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Merged
Fly3DTeam merged 3 commits into from
Dec 30, 2025
Merged

Dev v1.1.0 #8

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34c1044
usb设置电流，宏定义修改断料输出状态
iamlijihu Dec 19, 2025
4dd32b7
可设置断料输出状态
Fly3DTeam Dec 23, 2025
16fd4f6
上电不缓冲
Fly3DTeam Dec 25, 2025
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170 changes: 87 additions & 83 deletions lib/buffer/buffer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ bool is_front=false;//前进标志位
uint32_t front_time=0;//前进时间
const uint32_t DEFAULT_TIMEOUT = 60000;
uint32_t timeout=60000;//超时时间，单位：ms;
bool is_error=false;//错误标志位，如果连续60s推送耗材没停过，则认为错误
bool is_error=true;//错误标志位，如果连续60s推送耗材没停过，则认为错误
String serial_buf;

static HardwareTimer timer(TIM6);//超时出错
Expand Down Expand Up @@ -81,18 +81,25 @@ float encoder_length=1.73;//MDM段堵料模块每脉冲对应的线材移动量
const float DEFAULT_ALLOW_ERROR_SCALE = 2;
float allow_error_scale=2;//允许误差比例

uint32_t I_CURRENT = 500; //电流

const int EEPROM_ADDR_TIMEOUT = 0;
const int EEPROM_ADDR_STEPS = 4;
const int EEPROM_ADDR_ENCODER_LENGTH = 8;
const int EEPROM_ADDR_ERROR_SCALE = 12;
const int EEPROM_ADDR_SPEED = 16;
const int EEPROM_ADDR_I_CURRENT = 20;
const int EEPROM_ADDR_ENDSTOP_OUT = 24;



//独立看门狗
#include "stm32f0xx_hal_iwdg.h"

IWDG_HandleTypeDef hiwdg;
static volatile uint32_t g_run_cnt=0;
bool DUANLIAO_OUT_STATE = 0; //断料输出状 0
Buffer_Parameter buffer_para;

void iwdg_init(void)
{
Expand Down Expand Up @@ -128,6 +135,21 @@ void Signal_Dir_Init(void);
// void Buffer_S2_IT_Callback(void);
// void Buffer_S1_IT_Callback(void);

void buffer_parameter_init(Buffer_Parameter &buffer_para){
EEPROM.get(0, buffer_para);
if(buffer_para.magic_number!=0x55AA){
buffer_para=Buffer_Parameter{DEFAULT_TIMEOUT,DEFAULT_STEPS,DEFAULT_ENCODER_LENGTH,DEFAULT_ALLOW_ERROR_SCALE,260,I_CURRENT,DUANLIAO_OUT_STATE,0x55AA};
EEPROM.put(0, buffer_para);
}
timeout=buffer_para.timeout;
steps=buffer_para.steps;
encoder_length=buffer_para.encoder_length;
allow_error_scale=buffer_para.allow_error_scale;
SPEED=buffer_para.SPEED;
I_CURRENT=buffer_para.I_CURRENT;
DUANLIAO_OUT_STATE=buffer_para.DUANLIAO_OUT_STATE;
}

void buffer_init(){

NVIC_SetPriority(TIM6_DAC_IRQn,0);//超时出错，独立看门狗
Expand All @@ -144,27 +166,13 @@ void buffer_init(){

}

buffer_parameter_init(buffer_para);
Pulse_Receive_Init();
buffer_sensor_init();
buffer_motor_init();
Signal_Dir_Init();
delay(1000);

EEPROM.get(EEPROM_ADDR_TIMEOUT, timeout);
// 判断读取的值是否有效（例如首次写入前是 0xFFFFFFFF 或 0）
if (timeout == 0xFFFFFFFF || timeout == 0) {
timeout = DEFAULT_TIMEOUT;
EEPROM.put(EEPROM_ADDR_TIMEOUT, timeout);
// Serial.println("EEPROM is empty");
} else {
// Serial.print("read timeout: ");
// Serial.println(timeout);
}

