andrea/AUTOM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
andrea
2025-12-08 16:43:26 +01:00
parent 3db6a38a2b
commit 43a9a9d480
117 changed files with 76544 additions and 44501 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
workspace/.metadata/.plugins/org.eclipse.cdt.core/.log
View File

@@ -10,3 +10,4 @@
*** SESSION dic 06, 2025 22:49:40.40 -------------------------------------------
*** SESSION dic 07, 2025 19:18:34.790 ------------------------------------------
*** SESSION dic 08, 2025 11:52:34.203 ------------------------------------------
*** SESSION dic 08, 2025 13:49:44.543 ------------------------------------------

BIN
workspace/.metadata/.plugins/org.eclipse.cdt.core/AUTOM10.1756332981900.pdom
View File

Binary file not shown.

6
workspace/.metadata/.plugins/org.eclipse.cdt.ui/AUTOM10.build.log
View File

@@ -1,10 +1,10 @@
13:11:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
16:16:58 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename
45800 464 7184 53448 d0c8 AUTOM10.elf
48728 464 7248 56440 dc78 AUTOM10.elf
Finished building: default.size.stdout
13:11:54 Build Finished. 0 errors, 0 warnings. (took 188ms)
16:16:58 Build Finished. 0 errors, 0 warnings. (took 242ms)

10
workspace/.metadata/.plugins/org.eclipse.cdt.ui/global-build.log
View File

@@ -1,21 +1,21 @@
13:11:50 **** Incremental Build of configuration Debug for project AUTOM10 ****
16:16:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-gcc "../Core/Src/eeprom.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/eeprom.d" -MT"Core/Src/eeprom.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/eeprom.o"
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
Finished building target: AUTOM10.elf
arm-none-eabi-size AUTOM10.elf
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
text data bss dec hex filename
45800 464 7184 53448 d0c8 AUTOM10.elf
48728 464 7248 56440 dc78 AUTOM10.elf
Finished building: default.size.stdout
Finished building: AUTOM10.list
13:11:54 **** Incremental Build of configuration Debug for project AUTOM10 ****
16:16:58 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename
45800 464 7184 53448 d0c8 AUTOM10.elf
48728 464 7248 56440 dc78 AUTOM10.elf
Finished building: default.size.stdout

0
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/11/509f04e546d400101723d5a9c522ee3b Normal file
View File

620
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/1e/b00bcf2f47d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,620 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

36
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/1e/d0319af1c5d200101320a8c687ef41a7
View File

@@ -1,36 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
if((c==0x0d)||(c==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

619
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/25/70eee27847d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,619 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

33
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/37/40c463a5c3d200101320a8c687ef41a7
View File

@@ -1,33 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
}
}
// tiny spin or yield
}
}
}

631
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/39/1080791047d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,631 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

619
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/40/10e51a5f47d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,619 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

620
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/43/50e4c39e47d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,620 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
managAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

16
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/47/700cf0f247d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,16 @@
/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#include "stm32f1xx_hal.h"
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
void manageAdc(void);
#endif /* INC_ADC_H_ */

620
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4b/e0b6432a48d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,620 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

617
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/4f/f08b564346d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,617 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

16
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/52/30eb6e5347d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,16 @@
/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#define ADC_NUM_CHANNELS 5 // CH4..CH8
#define ADC_AVG_WINDOW 5 // 5 * 10ms = 50ms averaging window
void manageAdc(void);
#endif /* INC_ADC_H_ */

198
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/73/80f084d73ed400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,198 @@
#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x ",pulsanti);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY); break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

199
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/77/c053d5ed48d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,199 @@
#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x %d %d",pulsanti,HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin),HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

33
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/7b/c01bb27fc3d200101320a8c687ef41a7
View File

@@ -1,33 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\n?",c);
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
break;
}
}
// tiny spin or yield
}
}
}

563
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8c/b0ac4f1a40d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,563 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
uint8_t pulsanti=0;
/* 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_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if (++c100ms >= 10) { // 10 ms
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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 = DISABLE;
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_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

