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Kaiser 2025-12-30 15:21:11 +08:00
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153
Core/Inc/FreeRTOSConfig.h Normal file
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/* USER CODE BEGIN Header */
/*
* FreeRTOS Kernel V10.3.1
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/* USER CODE END Header */
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* These parameters and more are described within the 'configuration' section of the
* FreeRTOS API documentation available on the FreeRTOS.org web site.
*
* See http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* Section where include file can be added */
/* USER CODE END Includes */
/* Ensure definitions are only used by the compiler, and not by the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#ifndef CMSIS_device_header
#define CMSIS_device_header "stm32f1xx.h"
#endif /* CMSIS_device_header */
#define configUSE_PREEMPTION 1
#define configSUPPORT_STATIC_ALLOCATION 1
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)5120)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH 256
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xQueueGetMutexHolder 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_eTaskGetState 1
/*
* The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
* by the application thus the correct define need to be enabled below
*/
#define USE_FreeRTOS_HEAP_4
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* USER CODE BEGIN 1 */
#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
/* USER CODE END 1 */
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */

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Core/Src/APPDEF.H Normal file
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#include <stdint.h>
#include "stdbool.h"
#include "cmsis_os.h"
//extern void delay_us(uint32_t us);
#include "stdlib.h"
#include "math.h"
//#include "MBM.H"
extern void MAX6675_Init(void);
extern void BIOS_GPIO_Init( void );
extern void BIOS_TIM8_Init( void );
extern void BIOS_TIM5_Init( void );
extern void USARTHMIInit( void );
extern void TIM4_CH1_CTRL(uint16_t ARRValue, uint16_t CCRValue );
extern void TIM4_CH1_CMD( _Bool CMD );
extern void TIM4_CH1_DIR( _Bool CMD );
extern void TIM4_IECMD( _Bool CMD );
extern void TIM3_CH2_CTRL(uint16_t ARRValue, uint16_t CCRValue );
extern void TIM3_CH2_CMD( _Bool CMD );
extern void TIM3_CH2_DIR( _Bool CMD );
extern void TIM3_IECMD( _Bool CMD );
enum enumPumpSelect
{
M1 = 0,
M2,
M3,
M4,
M5,
M6,
M7,
pumpMax
};
extern enum enumPumpSelect PumpSelect[pumpMax];
extern volatile uint32_t PluseCount[7u]; //
extern int32_t CoordinateSet[pumpMax]; // Ä¿±êλÖÃ
extern void SolidValve_H2SO4( uint8_t channel, _Bool state );
extern void AirValve_Pump(_Bool state);
extern void StandardValve_Pump( _Bool state);
extern void MotorCTRLInitiate( void );
extern float Temperature[6];
#include "stdio.h"
#include "string.h"
#include "math.h"
extern void DataPrint(uint8_t *buf, uint8_t len);
extern osSemaphoreId semDataBack;
extern uint8_t DataInbuf[60u];
struct Pset {
uint16_t CRC_Head; // CRCУÑéÍ·
uint16_t PowerSet[6];
uint16_t HeatTimeSet[6];
uint16_t LimitTemp[6];
int16_t PowerComp[6];
uint16_t AirTimeOutSet;
uint16_t WashTimeOutSet;
uint16_t WeightSet[6];
float WeightComp[6];
float WeightSlopeSet[6];
float H2SO4SlopeSet[6];
uint16_t CRC_Tail; // CRCУÑéβ
};
extern struct Pset Set;
extern void FM24Init(void);
extern void FM24_Write(uint16_t addr, uint8_t *data, uint8_t len);
extern void FM24_Read(uint16_t addr, uint8_t *data, uint8_t len);
#define RW_Set 0x0200u
#define CRCHead 0xAA55u
#define CRCEnd 0x5AA5u

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#include "APPDEF.H"
enum enumPumpSelect PumpSelect[pumpMax];
/******************************** 功能说明 *************************************
*
*******************************************************************************/
void Motor_IECMD( enum enumPumpSelect Select, _Bool CMD )
{
switch( Select )
{
case M1:
TIM4_IECMD( CMD );
break;
case M2:
TIM3_IECMD( CMD );
break;
default:
break;
}
}
/********************************** 功能说明 *************************************
* 机械臂运行速度设置
*********************************************************************************/
/********************************** 功能说明 *************************************
* 机械臂运行速度设置
*********************************************************************************/
void Motor_PWM( enum enumPumpSelect Select, uint16_t Value )
{
switch( Select )
{
case M1:
TIM4_CH1_CTRL( Value, Value / 2 );
break;
case M2:
TIM3_CH2_CTRL( Value, Value / 2 );
break;
default:
break;
}
}
/********************************** 功能说明 *************************************
* 机械臂PWM开关
*********************************************************************************/
void Motor_PWMCmd( enum enumPumpSelect Select, _Bool State )
{
switch( Select )
{
case M1:
TIM4_CH1_CMD( State );
break;
case M2:
TIM3_CH2_CMD( State );
break;
default:
break;
}
}
/********************************** 功能说明 *************************************
* 机械臂运行方向设置
*********************************************************************************/
void Motor_Dir( enum enumPumpSelect Select, _Bool State )
