wip
This commit is contained in:
andrea
@@ -31,3 +31,4 @@
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*** SESSION mag 01, 2026 12:15:55.973 ------------------------------------------
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*** SESSION mag 04, 2026 23:04:27.645 ------------------------------------------
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*** SESSION mag 05, 2026 22:49:18.92 -------------------------------------------
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*** SESSION mag 14, 2026 17:57:36.107 ------------------------------------------
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Binary file not shown.
@@ -1,10 +1,10 @@
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18:23:06 **** Incremental Build of configuration Debug for project AUTOM10 ****
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19:42:02 **** Incremental Build of configuration Debug for project AUTOM10 ****
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make -j12 all
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arm-none-eabi-size AUTOM10.elf
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text data bss dec hex filename
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60624 476 7360 68460 10b6c AUTOM10.elf
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60652 476 7360 68488 10b88 AUTOM10.elf
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Finished building: default.size.stdout
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18:23:06 Build Finished. 0 errors, 0 warnings. (took 201ms)
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19:42:02 Build Finished. 0 errors, 0 warnings. (took 187ms)
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@@ -1,21 +1,21 @@
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18:22:58 **** Incremental Build of configuration Debug for project AUTOM10 ****
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19:41:57 **** Incremental Build of configuration Debug for project AUTOM10 ****
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make -j12 all
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arm-none-eabi-gcc "../Core/Src/mot.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/mot.d" -MT"Core/Src/mot.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/mot.o"
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arm-none-eabi-gcc "../Core/Src/pwm.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/pwm.d" -MT"Core/Src/pwm.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pwm.o"
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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
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Finished building target: AUTOM10.elf
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arm-none-eabi-size AUTOM10.elf
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arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
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text data bss dec hex filename
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60624 476 7360 68460 10b6c AUTOM10.elf
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60652 476 7360 68488 10b88 AUTOM10.elf
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Finished building: default.size.stdout
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Finished building: AUTOM10.list
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18:23:06 **** Incremental Build of configuration Debug for project AUTOM10 ****
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19:42:02 **** Incremental Build of configuration Debug for project AUTOM10 ****
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make -j12 all
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arm-none-eabi-size AUTOM10.elf
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text data bss dec hex filename
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60624 476 7360 68460 10b6c AUTOM10.elf
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60652 476 7360 68488 10b88 AUTOM10.elf
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Finished building: default.size.stdout
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@@ -1,482 +0,0 @@
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#include <stdio.h>
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#include <string.h>
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#include "eeprom.h"
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extern UART_HandleTypeDef huart1;
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/*
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* Record format (4 bytes):
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* [0] VirtAddress (uint16_t)
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* [2] Data (uint16_t)
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*
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* Page layout:
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* [0] PageStatus (uint16_t)
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* [2..] Records...
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*/
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extern uint16_t m1pwmap;
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extern uint16_t m1pwmch;
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extern uint16_t m2pwmap;
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extern uint16_t m2pwmch;
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extern uint16_t m3pwmap;
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extern uint16_t m3pwmch;
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extern uint16_t m4pwmap;
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extern uint16_t m4pwmch;
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extern uint16_t m1TimeoutMan;
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extern uint16_t m2TimeoutMan;
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extern uint16_t m3TimeoutMan;
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extern uint16_t m4TimeoutMan;
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extern uint16_t twap;
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extern uint16_t tramp;
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extern uint16_t t1ch;
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extern uint16_t t2ch;
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extern uint16_t t3ch;
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extern uint16_t t4ch;
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extern uint16_t twch;
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extern uint16_t tramp1;
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extern uint16_t trampman;
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extern uint16_t m1pwmMan;
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extern uint16_t m2pwmMan;
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extern uint16_t m3pwmMan;
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extern uint16_t m4pwmMan;
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extern uint16_t apM1start;
