[$group]
元件库-执行器.$pname$
[$last_ver_update_time]
2021-04-03
[$min_need_ver]
1.23
[$p_list]

[$short_show_UIname]

[$code_area_type]
codes,exe_per_1ms,init_code
[$blocks_type]

[$name]
舵机的初始化积木

[$引脚占用列表，用于提示冲突]
[($_xgm$dat),type=pin]|舵机积木里已占用此引脚






[$寄存器占用列表，用于提示冲突，但=>后的值没变则不提示冲突]
[($_xgm$timer),type=num]|舵机积木里已占用此定时器号:[($_xgm$timer),type=num]



[$中断函数号占用列表，用于提示冲突]











[$thread_do]



[$cs]


[$shared_func_In_main_c]



[$function_ref_define_in_headfile]
@@file=duoji1.h

#define pre_t u8
#define pre2_t u8


extern u8 pin_st_$rnd_varname_pre$;
extern u8 inset_$rnd_varname_pre$;

extern pre2_t pul_width_10us_$rnd_varname_pre$;

extern pre2_t cur_pul_width_10us_$rnd_varname_pre$;
	
extern pre_t pwn_t2_$rnd_varname_pre$;
extern pre_t pwn_t_$rnd_varname_pre$;

void call_back_from_10us_timer_$rnd_varname_pre$();



[$replace_map]


$_xgm$timer = $field$timer,mytype|num, ptype|TIMES
$_xgm$dat = $field$dat,mytype|pin, ptype|TIMES
$_xgm$hz = $field$hz ,mytype|num, ptype|TIMES
$_xgm$value11 =$dev_no_for_complie_include_code$$field$timer

$_xgm$dev_no2 = $field$timer,mytype|num, ptype|TIMES

[$init_code_for_define_area]
@@file=duoji1.c

#define pre2_t u8
#define pre_t u8


u8 pin_st_$rnd_varname_pre$;


u8 inset_$rnd_varname_pre$;
pre_t pwn_t2_$rnd_varname_pre$;
pre_t pwn_t_$rnd_varname_pre$;
pre2_t pul_width_10us_$rnd_varname_pre$;

pre2_t cur_pul_width_10us_$rnd_varname_pre$;


//#define _nop_() __asm NOP __endasm 

#include "protothread.h"
#include "sys/timer.h"
//#include "Extline_Lib.h" 
#include "timer_Lib.h" 
#include "Lib_base.h"  //考虑PROCESS2_WAIT_UNTIL宏


void call_back_from_10us_timer_$rnd_varname_pre$(){




if(pin_st_$rnd_varname_pre$==1){

cur_pul_width_10us_$rnd_varname_pre$++;


if(cur_pul_width_10us_$rnd_varname_pre$>=pul_width_10us_$rnd_varname_pre$){
cur_pul_width_10us_$rnd_varname_pre$=0;
pwn_t_$rnd_varname_pre$=0;

     IO_Write([($_xgm$dat),type=pin] ,0) ;
pin_st_$rnd_varname_pre$=0;

}

}
 


}



[$init_code_for_define_area_once]
@@file=duoji1.c




[$init_code_for_init_val]



#get_P口_to_PxM1_PxM0_set_code(group_xml,rand1,block_name,ref_complier,extinfo,"[($_xgm$dat),type=pin]","1","舵机的信号输入")%


     IO_Write([($_xgm$dat),type=pin] ,0) ;

pin_st_$rnd_varname_pre$=0;



pwn_t_$rnd_varname_pre$=0;


pul_width_10us_$rnd_varname_pre$=150/2;//150*10us=1.5ms，舵机中间角度位置

cur_pul_width_10us_$rnd_varname_pre$=0;


pwn_t2_$rnd_varname_pre$=(u8) (200-  2*pul_width_10us_$rnd_varname_pre$/10);//2000*10us=20ms,就是50Hz




//20us per callback:

TT_init_timer_from_jimu([($_xgm$timer),type=num],

#get_stm32_arr_value_at_guding_psc_Input_time_us(ref_complier,"71","72","20")%-1
,72-1
	
,1,0,0,0,0,0,0,0,0);


TT_reg_callback_for_timer_use_timer_enum([($_xgm$timer),type=num],call_back_from_10us_timer_$rnd_varname_pre$);






[$timer0_1ms_code]



[$timer0_100us_code]


if(pin_st_$rnd_varname_pre$==0){


pwn_t_$rnd_varname_pre$++;


if(pwn_t_$rnd_varname_pre$>=pwn_t2_$rnd_varname_pre$){


     IO_Write([($_xgm$dat),type=pin] ,1) ;
 pin_st_$rnd_varname_pre$=1;
 
 
pwn_t_$rnd_varname_pre$=0;

cur_pul_width_10us_$rnd_varname_pre$=0;



     }
  }


[$interrupt_1]
 






[$run]
 

















[$toolbox_block_code]
<block type="duoji_ctrl">





</block>