diff --git a/README.md b/README.md index 58aff36..a8939d2 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,9 @@ -## MSPM03507 FREERTOS C++ CLION TEMPLATE PROJECT 工程分享 +## MSPM03507 FREERTOS C++ CLION PWLINK TEMPLATE PROJECT 工程分享 > * 作者：博文 > * 邮箱：boen.shi@qq.com -> * 时间：2025/07/22 +> * 创建时间：2025/07/22 +> * 修改时间：2026/07/22 --- @@ -14,11 +15,12 @@ > 由于博文已经给大家写好批处理文件了，所以配置起来很简单了 -1. 按照[立创开发板](https://wiki.lckfb.com/zh-hans/tmx-mspm0g3507/keil-beginner/install.html)官方文档，配置好TI SDK以及SYSCONFIG -2. 配置好`OpenOCD`驱动，配置好`arm-none-eabi-gcc/g++`工具链，并配置好环境变量。自行搜索，这里不再赘述 -3. 明确自己`sysconfig`和sdk的安装位置 -4. 打开`sysconfig_gui_cli.bat`，修改用户修改区的配置（注意结尾斜杠问题） -5. 配置Clion，文件>设置>工具>外部工具，点击“+”添加，填写以下内容，保存关闭 +1. 按照[立创开发板](https://wiki.lckfb.com/zh-hans/tmx-mspm0g3507/keil-beginner/install.html)官方文档，配置好TI SDK以及SYSCONFIG。 +2. 强烈建议SDK用`mspm0_sdk_2_02_00_05`，Sysconfig使用`3772`版本，似乎下载最新版本的SDK，Sysconfig中GPIO配置页面会报错！ +3. 配置好`OpenOCD`驱动，配置好`CMake`，配置好`arm-none-eabi-gcc/g++`工具链，并配置进环境变量。自行搜索，这里不再赘述 +4. 明确自己`sysconfig`和sdk的安装位置 +5. 打开`sysconfig_gui_cli.bat`，修改用户修改区的配置（注意结尾斜杠问题） +6. 配置Clion，文件>设置>工具>外部工具，点击“+”添加，填写以下内容，保存关闭 ```bat 名称：SysConfig @@ -27,8 +29,9 @@ 工作目录：$ProjectFileDir$ ``` -6. 右键`mspm0.syscfg`，选中`外部工具` `Sysconfig`，启动SysConfig进行编辑，退出后自动运行CLI进行文件生成 -7. 添加PWLINK配置文件，点击配置，编辑配置，添加OpenOCD，目标选中就行，面板文件选择`cmsis_dap.cfg` +7. 右键`mspm0.syscfg`，选中`外部工具` `Sysconfig`，启动SysConfig进行编辑，退出后自动运行CLI进行文件生成 +8. 添加PWLINK配置文件，点击配置，编辑配置，添加OpenOCD，目标选中就行，面板文件选择`cmsis_dap.cfg` +9. 如果你是其他JLink或其他Link，自己在OpenOCD中寻找对应的驱动文件即可！ ### 注意事项 * 请每次修改文件后重新加载CMAKE，否则会报错 diff --git a/example/2025_include_user/Beep.h b/example/2025_include_user/Beep.h deleted file mode 100644 index 8173a31..0000000 --- a/example/2025_include_user/Beep.h +++ /dev/null @@ -1,15 +0,0 @@ -#ifndef BEEP_H -#define BEEP_H - -#include "ti_msp_dl_config.h" - -class Beep { -public: - static void init(); - static void inject(); - - static void start(); - static void stop(); -}; - -#endif //BEEP_H diff --git a/example/2025_include_user/Encoder.h b/example/2025_include_user/Encoder.h deleted file mode 100644 index 2cb097a..0000000 --- a/example/2025_include_user/Encoder.h +++ /dev/null @@ -1,36 +0,0 @@ -#ifndef __ENCODER_H -#define __ENCODER_H - -#include -#include "ti_msp_dl_config.h" - -class Encoder { -public: - struct Speed { - int left; - int right; - }; - - static void init(); - static void inject(); - - static Speed getSpeeds(); - static Speed getRealSpeeds(); - - static int getLeftSpeed(); - static int getRealLeftSpeed(); - - static int getRightSpeed(); - static int getRealRightSpeed(); - - static int getLeftDirection(); - static int getRightDirection(); - - static Speed ticks; - static Speed direction; - static Speed speed; - static Speed real_speed; -}; - - -#endif diff --git a/example/2025_include_user/Host.h b/example/2025_include_user/Host.h deleted file mode 100644 index a3df4c7..0000000 --- a/example/2025_include_user/Host.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef HOST_H -#define HOST_H - -#include "ti_msp_dl_config.h" -#include -#include -#include "../../include/user/Print.h" -#include - - -#define MAX_KEYS 10 -#define MAX_KEY_LENGTH 32 - -typedef struct { - char key[MAX_KEY_LENGTH]; - double value; -} KeyValuePair; - -class Host { -public: - - static double posX; - static double posY; - static int x_count; - static int y_count; - - static void init(); // 模块初始化 - static void inject(char ch); // 数据注入（串口、I2C回调函数注入数据） - static double get(const char* key, double defaultValue = 0.0); - static double getWithoutClean(const char *key, double defaultValue = 0.0); - - static void info(const char* format, ...); - static void warn(const char* format, ...); - static void error(const char* format, ...); - static void plot(const char* key, double value); - -private: - static KeyValuePair data[MAX_KEYS]; - static int count; - - static void log(const char* level, const char* format, ...); -}; - -#endif //HOST_H \ No newline at end of file diff --git a/example/2025_include_user/Imu.h b/example/2025_include_user/Imu.h deleted file mode 100644 index d1f0f5e..0000000 --- a/example/2025_include_user/Imu.h +++ /dev/null @@ -1,32 +0,0 @@ -#ifndef IMU_H -#define IMU_H - -#include "ti_msp_dl_config.h" - -class Imu { -public: - struct Data { - float roll; - float pitch; - float yaw; - float ax; - float ay; - float az; - }; - - static void init(); // 模块初始化 - static void inject(); // 数据注入（串口、I2C回调函数注入数据） - - static Data getData(); - static float getRoll(); - static float getPitch(); - static float getYaw(); - static float getAx(); - static float getAy(); - static float getAz(); - - static uint8_t _buffer; - static Data _data; -}; - -#endif //IMU_H diff --git a/example/2025_include_user/Key.h b/example/2025_include_user/Key.h deleted file mode 100644 index 0b2dde9..0000000 --- a/example/2025_include_user/Key.h +++ /dev/null @@ -1,38 +0,0 @@ -#ifndef KEY_H -#define KEY_H - -#include "ti_msp_dl_config.h" - -#define KEY1 0 -#define KEY2 1 -#define KEY3 2 -#define KEY4 3 - -#define KEY_LEFT KEY1 -#define KEY_RIGHT KEY2 -#define KEY_ACCESS KEY3 -#define KEY_CANCEL KEY4 - -#define KEY1_PIN_ID 7 -#define KEY2_PIN_ID 10 -#define KEY3_PIN_ID 11 -#define KEY4_PIN_ID 14 - -class Key { -public: - struct KeyData { - uint8_t id; - GPIO_Regs *port; - uint32_t pin; - uint8_t state; - }; - - static KeyData keys[]; - static void init(); - static uint8_t getState(uint8_t id); - static void setState(uint8_t id, uint8_t state); - -private: -}; - -#endif //KEY_H diff --git a/example/2025_include_user/Motor.h b/example/2025_include_user/Motor.h deleted file mode 100644 index 3feea1f..0000000 --- a/example/2025_include_user/Motor.h +++ /dev/null @@ -1,27 +0,0 @@ -#ifndef MOTOR_H -#define MOTOR_H - -#include "ti_msp_dl_config.h" - -class Motor { -public: - static void init(); // 模块初始化 - static void inject(); // 数据注入（串口、I2C回调函数注入数据） - static void setLeftSpeed(int left_speed); - static void setRightSpeed(int right_speed); - static void setSpeed(int left_speed, int right_speed); - static void stopLeft(); - static void stopRight(); - static void stop(); - -private: - static uint8_t _inited; - static uint8_t _data[]; - static uint8_t motor_init; // 电机初始化标志 - static void setLeftDirection(uint8_t direction); - static void setRightDirection(uint8_t direction); - static void setDirection(uint8_t left_direction, uint8_t right_direction); - static int Abs(int num); // 取绝对值函数 -}; - -#endif //MOTOR_H diff --git a/example/2025_include_user/Oled.hpp b/example/2025_include_user/Oled.hpp deleted file mode 100644 index 83b8842..0000000 --- a/example/2025_include_user/Oled.hpp +++ /dev/null @@ -1,37 +0,0 @@ -#ifndef OLED_OLED_H_ -#define OLED_OLED_H_ - -#include "../../include/user/OledFont.h" -#include -#include "ti_msp_dl_config.h" - -class OLED { -public: - struct Data { - // 用户获取到的数据集合 - }; - - static void Init(); // 初始化函数 - static void Clear(); // 清屏函数 - static void Display_On(); // 开启显示 - static void Display_Off(); // 关闭显示 - static void Set_Pos(uint8_t x, uint8_t y); // 设置显示位置 - static unsigned int oled_pow(uint8_t m, uint8_t n); - static void ShowNum(uint8_t x, uint8_t y, unsigned int num, uint8_t len, uint8_t size2, uint8_t Color_Turn); // 显示数字 - static void ShowDecimal(uint8_t x, uint8_t y, float num, uint8_t z_len, uint8_t f_len, uint8_t size2, uint8_t Color_Turn); // 显示浮点数 - static void ShowChar(uint8_t x, uint8_t y, uint8_t chr, uint8_t Char_Size, uint8_t Color_Turn); // 显示字符 - static void ShowString(uint8_t x, uint8_t y, char* chr, uint8_t Char_Size, uint8_t Color_Turn); // 显示字符串 - static void ShowChinese(uint8_t x, uint8_t y, uint8_t no, uint8_t Color_Turn); // 显示汉字 - static void DrawBMP(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1, uint8_t* BMP, uint8_t Color_Turn); // 显示BMP图片 - static void HorizontalShift(uint8_t direction); // 水平全屏滚动 - static void Some_HorizontalShift(uint8_t direction, uint8_t start, uint8_t end); // 部分水平滚动 - static void VerticalAndHorizontalShift(uint8_t direction); // 垂直水平全屏滚动 - static void DisplayMode(uint8_t mode); // 设置显示模式 - static void IntensityControl(uint8_t intensity); // 设置亮度 - -private: - static void WR_CMD(uint8_t cmd); // 写命令 - static void WR_DATA(uint8_t data); // 写数据 -}; - -#endif /* OLED_OLED_H_ */ \ No newline at end of file diff --git a/example/2025_include_user/OledFont.h b/example/2025_include_user/OledFont.h deleted file mode 100644 index f723309..0000000 --- a/example/2025_include_user/OledFont.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef OLED_OLEDFONT_H_ -#define OLED_OLEDFONT_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -extern const unsigned char F6x8[][6]; -extern const unsigned char F8X16[]; -extern const unsigned char Hzk[][32]; -extern unsigned char BMP1[]; - -#ifdef __cplusplus -} -#endif - -#endif /* OLED_OLEDFONT_H_ */ diff --git a/example/2025_include_user/OledMenuConfig.h b/example/2025_include_user/OledMenuConfig.h deleted file mode 100644 index d420c30..0000000 --- a/example/2025_include_user/OledMenuConfig.h +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef OLEDMENUCONFIG_H -#define OLEDMENUCONFIG_H - -#include "../../include/user/OledMenuPaint.h" - -#define _ 0 - -// const MenuPaint::Menu menuInfo[] = { -// { "Status:Normal", MenuPaint::MENU_TYPE_INFO, nullptr, 0, 0 }, -// { "Vol:3.3V", MenuPaint::MENU_TYPE_INFO, nullptr, 0, 0 }, -// { "Temp:25C", MenuPaint::MENU_TYPE_INFO, nullptr, 0, 0 }, -// { "Version:v1.0.2", MenuPaint::MENU_TYPE_INFO, nullptr, 0, 0 }, -// { "Name: Boen", MenuPaint::MENU_TYPE_INFO, nullptr, 0, 0 } -// }; - -// const MenuPaint::Menu menuSystem[] = { -// { "FuncA", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 0 }, // switchId = 0 -// { "FuncB", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 1 }, // switchId = 1 -// }; -// -// const MenuPaint::Menu menuRoot[] = { -// { "Settings", MenuPaint::MENU_TYPE_FOLDER, menuSystem, 2, 0 }, -// { "Infos", MenuPaint::MENU_TYPE_FOLDER, menuInfo, 5, 0 } -// }; - -constexpr MenuPaint::Menu task1Menu[] = { - {"N=1", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 0}, - {"N=2", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 1}, - {"N=3", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 2}, - {"N=4", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 3}, - {"N=5", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 4}, - -}; - -constexpr MenuPaint::Menu menuRoot[] { - {"Num", MenuPaint::MENU_TYPE_FOLDER, task1Menu, 5, 0}, - {"HighSpeed", MenuPaint::MENU_TYPE_SWITCH, nullptr, 0, 5}, - -}; - -#endif // OLEDMENUCONFIG_H diff --git a/example/2025_include_user/OledMenuDriver.h