133
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8d/505d22b036d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,133 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* @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 */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */
/* USER CODE END EC */
/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */
/* USER CODE END EM */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define LED2_Pin GPIO_PIN_13
#define LED2_GPIO_Port GPIOC
#define P1_Pin GPIO_PIN_14
#define P1_GPIO_Port GPIOC
#define P2_Pin GPIO_PIN_15
#define P2_GPIO_Port GPIOC
#define IN1_Pin GPIO_PIN_0
#define IN1_GPIO_Port GPIOA
#define IN2_Pin GPIO_PIN_1
#define IN2_GPIO_Port GPIOA
#define IN3_Pin GPIO_PIN_2
#define IN3_GPIO_Port GPIOA
#define IN4_Pin GPIO_PIN_3
#define IN4_GPIO_Port GPIOA
#define AIN1_Pin GPIO_PIN_4
#define AIN1_GPIO_Port GPIOA
#define AIN2_Pin GPIO_PIN_5
#define AIN2_GPIO_Port GPIOA
#define AIN3_Pin GPIO_PIN_6
#define AIN3_GPIO_Port GPIOA
#define AIN4_Pin GPIO_PIN_7
#define AIN4_GPIO_Port GPIOA
#define ANEM_Pin GPIO_PIN_0
#define ANEM_GPIO_Port GPIOB
#define INH1_Pin GPIO_PIN_1
#define INH1_GPIO_Port GPIOB
#define INH2_Pin GPIO_PIN_2
#define INH2_GPIO_Port GPIOB
#define INH3_Pin GPIO_PIN_10
#define INH3_GPIO_Port GPIOB
#define INH4_Pin GPIO_PIN_11
#define INH4_GPIO_Port GPIOB
#define CH1_Pin GPIO_PIN_12
#define CH1_GPIO_Port GPIOB
#define CH2_Pin GPIO_PIN_13
#define CH2_GPIO_Port GPIOB
#define CH3_Pin GPIO_PIN_14
#define CH3_GPIO_Port GPIOB
#define CH4_Pin GPIO_PIN_15
#define CH4_GPIO_Port GPIOB
#define BUZ_Pin GPIO_PIN_8
#define BUZ_GPIO_Port GPIOA
#define SWIO_Pin GPIO_PIN_13
#define SWIO_GPIO_Port GPIOA
#define SWCLK_Pin GPIO_PIN_14
#define SWCLK_GPIO_Port GPIOA
#define LED1_Pin GPIO_PIN_15
#define LED1_GPIO_Port GPIOA
#define EXP1_Pin GPIO_PIN_3
#define EXP1_GPIO_Port GPIOB
#define EXP2_Pin GPIO_PIN_4
#define EXP2_GPIO_Port GPIOB
#define EXP3_Pin GPIO_PIN_5
#define EXP3_GPIO_Port GPIOB
#define IN5_Pin GPIO_PIN_6
#define IN5_GPIO_Port GPIOB
#define IN6_Pin GPIO_PIN_7
#define IN6_GPIO_Port GPIOB
#define IN7_Pin GPIO_PIN_8
#define IN7_GPIO_Port GPIOB
#define IN8_Pin GPIO_PIN_9
#define IN8_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H */

623
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8e/30d2a88648d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,623 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
//**** legge i tasti********************************************************************************
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
//**** legge adc ***********************************************************************************
readAdc();
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

34
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/8e/e01dd67dc5d200101320a8c687ef41a7
View File

@@ -1,34 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
rxidx=0;
}
// tiny spin or yield
}
}

13
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/91/20fa801047d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,13 @@
/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
#endif /* INC_ADC_H_ */

8
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9a/80027d1047d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,8 @@
/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/

0
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9d/f0415bdd46d400101723d5a9c522ee3b Normal file
View File

553
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/9f/302d1db036d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,553 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* 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_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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 = DISABLE;
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_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

198
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ad/a040a3cb3ed400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,198 @@
#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
__HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

13
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/c7/5003d32f47d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,13 @@
/*
* adc.h
*
* Created on: Dec 8, 2025
* Author: user
*/
#ifndef INC_ADC_H_
#define INC_ADC_H_
void manageAdc(void);
#endif /* INC_ADC_H_ */

619
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d1/d032203446d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,619 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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 htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
uint8_t pulsanti=0;
/* 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_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* 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, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

199
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d3/50c3d3ad3fd400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,199 @@
#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
sprintf((char*)s,"\nP=0x%x ",pulsanti);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

