2026-02-08 17:48:22 +08:00
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#include "sys.h"
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#include "delay.h"
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#include "usart.h"
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#include "led.h"
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#include "beep.h"
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#include "key.h"
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2026-02-11 01:18:00 +08:00
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#include "motor_driver.h"
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2026-02-08 17:48:22 +08:00
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//ALIENTEK ̽<><CCBD><EFBFBD><EFBFBD>STM32F407<30><37><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ʵ<><CAB5>4
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//<2F><><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ʵ<EFBFBD><CAB5> -<2D>⺯<EFBFBD><E2BAAF><EFBFBD>汾
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//<2F><><EFBFBD><EFBFBD>֧<EFBFBD>֣<EFBFBD>www.openedv.com
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//<2F>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD>̣<EFBFBD>http://eboard.taobao.com
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿƼ<D3BF><C6BC><EFBFBD><EFBFBD><EFBFBD>˾
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//<2F><><EFBFBD>ߣ<EFBFBD><DFA3><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD> @ALIENTEK
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2026-02-09 17:29:30 +08:00
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void MX_TIM2_Init(void);
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//void PWM_SetPulseWidth(uint16_t pulseWidth);
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//void PWM_SetSpeed(int16_t speed);
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void Error_Handler(void);
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typedef uint32_t u32;
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typedef uint16_t u16;
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typedef uint8_t u8;
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// <20><><EFBFBD><EFBFBD>TMC2240<34>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
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#define REG_MICROSTEPS 0x03
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#define REG_CURRENT 0x05
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#define EG_STATUS 0x0F
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extern volatile u16 rx_len; // <20><><EFBFBD>ռ<EFBFBD><D5BC><EFBFBD>
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extern volatile u8 rx_flag; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɱ<EFBFBD>־
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#define GCONF 0x00
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#define IHOLD_IRUN 0x10
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#define TPOWERDOWN 0x11
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#define TPWMTHRS 0x13
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#define TCOOLTHRS 0x14
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#define CHOPCONF 0x6C
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#define COOLCONF 0x6D
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#define DRV_CONF 0x0A
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#define DRV_STATUS 0x6F
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#define PWMCONF 0x70
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#define SOFT_SPI_DR_PORT GPIOD
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#define SOFT_SPI_DR_PIN GPIO_Pin_3
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//forward and reverse
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#define D3_DR_forward() GPIO_SetBits(SOFT_SPI_DR_PORT, SOFT_SPI_DR_PIN)
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#define D3_DR_reverse() GPIO_ResetBits(SOFT_SPI_DR_PORT, SOFT_SPI_DR_PIN)
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void TMC2240_Init_rotating() {
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// <20><><EFBFBD>õ<EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWMģʽ
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TMC2240_WriteReg(GCONF, 0x000000C4);
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>IHOLD=0.5A, IRUN=1.2A
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TMC2240_WriteReg(IHOLD_IRUN, 0x00180C10);
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// 16<36><CEA2><EFBFBD><EFBFBD>MRES=4<><34><EFBFBD><EFBFBD>TOFF=3
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TMC2240_WriteReg(CHOPCONF, 0x030000C3);
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// <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD>ֵ500Hz<48><7A><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ֵ<EFBFBD><D6B5>StealthChop2<70><32>
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TMC2240_WriteReg(TPWMTHRS, 200);
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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TMC2240_WriteReg(DRV_CONF, 0x00000001);
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// ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ
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TMC2240_WriteReg(TPOWERDOWN, 10);
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}
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void TMC2240_Init() {
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// <20><><EFBFBD><EFBFBD>StealthChop2<70>Զ<EFBFBD><D4B6><EFBFBD>г + SpreadCycle<6C><65>̬<EFBFBD>л<EFBFBD>
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TMC2240_WriteReg(GCONF, 0x000000C4 | (1 << 7)); // bit7=1
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>IRUN=1.2A, IHOLD=0.8A<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>
