#include "sys_config.h" #include "typesdef.h" #include "dev.h" #include "devid.h" #include "hal/gpio.h" #include "hal/dvp.h" #include "hal/vpp.h" #include "hal/adc.h" #include "hal/spi.h" #include "osal/irq.h" #include "osal/string.h" #include "hal/pwm.h" #include "hal/timer_device.h" #include "osal/task.h" #if PRINTER_EN /* project_config.h 文件引脚定义 #define MOTO_AIN1_PIN PB_14 #define MOTO_AIN2_PIN PB_15 #define MOTO_BIN1_PIN PC_1 #define MOTO_BIN2_PIN PC_0 #define PIN_SPI0_CS 255 #define PIN_SPI0_CLK PB_11 #define PIN_SPI0_IO0 PB_13 #define PIN_SPI0_IO1 255 #define PIN_SPI0_IO2 255 #define PIN_SPI0_IO3 255 #define PIN_SPI1_CS 255 #define PIN_SPI1_CLK 255 #define PIN_SPI1_IO0 MOTO_AIN1_PIN #define PIN_SPI1_IO1 MOTO_AIN2_PIN #define PIN_SPI1_IO2 MOTO_BIN1_PIN #define PIN_SPI1_IO3 MOTO_BIN2_PIN */ /*==================================打印机引脚定义==================================*/ #define MOTO_SLEEP_PIN PB_7 // LOW sleep , HIGH run #define PRINTER_DATA_PIN PB_13 #define PRINTER_CLK_PIN PB_11 #define PRINTER_LATCH_PIN PB_8 #define PRINTER_TM_PIN PC_5 #define PRINTER_PSENSOR_PIN PA_0 #define PRINTER_STB_PIN PB_10 #define PRINTER_EN_PIN PA_7 #define PRINTER_DATA_PORT GPIOB #define PRINTER_DATA_NUM 13 #define PRINTER_CLK_PORT GPIOB #define PRINTER_CLK_NUM 11 #define PRINTER_STB_PORT GPIOB #define PRINTER_STB_NUM 10 #define PRINTER_W 384 #define PRINTER_H 512 /*====================================第一组 PWM====================================*/ #define SPI_SEND_EN 1 //使用SPI时序发送数据，可控发送速率 #define STB_PIN_PWM_EN 0 //STB 使用PWM波形，使能置1否则置0 #define SPI_MOTO_EN 1 #define SPI_MOTO_CLK 5000 //4000:12ms 5000:9.6ms #define TEST_MOTO_BUF_COUNT 6 #define HEAT_TIMES_THRESHOLD 128 #define TOTAL_TICK 258 //打印每行调用timer7_noisr_func函数的次数 #define SPI_CLK_FREQ 5300000 //SPI时钟频率8M ，CLK脚高电平稳定时间约为50-60ns, 调整建议不大于8M，频率越高加热时间越短 #define STB_PIN_PWM_PERIOD 1000 #define STB_PIN_PWM_DUTY 900 //改变PWM的占空比可以改变加热时长 struct hgpwm_v0 *moto_hgpwm = NULL; struct hgadc_v0* hgadc_tm = NULL; struct spi_device *spi0_dev = NULL; struct spi_device *spi1_dev = NULL; struct os_task handle_printer_task; uint32_t timer7_isr_func(); static uint32_t current_heat_count = 0; static uint8_t* halfstep_buf = NULL; static uint8_t* halfstep_buf_cache = NULL; static volatile uint8_t last_ret = 0; static uint8_t pre_heat_flag = 0; static uint8_t printer_done = 1; extern const unsigned char printer_demo[196608]; //384 x 512 只包含Y数据的图片 uint8 printer_buf[196608] __attribute__ ((aligned(4),section(".psram.src"))); //384 x 512 uint8 printer_buf_odd[48] __attribute__ ((aligned(4))); //48*8 = 384 uint8 printer_buf_even[48] __attribute__ ((aligned(4))); //48*8 = 384 const unsigned char *printer_picture_addr; volatile uint32_t printer_h = 0; typedef struct { __IO uint32_t MODE; __IO uint32_t OTYPE; __IO uint32_t OSPEEDL; __IO uint32_t OSPEEDH; __IO uint32_t PUPL; __IO uint32_t PUPH; __IO uint32_t PUDL; __IO uint32_t PUDH; __IO uint32_t IDAT; __IO uint32_t