初始版本

2026-06-01 18:15:20 +08:00
parent 2786112b83
commit 4758a7f04e
134 changed files with 96670 additions and 0 deletions
@@ -0,0 +1,173 @@
+#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			5000
+#define		EME_STOP_VPT		4000
+#define		CENTRE_VPT			2000
+
+#define 	STOP_TIME_MS		500
+#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()				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 LeftUpShieldVPT;	//左上屏蔽阈值
+	int32_t LeftLowShieldVPT;	//左下屏蔽阈值
+	int32_t RightUpShieldVPT;	//右上屏蔽阈值
+	int32_t RightLowShieldVPT;	//右下屏蔽阈值
+	
+	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 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];
+	
+	bool WaitFlag;
+}AppDetect_t;
+extern AppDetect_t App;
+
+#endif