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@ -9,131 +9,6 @@ |
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* |
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*/ |
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#include "app.h" |
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extern volatile int32_t lcd_issue_motor_speed;//lcd下发的速度单位dsp |
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extern volatile int32_t speed_dsp_now;//当前电机的速度单位dsp |
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extern int16_t motor_off_state;//电机关闭的状态 |
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extern volatile int16_t judge_now_foreward_or_reversal_state;//正转反转的状态 |
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extern int32_t wait_send_to_motor_time1s;//等待发送的时间 |
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extern int32_t first_set_speed_state; //设置速度的状态 |
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extern volatile int32_t recv_lcd_data_state=0;//1就判断是不是接收完成，0不判断 |
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extern volatile int32_t recv_motor_data_state=0;//1就判断是不是接收完成，0不判断 |
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void func(void) |
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{ |
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volatile unsigned char str[] = "speed-1000"; |
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send_cmd_to_motor(str,10); //发送一串字符测试 |
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} |
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void global_state_inquire(void) |
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{ |
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/** |
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* @brief 对状态进行查询 |
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* |
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*/ |
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motor_jerk_status();//判断电机是否被按下 |
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//inquire_motor_error_state();//每1.5秒去读取电机的速度 |
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if(motor_off_state)//判断电机是否停止的状态 |
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{ |
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motor_off_state=0; |
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judge_now_foreward_or_reversal_state=0;//判断正转还是反转的标志位清零 |
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first_set_speed_state=0;//停止以后清零，下次第一次设置速度不执行 |
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} |
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if(recv_lcd_data_state) |
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{ |
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data_from_lcd_recv_Ok(); //判断接收来自lcd的数据是否完成 |
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} |
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if(recv_motor_data_state) |
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{ |
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data_from_motor_recv_Ok(); //判断接收来自电机的数据是否完成 |
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} |
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} |
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/** |
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void main() |
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{ |
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peripheral_config(); |
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//start_up(); //开机提示 |
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//func(); |
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int32_t nowexpectspeed_main=0; |
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int32_t setspeedthistime_main=0; |
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while (1) |
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{ |
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global_state_inquire(); |
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if(lcd_issue_motor_speed!=speed_dsp_now) |
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{ |
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if(lcd_issue_motor_speed>speed_dsp_now&&wait_send_to_motor_time1s>1100)//目标800，现在0 |
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//if(lcd_issue_motor_speed>speed_dsp_now) |
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{ |
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wait_send_to_motor_time1s=0;//开始等待 |
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nowexpectspeed_main = speed_dsp_now + 100; |
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if (nowexpectspeed_main > lcd_issue_motor_speed) { |
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nowexpectspeed_main = lcd_issue_motor_speed; |
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} |
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set_moter_speed_internal(nowexpectspeed_main);// 去设置的是10 |
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//sleep_ms(500); |
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} |
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else if(lcd_issue_motor_speed<speed_dsp_now&&wait_send_to_motor_time1s>1100)//目标0 //现在550 差值600 |
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//else if(lcd_issue_motor_speed<speed_dsp_now) |
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{ |
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wait_send_to_motor_time1s=0;//开始等待 |
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setspeedthistime_main = speed_dsp_now - 100; |
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if (setspeedthistime_main < lcd_issue_motor_speed) { |
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setspeedthistime_main = lcd_issue_motor_speed; |
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} |
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set_moter_speed_internal(setspeedthistime_main); |
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//sleep_ms(500); |
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} |
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} |
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} |
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} |
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*/ |
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void peripheral_config_list(void) |
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{ |
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/** |
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* @brief 外设初始化 |
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* |
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*/ |
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sys_init(); |
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led_config(); |
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beep_config(); |
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lcd_uart_config(); |
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motor_uart_config(); |
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jerk_key_config(); |
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t21_config(); |
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init_timer1_as_ticketustimer_in32M(); |
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} |
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void send_cmd_to_motor_list(volatile char buff[20], unsigned int num) { |
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/** |
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* @brief 向电机发送命令 |
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* @param buff 发送的命令 |
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*/ |
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uint16_t count = 1200; |
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rs485_re_port |= (0x01 << 3); |
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while (num--) { |
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while (!TRMT0) |
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; |
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TX0B = *buff; |
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buff++; |
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} |
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while (!TRMT0) |
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; //等待向电机发送数据完成 |
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rs485_re_port &= ~(0x01 << 3); |
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} |
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void main() |
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{ |
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volatile unsigned char str[] = "speed-1000"; |
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peripheral_config_list(); |
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send_cmd_to_motor_list(str,10); //发送一串字符测试 |
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while (1) |
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{ |
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send_cmd_to_motor_list(str,10); |
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} |
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} |
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void peripheral_config(void) |
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{ |
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/** |
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@ -146,7 +21,6 @@ void peripheral_config(void) |
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lcd_uart_config(); |
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motor_uart_config(); |
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jerk_key_config(); |
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t21_config(); |
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init_timer1_as_ticketustimer_in32M(); |
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} |
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@ -167,4 +41,43 @@ void start_up(void) |
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led_off; |
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beep_on; |
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} |
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} |
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} |
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extern volatile char lcd_rxbuff[50] = {0}; |
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extern volatile int32_t lcd_count = 0; |
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extern uint8_t g_lcd_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假 |
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uint32_t judge_recv_lcd_data_finish_main(uint8_t time) |
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{ |
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/** |
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* @brief 接收LCD的数据完成 |
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*/ |
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static uint32_t recv_lcd_data_time = 0; |
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recv_lcd_data_time = time; |
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if(recv_lcd_data_time=0) |
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{ |
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recv_lcd_data_time = hal_get_ticket(); |
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return recv_lcd_data_time; |
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} |
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else if (hal_has_passedms(recv_lcd_data_time) > 10) { |
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g_lcd_rxbuf_isready=false; |
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recv_lcd_data_time = hal_get_ticket(); |
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send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑 |
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lcd_count=0; |
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} |
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} |
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void main() |
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{ |
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peripheral_config();//各种初始化包括ram清零 |
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uint8_t record_last_time=0; |
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while (1) |
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{ |
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debug_light_ctrl_process_in_main_loop();//闪灯效果 |
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if(g_lcd_rxbuf_isready)//接收开始 |
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{ |
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record_last_time = judge_recv_lcd_data_finish_main(record_last_time); |
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} |
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} |
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} |
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zhuang
4 years ago