robofish/MRobot
1
0
Fork 0
mirror of https://github.com/goldenfishs/MRobot.git synced 2025-05-06 01:10:55 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

添加gpio中断bsp

Browse Source
This commit is contained in:
RB 2025-05-05 00:02:24 +08:00
parent af69d030fe
commit 52acfaf20c
6 changed files with 109 additions and 84 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
.DS_Store vendored
View File

Binary file not shown.

BIN
User/bsp/.DS_Store vendored Normal file
View File

Binary file not shown.

72
User/bsp/gpio_exti.c Normal file
View File

@ -0,0 +1,72 @@
/* Includes ----------------------------------------------------------------- */
#include "bsp\gpio.h"
#include <gpio.h>
#include <main.h>
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static void (*GPIO_Callback[BSP_GPIO_NUM][BSP_GPIO_CB_NUM])(void);
/* Private function -------------------------------------------------------- */
static BSP_GPIO_t GPIO_Get(uint16_t pin) {
switch (pin) {
case USER_KEY_Pin:
return BSP_GPIO_USER_KEY;
/* case XXX_Pin:
return BSP_GPIO_XXX; */
default:
return BSP_GPIO_ERR;
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
BSP_GPIO_t gpio = GPIO_Get(GPIO_Pin);
if (gpio != BSP_GPIO_ERR) {
if (GPIO_Callback[gpio][BSP_GPIO_EXTI_CB]) {
GPIO_Callback[gpio][BSP_GPIO_EXTI_CB]();
}
}
}
/* Exported functions ------------------------------------------------------- */
int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, BSP_GPIO_Callback_t type, void (*callback)(void)) {
if (callback == NULL || gpio >= BSP_GPIO_NUM || type >= BSP_GPIO_CB_NUM) return BSP_ERR_NULL;
GPIO_Callback[gpio][type] = callback;
return BSP_OK;
}
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
switch (gpio) {
case BSP_GPIO_USER_KEY:
HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
break;
/* case BSP_GPIO_XXX:
HAL_NVIC_EnableIRQ(XXX_IRQn);
break; */
default:
return BSP_ERR;
}
return BSP_OK;
}
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
switch (gpio) {
case BSP_GPIO_USER_KEY:
HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
break;
/* case BSP_GPIO_XXX:
HAL_NVIC_DisableIRQ(XXX_IRQn);
break; */
default:
return BSP_ERR;
}
return BSP_OK;
}

37
User/bsp/gpio_exti.h Normal file
View File

@ -0,0 +1,37 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <stdint.h>
#include "bsp/bsp.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* GPIO设备枚举，与设备对应 */
typedef enum {
BSP_GPIO_USER_KEY,
/* BSP_GPIO_XXX, */
BSP_GPIO_NUM,
BSP_GPIO_ERR,
} BSP_GPIO_t;
/* GPIO支持的中断回调函数类型 */
typedef enum {
BSP_GPIO_EXTI_CB,
BSP_GPIO_CB_NUM,
} BSP_GPIO_Callback_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, BSP_GPIO_Callback_t type, void (*callback)(void));
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio);
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio);
#ifdef __cplusplus
}
#endif

48
User/bsp/key_gpio.c
View File

@ -1,48 +0,0 @@
/* Includes ----------------------------------------------------------------- */
#include "key_gpio.h"
#include "bsp.h"
#include <gpio.h>
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static uint32_t key_stats; // 使用位掩码记录每个通道的状态，最多支持32LED
/* 按键配置表（根据实际硬件修改） */
static const BSP_Key_Config_t KEY_CONFIGS[] = {
{GPIOA, GPIO_PIN_7, GPIO_PIN_SET}, // KEY1按下时电平为高
{GPIOA, GPIO_PIN_9, GPIO_PIN_SET}, // KEY2按下时电平为低
// 添加更多按键...
};
#define KEY_COUNT (sizeof(KEY_CONFIGS)/sizeof(KEY_CONFIGS[0])
//读取按键状态（带消抖）
int8_t BSP_Key_Read(BSP_Key_Channel_t ch) {
static uint32_t last_press_time[BSP_KEY_COUNT] = {0}; //上次按下时间
const uint32_t debounce_ms = 20; //按键消抖时间
const uint32_t long_press_ms = 2000; //按键长按时间
if(ch >= BSP_KEY_COUNT) return BSP_KEY_RELEASED ;
const BSP_Key_Config_t *cfg = &KEY_CONFIGS[ch];
GPIO_PinState state = HAL_GPIO_ReadPin(cfg->port, cfg->pin);
if(state == cfg->active_level) {
uint32_t now = HAL_GetTick(); //用于记录按键按下时间（这里比较state是为了方便适应不同有效电平做出修改的，也可以改成直接检测电平高低）
//消抖检测(只有按下超过20ms才被认为按下）
if((now - last_press_time[ch]) > debounce_ms) {
//长按检测（只有被按下超过2000ms才被认为是长按，根据实际情况可做出修改）
if((now - last_press_time[ch]) > long_press_ms) {
return BSP_KEY_LONG_PRESS;
}
return BSP_KEY_PRESSED;
}
} else {
last_press_time[ch] = HAL_GetTick();
}
return BSP_KEY_RELEASED;
}

36
User/bsp/key_gpio.h
View File

@ -1,36 +0,0 @@
#pragma once
/* Includes ----------------------------------------------------------------- */
#include <stdint.h>
#include "main.h"
//#include "key_gpio.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* KEY按键状态，设置用 */
typedef enum
{
BSP_KEY_RELEASED, //按键释放
BSP_KEY_PRESSED, //按键按下
BSP_KEY_LONG_PRESS, //按键长按
} BSP_KEY_Status_t;
/* 按键通道定义 */
typedef enum {
BSP_KEY_1,
BSP_KEY_2,
/* 可根据需要扩展 */
BSP_KEY_COUNT
} BSP_Key_Channel_t;
/* 按键硬件配置结构体 */
typedef struct {
GPIO_TypeDef *port; // GPIO端口
uint16_t pin; // 引脚编号
uint8_t active_level; // 有效电平（GPIO_PIN_SET/RESET）
} BSP_Key_Config_t;
int8_t BSP_Key_Read(BSP_Key_Channel_t ch);