534 lines
14 KiB
C
534 lines
14 KiB
C
#include "gd32e23x.h"
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#include "gd32e230c_lcd_eval.h"
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#include "tft_test.h"
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#include "systick.h"
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#define ARRAYSIZE 4
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uint8_t spi0_send_array[ARRAYSIZE] = {0xA1, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, 0xA7, 0xA8, 0xA9, 0xAA};
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uint8_t spi1_send_array[ARRAYSIZE] = {0xB1, 0xB2, 0xB3, 0xB4, 0xB5, 0xB6, 0xB7, 0xB8, 0xB9, 0xBA};
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uint8_t spi0_receive_array[ARRAYSIZE];
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uint8_t spi1_receive_array[ARRAYSIZE];
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uint32_t send_n = 0, receive_n = 0;
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// 新增全局变量
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volatile uint8_t high_level_event = 0; // PA3中断事件标志
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/* 新增函数声明 */
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void exti_pa3_config(void);
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void timer14_config(void);
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// PA3外部中断服务函数
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void EXTI2_3_IRQHandler(void)
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{
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if(RESET != exti_interrupt_flag_get(EXTI_3)) // PA3引脚出现高电平 → 触发外部中断
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{
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/* 清除中断标志位 */
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exti_interrupt_flag_clear(EXTI_3);
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/* 设置事件标志 */
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high_level_event = 1;
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/* 启动定时器，40ms后清除事件标志 */
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// timer_disable(TIMER14);
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timer_counter_value_config(TIMER14, 0);
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timer_enable(TIMER14);
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}
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}
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// 定时器14中断服务函数
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void TIMER14_IRQHandler(void)
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{
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if(SET == timer_flag_get(TIMER14, TIMER_FLAG_UP))
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{
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/* 清除定时器中断标志 */
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timer_flag_clear(TIMER14, TIMER_FLAG_UP);
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/* 禁用定时器 */
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// timer_disable(TIMER14);
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/* 清除事件标志 */
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high_level_event = 0;
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}
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}
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void exti_pa3_config(void)
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{
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/* 使能GPIOA时钟 */
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rcu_periph_clock_enable(RCU_GPIOA);
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/* 配置PA3为上拉输入 */
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gpio_mode_set(GPIOA, GPIO_MODE_INPUT, GPIO_PUPD_PULLDOWN, GPIO_PIN_3);
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/* 使能SYSCFG时钟 */
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// rcu_periph_clock_enable(RCU_CFGCMP);
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/* 连接EXTI线3到PA3 */
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syscfg_exti_line_config(EXTI_SOURCE_GPIOA, EXTI_SOURCE_PIN3);
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/* 配置EXTI线3 */
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exti_init(EXTI_3, EXTI_INTERRUPT, EXTI_TRIG_RISING);
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exti_interrupt_flag_clear(EXTI_3);
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/* 使能并配置EXTI中断 */
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nvic_irq_enable(EXTI2_3_IRQn, 2); // 优先级 2（0~3）
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}
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/* 配置定时器1 */
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void timer14_config(void)
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{
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/* 使能定时器14时钟 */
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rcu_periph_clock_enable(RCU_TIMER14);
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/* 定时器去初始化 */
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timer_deinit(TIMER14);
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/* 定时器配置 */
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timer_parameter_struct timer_initpara;
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timer_struct_para_init(&timer_initpara);
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/* 系统时钟为48MHz，预分频48，计数到40000，产生40ms中断 */
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timer_initpara.prescaler = 71999; // 72MHz / 72000 = 1kHz
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timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
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timer_initpara.counterdirection = TIMER_COUNTER_UP;
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timer_initpara.period = 199; // 40ms (0~39)
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timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
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timer_initpara.repetitioncounter = 0;
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timer_init(TIMER14, &timer_initpara);
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/* 使能定时器更新中断 */
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timer_interrupt_enable(TIMER14, TIMER_INT_FLAG_UP);
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/* 配置定时器中断 */
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nvic_irq_enable(TIMER14_IRQn, 1); // 优先级 1（高于 EXTI）
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/* 定时器初始状态为禁用，等待中断触发 */
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// timer_disable(TIMER14);
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// ✅ 启动定时器，让它一直运行
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timer_enable(TIMER14);
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}
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void test_status_led_init(void);
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void flash_led(uint32_t times);
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/*!
