From 92cc9d0b1c623ac394461360186ee5b1c010b402 Mon Sep 17 00:00:00 2001 From: cgy Date: Mon, 9 Feb 2026 11:14:38 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E6=AD=A5=E5=8A=9F=E8=83=BD=E5=B7=B2?= =?UTF-8?q?=E7=BB=8F=E5=8A=A0=E5=85=A8=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HARDWARE/ADC/adc.c | 93 ++ HARDWARE/ADC/adc.h | 35 + HARDWARE/SPI/spi.c | 90 ++ HARDWARE/SPI/spi.h | 16 + HARDWARE/TIMER/timer.c | 172 +++ HARDWARE/TIMER/timer.h | 18 + HARDWARE/elemachinery/elemachinery.c | 834 +++++++++++ HARDWARE/elemachinery/elemachinery.h | 27 + OBJ/USART.axf | Bin 326732 -> 357552 bytes OBJ/USART.build_log.htm | 61 +- OBJ/USART.htm | 254 ++-- OBJ/USART.lnp | 9 +- OBJ/USART.sct | 1 - OBJ/USART_USART.dep | 1286 ++++++++++------- OBJ/adc.crf | Bin 0 -> 435299 bytes OBJ/beep.crf | Bin 434286 -> 434286 bytes OBJ/delay.crf | Bin 435046 -> 435046 bytes OBJ/elemachinery.crf | Bin 0 -> 443592 bytes OBJ/key.crf | Bin 435384 -> 435384 bytes OBJ/led.crf | Bin 434327 -> 434327 bytes OBJ/main.crf | Bin 439996 -> 439677 bytes OBJ/misc.crf | Bin 433531 -> 433531 bytes OBJ/spi.crf | Bin 0 -> 435216 bytes OBJ/startup_stm32f40_41xxx.lst | 12 +- OBJ/stm32f4xx_adc.crf | Bin 0 -> 440274 bytes OBJ/stm32f4xx_gpio.crf | Bin 435620 -> 435620 bytes OBJ/stm32f4xx_it.crf | Bin 432941 -> 432941 bytes OBJ/stm32f4xx_rcc.crf | Bin 444154 -> 444154 bytes OBJ/stm32f4xx_spi.crf | Bin 0 -> 438355 bytes OBJ/stm32f4xx_syscfg.crf | Bin 433860 -> 433860 bytes OBJ/stm32f4xx_tim.crf | Bin 0 -> 453509 bytes OBJ/stm32f4xx_usart.crf | Bin 438745 -> 438745 bytes OBJ/sys.crf | Bin 434002 -> 434002 bytes OBJ/system_stm32f4xx.crf | Bin 434722 -> 434722 bytes OBJ/timer.crf | Bin 0 -> 435933 bytes OBJ/usart.crf | Bin 439859 -> 443695 bytes SYSTEM/usart/usart.c | 304 +++- SYSTEM/usart/usart.h | 2 +- USER/USART.uvguix.cgy | 1931 ++++++++++++++++++++++++++ USER/USART.uvoptx | 113 +- USER/USART.uvprojx | 59 +- USER/main.c | 2 +- 42 files changed, 4562 insertions(+), 757 deletions(-) create mode 100644 HARDWARE/ADC/adc.c create mode 100644 HARDWARE/ADC/adc.h create mode 100644 HARDWARE/SPI/spi.c create mode 100644 HARDWARE/SPI/spi.h create mode 100644 HARDWARE/TIMER/timer.c create mode 100644 HARDWARE/TIMER/timer.h create mode 100644 HARDWARE/elemachinery/elemachinery.c create mode 100644 HARDWARE/elemachinery/elemachinery.h create mode 100644 OBJ/adc.crf create mode 100644 OBJ/elemachinery.crf create mode 100644 OBJ/spi.crf create mode 100644 OBJ/stm32f4xx_adc.crf create mode 100644 OBJ/stm32f4xx_spi.crf create mode 100644 OBJ/stm32f4xx_tim.crf create mode 100644 OBJ/timer.crf create mode 100644 USER/USART.uvguix.cgy diff --git a/HARDWARE/ADC/adc.c b/HARDWARE/ADC/adc.c new file mode 100644 index 0000000..cd78655 --- /dev/null +++ b/HARDWARE/ADC/adc.c @@ -0,0 +1,93 @@ +#include "adc.h" +#include "delay.h" +////////////////////////////////////////////////////////////////////////////////// +//本程序只供学习使用，未经作者许可，不得用于其它任何用途 +//ALIENTEK STM32F407开发板 +//ADC 驱动代码 +//正点原子@ALIENTEK +//技术论坛:www.openedv.com +//创建日期:2014/5/6 +//版本：V1.0 +//版权所有，盗版必究。 +//Copyright(C) 广州市星翼电子科技有限公司 2014-2024 +//All rights reserved +////////////////////////////////////////////////////////////////////////////////// + + +//初始化ADC +void Adc_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + ADC_CommonInitTypeDef ADC_CommonInitStructure; + ADC_InitTypeDef ADC_InitStructure; + + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能GPIOA时钟 + RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); //使能ADC1时钟 + + //先初始化ADC1通道5 IO口 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;//PA5 通道5 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;//模拟输入 + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;//不带上下拉 + GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化 + + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1,ENABLE); //ADC1复位 + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1,DISABLE); //复位结束 + + + ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;//独立模式 + ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;//两个采样阶段之间的延迟5个时钟 + ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled; //DMA失能 + ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;//预分频4分频。ADCCLK=PCLK2/4=84/4=21Mhz,ADC时钟最好不要超过36Mhz + ADC_CommonInit(&ADC_CommonInitStructure);//初始化 + + ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;//12位模式 + ADC_InitStructure.ADC_ScanConvMode = DISABLE;//非扫描模式 + ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;//关闭连续转换 + ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;//禁止触发检测，使用软件触发 + ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;//右对齐 + ADC_InitStructure.ADC_NbrOfConversion = 1;//1个转换在规则序列中 也就是只转换规则序列1 + ADC_Init(ADC1, &ADC_InitStructure);//ADC初始化 + + + ADC_Cmd(ADC1, ENABLE);//开启AD转换器 + +} +//获得ADC值 +//ch: @ref ADC_channels +//通道值 0~16取值范围为：ADC_Channel_0~ADC_Channel_16 +//返回值:转换结果 +u16 Get_Adc(u8 ch) +{ + //设置指定ADC的规则组通道，一个序列，采样时间 + ADC_RegularChannelConfig(ADC1, ch, 1, ADC_SampleTime_480Cycles ); //ADC1,ADC通道,480个周期,提高采样时间可以提高精确度 + + ADC_SoftwareStartConv(ADC1); //使能指定的ADC1的软件转换启动功能 + + while(!