xushenghao
/
motor_cs103
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

加入按键

This commit is contained in:
许晟昊 2024-12-24 15:56:49 +08:00
parent 7ac6baf560
commit ce04a54b9d
13 changed files with 1576 additions and 1388 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Core/Inc/main.h
View File

@ -23,7 +23,8 @@
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
/* Includes ------------------------------------------------------------------*/
@ -49,6 +50,7 @@ extern "C" {
/* USER CODE BEGIN Includes */
#include "sys.h"
#include "delay.h"
#include "btn.h"
#include "lib.h"
#include "bsp.h"
@ -97,16 +99,18 @@ void Error_Handler(void);
#define OLED_SDA_GPIO_Port GPIOB
#define OLDE_SCK_Pin LL_GPIO_PIN_13
#define OLDE_SCK_GPIO_Port GPIOB
#define KEY_1_Pin LL_GPIO_PIN_14
#define KEY_1_GPIO_Port GPIOB
#ifndef NVIC_PRIORITYGROUP_0
#define NVIC_PRIORITYGROUP_0 ((uint32_t)0x00000007) /*!< 0 bit for pre-emption priority,
#define NVIC_PRIORITYGROUP_0 ((uint32_t)0x00000007) /*!< 0 bit for pre-emption priority, \
4 bits for subpriority */
#define NVIC_PRIORITYGROUP_1 ((uint32_t)0x00000006) /*!< 1 bit for pre-emption priority,
#define NVIC_PRIORITYGROUP_1 ((uint32_t)0x00000006) /*!< 1 bit for pre-emption priority, \
3 bits for subpriority */
#define NVIC_PRIORITYGROUP_2 ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority,
#define NVIC_PRIORITYGROUP_2 ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority, \
2 bits for subpriority */
#define NVIC_PRIORITYGROUP_3 ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority,
#define NVIC_PRIORITYGROUP_3 ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority, \
1 bit for subpriority */
#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority,
#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority, \
0 bit for subpriority */
#endif

12
Core/Src/gpio.c
View File

@ -94,9 +94,9 @@ void MX_GPIO_Init(void)
LL_GPIO_Init(TMC2240_DIR_GPIO_Port, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_14
|LL_GPIO_PIN_15|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5
|LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_15
|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6
|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@ -108,6 +108,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/**/
GPIO_InitStruct.Pin = KEY_1_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
LL_GPIO_Init(KEY_1_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 2 */

3
Core/Src/stm32f1xx_it.c
View File

@ -25,7 +25,7 @@
#include "sys.h"
#include "flow.h"
#include "board.h"
#include "btn.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -243,6 +243,7 @@ void TIM1_UP_IRQHandler(void)
{
TIM_IRQ_HANDLER(TASK_TIM);
LL_IncTick();
button_ticks();
FLOW_TICK_UPDATE();
}
/* USER CODE END TIM1_UP_IRQn 1 */

