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898 @@ -3603,7 +3603,7 @@ 0 100 - 5 + 3 ..\usersrc\usermain.c 0 @@ -3634,8 +3634,8 @@ ..\usersrc\encoder.c 0 - 63 - 86 + 6 + 7 1 0 diff --git a/MDK-ARM/LWIP.uvoptx b/MDK-ARM/LWIP.uvoptx index 7b40e43..50ecebd 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 @@ -130,12 +130,12 @@ 0 ARMDBGFLAGS - + 0 DLGUARM - + 0 @@ -153,7 +153,7 @@ -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($$Device:STM32F407ZETx$CMSIS\Flash\STM32F4xx_512.FLM) - + 0 @@ -195,19 +195,19 @@ 0 0 - - + + 0 0 0 - - - - - - - - + + + + + + + + 1 0 diff --git a/MDK-ARM/LWIP.uvprojx b/MDK-ARM/LWIP.uvprojx index 623db19..0717382 100644 --- a/MDK-ARM/LWIP.uvprojx +++ b/MDK-ARM/LWIP.uvprojx @@ -1,7 +1,10 @@ - - + + + 2.1 +
### uVision Project, (C) Keil Software
+ LWIP @@ -16,28 +19,28 @@ Keil.STM32F4xx_DFP.2.16.0 http://www.keil.com/pack/ IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x807FFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") - - - - - - - - - - - - - - + + + + + + + + + + + + + + $$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;../usersrc @@ -351,9 +354,9 @@ 0 1 - - - + + + ..\\Inc;..\Inc @@ -366,13 +369,13 @@ 0 0x08000000 0x20000000 - - - - - - - + + + + + + + @@ -432,6 +435,8 @@ 2 2 11 + + 1 @@ -459,6 +464,12 @@ 2 2 2 + + + + + + @@ -480,6 +491,8 @@ 2 2 11 + + 1 @@ -507,6 +520,12 @@ 2 2 2 + + + + + + @@ -538,6 +557,8 @@ 2 2 11 + + 1 @@ -565,6 +586,12 @@ 2 2 2 + + + + + + @@ -636,6 +663,8 @@ 2 2 11 + + 0 @@ -663,6 +692,12 @@ 2 2 2 + + + + + + 2 @@ -675,6 +710,12 @@ 2 2 0 + + + + + + @@ -696,6 +737,8 @@ 2 2 11 + + 1 @@ -723,6 +766,12 @@ 2 2 2 + + + + + + @@ -744,6 +793,8 @@ 2 2 11 + + 0 @@ -771,6 +822,12 @@ 2 2 2 + + + + + + 2 @@ -783,6 +840,12 @@ 2 2 0 + + + + + + @@ -804,6 +867,8 @@ 2 2 11 + + 1 @@ -831,6 +896,12 @@ 2 2 2 + + + + + + @@ -852,6 +923,8 @@ 2 2 11 + + 1 @@ -879,6 +952,12 @@ 2 2 2 + + + + + + @@ -900,6 +979,8 @@ 2 2 11 + + 1 @@ -927,6 +1008,12 @@ 2 2 2 + + + + + + @@ -948,6 +1035,8 @@ 2 2 11 + + 1 @@ -975,6 +1064,12 @@ 2 2 2 + + + + + + @@ -996,6 +1091,8 @@ 2 2 11 + + 1 @@ -1023,6 +1120,12 @@ 2 2 2 + + + + + + @@ -1044,6 +1147,8 @@ 2 2 11 + + 1 @@ -1071,6 +1176,12 @@ 2 2 2 + + + + + + @@ -1092,6 +1203,8 @@ 2 2 11 + + 1 @@ -1119,6 +1232,12 @@ 2 2 2 + + + + + + @@ -1140,6 +1259,8 @@ 2 2 11 + + 1 @@ -1167,6 +1288,12 @@ 2 2 2 + + + + + + @@ -1188,6 +1315,8 @@ 2 2 11 + + 1 @@ -1215,6 +1344,12 @@ 2 2 2 + + + + + + @@ -1236,6 +1371,8 @@ 2 2 11 + + 1 @@ -1263,6 +1400,12 @@ 2 2 2 + + + + + + @@ -1284,6 +1427,8 @@ 2 2 11 + + 1 @@ -1311,6 +1456,12 @@ 2 2 2 + + + + + + @@ -1332,6 +1483,8 @@ 2 2 11 + + 1 @@ -1359,6 +1512,12 @@ 2 2 2 + + + + + + @@ -1380,6 +1539,8 @@ 2 2 11 + + 1 @@ -1407,6 +1568,12 @@ 2 2 2 + + + + + + @@ -1428,6 +1595,8 @@ 2 2 11 + + 1 @@ -1455,6 +1624,12 @@ 2 2 2 + + + + + + @@ -1476,6 +1651,8 @@ 2 2 11 + + 1 @@ -1503,6 +1680,12 @@ 2 2 2 + + + + + + @@ -1524,6 +1707,8 @@ 2 2 11 + + 1 @@ -1551,6 +1736,12 @@ 2 2 2 + + + + + + @@ -1572,6 +1763,8 @@ 2 2 11 + + 1 @@ -1599,6 +1792,12 @@ 2 2 2 + + + + + + @@ -1620,6 +1819,8 @@ 2 2 11 + + 0 @@ -1647,6 +1848,12 @@ 2 2 2 + + + + + + 2 @@ -1659,6 +1866,12 @@ 2 2 0 + + + + + + @@ -1680,6 +1893,8 @@ 2 2 11 + + 1 @@ -1707,6 +1922,12 @@ 2 2 2 + + + + + + @@ -1728,6 +1949,8 @@ 2 2 11 + + 0 @@ -1755,6 +1978,12 @@ 2 2 2 + + + + + + 2 @@ -1767,6 +1996,12 @@ 2 2 0 + + + + + + @@ -1788,6 +2023,8 @@ 2 2 11 + + 1 @@ -1815,6 +2052,12 @@ 2 2 2 + + + + + + @@ -1836,6 +2079,8 @@ 2 2 11 + + 1 @@ -1863,6 +2108,12 @@ 2 2 2 + + + + + + @@ -1884,6 +2135,8 @@ 2 2 11 + + 1 @@ -1911,6 +2164,12 @@ 2 2 2 + + + + + + @@ -1932,6 +2191,8 @@ 2 2 11 + + 1 @@ -1959,6 +2220,12 @@ 2 2 2 + + + + + + @@ -1980,6 +2247,8 @@ 2 2 11 + + 1 @@ -2007,6 +2276,12 @@ 2 2 2 + + + + + + @@ -2028,6 +2303,8 @@ 2 2 11 + + 1 @@ -2055,6 +2332,12 @@ 2 2 2 + + + + + + @@ -2076,6 +2359,8 @@ 2 2 11 + + 1 @@ -2103,6 +2388,12 @@ 2 2 2 + + + + + + @@ -2124,6 +2415,8 @@ 2 2 11 + + 1 @@ -2151,6 +2444,12 @@ 2 2 2 + + + + + + @@ -2172,6 +2471,8 @@ 2 2 11 + + 1 @@ -2199,6 +2500,12 @@ 2 2 2 + + + + + + @@ -2220,6 +2527,8 @@ 2 2 11 + + 1 @@ -2247,6 +2556,12 @@ 2 2 2 + + + + + + @@ -2268,6 +2583,8 @@ 2 2 11 + + 0 @@ -2295,6 +2612,12 @@ 2 2 2 + + + + + + 2 @@ -2307,6 +2630,12 @@ 2 2 0 + + + + + + @@ -2328,6 +2657,8 @@ 2 2 11 + + 1 @@ -2355,6 +2686,12 @@ 2 2 2 + + + + + + @@ -2376,6 +2713,8 @@ 2 2 11 + + 1 @@ -2403,6 +2742,12 @@ 2 2 2 + + + + + + @@ -2424,6 +2769,8 @@ 2 2 11 + + 1 @@ -2451,6 +2798,12 @@ 2 2 2 + + + + + + @@ -2472,6 +2825,8 @@ 2 2 11 + + 1 @@ -2499,6 +2854,12 @@ 2 2 2 + + + + + + @@ -2520,6 +2881,8 @@ 2 2 11 + + 1 @@ -2547,6 +2910,12 @@ 2 2 2 + + + + + + @@ -2568,6 +2937,8 @@ 2 2 11 + + 1 @@ -2595,6 +2966,12 @@ 2 2 2 + + + + + + @@ -2616,6 +2993,8 @@ 2 2 11 + + 1 @@ -2643,6 +3022,12 @@ 2 2 2 + + + + + + @@ -2664,6 +3049,8 @@ 2 2 11 + + 1 @@ -2691,6 +3078,12 @@ 2 2 2 + + + + + + @@ -2712,6 +3105,8 @@ 2 2 11 + + 1 @@ -2739,6 +3134,12 @@ 2 2 2 + + + + + + @@ -2760,6 +3161,8 @@ 2 2 11 + + 1 @@ -2787,6 +3190,12 @@ 2 2 2 + + + + + + @@ -2808,6 +3217,8 @@ 2 2 11 + + 1 @@ -2835,6 +3246,12 @@ 2 2 2 + + + + + + @@ -2856,6 +3273,8 @@ 2 2 11 + + 1 @@ -2883,6 +3302,12 @@ 2 2 2 + + + + + + @@ -2904,6 +3329,8 @@ 2 2 11 + + 1 @@ -2931,6 +3358,12 @@ 2 2 2 + + + + + + @@ -2952,6 +3385,8 @@ 2 2 11 + + 1 @@ -2979,6 +3414,12 @@ 2 2 2 + + + + + + @@ -3000,6 +3441,8 @@ 2 2 11 + + 1 @@ -3027,6 +3470,12 @@ 2 2 2 + + + + + + @@ -3048,6 +3497,8 @@ 2 2 11 + + 1 @@ -3075,6 +3526,12 @@ 2 2 2 + + + + + + @@ -3096,6 +3553,8 @@ 2 2 11 + + 1 @@ -3123,6 +3582,12 @@ 2 2 2 + + + + + + @@ -3144,6 +3609,8 @@ 2 2 11 + + 1 @@ -3171,6 +3638,12 @@ 2 2 2 + + + + + + @@ -3192,6 +3665,8 @@ 2 2 11 + + 1 @@ -3219,6 +3694,12 @@ 2 2 2 + + + + + + @@ -3240,6 +3721,8 @@ 2 2 11 + + 1 @@ -3267,6 +3750,12 @@ 2 2 2 + + + + + + @@ -3288,6 +3777,8 @@ 2 2 11 + + 1 @@ -3315,6 +3806,12 @@ 2 2 2 + + + + + + @@ -3336,6 +3833,8 @@ 2 2 11 + + 1 @@ -3363,6 +3862,12 @@ 2 2 2 + + + + + + @@ -3384,6 +3889,8 @@ 2 2 11 + + 1 @@ -3411,6 +3918,12 @@ 2 2 2 + + + + + + @@ -3432,6 +3945,8 @@ 2 2 11 + + 1 @@ -3459,6 +3974,12 @@ 2 2 2 + + + + + + @@ -3480,6 +4001,8 @@ 2 2 11 + + 1 @@ -3507,6 +4030,12 @@ 2 2 2 + + + + + + @@ -3528,6 +4057,8 @@ 2 2 11 + + 1 @@ -3555,6 +4086,12 @@ 2 2 2 + + + + + + @@ -3576,6 +4113,8 @@ 2 2 11 + + 1 @@ -3603,6 +4142,12 @@ 2 2 2 + + + + + + @@ -3624,6 +4169,8 @@ 2 2 11 + + 1 @@ -3651,6 +4198,12 @@ 2 2 2 + + + + + + @@ -3672,6 +4225,8 @@ 2 2 11 + + 1 @@ -3699,6 +4254,12 @@ 2 2 2 + + + + + + @@ -3720,6 +4281,8 @@ 2 2 11 + + 1 @@ -3747,6 +4310,12 @@ 2 2 2 + + + + + + @@ -3768,6 +4337,8 @@ 2 2 11 + + 1 @@ -3795,6 +4366,12 @@ 2 2 2 + + + + + + @@ -3816,6 +4393,8 @@ 2 2 11 + + 1 @@ -3843,6 +4422,12 @@ 2 2 2 + + + + + + @@ -3864,6 +4449,8 @@ 2 2 11 + + 1 @@ -3891,6 +4478,12 @@ 2 2 2 + + + + + + @@ -3912,6 +4505,8 @@ 2 2 11 + + 1 @@ -3939,6 +4534,12 @@ 2 2 2 + + + + + + @@ -3960,6 +4561,8 @@ 2 2 11 + + 1 @@ -3987,6 +4590,12 @@ 2 2 2 + + + + + + @@ -4008,6 +4617,8 @@ 2 2 11 + + 1 @@ -4035,6 +4646,12 @@ 2 2 2 + + + + + + @@ -4056,6 +4673,8 @@ 2 2 11 + + 1 @@ -4083,6 +4702,12 @@ 2 2 2 + + + + + + @@ -4104,6 +4729,8 @@ 2 2 11 + + 1 @@ -4131,6 +4758,12 @@ 2 2 2 + + + + + + @@ -4152,6 +4785,8 @@ 2 2 11 + + 1 @@ -4179,6 +4814,12 @@ 2 2 2 + + + + + + @@ -4200,6 +4841,8 @@ 2 2 11 + + 1 @@ -4227,6 +4870,12 @@ 2 2 2 + + + + + + @@ -4248,6 +4897,8 @@ 2 2 11 + + 1 @@ -4275,6 +4926,12 @@ 2 2 2 + + + + + + @@ -4296,6 +4953,8 @@ 2 2 11 + + 1 @@ -4323,6 +4982,12 @@ 2 2 2 + + + + + + @@ -4344,6 +5009,8 @@ 2 2 11 + + 1 @@ -4371,6 +5038,12 @@ 2 2 2 + + + + + + @@ -4392,6 +5065,8 @@ 2 2 11 + + 1 @@ -4419,6 +5094,12 @@ 2 2 2 + + + + + + @@ -4440,6 +5121,8 @@ 2 2 11 + + 1 @@ -4467,6 +5150,12 @@ 2 2 2 + + + + + + @@ -4488,6 +5177,8 @@ 2 2 11 + + 1 @@ -4515,6 +5206,12 @@ 2 2 2 + + + + + + @@ -4536,6 +5233,8 @@ 2 2 11 + + 1 @@ -4563,6 +5262,12 @@ 2 2 2 + + + + + + @@ -4584,6 +5289,8 @@ 2 2 11 + + 1 @@ -4611,6 +5318,12 @@ 2 2 2 + + + + + + @@ -4632,6 +5345,8 @@ 2 2 11 + + 1 @@ -4659,6 +5374,12 @@ 2 2 2 + + + + + + @@ -4680,6 +5401,8 @@ 2 2 11 + + 1 @@ -4707,6 +5430,12 @@ 2 2 2 + + + + + + @@ -4728,6 +5457,8 @@ 2 2 11 + + 1 @@ -4755,6 +5486,12 @@ 2 2 2 + + + + + + @@ -4776,6 +5513,8 @@ 2 2 11 + + 1 @@ -4803,6 +5542,12 @@ 2 2 2 + + + + + + @@ -4824,6 +5569,8 @@ 2 2 11 + + 1 @@ -4851,6 +5598,12 @@ 2 2 2 + + + + + + @@ -4872,6 +5625,8 @@ 2 2 11 + + 1 @@ -4899,6 +5654,12 @@ 2 2 2 + + + + + + @@ -4920,6 +5681,8 @@ 2 2 11 + + 1 @@ -4947,6 +5710,12 @@ 2 2 2 + + + + + + @@ -4968,6 +5737,8 @@ 2 2 11 + + 1 @@ -4995,6 +5766,12 @@ 2 2 2 + + + + + + @@ -5016,6 +5793,8 @@ 2 2 11 + + 1 @@ -5043,6 +5822,12 @@ 2 2 2 + + + + + + @@ -5064,6 +5849,8 @@ 2 2 11 + + 1 @@ -5091,6 +5878,12 @@ 2 2 2 + + + + + + @@ -5112,6 +5905,8 @@ 2 2 11 + + 1 @@ -5139,6 +5934,12 @@ 2 2 2 + + + + + + @@ -5160,6 +5961,8 @@ 2 2 11 + + 1 @@ -5187,6 +5990,12 @@ 2 2 2 + + + + + + @@ -5208,6 +6017,8 @@ 2 2 11 + + 1 @@ -5235,6 +6046,12 @@ 2 2 2 + + + + + + @@ -5256,6 +6073,8 @@ 2 2 11 + + 1 @@ -5283,6 +6102,12 @@ 2 2 2 + + + + + + @@ -5304,6 +6129,8 @@ 2 2 11 + + 1 @@ -5331,6 +6158,12 @@ 2 2 2 + + + + + + @@ -5352,6 +6185,8 @@ 2 2 11 + + 1 @@ -5379,6 +6214,12 @@ 2 2 2 + + + + + + @@ -5400,6 +6241,8 @@ 2 2 11 + + 1 @@ -5427,6 +6270,12 @@ 2 2 2 + + + + + + @@ -5448,6 +6297,8 @@ 2 2 11 + + 1 @@ -5475,6 +6326,12 @@ 2 2 2 + + + + + + @@ -5496,6 +6353,8 @@ 2 2 11 + + 1 @@ -5523,6 +6382,12 @@ 2 2 2 + + + + + + @@ -5544,6 +6409,8 @@ 2 2 11 + + 1 @@ -5571,6 +6438,12 @@ 2 2 2 + + + + + + @@ -5592,6 +6465,8 @@ 2 2 11 + + 1 @@ -5619,6 +6494,12 @@ 2 2 2 + + + + + + @@ -5640,6 +6521,8 @@ 2 2 11 + + 1 @@ -5667,6 +6550,12 @@ 2 2 2 + + + + + + @@ -5688,6 +6577,8 @@ 2 2 11 + + 1 @@ -5715,6 +6606,12 @@ 2 2 2 + + + + + + @@ -5736,6 +6633,8 @@ 2 2 11 + + 1 @@ -5763,6 +6662,12 @@ 2 2 2 + + + + + + @@ -5784,6 +6689,8 @@ 2 2 11 + + 1 @@ -5811,6 +6718,12 @@ 2 2 2 + + + + + + @@ -5832,6 +6745,8 @@ 2 2 11 + + 1 @@ -5859,6 +6774,12 @@ 2 2 2 + + + + + + @@ -5880,6 +6801,8 @@ 2 2 11 + + 1 @@ -5907,6 +6830,12 @@ 2 2 2 + + + + + + @@ -5928,6 +6857,8 @@ 2 2 11 + + 1 @@ -5955,6 +6886,12 @@ 2 2 2 + + + + + + @@ -5976,6 +6913,8 @@ 2 2 11 + + 1 @@ -6003,6 +6942,12 @@ 2 2 2 + + + + + + @@ -6024,6 +6969,8 @@ 2 2 11 + + 1 @@ -6051,6 +6998,12 @@ 2 2 2 + + + + + + @@ -6072,6 +7025,8 @@ 2 2 11 + + 1 @@ -6099,6 +7054,12 @@ 2 2 2 + + + + + + @@ -6120,6 +7081,8 @@ 2 2 11 + + 1 @@ -6147,6 +7110,12 @@ 2 2 2 + + + + + + @@ -6168,6 +7137,8 @@ 2 2 11 + + 1 @@ -6195,6 +7166,12 @@ 2 2 2 + + + + + + @@ -6207,17 +7184,18 @@ + - + - + - + - + - + diff --git a/usersrc/encoder.c b/usersrc/encoder.c index d0aa0a5..70ff5a0 100644 --- a/usersrc/encoder.c +++ b/usersrc/encoder.c @@ -4,12 +4,8 @@ #include "zport.h" #include "udpclient.h" -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 bool camera_encoder_light_state; -static bool driven_encoder_light_state; static encoder_t m_encoders[] = { {&camera_encoder, TIM_CHANNEL_1 | TIM_CHANNEL_2, 0, 0}, // 相机编码器 @@ -40,9 +36,13 @@ void encoder_all_clear_counter(void) } } +void encoder_switch_clear_counter(encoder_usage_t encoder) +{ + m_encoders[encoder].count = 0; +} + void encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value) { - bool get_encoder_value_flag = false; switch (encoder) { case CAMERA_ENCODER: @@ -70,33 +70,29 @@ void encoder_light_schedule(void) G2:tim4-->TIM_CHANNEL_3 B2:tim4-->TIM_CHANNEL_4 */ -void encoder_light_switch_set_color_and_brightness(encoder_usage_t encoder, encoder_light_color_table_t color, uint16_t brightness) +void encoder_light_switch_set_color(encoder_usage_t encoder, encoder_light_color_table_t color) { - uint16_t count; if (encoder == CAMERA_ENCODER) { switch (color) { case ENCODER_LIGHT_COLOR_RED: - count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&htim2); - __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, count); - HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); - HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1); - HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1); + /* 红色 */ + HAL_GPIO_WritePin(DIS_R1_GPIO_Port, DIS_R1_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(DIS_G1_GPIO_Port, DIS_G1_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_B1_GPIO_Port, DIS_B1_Pin, GPIO_PIN_SET); break; case ENCODER_LIGHT_COLOR_GREEN: - count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&htim2); - __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, count); - HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4); - HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); - HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1); + /* 绿色 */ + HAL_GPIO_WritePin(DIS_R1_GPIO_Port, DIS_R1_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_G1_GPIO_Port, DIS_G1_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(DIS_B1_GPIO_Port, DIS_B1_Pin, GPIO_PIN_SET); break; case ENCODER_LIGHT_COLOR_BLUE: - count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&htim3); - __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, count); - HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4); - HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); + /* 蓝色 */ + HAL_GPIO_WritePin(DIS_R1_GPIO_Port, DIS_R1_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_G1_GPIO_Port, DIS_G1_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_B1_GPIO_Port, DIS_B1_Pin, GPIO_PIN_RESET); break; default: @@ -109,25 +105,22 @@ void encoder_light_switch_set_color_and_brightness(encoder_usage_t encoder, enco switch (color) { case ENCODER_LIGHT_COLOR_RED: - count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&htim2); - __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, count); - HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); - HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3); - HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4); + /* 红色 */ + HAL_GPIO_WritePin(DIS_R2_GPIO_Port, DIS_R2_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(DIS_G2_GPIO_Port, DIS_G2_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_B2_GPIO_Port, DIS_B2_Pin, GPIO_PIN_SET); break; case ENCODER_LIGHT_COLOR_GREEN: - count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&htim4); - __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, count); - HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3); - HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3); - HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4); + /* 绿色 */ + HAL_GPIO_WritePin(DIS_R2_GPIO_Port, DIS_R2_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_G2_GPIO_Port, DIS_G2_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(DIS_B2_GPIO_Port, DIS_B2_Pin, GPIO_PIN_SET); break; case ENCODER_LIGHT_COLOR_BLUE: - count = (1 - brightness / 65535.0) * __HAL_TIM_GET_AUTORELOAD(&htim4); - __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, count); - HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3); - HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3); - HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4); + /* 蓝色 */ + HAL_GPIO_WritePin(DIS_R2_GPIO_Port, DIS_R2_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_G2_GPIO_Port, DIS_G2_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_B2_GPIO_Port, DIS_B2_Pin, GPIO_PIN_RESET); break; default: @@ -145,47 +138,15 @@ 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 - } -} - -void encoder_switch_toggle_on_off_state(encoder_usage_t encoder) -{ - if (encoder == CAMERA_ENCODER) - { - if (camera_encoder_light_state) - { - encoder_switch_close_light(CAMERA_ENCODER); - } - else - { - encoder_light_switch_set_color_and_brightness(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_BLUE, encoder_light_max_brightness); - } - camera_encoder_light_state = !camera_encoder_light_state; + HAL_GPIO_WritePin(DIS_R1_GPIO_Port, DIS_R1_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_G1_GPIO_Port, DIS_G1_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_B1_GPIO_Port, DIS_B1_Pin, GPIO_PIN_SET); } else if (encoder == DRIVEN_ENCODER_GEAR) { - if (driven_encoder_light_state) - { - encoder_switch_close_light(DRIVEN_ENCODER_GEAR); - } - else - { - encoder_light_switch_set_color_and_brightness(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_BLUE, encoder_light_max_brightness); - } - driven_encoder_light_state = !driven_encoder_light_state; + HAL_GPIO_WritePin(DIS_R2_GPIO_Port, DIS_R2_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_G2_GPIO_Port, DIS_G2_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DIS_B2_GPIO_Port, DIS_B2_Pin, GPIO_PIN_SET); } else { diff --git a/usersrc/encoder.h b/usersrc/encoder.h index e2913e7..92a93c1 100644 --- a/usersrc/encoder.h +++ b/usersrc/encoder.h @@ -11,13 +11,6 @@ typedef enum typedef enum { - STANDBY = 0X00, - WORKING = 0X01, - ENCODER_STATE_NUMBER_AND_ERR_STATE, -} encoder_light_state_t; - -typedef enum -{ ENCODER_LIGHT_COLOR_RED = 0X00, ENCODER_LIGHT_COLOR_GREEN = 0X01, ENCODER_LIGHT_COLOR_BLUE = 0X02, @@ -31,15 +24,13 @@ typedef struct uint16_t last_count; } encoder_t; -#define encoder_light_max_brightness 1000 - void encoder_all_start(void); void encoder_all_stop(void); void encoder_all_clear_counter(void); +void encoder_switch_clear_counter(encoder_usage_t encoder); void encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value); void encoder_light_schedule(void); -void encoder_light_switch_set_color_and_brightness(encoder_usage_t encoder, encoder_light_color_table_t color, uint16_t brightness); +void encoder_light_switch_set_color(encoder_usage_t encoder, encoder_light_color_table_t color); void encoder_switch_close_light(encoder_usage_t encoder); -void encoder_switch_toggle_on_off_state(encoder_usage_t encoder); encoder_t *encoder_get_camera_encoder_structer(void); encoder_t *encoder_get_driven_encoder_gear_structer(void); diff --git a/usersrc/usermain.c b/usersrc/usermain.c index a8b6e1b..f8fc2a2 100644 --- a/usersrc/usermain.c +++ b/usersrc/usermain.c @@ -51,13 +51,11 @@ static void onkey(zkey_t *key, zkey_state_t key_state) { if (strcmp(key->name, CHEAR_ENCODER_1_KEY_NAME) == 0) { - encoder_switch_encoder_clear_count_and_structer_count(CAMERA_ENCODER); - printf("clear encoder 1 count\r\n"); + encoder_switch_clear_counter(CAMERA_ENCODER); } else if (strcmp(key->name, CHEAR_ENCODER_2_KEY_NAME) == 0) { - encoder_switch_encoder_clear_count_and_structer_count(DRIVEN_ENCODER_GEAR); - printf("clear encoder 2 count\r\n"); + encoder_switch_clear_counter(DRIVEN_ENCODER_GEAR); } } @@ -118,14 +116,14 @@ int32_t compute_uint16_t_minus_the_numbers(uint16_t now, uint16_t last) void netif_link_up_user_func(void) { - encoder_light_switch_set_color_and_brightness(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_GREEN, encoder_light_max_brightness); - encoder_light_switch_set_color_and_brightness(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_GREEN, encoder_light_max_brightness); + encoder_light_switch_set_color(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_GREEN); + encoder_light_switch_set_color(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_GREEN); } void netif_link_down_user_func(void) { - 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_RED, encoder_light_max_brightness); + encoder_light_switch_set_color(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_RED); + encoder_light_switch_set_color(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_RED); } static void encoder_get_and_calculation(void)