelay1mSCnt = SLOPE_START_MS;
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}
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}
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else if(App.StopFlag == true && App.StopCollDelay1mSCnt <= 0)
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{
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App.LeftRunFalg = false;
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App.RightRunFalg = false;
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App.CentreRunFalg = false;
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if(((lu_ad[0] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)//判断中间操作
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&& (ll_ad[0] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
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&& (ru_ad[0] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
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&& (rl_ad[0] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT)
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&& (lu_ad[1] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)
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&& (ll_ad[1] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
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&& (ru_ad[1] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
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&& (rl_ad[1] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT)
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&& (lu_ad[2] < App.ADTrack.LeftUp_Org_AdZero-CENTRE_VPT)
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&& (ll_ad[2] > App.ADTrack.LeftLow_Org_AdZero+CENTRE_VPT)
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&& (ru_ad[2] < App.ADTrack.RightUp_Org_AdZero-CENTRE_VPT)
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&& (rl_ad[2] > App.ADTrack.RightLow_Org_AdZero+CENTRE_VPT))
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|| ((lu_ad[0] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
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&& (ll_ad[0] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
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&& (ru_ad[0] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
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&& (rl_ad[0] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)
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&& (lu_ad[1] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
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&& (ll_ad[1] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
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&& (ru_ad[1] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
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&& (rl_ad[1] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)
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&& (lu_ad[2] > App.ADTrack.LeftUp_Org_AdZero+CENTRE_VPT)
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&& (ll_ad[2] < App.ADTrack.LeftLow_Org_AdZero-CENTRE_VPT)
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&& (ru_ad[2] > App.ADTrack.RightUp_Org_AdZero+CENTRE_VPT)
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&& (rl_ad[2] < App.ADTrack.RightLow_Org_AdZero-CENTRE_VPT)))
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{
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App.CentreRunFalg = true;
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if(LeftDiff > RightDiff)
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{
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App.LeftRunFalg = true;
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if((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT)
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&& ((Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT))
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&& ((Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT))
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|
)
|
|
{
|
|
if(App.MotorPara.Current_height < 1200)
|
|
{
|
|
BDC_UP();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = true;
|
|
App.StopFlag = false;
|
|