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extern uint16_t apM1stop;
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extern uint16_t apM2start;
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extern uint16_t apM2stop;
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extern uint16_t apM3start;
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extern uint16_t apM3stop;
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extern uint16_t apM4start;
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extern uint16_t apM4stop;
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extern uint16_t chM1start;
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extern uint16_t chM1stop;
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extern uint16_t chM2start;
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extern uint16_t chM2stop;
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extern uint16_t chM3start;
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||||
extern uint16_t chM3stop;
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extern uint16_t chM4start;
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extern uint16_t chM4stop;
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const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
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40, //m1pwmap
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60, //m1pwmch
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70, //m2pwmap
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70, //m2pwmch
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35, //m3pwmap
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40, //m3pwmch
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40, //m4pwmap
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40, //m4pwmch
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20, //m1rampstart
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20, //m2rampstart
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20, //m3rampstart
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20, //m4rampstart
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||||
230,//m1timeoutman
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||||
100,//m2timeoutman
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||||
130,//m3timeoutman
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||||
300,//m4timeoutman
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||||
1, //twap
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||||
27, //t1ch
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||||
10, //t2ch
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||||
30, //t3ch
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||||
1, //t4ch
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||||
1, //twch
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||||
0,
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||||
0,
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||||
0,
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||||
100, //tramp1
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||||
60, //m1pwmMan
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||||
70, //m2pwmMan
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||||
40, //m3pwmMan
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||||
40, //m4pwmMan
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||||
50, //trampman
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||||
10, //tramp
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||||
310, //apM1start;
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||||
450, //apM1stop;
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||||
30, //apM2start;
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||||
310, //apM2stop;
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||||
350, //apM3start;
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||||
450, //apM3stop;
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||||
450, //apM4start;
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||||
850, //apM4stop;
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||||
10, //chM1start;
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||||
280, //chM1stop;
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||||
280, //chM2start;
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||||
580, //chM2stop;
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||||
20, //chM3start;
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||||
280, //chM3stop;
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||||
280, //chM4start;
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||||
680, //chM4stop;
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||||
1,
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||||
27,
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||||
10,
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||||
30,
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||||
1,
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||||
1,
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||||
0,
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||||
0,
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||||
0,
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||||
100,
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||||
60,
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||||
70,
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||||
40,
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||||
40,
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||||
50,
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||||
10,
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||||
};
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||||
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||||
typedef struct
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||||
{
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uint16_t VirtAddress;
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uint16_t Data;
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||||
} EE_Record_t;
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||||
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||||
/* Active page base address (runtime selected in EE_Init) */
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static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
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||||
/* 32 sequential virtual addresses */
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const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
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{
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0x0001, 0x0002, 0x0003, 0x0004,
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0x0005, 0x0006, 0x0007, 0x0008,
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0x0009, 0x000A, 0x000B, 0x000C,
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0x000D, 0x000E, 0x000F, 0x0010,