ODAT; __IO uint32_t BSR; __IO uint32_t RES0; __IO uint32_t AFRL; __IO uint32_t AFRH; __IO uint32_t TGL; __IO uint32_t IMK; __IO uint32_t RES1; __IO uint32_t RES2; __IO uint32_t RES3; __IO uint32_t DEBEN; __IO uint32_t AIOEN; __IO uint32_t PND; __IO uint32_t PNDCLR; __IO uint32_t TRG0; __IO uint32_t RES4; __IO uint32_t RES5; __IO uint32_t RES6; __IO uint32_t RES7; __IO uint32_t IEEN; __IO uint32_t IOFUNCOUTCON0; __IO uint32_t IOFUNCOUTCON1; __IO uint32_t IOFUNCOUTCON2; __IO uint32_t IOFUNCOUTCON3; } GPIO_TypeDef; #define GPIOA ((GPIO_TypeDef *) HG_GPIOA_BASE) #define GPIOB ((GPIO_TypeDef *) HG_GPIOB_BASE) #define GPIOC ((GPIO_TypeDef *) HG_GPIOC_BASE) static void printer_moto_delay(uint32_t n) { volatile uint32_t i=500*n; while(i--) { } } static void printer_delay(uint32_t n) { volatile uint32_t i=20*n; while(i--) { } } void printer_moto_enable(uint8_t en) { if(en) { gpio_set_val(MOTO_SLEEP_PIN,1); printer_moto_delay(20); } else { gpio_set_val(MOTO_SLEEP_PIN,0); } } int32_t get_printer_tm(){ uint32 vol = 0; printer_delay(100); hgadc_tm = (struct hgadc_v0*)dev_get(HG_ADC0_DEVID); adc_open((struct adc_device *)(hgadc_tm)); adc_add_channel((struct adc_device *)hgadc_tm, PRINTER_TM_PIN); adc_get_value((struct adc_device *)hgadc_tm, PRINTER_TM_PIN, &vol); os_printf("temperature:%d\r\n",vol); return vol; } uint8_t is_paper_insert(){ return gpio_get_val(PRINTER_PSENSOR_PIN); } /* 半步驱动-低位在前 (1) A1:1 A2:1 B1:1 B2:0 0xEE (2) A1:1 A2:0 B1:1 B2:0 0xAA (3) A1:1 A2:0 B1:1 B2:1 0xBB (4) A1:1 A2:0 B1:0 B2:1 0x99 (5) A1:1 A2:1 B1:0 B2:1 0xDD (6) A1:0 A2:1 B1:0 B2:1 0x55 (7) A1:0 A2:1 B1:1 B2:1 0x77 (8) A1:0 A2:1 B1:1 B2:0 0x66 */ void printer_get_four_halfstep(uint8 *halfstep_buf, uint32_t n) { static const uint8_t halfstep_table[8] = {0xEE, 0xAA, 0xBB, 0x99, 0xDD, 0x55, 0x77, 0x66}; static uint8_t current_step = 0; int i = 0, j = 0; int k = n / 4; //调试打印会影响打印时间 // os_printf("halfstep_buf: "); for (i = 0; i < 4; i++) { uint8_t index = (i + current_step) % 8; for (j = 0; j < k; j++) { halfstep_buf[i*k+j] = halfstep_table[index]; } // printf("%02X ", halfstep_buf[index]); } //最后1byte为0,用于hold住spi数据线为0 halfstep_buf[n] = 0; // printf("%02X \n", halfstep_buf[n]); current_step = (current_step + 4) % 8; } //中断处理的效率会影响加热时间 void spi0_irq(uint32 irq, uint32 irq_data) { uint8_t *halfstep_buf = (uint8_t *)irq_data; current_heat_count ++; gpio_set_val(PRINTER_LATCH_PIN,0); gpio_set_val(PRINTER_LATCH_PIN,1); switch(last_ret) { //一帧图片打印结束 case 0: #if STB_PIN_PWM_EN pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0); #else gpio_set_val(PRINTER_STB_PIN,0); //关加热 #endif os_printf("kick moto spi done\n"); printer_get_four_halfstep(halfstep_buf, TEST_MOTO_BUF_COUNT*4); printer_get_four_halfstep(halfstep_buf_cache, TEST_MOTO_BUF_COUNT*4); spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf, TEST_MOTO_BUF_COUNT*4+1); spi_release_irq(spi0_dev,SPI_IRQ_FLAG_TX_DONE); printer_done = 2; break; //加热期间spi传送数据 case 