App.DownFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
if((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT)
|
|
)
|
|
{
|
|
if(App.MotorPara.Current_height > 730)
|
|
{
|
|
BDC_DOWN();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = false;
|
|
App.StopFlag = false;
|
|
App.DownFlag = true;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
else if(RightDiff > LeftDiff)
|
|
{
|
|
App.RightRunFalg = true;
|
|
if((Olu_diff1+Oru_diff1) < -(App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff2+Oru_diff2) < -(App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff3+Oru_diff3) < -(App.ADTrack.Stop_VPT)
|
|
)
|
|
{
|
|
if(App.MotorPara.Current_height < 1200)
|
|
{
|
|
BDC_UP();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = true;
|
|
App.StopFlag = false;
|
|
App.DownFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
if((Olu_diff1+Oru_diff1) > (App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff2+Oru_diff2) > (App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff3+Oru_diff3) > (App.ADTrack.Stop_VPT)
|
|
)
|
|
{
|
|
if(App.MotorPara.Current_height > 730)
|
|
{
|
|
BDC_DOWN();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = false;
|
|
App.StopFlag = false;
|
|
App.DownFlag = true;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))//判断左边操作
|
|
{
|
|
App.LeftRunFalg = true;
|
|
if((Olu_diff1 >= (App.ADTrack.LeftUpVPT*5/6)) //通过差值判断上下拉方向
|
|
&& (Olu_diff2 >= (App.ADTrack.LeftUpVPT*5/6))
|
|
&& (Olu_diff3 >= (App.ADTrack.LeftUpVPT*5/6))
|
|
&& (Oll_diff1 <= -(App.ADTrack.LeftLowVPT*5/6))
|
|
&& (Oll_diff2 <= -(App.ADTrack.LeftLowVPT*5/6))
|
|
&& (Oll_diff3 <= -(App.ADTrack.LeftLowVPT*5/6)))
|
|
{
|
|
if((App.LeftUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
|
|
&& (App.LeftUpCS1237_SlopeArray[1] <= -PRESS_VPT)
|
|
&& (App.LeftUpCS1237_SlopeArray[2] <= -PRESS_VPT)
|
|
&& (App.LeftLowCS1237_SlopeArray[0] >= PRESS_VPT)
|
|
&& (App.LeftLowCS1237_SlopeArray[1] >= PRESS_VPT)
|
|
&& (App.LeftLowCS1237_SlopeArray[2] >= PRESS_VPT))
|
|
{
|
|
if(App.CaliZeroFlag == true)//判断是否校零
|
|
{
|
|
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断是否不是侧面推拉
|
|
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
|
|
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
|
|
&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT))
|
|
{
|
|
if(App.MotorPara.Current_height > 730)
|
|
{
|
|
BDC_DOWN();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = false;
|
|
App.DownFlag = true;
|
|
App.StopFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if(App.MotorPara.Current_height > 730)
|
|
{
|
|
BDC_DOWN();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = false;
|
|
App.DownFlag = true;
|
|
App.StopFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else if(((Olu_diff1 <= -(App.ADTrack.LeftUpVPT*5/6))//通过差值判断上下拉方向
|
|
&& (Olu_diff2 <= -(App.ADTrack.LeftUpVPT*5/6))
|
|
&& (Olu_diff3 <= -(App.ADTrack.LeftUpVPT*5/6))
|
|
&& (Oll_diff1 >= (App.ADTrack.LeftLowVPT*5/6))
|
|
&& (Oll_diff2 >= (App.ADTrack.LeftLowVPT*5/6))
|
|
&& (Oll_diff3 >= (App.ADTrack.LeftLowVPT*5/6)))
|
|
)
|
|
{
|
|
if((App.LeftUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
|
|
&& (App.LeftUpCS1237_SlopeArray[1] >= PRESS_VPT)
|
|
&& (App.LeftUpCS1237_SlopeArray[2] >= PRESS_VPT)
|
|
&& (App.LeftLowCS1237_SlopeArray[0] <= -PRESS_VPT)
|
|
&& (App.LeftLowCS1237_SlopeArray[1] <= -PRESS_VPT)
|
|
&& (App.LeftLowCS1237_SlopeArray[2] <= -PRESS_VPT))
|
|
{
|
|
// if(App.CaliZeroFlag == true)//判断是否校零
|
|
{
|
|
if((abs(Oll_diff1) > abs(Orl_diff1) + App.ADTrack.LeftLowShieldVPT)//判断是否不是侧面推拉
|
|
&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
|
|
&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
|
|
&& (abs(Olu_diff1) > abs(Oru_diff1) + App.ADTrack.LeftUpShieldVPT))
|
|
{
|
|
if(App.MotorPara.Current_height < 1200)
|
|
{
|
|
BDC_UP();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = true;
|
|
App.DownFlag = false;
|
|
App.StopFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
// else
|
|
// {
|
|
// if(App.MotorPara.Current_height < 1190)
|
|
// {
|
|
// BDC_UP();
|
|
// App.CaliZeroFlag = false;
|
|
// App.UpFlag = true;
|
|
// App.DownFlag = false;
|
|
// App.StopFlag = false;
|
|
// App.EmeFlag = false;
|
|
// App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
// }
|
|
// }
|
|
}
|
|
}
|
|
}
|
|
else if(LeftSlopeSum < RightSlopeSum && LeftDiffSum < RightDiffSum)//判断右边操作
|
|
{
|
|
App.RightRunFalg = true;
|
|
if((Oru_diff1 >= (App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
|
|
&& (Oru_diff2 >= (App.ADTrack.RightUpVPT*5/6))
|
|
&& (Oru_diff3 >= (App.ADTrack.RightUpVPT*5/6))
|
|
&& (Orl_diff1 <= -(App.ADTrack.RightLowVPT*5/6))
|
|
&& (Orl_diff2 <= -(App.ADTrack.RightLowVPT*5/6))
|
|
&& (Orl_diff3 <= -(App.ADTrack.RightLowVPT*5/6)))
|
|
{
|
|
if((App.RightUpCS1237_SlopeArray[0] <= -PRESS_VPT) //判断是否不是正面压
|
|
&& (App.RightUpCS1237_SlopeArray[1] <= -PRESS_VPT)
|
|
&& (App.RightUpCS1237_SlopeArray[2] <= -PRESS_VPT)
|
|
&& (App.RightLowCS1237_SlopeArray[0] >= PRESS_VPT)
|
|
&& (App.RightLowCS1237_SlopeArray[1] >= PRESS_VPT)
|
|
&& (App.RightLowCS1237_SlopeArray[2] >= PRESS_VPT))
|
|
{
|
|
// if(App.CaliZeroFlag == true)//判断是否校零
|
|
{
|
|
if((abs(Orl_diff1) > abs(Oll_diff1) + App.ADTrack.RightLowShieldVPT)//判断是否不是侧面推拉
|
|
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
|
|
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
|
|
&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT))
|
|
{
|
|
if(App.MotorPara.Current_height > 730)
|
|
{
|
|
BDC_DOWN();
|
|
App.CaliZeroFlag = false;
|
|
App.DownFlag = true;
|
|
App.StopFlag = false;
|
|
App.UpFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
// else
|
|
// {
|
|
// if(App.MotorPara.Current_height > 730)
|
|
// {
|
|
// BDC_DOWN();
|
|
// App.CaliZeroFlag = false;
|
|
// App.DownFlag = true;
|
|
// App.StopFlag = false;
|
|
// App.UpFlag = false;
|
|
// App.EmeFlag = false;
|
|
// App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
// }
|
|
// }
|
|
}
|
|
}
|
|
else if((Oru_diff1 <= -(App.ADTrack.RightUpVPT*5/6)) //通过差值判断上下拉方向
|
|
&& (Oru_diff2 <= -(App.ADTrack.RightUpVPT*5/6))
|
|
&& (Oru_diff3 <= -(App.ADTrack.RightUpVPT*5/6))
|
|
&& (Orl_diff1 >= (App.ADTrack.RightLowVPT*5/6))
|
|
&& (Orl_diff2 >= (App.ADTrack.RightLowVPT*5/6))
|
|
&& (Orl_diff3 >= (App.ADTrack.RightLowVPT*5/6)))
|
|
{
|
|
if((App.RightUpCS1237_SlopeArray[0] >= PRESS_VPT) //判断是否不是正面压
|
|
&& (App.RightUpCS1237_SlopeArray[1] >= PRESS_VPT)
|
|
&& (App.RightUpCS1237_SlopeArray[2] >= PRESS_VPT)
|
|
&& (App.RightLowCS1237_SlopeArray[0] <= -PRESS_VPT)
|
|
&& (App.RightLowCS1237_SlopeArray[1] <= -PRESS_VPT)
|
|
&& (App.RightLowCS1237_SlopeArray[2] <= -PRESS_VPT))
|
|
{
|
|
// if(App.CaliZeroFlag == true)//判断是否校零
|
|
{
|
|
if((abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT)//判断是否不是侧面推拉
|
|
&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
|
|
&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
|
|
&& (abs(Oru_diff1) > abs(Olu_diff1) + App.ADTrack.RightUpShieldVPT))
|
|
{
|
|
if(App.MotorPara.Current_height < 1200)
|
|
{
|
|
BDC_UP();
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = true;
|
|
App.StopFlag = false;
|
|
App.DownFlag = false;
|
|
App.EmeFlag = false;
|
|
App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
}
|
|
}
|
|
}
|
|
// else
|
|
// {
|
|
// if(App.MotorPara.Current_height < 1190)
|
|
// {
|
|
// BDC_UP();
|
|
// App.CaliZeroFlag = false;
|
|
// App.UpFlag = true;
|
|
// App.StopFlag = false;
|
|
// App.DownFlag = false;
|
|
// App.EmeFlag = false;
|
|
// App.RunCollDelay1mSCnt = RUN_TIME_MS;
|
|
// }
|
|
// }
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else if(App.DownFlag == true && App.RunCollDelay1mSCnt <= 0)
|
|
{
|
|
if(App.LeftRunFalg == true)
|
|
{
|
|
if(((App.CentreRunFalg == false )
|
|
&& (Olu_diff1 < App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff1 > -App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff2 < App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff2 > -App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff3 < App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff3 > -App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff4 < App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff4 > -App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff5 < App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff5 > -App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff6 < App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff6 > -App.ADTrack.Stop_VPT))
|
|
|| ((App.CentreRunFalg == true)
|
|
&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3)))
|
|
