STM32G431RBTx 模拟升降控制器

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STMCU小助手发布时间：2023-3-1 20:24

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文章简介:	STM32G431RBTx 模拟升降控制器

一、题目

二、模块初始化
这里就简单描述一下模块的配置方法，具体方法到基本模块中有描述。
1.LCD这里不用配置，直接使用提供的资源包就行
2.KEY, 四个按键IO口都要配置，分别是PB0, PB1,PB2,PA0依次是B1,B2,B3,B4不要弄错了
3.PWM:这里使用TIM16的CH1和TIM17的CH1作为发生通道，TIM16→PSC:800-1,ARR:100-1,Pulse:80
TIM17→PSC:400-1,ARR:100-1,Pulse:60
4.LED:开启PC8,9,10,11,12,13,14,15输出模式就行了
5.RTC:详见RTC模块部分，配置方法一样的
6.定时器:由于题目的逻辑比较复杂(笔者个人认为)，所以除了开TIM16,TIM17外还要开TIM2,3,4,6,7,8,15,而且中断要全部打开。

三、代码实现
1.void DisposeKey(void); //按键响应函数

void DisposeKey(void)
{
if(key[0].single_flag)
{
if(Dispfloor - 1 != 0)
{
LED |= 0x01;
LED_Disp(LED);
floor_want[0] = 1;
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[0].single_flag = 0;
}
if(key[1].single_flag)
{
if(Dispfloor - 1 != 1)
{
LED |= 0x02;
LED_Disp(LED);
floor_want[1] = 1;
LCD_DisplayStringLine(Line5, " ");
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[1].single_flag = 0;
}
if(key[2].single_flag)
{
if(Dispfloor - 1 != 2)
{
LED |= 0x04;
LED_Disp(LED);
floor_want[2] = 1;
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[2].single_flag = 0;
}
if(key[3].single_flag)
{
if(Dispfloor - 1 != 3)
{
LED |= 0x08;
LED_Disp(LED);
floor_want[3] = 1;
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[3].single_flag = 0;
}
}

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2.void Gate_Control(unsigned char command)； //控制门开关

void Gate_Control(unsigned char command)
{
if(command == 0)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
GateCommand = 0;
}
else
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
GateCommand = 1;
}
}

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3.void Gate_Run(unsigned char GateCommand); //执行门开关

void Gate_Run(unsigned char GateCommand)
{
if(GateCommand == 0)
{
__HAL_TIM_SetCompare(&htim17, TIM_CHANNEL_1, 60);
HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1);
}
if(GateCommand == 1)
{
__HAL_TIM_SetCompare(&htim17, TIM_CHANNEL_1, 50);
HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1);
}
}

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4.void UporDown_Control(unsigned char command)； //控制上下

void UporDown_Control(unsigned char command)
{
if(command)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
FloorCommand = 0;
}
else
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
FloorCommand = 1;
}
}

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5.void UporDown_Run(unsigned char FloorCommand); //上下执行

void UporDown_Run(unsigned char FloorCommand)
{
if(FloorCommand == 0)
{
__HAL_TIM_SetCompare(&htim16, TIM_CHANNEL_1, 60);
HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1);
}
else
{
__HAL_TIM_SetCompare(&htim16, TIM_CHANNEL_1, 80);
HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1);
}
}

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6.void Judge_upordown(void); //上下行判断

void Judge_upordown(void)
{
for(unsigned char i = 0; i < Dispfloor - 1; i++)
{
if(floor_want[i] == 1)
{
isupdown = DOWN;
}
}
for(unsigned char i = 3; i > Dispfloor - 1; i--)
{
if(floor_want[i] == 1)
{
isupdown = UP;
}
}
}

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7.unsigned char Judge_LowestFloor(void); //判断目标楼层中的最低层

unsigned char Judge_LowestFloor(void)
{
unsigned char i = 1;
for(i = 1; i < 4; i++)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}

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8.unsigned char Judge_HighestFloor(void); //判断目标楼层中的最高层

unsigned char Judge_HighestFloor(void)
{
unsigned char i = 4;
for(i = 4; i > 1; i--)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}

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9.unsigned char judge_NextUpFloor(void); //判断上升的下一目标

unsigned char judge_NextUpFloor(void)
{
unsigned char i = Dispfloor + 1;
for(i = Dispfloor + 1; i < 4; i++)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}

