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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
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16
workspace/AUTOM10/Core/Inc/adc.h Normal file
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@@ -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);
void readAdc(void);
#endif /* INC_ADC_H_ */

3
workspace/AUTOM10/Core/Inc/main.h
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@@ -123,7 +123,8 @@ void Error_Handler(void);
#define IN8_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
#define INP1 1
#define INP2 2
/* USER CODE END Private defines */
#ifdef __cplusplus

2
workspace/AUTOM10/Core/Inc/stm32f1xx_hal_conf.h
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@@ -42,7 +42,7 @@
/*#define HAL_CORTEX_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_DMA_MODULE_ENABLED */
#define HAL_DMA_MODULE_ENABLED
/*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED

1
workspace/AUTOM10/Core/Inc/stm32f1xx_it.h
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@@ -55,6 +55,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void DMA1_Channel1_IRQHandler(void);
void USB_LP_CAN1_RX0_IRQHandler(void);
/* USER CODE BEGIN EFP */

66
workspace/AUTOM10/Core/Src/adc.c Normal file
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@@ -0,0 +1,66 @@
/*
* 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;
uint16_t ch4 ;
uint16_t ch5 ;
uint16_t ch6 ;
uint16_t ch7 ;
uint16_t ch8 ;
void manageAdc(void){
if (adc_avg_ready)
{
adc_avg_ready = 0;
// Read averaged channels (example mapping)
ch4 = adc_avg[0];
ch5 = adc_avg[1];
ch6 = adc_avg[2];
ch7 = adc_avg[3];
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
}
}

9
workspace/AUTOM10/Core/Src/cdc_int.c
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@@ -13,6 +13,12 @@ extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern const uint16_t EE_VirtAddrs[];
extern uint8_t pulsanti;
extern uint16_t ch4 ;
extern uint16_t ch5 ;
extern uint16_t ch6 ;
extern uint16_t ch7 ;
extern uint16_t ch8 ;
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
if((c1>='0')&&(c1<='9')){
@@ -75,9 +81,10 @@ void manageCDC(void){
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);
sprintf((char*)s,"\nP=0x%x ch4=%05d ch5=%05d ch6=%05d ch7=%05d ch8=%05d",pulsanti,ch4,ch5,ch6,ch7,ch8);
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){

111
workspace/AUTOM10/Core/Src/main.c
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@@ -26,6 +26,7 @@
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -45,6 +46,7 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
@@ -52,15 +54,21 @@ TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
extern volatile uint16_t adc_dma_buf[];
extern uint16_t ch4 ;
extern uint16_t ch5 ;
extern uint16_t ch6 ;
extern uint16_t ch7 ;
extern uint16_t ch8 ;
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);
@@ -73,19 +81,31 @@ static void MX_USART1_UART_Init(void);
/* 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];
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);
}
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 */
@@ -119,12 +139,14 @@ int main(void)
/* 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);
@@ -144,6 +166,7 @@ int main(void)
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
@@ -235,12 +258,12 @@ static void MX_ADC1_Init(void)
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
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 = 1;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
@@ -250,7 +273,43 @@ static void MX_ADC1_Init(void)
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
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();
@@ -444,6 +503,22 @@ static void MX_USART1_UART_Init(void)
}
/**
* 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

20
workspace/AUTOM10/Core/Src/stm32f1xx_hal_msp.c
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@@ -23,6 +23,7 @@
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_adc1;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -117,6 +118,23 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(ANEM_GPIO_Port, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA1_Channel1;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(hadc,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
@@ -152,6 +170,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
HAL_GPIO_DeInit(ANEM_GPIO_Port, ANEM_Pin);
/* ADC1 DMA DeInit */
HAL_DMA_DeInit(hadc->DMA_Handle);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */

15
workspace/AUTOM10/Core/Src/stm32f1xx_it.c
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@@ -56,6 +56,7 @@
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_FS;
extern DMA_HandleTypeDef hdma_adc1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -198,6 +199,20 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f1xx.s). */
/******************************************************************************/
/**
* @brief This function handles DMA1 channel1 global interrupt.
*/
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles USB low priority or CAN RX0 interrupts.
*/