MotorPid/stm32/USER/main.c

/*
 * @Author: your name
 * @Date: 2022-04-17 21:03:48
 * @LastEditTime: 2022-04-20 21:32:40
 * @LastEditors: Please set LastEditors
 * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 * @FilePath: \undefinede:\项目\兼职项目\MotorPid\stm32\USER\main.c
 */
#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "wifi.h"
#include "adc.h"
#include "timer.h"
#include "string.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "oled.h"
#include "motor.h"
#include "encoder.h"
#include "key.h"

struct UserInfo userInfo;

// 函数声明
void Sys_Init(void);
void processingTasks(void);
void OLED_Display(void);


/**
 * @description: main函数
 * @param {*}
 * @return {*}
 */
int main(void)
{	
	Sys_Init();
	delay_ms(1000);
	while(1)
	{
		processingTasks();
		OLED_Display();
		delay_ms(100);
	}	 
}

/**
 * @description: 处理任务
 * @param {*}
 * @return {*}
 */
void processingTasks(void)
{
	int key = 0;
	key = KEY_Scan(0);
	switch (key)
	{
	case WKUP_PRES:
		userInfo.diversion = ~userInfo.diversion;
		// 方向
		if(userInfo.diversion && userInfo.targetSpeed > 0) userInfo.targetSpeed =  0 - userInfo.targetSpeed;
		else if(userInfo.diversion == 0) userInfo.targetSpeed = abs(userInfo.targetSpeed);
		break;
	case KEY1_PRES:
		userInfo.targetSpeed++;
		if(userInfo.targetSpeed > 20) userInfo.targetSpeed = 20;
		break;
	case KEY0_PRES:
		userInfo.targetSpeed--;
		if(userInfo.targetSpeed < -20) userInfo.targetSpeed = -20;
		break;
	case KEY2_PRES:
		if(userInfo.run == 0) userInfo.run = 1;
		else userInfo.run = 0;
		break;
	default:
		break;
	}
}

/**
 * @description: 系统初始化
 * @param {*}
 * @return {*}
 */
void Sys_Init(void)
{
	delay_init();	    	 
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	uart_init(115200);	
	PWM_Init(7199,0);
	TIM3_Int_Init(5000, 71); // 定时器3
	Encoder_Init_TIM2();
	KEY_Init();
	OLED_Init();
	OLED_Clear();
	// 初始化为0
	userInfo.targetSpeed = 0;
	userInfo.run = 1;
} 



/**
 * @description: Oled显示
 * @param {*}
 * @return {*}
 */
void OLED_Display(void)
{
	char str[50];
	if(userInfo.diversion) sprintf(str, "speed:%d,pwm_val:%d,target:%d   CW      ", abs(userInfo.currentSpeed), abs(userInfo.pwm_val), userInfo.targetSpeed);
	else sprintf(str, "speed:%d,pwm_val:%d,target:%d   REV      ", abs(userInfo.currentSpeed), abs(userInfo.pwm_val), userInfo.targetSpeed);
	OLED_ShowString(0,0, str, 16);
}