{
switch( Select )
{
case M1:
// TIM4_CH1_DIR( State);
break;
default:
break;
}
}
/********************************** 功能说明 *************************************
* 机械臂控制器使能
*********************************************************************************/
void Motor_En( enum enumPumpSelect Select, _Bool State )
{
switch( Select )
{
case M1:
break;
default:
break;
}
}
/******************************** 功能说明 *************************************
* TIMx 中断处理函数
*******************************************************************************/
volatile uint32_t SetPluseCount[7u]; // 设置运行脉冲数
volatile uint32_t PluseCount[7u]; // 实际运行脉冲数
volatile _Bool CountOver[7u] = {false}; // 计数器溢出标志
volatile uint32_t SamplePumpSetPluseCount[7u]; // 设置运行脉冲数
volatile uint32_t SamplePumpPluseCount[7u]; // 实际运行脉冲数
volatile _Bool SamplePumpCountOver[7u] = {false}; // 计数器溢出标志
/********************************** 功能说明 *************************************
* 机械臂运行任务
*********************************************************************************/
const uint32_t FullCoordinate[pumpMax] = { 20500u, 65000u,65000u };
int32_t CoordinateSet[pumpMax]; // 目标位置
int32_t CoordinatePosition[pumpMax]; // 实时更新实时位置
uint32_t Position[pumpMax]; // 本次运行起始位置
_Bool TaskisRunning[pumpMax] = {0}; // 防止重入标志
_Bool IdelEn[pumpMax] = { false,false,false}; // 电机空闲使能
int32_t DCMotorSpeed[pumpMax]; // 直流电机速度
uint32_t CoordinateSetOld[pumpMax]; // 上次所在位置
int32_t Differ[pumpMax]; // 本次所需运行脉冲数
float SpeedSet[pumpMax]={ 100.0f, 1000.0f, 5000.0f }; // 最高速度p/s
uint32_t period[pumpMax] = { 20000u, 2000u, 2000u }; // PWM实时周期
float Velocity[pumpMax] = { 0.0f, 20.0f, 20.0f }; // 实时速度
uint32_t Shifting[pumpMax] = { 500u, 500u, 500u }; // 加速过程脉冲数
float Speeda[pumpMax] ={ 10000.0f, 10000.0f, 10000.0f }; // 加速度 p/(s*s)
float VelocityH[pumpMax]={ 10000.0f, 5000.0f, 5000.0f }; // 最高速度p/s
float VelocityL[pumpMax]={ 10.0f, 1000.0f, 1000.0f }; // 最低速度p/s
float ShiftPluse[pumpMax]={ 100.0f, 1500.0f, 1500.0f }; // 标准最大加速过程脉冲数
float VelocityMax[pumpMax] = { 10000.0f, 20.0f, 20.0f }; // 最大速度
_Bool Direction[pumpMax] = { false,false,false}; // 运行方向
/******************************** 功能说明 *************************************
* 速度加速度转换
*******************************************************************************/
static uint16_t SpeedOld[pumpMax];
_Bool PumpShutDown[pumpMax] = {false, false}; // 急停标志
_Bool DirectionSet[pumpMax]; // 目标方向
_Bool ENSet[pumpMax] = {false,false,false}; // 是否使能电机
void SamplePumpSpeed_AcceleratedConver( enum enumPumpSelect Select, uint16_t Speed )
{
if( Speed != SpeedOld[Select] )
{
Speeda[Select] = (Speed * Speed) / (2u * ShiftPluse[Select]);
SpeedOld[Select] = Speed;
}
}
/******************************** 功能说明 *************************************
*
*******************************************************************************/
_Bool SpeedMode[pumpMax];
_Bool PositionMode[pumpMax];
_Bool FindZero[pumpMax];
_Bool FindedZero[pumpMax];
void SamplePumpCtrl( enum enumPumpSelect Select )
{
// for(;;)
{
if((CoordinateSet[Select] != 0u) && (!TaskisRunning[Select]))
{
SamplePumpSpeed_AcceleratedConver(Select,SpeedSet[Select]);
TaskisRunning[Select] = true; // 置位 防重入标志
VelocityMax[Select] = 0;
period [Select] = 2000u;
Velocity[Select] = 6.0f;
Shifting[Select] = 100u;
PluseCount[Select] = 0u; // 清零计数脉冲
CountOver[Select] = false; // 清除计数器溢出
SetPluseCount[Select] = CoordinateSet[Select]; // 设置泵运行脉冲
Motor_IECMD( Select, true);
Motor_Dir ( Select, DirectionSet[Select] ); // 选择方向
Motor_PWM ( Select, 100000.0f / VelocityL[Select] ); // 重置pwm为最低输出
osDelay( 50u );
Motor_En ( Select, true ); // 步进电机控制器控制使能
Shifting[Select] = SetPluseCount[Select] / 2u;
if( Shifting[Select] > ShiftPluse[Select] )
Shifting[Select] = ShiftPluse[Select];
Motor_PWMCmd( Select, true ); // 开启脉冲输出
while( !CountOver[Select] ) // 计数器没有溢出
{
if(PumpShutDown[Select])
{
PumpShutDown[Select] = false;
break;
}
if( PluseCount[Select] < Shifting[Select] ) // 前Shifting[Select]脉冲加速
{
Velocity[Select] = sqrt( 2* PluseCount[Select] * (Speeda[Select]/* / 2u*/));
if( VelocityMax[Select] < Velocity[Select] )
VelocityMax[Select] = Velocity[Select];
if(Velocity[Select] > VelocityH[Select])
Velocity[Select] = VelocityH[Select];
if(Velocity[Select] < VelocityL[Select] )
Velocity[Select] = VelocityL[Select];
if( Velocity[Select] > SpeedOld[Select])
Velocity[Select] = SpeedOld[Select];
period[Select] = 100000.0f / Velocity[Select];
Motor_PWM( Select, period[Select] );
}
else // 中间匀速
if( PluseCount[Select] <= (SetPluseCount[Select] - Shifting[Select]) )
{
period[Select] = 100000.0f / SpeedOld[Select];
Motor_PWM( Select, period[Select] );
while(CoordinateSet[Select] == 65535u)
{
PluseCount[Select] = 0;
osDelay( 5u );
}
if(CoordinateSet[Select] == 0u)
{
SetPluseCount[Select] = Shifting[Select]*2;
PluseCount[Select] = Shifting[Select]+1;
}
}
else // 后Shifting[Select]脉冲减速
// if( PluseCount[Select] >= (SetPluseCount[Select] - Shifting[Select]) )
{
Velocity[Select] = sqrt( 2* (SetPluseCount[Select] - (float)PluseCount[Select]) * (Speeda[Select] / 2u));
if(Velocity[Select] > VelocityH[Select])
Velocity[Select] = VelocityH[Select];
if(Velocity[Select] < VelocityL[Select] )
Velocity[Select] = VelocityL[Select];
period[Select] = 100000.0f / Velocity[Select];
