更新非阻塞延时闪烁

Core/Src/main.c

@@ -84,8 +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;
 
-/* USER CODE END PV */
+void Actuator_Start(void) /*初始化*/
+{
+    g_state = ACT_UP;
+    g_tick = HAL_GetTick();
+
+    GF_BSP_GPIO_SetIO(1,1);
+    GF_BSP_GPIO_SetIO(2,0);
+}
+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(1,1);
+            GF_BSP_GPIO_SetIO(2,0);
+            g_state = ACT_STOP1;
+            break;
+
+        case ACT_STOP1:
+            // 停止
+            GF_BSP_GPIO_SetIO(1,1);
+            GF_BSP_GPIO_SetIO(2,1);
+            g_state = ACT_DOWN;
+            break;
+
+        case ACT_DOWN:
+            // 下降
+            GF_BSP_GPIO_SetIO(1,0);
+            GF_BSP_GPIO_SetIO(2,1);
+            g_state = ACT_STOP2;
+            break;
+
+        case ACT_STOP2:
+            // 停止
+            GF_BSP_GPIO_SetIO(1,1);
+            GF_BSP_GPIO_SetIO(2,1);
+
+            // 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 -----------------------------------------------*/
 void SystemClock_Config(void);
@@ -207,7 +267,7 @@ int main(void)
 	/* TCP echo server Init */
 	tcp_server_init(5000);
 
-
+	Actuator_Start();
 	char InputInfo[500];
   /* USER CODE END 2 */
 
@@ -215,32 +275,28 @@ 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();
+			ledTick = HAL_GetTick();
-//			HAL_GPIO_TogglePin(IO_LED_GPIO_Port, IO_LED_Pin); //反转
+			HAL_GPIO_TogglePin(IO_LED_GPIO_Port, IO_LED_Pin); //反转
-//			HAL_GPIO_TogglePin(M_OUT1_GPIO_Port, M_OUT1_Pin);
+		  }
-//			HAL_GPIO_TogglePin(M_OUT2_GPIO_Port, M_OUT2_Pin);
+			Actuator_Task();
-//			HAL_GPIO_TogglePin(M_OUT3_GPIO_Port, M_OUT3_Pin);
+
-//			HAL_GPIO_TogglePin(M_OUT4_GPIO_Port, M_OUT4_Pin);
+//		GF_BSP_GPIO_SetIO(1,1); /* 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*/
-//			HAL_GPIO_TogglePin(M_OUT5_GPIO_Port, M_OUT5_Pin);
+//		GF_BSP_GPIO_SetIO(2,0);/*推杆上升下降切换时时必须经过停止，延时1s*/
-//			HAL_GPIO_TogglePin(M_OUT6_GPIO_Port, M_OUT6_Pin);
+//		HAL_Delay(2000);
-//		  }
+//
-		GF_BSP_GPIO_SetIO(1,1); /* 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(1,1);/*停*/
-		GF_BSP_GPIO_SetIO(2,0);/*推杆上升下降切换时时必须经过停止，延时1s*/
+//		GF_BSP_GPIO_SetIO(2,1);
-		HAL_Delay(2000);
+//		HAL_Delay(2000);
-
+//
-		GF_BSP_GPIO_SetIO(1,1);/*停*/
+//		GF_BSP_GPIO_SetIO(1,0);/*下降*/
-		GF_BSP_GPIO_SetIO(2,1);
+//		GF_BSP_GPIO_SetIO(2,1);
-		HAL_Delay(2000);
+//		HAL_Delay(2000);
-
+//
-		GF_BSP_GPIO_SetIO(1,0);/*下降*/
+//		GF_BSP_GPIO_SetIO(1,1);/*停*/
-		GF_BSP_GPIO_SetIO(2,1);
+//		GF_BSP_GPIO_SetIO(2,1);
-		HAL_Delay(2000);
+//		HAL_Delay(2000);
-
-		GF_BSP_GPIO_SetIO(1,1);/*停*/
-		GF_BSP_GPIO_SetIO(2,1);
-		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:169:5:main	584	static,ignoring_inline_asm
-../Core/Src/main.c:354:6:MPU_Config	24	static
+../Core/Src/main.c:338:6:SystemClock_Config	120	static
-../Core/Src/main.c:406:6:Error_Handler	4	static,ignoring_inline_asm
+../Core/Src/main.c:398:6:CV_GV_Init	64	static
+../Core/Src/main.c:410:6:MPU_Config	24	static
+../Core/Src/main.c:462:6:Error_Handler	4	static,ignoring_inline_asm

EchoNewSmallBB826.launch

@@ -0,0 +1,79 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
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+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
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+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="16000000"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
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+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.external_loader_init" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
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+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\cubeworkSpace2\EchoNewSmallBB826\Debug\st-link_gdbserver_log.txt"/>
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+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
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+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/EchoNewSmallBB826.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="EchoNewSmallBB826"/>
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+    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
+</launchConfiguration>