一、题目
二、分析
题目各个外设的使用比较简单,但是整个题的逻辑比较复杂。所以,引入状态机,将整个应用程序分为多个状态机,每个状态机都控制该应用程序的特点部件。这些状态机都拥有自己的内部状态和状态转换,从中可以看成软件如何与各种激励相互作用。状态机(state machine)有 5 个要素,分别是状态(state)、迁移(transition)、事件(event)、动作(action)、条件(guard)
状态:系统在某一时刻所存在的稳定的工作情况,系统在整个工作周期中存在有多个状态
迁移:系统从一个状态转移到另一个状态的过程,迁移不会自动发生的,需要外界对系统施加影响,即在相应的条件,才会迁移
事件:某一时刻发生的对系统有意义的事,状态机发生状态迁移,就是因为出现了事件
动作:在状态机的迁移过程中,状态机会做出一些其它的行为,这些行为就是动作,动作是状态机对事件的响应
条件:状态机对事件并不是有求必应的,有了事件,状态机还要满足一定的条件才能发生状态迁移
注:一个状态机需要在状态集合中选取一个状态作为初始状态
也有人将它分为4类:状态,事件,动作,变换。
状态:一个状态机至少要包含两个状态
事件:事件就是执行某个操作的触发条件或者口令
动作:事件发生后执行的动作
变换:也从一个状态变化为另一个状态
不管是哪一种,其核心还是不变的。
通过以状态图的方式展示整个程序的流程图
各个状态的动作:
在写程序前一定要将各个状态机的动作,变换以流程图的方式表示。上述状态机在裸机上选择switch...case语句实现整个程序的运行
整个程序以以各个状态为主体实现程序的逻辑,按键和显示界面进行输入与输出。
1.按键
//***按键扫描子函数
void Key_Proc(void)
{
if((uwTick - uwTick_Key_Set_Point)<50) return;//减速函数
uwTick_Key_Set_Point = uwTick;
ucKey_Val = Key_Scan();
unKey_Down = ucKey_Val & (ucKey_Old ^ ucKey_Val);
ucKey_Up = ~ucKey_Val & (ucKey_Old ^ ucKey_Val);
ucKey_Old = ucKey_Val;
if(state == 0) //状态0,按键才有效
{
if(unKey_Down == 1)
{
if(platform != 1)
{
//先将第一位清0,然后置1
layer_set &= ~(1<<0);
layer_set |= (1<<0);
}
}
if(unKey_Down == 2)
{
if(platform != 2)
{
//先将第二位清0,然后置1
layer_set &= ~(1<<1);
layer_set |= (1<<1);
}
}
if(unKey_Down == 3)
{
if(platform != 3)
{
//先将第三位清0,然后置1
layer_set &= ~(1<<2);
layer_set |= (1<<2);
}
}
if(unKey_Down == 4)
{
if(platform != 4)
{
//先将第四位清0,然后置1
layer_set &= ~(1<<3);
layer_set |= (1<<3);
}
}
// ucled低四位赋值
ucLed &= (0xf0);
ucLed |= layer_set;
if(unKey_Down != 0) //按键按下进行计时,超过1s进入状态1,
{
uwTick_Set_Point = uwTick;
}
}
}
按键主要是在初始状态下对目标层数的设置。
对一个8位变量的某一位进行操作:
清0(将第n位清0,n:[0-7]):layer_set &= ~(1<<n)
置1(将第n位置1,n:[0-7]):layer_set |= (1<<2)第4位清0:layer_set &= 0xf0
2.状态机
整个逻辑其实参考现实中的电梯的运行,先从低到高方向处理对应的层数,当最高层处理完后,在处理比原来的当前层较低的层数。在其基础了添加了状态变换需要的条件和该状态下对应的动作。
void run(void)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);// 默认高电平
if(layer_set) // 按键按下,执行
{
switch(state)
{
case 0:
if(uwTick - uwTick_Set_Point >= 1000)
state = 1; // 1s后,进入状态1
else
break;
case 1:
//升降机关门:PA =1,关门时间4s
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
uwTick_Set_Point = uwTick;
//开电机,准备启动:PA7输出PWM 2khz 占空比60%
HAL_TIM_PWM_Start(&htim17,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim17,TIM_CHANNEL_1,300); //设置PWM占空比300
state = 2;
sprintf((char *)Lcd_Disp_String, " Door Closing ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
case 2:
if(uwTick - uwTick_Set_Point >= 4000)
{
HAL_TIM_PWM_Stop(&htim17,TIM_CHANNEL_1); //PA7
state = 3;
sprintf((char *)Lcd_Disp_String, " Door Closed ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
}
else
break;
case 3:
// 判断电梯是上升还是下降,
// platform :1-4(0001,0010,0100,1000) layer_set :0000 _ _ _ _
// platform :2 ,layer_set: 0000 1001 上
// 1001 > 0010(第二层) (1<<(platform-1)) = 0x10
if(layer_set > (1<<(platform-1))) //设置的层数大小与当前层的比较
{
dir = 1;//上行
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);// 上行
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,800); //设置PWM占空比300
sprintf((char *)Lcd_Disp_String, "Elev Upping ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
}
//platform 2 ,layer_set 0000 0001
if(layer_set < (1<<(platform-1)))
{
dir = 2;//下行
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);// 下行
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,600); //设置PWM占空比300