1: last_ret = timer7_isr_func(); break; //一行打印结束，电机走四步 case 2: #if STB_PIN_PWM_EN pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0); #else gpio_set_val(PRINTER_STB_PIN,0); //关加热 #endif printer_get_four_halfstep(halfstep_buf, TEST_MOTO_BUF_COUNT*4); spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf, TEST_MOTO_BUF_COUNT*4+1); spi_release_irq(spi0_dev,SPI_IRQ_FLAG_TX_DONE); break; default: break; }; if(current_heat_count >= HEAT_TIMES_THRESHOLD) { current_heat_count = 0; } } void spi1_irq(uint32 irq, uint32 irq_data) { static uint32_t moto_cycle_count = 250; if (printer_done == 2) { //加热打印结束，电机送纸部分 if(moto_cycle_count == 0) { printer_done = 1; moto_cycle_count = 250; spi_close(spi1_dev); } else { if(moto_cycle_count % 2 == 0) { spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf_cache, TEST_MOTO_BUF_COUNT*4); } else { spi_ioctl((struct spi_device*)spi1_dev, SPI_KICK_DMA_TX, (uint32)halfstep_buf, TEST_MOTO_BUF_COUNT*4); } moto_cycle_count--; } } else { //行打印结束，电机走一行 #if STB_PIN_PWM_EN pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,STB_PIN_PWM_DUTY); #else gpio_set_val(PRINTER_STB_PIN,1); //加热 #endif spi_request_irq(spi0_dev, SPI_IRQ_FLAG_TX_DONE, spi0_irq, halfstep_buf); last_ret = timer7_isr_func(); } } void stb_timer_cb(uint32 cb_data, uint32 irq_flag) { //预加热结束 os_printf("stb timer callback\n"); #if STB_PIN_PWM_EN pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,0); #else gpio_set_val(PRINTER_STB_PIN,0); //关加热 #endif pre_heat_flag = 1; } static void* printer_stb_timer_open() { struct timer_device *stb_timer0 = (struct timer_device *)dev_get(HG_TIMER0_DEVID); timer_device_open(stb_timer0, TIMER_TYPE_ONCE, 0); os_printf("STB timer open\n"); return stb_timer0; } static void printer_stb_timer_close(void* stb_timer0) { timer_device_close((struct timer_device *)stb_timer0); } static void printer_stb_start(void* stb_timer0, uint32_t ms) { #if STB_PIN_PWM_EN pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY,STB_PIN_PWM_PERIOD,STB_PIN_PWM_DUTY); #else gpio_set_val(PRINTER_STB_PIN,1); //加热 #endif timer_device_start((struct timer_device *)stb_timer0, ms*240000, stb_timer_cb, 0); // cnt = ms * (240M/1000) } void paper_io_init(){ gpio_iomap_output(MOTO_SLEEP_PIN,GPIO_IOMAP_OUTPUT); gpio_iomap_output(PRINTER_LATCH_PIN,GPIO_IOMAP_OUTPUT); gpio_set_val(PRINTER_LATCH_PIN,1); gpio_iomap_output(PRINTER_STB_PIN,GPIO_IOMAP_OUTPUT); gpio_iomap_output(PRINTER_EN_PIN,GPIO_IOMAP_OUTPUT); gpio_iomap_output(PRINTER_TM_PIN,GPIO_IOMAP_OUTPUT); gpio_set_mode(PRINTER_PSENSOR_PIN, GPIO_PULL_NONE, GPIO_PULL_LEVEL_NONE); gpio_iomap_input(PRINTER_PSENSOR_PIN,GPIO_IOMAP_INPUT); //打印机数据输出，spi0 一线模式 spi0_dev = (struct spi_device *)dev_get(HG_SPI0_DEVID); spi_ioctl(spi0_dev,SPI_CFG_SET_NONE_CS,1,0); spi_ioctl(spi0_dev,SPI_SET_LSB_FIRST,0,0); spi_ioctl(spi0_dev,SPI_KICK_DMA_EN,0,0); spi_open(spi0_dev,SPI_CLK_FREQ,SPI_MASTER_MODE,SPI_WIRE_SINGLE_MODE,SPI_CPOL_0_CPHA_0); spi_release_irq((struct