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC ));//等待转换结束 + + return ADC_GetConversionValue(ADC1); //返回最近一次ADC1规则组的转换结果 +} +//获取通道ch的转换值，取times次,然后平均 +//ch:通道编号 +//times:获取次数 +//返回值:通道ch的times次转换结果平均值 +u16 Get_Adc_Average(u8 ch,u8 times) +{ + u32 temp_val=0; + u8 t; + for(t=0;tCR1&=0XFFC7;//位3-5清零，用来设置波特率 + SPI1->CR1|=SPI_BaudRatePrescaler; //设置SPI1速度 + SPI_Cmd(SPI1,ENABLE); //使能SPI1 +} +//SPI1 读写一个字节 +//TxData:要写入的字节 +//返回值:读取到的字节 +u8 SPI1_ReadWriteByte(u8 TxData) +{ + + while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET){}//等待发送区空 + + SPI_I2S_SendData(SPI1, TxData); //通过外设SPIx发送一个byte 数据 + + while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET){} //等待接收完一个byte + + return SPI_I2S_ReceiveData(SPI1); //返回通过SPIx最近接收的数据 + +} + +u8 spi1_read_write_byte(u8 TxData) +{ + SPI1_ReadWriteByte(TxData); +} + + + + + + + + diff --git a/HARDWARE/SPI/spi.h b/HARDWARE/SPI/spi.h new file mode 100644 index 0000000..0c3571a --- /dev/null +++ b/HARDWARE/SPI/spi.h @@ -0,0 +1,16 @@ +#ifndef __SPI_H +#define __SPI_H +#include "sys.h" +////////////////////////////////////////////////////////////////////////////////// + +//SPI 驱动代码 +//STM32F4工程模板-库函数版本 +//淘宝店铺：http://mcudev.taobao.com +////////////////////////////////////////////////////////////////////////////////// + +void SPI1_Init(void); //初始化SPI1口 +void SPI1_SetSpeed(u8 SpeedSet); //设置SPI1速度 +u8 SPI1_ReadWriteByte(u8 TxData);//SPI1总线读写一个字节 + +#endif + diff --git a/HARDWARE/TIMER/timer.c b/HARDWARE/TIMER/timer.c new file mode 100644 index 0000000..97edaa2 --- /dev/null +++ b/HARDWARE/TIMER/timer.c @@ -0,0 +1,172 @@ +#include "timer.h" +#include "led.h" +////////////////////////////////////////////////////////////////////////////////// +//本程序只供学习使用，未经作者许可，不得用于其它任何用途 +//ALIENTEK STM32F407开发板 +//定时器 驱动代码 +//正点原子@ALIENTEK +//技术论坛:www.openedv.com +//创建日期:2014/5/4 +//版本：V1.0 +//版权所有，盗版必究。 +//Copyright(C) 广州市星翼电子科技有限公司 2014-2024 +//All rights reserved +////////////////////////////////////////////////////////////////////////////////// + + +void TIM2_Int_Init(u16 arr,u16 psc) +{ + TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure; + NVIC_InitTypeDef NVIC_InitStructure; + + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE); ///使能TIM3时钟 + + TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值 + TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //定时器分频 + TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式 + TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; + + TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);//初始化TIM3 + + TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE); //允许定时器3更新中断 + TIM_Cmd(TIM2,ENABLE); //使能定时器3 + + NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn; //定时器3中断 + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01; //抢占优先级1 + NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x03; //子优先级3 + NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; + NVIC_Init(&NVIC_InitStructure); + +} + +u8 led_flag=0; +u16 index=0; + +extern u16 real_dis_data[6]; +extern u16 real_dis_data_bak[6]; +extern u8 double_buffer_flag; + +//定时器3中断服务函数 +void TIM2_IRQHandler(void) +{ + char vcm_cmd[16]; + if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET) //溢出中断 + { + +#if 1 + if(led_flag == 0) + { + GPIO_SetBits(GPIOE, GPIO_Pin_0); + led_flag = 1; + TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 + return; + } + if(led_flag == 1) + { + GPIO_ResetBits(GPIOE, GPIO_Pin_0); + led_flag = 0; + TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 + return; + } +#endif +#if 0 + sprintf(vcm_cmd,VCM_DISPLACE_CMD,real_dis_data[index]); + usart_send(USART3, vcm_cmd); + usart_send(USART3, START_MACRO_NUM); + TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 + return; + +#endif +#if 0 + if(led_flag == 0) + { + sprintf(vcm_cmd,VCM_DISPLACE_CMD,real_dis_data[index]); + usart_send(USART3, vcm_cmd); + usart_send(USART3, START_MACRO_NUM); + index++; + TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 + return; + } + if(led_flag == 1) + { + sprintf(vcm_cmd,VCM_DISPLACE_CMD,real_dis_data_bak[index]); + usart_send(USART3, vcm_cmd); + usart_send(USART3, START_MACRO_NUM); + TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位 + return; + } + if(index > 199 && led_flag == 0) + { + index = 0; + led_flag = 1; + double_buffer_flag = 0; + usart_send(USART1, "laishuju"); + } + if(index > 199 && led_flag == 1) + { + index = 0; + led_flag = 0; + double_buffer_flag = 1; + usart_send(USART1, "laishuju"); + } +#endif + } + +} + + + + +//通用定时器3中断初始化 +//arr：自动重装值。 +//psc：时钟预分频数 +//定时器溢出时间计算方法:Tout=((arr+1)*(psc+1))/Ft us. +//Ft=定时器工作频率,单位:Mhz +//这里使用的是定时器3! +void TIM3_PWM_Init(u16 arr,u16 psc) +{ + GPIO_InitTypeDef GPIO_InitStructure; + TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure; + TIM_OCInitTypeDef TIM_OCInitStructure; + + + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE); ///使能TIM3时钟 + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); + + GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); + + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; + GPIO_Init(GPIOA,&GPIO_InitStructure); + + GPIO_ResetBits(GPIOA, GPIO_Pin_6); + + TIM_TimeBaseInitStructure.TIM_Period = arr; //自动重装载值 + TIM_TimeBaseInitStructure.TIM_Prescaler=psc; //定时器分频 + TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式 + TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; + + TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);//初始化TIM3 + + TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; + TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; + TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; + TIM_OCInitStructure.TIM_Pulse = 100; + + TIM_OC1Init(TIM3, &TIM_OCInitStructure); + + TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable); + + TIM_ARRPreloadConfig(TIM3,ENABLE); + + //TIM_Cmd(TIM3, ENABLE); + +} + +//定时器3中断服务函数 +void TIM3_IRQHandler(void) +{ +} diff --git a/HARDWARE/TIMER/timer.h b/HARDWARE/TIMER/timer.h new file mode 100644 index 0000000..99e837b --- /dev/null +++ b/HARDWARE/TIMER/timer.h @@ -0,0 +1,18 @@ +#ifndef _TIMER_H +#define _TIMER_H +#include "sys.h" +////////////////////////////////////////////////////////////////////////////////// +//本程序只供学习使用，未经作者许可，不得用于其它任何用途 +//ALIENTEK STM32F407开发板 +//定时器 驱动代码 +//正点原子@ALIENTEK +//技术论坛:www.openedv.com +//创建日期:2014/6/16 +//版本：V1.0 +//版权所有，盗版必究。 +//Copyright(C) 广州市星翼电子科技有限公司 2014-2024 +//All rights reserved +////////////////////////////////////////////////////////////////////////////////// + +void TIM3_PWM_Init(u16 arr,u16 psc); +#endif diff --git a/HARDWARE/elemachinery/elemachinery.c b/HARDWARE/elemachinery/elemachinery.c new file mode 100644 index 0000000..cab85ea --- /dev/null +++ b/HARDWARE/elemachinery/elemachinery.c @@ -0,0 +1,834 @@ +#include "elemachinery.h" +//#include "stm32f4xx_hal.h" + +typedef uint32_t u32; +typedef uint16_t u16; +typedef uint8_t u8; + + +#define Poutup(n) GPIO_SetBits(GPIOC, n) //输出 +#define Poutdown(n) GPIO_ResetBits(GPIOC, n) //输出 + + +u32 lcd_key; +char if_mobilemotor_rotate = 0; // 推拉移动电机是否旋转 旋转为1 不旋转为0 +char if_rotatingmotor_rotate = 1; // 旋转采集电机是否旋转 旋转为1 不旋转为0 +char mobile_configure = 0; // 推拉移动电机是否怕配置参数 0为未配置参数 1为配置参数 +char rotating_configure = 0; // 旋转采集电机是否怕配置参数 0为未配置参数 1为配置参数 +char step; + + + +enum process_stage{ + CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION, // 找零阶段向右移动 + CHANGE_STAGE_TO_LEFT_LIMIT_POSITION, // 找零阶段向左移 + CLOESE_THE_LID, // 关盖阶段 左移压紧 + FIND_THE_RIGHT_LIMIT_POSITION, // 找右线位阶段 + FAILD_FIND, // 没有找到试剂 + TESTING_SAMPLES, // 检测阶段 + FIND_THE_LEFT_LIMIT_POSITION, //找右线位阶段 + MOTOR_STOP //电机停止状态 +}; +enum rotating_stage{ + GIVE_CHANGE, // 找零阶段 + ROTATE, // 电机旋转 + RO_MOTOR_STOP, // 找零阶段向左移 + FIND_READ_FROM_CHANGE // 从零点到红色 +}; +enum motor_movement_direction{ + MOVE_LEFT, // 向左移动 + MOVE_RIGHT // 向右移动 +}; + +enum motor_movement_direction motor_move = MOVE_LEFT; +enum process_stage pro_stage = CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION; // 电机启动 进入找零阶段 +enum rotating_stage rot_stage = RO_MOTOR_STOP; + +void TMC2240_CS_LOW(){ + + Poutdown(GPIO_Pin_4); + Poutdown(GPIO_Pin_1); +#if 0 + if(step == 1){ + Poutdown(4); + } + else{ + Poutdown(1); + } +#endif +} +void TMC2240_CS_HIGH(){ + Poutup(GPIO_Pin_4);Poutup(GPIO_Pin_1); +} + +// 向TMC2240写入数据 +void tmc2240_write(uint8_t address, uint8_t data) { + // 先发送地址 + spi1_read_write_byte(address); + // 再发送数据 + spi1_read_write_byte(data); +} + +// TMC2240寄存器写操作（地址+32位数据） +void TMC2240_WriteReg(uint8_t addr, uint32_t data) { + + TMC2240_CS_LOW(); + + spi1_read_write_byte(addr | 0x80); // 写命令（bit7=1）?:ml-citation{ref="1" data="citationList"} + spi1_read_write_byte((data >> 24) & 0xFF); + spi1_read_write_byte((data >> 16) & 0xFF); + spi1_read_write_byte((data >> 8) & 0xFF); + spi1_read_write_byte(data & 0xFF); + +// SoftSPI_TransferByte(addr | 0x80); // 写命令（bit7=1）?:ml-citation{ref="1" data="citationList"} +// SoftSPI_TransferByte((data >> 24) & 0xFF); +// SoftSPI_TransferByte((data >> 16) & 0xFF); +// SoftSPI_TransferByte((data >> 8) & 0xFF); +// SoftSPI_TransferByte(data & 0xFF); + + + TMC2240_CS_HIGH(); +} + +// TMC2240寄存器读操作 +uint32_t TMC2240_ReadReg(uint8_t addr) { + uint32_t data = 0; + + TMC2240_CS_LOW(); + + spi1_read_write_byte(addr & 0x7F); // 读命令（bit7=0）?:ml-citation{ref="1" data="citationList"} + data = (uint32_t)spi1_read_write_byte(0xFF) << 24; + data |= (uint32_t)spi1_read_write_byte(0xFF) << 16; + data |= (uint32_t)spi1_read_write_byte(0xFF) << 8; + data |= spi1_read_write_byte(0xFF); + +// SoftSPI_TransferByte(addr & 0x7F); // 读命令（bit7=0）?:ml-citation{ref="1" data="citationList"} +// data = (uint32_t)SoftSPI_TransferByte(0xFF) << 24; +// data |= (uint32_t)SoftSPI_TransferByte(0xFF) << 16; +// data |= (uint32_t)SoftSPI_TransferByte(0xFF) << 8; +// data |= SoftSPI_TransferByte(0xFF); + + TMC2240_CS_HIGH(); + + return data; +} + + +// direct_mode (Bit 16) +void TMC2240_SetDirectMode(uint8_t value, uint32_t *gconf) { + if (value > 1) return; // 允许值0或1 + *gconf = (*gconf & ~(1 << 16)) | ((value & 0x01) << 16); + TMC2240_WriteReg(0x00, *gconf); +} + +// stop_enable (Bit 15) +void TMC2240_SetStopEnable(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 15)) | ((value & 0x01) << 15); + TMC2240_WriteReg(0x00, *gconf); +} + +// small_hysteresis (Bit 14) +void TMC2240_SetSmallHysteresis(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 14)) | ((value & 0x01) << 14); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag1_pushpull (Bit 13) +void TMC2240_SetDiag1PushPull(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 13)) | ((value & 0x01) << 13); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag0_pushpull (Bit 12) +void TMC2240_SetDiag0PushPull(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 12)) | ((value & 0x01) << 12); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag1_onstate (Bit 10) +void TMC2240_SetDiag1OnState(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 10)) | ((value & 0x01) << 10); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag1_index (Bit 9) +void TMC2240_SetDiag1Index(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 9)) | ((value & 0x01) << 9); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag1_stall (Bit 8) +void TMC2240_SetDiag1Stall(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 8)) | ((value & 0x01) << 8); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag0_stall (Bit 7) +void TMC2240_SetDiag0Stall(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 7)) | ((value & 0x01) << 7); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag0_otpw (Bit 6) +void TMC2240_SetDiag0Otpw(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 6)) | ((value & 0x01) << 6); + TMC2240_WriteReg(0x00, *gconf); +} + +// diag0_error (Bit 5) +void TMC2240_SetDiag0Error(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 5)) | ((value & 0x01) << 5); + TMC2240_WriteReg(0x00, *gconf); +} + +// shaft (Bit 4) +void TMC2240_SetShaft(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 4)) | ((value & 0x01) << 4); + TMC2240_WriteReg(0x00, *gconf); +} + +// multistep_filt (Bit 3) +void TMC2240_SetMultistepFilt(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 3)) | ((value & 0x01) << 3); + TMC2240_WriteReg(0x00, *gconf); +} + +// en_pwm_mode (Bit 2) +void TMC2240_SetEnPwmMode(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 2)) | ((value & 0x01) << 2); + TMC2240_WriteReg(0x00, *gconf); +} + +// fast_standstill (Bit 1) +void TMC2240_SetFastStandstill(uint8_t value, uint32_t *gconf) { + if (value > 1) return; + *gconf = (*gconf & ~(1 << 1)) | ((value & 0x01) << 1); + TMC2240_WriteReg(0x00, *gconf); +} + +void set_GCONF(uint8_t field_selector, uint8_t param_value, uint32_t *gconf) { + switch(field_selector) { + case 0x00: TMC2240_SetDirectMode(param_value, gconf); break; + case 0x01: TMC2240_SetStopEnable(param_value, gconf); break; + case 0x02: TMC2240_SetSmallHysteresis(param_value, gconf); break; + case 0x03: TMC2240_SetDiag1PushPull(param_value, gconf); break; + case 0x04: TMC2240_SetDiag0PushPull(param_value, gconf); break; + case 0x05: TMC2240_SetDiag1OnState(param_value, gconf); break; + case 0x06: TMC2240_SetDiag1Index(param_value, gconf); break; + case 0x07: TMC2240_SetDiag1Stall(param_value, gconf); break; + case 0x08: TMC2240_SetDiag0Stall(param_value, gconf); break; + case 0x09: TMC2240_SetDiag0Otpw(param_value, gconf); break; + case 0x0A: TMC2240_SetDiag0Error(param_value, gconf); break; + case 0x0B: TMC2240_SetShaft(param_value, gconf); break; + case 0x0C: TMC2240_SetMultistepFilt(param_value, gconf); break; + case 0x0D: TMC2240_SetEnPwmMode(param_value, gconf); break; + case 0x0E: TMC2240_SetFastStandstill(param_value, gconf); break; + default: + // 可添加错误处理（如打印无效选择器） + break; + } +} + + +// IRUNDELAY (Bits 27:24) +void TMC2240_SetIRunDelay(uint8_t value, uint32_t *current_config) { + if (value > 15) return; // 错误：超出范围（0-15） + *current_config = (*current_config & 0xF0FFFFFF) | ((value & 0x0F) << 24); + TMC2240_WriteReg(0x10, *current_config); +} + +// IHOLDDELAY (Bits 19:16) +void TMC2240_SetIHoldDelay(uint8_t value, uint32_t *current_config) { + if (value > 15) return; + *current_config = (*current_config & 0xFFF0FFFF) | ((value & 0x0F) << 16); + TMC2240_WriteReg(0x10, *current_config); +} + +// IRUN (Bits 12:8) +void TMC2240_SetIRun(uint8_t value, uint32_t *current_config) { + if (value > 31) return; // 错误：超出范围（0-31） + *current_config = (*current_config & 0xFFFFE0FF) | ((value & 0x1F) << 8); + TMC2240_WriteReg(0x10, *current_config); +} + +// IHOLD (Bits 4:0) +void TMC2240_SetIHold(uint8_t value, uint32_t *current_config) { + if (value > 31) return; + *current_config = (*current_config & 0xFFFFFFE0) | (value & 0x1F); + TMC2240_WriteReg(0x10, *current_config); +} + +// CHOPCONF寄存器配置（0x6C） +void set_IHOLD_IRUN(uint8_t field_selector, uint8_t param_value, uint32_t *current_config) { + switch(field_selector) { + case 0x00: // IHOLD (0-31) + TMC2240_SetIHold(param_value, current_config); + break; + case 0x01: // IRUN (0-31) + TMC2240_SetIRun(param_value, current_config); + break; + case 0x02: // IHOLDDELAY (0-15) + TMC2240_SetIHoldDelay(param_value, current_config); + break; + case 0x03: // IRUNDELAY (0-15) + TMC2240_SetIRunDelay(param_value, current_config); + break; + default: + // 可添加错误处理（如日志输出） + break; + } +} + + +// 设置TOFF（位0-3） +void TMC2240_SetTOFF(uint8_t toff_value, uint32_t *chopconf) { + if (toff_value > 15) return; // 错误：超出范围 + *chopconf = (*chopconf & 0xFFFFFFF0) | (toff_value & 0x0F); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置HSTRT（位4-6） +void TMC2240_SetHSTRT(uint8_t hstrt_value, uint32_t *chopconf) { + if (hstrt_value > 7) return; // 错误：超出范围 + *chopconf = (*chopconf & 0xFFFFF8FF) | ((hstrt_value & 0x07) << 4); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置HEND（位7-10） +void TMC2240_SetHEND(uint8_t hend_value, uint32_t *chopconf) { + if (hend_value > 15) return; // 错误：超出范围 + *chopconf = (*chopconf & 0xFFFFF0FF) | ((hend_value & 0x0F) << 7); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置FD3（位11） +void TMC2240_SetFD3(uint8_t enable, uint32_t *chopconf) { + enable = (enable != 0) ? 