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10.unsigned char judge_NextDownFloor(void); //判断下降的下一目标

unsigned char judge_NextDownFloor(void)
{
unsigned char i = Dispfloor - 1;
for(i = Dispfloor - 1; i >= 1; i--)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}

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11.interrupt.h以及interrupt.c的全部代码部分
interrupt.h:

#ifndef __INTERRUPT_H__
#define __INTERRUPT_H__
#include "main.h"
#include "stdbool.h"
struct keys
{
unsigned char judge_sta;
bool key_sta;
bool single_flag;
unsigned int key_time;
bool long_flag;
};
#endif

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interrupt.c:

#include "interrupt.h"
#include "lcd.h"
#include "tim.h"
#include "stdio.h"
#include "led.h"
struct keys key[4] = {0, 0, 0, 0, 0};
extern unsigned int last_key_time;
unsigned char should_close_flag = 0;
extern unsigned int closeGate_time;
extern unsigned char should_up_flag;
extern unsigned int upfloor_time;
extern unsigned char upordownRunningflag;
extern unsigned char UpFloorNum;
extern unsigned char Dispfloor;
extern unsigned char NextUpFloor;
extern char text[30];
extern unsigned char isupdown;
extern unsigned char should_open_flag;
extern unsigned char openordownTypeflag;
extern unsigned int openGate_time;
extern unsigned char HighestFloor;
extern unsigned char LowestFloor;
extern unsigned char should_wait_flag;
extern unsigned char waitGate_time;
extern unsigned char LED;
extern unsigned char should_lcdflash_flag;
extern unsigned int lcdflash_time;
extern unsigned char should_lcdflash_flag;
extern unsigned int lcdflash_time;
extern unsigned char floor_want[4];
extern unsigned char should_down_flag;
extern unsigned int downfloor_time;
extern unsigned char DownFloorNum;
extern unsigned char NextDownFloor;
extern unsigned char openorcloseRunningflag;
extern unsigned char waiting;
extern unsigned int ledflash_time;
extern unsigned char index;
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM3)
{
if((upordownRunningflag || openorcloseRunningflag || waiting) == 0)
{
key[0].key_sta = HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_0);
key[1].key_sta = HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_1);
key[2].key_sta = HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_2);
key[3].key_sta = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_0);
for(unsigned char i = 0; i < 4; i++)
{
switch(key[i].judge_sta)
{
case 0:
{
if(key[i].key_sta == 0)
{
key[i].judge_sta = 1;
key[i].key_time = 0;
}
break;
}
case 1:
{
if(key[i].key_sta == 0)
{
key[i].judge_sta = 2;
}
else
{
key[i].judge_sta = 0;
}
break;
}
case 2:
{