Motor_PWM( Select, period[Select] );
}
osDelay( 5u );
}
// usRegHoldingBuf[20u+Select*5u] = 0u;
osDelay( 15u );
CoordinateSet[Select] = 0u;
Motor_En( Select, ENSet[Select] ); // 步进电机控制器控制使能
TaskisRunning[Select] = false; // 清除防重入标志
CountOver[Select] = false; // 清除计数器溢出
osDelay( 15u );
}
else
{
osDelay(15);
}
}
}
static bool ArmInitIsRuning[pumpMax] = { false,false,false};
/********************************** 功能说明 *************************************
* 机械臂运行任务
*********************************************************************************/
void ArmSoftCtrl( enum enumPumpSelect Select )
{
/*Vmin = 50p/s Vmax = 20000p/s At = 0.2s a = 100000p/s2 △s = 2000p △t = 0.001s P = 0.000001s */
//#define LowSpeed 40.0f
// for(;;)
{
if(
(CoordinateSet[Select] != CoordinateSetOld[Select]) // 如果目标位置与当前位置不同
&& !TaskisRunning[Select] // 如果此任务没有正在运行
&&!( ArmInitIsRuning[M3] // 且所有的任务没有正在初始化
)
)
{
TaskisRunning[Select] = true; // 置位 防重入标志
VelocityMax[Select] = 0;
if( CoordinateSet[Select] > FullCoordinate[Select])
{
/*usRegHoldingBuf[7] = */CoordinateSet[Select] = CoordinateSetOld[Select];
osDelay(15); // 极限位置保护
}
period [Select] = 20000u; //周期
Velocity[Select] = 500.0f; //实时速度
Shifting[Select] = 1500u; //加速脉冲
CoordinateSetOld[Select] = CoordinateSet[Select]; //
PluseCount[Select] = 0u; // 清零计数脉冲
CountOver[Select] = false; // 清除计数器溢出
Differ[Select] = CoordinateSet[Select] - CoordinatePosition[Select]; // 计算设置位置与当前位置的偏差和方向
if(Differ[Select] != 0)
{
if( Differ[Select] > 0 )
Direction[Select] = true;
if( Differ[Select] < 0 )
Direction[Select] = false;
SetPluseCount[Select] = abs( Differ[Select]); // 设置泵运行脉冲
Position[Select] = CoordinatePosition[Select];
Motor_IECMD( Select, true);
Motor_Dir ( Select, ( Differ[Select] >= 0 ) ? false : true ); // 选择方向
Motor_PWM ( Select, period[Select] ); // 重置pwm为最低输出
osDelay( 50u );
Shifting[Select] = abs(Differ[Select]) / 2u;
if( Shifting[Select] > ShiftPluse[Select] )
Shifting[Select] = ShiftPluse[Select];
Motor_PWMCmd( Select, true ); // 开启脉冲输出
Motor_En ( Select, true ); // 步进电机控制器控制使能
while( !CountOver[Select] ) // 计数器没有溢出
{
// 前Shifting[Select]脉冲加速至匀速并匀速运行
if( PluseCount[Select] <= (abs(Differ[Select]) - Shifting[Select]) )
{
if( Velocity[Select] < SpeedOld[Select])
{
Velocity[Select] = sqrt( 2* PluseCount[Select] * (Speeda[Select] / 2u));
if( Velocity[Select] > SpeedOld[Select])
Velocity[Select] = SpeedOld[Select];
if( VelocityMax[Select] < Velocity[Select] )
VelocityMax[Select] = Velocity[Select];
if(Velocity[Select] > VelocityH[Select])
Velocity[Select] = VelocityH[Select];
if(Velocity[Select] < VelocityL[Select] )
Velocity[Select] = VelocityL[Select];
period[Select] = 1000000.0f / Velocity[Select];
Motor_PWM( Select, period[Select] );
}
}
else//if( PluseCount[Select] >= (abs(Differ) - Shifting[Select]) ) // 后Shifting[Select]脉冲减速
{
Velocity[Select] = sqrt( 2* (abs(Differ[Select]) - (float)PluseCount[Select]) * (Speeda[Select] / 2u));
if( VelocityMax[Select] < Velocity[Select] )
VelocityMax[Select] = Velocity[Select];
if(Velocity[Select] > VelocityH[Select])
Velocity[Select] = VelocityH[Select];
if(Velocity[Select] < VelocityL[Select] )
Velocity[Select] = VelocityL[Select];
period[Select] = 1000000.0f / Velocity[Select];
Motor_PWM( Select, period[Select] );
}
osDelay( 1u );
if( Differ[Select] >= 0 ) // 根据方向偏差来计算当前位置
{
CoordinatePosition[Select] = Position[Select] + PluseCount[Select];
}
else
{
CoordinatePosition[Select] = Position[Select] - PluseCount[Select];
}
}
if( Differ[Select] >= 0 ) // 根据最终计数来计算最终位置
{
CoordinatePosition[Select] = Position[Select] + PluseCount[Select];
}
else
{
CoordinatePosition[Select] = Position[Select] - PluseCount[Select];
}
}
Velocity[Select] = 0;
TaskisRunning[Select] = false; // 清除防重入标志
CountOver[Select] = false; // 清除计数器溢出
osDelay( 5u );
}
else
{
osDelay(15);
}
}
}
//_Bool SpeedMode[pumpMax];
//_Bool PositionMode[pumpMax];
void MotorCtrl(enum enumPumpSelect Select)
{
// static _Bool SpeedModeOld[pumpMax];
// static _Bool PositionModeOld[pumpMax];
for(;;)
{
// if( SpeedModeOld[Select] != SpeedMode[Select])
// {
// SpeedModeOld[Select] = SpeedMode[Select];
// Motor_IECMD( Select, SpeedModeOld[Select]);
// }
// if( PositionModeOld[Select] != PositionMode[Select])
// {
// PositionModeOld[Select] = PositionMode[Select];
// }
// if( PositionMode[Select] )
// {
// SamplePumpCtrl(Select);
// }
switch(Select)
{
case M1:
case M2:
SamplePumpCtrl(Select);
break;
case M3:
ArmSoftCtrl(Select);
break;
default:
break;
}
}
}
#include "stm32f10x.h"
/******************************** 功能说明 *************************************
* 中断端口初始化使能
*******************************************************************************/
void BIOS_EXTI_Init( void )
{
// // 浮空输入模式
SET_BIT( RCC->APB2ENR, RCC_APB2ENR_IOPBEN );
GPIOB->BSRR |= 0x0002u; // 端口输出为1；
// GPIOF->BSRR |= 0x3800u; // 端口输出为1；
// GPIOE->BSRR |= 0x0040u; // 端口输出为1；
// SET_BIT( GPIOC->PUPDR, GPIO_PUPDR_PUPD0_0|GPIO_PUPDR_PUPD1_0|GPIO_PUPDR_PUPD2_0|GPIO_PUPDR_PUPD3_0 ); // IO口配置 上拉
// SET_BIT( GPIOF->PUPDR, GPIO_PUPDR_PUPD11_0|GPIO_PUPDR_PUPD12_0|GPIO_PUPDR_PUPD13_0 ); // IO口配置 上拉
CLEAR_BIT( GPIOB->CRL, GPIO_CRL_CNF1_0 );
SET_BIT( GPIOB->CRL, GPIO_CRL_CNF1_1 );
SET_BIT( GPIOB->ODR, GPIO_ODR_ODR1 ); // IO口配置 上拉
