实现电机，按键，虚拟串口，未验证

source/interface/if_pwm.c

@@ -2,10 +2,12 @@
 #include "debug.h"
 #include "lock_resource.h"
 
-// 使用定时器14
+// 使用定时器14,13
 
 // PF7,8,9 是输出口
 // 使用PF7来产生脉冲，PF8来改变方向
+// PI6 是输入口
+// 使用PI6来捕获到位中断
 
 typedef struct{
   int tick;
@@ -20,6 +22,7 @@ typedef struct{
 typedef struct{
   TIM_HandleTypeDef htim;
   TIM_HandleTypeDef htim2;
+  EXTI_HandleTypeDef hexti;
   int count_all;
   int count_past;
   int fre;
@@ -32,6 +35,7 @@ typedef struct{
 
 static self_def g_self;
 
+static void Exti14FallingCb(void);
 
 static int init(pwm_def *p)
 {
@@ -67,13 +71,37 @@ static int init(pwm_def *p)
   GPIO_InitTypeDef init={0};
   __HAL_RCC_GPIOF_CLK_ENABLE();
   
-  init.Mode = GPIO_MODE_INPUT;
+  init.Mode = GPIO_MODE_OUTPUT_PP;
   init.Pull = GPIO_NOPULL;
   init.Pin = GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
   PERIPH_LOCK(GPIOF);
   HAL_GPIO_Init(GPIOF, &init);
   PERIPH_UNLOCK(GPIOF);
+  
+  __HAL_RCC_GPIOI_CLK_ENABLE();
+  init.Mode = GPIO_MODE_INPUT;
+  init.Pull = GPIO_NOPULL;
+  init.Pin = GPIO_PIN_6;
+  PERIPH_LOCK(GPIOI);
+  HAL_GPIO_Init(GPIOI, &init);
+  PERIPH_UNLOCK(GPIOI);
 
+  EXTI_ConfigTypeDef init2={0};
+  init2.Line = EXTI_LINE_14;
+  init2.Trigger = EXTI_TRIGGER_FALLING;
+  init2.GPIOSel = EXTI_GPIOA;
+  init2.Mode = EXTI_MODE_C2_INTERRUPT;
+  PERIPH_LOCK(EXTI);
+  HAL_EXTI_SetConfigLine(&s->hexti, &init2);
+  PERIPH_UNLOCK(EXTI);
+
+  /* Register callback to treat Exti interrupts in user Exti14FallingCb function */
+  HAL_EXTI_RegisterCallback(&s->hexti, HAL_EXTI_FALLING_CB_ID, Exti14FallingCb);
+
+  /* Enable and set line 14 Interrupt to the lowest priority */
+  HAL_NVIC_SetPriority(EXTI6_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI6_IRQn);
+  
   return 0;
 }
 
@@ -88,7 +116,7 @@ static int start(pwm_def *p,int step_count)
   param_check(p->private_data);
   self_def *self=p->private_data;
   if(step_count==0) return 0;
-  if((*self->dtb->bitmap_pin_zero==0)&&(step_count<0))
+  if((HAL_GPIO_ReadPin(GPIOI,6)==GPIO_PIN_RESET)&&(step_count<0))
   {
     // 到达零点后不能继续上升
     if(self->end_irq)
@@ -96,10 +124,10 @@ static int start(pwm_def *p,int step_count)
     return -1;
   }
   if(step_count>0)
-    *self->dtb->bitmap_pin_dir=0;
+    HAL_GPIO_WritePin(GPIOF,8,GPIO_PIN_RESET);
   else{
     step_count=-step_count;
-    *self->dtb->bitmap_pin_dir=1;
+    HAL_GPIO_WritePin(GPIOF,8,GPIO_PIN_SET);
   }
   if(self->fre==0)
   {
@@ -196,18 +224,14 @@ pwm_init_export(pwm,init,deinit,start,stop,set_fre,set_irq_fun,0)
 static inline void self_irq(self_def *self)
 {
 	rt_interrupt_enter();
-  volatile uint32_t *pin=self->dtb->bitmap_pin;
-  if(TIM_GetFlagStatus(self->dtb->tim,TIM_FLAG_Update))
+  
+  HAL_GPIO_TogglePin(GPIOF,7);
+  irq_disable();
+  self->count_past++;
+  irq_enable();
+  if(self->count_all>0&&(self->count_all<=self->count_past))
   {
-    TIM_ClearFlag(self->dtb->tim,TIM_FLAG_Update);
-    *pin=!(*pin);
-    irq_disable();
-    self->count_past++;
-    irq_enable();
-    if(self->count_all>0&&(self->count_all<=self->count_past))
-    {
-      self_stop__(self);
-    }
+    self_stop__(self);
   }
 	rt_interrupt_leave();
 }
@@ -249,13 +273,8 @@ static int calc_fre(self_def *self)
 static inline void self_irq2(self_def *self)
 {
 	rt_interrupt_enter();
-  volatile uint32_t *pin=self->dtb->bitmap_pin;
-  if(TIM_GetFlagStatus(self->dtb->tim2,TIM_FLAG_Update))
-  {
-    TIM_ClearFlag(self->dtb->tim2,TIM_FLAG_Update);
-    if(self->fre==0)
-      self_set_fre(self,calc_fre(self));
-  }
+  if(self->fre==0)
+    self_set_fre(self,calc_fre(self));
 	rt_interrupt_leave();
 }
 
@@ -263,24 +282,35 @@ static inline void self_irq2(self_def *self)
 static inline void self_stop_irq(self_def *self)
 {
 	rt_interrupt_enter();
-  if(EXTI_GetFlagStatus(1<<self->dtb->gpio_zero_pin)){
-    irq_disable();
-    self->count_past=0;
-    self->count_all=0;
-    irq_enable();
-    self_stop__(self);
-    EXTI_ClearFlag(1<<self->dtb->gpio_zero_pin);
-  }
+  irq_disable();
+  self->count_past=0;
+  self->count_all=0;
+  irq_enable();
+  self_stop__(self);
 	rt_interrupt_leave();
 }
 
 
+static void Exti14FallingCb(void)
+{
+  self_def *s=&g_self;
+  self_stop_irq(s);
+}
 
 
 
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
+  self_def *s=&g_self;
   //DBG_LOG("timer updata.");
+  if(htim==&s->htim)
+  {
+    self_irq(s);
+  }
+  else if(htim==&s->htim2)
+  {
+    self_irq2(s);
+  }
 }
 
 
@@ -319,5 +349,10 @@ void TIM13_IRQHandler(void)
   HAL_TIM_IRQHandler(&s->htim2);
 }
 
+void EXTI6_IRQHandler(void)
+{
+  self_def *s=&g_self;
+  HAL_EXTI_IRQHandler(&s->hexti);
+}