if(key[i].key_sta == 1)
{
key[i].judge_sta = 0;
if(key[i].key_time <= 70)
{
key[i].single_flag = 1;
}
}
else
{
key[i].key_time++;
if(key[i].key_time > 70)
{
key[i].long_flag = 1;
}
}
break;
}
}
}
}
}
if(htim->Instance == TIM4) //按键1s后响应
{
last_key_time++;
if(last_key_time == 100)
{
last_key_time = 0;
HAL_TIM_Base_Stop(htim);
should_close_flag = 1;
}
}
if(htim->Instance == TIM6)//关门4s
{
if(openordownTypeflag == CLOSE)
{
closeGate_time++;
if(closeGate_time == 400)
{
closeGate_time = 0;
HAL_TIM_Base_Stop_IT(htim);
HAL_TIM_PWM_Stop(&htim17, TIM_CHANNEL_1);
if(isupdown == UP)
{
if(Dispfloor != HighestFloor)
{
should_up_flag = 1;
}
}
if(isupdown == DOWN)
{
if(Dispfloor != LowestFloor)
{
should_down_flag = 1;
}
}
}
}
if(openordownTypeflag == OPEN)
{
openGate_time++;
if(openGate_time == 400)
{
openGate_time = 0;
HAL_TIM_Base_Stop_IT(htim);
HAL_TIM_PWM_Stop(&htim17, TIM_CHANNEL_1);
openorcloseRunningflag = 0;
if(isupdown == UP)
{
if(Dispfloor != HighestFloor)
{
should_wait_flag = 1;
}
}
else
{
if(Dispfloor != LowestFloor)
{
should_wait_flag = 1;
}
}
}
}
}
if(htim->Instance == TIM7) //上楼6s * 层数
{
if(isupdown == UP)
{
upfloor_time++;
if(upfloor_time == 600 * UpFloorNum)
{
upfloor_time = 0;
HAL_TIM_Base_Stop_IT(htim);
HAL_TIM_PWM_Stop(&htim16, TIM_CHANNEL_1);
upordownRunningflag = 0;
Dispfloor = NextUpFloor;
floor_want[Dispfloor - 1] = 0;
LED = LED & (~(0x01 << (Dispfloor - 1)));
LED_Disp(LED);
sprintf(text, " ");
LCD_DisplayStringLine(Line2, text);
should_open_flag = 1;
should_lcdflash_flag = 1;
}
}
if(isupdown == DOWN)
{
downfloor_time++;
if(downfloor_time >= 600 * DownFloorNum)
{
downfloor_time = 0;
HAL_TIM_Base_Stop_IT(htim);
HAL_TIM_PWM_Stop(&htim16, TIM_CHANNEL_1);
upordownRunningflag = 0;
Dispfloor = NextDownFloor;
floor_want[Dispfloor - 1] = 0;
LED = LED & (~(0x01 << (Dispfloor - 1)));
LED_Disp(LED);
sprintf(text, " ");
LCD_DisplayStringLine(Line2, text);
should_open_flag = 1;
should_lcdflash_flag = 1;
}
}
}
if(htim->Instance == TIM8)
{
waitGate_time++;
if(waitGate_time == 200)
{
waitGate_time = 0;
HAL_TIM_Base_Stop_IT(htim);
waiting = 0;
should_close_flag = 1;
}
}
if(htim->Instance == TIM15)
{
lcdflash_time++;
if(lcdflash_time == 25)
{
sprintf(text, " %d ", Dispfloor);
LCD_DisplayStringLine(Line2, text);
}
else if(lcdflash_time == 50)
{
sprintf(text, " ");
LCD_DisplayStringLine(Line2, text);
}
else if(lcdflash_time == 75)
{
sprintf(text, " %d ", Dispfloor);
LCD_DisplayStringLine(Line2, text);
}
else if(lcdflash_time == 100)
{
lcdflash_time = 0;
HAL_TIM_Base_Stop_IT(htim);
}
}
if(htim->Instance == TIM2)
{
ledflash_time++;
if(ledflash_time == 10)
{
ledflash_time = 0;
index++;
index %= 4;
}
}
}

