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583 @@ -1838,7 +1838,7 @@ Debug 2373 - 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898 @@ -1862,7 +1862,7 @@ 0 100 - 0 + 5 ../Src/freertos.c 1 @@ -1908,6 +1908,15 @@ 0 + + ..\usersrc\zboard.h + 0 + 1 + 18 + 1 + + 0 + diff --git a/MDK-ARM/LWIP.uvoptx b/MDK-ARM/LWIP.uvoptx index 81e4036..f39300b 100644 --- a/MDK-ARM/LWIP.uvoptx +++ b/MDK-ARM/LWIP.uvoptx @@ -1,4 +1,4 @@ - + 1.0 @@ -45,7 +45,7 @@ 79 66 8 - + 1 @@ -104,16 +104,16 @@ 0 0 3 - - - - - - - - - - + + + + + + + + + + BIN\CMSIS_AGDI.dll @@ -133,7 +133,7 @@ -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($$Device:STM32F407ZETx$CMSIS\Flash\STM32F4xx_512.FLM) - + 0 @@ -163,19 +163,19 @@ 0 0 - - + + 0 0 0 - - - - - - - - + + + + + + + + 1 0 diff --git a/MDK-ARM/LWIP.uvprojx b/MDK-ARM/LWIP.uvprojx index 140632b..e6217d6 100644 --- a/MDK-ARM/LWIP.uvprojx +++ b/MDK-ARM/LWIP.uvprojx @@ -1,7 +1,10 @@ - - + + + 2.1 +
### uVision Project, (C) Keil Software
+ LWIP @@ -16,28 +19,28 @@ Keil.STM32F4xx_DFP.2.16.0 http://www.keil.com/pack/ IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x807FFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") - - - - - - - - - - - - - - + + + + + + + + + + + + + + $$Device:STM32F407ZETx$CMSIS\SVD\STM32F40x.svd 0 0 - - - - - + + + + + 0 0 @@ -52,15 +55,15 @@ 1 1 0 - + 1 0 0 0 0 - - + + 0 0 0 @@ -69,8 +72,8 @@ 0 0 - - + + 0 0 0 @@ -79,15 +82,15 @@ 0 0 - - + + 0 0 0 0 0 - + 0 @@ -101,8 +104,8 @@ 0 0 3 - - + + 0 @@ -135,11 +138,11 @@ 1 STLink\ST-LINKIII-KEIL_SWO.dll - - - - - + + + + + 0 @@ -172,7 +175,7 @@ 0 0 "Cortex-M4" - + 0 0 0 @@ -306,7 +309,7 @@ 0x10000 - + 1 @@ -333,9 +336,9 @@ 0 0 - + USE_HAL_DRIVER,STM32F407xx - + ../Inc;../Middlewares/Third_Party/LwIP/src/include;../Middlewares/Third_Party/LwIP/system;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Middlewares/Third_Party/LwIP/src/include/netif/ppp;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/LwIP/src/include/lwip;../Middlewares/Third_Party/LwIP/src/include/lwip/apps;../Middlewares/Third_Party/LwIP/src/include/lwip/priv;../Middlewares/Third_Party/LwIP/src/include/lwip/prot;../Middlewares/Third_Party/LwIP/src/include/netif;../Middlewares/Third_Party/LwIP/system/arch;../Drivers/CMSIS/Include;../Drivers/BSP/Components/lan8742;../Middlewares/Third_Party/LwIP/src/include/compat/posix;../Middlewares/Third_Party/LwIP/src/include/compat/posix/arpa;../Middlewares/Third_Party/LwIP/src/include/compat/posix/net;../Middlewares/Third_Party/LwIP/src/include/compat/posix/sys;../Middlewares/Third_Party/LwIP/src/include/compat/stdc 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2 11 + + 1 @@ -6036,6 +6983,12 @@ 2 2 2 + + + + + + @@ -6057,6 +7010,8 @@ 2 2 11 + + 1 @@ -6084,6 +7039,12 @@ 2 2 2 + + + + + + @@ -6105,6 +7066,8 @@ 2 2 11 + + 1 @@ -6132,6 +7095,12 @@ 2 2 2 + + + + + + @@ -6153,6 +7122,8 @@ 2 2 11 + + 1 @@ -6180,6 +7151,12 @@ 2 2 2 + + + + + + @@ -6192,17 +7169,18 @@ + - + - + - + - + - + diff --git a/usersrc/encoder.c b/usersrc/encoder.c index 0b6fef8..7f27101 100644 --- a/usersrc/encoder.c +++ b/usersrc/encoder.c @@ -1,27 +1,37 @@ #include "encoder.h" - +#include "zboard.h" #include 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); + } } } diff --git a/usersrc/zboard.h b/usersrc/zboard.h index 8e3dd5c..4aad451 100644 --- a/usersrc/zboard.h +++ b/usersrc/zboard.h @@ -14,4 +14,4 @@ * ******************************************************编码器******************************************************* * ***********************************************************************************************************************/ #define camera_encoder htim4 -#define driven_encoder_gear htim8 \ No newline at end of file +#define driven_encoder_gear htim8