117 lines
2.3 KiB
C
117 lines
2.3 KiB
C
#include "key.h"
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#include "main.h"
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#include "tmc5160.h"
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#include "oled.h"
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#include "delay.h"
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unsigned char key_i = 0;
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unsigned int key_cnt[3] = {0}; //延时用计数
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unsigned char key_msg[3] = {0}; //按键事件
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unsigned char key_val[3] = {0}; //按键值
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unsigned char oled_flag = 1; //oled初始化时为点亮状态；1表示点亮，0表示熄灭。
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#define KEY_CNT 5
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#define PAGEMAX 2
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void Key_Scan(void) // 扫描K1-K3的状态
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{
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key_val[0] = HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin);
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key_val[1] = HAL_GPIO_ReadPin(KEY2_GPIO_Port, KEY2_Pin);
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key_val[2] = HAL_GPIO_ReadPin(KEY3_GPIO_Port, KEY3_Pin);
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//检测按键
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if(key_i >= 3) key_i = 0;
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if (key_val[key_i] == 0 && key_msg[key_i] == 0) //按键按下
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{
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key_cnt[key_i]++;
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if(key_cnt[key_i] > KEY_CNT)
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{
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key_cnt[key_i] = 0;
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key_msg[key_i] = 1; //按键按下，触发事件1
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}
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}
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if (key_val[key_i] == 1 && key_msg[key_i] == 2) //按键抬起
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{
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key_cnt[key_i]++;
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if(key_cnt[key_i] > KEY_CNT)
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{
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key_cnt[key_i] = 0;
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key_msg[key_i] = 0; //完成抬起动作后，再清空事件
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}
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}
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//按键按顺序增加
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key_i++;
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if(key_i >= 3) key_i = 0;
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}
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void msg_clr()
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{
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key_msg[0] = 0;
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key_msg[1] = 0;
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key_msg[2] = 0;
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}
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//按键功能
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void key_act(void)
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{
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if(key_msg[0] == 1) //K1完成按下后
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{
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if( speed_max < 0x007EA5E0 ) //电机加速
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{
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speed_max += 10000;
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TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
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}else
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{
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speed_max = 0x007EA5E0;
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TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
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}
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key_msg[0] = 2;
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}
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if(key_msg[1] == 1) //K2完成按下后
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{
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// if(oled_page >= PAGEMAX) //OLED翻页
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// {
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// oled_page = 1;
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// }else oled_page++;
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// OLED_NewFrame();
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if( speed_max > 0 ) //电机减速
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{
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speed_max -= 10000;
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TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
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}else
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{
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speed_max = 0;
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TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
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}
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key_msg[1] = 2;
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}
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if(key_msg[2] == 1)//K3完成按下后
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{
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tmc5160_sw =(tmc5160_sw == 0);
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if(tmc5160_sw == 1) //0->1时初始化
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{
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speed_max = 0x000061A8;
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tmc5160_init();
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}
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if(tmc5160_sw == 0) TMC5160_SPIWriteInt(RAMPMODE_ADDR, 0x00000000,1); //1->0时切换至位置模式，通过减速停止电机
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key_msg[2] = 2;
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}
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}
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