You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
494 lines
13 KiB
C
494 lines
13 KiB
C
/* USER CODE BEGIN Header */
|
|
/**
|
|
******************************************************************************
|
|
* @file : main.c
|
|
* @brief : Main program body
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* Copyright (c) 2022 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"
|
|
|
|
/* Private includes ----------------------------------------------------------*/
|
|
/* USER CODE BEGIN Includes */
|
|
#include "motor_controller.h"
|
|
#include "p_serial_mgr.h"
|
|
#include "putil.h"
|
|
#include "stm32l4xx_hal_uart.h"
|
|
#include <stdbool.h>
|
|
#include <stdio.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 ---------------------------------------------------------*/
|
|
TIM_HandleTypeDef htim2;
|
|
TIM_HandleTypeDef htim6;
|
|
|
|
UART_HandleTypeDef huart1;
|
|
UART_HandleTypeDef huart2;
|
|
|
|
/* USER CODE BEGIN PV */
|
|
volatile uint8_t huart2_rxc;
|
|
volatile uint8_t huart1_rxc;
|
|
static volatile uint32_t sys_time = 0;
|
|
static volatile bool b_timer_struck = false;
|
|
|
|
/* USER CODE END PV */
|
|
|
|
/* Private function prototypes -----------------------------------------------*/
|
|
void SystemClock_Config(void);
|
|
static void MX_GPIO_Init(void);
|
|
static void MX_TIM2_Init(void);
|
|
static void MX_USART2_UART_Init(void);
|
|
static void MX_TIM6_Init(void);
|
|
static void MX_USART1_UART_Init(void);
|
|
/* USER CODE BEGIN PFP */
|
|
static void UART2_RxCpltCallback(UART_HandleTypeDef *huart);
|
|
|
|
/* USER CODE END PFP */
|
|
|
|
/* Private user code ---------------------------------------------------------*/
|
|
/* USER CODE BEGIN 0 */
|
|
|
|
/* 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_TIM2_Init();
|
|
MX_USART2_UART_Init();
|
|
MX_TIM6_Init();
|
|
MX_USART1_UART_Init();
|
|
/* USER CODE BEGIN 2 */
|
|
|
|
huart2.RxCpltCallback = UART2_RxCpltCallback;
|
|
p_uart_init(&huart2);
|
|
p_serial_mgr_init(&huart1);
|
|
|
|
// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
|
|
// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
|
|
setPWM(&htim2, TIM_CHANNEL_2, 50);
|
|
setPWM(&htim2, TIM_CHANNEL_4, 25);
|
|
|
|
HAL_GPIO_WritePin(m1_dir_GPIO_Port, m1_dir_Pin, 1);
|
|
HAL_GPIO_WritePin(m2_dir_GPIO_Port, m2_dir_Pin, 1);
|
|
|
|
mc_init(&htim2);
|
|
HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
|
|
HAL_TIM_Base_Start_IT(&htim6);
|
|
|
|
p_serial_mgr_start();
|
|
|
|
uint16_t motor_degrees = 0;
|
|
/* USER CODE END 2 */
|
|
|
|
/* Infinite loop */
|
|
/* USER CODE BEGIN WHILE */
|
|
uint8_t rxb[256] = {0};
|
|
while (1)
|
|
{
|
|
if (p_serial_mgr_service())
|
|
{
|
|
volatile HAL_StatusTypeDef ret;
|
|
ret = HAL_UART_Receive(&huart1, rxb, 256, 5);
|
|
|
|
for (int ind = 0; ind < 20; ind++)
|
|
{
|
|
p_uart_async_write_byte(rxb[ind]);
|
|
}
|
|
PDEBUG("\n\n\n\n");
|
|
memset(rxb, 0, 256);
|
|
p_serial_mgr_start();
|
|
}
|
|
// if (b_timer_struck)
|
|
// {
|
|
// // PDEBUG("%d\n", sys_time);
|
|
// b_timer_struck = false;
|
|
// motor_degrees = (motor_degrees + 1) % 360;
|
|
// mc_service(motor_degrees, 50);
|
|
// }
|
|
// serial_pkt_t *pkt = NULL;
|
|
// if ((pkt = p_serial_mgr_service()) != NULL)
|
|
// {
|
|
// PDEBUG("Source: %02x\n"
|
|
// "Destination: %02x\n",
|
|
// pkt->src_addr, pkt->dest_addr);
|
|
// PDEBUG("Frame Data: \n");
|
|
// for (int ind = 0; ind < pkt->len; pkt++)
|
|
// {
|
|
// if (ind % 8 == 0)