1 : 0; // 强制转换为0或1 + *chopconf = (*chopconf & 0xFFFFF7FF) | (enable << 11); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置DISFDCC（位12） +void TMC2240_SetDISFDCC(uint8_t enable, uint32_t *chopconf) { + enable = (enable != 0) ? 1 : 0; + *chopconf = (*chopconf & 0xFFFFEFFF) | (enable << 12); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置RNDTF（位13） +void TMC2240_SetRNDTF(uint8_t enable, uint32_t *chopconf) { + enable = (enable != 0) ? 1 : 0; + *chopconf = (*chopconf & 0xFFFFDFFF) | (enable << 13); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置CHM模式（位14） +void TMC2240_SetCHM(uint8_t enable, uint32_t *chopconf) { + enable = (enable != 0) ? 1 : 0; + *chopconf = (*chopconf & 0xFFFFBFFF) | (enable << 14); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置TBL（位15-16） +void TMC2240_SetTBL(uint8_t tbl_value, uint32_t *chopconf) { + if (tbl_value > 3) return; // 错误：超出范围 + *chopconf = (*chopconf & 0xFFF9FFFF) | ((tbl_value & 0x03) << 15); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置VHIGHFS（位18） +void TMC2240_SetVHIGHFS(uint8_t enable, uint32_t *chopconf) { + enable = (enable != 0) ? 1 : 0; + *chopconf = (*chopconf & 0xFFFBFFFF) | (enable << 18); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置VHIGHCHM（位19） +void TMC2240_SetVHIGHCHM(uint8_t enable, uint32_t *chopconf) { + enable = (enable != 0) ? 1 : 0; + *chopconf = (*chopconf & 0xFFF7FFFF) | (enable << 19); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置TPFD（位20-23） +void TMC2240_SetTPFD(uint8_t tpfd_value, uint32_t *chopconf) { + if (tpfd_value > 15) return; // 错误：超出范围 + *chopconf = (*chopconf & 0xFF0FFFFF) | ((tpfd_value & 0x0F) << 20); + TMC2240_WriteReg(0x6C, *chopconf); +} + +// 设置MRES（位24-27） +void TMC2240_SetMRES(uint8_t mres_value, uint32_t *chopconf) { + if (mres_value > 15) return; // 错误：超出范围 + *chopconf = (*chopconf & 0xF0FFFFFF) | ((mres_value & 0x0F) << 24); + TMC2240_WriteReg(0x6C, *chopconf); +} + +void set_CHOPCONF(uint8_t field_selector, uint8_t param_value, uint32_t *chopconf) { + switch(field_selector) { + case 0x00: TMC2240_SetTOFF(param_value, chopconf); break; // Bits 0-3 + case 0x01: TMC2240_SetHSTRT(param_value, chopconf); break; // Bits 4-6 + case 0x02: TMC2240_SetHEND(param_value, chopconf); break; // Bits 7-10 + case 0x03: TMC2240_SetFD3(param_value, chopconf); break; // Bit 11 + case 0x04: TMC2240_SetDISFDCC(param_value, chopconf); break; // Bit 12 + case 0x05: TMC2240_SetRNDTF(param_value, chopconf); break; // Bit 13 + case 0x06: TMC2240_SetCHM(param_value, chopconf); break; // Bit 14 + case 0x07: TMC2240_SetTBL(param_value, chopconf); break; // Bits 15-16 + case 0x08: TMC2240_SetVHIGHFS(param_value, chopconf); break; // Bit 18 + case 0x09: TMC2240_SetVHIGHCHM(param_value, chopconf); break; // Bit 19 + case 0x0A: TMC2240_SetTPFD(param_value, chopconf); break; // Bits 20-23 + case 0x0B: TMC2240_SetMRES(param_value, chopconf); break; // Bits 24-27 + default: + lcd_key |= 0x80000000; // 假设最高位用作错误标志 + break; + } +} + + +// sfilt (Bit 24) +void TMC2240_SetSFilt(uint8_t value, uint32_t *coolstep_config) { + if (value > 1) return; // 允许值0或1 + *coolstep_config = (*coolstep_config & ~(1 << 24)) | ((value & 0x01) << 24); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// sgt (Bits 22:16) 有符号整数范围 -64~63 +void TMC2240_SetSGT(int8_t value, uint32_t *coolstep_config) { + if (value < -64 || value > 63) return; // 错误：超出范围 + *coolstep_config = (*coolstep_config & ~(0x7F << 16)) | ((value & 0x7F) << 16); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// seimin (Bit 15) +void TMC2240_SetSEIMin(uint8_t value, uint32_t *coolstep_config) { + if (value > 1) return; + *coolstep_config = (*coolstep_config & ~(1 << 15)) | ((value & 0x01) << 15); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// sedn (Bits 14:13) +void TMC2240_SetSEDN(uint8_t value, uint32_t *coolstep_config) { + if (value > 3) return; // 允许值0~3 + *coolstep_config = (*coolstep_config & ~(0x03 << 13)) | ((value & 0x03) << 13); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// semax (Bits 11:8) +void TMC2240_SetSEMax(uint8_t value, uint32_t *coolstep_config) { + if (value > 15) return; // 允许值0~15 + *coolstep_config = (*coolstep_config & ~(0x0F << 8)) | ((value & 0x0F) << 8); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// seup (Bits 6:5) +void TMC2240_SetSEUp(uint8_t value, uint32_t *coolstep_config) { + if (value > 3) return; // 允许值0~3 + *coolstep_config = (*coolstep_config & ~(0x03 << 5)) | ((value & 0x03) << 5); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// semin (Bits 3:0) +void TMC2240_SetSEMin(uint8_t value, uint32_t *coolstep_config) { + if (value > 15) return; // 允许值0~15 + *coolstep_config = (*coolstep_config & ~0x0F) | (value & 0x0F); + TMC2240_WriteReg(0x6D, *coolstep_config); +} + +// COOLCONF寄存器配置函数 +void set_COOLCONF(uint8_t field_selector, uint8_t param_value, uint32_t *coolstep_config) { + switch(field_selector) { + case 0x00: TMC2240_SetSEMin(param_value, coolstep_config); break; + case 0x01: TMC2240_SetSEUp(param_value, coolstep_config); break; + case 0x02: TMC2240_SetSEMax(param_value, coolstep_config); break; + case 0x03: TMC2240_SetSEDN(param_value, coolstep_config); break; + case 0x04: TMC2240_SetSEIMin(param_value, coolstep_config); break; + case 