EEPROM.get(EEPROM_ADDR_SPEED, SPEED);
if (SPEED < 0 || SPEED > 1000) {
SPEED=260;
}
VACTRUAL_VALUE=(uint32_t)(SPEED*Move_Divide_NUM*200/60/0.715) ; //VACTUAL寄存器值


Expand Down Expand Up @@ -288,6 +296,7 @@ void buffer_sensor_init(){
}

void buffer_motor_init(){

//电机驱动引脚初始化
pinMode(EN_PIN, OUTPUT);
pinMode(STEP_PIN, OUTPUT);
Expand Down Expand Up @@ -434,8 +443,8 @@ void motor_control(void)
driver.VACTUAL(STOP); //停止
motor_state=Stop;

//断料引脚输出低电平
digitalWrite(DUANLIAO,0);
//断料引脚输出断料状态
digitalWrite(DUANLIAO,DUANLIAO_OUT_STATE);

//关闭指示灯
digitalWrite(START_LED,0);
Expand All @@ -449,8 +458,8 @@ void motor_control(void)
return;//无耗材，结束
}
else if(!blockage_detect.blockage_flag){
//有耗材，断料引脚输出高电平
digitalWrite(DUANLIAO,1);
//有耗材，断料引脚输出非断料状态
digitalWrite(DUANLIAO,!DUANLIAO_OUT_STATE);

//开启指示灯
digitalWrite(START_LED,1);
Expand All @@ -467,7 +476,7 @@ void motor_control(void)
motor_state=Stop;

//断料引脚输出低电平
digitalWrite(DUANLIAO,0);
digitalWrite(DUANLIAO,DUANLIAO_OUT_STATE);

//关闭指示灯
digitalWrite(START_LED,0);
Expand All @@ -481,8 +490,8 @@ void motor_control(void)
return;//无耗材，结束
}

//有耗材，断料引脚输出高电平
digitalWrite(DUANLIAO,1);
//有耗材，断料引脚输出非断料状态
digitalWrite(DUANLIAO,!DUANLIAO_OUT_STATE);

