初版调试完成

Project/source/User/Inc/bsp.h

@@ -221,12 +221,12 @@
 
 //< 		LED
 #define	LED_GREEN_PORTx						(PortA)
-#define	LED_GREEN_PINx							(Pin09)
+#define	LED_GREEN_PINx							(Pin08)
 #define	LED_GREEN_ON()							PORT_SetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉高
 #define	LED_GREEN_OFF()						PORT_ResetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉低
 
 #define	LED_RED_PORTx							(PortA)
-#define	LED_RED_PINx							(Pin08)
+#define	LED_RED_PINx							(Pin09)
 #define	LED_RED_ON()							PORT_SetBits(LED_RED_PORTx, LED_RED_PINx)//拉高
 #define	LED_RED_OFF()							PORT_ResetBits(LED_RED_PORTx, LED_RED_PINx)//拉低
 

Project/source/User/Inc/main.h

@@ -3,34 +3,25 @@
 #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			5000
+#define		SHIELD_VPT			8000
 #define		EME_STOP_VPT		4000
-#define		CENTRE_VPT			2000
+#define		CENTRE_VPT			8000
+#define		CENTRE_SHIELD_VPT			2000
 
 #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	30000
-
-#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()			(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)
@@ -47,7 +38,6 @@ typedef enum {
 
 /*设备阈值*/
 typedef struct{
-	int32_t Slope_VPT;
 	int32_t	Stop_VPT;
 	
 	int32_t LeftUpVPT;//左上设备阈值
@@ -66,16 +56,8 @@ typedef struct{
 	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 {
@@ -97,22 +79,9 @@ 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;
@@ -124,25 +93,20 @@ 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 Read1mSDelayCnt;	
 	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
@@ -165,8 +129,6 @@ typedef struct {
 	int32_t LeftLowCS1237_SlopeArray[SLOPE_CNT];
 	int32_t RightUpCS1237_SlopeArray[SLOPE_CNT];
 	int32_t RightLowCS1237_SlopeArray[SLOPE_CNT];
-	
-	bool WaitFlag;
 }AppDetect_t;
 extern AppDetect_t App;