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iamlijihu
2025-05-15 18:18:52 +08:00
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46
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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into the executable file.
The source code of each library should be placed in a separate directory
("lib/your_library_name/[Code]").
For example, see the structure of the following example libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
Example contents of `src/main.c` using Foo and Bar:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
The PlatformIO Library Dependency Finder will find automatically dependent
libraries by scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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/**
***************************************************************************************
* @file buffer.cpp
* @author lijihu
* @version V1.0.0
* @date 2025/05/10
* @brief 实现缓冲器功能
*缓冲器说明
光感：遮挡1，不遮挡0；
耗材开关：有耗材0，无耗材1；
按键：按下0，松开1；
引脚：
HALL1 --> PB2 (光感3)
HALL2 --> PB3 (光感2)
HALL3 --> PB4 (光感1)
ENDSTOP_3 --> PB7(耗材开关)
KEY1 --> PB13(后退)
KEY2 --> PB12(前进)
*
* @note
***************************************************************************************
* 版权声明 COPYRIGHT 2025 xxx@126.com
***************************************************************************************
**/
#include "buffer.h"
TMC2209Stepper driver(UART, UART, R_SENSE, DRIVER_ADDRESS);
Buffer buffer={0};//存储个传感器状态
Motor_State motor_state=Stop;
bool is_front=false;//前进标志位
uint32_t front_time=0;//前进时间
const int EEPROM_ADDR_TIMEOUT = 0;
const uint32_t DEFAULT_TIMEOUT = 30000;
uint32_t timeout=30000;//超时时间，单位：ms;
bool is_error=false;//错误标志位，如果连续30s推送耗材没停过，则认为错误
String serial_buf;
static HardwareTimer timer(TIM6);//超时出错
void buffer_init(){
buffer_sensor_init();
buffer_motor_init();
delay(1000);
EEPROM.get(EEPROM_ADDR_TIMEOUT, timeout);
// 判断读取的值是否有效（例如首次写入前是 0xFFFFFFFF 或 0）
if (timeout == 0xFFFFFFFF || timeout == 0) {
timeout = DEFAULT_TIMEOUT;
EEPROM.put(EEPROM_ADDR_TIMEOUT, timeout);
Serial.println("EEPROM is empty");
} else {
Serial.print("read timeout: ");
Serial.println(timeout);
}
timer.pause();
timer.setPrescaleFactor(48);//48分频 48000000/48=1000000
timer.setOverflow(1000);//1ms
timer.attachInterrupt(&timer_it_callback);
timer.resume();
}
void buffer_loop(){
uint32_t lastToggleTime = millis(); // 记录上次切换的时间
while(1)
{
if(millis() - lastToggleTime >= 500) // 每隔 500ms
{
lastToggleTime = millis(); // 记录当前时间
digitalToggle(ERR_LED);
}
//1、读取各传感器的值
read_sensor_state();
#if DEBUG
buffer_debug();
while(Serial.available()>0){
char c=Serial.read();
serial_buf+=c;
int pos_enter = -1;
pos_enter = serial_buf.indexOf("\n");
if(pos_enter != -1){
String str=serial_buf.substring(0,pos_enter);
serial_buf=serial_buf.substring(pos_enter+1);
if(strstr(str.c_str(),"gconf")!=NULL){
TMC2208_n::CHOPCONF_t gconf{0};
// 提取 "gconf" 后面的十六进制字符串
int pos = str.indexOf("gconf");
if (pos != -1) {
String hexPart = str.substring(pos + 5); // 跳过 "gconf"
hexPart.trim(); // 去除前后空白符
// 将字符串转换为 32 位无符号整数
uint32_t hexValue = strtoul(hexPart.c_str(), NULL, 16);
// 赋值给结构体（按你的结构定义赋值）
gconf.sr = hexValue; // 假设 sr 是结构体中的原始寄存器值字段
}
driver.GCONF(gconf.sr);
Serial.print("write GCONF:0x");
Serial.println(gconf.sr,HEX);
Serial.print("read GCONF: 0x");
Serial.println(driver.GCONF(),HEX);
}
}
}
#else
motor_control();
while(Serial.available()>0){
char c=Serial.read();
serial_buf+=c;
}
if(serial_buf.length()>0){
if(serial_buf=="rt"){
Serial.print("read timeout=");
Serial.println(timeout);
serial_buf="";
}
else if(serial_buf.startsWith("set")){