)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
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)
|
|
// && (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1)
|
|
// && (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2)
|
|
// && (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3)
|
|
// && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
|
|
// {
|
|
// BDC_STOP();
|
|
// App.EmeFlag = true;
|
|
// App.EmergencyDelay1mSCnt = EME_STOP_MS;
|
|
// }
|
|
}
|
|
else if(App.RightRunFalg == true)
|
|
{
|
|
if(((App.CentreRunFalg == false )
|
|
&& (Oru_diff1 < App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff1 > -App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff2 < App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff2 > -App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff3 < App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff3 > -App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff4 < App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff4 > -App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff5 < App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff5 > -App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff6 < App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff6 > -App.ADTrack.Stop_VPT))
|
|
|| ((App.CentreRunFalg == true)
|
|
&& ((Olu_diff1 + Oru_diff1) < (App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff2 + Oru_diff2) < (App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff3 + Oru_diff3) < (App.ADTrack.Stop_VPT*2/3)))
|
|
)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
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)
|
|
// && abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT)
|
|
// && abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT)
|
|
// && abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT)
|
|
// && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
|
|
// {
|
|
// BDC_STOP();
|
|
// App.EmeFlag = true;
|
|
// App.EmergencyDelay1mSCnt = EME_STOP_MS;
|
|
// }
|
|
}
|
|
}
|
|
else if(App.UpFlag == true && App.RunCollDelay1mSCnt <= 0)
|
|
{
|
|
if(App.LeftRunFalg == true)
|
|
{
|
|
if(((App.CentreRunFalg == false)
|
|
&& (Olu_diff1 > -App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff1 < App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff2 > -App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff2 < App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff3 > -App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff3 < App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff4 > -App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff4 < App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff5 > -App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff5 < App.ADTrack.Stop_VPT)
|
|
&& (Olu_diff6 > -App.ADTrack.Stop_VPT)
|
|
&& (Oll_diff6 < App.ADTrack.Stop_VPT))
|
|
|| ((App.CentreRunFalg == true)
|
|
&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3)))
|
|
)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
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)
|
|
// && (abs(Olu_diff1) + EME_STOP_VPT) < abs(Oru_diff1)
|
|
// && (abs(Olu_diff2) + EME_STOP_VPT) < abs(Oru_diff2)
|
|
// && (abs(Olu_diff3) + EME_STOP_VPT) < abs(Oru_diff3)
|
|
// && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
|
|
// {
|
|
// BDC_STOP();
|
|
// App.EmeFlag = true;
|
|
// App.EmergencyDelay1mSCnt = EME_STOP_MS;
|
|
// }
|
|
}
|
|
else if(App.RightRunFalg == true)
|
|
{
|
|
if(((App.CentreRunFalg == false )
|
|
&& (Oru_diff1 > -App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff1 < App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff2 > -App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff2 < App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff3 > -App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff3 < App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff4 > -App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff4 < App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff5 > -App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff5 < App.ADTrack.Stop_VPT)
|
|
&& (Oru_diff6 > -App.ADTrack.Stop_VPT)
|
|
&& (Orl_diff6 < App.ADTrack.Stop_VPT))
|
|
|| ((App.CentreRunFalg == true)
|
|
