feature(command):添加M5停止命令，M5P0，M5P1

Inc/actuator.h

@@ -9,4 +9,6 @@ void actuator_init(void);
 
 void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_direction_t direction);
 
+void actuator_stop(actuator_channel_t channel);
+
 #endif // ACTUATOR_H

Inc/board_config.h

@@ -51,6 +51,8 @@
   #define RTT_PutChar(ch, c)
 #endif
 
+#define RS485_MODE            CFG_ENABLE  // CFG_DISABLE: RS485 off; CFG_ENABLE: RS485 on
+
 /******************************************************************************/
 
 /* Dynamic USART Configuration Structure */
@@ -129,6 +131,12 @@ typedef enum {
 #define UART_RX_PIN          GPIO_PIN_3
 #define UART_BAUDRATE        115200U
 
+#if RS485_MODE == CFG_ENABLE
+#define RS485_DE_RCU         RCU_GPIOA
+#define RS485_DE_PORT        GPIOA
+#define RS485_DE_PIN         GPIO_PIN_1
+#endif
+
 /******************************************************************************/
 
 #define DEBUG_UART              USART0

Src/actuator.c

@@ -80,19 +80,21 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
     // For example, setting the duty cycle to a specific value to activate the actuator
     if (channel == ACTUATOR_CH1) {
         if (direction == DIRECTION_PUSH) {
-            SEGGER_RTT_printf(0, "Actuator CH1 PUSH with duty %d\n", duty);
+            SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH1 PUSH with duty %d\n", duty);
             gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set direction LOW
             timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, duty);
         } else if (direction == DIRECTION_PULL) {
-            SEGGER_RTT_printf(0, "Actuator CH1 PULL with duty %d\n", duty);
+            SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH1 PULL with duty %d\n", duty);
             gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN);   // Set direction HIGH
             timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, (999 - duty));
         }
     } else if (channel == ACTUATOR_CH2) {
         if (direction == DIRECTION_PUSH) {
+            SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PUSH with duty %d\n", duty);
             gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set direction LOW
             timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, duty);
         } else if (direction == DIRECTION_PULL) {
+            SEGGER_RTT_printf(0, "[ACTUATOR] Actuator CH2 PULL with duty %d\n", duty);
             gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN);   // Set direction HIGH
             timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, (999 - duty));
         }
@@ -103,4 +105,23 @@ void actuator_output(actuator_channel_t channel, uint16_t duty, actuator_directi
         gpio_bit_reset(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
         gpio_bit_reset(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
     }
+}
+
+void actuator_stop(actuator_channel_t channel) {
+    if(channel == ACTUATOR_CH1) {
+        SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH1\n");
+        timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 999);    // Ensure CH1 is off
+        gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
+    } else if(channel == ACTUATOR_CH2) {
+        SEGGER_RTT_printf(0, "[ACTUATOR] Stopping Actuator CH2\n");
+        timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 999);    // Ensure CH2 is off
+        gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
+    } else {
+        // Invalid channel, handle error if necessary
+        SEGGER_RTT_printf(0, "[ACTUATOR] Invalid channel specified for stop: %d\n", channel);
+        timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH1_PWM_TIMER_CH, 999);    // Ensure CH1 is off
+        timer_channel_output_pulse_value_config(ACTUATOR_PWM_TIMER, ACTUATOR_CH2_PWM_TIMER_CH, 999);    // Ensure CH2 is off
+        gpio_bit_set(ACTUATOR_CH1_GPIO_PORT, ACTUATOR_CH1_GPIO_PIN); // Set CH1 direction LOW
+        gpio_bit_set(ACTUATOR_CH2_GPIO_PORT, ACTUATOR_CH2_GPIO_PIN); // Set CH2 direction LOW
+    }
 }