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//TMC2240_WriteReg(IHOLD_IRUN, 0x00190C10);
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TMC2240_WriteReg(IHOLD_IRUN, 0x04090101); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>̫<EFBFBD><EFBFBD><F3A3ACB7>ȣ<EFBFBD><C8A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD><CEA2><EFBFBD>ֱ<EFBFBD><D6B1>ʣ<EFBFBD><CAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>256<36><CEA2><EFBFBD><EFBFBD>Ϊ16<36><CEA2><EFBFBD><EFBFBD>
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TMC2240_WriteReg(CHOPCONF, 0x070080C3 ); // MRES=4<><34>16<36><CEA2><EFBFBD><EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD>ֵ500Hz<48><7A><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ֵ<EFBFBD><D6B5>StealthChop2<70><32>
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TMC2240_WriteReg(TPWMTHRS, 50);
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ñ<EFBFBD><C3B1>ֲ<EFBFBD><D6B2><EFBFBD>
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TMC2240_WriteReg(DRV_CONF, 0x00000001);
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TMC2240_WriteReg(TPOWERDOWN, 10);
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}
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
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void CheckDriverStatus() {
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uint32_t status = TMC2240_ReadReg(DRV_STATUS);//
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if (status & (1 << 26)) { // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>
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printf("Short to ground detected\n");
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}
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if (status & (1 << 25)) { // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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printf("Overtemperature detected\n");
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}
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if (status & (1 << 24)) { // <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
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printf("Motor stall detected\n");
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}
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}
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void motor_steps(uint8_t num, uint8_t dir, uint16_t steps)
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{
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GPIO_SetBits(GPIOD, GPIO_Pin_4); //TMS2240 - 2ʹ<32><CAB9><EFBFBD>ź<EFBFBD>
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delay_us(steps);
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GPIO_ResetBits(GPIOD, GPIO_Pin_4); //TMS2240 - 1ʹ<31><CAB9><EFBFBD>ź<EFBFBD>
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}
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void motor_stop(uint8_t num)
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{
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}
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uint8_t crc8_calculate(const uint8_t *data, uint32_t length, uint8_t poly, uint8_t init_val, uint8_t ref_out)
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{
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// 1. <20><>ʼ<EFBFBD><CABC> CRC <20>Ĵ<EFBFBD><C4B4><EFBFBD>
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uint8_t crc = init_val;
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// 2. <20><><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD>ֽ<EFBFBD>
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for (uint32_t i = 0; i < length; i++)
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{
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// 3. <20><><EFBFBD><EFBFBD>ǰ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD> CRC <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><F2A3A8BA>IJ<EFBFBD><C4B2>裩
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crc ^= data[i];
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// 4. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD>ֽڵ<D6BD>ÿһλ<D2BB><CEBB>8 λ<><CEBB>
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for (uint8_t j = 0; j < 8; j++)
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{
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// 5. <20>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>Ƿ<EFBFBD>Ϊ 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
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if (crc & 0x80)
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{
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// <20><><EFBFBD><EFBFBD> 1 λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD>ȼ<EFBFBD><C8BC>ڶ<EFBFBD><DAB6><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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crc = (crc << 1) ^ poly;
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}
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else
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{
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// <20><><EFBFBD><EFBFBD>λΪ 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 λ
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crc <<= 1;
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}
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}
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}
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// 6. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>
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if (ref_out)
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{
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// <20><>λ<EFBFBD><CEBB>ת CRC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0x12 <20><> 0x48<34><38>
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uint8_t reversed = 0;
