btl143/QD4C-firmware
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Merge branch 'master' of http://git.isthmus.tk:441/btl143/firmware_violet_zf

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This commit is contained in:
CaoWangrenbo
2023-12-16 11:39:22 +08:00
parent 619a8ca4fd b61d4b8aee
commit 131d098cc1
6 changed files with 224 additions and 211 deletions
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26
app/by_fan_control.c Normal file
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@@ -0,0 +1,26 @@
#include "by_fan_control.h"
#include "zf_common_headfile.h"
void by_pwm_init(void)
{
pwm_init(TIM4_PWM_MAP1_CH1_D12, 10000, 0); // 浮力风扇左
pwm_init(TIM4_PWM_MAP1_CH2_D13, 10000, 0); // 浮力风扇右
pwm_init(TIM4_PWM_MAP1_CH3_D14, 10000, 0); // 动力风扇左
pwm_init(TIM4_PWM_MAP1_CH4_D15, 10000, 0); // 动力风扇右
}
void by_pwm_update_duty(uint32_t update_pwm_duty)
{
if (7000UL > update_pwm_duty) {
update_pwm_duty = 7000UL;
}
pwm_set_duty(TIM4_PWM_MAP1_CH1_D12, update_pwm_duty);
pwm_set_duty(TIM4_PWM_MAP1_CH2_D13, update_pwm_duty);
}
void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r)
{
pwm_set_duty(TIM4_PWM_MAP1_CH3_D14, power_pwm_duty_l);
pwm_set_duty(TIM4_PWM_MAP1_CH4_D15, power_pwm_duty_r);
}

11
app/by_fan_control.h Normal file
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@@ -0,0 +1,11 @@
#ifndef _BY_FAN_CONTROL_H_
#define _BY_FAN_CONTROL_H_
#include "stdio.h"
#include "ch32v30x.h"
extern void by_pwm_init(void);
extern void by_pwm_update_duty(uint32_t update_pwm_duty);
extern void by_pwm_power_duty(uint32_t power_pwm_duty_l, uint32_t power_pwm_duty_r);
#endif

27
app/by_pt_button.c Normal file
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@@ -0,0 +1,27 @@
#include "by_pt_button.h"
#include "zf_common_headfile.h"
uint8_t potate_button;
void by_gpio_init(void)
{
gpio_init(E10, GPI, GPIO_HIGH, GPI_PULL_UP);
}
void by_exit_init(void)
{
exti_init(E9, EXTI_TRIGGER_FALLING);
exti_init(E11, EXTI_TRIGGER_FALLING);
}
uint8_t by_get_pb_statu(void)
{
uint8_t temp_s = potate_button;
potate_button = 0;
return temp_s;
}
void by_ips_show(void)
{
ips114_show_string(0, 0, "button statu:");
ips114_show_uint(104, 0, by_get_pb_statu(), 1);
}

15
app/by_pt_button.h Normal file
View File

@@ -0,0 +1,15 @@
#ifndef _BY_PT_BUTTON_H__
#define _BY_PT_BUTTON_H__
#include "stdio.h"
#include "ch32v30x.h"
#define POTATE_BUTTOM_PRESS 1
#define POTATE_BUTTOM_FOREWARD 2
#define POTATE_BUTTOM_BACKWARD 3
extern uint8_t potate_button;
extern void by_exit_init(void);
extern void by_gpio_init(void);
extern uint8_t by_get_pb_statu(void);
extern void by_ips_show(void);
#endif

