diff --git a/.vscode/settings.json b/.vscode/settings.json
index 22fc3bf..ff07a69 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -44,6 +44,7 @@
"user_lib.h": "c",
"init.h": "c",
"user_flash.h": "c",
- "uart_lcd.h": "c"
+ "uart_lcd.h": "c",
+ "linear_encoder.h": "c"
}
}
\ No newline at end of file
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index def74e0..d851dd6 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -34,6 +34,8 @@
#include "tcpserverc.h"
#include "lwip.h"
#include "uart_lcd.h"
+#include "user_gpio.h"
+#include "linear_encoder.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -43,7 +45,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
-// extern UART_HandleTypeDef huart5;
+
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -65,13 +67,6 @@ osThreadId ec11_taskHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
extern float current_buff[2];
-extern uint8_t tcp_echo_flags_control;
-extern uint8_t send_data_flag_cmd;
-ec11_t ec11_data = {0};
-uint8_t di_state_last[DI_MAX] = {0};
-uint8_t di_state_now[DI_MAX] = {0};
-int encode_direction = 0;
-int encode_num = 0;
/* USER CODE END FunctionPrototypes */
void start_tcp_task(void const *argument);
@@ -194,61 +189,8 @@ void start_led_toggle_task(void const *argument)
for (;;)
{
HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
- // 旋转编码器确认按键状态，并切换�?�道和确认电流�?�输�?????
- // if (uart_lcd_state.page_num == 0)
- {
- if (ec11_data.confirm_key_flag == 0)
- {
- }
- else if (ec11_data.confirm_key_flag == 1) // 确认按键确认电流输出
- {
- ec11_data.confirm_key_flag_last++;
- if (ec11_data.confirm_key_flag_last > 2)
- {
- current_buff[0] = (float)uart_lcd_state.current_value[0];
- current_buff[1] = (float)uart_lcd_state.current_value[1];
- ec11_data.confirm_key_flag_last = 0;
- ec11_data.confirm_key_flag = 0;
- }
- }
- else if (ec11_data.confirm_key_flag == 2) // 切换通道按键确认状�??
- {
- ec11_data.confirm_key_flag_last++;
- if (ec11_data.confirm_key_flag_last > 2)
- {
- if (uart_lcd_state.key_state[0] == 1)
- {
- uart_lcd_state.key_state[0] = 0;
- uart_lcd_state.key_state[1] = 1;
- uart_lcd_state.key_state[2] = 0;
- }
- else if (uart_lcd_state.key_state[0] == 0)
- {
- uart_lcd_state.key_state[0] = 1;
- uart_lcd_state.key_state[1] = 0;
- uart_lcd_state.key_state[2] = 1;
- }
- ec11_data.confirm_key_flag_last = 0;
- ec11_data.confirm_key_flag = 0;
- uart_lcd_channel_switch(uart_lcd_state.key_state[0]);
- }
- }
- else if (ec11_data.confirm_key_flag == 3) // 切换界面
- {
- if (uart_lcd_state.page_num == 0)
- {
- uart_lcd_state.page_num = 1;
- }
- else if (uart_lcd_state.page_num == 1)
- {
- uart_lcd_state.page_num = 0;
- }
- ec11_data.confirm_key_flag_last = 0;
- ec11_data.confirm_key_flag = 0;
- uart_lcd_page_switch(uart_lcd_state.page_num);
- }
- }
+ uart_lcd_ecll_control_current_out();
vTaskDelay(500);
}
/* USER CODE END start_led_toggle_task */