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0x0011, 0x0012, 0x0013, 0x0014,
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0x0015, 0x0016, 0x0017, 0x0018,
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0x0019, 0x001A, 0x001B, 0x001C,
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0x001D, 0x001E, 0x001F, 0x0020,
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0x0021, 0x0022, 0x0023, 0x0024,
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0x0025, 0x0026, 0x0027, 0x0028,
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0x0029, 0x002A, 0x002B, 0x002C,
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0x002D, 0x002E, 0x002F, 0x0030,
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0x0031, 0x0032, 0x0033, 0x0034,
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0x0035, 0x0036, 0x0037, 0x0038,
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0x0039, 0x003A, 0x003B, 0x003C,
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0x003D, 0x003E, 0x003F, 0x0040
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};
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/* ========================================================================= */
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/* --- Internal helpers ---------------------------------------------------- */
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static uint16_t EE_GetPageStatus(uint32_t pageBase)
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{
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return *(__IO uint16_t *)pageBase;
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}
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||||
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||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
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||||
{
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HAL_StatusTypeDef status;
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HAL_FLASH_Unlock();
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status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
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||||
HAL_FLASH_Lock();
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return status;
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}
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||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
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||||
{
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||||
HAL_StatusTypeDef status;
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||||
FLASH_EraseInitTypeDef EraseInit;
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||||
uint32_t PageError = 0;
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||||
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HAL_FLASH_Unlock();
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||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
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EraseInit.PageAddress = PageAddress;
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EraseInit.NbPages = 1;
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||||
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status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
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||||
HAL_FLASH_Lock();
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return status;
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||||
}
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||||
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||||
/* Find first free record address in given page (returns 0 if full) */
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static uint32_t EE_FindFreeAddress(uint32_t pageBase)
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||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
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||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
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||||
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while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
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||||
{
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||||
uint16_t vaddr = *(__IO uint16_t *)addr;
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||||
|
||||
if (vaddr == 0xFFFFU)
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{
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||||
/* Empty slot */
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||||
return addr;
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||||
}
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addr += sizeof(EE_Record_t);
|
||||
}
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||||
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return 0U; /* No space */
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||||
}
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||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
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EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
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if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
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||||
|
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addr += sizeof(EE_Record_t); // move 4 bytes forward
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||||
}
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||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
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||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3timeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -0,0 +1,288 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d",percStart+delta);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,482 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeouMan,m2TimeoutMan,m3timeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,229 +0,0 @@
|
||||
#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;
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
extern const uint8_t deftab[];
|
||||
extern omCiclo_st stCiclo;
|
||||
extern omCiclo_st memstCiclo;
|
||||
extern uint8_t stPulsanti;
|
||||
|
||||
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,"info\n");
|
||||
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 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);
|
||||
sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
|
||||
while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
|
||||
break;
|
||||
case 'I':
|
||||
sprintf((char*)s,"\nID000000");
|
||||
while (CDC_Transmit_FS(s, 9) == 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++){
|
||||
st=EEW_Read(i, &val);
|
||||
if (st == EE_OK){
|
||||
sprintf((char*)s,"\n0x%02x=%5d ",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);
|
||||
}
|
||||
}
|
||||
if((i%4)==0){
|
||||
sprintf((char*)s,"\n");
|
||||
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 if(rxbuf[1]=='x'){
|
||||
if(rxidx==2){