&& ((Olu_diff1 + Oru_diff1) > -(App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff2 + Oru_diff2) > -(App.ADTrack.Stop_VPT*2/3))
|
|
&& ((Olu_diff3 + Oru_diff3) > -(App.ADTrack.Stop_VPT*2/3)))
|
|
)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
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)
|
|
// && abs(Olu_diff1) > (abs(Oru_diff1) + EME_STOP_VPT)
|
|
// && abs(Olu_diff2) > (abs(Oru_diff2) + EME_STOP_VPT)
|
|
// && abs(Olu_diff3) > (abs(Oru_diff3) + EME_STOP_VPT)
|
|
// && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
|
|
// {
|
|
// BDC_STOP();
|
|
// App.EmeFlag = true;
|
|
// App.EmergencyDelay1mSCnt = EME_STOP_MS;
|
|
// }
|
|
}
|
|
}
|
|
|
|
if(
|
|
// lu_K.peaks_positive
|
|
// && lu_K.valleys_negative
|
|
App.LeftUpCS1237_SlopeArray[0] < FOLLOW_VPT
|
|
&& App.LeftUpCS1237_SlopeArray[0] > -FOLLOW_VPT
|
|
&& App.LeftUpCS1237_SlopeArray[1] < FOLLOW_VPT
|
|
&& App.LeftUpCS1237_SlopeArray[1] > -FOLLOW_VPT
|
|
&& App.LeftUpCS1237_SlopeArray[2] < FOLLOW_VPT
|
|
&& App.LeftUpCS1237_SlopeArray[2] > -FOLLOW_VPT
|
|
// && ll_K.peaks_positive
|
|
// && ll_K.valleys_negative
|
|
&& App.LeftLowCS1237_SlopeArray[0] < FOLLOW_VPT
|
|
&& App.LeftLowCS1237_SlopeArray[0] > -FOLLOW_VPT
|
|
&& App.LeftLowCS1237_SlopeArray[1] < FOLLOW_VPT
|
|
&& App.LeftLowCS1237_SlopeArray[1] > -FOLLOW_VPT
|
|
&& App.LeftLowCS1237_SlopeArray[2] < FOLLOW_VPT
|
|
&& App.LeftLowCS1237_SlopeArray[2] > -FOLLOW_VPT
|
|
// && ru_K.peaks_positive
|
|
// && ru_K.valleys_negative
|
|
&& App.RightUpCS1237_SlopeArray[0] < FOLLOW_VPT
|
|
&& App.RightUpCS1237_SlopeArray[0] > -FOLLOW_VPT
|
|
&& App.RightUpCS1237_SlopeArray[1] < FOLLOW_VPT
|
|
&& App.RightUpCS1237_SlopeArray[1] > -FOLLOW_VPT
|
|
&& App.RightUpCS1237_SlopeArray[2] < FOLLOW_VPT
|
|
&& App.RightUpCS1237_SlopeArray[2] > -FOLLOW_VPT
|
|
// && rl_K.peaks_positive
|
|
// && rl_K.valleys_negative
|
|
&& App.RightLowCS1237_SlopeArray[0] < FOLLOW_VPT
|
|
&& App.RightLowCS1237_SlopeArray[0] > -FOLLOW_VPT
|
|
&& App.RightLowCS1237_SlopeArray[1] < FOLLOW_VPT
|
|
&& App.RightLowCS1237_SlopeArray[1] > -FOLLOW_VPT
|
|
&& App.RightLowCS1237_SlopeArray[2] < FOLLOW_VPT
|
|
&& App.RightLowCS1237_SlopeArray[2] > -FOLLOW_VPT)
|
|
{
|
|
if(App.StopFlag == true
|
|
&& App.StopCollDelay1mSCnt <= 0
|
|
&& App.MotorPara.Current_height <= 1200
|
|
&& App.MotorPara.Current_height >= 722){
|
|
App.ADTrack.LeftUp_Org_AdZero = lu_ad[0];
|
|
App.ADTrack.LeftLow_Org_AdZero = ll_ad[0];
|
|
App.ADTrack.RightUp_Org_AdZero = ru_ad[0];
|
|
App.ADTrack.RightLow_Org_AdZero = rl_ad[0];
|
|
App.CaliZeroFlag = true;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
static void AppInit(void)
|
|
{
|
|
memset(&App, 0x00, sizeof(App));
|
|
READ_APP_PARA((uint32_t *)&App.Para);
|
|
if(App.Para.FactoryFlag != 0x00){
|
|
App.Para.FactoryFlag = 0x00;
|
|
/*参数初始化*/
|
|
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
|
|
App.Para.Layout.DBGWaveOut = false;
|
|
SAVE_APP_PARA((uint32_t *)&App.Para);
|
|
}
|
|
if(App.Para.Layout.ControlLevel > 5 || App.Para.Layout.ControlLevel < 1){
|
|
App.Para.Layout.ControlLevel = LEVEL_3;//出厂默认等级3
|
|
SAVE_APP_PARA((uint32_t *)&App.Para);
|
|
}
|
|
DBG_LOG("\r\n\r\n");
|
|
DBG_LOG("****************************************************\r\n");
|
|
DBG_LOG("** **\r\n");
|
|
DBG_LOG("** Acc_Support_29V **\r\n");
|
|
DBG_LOG("** SoftWare V:%d.%d **\r\n", SOFTWARE_VERSION / 10, SOFTWARE_VERSION % 10);
|
|
DBG_LOG("** HardWare V:%d.%d **\r\n", HARDWARE_VERSION / 10, HARDWARE_VERSION % 10);
|
|
DBG_LOG("** Compile: %s %s **\r\n", __DATE__, __TIME__);
|
|
DBG_LOG("** **\r\n");
|
|
DBG_LOG("****************************************************\r\n\r\n");
|
|
|
|
//FeedDog();
|
|
LEFTUP_CS1237_Init();
|
|
LEFTLOW_CS1237_Init();
|
|
RIGHTUP_CS1237_Init();
|
|
RIGHTLOW_CS1237_Init();
|
|
|
|
BDC_STOP();
|
|
|
|
// App.Status = APP_STATUS_WAIT;
|
|
App.Status = APP_STATUS_MOTOR_INIT;
|
|
App.MotorPara.InitialFlag = false;
|
|
// App.TD1mSDelayCnt = 1000;
|
|
// App.Status = APP_STATUS_UP1;
|
|
// App.TD1mSDelayCnt = TRAVEL_TIME_MS;
|
|
App.RStatus = READ_STATUS_START;
|
|
GradeControl(App.Para.Layout.ControlLevel);//等级控制
|
|
|
|
App.WaitFlag = false;
|
|
}
|
|
static void ReadLoopHandler(void)
|
|
{
|
|
switch(App.RStatus){
|
|
case READ_STATUS_IDLE:{
|
|
break;}
|
|
|
|
case READ_STATUS_START:{
|
|