@@ -297,17 +239,7 @@ void start_adc_task(void const *argument)
{
ad7124_get_analog(ch);
}
- // HAL_GPIO_TogglePin(LED2_Y_GPIO_Port, LED2_Y_Pin);
-
- /*姝ら儴鍒嗘槸鍥犱负閫氳杩囩▼涓細浜х敓閫氳涓柇骞舵棤娉曟仮澶嶇殑鎯呭喌*/
- if (huart5.RxState == HAL_UART_STATE_READY)
- {
- HAL_UARTEx_ReceiveToIdle_DMA(&huart5, hart1_uart5.rx_data_temp, ARRAY_LEN(hart1_uart5.rx_data_temp));
- }
- if (huart2.RxState == HAL_UART_STATE_READY)
- {
- HAL_UARTEx_ReceiveToIdle_DMA(&huart2, hart2_uart2.rx_data_temp, ARRAY_LEN(hart2_uart2.rx_data_temp));
- }
+ communication_reset_hart();
osThreadResume(dac_taskHandle);
vTaskDelay(10);
}
@@ -327,36 +259,7 @@ void start_gpio_di_do_task(void const *argument)
/* Infinite loop */
for (;;)
{
-
- uint8_t di_ch = 0;
- uint8_t tx_data_len = 7 + DI_MAX;
- uint8_t tx_data[32] = {0};
- tx_data[0] = FRAME_HEAD;
- tx_data[1] = COM_OK;
- tx_data[2] = DEVICE_NUM;
- tx_data[3] = SEND_STATE_CMD;
- tx_data[4] = DI_MAX;
- for (di_ch = 0; di_ch < DI_MAX; di_ch++)
- {
- di_state_now[di_ch] = gpio_di_test(di_ch);
- if (di_state_last[di_ch] != di_state_now[di_ch])
- {
- di_state_last[di_ch] = di_state_now[di_ch];
- send_data_flag_cmd = 1;
- }
- tx_data[5 + di_ch] = di_state_now[di_ch];
- }
- if ((send_data_flag_cmd != 0) && (1 == tcp_echo_flags_control))
- {
- tx_data[5 + DI_MAX] = xor_compute(tx_data + 1, tx_data_len - 3); // 寮傛垨鏍￠獙
- tx_data[6 + DI_MAX] = FRAME_TAIL; // 甯у熬
- user_send_data_control(tx_data, tx_data_len);
- send_data_flag_cmd++;
- if (send_data_flag_cmd > 3) // 杩炵画涓夋涓婁綅鏈烘病鏈夊洖搴旓紝鍒欏仠姝㈠彂閫佹暟鎹寘
- {
- send_data_flag_cmd = 0;
- }
- }
+ user_gpio_trigger();
vTaskDelay(100);
}
/* USER CODE END start_gpio_di_do_task */
@@ -375,63 +278,8 @@ void start_ec11_task(void const *argument)
/* Infinite loop */
for (;;)
{
- encode_direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim8);
- encode_num = (short)__HAL_TIM_GET_COUNTER(&htim8);
- // 旋转编码器调节电流�?�画面显�?????
- if (uart_lcd_state.page_num == 0)
- {
- ec11_data.direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);
- ec11_data.encode_num = (short)__HAL_TIM_GET_COUNTER(&htim1);
-
- if ((ec11_data.direction == 0) && (ec11_data.encode_num > ec11_data.encode_num_last))
- {
- if (uart_lcd_state.key_state[0] == 0)
- {
- uart_lcd_state.current_value[0] += 1;
- if (uart_lcd_state.current_value[0] > 20)
- {
- uart_lcd_state.current_value[0] = 20;
- }
- }
- else if (uart_lcd_state.key_state[0] == 1)
- {
- uart_lcd_state.current_value[1] += 1;
- if (uart_lcd_state.current_value[1] > 20)
- {
- uart_lcd_state.current_value[1] = 20;
- }
- }
- uart_lcd_current_out(uart_lcd_state.key_state[0]);
- }
- if ((ec11_data.direction == 1) && (ec11_data.encode_num < ec11_data.encode_num_last))
- {
- if (uart_lcd_state.key_state[0] == 0)
- {
- if (uart_lcd_state.current_value[0] < 2)
- {
- uart_lcd_state.current_value[0] = 0;
- }
- else
- {
- uart_lcd_state.current_value[0] -= 1;
- }
- }
- else if (uart_lcd_state.key_state[0] == 1)