|
|
// {
|
|
// PDEBUG("\n");
|
|
// }
|
|
// PDEBUG("%02x ", pkt->frame_data[ind]);
|
|
// }
|
|
// PDEBUG("\nChecksum: %02x\n\n");
|
|
// memset(pkt, 0, sizeof(serial_pkt_t));
|
|
// }
|
|
/* 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};
|
|
|
|
/** Configure the main internal regulator output voltage
|
|
*/
|
|
if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
|
|
/** Configure LSE Drive Capability
|
|
*/
|
|
HAL_PWR_EnableBkUpAccess();
|
|
__HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
|
|
|
|
/** Initializes the RCC Oscillators according to the specified parameters
|
|
* in the RCC_OscInitTypeDef structure.
|
|
*/
|
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE | RCC_OSCILLATORTYPE_MSI;
|
|
RCC_OscInitStruct.LSEState = RCC_LSE_ON;
|
|
RCC_OscInitStruct.MSIState = RCC_MSI_ON;
|
|
RCC_OscInitStruct.MSICalibrationValue = 0;
|
|
RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
|
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
|
|
RCC_OscInitStruct.PLL.PLLM = 1;
|
|
RCC_OscInitStruct.PLL.PLLN = 16;
|
|
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
|
|
RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
|
|
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
|
|
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_DIV1;
|
|
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
|
|
|
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
|
|
/** Enable MSI Auto calibration
|
|
*/
|
|
HAL_RCCEx_EnableMSIPLLMode();
|
|
}
|
|
|
|
/**
|
|
* @brief TIM2 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_TIM2_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM2_Init 0 */
|
|
|
|
/* USER CODE END TIM2_Init 0 */
|
|
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
|
|
/* USER CODE BEGIN TIM2_Init 1 */
|
|
|
|
/* USER CODE END TIM2_Init 1 */
|
|
htim2.Instance = TIM2;
|
|
htim2.Init.Prescaler = 127;
|
|
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim2.Init.Period = 499;
|
|
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
|
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
|
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
|
sConfigOC.Pulse = 250;
|
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sConfigOC.Pulse = 125;
|
|
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM2_Init 2 */
|
|
|
|
/* USER CODE END TIM2_Init 2 */
|
|
HAL_TIM_MspPostInit(&htim2);
|
|
}
|
|
|
|
/**
|
|
* @brief TIM6 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_TIM6_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN TIM6_Init 0 */
|
|
|
|
/* USER CODE END TIM6_Init 0 */
|
|
|
|
TIM_MasterConfigTypeDef sMasterConfig = {0};
|
|
|
|
/* USER CODE BEGIN TIM6_Init 1 */
|
|
|
|
/* USER CODE END TIM6_Init 1 */
|
|
htim6.Instance = TIM6;
|
|
htim6.Init.Prescaler = 127;
|
|
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
|
|
htim6.Init.Period = 249;
|
|
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
|
|
if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
|
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
|
if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN TIM6_Init 2 */
|
|
|
|
/* USER CODE END TIM6_Init 2 */
|
|
}
|
|
|
|
/**
|
|
* @brief USART1 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_USART1_UART_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN USART1_Init 0 */
|
|
|
|
/* USER CODE END USART1_Init 0 */
|
|
|
|
/* USER CODE BEGIN USART1_Init 1 */
|
|
|
|
