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motor_controller2/my_software/my_code.c
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/*
* my_code.c
*
* Created on: Oct 2, 2021
* Author: wuwenfeng
*/
#include "my_code.h"
#include "button.h"
#include "ht1621.h"
#include "flash.h"
#include "r480r.h"
extern ADC_HandleTypeDef hadc;
struct button key1,key2,key3,key4,overload;
#define set_filtering_times 50
struct
{
//ADC_HandleTypeDef *device;
int filtering_times;
unsigned long adc_filtering[2];
int adc_value[2];
}ADCC;
struct
{
uint32_t moto_run;
int pwm_run;
char moto1a;
char moto1b;
char moto2a;
char moto2b;
char moto1a_;
char moto1b_;
char moto2a_;
char moto2b_;
}moto;
void ds_in_or_out(char a)//change the io function
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = HC595_DLK_Pin;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
if(a==0)
{
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
}
if(a==1)
{
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
}
HAL_GPIO_Init(HC595_DLK_GPIO_Port, &GPIO_InitStruct);
}
uint8_t Read_Ds()
{
ds_in_or_out(0);
if(READ_HC595_DCK){return 0;}else{return 1;}
//return READ_HC595_DCK;
}
//send data to 959
void Sand_Byte_to_595_2(uint8_t h)
{
ds_in_or_out(1);
HC595_DCK(0);
HC595_SCK2(0);
HC595_RCK(0);
for(char a=0;a<8;a++)
{
if((h<<a)&0x80)
{
HC595_DCK(1);
}else
{
HC595_DCK(0);
}
HC595_SCK2(1);
HC595_SCK2(0);
}
HC595_RCK(1);
HC595_RCK(0);
}
void hc2_sever()
{
char h=0;
if(dis_buff.led_run==1)
{
h|=0x01;
}
if(dis_buff.moto1a==1)
{
h|=0x02;
}
if(dis_buff.moto1b==1)
{
h|=0x04;
}
if(dis_buff.moto2a==1)
{
h|=0x08;
}
if(dis_buff.moto2b==1)
{
h|=0x10;
}
Sand_Byte_to_595_2(h);
}
//motor cool start
void moto_server()
{
if(HAL_GetTick()>moto.moto_run)
{
moto.moto_run=HAL_GetTick()+10;
if(moto.moto1a!=moto.moto1a_)
{
if(moto.moto1a>moto.moto1a_)
{
moto.moto1a_++;
}
if(moto.moto1a<moto.moto1a_)
{
moto.moto1a_--;
}
}
if(moto.moto1b!=moto.moto1b_)
{
if(moto.moto1b>moto.moto1b_)
{
moto.moto1b_++;
}
if(moto.moto1b<moto.moto1b_)
{
moto.moto1b_--;
}
}
if(moto.moto2a!=moto.moto2a_)
{
if(moto.moto2a>moto.moto2a_)
{
moto.moto2a_++;
}
if(moto.moto2a<moto.moto2a_)
{
moto.moto2a_--;
}
}
if(moto.moto2b!=moto.moto2b_)
{
if(moto.moto2b>moto.moto2b_)
{
moto.moto2b_++;
}
if(moto.moto2b<moto.moto2b_)
{
moto.moto2b_--;
}
}
}
moto.pwm_run++;
if(moto.pwm_run==10)
{
moto.pwm_run=0;
}
if(moto.pwm_run<moto.moto1a_)
{
dis_buff.moto1a=1;
}else
{
dis_buff.moto1a=0;
}
if(moto.pwm_run<moto.moto1b_)
{
dis_buff.moto1b=1;
}else
{
dis_buff.moto1b=0;
}
if(moto.pwm_run<moto.moto2a_)
{
dis_buff.moto2a=1;
}else
{
dis_buff.moto2a=0;
}
if(moto.pwm_run<moto.moto2b_)
{
dis_buff.moto2b=1;
}else
{
dis_buff.moto2b=0;
}
}
const unsigned char LED_Tab[]=
{
0x7d,0x05,0x5b,0x1f,0x27,0x3e,0x7e,0x15,0x7f,0x3f, //0-9
0x77,0x6e,0x71,0x5e,0x7a,0x73, //a-f
0x00,0x02
};
#define A 0x80
#define B 0x40
#define C 0x20
#define D 0x10
#define E 0x08
#define F 0x04
#define G 0x02
#define H 0x01
void HT1621_Display_GetButton(void)
{
unsigned char send_buff[8]={0,0,0,0,0,0,0,0,0};
unsigned char lcd_buff[4]={0,0,0,0};