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12.main.c的全部代码:
main.c:

/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "rtc.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "lcd.h"
#include "interrupt.h"
#include "stdio.h"
#include "led.h"
#include "stdlib.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
extern struct keys key[4];
char text[30];
unsigned char Dispfloor = 1;
RTC_TimeTypeDef T;
RTC_DateTypeDef D;
unsigned char second;
unsigned char LED = 0x00;
unsigned int last_key_time = 0;
extern unsigned char should_close_flag;
unsigned char GateCommand;
unsigned int closeGate_time;
unsigned char FloorCommand;
unsigned char should_up_flag;
unsigned int upfloor_time;
unsigned char floor_want[4] = {0, 0, 0, 0};
unsigned char isupdown = UP;
unsigned char HighestFloor = 1;
unsigned char LowestFloor = 1;
unsigned char should_judge_flag = 1;
unsigned char upordownRunningflag;
unsigned char NextUpFloor;
unsigned char UpFloorNum;
unsigned char should_open_flag;
unsigned char openordownTypeflag;
unsigned int openGate_time;
unsigned char should_wait_flag;
unsigned char waitGate_time;
unsigned char should_lcdflash_flag;
unsigned int lcdflash_time;
unsigned char NextDownFloor;
unsigned char DownFloorNum;
unsigned char should_down_flag;
unsigned int downfloor_time;
unsigned char openorcloseRunningflag;
unsigned char waiting;
unsigned int ledflash_time;
unsigned char index;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void DisposeKey(void);
void Gate_Control(unsigned char command);
void Gate_Run(unsigned char GateCommand);
void UporDown_Control(unsigned char command);
void UporDown_Run(unsigned char FloorCommand);
void Judge_upordown(void);
unsigned char Judge_HighestFloor(void);
unsigned char Judge_LowestFloor(void);
unsigned char judge_NextUpFloor(void);
unsigned char judge_NextDownFloor(void);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM3_Init();
MX_TIM16_Init();
MX_TIM17_Init();
MX_RTC_Init();
MX_TIM4_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_TIM8_Init();
MX_TIM15_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
LCD_Init();
LCD_Clear(Black);
LCD_SetBackColor(Black);
LCD_SetTextColor(White);
HAL_TIM_Base_Start_IT(&htim3);
LCD_DisplayStringLine(Line1, " floor");
sprintf(text, " %d", Dispfloor);
LCD_DisplayStringLine(Line2, text);
LED_Disp(0x00);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_RTC_GetTime(&hrtc, &T, RTC_FORMAT_BIN);
HAL_RTC_GetDate(&hrtc, &D, RTC_FORMAT_BIN);
if(second != T.Seconds)
{
second = T.Seconds;
sprintf(text, " %02d:%02d:%02d", T.Hours, T.Minutes, T.Seconds);
LCD_DisplayStringLine(Line4, text);
}
/*************************以上是RTC*********************************************************/
DisposeKey();
if(floor_want[0] + floor_want[1] + floor_want[2] + floor_want[3] != 0)
{
if(isupdown == UP)
{
HighestFloor = Judge_HighestFloor();
}
if(isupdown == DOWN)
{
LowestFloor = Judge_LowestFloor();
}
}
if(isupdown == UP)
{
if(Dispfloor == HighestFloor)
{
should_judge_flag = 1;
}
}
if(isupdown == DOWN)
{
if(Dispfloor == LowestFloor)
{
should_judge_flag = 1;
}
}
if(should_judge_flag)
{
if(floor_want[0] + floor_want[1] + floor_want[2] + floor_want[3] != 0)
{
unsigned char temp_Highest = Judge_HighestFloor();
unsigned char temp_Lowest = Judge_LowestFloor();
if(Dispfloor > temp_Lowest)
{
isupdown = DOWN;
}
if(Dispfloor < temp_Highest)
{
isupdown = UP;
}
}
}
/***********************以上是判断上行还是下行******************************************************/
if(upordownRunningflag)
{
HAL_TIM_Base_Start_IT(&htim2);
if(isupdown == UP)
{
LED = ((LED & 0x0f) | (0x01 << (4 + index)));
LED_Disp(LED);
}
else
{
LED = ((LED & 0x0f) | (0x08 << (4 - index)));
LED_Disp(LED);
}
}
else
{
__HAL_TIM_SetCounter(&htim2, 0);
ledflash_time = 0;
HAL_TIM_Base_Stop_IT(&htim2);
LED = LED & 0x0f;
LED_Disp(LED);
}
/**********************以上是LED流动***************************************************************/
if(isupdown == UP)
{
NextUpFloor = judge_NextUpFloor();
UpFloorNum = NextUpFloor - Dispfloor;
}
else
{
NextDownFloor = judge_NextDownFloor();
DownFloorNum = Dispfloor - NextDownFloor;
}
if(should_close_flag)
{
should_close_flag = 0;
Gate_Control(CLOSE);
Gate_Run(CLOSE);