84
MDK-ARM/motor.uvoptx
View File

@ -364,6 +364,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>11</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\application\key.c</PathWithFileName>
<FilenameWithoutPath>key.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
@ -374,7 +386,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>11</FileNumber>
<FileNumber>12</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -386,7 +398,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>12</FileNumber>
<FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -398,7 +410,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>13</FileNumber>
<FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -410,7 +422,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>14</FileNumber>
<FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -422,7 +434,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>15</FileNumber>
<FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -434,7 +446,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>16</FileNumber>
<FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -446,7 +458,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>17</FileNumber>
<FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -458,7 +470,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>18</FileNumber>
<FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -470,7 +482,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>19</FileNumber>
<FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -490,7 +502,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>20</FileNumber>
<FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -502,7 +514,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>21</FileNumber>
<FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -514,7 +526,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>22</FileNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -526,7 +538,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>23</FileNumber>
<FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -538,7 +550,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>24</FileNumber>
<FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -550,7 +562,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>25</FileNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -562,7 +574,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>26</FileNumber>
<FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -574,7 +586,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>27</FileNumber>
<FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -586,7 +598,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>28</FileNumber>
<FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -606,7 +618,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>29</FileNumber>
<FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -618,7 +630,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>30</FileNumber>
<FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -630,7 +642,7 @@
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>31</FileNumber>
<FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -650,7 +662,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>32</FileNumber>
<FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -662,7 +674,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>33</FileNumber>
<FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -674,7 +686,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>34</FileNumber>
<FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -686,7 +698,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>35</FileNumber>
<FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -698,7 +710,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>36</FileNumber>
<FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -710,7 +722,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>37</FileNumber>
<FileNumber>38</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -722,7 +734,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>38</FileNumber>
<FileNumber>39</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -734,7 +746,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>39</FileNumber>
<FileNumber>40</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -746,7 +758,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>40</FileNumber>
<FileNumber>41</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -758,7 +770,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>41</FileNumber>
<FileNumber>42</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -770,7 +782,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>42</FileNumber>
<FileNumber>43</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -782,7 +794,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>43</FileNumber>
<FileNumber>44</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -794,7 +806,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>44</FileNumber>
<FileNumber>45</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -806,7 +818,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>45</FileNumber>
<FileNumber>46</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -818,7 +830,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
<FileNumber>46</FileNumber>
<FileNumber>47</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>

5
MDK-ARM/motor.uvprojx
View File

@ -652,6 +652,11 @@
<FileType>1</FileType>
<FilePath>..\User\application\app.c</FilePath>
</File>
<File>
<FileName>key.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\application\key.c</FilePath>
</File>
</Files>
</Group>
<Group>

2622
MDK-ARM/motor/motor.hex
View File

File diff suppressed because it is too large Load Diff

12
User/application/app.c
View File

@ -2,12 +2,17 @@
#include "app.h"
#include "board.h"
#include "flow.h"
#include "key.h"
static struct flow business_fw; // 业务流程
static struct flow idle_fw; // 空闲任务
app_t app;
void key_1_callback(PressEvent e)
{
app.angel = 360;
}
static uint8_t business_inspection(struct flow *fl)
{
FL_HEAD(fl);
@ -40,7 +45,6 @@ static uint8_t idle_inspection(struct flow *fl)
{
GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
tmc2240_config_read(TMC2240_1);
tmc2240_process(TMC2240_1);
ssd1306_f6x8_string(0, 2, " tick:");
ssd1306_f6x8_number(40, 2, tick++, 0);
ssd1306_f6x8_string(0, 4, " cfg:");
@ -79,11 +83,11 @@ void app_init(void)
{
ssd1306_draw_progress_bar(i);
}
ssd1306_clear();
key_init();
FL_INIT(&business_fw); // 业务流程
FL_INIT(&idle_fw); // 空闲任务
ENABLE_TIM(TASK_TIM);
ENABLE_TIM(TMC2240_TIM);
ssd1306_clear();
}

1
User/application/app.h
View File

@ -18,4 +18,5 @@ extern app_t app;
void app_init(void);
void app_run(void);
#endif // APP_H

57
User/application/key.c Normal file
View File

@ -0,0 +1,57 @@
#include "key.h"
#include "btn.h"
#define INVALID_BUTTON_TICKS 200 // 无效按键时间 毫秒
static uint32_t key_start_ticks = 0;
/* 按钮 */
struct Button key_1;
struct Button key_2;
struct Button key_3;
struct Button key_4;
struct Button key_5;
struct Button key_6;
static BOOL allow_condition(void)
{
/**
* key的初始化在LCD板子上电之前，因为是低电平有效，所以会误判为按键按下
*/
if (sys_millis() - key_start_ticks < INVALID_BUTTON_TICKS) // 仿真的时候按键会有毛刺，在xx秒之后按下有效
{
return FALSE;
}
return TRUE;
}
static uint8_t read_button_gpio(button_id_e button_id)
{
if (allow_condition() == FALSE)
{
return ACTIVE_LEVEL_HIGH;
}
switch (button_id)
{
case KEY_1:
return GPIO_READ(KEY_1_GPIO_Port, KEY_1_Pin);
default:
return ACTIVE_LEVEL_LOW;
}
}
static void key_1_press_down_handler(void *btn)
{
key_1_callback(PRESS_DOWN);
}
void key_init(void)
{
key_start_ticks = sys_millis();
GPIO_SET_INPUT(KEY_1_GPIO_Port, KEY_1_Pin);
button_init(&key_1, read_button_gpio, ACTIVE_LEVEL_LOW, KEY_1, KEY_1);
button_attach(&key_1, PRESS_DOWN, key_1_press_down_handler);
button_start(&key_1);
}