0x05: TMC2240_SetSGT((int8_t)param_value, coolstep_config); break; + case 0x06: TMC2240_SetSFilt(param_value, coolstep_config); break; + default: + // 可添加错误处理（如日志输出） + break; + } +} + +//---- 左右平移电机电机参数配置 +// 0x00 GCONF 参数配置 +uint32_t mobile_gconf = 0x000000C4 | (1 << 7); +// 全局变量声明 +uint32_t mobile_current_config = 0x00180C10; // 地址 0x10 的寄存器值 +// CHOPCONF寄存器配置（地址0x6C） +uint32_t mobile_chopconf = 0x020080C3; +// 全局变量声明 +uint32_t mobile_coolstep_config = 0; // 地址 0x6D 的寄存器值 +//---- 旋转采集电机参数配置 +// 0x00 GCONF 参数配置 +uint32_t rotating_gconf = 0x000000C4 | (1 << 7); +// 全局变量声明 +uint32_t rotating_current_config = 0x00180C10; // 地址 0x10 的寄存器值 +// CHOPCONF寄存器配置（地址0x6C） +uint32_t rotating_chopconf = 0x020080C3; +// 全局变量声明 +uint32_t rotating_coolstep_config = 0; // 地址 0x6D 的寄存器值 + +void motor_left(){ + delay_us(500); + MOVE_THE_MOTOR_TO_THE_LEFT; + TMC2240_SetMRES(6, &mobile_gconf); + motor_move = MOVE_LEFT; + //TMC2240_WriteReg(0x10, 0x00180C10); +} +void motor_right(){ + delay_us(500); + MOVE_THE_MOTOR_TO_THE_RIGHT; + TMC2240_SetMRES(6, &mobile_gconf); + motor_move = MOVE_RIGHT; + //TMC2240_WriteReg(0x10, 0x00180C10); +} +#if 0 +//---- 左右平移电机电机参数配置 +// 0x00 GCONF 参数配置 +uint32_t mobile_gconf = 0x000000C4 | (1 << 7); +// 全局变量声明 +uint32_t mobile_current_config = 0x00180C10; // 地址 0x10 的寄存器值 +// CHOPCONF寄存器配置（地址0x6C） +uint32_t mobile_chopconf = 0x020080C3; +// 全局变量声明 +uint32_t mobile_coolstep_config = 0; // 地址 0x6D 的寄存器值 +//---- 旋转采集电机参数配置 +// 0x00 GCONF 参数配置 +uint32_t rotating_gconf = 0x000000C4 | (1 << 7); +// 全局变量声明 +uint32_t rotating_current_config = 0x00180C10; // 地址 0x10 的寄存器值 +// CHOPCONF寄存器配置（地址0x6C） +uint32_t rotating_chopconf = 0x020080C3; +// 全局变量声明 +uint32_t rotating_coolstep_config = 0; // 地址 0x6D 的寄存器值 + +extern uint16_t Rotation_times; +char rotatingbit = 0; +void change_spi(char *str){ + + uint8_t stepselete = str[0]; + uint8_t reg_addr = str[1]; + uint8_t field_selector = str[2]; + uint16_t param_value = str[3] ; // 合并高/低字节 + if(stepselete == 1){ + mobile_configure = 1; //配置参数结束 + step = 1; + switch(reg_addr) { + case 0x00: // 用于全局状态监控和故障诊断。 + set_CHOPCONF(field_selector, param_value,&mobile_gconf); + break; + case 0x10: // 用于动态调节电机电流以优化能耗和性能 + set_IHOLD_IRUN(field_selector, param_value,&mobile_current_config); + break; + + case 0x6C: // 用于配置静音、高效或高动态的驱动模式。 + set_CHOPCONF(field_selector, param_value,&mobile_chopconf); + break; + + case 0x0D: // 提供实时状态反馈，支持负载检测和温度保护。 + set_COOLCONF(field_selector, param_value,&mobile_coolstep_config); + break; + case 0x01: // 正转 反转 + if(param_value == 1) GPIO_SetBits(GPIOD,GPIO_Pin_8); + else GPIO_ResetBits(GPIOD,GPIO_Pin_8); + break; + case 0xFF: // 电机是否启动 + if_mobilemotor_rotate = param_value; + break; + case 0xF1: // 设置电机旋转圈数 + pro_stage = CLOESE_THE_LID; + rot_stage = GIVE_CHANGE; + rotatingbit = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15); + ProcessControl(); + OPENMOTOR; + break; + default: + // 可添加错误处理（如日志输出） + break; + } + mobile_configure = 0; //配置参数结束 + } + else{ + switch(reg_addr) { + rotating_configure = 1; //配置参数结束 + step = 2; + case 0x00: // 用于全局状态监控和故障诊断。 + set_CHOPCONF(field_selector, param_value,&rotating_gconf); + break; + case 0x10: // 用于动态调节电机电流以优化能耗和性能 + set_IHOLD_IRUN(field_selector, param_value,&rotating_current_config); + break; + + case 0x6C: // 用于配置静音、高效或高动态的驱动模式。 + set_CHOPCONF(field_selector, param_value,&rotating_chopconf); + break; + + case 0x0D: // 提供实时状态反馈，支持负载检测和温度保护。 + set_COOLCONF(field_selector, param_value,&rotating_coolstep_config); + break; + case 0x01: // 正转 反转 + if(param_value == 1) GPIO_SetBits(GPIOB,GPIO_Pin_14); + else GPIO_ResetBits(GPIOB,GPIO_Pin_14); + break; + case 0xFF: // 电机是否启动 + if_rotatingmotor_rotate = param_value; + break; + case 0xF0: // 设置电机旋转圈数 + Rotation_times = param_value*100; + break; + + default: + // 可添加错误处理（如日志输出） + break; + } + rotating_configure = 0; //配置参数结束 + } +} +extern volatile uint32_t pulse_count; +// 电机移动 +//void motor_move(){ +// step = 1; +// GPIO_SetBits(GPIOD,GPIO_Pin_9); +// delay_us(50); +// GPIO_ResetBits(GPIOD,GPIO_Pin_9); +// Rotation_quantity++; +// if(Rotation_quantity == 1500){ +// delay_us(100); +// // TMC2240_WriteReg(0x10, 0x00190C10); +// TMC2240_SetMRES(7, &mobile_gconf); +// } +// +//} +void accelerate(){ + step = 1; + if(pulse_count == 1600){ + TMC2240_SetMRES(7, &mobile_gconf); + } +} +void motor_left(){ + delay_us(500); + MOVE_THE_MOTOR_TO_THE_LEFT; + TMC2240_SetMRES(6, &mobile_gconf); + motor_move = MOVE_LEFT; + //TMC2240_WriteReg(0x10, 0x00180C10); + pulse_count = 0; +} +void motor_right(){ + delay_us(500); + MOVE_THE_MOTOR_TO_THE_RIGHT; + TMC2240_SetMRES(6, &mobile_gconf); + motor_move = MOVE_RIGHT; + //TMC2240_WriteReg(0x10, 0x00180C10); + pulse_count = 0; +} +uint16_t rotating_rotation_times = 0; // 旋转采集电机需要旋转的圈数 +char number_of_detection_cycles = 0; +// 清除线位 + +extern char right_limit; // 到达右线位 +extern char left_limit; // 到达左线位 +extern char mid_limit; // 到达左线位 +void clean_limit(void){ + right_limit = 0; + left_limit = 0; + mid_limit = 0; +} +// 左右平移电机电机流程控制函数 +void ProcessControl(void){ + step = 1; + switch(pro_stage){ + case CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION: // 找零阶段 + // 向右 + motor_right(); + OPENMOTOR; + break; + case CHANGE_STAGE_TO_LEFT_LIMIT_POSITION: // 找零阶段 + motor_left(); + break; + case CLOESE_THE_LID: // 关盖阶段 左移压紧 + motor_left(); + break; + case FIND_THE_RIGHT_LIMIT_POSITION: // 找右线位阶段 + motor_right(); + /////--------------------还需要开启等光 待完善 + break; + case TESTING_SAMPLES: // 检测阶段 + rotating_rotation_times = 1600; + number_of_detection_cycles = 0; + motor_left(); + break; + case FIND_THE_LEFT_LIMIT_POSITION: //找左线位阶段 + rotating_rotation_times = 1600; // 因为绿色在上时 就是处于0点位置 防止出现校准问题 转开他 + motor_left(); + break; + case FAILD_FIND: + motor_left(); + break; + } +} +extern u8 if_read7683; +void detection_steps(){ + step = 1; + static u32 steps = 0; + static char needstep = 0; //记录上一次是否路过左线位 0为向左的阶段 1为向右的阶段 + if(motor_move == MOVE_LEFT){ + if((steps == 0) && (mid_limit == 1)){ + clean_limit(); + steps = 3000; + } + else if(steps > 0){ + steps --; + if(steps <= 0){ + motor_right(); + } + } + if(pulse_count > START_THE_BLACK_LIGHT){ + if_read7683 = 1; + } + } + else{ + // 右移 到达右限位 + if(right_limit == 1) + { + motor_left(); + clean_limit(); + number_of_detection_cycles++; + if(number_of_detection_cycles >= 8){ //完成8次检测 + pro_stage = FIND_THE_LEFT_LIMIT_POSITION; + ProcessControl(); + number_of_detection_cycles = 0; + } + } + if(pulse_count > END_THE_BLACK_LIGHT){ + if_read7683 = 2; + } + } +} + +// 大电机运动 +void motor_motion(void){ + step = 1; + switch(pro_stage){ + case CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION: + if(right_limit == 1){ + pro_stage = CHANGE_STAGE_TO_LEFT_LIMIT_POSITION; //进入下个阶段 向左移动 + ProcessControl(); + clean_limit(); + } + break; + case CHANGE_STAGE_TO_LEFT_LIMIT_POSITION: // 找零阶段 + if(left_limit == 1){ //找零阶段结束 + clean_limit(); + pro_stage = MOTOR_STOP; + CLOSEMOTOR; + pulse_count = 0; + } + break; + case CLOESE_THE_LID: // 关盖阶段 左移压紧 + if(800 <= pulse_count){ + // 停止左移 进入下一个步骤 + pro_stage = FIND_THE_RIGHT_LIMIT_POSITION; + ProcessControl(); + } + break; + case FIND_THE_RIGHT_LIMIT_POSITION: // 找右线位阶段 + if(rot_stage == RO_MOTOR_STOP){ + rot_stage = FIND_READ_FROM_CHANGE; + rotating_rotation_times = 4800; // 1600 转90度 目的时为了找红色 + } + if((rot_stage != FIND_READ_FROM_CHANGE)||(rotating_rotation_times !=0)) + { + pulse_count = 1498; + } + if(right_limit == 1){ + pro_stage = TESTING_SAMPLES; //进入下个阶段 向左移动 + ProcessControl(); + clean_limit(); + } + if(pulse_count > INFRARED_STARTING_POINT && pulse_count < INFRARED_ENDING_POINT) // 进行AD采集 + if_read7683 = 1; + else if_read7683 = 2; + break; + case TESTING_SAMPLES: // 检测阶段 + detection_steps(); + ///----采集dac数据 待完善 + break; + case FIND_THE_LEFT_LIMIT_POSITION: //找左线位阶段 + if(left_limit == 1){ //找零阶段结束 + clean_limit(); + pro_stage = MOTOR_STOP; + CLOSEMOTOR; + pulse_count =0; + ////---- 是否需要关闭相应的灯光 + } + break; + case FAILD_FIND: + if(left_limit == 1){ //找零阶段结束 + clean_limit(); + pro_stage = MOTOR_STOP; + ///--- 弹出错误预警 + } + break; + case MOTOR_STOP: + break; + }; +} +// 电机旋转 +void rotating_move(){ + GPIO_SetBits(GPIOB,GPIO_Pin_15); + delay_us(100); + GPIO_ResetBits(GPIOB,GPIO_Pin_15); +} +// 小电机运动 +void motor_rotating(void){ + switch(rot_stage){ + case ROTATE: + if(rotating_rotation_times <= 0){ + rot_stage = RO_MOTOR_STOP; + } + rotating_move(); + rotating_rotation_times--; + break; + case RO_MOTOR_STOP: + break; + case GIVE_CHANGE: + if(rotatingbit == 0){ // 在0点上 需要进行移动 + rotatingbit = 1; + rotating_rotation_times = 1600; + } + if(rotating_rotation_times > 0){ + rotating_rotation_times--; + rotating_move(); + } + else{ + rotating_move(); + if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) == 0){ + rot_stage = ROTATE; + rotating_rotation_times = 200; + } + } + break; + case FIND_READ_FROM_CHANGE: + if(rotating_rotation_times > 0){ + rotating_move(); + rotating_rotation_times--; + } + break; + } +} + +#endif diff --git a/HARDWARE/elemachinery/elemachinery.h b/HARDWARE/elemachinery/elemachinery.h new file mode 100644 index 0000000..b6b2cc9 --- /dev/null +++ b/HARDWARE/elemachinery/elemachinery.h @@ -0,0 +1,27 @@ +#ifndef __ELEMACHINERY_H +#define __ELEMACHINERY_H +//#include "spi.h" +#include +#include "sys.h" + +#define MOVE_THE_MOTOR_TO_THE_LEFT GPIO_SetBits(GPIOD, GPIO_Pin_3); //电机向左移动 +#define MOVE_THE_MOTOR_TO_THE_RIGHT GPIO_ResetBits(GPIOD, GPIO_Pin_3); // 电机向右移动 + +#define INFRARED_STARTING_POINT 0x08D3 +#define INFRARED_ENDING_POINT 0x242E + +#define START_THE_BLACK_LIGHT 0x0EB0 +#define END_THE_BLACK_LIGHT 0x2273 + + + +void change_spi(char *str); +void tmc2240_write(uint8_t address, uint8_t data); +void TMC2240_WriteReg(uint8_t addr, uint32_t data); +void ProcessControl(void); +void motor_motion(void); +uint32_t TMC2240_ReadReg(uint8_t addr); +void motor_rotating(void); +void accelerate(); +void clean_limit(void); +#endif \ No newline at end of file diff --git a/OBJ/USART.axf b/OBJ/USART.axf index fc095f7252ab1c801934ace838087a526e2d4596..fc31afaba499ecc045e725253c83288b8dfb1a9c 100644 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z^I_b*z3gPGba|dNPK9riJ;ZIC*WIa;kPbr|Jif zc4Mbv9JtD_j`+c;nhN0EoRUjId7j!Jpt~flY3jJ|9|?4qWL}M`hQ`!k{{8uM zb@<8Xdv3@zLv@B02hyiE!9=~TUr3P{}385-S**avRL z0iph(3lUaV--YkMhOU7~)c6N*L~^$rdZ<&)aCBX!u)EdJ8;}{19#q(Btc&R>+acVv zw#Kst{n&8C(H^$t7KLpc5X$OOGv&FzRYFs`)FF;#IDE6dBy=f=DXy;+wgC~vWj>N) F{|`lv?+E|^ diff --git a/OBJ/USART.build_log.htm b/OBJ/USART.build_log.htm index b075213..fe50764 100644 --- a/OBJ/USART.build_log.htm +++ b/OBJ/USART.build_log.htm @@ -3,62 +3,51 @@ 
 