- {
- if (uart_lcd_state.current_value[1] < 2)
- {
- uart_lcd_state.current_value[1] = 0;
- }
- else
- {
- uart_lcd_state.current_value[1] -= 1;
- }
- }
- uart_lcd_current_out(uart_lcd_state.key_state[0]);
- }
-
- ec11_data.encode_num_last = ec11_data.encode_num;
- }
+ linear_encoder_get_data();
+ uart_lcd_ec11_control_current();
vTaskDelay(100);
}
/* USER CODE END start_ec11_task */
diff --git a/Documents/project documents/老化测试&半成品测试协议.docx b/Documents/project documents/老化测试&半成品测试协议.docx
index 6400635..80e421f 100644
Binary files a/Documents/project documents/老化测试&半成品测试协议.docx and b/Documents/project documents/老化测试&半成品测试协议.docx differ
diff --git a/MDK-ARM/semi-finished_product_testing.uvoptx b/MDK-ARM/semi-finished_product_testing.uvoptx
index 8816b68..6ecbd2b 100644
--- a/MDK-ARM/semi-finished_product_testing.uvoptx
+++ b/MDK-ARM/semi-finished_product_testing.uvoptx
@@ -320,6 +320,11 @@
1
encode_num,0x0A
+
+ 34
+ 1
+ linear_enc
+
@@ -1943,7 +1948,7 @@
User/board
- 0
+ 1
0
0
0
@@ -1959,6 +1964,18 @@
0
0
+
+ 10
+ 126
+ 1
+ 1
+ 0
+ 0
+ ..\User\board\src\linear_encoder.c
+ linear_encoder.c
+ 0
+ 0
+
@@ -1969,7 +1986,7 @@
0
11
- 126
+ 127
1
0
0
@@ -1981,9 +1998,9 @@
11
- 127
+ 128
1
- 0
+ 1
0
0
..\User\application\src\communication_protocol.c
@@ -1993,7 +2010,7 @@
11
- 128
+ 129
1
0
0
@@ -2005,7 +2022,7 @@
11
- 129
+ 130
1
0
0
@@ -2017,7 +2034,7 @@
11
- 130
+ 131
1
0
0
@@ -2037,7 +2054,7 @@
0
12
- 131
+ 132
1
0
0
@@ -2049,7 +2066,7 @@
12
- 132
+ 133
1
0
0
@@ -2061,7 +2078,7 @@
12
- 133
+ 134
1
0
0
@@ -2073,7 +2090,7 @@
12
- 134
+ 135
1
0
0
@@ -2093,7 +2110,7 @@
0
13
- 135
+ 136
1
0
0
@@ -2105,7 +2122,7 @@
13
- 136
+ 137
1
0
0
@@ -2117,7 +2134,7 @@
13
- 137
+ 138
1
0
0
diff --git a/MDK-ARM/semi-finished_product_testing.uvprojx b/MDK-ARM/semi-finished_product_testing.uvprojx
index 0416912..08a879b 100644
--- a/MDK-ARM/semi-finished_product_testing.uvprojx
+++ b/MDK-ARM/semi-finished_product_testing.uvprojx
@@ -1053,6 +1053,11 @@
1
..\User\board\src\leds.c
+
+ linear_encoder.c
+ 1
+ ..\User\board\src\linear_encoder.c
+
diff --git a/MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.hex b/MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.hex
index f7a4368..ff75e96 100644
--- a/MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.hex
+++ b/MDK-ARM/semi-finished_product_testing/semi-finished_product_testing.hex
@@ -1,30 +1,30 @@
:020000040800F2
-:10000000F8FB002061020008115400081B4700089B
-:100010000D5400087F040008AD60000800000000D7
+:1000000000FC002061020008755600087F490008C6
+:1000100071560008E30600081163000800000000A4
:10002000000000000000000000000000A101000826
-:100030002F06000800000000FD0100088955000897
+:100030009308000800000000FD010008ED570008CB
:100040007B0200087B0200087B0200087B0200089C
-:100050007B0200087B0200087B020008A50C000858
-:100060007B020008AF0C00087B0200088504000832