// MODIFY_REG( GPIOC->MODER, GPIO_MODER_MODE0, GPIO_MODER_MODE0_1 ); // IO口配置 复用输出
// MODIFY_REG( GPIOC->MODER, GPIO_MODER_MODE1, GPIO_MODER_MODE1_1 ); // IO口配置 复用输出
// MODIFY_REG( GPIOC->MODER, GPIO_MODER_MODE2, GPIO_MODER_MODE2_1 ); // IO口配置 复用输出
// MODIFY_REG( GPIOC->MODER, GPIO_MODER_MODE3, GPIO_MODER_MODE3_1 ); // IO口配置 复用输出
// MODIFY_REG( GPIOF->MODER, GPIO_MODER_MODE11, GPIO_MODER_MODE11_1 ); // IO口配置 复用输出
// MODIFY_REG( GPIOF->MODER, GPIO_MODER_MODE12, GPIO_MODER_MODE12_1 ); // IO口配置 复用输出
// MODIFY_REG( GPIOF->MODER, GPIO_MODER_MODE13, GPIO_MODER_MODE13_1 ); // IO口配置 复用输出
// SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SYSCFGEN);
// // 开启中断复用
// SYSCFG->EXTICR[0] =
// SYSCFG_EXTICR1_EXTI1_PC
// |SYSCFG_EXTICR1_EXTI1_PC
// |SYSCFG_EXTICR1_EXTI2_PC
// |SYSCFG_EXTICR1_EXTI3_PC
;
// SYSCFG->EXTICR[1] =
// SYSCFG_EXTICR2_EXTI6_PF;
// SYSCFG->EXTICR[2] =
// SYSCFG_EXTICR3_EXTI11_PF;
// SYSCFG->EXTICR[3] =
// SYSCFG_EXTICR4_EXTI12_PF
// |SYSCFG_EXTICR4_EXTI13_PF
// ;
SET_BIT( RCC->APB2ENR, RCC_APB2ENR_AFIOEN );
AFIO->EXTICR[0] = AFIO_EXTICR1_EXTI1_PB
// | AFIO_EXTICR1_EXTI1_PB
// | AFIO_EXTICR1_EXTI2_PA
// | AFIO_EXTICR1_EXTI3_PA
// ;
// AFIO->EXTICR[1] = AFIO_EXTICR2_EXTI4_PA
// | AFIO_EXTICR2_EXTI5_PA
// | AFIO_EXTICR2_EXTI6_PA
// | AFIO_EXTICR2_EXTI7_PA
;
CLEAR_BIT( EXTI->IMR, 0xFFFFu ); // 禁止中断
CLEAR_BIT( EXTI->EMR, 0xFFFFu ); // no event 无中断事件
// SET_BIT ( EXTI->RTSR, 0x0006u ); // rising edge trigger 上升沿触发
SET_BIT ( EXTI->FTSR, 0x0002u ); // falling edge trigger 下降沿触发
WRITE_REG( EXTI->PR, 0xFFFFu ); // 通过写1能复位触发的中断标志
// SET_BIT ( EXTI->IMR, 0x384Fu ); // 允许中断
// // IO中断
// NVIC_EnableIRQ( EXTI0_IRQn );
NVIC_EnableIRQ( EXTI1_IRQn );
// NVIC_EnableIRQ( EXTI2_IRQn );
// NVIC_EnableIRQ( EXTI3_IRQn );
// NVIC_EnableIRQ( EXTI9_5_IRQn );
// NVIC_EnableIRQ( EXTI15_10_IRQn );
}
/********************************** 功能说明 ***********************************
* 中断开关控制
*******************************************************************************/
void EXTIx_IRQ_Enable( uint8_t EXTIx )
{
SET_BIT( EXTI->PR, 0x01u << EXTIx ); // 写1复位中断标志位
SET_BIT( EXTI->IMR, 0x01u << EXTIx ); // 允许中断。
}
void EXTIx_IRQ_Disable( uint8_t EXTIx )
{
CLEAR_BIT( EXTI->IMR, 0x01u << EXTIx ); // 禁止中断
SET_BIT( EXTI->PR, 0x01u << EXTIx ); // 写1复位中断标志位
}
uint16_t iz = 0;
void EXTI1_IRQHandler( void )
{
iz++;
SET_BIT( EXTI->PR, 0x01u << 1 ); // 写1复位中断标志位
if(ArmInitIsRuning[M1] )
{
if( !READ_BIT( GPIOB->IDR, GPIO_Pin_1 ) )
{
EXTIx_IRQ_Disable( 1 );
Motor_PWMCmd(M1, false );
CoordinateSet[M1] = 0u;
CoordinatePosition[M1] = 0;
}
}
else
{
if( READ_BIT( GPIOB->IDR, GPIO_Pin_1 ) )
{
EXTIx_IRQ_Disable( 1 );
osDelay(400);
Motor_PWMCmd(M1, false );
if(CoordinateSet[M1] >0)
CoordinatePosition[M1] = 1;
else
CoordinatePosition[M1] = -1;
CoordinateSet[M1] = 0u;
}
}
}
_Bool Exti_IOStateRead( enum enumPumpSelect Select )
{
_Bool state = false;
switch (Select)
{
case M1:
state = READ_BIT( GPIOB->IDR, GPIO_IDR_IDR1);
break;
default:
break;
}
return state;
}
void Exti_IRQ_Ctrl( enum enumPumpSelect Select, _Bool State )
{
switch (Select)
{
case M1:
State? EXTIx_IRQ_Enable(1) : EXTIx_IRQ_Disable(1);
break;
default:
break;
}
}
void MotorZero_Init( enum enumPumpSelect Select)
{
SET_BIT( GPIOA->BSRR, GPIO_BSRR_BS5 );
FindedZero[Select] =false;
EXTIx_IRQ_Disable(0);
Motor_PWMCmd( Select, false );
ArmInitIsRuning[Select] = true;
Exti_IRQ_Ctrl(Select, false);
Motor_En( Select, true );
Motor_Dir( Select, true );
osDelay(10u);
Motor_IECMD( Select, false );
DCMotor_PWM( Select, 55 );
if( !Exti_IOStateRead(Select) )
{
Motor_Dir( Select, false );
osDelay(10u);
Motor_PWMCmd( Select, true );
osDelay(600u);
Motor_PWMCmd( Select, false );
Motor_Dir( Select, true );
osDelay(150u);
}
Exti_IRQ_Ctrl(Select, true);
Motor_PWMCmd( Select, true );
CoordinateSet[Select] = 0u;
CoordinatePosition[Select] = 1u;
while( CoordinatePosition[Select] )
{
PluseCount[Select] = 0u;
osDelay( 20u );
}
PluseCount[Select] = 0u;
SetPluseCount[Select] = 0u;
CoordinateSet[Select] = 0u;
CoordinateSetOld[Select] = 0u;
Direction[Select] = false;
FindedZero[Select] =true;
// RegCoilsBufRst( (22u+Select*3u) );
usRegHoldingBuf[43] = 0;
usRegInputBuf[43] = 2;
usRegHoldingBuf[7] = CoordinateSet[Select] = 0;
ArmInitIsRuning[Select] = FindZero[Select] = false;
SET_BIT( GPIOA->BSRR, GPIO_BSRR_BR5 );
}
BaseType_t temp1,temp2,temp3;
void _task_MotorCTRL( void * p_arg )
{
uint32_t arg = (uint32_t)p_arg;
MotorCtrl((enum enumPumpSelect)arg );
}
//osThreadDef( _task_MotorCTRL, osPriorityAboveNormal, 2u, 0u );
osThreadId_t MName[pumpMax];
TaskHandle_t xTaskHandles[pumpMax];
void MotorCTRLInitiate( void )
{
SamplePumpSpeed_AcceleratedConver(M1,100);
SamplePumpSpeed_AcceleratedConver(M2,1000);
SamplePumpSpeed_AcceleratedConver(M3,100);
temp1 = xTaskCreate(_task_MotorCTRL, // 任务函数
"TaskName1", // 任务名（用于调试）
512, // 堆栈大小（以堆栈类型的大小为单位）
(void *)M1, // 传递给任务的参数
osPriorityNormal, // 任务优先级（根据需要调整）
&xTaskHandles[M1]); // 任务句柄的地址（用于引用）
temp2 = xTaskCreate(_task_MotorCTRL, // 任务函数
"TaskName2", // 任务名（用于调试）
512, // 堆栈大小（以堆栈类型的大小为单位）
(void *)M2, // 传递给任务的参数
osPriorityNormal, // 任务优先级（根据需要调整）
&xTaskHandles[M2]); // 任务句柄的地址（用于引用）
temp3 = xTaskCreate(_task_MotorCTRL, // 任务函数
"TaskName3", // 任务名（用于调试）
512, // 堆栈大小（以堆栈类型的大小为单位）
(void *)M3, // 传递给任务的参数
osPriorityNormal, // 任务优先级（根据需要调整）
