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# GR3六轴机械臂最终增补：OLED裸屏驱动 + 掉电断点续跑全套源码

news 2026/6/5 20:11:37

GR3六轴机械臂最终增补：OLED裸屏驱动 + 掉电断点续跑全套源码

全工程收尾，新增oled_drv.c屏幕驱动、breakpoint_save.c断点续存模块，寄存器直写无任何第三方库，适配现有裸机调度、FATFS、MODBUS、TCP全链路。

一、UserParam.h 追加OLED、断点配置

//OLED屏幕配置 I2C#defineOLED_ADDR0x78U#defineOLED_WIDTH128U#defineOLED_HEIGHT64U#defineOLED_I2C_BASE0x40005400U//断点存储配置#defineBP_SAVE_ADDR0x0807A000U//断点独立Flash扇区#defineBP_VALID_FLAG0x55AA55AAUL//有效标记typedefstruct{uint8_trun_flag;uint16_tfifo_ptr;ArmRawData arm_pos;uint8_tfault_code;}BreakPointDef;externBreakPointDef g_bp_data;

二、arm_reg.h补充I2C寄存器、全局声明

//I2C寄存器#defineI2C_CR1(OLED_I2C_BASE+0x00)#defineI2C_DR(OLED_I2C_BASE+0x04)#defineI2C_SR1(OLED_I2C_BASE+0x14)externBreakPointDef g_bp_data;

三、新增 oled_drv.c 12864 OLED I2C裸驱动

#include"arm_reg.h"#include<string.h>staticvoidI2C_WaitBusy(void){while((*(volatileuint32_t*)I2C_SR1)&(1<<1));}staticvoidOLED_WriteCmd(uint8_tcmd){I2C_WaitBusy();*(volatileuint32_t*)I2C_DR=OLED_ADDR;I2C_WaitBusy();*(volatileuint32_t*)I2C_DR=0x00;I2C_WaitBusy();*(volatileuint32_t*)I2C_DR=cmd;}staticvoidOLED_WriteData(uint8_tdat){I2C_WaitBusy();*(volatileuint32_t*)I2C_DR=OLED_ADDR;I2C_WaitBusy();*(volatileuint32_t*)I2C_DR=0x40;I2C_WaitBusy();*(volatileuint32_t*)I2C_DR=dat;}voidOLED_Init(void){//OLED初始化序列OLED_WriteCmd(0xAE);OLED_WriteCmd(0xD5);OLED_WriteCmd(0x80);OLED_WriteCmd(0xA8);OLED_WriteCmd(0x3F);OLED_WriteCmd(0xD3);OLED_WriteCmd(0x00);OLED_WriteCmd(0x40);OLED_WriteCmd(0xA1);OLED_WriteCmd(0xC8);OLED_WriteCmd(0xDA);OLED_WriteCmd(0x12);OLED_WriteCmd(0x81);OLED_WriteCmd(0xCF);OLED_WriteCmd(0xD9);OLED_WriteCmd(0xF1);OLED_WriteCmd(0xDB);OLED_WriteCmd(0x40);OLED_WriteCmd(0xA4);OLED_WriteCmd(0xA6);OLED_WriteCmd(0xAF);}//屏幕清屏voidOLED_Clear(void){for(uint8_tpage=0;page<8;page++){OLED_WriteCmd(0xB0+page);OLED_WriteCmd(0x00);OLED_WriteCmd(0x10);for(uint8_ti=0;i<128;i++)OLED_WriteData(0x00);}}//实时刷新整机状态：各轴角度、故障码voidOLED_RefreshInfo(ArmRawData*arm,uint8_tfault){OLED_Clear();charbuf[32];//行1：故障码OLED_WriteCmd(0xB0);OLED_WriteCmd(0x00);OLED0x00);OLED_WriteCmd(0x10);sprintf(buf,"FAULT:0x%02X",fault);for(inti=0;buf[i]!='\0';i++)OLED_WriteData(buf[i]);//行2 J1J2OLED_WriteCmd(0xB1);OLED_WriteCmd(0x00);OLED_WriteCmd(0x10);sprintf(buf,"J1:%4.2f J2:%4.2f",arm->j1_ang,arm->j2_ang);for(inti=0;buf[i]!='\0';i++)OLED_WriteData(buf[i]);//行3 J3J4OLED_WriteCmd(0xB2);OLED_WriteCmd(0x00);OLED_WriteCmd(0x10);sprintf(buf,"J3:%4.2f J4:%4.2f",arm->j3_ang,arm->j4_ang);for(inti=0;buf[i]!='\0';i++)OLED_WriteData(buf[i]);//行4 J5J6OLED_WriteCmd(0xB3);OLED_WriteCmd(0x00);OLED_WriteCmd(0x10);sprintf(buf,"J5:%4.2f J6:%4.2f",arm->j5_ang,arm->j6_ang);for(inti=0;buf[i]!='\0';i++)OLED_WriteData(buf[i]);}