-:1000700095040008A5040008B5040008C50400089C
-:10008000D5040008E50400087B0200087B02000894
-:100090007B0200087B0200087B020008B90C000804
+:100050007B0200087B0200087B020008090F0008F1
+:100060007B020008130F00087B020008E906000865
+:10007000F906000809070008190700082907000801
+:1000800039070008490700087B0200087B020008C6
+:100090007B0200087B0200087B0200081D0F00089D
:1000A0007B0200087B0200087B0200087B0200083C
-:1000B0007B0200087B020008815600087B020008D2
+:1000B0007B0200087B020008E55800087B0200086C
:1000C0007B0200087B0200087B0200087B0200081C
-:1000D0007B0200087D6000088D6000089D600008BC
+:1000D0007B020008E1620008F16200080163000889
:1000E0007B0200087B0200087B0200087B020008FC
-:1000F0007B0200087B0200087B020008F504000870
+:1000F0007B0200087B0200087B0200085907000809
:100100007B0200087B0200087B0200087B020008DB
-:10011000BD590008CD5900087B0200087B02000889
-:100120007B0200087B020008050500087B0200082E
-:100130007B0200083D0700087B0200087B020008E4
+:10011000215C0008315C00087B0200087B020008BB
+:100120007B0200087B020008690700087B020008C8
+:100130007B020008A10900087B0200087B0200087E
:100140007B0200087B0200087B0200087B0200089B
-:100150007B0200087B020008150500087B020008EE
+:100150007B0200087B020008790700087B02000888
:100160007B0200087B0200087B0200087B0200087B
:100170007B0200087B0200087B02000800000000F0
-:100180007B0200087B020008DFF810D000F03AF98B
-:1001900000480047BD9A0008AFF30080F8FB00203C
+:100180007B0200087B020008DFF810D000F06CFA58
+:10019000004800471D9E0008AFF3008000FC0020CF
:1001A0002C4B19680868B0E8F04F80F30988BFF35A
:1001B0006F8F4FF0000080F311887047000000003F
:1001C00008480068006880F308884FF0000080F35A
@@ -33,21 +33,21 @@
:1001F00070010160704700BF88ED00E0EFF30980F7
:10020000BFF36F8F134B1A681EF0100F08BF20ED5D
:10021000108A20E9F04F106009B44FF0500080F3CD
-:100220001188BFF34F8FBFF36F8F15F049FA4FF06E
+:100220001188BFF34F8FBFF36F8F15F0F5FB4FF0C1
:10023000000080F3118809BC19680868B0E8F04F25
:100240001EF0100F08BFB0EC108A80F30988BFF3CE
-:100250006F8F704788000020EFF305807047000023
+:100250006F8F704774000020EFF305807047000037
:100260000648804706480047FEE7FEE7FEE7FEE750
-:10027000FEE7FEE7FEE7FEE7FEE7FEE76D56000855
+:10027000FEE7FEE7FEE7FEE7FEE7FEE7D1580008EF
:10028000890100082DE9F05F0546002092469B4653
:1002900088460646814640241BE02846414647469C
-:1002A000224600F09EF853465A46C01A914110D398
-:1002B00011461846224600F085F82D1A67EB010812
-:1002C0004F4622460120002100F07CF817EB000980
+:1002A000224600F03DF953465A46C01A914110D3F8
+:1002B00011461846224600F024F92D1A67EB010872
+:1002C0004F4622460120002100F01BF917EB0009E0
:1002D0004E41201EA4F10104DFDC484631462A4687
:1002E0004346BDE8F09F00000649074A08685043AE
:1002F00043F2390210440860400870470149086021
-:1003000070470000600600206D4EC64110B5431ACC
+:10030000704700005C0600206D4EC64110B5431AD0
:10031000934209D28318881803E010F8011D03F8EE
:10032000011D521EF9D210BD40EA01039B0703D004
:1003300009E008C9121F08C0042AFAD203E011F824