b/example/2025_include_user/OledMenuDriver.h deleted file mode 100644 index 6fc965b..0000000 --- a/example/2025_include_user/OledMenuDriver.h +++ /dev/null @@ -1,63 +0,0 @@ -#ifndef OLED_MENU_DRIVER_H_ -#define OLED_MENU_DRIVER_H_ - -#include "../../include/user/Print.h" -#include -#include -#include "ti_msp_dl_config.h" - - -class MenuDriver { - public: - static u8g2_t u8g2; // 静态成员变量 - - inline static void init() { - oled_init(); - } - - static void screenOn(); - static void screenOff(); - - static void* getCanvasBuffer(); - - static uint8_t getBufferTileHeight(); - static uint8_t getBufferTileWidth(); - static void canvasUpdate(); - static void canvasClear(); - static void setFont(const uint8_t *_font); - static void setFont(const uint8_t *_font, uint8_t font_mode, uint8_t font_direction); - static uint8_t getFontWidth(const char *_text); - static uint8_t getFontHeight(); - static void setDrawType(uint8_t type); - static void drawPixel(float x, float y); - static void draw(float _x, float _y, const char *_text, const uint8_t *_font, uint8_t _font_mode, uint8_t _font_direction); - static void draw(float _x, float _y, const char *_text, uint8_t _font_mode, uint8_t _font_direction); - static void draw(float _x, float _y, const char *_text); - static void drawEnglish(float _x, float _y, const char *_text); - static void drawChinese(float _x, float _y, const char *_text); - static void drawVDottedLine(float x, float y, float h); - static void drawHDottedLine(float x, float y, float l); - static void drawVLine(float x, float y, float h); - static void drawHLine(float x, float y, float l); - static void drawBMP(float x, float y, float w, float h, const uint8_t* bitMap); - static void drawBox(float x, float y, float w, float h); - static void drawRBox(float x, float y, float w, float h, float r); - static void drawFrame(float x, float y, float w, float h); - static void drawRFrame(float x, float y, float w, float h, float r); - - // static void delay(unsigned long mill); - // unsigned long millis(); - // unsigned long getTick(); - // unsigned long getRandomSeed(); - - static void drawCheckMark(float x, float y, float w, float h); - - private: - static void oled_init(); - static void ssd1306_transmit_cmd(uint8_t cmd); - static void ssd1306_transmit_data(uint8_t data, uint8_t mode); - static void ssd1306_set_cursor(unsigned char x, unsigned char y); - static void ssd1306_fill(unsigned char data); -}; - -#endif \ No newline at end of file diff --git a/example/2025_include_user/OledMenuPaint.h b/example/2025_include_user/OledMenuPaint.h deleted file mode 100644 index 46b9acf..0000000 --- a/example/2025_include_user/OledMenuPaint.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef MENU_PAINT_H_ -#define MENU_PAINT_H_ - -#include - -class MenuPaint { -public: - enum MenuType { - MENU_TYPE_FOLDER, - MENU_TYPE_SWITCH, - MENU_TYPE_INFO - }; - - struct Menu { - const char *name; - MenuType type; - const Menu *subMenus; - uint8_t subMenuCount; - uint8_t switchId; // 新增字段：开关ID (仅在type为SWITCH时有效) - }; - - static void Init(); // 初始化菜单 - static void Paint(); // 渲染菜单 - static void ScrollUp(); // 向上移动 - static void ScrollDown(); // 向下移动 - static void Enter(); // 进入子菜单/切换开关 - static void Exit(); // 返回上级菜单 - - static bool GetSwitchState(uint8_t switchId); // 新增接口：获取开关状态 - -private: - static const Menu *currentMenu; // 当前菜单指针 - static uint8_t currentMenuSize; // 当前菜单项数量 - static int8_t selectIndex; // 当前选中项索引 - static int8_t scrollOffset; // 滚动偏移 - - static bool switchStates[20]; // 开关状态（按switchId匹配） - static const Menu *menuStack[5]; // 菜单返回栈 - static uint8_t stackIndex; - - static void RenderItem(int y, const char *text, bool selected, bool checked); -}; - -#endif // MENU_PAINT_H_ diff --git a/example/2025_include_user/Potentiometer.h b/example/2025_include_user/Potentiometer.h deleted file mode 100644 index 0e8ff97..0000000 --- a/example/2025_include_user/Potentiometer.h +++ /dev/null @@ -1,4 +0,0 @@ -#ifndef POTENTIOMETER_H -#define POTENTIOMETER_H - -#endif //POTENTIOMETER_H diff --git a/example/2025_include_user/Print.h b/example/2025_include_user/Print.h deleted file mode 100644 index 4d5d983..0000000 --- a/example/2025_include_user/Print.h +++ /dev/null @@ -1,29 +0,0 @@ -#ifndef PRINTF_H -#define PRINTF_H - -#include -#include -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - void Print_init(); - - // 格式化输出函数 - void print(const char *format, ...); - - // 简单字符串输出（可选） - void print_str(const char *str); - - // 单字符发送（可选） - void print_char(char ch); - -#ifdef __cplusplus -} -#endif - -#endif // PRINTF_H diff --git a/example/2025_include_user/Servo.h b/example/2025_include_user/Servo.h deleted file mode 100644 index 30573a8..0000000 --- a/example/2025_include_user/Servo.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef SERVO_H -#define SERVO_H -#include "ti_msp_dl_config.h" - -class Servo -{ -public: - static void SetUpAngle(const float angle); - static void SetDownAngle(const float angle); -}; -#endif //SERVO_H diff --git a/example/2025_include_user/Stepmotor.h b/example/2025_include_user/Stepmotor.h deleted file mode 100644 index ed1b41d..0000000 --- a/example/2025_include_user/Stepmotor.h +++ /dev/null @@ -1,45 +0,0 @@ -#ifndef STEPMOTOR_H -#define STEPMOTOR_H - -#define FRAME_LENGTH 11 - -#include "ti_msp_dl_config.h" -#include <../../example/2025_include_user/Print.h> - -class StepMotor { -public: - typedef enum { - SPEED_MODE = 1, - POSITION_MODE, - TORQUE_MODE, - ABSOLUTE_ANGLE_MODE - } ControlMode; - - struct Data { - uint8_t address; - uint8_t flag; - uint16_t speed; - int32_t position; - uint8_t bcc; - }; - - static void init(); - static void inject(); - - static void setSpeed(uint8_t direction, uint8_t subdivide, float speed_rad_s); - static void setPosition(uint8_t direction, uint8_t subdivide, float angle_deg, float speed_rad_s); - static void setTorque(uint8_t direction, uint8_t subdivide, uint16_t torque_mA, float speed_rad_s); - static void setAbsoluteAngle(uint8_t direction, uint8_t subdivide, float absolute_angle_deg, float speed_rad_s); - - static uint16_t getSpeed(); - static uint32_t getPosition(); - - static uint8_t _buffer; - static Data _data; - -private: - static void transmit_command(const uint8_t *cmd); - static void encode_frame(ControlMode mode, uint8_t direction, uint8_t subdivide, float angle_deg, uint16_t torque_mA, float absolute_angle_deg, float speed_rad_s, uint8_t *frame_buffer); -}; - -#endif //STEPMOTOR_H diff --git a/example/2025_include_user/TrackerGpio.h b/example/2025_include_user/TrackerGpio.h deleted file mode 100644 index 43fb299..0000000 --- a/example/2025_include_user/TrackerGpio.h +++ /dev/null @@ -1,21 +0,0 @@ -#ifndef TRACKER_GPIO_H -#define TRACKER_GPIO_H - -#include "ti_msp_dl_config.h" -#include -#include - -class TrackerGpio { -public: - struct Data { - char data[7]; - }; - - static void init(); // 模块初始化 - static void inject(); // 数据注入（串口、I2C回调函数注入数据） - static Data getData(); - - static Data _data; // 声明静态成员变量 - -}; -#endif //TRACKER_GPIO_H \ No newline at end of file diff --git a/example/2025_include_user/TrackerMpu.h b/example/2025_include_user/TrackerMpu.h deleted file mode 100644 index 3ded7b0..0000000 --- a/example/2025_include_user/TrackerMpu.h +++ /dev/null @@ -1,24 +0,0 @@ -#ifndef TRACKER_H -#define TRACKER_H - -#include "ti_msp_dl_config.h" -#include -#include -#include - -class TrackerMpu { -public: - struct Data { - char data[8]; - }; - - static void init(); // 模块初始化 - static void inject(); // 数据注入（串口、I2C回调函数注入数据） - static Data getData(); - - static uint8_t _buffer; - static Data _data; // 声明静态成员变量 - -}; - -#endif //TRACKER_H \ No newline at end of file diff --git a/example/2025_include_user/Ultrasonic.h b/example/2025_include_user/Ultrasonic.h deleted file mode 100644 index 7450ee2..0000000 --- a/example/2025_include_user/Ultrasonic.h +++ /dev/null @@ -1,4 +0,0 @@ -#ifndef ULTRASONIC_H -#define ULTRASONIC_H - -#endif //ULTRASONIC_H diff --git a/example/2025_main.cpp b/example/2025_main.cpp deleted file mode 100644 index e27b663..0000000 --- a/example/2025_main.cpp +++ /dev/null @@ -1,400 +0,0 @@ -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include <2025_include_user/Beep.h> -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -/************ 外部中断测试部分 ************/ - -extern "C" void GROUP1_IRQHandler() { - //读取Group1的中断寄存器并清除中断标志位 - switch (DL_Interrupt_getPendingGroup(DL_INTERRUPT_GROUP_1)) { - //检查是否是KEY的GPIOB端口中断，注意是INT_IIDX，不是PIN_22_IIDX - case Key_GPIOA_INT_IIDX: - case GPIO_MULTIPLE_GPIOB_INT_IIDX: { - const uint32_t statusA = DL_GPIO_getPendingInterrupt(GPIOA); - const uint32_t statusB = DL_GPIO_getPendingInterrupt(GPIOB); - // print("%d\n", statusA); - // print("%d\n", statusB); - if (statusA == KEY1_PIN_ID + 1) { - Key::keys[KEY1].state = 1; - } else if (statusB == KEY2_PIN_ID + 1) { - Key::keys[KEY2].state = 1; - } else if (statusB == KEY3_PIN_ID + 1) { - Key::keys[KEY3].state = 1; - } else if (statusB == KEY4_PIN_ID + 1) { - Key::keys[KEY4].state = 1; - } - // TrackerGpio::inject(Tracker_Track1_PIN, DL_GPIO_readPins(Tracker_Track1_PORT, Tracker_Track1_PIN) > 0); - // TrackerGpio::inject(Tracker_Track2_PIN, DL_GPIO_readPins(Tracker_Track2_PORT, Tracker_Track2_PIN) > 0); - // TrackerGpio::inject(Tracker_Track3_PIN, DL_GPIO_readPins(Tracker_Track3_PORT, Tracker_Track3_PIN) > 0); - // TrackerGpio::inject(Tracker_Track4_PIN, DL_GPIO_readPins(Tracker_Track4_PORT, Tracker_Track4_PIN) > 0); - // TrackerGpio::inject(Tracker_Track5_PIN, DL_GPIO_readPins(Tracker_Track5_PORT, Tracker_Track5_PIN) > 0); - // TrackerGpio::inject(Tracker_Track6_PIN, DL_GPIO_readPins(Tracker_Track6_PORT, Tracker_Track6_PIN) > 0); - // TrackerGpio::inject(Tracker_Track7_PIN, DL_GPIO_readPins(Tracker_Track7_PORT, Tracker_Track7_PIN) > 0); - DL_GPIO_clearInterruptStatus(GPIOA, statusA); - DL_GPIO_clearInterruptStatus(GPIOB, statusB); - break; - } - default: - break; - } -} - -/************ FreeRtos 任务定义区 ************/ - -[[noreturn]] void vLedTask(void *pvParameters) { - while (true) { - Led::on(LED0); - // DL_GPIO_setPins(Lights_PORT, Lights_Light_PIN); - vTaskDelay(pdMS_TO_TICKS(500)); // 每500毫秒切换一次LED状态 - Led::off(LED0); - // DL_GPIO_clearPins(Lights_PORT, Lights_Light_PIN); - vTaskDelay(pdMS_TO_TICKS(500)); // 每500毫秒切换一次LE+D状态 - } -} - -[[noreturn]] void vOledTask(void *pvParameters) { - MenuDriver::init(); - MenuPaint::Init(); - while (true) { - const int direction = (int) Host::get("Direction", 0); - if (Key::getState(KEY1 || direction == 2)) { - MenuPaint::ScrollUp(); - } - if (Key::getState(KEY2) || direction == 8) { - MenuPaint::ScrollDown(); - } - if (Key::getState(KEY3) || direction == 4) { - MenuPaint::Enter(); - } - if (Key::getState(KEY4) || direction == 6) { - MenuPaint::Exit(); - } - - MenuPaint::Paint(); - vTaskDelay(pdMS_TO_TICKS(10)); - } -} - -[[noreturn]] void vTestTask(void *pvParameters) { - while (true) { - // print("Ctrl: %f\n", Host::get("Ctrl", 0.0)); - // print("x: %f\n", Host::get("x", 0.0)); - // print("y: %f\n", Host::get("y", 0.0)); - // Motor::setSpeed(3000, 3000); - // TrackerGpio::Data data = TrackerGpio::getData(); // 每位数据：0 表示压线，1 表示空白 - // const char *d = data.data; - // - // print("Data:%d,%d,%d,%d,%d,%d,%d\n", d[0], d[1], d[2], d[3], d[4], d[5], d[6]); - // vTaskDelay(pdMS_TO_TICKS(100)); - } -} - -static uint8_t turn_limit = 0; -[[noreturn]] void vTrackerTask(void *pvParameters) { - // 计算偏移量（简单加权） - // 左侧为正，右侧为负 - constexpr float weights[7] = {-2.1, -1.5, -0.8, 0, 0.8, 1.5, 2.1}; - constexpr int base_speed = 4000; // 基础速度 - constexpr int adjust_speed = 2000; // 差速调整速度 - - while (true) { - if (turn_limit <= 0) { - for (uint8_t i = 0; i < 5; i++) { - if (MenuPaint::GetSwitchState(i) == 1) { - turn_limit = 4 * (i + 1) + 1; - } - } - - Motor::stop(); - vTaskDelay(pdMS_TO_TICKS(50)); - continue; - } - - // 读取循迹传感器数据 - TrackerGpio::Data data = TrackerGpio::getData(); // 每位数据：0 表示压线，1 表示空白 - const char *d = data.data; - - float error = 0; - int sum = 0; - - for (int i = 0; i < 7; ++i) { - if (d[i] == 0) { - // 压到线 - error += weights[i]; - sum++; - } - } - - if (sum == 0) { - turn_limit--; - if (turn_limit <= 0) { - Motor::stop(); - vTaskDelay(pdMS_TO_TICKS(50)); - continue; - } - - uint8_t is_speed = (MenuPaint::GetSwitchState(5) == 1) ? 1 : 0; - uint8_t speed = is_speed ? 210 : 160; - Motor::setLeftSpeed(0); - Motor::setRightSpeed(speed * 10); - while (true) { - data = TrackerGpio::getData(); // 每位数据：0 表示压线，1 表示空白 - const char *inner_d = data.data; - if (inner_d[3] == 0 || inner_d[2] == 0 || inner_d[1] == 0 || inner_d[0] == 0) - break; - Motor::setLeftSpeed(0); - Motor::setRightSpeed(speed * 10); - vTaskDelay(pdMS_TO_TICKS(50)); - } - } else { - int left_speed = base_speed; - int right_speed = base_speed; - - error = error / sum; - // 差速控制，误差越大，左右轮速度差越大 - left_speed = (int) (base_speed - error * adjust_speed / 4); - right_speed = (int) (base_speed + error * adjust_speed / 4); - - // 限制最大最小速度 - if (left_speed > 10000) left_speed = 10000; - if (left_speed < -10000) left_speed = -10000; - if (right_speed > 10000) right_speed = 10000; - if (right_speed < -10000) right_speed = -10000; - - // 设置电机速度 - Motor::setLeftSpeed(left_speed); - Motor::setRightSpeed(right_speed); - - vTaskDelay(pdMS_TO_TICKS(50)); - } - } -} - -[[noreturn]] void vStepMotorTask(void *pvParameters) { - // // PID参数（根据实际调试再微调） - // - // const float integral_limit = 500.0f; // 积分限幅，避免积分快速累积 - // const float DEAD_ZONE = 10.0f; // 误差死区：误差在±5像素内不动作 - // - // float integral = 0.0f; - // float last_error = 0.0f; - vTaskDelay(pdMS_TO_TICKS(500)); - - while (true) { - // DL_TimerG_setCaptureCompareValue(Servo_INST, (uint32_t)800, GPIO_Servo_C0_IDX); - Servo::SetUpAngle(Host::getWithoutClean("angle", 87.0)); - // Servo::SetDownAngle(120); - // // if (MenuPaint::GetSwitchState(5) == 0 || MenuPaint::GetSwitchState(6) == 0) { - // // vTaskDelay(pdMS_TO_TICKS(100)); - // // continue; - // // } - // - // const double Kp = Host::getWithoutClean("kp", 0.2); - // const double Ki = Host::getWithoutClean("ki", 0.0005); - // const double Kd = Host::getWithoutClean("kd", 0.006); - // const double t_ = Host::posX; // 获取像素误差，范围0~240 - // const uint8_t direction = (t_ > 0) ? 1 : 0; - // const double error = t_ > 0 ? t_ : -t_; - // - // - // print("Kp: %f, Ki: %f, Kd: %f\n", Kp, Ki, Kd); - // - // // 死区处理 - // if (fabs(error) < DEAD_ZONE) { - // StepMotor::setPosition(0, 32, 0.0f, 0); // 停止动作 - // integral = 0; // 死区内积分归零，避免积累 - // // while (true) { - // // // TODO 激光ON - // // vTaskDelay(pdMS_TO_TICKS(1000)); - // // // TODO 激光OFF - // // } - // } else { - // // 积分项累加 & 限幅 - // integral += error; - // if (integral > integral_limit) integral = integral_limit; - // if (integral < -integral_limit) integral = -integral_limit; - // - // // 微分项 - // float derivative = error - last_error; - // - // // PID输出 - // float output = Kp * error + Ki * integral + Kd * derivative; - // - // // 限制输出范围（0.3° ~ 2.0°） - // if (output < 0.3f) output = 0.3f; - // if (output > 4.0f) output = 4.0f; - // - // // 控制步进电机 - // StepMotor::setPosition(direction, 32, output, -10); - // // print("Motor: speed=%f, direction=%d\n", output, direction); - // - // last_error = error; // 保存上次误差 - // } - - vTaskDelay(pdMS_TO_TICKS(500)); - } -} - -/***************** 主函数 ******************/ - -int main() { - /*** SysConfig 初始化 ***/ - SYSCFG_DL_init(); - - /*** 模块初始化 ***/ - Print_init(); - Encoder::init(); - // Imu::init(); - Motor::init(); - // TrackerMpu::init(); - // Beep::init(); - // Led::init(); - Host::init(); - Key::init(); - // StepMotor::init(); - - /*** FreeRtos 任务初始化 ***/ - xTaskCreate(vLedTask, "TestLedTask", 32, nullptr, 1, nullptr); - xTaskCreate(vOledTask, "vOledTask", 128, nullptr, 1, nullptr); - // xTaskCreate(vTestTask, "vTestTask", 512, nullptr, 1, nullptr); - xTaskCreate(vTrackerTask, "vTrackerTask", 256, nullptr, 1, nullptr); - xTaskCreate(vStepMotorTask, "vStepMotorTask", 32, nullptr, 1, nullptr); - - - /*** 启动 FreeRtos ***/ - vTaskStartScheduler(); - - return 0; -} - -/************ FreeRtos 错误处理部分 ************/ - -#ifdef __cplusplus -extern "C" { -#endif - -void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) { - /* 栈溢出时的处理代码 */ - /* 例如，打印错误信息并重置系统 */ - - /* 参数: - * xTask - 发生栈溢出的任务句柄 - * pcTaskName - 发生栈溢出的任务名称 - */ - - /* 通常在这里添加一些错误处理和系统恢复的代码 */ - while (1) { - /* 可以在此处添加错误处理代码，如闪烁LED或输出调试信息 */ - } -} - -/* 在全局范围内定义存储空间 */ -static StaticTask_t xIdleTaskTCB; -static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE]; - -/* 实现所需的函数 */ -void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, - StackType_t **ppxIdleTaskStackBuffer, - uint32_t *pulIdleTaskStackSize) { - /* 传递静态分配的空闲任务数据结构的地址 */ - *ppxIdleTaskTCBBuffer = &xIdleTaskTCB; - - /* 传递静态分配的空闲任务堆栈的地址 */ - *ppxIdleTaskStackBuffer = uxIdleTaskStack; - - /* 传递堆栈大小 */ - *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; -} - - -/* 为定时器任务定义静态内存 */ -static StaticTask_t xTimerTaskTCB; -static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH]; - -void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, - StackType_t **ppxTimerTaskStackBuffer, - uint32_t *pulTimerTaskStackSize) { - /* 传递静态分配的定时器任务数据结构的地址 */ - *ppxTimerTaskTCBBuffer = &xTimerTaskTCB; - - /* 传递静态分配的定时器任务堆栈的地址 */ - *ppxTimerTaskStackBuffer = uxTimerTaskStack; - - /* 传递堆栈大小 */ - *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; -} - -#ifdef __cplusplus -} -#endif - - -// [[noreturn]] void vStepMotorTask(void *pvParameters) { -// while (true) { -// double speed = Host::posX; -// uint8_t direction = 1; -// -// if (Host::x_count <= 0) { -// speed = 0.0; -// } else { -// Host::x_count--; -// if (Host::x_count == 0) { -// Host::posX = 0.0; // 用完后置零 -// } -// } -// -// direction = speed >= 0 ? 1 : 0; -// speed = speed >= 0 ? speed : -speed; -// StepMotor::setSpeed(direction, 32, float(speed)); -// print("Motor: speed=%f, direction=%d\n", speed, direction); -// -// vTaskDelay(pdMS_TO_TICKS(70)); -// } -// } - -// [[noreturn]] void vStepMotorTask(void *pvParameters) { -// while (true) { -// int error = (int) Host::posX; -// uint8_t direction = error > 0; -// if (error > 5 || error < -5) { -// StepMotor::setPosition(direction, 32, 0.5, 10); -// } -// -// vTaskDelay(pdMS_TO_TICKS(93)); -// } -// } -// print("FunA: %d\n", MenuPaint::GetSwitchState(0)); -// print("FunB: %d\n", MenuPaint::GetSwitchState(1)); -// if (MenuPaint::GetSwitchState(0) == 1) { -// Beep::start(); -// } else { -// Beep::stop(); -// } - -// [[noreturn]] void vTrackerTask(void *pvParameters) { -// while (true) { -// print("Tracker!\n"); -// const TrackerGpio::Data data = TrackerGpio::getData(); -// print("Tracker: %d, %d, %d, %d, %d, %d, %d\n", data.data[0], data.data[1], data.data[2], data.data[3], data.data[4], data.data[5], data.data[6]); -// vTaskDelay(pdMS_TO_TICKS(1000)); -// } -// } diff --git a/example/2025_source_user/Beep.cpp b/example/2025_source_user/Beep.cpp deleted file mode 100644 index a1e3bc5..0000000 --- a/example/2025_source_user/Beep.cpp +++ /dev/null @@ -1,11 +0,0 @@ -#include "../2025_include_user/Beep.h" - -void Beep::init() {} - -void Beep::start() { - DL_TimerG_startCounter(Beep_INST); -} - -void Beep::stop() { - DL_TimerG_stopCounter(Beep_INST); -} diff --git a/example/2025_source_user/Encoder.cpp b/example/2025_source_user/Encoder.cpp deleted file mode 100644 index 0c82c56..0000000 --- a/example/2025_source_user/Encoder.cpp +++ /dev/null @@ -1,91 +0,0 @@ -#include "../2025_include_user/Encoder.h" - -#define RADIUS_OF_TYRE 30 // 轮胎半径，单位：mm -#define LINE_SPEED_C (2.0f * 3.1415926f * RADIUS_OF_TYRE) // 一圈对应的线长，mm -#define SPEED_RATIO 50 - -Encoder::Speed Encoder::ticks = {0, 0}; -Encoder::Speed Encoder::direction = {0, 0}; -Encoder::Speed Encoder::speed = {0, 0}; -Encoder::Speed Encoder::real_speed = {0, 0}; - -extern "C" { - void Encoder1_TIM_INST_IRQHandler(void) - { - switch (DL_TimerG_getPendingInterrupt(Encoder1_TIM_INST)) - { - case DL_TIMERG_IIDX_LOAD: - Encoder::ticks.left++; - Encoder::direction.left = DL_GPIO_readPins(Encoder1_GPIO_PORT, Encoder1_GPIO_Encoder1B_GPIO_PIN) ? -1 : 1; - break; - default: - break; - } - } - - void Encoder2_TIM_INST_IRQHandler(void) - { - switch (DL_TimerA_getPendingInterrupt(Encoder2_TIM_INST)) - { - case DL_TIMERG_IIDX_LOAD: - Encoder::ticks.right++; - Encoder::direction.right = DL_GPIO_readPins(Encoder2_GPIO_PORT, Encoder2_GPIO_Encoder2B_GPIO_PIN) ? -1 : 1; - break; - default: - break; - } - } - - void Encoder_Count_INST_IRQHandler(void) { - Encoder::inject(); - } -} - -void Encoder::init() { - NVIC_EnableIRQ(Encoder1_TIM_INST_INT_IRQN); - DL_TimerG_startCounter(Encoder1_TIM_INST); - - NVIC_EnableIRQ(Encoder2_TIM_INST_INT_IRQN); - DL_TimerA_startCounter(Encoder2_TIM_INST); - - NVIC_EnableIRQ(Encoder_Count_INST_INT_IRQN); - DL_TimerG_startCounter(Encoder_Count_INST); -} - -void Encoder::inject() { - speed = {ticks.left * SPEED_RATIO, ticks.right * SPEED_RATIO}; - real_speed = {ticks.left * SPEED_RATIO * direction.left, ticks.right * SPEED_RATIO * direction.right}; - ticks = {0, 0}; -} - -Encoder::Speed Encoder::getSpeeds() { - return speed; -} - -Encoder::Speed