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Initial commit: GalvoScan

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Alexey_Tiurnikov
2026-03-11 12:06:26 +03:00
commit 6929095e2b
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}

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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the convention is to give header files names that end with `.h'.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into the executable file.
The source code of each library should be placed in a separate directory
("lib/your_library_name/[Code]").
For example, see the structure of the following example libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
Example contents of `src/main.c` using Foo and Bar:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
The PlatformIO Library Dependency Finder will find automatically dependent
libraries by scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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[env:nucleo_f429zi]
platform = ststm32
board = nucleo_f429zi
framework = arduino
monitor_speed = 115200
upload_protocol = stlink

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#include <Arduino.h>
#include <math.h>
// Пины DAC (Nucleo-F429ZI): PA4 — X, PA5 — Y
static const uint8_t DAC_PIN_X = PA4;
static const uint8_t DAC_PIN_Y = PA5;
// Пины обратной связи (аналоговый вход): A0 — X_fb, A1 — Y_fb
static const uint8_t ADC_PIN_FB_X = A0;
static const uint8_t ADC_PIN_FB_Y = A1;
// Настройка наклона: положительное значение вычитает долю X из Y (против часовой)
static const float TILT_Y_DEG =0.0f;
static const uint16_t DAC_MAX = 4095;
static const uint16_t DAC_MID = DAC_MAX / 2;
static const uint32_t AUTO_REPORT_MS = 200; // период телеметрии в авто-режиме
// Неблокирующее чтение строки до '\n'
static String readLine() {
static String buffer;
while (Serial.available()) {
char c = (char)Serial.read();
if (c == '\r') continue;
if (c == '\n') {
String line = buffer;
buffer = "";
line.trim();
return line;
}
buffer += c;
}
return String();
}
// Применить координаты (смещение в кодах относительно середины), учесть наклон и вывести на DAC
static void applyPosition(int32_t off_x, int32_t off_y) {
const float tilt_k = tanf(TILT_Y_DEG * (float)M_PI / 180.0f);
const float x_rot = (float)off_x;
const float y_rot = (float)off_y - tilt_k * (float)off_x;
int32_t dac_x = (int32_t)lroundf((float)DAC_MID + x_rot);
int32_t dac_y = (int32_t)lroundf((float)DAC_MID + y_rot);
if (dac_x < 0) dac_x = 0;
if (dac_x > DAC_MAX) dac_x = DAC_MAX;
if (dac_y < 0) dac_y = 0;
if (dac_y > DAC_MAX) dac_y = DAC_MAX;
analogWrite(DAC_PIN_X, (uint16_t)dac_x);
analogWrite(DAC_PIN_Y, (uint16_t)dac_y);
}
// Считать обратную связь с A0/A1 и вывести в консоль
static void printFeedback() {
auto readAvg3 = [](uint8_t pin) -> uint16_t {
uint32_t acc = 0;
for (int i = 0; i < 3; ++i) {
acc += (uint32_t)analogRead(pin);
}
return (uint16_t)(acc / 3U);
};
uint16_t fb_x = readAvg3(ADC_PIN_FB_X);
uint16_t fb_y = readAvg3(ADC_PIN_FB_Y);
Serial.print(F("FB A0="));
Serial.print(fb_x);
Serial.print(F(" A1="));
Serial.println(fb_y);
}
static void printPrompt(int32_t step_codes) {
Serial.println();
Serial.print(F("Шаг (коды DAC): "));
Serial.println(step_codes);
Serial.println(F("Команды: w=вверх, s=вниз, a=влево, d=вправо, stepN=новый шаг"));
Serial.println(F("auto v|h SPEED — авто по вертикали/горизонтали, stop — остановка авто"));
Serial.print(F("> "));
}
// Попытаться обновить шаг командой вида "stepN" (например, step200)
static bool tryUpdateStep(const String& line, int32_t& step_codes) {
if (line.length() < 5) return false; // минимум "step1"
if (!(tolower(line[0]) == 's' && tolower(line[1]) == 't' &&
tolower(line[2]) == 'e' && tolower(line[3]) == 'p')) {
return false;
}
String num = line.substring(4);
num.trim();
long v = num.toInt();
if (v <= 0 || v > (long)DAC_MAX) {
Serial.println(F("Формат: stepN, где N от 1 до 4095."));
Serial.print(F("> "));
return true; // команда распознана, но число некорректно
}
step_codes = (int32_t)v;
Serial.print(F("Новый шаг: "));
Serial.println(step_codes);
Serial.print(F("> "));
return true;
}
void setup() {
Serial.begin(115200);
while (!Serial) {}
Serial.setTimeout(50);
analogWriteResolution(12);
analogReadResolution(12);
analogWrite(DAC_PIN_X, DAC_MID);
analogWrite(DAC_PIN_Y, DAC_MID);
Serial.println(F("Galvo control: вводи шаг в кодах DAC и двигай w/a/s/d."));