@@ -56,5822 +56,5876 @@
:1003600013460A4604461946FFF7F0FF204610BD23
:10037000421C10F8011B0029FBD1801A704730B5D0
:1003800004460020034600E05B1C934203D2E05C7D
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diff --git a/User/application/inc/communication_protocol.h b/User/application/inc/communication_protocol.h
index ccc1206..82b4fc5 100644
--- a/User/application/inc/communication_protocol.h
+++ b/User/application/inc/communication_protocol.h
@@ -3,16 +3,28 @@
#include "user_lib.h"
-#define COM_ERROR_CODE_SIZE 7 // 通信错误返回帧长度
-#define COM_AI_DATA_SIZE 11 // 模拟量数据返回帧长度
-#define FRAME_HEAD 0xAA // 帧头
-#define FRAME_TAIL 0x3C // 帧尾
-#define DEVICE_NUM 0x00 // 设备号
-#define READ_ANALOG_CMD 0x00 // 读模拟量命令
-#define WRITE_ANALOG_CMD 0x01 // 写模拟量命令
-#define READ_DIGITAL_CMD 0x02 // 读数字量命令
-#define WRITE_DIGITAL_CMD 0x03 // 写数字量命令
-#define SEND_STATE_CMD 0x04 // 主动上发状态命令
+#define COM_ERROR_CODE_SIZE 7 // 通信错误返回帧长度
+#define COM_AI_DATA_SIZE 11 // 模拟量数据返回帧长度
+#define COM_ENCODER_DATA_SIZE 12 // 模拟量数据返回帧长度
+#define FRAME_HEAD 0xAA // 帧头
+#define FRAME_TAIL 0x3C // 帧尾
+#define DEVICE_NUM 0x00 // 设备号
+
+typedef enum
+{
+ READ_ANALOG_CMD = 0x00, // 读模拟量命令
+ WRITE_ANALOG_CMD, // 写模拟量命令
+ READ_DIGITAL_CMD, // 读数字量命令
+ WRITE_DIGITAL_CMD, // 写数字量命令
+ SEND_STATE_CMD, // 主动上发状态命令
+ READ_ENCODER_CMD, // 读编码器命令
+} communication_cmd_e;
+// #define READ_ANALOG_CMD 0x00 // 读模拟量命令
+// #define WRITE_ANALOG_CMD 0x01 // 写模拟量命令
+// #define READ_DIGITAL_CMD 0x02 // 读数字量命令
+// #define WRITE_DIGITAL_CMD 0x03 // 写数字量命令
+// #define SEND_STATE_CMD 0x04 // 主动上发状态命令
+// #define READ_ENCODER_CMD 0x05 // 读编码器命令
typedef enum
{
@@ -47,6 +59,11 @@ typedef struct
uint8_t channel;
} communication_ai_t;
+typedef struct
+{
+ uint8_t channel;
+} comnmunication_encoder_t;
+
typedef union
{
uint8_t data[50];
@@ -54,10 +71,13 @@ typedef union
communication_di_t di_data;
communication_ao_t ao_data;
communication_ai_t ai_data;
+ comnmunication_encoder_t encoder_data;
} communication_data_u;
#pragma pack()
void communication_exception(uint8_t *tx_data, const uint8_t *const rx_data, communication_error_e error_code);
void communication_get_ai(communication_ai_t *ai_data, uint8_t *tx_data, const uint8_t *const rx_data);
void communication_set_ao(communication_ao_t *ao_data);
+void communication_get_encoder(comnmunication_encoder_t *encoder_data, uint8_t *tx_data, const uint8_t *const rx_data);
+void communication_reset_hart(void);
#endif
diff --git a/User/application/src/communication_protocol.c b/User/application/src/communication_protocol.c
index e690039..a447601 100644
--- a/User/application/src/communication_protocol.c
+++ b/User/application/src/communication_protocol.c
@@ -1,7 +1,8 @@
#include "communication_protocol.h"
#include "user_lib.h"
#include "ad7124.h"
-
+#include "usart.h"
+#include "linear_encoder.h"
extern float current_buff[2];
