mirror of
https://github.com/goldenfishs/MRobot.git
synced 2025-06-14 22:16:38 +08:00
66 lines
1.8 KiB
C
66 lines
1.8 KiB
C
/* Includes ----------------------------------------------------------------- */
|
||
#include "key_gpio.h"
|
||
#include "device.h"
|
||
#include "bsp/gpio_exti.h"
|
||
#include "gpio.h"
|
||
/* Private define ----------------------------------------------------------- */
|
||
#define DEBOUNCE_TIME_MS 20
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* Private function -------------------------------------------------------- */
|
||
/* 外部声明标志位（标志位） */
|
||
volatile uint8_t key_flag = 0; // 1=按下，0=松开
|
||
volatile uint8_t key_exti = 0;
|
||
volatile uint8_t key_pressed = 0; // 全局标志位
|
||
static uint32_t last_debounce_time = 0; // 消抖
|
||
|
||
/* Private function -------------------------------------------------------- */
|
||
static void KEY_Interrupt_Callback(void) {
|
||
// 切换标志位状态
|
||
|
||
key_flag = !key_flag;
|
||
key_exti = 1;
|
||
|
||
}
|
||
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void KEY_Process(void)
|
||
{
|
||
BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, BSP_GPIO_EXTI_CB, KEY_Interrupt_Callback);
|
||
|
||
if(key_exti == 1)
|
||
{
|
||
uint32_t now = HAL_GetTick();
|
||
// 检查是否超过消抖时间
|
||
if ((now - last_debounce_time) > DEBOUNCE_TIME_MS) {
|
||
// 更新有效状态（假设按下为低电平）
|
||
if(key_flag == 0)
|
||
{
|
||
key_pressed = DEVICE_KEY_RELEASED;
|
||
}
|
||
if(key_flag == 1)
|
||
{
|
||
key_pressed = DEVICE_KEY_PRESSED;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_6);
|
||
|
||
}
|
||
last_debounce_time = now; // 重置消抖计时器
|
||
key_exti = 0;
|
||
}
|
||
else
|
||
{
|
||
|
||
}
|
||
}
|
||
|
||
uint8_t KEY_Get_State(void) {
|
||
return key_pressed;
|
||
}
|
||
|
||
|