增加驱动两路刹车电机

app/app_brake.c

@@ -47,36 +47,25 @@ static void brakeOutput(void *signal_id)
     {
     case 1: // 电机前进状态
         un_h_bridge_output.bit_data.channel_01 = setBrakeOn();
-        un_h_bridge_output.bit_data.channel_04 = setBrakeOn();
         un_h_bridge_output.bit_data.channel_02 = setBrakeOff();
-        un_h_bridge_output.bit_data.channel_03 = setBrakeOff();
-        un_h_bridge_output.bit_data.sleep_01 = setBrakeOn();
-        un_h_bridge_output.bit_data.sleep_02 = setBrakeOn(); // 正转
-        un_inf_can_kgf_output1.bit_data.KGF13 = setBrakeOff();  // 抱闸继电器
-        un_inf_can_kgf_output1.bit_data.KGF14 = setBrakeOff();  // 抱闸继电器         
+        un_h_bridge_output1.bit_data.channel_01 = setBrakeOn();
+        un_h_bridge_output1.bit_data.channel_02 = setBrakeOff();
         printf("Brake: Motor forward\n");
         break;
 
     case 2: // 电机后退状态
         un_h_bridge_output.bit_data.channel_01 = setBrakeOff();
-        un_h_bridge_output.bit_data.channel_04 = setBrakeOff();
-        un_h_bridge_output.bit_data.channel_02 = setBrakeOn();
-        un_h_bridge_output.bit_data.channel_03 = setBrakeOn();
-        un_h_bridge_output.bit_data.sleep_01 = setBrakeOn();
-        un_h_bridge_output.bit_data.sleep_02 = setBrakeOn(); // 反转
-        un_inf_can_kgf_output1.bit_data.KGF13 = setBrakeOn();  // 抱闸继电器
-        un_inf_can_kgf_output1.bit_data.KGF14 = setBrakeOn();  // 抱闸继电器        
-       
+        un_h_bridge_output.bit_data.channel_02 = setBrakeOn(); 
+        un_h_bridge_output1.bit_data.channel_01 = setBrakeOff();
+        un_h_bridge_output1.bit_data.channel_02 = setBrakeOn();        
         printf("Brake: Motor reverse\n");
         break;
 
     default:
         un_h_bridge_output.bit_data.channel_01 = setBrakeOff();
-        un_h_bridge_output.bit_data.channel_04 = setBrakeOff();
         un_h_bridge_output.bit_data.channel_02 = setBrakeOff();
-        un_h_bridge_output.bit_data.channel_03 = setBrakeOff();
-        un_h_bridge_output.bit_data.sleep_01 = setBrakeOff();
-        un_h_bridge_output.bit_data.sleep_02 = setBrakeOff(); // 关闭         
+        un_h_bridge_output1.bit_data.channel_01 = setBrakeOff();
+        un_h_bridge_output1.bit_data.channel_02 = setBrakeOff();        
         printf("Brake: Motor off\n");
         break;
     }  
@@ -100,6 +89,14 @@ static void brakeTimerProcess(void *signal_id)
         {
             brake_data.state = BRAKE_STATE_APPLYING_BRAKE;
             brake_data.brake_motor_state = 1;
+            if( 0 == brake_data.brake_direction)
+            {
+               brake_data.brake_motor_state = 1;               
+            }
+            else
+            {
+               brake_data.brake_motor_state = 2;                    
+            }            
             brakeOutput(NULL);
             timerStart(&brake_data.brake_apply_timer, (uint32_t)(getParam("brk_on")), 0);
         }
@@ -111,6 +108,14 @@ static void brakeTimerProcess(void *signal_id)
             brake_data.state = BRAKE_STATE_RELEASING_BRAKE;
             brake_data.brake_motor_state = 2;
             brakeOutput(NULL);
+            if( 0 == brake_data.brake_direction)
+            {
+               brake_data.brake_motor_state = 2;               
+            }
+            else
+            {
+               brake_data.brake_motor_state = 1;                    
+            }               
             timerStart(&brake_data.brake_release_timer, (uint32_t)(getParam("brk_off")), 0);
         }
         break;
@@ -182,6 +187,14 @@ static void brakeInput(void *signal_id)
 
 }
 
+void paramUpdate(void *signal_id)
+{
+   brake_data.brake_direction = (uint8_t)getParam("brk_rev");
+   timerStart(&brake_data.brake_param_timer, 1000, 1);
+}
+
+
+
 // 修改APP模块的初始化函数
 void brakeAppInit(void)
 {
@@ -205,6 +218,7 @@ void brakeAppInit(void)
     timerInit(&brake_data.brake_timer);
     timerInit(&brake_data.brake_apply_timer);
     timerInit(&brake_data.brake_release_timer);
+    timerInit(&brake_data.brake_param_timer);     
 
     // 订阅输入信号,处理刹车逻辑
     subscribe(&un_sw_sample, brakeInput);
@@ -212,13 +226,16 @@ void brakeAppInit(void)
     subscribe(&can_fault_info, brakeInput);
     subscribe(&ethernet_fault_Info, brakeInput);
 
+    
     // 订阅定时器信号,用于状态机的定时处理
     subscribe(&brake_data.brake_timer, brakeTimerProcess);
     subscribe(&brake_data.brake_apply_timer, brakeTimerProcess);
     subscribe(&brake_data.brake_release_timer, brakeTimerProcess);
+    subscribe(&brake_data.brake_param_timer, paramUpdate);
 
     // 启动定时器，定期调用 brakeTimerProcess
     timerStart(&brake_data.brake_timer, 500, 1);
-
+    timerStart(&brake_data.brake_param_timer, 1000, 1);
+    
     printf("app_brake: initial OK \n");
 }

app/app_brake.h

@@ -29,7 +29,8 @@ typedef struct BrakeSystem
     uint8_t brake_command;               // 刹车命令变量：1表示刹车,2表示释放
     uint8_t brake_motor_state;           // 刹车电机状态变量：0停止,1前进,2后退
     uint8_t brake_command_in_progress;   // 刹车命令执行状态：0表示空闲,1表示正在执行
-
+    uint8_t brake_direction;
+    
     uint8_t emergency_stop_switch;       // 急停开关
     uint8_t remote_emergency_stop;       // 遥控器急停开关
     uint8_t remote_fault;                // 遥控器故障
@@ -41,6 +42,7 @@ typedef struct BrakeSystem
     uint8_t old_brake_position;          // 旧的刹车位置
     Timer brake_apply_timer;             // 刹车定时器
     Timer brake_release_timer;           // 释放刹车定时器
+    Timer brake_param_timer;             //参数更新时间   
     
 } BrakeSystem;
 

app/app_param_manage.h

@@ -52,6 +52,7 @@ extern "C"
     X(Ocrv_il)  \
     X(Ocrv_ol)  \
     X(minTorq)  \
+    X(brk_rev)  \
     X(test)
 
 // 定义一个包含所有参数名称的结构体