//开启指示灯
digitalWrite(START_LED,1);
Expand Down Expand Up @@ -750,8 +759,9 @@ void USB_Serial_Analys(void){
serial_buf="";
Serial.println("Error: Invalid timeout value.");
}
buffer_para.timeout=num;
timeout=num;
EEPROM.put(EEPROM_ADDR_TIMEOUT, timeout);
EEPROM.put(0, buffer_para);
serial_buf="";
Serial.print("set timeout succeed! timeout=");
Serial.println(timeout);
Expand All @@ -769,8 +779,9 @@ void USB_Serial_Analys(void){
serial_buf="";
Serial.println("Error: Invalid steps value.");
}
buffer_para.steps=num;
steps=num;
EEPROM.put(EEPROM_ADDR_STEPS, steps);
EEPROM.put(0, buffer_para);
serial_buf="";
Serial.print("set steps succeed! steps=");
Serial.println(steps);
Expand Down Expand Up @@ -800,8 +811,9 @@ void USB_Serial_Analys(void){
serial_buf="";
Serial.println("Error: Invalid encoder length value.");
}
buffer_para.encoder_length=num;
encoder_length=num;
EEPROM.put(EEPROM_ADDR_ENCODER_LENGTH, encoder_length);
EEPROM.put(0, buffer_para);
serial_buf="";
blockage_detect.allow_error = encoder_length*allow_error_scale;
Serial.print("set encoder length succeed! encoder_length=");
Expand All @@ -813,6 +825,7 @@ void USB_Serial_Analys(void){
Serial.println("steps="+String(steps));
Serial.println("allow_error_scale="+String(allow_error_scale));
Serial.println("allow_error="+String(blockage_detect.allow_error));
Serial.println("DUANLIAO_OUT_STATE="+String(buffer_para.DUANLIAO_OUT_STATE));
}
else if(strstr(serial_buf.c_str(),"scale")){
int index=serial_buf.indexOf(" ");
Expand All @@ -827,8 +840,9 @@ void USB_Serial_Analys(void){
serial_buf="";
Serial.println("Error: Invalid scale length value.");
}
buffer_para.allow_error_scale=num;
allow_error_scale=num;
EEPROM.put(EEPROM_ADDR_ERROR_SCALE, allow_error_scale);
EEPROM.put(0, buffer_para);
serial_buf="";
blockage_detect.allow_error = encoder_length*allow_error_scale;
Serial.print("set scale length succeed! allow_error_scale=");
Expand All @@ -849,13 +863,54 @@ void USB_Serial_Analys(void){
serial_buf="";
Serial.println("Error: Invalid speed value.");
}
buffer_para.SPEED=num;
SPEED=num;
VACTRUAL_VALUE=(uint32_t)(SPEED*Move_Divide_NUM*200/60/0.715) ; //VACTUAL寄存器值
EEPROM.put(EEPROM_ADDR_SPEED, SPEED);
EEPROM.put(0, buffer_para);
serial_buf="";
Serial.print("set speed succeed! speed=");
Serial.println(SPEED);
}
else if(strstr(serial_buf.c_str(),"I")){
int index=serial_buf.indexOf(" ");
if(index==-1){
serial_buf="";
Serial.println("I_CURRENT="+String(I_CURRENT));
return ;
}
serial_buf=serial_buf.substring(index+1);
// float num = serial_buf.toFloat();
int32_t num = atoi(serial_buf.c_str());
if(num<0||num>3000){
serial_buf="";
Serial.println("Error: Invalid I_CURRENT value,range:0-3000mA");
return ;
}
buffer_para.I_CURRENT=num;
I_CURRENT=num;
EEPROM.put(0, buffer_para);
serial_buf="";
Serial.print("set I_CURRENT succeed! I_CURRENT=");
Serial.println(I_CURRENT);
}

else if(strstr(serial_buf.c_str(),"out")){
int index=serial_buf.indexOf(" ");
if(index==-1){
serial_buf="";
Serial.println("DUANLIAO_OUT_STATE="+String(buffer_para.DUANLIAO_OUT_STATE));
return ;
}
serial_buf=serial_buf.substring(index+1);
bool state = atoi(serial_buf.c_str());
buffer_para.DUANLIAO_OUT_STATE=state;
DUANLIAO_OUT_STATE=state;
EEPROM.put(0, buffer_para);
serial_buf="";
Serial.print("set DUANLIAO_OUT_STATE succeed! DUANLIAO_OUT_STATE=");
Serial.println(DUANLIAO_OUT_STATE);
}



else{
Expand All @@ -870,6 +925,8 @@ void USB_Serial_Analys(void){
Serial.print("| show all info : <info CRLF> |\n");
Serial.print("| set scale: <scale nnn CRLF> |\n");
Serial.print("| set speed(r/min): <speed nnn CRLF> |\n");
// Serial.print("| set I_CURRENT(mA): <I nnn CRLF> |\n");
Serial.print("| endstop out: <out n> |\n");
Serial.print("+-----------------------------------------------+\n\n");
}
serial_buf="";
Expand Down Expand Up @@ -983,8 +1040,8 @@ void REIN_TIM_SIGNAL_COUNT_DeInit(void)
*/
void Signal_Dir_Init(void)
{
pinMode(DIR_PIN,INPUT);
attachInterrupt(DIR_PIN,&Dir_IT_Callback,CHANGE);
pinMode(SIG_DIR_PIN,INPUT);
attachInterrupt(SIG_DIR_PIN,&Dir_IT_Callback,CHANGE);
}