&xTaskHandles[M3]); // 任务句柄的地址（用于引用）
}

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#include "stdbool.h"
#include "stm32f10x.h"
#include "cmsis_os.h"
///******************************** 功能说明 *************************************
//* TIM4
//*******************************************************************************/
//void BIOS_TIM4_Init( void )
//{
// SET_BIT( RCC->APB2ENR, RCC_APB2ENR_IOPDEN );
// MODIFY_REG( GPIOD->CRH, 0x0FF00000u, 0x0B300000u ); // IO口配置 PWM_OUT
// GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE);
// SET_BIT( RCC->APB1ENR, RCC_APB1ENR_TIM4EN ); // 打开时钟
// SET_BIT( RCC->APB1ENR, RCC_APB2ENR_AFIOEN ); // 打开复用时钟
// SET_BIT( TIM4->EGR, TIM_EGR_UG ); // 初始化所有寄存器
// TIM4->CR1 = TIM_CR1_ARPE| TIM_CR1_URS; // 自动装载 溢出中断
// TIM4->PSC = SystemCoreClock / 1000000u - 1u; // 设置预分频值
// TIM4->ARR = 100u - 1; // 设置预装载值
// TIM4->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3PE; // 设置计数极性和工作模式
//// TIM4->CCER = TIM_CCER_CC3E; // 使能通道
// TIM4->CCR3 = 100/2u; // 设置翻转值
// NVIC_EnableIRQ(TIM4_IRQn);
// SET_BIT( TIM4->CR1, TIM_CR1_CEN ); // 使能计数器
//}
/******************************** 功能说明 *************************************
* TIM4->CH3 控制
*******************************************************************************/
void TIM4_CH1_CTRL(uint16_t ARRValue, uint16_t CCRValue )
{
TIM4->ARR = ARRValue; // 设置预装载
TIM4->CCR1 = CCRValue; // 设置翻转值
}
/******************************** 功能说明 *************************************
* TIM4->CH3 PWM开关
*******************************************************************************/
void TIM4_CH1_CMD( _Bool CMD )
{
if( CMD )
{
SET_BIT( TIM4->CR1,TIM_CR1_CEN );
SET_BIT( TIM4->CCER,TIM_CCER_CC1E );
}
else
{
CLEAR_BIT( TIM4->CCER,TIM_CCER_CC1E );
CLEAR_BIT( TIM4->CR1,TIM_CR1_CEN );
}
}
/******************************** 功能说明 *************************************
* DIR
*******************************************************************************/
//void TIM4_CH1_DIR( _Bool CMD )
//{
// if( CMD )
// {
// GPIO_SetBits( GPIOD, GPIO_ODR_ODR13 );
// }
// else
// {
// GPIO_ResetBits( GPIOD, GPIO_ODR_ODR13 );
// }
//}
/******************************** 功能说明 *************************************
*
*******************************************************************************/
void TIM4_IECMD( _Bool CMD )
{
if( CMD )
{
SET_BIT(TIM4->DIER, TIM_DIER_CC1IE); // 使能中断
CLEAR_BIT( TIM4->SR, TIM_SR_UIF | TIM_SR_CC1IF ); // 清除中断标记
}
else
{
CLEAR_BIT(TIM4->DIER,TIM_DIER_CC1IE); // 失能中断
CLEAR_BIT( TIM4->SR, TIM_SR_UIF | TIM_SR_CC1IF ); // 清除中断标记
}
}
/******************************** 功能说明 *************************************
* TIM3->CH2 控制
*******************************************************************************/
void TIM3_CH2_CTRL(uint16_t ARRValue, uint16_t CCRValue )
{
TIM3->ARR = ARRValue; // 设置预装载
TIM3->CCR2 = CCRValue; // 设置翻转值
}
/******************************** 功能说明 *************************************
* TIM4->CH3 PWM开关
*******************************************************************************/
void TIM3_CH2_CMD( _Bool CMD )
{
if( CMD )
{
SET_BIT( TIM3->CR1,TIM_CR1_CEN );
SET_BIT( TIM3->CCER,TIM_CCER_CC2E );
}
else
{
CLEAR_BIT( TIM3->CCER,TIM_CCER_CC2E );
CLEAR_BIT( TIM3->CR1, TIM_CR1_CEN );
}
}
/******************************** 功能说明 *************************************
* DIR
*******************************************************************************/
//void TIM4_CH1_DIR( _Bool CMD )
//{
// if( CMD )
// {
// GPIO_SetBits( GPIOD, GPIO_ODR_ODR13 );
// }
// else
// {
// GPIO_ResetBits( GPIOD, GPIO_ODR_ODR13 );
// }
//}
/******************************** 功能说明 *************************************
*
*******************************************************************************/
void TIM3_IECMD( _Bool CMD )
{
if( CMD )
{
SET_BIT(TIM3->DIER, TIM_DIER_CC2IE); // 使能中断
CLEAR_BIT( TIM3->SR, TIM_SR_UIF | TIM_SR_CC2IF ); // 清除中断标记
}
else
{
CLEAR_BIT(TIM3->DIER,TIM_DIER_CC1IE); // 失能中断
CLEAR_BIT( TIM3->SR, TIM_SR_UIF | TIM_SR_CC2IF ); // 清除中断标记
}
}

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
/* USER CODE END Variables */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */

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Core/Src/main.c Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "APPDEF.H"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
.name = "defaultTask",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_ADC1_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM4_Init(void);
void StartDefaultTask(void *argument);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t step = 100;
uint32_t ADCDataBuf[10];
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_TIM3_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize();
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* creation of defaultTask */
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief ADC1 Initialization Function
* @param None
* @retval None
*/
static void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_239CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 72;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 999;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 499;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 72;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 499;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 5, 0);
