533 lines
13 KiB
C
533 lines
13 KiB
C
/* 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 */
|