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134 lines
2.4 KiB
134 lines
2.4 KiB
3 years ago
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/*
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* @Author: your name
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* @Date: 2022-04-17 21:03:48
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* @LastEditTime: 2022-04-23 00:32:36
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* @LastEditors: Please set LastEditors
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* @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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* @FilePath: \undefinede:\项目\兼职项目\MotorPid\stm32\USER\main.c
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*/
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#include "led.h"
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#include "delay.h"
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#include "sys.h"
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#include "usart.h"
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#include "wifi.h"
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#include "adc.h"
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#include "timer.h"
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#include "string.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "oled.h"
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#include "motor.h"
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#include "encoder.h"
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#include "key.h"
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struct UserInfo userInfo;
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// 函数声明
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void Sys_Init(void);
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void processingTasks(void);
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void OLED_Display(void);
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/**
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* @description: main函数
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* @param {*}
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* @return {*}
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*/
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int main(void)
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{
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Sys_Init();
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delay_ms(1000);
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while(1)
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{
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processingTasks();
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OLED_Display();
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}
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}
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/**
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* @description: 处理任务
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* @param {*}
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* @return {*}
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*/
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void processingTasks(void)
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{
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int key = 0;
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key = KEY_Scan(0);
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switch (key)
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{
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case WKUP_PRES:
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userInfo.diversion = ~userInfo.diversion;
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break;
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case KEY1_PRES:
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userInfo.targetSpeed+=1000;
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if(userInfo.targetSpeed > 7000) userInfo.targetSpeed = 7000;
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break;
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case KEY0_PRES:
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userInfo.targetSpeed-=1000;
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if(userInfo.targetSpeed <= 0) userInfo.targetSpeed = 0;
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break;
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case KEY2_PRES:
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if(userInfo.run == 0) userInfo.run = 1;
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else userInfo.run = 0;
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break;
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default:
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break;
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}
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if(userInfo.diversion){
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AIN2 = 1;
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AIN1 = 0;
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}else{
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AIN2 = 0;
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AIN1 = 1;
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}
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if(userInfo.run){
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userInfo.pwm_val = userInfo.targetSpeed;
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if(userInfo.targetSpeed == 0) AIN2 = 0, AIN1 = 0;
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}else{
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userInfo.pwm_val = 0;
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AIN2 = 0;
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AIN1 = 0;
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}
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PWMA = 7000 - userInfo.pwm_val;
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}
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/**
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* @description: 系统初始化
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* @param {*}
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* @return {*}
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*/
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void Sys_Init(void)
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{
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delay_init();
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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//uart_init(115200);
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PWM_Init(7199,0);
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KEY_Init();
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OLED_Init();
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OLED_Clear();
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// 初始化为0
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userInfo.targetSpeed = 0;
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userInfo.run = 1;
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PWMA = 0;
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}
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/**
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* @description: Oled显示
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* @param {*}
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* @return {*}
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*/
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void OLED_Display(void)
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{
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char str[50];
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if(userInfo.diversion) sprintf(str, "%d pwm_val:%d,target:%d CW ", userInfo.run, abs(userInfo.pwm_val),abs(userInfo.targetSpeed));
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else sprintf(str, "%d pwm_val:%d,target:%d REV ", userInfo.run, abs(userInfo.pwm_val),abs(userInfo.targetSpeed));
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OLED_ShowString(0,0, str, 16);
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}
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