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/** **************************************************************************************************** * @file usart.c * @author ÕýµãÔ­×ÓÍŶÓ(ALIENTEK) * @version V1.1 * @date 2023-06-05 * @brief ´®¿Ú³õʼ»¯´úÂë(Ò»°ãÊÇ´®¿Ú1)£¬Ö§³Öprintf * @license Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ **************************************************************************************************** * @attention * * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å * ÔÚÏßÊÓƵ:www.yuanzige.com * ¼¼ÊõÂÛ̳:www.openedv.com * ¹«Ë¾ÍøÖ·:www.alientek.com * ¹ºÂòµØÖ·:openedv.taobao.com * * ÐÞ¸Ä˵Ã÷ * V1.0 20211014 * µÚÒ»´Î·¢²¼ * V1.1 20230605 * ɾ³ýUSART_UX_IRQHandler()º¯ÊýµÄ³¬Ê±´¦ÀíºÍÐÞ¸ÄHAL_UART_RxCpltCallback() **************************************************************************************************** */ #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" /* Èç¹ûʹÓÃos,Ôò°üÀ¨ÏÂÃæµÄÍ·Îļþ¼´¿É */ #if SYS_SUPPORT_OS #include "os.h" /* os ʹÓà */ #endif /******************************************************************************************/ /* ¼ÓÈëÒÔÏ´úÂë, Ö§³Öprintfº¯Êý, ¶ø²»ÐèҪѡÔñuse MicroLIB */ #if 1 #if (__ARMCC_VERSION >= 6010050) /* ʹÓÃAC6±àÒëÆ÷ʱ */ __asm(".global __use_no_semihosting\n\t"); /* ÉùÃ÷²»Ê¹ÓðëÖ÷»úģʽ */ __asm(".global __ARM_use_no_argv \n\t"); /* AC6ÏÂÐèÒªÉùÃ÷mainº¯ÊýΪÎÞ²ÎÊý¸ñʽ£¬·ñÔò²¿·ÖÀý³Ì¿ÉÄܳöÏÖ°ëÖ÷»úģʽ */ #else /* ʹÓÃAC5±àÒëÆ÷ʱ, ÒªÔÚÕâÀﶨÒå__FILE ºÍ ²»Ê¹ÓðëÖ÷»úģʽ */ #pragma import(__use_no_semihosting) struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; #endif /* ²»Ê¹ÓðëÖ÷»úģʽ£¬ÖÁÉÙÐèÒªÖض¨Òå_ttywrch\_sys_exit\_sys_command_stringº¯Êý,ÒÔͬʱ¼æÈÝAC6ºÍAC5ģʽ */ int _ttywrch(int ch) { ch = ch; return ch; } /* ¶¨Òå_sys_exit()ÒÔ±ÜÃâʹÓðëÖ÷»úģʽ */ void _sys_exit(int x) { x = x; } char *_sys_command_string(char *cmd, int len) { return NULL; } /* FILE ÔÚ stdio.hÀïÃ涨Òå. */ FILE __stdout; /* Öض¨Òåfputcº¯Êý, printfº¯Êý×îÖÕ»áͨ¹ýµ÷ÓÃfputcÊä³ö×Ö·û´®µ½´®¿Ú */ int fputc(int ch, FILE *f) { while ((USART1->SR & 0X40) == 0); /* µÈ´ýÉÏÒ»¸ö×Ö·û·¢ËÍÍê³É */ USART1->DR = (uint8_t)ch; /* ½«Òª·¢Ë͵Ä×Ö·û ch дÈëµ½DR¼Ä´æÆ÷ */ return ch; } #endif /***********************************************END*******************************************/ #if USART_EN_RX /* Èç¹ûʹÄÜÁ˽ÓÊÕ */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ uint8_t g_usart_rx_buf[USART_REC_LEN]; /* ½ÓÊÕ״̬ * bit15£¬ ½ÓÊÕÍê³É±êÖ¾ * bit14£¬ ½ÓÊÕµ½0x0d * bit13~0£¬ ½ÓÊÕµ½µÄÓÐЧ×Ö½ÚÊýÄ¿ */ uint16_t g_usart_rx_sta = 0; uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ UART_HandleTypeDef g_uart1_handle; /* UART¾ä±ú */ /** * @brief ´®¿ÚX³õʼ»¯º¯Êý * @param baudrate: ²¨ÌØÂÊ, ¸ù¾Ý×Ô¼ºÐèÒªÉèÖò¨ÌØÂÊÖµ * @note ×¢Òâ: ±ØÐëÉèÖÃÕýÈ·µÄʱÖÓÔ´, ·ñÔò´®¿Ú²¨ÌØÂʾͻáÉèÖÃÒì³£. * ÕâÀïµÄUSARTµÄʱÖÓÔ´ÔÚsys_stm32_clock_init()º¯ÊýÖÐÒѾ­ÉèÖùýÁË. * @retval ÎÞ */ void usart_init(uint32_t baudrate) { g_uart1_handle.Instance = USART_UX; /* USART1 */ g_uart1_handle.Init.BaudRate = baudrate; /* ²¨ÌØÂÊ */ g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* ×Ö³¤Îª8λÊý¾Ý¸ñʽ */ g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* Ò»¸öֹͣλ */ g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* ÎÞÆæżУÑéλ */ g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* ÎÞÓ²¼þÁ÷¿Ø */ g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* ÊÕ·¢Ä£Ê½ */ HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()»áʹÄÜUART1 */ /* ¸Ãº¯Êý»á¿ªÆô½ÓÊÕÖжϣº±ê־λUART_IT_RXNE£¬²¢ÇÒÉèÖýÓÊÕ»º³åÒÔ¼°½ÓÊÕ»º³å½ÓÊÕ×î´óÊý¾ÝÁ¿ */ HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } /** * @brief UARTµ×²ã³õʼ»¯º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @note ´Ëº¯Êý»á±»HAL_UART_Init()µ÷Óà * Íê³ÉʱÖÓʹÄÜ£¬Òý½ÅÅäÖã¬ÖжÏÅäÖà * @retval ÎÞ */ void HAL_UART_MspInit(UART_HandleTypeDef *huart) { GPIO_InitTypeDef gpio_init_struct; if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1£¬½øÐд®¿Ú1 MSP³õʼ»¯ */ { USART_UX_CLK_ENABLE(); /* USART1 ʱÖÓʹÄÜ */ USART_TX_GPIO_CLK_ENABLE(); /* ·¢ËÍÒý½ÅʱÖÓʹÄÜ */ USART_RX_GPIO_CLK_ENABLE(); /* ½ÓÊÕÒý½ÅʱÖÓʹÄÜ */ gpio_init_struct.Pin = USART_TX_GPIO_PIN; /* TXÒý½Å */ gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* ¸´ÓÃÍÆÍìÊä³ö */ gpio_init_struct.Pull = GPIO_PULLUP; /* ÉÏÀ­ */ gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* ¸ßËÙ */ gpio_init_struct.Alternate = USART_TX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_TX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯·¢ËÍÒý½Å */ gpio_init_struct.Pin = USART_RX_GPIO_PIN; /* RXÒý½Å */ gpio_init_struct.Alternate = USART_RX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_RX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯½ÓÊÕÒý½Å */ #if USART_EN_RX HAL_NVIC_EnableIRQ(USART_UX_IRQn); /* ʹÄÜUSART1ÖжÏͨµÀ */ HAL_NVIC_SetPriority(USART_UX_IRQn, 3, 3); /* ÇÀÕ¼ÓÅÏȼ¶3£¬×ÓÓÅÏȼ¶3 */ #endif } } /** * @brief Rx´«Êä»Øµ÷º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @retval ÎÞ */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1 */ { if((g_usart_rx_sta & 0x8000) == 0) /* ½ÓÊÕδÍê³É */ { if(g_usart_rx_sta & 0x4000) /* ½ÓÊÕµ½ÁË0x0d */ { if(g_rx_buffer[0] != 0x0a) { g_usart_rx_sta = 0; /* ½ÓÊÕ´íÎó,ÖØпªÊ¼ */ } else { g_usart_rx_sta |= 0x8000; /* ½ÓÊÕÍê³ÉÁË */ } } else /* »¹Ã»ÊÕµ½0X0D */ { if(g_rx_buffer[0] == 0x0d) { g_usart_rx_sta |= 0x4000; } else { g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; g_usart_rx_sta++; if(g_usart_rx_sta > (USART_REC_LEN - 1)) { g_usart_rx_sta = 0; /* ½ÓÊÕÊý¾Ý´íÎó,ÖØпªÊ¼½ÓÊÕ */ } } } } HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } } /** * @brief ´®¿Ú1ÖжϷþÎñº¯Êý * @param ÎÞ * @retval ÎÞ */ void USART_UX_IRQHandler(void) { #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntEnter(); #endif HAL_UART_IRQHandler(&g_uart1_handle); /* µ÷ÓÃHAL¿âÖжϴ¦Àí¹«Óú¯Êý */ #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntExit(); #endif } #endif /** **************************************************************************************************** * @file usart.c * @author ÕýµãÔ­×ÓÍŶÓ(ALIENTEK) * @version V1.1 * @date 2023-06-05 * @brief ´®¿Ú³õʼ»¯´úÂë(Ò»°ãÊÇ´®¿Ú1)£¬Ö§³Öprintf * @license Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ **************************************************************************************************** * @attention * * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å * ÔÚÏßÊÓƵ:www.yuanzige.com * ¼¼ÊõÂÛ̳:www.openedv.com * ¹«Ë¾ÍøÖ·:www.alientek.com * ¹ºÂòµØÖ·:openedv.taobao.com * * ÐÞ¸Ä˵Ã÷ * V1.0 20211014 * µÚÒ»´Î·¢²¼ * V1.1 20230605 * ɾ³ýUSART_UX_IRQHandler()º¯ÊýµÄ³¬Ê±´¦ÀíºÍÐÞ¸ÄHAL_UART_RxCpltCallback() **************************************************************************************************** */ #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" /* Èç¹ûʹÓÃos,Ôò°üÀ¨ÏÂÃæµÄÍ·Îļþ¼´¿É */ #if SYS_SUPPORT_OS #include "os.h" /* os ʹÓà */ #endif /******************************************************************************************/ /* ¼ÓÈëÒÔÏ´úÂë, Ö§³Öprintfº¯Êý, ¶ø²»ÐèҪѡÔñuse MicroLIB */ #if 1 #if (__ARMCC_VERSION >= 6010050) /* ʹÓÃAC6±àÒëÆ÷ʱ */ __asm(".global __use_no_semihosting\n\t"); /* ÉùÃ÷²»Ê¹ÓðëÖ÷»úģʽ */ __asm(".global __ARM_use_no_argv \n\t"); /* AC6ÏÂÐèÒªÉùÃ÷mainº¯ÊýΪÎÞ²ÎÊý¸ñʽ£¬·ñÔò²¿·ÖÀý³Ì¿ÉÄܳöÏÖ°ëÖ÷»úģʽ */ #else /* ʹÓÃAC5±àÒëÆ÷ʱ, ÒªÔÚÕâÀﶨÒå__FILE ºÍ ²»Ê¹ÓðëÖ÷»úģʽ */ #pragma import(__use_no_semihosting) struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; #endif /* ²»Ê¹ÓðëÖ÷»úģʽ£¬ÖÁÉÙÐèÒªÖض¨Òå_ttywrch\_sys_exit\_sys_command_stringº¯Êý,ÒÔͬʱ¼æÈÝAC6ºÍAC5ģʽ */ int _ttywrch(int ch) { ch = ch; return ch; } /* ¶¨Òå_sys_exit()ÒÔ±ÜÃâʹÓðëÖ÷»úģʽ */ void _sys_exit(int x) { x = x; } char *_sys_command_string(char *cmd, int len) { return NULL; } /* FILE ÔÚ stdio.hÀïÃ涨Òå. */ FILE __stdout; /* Öض¨Òåfputcº¯Êý, printfº¯Êý×îÖÕ»áͨ¹ýµ÷ÓÃfputcÊä³ö×Ö·û´®µ½´®¿Ú */ int fputc(int ch, FILE *f) { while ((USART1->SR & 0X40) == 0); /* µÈ´ýÉÏÒ»¸ö×Ö·û·¢ËÍÍê³É */ USART1->DR = (uint8_t)ch; /* ½«Òª·¢Ë͵Ä×Ö·û ch дÈëµ½DR¼Ä´æÆ÷ */ return ch; } #endif /***********************************************END*******************************************/ #if USART_EN_RX /* Èç¹ûʹÄÜÁ˽ÓÊÕ */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ uint8_t g_usart_rx_buf[USART_REC_LEN]; /* ½ÓÊÕ״̬ * bit15£¬ ½ÓÊÕÍê³É±êÖ¾ * bit14£¬ ½ÓÊÕµ½0x0d * bit13~0£¬ ½ÓÊÕµ½µÄÓÐЧ×Ö½ÚÊýÄ¿ */ uint16_t g_usart_rx_sta = 0; uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ UART_HandleTypeDef g_uart1_handle; /* UART¾ä±ú */ /** * @brief ´®¿ÚX³õʼ»¯º¯Êý * @param baudrate: ²¨ÌØÂÊ, ¸ù¾Ý×Ô¼ºÐèÒªÉèÖò¨ÌØÂÊÖµ * @note ×¢Òâ: ±ØÐëÉèÖÃÕýÈ·µÄʱÖÓÔ´, ·ñÔò´®¿Ú²¨ÌØÂʾͻáÉèÖÃÒì³£. * ÕâÀïµÄUSARTµÄʱÖÓÔ´ÔÚsys_stm32_clock_init()º¯ÊýÖÐÒѾ­ÉèÖùýÁË. * @retval ÎÞ */ void usart_init(uint32_t baudrate) { g_uart1_handle.Instance = USART_UX; /* USART1 */ g_uart1_handle.Init.BaudRate = baudrate; /* ²¨ÌØÂÊ */ g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* ×Ö³¤Îª8λÊý¾Ý¸ñʽ */ g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* Ò»¸öֹͣλ */ g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* ÎÞÆæżУÑéλ */ g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* ÎÞÓ²¼þÁ÷¿Ø */ g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* ÊÕ·¢Ä£Ê½ */ HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()»áʹÄÜUART1 */ /* ¸Ãº¯Êý»á¿ªÆô½ÓÊÕÖжϣº±ê־λUART_IT_RXNE£¬²¢ÇÒÉèÖýÓÊÕ»º³åÒÔ¼°½ÓÊÕ»º³å½ÓÊÕ×î´óÊý¾ÝÁ¿ */ HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } /** * @brief UARTµ×²ã³õʼ»¯º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @note ´Ëº¯Êý»á±»HAL_UART_Init()µ÷Óà * Íê³ÉʱÖÓʹÄÜ£¬Òý½ÅÅäÖã¬ÖжÏÅäÖà * @retval ÎÞ */ void HAL_UART_MspInit(UART_HandleTypeDef *huart) { GPIO_InitTypeDef gpio_init_struct; if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1£¬½øÐд®¿Ú1 MSP³õʼ»¯ */ { USART_UX_CLK_ENABLE(); /* USART1 ʱÖÓʹÄÜ */ USART_TX_GPIO_CLK_ENABLE(); /* ·¢ËÍÒý½ÅʱÖÓʹÄÜ */ USART_RX_GPIO_CLK_ENABLE(); /* ½ÓÊÕÒý½ÅʱÖÓʹÄÜ */ gpio_init_struct.Pin = USART_TX_GPIO_PIN; /* TXÒý½Å */ gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* ¸´ÓÃÍÆÍìÊä³ö */ gpio_init_struct.Pull = GPIO_PULLUP; /* ÉÏÀ­ */ gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* ¸ßËÙ */ gpio_init_struct.Alternate = USART_TX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_TX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯·¢ËÍÒý½Å */ gpio_init_struct.Pin = USART_RX_GPIO_PIN; /* RXÒý½Å */ gpio_init_struct.Alternate = USART_RX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_RX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯½ÓÊÕÒý½Å */ #if USART_EN_RX HAL_NVIC_EnableIRQ(USART_UX_IRQn); /* ʹÄÜUSART1ÖжÏͨµÀ */ HAL_NVIC_SetPriority(USART_UX_IRQn, 3, 3); /* ÇÀÕ¼ÓÅÏȼ¶3£¬×ÓÓÅÏȼ¶3 */ #endif } } /** * @brief Rx´«Êä»Øµ÷º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @retval ÎÞ */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1 */ { if((g_usart_rx_sta & 0x8000) == 0) /* ½ÓÊÕδÍê³É */ { if(g_usart_rx_sta & 0x4000) /* ½ÓÊÕµ½ÁË0x0d */ { if(g_rx_buffer[0] != 0x0a) { g_usart_rx_sta = 0; /* ½ÓÊÕ´íÎó,ÖØпªÊ¼ */ } else { g_usart_rx_sta |= 0x8000; /* ½ÓÊÕÍê³ÉÁË */ } } else /* »¹Ã»ÊÕµ½0X0D */ { if(g_rx_buffer[0] == 0x0d) { g_usart_rx_sta |= 0x4000; } else { g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; g_usart_rx_sta++; if(g_usart_rx_sta > (USART_REC_LEN - 1)) { g_usart_rx_sta = 0; /* ½ÓÊÕÊý¾Ý´íÎó,ÖØпªÊ¼½ÓÊÕ */ } } } } HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } } /** * @brief ´®¿Ú1ÖжϷþÎñº¯Êý * @param ÎÞ * @retval ÎÞ */ void USART_UX_IRQHandler(void) { #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntEnter(); #endif HAL_UART_IRQHandler(&g_uart1_handle); /* µ÷ÓÃHAL¿âÖжϴ¦Àí¹«Óú¯Êý */ #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntExit(); #endif } #endif /** **************************************************************************************************** * @file usart.c * @author ÕýµãÔ­×ÓÍŶÓ(ALIENTEK) * @version V1.1 * @date 2023-06-05 * @brief ´®¿Ú³õʼ»¯´úÂë(Ò»°ãÊÇ´®¿Ú1)£¬Ö§³Öprintf * @license Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ **************************************************************************************************** * @attention * * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å * ÔÚÏßÊÓƵ:www.yuanzige.com * ¼¼ÊõÂÛ̳:www.openedv.com * ¹«Ë¾ÍøÖ·:www.alientek.com * ¹ºÂòµØÖ·:openedv.taobao.com * * ÐÞ¸Ä˵Ã÷ * V1.0 20211014 * µÚÒ»´Î·¢²¼ * V1.1 20230605 * ɾ³ýUSART_UX_IRQHandler()º¯ÊýµÄ³¬Ê±´¦ÀíºÍÐÞ¸ÄHAL_UART_RxCpltCallback() **************************************************************************************************** */ #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" /* Èç¹ûʹÓÃos,Ôò°üÀ¨ÏÂÃæµÄÍ·Îļþ¼´¿É */ #if SYS_SUPPORT_OS #include "os.h" /* os ʹÓà */ #endif /******************************************************************************************/ /* ¼ÓÈëÒÔÏ´úÂë, Ö§³Öprintfº¯Êý, ¶ø²»ÐèҪѡÔñuse MicroLIB */ #if 1 #if (__ARMCC_VERSION >= 