25
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/d6/00056c5347d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,25 @@
/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
}

33
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/dc/800ea20dc5d200101320a8c687ef41a7
View File

@@ -1,33 +0,0 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
if (CDC_Available()) {
int c = CDC_ReadByte();
if (c < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=c;
rxidx++;
if((c==0x0d)||(c==0x0a)){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY);
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 6) == USBD_BUSY);
break;
}
}
// tiny spin or yield
}
}

60
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/e1/e061af8648d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,60 @@
/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
if (adc_avg_ready)
{
adc_avg_ready = 0;
// Read averaged channels (example mapping)
uint16_t ch4 = adc_avg[0];
uint16_t ch5 = adc_avg[1];
uint16_t ch6 = adc_avg[2];
uint16_t ch7 = adc_avg[3];
uint16_t ch8 = adc_avg[4];
// Use them (convert to volts, control, etc.)
// float v4 = (3.3f * ch4) / 4095.0f;
}
}
void readAdc(void){
for (uint8_t i = 0; i < ADC_NUM_CHANNELS; i++)
{
adc_sum[i] += adc_dma_buf[i];
}
adc_sum_count++;
/* When we collected ADC_AVG_WINDOW samples → compute average */
if (adc_sum_count >= ADC_AVG_WINDOW)
{
for (uint8_t i = 0; i < ADC_NUM_CHANNELS; i++)
{
adc_avg[i] = (uint16_t)(adc_sum[i] / ADC_AVG_WINDOW);
adc_sum[i] = 0;
}
adc_sum_count = 0;
adc_avg_ready = 1; // tell main loop new data is ready
}
}

25
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/ed/6038e57847d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,25 @@
/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
}

38
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/f2/008aecf247d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,38 @@
/*
* adc.c
*
* Created on: Dec 8, 2025
* Author: user
*/
#include "adc.h"
/* Filled by ADC+DMA: latest raw value of each channel */
volatile uint16_t adc_dma_buf[ADC_NUM_CHANNELS];
/* Smoothed value (50ms average with settings above) */
volatile uint16_t adc_avg[ADC_NUM_CHANNELS];
/* Internal accumulators used only in the timer ISR */
static uint32_t adc_sum[ADC_NUM_CHANNELS];
static uint8_t adc_sum_count = 0;
/* Optional flag to tell main loop that a new averaged set is ready */
volatile uint8_t adc_avg_ready = 0;
void manageAdc(void){
if (adc_avg_ready)
{
adc_avg_ready = 0;
// Read averaged channels (example mapping)
uint16_t ch4 = adc_avg[0];
uint16_t ch5 = adc_avg[1];
uint16_t ch6 = adc_avg[2];
uint16_t ch7 = adc_avg[3];
uint16_t ch8 = adc_avg[4];
// Use them (convert to volts, control, etc.)
// float v4 = (3.3f * ch4) / 4095.0f;
}
}

561
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/f4/f0b8aa3037d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,561 @@
/* 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.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;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
uint8_t pulsanti=0;
/* 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_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
inidx++;
inidx&=0x03;
if (++c100ms >= 10) { // 10 ms
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
if (++c1s >= 10) { // 10 ms
c1s = 0;
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
}
}
/* 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_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* 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|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
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 = DISABLE;
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_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @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_ClockConfigTypeDef sClockSourceConfig = {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 = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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 = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
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 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 = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_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 MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* 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 */

197
workspace/.metadata/.plugins/org.eclipse.core.resources/.history/fd/f09aaf3037d400101723d5a9c522ee3b Normal file
View File