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 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_adc1;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_AFIO_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
/** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
*/
__HAL_AFIO_REMAP_SWJ_NOJTAG();
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/**
* @brief ADC MSP Initialization
* This function configures the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**ADC1 GPIO Configuration
PA0-WKUP ------> ADC1_IN0
*/
GPIO_InitStruct.Pin = GPIO_PIN_0;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA1_Channel1;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_MEDIUM;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(hadc,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
/**
* @brief ADC MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
{
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PA0-WKUP ------> ADC1_IN0
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0);
/* ADC1 DMA DeInit */
HAL_DMA_DeInit(hadc->DMA_Handle);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* TIM3 interrupt Init */
HAL_NVIC_SetPriority(TIM3_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* TIM4 interrupt Init */
HAL_NVIC_SetPriority(TIM4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__HAL_AFIO_REMAP_TIM3_PARTIAL();
/* USER CODE BEGIN TIM3_MspPostInit 1 */
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(htim->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspPostInit 0 */
/* USER CODE END TIM4_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */
}
}
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/* TIM3 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/* TIM4 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM4_IRQn);
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_hal_timebase_tim.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
#include "stm32f1xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
/* Private function prototypes -----------------------------------------------*/
void TIM1_IRQHandler(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM1 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0U;
uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
HAL_StatusTypeDef status = HAL_OK;
/* Enable TIM1 clock */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM1 clock */
uwTimclock = HAL_RCC_GetPCLK2Freq();
/* Compute the prescaler value to have TIM1 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM1 */
htim1.Instance = TIM1;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
* Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
* ClockDivision = 0
* Counter direction = Up
*/
htim1.Init.Period = (1000000U / 1000U) - 1U;
htim1.Init.Prescaler = uwPrescalerValue;
htim1.Init.ClockDivision = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
status = HAL_TIM_Base_Init(&htim1);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim1);
if (status == HAL_OK)
{
/* Enable the TIM1 global Interrupt */
HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
/* Configure the SysTick IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Configure the TIM IRQ priority */
HAL_NVIC_SetPriority(TIM1_UP_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
}
/* Return function status */
return status;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM1 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM1 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM1 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM1 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
}

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
extern volatile uint32_t SetPluseCount[7u]; // <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern volatile uint32_t PluseCount[7u]; // ʵ<><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern volatile _Bool CountOver[7u]; // <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
extern void TIM3_CH2_CMD( _Bool CMD );
extern void TIM4_CH1_CMD( _Bool CMD );
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_adc1;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M3 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/******************************************************************************/
/* STM32F1xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 channel1 global interrupt.
*/
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles TIM1 update interrupt.
*/
void TIM1_UP_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_IRQn 0 */
/* USER CODE END TIM1_UP_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_IRQn 1 */
/* USER CODE END TIM1_UP_IRQn 1 */
}
/**
* @brief This function handles TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
CLEAR_BIT( TIM3->SR, TIM_SR_UIF | TIM_SR_CC2IF ); // <09><><EFBFBD><EFBFBD>жϱ<D0B6><CFB1>
if( PluseCount[1u] < SetPluseCount[1u] )
PluseCount[1u] ++;
else
{
TIM3_CH2_CMD( 0 );
CountOver[1u] = 1;
CLEAR_BIT( TIM3->SR, TIM_SR_UIF | TIM_SR_CC2IF ); // <09><><EFBFBD><EFBFBD>жϱ<D0B6><CFB1>
}
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles TIM4 global interrupt.