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\brief main function
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\param[in] none
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\param[out] none
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\retval none
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*/
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void motor_stop(void)
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{
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/* close all of leds */
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gd_eval_led_off(LED1);
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gd_eval_led_off(LED2);
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gd_eval_led_off(LED3);
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gd_eval_led_off(LED4);
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}
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const uint8_t phasecw[8] =
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{0x08, 0x0c, 0x04, 0x06, 0x02, 0x03, 0x01, 0x09};
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// 逆时针
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// 1000,1100,0100,0110,0010,0011,0001,1001
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const uint8_t phaseccw[8] =
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{0x09, 0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08};
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// 顺时针
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// 1001,0001,0011,0010,0110,0100,1100,1000
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// 引脚映射
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void SetMotor(uint8_t InputData)
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{
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if (InputData & 0x01)
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{
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gd_eval_led_on(LED4);
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}
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else
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{
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gd_eval_led_off(LED4);
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}
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if (InputData & 0x02)
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{
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gd_eval_led_on(LED3);
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}
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else
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{
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gd_eval_led_off(LED3);
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}
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if (InputData & 0x04)
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{
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gd_eval_led_on(LED2);
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}
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else
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{
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gd_eval_led_off(LED2);
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}
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if (InputData & 0x08)
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{
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gd_eval_led_on(LED1);
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}
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else
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{
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gd_eval_led_off(LED1);
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}
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}
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// 步距角5.625 360/5.625=64 减速比1/64
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// 故64*64个脉冲转一圈
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// n圈数
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// position 方向
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void motorNcircle(int n, uint8_t position,uint32_t cycle) // n为步进电机转动的圈数，position为正转或者反转
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{
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int i, j, k = 0;
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for (j = 0; j < n; j++)
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{
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for (k = 0; k < 8; k++)
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{
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if (1 == position)
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{
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SetMotor(phasecw[k]);
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}
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else
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{
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SetMotor(phaseccw[k]);
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}
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delay_ms(cycle);
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}
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// }
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}
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}
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static void spi1_init(void)
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{
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/* enable the gpio clock */
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rcu_periph_clock_enable(RCU_GPIOB);
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rcu_periph_clock_enable(RCU_SPI1);
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rcu_periph_clock_enable(RCU_DMA);
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/* configure SPI1 GPIO: NSS/PB12, SCK/PB13, MISO/PB14, MOSI/PB15 */
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gpio_af_set(GPIOB, GPIO_AF_0, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
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gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
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gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
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dma_parameter_struct dma_init_struct;
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dma_struct_para_init(&dma_init_struct);
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/* configure SPI0 transmit DMA: DMA_CH2 */
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dma_deinit(DMA_CH2);
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dma_init_struct.periph_addr = (uint32_t)&SPI_DATA(SPI0);
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dma_init_struct.memory_addr = (uint32_t)spi0_send_array;
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dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
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dma_init_struct.memory_width = DMA_MEMORY_WIDTH_8BIT;
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dma_init_struct.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
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dma_init_struct.priority = DMA_PRIORITY_LOW;
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dma_init_struct.number = ARRAYSIZE;
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dma_init_struct.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
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dma_init_struct.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