App.LeftUpCS1237ReadEndFlag = false;
|
|
App.LeftLowCS1237ReadEndFlag = false;
|
|
App.RightUpCS1237ReadEndFlag = false;
|
|
App.RightLowCS1237ReadEndFlag = false;
|
|
App.RStatus = READ_STATUS_LEFTUP;
|
|
break;}
|
|
|
|
case READ_STATUS_LEFTUP:{
|
|
LEFTUP_CS1237Start();
|
|
App.Read1mSDelayCnt = 50;
|
|
App.RStatus = READ_STATUS_WAIT_LEFTUP;
|
|
break;}
|
|
|
|
case READ_STATUS_WAIT_LEFTUP:{
|
|
if(App.Read1mSDelayCnt <= 0)
|
|
{
|
|
App.RStatus = READ_STATUS_LEFTLOW;
|
|
}
|
|
else if(App.LeftUpCS1237ReadEndFlag == true)
|
|
{
|
|
App.RStatus = READ_STATUS_LEFTLOW;
|
|
}
|
|
break;}
|
|
|
|
case READ_STATUS_LEFTLOW:{
|
|
LEFTLOW_CS1237Start();
|
|
App.Read1mSDelayCnt = 50;
|
|
App.RStatus = READ_STATUS_WAIT_LEFTLOW;
|
|
break;}
|
|
|
|
case READ_STATUS_WAIT_LEFTLOW:{
|
|
if(App.Read1mSDelayCnt <= 0)
|
|
{
|
|
App.RStatus = READ_STATUS_RIGHTUP;
|
|
}
|
|
else if(App.LeftLowCS1237ReadEndFlag == true)
|
|
{
|
|
App.RStatus = READ_STATUS_RIGHTUP;
|
|
}
|
|
break;}
|
|
|
|
case READ_STATUS_RIGHTUP:{
|
|
RIGHTUP_CS1237Start();
|
|
App.Read1mSDelayCnt = 50;
|
|
App.RStatus = READ_STATUS_WAIT_RIGHTUP;
|
|
break;}
|
|
|
|
case READ_STATUS_WAIT_RIGHTUP:{
|
|
if(App.Read1mSDelayCnt <= 0)
|
|
{
|
|
App.RStatus = READ_STATUS_RIGHTLOW;
|
|
}
|
|
else if(App.RightUpCS1237ReadEndFlag == true)
|
|
{
|
|
App.RStatus = READ_STATUS_RIGHTLOW;
|
|
}
|
|
break;}
|
|
|
|
case READ_STATUS_RIGHTLOW:{
|
|
RIGHTLOW_CS1237Start();
|
|
App.Read1mSDelayCnt = 50;
|
|
App.RStatus = READ_STATUS_WAIT_RIGHTLOW;
|
|
break;}
|
|
|
|
case READ_STATUS_WAIT_RIGHTLOW:{
|
|
if(App.Read1mSDelayCnt <= 0)
|
|
{
|
|
App.RStatus = READ_STATUS_SUPPORT_CONT;
|
|
}
|
|
else if(App.RightLowCS1237ReadEndFlag == true)
|
|
{
|
|
App.RStatus = READ_STATUS_SUPPORT_CONT;
|
|
}
|
|
break;}
|
|
|
|
case READ_STATUS_SUPPORT_CONT:{
|
|
if(App.LeftUpCS1237ReadEndFlag == true &&
|
|
App.LeftLowCS1237ReadEndFlag == true &&
|
|
App.RightUpCS1237ReadEndFlag == true &&
|
|
App.RightLowCS1237ReadEndFlag == true &&
|
|
App.WaitFlag == true)
|
|
{
|
|
#if(USE_AGC == 1)
|
|
SupportControlHandle(App.LeftUpCS1237_TrendArray, App.LeftLowCS1237_TrendArray, App.RightUpCS1237_TrendArray, App.RightLowCS1237_TrendArray);
|
|
#endif
|
|
}
|
|
App.RStatus = READ_STATUS_START;
|
|
break;}
|
|
}
|
|
}
|
|
|
|
static void AppLoopHandler(void)
|
|
{
|
|
switch(App.Status) {
|
|
case APP_STATUS_IDLE:{
|
|
break;}
|
|
|
|
case APP_STATUS_ON:{
|
|
App.Status = APP_STATUS_IDLE;
|
|
break;}
|
|
|
|
case APP_STATUS_OFF:{
|
|
|
|
App.Status = APP_STATUS_IDLE;
|
|
break;}
|
|
|
|
case APP_STATUS_MOTOR_INIT:{
|
|
BDC_UP();
|
|
Ddl_Delay1ms(1000);
|
|
BDC_DOWN();
|
|
App.DownFlag = true;
|
|
App.StopFlag = false;
|
|
App.Status = APP_STATUS_WAIT_MOTOR_INIT;
|
|
App.TD1mSDelayCnt = TRAVEL_TIME_MS;
|
|
break;}
|
|
|
|
case APP_STATUS_WAIT_MOTOR_INIT:{
|
|
if(App.TD1mSDelayCnt <= 0)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
App.Status = APP_STATUS_IDLE;
|
|
}
|
|
if(App.MotorPara.Current_height <= 722 && App.MotorPara.Current_height >= 720)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
App.MotorPara.CaliFlag = false;
|
|
App.TD1mSDelayCnt = 1000;
|
|
App.Status = APP_STATUS_ZERO_MARKING;
|
|
}
|
|
break;}
|
|
|
|
case APP_STATUS_ZERO_MARKING:{
|
|
if(App.TD1mSDelayCnt <= 0)
|
|
{
|
|
App.ADTrack.LeftUp_Org_AdZero = App.LeftUpCS1237_TrendArray[0];
|
|
App.ADTrack.LeftLow_Org_AdZero = App.LeftLowCS1237_TrendArray[0];
|
|
App.ADTrack.RightUp_Org_AdZero = App.RightUpCS1237_TrendArray[0];
|
|
App.ADTrack.RightLow_Org_AdZero = App.RightLowCS1237_TrendArray[0];
|
|
DBG_LOG("Frist Pack Data LeftUp Zero AD: %08d\tLeftUp Zero AD: %08d\tRightUp Zero AD: %08d\tRightLow Zero AD: %08d\r\n",
|
|
App.ADTrack.LeftUp_Org_AdZero,
|
|
App.ADTrack.LeftLow_Org_AdZero,
|
|
App.ADTrack.RightUp_Org_AdZero,
|
|
App.ADTrack.RightLow_Org_AdZero);
|
|
|
|
App.Status = APP_STATUS_WAIT_MOTOR_CALI_UP;
|
|
App.MotorPara.InitialFlag = true;
|
|
App.MotorPara.CaliNum = 0;
|
|
App.TD1mSDelayCnt = TRAVEL_TIME_MS;
|
|
App.StopFlag = false;
|
|
App.UpFlag = true;
|
|
BDC_UP();
|
|
App.CailUp1mSCnt = 0;
|
|
App.MotorPara.LoopOne = false;
|
|
}
|
|
break;}
|
|
|
|
case APP_STATUS_WAIT_MOTOR_CALI_UP:{
|
|
if(App.MotorPara.Current_height >= 1200 && App.CailUp1mSCnt >= 17000)
|
|
{
|
|
App.CailUp1mSCnt = 0;