*/
void TIM4_IRQHandler(void)
{
/* USER CODE BEGIN TIM4_IRQn 0 */
/* USER CODE END TIM4_IRQn 0 */
HAL_TIM_IRQHandler(&htim4);
/* USER CODE BEGIN TIM4_IRQn 1 */
CLEAR_BIT( TIM4->SR, TIM_SR_UIF | TIM_SR_CC1IF ); // <09><><EFBFBD><EFBFBD>жϱ<D0B6><CFB1>
if( PluseCount[0u] < SetPluseCount[0u] )
PluseCount[0u] ++;
else
{
TIM4_CH1_CMD( 0 );
CountOver[0u] = 1;
CLEAR_BIT( TIM4->SR, TIM_SR_UIF | TIM_SR_CC1IF ); // <09><><EFBFBD><EFBFBD>жϱ<D0B6><CFB1>
}
/* USER CODE END TIM4_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

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/**
******************************************************************************
* @file system_stm32f1xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File.
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
* factors, AHB/APBx prescalers and Flash settings).
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f1xx_xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (8 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32f1xx_xx.s" file, to
* configure the system clock before to branch to main program.
*
* 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depending on
* the product used), refer to "HSE_VALUE".
* When HSE is used as system clock source, directly or through PLL, and you
* are using different crystal you have to adapt the HSE value to your own
* configuration.
*
******************************************************************************
* @attention
*
* Copyright (c) 2017-2021 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f1xx_system
* @{
*/
/** @addtogroup STM32F1xx_System_Private_Includes
* @{
*/
#include "stm32f1xx.h"
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Defines
* @{
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE 8000000U /*!< Default value of the External oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE 8000000U /*!< Default value of the Internal oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSI_VALUE */
/*!< Uncomment the following line if you need to use external SRAM */
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
/* #define DATA_IN_ExtSRAM */
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
/* Note: Following vector table addresses must be defined in line with linker
configuration. */
/*!< Uncomment the following line if you need to relocate the vector table
anywhere in Flash or Sram, else the vector table is kept at the automatic
remap of boot address selected */
/* #define USER_VECT_TAB_ADDRESS */
#if defined(USER_VECT_TAB_ADDRESS)
/*!< Uncomment the following line if you need to relocate your vector Table
in Sram else user remap will be done in Flash. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Variables
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 8000000;
const uint8_t AHBPrescTable[16U] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
const uint8_t APBPrescTable[8U] = {0, 0, 0, 0, 1, 2, 3, 4};
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_FunctionPrototypes
* @{
*/
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
#ifdef DATA_IN_ExtSRAM
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
/**
* @}
*/
/** @addtogroup STM32F1xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemCoreClock variable.
* @note This function should be used only after reset.
* @param None
* @retval None
*/
void SystemInit (void)
{
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
#ifdef DATA_IN_ExtSRAM
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM */
#endif
/* Configure the Vector Table location -------------------------------------*/
#if defined(USER_VECT_TAB_ADDRESS)
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
#endif /* USER_VECT_TAB_ADDRESS */
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value
* 8 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value
* 8 MHz or 25 MHz, depending on the product used), user has to ensure
* that HSE_VALUE is same as the real frequency of the crystal used.
* Otherwise, this function may have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
* @param None
* @retval None
*/
void SystemCoreClockUpdate (void)
{
uint32_t tmp = 0U, pllmull = 0U, pllsource = 0U;
#if defined(STM32F105xC) || defined(STM32F107xC)
uint32_t prediv1source = 0U, prediv1factor = 0U, prediv2factor = 0U, pll2mull = 0U;
#endif /* STM32F105xC */
#if defined(STM32F100xB) || defined(STM32F100xE)
uint32_t prediv1factor = 0U;
#endif /* STM32F100xB or STM32F100xE */
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00U: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
case 0x04U: /* HSE used as system clock */
SystemCoreClock = HSE_VALUE;
break;
case 0x08U: /* PLL used as system clock */
/* Get PLL clock source and multiplication factor ----------------------*/
pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
#if !defined(STM32F105xC) && !defined(STM32F107xC)
pllmull = ( pllmull >> 18U) + 2U;
if (pllsource == 0x00U)
{
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
}
else
{
#if defined(STM32F100xB) || defined(STM32F100xE)
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
#else
/* HSE selected as PLL clock entry */
if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET)
{/* HSE oscillator clock divided by 2 */
SystemCoreClock = (HSE_VALUE >> 1U) * pllmull;
}
else
{
SystemCoreClock = HSE_VALUE * pllmull;
}
#endif
}
#else
pllmull = pllmull >> 18U;
if (pllmull != 0x0DU)
{
pllmull += 2U;
}
else
{ /* PLL multiplication factor = PLL input clock * 6.5 */
pllmull = 13U / 2U;
}
if (pllsource == 0x00U)
{
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
}
else
{/* PREDIV1 selected as PLL clock entry */
/* Get PREDIV1 clock source and division factor */
prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC;
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
if (prediv1source == 0U)
{
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
}
else
{/* PLL2 clock selected as PREDIV1 clock entry */
/* Get PREDIV2 division factor and PLL2 multiplication factor */
prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4U) + 1U;
pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8U) + 2U;
SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull;
}
}
#endif /* STM32F105xC */
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK clock frequency ----------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
/**
* @brief Setup the external memory controller. Called in startup_stm32f1xx.s
* before jump to __main
* @param None
* @retval None
*/
#ifdef DATA_IN_ExtSRAM
/**
* @brief Setup the external memory controller.
* Called in startup_stm32f1xx_xx.s/.c before jump to main.
* This function configures the external SRAM mounted on STM3210E-EVAL
* board (STM32 High density devices). This SRAM will be used as program
* data memory (including heap and stack).