//WritenDataHT1621(0,send_buff,8);
lcd_buff[0]=LED_Tab[dis_buff.d_num[0]];
if(dis_buff.dot1==1)
{
lcd_buff[0]|=0x80;
}
lcd_buff[1]=LED_Tab[dis_buff.d_num[1]];
if(dis_buff.dot2==1)
{
lcd_buff[1]|=0x80;
}
lcd_buff[2]=LED_Tab[dis_buff.d_num[2]];
if(dis_buff.dot3==1)
{
lcd_buff[2]|=0x80;
}
lcd_buff[3]=LED_Tab[dis_buff.d_num[3]];
if(dis_buff.dot4==1)
{
lcd_buff[3]|=0x80;
}
send_buff[0]=lcd_buff[0]>>4;
send_buff[1]=lcd_buff[0]&0x0f;
send_buff[2]=lcd_buff[1]>>4;
send_buff[3]=lcd_buff[1]&0x0f;
send_buff[4]=lcd_buff[2]>>4;
send_buff[5]=lcd_buff[2]&0x0f;
send_buff[6]=lcd_buff[3]>>4;
send_buff[7]=lcd_buff[3]&0x0f;
WritenDataHT1621(0,send_buff,8);
}
void my_code()
{
uint32_t runtime=0,move=0;
uint8_t mode=0,overload_mode=0;
uint16_t overload_times=0;
long countdown=1000;
long countdown_set=15000;
dis_buff.moto1a=0;
dis_buff.moto1b=0;
dis_buff.moto2a=0;
dis_buff.moto2b=0;
moto.moto_run=0;
moto.pwm_run=0;
moto.moto1a=0;
moto.moto1b=0;
moto.moto2a=0;
moto.moto2b=0;
moto.moto1a_=0;
moto.moto1b_=0;
moto.moto2a_=0;
moto.moto2b_=0;
HT1621_Init();
r480_init();
while(1)
{
//get ADC
for(char a=0;a<2;a++)
{
HAL_ADC_Start(&hadc);
while(HAL_ADC_PollForConversion(&hadc,0xffff)!=HAL_OK);
ADCC.adc_filtering[a]+=HAL_ADC_GetValue(&hadc);
}
HAL_ADC_Stop(&hadc);
ADCC.filtering_times+=1;
if(ADCC.filtering_times==set_filtering_times)
{
ADCC.filtering_times=0;
ADCC.adc_value[0]=ADCC.adc_filtering[0]/set_filtering_times;
ADCC.adc_filtering[0]=0;
ADCC.adc_value[1]=ADCC.adc_filtering[1]/set_filtering_times;
ADCC.adc_filtering[1]=0;
}
switch(mode)
{
case 0:
//Startup
if(HAL_GetTick()>move)
{
move=HAL_GetTick()+100;
countdown-=100;
if(countdown<0)
{
mode=1;
}
dis_buff.d_num[0]=((countdown/100)%10);
dis_buff.d_num[1]=((countdown/100)%10);
dis_buff.d_num[2]=((countdown/100)%10);
dis_buff.d_num[3]=((countdown/100)%10);
dis_buff.dot1=countdown>>3;
dis_buff.dot2=countdown>>4;
dis_buff.dot3=countdown>>5;
dis_buff.dot4=countdown>>6;
}
break;
case 1:
//standby
moto.moto1a=0;
moto.moto1b=0;
moto.moto2a=0;
moto.moto2b=0;
if(HAL_GetTick()>runtime)
{
runtime+=1000;
if(dis_buff.led_run==1)
{
dis_buff.led_run=0;
dis_buff.dot4=1;
}else
{
dis_buff.led_run=1;
dis_buff.dot4=0;
}
}
dis_buff.d_num[0]=16;
dis_buff.d_num[1]=16;
dis_buff.d_num[2]=16;
dis_buff.d_num[3]=16;
dis_buff.dot1=0;
dis_buff.dot2=0;
dis_buff.dot3=0;
overload_times=0;
if(key2.code!=0)
{
mode=2;
countdown=countdown_set;
}
if(key3.code!=0)
{
mode=3;
countdown=countdown_set;
}
if(key1.code!=0)
{
mode=4;
countdown=10000;
}
break;
case 2:
moto.moto1a=10;
moto.moto1b=0;
moto.moto2a=10;
moto.moto2b=0;
if(HAL_GetTick()>move)
{
move=HAL_GetTick()+100;
if(dis_buff.led_run==1)
{
dis_buff.led_run=0;
}else
{
dis_buff.led_run=1;
}
countdown-=100;
if(countdown<0)
{
mode=1;
}
}
dis_buff.d_num[3]=(countdown/100)%10;
dis_buff.d_num[2]=(countdown/1000)%10;
dis_buff.d_num[1]=((countdown/10000)%10);
dis_buff.d_num[1]=dis_buff.d_num[1]==0?16:dis_buff.d_num[1];
dis_buff.dot4=1;
if(key3.code!=0)
{
mode=3;
countdown=countdown_set-countdown;
}
if(key4.code!=0)
{
mode=1;
}
if(overload.code!=0)