extern ad7124_analog_t ad7124_analog[AD7124_CHANNEL_EN_MAX];
/**
@@ -57,4 +58,32 @@ void communication_set_ao(communication_ao_t *ao_data)
current_buff[ao_data->channel] = B2S_FLOAT32(ao_data->data.f);
}
-
+void communication_get_encoder(comnmunication_encoder_t *encoder_data, uint8_t *tx_data, const uint8_t *const rx_data)
+{
+ float32_u enc_data;
+ uint8_t tx_data_len = COM_ENCODER_DATA_SIZE;
+ enc_data.f = S2B_FLOAT32(linear_enc.length);
+ tx_data[0] = FRAME_HEAD; // 帧头
+ tx_data[1] = COM_OK; // 状态
+ tx_data[2] = rx_data[2]; // 设备号
+ tx_data[3] = rx_data[3]; // 命令号
+ tx_data[4] = 5; // 数据长度
+ tx_data[5] = linear_enc.direction; // 运动方向
+ tx_data[6] = enc_data.c; // 数据
+ tx_data[7] = enc_data.c >> 8; // 数据
+ tx_data[8] = enc_data.c >> 16; // 数据
+ tx_data[9] = enc_data.c >> 24; // 数据
+ tx_data[10] = xor_compute(tx_data + 1, tx_data_len - 3); // 异或校验
+ tx_data[11] = FRAME_TAIL; // 帧尾
+}
+void communication_reset_hart(void)
+{
+ if (huart5.RxState == HAL_UART_STATE_READY)
+ {
+ HAL_UARTEx_ReceiveToIdle_DMA(&huart5, hart1_uart5.rx_data_temp, ARRAY_LEN(hart1_uart5.rx_data_temp));
+ }
+ if (huart2.RxState == HAL_UART_STATE_READY)
+ {
+ HAL_UARTEx_ReceiveToIdle_DMA(&huart2, hart2_uart2.rx_data_temp, ARRAY_LEN(hart2_uart2.rx_data_temp));
+ }
+}
diff --git a/User/application/src/tcpserverc.c b/User/application/src/tcpserverc.c
index b1a1057..1cfe00c 100644
--- a/User/application/src/tcpserverc.c
+++ b/User/application/src/tcpserverc.c
@@ -25,6 +25,7 @@ communication_di_t *user_communication_di = NULL;
communication_do_t *user_communication_do = NULL;
communication_ai_t *user_communication_ai = NULL;
communication_ao_t *user_communication_ao = NULL;
+comnmunication_encoder_t *user_communication_encoder = NULL;
extern uint8_t tcp_echo_flags_hart1;
extern uint8_t tcp_echo_flags_hart2;
@@ -198,6 +199,15 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
{
send_data_flag_cmd = 0; // 上位机返回数据，发送状态标志位清零
}
+ else if (tcp_rx_data[3] == READ_ENCODER_CMD)
+ {
+ /*读操作，从寄存器读取数据，组包返回*/
+ tx_data_len = COM_ENCODER_DATA_SIZE;
+ user_communication_encoder = &communication_data.encoder_data;
+ communication_get_encoder(user_communication_encoder, tcp_tx_data, tcp_rx_data);
+ tcp_write(tpcb, tcp_tx_data, tx_data_len, 1);
+ }
+
else
{
// 返回命令号错误
diff --git a/User/board/inc/linear_encoder.h b/User/board/inc/linear_encoder.h
new file mode 100644
index 0000000..ae9bd54
--- /dev/null
+++ b/User/board/inc/linear_encoder.h
@@ -0,0 +1,18 @@
+#ifndef __LINEAR_ENCODER_H__
+#define __LINEAR_ENCODER_H__
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+typedef struct linear_encoder
+{
+ uint8_t channel;
+ uint8_t direction;
+ int data;
+ float length;
+} linear_encoder_t;
+
+extern linear_encoder_t linear_enc;
+
+void linear_encoder_get_data(void);
+#endif
diff --git a/User/board/src/linear_encoder.c b/User/board/src/linear_encoder.c
