copyZ_subwater_camera_enhancemen_board/src/zport.c

#include "zport.h"

#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>

#include "main.h"
#include "tim.h"
#include "usart.h"
#include "zboard.h"

/***********************************************************************************************************************
 * =====================================================基础组件====================================================== *
 ***********************************************************************************************************************/
/**
 * @brief printf 串口重定向
 *
 * @param ch
 * @param stream
 * @return int
 */
int fputc(int ch, FILE* stream) {
  uint8_t c = ch;
  HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100);
  return ch;
}

// systicket 辅助方法
uint32_t port_haspassedms(uint32_t ticket) {
  uint32_t nowticket = HAL_GetTick();
  if (nowticket >= ticket) {
    return nowticket - ticket;
  }
  return UINT32_MAX - ticket + nowticket;
}
void port_delay_us(uint32_t us) {
  uint16_t counter = 0;
  __HAL_TIM_SET_COUNTER(&US_TIMER, 0);
  HAL_TIM_Base_Start(&US_TIMER);
  while (counter < us) {
    counter = __HAL_TIM_GET_COUNTER(&US_TIMER);
  }
  HAL_TIM_Base_Stop(&US_TIMER);
}
static uint8_t g_port_exit_critical_count;
void port_enter_critical() {
  if (g_port_exit_critical_count == 0) {
    __disable_irq();
  }
  g_port_exit_critical_count++;
}
void port_exit_critical() {
  g_port_exit_critical_count--;
  if (g_port_exit_critical_count == 0) {
    __enable_irq();
  }
}
/***********************************************************************************************************************
 * ===================================================硬件接口相关==================================================== *
 ***********************************************************************************************************************/

void port_set_led_brightness1(uint16_t brightness) {
  /**
   * @brief 低电平有效
   */
  uint16_t count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&LED_CRL_PWMX_TIM);

  __HAL_TIM_SET_COMPARE(&LED_CRL_PWMX_TIM, LED_CRL_PWM1_CH, count);
  __HAL_TIM_SET_COMPARE(&LED_CRL_PWMX_TIM, LED_CRL_PWM2_CH, count);
  __HAL_TIM_SET_COMPARE(&LED_CRL_PWMX_TIM, LED_CRL_PWM3_CH, count);
  __HAL_TIM_SET_COMPARE(&LED_CRL_PWMX_TIM, LED_CRL_PWM4_CH, count);

  HAL_TIM_PWM_Start(&LED_CRL_PWMX_TIM, LED_CRL_PWM1_CH);
  HAL_TIM_PWM_Start(&LED_CRL_PWMX_TIM, LED_CRL_PWM2_CH);
  HAL_TIM_PWM_Start(&LED_CRL_PWMX_TIM, LED_CRL_PWM3_CH);
  HAL_TIM_PWM_Start(&LED_CRL_PWMX_TIM, LED_CRL_PWM4_CH);
}
void port_set_led_brightness2(uint16_t brightness) {
  /**
   * @brief 高有效
   * 10k
   */
  uint16_t count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&LED_CRL_APWM1_TIM);
  __HAL_TIM_SET_COMPARE(&LED_CRL_APWM1_TIM, LED_CRL_APWM1_CH, count);
  HAL_TIM_PWM_Start(&LED_CRL_APWM1_TIM, LED_CRL_APWM1_CH);
}
/**
 * @brief 模拟控制灯光亮度百分比限制
 *
 * @param brightness
 * @return uint16_t
 */
uint16_t get_set_led_brightness2_limit(uint16_t brightness) {
  const float min_ratio = 0.16;
  const float max_ratio = 1 - 0.3;
  float expect_duty_ratio = brightness / 65535.0;
  float final_radio = min_ratio + (max_ratio - min_ratio) * expect_duty_ratio;
  return final_radio * 65535;
}

void port_set_led_brightness(uint16_t brightness) {
  if (brightness == 0) {
    port_set_led_brightness1(0);
    port_set_led_brightness2(get_set_led_brightness2_limit(0));
  } else {
    port_set_led_brightness1(65535);
    port_set_led_brightness2(get_set_led_brightness2_limit(brightness));
  }
}

/***********************************************************************************************************************
 * =====================================================ExtraGPIO===================================================== *
 ***********************************************************************************************************************/

static extra_gpio_t s_extra_gpios[2] = {0};
void port_extra_gpio_init() {
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  s_extra_gpios[0].GPIOx = ExtraGPIO0_GPIOx;
  s_extra_gpios[0].pin = ExtraGPIO0_pin;

  s_extra_gpios[1].GPIOx = ExtraGPIO1_GPIOx;
  s_extra_gpios[1].pin = ExtraGPIO1_pin;
}
void port_extra_gpio_set_mirror(int gpioNum, bool mirror) {
  extra_gpio_t* gpio = NULL;
  if (gpioNum >= ARRARY_SIZE(s_extra_gpios)) {
    return;
  }
  gpio = &s_extra_gpios[gpioNum];
  gpio->mirror = mirror;
}

void port_extra_gpio_set_mode(int gpioNum, extra_gpio_mode_e mode) {
  extra_gpio_t* gpio = NULL;
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  if (gpioNum >= ARRARY_SIZE(s_extra_gpios)) {
    return;
  }

  gpio = &s_extra_gpios[gpioNum];
  gpio->mode = mode;

  if (mode == kegm_disable) {
    //模拟输入
    HAL_GPIO_DeInit(gpio->GPIOx, gpio->pin);

    GPIO_InitStruct.Pin = gpio->pin;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    HAL_GPIO_Init(gpio->GPIOx, &GPIO_InitStruct);
  } else if (mode == kegm_camera_trigger_signal) {
    //不拉输出
    HAL_GPIO_DeInit(gpio->GPIOx, gpio->pin);

    port_extra_gpio_set_level(gpioNum, false);

    GPIO_InitStruct.Pin = gpio->pin;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(gpio->GPIOx, &GPIO_InitStruct);
  }
}
extra_gpio_mode_e port_extra_gpio_get_mode(int gpioNum) {
  extra_gpio_t* gpio = NULL;
  if (gpioNum >= ARRARY_SIZE(s_extra_gpios)) {
    return kegm_disable;
  }
  gpio = &s_extra_gpios[gpioNum];
  return gpio->mode;
}
void port_extra_gpio_set_level(int gpioNum, bool level) {
  extra_gpio_t* gpio = NULL;
  bool nowState = false;

  if (gpioNum >= ARRARY_SIZE(s_extra_gpios)) {
    return;
  }

  gpio = &s_extra_gpios[gpioNum];
  if (gpio->mirror) level = !level;
  if (level) {
    HAL_GPIO_WritePin(gpio->GPIOx, gpio->pin, GPIO_PIN_SET);
  } else {
    HAL_GPIO_WritePin(gpio->GPIOx, gpio->pin, GPIO_PIN_RESET);
  }
}
bool port_extra_gpio_get_level(int gpioNum) {
  extra_gpio_t* gpio = NULL;
  bool nowState = false;

  if (gpioNum > ARRARY_SIZE(s_extra_gpios)) {
    return false;
  }

  gpio = &s_extra_gpios[gpioNum];
  GPIO_PinState state = HAL_GPIO_ReadPin(gpio->GPIOx, gpio->pin);
  if (state == GPIO_PIN_SET) {
    nowState = true;
  } else {
    nowState = false;
  }
  if (gpio->mirror) nowState = !nowState;
  return nowState;
}