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
|
||||
}
|
||||
loadEE();
|
||||
}else{
|
||||
sprintf((char*)s,"\n?ex");
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}else{
|
||||
sprintf((char*)s,"\n?er|w|d|x");
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
@@ -382,7 +382,7 @@ motMov_st m4ch(void){
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
@@ -1,968 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
//HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
else{
|
||||
if(rtP1&8)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}else{
|
||||
if(stPulsanti&P1START){
|
||||
stPulsanti&=(~P1START);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,968 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
//HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
else{
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
}else{
|
||||
if(stPulsanti&P1START){
|
||||
stPulsanti&=(~P1START);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,229 +0,0 @@
|
||||
#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;
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
extern const uint8_t deftab[];
|
||||
extern omCiclo_st stCiclo;
|
||||
extern omCiclo_st memstCiclo;
|
||||
extern uint8_t stPulsanti;
|
||||
|
||||
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,"info\n");
|
||||
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 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);
|
||||
sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
|
||||
while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
|
||||
break;
|
||||
case 'I':
|
||||
sprintf((char*)s,"\nID000000");
|
||||
while (CDC_Transmit_FS(s, 9) == 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++){
|
||||
st=EEW_Read(i, &val);
|
||||
if (st == EE_OK){
|
||||
sprintf((char*)s,"\n0x%02x=%5d ",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);
|
||||
}
|
||||
}
|
||||
if((i%4)==0){
|
||||
sprintf((char*)s,"\n");
|
||||
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 if(rxbuf[1]=='x'){
|
||||
if(rxidx==2){
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
|
||||
}
|
||||
loadEE();
|
||||
}else{
|
||||
sprintf((char*)s,"\n?ex");
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}else{
|
||||
sprintf((char*)s,"\n?er|w|d|x");
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,304 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "mot.h"
|
||||
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,321 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "mot.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -0,0 +1,286 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,332 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,344 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,396 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ap=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ap=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm14st=m4st;
|
||||
sprintf(s,"\nm4ap=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ch=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ch=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ch=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ch=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,175 +0,0 @@
|
||||
/* 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 */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omM1fw1,
|
||||
omM1fw2,
|
||||
omM1bw1,
|
||||
omM1bw2,
|
||||
omM2fw1,
|
||||
omM2fw2,
|
||||
omM2bw1,
|
||||
omM2bw2,
|
||||
omM3fw1,
|
||||
omM3fw2,
|
||||
omM3bw1,
|
||||
omM3bw2,
|
||||
omM4fw1,
|
||||
omM4fw2,
|
||||
omM4bw1,
|
||||
omM4bw2,
|
||||
omStopMan,
|
||||
omapertura0,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omchiusura7,
|
||||
omchiusura8,
|
||||
omchiusura9,
|
||||
omchiusura10,
|
||||
omchiusura11,
|
||||
omchiusura12,
|
||||
omchiusura13,
|
||||
omchiusura14,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
/* 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 */
|
||||
#define INP1 1
|
||||
#define INP2 2
|
||||
#define INCH1 4
|
||||
#define INCH2 8
|
||||
#define INCH3 16
|
||||
#define INCH4 32
|
||||
/* USER CODE END Private defines */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __MAIN_H */
|
||||
@@ -1,480 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,470 +0,0 @@
|
||||
#include "eeprom.h"
|
||||
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [100];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,apM1start);
|
||||
EEW_Read(APM1STOP ,apM1stop);
|
||||
EEW_Read(APM2START,apM2start);
|
||||
EEW_Read(APM2STOP ,apM2stop);
|
||||
EEW_Read(APM3START,apM3start);
|
||||
EEW_Read(APM3STOP ,apM3stop);
|
||||
EEW_Read(APM4START,apM4start);
|
||||
EEW_Read(APM4STOP ,apM4stop);
|
||||
EEW_Read(CHM1START,chM1start);
|
||||
EEW_Read(CHM1STOP ,chM1stop);
|
||||
EEW_Read(CHM2START,chM2start);
|
||||
EEW_Read(CHM2STOP ,chM2stop);
|
||||
EEW_Read(CHM3START,chM3start);
|
||||
EEW_Read(CHM3STOP ,chM3stop);
|
||||
EEW_Read(CHM4START,chM4start);
|
||||
EEW_Read(CHM4STOP ,chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,475 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,340 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=mem1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,141 +0,0 @@
|
||||
/*
|
||||
* eeprom.h
|
||||
*
|
||||
* Created on: Dec 7, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#ifndef __EEPROM_H
|
||||
#define __EEPROM_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
|
||||
/*
|
||||
* Simple EEPROM emulation for STM32F103C8T6 (medium density).
|
||||
* - Uses 2 Flash pages (1 kB each) at the end of Flash.
|
||||
* - Stores variables as 16-bit values identified by 16-bit "virtual addresses".
|
||||
*
|
||||
* You must define the list of virtual addresses in eeprom.c: EE_VirtAddrs[].
|
||||
*/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
EE_STATUS_OK = 0,
|
||||
EE_STATUS_ERROR,
|
||||
EE_STATUS_NOT_FOUND,
|
||||
EE_STATUS_NO_SPACE
|
||||
} EE_Status;
|
||||
|
||||
/* For compatibility with ST style uint16_t return codes */
|
||||
#define EE_OK ((uint16_t)EE_STATUS_OK)
|
||||
#define EE_ERROR ((uint16_t)EE_STATUS_ERROR)
|
||||
#define EE_NOT_FOUND ((uint16_t)EE_STATUS_NOT_FOUND)
|
||||
#define EE_NO_SPACE ((uint16_t)EE_STATUS_NO_SPACE)
|
||||
|
||||
/* Flash parameters for STM32F103C8T6 */
|
||||
#define EE_FLASH_BASE_ADDR 0x08000000U
|
||||
#define EE_PAGE_SIZE 0x400U /* 1 kB pages */
|
||||
|
||||
/*
|
||||
* Here we assume a 64 kB Flash device (STM32F103C8T6):
|
||||
* Flash range: 0x0800 0000 - 0x0800 FFFF
|
||||
* Pages: 0..63 (64 pages)
|
||||
* We use the last 2 pages for EEPROM:
|
||||
* - Page 62: 0x0800 F800
|
||||
* - Page 63: 0x0800 FC00
|
||||
*/
|
||||
#define EE_PAGE0_BASE (EE_FLASH_BASE_ADDR + (62U * EE_PAGE_SIZE))
|
||||
#define EE_PAGE1_BASE (EE_FLASH_BASE_ADDR + (63U * EE_PAGE_SIZE))
|
||||
|
||||
/* Page status markers (stored in the first halfword of each page) */
|
||||
#define EE_PAGE_STATUS_ERASED 0xFFFFU
|
||||
#define EE_PAGE_STATUS_VALID 0xAAAAU
|
||||
#define EE_PAGE_STATUS_RECEIVE 0x5555U
|
||||
|
||||
/*
|
||||
* Configure how many virtual variables you have.