/* USER CODE END USART1_Init 1 */
|
|
huart1.Instance = USART1;
|
|
huart1.Init.BaudRate = 115200;
|
|
huart1.Init.WordLength = UART_WORDLENGTH_8B;
|
|
huart1.Init.StopBits = UART_STOPBITS_1;
|
|
huart1.Init.Parity = UART_PARITY_NONE;
|
|
huart1.Init.Mode = UART_MODE_TX_RX;
|
|
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
|
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
|
|
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
|
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
|
if (HAL_RS485Ex_Init(&huart1, UART_DE_POLARITY_HIGH, 0, 0) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN USART1_Init 2 */
|
|
|
|
/* USER CODE END USART1_Init 2 */
|
|
}
|
|
|
|
/**
|
|
* @brief USART2 Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_USART2_UART_Init(void)
|
|
{
|
|
|
|
/* USER CODE BEGIN USART2_Init 0 */
|
|
|
|
/* USER CODE END USART2_Init 0 */
|
|
|
|
/* USER CODE BEGIN USART2_Init 1 */
|
|
|
|
/* USER CODE END USART2_Init 1 */
|
|
huart2.Instance = USART2;
|
|
huart2.Init.BaudRate = 115200;
|
|
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
|
huart2.Init.StopBits = UART_STOPBITS_1;
|
|
huart2.Init.Parity = UART_PARITY_NONE;
|
|
huart2.Init.Mode = UART_MODE_TX_RX;
|
|
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
|
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
|
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
|
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
|
if (HAL_UART_Init(&huart2) != HAL_OK)
|
|
{
|
|
Error_Handler();
|
|
}
|
|
/* USER CODE BEGIN USART2_Init 2 */
|
|
|
|
/* USER CODE END USART2_Init 2 */
|
|
}
|
|
|
|
/**
|
|
* @brief GPIO Initialization Function
|
|
* @param None
|
|
* @retval None
|
|
*/
|
|
static void MX_GPIO_Init(void)
|
|
{
|
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
|
|
|
/* GPIO Ports Clock Enable */
|
|
__HAL_RCC_GPIOC_CLK_ENABLE();
|
|
__HAL_RCC_GPIOA_CLK_ENABLE();
|
|
|
|
/*Configure GPIO pin Output Level */
|
|
HAL_GPIO_WritePin(GPIOA, m1_dir_Pin | m2_dir_Pin, GPIO_PIN_RESET);
|
|
|
|
/*Configure GPIO pins : m1_dir_Pin m2_dir_Pin */
|
|
GPIO_InitStruct.Pin = m1_dir_Pin | m2_dir_Pin;
|
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
|
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
|
}
|
|
|
|
/* USER CODE BEGIN 4 */
|
|
|
|
void UART2_RxCpltCallback(UART_HandleTypeDef *huart)
|
|
{
|
|
HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 100);
|
|
HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
|
|
}
|
|
// void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
|
// {
|
|
// else if (huart == &huart2)
|
|
// {
|
|
// }
|
|
// }
|
|
|
|
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
|
{
|
|
sys_time += 1;
|
|
if (++sys_time % 250 == 0)
|
|
{
|
|
b_timer_struck = true;
|
|
}
|
|
}
|
|
|
|
void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent)
|
|
{
|
|
HAL_TIM_PWM_Stop(timer, channel);
|
|
// add new period if we need to, but we don't need to here
|
|
|
|
TIM_OC_InitTypeDef sConfigOC = {0};
|
|
|
|
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
|
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
|
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
|
sConfigOC.Pulse = (uint32_t)((dc_percent * timer->Init.Period) / 100.0f);
|
|
|
|
HAL_TIM_PWM_ConfigChannel(timer, &sConfigOC, channel);
|
|
HAL_TIM_PWM_Start(timer, channel);
|
|
}
|
|
/* USER CODE END 4 */
|
|
|
|
/**
|
|
* @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 */
|