基于STM32HAL库编写状态机模式

概述

     本篇文章介绍如何使用STM32HAL库，“以马达转动的状态示例”来说明，项目中使用的状态模式。参考该文章链接，比较懒，基本都是照搬框架。这种写法确实在项目后续新增功能时，方便不少，还是值得学习，这样的思路。加油！技术同仁们 ^_^。

硬件：STM32F103C8T6最小系统板
软件：Keil 5.29  + STM32CubeMX6.2.1

一、STM32CubeMx配置

二、编码

1、usart.c文件
 

.
.
.
/* USER CODE BEGIN 1 */
#include "stdio.h"

#ifdef __GNUC__
  /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
     set to 'Yes') calls __io_putchar() */
  #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
  #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
/**
  * @brief  Retargets the C library printf function to the USART.
  * @param  None
  * @retval None
  */
PUTCHAR_PROTOTYPE
{
  /* Place your implementation of fputc here */
  /* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
  HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
 
  return ch;
}
/* USER CODE END 1 */

2、main.c文件
 

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

#include <stdio.h>
 
/***********************************************
1、定义状态接口，以电机工作的状态接口为例，每种状态下都可能发生
两种按键动作。
************************************************/
typedef struct State{
  void (* stop)();
  void (* runOrPause)();
}State;
/***********************************************
2、定义系统当前状态指针，保存系统的当前状态
************************************************/
State * pCurrentState;
/***********************************************
3、定义具体状态，根据状态迁移图来实现具体功能和状态切换。
************************************************/
void ignore(void);
void startRun(void);
void stopRun(void);
void pauseRun(void);
void resumeRun(void);
//空闲状态时，stop键操作无效，run/pause会开始转动
State IDLE = {
  ignore,
  startRun
};
//转动状态时，stop键会停止转动，run/pause会暂停
State RUN = {
  stopRun,
  pauseRun
};
//暂停状态时，stop键会停止转动，run/pause会恢复
State PAUSE = {
  stopRun,
  resumeRun
};

void ignore(void)
{
  //空函数，不进行操作
}
void startRun(void)
{
  //实现具体功能
  printf("开始\n");
  //进入转动状态
  pCurrentState = &RUN;
}
void stopRun(void)
{
  //实现具体功能
  printf("停止\n");
  //进入空闲状态
  pCurrentState = &IDLE;
}
void pauseRun(void)
{
  //实现具体功能
  printf("暂停\n");
  //进入暂停状态
  pCurrentState = &PAUSE;
}

void resumeRun(void)
{
  //实现具体功能
  printf("恢复\n");
  //进入转动状态
  pCurrentState = &RUN;
}


/***********************************************
4、定义主程序上下文操作接口，主程序只关心当前状态，不关心状态之间
是怎么变化的。
************************************************/
void onStop(State *p);
void onRunOrPause(State *p);
State context = {
  onStop,
  onRunOrPause
};

void onStop(State *pThis)
{
  pCurrentState->stop(pThis);
	printf("pCurrentState->stop(pThis);\r\n");
}
 
void onRunOrPause(State *pThis)
{
  pCurrentState->runOrPause(pThis);
	printf("pCurrentState->runOrPause(pThis);\r\n");
}

/***********************************************
5、初始化系统当前状态指针，其实就是指定系统的起始状态
************************************************/
void init(void)
{
  pCurrentState = &IDLE;
	
}
/***********************************************
6、主程序通过上下文操作接口来控制系统当前状态的变化
************************************************/
//void main()
//{
//  init();
//  context.runOrPause();//转动
//  context.runOrPause();//暂停
//  context.runOrPause();//转动
//  context.stop();//停止
//}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
	printf("state machine!!!\n");
	
	init();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
//	if(GPIO_Pin==KEY1_Pin)
//	{
//		for(long i = 1;i<72000;i++){}; //消除抖动
//		if(HAL_GPIO_ReadPin(KEY1_GPIO_Port,KEY1_Pin)==1)
//		{
//			//context.stop();//停止
//		}
//		//__HAL_GPIO_EXTI_CLEAR_IT(KEY1_Pin);
//	}
//	else 
	if(GPIO_Pin==KEY2_Pin)
	{
		for(long i = 1;i<72000;i++){};
		if(HAL_GPIO_ReadPin(KEY2_GPIO_Port,KEY2_Pin)==0)
		{
			context.runOrPause();//转动、暂停
		}
		//__HAL_GPIO_EXTI_CLEAR_IT(KEY2_Pin);
	}
	else if(GPIO_Pin==KEY3_Pin)
	{
		for(long i = 1;i<72000;i++){};
		if(HAL_GPIO_ReadPin(KEY3_GPIO_Port,KEY3_Pin)==0)
		{
			context.stop();//停止
		}
		//__HAL_GPIO_EXTI_CLEAR_IT(KEY3_Pin);
	}
	__HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin);
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

三、运行结果

代码->链接

四、总结

     这种状态机模式，在开发产品经常使用到该模式。