Encoder::getRealSpeeds() { - return real_speed; -} - -int Encoder::getRealLeftSpeed() { - return real_speed.left; -} - -int Encoder::getRealRightSpeed() { - return real_speed.right; -} - -int Encoder::getLeftSpeed() { - return speed.left; -} - -int Encoder::getRightSpeed() { - return speed.right; -} - -int Encoder::getLeftDirection() { - return direction.left; -} - -int Encoder::getRightDirection() { - return direction.right; -} diff --git a/example/2025_source_user/Host.cpp b/example/2025_source_user/Host.cpp deleted file mode 100644 index fd92124..0000000 --- a/example/2025_source_user/Host.cpp +++ /dev/null @@ -1,275 +0,0 @@ -#include "../2025_include_user/Host.h" -#include -#include - -extern "C" void HOST_INST_IRQHandler(void) { - const char _buffer = DL_UART_Main_receiveData(HOST_INST); - switch (DL_UART_getPendingInterrupt(HOST_INST)) { - case DL_UART_IIDX_RX: - Host::inject(_buffer); - break; - default: - break; - } - - NVIC_ClearPendingIRQ(HOST_INST_INT_IRQN); - DL_UART_enableInterrupt(HOST_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 -} - -extern "C" void PRINTF_INST_IRQHandler(void) { - const char _buffer = DL_UART_Main_receiveData(PRINTF_INST); - switch (DL_UART_getPendingInterrupt(PRINTF_INST)) { - case DL_UART_IIDX_RX: - Host::inject(_buffer); - break; - default: - break; - } - - NVIC_ClearPendingIRQ(PRINTF_INST_INT_IRQN); - DL_UART_enableInterrupt(PRINTF_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 -} - - -KeyValuePair Host::data[MAX_KEYS] = {0}; // 初始化为0 -int Host::count = 0; - -void Host::init() { - NVIC_ClearPendingIRQ(HOST_INST_INT_IRQN); - NVIC_EnableIRQ(HOST_INST_INT_IRQN); - DL_UART_enable(HOST_INST); // 启用 UART 模块 - DL_UART_enableInterrupt(HOST_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 - - NVIC_ClearPendingIRQ(PRINTF_INST_INT_IRQN); - NVIC_EnableIRQ(PRINTF_INST_INT_IRQN); - DL_UART_enable(PRINTF_INST); // 启用 UART 模块 - DL_UART_enableInterrupt(PRINTF_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 -} - -double Host::posX = 0.0; -double Host::posY = 0.0; -int Host::x_count = 0; -int Host::y_count = 0; - -void Host::inject(const char ch) { - static char buffer[MAX_KEY_LENGTH]; - static int bufferIndex = 0; - static bool isKey = false; - static bool isValue = false; - static char key[MAX_KEY_LENGTH]; - static char value[MAX_KEY_LENGTH]; - - if (ch == '$') { - bufferIndex = 0; - isKey = true; - isValue = false; - } else if (ch == '(') { - bufferIndex = 0; - } else if (ch == ')') { - strncpy(key, buffer, bufferIndex); - key[bufferIndex] = '\0'; - bufferIndex = 0; - isKey = false; - isValue = true; - } else if (ch == '#') { - strncpy(value, buffer, bufferIndex); - value[bufferIndex] = '\0'; - bufferIndex = 0; - isValue = false; - - double num; - if (sscanf(value, "%lf", &num) == 1) { - if (strcmp(key, "x") == 0) { - posX = num; - return; - } else if (strcmp(key, "y") == 0) { - posY = num; - return; - } - - for (int i = 0; i < count; ++i) { - if (strcmp(data[i].key, key) == 0) { - data[i].value = num; - return; - } - } - if (count < MAX_KEYS) { - strncpy(data[count].key, key, MAX_KEY_LENGTH); - data[count].value = num; - count++; - } - } - } else if (isKey || isValue) { - if (bufferIndex < MAX_KEY_LENGTH - 1) { - buffer[bufferIndex++] = ch; - } - } -} - -// void Host::inject(const char ch) { -// static char buffer[MAX_KEY_LENGTH]; -// static int bufferIndex = 0; -// static bool isKey = false; -// static bool isValue = false; -// static char key[MAX_KEY_LENGTH]; -// static char value[MAX_KEY_LENGTH]; -// -// if (ch == '$') { -// bufferIndex = 0; -// isKey = true; -// isValue = false; -// } else if (ch == '(') { -// bufferIndex = 0; -// } else if (ch == ')') { -// strncpy(key, buffer, bufferIndex); -// key[bufferIndex] = '\0'; -// bufferIndex = 0; -// isKey = false; -// isValue = true; -// } else if (ch == '#') { -// strncpy(value, buffer, bufferIndex); -// value[bufferIndex] = '\0'; -// bufferIndex = 0; -// isValue = false; -// -// double num; -// if (sscanf(value, "%lf", &num) == 1) { -// if (strcmp(key, "x") == 0) { -// posX = num; -// x_count = 2; -// // print("x: %d\n", num); -// } else if (strcmp(key, "y") == 0) { -// posY = num; -// y_count = 2; -// // print("y: %d\n", num); -// } -// // 其他key直接丢弃，不处理 -// } -// } else if (isKey || isValue) { -// if (bufferIndex < MAX_KEY_LENGTH - 1) { -// buffer[bufferIndex++] = ch; -// -// } -// } -// } - - -// void Host::inject(const char ch) { -// static char buffer[MAX_KEY_LENGTH]; -// static int bufferIndex = 0; -// static bool isKey = false; -// static bool isValue = false; -// static char key[MAX_KEY_LENGTH]; -// static char value[MAX_KEY_LENGTH]; -// -// if (ch == '$') { -// bufferIndex = 0; -// isKey = true; -// isValue = false; -// } else if (ch == '(') { -// bufferIndex = 0; -// } else if (ch == ')') { -// strncpy(key, buffer, bufferIndex); -// key[bufferIndex] = '\0'; -// bufferIndex = 0; -// isKey = false; -// isValue = true; -// } else if (ch == '#') { -// strncpy(value, buffer, bufferIndex); -// value[bufferIndex] = '\0'; -// bufferIndex = 0; -// isValue = false; -// -// double num; -// if (sscanf(value, "%lf", &num) == 1) { -// for (int i = 0; i < count; ++i) { -// if (strcmp(data[i].key, key) == 0) { -// data[i].value = num; -// return; -// } -// } -// if (count < MAX_KEYS) { -// strncpy(data[count].key, key, MAX_KEY_LENGTH); -// data[count].value = num; -// count++; -// } -// } -// } else if (isKey || isValue) { -// if (bufferIndex < MAX_KEY_LENGTH - 1) { -// buffer[bufferIndex++] = ch; -// } -// } -// } - -double Host::get(const char* key, double defaultValue) { - for (int i = 0; i < count; i++) { - if (strcmp(data[i].key, key) == 0) { - double value = data[i].value; - data[i].value = defaultValue; - return value; - } - } - return defaultValue; // 默认值 -} - -double Host::getWithoutClean(const char* key, double defaultValue) { - for (int i = 0; i < count; i++) { - if (strcmp(data[i].key, key) == 0) { - return data[i].value; - } - } - return defaultValue; // 默认值 -} - -void Host::log(const char* level, const char* format, ...) { - char buffer[256]; - va_list args; - - // 初始化可变参数列表 - va_start(args, format); - - // 格式化字符串到缓冲区 - vsnprintf(buffer, sizeof(buffer), format, args); - - // 结束可变参数列表 - va_end(args); - - // 创建完整的INFO字符串 - char fullInfo[256]; - snprintf(fullInfo, sizeof(fullInfo), "%s%s%s", level, buffer, "#"); - - // 调用printf输出 - print("%s\n", fullInfo); -} - -void Host::info(const char* format, ...) { - va_list args; - va_start(args, format); - log("$0100", format, args); - va_end(args); -} - -void Host::warn(const char* format, ...) { - va_list args; - va_start(args, format); - log("$0200", format, args); - va_end(args); -} - -void Host::error(const char* format, ...) { - va_list args; - va_start(args, format); - log("$0300", format, args); - va_end(args); -} - -void Host::plot(const char* key, double value) { - char buffer[256]; - char fullInfo[256]; - // 格式化键值对 - snprintf(buffer, sizeof(buffer), "(%s)%f", key, value); - // 创建完整的PLOT字符串 - snprintf(fullInfo, sizeof(fullInfo), "$0400%s#", buffer); - // 调用printf输出 - print("%s\n", fullInfo); -} \ No newline at end of file diff --git a/example/2025_source_user/Imu.cpp b/example/2025_source_user/Imu.cpp deleted file mode 100644 index 45a436f..0000000 --- a/example/2025_source_user/Imu.cpp +++ /dev/null @@ -1,74 +0,0 @@ -#include "../2025_include_user/Imu.h" - -uint8_t Imu::_buffer = 0; -Imu::Data Imu::_data = {}; -static uint8_t frame_index = 0; -static uint8_t frame_buffer[11]; - -extern "C" void IMU_INST_IRQHandler(void) { - switch (DL_UART_getPendingInterrupt(IMU_INST)) { - case DL_UART_IIDX_RX: - Imu::_buffer = DL_UART_Main_receiveData(IMU_INST); - Imu::inject(); - break; - default: - break; - } - - NVIC_ClearPendingIRQ(IMU_INST_INT_IRQN); - DL_UART_enableInterrupt(IMU_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 -} - -void Imu::init() { - NVIC_ClearPendingIRQ(IMU_INST_INT_IRQN); - NVIC_EnableIRQ(IMU_INST_INT_IRQN); - DL_UART_enable(IMU_INST); // 启用 UART 模块 - DL_UART_enableInterrupt(IMU_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 - -} - -void Imu::inject() { - if (frame_index == 0 && _buffer == 0x55) { - frame_buffer[frame_index++] = _buffer; - } else if (frame_index == 1 && _buffer == 0x55) { - frame_buffer[frame_index++] = _buffer; - } else if (frame_index >= 2) { - frame_buffer[frame_index++] = _buffer; - if (frame_index >= 11) { - uint8_t sum = 0; - for (int i = 0; i < 10; i++) { - sum += frame_buffer[i]; - } - - if (sum == frame_buffer[10] && frame_buffer[2] == 0x01 && frame_buffer[3] == 0x06) { - int16_t roll = (frame_buffer[5] << 8) | frame_buffer[4]; - int16_t pitch = (frame_buffer[7] << 8) | frame_buffer[6]; - int16_t yaw = (frame_buffer[9] << 8) | frame_buffer[8]; - - _data.roll = (float) roll / 32768.0f * 180.0f; - _data.pitch = (float) pitch / 32768.0f * 180.0f; - _data.yaw = (float) yaw / 32768.0f * 180.0f; - } - frame_index = 0; - } - } else { - frame_index = 0; - } -} - -Imu::Data Imu::getData() { - return _data; -} - -float Imu::getRoll() { - return _data.roll; -} - -float Imu::getPitch() { - return _data.pitch; -} - -float Imu::getYaw() { - return _data.yaw; -} - diff --git a/example/2025_source_user/Key.cpp b/example/2025_source_user/Key.cpp deleted file mode 100644 index 6ff440b..0000000 --- a/example/2025_source_user/Key.cpp +++ /dev/null @@ -1,45 +0,0 @@ -#include "Key.h" - -#include <../2025_include_user/Host.h> - -Key::KeyData Key::keys[] = { - {KEY1, Key_Key1_PORT, Key_Key1_PIN, 0}, - {KEY2, Key_Key2_PORT, Key_Key2_PIN, 0}, - {KEY3, Key_Key3_PORT, Key_Key3_PIN, 0}, - {KEY4, Key_Key4_PORT, Key_Key4_PIN, 0}, -}; - -// extern "C" { -// void vKeyTask(void *pvParameters) { -// while (true) { -// for (uint8_t i = 0; i < (sizeof(Key::keys) / sizeof(Key::keys[0])); i++) { -// if (DL_GPIO_readPins(Key::keys[i].port, Key::keys[i].pin) == 0) { -// // print("Key%d: %d\r\n", i, 1); -// Key::keys[i].state = 1; -// } else { -// // print("Key%d: %d\r\n", i, 0); -// Key::keys[i].state = 0; -// } -// } -// -// vTaskDelay(pdMS_TO_TICKS(1)); // 每10ms检测一次按键，释放CPU -// } -// } -// } - -void Key::init() { - // xTaskCreate(vKeyTask, "vKeyTask", 32, nullptr, 1, nullptr); - NVIC_EnableIRQ(Key_GPIOA_INT_IRQN); - NVIC_EnableIRQ(GPIO_MULTIPLE_GPIOB_INT_IRQN); -} - -uint8_t Key::getState(const uint8_t id) { - const uint8_t state = keys[id].state; - keys[id].state = 0; - return state; -} - -void Key::setState(const uint8_t id, const uint8_t state) { - keys[id].state = state; -} - diff --git a/example/2025_source_user/Motor.cpp b/example/2025_source_user/Motor.cpp