sprintf((char *)Lcd_Disp_String, "Elev Downing ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
}
uwTick_Set_Point = uwTick;
state = 4;
case 4: // 两层之间运行6s
if(uwTick - uwTick_Set_Point >= 6000)
{
HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_1); //PA7停止
if(dir == 1) platform++; //层数变化
else if(dir == 2) platform--;
ucLed &= 0x0f;LED_Disp(ucLed);//高四为清0
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
sprintf((char *)Lcd_Disp_String, "Elev Runned 1 Floor ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
state = 5;
}
else // 产生流水灯 0x1000 =led_set 0001 0000
{
if(dir == 1) //上,左->右
{
if(led_set == 0x08)led_set = 0x80;
ucLed = led_set;
LED_Disp(ucLed);HAL_Delay(300);
led_set = led_set>>1;
}
else if(dir==2) //下,右->左
{
if(led_set2 == 0x00)led_set2 = 0x10; //led_set只有8位,溢出为0
ucLed = led_set2;
LED_Disp(ucLed);HAL_Delay(300);
led_set2 = led_set2<<1;
}
break;
}
case 5: //判断是否为目标层 :当前层 与设置层进行按位与,非0,则为目标层
// platform 2(0010) layer_set: 0000 0010
if(1<<(platform-1) & layer_set)//不为0,到了目标层
{
// 闪烁2次
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_Delay(300);
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_Delay(300);
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_Delay(300);
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_1); //PA7停止
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);// 开门
HAL_TIM_PWM_Start(&htim17,TIM_CHANNEL_1); //电机控制信号
__HAL_TIM_SET_COMPARE(&htim17,TIM_CHANNEL_1,300); //设置PWM占空比300
sprintf((char *)Lcd_Disp_String, "Comed , Door Opening ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
uwTick_Set_Point = uwTick;
state = 6;
}
else //没有到达目标层,继续到下一层,直到到达目标层
{
uwTick_Set_Point = uwTick;
state = 4;
break;
}
case 6: //开门时间4s
if(uwTick - uwTick_Set_Point >= 4000)
{
HAL_TIM_PWM_Stop(&htim17,TIM_CHANNEL_1); //PA7
sprintf((char *)Lcd_Disp_String, "Door Opened ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
//到达目标层,该层灯灭,相应层清零
layer_set &= ~(1<<(platform-1));
ucLed &= 0xF0;
ucLed |= layer_set;
LED_Disp(ucLed);
state = 7;
}
else
break;
case 7: //判断是否还有别的目标层,有等待2s
if(layer_set)
{
uwTick_Set_Point = uwTick;
sprintf((char *)Lcd_Disp_String, "Waitting 2s ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
state = 8;
}
else //没有就结束,等待按键按下重新开始
{
state = 0;
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
break;
}
case 8://2s后,电梯继续运行,重复从state1动作
if((uwTick - uwTick_Set_Point) >= 2000)
{
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
state = 1;
}
}
}
}
以上都是根据状态机的流程图写的。
设置PWM的频率与占空比:这里我的主频是80Mhz,经过(79+1)分频得到1mhz,然后周期也即是STM32CubeMX里的自动重装载值设置的是(1000-1),所以周期为0.001,频率为1Khz。设置占空比就是要设置比较值Pluse。300,占空比就是30%
也可以通过__HAL_TIM_SET_COMPARE修该占空比
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,300); //设置PWM占空比30%
判断是否为目标层,将设置的层数与当前层(第二层 0010)进行按位与,若第二次为目标层,1 & 1 = 1。判断电梯是上行还是下行,将设置的层数与该层(第二层0010)进行比较即可。
注意:当一个8位的变量:0x10,进行左移四位后,发生溢出就变成0了。
其他部分基本上没有什么难点,完整程序贴在后面
三、程序
#include "main.h"
#include "RCC\bsp_rcc.h"
#include "KEY_LED\bsp_key_led.h"
#include "LCD\bsp_lcd.h"
#include "UART\bsp_uart.h"
#include "TIM\bsp_tim.h"
#include "RTC\bsp_rtc.h"
//***全局变量声明区
//*减速变量
__IO uint32_t uwTick_Key_Set_Point = 0;//控制Key_Proc的执行速度
__IO uint32_t uwTick_layer_set_Point = 0;//控制Led_Proc的执行速度
__IO uint32_t uwTick_Lcd_Set_Point = 0;//控制Lcd_Proc的执行速度
__IO uint32_t uwTick_Set_Point = 0;//控制系统延时的执行速度
//*按键扫描专用变量