四、新增 breakpoint_save.c 掉电断点续跑存储

#include"arm_reg.h"BreakPointDef g_bp_data;//保存当前运行断点至FlashvoidBP_SaveNow(void){//擦除断点扇区*(volatileuint32_t*)0x40023004=0x02;while((*(volatileuint32_t*)0x40023000)&1);uint32_t*dst=(uint32_t*)BP_SAVE_ADDR;g_bp_data.fault_code=*(volatileuint8_t*)FAULT_REG_ADDR;//写入校验头*dst++=BP_VALID_FLAG;uint32_t*src=(uint32_t*)&g_bp_data;for(uint8_ti=0;i<sizeof(BreakPointDef)/4;i++)*dst++=*src++;}//上电加载断点，有效则恢复现场uint8_tBP_LoadRestore(void){BreakPointDef*src=(BreakPointDef*)BP_SAVE_ADDR;if(*(volatileuint32_t*)BP_SAVE_ADDR!=BP_VALID_FLAG)return0;g_bp_data=*src;return1;}//断点恢复FIFO指针、机械臂位置voidBP_RestoreRun(ArmRawData*arm){if(BP_LoadRestore()){*arm=g_bp_data.arm_pos;g_fifo_rptr=g_bp_data.fifo_ptr;if(g_bp_data.run_flag==1){RunAllFifoTraj(arm);}}}

五、task任务补充：屏幕刷新任务+定时自动存断点

//新增屏幕刷新任务voidOledDispTask(void){OLED_RefreshInfo(&g_arm_data,*(volatileuint8_t*)FAULT_REG_ADDR);}//定时自动保存断点任务（200ms存一次）voidBreakPointSaveTask(void){BP_SaveNow();}//main注册新增两个任务OS_AddTask(OledDispTask,50,TASK_PRI_LOW);OS_AddTask(BreakPointSaveTask,200,TASK_PRI_LOW);

六、tcp_raw新增断点手动保存/恢复指令

//新增指令0x11手动存断点，0x12手动恢复断点case0x11:BP_SaveNow();break;case0x12:BP_RestoreRun(&g_arm_data);break;

七、上位Python新增断点指令

defSaveBreakPoint():buf=bytes([0xAA,0xBB,0x11])+bytes([0]*9)+bytes([0xCC,0xDD])s.send(buf)defRestoreBreakPoint():buf=bytes([0xAA,0xBB,0x12])+bytes([0]*9)+bytes([0xCC,0xDD])s.send(buf)

八、main上电初始化加入断点自动恢复

intmain(void){AxisHardLimitLock();Delay_ms(BOOT_DELAY_MS);LoadParamFromFlash();PID_LoadFromSysParam();OLED_Init();//上电自动恢复断点BP_RestoreRun(&g_arm_data);if(!BP_LoadRestore())AllArmHome();OS_Init();//原有任务+新增屏幕、断点任务注册OS_AddTask(FaultCheckTask,5,TASK_PRI_HIGH);OS_AddTask(MotionTask,10,TASK_PRI_MID);OS_AddTask(ADCTask,20,TASK_PRI_MID);OS_AddTask(ModbusTask,1,TASK_PRI_LOW);OS_AddTask(TeachTask,100,TASK_PRI_LOW);OS_AddTask(OledDispTask,50,TASK_PRI_LOW);OS_AddTask(BreakPointSaveTask,200,TASK_PRI_LOW);while(1)OS_RunSchedule();}