new file mode 100644
index 0000000..43b38ce
--- /dev/null
+++ b/User/board/src/linear_encoder.c
@@ -0,0 +1,12 @@
+#include "linear_encoder.h"
+#include "tim.h"
+
+linear_encoder_t linear_enc = {0};
+
+void linear_encoder_get_data(void)
+{
+ linear_enc.channel = 0;
+ linear_enc.direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim8);
+ linear_enc.data = (short)__HAL_TIM_GET_COUNTER(&htim8);
+ linear_enc.length = (float)(linear_enc.data * 0.005);
+}
diff --git a/User/driver/uart_lcd.c b/User/driver/uart_lcd.c
index 023fe31..8f1b59f 100644
--- a/User/driver/uart_lcd.c
+++ b/User/driver/uart_lcd.c
@@ -1,9 +1,11 @@
#include "uart_lcd.h"
#include "usart.h"
#include "lwip.h"
-
+#include "tim.h"
extern ip4_addr_t ipaddr;
+extern float current_buff[2];
uart_lcd_t uart_lcd_state = {0};
+ec11_t ec11_data = {0};
static void uart_lcd_current_channel1(void);
static void uart_lcd_current_channel2(void);
@@ -141,3 +143,116 @@ void uart_lcd_page_switch(uint8_t page)
}
// HAL_Delay(100);
}
+
+void uart_lcd_ec11_control_current(void)
+{
+ if (uart_lcd_state.page_num == 0) // 当前页面为电流调节页面时，才对EC11编码器进行计数处理
+ {
+ ec11_data.direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);
+ ec11_data.encode_num = (short)__HAL_TIM_GET_COUNTER(&htim1);
+
+ if ((ec11_data.direction == 0) && (ec11_data.encode_num > ec11_data.encode_num_last))
+ {
+ if (uart_lcd_state.key_state[0] == 0)
+ {
+ uart_lcd_state.current_value[0] += 1;
+ if (uart_lcd_state.current_value[0] > 20)
+ {
+ uart_lcd_state.current_value[0] = 20;
+ }
+ }
+ else if (uart_lcd_state.key_state[0] == 1)
+ {
+ uart_lcd_state.current_value[1] += 1;
+ if (uart_lcd_state.current_value[1] > 20)
+ {
+ uart_lcd_state.current_value[1] = 20;
+ }
+ }
+ uart_lcd_current_out(uart_lcd_state.key_state[0]);
+ }
+ if ((ec11_data.direction == 1) && (ec11_data.encode_num < ec11_data.encode_num_last))
+ {
+ if (uart_lcd_state.key_state[0] == 0)
+ {
+ if (uart_lcd_state.current_value[0] < 2)
+ {
+ uart_lcd_state.current_value[0] = 0;
+ }
+ else
+ {
+ uart_lcd_state.current_value[0] -= 1;
+ }
+ }
+ else if (uart_lcd_state.key_state[0] == 1)
+ {
+ if (uart_lcd_state.current_value[1] < 2)
+ {
+ uart_lcd_state.current_value[1] = 0;
+ }
+ else
+ {
+ uart_lcd_state.current_value[1] -= 1;
+ }
+ }
+ uart_lcd_current_out(uart_lcd_state.key_state[0]);
+ }
+
+ ec11_data.encode_num_last = ec11_data.encode_num;
+ }
+}
+
+void uart_lcd_ecll_control_current_out(void)
+{
+ if (ec11_data.confirm_key_flag == 0)
+ {
+ }
+ else if (ec11_data.confirm_key_flag == 1) // 确认按键确认电流输出
+ {
+ ec11_data.confirm_key_flag_last++;
+ if (ec11_data.confirm_key_flag_last > 2)
+ {
+ current_buff[0] = (float)uart_lcd_state.current_value[0];
+ current_buff[1] = (float)uart_lcd_state.current_value[1];
+ ec11_data.confirm_key_flag_last = 0;
+ ec11_data.confirm_key_flag = 0;
+ }
+ }
+ else if (ec11_data.confirm_key_flag == 2) // 切换通道按键确认状�??
