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f3df7276b22addf1e61668ceca1783625d18ed18
ZhaTianRC/Core/Src/main.c
admin f3df7276b2 feat: 长按返回键2s开关机功能 
- 开机: 长按返回键2s开机，显示左侧Logo+右侧'Starting...'开机画面2秒
- 关机: 主页未连接接收机时长按返回键2s关机
  - 关闭OLED/LED/PWM/NRF24L01/USB/外设时钟 → STOP休眠
  - 唤醒后自动复位重启
- 已连接接收机时屏蔽关机，防止飞行中误操作
- 添加 Input_IsKeyHeldFor() 指定时长按键检测
- 添加 OLED_Off() 关闭显示
- 更新 README.md 文档
2026-06-25 23:19:31 +08:00

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : 萝莉3代航模遥控器 - 主程序
* @author : 小云 (Hermes Agent)
* @date : 2026-06-25
******************************************************************************
* 系统架构:
* - 10ms 定时循环: 按键扫描 + ADC 轮询 + LED 更新
* - 主循环: 混控计算 + 菜单 UI + 协议收发
* - 中断: SysTick (时基), EXTI (NRF IRQ), UART (SBUS)
*
* 模块依赖:
* oled.h -> OLED SSD1306 128x64 显示
* input.h -> 按键/ADC 输入采集
* menu.h -> 菜单系统与 UI 交互
* storage.h -> Flash 存储 (模型/配置)
* pwm_out.h -> PWM/LED/WS2812 输出
* nrf24l01.h-> NRF24L01+ 2.4G 无线
* protocol.h-> 协议层 (RF/SBUS/USB HID)
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb.h"
#include "gpio.h"
/* 应用层模块 */
#include "oled.h"
#include "input.h"
#include "menu.h"
#include "storage.h"
#include "pwm_out.h"
#include "nrf24l01.h"
#include "protocol.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 */
#define MAIN_LOOP_PERIOD_MS 10 /* 主循环周期 10ms */
#define POWER_OFF_HOLD_MS 2000 /* 长按关机阈值 */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
static uint32_t last_loop_tick = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
static void System_Init(void);
static void System_Loop10ms(void);
void System_Shutdown(void);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_ADC1_Init();
MX_ADC2_Init();
MX_I2C2_Init();
MX_SPI1_Init();
MX_USART1_UART_Init();
MX_USART3_UART_Init();
MX_USB_PCD_Init();
MX_TIM3_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
/* ---- 应用层初始化 ---- */
System_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
uint32_t now = HAL_GetTick();
/* 10ms 定时任务 */
if (now - last_loop_tick >= MAIN_LOOP_PERIOD_MS) {
last_loop_tick = now;
System_Loop10ms();
}
/* 实时任务: 混控 + 菜单 + 协议 */
Mixer_Compute(g_channels);
Menu_Run();
Protocol_Run();
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {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();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/**
* @brief 系统初始化: 加载配置、初始化各模块、显示开机画面
* @retval None
*/
static void System_Init(void) {
/* 1. 加载存储配置 */
Storage_Init();
Storage_Load();
/* 2. 初始化 OLED 并显示开机画面 */
OLED_Init();
/* 左侧: 开机 Logo (64x64) */
OLED_DrawBitmap(0, 0, bitmap_bytes, 64, 64);
/* 右侧: "Starting..." 上下居中 */
OLED_ShowString(66, 28, "Starting...", 6);
OLED_Display();
HAL_Delay(2000); /* 显示 2 秒 */
/* 3. 初始化输入模块 */
Input_Init();
/* 4. 初始化 PWM/LED */
PWM_Init();
LED_SetSystem(1); /* 系统 LED 常亮 */
/* 5. 初始化 NRF24L01 */
NRF24L01_Init();
if (NRF24L01_Check()) {
/* NRF24L01 存在 */
NRF24L01_SetChannel(g_config.nrf_channel);
LED_SetNRF(0); /* 慢闪 = 未连接 */
} else {
/* NRF24L01 未检测到 */
LED_SetNRF(3); /* 灭 */
}
/* 6. 初始化协议层 */
Protocol_Init();
/* 7. 初始化菜单 */
Menu_Init();
/* 8. 根据配置设置 PWM 模式 */
PWM_SetMode(0, g_config.pwm1_mode);
PWM_SetMode(1, g_config.pwm2_mode);
PWM_SetWS2812Mode(g_config.ws2812_effect);
PWM_SetLEDBrightness(g_config.led_brightness);
PWM_SetVibrateLevel(g_config.vibrate_level);
}
/**
* @brief 10ms 定时任务: 按键扫描 + ADC 轮询 + LED 闪烁更新
* @retval None
*/
static void System_Loop10ms(void) {
/* 按键 + ADC 扫描 */
Input_Scan();
/* LED 闪烁更新 */
LED_Update();
}
/**
* @brief 系统关机: 关闭所有外设, 进入 STOP 休眠模式
* @retval None
*/
void System_Shutdown(void) {
/* 1. 关闭 OLED */
OLED_Off();
/* 2. 关闭所有 LED */
LED_SetSystem(0);
LED_SetNRF(3);
LED_SetCRFS(3);
/* 3. 停止 PWM 输出 */
PWM_SetMode(0, PWM_MODE_DISABLED);
PWM_SetMode(1, PWM_MODE_DISABLED);
/* 4. 关闭 NRF24L01 (进入掉电模式) */
NRF24L01_WriteReg(NRF_CONFIG, 0x00); /* PWR_DOWN */
/* 5. 关闭 USB */
HAL_PCD_Stop(&hpcd_USB_FS);
/* 6. 关闭各外设时钟 */
HAL_ADC_Stop(&hadc1);
HAL_ADC_Stop(&hadc2);
HAL_UART_DeInit(&huart1);
HAL_UART_DeInit(&huart3);
HAL_SPI_DeInit(&hspi1);
HAL_I2C_DeInit(&hi2c2);
/* 7. 关闭 TIM 时钟 */
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_2);
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_3);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_4);
HAL_TIM_Base_Stop(&htim3);
HAL_TIM_Base_Stop(&htim4);
/* 8. 进入 STOP 模式 (低功耗休眠) */
HAL_SuspendTick();
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
/* 9. 唤醒后复位系统 (长按开机键触发唤醒后重新启动) */
NVIC_SystemReset();
}
/* 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 */
/* 错误时 LED 快闪 */
__disable_irq();
while (1)
{
/* 系统 LED 快闪指示错误 */
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_6);
for (volatile uint32_t i = 0; i < 500000; i++);
}
/* 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 */
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