weizhuangzhuang
/
camera_roller_test_platform_byweizhuangzhuang-master
2
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

updata

master
zhuang 4 years ago
parent
748815756a
commit
3e3f017bb2
6 changed files with 92 additions and 48 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 64
      app.c
  2. 22
      lcd.c
  3. 2
      lcd.h
  4. 46
      motor.c
  5. 5
      t21_t8.c
  6. 1
      t21_t8.h

64
app.c
View File

@ -43,42 +43,68 @@ void start_up(void)
}
}
//================================================================
//================================================================
//屏幕串口部分
extern uint8_t g_lcd_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假
extern volatile char lcd_rxbuff[50] = {0};
extern volatile int32_t lcd_count = 0;
extern uint8_t g_lcd_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假
extern uint32_t g_process_recv_lcd_data_time = 0;
uint32_t judge_recv_lcd_data_finish_main(uint32_t time)
void judge_recv_lcd_data_finish_main(uint32_t time)
{
/**
* @brief 接收LCD的数据完成
*/
static uint32_t recv_lcd_data_time = 0;
recv_lcd_data_time = time;
if(recv_lcd_data_time=0)
{
recv_lcd_data_time = hal_get_ticket();
return recv_lcd_data_time;
}
else if (hal_has_passedms(recv_lcd_data_time) > 10) {
g_lcd_rxbuf_isready=false;
recv_lcd_data_time = hal_get_ticket();
send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
lcd_count=0;
return 0;
}
static uint32_t recv_lcd_data_time = 0;
recv_lcd_data_time = time;
if (hal_has_passedms(recv_lcd_data_time) > 10) {
g_lcd_rxbuf_isready=false;
recv_lcd_data_time = hal_get_ticket();
send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
lcd_count=0;
}
}
//================================================================
//================================================================
//电机串口部分
extern uint8_t g_motor_rxbuf_isready;//lcd数据接收过程中为真，接收完成为假
extern volatile char motor_rxbuff[50] = {0};
extern volatile int32_t motor_count = 0;
extern uint32_t g_process_recv_motor_data_time = 0;
void judge_recv_motor_data_finish_main(uint32_t time)
{
/**
* @brief 接收motor的数据完成
*/
static uint32_t recv_motor_data_time = 0;
recv_motor_data_time = time;
if (hal_has_passedms(recv_motor_data_time) > 10) {
g_lcd_rxbuf_isready=false;
recv_motor_data_time = hal_get_ticket();
send_cmd_to_motor(motor_rxbuff,motor_count);//接收完成将数据发给电脑
send_cmd_to_lcd(motor_rxbuff,motor_count);//接收完成将数据发给电脑
motor_count=0;
}
}
void main()
{
peripheral_config();//各种初始化包括ram清零
uint32_t record_last_time=0;
while (1)
{
debug_light_ctrl_process_in_main_loop();//闪灯效果
if(g_lcd_rxbuf_isready)//接收开始
{
record_last_time = judge_recv_lcd_data_finish_main(record_last_time);
judge_recv_lcd_data_finish_main(g_process_recv_lcd_data_time);
}
if(g_motor_rxbuf_isready)
{
judge_recv_motor_data_finish_main(g_process_recv_motor_data_time);
}
}
}

22
lcd.c
View File

@ -19,7 +19,6 @@ volatile int32_t lcd_issue_motor_speed=0;
volatile int16_t judge_now_foreward_or_reversal_state=0;//正转0，反转1
volatile int32_t first_set_speed_state=0;
extern volatile int32_t speed_dsp_now;//当前电机的速度单位dsp
extern int32_t recv_lcd_data_time;
extern volatile int32_t motor_jerk_state;//1电机处于急停状态
//-----------------------------------------
@ -52,7 +51,7 @@ void send_cmd_to_lcd(volatile char buff[20], unsigned int num)
//---------------------------------------
//---------------------------------------
uint8_t g_lcd_rxbuf_isready = 0;
static uint32_t process_recv_lcd_data_time = 0;
uint32_t g_process_recv_lcd_data_time = 0;
void recv_from_lcd_data(unsigned char data)
{
/**
@ -61,22 +60,27 @@ void recv_from_lcd_data(unsigned char data)
*/
g_lcd_rxbuf_isready=true;//进入中断就让他为真
lcd_rxbuff[lcd_count++] = data;
g_process_recv_lcd_data_time= hal_get_irqticket();//记录最后的时间
}
void judge_recv_lcd_data_finish(void)
uint32_t judge_recv_lcd_data_finish(uint32_t time)
{
/**
* @brief 接收LCD的数据完成
*/
static uint32_t recv_lcd_data_time = 0;
if (hal_has_passedms(recv_lcd_data_time) > 10) {
g_lcd_rxbuf_isready=false;
recv_lcd_data_time = hal_get_ticket();
send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
}
static uint32_t recv_lcd_data_time = 0;
recv_lcd_data_time = time;
if (hal_has_passedms(recv_lcd_data_time) > 10) {
g_lcd_rxbuf_isready=false;
recv_lcd_data_time = hal_get_ticket();
send_cmd_to_lcd(lcd_rxbuff,lcd_count);//接收完成将数据发给电脑
lcd_count=0;
return 0;
}
}
/**
* @brief 对来自lcd的指令进行分析
* @param buff 指令，num 指令的字节长度