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for (uint8_t i = 0; i < 8; i++)
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{
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reversed |= ((crc >> i) & 0x01) << (7 - i);
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}
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crc = reversed;
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}
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return crc;
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}
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uint8_t crc8_standard(const uint8_t *data, uint32_t length)
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{
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// <20><><EFBFBD><EFBFBD> CRC-8/MAXIM/ITU <20><><EFBFBD><D7BC>poly=0x07, init=0x00, ref_out=0
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return crc8_calculate(data, length, 0x07, 0x00, 0);
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}
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uint32_t status ;
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u8 flg=0;
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extern int flag_microswitch_left; // <20><><EFBFBD>翪<EFBFBD><E7BFAA>left <20><>λ
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extern int flag_microswitch_right; // <20><><EFBFBD>翪<EFBFBD><E7BFAA>right <20><>λ
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extern uint8_t g_usart1_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart1_rx_sta;
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extern uint16_t g_usart1_rx_state;
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2026-02-11 01:18:00 +08:00
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extern uint8_t g_usart2_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart2_rx_sta;
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extern uint16_t g_usart2_rx_state;
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extern uint8_t g_usart3_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart3_rx_sta;
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extern uint16_t g_usart3_rx_state;
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2026-02-25 11:13:03 +08:00
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extern uint16_t g_usart6_rx_state;
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2026-02-09 17:29:30 +08:00
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extern uint8_t g_rx1_buffer[RXBUFFERSIZE]; /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
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/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
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extern uint8_t g_usart2_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart2_rx_sta;
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extern uint8_t g_rx2_buffer[RXBUFFERSIZE]; /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
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/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
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extern uint8_t g_usart3_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart3_rx_sta;
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extern uint8_t g_rx3_buffer[RXBUFFERSIZE]; /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
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/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
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extern uint8_t g_usart4_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart4_rx_sta;
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extern uint8_t g_rx4_buffer[RXBUFFERSIZE]; /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
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/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
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extern uint8_t g_usart5_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart5_rx_sta;
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extern uint8_t g_rx5_buffer[RXBUFFERSIZE]; /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
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/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
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extern uint8_t g_usart6_rx_buf[USART_REC_LEN];
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extern uint16_t g_usart6_rx_sta;
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extern uint8_t g_rx6_buffer[RXBUFFERSIZE]; /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
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2026-02-25 11:13:03 +08:00
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#define D_value 100 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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2026-02-08 17:48:22 +08:00
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int main(void)
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{
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u8 t;
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u8 len;
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2026-02-10 01:35:53 +08:00
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u16 times=0;
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2026-02-25 11:13:03 +08:00
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u8 start_vein_flg =0; //Ѱ<><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
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int16_t adc1_zoo =0;
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int16_t adc2_zoo =0;
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int16_t adc3_zoo =0; //<2F><>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int16_t adc1_current =0;
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int16_t adc2_current =0;