160
app/isr.c
View File

@@ -34,6 +34,8 @@
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "by_pt_button.h"
void NMI_Handler(void) __attribute__((interrupt()));
void HardFault_Handler(void) __attribute__((interrupt()));
@@ -79,25 +81,21 @@ void EXTI15_10_IRQHandler(void) __attribute__((interrupt()));
void USART1_IRQHandler(void)
{
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
USART_ClearITPendingBit(USART1, USART_IT_RXNE);
}
}
void USART2_IRQHandler(void)
{
if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
USART_ClearITPendingBit(USART2, USART_IT_RXNE);
}
}
void USART3_IRQHandler(void)
{
if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) {
#if DEBUG_UART_USE_INTERRUPT // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> debug <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
debug_interrupr_handler(); // <20><><EFBFBD><EFBFBD> debug <20><><EFBFBD>ڽ<EFBFBD><DABD>մ<EFBFBD><D5B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ݻᱻ debug <20><><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
#endif // <20><><EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD><DEB8><EFBFBD> DEBUG_UART_INDEX <20><><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD>Ӧ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ж<EFBFBD>ȥ
@@ -106,135 +104,111 @@ void USART3_IRQHandler(void)
}
void UART4_IRQHandler(void)
{
if(USART_GetITStatus(UART4, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(UART4, USART_IT_RXNE) != RESET) {
USART_ClearITPendingBit(UART4, USART_IT_RXNE);
}
}
void UART5_IRQHandler(void)
{
if(USART_GetITStatus(UART5, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(UART5, USART_IT_RXNE) != RESET) {
camera_uart_handler();
USART_ClearITPendingBit(UART5, USART_IT_RXNE);
}
}
void UART6_IRQHandler(void)
{
if(USART_GetITStatus(UART6, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(UART6, USART_IT_RXNE) != RESET) {
USART_ClearITPendingBit(UART6, USART_IT_RXNE);
}
}
void UART7_IRQHandler(void)
{
if(USART_GetITStatus(UART7, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(UART7, USART_IT_RXNE) != RESET) {
wireless_module_uart_handler();
USART_ClearITPendingBit(UART7, USART_IT_RXNE);
}
}
void UART8_IRQHandler(void)
{
if(USART_GetITStatus(UART8, USART_IT_RXNE) != RESET)
{
if (USART_GetITStatus(UART8, USART_IT_RXNE) != RESET) {
gps_uart_callback();
USART_ClearITPendingBit(UART8, USART_IT_RXNE);
}
}
void DVP_IRQHandler(void)
{
if (DVP->IFR & RB_DVP_IF_FRM_DONE)
{
if (DVP->IFR & RB_DVP_IF_FRM_DONE) {
camera_dvp_handler();
DVP->IFR &= ~RB_DVP_IF_FRM_DONE;
}
}
void EXTI0_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line0))
{
if (SET == EXTI_GetITStatus(EXTI_Line0)) {
EXTI_ClearITPendingBit(EXTI_Line0);
}
}
void EXTI1_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line1))
{
if (SET == EXTI_GetITStatus(EXTI_Line1)) {
EXTI_ClearITPendingBit(EXTI_Line1);
}
}
void EXTI2_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line2))
{
if (SET == EXTI_GetITStatus(EXTI_Line2)) {
EXTI_ClearITPendingBit(EXTI_Line2);
}
}
void EXTI3_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line3))
{
if (SET == EXTI_GetITStatus(EXTI_Line3)) {
EXTI_ClearITPendingBit(EXTI_Line3);
}
}
void EXTI4_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line4))
{
if (SET == EXTI_GetITStatus(EXTI_Line4)) {
EXTI_ClearITPendingBit(EXTI_Line4);
}
}
void EXTI9_5_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line5))
{
if (SET == EXTI_GetITStatus(EXTI_Line5)) {
EXTI_ClearITPendingBit(EXTI_Line5);
}
if(SET == EXTI_GetITStatus(EXTI_Line6))
{
if (SET == EXTI_GetITStatus(EXTI_Line6)) {
EXTI_ClearITPendingBit(EXTI_Line6);
}
if(SET == EXTI_GetITStatus(EXTI_Line7))
{
if (SET == EXTI_GetITStatus(EXTI_Line7)) {
EXTI_ClearITPendingBit(EXTI_Line7);
}
if(SET == EXTI_GetITStatus(EXTI_Line8))
{
if (SET == EXTI_GetITStatus(EXTI_Line8)) {
EXTI_ClearITPendingBit(EXTI_Line8);
}
if(SET == EXTI_GetITStatus(EXTI_Line9))
{
if (SET == EXTI_GetITStatus(EXTI_Line9)) {
EXTI_ClearITPendingBit(EXTI_Line9);
if (SET == gpio_get_level(E10)) {
potate_button = POTATE_BUTTOM_BACKWARD;
} else {
potate_button = POTATE_BUTTOM_FOREWARD;
}
}
}
void EXTI15_10_IRQHandler(void)
{
if(SET == EXTI_GetITStatus(EXTI_Line10))
{
if (SET == EXTI_GetITStatus(EXTI_Line10)) {
// <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A10/B10..E10) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
@@ -242,18 +216,18 @@ void EXTI15_10_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line10);
}
if(SET == EXTI_GetITStatus(EXTI_Line11))
{
if (SET == EXTI_GetITStatus(EXTI_Line11)) {
EXTI_ClearITPendingBit(EXTI_Line11);
system_delay_us(200);
if (SET == !gpio_get_level(E11)) {
potate_button = POTATE_BUTTOM_PRESS;
}
if(SET == EXTI_GetITStatus(EXTI_Line12))
{
}
if (SET == EXTI_GetITStatus(EXTI_Line12)) {
EXTI_ClearITPendingBit(EXTI_Line12);
}
if(SET == EXTI_GetITStatus(EXTI_Line13))
{
if (SET == EXTI_GetITStatus(EXTI_Line13)) {
// -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
tof_module_exti_handler();
// -----------------* ToF INT <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
@@ -262,17 +236,14 @@ void EXTI15_10_IRQHandler(void)
// <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> (A13/B13..E13) <20><><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>
EXTI_ClearITPendingBit(EXTI_Line13);
}
if(SET == EXTI_GetITStatus(EXTI_Line14))
{
if (SET == EXTI_GetITStatus(EXTI_Line14)) {
// -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
dm1xa_light_callback();
// -----------------* DM1XA <20><><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
EXTI_ClearITPendingBit(EXTI_Line14);
}
if(SET == EXTI_GetITStatus(EXTI_Line15))
{
if (SET == EXTI_GetITStatus(EXTI_Line15)) {
// -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
dm1xa_sound_callback();
// -----------------* DM1XA <20><>/<2F><><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD> Ԥ<><D4A4><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> *-----------------
@@ -280,108 +251,76 @@ void EXTI15_10_IRQHandler(void)
}
}
void TIM1_UP_IRQHandler(void)
{
if(TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
}
}
void TIM2_IRQHandler(void)
{
if(TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
}
}
void TIM3_IRQHandler(void)
{
if(TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
}
}
void TIM4_IRQHandler(void)
{
if(TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM4, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
}
}
void TIM5_IRQHandler(void)
{
if(TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM5, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM5, TIM_IT_Update);
}
}
void TIM6_IRQHandler(void)
{
if(TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
}
}
void TIM7_IRQHandler(void)
{
if(TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
}
}
void TIM8_UP_IRQHandler(void)
{
if(TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
}
}
void TIM9_UP_IRQHandler(void)
{
if(TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM9, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM9, TIM_IT_Update);
}
}
void TIM10_UP_IRQHandler(void)
{
if(TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET)
{
if (TIM_GetITStatus(TIM10, TIM_IT_Update) != RESET) {
TIM_ClearITPendingBit(TIM10, TIM_IT_Update);
}
}
//.section .text.vector_handler, "ax", @progbits
// .weak EXTI0_IRQHandler /* EXTI Line 0 */
@@ -485,9 +424,6 @@ void NMI_Handler(void)
*******************************************************************************/
void HardFault_Handler(void)
{
while (1)
{
while (1) {
}
}

