533 lines
13 KiB
C
533 lines
13 KiB
C
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "APPDEF.H"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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ADC_HandleTypeDef hadc1;
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DMA_HandleTypeDef hdma_adc1;
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TIM_HandleTypeDef htim3;
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TIM_HandleTypeDef htim4;
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/* Definitions for defaultTask */
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osThreadId_t defaultTaskHandle;
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const osThreadAttr_t defaultTask_attributes = {
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.name = "defaultTask",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_DMA_Init(void);
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static void MX_ADC1_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_TIM4_Init(void);
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void StartDefaultTask(void *argument);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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uint32_t step = 100;
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uint32_t ADCDataBuf[10];
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_ADC1_Init();
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MX_TIM3_Init();
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MX_TIM4_Init();
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/* USER CODE BEGIN 2 */
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/* USER CODE END 2 */
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/* Init scheduler */
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osKernelInitialize();
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of defaultTask */
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defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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/* Start scheduler */
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osKernelStart();
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/* We should never get here as control is now taken by the scheduler */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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Error_Handler();
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}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
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PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief ADC1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_ADC1_Init(void)
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{
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/* USER CODE BEGIN ADC1_Init 0 */
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/* USER CODE END ADC1_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC1_Init 1 */
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/* USER CODE END ADC1_Init 1 */
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/** Common config
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*/
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hadc1.Instance = ADC1;
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hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
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hadc1.Init.ContinuousConvMode = ENABLE;
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hadc1.Init.DiscontinuousConvMode = DISABLE;
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hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc1.Init.NbrOfConversion = 1;
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if (HAL_ADC_Init(&hadc1) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Regular Channel
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*/
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sConfig.Channel = ADC_CHANNEL_0;
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sConfig.Rank = ADC_REGULAR_RANK_1;
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sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
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if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC1_Init 2 */
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/* USER CODE END ADC1_Init 2 */
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}
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/**
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* @brief TIM3 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM3_Init(void)
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{
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/* USER CODE BEGIN TIM3_Init 0 */
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/* USER CODE END TIM3_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM3_Init 1 */
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 72;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 999;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 499;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM3_Init 2 */
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/* USER CODE END TIM3_Init 2 */
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HAL_TIM_MspPostInit(&htim3);
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}
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/**
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* @brief TIM4 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM4_Init(void)
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{
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/* USER CODE BEGIN TIM4_Init 0 */
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/* USER CODE END TIM4_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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/* USER CODE BEGIN TIM4_Init 1 */
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/* USER CODE END TIM4_Init 1 */
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htim4.Instance = TIM4;
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htim4.Init.Prescaler = 72;
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htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim4.Init.Period = 999;
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htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
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if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 499;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN TIM4_Init 2 */
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/* USER CODE END TIM4_Init 2 */
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HAL_TIM_MspPostInit(&htim4);
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}
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/**
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* Enable DMA controller clock
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*/
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static void MX_DMA_Init(void)
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{
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/* DMA controller clock enable */
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__HAL_RCC_DMA1_CLK_ENABLE();
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/* DMA interrupt init */
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/* DMA1_Channel1_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief GPIO Initialization Function
|
||
|
|
* @param None
|
||
|
|
* @retval None
|
||
|
|
*/
|
||
|
|
static void MX_GPIO_Init(void)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||
|
|
|
||
|
|
/* USER CODE END MX_GPIO_Init_1 */
|
||
|
|
|
||
|
|
/* GPIO Ports Clock Enable */
|
||
|
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
||
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||
|
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||
|
|
|
||
|
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||
|
|
|
||
|
|
/* USER CODE END MX_GPIO_Init_2 */
|
||
|
|
}
|
||
|
|
|
||
|
|
/* USER CODE BEGIN 4 */
|
||
|
|
float ADCData;
|
||
|
|
float slope1,slope2;
|
||
|
|
float SetmL,UseuL;
|
||
|
|
_Bool CuiQuFlag = false;
|
||
|
|
_Bool ZhongHeFlag = false;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
/* USER CODE END 4 */
|
||
|
|
|
||
|
|
/* USER CODE BEGIN Header_StartDefaultTask */
|
||
|
|
/**
|
||
|
|
* @brief Function implementing the defaultTask thread.