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int16_t adc3_current =0; //<2F><>·<EFBFBD><C2B7><EFBFBD>ĵ<EFBFBD>ǰֵ
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2026-02-26 22:59:29 +08:00
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u8 ch =0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ѡ<EFBFBD><D1A1>
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2026-02-10 10:28:33 +08:00
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uint8_t frame_updata[6] = {0x30,0x30,0x30,0x30,0x30,0x30};
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2026-02-08 17:48:22 +08:00
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//<2F><><EFBFBD><EFBFBD>ϵͳ<CFB5>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD><EFBFBD><EFBFBD>2
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delay_init(168); //<2F><>ʱ<EFBFBD><CAB1>ʼ<EFBFBD><CABC>
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2026-02-10 01:35:53 +08:00
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uart1_init(115200); //<2F><><EFBFBD><EFBFBD>1<EFBFBD><31>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ115200 <20><>ָ<EFBFBD><D6B8>
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uart2_init(115200); //<2F><><EFBFBD><EFBFBD>1<EFBFBD><31>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ115200 <20><>ָ<EFBFBD><D6B8>
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uart3_init(115200); //<2F><><EFBFBD><EFBFBD>1<EFBFBD><31>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ115200 <20><>ָ<EFBFBD><D6B8>
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2026-02-10 01:46:09 +08:00
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uart4_init(115200); //<2F><><EFBFBD><EFBFBD>1<EFBFBD><31>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ115200 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>ӡ
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2026-02-11 09:44:25 +08:00
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uart5_init(115200);
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2026-02-10 01:35:53 +08:00
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uart6_init(115200); //<2F><><EFBFBD><EFBFBD>6<EFBFBD><36>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ115200 <20>ϴ<EFBFBD><CFB4><EFBFBD>slide
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2026-02-09 17:29:30 +08:00
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gpio_Init(); //<2F><>ʼ<EFBFBD><CABC>gpio
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2026-02-25 11:13:03 +08:00
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//TIM1_PWM_Init(16, 32);
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2026-02-11 01:18:00 +08:00
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//TIM2_PWM_Init(16, 32);
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2026-02-25 11:13:03 +08:00
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//TIM4_PWM_Init(16, 32);
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//TIM_Cmd(TIM1, DISABLE);
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2026-02-11 01:18:00 +08:00
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//TIM_Cmd(TIM2, DISABLE);
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2026-02-25 11:13:03 +08:00
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//TIM_Cmd(TIM4, DISABLE);
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2026-02-11 01:18:00 +08:00
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//---------------------------------------------
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// <20><>ʼ<EFBFBD><CABC>DRV8832<33><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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DRV8832_Init();
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// <20><>ʼ<EFBFBD><CABC>PWM<57><4D>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD>٣<EFBFBD>
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2026-02-25 11:13:03 +08:00
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// PWM_Timer_Init();
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2026-02-11 15:21:22 +08:00
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motor_spi1_init();
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motor_spi2_init();
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2026-02-11 01:18:00 +08:00
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// ʹ<><CAB9>ȫ<EFBFBD><C8AB><EFBFBD>ж<EFBFBD>
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__enable_irq();
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//=======================================================================
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2026-02-25 11:13:03 +08:00
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L_Motor_Control(MOTOR_REVERSE);
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R_Motor_Control(MOTOR_REVERSE);
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2026-02-26 22:59:29 +08:00
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delay_ms(500);
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M_Motor_Control(MOTOR_REVERSE);
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delay_ms(500);
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2026-02-25 11:13:03 +08:00
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L_Motor_Control(MOTOR_STOP);
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M_Motor_Control(MOTOR_STOP);
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R_Motor_Control(MOTOR_STOP); //<2F>ϵ<EFBFBD><CFB5><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƚ<EFBFBD><C8BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ǵ<EFBFBD><C7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ժ<EFBFBD><D4BA>ڴ<EFBFBD><DAB4><EFBFBD>
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//=======================================================================
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//<2F><><EFBFBD>Ե<EFBFBD><D4B5><EFBFBD>3·
