SafeCourse.c
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#include "includes.h"
#include "all_value.h"
#include "tcp_client_demo.h"
u8 MotorStopMiss_Time5Nums;//电机强制停止操作消失延时计时
void TouchHMI_Safe(void)//外部触摸屏急停触发时的安全保护+复位过程的暂停保护
{
if(VaIndexDW_R(&Touch_Contr,6)|VaIndexB_R(&AGV.OtheSta1,3))
{ MotorStopMiss_Time5Nums=0;}
}
void Slam_Safe(void)//Slam过程相应的保护
{
/***依赖SLAM动作时置信度丢失时间过长****/
if( (Tim5_Slam3Nums>=2) &&((AGV.RotationSlam_Step>1)&&(AGV.RotationSlam_Step<100)) )//行走过程的保护在行走程序中
{ MotorStopMiss_Time5Nums=0;}
}
u8 TLaRadarDelay_Time4Nums;//雷达触发信号计时
void LaRadar_Safe(void)//
{
/***自动旋转/行走时有障碍物进入时行走电机停止****/
if( (AGV.Line_Step>12 && AGV.Line_Step<90) |
( (AGV.Line_Step==12) && ((AGV.EndP_Type1<3)|(AGV.EndP_Type1>4))) |
( (AGV.Charge_Step==31) && ( (AGV.Type3_Ac==7)|(fabs(Motor[1].MToPc.Angle_Actual-Motor[1].PcToM.Angle_Target)>500)))
)
{
if(LRadar_Near==0 )TLaRadarDelay_Time4Nums=0;
}
else TLaRadarDelay_Time4Nums=0;
}
void Motor_Safe(void)//
{
/***舵轮组合运动过程中任意一个舵轮轴状态异常都全部停止动作****/
if ( (AGV.Load_Step>0 && AGV.Load_Step<100)|
(AGV.Line_Step>0 && AGV.Line_Step<100)|
(AGV.RotationSlam_Step>1 &&AGV.RotationSlam_Step<100)|
(AGV.RotationCCD_Step>1 &&AGV.RotationCCD_Step<100) )
{
if(VaIndexB_R(&AGV.AllAxisOK,2)==0)MotorStopMiss_Time5Nums=0;
}
if (VaIndexDW_R(&Touch_Contr,9)==0)//未屏蔽所有保护（触控上）下述是可以做屏蔽考虑的
{
/************雷达保护****/
if(TLaRadarDelay_Time4Nums>10)MotorStopMiss_Time5Nums=0;
/***********触边保护****/
if( IN_Safe && VaIndexDW_R(&F_AgvContr,2))
{ MotorStopMiss_Time5Nums=0;}
/*******升降过程的保护****/
if(VaIndexDW_R(&F_AgvContr,5))//升降限位保护启用
{
if(VaIndexDW_R(&F_AgvContr,1))//液压
{ if( IN_DownLimit && Out_DownValve ){ MotorStop_Fc(1);}
}
else
{ if(IN_DownLimit && Motor[0].PcToM.Speed<0 ){ MotorStop_Fc(1);}
}
if(IN_UpLimit && Motor[0].PcToM.Speed>0) { MotorStop_Fc(1);}
}
if(VaIndexDW_R(&F_AgvContr,18))//升降测距软限位启用
{
if( ((High_Dis>HighMax) && Motor[0].PcToM.Speed>0)|
((High_Dis<Highmin)&&(Out_DownValve|(Motor[0].PcToM.Speed<0)) )
)
{ MotorStop_Fc(1);}
}
/********移栽过程的保护****/
if(VaIndexDW_R(&F_AgvContr,6))//移载限位保护启用
{
if( (IN_LimitL && Motor[5].PcToM.Speed<0 )|(IN_LimitR && Motor[5].PcToM.Speed>0 ) )
{ Motor[5].PcToM.Speed=0;}
}
/********升降过程的限重保护****/
if( VaIndexDW_R(&F_AgvContr,7)&&( (AGV.UpDown_Step>1&&AGV.UpDown_Step<100)|(VaIndexDW_R(&Touch_Contr,18)) ))//限重保护启用
{ if( (WeightAll>=F_WeightMax)|(WeightAll>=Union16_1.Weight&& Union16_1.Weight>0))
{ Motor[0].PcToM.Speed=0;Set_ErrID(58,1);}//ErrID=58;超重报警
}
/********输送边界保护****/
if(VaIndexDW_R(&F_AgvContr,10))//边界保护启用
{
if(VaIndexDW_R(&F_AgvContr,8)==0)IN_LimitL2=IN_LimitR2=0; //无下层输送
if(VaIndexDW_R(&F_AgvContr,9)==0)IN_LimitL=IN_LimitR=0; //无上层输送
if(IN_LimitL|IN_LimitR|IN_LimitL2|IN_LimitR2)VaIndexB_W(&AGV.OtheSta,5,1);else VaIndexB_W(&AGV.OtheSta,5,0);
if(VaIndexB_R(&AGV.OtheSta,5))
{
if ( (AGV.Load_Step>0 && AGV.Load_Step<100)|
(AGV.RotationSlam_Step>1 &&AGV.RotationSlam_Step<100)|
(AGV.RotationCCD_Step>1 &&AGV.RotationCCD_Step<100)|
(AGV.UpDown_Step>1 &&AGV.UpDown_Step<100)
)
{ MotorStopMiss_Time5Nums=0;Set_ErrID(39,1);}//滚筒限位触发
}
}
}
}
void MotorStop_Fc(u8 No)//电机速度指令清零
{
u8 i;
if(No==0)
{ for(i=0;i<MaxMotNums;i++)
{
Motor[i].PcToM.Speed=0;
