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提交提速逻辑的备份

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xqq27 2026-05-11 10:11:13 +08:00
parent d1eb8f4d88
commit 97b81a197d
3 changed files with 67 additions and 30 deletions
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13
Code/middleware/DehyTest/dehy_test.c
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@ -1,12 +1,17 @@
#include "dehy_test.h"
#include "mw_soft_timer.h"
#define DEHY_SPEED_MIN (0u)
#define DEHY_SPEED_MAX (800u)
#define DEHY_SPEED_UPDATE_MS (1000u)
#define SPEEDUP_INIT_CMD (0x5AA5)
/*
当前速度current_speed取值范围为0至800， 目标速度target_speed为0、400、500、600、700、800这几种数值。这个函数的作用是下设速度（算出预定速度result_speed后，下设这个预定速度给speed_set_val）。外部的电机会根据speed_set_val来让current_speed达到speed_set_val的速度，但也有可能会因为自身过流等故障，current_speed会掉下去。有以下要求：
1. result_speed的初值设为此时的current_speed，然后每秒根据加速度acc_val的值往上加。如果加速度为acc_val，预定速度为result_speed，那么1秒后，预定速度为 result_speed = result_speed+acc_val，再过一秒后result_speed继续加acc_val，若result_speed超过了target_speed，则result_speed改为目标速度，然后result_speed一直保持在target_speed；
2. 若target_speed突然变小，如果current_speed大于新的target_speed，则需要获取当前速度，result_speed一直保持在当前速度不改变；否则若当前速度小于等于新的目标速度，那不用管，result_speed继续根据加速度a来加；
3. 若target_speed突然变大，则result_speed继续根据加速度acc_val来增加，直到到达target_speed。
4. 无论什么情况，如果target_speed为0，那么result_speed就要变成0.
5. 外部可以留个接口，初始化这个状态机。
6. 除非停机，否则result_speed不要下降，只能不变或者上升。
*/
/* 脱水速度设置 枚举变量 */

76
Document/逻辑备份/洗烘一体机-提速逻辑.c
View File

@ -10,23 +10,54 @@
6. 除非停机，否则result_speed不要下降，只能不变或者上升。
*/
void dehy_speed_set(uint16_t init_cmd, uint16_t acc_val, uint16_t current_speed, uint16_t target_speed)
/* 脱水速度设置 枚举变量 */
typedef enum
{
DEHY_SPEEDSET_INIT, // 初始化
DEHY_SPEEDSET_SPEED_UP, // 加速
DEHY_SPEEDSET_SPEED_KEEP, // 稳速
DEHY_SPEEDSET_SPEED_STOP, // 超震停机
DEHY_SPEEDSET_NUM
}SPEEDUP_ENUM_T;
/* 外部调用 速度设置值 */
static uint16_t speed_set_val = 0u;
/*************************************************************************************
* @brief 下设速度
* @param[in/out] val
*
* @warning
* @note
*************************************************************************************/
void motor_speed_set(uint16_t val)
{
speed_set_val = val;
}
void dehy_speed_up(LOGIC_STATE_ENUM_T init_cmd, uint16_t acc_val, uint16_t current_speed, uint16_t target_speed)
{
static uint32_t timetick = 0; // 时间戳
static uint16_t add_speed_state = 0; // 本函数的状态机
static SPEEDUP_ENUM_T add_speed_state = DEHY_SPEEDSET_INIT; // 本函数的状态机
static uint16_t result_speed = 0; // 预设速度
static uint16_t target_speed_cache = 0; // 缓存目标速度
// static uint16_t current_speed_cache = 0; // 缓存当前速度
if(init_cmd == 0x5AA5)
if(init_cmd == LOGIC_INIT)
{
add_speed_state = 0;
add_speed_state = DEHY_SPEEDSET_INIT;
}
else
{
;
}
switch(add_speed_state)
{
// init
case 0:
case DEHY_SPEEDSET_INIT:
// 时间戳 初始化
timetick = get_systick_ms();
// 预设速度 初始化
@ -36,14 +67,14 @@ void dehy_speed_set(uint16_t init_cmd, uint16_t acc_val, uint16_t current_speed,
// // 刷新 当前速度缓存
// current_speed_cache = current_speed;
// 进入下一阶段
add_speed_state = 1;
add_speed_state = DEHY_SPEEDSET_SPEED_UP;
break;
// 加速
case 1:
case DEHY_SPEEDSET_SPEED_UP:
// 当前 触发超震
if(target_speed == 0)
{
add_speed_state = 3;
add_speed_state = DEHY_SPEEDSET_SPEED_STOP;
result_speed = 0;
}
// 周期到
@ -70,7 +101,7 @@ void dehy_speed_set(uint16_t init_cmd, uint16_t acc_val, uint16_t current_speed,
// 记录当前速度
result_speed = current_speed;
// 切到速度保持
add_speed_state = 2;
add_speed_state = DEHY_SPEEDSET_SPEED_KEEP;
}
}
else
@ -85,44 +116,45 @@ void dehy_speed_set(uint16_t init_cmd, uint16_t acc_val, uint16_t current_speed,
if(result_speed >= target_speed)
{
result_speed = target_speed;
add_speed_state = 2;
add_speed_state = DEHY_SPEEDSET_SPEED_KEEP;
}
}
// 刷新 目标速度缓存
target_speed_cache = target_speed;
/* 设置速度 */
speed_set_val = result_speed;
}
break;
// 速度保持
case 2:
case DEHY_SPEEDSET_SPEED_KEEP:
// 超震停机
if(target_speed == 0)
{
result_speed = 0;
add_speed_state = 3;
add_speed_state = DEHY_SPEEDSET_SPEED_STOP;
}
// 目标速度变好了 外面超震小了
else if(target_speed > target_speed_cache)
{
// 若预定速度 小于 新的目标速度，则回去加速
if(result_speed < target_speed)
{
// 回加速
add_speed_state = DEHY_SPEEDSET_SPEED_UP;
}
target_speed_cache = target_speed;
// // 刷新 当前速度缓存
// current_speed_cache = current_speed;
// 回第一步
add_speed_state = 1;
}
/* 设置速度 */
speed_set_val = result_speed;
break;
// 超震停机
case 3:
case DEHY_SPEEDSET_SPEED_STOP:
result_speed = 0;
/* 设置速度 */
speed_set_val = result_speed;
break;
default:
break;
}
/* 设置速度 */
motor_speed_set(result_speed);
}

8
Project/Output/TianyunV1.map
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@ -2022,7 +2022,7 @@ Image component sizes
672 134 48 32 36 44105 bsp_timer.o
478 36 0 4 2088 6070 bsp_usart.o
0 0 0 0 0 32 core_cm3.o
264 22 0 14 0 2470 dehy_test.o
264 22 0 14 0 2366 dehy_test.o
60 4 0 0 0 572 interrupt_handler.o
204 120 0 0 0 220839 main.o
20 10 0 0 0 675 misc.o
@ -2036,7 +2036,7 @@ Image component sizes
328 28 0 20 0 3161 system_stm32f10x.o
----------------------------------------------------------------------
5900 770 318 136 3248 602755 Object Totals
5900 770 318 136 3248 602651 Object Totals
0 0 32 0 0 0 (incl. Generated)
10 0 2 4 4 0 (incl. Padding)
@ -2079,8 +2079,8 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
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6542 800 318 136 3248 599251 ELF Image Totals
6542 800 318 136 3248 599147 Grand Totals
6542 800 318 136 3248 599147 ELF Image Totals
6542 800 318 136 0 0 ROM Totals
==============================================================================