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2026-02-11 09:44:25 +08:00
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while(0) {
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2026-02-25 11:13:03 +08:00
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// // ʾ<><CABE>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
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// Motor_Control(MOTOR_FORWARD); // <20><>ת
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// // delay_ms(5000);
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// Motor_SafeDirectionChange(MOTOR_REVERSE); // <20><>ȫ<EFBFBD>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD>ת
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// // delay_ms(5000);
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//
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// Motor_Control(MOTOR_BRAKE); // ɲ<><C9B2>
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// delay_ms(500);
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//
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// Motor_Control(MOTOR_STOP); // ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
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// delay_ms(1000);
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2026-02-11 01:18:00 +08:00
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// ʾ<><CABE>2<EFBFBD><32>PWM<57><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
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2026-02-25 11:13:03 +08:00
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// L_Motor_SetSpeed(50, MOTOR_FORWARD);
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// M_Motor_SetSpeed(50, MOTOR_FORWARD);
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// R_Motor_SetSpeed(50, MOTOR_FORWARD);
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// delay_ms(5000);
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// L_Motor_Control(MOTOR_STOP);
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// M_Motor_Control(MOTOR_STOP);
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// R_Motor_Control(MOTOR_STOP);
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//
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// L_Motor_SetSpeed(50, MOTOR_REVERSE);
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// M_Motor_SetSpeed(50, MOTOR_REVERSE);
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// R_Motor_SetSpeed(50, MOTOR_REVERSE);
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// delay_ms(5000);
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// L_Motor_Control(MOTOR_STOP);
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// M_Motor_Control(MOTOR_STOP);
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// R_Motor_Control(MOTOR_STOP);
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// // <20><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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for(uint8_t speed = 0; speed <= 100; speed += 10)
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{
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L_Motor_SetSpeed(speed, MOTOR_FORWARD);
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M_Motor_SetSpeed(speed, MOTOR_FORWARD);
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R_Motor_SetSpeed(speed, MOTOR_FORWARD);
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delay_ms(200);
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}
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delay_ms(2000);
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// // <20><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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// for(uint8_t speed = 100; speed > 0; speed -= 10)
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// {
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// L_Motor_SetSpeed(speed, MOTOR_FORWARD);
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// M_Motor_SetSpeed(speed, MOTOR_FORWARD);
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// R_Motor_SetSpeed(speed, MOTOR_FORWARD);
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2026-02-11 01:18:00 +08:00
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// delay_ms(200);
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// }
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2026-02-25 11:13:03 +08:00
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L_Motor_SetSpeed(0, MOTOR_STOP);
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M_Motor_SetSpeed(0, MOTOR_STOP);
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R_Motor_SetSpeed(0, MOTOR_STOP);
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// <20><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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for(uint8_t speed = 0; speed <= 100; speed += 10)
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{
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L_Motor_SetSpeed(speed, MOTOR_REVERSE);
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M_Motor_SetSpeed(speed, MOTOR_REVERSE);
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R_Motor_SetSpeed(speed, MOTOR_REVERSE);
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delay_ms(200);
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}
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delay_ms(2000);
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// // <20><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>
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// for(uint8_t speed = 100; speed > 0; speed -= 10)
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// {
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// L_Motor_SetSpeed(speed, MOTOR_REVERSE);
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// M_Motor_SetSpeed(speed, MOTOR_REVERSE);