serial_buf.remove(0,3);
int64_t num=serial_buf.toInt();
if(num<0||num>0xffffffff){
serial_buf="";
Serial.println("Error: Invalid timeout value.");
continue;
}
timeout=num;
EEPROM.put(EEPROM_ADDR_TIMEOUT, timeout);
serial_buf="";
Serial.print("set succeed! timeout=");
Serial.println(timeout);
}
else{
Serial.println(serial_buf.c_str());
Serial.println("command error!");
serial_buf="";
}
}
#endif
}
}
void buffer_sensor_init(){
//传感器初始化
pinMode(HALL1,INPUT);
pinMode(HALL2,INPUT);
pinMode(HALL3,INPUT);
pinMode(ENDSTOP_3,INPUT);
pinMode(KEY1,INPUT);
pinMode(KEY2,INPUT);
//耗材指示灯初始化
pinMode(DUANLIAO,OUTPUT);
pinMode(ERR_LED,OUTPUT);
pinMode(START_LED,OUTPUT);
}
void buffer_motor_init(){
//电机驱动引脚初始化
pinMode(EN_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
pinMode(DIR_PIN, OUTPUT);
digitalWrite(EN_PIN, LOW); // Enable driver in hardware
//电机驱动初始化
driver.begin(); // UART: Init SW UART (if selected) with default 115200 baudrate
driver.beginSerial(9600);
driver.I_scale_analog(false);
driver.toff(5); // Enables driver in software
driver.rms_current(I_CURRENT); // Set motor RMS current
driver.microsteps(Move_Divide_NUM); // Set microsteps to 1/16th
driver.VACTUAL(STOP); // Set velocity
driver.en_spreadCycle(true);
driver.pwm_autoscale(true);
}
/**
* @brief 读取各传感器状态
* @param NULL
* @retval NULL
**/
void read_sensor_state(void)
{
buffer.buffer1_pos1_sensor_state= digitalRead(HALL3);
buffer.buffer1_pos2_sensor_state= digitalRead(HALL2);
buffer.buffer1_pos3_sensor_state= digitalRead(HALL1);
buffer.buffer1_material_swtich_state=digitalRead(ENDSTOP_3);
buffer.key1=digitalRead(KEY1);
buffer.key2=digitalRead(KEY2);
}
/**
* @brief 电机控制
* @param NULL
* @retval NULL
**/
void motor_control(void)
{
static Motor_State last_motor_state=Stop;
//按键控制电机
//按键1按下
if(!digitalRead(KEY1))
{
WRITE_EN_PIN(0);//使能
driver.VACTUAL(STOP); //停止
driver.shaft(BACK);
driver.VACTUAL(VACTRUAL_VALUE);
while(!digitalRead(KEY1));//等待松手
driver.VACTUAL(STOP); //停止
motor_state=Stop;
is_front=false;
front_time=0;
is_error=false;
WRITE_EN_PIN(1);//失能
}
else if(!digitalRead(KEY2))//按键2按下
{
WRITE_EN_PIN(0);
driver.VACTUAL(STOP); //停止
driver.shaft(FORWARD);
driver.VACTUAL(VACTRUAL_VALUE);
while(!digitalRead(KEY2));
driver.VACTUAL(STOP); //停止
motor_state=Stop;
is_front=false;
front_time=0;
is_error=false;
WRITE_EN_PIN(1);
}
//判断耗材
if(digitalRead(ENDSTOP_3))
{
//无耗材，停止电机
driver.VACTUAL(STOP); //停止
motor_state=Stop;
//断料引脚输出低电平
digitalWrite(DUANLIAO,0);
//关闭指示灯
digitalWrite(START_LED,0);
is_front=false;
front_time=0;
is_error=false;
WRITE_EN_PIN(1);
return;//无耗材，结束
}
//有耗材，断料引脚输出高电平
digitalWrite(DUANLIAO,1);
//开启指示灯
digitalWrite(START_LED,1);
//判断是否有错误
if(is_error){
//停止电机
driver.VACTUAL(STOP); //停止
motor_state=Stop;
WRITE_EN_PIN(1);
return ;
}
//缓冲器位置记录
if(buffer.buffer1_pos1_sensor_state) //缓冲器位置为1，耗材往前推
{
last_motor_state=motor_state; //记录上一次状态
motor_state=Forward;
is_front=true;
}
else if(buffer.buffer1_pos2_sensor_state) //缓冲器位置为2,电机停止转动
{
last_motor_state=motor_state; //记录上一次状态
motor_state=Stop;
is_front=false;
front_time=0;
}
else if(buffer.buffer1_pos3_sensor_state) //缓冲器位置为3，回退耗材
{
last_motor_state=motor_state; //记录上一次状态
motor_state=Back;
is_front=false;
front_time=0;
}
if(motor_state==last_motor_state)//如果上次状态跟这次状态一致，则不需要再次发送控制命令,结束此次函数
return;
//电机控制
switch(motor_state)
{
case Forward://向前
{
WRITE_EN_PIN(0);
if(last_motor_state==Back) driver.VACTUAL(STOP);//上次是后退，先停下再前进
driver.shaft(FORWARD);
driver.VACTUAL(VACTRUAL_VALUE);
}break;
case Stop://停止
{
WRITE_EN_PIN(1);
driver.VACTUAL(STOP);
}break;
case Back://向后
{
WRITE_EN_PIN(0);
if(last_motor_state==Forward) driver.VACTUAL(STOP);;//上次是前进，先停下再后退
