【编译通过】新增老版本代码作为一个模块

CMakeLists.txt

@@ -120,6 +120,7 @@ add_module(bspMCU bspMCU OFF OFF)
 add_module(RBcore RBcore OFF OFF)
 add_module(optional optional OFF OFF)
 add_module(Spoolend Spoolend OFF OFF)
+add_module(Spoolold Spoolold OFF OFF)
 
 if(A_BUILD_MAIN)
     add_subdirectory(main)

Spoolend/Spoolend.c

@@ -174,5 +174,10 @@ void SpoolendTask(void)
 //	rd_ComRead(g_ptRS485_2, pcBuffer2, sizeof(pcBuffer2));
 	rd_ComRead(g_ptFDCAN1, pcBuffer3, sizeof(pcBuffer3));
 	__enable_irq();
+    printf("Hello world\n");
+    HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
+    HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
+    HAL_GPIO_TogglePin(LED3_GPIO_Port, LED3_Pin);
+ 	HAL_Delay(500);
 }
 

Spoolold/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+
+set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../library/CMakeLists.txt")
+
+if(EXISTS ${COMMON_CMAKE_PATH})
+    include(${COMMON_CMAKE_PATH})
+else()
+    message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
+endif()
+
+if(TARGET stm32cubemx)
+    target_link_libraries(Spoolold PUBLIC stm32cubemx)
+else()
+    message(WARNING "[Spoolold] Dependency 'stm32cubemx' not found.")
+endif()

Spoolold/Spoolold.c

@@ -0,0 +1,109 @@
+#include "dmk.h"
+#include "flash_operation.h"
+#include "modbus.h"
+#include "iwdg.h"
+#include <stdint.h>
+
+uint32_t Rx_Pre_time = 0;
+
+void handle_power_on_off() {
+  // holdingRegisters[5] 决定是否手动关闭电源
+  if (holdingRegisters[5] != 0) // 手动关闭电源
+  {
+
+    if (holdingRegisters[6] == 0) // 关闭电源
+    {
+      if (holdingRegisters[4] == 0) {
+        HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
+      } else {
+        HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin,
+                          GPIO_PIN_RESET); // k5设为1 低电平亮灯
+      }
+    } else {
+      if (holdingRegisters[4] == 0) {
+        HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
+      } else {
+        HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
+      }
+    }
+
+    return;
+  }
+  // 自动关闭电源 决定是否手动关闭电源
+  if (HAL_GetTick() >= Rx_Pre_time &&
+      HAL_GetTick() - Rx_Pre_time > holdingRegisters[7]) {
+    if (holdingRegisters[4] == 0) {
+      HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
+    } else {
+      HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
+    }
+  } else {
+    if (holdingRegisters[4] == 0) {
+      HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_RESET);
+    } else {
+      HAL_GPIO_WritePin(K5_GPIO_Port, K5_Pin, GPIO_PIN_SET);
+    }
+  }
+}
+
+void SpoolendInit(void) {
+  Modbus_Init();
+  ReadParametersFromFlash((int16_t *)holdingRegisters);
+  holdingRegisters[8] = 2000;
+  Rx_Pre_time = HAL_GetTick();
+}
+
+void SpoolendTask(void) {
+  HAL_IWDG_Refresh(&hiwdg);
+  Modbus_Process();
+
+  if (holdingRegisters[0] == 0) {
+    HAL_GPIO_WritePin(K1_GPIO_Port, K1_Pin, GPIO_PIN_RESET);
+  } else {
+    HAL_GPIO_WritePin(K1_GPIO_Port, K1_Pin, GPIO_PIN_SET);
+  }
+
+  if (holdingRegisters[1] == 0) {
+    HAL_GPIO_WritePin(K2_GPIO_Port, K2_Pin, GPIO_PIN_RESET);
+  } else {
+    HAL_GPIO_WritePin(K2_GPIO_Port, K2_Pin, GPIO_PIN_SET);
+  }
+
+  if (holdingRegisters[2] == 0) {
+    HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin, GPIO_PIN_RESET);
+  } else {
+    HAL_GPIO_WritePin(K3_GPIO_Port, K3_Pin, GPIO_PIN_SET);
+  }
+
+  if (holdingRegisters[3] == 0) {
+    HAL_GPIO_WritePin(K4_GPIO_Port, K4_Pin, GPIO_PIN_RESET);
+  } else {
+    HAL_GPIO_WritePin(K4_GPIO_Port, K4_Pin, GPIO_PIN_SET);
+  }
+
+  if (RS485_1_RX) {
+    RS485_1_RX = 0;
+    Rx_Pre_time = HAL_GetTick();
+    HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
+  }
+
+  if (RS485_1_Host_Existed) {
+    RS485_1_Host_Existed = 0;
+    Rx_Pre_time = HAL_GetTick();
+  }
+
+  if (HAL_GetTick() >= Rx_Pre_time &&
+      HAL_GetTick() - Rx_Pre_time > holdingRegisters[7]) // 超时了
+  {
+    MB_WriteHoldingReg(1, 0x033, 0x0); // 停止运行
+  } else {
+    handle_dmk_motor(holdingRegisters[8], holdingRegisters[9]);
+  }
+  handle_power_on_off();
+
+  // only when holdingRegisters[9] == 55   time can be changed
+  if (holdingRegisters[10] == 55) {
+    WriteParametersToFlash((int16_t *)holdingRegisters);
+    holdingRegisters[10] = 1;
+  }
+}

Spoolold/dmk.c

@@ -0,0 +1,56 @@
+/*
+ * dmk.c
+ *
+ *  Created on: Jan 14, 2026
+ *      Author: akeguo
+ */
+#include "dmk.h"
+#include "main.h"
+#include "dma.h"
+#include "iwdg.h"
+#include "tim.h"
+#include "usart.h"
+#include "gpio.h"
+uint16_t Is_First_Run = 0;
+
+void handle_dmk_motor(uint16_t velocity, int state) {
+
+//		if (Is_First_Run <= 5) {
+//			HAL_Delay(50);
+//			MB_WriteHoldingReg(1, 0, 4);//设置模式为0
+//			HAL_Delay(100);
+//			Is_First_Run++;;
+//			return;
+//		}
+
+	char ms_100_state = HAL_GetTick() / 300 % 3;
+	switch (ms_100_state) {
+	case 1: {
+		MB_WriteHoldingReg(1, 0x06a, velocity);
+		break;
+	}
+	case 2: {
+		if (state == 1) {
+			//正转
+			MB_WriteHoldingReg(1, 0x033, 0x01);
+
+		} else if (state == 0) {
+			//stop
+			MB_WriteHoldingReg(1, 0x033, 0x0);
+
+		} else if (state == 2) {
+			//reverse
+			MB_WriteHoldingReg(1, 0x033, 0x14);
+		}
+		break;
+	}
+	case 0: {
+		MB_WriteHoldingReg(1, 0, 0);//设置模式为0
+		break;
+	}
+
+	}
+
+
+//HAL_Delay(80);
+}

Spoolold/include/dmk.h

@@ -0,0 +1,20 @@
+/*
+ * dmk.h
+ *
+ *  Created on: Jan 14, 2026
+ *      Author: akeguo
+ */
+
+#ifndef INC_DMK_H_
+#define INC_DMK_H_
+#include "stm32g4xx_hal.h"
+#include <stdint.h>
+#include <stdbool.h>
+#include "modbus.h"
+#include "usart.h"
+
+
+extern void handle_dmk_motor(uint16_t velocity, int state);
+extern uint16_t Is_First_Run;
+
+#endif /* INC_DMK_H_ */