deleted file mode 100644 index 74bf7f3..0000000 --- a/example/2025_source_user/Motor.cpp +++ /dev/null @@ -1,68 +0,0 @@ -#include "../2025_include_user/Motor.h" - -void Motor::init() {} - -void Motor::setLeftSpeed(const int left_speed) { - setLeftDirection(left_speed > 0); - const int pwmA_abs = Abs(left_speed); - DL_TimerA_setCaptureCompareValue(Motor_INST, pwmA_abs, GPIO_Motor_C0_IDX); -} - -void Motor::setRightSpeed(const int right_speed) { - setRightDirection(right_speed > 0); - const int pwmB_abs = Abs(right_speed); - DL_TimerA_setCaptureCompareValue(Motor_INST, pwmB_abs, GPIO_Motor_C1_IDX); -} - -void Motor::setSpeed(const int left_speed, const int right_speed) { - setLeftSpeed(left_speed); - setRightSpeed(right_speed); -} - -void Motor::setLeftDirection(const uint8_t direction) { - if (direction) { - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN1_PIN); - DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_AIN2_PIN); - } else { - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN2_PIN); - DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_AIN1_PIN); - } -} - -void Motor::setRightDirection(const uint8_t direction) { - if (direction) { - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN1_PIN); - DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_BIN2_PIN); - } else { - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN2_PIN); - DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_BIN1_PIN); - } -} - -void Motor::setDirection(const uint8_t left_direction, const uint8_t right_direction) { - setLeftDirection(left_direction); - setRightDirection(right_direction); -} - -void Motor::stopLeft() { - setLeftSpeed(0); - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN1_PIN); - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN2_PIN); -} - -void Motor::stopRight() { - setRightSpeed(0); - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN1_PIN); - DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN2_PIN); -} - -void Motor::stop() { - stopLeft(); - stopRight(); -} - -int Motor::Abs(const int num) { - return num < 0 ? -num : num; // 取绝对值 -} - - diff --git a/example/2025_source_user/Oled.cpp b/example/2025_source_user/Oled.cpp deleted file mode 100644 index 1a3db43..0000000 --- a/example/2025_source_user/Oled.cpp +++ /dev/null @@ -1,270 +0,0 @@ -#include "../2025_include_user/Oled.hpp" - -#define OLED_ADDR 0x3C // 7位地址（0x78 >> 1） - -void OLED::WR_CMD(uint8_t cmd) { - uint8_t temp[2]; - temp[0] = 0x00; // Control byte for command - temp[1] = cmd; - - DL_I2C_fillControllerTXFIFO(I2C_0_INST, temp, 2); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_startControllerTransfer(I2C_0_INST, OLED_ADDR, DL_I2C_CONTROLLER_DIRECTION_TX, 2); - while (DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_flushControllerTXFIFO(I2C_0_INST); -} - -void OLED::WR_DATA(uint8_t data) { - uint8_t temp[2]; - temp[0] = 0x40; // Control byte for data - temp[1] = data; - - DL_I2C_fillControllerTXFIFO(I2C_0_INST, temp, 2); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_startControllerTransfer(I2C_0_INST, OLED_ADDR, DL_I2C_CONTROLLER_DIRECTION_TX, 2); - while (DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_flushControllerTXFIFO(I2C_0_INST); -} - - -void OLED::Init() { - uint8_t CMD_Data[] = { - 0xAE, 0xD5, 0x80, 0xA8, 0x3F, 0xD3, 0x00, 0x40, 0xA1, 0xC8, 0xDA, - 0x12, 0x81, 0xCF, 0xD9, 0xF1, 0xDB, 0x40, 0xA4, 0xA6, 0x8D, 0x14, - 0xAF - }; - - for (uint8_t i = 0; i < 23; i++) { - WR_CMD(CMD_Data[i]); - } -} - -void OLED::Clear() { - for (uint8_t i = 0; i < 8; i++) { - WR_CMD(0xb0 + i); // 设置页地址（0~7） - WR_CMD(0x00); // 设置显示位置—列低地址 - WR_CMD(0x10); // 设置显示位置—列高地址 - for (uint8_t n = 0; n < 128; n++) { - WR_DATA(0); - } - } -} - -void OLED::Display_On() { - WR_CMD(0x8D); // SET DCDC命令 - WR_CMD(0x14); // DCDC ON - WR_CMD(0xAF); // DISPLAY ON, 打开显示 -} - -void OLED::Display_Off() { - WR_CMD(0x8D); // SET DCDC命令 - WR_CMD(0x10); // DCDC OFF - WR_CMD(0xAE); // DISPLAY OFF，关闭显示 -} - -void OLED::Set_Pos(uint8_t x, uint8_t y) { - WR_CMD(0xb0 + y); // 设置页地址（0~7） - WR_CMD(((x & 0xf0) >> 4) | 0x10); // 设置显示位置—列高地址 - WR_CMD(x & 0x0f); // 设置显示位置—列低地址 -} - -unsigned int OLED::oled_pow(uint8_t m, uint8_t n) { - unsigned int result = 1; - while (n--) result *= m; - return result; -} - -void OLED::ShowChar(uint8_t x, uint8_t y, uint8_t chr, uint8_t Char_Size, uint8_t Color_Turn) { - uint8_t c = chr - ' '; // 得到偏移后的值 - if (x > 128 - 1) { x = 0; y = y + 2; } - if (Char_Size == 16) { - Set_Pos(x, y); - for (uint8_t i = 0; i < 8; i++) { - if (Color_Turn) - WR_DATA(~F8X16[c * 16 + i]); - else - WR_DATA(F8X16[c * 16 + i]); - } - Set_Pos(x, y + 1); - for (uint8_t i = 0; i < 8; i++) { - if (Color_Turn) - WR_DATA(~F8X16[c * 16 + i + 8]); - else - WR_DATA(F8X16[c * 16 + i + 8]); - } - } else { - Set_Pos(x, y); - for (uint8_t i = 0; i < 6; i++) { - if (Color_Turn) - WR_DATA(~F6x8[c][i]); - else - WR_DATA(F6x8[c][i]); - } - } -} - -void OLED::ShowString(uint8_t x, uint8_t y, char* chr, uint8_t Char_Size, uint8_t Color_Turn) { - uint8_t j = 0; - while (chr[j] != '\0') { - ShowChar(x, y, chr[j], Char_Size, Color_Turn); - if (Char_Size == 12) // 6X8的字体列加6，显示下一个字符 - x += 6; - else // 8X16的字体列加8，显示下一个字符 - x += 8; - - if (x > 122 && Char_Size == 12) // TextSize6x8如果一行不够显示了，从下一行继续显示 - { - x = 0; - y++; - } - if (x > 120 && Char_Size == 16) // TextSize8x16如果一行不够显示了，从下一行继续显示 - { - x = 0; - y++; - } - j++; - } -} - -void OLED::ShowNum(uint8_t x, uint8_t y, unsigned int num, uint8_t len, uint8_t size2, uint8_t Color_Turn) { - uint8_t t, temp; - uint8_t enshow = 0; - for (t = 0; t < len; t++) { - temp = (num / oled_pow(10, len - t - 1)) % 10; - if (enshow == 0 && t < (len - 1)) { - if (temp == 0) { - ShowChar(x + (size2 / 2) * t, y, ' ', size2, Color_Turn); - continue; - } else enshow = 1; - } - ShowChar(x + (size2 / 2) * t, y, temp + '0', size2, Color_Turn); - } -} - -void OLED::ShowDecimal(uint8_t x, uint8_t y, float num, uint8_t z_len, uint8_t f_len, uint8_t size2, uint8_t Color_Turn) { - uint8_t t, temp, i = 0; // i为负数标志位 - uint8_t enshow; - int z_temp, f_temp; - if (num < 0) { - z_len += 1; - i = 1; - num = -num; - } - z_temp = (int)num; - // 整数部分 - for (t = 0; t < z_len; t++) { - temp = (z_temp / oled_pow(10, z_len - t - 1)) % 10; - if (enshow == 0 && t < (z_len - 1)) { - if (temp == 0) { - ShowChar(x + (size2 / 2) * t, y, ' ', size2, Color_Turn); - continue; - } else - enshow = 1; - } - ShowChar(x + (size2 / 2) * t, y, temp + '0', size2, Color_Turn); - } - // 小数点 - ShowChar(x + (size2 / 2) * (z_len), y, '.', size2, Color_Turn); - - f_temp = (int)((num - z_temp) * (oled_pow(10, f_len))); - // 小数部分 - for (t = 0; t < f_len; t++) { - temp = (f_temp / oled_pow(10, f_len - t - 1)) % 10; - ShowChar(x + (size2 / 2) * (t + z_len) + 5, y, temp + '0', size2, Color_Turn); - } - if (i == 1) // 如果为负，就将最前的一位赋值‘-’ - { - ShowChar(x, y, '-', size2, Color_Turn); - i = 0; - } -} - -void OLED::ShowChinese(uint8_t x, uint8_t y, uint8_t no, uint8_t Color_Turn) { - uint8_t t = 0; - Set_Pos(x, y); - for (t = 0; t < 16; t++) { - if (Color_Turn) - WR_DATA(~Hzk[2 * no][t]); // 显示汉字的上半部分 - else - WR_DATA(Hzk[2 * no][t]); // 显示汉字的上半部分 - } - - Set_Pos(x, y + 1); - for (t = 0; t < 16; t++) { - if (Color_Turn) - WR_DATA(~Hzk[2 * no + 1][t]); // 显示汉字的上半部分 - else - WR_DATA(Hzk[2 * no + 1][t]); // 显示汉字的上半部分 - } -} - -void OLED::DrawBMP(uint8_t x0, uint8_t y0, uint8_t x1, uint8_t y1, uint8_t* BMP, uint8_t Color_Turn) { - uint32_t j = 0; - uint8_t x = 0, y = 0; - - if (y1 % 8 == 0) - y = y1 / 8; - else - y = y1 / 8 + 1; - for (y = y0; y < y1; y++) { - Set_Pos(x0, y); - for (x = x0; x < x1; x++) { - if (Color_Turn) - WR_DATA(~BMP[j++]); // 显示反相图片 - else - WR_DATA(BMP[j++]); // 显示图片 - } - } -} - -void OLED::HorizontalShift(uint8_t direction) { - WR_CMD(0x2e); // 停止滚动 - WR_CMD(direction); // 设置滚动方向 - WR_CMD(0x00); // 虚拟字节设置，默认为0x00 - WR_CMD(0x00); // 设置开始页地址 - WR_CMD(0x07); // 设置每个滚动步骤之间的时间间隔的帧频 - WR_CMD(0x07); // 设置结束页地址 - WR_CMD(0x00); // 虚拟字节设置，默认为0x00 - WR_CMD(0xff); // 虚拟字节设置，默认为0xff - WR_CMD(0x2f); // 开启滚动-0x2f，禁用滚动-0x2e，禁用需要重写数据 -} - -void OLED::Some_HorizontalShift(uint8_t direction, uint8_t start, uint8_t end) { - WR_CMD(0x2e); // 停止滚动 - WR_CMD(direction); // 设置滚动方向 - WR_CMD(0x00); // 虚拟字节设置，默认为0x00 - WR_CMD(start); // 设置开始页地址 - WR_CMD(0x07); // 设置每个滚动步骤之间的时间间隔的帧频 - WR_CMD(end); // 设置结束页地址 - WR_CMD(0x00); // 虚拟字节设置，默认为0x00 - WR_CMD(0xff); // 虚拟字节设置，默认为0xff - WR_CMD(0x2f); // 开启滚动-0x2f，禁用滚动-0x2e，禁用需要重写数据 -} - -void OLED::VerticalAndHorizontalShift(uint8_t direction) { - WR_CMD(0x2e); // 停止滚动 - WR_CMD(direction); // 设置滚动方向 - WR_CMD(0x01); // 虚拟字节设置 - WR_CMD(0x00); // 设置开始页地址 - WR_CMD(0x07); // 设置每个滚动步骤之间的时间间隔的帧频 - WR_CMD(0x07); // 设置结束页地址 - WR_CMD(0x01); // 垂直滚动偏移量 - WR_CMD(0x00); // 虚拟字节设置，默认为0x00 - WR_CMD(0xff); // 虚拟字节设置，默认为0xff - WR_CMD(0x2f); // 开启滚动-0x2f，禁用滚动-0x2e，禁用需要重写数据 -} - -void OLED::DisplayMode(uint8_t mode) { - WR_CMD(mode); -} - -void OLED::IntensityControl(uint8_t intensity) { - WR_CMD(0x81); - WR_CMD(intensity); -} \ No newline at end of file diff --git a/example/2025_source_user/OledFont.c b/example/2025_source_user/OledFont.c deleted file mode 100644 index d522973..0000000 --- a/example/2025_source_user/OledFont.c +++ /dev/null @@ -1,230 +0,0 @@ -/* - * OledFont.c - * - * Created on: Jul 24, 2022 - * Author: Unicorn_Li - */ -#include "../2025_include_user/OledFont.h" - -//8*6 ASCII字符集点阵 -const unsigned char F6x8[][6] = -{ - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// sp - 0x00, 0x00, 0x00, 0x2f, 0x00, 0x00,// ! - 0x00, 0x00, 0x07, 0x00, 0x07, 0x00,// " - 0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14,// # - 0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12,// $ - 0x00, 0x62, 0x64, 0x08, 0x13, 0x23,// % - 0x00, 0x36, 0x49, 0x55, 0x22, 0x50,// & - 0x00, 0x00, 0x05, 0x03, 0x00, 0x00,// ' - 0x00, 0x00, 0x1c, 0x22, 0x41, 0x00,// ( - 0x00, 0x00, 0x41, 0x22, 0x1c, 0x00,// ) - 0x00, 0x14, 0x08, 0x3E, 0x08, 0x14,// * - 0x00, 0x08, 0x08, 0x3E, 0x08, 0x08,// + - 0x00, 0x00, 0x00, 0xA0, 0x60, 0x00,// , - 0x00, 0x08, 0x08, 0x08, 0x08, 0x08,// - - 0x00, 0x00, 0x60, 0x60, 0x00, 0x00,// . - 0x00, 0x20, 0x10, 0x08, 0x04, 0x02,// / - 0x00, 0x3E, 0x51, 0x49, 0x45, 0x3E,// 0 - 0x00, 0x00, 0x42, 0x7F, 0x40, 0x00,// 1 - 0x00, 0x42, 0x61, 0x51, 0x49, 0x46,// 2 - 0x00, 0x21, 0x41, 0x45, 0x4B, 0x31,// 3 - 0x00, 0x18, 0x14, 0x12, 0x7F, 0x10,// 4 - 0x00, 0x27, 0x45, 0x45, 0x45, 0x39,// 5 - 0x00, 0x3C, 0x4A, 0x49, 0x49, 0x30,// 6 - 0x00, 0x01, 0x71, 0x09, 0x05, 0x03,// 7 - 0x00, 0x36, 0x49, 0x49, 0x49, 0x36,// 8 - 0x00, 0x06, 0x49, 0x49, 