openordownTypeflag = CLOSE;
openorcloseRunningflag = 1;
__HAL_TIM_SetCounter(&htim6, 0);
closeGate_time = 0;
HAL_TIM_Base_Start_IT(&htim6);
}
if(should_up_flag)
{
should_up_flag = 0;
UporDown_Control(UP);
UporDown_Run(UP);
upordownRunningflag = 1;
__HAL_TIM_SetCounter(&htim7, 0);
upfloor_time = 0;
HAL_TIM_Base_Start_IT(&htim7);
}
if(should_down_flag)
{
should_down_flag = 0;
UporDown_Control(DOWN);
UporDown_Run(DOWN);
upordownRunningflag = 1;
__HAL_TIM_SetCounter(&htim7, 0);
downfloor_time = 0;
HAL_TIM_Base_Start_IT(&htim7);
}
if(should_open_flag)
{
should_open_flag = 0;
Gate_Control(OPEN);
Gate_Run(OPEN);
openordownTypeflag = OPEN;
openorcloseRunningflag = 1;
__HAL_TIM_SetCounter(&htim6, 0);
openGate_time = 0;
HAL_TIM_Base_Start_IT(&htim6);
}
if(should_wait_flag)
{
should_wait_flag = 0;
waiting = 1;
__HAL_TIM_SetCounter(&htim8, 0);
waitGate_time = 0;
HAL_TIM_Base_Start_IT(&htim8);
}
if(should_lcdflash_flag)
{
should_lcdflash_flag = 0;
__HAL_TIM_SetCounter(&htim15, 0);
lcdflash_time = 0;
HAL_TIM_Base_Start_IT(&htim15);
}
/*****************************************************以上是控制区******************************/
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV3;
RCC_OscInitStruct.PLL.PLLN = 20;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
/** Initializes the peripherals clocks
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_RTC;
PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_HSE_DIV32;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
void DisposeKey(void)
{
if(key[0].single_flag)
{
if(Dispfloor - 1 != 0)
{
LED |= 0x01;
LED_Disp(LED);
floor_want[0] = 1;
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[0].single_flag = 0;
}
if(key[1].single_flag)
{
if(Dispfloor - 1 != 1)
{
LED |= 0x02;
LED_Disp(LED);
floor_want[1] = 1;
LCD_DisplayStringLine(Line5, " ");
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[1].single_flag = 0;
}
if(key[2].single_flag)
{
if(Dispfloor - 1 != 2)
{
LED |= 0x04;
LED_Disp(LED);
floor_want[2] = 1;
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[2].single_flag = 0;
}
if(key[3].single_flag)
{
if(Dispfloor - 1 != 3)
{
LED |= 0x08;
LED_Disp(LED);
floor_want[3] = 1;
__HAL_TIM_SetCounter(&htim4, 0);
last_key_time = 0;
HAL_TIM_Base_Start_IT(&htim4);
}
key[3].single_flag = 0;
}
}
void Gate_Control(unsigned char command)
{
if(command == 0)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
GateCommand = 0;
}
else
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
GateCommand = 1;
}
}
void Gate_Run(unsigned char GateCommand)
{
if(GateCommand == 0)
{
__HAL_TIM_SetCompare(&htim17, TIM_CHANNEL_1, 60);
HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1);
}
if(GateCommand == 1)
{
__HAL_TIM_SetCompare(&htim17, TIM_CHANNEL_1, 50);
HAL_TIM_PWM_Start(&htim17, TIM_CHANNEL_1);
}
}
void UporDown_Control(unsigned char command)
{
if(command)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
FloorCommand = 0;
}
else
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
FloorCommand = 1;
}
}
void UporDown_Run(unsigned char FloorCommand)
{
if(FloorCommand == 0)
{
__HAL_TIM_SetCompare(&htim16, TIM_CHANNEL_1, 60);
HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1);
}
else
{
__HAL_TIM_SetCompare(&htim16, TIM_CHANNEL_1, 80);
HAL_TIM_PWM_Start(&htim16, TIM_CHANNEL_1);
}
}
void Judge_upordown(void)
{
for(unsigned char i = 0; i < Dispfloor - 1; i++)
{
if(floor_want[i] == 1)
{
isupdown = DOWN;
}
}
for(unsigned char i = 3; i > Dispfloor - 1; i--)
{
if(floor_want[i] == 1)
{
isupdown = UP;
}
}
}
unsigned char Judge_HighestFloor(void)
{
unsigned char i = 4;
for(i = 4; i > 1; i--)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}
unsigned char Judge_LowestFloor(void)
{
unsigned char i = 1;
for(i = 1; i < 4; i++)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}
unsigned char judge_NextUpFloor(void)
{
unsigned char i = Dispfloor + 1;
for(i = Dispfloor + 1; i < 4; i++)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}
unsigned char judge_NextDownFloor(void)
{
unsigned char i = Dispfloor - 1;
for(i = Dispfloor - 1; i >= 1; i--)
{
if(floor_want[i - 1] == 1)
{
break;
}
}
return i;
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/