Src/command.c

@@ -462,7 +462,7 @@ void handle_command(const uint8_t *frame, uint8_t len) {
                         send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
                         return;
                     }
-                    COMMAND_DEBUG("M3 Command(PUSH): Actuator Channel=%u, Duty Cycle=%u", p_val, s_val);
+                    SEGGER_RTT_printf(0, "[COMMAND] M3 Command(PUSH): Actuator Channel=%u, Duty Cycle=%u \n", p_val, s_val);
                     actuator_output((actuator_channel_t)p_val, (uint16_t)s_val, DIRECTION_PUSH);
                     send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
                 }
@@ -484,12 +484,24 @@ void handle_command(const uint8_t *frame, uint8_t len) {
                         send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
                         return;
                     }
-                    COMMAND_DEBUG("M4 Command(PULL): Actuator Channel=%u, Duty Cycle=%u", p_val, s_val);
+                    SEGGER_RTT_printf(0, "[COMMAND] M4 Command(PULL): Actuator Channel=%u, Duty Cycle=%u \n", p_val, s_val);
                     actuator_output((actuator_channel_t)p_val, (uint16_t)s_val, DIRECTION_PULL);
                     send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
                 }
                 return;
 
+            case 5u: // M5 stop actuator output
+                uint32_t p_val = 0;
+                bool has_p = find_parameter_value(cmd, cmd_len, 'P', &p_val);
+                if (!has_p || p_val > (uint32_t)ACTUATOR_CH2) {
+                    send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
+                    return;
+                }
+            SEGGER_RTT_printf(0, "[COMMAND] M5 Command(STOP): Actuator Channel=%u \n", p_val);
+            actuator_stop((actuator_channel_t)p_val);
+            send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
+            return;
+
         /* ==========================================
          * M888 软件重启命令
          * ========================================== */

Src/main.c

@@ -53,9 +53,6 @@ int main(void)
 {
     led_init();
     mcu_detect_and_config();
-
-    // delay_ms(1000);
-
     systick_config();
 
     uart_ring_buffer_init();
@@ -63,10 +60,6 @@ int main(void)
 
     actuator_init();
 
-    // actuator_output(ACTUATOR_CH1, 800, DIRECTION_PULL); // Set actuator channel 1 to high, channel 2 to low
-
-    // i2c_config();
-
 #if DEBUG_MODE == CFG_ENABLE
     printf("Hello World!\r\n");
 #endif
@@ -82,6 +75,7 @@ int main(void)
 #endif
 
     /* ========== Command Testing ========== */
+    // command_execute("M3P0S999");
   
     /* ========== */
 

Src/uart.c

@@ -17,6 +17,14 @@ void uart_init(void) {
     gpio_mode_set(UART_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_PULLUP, UART_TX_PIN | UART_RX_PIN);
     gpio_output_options_set(UART_GPIO_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, UART_TX_PIN | UART_RX_PIN);
 
+#if RS485_MODE == CFG_ENABLE
+    /* 配置 RS485 DE 引脚 */
+    rcu_periph_clock_enable(RS485_DE_RCU);
+    gpio_mode_set(RS485_DE_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, RS485_DE_PIN);
+    gpio_output_options_set(RS485_DE_PORT, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, RS485_DE_PIN);
+    gpio_bit_reset(RS485_DE_PORT, RS485_DE_PIN); // 初始状态为接收模式
+#endif
+
     /* 配置波特率、数据位、停止位等 */
     usart_deinit(UART_PHY);
     usart_word_length_set(UART_PHY, USART_WL_8BIT);
@@ -26,6 +34,13 @@ void uart_init(void) {
     usart_receive_config(UART_PHY, USART_RECEIVE_ENABLE);
     usart_transmit_config(UART_PHY, USART_TRANSMIT_ENABLE);
 
+#if RS485_MODE == CFG_ENABLE
+    // 配置 RS485 模式
+    usart_rs485_driver_enable(UART_PHY);
+    usart_driver_assertime_config(UART_PHY, 10); // 设置驱动器断言时间为 10 个时钟周期
+    usart_driver_deassertime_config(UART_PHY, 10); // 设置驱动器去断言时间为 10 个时钟周期
+
+#endif
     usart_enable(UART_PHY);
 
     nvic_irq_enable(UART_IRQ, 0);