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
__IO uint32_t tmpreg;
/*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is
required, then adjust the Register Addresses */
/* Enable FSMC clock */
RCC->AHBENR = 0x00000114U;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_FSMCEN);
/* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */
RCC->APB2ENR = 0x000001E0U;
/* Delay after an RCC peripheral clock enabling */
tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_IOPDEN);
(void)(tmpreg);
/* --------------- SRAM Data lines, NOE and NWE configuration ---------------*/
/*---------------- SRAM Address lines configuration -------------------------*/
/*---------------- NOE and NWE configuration --------------------------------*/
/*---------------- NE3 configuration ----------------------------------------*/
/*---------------- NBL0, NBL1 configuration ---------------------------------*/
GPIOD->CRL = 0x44BB44BBU;
GPIOD->CRH = 0xBBBBBBBBU;
GPIOE->CRL = 0xB44444BBU;
GPIOE->CRH = 0xBBBBBBBBU;
GPIOF->CRL = 0x44BBBBBBU;
GPIOF->CRH = 0xBBBB4444U;
GPIOG->CRL = 0x44BBBBBBU;
GPIOG->CRH = 0x444B4B44U;
/*---------------- FSMC Configuration ---------------------------------------*/
/*---------------- Enable FSMC Bank1_SRAM Bank ------------------------------*/
FSMC_Bank1->BTCR[4U] = 0x00001091U;
FSMC_Bank1->BTCR[5U] = 0x00110212U;
}
#endif /* DATA_IN_ExtSRAM */
#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

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@ -0,0 +1,765 @@
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MDK-ARM/YouSuan.uvprojx Normal file
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@ -0,0 +1,660 @@
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<Ocm1>
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<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm1>
<Ocm2>
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<StartAddress>0x0</StartAddress>
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<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</Ocm3>
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<Size>0x0</Size>
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<Size>0x0</Size>
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<Size>0x0</Size>
</Ocm6>
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<Size>0xc000</Size>
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<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</XRAM>
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<Type>1</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT1>
<OCR_RVCT2>
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<Size>0x0</Size>
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<Size>0x0</Size>
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<Size>0x40000</Size>
</OCR_RVCT4>
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<Type>1</Type>
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<Size>0x0</Size>
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<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT6>
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<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT7>
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<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT8>
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<Type>0</Type>
<StartAddress>0x20000000</StartAddress>
<Size>0xc000</Size>
</OCR_RVCT9>
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<Type>0</Type>
<StartAddress>0x0</StartAddress>
<Size>0x0</Size>
</OCR_RVCT10>
</OnChipMemories>
<RvctStartVector></RvctStartVector>
</ArmAdsMisc>
<Cads>
<interw>1</interw>
<Optim>1</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
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<EnumInt>0</EnumInt>
<PlainCh>0</PlainCh>
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<Rwpi>0</Rwpi>
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<uThumb>0</uThumb>
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<uC99>1</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
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<v6LangP>3</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>
<v6Lto>0</v6Lto>
<v6WtE>0</v6WtE>
<v6Rtti>0</v6Rtti>
<VariousControls>
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F103xE</Define>
<Undefine></Undefine>
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
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<Rwpi>0</Rwpi>
<thumb>0</thumb>
<SplitLS>0</SplitLS>
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<useXO>0</useXO>
<ClangAsOpt>1</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM3;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Aads>
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<umfTarg>1</umfTarg>
<Ropi>0</Ropi>
<Rwpi>0</Rwpi>
<noStLib>0</noStLib>
<RepFail>1</RepFail>
<useFile>0</useFile>
<TextAddressRange></TextAddressRange>
<DataAddressRange></DataAddressRange>
<pXoBase></pXoBase>
<ScatterFile></ScatterFile>
<IncludeLibs></IncludeLibs>
<IncludeLibsPath></IncludeLibsPath>
<Misc></Misc>
<LinkerInputFile></LinkerInputFile>
<DisabledWarnings></DisabledWarnings>
</LDads>
</TargetArmAds>
</TargetOption>
<Groups>
<Group>
<GroupName>Application/MDK-ARM</GroupName>
<Files>
<File>
<FileName>startup_stm32f103xe.s</FileName>
<FileType>2</FileType>
<FilePath>startup_stm32f103xe.s</FilePath>
</File>
</Files>
</Group>
<Group>
<GroupName>Application/User/Core</GroupName>
<Files>
<File>
<FileName>StepMotor.c</FileName>
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<FilePath>..\Core\Src\StepMotor.c</FilePath>
</File>
<File>
<FileName>TIM.c</FileName>
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<FilePath>..\Core\Src\TIM.c</FilePath>
</File>
<File>
<FileName>main.c</FileName>
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<FilePath>../Core/Src/main.c</FilePath>
</File>
<File>
<FileName>freertos.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/freertos.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_it.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/stm32f1xx_it.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_msp.c</FileName>
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<FilePath>../Core/Src/stm32f1xx_hal_msp.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_hal_timebase_tim.c</FileName>
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<FilePath>../Core/Src/stm32f1xx_hal_timebase_tim.c</FilePath>
<FileOption>
<CommonProperty>
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<RVCTCodeConst>0</RVCTCodeConst>
<RVCTZI>0</RVCTZI>
<RVCTOtherData>0</RVCTOtherData>
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<AssembleAssemblyFile>2</AssembleAssemblyFile>
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<StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
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<Cads>
<interw>2</interw>
<Optim>0</Optim>
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<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath></IncludePath>
</VariousControls>
</Cads>
</FileArmAds>
</FileOption>
</File>
</Files>
</Group>
<Group>
<GroupName>Drivers/STM32F1xx_HAL_Driver</GroupName>
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<File>
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</File>
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<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c</FilePath>
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<File>
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<File>
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<File>
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</File>
<File>
<FileName>stm32f1xx_hal_gpio.c</FileName>
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<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c</FilePath>
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<File>
<FileName>stm32f1xx_hal_dma.c</FileName>
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<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c</FilePath>
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<File>
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<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c</FilePath>
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<File>
<FileName>stm32f1xx_hal_pwr.c</FileName>
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<FilePath>../Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c</FilePath>
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<File>
<FileName>stm32f1xx_hal_flash.c</FileName>
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<FileName>stm32f1xx_hal_flash_ex.c</FileName>
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</File>
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</File>
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<GroupName>Drivers/CMSIS</GroupName>
<Files>
<File>
<FileName>system_stm32f1xx.c</FileName>
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<FilePath>../Core/Src/system_stm32f1xx.c</FilePath>
</File>
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<GroupName>Middlewares/FreeRTOS</GroupName>
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<FileName>croutine.c</FileName>
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<FileName>port.c</FileName>
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</Files>
</Group>
<Group>
<GroupName>::CMSIS</GroupName>
</Group>
</Groups>
</Target>
</Targets>
<RTE>
<apis/>
<components>
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="6.1.0" condition="ARMv6_7_8-M Device">
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