update多编码器封装

MDK-ARM/LWIP.uvoptx

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath />
+        <ListingPath></ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>3</nTsel>
-        <sDll />
-        <sDllPa />
-        <sDlgDll />
-        <sDlgPa />
-        <sIfile />
-        <tDll />
-        <tDllPa />
-        <tDlgDll />
-        <tDlgPa />
-        <tIfile />
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -133,7 +133,7 @@
           <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407ZETx$CMSIS\Flash\STM32F4xx_512.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint />
+      <Breakpoint/>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -163,19 +163,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable />
-      <LintConfigFile />
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName />
-      <pszMrule />
-      <pSingCmds />
-      <pMultCmds />
-      <pMisraNamep />
-      <pszMrulep />
-      <pSingCmdsp />
-      <pMultCmdsp />
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>

usersrc/encoder.c

@@ -1,27 +1,37 @@
 #include "encoder.h"
-
+#include "zboard.h"
 #include <stdio.h>
 
 static int Direction;
 static int CaptureNumber;
 
+static encoder_t m_uarts[] = {
+    {&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2},     // 相机编码器
+    {&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2} // 从动编码器
+};
+
 void encoder_start(void)
 {
     /* 不开启会导致程序无法启动，原因未知 */
-    HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+    HAL_TIM_Encoder_Start(&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+    HAL_TIM_Encoder_Start(&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2);
 }
 void encoder_stop(void)
 {
-    HAL_TIM_Encoder_Stop(&htim4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+    HAL_TIM_Encoder_Stop(&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+    HAL_TIM_Encoder_Stop(&driven_encoder_gear, TIM_CHANNEL_1 | TIM_CHANNEL_2);
 }
 
 void encoder_read_printf(void)
 {
-    Direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim4);   // 读取电机转动方向
-    CaptureNumber = (short)__HAL_TIM_GET_COUNTER(&htim4); // 读取编码器数据
-    __HAL_TIM_GET_COUNTER(&htim4) = 0;                    // 计数器值重新置位
-    if (CaptureNumber != 0)
+    for (uint8_t i = 0; i < (sizeof(m_uarts) / sizeof(encoder_t)); i++)
     {
-        printf("Direction is %d,CaptureNumber is %d\r\n", Direction, CaptureNumber);
+        Direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(m_uarts[i].tim_handler);   // 读取电机转动方向
+        CaptureNumber = (short)__HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler); // 读取编码器数据
+        __HAL_TIM_GET_COUNTER(m_uarts[i].tim_handler) = 0;                    // 计数器值重新置位
+        if (CaptureNumber != 0)
+        {
+            printf("Encoder number:%d,Direction is %d,CaptureNumber is %d\r\n", i, Direction, CaptureNumber);
+        }
     }
 }

usersrc/zboard.h

@@ -14,4 +14,4 @@
  * ******************************************************编码器******************************************************* *
  ***********************************************************************************************************************/
 #define camera_encoder htim4
-#define driven_encoder_gear htim8
+#define driven_encoder_gear htim8