0x29, 0x1E,// 9 - 0x00, 0x00, 0x36, 0x36, 0x00, 0x00,// : - 0x00, 0x00, 0x56, 0x36, 0x00, 0x00,// ; - 0x00, 0x08, 0x14, 0x22, 0x41, 0x00,// < - 0x00, 0x14, 0x14, 0x14, 0x14, 0x14,// = - 0x00, 0x00, 0x41, 0x22, 0x14, 0x08,// > - 0x00, 0x02, 0x01, 0x51, 0x09, 0x06,// ? - 0x00, 0x32, 0x49, 0x59, 0x51, 0x3E,// @ - 0x00, 0x7C, 0x12, 0x11, 0x12, 0x7C,// A - 0x00, 0x7F, 0x49, 0x49, 0x49, 0x36,// B - 0x00, 0x3E, 0x41, 0x41, 0x41, 0x22,// C - 0x00, 0x7F, 0x41, 0x41, 0x22, 0x1C,// D - 0x00, 0x7F, 0x49, 0x49, 0x49, 0x41,// E - 0x00, 0x7F, 0x09, 0x09, 0x09, 0x01,// F - 0x00, 0x3E, 0x41, 0x49, 0x49, 0x7A,// G - 0x00, 0x7F, 0x08, 0x08, 0x08, 0x7F,// H - 0x00, 0x00, 0x41, 0x7F, 0x41, 0x00,// I - 0x00, 0x20, 0x40, 0x41, 0x3F, 0x01,// J - 0x00, 0x7F, 0x08, 0x14, 0x22, 0x41,// K - 0x00, 0x7F, 0x40, 0x40, 0x40, 0x40,// L - 0x00, 0x7F, 0x02, 0x0C, 0x02, 0x7F,// M - 0x00, 0x7F, 0x04, 0x08, 0x10, 0x7F,// N - 0x00, 0x3E, 0x41, 0x41, 0x41, 0x3E,// O - 0x00, 0x7F, 0x09, 0x09, 0x09, 0x06,// P - 0x00, 0x3E, 0x41, 0x51, 0x21, 0x5E,// Q - 0x00, 0x7F, 0x09, 0x19, 0x29, 0x46,// R - 0x00, 0x46, 0x49, 0x49, 0x49, 0x31,// S - 0x00, 0x01, 0x01, 0x7F, 0x01, 0x01,// T - 0x00, 0x3F, 0x40, 0x40, 0x40, 0x3F,// U - 0x00, 0x1F, 0x20, 0x40, 0x20, 0x1F,// V - 0x00, 0x3F, 0x40, 0x38, 0x40, 0x3F,// W - 0x00, 0x63, 0x14, 0x08, 0x14, 0x63,// X - 0x00, 0x07, 0x08, 0x70, 0x08, 0x07,// Y - 0x00, 0x61, 0x51, 0x49, 0x45, 0x43,// Z - 0x00, 0x00, 0x7F, 0x41, 0x41, 0x00,// [ - 0x00, 0x55, 0x2A, 0x55, 0x2A, 0x55,// 55 - 0x00, 0x00, 0x41, 0x41, 0x7F, 0x00,// ] - 0x00, 0x04, 0x02, 0x01, 0x02, 0x04,// ^ - 0x00, 0x40, 0x40, 0x40, 0x40, 0x40,// _ - 0x00, 0x00, 0x01, 0x02, 0x04, 0x00,// ' - 0x00, 0x20, 0x54, 0x54, 0x54, 0x78,// a - 0x00, 0x7F, 0x48, 0x44, 0x44, 0x38,// b - 0x00, 0x38, 0x44, 0x44, 0x44, 0x20,// c - 0x00, 0x38, 0x44, 0x44, 0x48, 0x7F,// d - 0x00, 0x38, 0x54, 0x54, 0x54, 0x18,// e - 0x00, 0x08, 0x7E, 0x09, 0x01, 0x02,// f - 0x00, 0x18, 0xA4, 0xA4, 0xA4, 0x7C,// g - 0x00, 0x7F, 0x08, 0x04, 0x04, 0x78,// h - 0x00, 0x00, 0x44, 0x7D, 0x40, 0x00,// i - 0x00, 0x40, 0x80, 0x84, 0x7D, 0x00,// j - 0x00, 0x7F, 0x10, 0x28, 0x44, 0x00,// k - 0x00, 0x00, 0x41, 0x7F, 0x40, 0x00,// l - 0x00, 0x7C, 0x04, 0x18, 0x04, 0x78,// m - 0x00, 0x7C, 0x08, 0x04, 0x04, 0x78,// n - 0x00, 0x38, 0x44, 0x44, 0x44, 0x38,// o - 0x00, 0xFC, 0x24, 0x24, 0x24, 0x18,// p - 0x00, 0x18, 0x24, 0x24, 0x18, 0xFC,// q - 0x00, 0x7C, 0x08, 0x04, 0x04, 0x08,// r - 0x00, 0x48, 0x54, 0x54, 0x54, 0x20,// s - 0x00, 0x04, 0x3F, 0x44, 0x40, 0x20,// t - 0x00, 0x3C, 0x40, 0x40, 0x20, 0x7C,// u - 0x00, 0x1C, 0x20, 0x40, 0x20, 0x1C,// v - 0x00, 0x3C, 0x40, 0x30, 0x40, 0x3C,// w - 0x00, 0x44, 0x28, 0x10, 0x28, 0x44,// x - 0x00, 0x1C, 0xA0, 0xA0, 0xA0, 0x7C,// y - 0x00, 0x44, 0x64, 0x54, 0x4C, 0x44,// z - 0x14, 0x14, 0x14, 0x14, 0x14, 0x14,// horiz lines -}; - -//16*8 ASCII字符集点阵 -const unsigned char F8X16[]= -{ - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//sp /0 - 0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! /1 - 0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" /2 - 0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# /3 - 0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ /4 - 0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% /5 - 0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& /6 - 0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' /7 - 0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( /8 - 0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) /9 - 0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* /10 - 0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ /11 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, /12 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- /13 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. /14 - 0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// /15 - 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 /16 - 0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 /17 - 0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 /18 - 0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 /19 - 0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 /20 - 0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 /21 - 0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 /22 - 0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 /23 - 0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 /24 - 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 /25 - 0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: /26 - 0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; /27 - 0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< /28 - 0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= /29 - 0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> /30 - 0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? /31 - 0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ /32 - 0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A /33 - 0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B /34 - 0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C /35 - 0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D /36 - 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E /37 - 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F /38 - 0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G /39 - 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H /40 - 0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I /41 - 0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J /42 - 0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K /43 - 0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L /44 - 0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M /45 - 0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N /46 - 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O /47 - 0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P /48 - 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q /49 - 0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R /50 - 0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S /51 - 0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T /52 - 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U /53 - 0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V /54 - 0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W /55 - 0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X /56 - 0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y /57 - 0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z /58 - 0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ /59 - 0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ /60 - 0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] /61 - 0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ /62 - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ /63 - 0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` /64 - 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a /65 - 0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b /66 - 0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c /67 - 0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d /68 - 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e /69 - 0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f /70 - 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g /71 - 0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h /72 - 0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i /73 - 0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j /74 - 0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k /75 - 0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l /76 - 0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m /77 - 0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n /78 - 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o /79 - 0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p /80 - 0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q /81 - 0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r /82 - 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s /83 - 0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t /84 - 0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u /85 - 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v /86 - 0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w /87 - 0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x /88 - 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y /89 - 0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z /90 - 0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ /91 - 0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} /92 - 0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00};//| /93 - -//部分汉字 阴码，列行式，逆向 -const unsigned char Hzk[][32]= -{ - {0x40,0x22,0x14,0x08,0xF4,0x02,0x00,0xF8,0x08,0x08,0xFF,0x08,0x08,0xF8,0x00,0x00}, - {0x08,0x44,0x82,0x41,0x3F,0x00,0x20,0x63,0x21,0x21,0x3F,0x21,0x29,0x33,0x60,0x00},/*"独",0*/ - {0x20,0x10,0xE8,0x24,0x27,0x24,0x24,0xE4,0x24,0x34,0x2C,0x20,0xE0,0x00,0x00,0x00}, - {0x80,0x60,0x1F,0x09,0x09,0x09,0x09,0x7F,0x09,0x09,0x49,0x89,0x7F,0x00,0x00,0x00},/*"角",1*/ - {0x00,0x00,0x7C,0x54,0x55,0x56,0x54,0x7C,0x54,0x56,0x55,0x54,0x7C,0x00,0x00,0x00}, - {0x01,0x01,0x01,0xFD,0x45,0x45,0x45,0x45,0x45,0x45,0x45,0xFD,0x01,0x01,0x01,0x00},/*"兽",2*/ - - - -}; -//128*64图片 -unsigned char BMP1[]={ - 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x00,0x40,0xE0,0xE0,0x60, - 0x00,0x40,0x80,0x00,0x00,0x00,0x80,0x80,0x60,0x60,0x10,0x00,0x00,0x00,0x00,0x00, - 0x00,0x00,0x00,0x00,0x00,0x90,0xB2,0x66,0x6E,0xEC,0xC9,0x83,0x02,0x00,0x40,0x80, - 0x00,0x0C,0x0C,0x01,0x03,0x07,0x0F,0x11,0x20,0x40,0x80,0x00,0x00,0x00,0x00,0x00, - 0x00,0x00,0x00,0x00,0x08,0x18,0x3B,0x37,0x66,0xEE,0xEE,0xCC,0x88,0x80,0x00,0x00, - 0x01,0x02,0x04,0x08,0x10,0x10,0x10,0x10,0x10,0x10,0x0F,0x00,0x00,0x00,0x00,0x00, - 0x00,0x3E,0x40,0x40,0x40,0x3E,0x00,0x7E,0x04,0x08,0x10,0x7E,0x00,0x7E,0x00,0x3C, - 0x42,0x42,0x42,0x42,0x00,0x7E,0x42,0x42,0x42,0x7E,0x00,0x7E,0x04,0x08,0x10,0x7E,/*"C:\Users\HP\Desktop\UNICORN.BMP",0*/ - - -}; - diff --git a/example/2025_source_user/OledMenuConfig.cpp b/example/2025_source_user/OledMenuConfig.cpp deleted file mode 100644 index e69de29..0000000 diff --git a/example/2025_source_user/OledMenuDriver.cpp b/example/2025_source_user/OledMenuDriver.cpp deleted file mode 100644 index a851ed9..0000000 --- a/example/2025_source_user/OledMenuDriver.cpp +++ /dev/null @@ -1,299 +0,0 @@ -#include "../2025_include_user/OledMenuDriver.h" - -#define OLED_I2C_ADDR (0x3C) // 7-bit地址，不需要 <<1 -#define SYSTEM_CORE_CLOCK_HZ 80000000U - -u8g2_t