|
||
|
|
* @param argument: Not used
|
||
|
|
* @retval None
|
||
|
|
*/
|
||
|
|
/* USER CODE END Header_StartDefaultTask */
|
||
|
|
void StartDefaultTask(void *argument)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN 5 */
|
||
|
|
/* Infinite loop */
|
||
|
|
// HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
|
||
|
|
// HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
|
||
|
|
MotorCTRLInitiate();
|
||
|
|
HAL_ADCEx_Calibration_Start(&hadc1);
|
||
|
|
HAL_ADC_Start_DMA( &hadc1,ADCDataBuf,20);
|
||
|
|
slope1 = 82700;
|
||
|
|
slope2 = 0.01166;
|
||
|
|
for(;;)
|
||
|
|
{
|
||
|
|
osDelay(500);
|
||
|
|
if(ZhongHeFlag)
|
||
|
|
{
|
||
|
|
CoordinateSet[0] = 6550000;
|
||
|
|
UseuL = PluseCount[0] * slope2;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
CoordinateSet[0] = 0;
|
||
|
|
}
|
||
|
|
if(CuiQuFlag)
|
||
|
|
{
|
||
|
|
|
||
|
|
CoordinateSet[1] = SetmL *slope1;
|
||
|
|
CuiQuFlag = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
ADCData = (
|
||
|
|
(ADCDataBuf[0] >> 16) + (uint16_t)ADCDataBuf[0] +
|
||
|
|
(ADCDataBuf[1] >> 16) + (uint16_t)ADCDataBuf[1] +
|
||
|
|
(ADCDataBuf[2] >> 16) + (uint16_t)ADCDataBuf[2] +
|
||
|
|
(ADCDataBuf[3] >> 16) + (uint16_t)ADCDataBuf[3] +
|
||
|
|
(ADCDataBuf[4] >> 16) + (uint16_t)ADCDataBuf[4] +
|
||
|
|
(ADCDataBuf[5] >> 16) + (uint16_t)ADCDataBuf[5] +
|
||
|
|
(ADCDataBuf[6] >> 16) + (uint16_t)ADCDataBuf[6] +
|
||
|
|
(ADCDataBuf[7] >> 16) + (uint16_t)ADCDataBuf[7] +
|
||
|
|
(ADCDataBuf[8] >> 16) + (uint16_t)ADCDataBuf[8] +
|
||
|
|
(ADCDataBuf[9] >> 16) + (uint16_t)ADCDataBuf[9] ) / 20;
|
||
|
|
|
||
|
|
// if(CoordinateSet[0] == 0)
|
||
|
|
// CoordinateSet[0] = step;
|
||
|
|
}
|
||
|
|
/* USER CODE END 5 */
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Period elapsed callback in non blocking mode
|
||
|
|
* @note This function is called when TIM1 interrupt took place, inside
|
||
|
|
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
|
||
|
|
* a global variable "uwTick" used as application time base.
|
||
|
|
* @param htim : TIM handle
|
||
|
|
* @retval None
|
||
|
|
*/
|
||
|
|
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN Callback 0 */
|
||
|
|
|
||
|
|
/* USER CODE END Callback 0 */
|
||
|
|
if (htim->Instance == TIM1)
|
||
|
|
{
|
||
|
|
HAL_IncTick();
|
||
|
|
}
|
||
|
|
/* USER CODE BEGIN Callback 1 */
|
||
|
|
|
||
|
|
/* USER CODE END Callback 1 */
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief This function is executed in case of error occurrence.
|
||
|
|
* @retval None
|
||
|
|
*/
|
||
|
|
void Error_Handler(void)
|
||
|
|
{
|
||
|
|
/* USER CODE BEGIN Error_Handler_Debug */
|
||
|
|
/* User can add his own implementation to report the HAL error return state */
|
||
|
|
__disable_irq();
|
||
|
|
while (1)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
/* 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 */
|