6010050) /* ʹÓÃAC6±àÒëÆ÷ʱ */ __asm(".global __use_no_semihosting\n\t"); /* ÉùÃ÷²»Ê¹ÓðëÖ÷»úģʽ */ __asm(".global __ARM_use_no_argv \n\t"); /* AC6ÏÂÐèÒªÉùÃ÷mainº¯ÊýΪÎÞ²ÎÊý¸ñʽ£¬·ñÔò²¿·ÖÀý³Ì¿ÉÄܳöÏÖ°ëÖ÷»úģʽ */ #else /* ʹÓÃAC5±àÒëÆ÷ʱ, ÒªÔÚÕâÀﶨÒå__FILE ºÍ ²»Ê¹ÓðëÖ÷»úģʽ */ #pragma import(__use_no_semihosting) struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; #endif /* ²»Ê¹ÓðëÖ÷»úģʽ£¬ÖÁÉÙÐèÒªÖض¨Òå_ttywrch\_sys_exit\_sys_command_stringº¯Êý,ÒÔͬʱ¼æÈÝAC6ºÍAC5ģʽ */ int _ttywrch(int ch) { ch = ch; return ch; } /* ¶¨Òå_sys_exit()ÒÔ±ÜÃâʹÓðëÖ÷»úģʽ */ void _sys_exit(int x) { x = x; } char *_sys_command_string(char *cmd, int len) { return NULL; } /* FILE ÔÚ stdio.hÀïÃ涨Òå. */ FILE __stdout; /* Öض¨Òåfputcº¯Êý, printfº¯Êý×îÖÕ»áͨ¹ýµ÷ÓÃfputcÊä³ö×Ö·û´®µ½´®¿Ú */ int fputc(int ch, FILE *f) { while ((USART1->SR & 0X40) == 0); /* µÈ´ýÉÏÒ»¸ö×Ö·û·¢ËÍÍê³É */ USART1->DR = (uint8_t)ch; /* ½«Òª·¢Ë͵Ä×Ö·û ch дÈëµ½DR¼Ä´æÆ÷ */ return ch; } #endif /***********************************************END*******************************************/ #if USART_EN_RX /* Èç¹ûʹÄÜÁ˽ÓÊÕ */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ uint8_t g_usart_rx_buf[USART_REC_LEN]; /* ½ÓÊÕ״̬ * bit15£¬ ½ÓÊÕÍê³É±êÖ¾ * bit14£¬ ½ÓÊÕµ½0x0d * bit13~0£¬ ½ÓÊÕµ½µÄÓÐЧ×Ö½ÚÊýÄ¿ */ uint16_t g_usart_rx_sta = 0; uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ UART_HandleTypeDef g_uart1_handle; /* UART¾ä±ú */ /** * @brief ´®¿ÚX³õʼ»¯º¯Êý * @param baudrate: ²¨ÌØÂÊ, ¸ù¾Ý×Ô¼ºÐèÒªÉèÖò¨ÌØÂÊÖµ * @note ×¢Òâ: ±ØÐëÉèÖÃÕýÈ·µÄʱÖÓÔ´, ·ñÔò´®¿Ú²¨ÌØÂʾͻáÉèÖÃÒì³£. * ÕâÀïµÄUSARTµÄʱÖÓÔ´ÔÚsys_stm32_clock_init()º¯ÊýÖÐÒѾ­ÉèÖùýÁË. * @retval ÎÞ */ void usart_init(uint32_t baudrate) { g_uart1_handle.Instance = USART_UX; /* USART1 */ g_uart1_handle.Init.BaudRate = baudrate; /* ²¨ÌØÂÊ */ g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* ×Ö³¤Îª8λÊý¾Ý¸ñʽ */ g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* Ò»¸öֹͣλ */ g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* ÎÞÆæżУÑéλ */ g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* ÎÞÓ²¼þÁ÷¿Ø */ g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* ÊÕ·¢Ä£Ê½ */ HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()»áʹÄÜUART1 */ /* ¸Ãº¯Êý»á¿ªÆô½ÓÊÕÖжϣº±ê־λUART_IT_RXNE£¬²¢ÇÒÉèÖýÓÊÕ»º³åÒÔ¼°½ÓÊÕ»º³å½ÓÊÕ×î´óÊý¾ÝÁ¿ */ HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } /** * @brief UARTµ×²ã³õʼ»¯º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @note ´Ëº¯Êý»á±»HAL_UART_Init()µ÷Óà * Íê³ÉʱÖÓʹÄÜ£¬Òý½ÅÅäÖã¬ÖжÏÅäÖà * @retval ÎÞ */ void HAL_UART_MspInit(UART_HandleTypeDef *huart) { GPIO_InitTypeDef gpio_init_struct; if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1£¬½øÐд®¿Ú1 MSP³õʼ»¯ */ { USART_UX_CLK_ENABLE(); /* USART1 ʱÖÓʹÄÜ */ USART_TX_GPIO_CLK_ENABLE(); /* ·¢ËÍÒý½ÅʱÖÓʹÄÜ */ USART_RX_GPIO_CLK_ENABLE(); /* ½ÓÊÕÒý½ÅʱÖÓʹÄÜ */ gpio_init_struct.Pin = USART_TX_GPIO_PIN; /* TXÒý½Å */ gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* ¸´ÓÃÍÆÍìÊä³ö */ gpio_init_struct.Pull = GPIO_PULLUP; /* ÉÏÀ­ */ gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* ¸ßËÙ */ gpio_init_struct.Alternate = USART_TX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_TX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯·¢ËÍÒý½Å */ gpio_init_struct.Pin = USART_RX_GPIO_PIN; /* RXÒý½Å */ gpio_init_struct.Alternate = USART_RX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_RX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯½ÓÊÕÒý½Å */ #if USART_EN_RX HAL_NVIC_EnableIRQ(USART_UX_IRQn); /* ʹÄÜUSART1ÖжÏͨµÀ */ HAL_NVIC_SetPriority(USART_UX_IRQn, 3, 3); /* ÇÀÕ¼ÓÅÏȼ¶3£¬×ÓÓÅÏȼ¶3 */ #endif } } /** * @brief Rx´«Êä»Øµ÷º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @retval ÎÞ */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1 */ { if((g_usart_rx_sta & 0x8000) == 0) /* ½ÓÊÕδÍê³É */ { if(g_usart_rx_sta & 0x4000) /* ½ÓÊÕµ½ÁË0x0d */ { if(g_rx_buffer[0] != 0x0a) { g_usart_rx_sta = 0; /* ½ÓÊÕ´íÎó,ÖØпªÊ¼ */ } else { g_usart_rx_sta |= 0x8000; /* ½ÓÊÕÍê³ÉÁË */ } } else /* »¹Ã»ÊÕµ½0X0D */ { if(g_rx_buffer[0] == 0x0d) { g_usart_rx_sta |= 0x4000; } else { g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; g_usart_rx_sta++; if(g_usart_rx_sta > (USART_REC_LEN - 1)) { g_usart_rx_sta = 0; /* ½ÓÊÕÊý¾Ý´íÎó,ÖØпªÊ¼½ÓÊÕ */ } } } } HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } } /** * @brief ´®¿Ú1ÖжϷþÎñº¯Êý * @param ÎÞ * @retval ÎÞ */ void USART_UX_IRQHandler(void) { #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntEnter(); #endif HAL_UART_IRQHandler(&g_uart1_handle); /* µ÷ÓÃHAL¿âÖжϴ¦Àí¹«Óú¯Êý */ #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntExit(); #endif } #endif /** **************************************************************************************************** * @file usart.c * @author ÕýµãÔ­×ÓÍŶÓ(ALIENTEK) * @version V1.1 * @date 2023-06-05 * @brief ´®¿Ú³õʼ»¯´úÂë(Ò»°ãÊÇ´®¿Ú1)£¬Ö§³Öprintf * @license Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ **************************************************************************************************** * @attention * * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å * ÔÚÏßÊÓƵ:www.yuanzige.com * ¼¼ÊõÂÛ̳:www.openedv.com * ¹«Ë¾ÍøÖ·:www.alientek.com * ¹ºÂòµØÖ·:openedv.taobao.com * * ÐÞ¸Ä˵Ã÷ * V1.0 20211014 * µÚÒ»´Î·¢²¼ * V1.1 20230605 * ɾ³ýUSART_UX_IRQHandler()º¯ÊýµÄ³¬Ê±´¦ÀíºÍÐÞ¸ÄHAL_UART_RxCpltCallback() **************************************************************************************************** */ #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" /* Èç¹ûʹÓÃos,Ôò°üÀ¨ÏÂÃæµÄÍ·Îļþ¼´¿É */ #if SYS_SUPPORT_OS #include "os.h" /* os ʹÓà */ #endif /******************************************************************************************/ /* ¼ÓÈëÒÔÏ´úÂë, Ö§³Öprintfº¯Êý, ¶ø²»ÐèҪѡÔñuse MicroLIB */ #if 1 #if (__ARMCC_VERSION >= 6010050) /* ʹÓÃAC6±àÒëÆ÷ʱ */ __asm(".global __use_no_semihosting\n\t"); /* ÉùÃ÷²»Ê¹ÓðëÖ÷»úģʽ */ __asm(".global __ARM_use_no_argv \n\t"); /* AC6ÏÂÐèÒªÉùÃ÷mainº¯ÊýΪÎÞ²ÎÊý¸ñʽ£¬·ñÔò²¿·ÖÀý³Ì¿ÉÄܳöÏÖ°ëÖ÷»úģʽ */ #else /* ʹÓÃAC5±àÒëÆ÷ʱ, ÒªÔÚÕâÀﶨÒå__FILE ºÍ ²»Ê¹ÓðëÖ÷»úģʽ */ #pragma import(__use_no_semihosting) struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; #endif /* ²»Ê¹ÓðëÖ÷»úģʽ£¬ÖÁÉÙÐèÒªÖض¨Òå_ttywrch\_sys_exit\_sys_command_stringº¯Êý,ÒÔͬʱ¼æÈÝAC6ºÍAC5ģʽ */ int _ttywrch(int ch) { ch = ch; return ch; } /* ¶¨Òå_sys_exit()ÒÔ±ÜÃâʹÓðëÖ÷»úģʽ */ void _sys_exit(int x) { x = x; } char *_sys_command_string(char *cmd, int len) { return NULL; } /* FILE ÔÚ stdio.hÀïÃ涨Òå. */ FILE __stdout; /* Öض¨Òåfputcº¯Êý, printfº¯Êý×îÖÕ»áͨ¹ýµ÷ÓÃfputcÊä³ö×Ö·û´®µ½´®¿Ú */ int fputc(int ch, FILE *f) { while ((USART1->SR & 0X40) == 0); /* µÈ´ýÉÏÒ»¸ö×Ö·û·¢ËÍÍê³É */ USART1->DR = (uint8_t)ch; /* ½«Òª·¢Ë͵Ä×Ö·û ch дÈëµ½DR¼Ä´æÆ÷ */ return ch; } #endif /***********************************************END*******************************************/ #if USART_EN_RX /* Èç¹ûʹÄÜÁ˽ÓÊÕ */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ uint8_t g_usart_rx_buf[USART_REC_LEN]; /* ½ÓÊÕ״̬ * bit15£¬ ½ÓÊÕÍê³É±êÖ¾ * bit14£¬ ½ÓÊÕµ½0x0d * bit13~0£¬ ½ÓÊÕµ½µÄÓÐЧ×Ö½ÚÊýÄ¿ */ uint16_t g_usart_rx_sta = 0; uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ UART_HandleTypeDef g_uart1_handle; /* UART¾ä±ú */ /** * @brief ´®¿ÚX³õʼ»¯º¯Êý * @param baudrate: ²¨ÌØÂÊ, ¸ù¾Ý×Ô¼ºÐèÒªÉèÖò¨ÌØÂÊÖµ * @note ×¢Òâ: ±ØÐëÉèÖÃÕýÈ·µÄʱÖÓÔ´, ·ñÔò´®¿Ú²¨ÌØÂʾͻáÉèÖÃÒì³£. * ÕâÀïµÄUSARTµÄʱÖÓÔ´ÔÚsys_stm32_clock_init()º¯ÊýÖÐÒѾ­ÉèÖùýÁË. * @retval ÎÞ */ void usart_init(uint32_t baudrate) { g_uart1_handle.Instance = USART_UX; /* USART1 */ g_uart1_handle.Init.BaudRate = baudrate; /* ²¨ÌØÂÊ */ g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* ×Ö³¤Îª8λÊý¾Ý¸ñʽ */ g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* Ò»¸öֹͣλ */ g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* ÎÞÆæżУÑéλ */ g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* ÎÞÓ²¼þÁ÷¿Ø */ g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* ÊÕ·¢Ä£Ê½ */ HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()»áʹÄÜUART1 */ /* ¸Ãº¯Êý»á¿ªÆô½ÓÊÕÖжϣº±ê־λUART_IT_RXNE£¬²¢ÇÒÉèÖýÓÊÕ»º³åÒÔ¼°½ÓÊÕ»º³å½ÓÊÕ×î´óÊý¾ÝÁ¿ */ HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } /** * @brief UARTµ×²ã³õʼ»¯º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @note ´Ëº¯Êý»á±»HAL_UART_Init()µ÷Óà * Íê³ÉʱÖÓʹÄÜ£¬Òý½ÅÅäÖã¬ÖжÏÅäÖà * @retval ÎÞ */ void HAL_UART_MspInit(UART_HandleTypeDef *huart) { GPIO_InitTypeDef gpio_init_struct; if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1£¬½øÐд®¿Ú1 MSP³õʼ»¯ */ { USART_UX_CLK_ENABLE(); /* USART1 ʱÖÓʹÄÜ */ USART_TX_GPIO_CLK_ENABLE(); /* ·¢ËÍÒý½ÅʱÖÓʹÄÜ */ USART_RX_GPIO_CLK_ENABLE(); /* ½ÓÊÕÒý½ÅʱÖÓʹÄÜ */ gpio_init_struct.Pin = USART_TX_GPIO_PIN; /* TXÒý½Å */ gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* ¸´ÓÃÍÆÍìÊä³ö */ gpio_init_struct.Pull = GPIO_PULLUP; /* ÉÏÀ­ */ gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* ¸ßËÙ */ gpio_init_struct.Alternate = USART_TX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_TX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯·¢ËÍÒý½Å */ gpio_init_struct.Pin = USART_RX_GPIO_PIN; /* RXÒý½Å */ gpio_init_struct.Alternate = USART_RX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_RX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯½ÓÊÕÒý½Å */ #if USART_EN_RX HAL_NVIC_EnableIRQ(USART_UX_IRQn); /* ʹÄÜUSART1ÖжÏͨµÀ */ HAL_NVIC_SetPriority(USART_UX_IRQn, 3, 3); /* ÇÀÕ¼ÓÅÏȼ¶3£¬×ÓÓÅÏȼ¶3 */ #endif } } /** * @brief Rx´«Êä»Øµ÷º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @retval ÎÞ */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1 */ { if((g_usart_rx_sta & 0x8000) == 0) /* ½ÓÊÕδÍê³É */ { if(g_usart_rx_sta & 0x4000) /* ½ÓÊÕµ½ÁË0x0d */ { if(g_rx_buffer[0] != 0x0a) { g_usart_rx_sta = 0; /* ½ÓÊÕ´íÎó,ÖØпªÊ¼ */ } else { g_usart_rx_sta |= 0x8000; /* ½ÓÊÕÍê³ÉÁË */ } } else /* »¹Ã»ÊÕµ½0X0D */ { if(g_rx_buffer[0] == 0x0d) { g_usart_rx_sta |= 0x4000; } else { g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; g_usart_rx_sta++; if(g_usart_rx_sta > (USART_REC_LEN - 1)) { g_usart_rx_sta = 0; /* ½ÓÊÕÊý¾Ý´íÎó,ÖØпªÊ¼½ÓÊÕ */ } } } } HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } } /** * @brief ´®¿Ú1ÖжϷþÎñº¯Êý * @param ÎÞ * @retval ÎÞ */ void USART_UX_IRQHandler(void) { #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntEnter(); #endif HAL_UART_IRQHandler(&g_uart1_handle); /* µ÷ÓÃHAL¿âÖжϴ¦Àí¹«Óú¯Êý */ #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntExit(); #endif } #endif /** **************************************************************************************************** * @file usart.c * @author ÕýµãÔ­×ÓÍŶÓ(ALIENTEK) * @version V1.1 * @date 2023-06-05 * @brief ´®¿Ú³õʼ»¯´úÂë(Ò»°ãÊÇ´®¿Ú1)£¬Ö§³Öprintf * @license Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ **************************************************************************************************** * @attention * * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å * ÔÚÏßÊÓƵ:www.yuanzige.com * ¼¼ÊõÂÛ̳:www.openedv.com * ¹«Ë¾ÍøÖ·:www.alientek.com * ¹ºÂòµØÖ·:openedv.taobao.com * * ÐÞ¸Ä˵Ã÷ * V1.0 20211014 * µÚÒ»´Î·¢²¼ * V1.1 20230605 * ɾ³ýUSART_UX_IRQHandler()º¯ÊýµÄ³¬Ê±´¦ÀíºÍÐÞ¸ÄHAL_UART_RxCpltCallback() **************************************************************************************************** */ #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" /* Èç¹ûʹÓÃos,Ôò°üÀ¨ÏÂÃæµÄÍ·Îļþ¼´¿É */ #if SYS_SUPPORT_OS #include "os.h" /* os ʹÓà */ #endif /******************************************************************************************/ /* ¼ÓÈëÒÔÏ´úÂë, Ö§³Öprintfº¯Êý, ¶ø²»ÐèҪѡÔñuse MicroLIB */ #if 1 #if (__ARMCC_VERSION >= 6010050) /* ʹÓÃAC6±àÒëÆ÷ʱ */ __asm(".global __use_no_semihosting\n\t"); /* ÉùÃ÷²»Ê¹ÓðëÖ÷»úģʽ */ __asm(".global __ARM_use_no_argv \n\t"); /* AC6ÏÂÐèÒªÉùÃ÷mainº¯ÊýΪÎÞ²ÎÊý¸ñʽ£¬·ñÔò²¿·ÖÀý³Ì¿ÉÄܳöÏÖ°ëÖ÷»úģʽ */ #else /* ʹÓÃAC5±àÒëÆ÷ʱ, ÒªÔÚÕâÀﶨÒå__FILE ºÍ ²»Ê¹ÓðëÖ÷»úģʽ */ #pragma import(__use_no_semihosting) struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; #endif /* ²»Ê¹ÓðëÖ÷»úģʽ£¬ÖÁÉÙÐèÒªÖض¨Òå_ttywrch\_sys_exit\_sys_command_stringº¯Êý,ÒÔͬʱ¼æÈÝAC6ºÍAC5ģʽ */ int _ttywrch(int ch) { ch = ch; return ch; } /* ¶¨Òå_sys_exit()ÒÔ±ÜÃâʹÓðëÖ÷»úģʽ */ void _sys_exit(int x) { x = x; } char *_sys_command_string(char *cmd, int len) { return NULL; } /* FILE ÔÚ stdio.hÀïÃ涨Òå. */ FILE __stdout; /* Öض¨Òåfputcº¯Êý, printfº¯Êý×îÖÕ»áͨ¹ýµ÷ÓÃfputcÊä³ö×Ö·û´®µ½´®¿Ú */ int fputc(int ch, FILE *f) { while ((USART1->SR & 0X40) == 0); /* µÈ´ýÉÏÒ»¸ö×Ö·û·¢ËÍÍê³É */ USART1->DR = (uint8_t)ch; /* ½«Òª·¢Ë͵Ä×Ö·û ch дÈëµ½DR¼Ä´æÆ÷ */ return ch; } #endif /***********************************************END*******************************************/ #if USART_EN_RX /* Èç¹ûʹÄÜÁ˽ÓÊÕ */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ uint8_t g_usart_rx_buf[USART_REC_LEN]; /* ½ÓÊÕ״̬ * bit15£¬ ½ÓÊÕÍê³É±êÖ¾ * bit14£¬ ½ÓÊÕµ½0x0d * bit13~0£¬ ½ÓÊÕµ½µÄÓÐЧ×Ö½ÚÊýÄ¿ */ uint16_t g_usart_rx_sta = 0; uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ UART_HandleTypeDef g_uart1_handle; /* UART¾ä±ú */ /** * @brief ´®¿ÚX³õʼ»¯º¯Êý * @param baudrate: ²¨ÌØÂÊ, ¸ù¾Ý×Ô¼ºÐèÒªÉèÖò¨ÌØÂÊÖµ * @note ×¢Òâ: ±ØÐëÉèÖÃÕýÈ·µÄʱÖÓÔ´, ·ñÔò´®¿Ú²¨ÌØÂʾͻáÉèÖÃÒì³£. * ÕâÀïµÄUSARTµÄʱÖÓÔ´ÔÚsys_stm32_clock_init()º¯ÊýÖÐÒѾ­ÉèÖùýÁË. * @retval ÎÞ */ void usart_init(uint32_t baudrate) { g_uart1_handle.Instance = USART_UX; /* USART1 */ g_uart1_handle.Init.BaudRate = baudrate; /* ²¨ÌØÂÊ */ g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* ×Ö³¤Îª8λÊý¾Ý¸ñʽ */ g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* Ò»¸öֹͣλ */ g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* ÎÞÆæżУÑéλ */ g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* ÎÞÓ²¼þÁ÷¿Ø */ g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* ÊÕ·¢Ä£Ê½ */ HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()»áʹÄÜUART1 */ /* ¸Ãº¯Êý»á¿ªÆô½ÓÊÕÖжϣº±ê־λUART_IT_RXNE£¬²¢ÇÒÉèÖýÓÊÕ»º³åÒÔ¼°½ÓÊÕ»º³å½ÓÊÕ×î´óÊý¾ÝÁ¿ */ HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } /** * @brief UARTµ×²ã³õʼ»¯º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @note ´Ëº¯Êý»á±»HAL_UART_Init()µ÷Óà * Íê³ÉʱÖÓʹÄÜ£¬Òý½ÅÅäÖã¬ÖжÏÅäÖà * @retval ÎÞ */ void HAL_UART_MspInit(UART_HandleTypeDef *huart) { GPIO_InitTypeDef gpio_init_struct; if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1£¬½øÐд®¿Ú1 MSP³õʼ»¯ */ { USART_UX_CLK_ENABLE(); /* USART1 ʱÖÓʹÄÜ */ USART_TX_GPIO_CLK_ENABLE(); /* ·¢ËÍÒý½ÅʱÖÓʹÄÜ */ USART_RX_GPIO_CLK_ENABLE(); /* ½ÓÊÕÒý½ÅʱÖÓʹÄÜ */ gpio_init_struct.Pin = USART_TX_GPIO_PIN; /* TXÒý½Å */ gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* ¸´ÓÃÍÆÍìÊä³ö */ gpio_init_struct.Pull = GPIO_PULLUP; /* ÉÏÀ­ */ gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* ¸ßËÙ */ gpio_init_struct.Alternate = USART_TX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_TX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯·¢ËÍÒý½Å */ gpio_init_struct.Pin = USART_RX_GPIO_PIN; /* RXÒý½Å */ gpio_init_struct.Alternate = USART_RX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_RX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯½ÓÊÕÒý½Å */ #if USART_EN_RX HAL_NVIC_EnableIRQ(USART_UX_IRQn); /* ʹÄÜUSART1ÖжÏͨµÀ */ HAL_NVIC_SetPriority(USART_UX_IRQn, 3, 3); /* ÇÀÕ¼ÓÅÏȼ¶3£¬×ÓÓÅÏȼ¶3 */ #endif } } /** * @brief Rx´«Êä»Øµ÷º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @retval ÎÞ */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1 */ { if((g_usart_rx_sta & 0x8000) == 0) /* ½ÓÊÕδÍê³É */ { if(g_usart_rx_sta & 0x4000) /* ½ÓÊÕµ½ÁË0x0d */ { if(g_rx_buffer[0] != 0x0a) { g_usart_rx_sta = 0; /* ½ÓÊÕ´íÎó,ÖØпªÊ¼ */ } else { g_usart_rx_sta |= 0x8000; /* ½ÓÊÕÍê³ÉÁË */ } } else /* »¹Ã»ÊÕµ½0X0D */ { if(g_rx_buffer[0] == 0x0d) { g_usart_rx_sta |= 0x4000; } else { g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; g_usart_rx_sta++; if(g_usart_rx_sta > (USART_REC_LEN - 1)) { g_usart_rx_sta = 0; /* ½ÓÊÕÊý¾Ý´íÎó,ÖØпªÊ¼½ÓÊÕ */ } } } } HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } } /** * @brief ´®¿Ú1ÖжϷþÎñº¯Êý * @param ÎÞ * @retval ÎÞ */ void USART_UX_IRQHandler(void) { #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntEnter(); #endif HAL_UART_IRQHandler(&g_uart1_handle); /* µ÷ÓÃHAL¿âÖжϴ¦Àí¹«Óú¯Êý */ #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntExit(); #endif } #endif /** **************************************************************************************************** * @file usart.c * @author ÕýµãÔ­×ÓÍŶÓ(ALIENTEK) * @version V1.1 * @date 2023-06-05 * @brief ´®¿Ú³õʼ»¯´úÂë(Ò»°ãÊÇ´®¿Ú1)£¬Ö§³Öprintf * @license Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ **************************************************************************************************** * @attention * * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å * ÔÚÏßÊÓƵ:www.yuanzige.com * ¼¼ÊõÂÛ̳:www.openedv.com * ¹«Ë¾ÍøÖ·:www.alientek.com * ¹ºÂòµØÖ·:openedv.taobao.com * * ÐÞ¸Ä˵Ã÷ * V1.0 20211014 * µÚÒ»´Î·¢²¼ * V1.1 20230605 * ɾ³ýUSART_UX_IRQHandler()º¯ÊýµÄ³¬Ê±´¦ÀíºÍÐÞ¸ÄHAL_UART_RxCpltCallback() **************************************************************************************************** */ #include "./SYSTEM/sys/sys.h" #include "./SYSTEM/usart/usart.h" /* Èç¹ûʹÓÃos,Ôò°üÀ¨ÏÂÃæµÄÍ·Îļþ¼´¿É */ #if SYS_SUPPORT_OS #include "os.h" /* os ʹÓà */ #endif /******************************************************************************************/ /* ¼ÓÈëÒÔÏ´úÂë, Ö§³Öprintfº¯Êý, ¶ø²»ÐèҪѡÔñuse MicroLIB */ #if 1 #if (__ARMCC_VERSION >= 6010050) /* ʹÓÃAC6±àÒëÆ÷ʱ */ __asm(".global __use_no_semihosting\n\t"); /* ÉùÃ÷²»Ê¹ÓðëÖ÷»úģʽ */ __asm(".global __ARM_use_no_argv \n\t"); /* AC6ÏÂÐèÒªÉùÃ÷mainº¯ÊýΪÎÞ²ÎÊý¸ñʽ£¬·ñÔò²¿·ÖÀý³Ì¿ÉÄܳöÏÖ°ëÖ÷»úģʽ */ #else /* ʹÓÃAC5±àÒëÆ÷ʱ, ÒªÔÚÕâÀﶨÒå__FILE ºÍ ²»Ê¹ÓðëÖ÷»úģʽ */ #pragma import(__use_no_semihosting) struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; #endif /* ²»Ê¹ÓðëÖ÷»úģʽ£¬ÖÁÉÙÐèÒªÖض¨Òå_ttywrch\_sys_exit\_sys_command_stringº¯Êý,ÒÔͬʱ¼æÈÝAC6ºÍAC5ģʽ */ int _ttywrch(int ch) { ch = ch; return ch; } /* ¶¨Òå_sys_exit()ÒÔ±ÜÃâʹÓðëÖ÷»úģʽ */ void _sys_exit(int x) { x = x; } char *_sys_command_string(char *cmd, int len) { return NULL; } /* FILE ÔÚ stdio.hÀïÃ涨Òå. */ FILE __stdout; /* Öض¨Òåfputcº¯Êý, printfº¯Êý×îÖÕ»áͨ¹ýµ÷ÓÃfputcÊä³ö×Ö·û´®µ½´®¿Ú */ int fputc(int ch, FILE *f) { while ((USART1->SR & 0X40) == 0); /* µÈ´ýÉÏÒ»¸ö×Ö·û·¢ËÍÍê³É */ USART1->DR = (uint8_t)ch; /* ½«Òª·¢Ë͵Ä×Ö·û ch дÈëµ½DR¼Ä´æÆ÷ */ return ch; } #endif /***********************************************END*******************************************/ #if USART_EN_RX /* Èç¹ûʹÄÜÁ˽ÓÊÕ */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ uint8_t g_usart_rx_buf[USART_REC_LEN]; /* ½ÓÊÕ״̬ * bit15£¬ ½ÓÊÕÍê³É±êÖ¾ * bit14£¬ ½ÓÊÕµ½0x0d * bit13~0£¬ ½ÓÊÕµ½µÄÓÐЧ×Ö½ÚÊýÄ¿ */ uint16_t g_usart_rx_sta = 0; uint8_t g_rx_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ UART_HandleTypeDef g_uart1_handle; /* UART¾ä±ú */ /** * @brief ´®¿ÚX³õʼ»¯º¯Êý * @param baudrate: ²¨ÌØÂÊ, ¸ù¾Ý×Ô¼ºÐèÒªÉèÖò¨ÌØÂÊÖµ * @note ×¢Òâ: ±ØÐëÉèÖÃÕýÈ·µÄʱÖÓÔ´, ·ñÔò´®¿Ú²¨ÌØÂʾͻáÉèÖÃÒì³£. * ÕâÀïµÄUSARTµÄʱÖÓÔ´ÔÚsys_stm32_clock_init()º¯ÊýÖÐÒѾ­ÉèÖùýÁË. * @retval ÎÞ */ void usart_init(uint32_t baudrate) { g_uart1_handle.Instance = USART_UX; /* USART1 */ g_uart1_handle.Init.BaudRate = baudrate; /* ²¨ÌØÂÊ */ g_uart1_handle.Init.WordLength = UART_WORDLENGTH_8B; /* ×Ö³¤Îª8λÊý¾Ý¸ñʽ */ g_uart1_handle.Init.StopBits = UART_STOPBITS_1; /* Ò»¸öֹͣλ */ g_uart1_handle.Init.Parity = UART_PARITY_NONE; /* ÎÞÆæżУÑéλ */ g_uart1_handle.Init.HwFlowCtl = UART_HWCONTROL_NONE; /* ÎÞÓ²¼þÁ÷¿Ø */ g_uart1_handle.Init.Mode = UART_MODE_TX_RX; /* ÊÕ·¢Ä£Ê½ */ HAL_UART_Init(&g_uart1_handle); /* HAL_UART_Init()»áʹÄÜUART1 */ /* ¸Ãº¯Êý»á¿ªÆô½ÓÊÕÖжϣº±ê־λUART_IT_RXNE£¬²¢ÇÒÉèÖýÓÊÕ»º³åÒÔ¼°½ÓÊÕ»º³å½ÓÊÕ×î´óÊý¾ÝÁ¿ */ HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } /** * @brief UARTµ×²ã³õʼ»¯º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @note ´Ëº¯Êý»á±»HAL_UART_Init()µ÷Óà * Íê³ÉʱÖÓʹÄÜ£¬Òý½ÅÅäÖã¬ÖжÏÅäÖà * @retval ÎÞ */ void HAL_UART_MspInit(UART_HandleTypeDef *huart) { GPIO_InitTypeDef gpio_init_struct; if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1£¬½øÐд®¿Ú1 MSP³õʼ»¯ */ { USART_UX_CLK_ENABLE(); /* USART1 ʱÖÓʹÄÜ */ USART_TX_GPIO_CLK_ENABLE(); /* ·¢ËÍÒý½ÅʱÖÓʹÄÜ */ USART_RX_GPIO_CLK_ENABLE(); /* ½ÓÊÕÒý½ÅʱÖÓʹÄÜ */ gpio_init_struct.Pin = USART_TX_GPIO_PIN; /* TXÒý½Å */ gpio_init_struct.Mode = GPIO_MODE_AF_PP; /* ¸´ÓÃÍÆÍìÊä³ö */ gpio_init_struct.Pull = GPIO_PULLUP; /* ÉÏÀ­ */ gpio_init_struct.Speed = GPIO_SPEED_FREQ_HIGH; /* ¸ßËÙ */ gpio_init_struct.Alternate = USART_TX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_TX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯·¢ËÍÒý½Å */ gpio_init_struct.Pin = USART_RX_GPIO_PIN; /* RXÒý½Å */ gpio_init_struct.Alternate = USART_RX_GPIO_AF; /* ¸´ÓÃΪUSART1 */ HAL_GPIO_Init(USART_RX_GPIO_PORT, &gpio_init_struct); /* ³õʼ»¯½ÓÊÕÒý½Å */ #if USART_EN_RX HAL_NVIC_EnableIRQ(USART_UX_IRQn); /* ʹÄÜUSART1ÖжÏͨµÀ */ HAL_NVIC_SetPriority(USART_UX_IRQn, 3, 3); /* ÇÀÕ¼ÓÅÏȼ¶3£¬×ÓÓÅÏȼ¶3 */ #endif } } /** * @brief Rx´«Êä»Øµ÷º¯Êý * @param huart: UART¾ä±úÀàÐÍÖ¸Õë * @retval ÎÞ */ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if(huart->Instance == USART_UX) /* Èç¹ûÊÇ´®¿Ú1 */ { if((g_usart_rx_sta & 0x8000) == 0) /* ½ÓÊÕδÍê³É */ { if(g_usart_rx_sta & 0x4000) /* ½ÓÊÕµ½ÁË0x0d */ { if(g_rx_buffer[0] != 0x0a) { g_usart_rx_sta = 0; /* ½ÓÊÕ´íÎó,ÖØпªÊ¼ */ } else { g_usart_rx_sta |= 0x8000; /* ½ÓÊÕÍê³ÉÁË */ } } else /* »¹Ã»ÊÕµ½0X0D */ { if(g_rx_buffer[0] == 0x0d) { g_usart_rx_sta |= 0x4000; } else { g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; g_usart_rx_sta++; if(g_usart_rx_sta > (USART_REC_LEN - 1)) { g_usart_rx_sta = 0; /* ½ÓÊÕÊý¾Ý´íÎó,ÖØпªÊ¼½ÓÊÕ */ } } } } HAL_UART_Receive_IT(&g_uart1_handle, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); } } /** * @brief ´®¿Ú1ÖжϷþÎñº¯Êý * @param ÎÞ * @retval ÎÞ */ void USART_UX_IRQHandler(void) { #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntEnter(); #endif HAL_UART_IRQHandler(&g_uart1_handle); /* µ÷ÓÃHAL¿âÖжϴ¦Àí¹«Óú¯Êý */ #if SYS_SUPPORT_OS /* ʹÓÃOS */ OSIntExit(); #endif } #endif (我要使输入的在LCD上面显示应该怎么做)
最新发布
05-21
要在LCD上显示通过串口输入的数据，你需要将接收到的串口数据传递给LCD显示函数。以下是实现步骤和代码示例： ### 实现步骤 1. **初始化LCD**：确保LCD已经正确初始化。 2. **接收串口数据**：使用已有的串口中断或...
#include "control.h" #include "Lidar.h" float Move_X = 0, Move_Z = 0; // Ä¿±êËٶȺÍÄ¿±êתÏòËÙ¶È float PWM_Left, PWM_Right; // ×óÓÒµç»úPWMÖµ float RC_Velocity, RC_Turn_Velocity; // Ò£¿Ø¿ØÖƵÄËÙ¶È u8 Mode = Normal_Mode; // ģʽѡÔñ£¬Ä¬ÈÏÊÇÆÕͨµÄ¿ØÖÆģʽ Motor_parameter MotorA, MotorB; // ×óÓÒµç»úÏà¹Ø±äÁ¿ int Servo_PWM = SERVO_INIT; // °¢¿ËÂü¶æ»úÏà¹Ø±äÁ¿ u8 Lidar_Detect = Lidar_Detect_ON; // µç´ÅѲÏßģʽÀ×´ï¼ì²âÕÏ°­ÎĬÈÏ¿ªÆô float CCD_Move_X = 0.3; // CCDѲÏßËÙ¶È float ELE_Move_X = 0.3; // µç´ÅѲÏßËÙ¶È u8 Ros_count = 0, Lidar_flag_count = 0; u8 cnt = 0; Encoder OriginalEncoder; // Encoder raw data //±àÂëÆ÷ԭʼÊý&frac34;Ý short Accel_Y, Accel_Z, Accel_X, Accel_Angle_x, Accel_Angle_y, Gyro_X, Gyro_Z, Gyro_Y; int forward_cnt = 800; int left_cnt = 120; int right_cnt = 125; int stop_cnt = 200; int stop_flag = 0; int mode_cnt = 0; int state_cnt = 0; int stop_protect = 0; /************************************************************************** Function: Control Function Input : none Output : none º¯Êý¹¦ÄÜ£º5ms¶¨Ê±ÖжϿØÖƺ¯Êý Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void forward(){ MotorA.Motor_Pwm = 1999; MotorB.Motor_Pwm = 2040; } void left(){ MotorA.Motor_Pwm = 0; MotorB.Motor_Pwm = 2050; } void right(){ MotorA.Motor_Pwm = 1999; MotorB.Motor_Pwm = 0; } void stop(){ MotorA.Motor_Pwm = 0; MotorB.Motor_Pwm = 0; } void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if (htim == &htim5) { Get_KeyVal(); if(mode_cnt == 0) stop(); //ģʽһ if(mode_cnt == 1){ if(forward_cnt > 0){ forward(); forward_cnt--; // if(left_cnt > 0){ // left(); // left_cnt--; // if(right_cnt > 0){ // right(); // right_cnt--; } else{ stop(); } } //ģʽ¶þ else if(mode_cnt == 2){ if(forward_cnt > 0){ forward(); forward_cnt--; } else if(stop_cnt > 0 && forward_cnt == 0){ stop(); stop_cnt--; } else if(stop_cnt == 0 && stop_flag == 0){ forward_cnt = 800; stop_flag = 1; } else{ stop(); } } //ģʽÈý else if(mode_cnt == 3){ if(forward_cnt > 0 && state_cnt == 0){//µÚ1״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else if(right_cnt > 0 && state_cnt == 1){//µÚ2״̬£ºÓÒת right(); right_cnt--; } else if(forward_cnt > 0 && state_cnt == 2){//µÚ3״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else if(left_cnt > 0 && state_cnt == 3){//µÚ4״̬£º×óת left(); left_cnt--; } else if(forward_cnt > 0 && state_cnt == 4){//µÚ5״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else if(left_cnt > 0 && state_cnt == 5){//µÚ6״̬£º×óת left(); left_cnt--; } else if(forward_cnt > 0 && state_cnt == 6){//µÚ7״̬£ºÖ±ÐÐ forward(); forward_cnt--; } else{ if(stop_protect == 0 && stop_cnt == 0){ stop_cnt = 100; stop_protect = 1; } else if(stop_cnt > 0){ stop(); stop_cnt--; } else if(stop_protect == 1 && stop_cnt == 0){ stop_protect = 0; if(state_cnt == 0){//״̬1Çл»×´Ì¬2 state_cnt++; right_cnt = 125; } else if(state_cnt == 1){//״̬2Çл»×´Ì¬3 state_cnt++; forward_cnt = 585; } else if(state_cnt == 2){//״̬3Çл»×´Ì¬4 state_cnt++; left_cnt = 120; } else if(state_cnt == 3){//״̬4Çл»×´Ì¬5 state_cnt++; forward_cnt = 585; } else if(state_cnt == 4){//״̬5Çл»×´Ì¬6 state_cnt++; left_cnt = 120; } else if(state_cnt == 5){//״̬6Çл»×´Ì¬7 state_cnt++; forward_cnt = 585; } } } } Set_Pwm(-MotorA.Motor_Pwm, MotorB.Motor_Pwm); // Çý¶¯µç»ú } } /************************************************************************** Function: Bluetooth_Control Input : none Output : none º¯Êý¹¦ÄÜ£ºÊÖ»úÀ¶ÑÀ¿ØÖÆ Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Bluetooth_Control(void) { if (Flag_Direction == 0) Move_X = 0, Move_Z = 0; // Í£Ö¹ else if (Flag_Direction == 1) Move_X = RC_Velocity, Move_Z = 0; // Ç°½ø else if (Flag_Direction == 2) Move_X = RC_Velocity, Move_Z = Pi / 2; // ÓÒÇ° else if (Flag_Direction == 3) Move_X = 0, Move_Z = Pi / 2; // ÏòÓÒ else if (Flag_Direction == 4) Move_X = -RC_Velocity, Move_Z = Pi / 2; // ÓÒºó else if (Flag_Direction == 5) Move_X = -RC_Velocity, Move_Z = 0; // ºóÍË else if (Flag_Direction == 6) Move_X = -RC_Velocity, Move_Z = -Pi / 2; // ×óºó else if (Flag_Direction == 7) Move_X = 0, Move_Z = -Pi / 2; // Ïò×ó else if (Flag_Direction == 8) Move_X = RC_Velocity, Move_Z = -Pi / 2; // ×óÇ° else Move_X = 0, Move_Z = 0; if (Car_Num == Akm_Car) { // Ackermann structure car is converted to the front wheel steering Angle system target value, and kinematics analysis is pearformed // °¢¿ËÂü½á¹¹Ð¡&sup3;µ×ª»»ÎªÇ°ÂÖתÏò½Ç¶È Move_Z = Move_Z * 2 / 10; } Move_X = Move_X / 1000; Move_Z = -Move_Z; // ת»»ÎªËÙ¶ÈתΪm/s } /************************************************************************** Function: PS2_Control Input : none Output : none º¯Êý¹¦ÄÜ£ºPS2ÊÖ±ú¿ØÖÆ Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void PS2_Control(void) { int LY, RX; // ÊÖ±úADCµÄÖµ int Threshold = 20; // ãÐÖµ£¬ºöÂÔÒ¡¸ËС·ù¶È¶¯×÷ static u8 Key1_Count = 0, Key2_Count = 0; // ÓÃÓÚ¿ØÖƶÁÈ¡Ò¡¸ËµÄËÙ¶È // ת»¯Îª128µ½-128µÄÊýÖµ LY = -(PS2_LY - 128); // ×ó±ßYÖá¿ØÖÆÇ°½øºóÍË RX = -(PS2_RX - 128); // ÓÒ±ßXÖá¿ØÖÆתÏò if (LY > -Threshold && LY < Threshold) LY = 0; if (RX > -Threshold && RX < Threshold) RX = 0; // ºöÂÔÒ¡¸ËС·ù¶È¶¯×÷ Move_X = (RC_Velocity / 128) * LY; // ËٶȿØÖÆ£¬Á¦¶È±íÊ&frac34;ËٶȴóС if (Car_Num == Akm_Car) // °¢¿ËÂü&sup3;µ×ªÏò¿ØÖÆ£¬Á¦¶È±íÊ&frac34;תÏò½Ç¶È Move_Z = -(RC_Turn_Velocity / 128) * RX; else // ÆäËû&sup3;µÐÍתÏò¿ØÖÆ { if (Move_X >= 0) Move_Z = -(RC_Turn_Velocity / 128) * RX; // תÏò¿ØÖÆ£¬Á¦¶È±íÊ&frac34;תÏòËÙ¶È else Move_Z = (RC_Turn_Velocity / 128) * RX; } if (PS2_KEY == PSB_L1) // °´ÏÂ×ó1¼ü¼ÓËÙ£¨°´¼üÔÚ¶¥ÉÏ£© { if ((++Key1_Count) == 20) // µ÷½Ú°´¼ü·´Ó¦ËÙ¶È { PS2_KEY = 0; Key1_Count = 0; if ((RC_Velocity += X_Step) > MAX_RC_Velocity) // Ç°½ø×î´óËÙ¶È800mm/s RC_Velocity = MAX_RC_Velocity; if (Car_Num != Akm_Car) // ·Ç°¢¿ËÂü&sup3;µ¿Éµ÷½ÚתÏòËÙ¶È { if ((RC_Turn_Velocity += Z_Step) > MAX_RC_Turn_Bias) // תÏò×î´óËÙ¶È325 RC_Turn_Velocity = MAX_RC_Turn_Bias; } } } else if (PS2_KEY == PSB_R1) // °´ÏÂÓÒ1¼ü¼õËÙ { if ((++Key2_Count) == 20) { PS2_KEY = 0; Key2_Count = 0; if ((RC_Velocity -= X_Step) < MINI_RC_Velocity) // Ç°ºó×îСËÙ¶È210mm/s RC_Velocity = MINI_RC_Velocity; if (Car_Num != Akm_Car) // ·Ç°¢¿ËÂü&sup3;µ¿Éµ÷½ÚתÏòËÙ¶È { if ((RC_Turn_Velocity -= Z_Step) < MINI_RC_Turn_Velocity) // תÏò×îСËÙ¶È45 RC_Turn_Velocity = MINI_RC_Turn_Velocity; } } } else Key2_Count = 0, Key2_Count = 0; // ¶ÁÈ¡µ½ÆäËû°´¼üÖØмÆÊý Move_X = Move_X / 1000; Move_Z = -Move_Z; // ËÙ¶ÈMove_XתΪm/s } /************************************************************************** Function: Get_Velocity_From_Encoder Input : none Output : none º¯Êý¹¦ÄÜ£º¶ÁÈ¡±àÂëÆ÷ºÍת»»&sup3;ÉËÙ¶È Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Get_Velocity_From_Encoder(void) { // Retrieves the original data of the encoder // »ñÈ¡±àÂëÆ÷µÄԭʼÊý&frac34;Ý float Encoder_A_pr, Encoder_B_pr; OriginalEncoder.A = Read_Encoder(Encoder1); OriginalEncoder.B = Read_Encoder(Encoder2); // Decide the encoder numerical polarity according to different car models // ¸ù&frac34;ݲ»Í¬Ð¡&sup3;µÐͺÅ&frac34;ö¶¨±àÂëÆ÷ÊýÖµ¼«ÐÔ switch (Car_Num) { case Akm_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; case Diff_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; case Small_Tank_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; case Big_Tank_Car: Encoder_A_pr = OriginalEncoder.A; Encoder_B_pr = -OriginalEncoder.B; break; } // The encoder converts the raw data to wheel speed in m/s // ±àÂëÆ÷ԭʼÊý&frac34;Ýת»»Îª&sup3;µÂÖËٶȣ¬µ¥Î»m/s MotorA.Current_Encoder = Encoder_A_pr * Frequency * Perimeter / 60000.0f; // 60000 = 4*500*30 MotorB.Current_Encoder = Encoder_B_pr * Frequency * Perimeter / 60000.0f; // 1560=4*13*30=2£¨Á½Â·Âö&sup3;壩*2£¨ÉÏÏÂÑؼÆÊý£©*»ô¶û±àÂëÆ÷13Ïß*µç»úµÄ¼õËÙ±È // MotorA.Current_Encoder= Encoder_A_pr*CONTROL_FREQUENCY*Akm_wheelspacing//(4*13*30); // MotorB.Current_Encoder= Encoder_B_pr*CONTROL_FREQUENCY*Akm_wheelspacing/Encoder_precision; } /************************************************************************** Function: Drive_Motor Input : none Output : none º¯Êý¹¦ÄÜ£ºÔ˶¯Ñ§Äæ½â Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ // Ô˶¯Ñ§Äæ½â£¬ÓÉxºÍyµÄËٶȵõ½±àÂëÆ÷µÄËÙ¶È,VxÊÇm/s,Vzµ¥Î»ÊǶÈ/s(½Ç¶ÈÖÆ) // °¢¿ËÂü&sup3;µVzÊǶæ»úתÏòµÄ½Ç¶È(»¡¶ÈÖÆ) void Get_Target_Encoder(float Vx, float Vz) { float MotorA_Velocity, MotorB_Velocity; float amplitude = 3.5f; // Wheel target speed limit //&sup3;µÂÖÄ¿±êËÙ¶ÈÏÞ·ù Move_X = target_limit_float(Move_X, -1.2, 1.2); Move_Z = target_limit_float(Move_Z, -Pi / 3, Pi / 3); if (Car_Num == Akm_Car) // °¢¿ËÂü&sup3;µ { // Ackerman car specific related variables //°¢¿ËÂüС&sup3;µ×¨ÓÃÏà¹Ø±äÁ¿ float R, ratio = 636.56, AngleR, Angle_Servo; // For Ackerman small car, Vz represents the front wheel steering Angle // ¶ÔÓÚ°¢¿ËÂüС&sup3;µVz´ú±íÓÒÇ°ÂÖתÏò½Ç¶È AngleR = Vz; R = Akm_axlespacing / tan(AngleR) - 0.5f * Wheelspacing; // Front wheel steering Angle limit (front wheel steering Angle controlled by steering engine), unit: rad // Ç°ÂÖתÏò½Ç¶ÈÏÞ·ù(¶æ»ú¿ØÖÆÇ°ÂÖתÏò½Ç¶È)£¬µ¥Î»£ºrad AngleR = target_limit_float(AngleR, -0.49f, 0.32f); // Inverse kinematics //Ô˶¯Ñ§Äæ½â if (AngleR != 0) { MotorA.Target_Encoder = Vx * (R - 0.081f) / R; MotorB.Target_Encoder = Vx * (R + 0.081f) / R; } else { MotorA.Target_Encoder = Vx; MotorB.Target_Encoder = Vx; } // The PWM value of the servo controls the steering Angle of the front wheel // ¶æ»úPWMÖµ£¬¶æ»ú¿ØÖÆÇ°ÂÖתÏò½Ç¶È Angle_Servo = -0.628f * pow(AngleR, 3) + 1.269f * pow(AngleR, 2) - 1.772f * AngleR + 1.573f; Servo_PWM = SERVO_INIT + (Angle_Servo - 1.572f) * ratio; // printf("%d\r\n",Servo_PWM); // Wheel (motor) target speed limit //&sup3;µÂÖ(µç»ú)Ä¿±êËÙ¶ÈÏÞ·ù MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); Servo_PWM = target_limit_int(Servo_PWM, 800, 2200); // Servo PWM value limit //¶æ»úPWMÖµÏÞ·ù } else if (Car_Num == Diff_Car) // ²îËÙС&sup3;µ { if (Vx < 0) Vz = -Vz; else Vz = Vz; // Inverse kinematics //Ô˶¯Ñ§Äæ½â MotorA.Target_Encoder = Vx - Vz * Wheelspacing / 2.0f; // ¼ÆËã&sup3;ö×óÂÖµÄÄ¿±êËÙ¶È MotorB.Target_Encoder = Vx + Vz * Wheelspacing / 2.0f; // ¼ÆËã&sup3;öÓÒÂÖµÄÄ¿±êËÙ¶È // Wheel (motor) target speed limit //&sup3;µÂÖ(µç»ú)Ä¿±êËÙ¶ÈÏÞ·ù MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); } else if (Car_Num == Small_Tank_Car) { if (Vx < 0) Vz = -Vz; else Vz = Vz; MotorA.Target_Encoder = Vx - Vz * Wheelspacing / 2.0f; // ¼ÆËã&sup3;ö×óÂÖµÄÄ¿±êËÙ¶È MotorB.Target_Encoder = Vx + Vz * Wheelspacing / 2.0f; // ¼ÆËã&sup3;öÓÒÂÖµÄÄ¿±êËÙ¶È // Wheel (motor) target speed limit //&sup3;µÂÖ(µç»ú)Ä¿±êËÙ¶ÈÏÞ·ù MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); } else if (Car_Num == Big_Tank_Car) { if (Vx < 0) Vz = -Vz; else Vz = Vz; MotorA.Target_Encoder = Vx - Vz * Wheelspacing / 2.0f; // ¼ÆËã&sup3;ö×óÂÖµÄÄ¿±êËÙ¶È MotorB.Target_Encoder = Vx + Vz * Wheelspacing / 2.0f; // ¼ÆËã&sup3;öÓÒÂÖµÄÄ¿±êËÙ¶È MotorA.Target_Encoder = target_limit_float(MotorA.Target_Encoder, -amplitude, amplitude); MotorB.Target_Encoder = target_limit_float(MotorB.Target_Encoder, -amplitude, amplitude); } } /************************************************************************** Function: Get_Motor_PWM Input : none Output : none º¯Êý¹¦ÄÜ£º×ª»»&sup3;ÉÇý¶¯µç»úµÄPWM Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Get_Motor_PWM(void) { // ¼ÆËã×óÓÒµç»ú¶ÔÓ¦µÄPWM MotorA.Motor_Pwm = Incremental_PI_Left(MotorA.Current_Encoder, MotorA.Target_Encoder); MotorB.Motor_Pwm = Incremental_PI_Right(MotorB.Current_Encoder, MotorB.Target_Encoder); if (Mode == Normal_Mode || Mode == Measure_Distance_Mode) { // Â˲¨£¬Ê¹Æ𲽺ÍÍ£Ö¹ÉÔ΢ƽ»¬Ò»Ð© MotorA.Motor_Pwm = Mean_Filter_Left(MotorA.Motor_Pwm); MotorB.Motor_Pwm = Mean_Filter_Right(MotorB.Motor_Pwm); } // ÏÞ·ù MotorA.Motor_Pwm = PWM_Limit(MotorA.Motor_Pwm, PWM_MAX, PWM_MIN); MotorB.Motor_Pwm = PWM_Limit(MotorB.Motor_Pwm, PWM_MAX, PWM_MIN); } /************************************************************************** Function: PWM_Limit Input : IN;max;min Output : OUT º¯Êý¹¦ÄÜ£ºÏÞÖÆPWM¸&sup3;Öµ Èë¿Ú²ÎÊý: IN£ºÊäÈë²ÎÊý max£ºÏÞ·ù×î´óÖµ min£ºÏÞ·ù×îСֵ ·µ»Ø Öµ£ºÏÞ·ùºóµÄÖµ **************************************************************************/ float PWM_Limit(float IN, int max, int min) { float OUT = IN; if (OUT > max) OUT = max; if (OUT < min) OUT = min; return OUT; } /************************************************************************** Function: Limiting function Input : Value Output : none º¯Êý¹¦ÄÜ£ºÏÞ·ùº¯Êý Èë¿Ú²ÎÊý£º·ùÖµ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ float target_limit_float(float insert, float low, float high) { if (insert < low) return low; else if (insert > high) return high; else return insert; } int target_limit_int(int insert, int low, int high) { if (insert < low) return low; else if (insert > high) return high; else return insert; } /************************************************************************** Function: Check whether it is abnormal Input : none Output : 1:Abnormal;0:Normal º¯Êý¹¦ÄÜ£ºÒì&sup3;£¹Ø±Õµç»ú Èë¿Ú²ÎÊý: ÎÞ ·µ»Ø Öµ£º1£ºÒì&sup3;£ 0£ºÕý&sup3;£ **************************************************************************/ u8 Turn_Off(void) { u8 temp = Normal; Flag_Stop = KEY2_STATE; // ¶ÁÈ¡°´¼ü2״̬£¬°´¼ü2¿ØÖƵç»úµÄ¿ª¹Ø if (Voltage < 1000) // µç&sup3;صçѹµÍÓÚ10V¹Ø±Õµç»ú,LEDµÆ¿ìËÙÉÁ˸ LED_Flash(50), temp = Abnormal; else LED_Flash(200); // ÿһÃëÉÁÒ»´Î£¬Õý&sup3;£ÔËÐÐ if (Flag_Stop) temp = Abnormal; return temp; } /************************************************************************** Function: Data sliding filtering Input : data Output : Filtered data º¯Êý¹¦ÄÜ£ºÊý&frac34;Ý»¬¶¯Â˲¨ Èë¿Ú²ÎÊý£ºÊý&frac34;Ý ·µ»Ø Öµ£ºÂ˲¨ºóµÄÊý&frac34;Ý **************************************************************************/ float Mean_Filter_Left(float data) { u8 i; float Sum_Data = 0; float Filter_Data; static float Speed_Buf[FILTERING_TIMES] = {0}; for (i = 1; i < FILTERING_TIMES; i++) { Speed_Buf[i - 1] = Speed_Buf[i]; } Speed_Buf[FILTERING_TIMES - 1] = data; for (i = 0; i < FILTERING_TIMES; i++) { Sum_Data += Speed_Buf[i]; } Filter_Data = (s32)(Sum_Data / FILTERING_TIMES); return Filter_Data; } /************************************************************************** Function: Data sliding filtering Input : data Output : Filtered data º¯Êý¹¦ÄÜ£ºÊý&frac34;Ý»¬¶¯Â˲¨ Èë¿Ú²ÎÊý£ºÊý&frac34;Ý ·µ»Ø Öµ£ºÂ˲¨ºóµÄÊý&frac34;Ý **************************************************************************/ float Mean_Filter_Right(float data) { u8 i; float Sum_Data = 0; float Filter_Data; static float Speed_Buf[FILTERING_TIMES] = {0}; for (i = 1; i < FILTERING_TIMES; i++) { Speed_Buf[i - 1] = Speed_Buf[i]; } Speed_Buf[FILTERING_TIMES - 1] = data; for (i = 0; i < FILTERING_TIMES; i++) { Sum_Data += Speed_Buf[i]; } Filter_Data = (s32)(Sum_Data / FILTERING_TIMES); return Filter_Data; } /************************************************************************** Function: Lidar_Avoid Input : none Output : none º¯Êý¹¦ÄÜ£ºÀ×´ï±ÜÕÏģʽ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Lidar_Avoid(void) { int i = 0; u8 calculation_angle_cnt = 0; // ÓÃÓÚÅжÏ100¸öµãÖÐÐèÒª×ö±ÜÕϵĵã float angle_sum = 0; // ´ÖÂÔ¼ÆËãÕÏ°­ÎïλÓÚ×ó»òÕßÓÒ u8 distance_count = 0; // &frac34;àÀëСÓÚÄ&sup3;ÖµµÄ¼ÆÊý int distance = 350; // É趨±ÜÕÏ&frac34;àÀë,ĬÈÏÊÇ300 if (Car_Num == Akm_Car) distance = 400; // °¢¿ËÂü&sup3;µÉ趨ÊÇ400mm else if (Car_Num == Big_Tank_Car) distance = 500; // ´óÂÄ´ø&sup3;µÉ趨ÊÇ500mm for (i = 0; i < lap_count; i++) { if ((Dataprocess[i].angle > 310) || (Dataprocess[i].angle < 50)) { if ((0 < Dataprocess[i].distance) && (Dataprocess[i].distance < distance)) // &frac34;àÀëСÓÚ350mmÐèÒª±ÜÕÏ,Ö»ÐèÒª100¶È·¶Î§ÄÚµã { calculation_angle_cnt++; // ¼ÆËã&frac34;àÀëСÓÚ±ÜÕÏ&frac34;àÀëµÄµã¸öÊý if (Dataprocess[i].angle < 50) angle_sum += Dataprocess[i].angle; else if (Dataprocess[i].angle > 310) angle_sum += (Dataprocess[i].angle - 360); // 310¶Èµ½50¶Èת»¯Îª-50¶Èµ½50¶È if (Dataprocess[i].distance < 200) // ¼Ç¼СÓÚ200mmµÄµãµÄ¼ÆÊý distance_count++; } } } if (calculation_angle_cnt < 8) // СÓÚ8µã²»ÐèÒª±ÜÕÏ£¬È¥&sup3;ýһЩÔëµã { if ((Move_X += 0.1) >= Aovid_Speed) // ±ÜÕϵÄËÙ¶ÈÉ趨Ϊ260£¬Öð½¥Ôö¼Óµ½260¿ÉÉÔ΢ƽ»¬Ò»Ð© Move_X = Aovid_Speed; Move_Z = 0; // ²»±ÜÕÏʱ²»ÐèҪתÍä } else // ÐèÒª±ÜÕÏ£¬¼òµ¥µØÅжÏÕÏ°­Î﷽λ { if (Car_Num == Akm_Car) // °¢¿ËÂü&sup3;µÐÍÓжæ»ú£¬ÐèÒªÌØÊâ´¦Àí { if (distance_count > 8) // &frac34;àÀëСÓÚ±ÜÕ½&frac34;àÀë Move_X = -Aovid_Speed, Move_Z = 0; // ÍùºóÍË else { if ((Move_X -= 