122 lines
3.2 KiB
C
122 lines
3.2 KiB
C
#include "app.h"
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//绿灯 NOR ;蓝灯 ERR
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float X_ads1220 = 0; //读到的电压值
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float X_ads1220_L = 15.0; //电压值上限
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float X_ads1220_H = 1320.0; //电压值下限
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float X_ads1220_prc = 0; //电压百分比（即位移百分比）
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float TEMP_M1820 = 0; //温度
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uint32_t move_step_5mm = 0x0000C800;
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uint32_t move_step_1mm = 0x00002800;
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char oled_init_flag = 0,oled_init_result = 0;
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//int i2c_error_temp = 0;
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uint8_t magnet_tx[7] = {0x05,0x01,0x00,0x01,0x00,0x32,0xFF};
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HAL_StatusTypeDef hal_check_tx;
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uint8_t flash_rd_flag = 0;
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signed int first_xa_32 = 0;//记录上电时电机位置
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uint16_t load_check = 0;
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uint8_t TSTEP_CK[5] = {0};
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uint32_t tstep_check = 0;
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void app_act (void)
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{
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if(flash_rd_flag == 0) //只读取一次
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{
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STMFLASH_Read(FLASH_SAVE_ADDR,flash_rd,6); //读取当前flash内容
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// magnet_middle = flash_rd[0]; //默认以#25的中点为标准
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flash_rd_flag = 1;
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}
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TMC5160_SPIReadInt(0x12,TSTEP_CK); //读取TSTEP,为0说明灵敏度过小
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tstep_check = Raw_32(TSTEP_CK);
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TMC5160_SPIReadInt(DRV_STAT_ADDR,DRV_STAT); //读取驱动器状态
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DRV_STAT_32 = Raw_32(DRV_STAT);
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SG_RESULT_16 = ((uint16_t)DRV_STAT_32) & 0x03FF; //驱动器状态共32bit，其中0-9bit为负载值，读到的负载值越低，负载越高，0代表最高负载
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if(SG_RESULT_16 != 0) load_check = SG_RESULT_16;
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//1 按键操作
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// Key_Scan();//按键扫描（已放入定时器中断）
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key_act(); //按键执行功能
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//2 定时器
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// if(it_5000ms_flag == 1)
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// {
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// it_5000ms_flag = 0;
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//
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//
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//
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// }
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//3 串口通信测试
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// uart_test();
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//4 数据采集
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if(it_100ms_flag)
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{
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it_100ms_flag = 0;
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HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_SET); //使能485发送，发送结束后在回调函数中拉低
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hal_check_tx = HAL_UART_Transmit_IT(&huart2, magnet_tx ,7); //485发送
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TEMP_M1820 = M1820_Get_Temp(); //温度采集
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OLED_MenuTest(); //OLED显示,菜单
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X_ads1220 = Xads1220_filter(25,75); //电阻尺滤波结果（电压值，mv）
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// X_ads1220_prc =(X_ads1220 - X_ads1220_L)/(X_ads1220_H - X_ads1220_L);
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// 串口计时
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process_ttl_receive_timer();
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}
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//5 电阻尺 位移传感器
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Xads1220_record();//采集数据用于滤波
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//6 电机
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motor_protect_ads(100,1900);
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Deal_Motor();
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//7 串口数据处理
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Deal_Uart_Data_For_Module();
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//9 LED灯状态指示
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if( Motor_Run == 0 )
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{
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HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET);//停止状态两灯熄灭
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HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET);
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}
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if( (Motor_Run == 1) && (motor_direc == 1) )
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{
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HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET);//正向转动绿灯亮
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HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET);
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}
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if( (Motor_Run == 1) && (motor_direc == 2) )
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{
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HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET);//反向转动蓝灯亮
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}
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if( ( Motor_Run == 2 ) || ( Motor_Run == 3 ) )
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{
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HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET);//复位移动时两灯亮
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}
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}
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