MenuDriver::u8g2 = {}; - -uint8_t u8x8_gpio_and_delay_mspm0(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr) { - switch (msg) { - case U8X8_MSG_GPIO_AND_DELAY_INIT: - delay_cycles(32000); //1ms - break; - case U8X8_MSG_DELAY_MILLI: - for (uint8_t i = 0; i < arg_int; i++) { - delay_cycles(32000); - } - - break; - case U8X8_MSG_GPIO_DC: - break; - case U8X8_MSG_GPIO_RESET: /** - if (arg_int) - { - DL_GPIO_setPins(GPIO_OLED_PORT, GPIO_OLED_RST_OLED_PIN); - } - else - { - DL_GPIO_clearPins(GPIO_OLED_PORT, GPIO_OLED_RST_OLED_PIN); - }**/ - break; - } - return 1; -} - - -uint8_t u8x8_byte_mspm0_hw_i2c(u8x8_t *u8g2, uint8_t msg, uint8_t arg_int, void *arg_ptr) { - /* u8g2/u8x8 will never send more than 32 bytes between START_TRANSFER and END_TRANSFER */ - /* add extra byte for the i2c address */ - static uint8_t buffer[34]; - static volatile uint8_t buf_idx, g_u8TxCount; - uint8_t *data; - switch (msg) { - case U8X8_MSG_BYTE_SEND: - data = (uint8_t *) arg_ptr; - while (arg_int > 0) { - buffer[buf_idx++] = *data; - data++; - arg_int--; - } - break; - - case U8X8_MSG_BYTE_INIT: - /* add your custom code to init i2c subsystem */ - - break; - case U8X8_MSG_BYTE_SET_DC: - /* ignored for i2c */ - break; - case U8X8_MSG_BYTE_START_TRANSFER: - buf_idx = 0; - break; - case U8X8_MSG_BYTE_END_TRANSFER: - /* - * Fill FIFO with data. - */ - g_u8TxCount = DL_I2C_fillControllerTXFIFO(I2C_0_INST, &buffer[0], buf_idx); - - /* Wait for I2C to be Idle */ - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - /* Send the packet to the controller. - * This function will send Start + Stop automatically. - */ - DL_I2C_startControllerTransfer(I2C_0_INST, OLED_I2C_ADDR, - DL_I2C_CONTROLLER_DIRECTION_TX, buf_idx); - - while (g_u8TxCount < buf_idx) { - while (DL_I2C_isControllerTXFIFOFull(I2C_0_INST) == true); - DL_I2C_transmitControllerData(I2C_0_INST, buffer[g_u8TxCount]); - g_u8TxCount++; - } - - /* Poll until the Controller writes all bytes */ - while (DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - - /* Trap if there was an error */ - if (DL_I2C_getControllerStatus(I2C_0_INST) & - DL_I2C_CONTROLLER_STATUS_ERROR) { - while (1); - } - - /* Wait for I2C to be Idle */ - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_flushControllerTXFIFO(I2C_0_INST); - - break; - - default: - return 0; - } - return 1; -} - -void MenuDriver::oled_init() { - u8g2_Setup_ssd1306_i2c_128x64_noname_f(&u8g2, U8G2_R0, u8x8_byte_mspm0_hw_i2c, u8x8_gpio_and_delay_mspm0); - u8g2_InitDisplay(&u8g2); - u8g2_SetPowerSave(&u8g2, 0); - u8g2_ClearBuffer(&u8g2); -} - -void MenuDriver::ssd1306_transmit_cmd(uint8_t cmd) { - uint8_t temp[2] = {0x00, cmd}; - - DL_I2C_fillControllerTXFIFO(I2C_0_INST, temp, 2); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_startControllerTransfer(I2C_0_INST, OLED_I2C_ADDR, DL_I2C_CONTROLLER_DIRECTION_TX, 2); - while (DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_flushControllerTXFIFO(I2C_0_INST); -} - -void MenuDriver::ssd1306_transmit_data(uint8_t data, const uint8_t mode) { - if (!mode) - data = ~data; - uint8_t temp[2] = {0x40, data}; - - DL_I2C_fillControllerTXFIFO(I2C_0_INST, temp, 2); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_startControllerTransfer(I2C_0_INST, OLED_I2C_ADDR, DL_I2C_CONTROLLER_DIRECTION_TX, 2); - while (DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - while (!(DL_I2C_getControllerStatus(I2C_0_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - - DL_I2C_flushControllerTXFIFO(I2C_0_INST); -} - -void MenuDriver::ssd1306_set_cursor(unsigned char _x, unsigned char _y) { - ssd1306_transmit_cmd(0xB0 | _y); - ssd1306_transmit_cmd(0x10 | ((_x & 0xF0) >> 4)); - ssd1306_transmit_cmd(0x00 | (_x & 0x0F)); -} - -void MenuDriver::ssd1306_fill(unsigned char _data) { - for (uint8_t page = 0; page < 8; ++page) { - ssd1306_set_cursor(0, page); - for (uint8_t col = 0; col < 128; ++col) { - ssd1306_transmit_data(_data, 1); - } - } -} - -void MenuDriver::screenOn() { - ssd1306_transmit_cmd(0X8D); - ssd1306_transmit_cmd(0X14); - ssd1306_transmit_cmd(0XAF); -} - -void MenuDriver::screenOff() { - ssd1306_transmit_cmd(0X8D); - ssd1306_transmit_cmd(0X10); - ssd1306_transmit_cmd(0XAE); -} - -void *MenuDriver::getCanvasBuffer() { - return u8g2_GetBufferPtr(&u8g2); -} - -uint8_t MenuDriver::getBufferTileHeight() { - return u8g2_GetBufferTileHeight(&u8g2); -} - -uint8_t MenuDriver::getBufferTileWidth() { - return u8g2_GetBufferTileWidth(&u8g2); -} - -void MenuDriver::canvasUpdate() { - u8g2_SendBuffer(&u8g2); -} - -void MenuDriver::canvasClear() { - u8g2_ClearBuffer(&u8g2); -} - -void MenuDriver::setFont(const uint8_t *_font) { - u8g2_SetFontMode(&u8g2, 1); - u8g2_SetFontDirection(&u8g2, 0); - u8g2_SetFont(&u8g2, _font); -} - -void MenuDriver::setFont(const uint8_t *_font, uint8_t _font_mode, uint8_t _font_direction) { - u8g2_SetFontMode(&u8g2, _font_mode); - u8g2_SetFontDirection(&u8g2, _font_direction); - u8g2_SetFont(&u8g2, _font); -} - -uint8_t MenuDriver::getFontWidth(const char *_text) { - return u8g2_GetUTF8Width(&u8g2, _text); -} - -uint8_t MenuDriver::getFontHeight() { - return u8g2_GetMaxCharHeight(&u8g2); -} - -void MenuDriver::setDrawType(uint8_t _type) { - u8g2_SetDrawColor(&u8g2, _type); -} - -void MenuDriver::drawPixel(float _x, float _y) { - u8g2_DrawPixel(&u8g2, (int16_t) round(_x), (int16_t) round(_y)); -} - -void MenuDriver::draw(float _x, float _y, const char *_text) { - setFont(u8g2_font_wqy14_t_chinese3); - u8g2_DrawUTF8(&u8g2, (int16_t) round(_x), (int16_t) round(_y), _text); -} - -void MenuDriver::draw(float _x, float _y, const char *_text, uint8_t _font_mode, uint8_t _font_direction) { - setFont(u8g2_font_wqy14_t_chinese3, _font_mode, _font_direction); - u8g2_DrawUTF8(&u8g2, (int16_t) round(_x), (int16_t) round(_y), _text); -} - -void MenuDriver::draw(float _x, float _y, const char *_text, const uint8_t *_font, uint8_t _font_mode, - uint8_t _font_direction) { - setFont(_font, _font_mode, _font_direction); - u8g2_DrawUTF8(&u8g2, (int16_t) round(_x), (int16_t) round(_y), _text); -} - -void MenuDriver::drawEnglish(float _x, float _y, const char *_text) { - setFont(u8g2_font_wqy14_t_chinese3); - u8g2_DrawStr(&u8g2, (int16_t) round(_x), (int16_t) round(_y), _text); -} - -void MenuDriver::drawChinese(float _x, float _y, const char *_text) { - setFont(u8g2_font_wqy14_t_chinese3); - u8g2_DrawUTF8(&u8g2, (int16_t) round(_x), (int16_t) round(_y), _text); -} - -void MenuDriver::drawVDottedLine(float _x, float _y, float _h) { - for (unsigned char i = 0; i < (unsigned char) round(_h); i++) { - if (i % 8 == 0 || (i - 1) % 8 == 0 || (i - 2) % 8 == 0) - continue; - u8g2_DrawPixel(&u8g2, (int16_t) round(_x), (int16_t) round(_y) + i); - } -} - -void MenuDriver::drawHDottedLine(float _x, float _y, float _l) { - for (unsigned char i = 0; i < _l; i++) { - if (i % 8 == 0 || (i - 1) % 8 == 0 || (i - 2) % 8 == 0) - continue; - u8g2_DrawPixel(&u8g2, (int16_t) round(_x) + i, (int16_t) round(_y)); - } -} - -void MenuDriver::drawVLine(float _x, float _y, float _h) { - u8g2_DrawVLine(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_h)); -} - -void MenuDriver::drawHLine(float _x, float _y, float _l) { - u8g2_DrawHLine(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_l)); -} - -void MenuDriver::drawBMP(float _x, float _y, float _w, float _h, const uint8_t *_bitMap) { - u8g2_DrawXBMP(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_w), (int16_t) round(_h), _bitMap); -} - -void MenuDriver::drawBox(float _x, float _y, float _w, float _h) { - u8g2_DrawBox(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_w), (int16_t) round(_h)); -} - -void MenuDriver::drawRBox(float _x, float _y, float _w, float _h, float _r) { - u8g2_DrawRBox(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_w), (int16_t) round(_h), - (int16_t) round(_r)); -} - -void MenuDriver::drawFrame(float _x, float _y, float _w, float _h) { - u8g2_DrawFrame(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_w), (int16_t) round(_h)); -} - -void MenuDriver::drawRFrame(float _x, float _y, float _w, float _h, float _r) { - u8g2_DrawRFrame(&u8g2, (int16_t) round(_x), (int16_t) round(_y), (int16_t) round(_w), (int16_t) round(_h), - (int16_t) round(_r)); -} - -void MenuDriver::drawCheckMark(float x, float y, float w, float h) { - float x0 = x + w * 0.1f; - float y0 = y + h * 0.5f; - - float x1 = x + w * 0.4f; - float y1 = y + h * 0.8f; - - float x2 = x + w * 0.9f; - float y2 = y + h * 0.2f; - - u8g2_DrawLine(&u8g2, (int16_t) round(x0), (int16_t) round(y0), (int16_t) round(x1), (int16_t) round(y1)); - u8g2_DrawLine(&u8g2, (int16_t) round(x1), (int16_t) round(y1), (int16_t) round(x2), (int16_t) round(y2)); -} \ No newline at end of file diff --git a/example/2025_source_user/OledMenuPaint.cpp b/example/2025_source_user/OledMenuPaint.cpp deleted file mode 100644 index b578b8a..0000000 --- a/example/2025_source_user/OledMenuPaint.cpp +++ /dev/null @@ -1,102 +0,0 @@ -#include "OledMenuDriver.h" -#include "OledMenuPaint.h" -#include "../2025_include_user/OledMenuConfig.h" - -const MenuPaint::Menu *MenuPaint::currentMenu = nullptr; -uint8_t MenuPaint::currentMenuSize = 0; -int8_t MenuPaint::selectIndex = 0; -int8_t MenuPaint::scrollOffset = 0; -bool MenuPaint::switchStates[20] = {0}; -const MenuPaint::Menu *MenuPaint::menuStack[5] = {nullptr}; -uint8_t MenuPaint::stackIndex = 0; - -void MenuPaint::Init() { - currentMenu = menuRoot; - currentMenuSize = sizeof(menuRoot) / sizeof(Menu); - selectIndex = 0; - scrollOffset = 0; -} - -void MenuPaint::Paint() { - MenuDriver::canvasClear(); - - for (int i = 0; i < 4; i++) { - int itemIndex = scrollOffset + i; - if (itemIndex >= currentMenuSize) break; - - const Menu &item = currentMenu[itemIndex]; - - bool selected = (itemIndex == selectIndex); - bool checked = false; - - if (item.type == MENU_TYPE_SWITCH) { - checked = switchStates[item.switchId]; - } - - RenderItem(16 * i, item.name, selected, checked); - } - - MenuDriver::canvasUpdate(); -} - -void MenuPaint::RenderItem(int y, const char *text, bool selected, bool checked) { - MenuDriver::drawChinese(0, y + 12, text); - - if (selected) { - MenuDriver::drawFrame(0, y, 128, 16); - } - - if (checked) { - MenuDriver::drawCheckMark(128 - 12, y + 2, 10, 10); - } -} - -void MenuPaint::ScrollUp() { - if (selectIndex > 0) { - selectIndex--; - if (selectIndex < scrollOffset) scrollOffset--; - Paint(); - } -} - -void MenuPaint::ScrollDown() { - if (selectIndex < currentMenuSize - 1) { - selectIndex++; - if (selectIndex >= scrollOffset + 4) scrollOffset++; - Paint(); - } -} - -void MenuPaint::Enter() { - const Menu &item = currentMenu[selectIndex]; - if (item.type == MENU_TYPE_FOLDER && item.subMenus != nullptr) { - if (stackIndex < 5) { - menuStack[stackIndex++] = currentMenu; - } - currentMenu = item.subMenus; - currentMenuSize = item.subMenuCount; - selectIndex = 0; - scrollOffset = 0; - Paint(); - } else if (item.type == MENU_TYPE_SWITCH) { - if (item.switchId < sizeof(switchStates)) { - switchStates[item.switchId] = !switchStates[item.switchId]; - } - Paint(); - } -} - -void MenuPaint::Exit() { - if (stackIndex > 0) { - currentMenu = menuStack[--stackIndex]; - currentMenuSize = sizeof(menuRoot) / sizeof(Menu); // 示例只返回一级 - selectIndex = 0; - scrollOffset = 0; - Paint(); - } -} - -bool MenuPaint::GetSwitchState(uint8_t switchId) { - if (switchId >= sizeof(switchStates)) return false; - return switchStates[switchId]; -} diff --git a/example/2025_source_user/Potentiometer.cpp b/example/2025_source_user/Potentiometer.cpp deleted file mode 100644 index 77ae8e0..0000000 --- a/example/2025_source_user/Potentiometer.