IRIS_Zhu/Encoder_Time_Sysn
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使用USB输出时间和步数同步，一组十个字节，帧头0d ff，前四个字节编码器值，后四个字节是时间ms

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This commit is contained in:
wantong
2024-04-26 10:03:33 +08:00
parent ca98807af3
commit c81173d0bd
89 changed files with 19992 additions and 4236 deletions
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22
Core/Src/gpio.c
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@ -43,17 +43,25 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pins : PA2 PA4 */
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_4;
/*Configure GPIO pin : PC1 */
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PA4 */
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
@ -65,12 +73,12 @@ volatile uint8_t captureFlag = 0;
extern uint32_t G_StartMillis;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == GPIO_PIN_2)
if (GPIO_Pin == GPIO_PIN_1)
{
// <20><EFBFBD>?查捕获标志，避免重复捕获
// <20>?查捕获标志，避免重复捕获
if (!captureFlag)
{
// 处理上升沿触发事<E58F91><EFBFBD>?
// 处理上升沿触发事<E58F91>?
G_StartMillis=0;
G_StartMillis = HAL_GetTick(); //获取当前系统时间