{
overload_times+=1;
}
if(overload_times>2)
{
overload_mode=2;
mode=5;
}
break;
case 3:
moto.moto1a=0;
moto.moto1b=10;
moto.moto2a=0;
moto.moto2b=10;
if(HAL_GetTick()>move)
{
move=HAL_GetTick()+100;
if(dis_buff.led_run==1)
{
dis_buff.led_run=0;
}else
{
dis_buff.led_run=1;
}
countdown-=100;
if(countdown<0)
{
mode=1;
}
}
dis_buff.d_num[3]=(countdown/100)%10;
dis_buff.d_num[2]=(countdown/1000)%10;
dis_buff.d_num[1]=((countdown/10000)%10);
dis_buff.d_num[1]=dis_buff.d_num[1]==0?16:dis_buff.d_num[1];
dis_buff.dot4=1;
if(key2.code!=0)
{
mode=2;
countdown=countdown_set-countdown;
}
if(key4.code!=0)
{
mode=1;
}
if(overload.code!=0)
{
overload_times+=1;
}
if(overload_times>2)
{
overload_mode=3;
mode=5;
}
break;
case 4:
//setting mode
dis_buff.led_run=0;
if(HAL_GetTick()>move)
{
move=HAL_GetTick()+100;
if(dis_buff.dot4==1)
{
dis_buff.dot4=0;
}else
{
dis_buff.dot4=1;
}
countdown-=100;
if(countdown<0)
{
mode=1;
}
if(key2.code<0){countdown_set+=1000;countdown=10000;}
if(key3.code<0){countdown_set-=1000;countdown=10000;}
}
if(key2.code>0){countdown_set+=100;countdown=10000;}
if(key3.code>0){countdown_set-=100;countdown=10000;}
if(countdown_set<100){countdown_set=100;}
if(countdown_set>60000){countdown_set=60000;}
if(key4.code!=0){mode=1;}
dis_buff.d_num[3]=(countdown_set/100)%10;
dis_buff.d_num[2]=(countdown_set/1000)%10;
dis_buff.d_num[1]=((countdown_set/10000)%10);
dis_buff.d_num[1]=dis_buff.d_num[1]==0?16:dis_buff.d_num[1];
break;
case 5:
//overload
moto.moto1a=0;
moto.moto1b=0;
moto.moto2a=0;
moto.moto2b=0;
dis_buff.led_run=1;
overload_times=0;
dis_buff.d_num[3]=(countdown/100)%10;
dis_buff.d_num[2]=(countdown/1000)%10;
dis_buff.d_num[1]=((countdown/10000)%10);
dis_buff.d_num[1]=dis_buff.d_num[1]==0?16:dis_buff.d_num[1];
dis_buff.dot3=1;
if(key4.code!=0){mode=1;}
if(key2.code!=0)
{
mode=2;
if(overload_mode==2)
{
}else
{
countdown=countdown_set-countdown;
}
}
if(key3.code!=0)
{
mode=3;
if(overload_mode==3)
{
}else
{
countdown=countdown_set-countdown;
}
}
break;
case 6:
//debug
if(HAL_GetTick()>runtime)
{
runtime+=1000;
if(dis_buff.led_run==1)
{
dis_buff.led_run=0;
dis_buff.dot4=1;
}else
{
dis_buff.led_run=1;
dis_buff.dot4=0;
}
}
dis_buff.d_num[3]=(r480.times/100)%10;
dis_buff.d_num[2]=(r480.times/1000)%10;
dis_buff.d_num[1]=((r480.times/10000)%10);
break;
}
if(ADCC.adc_value[0]>600||ADCC.adc_value[1]>600)
{
GEI_BUTTON_CODE(&overload,1);
}else
{
GEI_BUTTON_CODE(&overload,0);
}
switch(r480.key)
{
case 0xd7:
dis_buff.button_flag[0]=1;
break;
case 0xdb:
dis_buff.button_flag[1]=1;
break;
case 0xdd:
dis_buff.button_flag[2]=1;
break;
case 0xde:
dis_buff.button_flag[3]=1;
break;
}
r480.key=0;
GEI_BUTTON_CODE(&key1,dis_buff.button_flag[0]);
GEI_BUTTON_CODE(&key2,dis_buff.button_flag[1]);
GEI_BUTTON_CODE(&key3,dis_buff.button_flag[2]);
GEI_BUTTON_CODE(&key4,dis_buff.button_flag[3]);
dis_buff.button_flag[0]=0;
dis_buff.button_flag[1]=0;
dis_buff.button_flag[2]=0;
dis_buff.button_flag[3]=0;
HT1621_Display_GetButton();
hc2_sever();
moto_server();
}
}
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