新增编码器数据更新，状态灯闪烁功能

usersrc/encoder.c

@@ -38,6 +38,7 @@ void encoder_all_clear_counter(void)
 
 void encoder_switch_clear_counter(encoder_usage_t encoder)
 {
+    /* 需要注意别传入ENCODER_NUMBER，否则数组越界 */
     m_encoders[encoder].count = 0;
 }
 
@@ -57,8 +58,44 @@ void encoder_read_with_encoder(encoder_usage_t encoder, uint32_t *encoder_value)
     }
 }
 
-void encoder_light_schedule(void)
+void encoder_light_schedule(bool netif_link_status, bool *camera_encoder_flag, bool *driven_encoder_gear_flag)
 {
+    static uint8_t camera_encoder_light_flicker_count = 0;
+    static uint8_t driven_encoder_gear_light_flicker_count = 0;
+    if (netif_link_status)
+    {
+        if (*camera_encoder_flag)
+        {
+            if (sys_haspassedms(camera_encoder_lastprocess) > 100)
+            {
+                camera_encoder_lastprocess = HAL_GetTick();
+                HAL_GPIO_TogglePin(DIS_G1_GPIO_Port, DIS_G1_Pin);
+                camera_encoder_light_flicker_count += 1;
+            }
+            if (camera_encoder_light_flicker_count > 6)
+            {
+                encoder_light_switch_set_color(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_GREEN);
+                camera_encoder_light_flicker_count = 0;
+                *camera_encoder_flag = false;
+            }
+        }
+
+        if (*driven_encoder_gear_flag)
+        {
+            if (sys_haspassedms(driven_encoder_gear_lastprocess) > 100)
+            {
+                driven_encoder_gear_lastprocess = HAL_GetTick();
+                HAL_GPIO_TogglePin(DIS_G2_GPIO_Port, DIS_G2_Pin);
+                driven_encoder_gear_light_flicker_count += 1;
+            }
+            if (driven_encoder_gear_light_flicker_count > 6)
+            {
+                encoder_light_switch_set_color(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_GREEN);
+                driven_encoder_gear_light_flicker_count = 0;
+                *driven_encoder_gear_flag = false;
+            }
+        }
+    }
 }
 
 /*

usersrc/encoder.h

@@ -29,7 +29,7 @@ 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_schedule(bool netif_link_status, bool *camera_encoder_flag, bool *driven_encoder_gear_flag);
 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);
 encoder_t *encoder_get_camera_encoder_structer(void);

usersrc/usermain.c

@@ -35,6 +35,10 @@ static zkey_module_t s_key_module = ZMODULE_INIT(s_keys, onkey);
 
 static uint16_t encoder_get_temp;
 
+static bool netif_link_status;
+static bool camera_encoder_raw_count_update_flag;
+static bool driven_encoder_gear_raw_count_update_flag;
+
 static void zkey_schedule()
 {
   static uint32_t lastprocess_key_ticket;
@@ -118,12 +122,14 @@ void netif_link_up_user_func(void)
 {
   encoder_light_switch_set_color(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_GREEN);
   encoder_light_switch_set_color(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_GREEN);
+  netif_link_status = true;
 }
 
 void netif_link_down_user_func(void)
 {
   encoder_light_switch_set_color(CAMERA_ENCODER, ENCODER_LIGHT_COLOR_RED);
   encoder_light_switch_set_color(DRIVEN_ENCODER_GEAR, ENCODER_LIGHT_COLOR_RED);
+  netif_link_status = false;
 }
 
 static void encoder_get_and_calculation(void)
@@ -133,6 +139,7 @@ static void encoder_get_and_calculation(void)
   {
     encoder_get_camera_encoder_structer()->count += compute_uint16_t_minus_the_numbers(encoder_get_temp, encoder_get_camera_encoder_structer()->last_count);
     encoder_get_camera_encoder_structer()->last_count = encoder_get_temp;
+    camera_encoder_raw_count_update_flag = true;
   }
 
   encoder_get_temp = __HAL_TIM_GET_COUNTER(encoder_get_driven_encoder_gear_structer()->tim_handler);
@@ -140,6 +147,7 @@ static void encoder_get_and_calculation(void)
   {
     encoder_get_driven_encoder_gear_structer()->count += compute_uint16_t_minus_the_numbers(encoder_get_temp, encoder_get_driven_encoder_gear_structer()->last_count);
     encoder_get_driven_encoder_gear_structer()->last_count = encoder_get_temp;
+    driven_encoder_gear_raw_count_update_flag = true;
   }
 }
 
@@ -167,7 +175,7 @@ void user_main()
     zkey_schedule();
     udp_client_recv();
     at_cmd_processer_try_process_data();
-    encoder_light_schedule();
+    encoder_light_schedule(netif_link_status, &camera_encoder_raw_count_update_flag, &driven_encoder_gear_raw_count_update_flag);
     port_do_debug_light_state();
     osDelay(1);
   }