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电机下压

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This commit is contained in:
ranchuan
2023-06-25 18:04:09 +08:00
parent 7619a0804a
commit cfda1c461b
11 changed files with 497 additions and 14 deletions
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33
source/task/moter.c
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@@ -24,6 +24,8 @@ typedef struct{
int count;
int max_count;
moter_stat stat;
void (*fun_in_end)(void *t);
void *t;
}self_def;
@@ -73,12 +75,42 @@ static void moter_run(void *t)
s->stat=STOP;
DBG_LOG("moter stoped.");
emit moter_end_signal(s);
if(s->fun_in_end){
s->fun_in_end(s->t);
s->fun_in_end=0;
s->t=0;
}
}
ev=0;
}
}
// <20><><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><C2BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ص<EFBFBD>
void moter_down(void (*fun)(void *t),void *t)
{
self_def *s=&g_self;
if(fun){
s->fun_in_end=fun;
s->t=t;
}
moter_start(0,MOTER_MAX_COUNT-s->count);
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ص<EFBFBD>
void moter_up(void (*fun)(void *t),void *t)
{
self_def *s=&g_self;
if(fun){
s->fun_in_end=fun;
s->t=t;
}
moter_start(0,-s->count-100);
}
void moter_start(int fre,int step_count)
{
self_def *s=&g_self;
@@ -101,6 +133,7 @@ void moter_start_slot(void *t,int fre,int step_count)
if(s->count+step_count>s->max_count)
{
DBG_WARN("steps count exceeded limit!,max=%d",s->max_count);
end_irq(s);
return ;
}
else{