driver.shaft(BACK);
driver.VACTUAL(VACTRUAL_VALUE);
}break;
}
}
void timer_it_callback(){
if(is_front){//如果往前推
front_time++;
if(front_time>timeout){//如果超时
is_error=true;
}
}
}
void buffer_debug(void){
// Serial.print("buffer1_pos1_sensor_state:");Serial.println(buffer.buffer1_pos1_sensor_state);
// Serial.print("buffer1_pos2_sensor_state:");Serial.println(buffer.buffer1_pos2_sensor_state);
// Serial.print("buffer1_pos3_sensor_state:");Serial.println(buffer.buffer1_pos3_sensor_state);
// Serial.print("buffer1_material_swtich_state:");Serial.println(buffer.buffer1_material_swtich_state);
// Serial.print("key1:");Serial.println(buffer.key1);
// Serial.print("key2:");Serial.println(buffer.key2);
static int i=0;
if(i<0x1ff){
Serial.print("i:");
Serial.println(i);
driver.GCONF(i);
driver.PWMCONF(i);
i++;
}
uint32_t gconf = driver.GCONF();
uint32_t chopconf=driver.CHOPCONF();
uint32_t pwmconf = driver.PWMCONF();
if(driver.CRCerror){
Serial.println("CRCerror");
}
else{
Serial.print("GCONF():0x");
Serial.println(gconf,HEX);
Serial.print("CHOPCONF():0x");
char buf[11]; // "0x" + 8 digits + null terminator
sprintf(buf, "%08lX", chopconf); // %08lX -> 8位大写十六进制（long unsigned）
Serial.println(buf);
Serial.print("PWMCONF():0x");
sprintf(buf, "%08lX", pwmconf); // %08lX -> 8位大写十六进制（long unsigned）
Serial.println(buf);
Serial.println("");
}
delay(1000);
}

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/**
***************************************************************************************
* @file buffer.cpp
* @author lijihu
* @version V1.0.0
* @date 2025/05/10
* @brief 实现缓冲器功能
*缓冲器说明
光感：遮挡1，不遮挡0；
耗材开关：有耗材0，无耗材1；
按键：按下0，松开1；
引脚：
HALL1 --> PB2 (光感3)
HALL2 --> PB3 (光感2)
HALL3 --> PB4 (光感1)
ENDSTOP_3 --> PB7(耗材开关)
KEY1 --> PB13(后退)
KEY2 --> PB12(前进)
*
* @note
***************************************************************************************
* 版权声明 COPYRIGHT 2024 xxx@126.com
***************************************************************************************
**/
#ifndef __BUFFER_H__
#define __BUFFER_H__
#include <TMCStepper.h>
#include <Arduino.h>
#include <EEPROM.h>
#define HALL1 PB2 //光感3
#define HALL2 PB3 //光感2
#define HALL3 PB4 //光感1
#define ENDSTOP_3 PB7 //耗材开关
#define KEY1 PB13 //后退
#define KEY2 PB12 //前进
#define EN_PIN PA6 //使能
#define DIR_PIN PA7 //方向
#define STEP_PIN PC13 //步
#define UART PB1 //软串口
#define DUANLIAO PB15 //断料
#define ERR_LED PA15 //指示灯
#define START_LED PA8 //指示灯
#define DRIVER_ADDRESS 0b00 // TMC Driver address according to MS1 and MS2
#define R_SENSE 0.11f // Match to your driver
#define SPEED 300 //转速(单位：r/min)
#define Move_Divide_NUM ((int32_t)(64)) //(每步柔性件控制细分量)
#define VACTRUAL_VALUE (uint32_t)(SPEED*Move_Divide_NUM*200/60/0.715) //VACTUAL寄存器值
#define STOP 0 //停止
#define I_CURRENT (600) //电流
#define WRITE_EN_PIN(x) digitalWrite(EN_PIN,x)//使能EN引脚
#define FORWARD 1//耗材方向
#define BACK 0
#define DEBUG 0
//定义结构体存储缓冲器中各传感器的的状态
typedef struct Buffer
{
//buffer1
bool buffer1_pos1_sensor_state;
bool buffer1_pos2_sensor_state;
bool buffer1_pos3_sensor_state;
bool buffer1_material_swtich_state;
bool key1;
bool key2;
}Buffer;
//电机状态控制枚举
typedef enum
{
Forward=0,//向前
Stop, //停止
Back //后退
}Motor_State;
extern void buffer_sensor_init();
extern void buffer_motor_init();
extern void read_sensor_state(void);
extern void motor_control(void);
extern void buffer_init();
extern void buffer_loop(void);
extern void timer_it_callback();
extern void buffer_debug(void);
extern bool is_error;
extern uint32_t front_time;//前进时间
extern uint32_t timeout;
extern bool is_front;
extern TMC2209Stepper driver;
#endif