spi_device*)spi0_dev,SPI_IRQ_FLAG_TX_DONE |SPI_IRQ_FLAG_RX_DONE); //步进电机时序，spi1 四线模式 spi1_dev = (struct spi_device *)dev_get(HG_SPI1_DEVID); spi_ioctl(spi1_dev,SPI_CFG_SET_NONE_CS,1,0); spi_ioctl(spi1_dev,SPI_SET_LSB_FIRST,1,0); spi_open(spi1_dev,SPI_MOTO_CLK,SPI_MASTER_MODE,SPI_WIRE_QUAD_MODE,SPI_CPOL_0_CPHA_1); spi_request_irq((struct spi_device *)spi1_dev, SPI_IRQ_FLAG_TX_DONE, spi1_irq, halfstep_buf); #if STB_PIN_PWM_EN //STB加热采用PWM输出 pwm_init((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_4, STB_PIN_PWM_PERIOD, 0); pwm_start((struct pwm_device *)moto_hgpwm, PWM_CHANNEL_4); #endif } void paper_io_deinit(){ struct hgadc_v0* hgadc_tm; hgadc_tm = (struct hgadc_v0*)dev_get(HG_ADC0_DEVID); adc_close((struct adc_device *)(hgadc_tm)); adc_delete_channel((struct adc_device *)(hgadc_tm),PRINTER_TM_PIN); #if STB_PIN_PWM_EN pwm_deinit((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4); #endif spi_close(spi0_dev); spi_close(spi1_dev); } uint32_t timer7_isr_func(){ #define HOTTIME 1500 uint32_t itk = 0; uint32_t jtk = 0; static uint32_t i = 0; static uint32_t j = 0; static uint32_t tick = 0; static uint32_t hot_time = 0; static uint8_t half_s = 0; static uint8_t hot_add = 0; uint32 offset_h; uint8_t *pt; pt = printer_buf; if(printer_h == PRINTER_H){ tick = 2; // printer_h = 1; } offset_h = (printer_h-1)*PRINTER_W; if((tick%2) == 0){ #if STB_PIN_PWM_EN pwm_ioctl((struct pwm_device *)moto_hgpwm,PWM_CHANNEL_4,PWM_IOCTL_CMD_SET_PERIOD_DUTY_IMMEDIATELY, STB_PIN_PWM_PERIOD, STB_PIN_PWM_DUTY); #else PRINTER_STB_PORT->ODAT |= BIT(PRINTER_STB_NUM); #endif #if 1 if(hot_time > HOTTIME) goto deal_end; #endif if(half_s){ //偶数点 spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48); memset(printer_buf_odd , 0, 48); for(jtk = 0; jtk < 48; jtk++) { for(itk = 1 + i; itk < 8; itk+=2) { if((pt[offset_h+jtk*8+itk]) > 0 && (1)){ pt[offset_h+jtk*8+itk]--; printer_buf_odd[jtk] |= (0x1 << (7-itk)); } } } } else { //奇数点 spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_odd, 48); memset(printer_buf_even, 0, 48); for(jtk = 0; jtk < 48; jtk++) { for(itk = 0 + j; itk < 8; itk+=2) { if((pt[offset_h+jtk*8+itk]) > 0 && (1)){ pt[offset_h+jtk*8+itk]--; printer_buf_even[jtk] |= (0x1 << (7-itk)); } } } } half_s ^= BIT(0); hot_add++; } deal_end: if((tick % TOTAL_TICK) == 2){ printer_h--; hot_time = 0; if(printer_h == 0){ return 0; }else{ tick+=2; hot_time++; return 2; } } tick+=2; hot_time++; return 1; } /** * @brief 设置打印机的图片地址，赋值给全局变量printer_picture_addr * * @param addr 传入的图片地址 * @return true * @return false */ bool printer_set_picture_addr(const unsigned char* addr) { if(addr == NULL) { os_printf("printer demo addr invaild!!! addr:%x\n",addr); return 1; } printer_picture_addr = addr; return 0; }; /** * @brief 切换打印机与摄像头的使能 * * @param printer_en 如果使能打印机、关闭摄像头则置1，否则置0 */ void printer_dvp_en_exchange(int printer_en) { #if DVP_EN struct dvp_device *dvp_device = (struct