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dma_init(DMA_CH2, &dma_init_struct);
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/* configure DMA mode */
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dma_circulation_disable(DMA_CH2);
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dma_memory_to_memory_disable(DMA_CH2);
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/* configure SPI0 receive DMA: DMA_CH1 */
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dma_deinit(DMA_CH1);
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dma_init_struct.periph_addr = (uint32_t)&SPI_DATA(SPI0);
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dma_init_struct.memory_addr = (uint32_t)spi0_receive_array;
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dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
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dma_init_struct.priority = DMA_PRIORITY_HIGH;
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dma_init(DMA_CH1, &dma_init_struct);
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/* configure DMA mode */
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dma_circulation_disable(DMA_CH1);
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dma_memory_to_memory_disable(DMA_CH1);
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/* configure SPI1 transmit DMA: DMA_CH4 */
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dma_deinit(DMA_CH4);
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dma_init_struct.periph_addr = (uint32_t)&SPI_DATA(SPI1);
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dma_init_struct.memory_addr = (uint32_t)spi1_send_array;
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dma_init_struct.direction = DMA_MEMORY_TO_PERIPHERAL;
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dma_init_struct.priority = DMA_PRIORITY_MEDIUM;
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dma_init(DMA_CH4, &dma_init_struct);
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/* configure DMA mode */
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dma_circulation_disable(DMA_CH4);
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dma_memory_to_memory_disable(DMA_CH4);
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/* configure SPI1 receive DMA: DMA_CH3 */
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dma_deinit(DMA_CH3);
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dma_init_struct.periph_addr = (uint32_t)&SPI_DATA(SPI1);
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dma_init_struct.memory_addr = (uint32_t)spi1_receive_array;
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dma_init_struct.direction = DMA_PERIPHERAL_TO_MEMORY;
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dma_init_struct.priority = DMA_PRIORITY_ULTRA_HIGH;
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dma_init(DMA_CH3, &dma_init_struct);
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/* configure DMA mode */
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dma_circulation_disable(DMA_CH3);
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dma_memory_to_memory_disable(DMA_CH3);
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//spi
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spi_parameter_struct spi_init_struct;
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/* deinitilize SPI and the parameters */
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spi_i2s_deinit(SPI0);
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spi_i2s_deinit(SPI1);
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spi_struct_para_init(&spi_init_struct);
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/* configure SPI0 parameter */
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spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
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spi_init_struct.device_mode = SPI_MASTER;
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spi_init_struct.frame_size = SPI_FRAMESIZE_8BIT;
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spi_init_struct.clock_polarity_phase = SPI_CK_PL_HIGH_PH_2EDGE;
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spi_init_struct.nss = SPI_NSS_HARD;
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spi_init_struct.prescale = SPI_PSC_8;
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spi_init_struct.endian = SPI_ENDIAN_MSB;
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/* configure SPI1 parameter */
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spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX;
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spi_init_struct.device_mode = SPI_SLAVE;
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spi_init(SPI1, &spi_init_struct);
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/* configure SPI1 byte access to FIFO */
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spi_fifo_access_size_config(SPI1, SPI_BYTE_ACCESS);
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spi_enable(SPI1);
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/* enable DMA channel */
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/* SPI1_Tx DMA channel */
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dma_channel_enable(DMA_CH4);
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/* SPI0_Tx DMA channel */
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dma_channel_enable(DMA_CH2);
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/* SPI1_Rx DMA channel */
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dma_channel_enable(DMA_CH3);
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/* SPI0_Rx DMA channel */
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dma_channel_enable(DMA_CH1);
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/* enable SPI DMA */
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spi_dma_enable(SPI1, SPI_DMA_TRANSMIT);
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spi_dma_enable(SPI1, SPI_DMA_RECEIVE);
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}
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//周六测试的开始
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// 全局变量
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uint16_t r_num = 80; // 每个方向全行程固定为 192
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uint8_t motor_switch = 0; // 开关：0 停止，1 运动，初始为停止
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uint8_t motor_repeat = 0;
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uint8_t duration = 0; // 往复运动总秒数
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uint32_t r_cycle = 0; // 每个 motorNcircle 的周期
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uint8_t spi1_receive_array[4] = {0}; // SPI 接收缓冲区：开关、秒数、保留字节
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uint8_t current_direction = 1; // 当前方向：1（右），0（左），初始右移
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uint16_t current_step = 0; // 当前已走步数
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// 计算 cycle
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static uint32_t calculate_cycle(uint8_t duration) {
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if (duration == 0) return 0; // 避免除零
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float cycle_float = (duration * 500.0) / (80 * 8); // duration * 500ms / (192 * 8 步)
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return (uint32_t)(cycle_float*10);
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}
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// 检查并更新 SPI 数据
