（三）STM32L4（RT- Thread）——电机和蜂鸣器

#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>

#define DBG_TAG "main"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>

/* 枚举 */
enum
{
    MOTOR_STOP,
    MOTOR_LEFT,
    MOTOR_RIGHT
};

/* 电机控制 */
void motor_ctrl(rt_uint8_t turn)
{
    if (turn == MOTOR_STOP)
    {
        rt_pin_write(PIN_MOTOR_A, PIN_LOW);
        rt_pin_write(PIN_MOTOR_B, PIN_LOW);
    }
    else if (turn == MOTOR_LEFT)
    {
        rt_pin_write(PIN_MOTOR_A, PIN_LOW);
        rt_pin_write(PIN_MOTOR_B, PIN_HIGH);
    }
    else if (turn == MOTOR_RIGHT)
    {
        rt_pin_write(PIN_MOTOR_A, PIN_HIGH);
        rt_pin_write(PIN_MOTOR_B, PIN_LOW);
    }
    else
    {
        LOG_D("err parameter ! Please enter 0-2.");
    }
}

void beep_ctrl(rt_uint8_t on)
{
    if (on)
    {
        rt_pin_write(PIN_BEEP, PIN_HIGH);
    }
    else
    {
        rt_pin_write(PIN_BEEP, PIN_LOW);
    }
}

/* 中断回调 */
void irq_callback(void *args)
{
    rt_uint32_t sign = (rt_uint32_t)args;
    switch (sign)
    {
    case PIN_KEY0:
        motor_ctrl(MOTOR_LEFT);
        LOG_D("KEY0 interrupt. motor turn left.");
        break;
    case PIN_KEY1:
        motor_ctrl(MOTOR_RIGHT);
        LOG_D("KEY1 interrupt. motor turn right.");
        break;
    case PIN_KEY2:
        motor_ctrl(MOTOR_STOP);
        LOG_D("KEY2 interrupt. motor stop.");
        break;
    default:
        LOG_E("error sign= %d !", sign);
        break;
    }
}

int main(void)
{
    unsigned int count = 1;

    /* 设置按键引脚为输入模式 */
    rt_pin_mode(PIN_KEY0, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(PIN_KEY1, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(PIN_KEY2, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(PIN_WK_UP, PIN_MODE_INPUT_PULLDOWN);

    /* 设置电机控制引脚为输入模式 */
    rt_pin_mode(PIN_MOTOR_A, PIN_MODE_OUTPUT);
    rt_pin_mode(PIN_MOTOR_B, PIN_MODE_OUTPUT);

    /* 设置蜂鸣器引脚为输出模式 */
    rt_pin_mode(PIN_BEEP, PIN_MODE_OUTPUT);

    /* 设置按键中断模式与中断回调函数 */
    rt_pin_attach_irq(PIN_KEY0, PIN_IRQ_MODE_FALLING, irq_callback, (void *)PIN_KEY0);
    rt_pin_attach_irq(PIN_KEY1, PIN_IRQ_MODE_FALLING, irq_callback, (void *)PIN_KEY1);
    rt_pin_attach_irq(PIN_KEY2, PIN_IRQ_MODE_FALLING, irq_callback, (void *)PIN_KEY2);

    /* 使能中断 */
    rt_pin_irq_enable(PIN_KEY0, PIN_IRQ_ENABLE);
    rt_pin_irq_enable(PIN_KEY1, PIN_IRQ_ENABLE);
    rt_pin_irq_enable(PIN_KEY2, PIN_IRQ_ENABLE);

    while (count > 0)
    {
        if (rt_pin_read(PIN_WK_UP) == PIN_HIGH)
        {
            rt_thread_mdelay(50);
            if (rt_pin_read(PIN_WK_UP) == PIN_HIGH)
            {
                LOG_D("WK_UP pressed. beep on.");
                beep_ctrl(1);
            }
        }
        else
        {
            beep_ctrl(0);
        }
        rt_thread_mdelay(10);
        count++;
    }
    return 0;
}

 rt_pin_attach_irq(PIN_KEY0, PIN_IRQ_MODE_FALLING, irq_callback, (void *)PIN_KEY0);

rt_err_t rt_pin_attach_irq	(	rt_int32_t 	         pin,
                                rt_uint32_t 	     mode,
                                void(*)(void *args)  hdr,
                                void * 	             args 
)