dvp_device*)dev_get(HG_DVP_DEVID); struct vpp_device *vpp_device = (struct vpp_device*)dev_get(HG_VPP_DEVID); #endif os_printf("%s %d\r\n",__FUNCTION__,printer_en); //打印机使能 if(printer_en) { gpio_set_val(PRINTER_EN_PIN,1); #if DVP_EN gpio_iomap_output(PIN_DVP_PDN,GPIO_IOMAP_OUTPUT); gpio_set_val(PIN_DVP_PDN,1); dvp_close(dvp_device); vpp_close(vpp_device); #endif } //DVP使能 else { gpio_set_val(PRINTER_EN_PIN,0); #if DVP_EN bool csi_ret; bool csi_cfg(); bool csi_open(); gpio_iomap_output(PIN_DVP_PDN,GPIO_IOMAP_OUTPUT); gpio_set_val(PIN_DVP_PDN,0); #if SDH_I2C2_REUSE uint32 sdhost_i2c2_exchange(int sdh_stop_en); sdhost_i2c2_exchange(1); #endif csi_ret = csi_cfg(); if(csi_ret) csi_open(); //vpp_close(vpp_device); #if SDH_I2C2_REUSE sdhost_i2c2_exchange(0); #endif #endif } } void enhanceContrast(uint8_t *image) { int minLevel = 63; int maxLevel = 0; for (int i = 0; i < PRINTER_W * PRINTER_H; i++) { if (image[i] < minLevel) { minLevel = image[i]; } if (image[i] > maxLevel) { maxLevel = image[i]; } } int dynamicRange = maxLevel - minLevel; for (int i = 0; i < PRINTER_W * PRINTER_H; i++) { image[i] = (image[i] - minLevel) * 63 / dynamicRange; if (image[i] < 0) { image[i] = 0; } if (image[i] > 63) { image[i] = 63; } } } unsigned char restrain_int(int input) { if (input < 0x00) { return 0x00; } if (input > 0xFF) { return 0xFF; } return input; } //Floyd-Steinberg算法,该函数只适用于256灰阶图像 void dithering(uint8_t *image, int width, int height) { // 对每个像素执行误差扩散 for(int y = 0; y < height; y++) { for(int x = 0; x < width; x++) { int index = y * width + x; unsigned char oldPixel = image[index]; unsigned char newPixel = (oldPixel < 128) ? 0 : 255; // 二值化 // 计算误差 int error = oldPixel - newPixel; // 更新当前像素 image[index] = newPixel; // 误差扩散到相邻像素 if(x < width - 1) { image[index + 1] = restrain_int(image[index + 1] + (error * 7 / 16)); } if(y < height - 1) { image[index + width] = restrain_int(image[index + width] + (error * 5 / 16)); } if(x < width - 1 && y < height - 1) { image[index + width + 1] = restrain_int(image[index + width + 1] + (error * 1 / 16)); } if(x > 0 && y < height - 1) { image[index + width - 1] = restrain_int(image[index + width - 1] + (error * 3 / 16)); } } } } extern volatile uint8 printer_action; extern uint8_t vga_room[2][640*480+640*480/2]; bool printer_work_isr() { uint32_t flags; uint8_t ret; uint32_t itk = 0; uint32_t ktk = 0; uint32_t jtk = 0; int32_t tm; unsigned int grep_step = 0; os_sleep_ms(1000); halfstep_buf = (uint8_t*)os_malloc((TEST_MOTO_BUF_COUNT*4+1)); if(halfstep_buf == NULL) { os_printf("malloc halfstep_buf fail, printer thread end\r\n"); return 0; } halfstep_buf_cache = (uint8_t*)os_malloc((TEST_MOTO_BUF_COUNT*4+1)); if(halfstep_buf_cache == NULL) { os_printf("malloc halfstep_buf fail, printer thread end\r\n"); return 0; } while(1){ //开始打印前，建议先关闭比spi优先级更高的中断(LCD、USB、UART)，避免其他中断占用时间长影响打印效果 if(printer_action == 0 || printer_done == 0){ //printf("-->Printer0 wait!