0.1) <= (Aovid_Speed * 0.5)) // ±ÜÕÏʱËٶȽµµ½µÍËÙ0.25 Move_X = Aovid_Speed * 0.5; if (angle_sum > 0) // ÕÏ°­ÎïÆ«ÓÒ Move_Z = -Pi / 5; // ÿ´ÎתÍä½Ç¶ÈΪPI/5£¬Ö±µ½100¶È·¶Î§ÄÚÎÞÕÏ°­Îï&frac34;ÍÍ£Ö¹ else // Æ«×ó Move_Z = Pi / 5; } } else { if (distance_count > 8) // СÓÚ±ÜÕ½&frac34;àÀëµÄʱºò Move_X = -Aovid_Speed, Move_Z = 0; // ÍùºóÍË else { if ((Move_X -= 0.1) <= (Aovid_Speed * 0.5)) // ±ÜÕÏʱËٶȽµµ½µÍËÙ¶È0.15 Move_X = (Aovid_Speed * 0.5); if (angle_sum > 0) // ÕÏ°­ÎïÆ«ÓÒ { if (Car_Num == Diff_Car) // ÿ´ÎתÍäËÙ¶ÈΪX¶È£¬Ö±µ½100¶È·¶Î§ÄÚÎÞÕÏ°­Îï&frac34;ÍÍ£Ö¹ Move_Z = -1; else if (Car_Num == Small_Tank_Car) Move_Z = -1; else Move_Z = -1; } else // Æ«×ó { if (Car_Num == Diff_Car) // ÿ´ÎתÍäËÙ¶ÈΪX¶È£¬Ö±µ½100¶È·¶Î§ÄÚÎÞÕÏ°­Îï&frac34;ÍÍ£Ö¹ Move_Z = 1; else if (Car_Num == Small_Tank_Car) Move_Z = 1; else Move_Z = 1; } } } } Move_Z = -Move_Z; } /************************************************************************** Function: Lidar_Follow Input : none Output : none º¯Êý¹¦ÄÜ£ºÀ×´ï¸úËæģʽ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ float angle1 = 0; // ¸úËæµÄ½Ç¶È u16 mini_distance1; void Lidar_Follow(void) { static u16 cnt = 0; int i; int calculation_angle_cnt = 0; static float angle = 0; // ¸úËæµÄ½Ç¶È static float last_angle = 0; // u16 mini_distance = 65535; static u8 data_count = 0; // ÓÃÓÚÂË&sup3;ýһдÔëµãµÄ¼ÆÊý±äÁ¿ // ÐèÒªÕÒ&sup3;ö¸úËæµÄÄǸöµãµÄ½Ç¶È for (i = 0; i < lap_count; i++) { if (100 < Dataprocess[i].distance && Dataprocess[i].distance < Follow_Distance) // 1200·¶Î§ÄÚ&frac34;ÍÐèÒª¸úËæ { calculation_angle_cnt++; if (Dataprocess[i].distance < mini_distance) // ÕÒ&sup3;ö&frac34;àÀë×îСµÄµã { mini_distance = Dataprocess[i].distance; angle = Dataprocess[i].angle; } } } if (angle > 180) angle -= 360; // 0--360¶Èת»»&sup3;É0--180£»-180--0£¨Ë&sup3;ʱÕ룩 if (angle - last_angle > 10 || angle - last_angle < -10) // ×öÒ»¶¨Ïû¶¶£¬²¨¶¯´óÓÚ10¶ÈµÄÐèÒª×öÅÐ¶Ï { if (++data_count == 60) // Á¬Ðø60´Î²É¼¯µ½µÄÖµ(300msºó)ºÍÉϴεıȴóÓÚ10¶È£¬´Ëʱ²ÅÊÇÈÏΪÊÇÓÐЧֵ { data_count = 0; last_angle = angle; } } else // ²¨¶¯Ð¡ÓÚ10¶ÈµÄ¿ÉÒÔÖ±½ÓÈÏΪÊÇÓÐЧֵ { data_count = 0; last_angle = angle; } if (calculation_angle_cnt < 6) // ÔÚ¸úË淶ΧÄڵĵãÉÙÓÚ6¸ö { if (cnt < 40) // Á¬Ðø¼ÆÊý&sup3;¬40´ÎûÓÐÒª¸úËæµÄµã£¬´Ëʱ²ÅÊDz»ÓøúËæ cnt++; if (cnt >= 40) { Move_X = 0; // ËÙ¶ÈΪ0 Move_Z = 0; } } else { cnt = 0; if (Car_Num == Akm_Car) { if ((((angle > 15) && (angle < 180)) || ((angle > -180) && angle < -15)) && (mini_distance < 500)) // °¢¿¨Âü&sup3;µÐÍ´¦Àí&sup3;µÍ·²»¶ÔןúËæÎÏ൱ÓÚºó&sup3;µÒ»Ñù£¬Ò»´Î²»¶Ô×¼£¬ÄǺóÍËÔÙÀ´¶Ô×¼ { Move_X = -0.20; Move_Z = -Follow_Turn_PID(last_angle, 0); } else { Move_X = Distance_Adjust_PID(mini_distance, Keep_Follow_Distance); // ±£&sup3;Ö&frac34;àÀë±£&sup3;ÖÔÚ400mm Move_Z = Follow_Turn_PID(last_angle, 0); } } else // ÆäÓà&sup3;µÐÍ { if ((angle > 50 || angle < -50) && (mini_distance > 400)) { Move_Z = -0.0298f * last_angle; // ½Ç¶È²î&frac34;à¹ý´óÖ±½Ó¿ìËÙתÏò Move_X = 0; // ²îËÙС&sup3;µºÍÂÄ´øС&sup3;µ¿ÉÒÔʵÏÖÔ­µØת¶¯ } else { Move_X = Distance_Adjust_PID(mini_distance, Keep_Follow_Distance); // ±£&sup3;Ö&frac34;àÀë±£&sup3;ÖÔÚ400mm Move_Z = Follow_Turn_PID(last_angle, 0); // תÏòPID£¬&sup3;µÍ·ÓÀÔ¶¶ÔןúËæÎïÆ· } } } Move_Z = target_limit_float(Move_Z, -Pi / 6, Pi / 6); // ÏÞ·ù Move_X = target_limit_float(Move_X, -0.6, 0.6); } /************************************************************************** º¯Êý¹¦ÄÜ£ºÐ¡&sup3;µ×ßÖ±Ïßģʽ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Lidar_along_wall(void) { static u32 target_distance = 0; static int n = 0; u32 distance; u8 data_count = 0; // ÓÃÓÚÂË&sup3;ýһдÔëµãµÄ¼ÆÊý±äÁ¿ for (int i = 0; i < lap_count; i++) { if (Dataprocess[i].angle > 75 && Dataprocess[i].angle < 77) { if (n == 0) { target_distance = Dataprocess[i].distance; // »ñÈ¡µÄµÚÒ»¸öµã×÷ΪĿ±ê&frac34;àÀë n++; } if (Dataprocess[i].distance < target_distance + 100) //+100ÏÞÖÆ»ñÈ¡&frac34;àÀëµÄ·¶Î§Öµ { distance = Dataprocess[i].distance; // »ñȡʵʱ&frac34;àÀë data_count++; } } } // if(data_count <= 0) // Move_X = 0; // Move_X = forward_velocity; // &sup3;õʼËÙ¶È Move_Z = -Along_Adjust_PID(distance, target_distance); if (Car_Num == Akm_Car) { Move_Z = target_limit_float(Move_Z, -Pi / 4, Pi / 4); // ÏÞ·ù } else if (Car_Num == Diff_Car) Move_Z = target_limit_float(Move_Z, -Pi / 5, Pi / 5); // ÏÞ·ù } /************************************************************************** Function: Car_Perimeter_Init Input : none Output : none º¯Êý¹¦ÄÜ£º¼ÆËãС&sup3;µ¸÷ÂÖ×ÓµÄÖÜ&sup3;¤ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Car_Perimeter_Init(void) { if (Car_Num == Diff_Car || Car_Num == Akm_Car) { Perimeter = Diff_Car_Wheel_diameter * Pi; Wheelspacing = Diff_wheelspacing; } else if (Car_Num == Small_Tank_Car) { Perimeter = Small_Tank_WheelDiameter * Pi; Wheelspacing = Small_Tank_wheelspacing; } else { Perimeter = Big_Tank_WheelDiameter * Pi; Wheelspacing = Big_Tank_wheelspacing; } } /************************************************************************** Function: Ultrasonic_Follow Input : none Output : none º¯Êý¹¦ÄÜ£º&sup3;¬Éù²¨¸úËæģʽ Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Ultrasonic_Follow(void) // &sup3;¬Éù²¨¸úË棬ֻÄܵ¥·½Ïò¸úËæ { Move_Z = 0; Read_Distane(); // ¶ÁÈ¡&sup3;¬Éù²¨µÄ&frac34;àÀë if (Distance1 < 200) // &frac34;àÀëСÓÚ200mm£¬Í˺ó { if ((Move_X -= 3) < -210) Move_X = -210; // ¸øÒ»210ºóÍËËÙ¶È } else if (Distance1 > 270 && Distance1 < 750) // &frac34;àÀëÔÚ270µ½750Ö®¼äÊÇÐèÒª¸úËæÇ°½ø { if ((Move_X += 3) > 210) // ËÙ¶ÈÖð½¥Ôö¼Ó£¬¸øÇ°½øËÙ¶È Move_X = 210; } else { if (Move_X > 0) { if ((Move_X -= 20) < 0) // ËÙ¶ÈÖð½¥¼õµ½0 Move_X = 0; } else { if ((Move_X += 20) > 0) // ËÙ¶ÈÖð½¥¼õµ½0 Move_X = 0; } } } /************************************************************************** Function: Get angle Input : way£ºThe algorithm of getting angle 1£ºDMP 2£ºkalman 3£ºComplementary filtering Output : none º¯Êý¹¦ÄÜ£º»ñÈ¡½Ç¶È Èë¿Ú²ÎÊý£ºway£º»ñÈ¡½Ç¶ÈµÄËã·¨ 1£ºDMP 2£º¿¨¶ûÂü 3£º»¥²¹Â˲¨ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Get_Angle(u8 way) { if (way == 1) // DMPµÄ¶ÁÈ¡ÔÚÊý&frac34;ݲɼ¯Öж϶ÁÈ¡£¬Ñϸñ×ñѭʱÐòÒªÇó { Read_DMP(); // ¶ÁÈ¡¼ÓËٶȡ¢½ÇËٶȡ¢Çã½Ç } else { Gyro_X = (I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_XOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_XOUT_L); // ¶ÁÈ¡XÖáÍÓÂÝÒÇ Gyro_Y = (I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_YOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_YOUT_L); // ¶ÁÈ¡YÖáÍÓÂÝÒÇ Gyro_Z = (I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_ZOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_GYRO_ZOUT_L); // ¶ÁÈ¡ZÖáÍÓÂÝÒÇ Accel_X = (I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_XOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_XOUT_L); // ¶ÁÈ¡XÖá¼ÓËÙ¶È¼Æ Accel_Y = (I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_YOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_YOUT_L); // ¶ÁÈ¡XÖá¼ÓËÙ¶È¼Æ Accel_Z = (I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_ZOUT_H) << 8) + I2C_ReadOneByte(devAddr, MPU6050_RA_ACCEL_ZOUT_L); // ¶ÁÈ¡ZÖá¼ÓËÙ¶È¼Æ // if(Gyro_X>32768) Gyro_X-=65536; //Êý&frac34;ÝÀàÐÍת»» Ò²¿Éͨ¹ýshortÇ¿ÖÆÀàÐÍת»» // if(Gyro_Y>32768) Gyro_Y-=65536; //Êý&frac34;ÝÀàÐÍת»» Ò²¿Éͨ¹ýshortÇ¿ÖÆÀàÐÍת»» // if(Gyro_Z>32768) Gyro_Z-=65536; //Êý&frac34;ÝÀàÐÍת»» // if(Accel_X>32768) Accel_X-=65536; //Êý&frac34;ÝÀàÐÍת»» // if(Accel_Y>32768) Accel_Y-=65536; //Êý&frac34;ÝÀàÐÍת»» // if(Accel_Z>32768) Accel_Z-=65536; //Êý&frac34;ÝÀàÐÍת»» Accel_Angle_x = atan2(Accel_Y, Accel_Z) * 180 / Pi; // ¼ÆËãÇã½Ç£¬×ª»»µ¥Î»Îª¶È Accel_Angle_y = atan2(Accel_X, Accel_Z) * 180 / Pi; // ¼ÆËãÇã½Ç£¬×ª»»µ¥Î»Îª¶È Gyro_X = Gyro_X / 65.5; // ÍÓÂÝÒÇÁ¿&sup3;Ìת»»£¬Á¿&sup3;Ì¡À500¡ã/s¶ÔÓ¦ÁéÃô¶È65.5£¬¿É²éÊÖ²á Gyro_Y = Gyro_Y / 65.5; // ÍÓÂÝÒÇÁ¿&sup3;Ìת»» if (way == 2) { Roll = -Kalman_Filter_x(Accel_Angle_x, Gyro_X); // ¿¨¶ûÂüÂ˲¨ Pitch = -Kalman_Filter_y(Accel_Angle_y, Gyro_Y); } else if (way == 3) { Roll = -Complementary_Filter_x(Accel_Angle_x, Gyro_X); // »¥²¹Â˲¨ Pitch = -Complementary_Filter_y(Accel_Angle_y, Gyro_Y); } } } /************************************************************************** Function: The remote control command of model aircraft is processed Input : none Output : none º¯Êý¹¦ÄÜ£º¶Ôº½Ä£Ò£¿Ø¿ØÖÆÃüÁî½øÐд¦Àí Èë¿Ú²ÎÊý£ºÎÞ ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Remote_Control(void) { // Data within 1 second after entering the model control mode will not be processed // ¶Ô½øÈ뺽ģ¿ØÖÆģʽºó1ÃëÄÚµÄÊý&frac34;ݲ»´¦Àí static u8 thrice = 200; int Threshold = 100; // limiter //ÏÞ·ù int LX, RY; // static float Target_LX,Target_LY,Target_RY,Target_RX; Remoter_Ch1 = target_limit_int(Remoter_Ch1, 1000, 2000); Remoter_Ch2 = target_limit_int(Remoter_Ch2, 1000, 2000); // Front and back direction of left rocker. Control forward and backward. // ×óÒ¡¸ËÇ°ºó·½Ïò¡£¿ØÖÆÇ°½øºóÍË¡£ LX = Remoter_Ch2 - 1500; // //Left joystick left and right. Control left and right movement. // //×óÒ¡¸Ë×óÓÒ·½Ïò¡£¿ØÖÆ×óÓÒÒƶ¯¡£¡£ // LY=Remoter_Ch2-1500; // Right stick left and right. To control the rotation. // ÓÒÒ¡¸Ë×óÓÒ·½Ïò¡£¿ØÖÆ×Ôת¡£ RY = Remoter_Ch1 - 1500; // if (LX > -Threshold && LX < Threshold) LX = 0; if (RY > -Threshold && RY < Threshold) RY = 0; // if(LX==0) Target_LX=Target_LX/1.2f; // if(LY==0) Target_LY=Target_LY/1.2f; // if(RY==0) Target_RY=Target_RY/1.2f; // //Throttle related //ÓÍÃÅÏà¹Ø // Remote_RCvelocity=RC_Velocity+RX; // if(Remote_RCvelocity<0)Remote_RCvelocity=0; // The remote control command of model aircraft is processed // ¶Ôº½Ä£Ò£¿Ø¿ØÖÆÃüÁî½øÐд¦Àí Move_X = LX; Move_Z = -RY; Move_X = Move_X * 1.3; //*1.3ÊÇΪÁËÀ«´óËÙ¶È if (Car_Num == Akm_Car) Move_Z = Move_Z * (Pi / 8) / 350.0; else Move_Z = Move_Z * 2 * (Pi / 4) / 350.0; // Unit conversion, mm/s -> m/s // µ¥Î»×ª»»£¬mm/s -> m/s Move_X = Move_X / 1000; // ZÖáÊý&frac34;Ýת»¯ #if _4WD if (Move_X < 0) Move_Z = -Move_Z; #endif // Data within 1 second after entering the model control mode will not be processed // ¶Ô½øÈ뺽ģ¿ØÖÆģʽºó1ÃëÄÚµÄÊý&frac34;ݲ»´¦Àí if (thrice > 0) Move_X = 0, Move_Z = 0, thrice--; // Control target value is obtained and kinematics analysis is performed // µÃµ½¿ØÖÆÄ¿±êÖµ£¬½øÐÐÔ˶¯Ñ§·ÖÎö // Get_Target_Encoder(Move_X,Move_Z); } 怎么把OpenMV与STM32串口通信实现二维码/APRILTag码识别及控制的代码加到上述代码中，现在openmv的二维码识别已做好，二维码采用的是Apriltag的36h11类型，id:0表示停止，id:1表示直行，id:2表示左转，id:3表示右转，现在需要再在STM32中修改或添加代码，使其能在接收到openmv识别到的指令后作出相应的动作
05-16
### OpenMV与STM32串口通信实现二维码/APRILTag识别结果控制 为了实现OpenMV通过二维码/APRILTag识别功能向STM32发送ID信息，并由STM32解析该信息来执行对应的动作，可以按照以下方法设计程序逻辑。...
#include "dcmi_ov2640.h" #include "dcmi_ov2640_cfg.h" DCMI_HandleTypeDef hdcmi; // DCMI&frac34;ä±ú DMA_HandleTypeDef DMA_Handle_dcmi; // DMA&frac34;ä±ú volatile uint8_t DCMI_FrameState = 0; // DCMI״̬±êÖ&frac34;£¬µ±Êý&frac34;ÝÖ¡´«ÊäÍê&sup3;Éʱ£¬»á±» HAL_DCMI_FrameEventCallback() Öжϻص÷º¯ÊýÖà 1 volatile uint8_t OV2640_FPS ; // Ö¡ÂÊ /************************************************************************************************* * º¯ Êý Ãû: HAL_DCMI_MspInit * Èë¿Ú²ÎÊý: hdcmi - DCMI_HandleTypeDef¶¨ÒåµÄ±äÁ¿£¬¼´±íÊ&frac34;¶¨ÒåµÄ DCMI &frac34;ä±ú * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: &sup3;õʼ»¯ DCMI Òý½Å * ˵ Ã÷: ÎÞ *************************************************************************************************/ void HAL_DCMI_MspInit(DCMI_HandleTypeDef* hdcmi) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(hdcmi->Instance==DCMI) { __HAL_RCC_DCMI_CLK_ENABLE(); // ʹÄÜ DCMI ÍâÉèʱÖÓ __HAL_RCC_GPIOE_CLK_ENABLE(); // ʹÄÜÏàÓ¦µÄGPIOʱÖÓ __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOG_CLK_ENABLE(); GPIO_OV2640_PWDN_CLK_ENABLE; // ʹÄÜPWDN Òý½ÅµÄ GPIO ʱÖÓ /**************************************************************************** Êý&frac34;ÝÒý½Å ʱÖÓºÍͬ²½Òý½Å PH9 ------> DCMI_D0 PG9 ------> DCMI_VSYNC PH10 ------> DCMI_D1 PH8 ------> DCMI_HSYNC PH11 ------> DCMI_D2 PA6 ------> DCMI_PIXCLK PH12 ------> DCMI_D3 PH14 ------> DCMI_D4 SCCB ¿ØÖÆÒý½Å£¬&sup3;õʼ»¯ÔÚ camera_sccb.c Îļþ PD3 ------> DCMI_D5 PH7 ------> SCCB_SCL PE5 ------> DCMI_D6 PH13 ------> SCCB_SDA PE6 ------> DCMI_D7 µôµç¿ØÖÆÒý½Å PH15 ------> PWDN ******************************************************************************/ GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF13_DCMI; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_6; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF13_DCMI; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF13_DCMI; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_3; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF13_DCMI; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF13_DCMI; HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); // &sup3;õʼ»¯ PWDN Òý½Å OV2640_PWDN_ON; // ¸ßµçƽ£¬½øÈëµôµçģʽ£¬ÉãÏñÍ·Í£Ö¹¹¤×÷£¬´Ëʱ¹¦ºÄ½µµ½×îµÍ GPIO_InitStruct.Pin = OV2640_PWDN_PIN; // PWDN Òý½Å GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; // ÍÆÍìÊä&sup3;öģʽ GPIO_InitStruct.Pull = GPIO_PULLUP; // ÉÏÀ­ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; // Ëٶȵȼ¶µÍ HAL_GPIO_Init(OV2640_PWDN_PORT, &GPIO_InitStruct); // &sup3;õʼ»¯ } } /*************************************************************************************************************************************** * º¯ Êý Ãû: MX_DCMI_Init * * º¯Êý¹¦ÄÜ: ÅäÖÃDCMIÏà¹Ø²ÎÊý * * ˵ Ã÷: 8λÊý&frac34;Ýģʽ£¬È«Êý&frac34;Ý¡¢È«Ö¡²¶×½£¬¿ªÆôÖÐ¶Ï * *****************************************************************************************************************************************/ void MX_DCMI_Init(void) { hdcmi.Instance = DCMI; hdcmi.Init.SynchroMode = DCMI_SYNCHRO_HARDWARE; // Ó²¼þͬ²½Ä£Ê½£¬¼´Ê¹ÓÃÍⲿµÄVS¡¢HSÐźŽøÐÐͬ²½ hdcmi.Init.PCKPolarity = DCMI_PCKPOLARITY_RISING; // ÏñËØʱÖÓÉÏÉýÑØÓÐЧ hdcmi.Init.VSPolarity = DCMI_VSPOLARITY_LOW; // VSµÍµçƽÓÐЧ hdcmi.Init.HSPolarity = DCMI_HSPOLARITY_LOW; // HSµÍµçƽÓÐЧ hdcmi.Init.CaptureRate = DCMI_CR_ALL_FRAME; // ²¶»ñµÈ¼¶£¬ÉèÖÃÿһ֡¶¼½øÐⶻñ hdcmi.Init.ExtendedDataMode = DCMI_EXTEND_DATA_8B; // 8λÊý&frac34;Ýģʽ hdcmi.Init.JPEGMode = DCMI_JPEG_DISABLE; // ²»Ê¹ÓÃDCMIµÄJPEGģʽ hdcmi.Init.ByteSelectMode = DCMI_BSM_ALL; // DCMI½Ó¿Ú²¶×½ËùÓÐÊý&frac34;Ý hdcmi.Init.ByteSelectStart = DCMI_OEBS_ODD; // Ñ¡Ôñ¿ªÊ¼×Ö½Ú£¬´Ó Ö¡/ÐÐ µÄµÚÒ»¸öÊý&frac34;Ý¿ªÊ¼²¶»ñ hdcmi.Init.LineSelectMode = DCMI_LSM_ALL; // ²¶»ñËùÓÐÐÐ hdcmi.Init.LineSelectStart = DCMI_OELS_ODD; // Ñ¡Ôñ¿ªÊ¼ÐÐ,ÔÚÖ¡¿ªÊ¼ºó²¶»ñµÚÒ»ÐÐ HAL_DCMI_Init(&hdcmi) ; HAL_NVIC_SetPriority(DCMI_IRQn, 0 ,5); // ÉèÖÃÖжÏÓÅÏȼ¶ HAL_NVIC_EnableIRQ(DCMI_IRQn); // ¿ªÆôDCMIÖÐ¶Ï //// ÔÚJPGģʽÏ£¬Ò»¶¨Òªµ¥¶ÀʹÄܸÃÖÐ¶Ï // __HAL_DCMI_ENABLE_IT(&hdcmi, DCMI_IT_FRAME); // ʹÄÜ FRAME ÖÐ¶Ï } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DMA_Init * * º¯Êý¹¦ÄÜ: ÅäÖà DMA Ïà¹Ø²ÎÊý * * ˵ Ã÷: ʹÓõÄÊÇDMA2£¬ÍâÉèµ½´æ´¢Æ÷ģʽ¡¢Êý&frac34;Ýλ¿í32bit¡¢²¢¿ªÆôÖÐ¶Ï * *****************************************************************************************************************************************/ void OV2640_DMA_Init(void) { __HAL_RCC_DMA2_CLK_ENABLE(); // ʹÄÜDMA2ʱÖÓ DMA_Handle_dcmi.Instance = DMA2_Stream7; // DMA2Êý&frac34;ÝÁ÷7 DMA_Handle_dcmi.Init.Request = DMA_REQUEST_DCMI; // DMAÇëÇóÀ´×ÔDCMI DMA_Handle_dcmi.Init.Direction = DMA_PERIPH_TO_MEMORY; // ÍâÉèµ½´æ´¢Æ÷ģʽ DMA_Handle_dcmi.Init.PeriphInc = DMA_PINC_DISABLE; // ÍâÉèµØÖ·½ûÖ¹×ÔÔö DMA_Handle_dcmi.Init.MemInc = DMA_MINC_ENABLE; // ´æ´¢Æ÷µØÖ·×ÔÔö DMA_Handle_dcmi.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; // DCMIÊý&frac34;Ýλ¿í£¬32λ DMA_Handle_dcmi.Init.MemDataAlignment = DMA_MDATAALIGN_WORD; // ´æ´¢Æ÷Êý&frac34;Ýλ¿í£¬32λ DMA_Handle_dcmi.Init.Mode = DMA_CIRCULAR; // Ñ­»·Ä£Ê½ DMA_Handle_dcmi.Init.Priority = DMA_PRIORITY_LOW; // ÓÅÏȼ¶µÍ DMA_Handle_dcmi.Init.FIFOMode = DMA_FIFOMODE_ENABLE; // ʹÄÜfifo DMA_Handle_dcmi.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; // È«fifoģʽ£¬4*32bit´óС DMA_Handle_dcmi.Init.MemBurst = DMA_MBURST_SINGLE; // µ¥´Î´«Êä DMA_Handle_dcmi.Init.PeriphBurst = DMA_PBURST_SINGLE; // µ¥´Î´«Êä HAL_DMA_Init(&DMA_Handle_dcmi); // ÅäÖÃDMA __HAL_LINKDMA(&hdcmi, DMA_Handle, DMA_Handle_dcmi); // ¹ØÁªDCMI&frac34;ä±ú HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 0, 0); // ÉèÖÃÖжÏÓÅÏȼ¶ HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn); // ʹÄÜÖÐ¶Ï } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Delay * Èë¿Ú²ÎÊý: Delay - ÑÓʱʱ¼ä£¬µ¥Î» ms * º¯Êý¹¦ÄÜ: ¼òµ¥ÑÓʱº¯Êý£¬²»ÊǺÜ&frac34;«È· * ˵ Ã÷: ΪÁËÒÆÖ²µÄ¼ò±ãÐÔ,´Ë´¦²ÉÓÃÈí¼þÑÓʱ£¬Êµ¼ÊÏîÄ¿ÖпÉÒÔÌæ»»&sup3;ÉRTOSµÄÑÓʱ»òÕßHAL¿âµÄÑÓʱ *****************************************************************************************************************************************/ void OV2640_Delay(volatile uint32_t Delay) { volatile uint16_t i; while (Delay --) { for (i = 0; i < 20000; i++); } // HAL_Delay(Delay); // ¿ÉʹÓÃHAL¿âµÄÑÓʱ } /*************************************************************************************************************************************** * º¯ Êý Ãû: DCMI_OV2640_Init * * º¯Êý¹¦ÄÜ: &sup3;õʼSCCB¡¢DCMI¡¢DMAÒÔ¼°ÅäÖÃOV2640 * *****************************************************************************************************************************************/ int8_t DCMI_OV2640_Init(void) { uint16_t Device_ID; // ¶¨Òå±äÁ¿´æ´¢Æ÷¼þID SCCB_GPIO_Config(); // SCCBÒý½Å&sup3;õʼ»¯ MX_DCMI_Init(); // &sup3;õʼ»¯DCMIÅäÖÃÒý½Å OV2640_DMA_Init(); // &sup3;õʼ»¯DMAÅäÖà OV2640_Reset(); // Ö´ÐÐÈí¼þ¸´Î» Device_ID = OV2640_ReadID(); // ¶ÁÈ¡Æ÷¼þID if( (Device_ID == 0x2640) || (Device_ID == 0x2642) ) // ½øÐÐÆ¥Å䣬ʵ¼ÊµÄÆ÷¼þID¿ÉÄÜÊÇ 0x2640 »òÕß 0x2642 { printf ("OV2640 OK,ID:0x%X\r\n",Device_ID); // Æ¥Åäͨ¹ý OV2640_Config( OV2640_SVGA_Config ); // ÅäÖà SVGAģʽ ------> 800*600£¬ ×î´óÖ¡ÂÊ30Ö¡ // OV2640_Config( OV2640_UXGA_Config ); // ÅäÖà UXGAģʽ ------> 1600*1200£¬×î´óÖ¡ÂÊ15Ö¡ OV2640_Set_Framesize(OV2640_Width,OV2640_Height); // ÉèÖÃOV2640Êä&sup3;öµÄͼÏñ´óС OV2640_DCMI_Crop(Display_Width, Display_Height, OV2640_Width, OV2640_Height ); // ½«OV2640Êä&sup3;öͼÏñ²Ã¼ô&sup3;ÉÊÊÓ¦ÆÁÄ»µÄ´óС return OV2640_Success; // ·µ»Ø&sup3;ɹ¦±êÖ&frac34; } else { printf ("OV2640 ERROR!!!!! ID:%X\r\n",Device_ID); // ¶ÁÈ¡ID´íÎó return OV2640_Error; // ·µ»Ø´íÎó±êÖ&frac34; } } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DMA_Transmit_Continuous * * Èë¿Ú²ÎÊý: DMA_Buffer - DMA½«Òª´«ÊäµÄµØÖ·£¬¼´ÓÃÓÚ´æ´¢ÉãÏñÍ·Êý&frac34;ݵĴ洢ÇøµØÖ· * DMA_BufferSize - ´«ÊäµÄÊý&frac34;Ý´óС£¬32λ¿í * * º¯Êý¹¦ÄÜ: Æô¶¯DMA´«Ê䣬Á¬Ðøģʽ * * ˵ Ã÷: 1. ¿ªÆôÁ¬Ðøģʽ֮ºó£¬»áÒ»Ö±½øÐд«Ê䣬&sup3;ý·Ç¹ÒÆð»òÕßÍ£Ö¹DCMI * 2. OV2640ʹÓÃRGB565ģʽʱ£¬1¸öÏñËصãÐèÒª2¸ö×Ö½ÚÀ´´æ´¢ * 3. ÒòΪDMAÅäÖô«ÊäÊý&frac34;ÝΪ32λ¿í£¬¼ÆËã DMA_BufferSize ʱ£¬ÐèÒª&sup3;ýÒÔ4£¬ÀýÈ磺 * Òª»ñÈ¡ 240*240·Ö±æÂÊ µÄͼÏñ£¬ÐèÒª´«Êä 240*240*2 = 115200 ×Ö½ÚµÄÊý&frac34;Ý£¬ * Ôò DMA_BufferSize = 115200 / 4 = 28800 ¡£ *LXB *****************************************************************************************************************************************/ void OV2640_DMA_Transmit_Continuous(uint32_t DMA_Buffer,uint32_t DMA_BufferSize) { DMA_Handle_dcmi.Init.Mode = DMA_CIRCULAR; // Ñ­»·Ä£Ê½ HAL_DMA_Init(&DMA_Handle_dcmi); // ÅäÖÃDMA // ʹÄÜDCMI²É¼¯Êý&frac34;Ý,Á¬Ðø²É¼¯Ä£Ê½ HAL_DCMI_Start_DMA(&hdcmi, DCMI_MODE_CONTINUOUS, (uint32_t)DMA_Buffer,DMA_BufferSize); } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DMA_Transmit_Snapshot * * Èë¿Ú²ÎÊý: DMA_Buffer - DMA½«Òª´«ÊäµÄµØÖ·£¬¼´ÓÃÓÚ´æ´¢ÉãÏñÍ·Êý&frac34;ݵĴ洢ÇøµØÖ· * DMA_BufferSize - ´«ÊäµÄÊý&frac34;Ý´óС£¬32λ¿í * * º¯Êý¹¦ÄÜ: Æô¶¯DMA´«Ê䣬¿ìÕÕģʽ£¬´«Êäһ֡ͼÏñºóÍ£Ö¹ * * ˵ Ã÷: 1. ¿ìÕÕģʽ£¬Ö»´«ÊäÒ»Ö¡µÄÊý&frac34;Ý * 2. OV2640ʹÓÃRGB565ģʽʱ£¬1¸öÏñËصãÐèÒª2¸ö×Ö½ÚÀ´´æ´¢ * 3. ÒòΪDMAÅäÖô«ÊäÊý&frac34;ÝΪ32λ¿í£¬¼ÆËã DMA_BufferSize ʱ£¬ÐèÒª&sup3;ýÒÔ4£¬ÀýÈ磺 * Òª»ñÈ¡ 240*240·Ö±æÂÊ µÄͼÏñ£¬ÐèÒª´«Êä 240*240*2 = 115200 ×Ö½ÚµÄÊý&frac34;Ý£¬ * Ôò DMA_BufferSize = 115200 / 4 = 28800 ¡£ * 4. ʹÓøÃģʽ´«ÊäÍê&sup3;ÉÖ®ºó£¬DCMI»á±»¹ÒÆð£¬ÔÙ´ÎÆôÓô«Êä֮ǰ£¬ÐèÒªµ÷Óà OV2640_DCMI_Resume() »Ö¸´DCMI * *****************************************************************************************************************************************/ void OV2640_DMA_Transmit_Snapshot(uint32_t DMA_Buffer,uint32_t DMA_BufferSize) { DMA_Handle_dcmi.Init.Mode = DMA_NORMAL; // Õý&sup3;£Ä£Ê½ HAL_DMA_Init(&DMA_Handle_dcmi); // ÅäÖÃDMA HAL_DCMI_Start_DMA(&hdcmi, DCMI_MODE_SNAPSHOT, (uint32_t)DMA_Buffer,DMA_BufferSize); } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DCMI_Suspend * * º¯Êý¹¦ÄÜ: ¹ÒÆðDCMI£¬Í£Ö¹²¶»ñÊý&frac34;Ý * * ˵ Ã÷: 1. ¿ªÆôÁ¬Ðøģʽ֮ºó£¬ÔÙµ÷Óøú¯Êý£¬»áÍ£Ö¹²¶»ñDCMIµÄÊý&frac34;Ý * 2. ¿ÉÒÔµ÷Óà OV2640_DCMI_Resume() »Ö¸´DCMI * 3. ÐèҪעÒâµÄ£¬¹ÒÆðDCMIÆڼ䣬DMAÊÇûÓÐÍ£Ö¹¹¤×÷µÄ *LXB *****************************************************************************************************************************************/ void OV2640_DCMI_Suspend(void) { HAL_DCMI_Suspend(&hdcmi); // ¹ÒÆðDCMI } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DCMI_Resume * * º¯Êý¹¦ÄÜ: »Ö¸´DCMI£¬¿ªÊ¼²¶»ñÊý&frac34;Ý * * ˵ Ã÷: 1. µ±DCMI±»¹ÒÆðʱ£¬¿ÉÒÔµ÷Óøú¯Êý»Ö¸´ * 2. ʹÓà OV2640_DMA_Transmit_Snapshot() ¿ìÕÕģʽ£¬´«ÊäÍê&sup3;ÉÖ®ºó£¬DCMIÒ²»á±»¹ÒÆð£¬ÔÙ´ÎÆôÓô«Êä֮ǰ£¬ * ÐèÒªµ÷Óñ&frac34;º¯Êý»Ö¸´DCMI²¶»ñ * *****************************************************************************************************************************************/ void OV2640_DCMI_Resume(void) { (&hdcmi)->State = HAL_DCMI_STATE_BUSY; // ±ä¸üDCMI±êÖ&frac34; (&hdcmi)->Instance->CR |= DCMI_CR_CAPTURE; // ¿ªÆôDCMI²¶»ñ } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DCMI_Stop * * º¯Êý¹¦ÄÜ: ½ûÖ¹DCMIµÄDMAÇëÇó£¬Í£Ö¹DCMI²¶»ñ£¬½ûÖ¹DCMIÍâÉè * *****************************************************************************************************************************************/ void OV2640_DCMI_Stop(void) { HAL_DCMI_Stop(&hdcmi); } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_DCMI_Crop * * Èë¿Ú²ÎÊý: Displey_XSize ¡¢Displey_YSize - ÏÔÊ&frac34;Æ÷µÄ&sup3;¤¿í * Sensor_XSize¡¢Sensor_YSize - ÉãÏñÍ·´«¸ÐÆ÷Êä&sup3;öͼÏñµÄ&sup3;¤¿í * * º¯Êý¹¦ÄÜ: ʹÓÃDCMIµÄ²Ã¼ô¹¦ÄÜ£¬½«´«¸ÐÆ÷Êä&sup3;öµÄͼÏñ²Ã¼ô&sup3;ÉÊÊÓ¦ÆÁÄ»µÄ´óС * * ˵ Ã÷: 1. ÒòΪÉãÏñÍ·Êä&sup3;öµÄ»­Ãæ±ÈÀý¹Ì¶¨Îª4:3£¬²»Ò»¶¨Æ¥ÅäÏÔÊ&frac34;Æ÷ * 2. ÐèҪעÒâµÄÊÇ£¬ÉãÏñÍ·Êä&sup3;öµÄͼÏñ&sup3;¤¡¢¿í±ØÐëÒªÄܱ»4Õû&sup3;ý£¡£¨ ʹÓÃOV2640_Set_Framesizeº¯Êý½øÐÐÉèÖà £© * 3. DCMIµÄˮƽÓÐЧÏñËØÒ²±ØÐëÒªÄܱ»4Õû&sup3;ý£¡ * 4. º¯Êý»á¼ÆËãˮƽºÍ´¹Ö±Æ«ÒÆ£¬&frac34;¡Á¿Èû­Ãæ&frac34;ÓÖвüô *****************************************************************************************************************************************/ int8_t OV2640_DCMI_Crop(uint16_t Displey_XSize,uint16_t Displey_YSize,uint16_t Sensor_XSize,uint16_t Sensor_YSize ) { uint16_t DCMI_X_Offset,DCMI_Y_Offset; // ˮƽºÍ´¹Ö±Æ«ÒÆ£¬´¹Ö±´ú±íµÄÊÇÐÐÊý£¬Ë®Æ½´ú±íµÄÊÇÏñËØʱÖÓÊý£¨PCLKÖÜÆÚÊý£© uint16_t DCMI_CAPCNT; // ˮƽÓÐЧÏñËØ£¬´ú±íµÄÊÇÏñËØʱÖÓÊý£¨PCLKÖÜÆÚÊý£© uint16_t DCMI_VLINE; // ´¹Ö±ÓÐЧÐÐÊý if( (Displey_XSize>=Sensor_XSize)|| (Displey_YSize>=Sensor_YSize) ) { // printf("ʵ¼ÊÏÔÊ&frac34;µÄ&sup3;ß´ç´óÓÚ»òµÈÓÚÉãÏñÍ·Êä&sup3;öµÄ&sup3;ߴ磬ÍË&sup3;öDCMI²Ã¼ô\r\n"); return OV2640_Error; //Èç¹ûʵ¼ÊÏÔÊ&frac34;µÄ&sup3;ß´ç´óÓÚ»òµÈÓÚÉãÏñÍ·Êä&sup3;öµÄ&sup3;ߴ磬ÔòÍË&sup3;öµ±Ç°º¯Êý£¬²»½øÐвüô } // ÔÚÉèÖÃΪRGB565¸ñʽʱ£¬Ë®Æ½Æ«ÒÆ£¬±ØÐëÊÇÆæÊý£¬·ñÔò»­ÃæÉ«²Ê²»ÕýÈ·£¬ // ÒòΪһ¸öÓÐЧÏñËØÊÇ2¸ö×Ö½Ú£¬ÐèÒª2¸öPCLKÖÜÆÚ£¬ËùÒÔ±ØÐë´ÓÆæÊýλ¿ªÊ¼£¬²»È»Êý&frac34;Ý»á´íÂÒ£¬ // ÐèҪעÒâµÄÊÇ£¬¼Ä´æÆ÷ÖµÊÇ´Ó0¿ªÊ¼ËãÆðµÄ £¡ DCMI_X_Offset = Sensor_XSize - Displey_XSize; // ʵ¼Ê¼ÆËã¹ý&sup3;ÌΪ£¨Sensor_XSize - LCD_XSize£©/2*2 // ¼ÆË㴹ֱƫÒÆ£¬&frac34;¡Á¿Èû­Ãæ&frac34;ÓÖвüô£¬¸ÃÖµ´ú±íµÄÊÇÐÐÊý£¬ DCMI_Y_Offset = (Sensor_YSize - Displey_YSize)/2-1; // ¼Ä´æÆ÷ÖµÊÇ´Ó0¿ªÊ¼ËãÆðµÄ£¬ËùÒÔÒª-1 // ÒòΪһ¸öÓÐЧÏñËØÊÇ2¸ö×Ö½Ú£¬ÐèÒª2¸öPCLKÖÜÆÚ£¬ËùÒÔÒª&sup3;Ë2 // ×îÖյõ½µÄ¼Ä´æÆ÷Öµ£¬±ØÐëÒªÄܱ»4Õû&sup3;ý£¡ DCMI_CAPCNT = Displey_XSize*2-1; // ¼Ä´æÆ÷ÖµÊÇ´Ó0¿ªÊ¼ËãÆðµÄ£¬ËùÒÔÒª-1 DCMI_VLINE = Displey_YSize-1; // ´¹Ö±ÓÐЧÐÐÊý // printf("%d %d %d %d\r\n",DCMI_X_Offset,DCMI_Y_Offset,DCMI_CAPCNT,DCMI_VLINE); HAL_DCMI_ConfigCrop (&hdcmi,DCMI_X_Offset,DCMI_Y_Offset,DCMI_CAPCNT,DCMI_VLINE);// ÉèÖòüô´°¿Ú HAL_DCMI_EnableCrop(&hdcmi); // ʹÄܲüô return OV2640_Success; } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Reset * * º¯Êý¹¦ÄÜ: Ö´ÐÐÈí¼þ¸´Î» * * ˵ Ã÷: ÔÚÅäÖÃOV2640֮ǰ£¬ÐèÒªÖ´ÐÐÒ»´ÎÈí¼þ¸´Î» * *****************************************************************************************************************************************/ void OV2640_Reset(void) { OV2640_Delay(5); // µÈ´ýÄ£¿éÉϵçÎȶ¨£¬×îÉÙ5ms£¬È»ºóÀ­µÍPWDN OV2640_PWDN_OFF; // PWDN Òý½ÅÊä&sup3;öµÍµçƽ£¬²»¿ªÆôµôµçģʽ£¬ÉãÏñÍ·Õý&sup3;£¹¤×÷£¬´ËʱÉãÏñÍ·Ä£¿éµÄ°×É«LED»áµãÁÁ // ¸ù&frac34;ÝOV2640µÄÉϵçʱÐò£¬Ó²¼þ¸´Î»µÄ&sup3;ÖÐøʱ¼äÒª>=3ms£¬Â¹Ð¡°àµÄOV2640²ÉÓÃÓ²¼þRC¸´Î»£¬&sup3;ÖÐøʱ¼ä´ó¸ÅÔÚ6ms×óÓÒ // Òò´Ë¼ÓÈëÑÓʱ£¬µÈ´ýÓ²¼þ¸´Î»Íê&sup3;ɲ¢Îȶ¨ÏÂÀ´ OV2640_Delay(5); SCCB_WriteReg( OV2640_SEL_Registers, OV2640_SEL_SENSOR); // Ñ¡Ôñ SENSOR ¼Ä´æÆ÷×é SCCB_WriteReg( OV2640_SENSOR_COM7, 0x80); // Æô¶¯Èí¼þ¸´Î» // ¸ù&frac34;ÝOV2640µÄÈí¼þ¸´Î»Ê±Ðò£¬Èí¼þ¸´Î»Ö´Ðкó£¬Òª>=2ms·½¿ÉÖ´ÐÐSCCBÅäÖ㬴˴¦²ÉÓñ£ÊØÒ»µãµÄ²ÎÊý£¬ÑÓʱ10ms OV2640_Delay(10); } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_ReadID * * º¯Êý¹¦ÄÜ: ¶ÁÈ¡ OV2640 µÄÆ÷¼þID * * ˵ Ã÷: ʵ¼ÊµÄÆ÷¼þID¿ÉÄÜÊÇ 0x2640 »òÕß 0x2642£¬Åú´Î²»Í¬ID¿ÉÄܻ᲻һÑù * *****************************************************************************************************************************************/ uint16_t OV2640_ReadID(void) { uint8_t PID_H,PID_L; // ID±äÁ¿ SCCB_WriteReg( OV2640_SEL_Registers, OV2640_SEL_SENSOR); // Ñ¡Ôñ SENSOR ¼Ä´æÆ÷×é PID_H = SCCB_ReadReg(OV2640_SENSOR_PIDH); // ¶ÁÈ¡ID¸ß×Ö½Ú PID_L = SCCB_ReadReg(OV2640_SENSOR_PIDL); // ¶ÁÈ¡IDµÍ×Ö½Ú return(PID_H<<8)|PID_L; // ·µ»ØÍêÕûµÄÆ÷¼þID } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Config * * Èë¿Ú²ÎÊý: (*ConfigData)[2] - ÒªÅäÖõIJÎÊý£¬¿ÉÅäÖÃΪ OV2640_SVGA_Config »ò OV2640_UXGA_Config * * º¯Êý¹¦ÄÜ: ÅäÖà OV2640 ´«¸ÐÆ÷ºÍDSP²ÎÊý * * ˵ Ã÷: 1. ¿ÉÅäÖÃΪ SVGA »òÕß UXGAģʽ * 2. SVGA ·Ö±æÂÊΪ800*600£¬×î¸ßÖ§&sup3;Ö30Ö¡ * 3. UXGA ·Ö±æÂÊΪ1600*1200£¬×î¸ßÖ§&sup3;Ö15Ö¡ * 4. ²ÎÊý¶¨ÒåÔÚ dcmi_ov2640_cfg.h * *****************************************************************************************************************************************/ void OV2640_Config( const uint8_t (*ConfigData)[2] ) { uint32_t i; // ¼ÆÊý±äÁ¿ for( i=0; ConfigData[i][0]; i++) { SCCB_WriteReg( ConfigData[i][0], ConfigData[i][1]); // ½øÐвÎÊýÅäÖà } } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Framesize * * Èë¿Ú²ÎÊý: pixformat - ÏñËظñʽ£¬¿ÉÑ¡Ôñ Pixformat_RGB565¡¢Pixformat_JPEG * * º¯Êý¹¦ÄÜ: ÉèÖÃÊä&sup3;öµÄÏñËظñʽ * *****************************************************************************************************************************************/ void OV2640_Set_Pixformat(uint8_t pixformat) { const uint8_t (*ConfigData)[2]; uint32_t i; // ¼ÆÊý±äÁ¿ switch (pixformat) { case Pixformat_RGB565: ConfigData = OV2640_RGB565_Config; break; case Pixformat_JPEG: ConfigData = OV2640_JPEG_Config; break; default: break; } for( i=0; ConfigData[i][0]; i++) { SCCB_WriteReg( ConfigData[i][0], ConfigData[i][1]); // ½øÐвÎÊýÅäÖà } } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Framesize * * Èë¿Ú²ÎÊý: width - ʵ¼ÊÊä&sup3;öͼÏñµÄ&sup3;¤¶È£¬height - ʵ¼ÊÊä&sup3;öͼÏñµÄ¿í¶È * * º¯Êý¹¦ÄÜ: ÉèÖÃʵ¼ÊÊä&sup3;öµÄͼÏñ´óС * * ˵ Ã÷: 1. OV2640ÉèÖÃΪ SVGA£¨800*600£© »òÕß UXGA£¨1600*1200£©Ä£Ê½£¬Í¼Ïñ´óСͨ&sup3;£Óëʵ¼ÊÓõÄÆÁÄ»·Ö±æÂʲ»Ò»Ñù£¬ * Òò´Ë¿ÉÒÔµ÷Óôκ¯Êý£¬ÉèÖÃʵ¼ÊÊä&sup3;öµÄͼÏñ´óС * 2. ÐèҪעÒâµÄÊÇ£¬ÒªÉèÖõÄͼÏñ&sup3;¤¡¢¿í±ØÐëÄܱ»4Õû&sup3;ý£¡ * 3. ²¢²»ÊÇÉèÖÃÊä&sup3;öµÄͼÏñ·Ö±æÂÊԽС֡ÂÊ&frac34;ÍÔ½¸ß£¬Ö¡ÂÊÖ»ºÍÅäÖõÄģʽÓйأ¬ÀýÈçÅäÖÃΪSVGA×î¸ßÖ»ÄÜÖ§&sup3;Ö30Ö¡ * *****************************************************************************************************************************************/ int8_t OV2640_Set_Framesize(uint16_t width,uint16_t height) { if( (width%4)||(height%4) ) // Êä&sup3;öͼÏñµÄ´óСһ¶¨ÒªÄܱ»4Õû&sup3;ý { return OV2640_Error; // ·µ»Ø´íÎó±êÖ&frac34; } SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_DSP); // Ñ¡Ôñ DSP¼Ä´æÆ÷×é SCCB_WriteReg(0X5A, width/4 &0XFF); // ʵ¼ÊͼÏñÊä&sup3;öµÄ¿í¶È£¨OUTW£©£¬7~0 bit£¬¼Ä´æÆ÷µÄÖµµÈÓÚʵ¼ÊÖµ/4 SCCB_WriteReg(0X5B, height/4 &0XFF); // ʵ¼ÊͼÏñÊä&sup3;öµÄ¸ß¶È£¨OUTH£©£¬7~0 bit£¬¼Ä´æÆ÷µÄÖµµÈÓÚʵ¼ÊÖµ/4 SCCB_WriteReg(0X5C, (width/4>>8&0X03)|(height/4>>6&0x04) ); // ÉèÖÃZMHHµÄBit[2:0]£¬Ò²&frac34;ÍÊÇOUTH µÄµÚ 8 bit£¬OUTW µÄµÚ 9~8 bit£¬ SCCB_WriteReg(OV2640_DSP_RESET,0X00); // ¸´Î» return OV2640_Success; // &sup3;ɹ¦ } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Horizontal_Mirror * * Èë¿Ú²ÎÊý: ConfigState - ÖÃ1ʱ£¬Í¼Ïñ»áˮƽ&frac34;µÏñ£¬ÖÃ0ʱ»Ö¸´Õý&sup3;£ * * º¯Êý¹¦ÄÜ: ÓÃÓÚÉèÖÃÊä&sup3;öµÄͼÏñÊÇ·ñ½øÐÐˮƽ&frac34;µÏñ * *****************************************************************************************************************************************/ int8_t OV2640_Set_Horizontal_Mirror( int8_t ConfigState ) { uint8_t OV2640_Reg; // ¼Ä´æÆ÷µÄÖµ SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_SENSOR); // Ñ¡Ôñ SENSOR ¼Ä´æÆ÷×é OV2640_Reg = SCCB_ReadReg(OV2640_SENSOR_REG04); // ¶ÁÈ¡ 0x04 µÄ¼Ä´æÆ÷Öµ // REG04,¼Ä´æÆ÷×é4£¬¼Ä´æÆ÷µØַΪ 0x04£¬¸Ã¼Ä´æÆ÷µÄBit[7]£¬ÓÃÓÚÉèÖÃˮƽÊÇ·ñ&frac34;µÏñ if ( ConfigState == OV2640_Enable ) // Èç¹ûʹÄÜ&frac34;µÏñ { OV2640_Reg |= 0X80; // Bit[7]ÖÃ1Ôò&frac34;µÏñ } else // È¡Ïû&frac34;µÏñ { OV2640_Reg &= ~0X80; // Bit[7]ÖÃ0ÔòÊÇÕý&sup3;£Ä£Ê½ } return SCCB_WriteReg(OV2640_SENSOR_REG04,OV2640_Reg); // дÈë¼Ä´æÆ÷ } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Vertical_Flip * * Èë¿Ú²ÎÊý: ConfigState - ÖÃ1ʱ£¬Í¼Ïñ»á´¹Ö±·­×ª£¬ÖÃ0ʱ»Ö¸´Õý&sup3;£ * * º¯Êý¹¦ÄÜ: ÓÃÓÚÉèÖÃÊä&sup3;öµÄͼÏñÊÇ·ñ½øÐд¹Ö±·­×ª * *****************************************************************************************************************************************/ int8_t OV2640_Set_Vertical_Flip( int8_t ConfigState ) { uint8_t OV2640_Reg; // ¼Ä´æÆ÷µÄÖµ SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_SENSOR); // Ñ¡Ôñ SENSOR ¼Ä´æÆ÷×é OV2640_Reg = SCCB_ReadReg(OV2640_SENSOR_REG04); // ¶ÁÈ¡ 0x04 µÄ¼Ä´æÆ÷Öµ // REG04,¼Ä´æÆ÷×é4£¬¼Ä´æÆ÷µØַΪ 0x04£¬¸Ã¼Ä´æÆ÷µÄµÚBit[6]£¬ÓÃÓÚÉèÖÃˮƽÊÇ´¹Ö±·­×ª if ( ConfigState == OV2640_Enable ) { // ´Ë´¦ÉèÖòο¼OpenMVµÄÇý¶¯ // Bit[4]&frac34;ßÌåµÄ×÷ÓÃÊÇʲôÊÖ²áûÓÐ˵£¬Èç¹û´¹Ö±·­×ªÖ®ºó£¬¸Ãλ²»ÖÃ1µÄ»°£¬ÑÕÉ«»á²»¶Ô OV2640_Reg |= 0X40|0x10 ; // Bit[6]ÖÃ1ʱ£¬Í¼Ïñ»á´¹Ö±·­×ª } else // È¡Ïû·­×ª { OV2640_Reg &= ~(0X40|0x10 ); // ½«Bit[6]ºÍBit[4]¶¼Ð´0 } return SCCB_WriteReg(OV2640_SENSOR_REG04,OV2640_Reg); // дÈë¼Ä´æÆ÷ } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Saturation * * Èë¿Ú²ÎÊý: Saturation - ±¥ºÍ¶È£¬¿ÉÉèÖÃΪ5¸öµÈ¼¶£º2£¬1£¬0£¬-1£¬-2 * * ˵ Ã÷: 1. ÊÖ²áÀïûÓÐ˵Ã÷ÅäÖÃÖеÄÄÇ2¸ö¼Ä´æÆ÷ÈçºÎʹÓã¬Òò´ËÕâÀïÖ±½ÓʹÓÃOV2640±à&sup3;ÌÊÖ²á¸ø&sup3;öµÄ´úÂë * 2.±¥ºÍ¶ÈÔ½¸ß£¬É«²Ê&frac34;ÍÔ½ÏÊÑÞ£¬µ«µ±ÏàÓ¦µÄÇåÎú¶È»áϽµ£¬Ôëµã±ä¶à * *****************************************************************************************************************************************/ void OV2640_Set_Saturation(int8_t Saturation) { SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_DSP); // Ñ¡Ôñ DSP¼Ä´æÆ÷×é switch (Saturation) { case 2: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x02); SCCB_WriteReg(OV2640_DSP_BPADDR,0x03); SCCB_WriteReg(OV2640_DSP_BPDATA,0x68); SCCB_WriteReg(OV2640_DSP_BPDATA,0x68); break; case 1: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x02); SCCB_WriteReg(OV2640_DSP_BPADDR,0x03); SCCB_WriteReg(OV2640_DSP_BPDATA,0x58); SCCB_WriteReg(OV2640_DSP_BPDATA,0x58); break; case 0: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x02); SCCB_WriteReg(OV2640_DSP_BPADDR,0x03); SCCB_WriteReg(OV2640_DSP_BPDATA,0x48); SCCB_WriteReg(OV2640_DSP_BPDATA,0x48); break; case -1: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x02); SCCB_WriteReg(OV2640_DSP_BPADDR,0x03); SCCB_WriteReg(OV2640_DSP_BPDATA,0x38); SCCB_WriteReg(OV2640_DSP_BPDATA,0x38); break; case -2: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x02); SCCB_WriteReg(OV2640_DSP_BPADDR,0x03); SCCB_WriteReg(OV2640_DSP_BPDATA,0x28); SCCB_WriteReg(OV2640_DSP_BPDATA,0x28); break; default: break; } } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Brightness * * Èë¿Ú²ÎÊý: Brightness - ÁÁ¶È£¬¿ÉÉèÖÃΪ5¸öµÈ¼¶£º2£¬1£¬0£¬-1£¬-2 * * ˵ Ã÷: 1. ÊÖ²áÀïûÓÐ˵Ã÷ÅäÖÃÖеÄÄÇ2¸ö¼Ä´æÆ÷ÈçºÎʹÓã¬Òò´ËÕâÀïÖ±½ÓʹÓÃOV2640±à&sup3;ÌÊÖ²á¸ø&sup3;öµÄ´úÂë * 2. ÁÁ¶ÈÔ½¸ß£¬»­Ãæ&frac34;ÍÔ½Ã÷ÁÁ£¬µ«ÊÇ»á±äÄ£ºýһЩ * *****************************************************************************************************************************************/ void OV2640_Set_Brightness(int8_t Brightness) { SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_DSP); // Ñ¡Ôñ DSP¼Ä´æÆ÷×é switch (Brightness) { case 2: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x09); SCCB_WriteReg(OV2640_DSP_BPDATA,0x40); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); break; case 1: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x09); SCCB_WriteReg(OV2640_DSP_BPDATA,0x30); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); break; case 0: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x09); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); break; case -1: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x09); SCCB_WriteReg(OV2640_DSP_BPDATA,0x10); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); break; case -2: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x09); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); break; default: break; } } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Contrast * * Èë¿Ú²ÎÊý: Contrast - ¶Ô±È¶È£¬¿ÉÉèÖÃΪ5¸öµÈ¼¶£º2£¬1£¬0£¬-1£¬-2 * * ˵ Ã÷: 1. ÊÖ²áÀïûÓÐ˵Ã÷ÅäÖÃÖеÄÄÇ2¸ö¼Ä´æÆ÷ÈçºÎʹÓã¬Òò´ËÕâÀïÖ±½ÓʹÓÃOV2640±à&sup3;ÌÊÖ²á¸ø&sup3;öµÄ´úÂë * 2. ¶Ô±È¶ÈÔ½¸ß£¬»­ÃæÔ½ÇåÎú£¬ºÚ°×Ô½¼Ó·ÖÃ÷ * *****************************************************************************************************************************************/ void OV2640_Set_Contrast(int8_t Contrast) { SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_DSP); // Ñ¡Ôñ DSP¼Ä´æÆ÷×é switch (Contrast) { case 2: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x07); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPADDR,0x28); SCCB_WriteReg(OV2640_DSP_BPDATA,0x0c); SCCB_WriteReg(OV2640_DSP_BPDATA,0x06); break; case 1: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x07); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPADDR,0x24); SCCB_WriteReg(OV2640_DSP_BPDATA,0x16); SCCB_WriteReg(OV2640_DSP_BPDATA,0x06); break; case 0: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x07); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPADDR,0x20); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPDATA,0x06); break; case -1: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x07); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPADDR,0x1c); SCCB_WriteReg(OV2640_DSP_BPDATA,0x2a); SCCB_WriteReg(OV2640_DSP_BPDATA,0x06); break; case -2: SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x04); SCCB_WriteReg(OV2640_DSP_BPADDR,0x07); SCCB_WriteReg(OV2640_DSP_BPDATA,0x20); SCCB_WriteReg(OV2640_DSP_BPADDR,0x18); SCCB_WriteReg(OV2640_DSP_BPDATA,0x34); SCCB_WriteReg(OV2640_DSP_BPDATA,0x06); break; default: break; } } /*************************************************************************************************************************************** * º¯ Êý Ãû: OV2640_Set_Effect * * Èë¿Ú²ÎÊý: effect_Mode - ÌØЧģʽ£¬¿ÉÑ¡Ôñ²ÎÊý OV2640_Effect_Normal¡¢OV2640_Effect_Negative¡¢ * OV2640_Effect_BW¡¢OV2640_Effect_BW_Negative * * º¯Êý¹¦ÄÜ: ÓÃÓÚÉèÖÃOV2640µÄÌØЧ£¬Õý&sup3;£¡¢¸ºÆ¬¡¢ºÚ°×¡¢ºÚ°×+¸ºÆ¬µÈģʽ * * ˵ Ã÷: ÊÖ²áÀïûÓÐ˵Ã÷ÅäÖÃÖеÄÄÇ2¸ö¼Ä´æÆ÷ÈçºÎʹÓã¬Òò´ËÕâÀïÖ±½ÓʹÓÃOV2640±à&sup3;ÌÊÖ²á¸ø&sup3;öµÄ´úÂë * *****************************************************************************************************************************************/ void OV2640_Set_Effect(uint8_t effect_Mode) { SCCB_WriteReg(OV2640_SEL_Registers,OV2640_SEL_DSP); // Ñ¡Ôñ DSP¼Ä´æÆ÷×é switch (effect_Mode) { case OV2640_Effect_Normal: // Õý&sup3;£Ä£Ê½ SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x00); SCCB_WriteReg(OV2640_DSP_BPADDR,0x05); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); break; case OV2640_Effect_Negative: // ¸ºÆ¬Ä£Ê½£¬Ò²&frac34;ÍÊÇÑÕÉ«È«²¿È¡·´ SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x40); SCCB_WriteReg(OV2640_DSP_BPADDR,0x05); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); break; case OV2640_Effect_BW: // ºÚ°×ģʽ SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x18); SCCB_WriteReg(OV2640_DSP_BPADDR,0x05); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); break; case OV2640_Effect_BW_Negative: // ºÚ°×+¸ºÆ¬Ä£Ê½ SCCB_WriteReg(OV2640_DSP_BPADDR,0x00); SCCB_WriteReg(OV2640_DSP_BPDATA,0x58); SCCB_WriteReg(OV2640_DSP_BPADDR,0x05); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); SCCB_WriteReg(OV2640_DSP_BPDATA,0x80); break; default: break; } } /*************************************************************************************************************************************** * º¯ Êý Ãû: HAL_DCMI_FrameEventCallback * * º¯Êý¹¦ÄÜ: Ö¡»Øµ÷º¯Êý£¬Ã¿´«ÊäÒ»Ö¡Êý&frac34;Ý£¬»á½øÈë¸ÃÖжϷþÎñº¯Êý * * ˵ Ã÷: ÿ´Î´«ÊäÍêÒ»Ö¡£¬¶ÔÏàÓ¦µÄ±êÖ&frac34;λ½øÐвÙ×÷£¬²¢¼ÆËãÖ¡ÂÊ *****************************************************************************************************************************************/ void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi) { static uint32_t DCMI_Tick = 0; // ÓÃÓÚ±£´æµ±Ç°µÄʱ¼ä¼ÆÊýÖµ static uint8_t DCMI_Frame_Count = 0; // Ö¡Êý¼ÆÊý if(HAL_GetTick() - DCMI_Tick >= 1000) // ÿ¸ô 1s ¼ÆËãÒ»´ÎÖ¡ÂÊ { DCMI_Tick = HAL_GetTick(); // ÖØлñÈ¡µ±Ç°Ê±¼ä¼ÆÊýÖµ OV2640_FPS = DCMI_Frame_Count; // »ñµÃfps DCMI_Frame_Count = 0; // ¼ÆÊýÇå0 } DCMI_Frame_Count ++; // û½øÈëÒ»´ÎÖжϣ¨Ã¿´Î´«ÊäÍêÒ»Ö¡Êý&frac34;Ý£©£¬¼ÆÊýÖµ+1 DCMI_FrameState = 1; // ´«ÊäÍê&sup3;ɱêÖ&frac34;λÖÃ1 } /*************************************************************************************************************************************** * º¯ Êý Ãû: HAL_DCMI_ErrorCallback * * º¯Êý¹¦ÄÜ: ´íÎó»Øµ÷º¯Êý * * ˵ Ã÷: µ±·¢ÉúDMA´«Êä´íÎó»òÕßFIFOÒç&sup3;ö´íÎó&frac34;Í»á½øÈë *****************************************************************************************************************************************/ void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi) { // if( HAL_DCMI_GetError(hdcmi) == HAL_DCMI_ERROR_OVR) // { // printf("FIFOÒç&sup3;ö´íÎ󣡣¡£¡\r\n"); // } printf("error:0x%x£¡£¡£¡\r\n",HAL_DCMI_GetError(hdcmi)); } /*********************************************************************************************************************************************************************************************************************************************LXB*************/ // ¹С°à 代码分析
05-12
### 关于OV2640相机模块与STM32 DCMI接口的代码实现 #### SCCB通信部分 SCCB（Serial Camera Control Bus）是一种类似于I2C的串行总线协议，用于控制摄像头模块。在STM32中，通常会使用GPIO模拟或者直接利用I2C硬件...