|
||||
* Example: bytes, words, and array elements mapped to 16-bit variables.
|
||||
* Set EE_NUM_VIRTUAL_ADDR and define EE_VirtAddrs[] in eeprom.c.
|
||||
*/
|
||||
/* 32 virtual variables, sequential addresses */
|
||||
#define EE_NUM_VIRTUAL_ADDR 64U
|
||||
#define EEW_ADDR(i) ((uint16_t)(0x0001U + (uint16_t)(i))) // i = 0..63
|
||||
|
||||
|
||||
#define M1PWMAP 0 //m1pwmap
|
||||
#define M1PWMCH 1 //m1pwmch
|
||||
#define M2PWMAP 2 //m2pwmap
|
||||
#define M2PWMCH 3 //m2pwmch
|
||||
#define M3PWMAP 4 //m3pwmap
|
||||
#define M3PWMCH 5 //m3pwmch
|
||||
#define M4PWMAP 6 //m4pwmap
|
||||
#define M4PWMCH 7 //m4pwmch
|
||||
#define M1RAMPSTART 8 //m1rampstart
|
||||
#define M2RAMPSTART 9 //m2rampstart
|
||||
#define M3RAMPSTART 10 //m3rampstart
|
||||
#define M4RAMPSTART 11 //m4rampstart
|
||||
#define T1AP 12 //t1ap
|
||||
#define T2AP 13 //t2ap
|
||||
#define T3AP 14 //t3ap
|
||||
#define T4AP 15 //t4ap
|
||||
#define TWAP 16 //twap
|
||||
#define T1CH 17 //t1ch
|
||||
#define T2CH 18 //t2ch
|
||||
#define T3CH 19 //t3ch
|
||||
#define T4CH 20 //t4ch
|
||||
#define TWCH 21 //twch
|
||||
|
||||
#define TRAMP1 25 //tramp1
|
||||
#define M1PWMMAN 26 //m1pwmMan
|
||||
#define M2PWMMAN 27 //m2pwmMan
|
||||
#define M3PWMMAN 28 //m3pwmMan
|
||||
#define M4PWMMAN 29 //m4pwmMan
|
||||
#define TRAMPMAN 30 //trampman
|
||||
#define TRAMP 31 //tramp
|
||||
|
||||
#define APM1START 32 //apM1start;
|
||||
#define APM1STOP 33 //apM1stop;
|
||||
#define APM2START 34 //apM2start;
|
||||
#define APM2STOP 35 //apM2stop;
|
||||
#define APM3START 36 //apM3start;
|
||||
#define APM3STOP 37 //apM3stop;
|
||||
#define APM4START 38 //apM4start;
|
||||
#define APM4STOP 39 //apM4stop;
|
||||
#define CHM1START 40 //chM1start;
|
||||
#define CHM1STOP 41 //chM1stop;
|
||||
#define CHM2START 42 //chM2start;
|
||||
#define CHM2STOP 43 //chM2stop;
|
||||
#define CHM3START 44 //chM3start;
|
||||
#define CHM3STOP 45 //chM3stop;
|
||||
#define CHM4START 46 //chM4start;
|
||||
#define CHM4STOP 47 //chM4stop;
|
||||
|
||||
|
||||
/* Virtual address table (defined in eeprom.c, can be customized) */
|
||||
extern const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR];
|
||||
|
||||
/* Public API – now using uint16_t like ST examples */
|
||||
uint16_t EE_Init(void);
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data);
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
|
||||
void loadEE(void);
|
||||
/* Pseudo-array accessor EEW[idx] */
|
||||
static inline uint16_t EEW_Read(uint8_t idx, uint16_t *value)
|
||||
{
|
||||
return EE_ReadVariable(EEW_ADDR(idx), value);
|
||||
}
|
||||
|
||||
static inline uint16_t EEW_Write(uint8_t idx, uint16_t value)
|
||||
{
|
||||
return EE_WriteVariable(EEW_ADDR(idx), value);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __EEPROM_H */
|
||||
@@ -1,481 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,322 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,978 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t t1ch;
|
||||
uint16_t t2ch;
|
||||
uint16_t t3ch;
|
||||
uint16_t t4ch;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
}else{
|
||||
if(stPulsanti&P1START)stPulsanti&=(~P1START);
|
||||
else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
// else if(stPulsanti&M1FW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM1fw1;
|
||||
// }else if(stPulsanti&M1BW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM1bw1;
|
||||
// }else if(stPulsanti&M2FW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM2fw1;
|
||||
// }else if(stPulsanti&M2BW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM2bw1;