\r\n"); os_sleep_ms(50); continue; } printer_action = 0; printer_done = 0; pre_heat_flag = 0; printer_h = PRINTER_H; printf("-->Printer0 open!\r\n"); paper_io_init(); //打印机IO初始化 //gpio_set_val(PRINTER_EN_PIN,1); //enable printer power printer_dvp_en_exchange(1); printer_delay(500); printf("-->Printer0 open finish!\r\n"); if(is_paper_insert()) // check paper { //gpio_set_val(PRINTER_EN_PIN,0); //disable printer power paper_io_deinit(); printer_dvp_en_exchange(0); printf("-->Printer error...no paper!!!\r\n"); continue; } os_printf("%s %d\n",__FUNCTION__,__LINE__); tm = get_printer_tm(); //check tm if(1 == tm) // hot { //gpio_set_val(PRINTER_EN_PIN,0); //disable printer power paper_io_deinit(); printer_dvp_en_exchange(0); printf("-->Get the TM error...\r\n"); continue; } os_printf("%s %d\n",__FUNCTION__,__LINE__); memset(printer_buf,0,196608); //384 x 512 #if 1 dithering(vga_room, PRINTER_W, PRINTER_H); //半色调散点特效 #endif #if 0 printer_set_picture_addr(printer_demo);//打印图片 #else printer_set_picture_addr(vga_room); #endif for(itk = 0; itk < 512;itk++){ //384 x 512 for(ktk = 0; ktk < 384;ktk++){ grep_step = 0; for(jtk = 0;jtk < 64;jtk++){ //配置打印图片量化系数 if(printer_picture_addr[itk*384+ktk] < (grep_step*4)/*255*/){ //64 4 printer_buf[itk*384+383-ktk]++; } grep_step++; } } } enhanceContrast(printer_buf); os_printf("%s %d\n",__FUNCTION__,__LINE__); memset(printer_buf_even, 0, 48); memset(printer_buf_odd, 0, 48); for(jtk = 0; jtk < 48; jtk++) { for(itk = 1; itk < 8; itk+=2) { if((printer_buf[jtk*8+itk]) > 0 && (1)){ printer_buf[jtk*8+itk]--; printer_buf_odd[jtk] |= (1 << (7-itk)); } } } os_printf("%s %d\n",__FUNCTION__,__LINE__); memset(printer_buf_even,0xFF,48); spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48); while(!spi_ioctl((struct spi_device*)spi0_dev, SPI_GET_DMA_PENDING, 0, 0)) { os_sleep_ms(1); }; spi_ioctl((struct spi_device*)spi0_dev, SPI_CLEAR_DMA_PENDING, 1, 0); memset(printer_buf_even,0,48); gpio_set_val(PRINTER_LATCH_PIN,0); gpio_set_val(PRINTER_LATCH_PIN,1); //加热部分使用timer控制时间，取消关中断操作 struct timer_device *stb_timer0 = (struct timer_device *)printer_stb_timer_open(); printer_stb_start((void*)stb_timer0, 30); //预加热 30ms while(pre_heat_flag == 0) { os_sleep_ms(10); } printer_moto_enable(1); spi_request_irq(spi0_dev, SPI_IRQ_FLAG_TX_DONE, spi0_irq, halfstep_buf); last_ret = 1; //触发中断打印状态机 spi_ioctl((struct spi_device*)spi0_dev, SPI_KICK_DMA_TX, (uint32)&printer_buf_even, 48); //等待打印结束 while(printer_done!=1) { os_sleep_ms(100); } gpio_set_val(PRINTER_EN_PIN,0); //disable printer power printer_stb_timer_close((void*)stb_timer0); paper_io_deinit(); printer_dvp_en_exchange(0); printf("printer stop....\r\n"); } //理论上没有处理循环退出操作，此处buff未释放 os_free(halfstep_buf); halfstep_buf = NULL; os_ferr(halfstep_buf_cache); halfstep_buf_cache = NULL; } void printer_thread_init(){ OS_TASK_INIT("handle_printer", &handle_printer_task, printer_work_isr, NULL, OS_TASK_PRIORITY_ABOVE_NORMAL, 1024); } #endif