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v1.1添加按键功能的中文日志说明，改进了零点逻辑，之前回零成功后再次下发回零还会移动然后撞到限位开关，现在会正确保持在零点

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编程浩
2026-03-02 14:57:34 +08:00
parent b2fedd58b2
commit 25d82ccd66
8 changed files with 1821 additions and 1535 deletions
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12
Application/app_key.c
View File

@@ -1,4 +1,4 @@
#include "app_key.h"
#include "app_key.h"
#include <stddef.h>
/* 按键行为说明：
@@ -123,15 +123,15 @@ static void key_guard_check(Stepper_t *stepper)
est_pos_mm = key_estimate_pos_mm(stepper);
current_absolute_pos_mm = est_pos_mm;
xzero_active = key_home_switch_active();
if ((stepper->x_zero == 1u) && (xzero_active == 0u))
if (xzero_active == 1u)
{
/* 若引脚当前未触发，清除可能因抖动造成的 EXTI 残留置位。 */
stepper->x_zero = 0u;
/* 引脚有效即锁存命中，避免短脉冲漏检。 */
stepper->x_zero = 1u;
}
if (s_home_active)
{
if ((stepper->x_zero == 1u) && (xzero_active == 1u))
if (stepper->x_zero == 1u)
{
local_motion_estop(stepper);
stepper->x_zero = 0u;
@@ -147,7 +147,7 @@ static void key_guard_check(Stepper_t *stepper)
debug_printf("[KEY] JOG+ reach soft limit %.1f mm", SOFT_LIMIT_MAX_MM);
}
else if ((s_jog_key == KEY_3) &&
((stepper->x_zero == 1u) && (xzero_active == 1u)))
(stepper->x_zero == 1u))
{
local_motion_stop_decel(stepper);
stepper->x_zero = 0u;

44
Application/app_main.c
View File

@@ -1,4 +1,4 @@
#include "main.h"
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
@@ -18,33 +18,43 @@
Encoder_t encoder_1 = {0};
// 静音最大速度：65mm/s
// 有效运动最大速度：350mm/s
// 最远运行距离：230mm
Stepper_t stepper_1 = {
.dir = GPIO_PIN_RESET, // 方向(1为手轮方向，0为电机方向)
.distance = 100.0f, // 距离mm
.speed = 50.0f, // 速度mm/s
.acc = 40.0f, // 加速度 mm/s^2
.dec = 40.0f, // 减速度 mm/s^2
.start_speed = 5.0f, // 启动速度
.dir = GPIO_PIN_RESET, // 方向(1为手轮方向，0为电机方向)
.distance = 100.0f,
.speed = 50.0f,
.acc = 40.0f,
.dec = 40.0f,
.start_speed = 5.0f,
};
CANopenNodeSTM32 CANopenNode;
static void App_PrintKeyUsage(void)
{
debug_printf("%s", "================ 按键功能说明 ================");
debug_printf("%s", "K1 (单击): 自动回零 (HOME, 低速 5 mm/s)");
debug_printf("%s", "K2 (长按): JOG+ 正向点动, 松开后减速停止");
debug_printf("%s", "K3 (长按): JOG- 反向点动, 松开后减速停止");
debug_printf("%s", "K4 (单击): 速度档位循环 5 -> 25 -> 60 mm/s");
debug_printf("%s", "K5 (单击): 紧急停止 (立即停机)");
debug_printf("%s", "提示: 回零完成以零位开关触发为准");
debug_printf("%s", "==============================================");
}
static void CANopenNode_init(void)
{
/* 初始化CANopen */
CANopenNode.CANHandle = &hcan1; /* 使用CAN接口 */
CANopenNode.HWInitFunction = MX_CAN1_Init; /* 初始化CAN */
CANopenNode.timerHandle = &htim11; /* 使用的定时器句柄 */
CANopenNode.desiredNodeID = 3; /* Node-ID */
CANopenNode.baudrate = 500; /* 波特率，单位KHz */
CANopenNode.CANHandle = &hcan1;
CANopenNode.HWInitFunction = MX_CAN1_Init;
CANopenNode.timerHandle = &htim11;
CANopenNode.desiredNodeID = 3;
CANopenNode.baudrate = 500;
canopen_app_init(&CANopenNode);
}
void app_main(void)
{
debug_printf("hello three-axis steppers");
App_PrintKeyUsage();
CANopenNode_init();
App_Motor_Init();
App_ParamStore_Init();
@@ -62,11 +72,9 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
switch (GPIO_Pin)
{
// PE2对应X_ZERO引脚
case X_ZERO_Pin:
stepper_1.x_zero = 1;
break;
// PC9对应编码器1的Z引脚
case ENCODER1_Z_Pin:
encoder_1.z++;
break;