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// R_Motor_SetSpeed(speed, MOTOR_REVERSE);
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2026-02-11 01:18:00 +08:00
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// delay_ms(200);
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// }
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2026-02-25 11:13:03 +08:00
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delay_ms(1000);
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2026-02-11 01:18:00 +08:00
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
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2026-02-25 11:13:03 +08:00
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if(L_Motor_GetFaultStatus()) {
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2026-02-11 01:18:00 +08:00
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>
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2026-02-25 11:13:03 +08:00
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L_Motor_Control(MOTOR_STOP);
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2026-02-11 01:18:00 +08:00
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӹ<EFBFBD><D3B9>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>룬<EFBFBD><EBA3AC><EFBFBD><EFBFBD>˸LED<45><EFBFBD><F2B4AEBF><EFBFBD><EFBFBD><EFBFBD>
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// ...
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// <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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2026-02-25 11:13:03 +08:00
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while(L_Motor_GetFaultStatus()) {
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2026-02-11 01:18:00 +08:00
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delay_ms(100);
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}
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}
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}
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//=======================================================================
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2026-02-08 17:48:22 +08:00
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while(1)
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{
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2026-02-25 11:13:03 +08:00
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// printf("I love you lao zhang\n");
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2026-02-10 10:28:33 +08:00
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2026-02-25 11:13:03 +08:00
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// delay_ms(300);
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2026-02-10 10:28:33 +08:00
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2026-02-25 11:13:03 +08:00
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// printf("I love you zhengshuo\n");
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2026-02-10 10:28:33 +08:00
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2026-02-25 11:13:03 +08:00
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// delay_ms(300);
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2026-02-10 10:28:33 +08:00
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2026-02-25 11:13:03 +08:00
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// Uart5_Send_data(frame_updata,6);
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//<2F><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD>
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if(g_usart6_rx_state==1) //<2F><><EFBFBD><EFBFBD>6<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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{
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g_usart6_rx_state = 0;
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if(g_usart6_rx_buf[1]==0x01) //1ͨ<31><CDA8> BC 01 00 55 XX 66 <20><><EFBFBD><EFBFBD>
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{
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if(g_usart6_rx_buf[3]==0x55)
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{
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L_Motor_Control(MOTOR_FORWARD); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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if(g_usart6_rx_buf[3]==0xaa) //BC 01 00 aa XX 66 <20><>ת
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{
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L_Motor_Control(MOTOR_REVERSE);
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}
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if(g_usart6_rx_buf[3]==0xff) //BC 01 00 ff XX 66 <20>ر<EFBFBD>
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{
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L_Motor_Control(MOTOR_STOP);
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}
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}
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if(g_usart6_rx_buf[1]==0x02) //2ͨ<32><CDA8>
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{
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if(g_usart6_rx_buf[3]==0x55)
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{
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M_Motor_Control(MOTOR_FORWARD); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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|
|
if(g_usart6_rx_buf[3]==0xaa) //BC 02 00 aa XX 66 <20><>ת
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
M_Motor_Control(MOTOR_REVERSE);
|
|
|
|
|
|
}
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0xff) //BC 02 00 ff XX 66 <20>ر<EFBFBD>
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
M_Motor_Control(MOTOR_STOP);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
if(g_usart6_rx_buf[1]==0x03) //3ͨ<33><CDA8>
|
|
|
|
|
|
{