+ {
+ ec11_data.confirm_key_flag_last++;
+ if (ec11_data.confirm_key_flag_last > 2)
+ {
+ if (uart_lcd_state.key_state[0] == 1)
+ {
+ uart_lcd_state.key_state[0] = 0;
+ uart_lcd_state.key_state[1] = 1;
+ uart_lcd_state.key_state[2] = 0;
+ }
+ else if (uart_lcd_state.key_state[0] == 0)
+ {
+ uart_lcd_state.key_state[0] = 1;
+ uart_lcd_state.key_state[1] = 0;
+ uart_lcd_state.key_state[2] = 1;
+ }
+ ec11_data.confirm_key_flag_last = 0;
+ ec11_data.confirm_key_flag = 0;
+ uart_lcd_channel_switch(uart_lcd_state.key_state[0]);
+ }
+ }
+ else if (ec11_data.confirm_key_flag == 3) // 切换界面
+ {
+
+ if (uart_lcd_state.page_num == 0)
+ {
+ uart_lcd_state.page_num = 1;
+ }
+ else if (uart_lcd_state.page_num == 1)
+ {
+ uart_lcd_state.page_num = 0;
+ }
+ ec11_data.confirm_key_flag_last = 0;
+ ec11_data.confirm_key_flag = 0;
+ uart_lcd_page_switch(uart_lcd_state.page_num);
+ }
+}
diff --git a/User/driver/uart_lcd.h b/User/driver/uart_lcd.h
index f5f7642..37a6284 100644
--- a/User/driver/uart_lcd.h
+++ b/User/driver/uart_lcd.h
@@ -26,4 +26,7 @@ void uart_lcd_init(void);
void uart_lcd_current_out(uint8_t channel);
void uart_lcd_channel_switch(uint8_t channel);
void uart_lcd_page_switch(uint8_t page);
+
+void uart_lcd_ec11_control_current(void);
+void uart_lcd_ecll_control_current_out(void);
#endif
diff --git a/User/system/user_gpio.c b/User/system/user_gpio.c
index 28a80b7..c0623d4 100644
--- a/User/system/user_gpio.c
+++ b/User/system/user_gpio.c
@@ -1,5 +1,9 @@
#include "user_gpio.h"
+extern uint8_t send_data_flag_cmd;
+extern uint8_t tcp_echo_flags_control;
+uint8_t di_state_last[DI_MAX] = {0};
+uint8_t di_state_now[DI_MAX] = {0};
void user_write_gpio(communication_do_t *do_data)
{
uint8_t i = 0;
@@ -35,3 +39,36 @@ void user_read_gpio(communication_di_t *di_data, uint8_t *tx_data, const uint8_t
tx_data[5 + length] = xor_compute(tx_data + 1, tx_data_len - 3); // 异或校验
tx_data[6 + length] = FRAME_TAIL; // 帧尾
}
+
+void user_gpio_trigger(void)
+{
+ uint8_t di_ch = 0;
+ uint8_t tx_data_len = 7 + DI_MAX;
+ uint8_t tx_data[32] = {0};
+ tx_data[0] = FRAME_HEAD;
+ tx_data[1] = COM_OK;
+ tx_data[2] = DEVICE_NUM;
+ tx_data[3] = SEND_STATE_CMD;
+ tx_data[4] = DI_MAX;
+ for (di_ch = 0; di_ch < DI_MAX; di_ch++)
+ {
+ di_state_now[di_ch] = gpio_di_test(di_ch);
+ if (di_state_last[di_ch] != di_state_now[di_ch])
+ {
+ di_state_last[di_ch] = di_state_now[di_ch];
+ send_data_flag_cmd = 1;
+ }
+ tx_data[5 + di_ch] = di_state_now[di_ch];
+ }
+ if ((send_data_flag_cmd != 0) && (1 == tcp_echo_flags_control))
+ {
+ tx_data[5 + DI_MAX] = xor_compute(tx_data + 1, tx_data_len - 3); // 寮傛垨鏍￠獙
+ tx_data[6 + DI_MAX] = FRAME_TAIL; // 甯у熬
+ user_send_data_control(tx_data, tx_data_len);
+ send_data_flag_cmd++;
+ if (send_data_flag_cmd > 3) // 杩炵画涓夋涓婁綅鏈烘病鏈夊洖搴旓紝鍒欏仠姝㈠彂閫佹暟鎹寘
+ {
+ send_data_flag_cmd = 0;
+ }
+ }
+}
diff --git a/User/system/user_gpio.h b/User/system/user_gpio.h
index 77c9792..6df3a16 100644
--- a/User/system/user_gpio.h
+++ b/User/system/user_gpio.h
@@ -6,5 +6,6 @@
void user_write_gpio(communication_do_t *do_data);
void user_read_gpio(communication_di_t *di_data, uint8_t *tx_data, const uint8_t *const rx_data);
+void user_gpio_trigger(void);
#endif