237 lines
6.4 KiB
C
237 lines
6.4 KiB
C
#include "app_key.h"
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#include <stddef.h>
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/* 按键行为说明：
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* K1 单击 -> 回零（朝光电开关方向，低速）
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* K2 长按/松开 -> JOG+ 启动 / 减速停止
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* K3 长按/松开 -> JOG- 启动 / 减速停止
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* K4 单击 -> 速度档位循环
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* K5 单击 -> 立即停止
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*/
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#define SPEED_LEVEL_COUNT (3u)
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#define JOG_SPEED_LOW_MM_S (5.0f)
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#define JOG_SPEED_MID_MM_S (25.0f)
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#define JOG_SPEED_HIGH_MM_S (60.0f)
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#define HOME_SPEED_MM_S (5.0f)
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#define HOME_TRAVEL_MM (500.0f)
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static const float s_speed_levels[SPEED_LEVEL_COUNT] = {
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JOG_SPEED_LOW_MM_S,
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JOG_SPEED_MID_MM_S,
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JOG_SPEED_HIGH_MM_S,
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};
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static uint8_t s_speed_idx = 0u;
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static uint8_t s_jog_key = KEY_NONE;
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static uint8_t s_home_active = 0u;
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/* 光电零位开关：低电平有效。 */
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static uint8_t key_home_switch_active(void)
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{
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return (HAL_GPIO_ReadPin(X_ZERO_GPIO_Port, X_ZERO_Pin) == GPIO_PIN_RESET) ? 1u : 0u;
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}
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/* 根据方向和已走步数估算当前位置（mm）。 */
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static float key_estimate_pos_mm(const Stepper_t *stepper)
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{
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float moved_mm = (float)stepper->step_count / STEPS_PER_MM;
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if (stepper->dir == GPIO_PIN_RESET)
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{
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return last_move_start_pos_mm + moved_mm;
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}
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return last_move_start_pos_mm - moved_mm;
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}
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static void local_motion_start(Stepper_t *stepper, GPIO_PinState dir, float speed_mm_s, float travel_mm)
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{
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if (stepper == NULL)
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{
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return;
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}
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if (speed_mm_s < 0.1f)
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{
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speed_mm_s = 0.1f;
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}
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if (stepper->state != STOP)
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{
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Int_TMC2209_stop();
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stepper->state = STOP;
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}
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stepper->dir = dir;
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stepper->distance = travel_mm;
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stepper->speed = (uint16_t)speed_mm_s;
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stepper->acc = 50;
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stepper->dec = 50;
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stepper->start_speed = 1.0f;
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stepper->run_flag = 1u;
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last_move_start_pos_mm = current_absolute_pos_mm;
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Int_TMC2209_start(stepper, &encoder_1);
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}
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/* 将当前运动切换为减速停止。 */
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static void local_motion_stop_decel(Stepper_t *stepper)
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{
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if (stepper == NULL)
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{
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return;
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}
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if (stepper->state == STOP)
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{
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stepper->run_flag = 0u;
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return;
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}
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stepper->total_step = stepper->step_count + stepper->acc_step;
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if (stepper->state == ACCELERATE || stepper->state == CONSTANT)
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{
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stepper->state = DECELERATE;
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}
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stepper->run_flag = 0u;
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}
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/* 立即停止通道：用于 STOP 按键和 HOME 完成后的收尾。 */
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static void local_motion_estop(Stepper_t *stepper)
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{
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if (stepper == NULL)
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{
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return;
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}
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Int_TMC2209_stop();
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stepper->state = STOP;
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stepper->run_flag = 0u;
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s_jog_key = KEY_NONE;
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s_home_active = 0u;
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}
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/* 运行时守卫：运动中执行限位判断与 HOME 触发判断。 */
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static void key_guard_check(Stepper_t *stepper)
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{
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float est_pos_mm = 0.0f;
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uint8_t xzero_active = 0u;
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if (stepper == NULL || stepper->state == STOP)
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{
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return;
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}
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est_pos_mm = key_estimate_pos_mm(stepper);
