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107 lines
2.6 KiB
107 lines
2.6 KiB
//////////////////////////////////////////////////////////////////////////
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/// COPYRIGHT NOTICE
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/// Copyright (c) 2023, 传控科技
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/// All rights reserved.
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///
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/// @file asp_move.c
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/// @brief asp_move
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///
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///（本文件实现的功能的详述）
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/// moved的任务调度，是角度传感器和限位开关、的上层
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/// moto工作 限位开关限位 角度传感器指示位置
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///move--|--adc
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/// |--key
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/// |--moto
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#include "asp_expara.h"
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#include "msp_UART1.h"
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#include "asp_move.h"
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#include "msp_adc.h"
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TS_EXPARA_ ts_expara;
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void L1_expara_init(unsigned char onf)
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{
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if (onf)
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{
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L0_ADC_init(1);
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TTSS_run_every_init(ts_expara.vref.n, D_sample_vref_interval);
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TTSS_run_every_init(ts_expara.vbat.n, D_sample_vbat_interval);
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TTSS_run_every_init(ts_expara.angle.n, D_sample_angle_interval);
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TTSS_run_every_init(ts_expara.pt.n, D_sample_pt_interval);
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ts_expara.vbat.en = 1;
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ts_expara.angle.en = 1;
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ts_expara.pt.en = 1;
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ts_expara.vref.en = 1;
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D_VCC_BAT_ON();
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D_SW_CAL_ON();
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SWITCH_INIT();
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}else
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{
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///close adc
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}
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}
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void L1_expara_sample(void)
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{
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if(ts_expara.vbat.en)
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{
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TTSS_run_every(ts_expara.vbat.n,D_sample_vbat_interval)
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ts_expara.vbat.val = L1_ADC_Readx(D_sample_adc_vbat);
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///
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TTSS_run_every_end
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}
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if(ts_expara.angle.en)
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{
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TTSS_run_every(ts_expara.angle.n,D_sample_angle_interval)
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ts_expara.angle.val = L1_ADC_Readx(D_sample_adc_angle);
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///printf1(" vbat= %d %x",ts_expara.vbat.val);
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ts_task_move.loc_now = ts_expara.angle.val;///
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TTSS_run_every_end
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}
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if(ts_expara.vref.en)
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{
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TTSS_run_every(ts_expara.vref.n,D_sample_vref_interval)
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ts_expara.vref.val = L1_ADC_Readx(D_sample_adc_vref);
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///printf1(" pt= %d %x",ts_expara.vbat.val);
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TTSS_run_every_end
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}
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if(ts_expara.pt.en)
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{
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TTSS_run_every(ts_expara.pt.n,D_sample_pt_interval)
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ts_expara.pt.val = L1_ADC_Readx(D_sample_adc_pt);
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///printf1(" pt= %d %x",ts_expara.vbat.val);
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printf4("%d\t%d\t%d\t%d\r\n",ts_expara.vref.val,ts_expara.vbat.val,ts_expara.angle.val,ts_expara.pt.val);
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TTSS_run_every_end
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}
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}
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#if 0
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L0_uart1_sendstr("IMEI");
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L1_uartD_uchexArray(&R.card,16);
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L0_uart1_0d0a();
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L3_GET_ANGLE(L1_ADC_Read_ANGLE(6));
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printf2("\r\n SET_ANGLE: %x CUR_ANGLE:%x \r\n",(int)R.motor_angle_set,(int)R.motor_angle_cur);
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L3_GET_TEMP(L1_ADC_Read_PT(7));
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printf2("\r\n IN_TEMP:%x BACK_TEMP: %x \r\n",(int)R.in_temp,(int)R.back_temp);
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L3_GET_VBAT(L1_ADC_Read_VBAT(5));
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L1_as_readA(0);
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printf3("\r\n X_AXIS:%x Y_AXIS: %x Z_AXIS:%x\r\n",(int)R.x_acc,(int)R.y_acc,(int)R.z_acc);
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L1_read_time();
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printf1("\r\n NET_STREN:%x \r\n",R.signal);
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#endif
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