22
app/main.c
View File

@@ -34,6 +34,8 @@
********************************************************************************************************************/
#include "zf_common_headfile.h"
#include "cw_servo.h"
#include "by_pt_button.h"
#include "by_fan_control.h"
uint8 mt9v03x_image_cp[MT9V03X_H][MT9V03X_W];
uint16_t pwm_cnt = 0;
@@ -44,23 +46,19 @@ int main(void)
debug_init(); // <20><><EFBFBD>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><CABC>MPU ʱ<><CAB1> <20><><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>
ips114_init();
// mt9v03x_init();
by_gpio_init();
by_exit_init();
by_pwm_init();
cw_servo_init();
// mt9v03x_init();
// <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
while (imu660ra_init()) {};
while (1) {
ips114_show_string(0, 0, "temperature");
imu660ra_get_temperature();
system_delay_ms(100);
ips114_show_float(0, 16, imu660ra_temperature, 3, 3);
// <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD><D0B4>Ҫѭ<D2AA><D1AD>ִ<EFBFBD>еĴ<D0B5><C4B4><EFBFBD>
system_delay_ms(50);
if (mt9v03x_finish_flag) {
memcpy(mt9v03x_image_cp[0], mt9v03x_image[0], sizeof(mt9v03x_image) / sizeof(uint8_t));
ips114_show_gray_image(0, 0, mt9v03x_image_cp[0], 188, 120, 188, 120, 0);
}
// <20>˴<EFBFBD><CBB4><EFBFBD>д<EFBFBD><D0B4>Ҫѭ<D2AA><D1AD>ִ<EFBFBD>еĴ<D0B5><C4B4><EFBFBD>
}
}