更新非阻塞延时

Core/Src/main.c

@@ -84,7 +84,68 @@ int can2_DispacherPeriod = 4;
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
+typedef enum
+{
+    ACT_UP = 0,
+    ACT_STOP1,
+    ACT_DOWN,
+    ACT_STOP2,
+}ACT_STATE;
+
+ACT_STATE g_state = ACT_UP;
+uint32_t g_tick = 0;
 
+void Actuator_Start(void) /*初始化*/
+{
+    g_state = ACT_UP;
+    g_tick = HAL_GetTick();
+
+    GF_BSP_GPIO_SetIO(7,1);
+    GF_BSP_GPIO_SetIO(8,0);
+}
+void Actuator_Task(void) /*实现不阻塞延时*/
+{
+    if(HAL_GetTick() - g_tick < 2000)
+        return;
+
+    g_tick = HAL_GetTick();
+
+    switch(g_state)
+    {
+        case ACT_UP:
+            // 上升
+            GF_BSP_GPIO_SetIO(7,1);
+            GF_BSP_GPIO_SetIO(8,0);
+            g_state = ACT_STOP1;
+            break;
+
+        case ACT_STOP1:
+            // 停止
+            GF_BSP_GPIO_SetIO(7,1);
+            GF_BSP_GPIO_SetIO(8,1);
+            g_state = ACT_DOWN;
+            break;
+
+        case ACT_DOWN:
+            // 下降
+            GF_BSP_GPIO_SetIO(7,0);
+            GF_BSP_GPIO_SetIO(8,1);
+            g_state = ACT_STOP2;
+            break;
+
+        case ACT_STOP2:
+            // 停止
+            GF_BSP_GPIO_SetIO(7,1);
+            GF_BSP_GPIO_SetIO(8,1);
+
+            // 如果只执行一轮
+            // return;
+
+            // 如果一直循环
+            g_state = ACT_UP;
+            break;
+    }
+}
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -206,7 +267,7 @@ int main(void)
 
 	/* TCP echo server Init */
 	tcp_server_init(5000);
-
+	Actuator_Start();
 
 	char InputInfo[500];
   /* USER CODE END 2 */
@@ -215,7 +276,7 @@ int main(void)
   /* USER CODE BEGIN WHILE */
 	while (1) {
 
-		  if (HAL_GetTick() - ledTick >= 3000) /*led翻转，表示程序运行状�?????*/
+		  if (HAL_GetTick() - ledTick >= 1000) /*led翻转，表示程序运行状�?????*/
 		  {
 			ledTick = HAL_GetTick();
 			HAL_GPIO_TogglePin(IO_LED_GPIO_Port, IO_LED_Pin); //反转
@@ -226,21 +287,26 @@ int main(void)
 			HAL_GPIO_TogglePin(M_OUT5_GPIO_Port, M_OUT5_Pin);
 			HAL_GPIO_TogglePin(M_OUT6_GPIO_Port, M_OUT6_Pin);
 		  }
-		GF_BSP_GPIO_SetIO(7,1); /* 上升  0亮 1灭  不能同时为0，不能同时亮，会烧保险丝，为了给继电器吸合的反应时间*/
-		GF_BSP_GPIO_SetIO(8,0);/*推杆上升下降切换时时必须经过停止，延时1s*/
-		HAL_Delay(2000);
 
-		GF_BSP_GPIO_SetIO(7,1);/*停*/
+			Actuator_Task();
-		GF_BSP_GPIO_SetIO(8,1);
+
-		HAL_Delay(2000);
+
 
-		GF_BSP_GPIO_SetIO(7,0);/*下降*/
+//		GF_BSP_GPIO_SetIO(7,1); /* 上升  0亮 1灭  不能同时为0，不能同时亮，会烧保险丝，为了给继电器吸合的反应时间*/
-		GF_BSP_GPIO_SetIO(8,1);
+//		GF_BSP_GPIO_SetIO(8,0);/*推杆上升下降切换时时必须经过停止，延时1s*/
-		HAL_Delay(2000);
+//		HAL_Delay(2000);
+//
+//		GF_BSP_GPIO_SetIO(7,1);/*停*/
+//		GF_BSP_GPIO_SetIO(8,1);
+//		HAL_Delay(2000);
+//
+//		GF_BSP_GPIO_SetIO(7,0);/*下降*/
+//		GF_BSP_GPIO_SetIO(8,1);
+//		HAL_Delay(2000);
 
-		GF_BSP_GPIO_SetIO(7,1);/*停*/
+//		GF_BSP_GPIO_SetIO(7,1);/*停*/
-		GF_BSP_GPIO_SetIO(8,1);
+//		GF_BSP_GPIO_SetIO(8,1);
-		HAL_Delay(2000);
+//		HAL_Delay(2000);
 
 
 		memset(InputInfo, '\0', sizeof(InputInfo));

Debug/Core/Src/main.su

@@ -1,5 +1,7 @@
-../Core/Src/main.c:109:5:main	584	static,ignoring_inline_asm
+../Core/Src/main.c:98:6:Actuator_Start	8	static
-../Core/Src/main.c:282:6:SystemClock_Config	120	static
+../Core/Src/main.c:106:6:Actuator_Task	8	static
-../Core/Src/main.c:342:6:CV_GV_Init	64	static
+../Core/Src/main.c:170:5:main	584	static,ignoring_inline_asm
-../Core/Src/main.c:354:6:MPU_Config	24	static
+../Core/Src/main.c:348:6:SystemClock_Config	120	static
-../Core/Src/main.c:406:6:Error_Handler	4	static,ignoring_inline_asm
+../Core/Src/main.c:408:6:CV_GV_Init	64	static
+../Core/Src/main.c:420:6:MPU_Config	24	static
+../Core/Src/main.c:472:6:Error_Handler	4	static,ignoring_inline_asm