uint8_t ucKey_Val, unKey_Down, ucKey_Up, ucKey_Old;
//*LED专用变量
uint8_t ucLed=0;
//*LCD显示专用变量
uint8_t Lcd_Disp_String[21];//最多显示20个字符
//*rtc相关变量
RTC_TimeTypeDef sTime = {0};
RTC_DateTypeDef sDate = {0};
uint8_t platform = 1; // 平台层数
uint8_t layer_set = 0x0;// state = 0:按下按键,设置层,对应的led亮
uint8_t state = 0; // 状态机,将电梯的运行分为多个状态
uint8_t dir;//电梯运行方向变量 0 -没运行,1-上,2-下
uint8_t led_set =0x80;//上行流水灯
uint8_t led_set2 = 0x10; //下行流水灯
//***子函数声明区
void Key_Proc(void);
void Led_Proc(void);
void Lcd_Proc(void);
void run(void);
//***系统主函数
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/*bsp资源的初始化*/
KEY_LED_Init();
LCD_Init();
LCD_Clear(White);
LCD_SetBackColor(White);
LCD_SetTextColor(Blue);
PWM_OUTPUT_TIM3_Init();
PWM_OUTPUT_TIM17_Init();
RTC_Init();
while (1)
{
Key_Proc();
Led_Proc();
Lcd_Proc();
run();
}
}
//***按键扫描子函数
void Key_Proc(void)
{
if((uwTick - uwTick_Key_Set_Point)<50) return;//减速函数
uwTick_Key_Set_Point = uwTick;
ucKey_Val = Key_Scan();
unKey_Down = ucKey_Val & (ucKey_Old ^ ucKey_Val);
ucKey_Up = ~ucKey_Val & (ucKey_Old ^ ucKey_Val);
ucKey_Old = ucKey_Val;
if(state == 0) //状态0,按键才有效
{
if(unKey_Down == 1)
{
if(platform != 1)
{
//先将第一位清0,然后置1
layer_set &= ~(1<<0);
layer_set |= (1<<0);
}
}
if(unKey_Down == 2)
{
if(platform != 2)
{
//先将第二位清0,然后置1
layer_set &= ~(1<<1);
layer_set |= (1<<1);
}
}
if(unKey_Down == 3)
{
if(platform != 3)
{
//先将第三位清0,然后置1
layer_set &= ~(1<<2);
layer_set |= (1<<2);
}
}
if(unKey_Down == 4)
{
if(platform != 4)
{
//先将第四位清0,然后置1
layer_set &= ~(1<<3);
layer_set |= (1<<3);
}
}
// ucled低四位赋值
ucLed &= (0xf0);
ucLed |= layer_set;
if(unKey_Down != 0) //按键按下进行计时,超过1s进入状态1,
{
uwTick_Set_Point = uwTick;
}
}
}
void run(void)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);// 默认高电平
if(layer_set) // 按键按下,执行
{
switch(state)
{
case 0:
if(uwTick - uwTick_Set_Point >= 1000)
state = 1; // 1s后,进入状态1
else
break;
case 1:
//升降机关门:PA =1,关门时间4s
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
uwTick_Set_Point = uwTick;
//开电机,准备启动:PA7输出PWM 2khz 占空比60%
HAL_TIM_PWM_Start(&htim17,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim17,TIM_CHANNEL_1,300); //设置PWM占空比300
state = 2;
sprintf((char *)Lcd_Disp_String, " Door Closing ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
case 2:
if(uwTick - uwTick_Set_Point >= 4000)
{
HAL_TIM_PWM_Stop(&htim17,TIM_CHANNEL_1); //PA7
state = 3;
sprintf((char *)Lcd_Disp_String, " Door Closed ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
}
else
break;
case 3:
// 判断电梯是上升还是下降,
// platform :1-4(0001,0010,0100,1000) layer_set :0000 _ _ _ _
// platform :2 ,layer_set: 0000 1001 上
// 1001 > 0010(第二层) (1<<(platform-1)) = 0x10
if(layer_set > (1<<(platform-1))) //设置的层数大小与当前层的比较
{
dir = 1;//上行
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);// 上行
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,800); //设置PWM占空比300
sprintf((char *)Lcd_Disp_String, "Elev Upping ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
}
//platform 2 ,layer_set 0000 0001
if(layer_set < (1<<(platform-1)))
{
dir = 2;//下行
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);// 下行
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1); //PA7
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,600); //设置PWM占空比300
