From 5439b30366dc0c188b7368a0419457aabcebc08d Mon Sep 17 00:00:00 2001
From: tianjialong <tianjialong@163.com>
Date: Thu, 16 Mar 2023 15:27:20 +0800
Subject: [PATCH] =?UTF-8?q?=E7=BC=96=E7=A0=81=E5=99=A8=E7=81=AF=E7=AE=A1?=
 =?UTF-8?q?=E8=B0=83=E5=BA=A6=E5=87=BD=E6=95=B0=E5=AE=8C=E6=88=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/LWIP.uvguix.29643 |  6 +++---
 usersrc/encoder.c         | 50 +++++++++++++++++++++++++++++++++++++++++------
 usersrc/encoder.h         |  1 +
 usersrc/usermain.c        |  5 +----
 4 files changed, 49 insertions(+), 13 deletions(-)

diff --git a/MDK-ARM/LWIP.uvguix.29643 b/MDK-ARM/LWIP.uvguix.29643
index 058fae5..f7fc782 100644
--- a/MDK-ARM/LWIP.uvguix.29643
+++ b/MDK-ARM/LWIP.uvguix.29643
@@ -3633,9 +3633,9 @@
       </Doc>
       <Doc>
         <Name>..\usersrc\encoder.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>172</TopLine>
-        <CurrentLine>173</CurrentLine>
+        <ColumnNumber>13</ColumnNumber>
+        <TopLine>9</TopLine>
+        <CurrentLine>12</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/usersrc/encoder.c b/usersrc/encoder.c
index c0975da..2c5dd74 100644
--- a/usersrc/encoder.c
+++ b/usersrc/encoder.c
@@ -7,7 +7,7 @@
 static encoder_light_state_t camera_encoder_state = STANDBY;
 static encoder_light_state_t driven_encoder_gear_state = STANDBY;
 static uint32_t camera_encoder_lastprocess = 0;
-// static uint32_t driven_encoder_gear_lastprocess = 0;
+static uint32_t driven_encoder_gear_lastprocess = 0;
 
 static encoder_t m_uarts[] = {
     {&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2},     // 相机编码器
@@ -76,21 +76,39 @@ bool encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
 
 void encoder_light_schedule(void)
 {
+    static bool camera_encoder_light_state;
+    static bool driven_encoder_light_state;
     if (camera_encoder_state == STANDBY)
     {
         if (sys_haspassedms(camera_encoder_lastprocess) > 500)
         {
             camera_encoder_lastprocess = HAL_GetTick();
-            // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+            if (camera_encoder_light_state)
+            {
+                encoder_light_switch_set_color_and_brightness(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_BLUE, encoder_light_max_brightness);
+            }
+            else
+            {
+                encoder_switch_close_light(CAMERA_ENCODER);
+            }
+            camera_encoder_light_state = !camera_encoder_light_state;
         }
     }
 
     if (driven_encoder_gear_state == STANDBY)
     {
-        if (sys_haspassedms(camera_encoder_lastprocess) > 500)
+        if (sys_haspassedms(driven_encoder_gear_lastprocess) > 500)
         {
-            // driven_encoder_gear_lastprocess = HAL_GetTick();
-            // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
+            driven_encoder_gear_lastprocess = HAL_GetTick();
+            if (driven_encoder_light_state)
+            {
+                encoder_light_switch_set_color_and_brightness(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_BLUE, encoder_light_max_brightness);
+            }
+            else
+            {
+                encoder_switch_close_light(DRIVEN_ENCODER_GEAR);
+            }
+            driven_encoder_light_state = !driven_encoder_light_state;
         }
     }
 }
@@ -117,7 +135,7 @@ void encoder_set_state(encoder_usage_t encoder, encoder_light_state_t state)
         driven_encoder_gear_state = state;
         if (state == STANDBY)
         {
-            // driven_encoder_gear_lastprocess = HAL_GetTick();
+            driven_encoder_gear_lastprocess = HAL_GetTick();
             // HAL_GPIO_TogglePin(ENCODER_LIGHT_GPIO_Port, ENCODER_LIGHT_Pin);
         }
         else if (state == WORKING)
@@ -245,3 +263,23 @@ void encoder_light_switch_set_color_and_brightness(encoder_usage_t encoder, enco
         // error
     }
 }
+
+void encoder_switch_close_light(encoder_usage_t encoder)
+{
+    if (encoder == CAMERA_ENCODER)
+    {
+        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);
+        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
+        HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
+    }
+    else if (encoder == DRIVEN_ENCODER_GEAR)
+    {
+        HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);
+        HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
+        HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
+    }
+    else
+    {
+        // error
+    }
+}
diff --git a/usersrc/encoder.h b/usersrc/encoder.h
index 16d7b30..a8801f9 100644
--- a/usersrc/encoder.h
+++ b/usersrc/encoder.h
@@ -42,3 +42,4 @@ encoder_light_state_t encoder_get_state(encoder_usage_t encoder);
 void encoder_all_encoder_clear_counter_and_structer_count(void);
 void encoder_switch_encoder_clear_count_and_structer_count(encoder_usage_t encoder);
 void encoder_light_switch_set_color_and_brightness(encoder_usage_t encoder, encoder_light_color_table_t color, uint16_t brightness);
+void encoder_switch_close_light(encoder_usage_t encoder);
diff --git a/usersrc/usermain.c b/usersrc/usermain.c
index 2805770..dd01123 100644
--- a/usersrc/usermain.c
+++ b/usersrc/usermain.c
@@ -108,9 +108,6 @@ void user_main()
   zkey_init(&s_key_module);
   port_uart_start_all_uart_receive();
 
-  encoder_light_switch_set_color_and_brightness(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_RED, encoder_light_max_brightness);
-  encoder_light_switch_set_color_and_brightness(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_GREEN, encoder_light_max_brightness);
-
   while (1)
   {
     udp_client_genlock_and_esync_active();
@@ -118,7 +115,7 @@ void user_main()
     zkey_schedule();
     udp_client_recv();
     at_cmd_processer_try_process_data();
-    // encoder_light_schedule();
+    encoder_light_schedule();
     port_do_debug_light_state();
 
     osDelay(1);