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
Ddl_Delay1ms(1000);
|
|
App.DownFlag = true;
|
|
App.StopFlag = false;
|
|
App.Status = APP_STATUS_WAIT_MOTOR_CALI_DOWN;
|
|
BDC_DOWN();
|
|
}
|
|
else if(App.MotorPara.CaliNum >= 480 && App.MotorPara.LoopOne == true)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
App.MotorPara.LoopOne = false;
|
|
App.MotorPara.InitialFlag = false;
|
|
App.MotorPara.CaliFlag = true;
|
|
DBG_LOG("===================LU Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.LU_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("===================LL Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.LL_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("===================RU Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.RU_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("===================RL Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.RL_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("Motor Cali Ok\r\n");
|
|
App.TD1mSDelayCnt = 1000;
|
|
App.Status = APP_STATUS_WAIT_STEADY;
|
|
}
|
|
break;}
|
|
|
|
case APP_STATUS_WAIT_MOTOR_CALI_DOWN:{
|
|
if(App.MotorPara.Current_height <= 725)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
App.MotorPara.LoopOne = true;
|
|
Ddl_Delay1ms(1000);
|
|
App.UpFlag = true;
|
|
App.StopFlag = false;
|
|
App.Status = APP_STATUS_WAIT_MOTOR_CALI_UP;
|
|
BDC_UP();
|
|
App.CailUp1mSCnt = 0;
|
|
}
|
|
else if(App.MotorPara.CaliNum >= 480 && App.MotorPara.LoopOne == true)
|
|
{
|
|
BDC_STOP();
|
|
App.StopFlag = true;
|
|
App.DownFlag = false;
|
|
App.UpFlag = false;
|
|
App.MotorPara.LoopOne = false;
|
|
App.MotorPara.InitialFlag = false;
|
|
App.MotorPara.CaliFlag = true;
|
|
DBG_LOG("===================LU Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.LU_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("===================LL Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.LL_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("===================RU Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.RU_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("===================RL Data monitoring====================\r\n");
|
|
weightedMovingAverageWithEnhance(App.MotorPara.RL_HeightStress,480,7,380,480,4,0);
|
|
DBG_LOG("Motor Cali Ok\r\n");
|
|
App.TD1mSDelayCnt = 1000;
|
|
App.Status = APP_STATUS_WAIT_STEADY;
|
|
}
|
|
break;}
|
|
|
|
case APP_STATUS_WAIT_STEADY:{
|
|
if(App.TD1mSDelayCnt <= 0)
|
|
{
|
|
App.SideFlag = false;
|
|
App.CaliZeroFlag = false;
|
|
App.UpFlag = false;
|
|
App.DownFlag = false;
|
|
App.EmeFlag = false;
|
|
App.StopFlag = true;
|
|
App.WaitFlag = true;
|
|
App.Status = APP_STATUS_HEIGHT_CONTROL;
|
|
}
|
|
break;}
|
|
|
|
case APP_STATUS_HEIGHT_CONTROL:{
|
|
if(App.MotorPara.Current_height < 722
|
|
&& App.MotorPara.RestFlag == false
|
|
&& App.HeightContRolCnt >= 500)
|
|
{
|
|
App.HeightContRolCnt = 0;
|
|
BDC_UP();
|
|
Ddl_Delay1ms(500);
|
|
BDC_STOP();
|
|
}
|
|
else if(App.MotorPara.Current_height > 1200
|
|
&& App.MotorPara.RestFlag == false
|
|
&& App.HeightContRolCnt >= 500)
|
|
{
|
|
App.HeightContRolCnt = 0;
|
|
BDC_DOWN();
|
|
Ddl_Delay1ms(400);
|
|
BDC_STOP();
|
|
}
|
|
break;}
|
|
}
|
|
}
|
|
static void App1mSRoutine(void)
|
|
{
|
|
if(App.TD1mSDelayCnt > 0)
|
|
App.TD1mSDelayCnt--;
|
|
if(App.Read1mSDelayCnt > 0)
|
|
App.Read1mSDelayCnt--;
|
|
if(App.Uart1Delay1mSCnt > 0)
|
|
App.Uart1Delay1mSCnt--;
|
|
if(App.Uart3RxTimeOut1mSCnt > 0)
|
|
App.Uart3RxTimeOut1mSCnt--;
|
|
if(App.StopCollDelay1mSCnt > 0)
|
|
App.StopCollDelay1mSCnt--;
|
|
if(App.RunCollDelay1mSCnt > 0)
|
|
App.RunCollDelay1mSCnt--;
|
|
if(App.EmergencyDelay1mSCnt > 0)
|
|
App.EmergencyDelay1mSCnt--;
|
|
if(App.SlopeCollDelay1mSCnt > 0)
|
|
App.SlopeCollDelay1mSCnt--;
|
|
if(App.MotorPara.InitialFlag == true)
|
|
App.CailUp1mSCnt++;
|
|
if((App.MotorPara.Current_height < 722 || App.MotorPara.Current_height > 1200))
|
|
{
|
|
App.HeightContRolCnt++;
|
|
}
|
|
else
|
|
{
|
|
App.HeightContRolCnt = 0;
|
|
}
|
|
App.FeedDogDlyCnt++;
|
|
}
|
|
void FeedDogHandler(void)
|
|
{
|
|
if(App.FeedDogDlyCnt >= 200) {
|
|
FeedDog();
|
|
App.FeedDogDlyCnt = 0;
|
|
}
|
|
}
|
|
int main(void)
|
|
{
|
|
BSP_Init();
|
|
AppInit();
|
|
while(1) {
|
|
#if(USE_WDT == 1)
|
|
FeedDogHandler();
|
|
#endif
|
|
DebugLoopHandler();