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0x55)
|
|
|
|
|
|
{
|
|
|
|
|
|
R_Motor_Control(MOTOR_FORWARD); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
}
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0xaa) //BC 03 00 aa XX 66 <20><>ת
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
R_Motor_Control(MOTOR_REVERSE);
|
|
|
|
|
|
}
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0xff) //BC 03 00 ff XX 66 <20>ر<EFBFBD>
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
R_Motor_Control(MOTOR_STOP);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
//---------------------------------------------------------------
|
|
|
|
|
|
if(g_usart6_rx_buf[1]==0x04) //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>04 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD>Ѱ<EFBFBD><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9>
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD><D2B2><EFBFBD>Զ<EFBFBD>Ѱ<EFBFBD><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ
|
|
|
|
|
|
{
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0xaa)
|
|
|
|
|
|
{
|
|
|
|
|
|
start_vein_flg =1; //Ѱ<><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
|
2026-02-26 22:59:29 +08:00
|
|
|
|
ch = 0; //<2F><><EFBFBD>м俪ʼѰ
|
2026-02-25 11:13:03 +08:00
|
|
|
|
}
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0x55)
|
|
|
|
|
|
{
|
|
|
|
|
|
start_vein_flg =2; //ֹͣѰ<D6B9><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
|
|
|
|
|
|
}
|
|
|
|
|
|
if(g_usart6_rx_buf[3]==0xff)
|
|
|
|
|
|
{
|
2026-02-26 22:59:29 +08:00
|
|
|
|
start_vein_flg =3; //ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ
|
2026-02-25 11:13:03 +08:00
|
|
|
|
}
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD>ָ<EEA3AC><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>н<EFBFBD><D0BD>и<EFBFBD><D0B8>г<EFBFBD><D0B3><EFBFBD><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD>
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
//=============================================================================================
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD>Ʋ<EFBFBD><C6B2>֣<EFBFBD><D6A3>Ƿ<EFBFBD>Ҫת<D2AA>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
if(start_vein_flg == 1)
|
|
|
|
|
|
{
|
2026-02-26 22:59:29 +08:00
|
|
|
|
switch(ch)
|
2026-02-25 11:13:03 +08:00
|
|
|
|
{
|
2026-02-26 22:59:29 +08:00
|
|
|
|
case 0:
|
|
|
|
|
|
|
|
|
|
|
|
if((adc2_current-adc2_zoo)<= D_value)
|
|
|
|
|
|
{
|
|
|
|
|
|
M_Motor_Control(MOTOR_FORWARD); //<2F><><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD>
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
M_Motor_Control(MOTOR_STOP); //<2F><><EFBFBD><EFBFBD>2ֹͣ
|
|
|
|
|
|
ch = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
//-------------------------------------------------------
|
|
|
|
|
|
|
|
|
|
|
|
case 1:
|
|
|
|
|
|
if((adc1_current-adc1_zoo)<= D_value)
|
|
|
|
|
|
{
|
|
|
|
|
|
L_Motor_Control(MOTOR_FORWARD); //<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD>
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
L_Motor_Control(MOTOR_STOP); //<2F><><EFBFBD><EFBFBD>1ֹͣ
|
|
|
|
|
|
ch = 2;
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
//--------------------------------------------------------
|
|
|
|
|
|
|
|
|
|
|
|
case 2:
|
|
|
|
|
|
|
|
|
|
|
|
if((adc3_current-adc3_zoo)<= D_value)
|
|
|
|
|
|
{
|
|
|
|
|
|
R_Motor_Control(MOTOR_FORWARD); //<2F><><EFBFBD><EFBFBD>3<EFBFBD><33><EFBFBD><EFBFBD>
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
R_Motor_Control(MOTOR_STOP); //<2F><><EFBFBD><EFBFBD>3ֹͣ
|
|
|
|
|
|
ch = 3;
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
2026-02-25 11:13:03 +08:00
|
|
|
|
}
|
|
|
|
|
|
}
|
2026-02-26 22:59:29 +08:00
|
|
|
|
if(start_vein_flg == 3) //ֹͣ ͣ<><CDA3>ʱ<EFBFBD><CAB1>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>صĸߣ<C4B8><DFA3>м<EFBFBD><D0BC>Ļص<C4BB><D8B5>٣<EFBFBD>ʹ<EFBFBD>м<EFBFBD>ͻ<EFBFBD><CDBB>һЩ
|
2026-02-25 11:13:03 +08:00
|
|
|
|
{
|
|
|
|
|
|
L_Motor_Control(MOTOR_REVERSE);
|
2026-02-26 22:59:29 +08:00
|
|
|
|
R_Motor_Control(MOTOR_REVERSE);
|
|
|
|
|
|
delay_ms(500);
|
|
|
|
|
|
M_Motor_Control(MOTOR_REVERSE);
|
|
|
|
|
|
delay_ms(1000);
|
2026-02-25 11:13:03 +08:00
|
|
|
|
L_Motor_Control(MOTOR_STOP);
|
|
|
|
|
|
M_Motor_Control(MOTOR_STOP);
|
2026-02-26 22:59:29 +08:00
|
|
|
|
R_Motor_Control(MOTOR_STOP); //ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>slide Ҳ<><D2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
start_vein_flg =0;
|
2026-02-25 11:13:03 +08:00
|
|
|
|
}
|
2026-02-26 22:59:29 +08:00
|
|
|
|
//-------------------------------------------------------------------------------
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
//1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><CCA3><EFBFBD><EFBFBD>ң<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD>ƶ<EFBFBD> ͨ<><CDA8>slide<64><65> <20><><EFBFBD><EFBFBD>X<EFBFBD><58><EFBFBD><EFBFBD>Y<EFBFBD><59><EFBFBD>Ķ<EFBFBD><C4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7>λ<EFBFBD><CEBB>)
|
|
|
|
|
|
//2<><32><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ú<EFBFBD><C3BA><EFBFBD>slide<64><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Z<EFBFBD><5A><EFBFBD><EFBFBD><EFBFBD>£<EFBFBD><C2A3>ҵ<EFBFBD><D2B5>м<EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Z<EFBFBD><5A>ֹͣ
|
|
|
|
|
|
//3<><33><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>sensor<6F><72><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>£<EFBFBD>slide <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>ȷ<EFBFBD><C8B7>
|
|
|
|
|
|
//4<><34><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD>λ<EFBFBD><CEBB>
|
|
|
|
|
|
//5<><35><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
|
|
|
|
|
|
|
2026-02-25 11:13:03 +08:00
|
|
|
|
//==============================================================
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ADC<44>ɼ<EFBFBD>
|
|