/*** ************************************************************************************************ * @version V1.0 * @author ¹С°à¿Æ¼¼ * @brief SCCB ½Ó¿ÚÏà¹Øº¯Êý£¨Èí¼þÄ£ÄâIICµÄÐÎʽ£© ************************************************************************************************* * @description * * ʵÑéƽ̨£ºÂ¹Ð¡°àSTM32H723ZGT6ºËÐÄ°å £¨ÐͺţºLXB723ZG-P1£© * ¿Í·þ΢ÐÅ£º19949278543 * >>>>> Îļþ˵Ã÷£º * * 1.SCCBÏà¹Øº¯Êý£¨SCCBºÍIICÒ»Ñù£© * 2.ʹÓÃÄ£Äâ½Ó¿ÚµÄÐÎʽ * 3.ͨÐÅËÙ¶ÈĬÈÏΪ 300KHz ×óÓÒ£¬×î´ó²»ÄÜ&sup3;¬¹ý400K * ************************************************************************************************************************ ***/ #include "sccb.h" /***************************************************************************************** * º¯ Êý Ãû: SCCB_GPIO_Config * Èë¿Ú²ÎÊý: ÎÞ * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: &sup3;õʼ»¯IICµÄGPIO¿Ú,ÍÆÍìÊä&sup3;ö * ˵ Ã÷: ÓÉÓÚIICͨÐÅËٶȲ»¸ß£¬ÕâÀïµÄIO¿ÚËÙ¶ÈÅäÖÃΪ2M¼´¿É ******************************************************************************************/ void SCCB_GPIO_Config (void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; SCCB_SCL_CLK_ENABLE; //&sup3;õʼ»¯IO¿ÚʱÖÓ SCCB_SDA_CLK_ENABLE; GPIO_InitStruct.Pin = SCCB_SCL_PIN; // SCLÒý½Å GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD; // ¿ªÂ©Êä&sup3;ö GPIO_InitStruct.Pull = GPIO_NOPULL; // ²»´øÉÏÏÂÀ­ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; // Ëٶȵȼ¶ HAL_GPIO_Init(SCCB_SCL_PORT, &GPIO_InitStruct); GPIO_InitStruct.Pin = SCCB_SDA_PIN; // SDAÒý½Å HAL_GPIO_Init(SCCB_SDA_PORT, &GPIO_InitStruct); GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; // ÍÆÍìÊä&sup3;ö GPIO_InitStruct.Pull = GPIO_PULLUP; // ÉÏÀ­ HAL_GPIO_WritePin(SCCB_SCL_PORT, SCCB_SCL_PIN, GPIO_PIN_SET); // SCLÊä&sup3;ö¸ßµçƽ HAL_GPIO_WritePin(SCCB_SDA_PORT, SCCB_SDA_PIN, GPIO_PIN_SET); // SDAÊä&sup3;ö¸ßµçƽ } /***************************************************************************************** * º¯ Êý Ãû: SCCB_Delay * Èë¿Ú²ÎÊý: a - ÑÓʱʱ¼ä * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: ¼òµ¥ÑÓʱº¯Êý * ˵ Ã÷: ΪÁËÒÆÖ²µÄ¼ò±ãÐÔÇÒ¶ÔÑÓʱ&frac34;«¶ÈÒªÇ󲻸ߣ¬ËùÒÔ²»ÐèҪʹÓö¨Ê±Æ÷×öÑÓʱ ******************************************************************************************/ void SCCB_Delay(uint32_t a) { volatile uint16_t i; while (a --) { for (i = 0; i < 3; i++); } } /***************************************************************************************** * º¯ Êý Ãû: SCCB_Start * Èë¿Ú²ÎÊý: ÎÞ * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: IICÆðʼÐźŠ* ˵ Ã÷: ÔÚSCL´¦ÓڸߵçƽÆڼ䣬SDAÓɸߵ½µÍÌø±äΪÆðʼÐźŠ******************************************************************************************/ void SCCB_Start(void) { SCCB_SDA(1); SCCB_SCL(1); SCCB_Delay(SCCB_DelayVaule); SCCB_SDA(0); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(0); SCCB_Delay(SCCB_DelayVaule); } /***************************************************************************************** * º¯ Êý Ãû: SCCB_Stop * Èë¿Ú²ÎÊý: ÎÞ * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: IICÍ£Ö¹ÐźŠ* ˵ Ã÷: ÔÚSCL´¦ÓڸߵçƽÆڼ䣬SDAÓɵ͵½¸ßÌø±äΪÆðʼÐźŠ******************************************************************************************/ void SCCB_Stop(void) { SCCB_SCL(0); SCCB_Delay(SCCB_DelayVaule); SCCB_SDA(0); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(1); SCCB_Delay(SCCB_DelayVaule); SCCB_SDA(1); SCCB_Delay(SCCB_DelayVaule); } /***************************************************************************************** * º¯ Êý Ãû: SCCB_ACK * Èë¿Ú²ÎÊý: ÎÞ * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: IICÓ¦´ðÐźŠ* ˵ Ã÷: ÔÚSCLΪ¸ßµçƽÆڼ䣬SDAÒý½ÅÊä&sup3;öΪµÍµçƽ£¬²úÉúÓ¦´ðÐźŠ******************************************************************************************/ void SCCB_ACK(void) { SCCB_SCL(0); SCCB_Delay(SCCB_DelayVaule); SCCB_SDA(0); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(1); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(0); // SCLÊä&sup3;öµÍʱ£¬SDAÓ¦Á¢¼´À­¸ß£¬ÊÍ·Å×ÜÏß SCCB_SDA(1); SCCB_Delay(SCCB_DelayVaule); } /***************************************************************************************** * º¯ Êý Ãû: SCCB_NoACK * Èë¿Ú²ÎÊý: ÎÞ * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: IIC·ÇÓ¦´ðÐźŠ* ˵ Ã÷: ÔÚSCLΪ¸ßµçƽÆڼ䣬ÈôSDAÒý½ÅΪ¸ßµçƽ£¬²úÉú·ÇÓ¦´ðÐźŠ******************************************************************************************/ void SCCB_NoACK(void) { SCCB_SCL(0); SCCB_Delay(SCCB_DelayVaule); SCCB_SDA(1); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(1); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(0); SCCB_Delay(SCCB_DelayVaule); } /***************************************************************************************** * º¯ Êý Ãû: SCCB_WaitACK * Èë¿Ú²ÎÊý: ÎÞ * ·µ »Ø Öµ: ÎÞ * º¯Êý¹¦ÄÜ: µÈ´ý½ÓÊÕÉ豸·¢&sup3;öÓ¦´ðÐźŠ* ˵ Ã÷: ÔÚSCLΪ¸ßµçƽÆڼ䣬Èô¼ì²âµ½SDAÒý½ÅΪµÍµçƽ£¬Ôò½ÓÊÕÉ豸ÏìÓ¦Õý&sup3;£ ******************************************************************************************/ uint8_t SCCB_WaitACK(void) { SCCB_SDA(1); SCCB_Delay(SCCB_DelayVaule); SCCB_SCL(1); SCCB_Delay(SCCB_DelayVaule); if( HAL_GPIO_ReadPin(SCCB_SDA_PORT,SCCB_SDA_PIN) != 0) //ÅжÏÉ豸ÊÇ·ñÓÐ×ö&sup3;öÏìÓ¦ { SCCB_SCL(0); SCCB_Delay( SCCB_DelayVaule ); return ACK_ERR; //ÎÞÓ¦´ð } else { SCCB_SCL(0); SCCB_Delay( SCCB_DelayVaule ); return ACK_OK; //Ó¦´ðÕý&sup3;£ } } /***************************************************************************************** * º¯ Êý Ãû: SCCB_WriteByte * Èë¿Ú²ÎÊý: IIC_Data - ҪдÈëµÄ8λÊý&frac34;Ý * ·µ »Ø Öµ: ACK_OK - É豸ÏìÓ¦Õý&sup3;£ * ACK_ERR - É豸ÏìÓ¦´íÎó * º¯Êý¹¦ÄÜ: дһ×Ö½ÚÊý&frac34;Ý * ˵ Ã÷: ¸ßλÔÚÇ° ******************************************************************************************/ uint8_t SCCB_WriteByte(uint8_t IIC_Data) { uint8_t i; for (i = 0; i < 8; i++) { SCCB_SDA(IIC_Data & 0x80); SCCB_Delay( SCCB_DelayVaule ); SCCB_SCL(1); SCCB_Delay( SCCB_DelayVaule ); SCCB_SCL(0); if(i == 7) { SCCB_SDA(1); } IIC_Data <<= 1; } return SCCB_WaitACK(); //µÈ´ýÉ豸ÏìÓ¦ } /***************************************************************************************** * º¯ Êý Ãû: SCCB_ReadByte * Èë¿Ú²ÎÊý: ACK_Mode - ÏìӦģʽ£¬ÊäÈë1Ôò·¢&sup3;öÓ¦´ðÐźţ¬ÊäÈë0·¢&sup3;ö·ÇÓ¦´ðÐźŠ* ·µ »Ø Öµ: ACK_OK - É豸ÏìÓ¦Õý&sup3;£ * ACK_ERR - É豸ÏìÓ¦´íÎó * º¯Êý¹¦ÄÜ: ¶ÁÒ»×Ö½ÚÊý&frac34;Ý * ˵ Ã÷: 1.¸ßλÔÚÇ° * 2.Ó¦ÔÚÖ÷»ú½ÓÊÕ×îºóÒ»×Ö½ÚÊý&frac34;Ýʱ·¢ËÍ·ÇÓ¦´ðÐźŠ******************************************************************************************/ uint8_t SCCB_ReadByte(uint8_t ACK_Mode) { uint8_t IIC_Data = 0; uint8_t i = 0; for (i = 0; i < 8; i++) { IIC_Data <<= 1; SCCB_SCL(1); SCCB_Delay( SCCB_DelayVaule ); IIC_Data |= (HAL_GPIO_ReadPin(SCCB_SDA_PORT,SCCB_SDA_PIN) & 0x01); SCCB_SCL(0); SCCB_Delay( SCCB_DelayVaule ); } if ( ACK_Mode == 1 ) // Ó¦´ðÐźŠSCCB_ACK(); else SCCB_NoACK(); // ·ÇÓ¦´ðÐźŠreturn IIC_Data; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_WriteHandle * * Èë¿Ú²ÎÊý: addr - Òª½øÐвÙ×÷µÄ¼Ä´æÆ÷(8λµØÖ·) * * ·µ »Ø Öµ: SUCCESS - ²Ù×÷&sup3;ɹ¦£¬ERROR - ²Ù×÷ʧ°Ü * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(8λµØÖ·)Ö´ÐÐд²Ù×÷£¬OV2640Óõ½ ************************************************************************************************************************************/ uint8_t SCCB_WriteHandle (uint8_t addr) { uint8_t status; // ״̬±êÖ&frac34;λ SCCB_Start(); // Æô¶¯IICͨÐÅ if( SCCB_WriteByte(OV2640_DEVICE_ADDRESS) == ACK_OK ) //дÊý&frac34;ÝÖ¸Áî { if( SCCB_WriteByte((uint8_t)(addr)) != ACK_OK ) { status = ERROR; // ²Ù×÷ʧ°Ü } } status = SUCCESS; // ²Ù×÷&sup3;ɹ¦ return status; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_WriteReg * * Èë¿Ú²ÎÊý: addr - ҪдÈëµÄ¼Ä´æÆ÷(8λµØÖ·)£¬value - ҪдÈëµÄÊý&frac34;Ý * * ·µ »Ø Öµ: SUCCESS - ²Ù×÷&sup3;ɹ¦£¬ ERROR - ²Ù×÷ʧ°Ü * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(8λµØÖ·)дһ×Ö½ÚÊý&frac34;Ý£¬OV2640Óõ½ ************************************************************************************************************************************/ uint8_t SCCB_WriteReg (uint8_t addr,uint8_t value) { uint8_t status; SCCB_Start(); //Æô¶¯IICͨѶ if( SCCB_WriteHandle(addr) == SUCCESS) //дÈëÒª²Ù×÷µÄ¼Ä´æÆ÷ { if (SCCB_WriteByte(value) != ACK_OK) //дÊý&frac34;Ý { status = ERROR; } } SCCB_Stop(); // ֹͣͨѶ status = SUCCESS; // дÈë&sup3;ɹ¦ return status; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_ReadReg * * Èë¿Ú²ÎÊý: addr - Òª¶ÁÈ¡µÄ¼Ä´æÆ÷(8λµØÖ·) * * ·µ »Ø Öµ: ¶Áµ½µÄÊý&frac34;Ý * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(8λµØÖ·)¶ÁÈ¡Ò»×Ö½ÚÊý&frac34;Ý£¬OV2640Óõ½ ************************************************************************************************************************************/ uint8_t SCCB_ReadReg (uint8_t addr) { uint8_t value = 0; SCCB_Start(); // Æô¶¯IICͨÐÅ if( SCCB_WriteHandle(addr) == SUCCESS) //дÈëÒª²Ù×÷µÄ¼Ä´æÆ÷ { SCCB_Stop(); // Í£Ö¹IICͨÐÅ SCCB_Start(); //ÖØÐÂÆô¶¯IICͨѶ if (SCCB_WriteByte(OV2640_DEVICE_ADDRESS|0X01) == ACK_OK) // ·¢ËͶÁÃüÁî { value = SCCB_ReadByte(0); // ¶Áµ½×îºóÒ»¸öÊý&frac34;Ýʱ·¢ËÍ ·ÇÓ¦´ðÐźŠ} SCCB_Stop(); // Í£Ö¹IICͨÐÅ } return value; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_WriteHandle_16Bit * * Èë¿Ú²ÎÊý: addr - Òª½øÐвÙ×÷µÄ¼Ä´æÆ÷(16λµØÖ·) * * ·µ »Ø Öµ: SUCCESS - ²Ù×÷&sup3;ɹ¦£¬ERROR - ²Ù×÷ʧ°Ü * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(16λµØÖ·)Ö´ÐÐд²Ù×÷£¬OV5640Óõ½ ************************************************************************************************************************************/ uint8_t SCCB_WriteHandle_16Bit (uint16_t addr) { uint8_t status; // ״̬±êÖ&frac34;λ SCCB_Start(); // Æô¶¯IICͨÐÅ if( SCCB_WriteByte(OV5640_DEVICE_ADDRESS) == ACK_OK ) //дÊý&frac34;ÝÖ¸Áî { if( SCCB_WriteByte((uint8_t)(addr >> 8)) == ACK_OK ) //дÈë16λµØÖ· { if( SCCB_WriteByte((uint8_t)(addr)) != ACK_OK ) { status = ERROR; // ²Ù×÷ʧ°Ü } } } status = SUCCESS; // ²Ù×÷&sup3;ɹ¦ return status; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_WriteReg_16Bit * * Èë¿Ú²ÎÊý: addr - ҪдÈëµÄ¼Ä´æÆ÷(16λµØÖ·) value - ҪдÈëµÄÊý&frac34;Ý * * ·µ »Ø Öµ: SUCCESS - ²Ù×÷&sup3;ɹ¦£¬ERROR - ²Ù×÷ʧ°Ü * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(16λµØÖ·)дһ×Ö½ÚÊý&frac34;Ý£¬OV5640Óõ½ ************************************************************************************************************************************/ uint8_t SCCB_WriteReg_16Bit(uint16_t addr,uint8_t value) { uint8_t status; SCCB_Start(); //Æô¶¯IICͨѶ if( SCCB_WriteHandle_16Bit(addr) == SUCCESS) //дÈëÒª²Ù×÷µÄ¼Ä´æÆ÷ { if (SCCB_WriteByte(value) != ACK_OK) //дÊý&frac34;Ý { status = ERROR; } } SCCB_Stop(); // ֹͣͨѶ status = SUCCESS; // дÈë&sup3;ɹ¦ return status; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_ReadReg_16Bit * * Èë¿Ú²ÎÊý: addr - Òª¶ÁÈ¡µÄ¼Ä´æÆ÷(16λµØÖ·) * * ·µ »Ø Öµ: ¶Áµ½µÄÊý&frac34;Ý * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(16λµØÖ·)¶ÁÈ¡Ò»×Ö½ÚÊý&frac34;Ý£¬OV5640Óõ½ ************************************************************************************************************************************/ uint8_t SCCB_ReadReg_16Bit (uint16_t addr) { uint8_t value = 0; SCCB_Start(); // Æô¶¯IICͨÐÅ if( SCCB_WriteHandle_16Bit(addr) == SUCCESS) //дÈëÒª²Ù×÷µÄ¼Ä´æÆ÷ { SCCB_Stop(); // Í£Ö¹IICͨÐÅ SCCB_Start(); //ÖØÐÂÆô¶¯IICͨѶ if (SCCB_WriteByte(OV5640_DEVICE_ADDRESS|0X01) == ACK_OK) // ·¢ËͶÁÃüÁî { value = SCCB_ReadByte(0); // ¶Áµ½×îºóÒ»¸öÊý&frac34;Ýʱ·¢ËÍ ·ÇÓ¦´ðÐźŠ} SCCB_Stop(); // Í£Ö¹IICͨÐÅ } return value; } /************************************************************************************************************************************* * º¯ Êý Ãû: SCCB_WriteBuffer_16Bit * * Èë¿Ú²ÎÊý: addr - ҪдÈëµÄ¼Ä´æÆ÷(16λµØÖ·) *pData - Êý&frac34;ÝÇø size - Òª´«ÊäÊý&frac34;ݵĴóС * * ·µ »Ø Öµ: SUCCESS - ²Ù×÷&sup3;ɹ¦£¬ERROR - ²Ù×÷ʧ°Ü * * º¯Êý¹¦ÄÜ: ¶ÔÖ¸¶¨µÄ¼Ä´æÆ÷(16λµØÖ·)ÅúÁ¿Ð´Êý&frac34;Ý£¬OV5640 дÈë×Ô¶¯¶Ô½¹¹Ì¼þʱÓõ½ ************************************************************************************************************************************/ uint8_t SCCB_WriteBuffer_16Bit(uint16_t addr,uint8_t *pData, uint32_t size) { uint8_t status; uint32_t i; SCCB_Start(); //Æô¶¯IICͨѶ if( SCCB_WriteHandle_16Bit(addr) == SUCCESS) //дÈëÒª²Ù×÷µÄ¼Ä´æÆ÷ { for(i=0;i<size;i++) { SCCB_WriteByte(*pData);//дÊý&frac34;Ý pData++; } } SCCB_Stop(); // ֹͣͨѶ status = SUCCESS; // дÈë&sup3;ɹ¦ return status; } /********************************************************************************************/ 分析代码作用
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Temp_Dat=TEMP_ReadReg(); Flag_connect=Temp_Dat&0x04; //¶Á&sup3;öÊý&frac34;ݵÄD2λÊÇÈȵçżµôÏß±êÖ&frac34;룬¸ÃλΪ1±íÊ&frac34;µôÏߣ¬¸ÃλΪ0±íÊ&frac34;Á¬½Ó Flag_connect=Flag_connect>>2; //MAX6675ÊÇ·ñÔÚÏß Temp_Dat = Temp_Dat<<1; //¶Á&sup3;öÀ´µÄÊý&frac34;ݵÄD3~D14ÊÇζÈÖµ Temp_Dat = Temp_Dat>>4; Temp=Temp_Dat/4; delay_ms(100); //¿ìËÙ²âÁ¿¿ÉÄÜ»áÒýÆ𴫸ÐÆ÷ÉýΣ¬´Ë´¦½µµÍ²âÁ¿ËÙÂÊ
07-13
这段代码是用于读取温度数据并进行处理的示例代码。以下是对这段代码的解释： ```c Temp_Dat = TEMP_ReadReg(); // 读取温度寄存器中的数据 Flag_connect = Temp_Dat & 0x04; // 读取数据的第2位，判断连接状态，1表示断线，0表示连接 Flag_connect = Flag_connect >> 2; // 将连接状态右移2位，得到0或1，表示连接状态 Temp_Dat = Temp_Dat << 1; // 将数据左移1位，去掉最低位D1 Temp_Dat = Temp_Dat >> 4; // 将数据右移4位，得到D3-D14表示的温度值 Temp = Temp_Dat / 4; // 将温度值除以4，得到实际温度值 delay_ms(100); // 延时100毫秒，用于稳定温度测量结果，根据实际情况调整 ``` 请注意，这段代码中使用了未定义的函数 `TEMP_ReadReg()` 和 `delay_ms()`，你需要根据实际情况定义和实现这两个函数。另外，还需要根据你的硬件连接情况，适当调整代码中的引脚和寄存器配置，确保与 MAX6675 的通信正常进行。最后，根据 MAX6675 的规格和数据格式，你可能需要根据实际情况调整代码中的位操作和数值处理部分，以正确解析温度数据。
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