|
|
#if(USE_CS1237_LEFTUP == 1)
|
|
LEFTUP_CS1237DataLoopCollect();
|
|
#endif
|
|
#if(USE_CS1237_LEFTLOW == 1)
|
|
LEFTLOW_CS1237DataLoopCollect();
|
|
#endif
|
|
#if(USE_CS1237_RIGHTUP == 1)
|
|
RIGHTUP_CS1237DataLoopCollect();
|
|
#endif
|
|
#if(USE_CS1237_RIGHTLOW == 1)
|
|
RIGHTLOW_CS1237DataLoopCollect();
|
|
#endif
|
|
ReadLoopHandler();
|
|
DcmotorLoopHandler();
|
|
AdcLoopHander();
|
|
AppLoopHandler();
|
|
}
|
|
}
|
|
/*****************************************************************************************
|
|
* 函数名称: SysTick_IrqHandler
|
|
* 功能描述: 系统滴答中断
|
|
* 参 数: 无
|
|
* 返 回 值: 无
|
|
*****************************************************************************************/
|
|
void SysTick_IrqHandler(void)
|
|
{
|
|
SysTick_IncTick();
|
|
App1mSRoutine();
|
|
Dbg1msRoutine();
|
|
LEFTUP_CS12371mSRoutine();
|
|
LEFTLOW_CS12371mSRoutine();
|
|
RIGHTUP_CS12371mSRoutine();
|
|
RIGHTLOW_CS12371mSRoutine();
|
|
Dcmotor1msRoutine();
|
|
Adc1mSRoutine();
|
|
}
|
|
|
|
/*****************************************************************************************
|
|
* 函数名称: DBG_RxPinIntCallBack
|
|
* 功能描述: DBG接收中断回调函数
|
|
* 参 数: 无
|
|
* 返 回 值: 无
|
|
*****************************************************************************************/
|
|
void DBG_RxPinIntCallBack(void)
|
|
{
|
|
//PORT_Toggle(LED_Blue_PORT, LED_Blue_PIN);
|
|
}
|
|
|
|
|
|
|
|
#if(USE_USART3 == 1)
|
|
// 定义函数Usart3RxIrqCallback，用于处理串口接收中断
|
|
void Usart3RxIrqCallback(void)
|
|
{
|
|
// 如果1分钟超时计数器为0，则清空RxLen
|
|
if(App.Uart3RxTimeOut1mSCnt == 0)
|
|
{
|
|
App.RxUart3Data.HeaderFrame = false;
|
|
App.RxUart3Data.RxLen = 0;
|
|
}
|
|
App.Uart3RxTimeOut1mSCnt = 5;
|
|
// 读取串口接收到的数据
|
|
uint8_t Data = Uart3Rec();
|
|
if(App.RxUart3Data.HeaderFrame == false)
|
|
{
|
|
if(App.RxUart3Data.RxLen == 0 && Data == 0x01)
|
|
{
|
|
App.RxUart3Data.HeaderFrame = true;
|
|
App.RxUart3Data.RxLen = 0;
|
|
App.RxUart3Data.RxBuff[App.RxUart3Data.RxLen++] = Data;
|
|
}
|
|
else if(App.RxUart3Data.RxLen == 0)
|
|
{
|
|
App.RxUart3Data.HeaderFrame = true;
|
|
App.RxUart3Data.RxLen = 0;
|
|
App.RxUart3Data.RxBuff[App.RxUart3Data.RxLen++] = Data;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// if(App.RxUart3Data.RxLen == 1 && Data != 0x01)
|
|
// {
|
|
// App.RxUart3Data.HeaderFrame = false;
|
|
// return;
|
|
// }
|
|
// 如果RxLen小于128，则将数据添加到RxBuff中
|
|
if(App.RxUart3Data.RxLen < 128) {
|
|
App.RxUart3Data.RxBuff[App.RxUart3Data.RxLen++] = Data;
|
|
}
|
|
if(App.RxUart3Data.RxLen >= 4)
|
|
{
|
|
if(App.RxUart3Data.RxBuff[0] == 0x01 && App.RxUart3Data.RxBuff[1] == 0x04)
|
|
{
|
|
App.MotorPara.RestFlag = true;
|
|
}
|
|
else if(App.RxUart3Data.RxBuff[0] == 0x01 && App.RxUart3Data.RxBuff[1] == 0x01)
|
|
{
|
|
App.MotorPara.RestFlag = false;
|
|
int16_t h = ((App.RxUart3Data.RxBuff[2]<<8) & 0xff00) + (App.RxUart3Data.RxBuff[3] & 0x00ff);
|
|
if(h >=720 && h <= 1208)
|
|
{
|
|
App.MotorPara.Current_height = h;
|
|
}
|
|
if(App.MotorPara.InitialFlag == true && h >=720 && h <= 1208)
|
|
{//缓存每个高度点对于零点应力的差值，对不同高度点的应力进行补偿
|
|
if(App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-720] == 0
|
|
|| App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-720] == 0
|
|
|| App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-720] == 0
|
|
|| App.MotorPara.RL_HeightStress[(App.MotorPara.Current_height)-720] == 0)
|
|
{
|
|
App.MotorPara.CaliNum++;
|
|
}
|
|
App.MotorPara.LU_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.LeftUp_Org_AdZero - App.LeftUpCS1237_TrendArray[0];
|
|
App.MotorPara.LL_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.LeftLow_Org_AdZero - App.LeftLowCS1237_TrendArray[0];
|
|
App.MotorPara.RU_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.RightUp_Org_AdZero - App.RightUpCS1237_TrendArray[0];
|
|
App.MotorPara.RL_HeightStress[(App.MotorPara.Current_height)-720] = App.ADTrack.RightLow_Org_AdZero - App.RightLowCS1237_TrendArray[0];
|
|
}
|
|
}
|
|
memset(App.RxUart3Data.RxBuff, 0, sizeof(App.RxUart3Data.RxBuff));
|
|
App.RxUart3Data.RxLen = 0;
|
|
App.Uart3RxTimeOut1mSCnt = 0;
|
|
App.RxUart3Data.HeaderFrame = false;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
void RtcPeriod_IrqCallback(void)
|
|
{
|
|
//PORT_Toggle(LED_Green_PORT, LED_Green_PIN);
|
|
}
|
|
|
|
void ADC_DMA_CallBack(void)
|
|
{
|
|
|
|
}
|
|
|