|
|
|
|
//<2F><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>ADC<44><43><EFBFBD><EFBFBD> <20><>λBB <20><>β<EFBFBD><CEB2>66 <20>м<EFBFBD><D0BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 01 ADCL ADCH CRC8
|
|
|
|
|
|
//BB 01 A2 08 73 66
|
|
|
|
|
|
//BB -<2D><>λ
|
|
|
|
|
|
//01 -
|
|
|
|
|
|
//A2 -ADCL
|
|
|
|
|
|
//08 -ADCH
|
|
|
|
|
|
//73 -CRC8
|
|
|
|
|
|
//66 -<2D><>β //
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD>˽<EFBFBD><CBBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊͨ<CEAA><CDA8>
|
|
|
|
|
|
|
|
|
|
|
|
if(g_usart1_rx_state == 1)
|
|
|
|
|
|
{
|
2026-02-10 01:35:53 +08:00
|
|
|
|
// g_usart1_rx_buf[1] = 0x01;
|
|
|
|
|
|
// g_usart1_rx_buf[3] = 0x34;
|
|
|
|
|
|
// g_usart1_rx_buf[4] = crc8_standard(g_usart1_rx_buf,4);
|
|
|
|
|
|
|
2026-02-25 11:13:03 +08:00
|
|
|
|
if(start_vein_flg==0) //δ<><CEB4><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ǰͨ<C7B0><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
{
|
|
|
|
|
|
adc1_zoo =((uint16_t)g_usart1_rx_buf[3]<<8)|g_usart1_rx_buf[2];
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
else //<2F><>ǰ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ֵ
|
|
|
|
|
|
{
|
|
|
|
|
|
adc1_current = ((uint16_t)g_usart1_rx_buf[3]<<8)|g_usart1_rx_buf[2];
|
|
|
|
|
|
}
|
|
|
|
|
|
g_usart1_rx_state = 0;
|
|
|
|
|
|
//--------------------------------------------------------------
|
|
|
|
|
|
g_usart1_rx_buf[1]=0x01; //ʵ<><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>û<EFBFBD>б仯
|
|
|
|
|
|
g_usart1_rx_buf[4] = crc8_standard(g_usart1_rx_buf,4); //<2F><><EFBFBD><EFBFBD>У<EFBFBD><D0A3>
|
|
|
|
|
|
//--------------------------------------------------------------
|
2026-02-10 01:35:53 +08:00
|
|
|
|
memcpy(frame_updata,g_usart1_rx_buf,6 );
|
|
|
|
|
|
memset(g_usart1_rx_buf, 0x0, 6);
|
|
|
|
|
|
g_rx1_buffer[0] = 0x0;
|
2026-02-10 01:46:09 +08:00
|
|
|
|
Uart6_Send_data(frame_updata,6);
|
2026-02-10 01:35:53 +08:00
|
|
|
|
}
|
2026-02-11 01:18:00 +08:00
|
|
|
|
if(g_usart2_rx_state == 1)
|
|
|
|
|
|
{
|
2026-02-25 11:13:03 +08:00
|
|
|
|
|
|
|
|
|
|
if(start_vein_flg==0) //δ<><CEB4><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ǰͨ<C7B0><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
{
|
|
|
|
|
|
adc2_zoo=((uint16_t)g_usart2_rx_buf[3]<<8)|g_usart2_rx_buf[2];
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
else //<2F><>ǰ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ֵ
|
|
|
|
|
|
{
|
|
|
|
|
|
adc2_current = ((uint16_t)g_usart2_rx_buf[3]<<8)|g_usart2_rx_buf[2];
|
|
|
|
|
|
}
|
2026-02-11 01:18:00 +08:00
|
|
|
|
g_usart2_rx_state = 0;
|
2026-02-25 11:13:03 +08:00
|
|
|
|
//-------------------------------------------------------------------
|
|
|
|
|
|
g_usart2_rx_buf[1]=0x02; //ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ02
|
|
|
|
|
|
g_usart2_rx_buf[4] = crc8_standard(g_usart2_rx_buf,4); //<2F><><EFBFBD><EFBFBD>У<EFBFBD><D0A3>
|
|
|
|
|
|
//-------------------------------------------------------------------
|
2026-02-11 01:18:00 +08:00
|
|
|
|
memcpy(frame_updata,g_usart2_rx_buf,6 );
|
|
|
|
|
|
memset(g_usart2_rx_buf, 0x0, 6);
|
|
|
|
|
|
g_rx2_buffer[0] = 0x0;
|
|
|
|
|
|
Uart6_Send_data(frame_updata,6);
|
|
|
|
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}
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if(g_usart3_rx_state == 1)
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{
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2026-02-25 11:13:03 +08:00
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if(start_vein_flg==0) //δ<><CEB4><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ǰͨ<C7B0><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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{
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adc3_zoo=((uint16_t)g_usart3_rx_buf[3]<<8)|g_usart3_rx_buf[2];
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}
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else //<2F><>ǰ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>ֵ
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{
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adc3_current = ((uint16_t)g_usart3_rx_buf[3]<<8)|g_usart3_rx_buf[2];
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}
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2026-02-11 01:18:00 +08:00
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g_usart3_rx_state = 0;
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2026-02-25 11:13:03 +08:00
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//-------------------------------------------------------------------
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g_usart3_rx_buf[1]=0x03; //ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ03
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g_usart3_rx_buf[4] = crc8_standard(g_usart3_rx_buf,4); //<2F><><EFBFBD><EFBFBD>У<EFBFBD><D0A3>
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//-------------------------------------------------------------------
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2026-02-11 01:18:00 +08:00
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memcpy(frame_updata,g_usart3_rx_buf,6 );
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memset(g_usart3_rx_buf, 0x0, 6);
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g_rx3_buffer[0] = 0x0;
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Uart6_Send_data(frame_updata,6);
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}
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2026-02-10 01:35:53 +08:00
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//-------------------------------------------------
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2026-02-08 17:48:22 +08:00
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}
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}
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