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current_absolute_pos_mm = est_pos_mm;
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xzero_active = key_home_switch_active();
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if ((stepper->x_zero == 1u) && (xzero_active == 0u))
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{
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/* 若引脚当前未触发，清除可能因抖动造成的 EXTI 残留置位。 */
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stepper->x_zero = 0u;
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}
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if (s_home_active)
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{
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if ((stepper->x_zero == 1u) && (xzero_active == 1u))
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{
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local_motion_estop(stepper);
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stepper->x_zero = 0u;
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debug_printf("[KEY] HOME done");
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}
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return;
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}
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if ((s_jog_key == KEY_2) && (est_pos_mm >= SOFT_LIMIT_MAX_MM))
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{
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local_motion_stop_decel(stepper);
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current_absolute_pos_mm = SOFT_LIMIT_MAX_MM;
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debug_printf("[KEY] JOG+ reach soft limit %.1f mm", SOFT_LIMIT_MAX_MM);
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}
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else if ((s_jog_key == KEY_3) &&
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((stepper->x_zero == 1u) && (xzero_active == 1u)))
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{
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local_motion_stop_decel(stepper);
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stepper->x_zero = 0u;
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debug_printf("[KEY] JOG- reach home boundary");
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}
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}
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void App_key_run(Stepper_t *stepper)
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{
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Int_Key_Task();
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key_guard_check(stepper);
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KeyAction_t action;
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while (Int_Key_PopAction(&action))
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{
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switch (action.key)
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{
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case KEY_1:
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if (action.evt == KEY_EVT_CLICK)
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{
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s_jog_key = KEY_NONE;
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s_home_active = 1u;
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stepper->x_zero = 0u;
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local_motion_start(stepper, GPIO_PIN_SET, HOME_SPEED_MM_S, HOME_TRAVEL_MM);
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debug_printf("[KEY] HOME start @ %.1f mm/s", HOME_SPEED_MM_S);
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}
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break;
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case KEY_2:
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if (action.evt == KEY_EVT_LONG_START)
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{
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s_home_active = 0u;
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s_jog_key = KEY_2;
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local_motion_start(stepper, GPIO_PIN_RESET, s_speed_levels[s_speed_idx], HOME_TRAVEL_MM);
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debug_printf("[KEY] JOG+ start @ %.1f mm/s", s_speed_levels[s_speed_idx]);
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}
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else if (action.evt == KEY_EVT_RELEASE && s_jog_key == KEY_2)
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{
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local_motion_stop_decel(stepper);
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s_jog_key = KEY_NONE;
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debug_printf("[KEY] JOG+ release -> decel stop");
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}
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break;
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case KEY_3:
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if (action.evt == KEY_EVT_LONG_START)
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{
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s_home_active = 0u;
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s_jog_key = KEY_3;
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stepper->x_zero = 0u;
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local_motion_start(stepper, GPIO_PIN_SET, s_speed_levels[s_speed_idx], HOME_TRAVEL_MM);
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debug_printf("[KEY] JOG- start @ %.1f mm/s", s_speed_levels[s_speed_idx]);
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}
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else if (action.evt == KEY_EVT_RELEASE && s_jog_key == KEY_3)
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{
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local_motion_stop_decel(stepper);
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s_jog_key = KEY_NONE;
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debug_printf("[KEY] JOG- release -> decel stop");
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}
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break;
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case KEY_4:
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if (action.evt == KEY_EVT_CLICK)
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{
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s_speed_idx++;
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if (s_speed_idx >= SPEED_LEVEL_COUNT)
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{
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s_speed_idx = 0u;
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}
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debug_printf("[KEY] SPEED -> %.1f mm/s", s_speed_levels[s_speed_idx]);
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}
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break;
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case KEY_5:
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if (action.evt == KEY_EVT_CLICK)
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{
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local_motion_estop(stepper);
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debug_printf("[KEY] STOP");
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}
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break;
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default:
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break;
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}
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}
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}
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