13
User/application/key.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef _KEY_H_
#define _KEY_H_
#include "main.h"
typedef enum
{
KEY_1 = 1,
} button_id_e;
void key_1_callback(PressEvent e);
void key_init(void);
#endif // _KEY_H_

22
User/system/lib/driver/tmc2240.c
View File

@ -256,7 +256,7 @@ void tmc2240_config_read(tmc2240_index_e index)
tmc->data.tmc2240_temperature = (float32)(tmc->data.tmc2240_adc_temp - 2038) / 7.7;
}
void tmc2240_process(tmc2240_index_e index)
void tmc2240_test(tmc2240_index_e index)
{
DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
tmc2240_t *tmc = &_tmc2240[index];
@ -310,7 +310,27 @@ void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle)
tmc->motor.pulse_count = ABS(angle) / tmc->motor.step_angle;
tmc->motor.step_angle_count = 0;
tmc->params.enable = TRUE;
_tmc2240_direction(index, tmc->params.direction);
if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
{
if (tmc->params.arr == 0)
{
tmc->params.arr = tmc->default_tm.arr;
}
PWM_SET_ARR(tmc->timer, tmc->params.arr);
tmc->params.freq = PWM_GET_FREQ(tmc->timer);
}
tmc2240_percent(index, tmc->params.percent);
if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
{
tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
_tmc2240_motor_update(index);
}
_tmc2240_enable(index, tmc->params.enable);
}

2
User/system/lib/driver/tmc2240.h
View File

@ -367,6 +367,6 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index);
void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle);
void tmc2240_motor_update(tmc2240_index_e index);
void tmc2240_process(tmc2240_index_e index);
void tmc2240_test(tmc2240_index_e index);
void tmc2240_config_read(tmc2240_index_e index);
#endif // __TMC2240_H

19
motor.ioc
View File

@ -43,12 +43,13 @@ Mcu.Pin0=PC13-TAMPER-RTC
Mcu.Pin1=PD0-OSC_IN
Mcu.Pin10=PB12
Mcu.Pin11=PB13
Mcu.Pin12=PA9
Mcu.Pin13=PA10
Mcu.Pin14=PA13
Mcu.Pin15=PA14
Mcu.Pin16=VP_SYS_VS_Systick
Mcu.Pin17=VP_TIM1_VS_ClockSourceINT
Mcu.Pin12=PB14
Mcu.Pin13=PA9
Mcu.Pin14=PA10
Mcu.Pin15=PA13
Mcu.Pin16=PA14
Mcu.Pin17=VP_SYS_VS_Systick
Mcu.Pin18=VP_TIM1_VS_ClockSourceINT
Mcu.Pin2=PD1-OSC_OUT
Mcu.Pin3=PA3
Mcu.Pin4=PA4
@ -57,7 +58,7 @@ Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PB0
Mcu.Pin9=PB1
Mcu.PinsNb=18
Mcu.PinsNb=19
Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
Mcu.ThirdPartyNb=1
Mcu.UserConstants=
@ -130,6 +131,10 @@ PB13.GPIO_PuPd=GPIO_PULLUP
PB13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
PB13.PinState=GPIO_PIN_RESET
PB13.Signal=GPIO_Output
PB14.GPIOParameters=GPIO_PuPd,GPIO_Label
PB14.GPIO_Label=KEY_1
PB14.GPIO_PuPd=GPIO_PULLUP
PB14.Signal=GPIO_Input
PC13-TAMPER-RTC.GPIOParameters=GPIO_Label
PC13-TAMPER-RTC.GPIO_Label=LED_BLUE
PC13-TAMPER-RTC.Signal=GPIO_Output