Motor[i].PcToM.TargetSpeed=0;
}
}
else if(No==1)
{ Motor[0].PcToM.Speed=0;Out_DownValve=0;}
}
#define StopSafeEn 1u //遥控急停+本体急停，无条件响应
u8 IN_EmergOldStop;
void Stop_Safe(void)//急停处理
{ u8 i;
if(StopSafeEn)
{ if (IN_Stop)
{
MessSpecialClear();
}
if(IN_EmergStop<IN_EmergOldStop)
{ MessSpecialClear();
for(i=0;i<MaxMotNums;i++)
{
Motor[i].MToPc.Home_Found=0;
Motor[i].PcToM.PowerOn=0;
Motor[i].MToPc.Powered=0;
if (NodeProEn==1)
{
if(Motor[i].Y)
{ Motor[i].PcToM.NodeProtTime_Step=1;
VaIndexB_W(&AGV.Axis_No,i,1);
}
}
}
AGV.AllAxisResetStep=1;
}
IN_EmergOldStop=IN_EmergStop;
if(IN_Stop|IN_EmergStop){ Out_Charge=Out_Fan1Power=Out_Fan2Power=Out_DownValve=0; }
switch(AGV.AllAxisResetStep)//AGV所有轴恢复操作
{
case 1:// 清空轴采集状态
if ((AGV.AllAxisOK&0x0F)==15 )AGV.AllAxisResetStep=100;
else
{ for(i=0;i<MaxMotNums;i++)
{
// VaIndexW_W(&Motor[i].MToPc.Ax_Status,1,0);//清空轴报文标记
// VaIndexW_W(&Motor[i].MToPc.Ax_Status,2,0);//清空轴报文标记
// VaIndexW_W(&Motor[i].MToPc.Ax_Status,3,0);//清空轴报文标记
Motor[i].MToPc.Ax_Status&=0xFFF1;//清空轴报文标记1\2\3位清0
}
// AGV.AxisEn_Step=1;
AGV.AllAxisResetStep++;
}
AGV.AxisEn_Step=0;
break;
case 2:// 判断是否有轴故障，有故障的则清错
for(i=0;i<MaxMotNums;i++)
{ if(Motor[i].Y)
Motor[i].PcToM.Reset=1; //外部轴函数 会自动清除该状态
}
AGV.AllAxisResetStep++;
AGV.AllAct_Time5Nums=0;
break;
case 3://
if(AGV.AllAct_Time5Nums>1)
AGV.AllAxisResetStep++;
break;
case 4:// 对轴使能+找原点
AGV.AxisEn_Step=1;
// AGV.Axis_No=0x3F;
AGV.AllAxisResetStep=90;
break;
case 90://
AGV.AllAxisResetStep=100;
break;
case 100://
break;
}
}
}
void MessSpecialClear(void)//主要信息清空
{ u8 i;
memset(&AGV,0,sizeof(AGV));
memset(&TaskP,0,sizeof(TaskP));
memset(&Err_sign,0,sizeof(Err_sign));
Out_DownValve=0;
for(i=0;i<MaxMotNums;i++)
{
// memset(&Motor[i].PcToM,0,sizeof(Motor[i].PcToM));
Motor[i].PcToM.AbsoluteHold_Step=0;
Motor[i].PcToM.Relative_Step=0;
Motor[i].PcToM.SetZero_Step=0;
Motor[i].PcToM.SpeedAbsolute_Step=0;
//Motor[i].PcToM.FindHome_Step=0;
Motor[i].PcToM.Speed=0;
Motor[i].PcToM.TargetSpeed=0;
if(i>0&&Motor[i].Max_rpm<2500)
{
Motor[i].PcToM.Acc=2000;
Motor[i].PcToM.Dcc=2200; //避免停止时过大晃动
}
}
TouckActionNo=0;
TCP_AcNo=0;
}
void MotorErrReset_Pro(void)//轴清除故障程序
{ u8 i;
if(VaIndexDW_R(&Touch_Contr,8))
{ for(i=0;i<MaxMotNums;i++)
{ if(VaIndexW_R(&Motor[i].MToPc.StatusWord,3))i=10;
}
if(VaIndexB_R(&AGV.OtheSta,4)){;}
else AGV.Axis_No=0x3F;
if(VaIndexB_R(&AGV.OtheSta1,3)==0)
{ if((i>9)|((Motor[2].MToPc.Home_Found==0)|(Motor[4].MToPc.Home_Found==0)) )
{ AGV.AllAxisResetStep=1;
VaIndexB_W(&AGV.OtheSta1,3,1);
}
}
}
}
#define Energy_PowerOff 15u
u8 Tim7_LowPoweroffNums;
void Battery_Safe(void)//
{ if(Workmode&&VaIndexDW_R(&F_AgvContr,19)&&(VaIndexDW_R(&Touch_Contr,9)==0))
{ if(BatteryVa.Energy>0.1)
{ if(BatteryVa.Energy<Energy_PowerOff &&(VaIndexB_R(&AGV.OtheSta,4)==0)){if(Tim7_LowPoweroffNums>15)Out_Poweroff=1;}//低电量空闲5min
else if(AGV.Err[0]&&BatteryVa.Energy<40){if(Tim7_LowPoweroffNums>180)Out_Poweroff=1;}//电量高于一定值，但故障时间过长
else Tim7_LowPoweroffNums=0;
}
else Tim7_LowPoweroffNums=0;
}
else Tim7_LowPoweroffNums=0;
}
void Safe_Pro(void)//
{ MotorErrReset_Pro();
TouchHMI_Safe();
LaRadar_Safe();
Stop_Safe();
Battery_Safe();
Motor_Safe();
if ((MotorStopMiss_Time5Nums<4))MotorStop_Fc(0);//延时启动
}