礦ision Build Log

 
Tool Versions:

-IDE-Version: μVision V5.38.0.0
-Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: baibaila3 baibaila3@163.com, keil, LIC=47GU5-GE5WI-JJF6S-L5PAY-BRK7N-23XAJ
+IDE-Version: μVision V5.25.3.0
+Copyright (C) 2018 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: cgy cgy, cgy, LIC=CRMFW-QWL2E-RC0JZ-J6WMG-6WJZU-2F249
  
 Tool Versions:
-Toolchain:       MDK-ARM Plus  Version: 5.22
+Toolchain:       MDK-ARM Professional  Version: 5.15.0
 Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
-C Compiler:      Armcc.exe V5.06 update 4 (build 422)
-Assembler:       Armasm.exe V5.06 update 4 (build 422)
-Linker/Locator:  ArmLink.exe V5.06 update 4 (build 422)
-Library Manager: ArmAr.exe V5.06 update 4 (build 422)
-Hex Converter:   FromElf.exe V5.06 update 4 (build 422)
-CPU DLL:         SARMCM3.DLL V5.22
-Dialog DLL:      DCM.DLL V1.13.9.0
-Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.18.0
-Dialog DLL:      TCM.DLL V1.21.0.0
+C Compiler:      Armcc.exe V5.05 update 2 (build 169)
+Assembler:       Armasm.exe V5.05 update 2 (build 169)
+Linker/Locator:  ArmLink.exe V5.05 update 2 (build 169)
+Library Manager: ArmAr.exe V5.05 update 2 (build 169)
+Hex Converter:   FromElf.exe V5.05 update 2 (build 169)
+CPU DLL:         SARMCM3.DLL V5.15.0
+Dialog DLL:      DCM.DLL V1.13.2.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.15.0_KEIL
+Dialog DLL:      TCM.DLL V1.14.5.0
  
 
Project:

-C:\Users\baiba\Downloads\c0d15-main\c0d15-main\标准例程-库函数版本\2，标准例程-库函数版本\实验4 串口实验\USER\USART.uvprojx
-Project File Date:  02/08/2026
+D:\fighterteam\project\gu\make\code\sensor_2026\sensor_2026\USER\USART.uvprojx
+Project File Date:  02/09/2026
 
 
Output:

-*** Using Compiler 'V5.06 update 4 (build 422)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
+*** Using Compiler 'V5.05 update 2 (build 169)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Build target 'USART'
-assembling startup_stm32f40_41xxx.s...
-compiling stm32f4xx_usart.c...
-compiling delay.c...
-compiling misc.c...
-compiling stm32f4xx_rcc.c...
-compiling beep.c...
-compiling main.c...
-compiling system_stm32f4xx.c...
-compiling stm32f4xx_it.c...
-compiling sys.c...
-compiling led.c...
-compiling key.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_gpio.c...
-compiling usart.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_spi.c...
+compiling stm32f4xx_tim.c...
 linking...
-Program Size: Code=2932 RO-data=424 RW-data=28 ZI-data=1836  
+Program Size: Code=2844 RO-data=424 RW-data=32 ZI-data=1832  
 FromELF: creating hex file...
 "..\OBJ\USART.axf" - 0 Error(s), 0 Warning(s).
 
 
Software Packages used:

 
 Package Vendor: Keil
-                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.11.0.pack
-                Keil.STM32F4xx_DFP.2.11.0
+                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.14.0.pack
+                Keil.STM32F4xx_DFP.2.14.0
                 STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
 
 
Collection of Component include folders:

-  C:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.11.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
+  .\RTE\_USART
+  C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
 
 
Collection of Component Files used:

-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:02
diff --git a/OBJ/USART.htm b/OBJ/USART.htm index 20fd37c..c1fa90a 100644 --- a/OBJ/USART.htm +++ b/OBJ/USART.htm @@ -3,7 +3,7 @@ Static Call Graph - [..\OBJ\USART.axf]

Static Call Graph for image ..\OBJ\USART.axf

-

#<CALLGRAPH># ARM Linker, 5060422: Last Updated: Sun Feb 08 17:42:53 2026 +

#<CALLGRAPH># ARM Linker, 5050169: Last Updated: Mon Feb 09 11:13:49 2026

Maximum Stack Usage = 128 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -99,8 +99,8 @@ Function Pointers
  • TIM1_CC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM1_TRG_COM_TIM11_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM1_UP_TIM10_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) -
  • TIM2_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) -
  • TIM3_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) +
  • TIM2_IRQHandler from timer.o(i.TIM2_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET) +
  • TIM3_IRQHandler from timer.o(i.TIM3_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM4_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM5_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM6_DAC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) @@ -109,12 +109,12 @@ Function Pointers
  • TIM8_CC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM8_TRG_COM_TIM14_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • TIM8_UP_TIM13_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) -
  • UART4_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) -
  • UART5_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) +
  • UART4_IRQHandler from usart.o(i.UART4_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET) +
  • UART5_IRQHandler from usart.o(i.UART5_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  • USART1_IRQHandler from usart.o(i.USART1_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET) -
  • USART2_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) -
  • USART3_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) -
  • USART6_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET) +
  • USART2_IRQHandler from usart.o(i.USART2_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET) +
  • USART3_IRQHandler from usart.o(i.USART3_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET) +
  • USART6_IRQHandler from usart.o(i.USART6_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  • UsageFault_Handler from stm32f4xx_it.o(i.UsageFault_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  • WWDG_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • __main from __main.o(!!!main) referenced from startup_stm32f40_41xxx.o(.text) @@ -126,8 +126,8 @@ Function Pointers Global Symbols

    __main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

    [Calls]