Expand All @@ -995,65 +1052,12 @@ void Signal_Dir_Init(void)
**/
void Pulse_Receive_Init(void){

EEPROM.get(EEPROM_ADDR_ERROR_SCALE, allow_error_scale);
// 判断读取的值是否有效（例如首次写入前是 0xFFFFFFFF 或 0）
if (allow_error_scale == 0||isnan(allow_error_scale))
{
allow_error_scale = DEFAULT_ALLOW_ERROR_SCALE;
EEPROM.put(EEPROM_ADDR_ERROR_SCALE, allow_error_scale);
Serial.println("EEPROM is empty");
}
else
{
Serial.print("read allow_error_scale: ");
Serial.println(allow_error_scale);
}




// PULSE2_PIN初始化
if(connet_mdm_flag){
pinMode(PULSE2_PIN,INPUT);
attachInterrupt(PULSE2_PIN,&Recv_MDM_Pulse_IT_Callback,RISING);
}

EEPROM.get(EEPROM_ADDR_ENCODER_LENGTH, encoder_length);
// 判断读取的值是否有效（例如首次写入前是 0xFFFFFFFF 或 0）
if (encoder_length == 0||isnan(encoder_length))
{
encoder_length = DEFAULT_ENCODER_LENGTH;
EEPROM.put(EEPROM_ADDR_ENCODER_LENGTH, encoder_length);
Serial.println("EEPROM is empty");
}
else
{
Serial.print("read encoder_length: ");
Serial.println(encoder_length);
}



// PULSE1_PIN初始化
// 使用硬件定时器接收
EEPROM.get(EEPROM_ADDR_STEPS, steps);
// 判断读取的值是否有效（例如首次写入前是 0xFFFFFFFF 或 0）
if (steps > 51200 || timeout == 0)
{
steps = DEFAULT_STEPS;
EEPROM.put(EEPROM_ADDR_STEPS, steps);
Serial.println("EEPROM is empty");
}
else
{
Serial.print("read steps: ");
Serial.println(steps);
}

if(connet_mdm_flag){
REIN_TIM_SIGNAL_COUNT_Init();
}


blockage_detect.allow_error = encoder_length*allow_error_scale;
}
Expand Down
15 changes: 13 additions & 2 deletions lib/buffer/buffer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@

//堵料检测
#define PULSE1_PIN EXTENSION_PIN5 //接收脉冲引脚1，接收主控脉冲
#define DIR_PIN EXTENSION_PIN3 //方向引脚,挤出1，回抽0
#define SIG_DIR_PIN EXTENSION_PIN3 //方向引脚,挤出1，回抽0
#define PULSE2_PIN EXTENSION_PIN4 //接收脉冲引脚2，接收段断料模块脉冲
#define MDM_DPIN EXTENSION_PIN6 //MDM断料引脚 1：有耗材 0：无耗材

Expand Down Expand Up @@ -93,11 +93,11 @@ static int32_t SPEED=260; //转速(单位：r/min)
static int32_t VACTRUAL_VALUE=(uint32_t)(SPEED*Move_Divide_NUM*200/60/0.715) ; //VACTUAL寄存器值

#define STOP 0 //停止
#define I_CURRENT (500) //电流
#define WRITE_EN_PIN(x) digitalWrite(EN_PIN,x)//使能EN引脚
#define FORWARD 1//耗材方向
#define BACK 0


#define DEBUG 0

//定义结构体存储缓冲器中各传感器的的状态
Expand Down Expand Up @@ -139,6 +139,17 @@ typedef struct BlockageDetect

}BlockageDetect;

struct Buffer_Parameter{
uint32_t timeout;
uint32_t steps;
float encoder_length;
float allow_error_scale;
int32_t SPEED;
uint32_t I_CURRENT;
bool DUANLIAO_OUT_STATE;
uint16_t magic_number;
};

extern void buffer_sensor_init();
extern void buffer_motor_init();

Expand Down