Serial.print(F("Введи шаг (по умолчанию 100): "));
}
void loop() {
static bool step_set = false;
static int32_t step_codes = 100;
static float off_x = 0.0f;
static float off_y = 0.0f;
static bool auto_mode = false;
static bool auto_vertical = true; // true = X (вверх/вниз), false = Y (влево/вправо)
static float auto_speed = 0.0f; // кодов DAC в секунду
static uint32_t last_update_us = 0; // для интегрирования скорости
static uint32_t last_report_ms = 0; // для периодической печати
const float limit = (float)DAC_MID;
// Обновляем координаты для авто-режима даже без входа с Serial
uint32_t now_us = micros();
if (last_update_us == 0) last_update_us = now_us;
float dt = (now_us - last_update_us) / 1000000.0f;
last_update_us = now_us;
bool auto_moved = false;
if (auto_mode && dt > 0.0f) {
float* axis = auto_vertical ? &off_x : &off_y;
*axis += auto_speed * dt;
if (*axis > limit) {
*axis = limit;
auto_speed = -fabsf(auto_speed); // отражение от верхней/правой границы
} else if (*axis < -limit) {
*axis = -limit;
auto_speed = fabsf(auto_speed); // отражение от нижней/левой границы
}
auto_moved = true;
}
if (auto_moved) {
applyPosition((int32_t)lroundf(off_x), (int32_t)lroundf(off_y));
uint32_t now_ms = millis();
if (now_ms - last_report_ms >= AUTO_REPORT_MS) {
Serial.print(F("AUTO "));
Serial.print(auto_vertical ? F("X") : F("Y"));
Serial.print(F(" off="));
Serial.print((int32_t)lroundf(auto_vertical ? off_x : off_y));
Serial.print(F(" speed="));
Serial.print(auto_speed);
Serial.println(F(" код/с"));
printFeedback();
Serial.print(F("> "));
last_report_ms = now_ms;
}
}
String line = readLine();
if (line.length() == 0) return;
if (!step_set) {
long v = line.toInt();
if (v > 0 && v <= (long)DAC_MAX) {
step_codes = (int32_t)v;
}
step_set = true;
printPrompt(step_codes);
return;
}
String lower = line;
lower.toLowerCase();
// Остановка авто-режима
if (lower == "stop") {
auto_mode = false;
auto_speed = 0.0f;
Serial.println(F("Авто-режим остановлен."));
Serial.print(F("> "));
return;
}
// Запуск авто-режима: auto v|h SPEED
if (lower.startsWith("auto")) {
String tail = lower.substring(4);
tail.trim();
if (tail == "stop") {
auto_mode = false;
auto_speed = 0.0f;
Serial.println(F("Авто-режим остановлен."));
Serial.print(F("> "));
return;
}
if (tail.length() == 0) {
Serial.println(F("Формат: auto v|h SPEED, например auto v 800"));
Serial.print(F("> "));
return;
}
char axis = tail[0];
if (axis != 'v' && axis != 'h' && axis != 'x' && axis != 'y') {
Serial.println(F("Ось должна быть v (вертикаль/X) или h (горизонталь/Y)."));
Serial.print(F("> "));
return;
}
String speed_str = tail.substring(1);
speed_str.trim();
if (speed_str.startsWith("=")) speed_str = speed_str.substring(1);
float spd = speed_str.toFloat();
if (speed_str.length() == 0 || spd == 0.0f) {
Serial.println(F("Нужна ненулевая скорость, пример: auto h -1200"));
Serial.print(F("> "));
return;
}
auto_mode = true;
auto_vertical = (axis == 'v' || axis == 'x');
auto_speed = spd;
last_update_us = micros();
last_report_ms = millis();
Serial.print(F("Авто-режим: "));
Serial.print(auto_vertical ? F("вертикаль") : F("горизонталь"));
Serial.print(F(", скорость "));
Serial.print(auto_speed);
Serial.println(F(" код/с"));
Serial.print(F("> "));
return;
}
char cmd = lower[0];
bool moved = false;
// Команда смены шага: stepN
if (tryUpdateStep(line, step_codes)) {
return;
}
if (cmd == 'w') {
off_x += (float)step_codes; // вверх = X+
moved = true;
} else if (cmd == 's') {
off_x -= (float)step_codes; // вниз = X-
moved = true;
} else if (cmd == 'a') {
off_y -= (float)step_codes; // влево = Y-
moved = true;
} else if (cmd == 'd') {
off_y += (float)step_codes; // вправо = Y+
moved = true;
} else {
Serial.println(F("Неизвестная команда. Используй w/a/s/d, auto v|h SPEED или stop."));
}
// Ограничиваем смещения, чтобы не выйти за диапазон DAC
if (off_x > limit) off_x = limit;
if (off_x < -limit) off_x = -limit;
if (off_y > limit) off_y = limit;
if (off_y < -limit) off_y = -limit;
if (moved) {
applyPosition((int32_t)lroundf(off_x), (int32_t)lroundf(off_y));
int32_t off_x_int = (int32_t)lroundf(off_x);
int32_t off_y_int = (int32_t)lroundf(off_y);
Serial.print(F("X_off="));
Serial.print(off_x_int);
Serial.print(F(" Y_off="));
Serial.println(off_y_int);
printFeedback();
Serial.print(F("> "));
}
}

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This directory is intended for PlatformIO Test Runner and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html