2
lcd.h
View File

@ -10,7 +10,7 @@
void lcd_uart_config(void);
void lcd_send_commands(void);
void send_cmd_to_lcd(volatile char buff[20],unsigned int num);
void judge_recv_lcd_data_finish(void);
uint32_t judge_recv_lcd_data_finish(uint32_t time);
uint8_t lcd_data_analyse(volatile char buff[20], unsigned int num);
void recv_from_lcd_data(unsigned char data);
void lcd_switch_anomaly_page(void);

46
motor.c
View File

@ -15,8 +15,6 @@ extern volatile int32_t lcd_issue_motor_speed;
volatile int16_t motor_off_state=0;
extern int32_t recv_motor_data_time;
extern int32_t inquire_error_time=0;
volatile char motor_recv_rxbuff[50] = {0};
volatile int32_t motor_recv_count = 0;
void motor_uart_config(void)
{
/**
@ -77,34 +75,44 @@ void inquire_motor_error_state(void)
sleep_ms(10);
}
}
//----------------------------------------------------
//----------------------------------------------------
//----------------------------------------------------
uint8_t g_motor_rxbuf_isready = 0;
volatile char motor_rxbuff[50] = {0};
volatile uint32_t motor_count = 0;
uint32_t g_process_recv_motor_data_time = 0;
void recv_from_motor_data(unsigned char data)
{
/**
* @brief 接受来自电机的数据
*
*/
recv_motor_data_state=1;
recv_motor_data_time=0;
motor_recv_rxbuff[motor_recv_count++]=data;
g_motor_rxbuf_isready=true;//进入中断就让他为真
motor_rxbuff[motor_count++] = data;
g_process_recv_motor_data_time= hal_get_irqticket();//记录最后的时间
}
void data_from_motor_recv_Ok(void)
uint32_t judge_recv_motor_data_finish(uint32_t time)
{
/**
* @brief 接收电机的数据完成
* 注意调试1利用串口助手测试的时候将数据发回给串口
* 调试2将电机发过来的数据，发送给lcd
*/
if(recv_motor_data_time>30)
/**
* @brief 接收motor的数据完成
*/
static uint32_t recv_motor_data_time = 0;
recv_motor_data_time = time;
if(recv_motor_data_time=0)
{
send_cmd_to_motor(motor_recv_rxbuff, motor_recv_count);
send_cmd_to_lcd(motor_recv_rxbuff, motor_recv_count);
//recv_motor_data_state=0;
motor_recv_count=0;
//motor_data_analyse(motor_rxbuff, motor_count);
recv_motor_data_time = hal_get_ticket();
return recv_motor_data_time;
}
else if (hal_has_passedms(recv_motor_data_time) > 10) {
g_motor_rxbuf_isready=false;
recv_motor_data_time = hal_get_ticket();
send_cmd_to_motor(motor_rxbuff,motor_count);//接收完成将数据发给电脑
motor_count=0;
return 0;
}
}

5
t21_t8.c
View File

@ -83,6 +83,11 @@ int32_t hal_get_ticket()
return g_ticket100us;
}
int32_t hal_get_irqticket()
{
return g_ticket100us;
}
int32_t sleep_ms(int32_t time)
{
/**

1
t21_t8.h
View File

@ -16,6 +16,7 @@ void system_module_process_interrupt();
int32_t sleep_ms(int32_t time);
void init_timer1_as_ticketustimer_in32M();
int32_t hal_get_ticket();
int32_t hal_get_irqticket();
uint32_t hal_has_passedms(uint32_t lastticket);
#endif
Write Preview
Loading…
Cancel
Save