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static void check_and_update_spi(void) {
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if (dma_flag_get(DMA_CH3, DMA_INT_FLAG_FTF) == SET) {
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dma_flag_clear(DMA_CH3, DMA_INT_FLAG_FTF);
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motor_switch = spi1_receive_array[0]&0x0f; // 更新开关
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motor_repeat = spi1_receive_array[0]>>4;
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duration = spi1_receive_array[1]; // 更新秒数
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r_cycle = calculate_cycle(duration); // 计算周期
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/* 重置 DMA */
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dma_channel_disable(DMA_CH3);
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dma_memory_address_config(DMA_CH3, (uint32_t)spi1_receive_array);
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dma_transfer_number_config(DMA_CH3, 4);
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dma_channel_enable(DMA_CH3);
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}
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}
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int main(void)
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{
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/* 配置 systick */
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systick_config();
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/* 初始化测试状态 LED */
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test_status_led_init();
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/****** 初始化PA3外部中断**** */
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exti_pa3_config();
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/***** 初始化定时器1**** */
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timer14_config();
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/* 上电步进电机归零：125°/0.703125 = 177.7，约 178 个 8 拍，方向 0（限位） */
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motorNcircle(192, 0, 10); // 1.536s，初始归零 p=1ms;
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delay_ms (3000);
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motorNcircle(56, 1, 10);
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/* 初始化 SPI1 */
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spi1_init();
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while (1) {
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/* 更新SPI发送数据，将high_level_event状态放在第一个字节 */
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spi1_send_array[0] = high_level_event;
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/* 检查开关状态 */
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if (motor_switch == 0) {
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motor_stop(); // 停止电机
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check_and_update_spi(); // 检查 SPI 数据
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continue; // 等待开关为 1
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}
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/* 继续运行：从停止时的方向和步数开始 */
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if (current_direction == 1) { // 右移
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for (; current_step < r_num; current_step++) {
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if (motor_switch == 0) {
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motor_stop();
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break; // 停止并保留当前步数
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}
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if(current_step>20){
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delay_ms(3);
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}
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motorNcircle(1, 1, r_cycle); // 右移 1 次
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check_and_update_spi(); // 检查 SPI 数据
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}
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if (current_step >= r_num) { // 右移完成
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current_direction = 0; // 切换到左移
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current_step = 0; // 重置步数
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}
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} else { // 左移
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for (; current_step < r_num; current_step++) {
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if (motor_switch == 0) {
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motor_stop();
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break; // 停止并保留当前步数
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}
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if(current_step>20){
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delay_ms(3);
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}
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motorNcircle(1, 0, r_cycle); // 左移 1 次
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check_and_update_spi(); // 检查 SPI 数据
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}
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if (current_step >= r_num) { // 左移完成
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current_direction = 1; // 切换到右移
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current_step = 0; // 重置步数
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// motor_switch = 0;
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if(motor_repeat)
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motor_switch = 1;
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}
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}
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}
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}
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/*!
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\brief test status led initialize
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\param[in] none
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\param[out] none
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\retval none
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*/
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void test_status_led_init(void)
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{
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/* initialize the leds */
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gd_eval_led_init(LED1);
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gd_eval_led_init(LED2);
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gd_eval_led_init(LED3);
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gd_eval_led_init(LED4);
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|
||
/* close all of leds */
|
||
gd_eval_led_off(LED1);
|
||
gd_eval_led_off(LED2);
|
||
gd_eval_led_off(LED3);
|
||
gd_eval_led_off(LED4);
|
||
|
||
}
|
||
|
||
/*!
|
||
\brief flash leds
|
||
\param[in] times: leds blink times
|
||
\param[out] none
|
||
\retval none
|
||
*/
|
||
void flash_led(uint32_t times)
|
||
{
|
||
int i;
|
||
|
||
for (i = 0; i < times; i++)
|
||
{
|
||
/* insert 200 ms delay */
|
||
delay_ms(200);
|
||
|
||
/* turn on leds */
|
||
gd_eval_led_on(LED1);
|
||
gd_eval_led_on(LED2);
|
||
gd_eval_led_on(LED3);
|
||
gd_eval_led_on(LED4);
|
||
|
||
/* insert 200 ms delay */
|
||
delay_ms(200);
|
||
|
||
/* turn off leds */
|
||
gd_eval_led_off(LED1);
|
||
gd_eval_led_off(LED2);
|
||
gd_eval_led_off(LED3);
|
||
gd_eval_led_off(LED4);
|
||
}
|
||
}
|