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99 lines
2.2 KiB
99 lines
2.2 KiB
//
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// Created by iflyt on 2025/3/2.
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//
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#ifndef BUTTON_MANAGER_H
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#define BUTTON_MANAGER_H
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#include <stm32f4xx_hal.h>
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#include <cmsis_os2.h>
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// 按键和传感器引脚定义
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#define SYSTEM_POWER_PIN GPIO_PIN_0
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#define SYSTEM_POWER_PORT GPIOA
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#define E_STOP_PIN GPIO_PIN_12
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#define E_STOP_PORT GPIOF
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#define X_ORIGIN_PIN GPIO_PIN_6
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#define X_LIMIT_PIN GPIO_PIN_7
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#define X_PORT GPIOB
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#define Y_ORIGIN_PIN GPIO_PIN_9
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#define Y_LIMIT_PIN GPIO_PIN_10
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#define Y_PORT GPIOB
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#define Z_ORIGIN_PIN GPIO_PIN_13
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#define Z_LIMIT_PIN GPIO_PIN_14
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#define Z_PORT GPIOB
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#define PIN_COUNT 8
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// 轴状态枚举
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enum class AxisState {
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ORIGIN,
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ORIGIN_BOUNDARY,
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BETWEEN,
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LIMIT_BOUNDARY,
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LIMIT
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};
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typedef struct {
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GPIO_TypeDef *port;
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uint16_t pin;
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GPIO_PinState activeLevel; // 有效电平
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int debounceTime; // 消抖时间
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} B_PinInfo;
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// 按键类
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class ButtonManager {
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public:
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// 获取单例实例的静态方法
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static ButtonManager* ins();
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// 删除拷贝构造函数和赋值运算符，防止复制实例
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ButtonManager(const ButtonManager&) = delete;
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ButtonManager& operator=(const ButtonManager&) = delete;
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static void handleInterrupt(uint16_t pin);
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bool isPinTriggered(uint16_t targetPin);
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private:
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ButtonManager();
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~ButtonManager();
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bool isPinStateTriggered(uint16_t pin, bool state);
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static void handleKeyInterrupts(void* arg);
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void processKeyEvent(uint16_t pin, bool state);
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static GPIO_TypeDef* getPortByPin(uint16_t pin);
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static int getPinIndex(uint16_t pin);
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bool readPin(GPIO_TypeDef* port, uint16_t pin);
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static int getPinDebounceTime(uint16_t pin);
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private:
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static ButtonManager* instance;
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uint32_t debounceTime = 10; // 按键软件消抖时间
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osMessageQueueId_t keyQueue;
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bool pinStates[PIN_COUNT]; // 引脚状态数组
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static const uint16_t pins[];
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// 初始化引脚信息数组
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const static B_PinInfo pinInfos[8];
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};
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#ifdef __cplusplus
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extern "C" {
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#endif
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void EX_GPIO_Init(void);
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uint16_t getORIGINPin(uint32_t motor_index);
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uint16_t getAxisLimitPin(uint32_t motor_index);
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#ifdef __cplusplus
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}
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#endif
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#endif //BUTTON_MANAGER_H
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