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "../2025_include_user/Potentiometer.h" diff --git a/example/2025_source_user/Print.c b/example/2025_source_user/Print.c deleted file mode 100644 index 77728b9..0000000 --- a/example/2025_source_user/Print.c +++ /dev/null @@ -1,28 +0,0 @@ -#include "../2025_include_user/Print.h" - -void Print_init() { - NVIC_ClearPendingIRQ(PRINTF_INST_INT_IRQN); - NVIC_EnableIRQ(PRINTF_INST_INT_IRQN); -} - -// 串口发送单字节 -void print_char(char ch) { - DL_UART_Main_transmitDataBlocking(PRINTF_INST, (uint8_t)ch); -} - -// 字符串输出 -void print_str(const char *str) { - while (*str) { - print_char(*str++); - } -} - -// 自定义格式化输出 -void print(const char *format, ...) { - char buffer[128]; // 注意大小，防止栈溢出 - va_list args; - va_start(args, format); - vsnprintf(buffer, sizeof(buffer), format, args); - va_end(args); - print_str(buffer); -} diff --git a/example/2025_source_user/Servo.cpp b/example/2025_source_user/Servo.cpp deleted file mode 100644 index 33a21f0..0000000 --- a/example/2025_source_user/Servo.cpp +++ /dev/null @@ -1,12 +0,0 @@ -#include "../2025_include_user/Servo.h" - -void Servo::SetUpAngle(const float angle) { - float pulse = ( (float)angle / 180.0f ) * 1000.0f + 250.0f; - DL_TimerG_setCaptureCompareValue(Servo_INST, (uint32_t)pulse, GPIO_Servo_C0_IDX); -} - - -void Servo::SetDownAngle(const float angle) { - float pulse = ( (float)angle / 270.0f ) * 1000.0f + 250.0f; - DL_TimerG_setCaptureCompareValue(Servo_INST, (uint32_t)pulse, GPIO_Servo_C1_IDX); -} diff --git a/example/2025_source_user/Stepmotor.cpp b/example/2025_source_user/Stepmotor.cpp deleted file mode 100644 index f468298..0000000 --- a/example/2025_source_user/Stepmotor.cpp +++ /dev/null @@ -1,136 +0,0 @@ -#include "../2025_include_user/Stepmotor.h" - -uint8_t StepMotor::_buffer = 0; -StepMotor::Data StepMotor::_data = {}; -static uint8_t frame_index = 0; -static uint8_t frame_buffer[9]; - -extern "C" void Stepmotor_INST_IRQHandler(void) { - switch (DL_UART_getPendingInterrupt(Stepmotor_INST)) { - case DL_UART_IIDX_RX: - StepMotor::_buffer = DL_UART_Main_receiveData(Stepmotor_INST); - StepMotor::inject(); - break; - default: - break; - } - - NVIC_ClearPendingIRQ(Stepmotor_INST_INT_IRQN); - DL_UART_enableInterrupt(Stepmotor_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 -} - -void StepMotor::init() { - NVIC_ClearPendingIRQ(Stepmotor_INST_INT_IRQN); - NVIC_EnableIRQ(Stepmotor_INST_INT_IRQN); - DL_UART_enable(Stepmotor_INST); // 启用 UART 模块 - DL_UART_enableInterrupt(Stepmotor_INST, DL_UART_INTERRUPT_RX); // 启用接收中断 -} - -void StepMotor::inject() { - frame_buffer[frame_index++] = _buffer; - - if (frame_index >= 9) { - // 校验BCC - uint8_t bcc = 0; - for (int i = 0; i < 8; i++) { - bcc ^= frame_buffer[i]; - } - - if (bcc == frame_buffer[8]) { - // BCC校验通过，解析数据存储到ttl_data - _data.address = frame_buffer[0]; - _data.flag = frame_buffer[1]; - _data.speed = (frame_buffer[2] << 8) | frame_buffer[3]; - uint32_t position_raw = (frame_buffer[4] << 24) | (frame_buffer[5] << 16) | (frame_buffer[6] << 8) | frame_buffer[7]; - - // 位置数据处理为有符号值（高位为符号位） - if (position_raw & 0x80000000) { - _data.position = (int32_t)(position_raw | 0xFFFFFFFF00000000); - } else { - _data.position = (int32_t)position_raw; - } - - _data.bcc = frame_buffer[8]; - } - - // 无论校验是否通过，都重置frame_index，准备接收下一帧 - frame_index = 0; - } -} - -void StepMotor::transmit_command(const uint8_t *cmd) { - for (uint8_t i = 0; i < FRAME_LENGTH; i++) { - DL_UART_Main_transmitDataBlocking(Stepmotor_INST, cmd[i]); - } -} - - -// 通用编码函数 -void StepMotor::encode_frame(const StepMotor::ControlMode mode, const uint8_t direction, const uint8_t subdivide, - const float angle_deg, const uint16_t torque_mA, const float absolute_angle_deg, - const float speed_rad_s, uint8_t *frame_buffer) { - uint16_t angle_or_current = 0; - uint16_t speed = (uint16_t) (speed_rad_s * 10); // 转速 *10 放大 - - frame_buffer[0] = 0x7B; // 帧头 - frame_buffer[1] = 0x01; // 控制ID - frame_buffer[2] = mode; // 控制模式 - frame_buffer[3] = direction; // 方向 - frame_buffer[4] = subdivide; // 细分 - - if (mode == StepMotor::POSITION_MODE) { - angle_or_current = (uint16_t) (angle_deg * 10); // 角度 *10 放大 - } else if (mode != StepMotor::TORQUE_MODE) { - angle_or_current = torque_mA; // 电流mA - } else if (mode == StepMotor::ABSOLUTE_ANGLE_MODE) { - angle_or_current = (uint16_t) (absolute_angle_deg * 10); // 角度 *10 放大 - } else { - angle_or_current = 0; // 速度模式时为0 - } - - frame_buffer[5] = (angle_or_current >> 8) & 0xFF; - frame_buffer[6] = angle_or_current & 0xFF; - - frame_buffer[7] = (speed >> 8) & 0xFF; - frame_buffer[8] = speed & 0xFF; - - uint8_t bcc = 0; - for (int i = 0; i < 9; i++) { - bcc ^= frame_buffer[i]; - } - frame_buffer[9] = bcc; - - frame_buffer[10] = 0x7D; // 帧尾 -} - -void StepMotor::setSpeed(uint8_t direction, uint8_t subdivide, float speed_rad_s) { - uint8_t frame[FRAME_LENGTH]; - encode_frame(SPEED_MODE, direction, subdivide, 0, 0, 0, speed_rad_s, frame); - transmit_command(frame); -} - -void StepMotor::setPosition(uint8_t direction, uint8_t subdivide, float angle_deg, float speed_rad_s) { - uint8_t frame[FRAME_LENGTH]; - encode_frame(POSITION_MODE, direction, subdivide, angle_deg, 0, 0, speed_rad_s, frame); - transmit_command(frame); -} - -void StepMotor::setTorque(uint8_t direction, uint8_t subdivide, uint16_t torque_mA, float speed_rad_s) { - uint8_t frame[FRAME_LENGTH]; - encode_frame(TORQUE_MODE, direction, subdivide, 0, torque_mA, 0, speed_rad_s, frame); - transmit_command(frame); -} - -void StepMotor::setAbsoluteAngle(uint8_t direction, uint8_t subdivide, float absolute_angle_deg, float speed_rad_s) { - uint8_t frame[FRAME_LENGTH]; - encode_frame(ABSOLUTE_ANGLE_MODE, direction, subdivide, 0, 0, absolute_angle_deg, speed_rad_s, frame); - transmit_command(frame); -} - -uint16_t StepMotor::getSpeed() { - return _data.speed; -} - -uint32_t StepMotor::getPosition() { - return _data.position; -} diff --git a/example/2025_source_user/TrackerGpio.cpp b/example/2025_source_user/TrackerGpio.cpp deleted file mode 100644 index 39761ce..0000000 --- a/example/2025_source_user/TrackerGpio.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include "../2025_include_user/TrackerGpio.h" - -TrackerGpio::Data TrackerGpio::_data; - -void TrackerGpio::init() {} - -void TrackerGpio::inject() {} - -TrackerGpio::Data TrackerGpio::getData() { - TrackerGpio::Data data = {}; - data.data[0] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track1_PIN) == 0; - data.data[1] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track2_PIN) == 0; - data.data[2] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track3_PIN) == 0; - data.data[3] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track4_PIN) == 0; - data.data[4] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track5_PIN) == 0; - data.data[5] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track6_PIN) == 0; - data.data[6] = DL_GPIO_readPins(Tracker_PORT, Tracker_Track7_PIN) == 0; - return data; -} \ No newline at end of file diff --git a/example/2025_source_user/TrackerMpu.cpp b/example/2025_source_user/TrackerMpu.cpp deleted file mode 100644 index 7660350..0000000 --- a/example/2025_source_user/TrackerMpu.cpp +++ /dev/null @@ -1,61 +0,0 @@ -#include "TrackerMpu.h" - -#include <../2025_include_user/Print.h> - -#define TRACKER_ADDR 0x12 -#define TRACKER_DATA_ADDR 0x30 - -uint8_t TrackerMpu::_buffer = 0x00; -TrackerMpu::Data TrackerMpu::_data; - -void WriteByte(const uint8_t addr, const uint8_t dat) { - uint8_t temp[2]; - temp[0] = addr; - temp[1] = dat; - - DL_I2C_fillControllerTXFIFO(I2C_1_INST, temp, 2); - while (!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)) - - DL_I2C_startControllerTransfer(I2C_1_INST, 0x12, DL_I2C_CONTROLLER_DIRECTION_TX, 2); - while (DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS) - while (!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)) - DL_I2C_flushControllerTXFIFO(I2C_1_INST); -} - -uint8_t ReadByte(const uint8_t addr) { - uint8_t data; - - DL_I2C_fillControllerTXFIFO(I2C_1_INST, &addr, 1); - - DL_I2C_disableInterrupt(I2C_1_INST, DL_I2C_INTERRUPT_CONTROLLER_TXFIFO_TRIGGER); - - while (!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - DL_I2C_startControllerTransfer(I2C_1_INST, 0x12, DL_I2C_CONTROLLER_DIRECTION_TX, 1); - while (DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - while (!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - // DL_I2C_flushControllerTXFIFO(I2C_1_INST); - - DL_I2C_startControllerTransfer(I2C_1_INST, 0x12, DL_I2C_CONTROLLER_DIRECTION_RX, 1); - while (DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_BUSY_BUS); - while (!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE)); - data = DL_I2C_receiveControllerData(I2C_1_INST); - - return data; -} - -void TrackerMpu::init() {} - -void TrackerMpu::inject() { - WriteByte(0x01, 1); - WriteByte(0x01, 0); - TrackerMpu::_buffer = ReadByte(0x30); - // print("Raw: %u (0x%02X)\n", _buffer, _buffer); - for (uint8_t i = 0; i < 8; i++) { - TrackerMpu::_data.data[i] = (TrackerMpu::_buffer >> (7 - i)) & 0x01; - } -} - -TrackerMpu::Data TrackerMpu::getData() { - TrackerMpu::inject(); - return TrackerMpu::_data; -} \ No newline at end of file diff --git a/example/2025_source_user/Ultrasonic.cpp b/example/2025_source_user/Ultrasonic.cpp deleted file mode 100644 index d048f05..0000000 --- a/example/2025_source_user/Ultrasonic.cpp +++ /dev/null @@ -1 +0,0 @@ -#include "../2025_include_user/Ultrasonic.h"