sprintf((char *)Lcd_Disp_String, "Elev Downing ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
}
uwTick_Set_Point = uwTick;
state = 4;
case 4: // 两层之间运行6s
if(uwTick - uwTick_Set_Point >= 6000)
{
HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_1); //PA7停止
if(dir == 1) platform++; //层数变化
else if(dir == 2) platform--;
ucLed &= 0x0f;LED_Disp(ucLed);//高四为清0
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
sprintf((char *)Lcd_Disp_String, "Elev Runned 1 Floor ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
state = 5;
}
else // 产生流水灯 0x1000 =led_set 0001 0000
{
if(dir == 1) //上,左->右
{
if(led_set == 0x08)led_set = 0x80;
ucLed = led_set;
LED_Disp(ucLed);HAL_Delay(300);
led_set = led_set>>1;
}
else if(dir==2) //下,右->左
{
if(led_set2 == 0x00)led_set2 = 0x10; //led_set只有8位,溢出为0
ucLed = led_set2;
LED_Disp(ucLed);HAL_Delay(300);
led_set2 = led_set2<<1;
}
break;
}
case 5: //判断是否为目标层 :当前层 与设置层进行按位与,非0,则为目标层
// platform 2(0010) layer_set: 0000 0010
if(1<<(platform-1) & layer_set)//不为0,到了目标层
{
// 闪烁2次
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_Delay(300);
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_Delay(300);
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_Delay(300);
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
HAL_TIM_PWM_Stop(&htim3,TIM_CHANNEL_1); //PA7停止
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);// 开门
HAL_TIM_PWM_Start(&htim17,TIM_CHANNEL_1); //电机控制信号
__HAL_TIM_SET_COMPARE(&htim17,TIM_CHANNEL_1,300); //设置PWM占空比300
sprintf((char *)Lcd_Disp_String, "Comed , Door Opening ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
uwTick_Set_Point = uwTick;
state = 6;
}
else //没有到达目标层,继续到下一层,直到到达目标层
{
uwTick_Set_Point = uwTick;
state = 4;
break;
}
case 6: //开门时间4s
if(uwTick - uwTick_Set_Point >= 4000)
{
HAL_TIM_PWM_Stop(&htim17,TIM_CHANNEL_1); //PA7
sprintf((char *)Lcd_Disp_String, "Door Opened ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
//到达目标层,该层灯灭,相应层清零
layer_set &= ~(1<<(platform-1));
ucLed &= 0xF0;
ucLed |= layer_set;
LED_Disp(ucLed);
state = 7;
}
else
break;
case 7: //判断是否还有别的目标层,有等待2s
if(layer_set)
{
uwTick_Set_Point = uwTick;
sprintf((char *)Lcd_Disp_String, "Waitting 2s ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
state = 8;
}
else //没有就结束,等待按键按下重新开始
{
state = 0;
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
break;
}
case 8://2s后,电梯继续运行,重复从state1动作
if((uwTick - uwTick_Set_Point) >= 2000)
{
sprintf((char *)Lcd_Disp_String, " ");
LCD_DisplayStringLine(Line8, Lcd_Disp_String);
state = 1;
}
}
}
}
//***LED扫描子函数
void Led_Proc(void)
{
if((uwTick - uwTick_layer_set_Point)<200) return;//减速函数
uwTick_layer_set_Point = uwTick;
LED_Disp(ucLed);
}
void Lcd_Proc(void)
{
if((uwTick - uwTick_Lcd_Set_Point)<100) return;//减速函数
uwTick_Lcd_Set_Point = uwTick;
sprintf((char *)Lcd_Disp_String, " %d ",platform);
LCD_DisplayStringLine(Line2, Lcd_Disp_String);
//*RTC内容显示
HAL_RTC_GetTime(&hrtc, &sTime, RTC_FORMAT_BIN);//读取日期和时间必须同时使用
HAL_RTC_GetDate(&hrtc, &sDate, RTC_FORMAT_BIN);
sprintf((char *)Lcd_Disp_String, " %02d-%02d-%02d",(unsigned int)sTime.Hours,(unsigned int)sTime.Minutes,(unsigned int)sTime.Seconds);
LCD_DisplayStringLine(Line6, Lcd_Disp_String);
}
void Error_Handler(void)
{
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
}