@@ -0,0 +1,197 @@
#include <string.h>
#include <stdbool.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "eeprom.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
c1-='0';
}else if((c1>='a')&&(c1<='f')){
c1=(c1-'a')+10;
}else return false;
if((c2>='0')&&(c2<='9')){
c2-='0';
}else if((c2>='a')&&(c2<='f')){
c2=(c2-'a')+10;
}else return false;
if((c3>='0')&&(c3<='9')){
c3-='0';
}else if((c3>='a')&&(c3<='f')){
c3=(c3-'a')+10;
}else return false;
if((c4>='0')&&(c4<='9')){
c4-='0';
}else if((c4>='a')&&(c4<='f')){
c4=(c4-'a')+10;
}else return false;
*retval=c1;
*retval*=16;
*retval+=c2;
*retval*=16;
*retval+=c3;
*retval*=16;
*retval+=c4;
return true;
}
void manageCDC(void){
static uint8_t rxbuf[100];
static uint8_t rxidx=0;
unsigned char s[100];
uint8_t mot,dir,dm,m,c,d,u;
uint16_t val;
uint16_t st;
uint16_t eeadd;
uint8_t i;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
__HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
case 'e':
if(rxidx>1){
if(rxbuf[1]=='r'){
if(rxidx==4){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
st=EEW_Read(eeadd, &val);
if (st == EE_OK){
sprintf((char*)s,"\nee 0x%02x=0x%04x",eeadd,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"\nee read error %d",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa hex values");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else if(rxbuf[1]=='w'){
if(rxidx==8){
if(toHex('0','0',rxbuf[2],rxbuf[3],&eeadd)){
if(toHex(rxbuf[4],rxbuf[5],rxbuf[6],rxbuf[7],&val)){
st=EEW_Write(eeadd, val);
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",eeadd,val);
else sprintf((char*)s,"\nee write error %d", st);
}else sprintf((char*)s,"\n?ewaavvvv hex values");
}else sprintf((char*)s,"\n?ewaa hex values");
}else sprintf((char*)s,"\n?ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else if(rxbuf[1]=='d'){
if(rxidx==2){
for(i=0;i<32;i++){
if((i%4)==0){
sprintf((char*)s,"\n");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
st=EEW_Read(i, &val);
if (st == EE_OK){
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}else{
sprintf((char*)s,"rderr %d ",st);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}
}else{
sprintf((char*)s,"\n?ed");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?er|w|d");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?eraa | ewaavvvv");
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

BIN
workspace/.metadata/.plugins/org.eclipse.core.resources/.projects/AUTOM10/.indexes/bf/be/history.index
View File

Binary file not shown.

BIN
workspace/.metadata/.plugins/org.eclipse.core.resources/.projects/AUTOM10/.indexes/bf/c4/history.index
View File

Binary file not shown.

BIN
workspace/.metadata/.plugins/org.eclipse.core.resources/.projects/AUTOM10/.markers
View File

Binary file not shown.

BIN
workspace/.metadata/.plugins/org.eclipse.core.resources/.root/12.tree
View File

Binary file not shown.

BIN
workspace/.metadata/.plugins/org.eclipse.core.resources/.root/13.tree Normal file
View File

Binary file not shown.

BIN
workspace/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
View File

Binary file not shown.

50
workspace/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi
View File

File diff suppressed because one or more lines are too long

24
workspace/.metadata/.plugins/org.eclipse.search/dialog_settings.xml
View File

@@ -38,7 +38,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="EE_VirtAddrse"/>
<item key="textPattern" value="HAL_ADC_PollForConversion"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -53,7 +53,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="ee_init"/>
<item key="textPattern" value="P2_Pin"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -65,7 +65,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="tohex"/>
<item key="textPattern" value="p2"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -77,7 +77,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="EE_ReadVariable"/>
<item key="textPattern" value="EE_VirtAddrse"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -89,7 +89,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="inh2"/>
<item key="textPattern" value="ee_init"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -101,7 +101,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="INH1_GPIO_Port"/>
<item key="textPattern" value="tohex"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -113,7 +113,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="INH1"/>
<item key="textPattern" value="EE_ReadVariable"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -125,7 +125,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="INH1_Pin"/>
<item key="textPattern" value="inh2"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -137,7 +137,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="Led2"/>
<item key="textPattern" value="INH1_GPIO_Port"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -149,7 +149,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="htim3"/>
<item key="textPattern" value="INH1"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -161,7 +161,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="led2"/>
<item key="textPattern" value="INH1_Pin"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>
@@ -173,7 +173,7 @@
<item key="ignoreCase" value="true"/>
<item key="isRegExSearch" value="false"/>
<item key="isWholeWord" value="false"/>
<item key="textPattern" value="HAL_GPIO_TogglePin"/>
<item key="textPattern" value="Led2"/>
<item key="scope" value="0"/>
<list key="fileNamePatterns">
<item value="*"/>