添加pwm（需修改）

User/bsp/servo_pwm.c

@@ -0,0 +1,48 @@
+/* Includes ----------------------------------------------------------------- */
+#include "servo_pwm.h"
+
+#include "main.h"
+
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
+  
+  TIM_HandleTypeDef* htim = pwm_channel_config[ch].htim;
+  uint32_t channel = pwm_channel_config[ch].channel;
+
+  if(HAL_TIM_PWM_Start(htim, channel)!=HAL_OK){
+	return -1;
+  }else return 0;
+}
+
+int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
+  if (duty_cycle > 1.0f) return -1;
+
+  uint16_t pulse = duty_cycle/CYCLE * PWM_RESOLUTION;
+
+  if(__HAL_TIM_SET_COMPARE(pwm_channel_config[ch].htim, pwm_channel_config[ch].channel, pulse)!=HAL_OK){
+	return -1;
+  }else return 0;
+}
+
+int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch){
+
+  TIM_HandleTypeDef* htim = pwm_channel_config[ch].htim;
+  uint32_t channel = pwm_channel_config[ch].channel;
+
+  if(HAL_TIM_PWM_Stop(htim, channel)!=HAL_OK){
+	return -1;
+  }else return 0;
+
+
+};
+
+
+
+

User/bsp/servo_pwm.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include "tim.h"
+#include "bsp/bsp.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+  TIM_HandleTypeDef* htim; // 定时器句柄
+  uint32_t channel;        // 定时器通道
+} PWM_Channel_Config_t;
+
+#define PWM_RESOLUTION 1000 // ARR                                      change begin
+#define CYCLE 20 //ms
+
+typedef enum {				
+  BSP_PWM_SERVO = 0,      
+  BSP_PWM_IMU_HEAT = 1,   
+} BSP_PWM_Channel_t;
+
+const PWM_Channel_Config_t pwm_channel_config[] = {		
+  [BSP_PWM_SERVO] = { &htim1, TIM_CHANNEL_1 },  // xxx 对应 TIMx 通道x
+  [BSP_PWM_IMU_HEAT] = { &htim1, TIM_CHANNEL_2 } 
+};																	  //change end
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch);
+int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle);
+int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+
+

User/device/key_gpio.c

@@ -0,0 +1,86 @@
+/* Includes ----------------------------------------------------------------- */
+#include "key_gpio.h"
+#include "device.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
+
+/* 外部声明标志位（标志问） */
+extern volatile uint8_t key_flag; // 1=按下，0=松开
+
+/* 按键状态结构 */
+typedef struct {
+    uint16_t state;       // 当前状态
+    uint32_t press_timestamp; // 按下时间戳
+    uint8_t last_flag;       // 上一次的标志位（用于消抖）
+} Key_Status_t;
+
+static Key_Status_t key = { 
+    .state = DEVICE_KEY_RELEASED,
+    .press_timestamp = 0,
+    .last_flag = 0
+};
+
+/* 按键中断处理 */
+void Key_Process(void) {
+    uint32_t now = HAL_GetTick();
+    uint8_t current_flag = key_flag; // 获取当前标志位
+
+    switch(key.state) {
+        case DEVICE_KEY_RELEASED:
+            if(current_flag == 1) {
+                // 首次检测到按下，记录时间戳
+                if(key.last_flag == 0) {
+                    key.press_timestamp = now;
+                }
+                // 消抖确认（20ms后仍为按下）
+                if((now - key.press_timestamp) > 20) {
+                    key.state = DEVICE_KEY_PRESSED;
+                }
+            }
+            break;
+
+        case DEVICE_KEY_PRESSED:
+            case DEVICE_KEY_LONG_PRESS:
+                if(current_flag == 1) {
+                    // 持续按住超过20ms进入HOLD状态
+                    if((now - key.press_timestamp) > 20) {
+                        key.state = DEVICE_KEY_LONG_PRESS;
+                    }
+                } else {
+                    key.state = DEVICE_KEY_RELEASED; // 松开复位
+                }
+                break;
+    }
+
+    key.last_flag = current_flag; // 更新历史状态
+}
+
+//获取当前按键状态 
+uint16_t Get_Key_State(void) {
+    return key.state;
+}
+//也许是后续逻辑(跟在前面的代码后面放在循环里）
+void KeyTask(void)
+{
+	
+	//仅按下就执行逻辑
+//	if( key.state == DEVICE_KEY_PRESSED)
+//	{
+//		//循环执行逻辑（按下）
+//	}
+	//按住才执行逻辑，松开就停下
+	if (key.state == DEVICE_KEY_LONG_PRESS)
+	{
+		//执行逻辑
+	}
+	else if	(key.state == DEVICE_KEY_RELEASED)
+	{
+		//停止逻辑
+	}
+}

User/device/key_gpio.h

@@ -0,0 +1,38 @@
+#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
+{
+    DEVICE_KEY_RELEASED,  //按键释放
+    DEVICE_KEY_PRESSED,   //按键按下
+    DEVICE_KEY_LONG_PRESS,  //按键长按
+} DEVICE_KEY_Status_t;
+
+
+/* 按键通道定义 */
+typedef enum {
+    DEVICE_KEY_1,
+    DEVICE_KEY_2,
+    /* 可根据需要扩展 */
+    DEVICE_KEY_COUNT
+} DEVICE_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）
+	uint32_t trigger_edge;    // 中断触发边沿（RISING/FALLING）
+} DEVICE_Key_Config_t;
+
+void Key_Process(void);
+uint16_t Get_Key_State(void);
+void KeyTask(void);

User/device/servo.c

@@ -0,0 +1,36 @@
+/* Includes ----------------------------------------------------------------- */
+#include "main.h"
+#include "servo.h"
+
+#include "bsp/servo_pwm.h"
+
+
+/* Private define ----------------------------------------------------------- */
+#define MIN_CYCLE 0.5f		//change begin
+#define MAX_CYCLE 2.5f
+#define ANGLE_LIMIT 180		//change end
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+int serve_Init(BSP_PWM_Channel_t ch)
+{
+	if(BSP_PWM_Start(ch)!=0){
+		return -1;
+	}else return 0;	
+}
+
+
+int set_servo_angle(BSP_PWM_Channel_t ch,float angle)
+{
+	if (angle < 0.0f || angle > ANGLE_LIMIT) {
+        return -1; // ÎÞЧµÄ½Ç¶È
+    }
+	
+	float duty_cycle=MIN_CYCLE+(MAX_CYCLE-MIN_CYCLE)*(angle/ANGLE_LIMIT);
+	if(BSP_PWM_Set(ch,duty_cycle)!=0){
+		return -1;
+	}else return 0;
+}
+

User/device/servo.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include "tim.h"
+#include "bsp/bsp.h"
+#include "bsp/servo_pwm.h"
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+	
+	
+	
+extern int serve_Init(BSP_PWM_Channel_t ch);
+extern int set_servo_angle(BSP_PWM_Channel_t ch,float angle);
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+	
+#ifdef __cplusplus
+}
+#endif
+
+
+
+
+