基于STM32HAL库编写状态机模式

r囧r小猫 2022-10-07 05:59 354阅读 0赞

# 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][Link 1]，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  
  
![20210512221258357.png][]

## 一、STM32CubeMx配置 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM2MDc1NjEy_size_16_color_FFFFFF_t_70][]  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM2MDc1NjEy_size_16_color_FFFFFF_t_70 1][]

## 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>© 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 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM2MDc1NjEy_size_16_color_FFFFFF_t_70 2][]  
  
代码->[链接][Link 2]

## 四、总结 ##

这种状态机模式，在开发产品经常使用到该模式。

[Link 1]: https://blog.csdn.net/m0_38056437/article/details/105446376?utm_medium=distribute.pc_relevant.none-task-blog-2~default~BlogCommendFromMachineLearnPai2~default-1.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~BlogCommendFromMachineLearnPai2~default-1.control
[20210512221258357.png]: /images/20221005/db440c37bc744492819c94ea27371be0.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM2MDc1NjEy_size_16_color_FFFFFF_t_70]: /images/20221005/85c213f44d094ec989b1e49be49bb881.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM2MDc1NjEy_size_16_color_FFFFFF_t_70 1]: /images/20221005/c1f0d2812afa448293867dbea5a8d63e.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzM2MDc1NjEy_size_16_color_FFFFFF_t_70 2]: /images/20221005/d0e81aa980c8485f9409b579b2e5a395.png
[Link 2]: https://download.csdn.net/download/qq_36075612/19686274