|
||||
// }else if(stPulsanti&M3FW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM3fw1;
|
||||
// }else if(stPulsanti&M3BW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM3bw1;
|
||||
// }else if(stPulsanti&M4FW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM4fw1;
|
||||
// }else if(stPulsanti&M4BW){
|
||||
// stBuz=bzmoving;
|
||||
// (void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
// stCiclo=omM4bw1;
|
||||
// }
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
rtCiclo=0;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,340 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
#include "debug.h"
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=mem1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
debug(s);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,961 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
}else{
|
||||
if(stPulsanti&P1START)stPulsanti&=(~P1START);
|
||||
else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,331 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -432,6 +432,13 @@ void loadEE(void){
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
|
||||
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
@@ -472,6 +479,13 @@ void loadEE(void){
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,477 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,481 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,469 +0,0 @@
|
||||
#include "eeprom.h"
|
||||
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,apM1start);
|
||||
EEW_Read(APM1STOP ,apM1stop);
|
||||
EEW_Read(APM2START,apM2start);
|
||||
EEW_Read(APM2STOP ,apM2stop);
|
||||
EEW_Read(APM3START,apM3start);
|
||||
EEW_Read(APM3STOP ,apM3stop);
|
||||
EEW_Read(APM4START,apM4start);
|
||||
EEW_Read(APM4STOP ,apM4stop);
|
||||
EEW_Read(CHM1START,chM1start);
|
||||
EEW_Read(CHM1STOP ,chM1stop);
|
||||
EEW_Read(CHM2START,chM2start);
|
||||
EEW_Read(CHM2STOP ,chM2stop);
|
||||
EEW_Read(CHM3START,chM3start);
|
||||
EEW_Read(CHM3STOP ,chM3stop);
|
||||
EEW_Read(CHM4START,chM4start);
|
||||
EEW_Read(CHM4STOP ,chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
while (CDC_Transmit_FS(s, 6) == USBD_BUSY);
|
||||
}
|
||||
@@ -0,0 +1,289 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d",percStart+delta);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,288 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,283 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=percStart=tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,480 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,283 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=percStart=tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(mrampstart[mot-1]>percEnd){
|
||||
delta=mrampstart[mot-1]-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]-delta);
|
||||
return RUNNING;
|
||||
}else if(mrampstart[mot-1]<percEnd){
|
||||
delta=percEnd-mrampstart[mot-1];
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]+delta);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,968 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
//HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
else{
|
||||
if(rtP1&0x40)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}else{
|
||||
if(stPulsanti&P1START){
|
||||
stPulsanti&=(~P1START);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,6 +1,7 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
@@ -432,16 +433,18 @@ void loadEE(void){
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
|
||||
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
@@ -477,6 +480,13 @@ void loadEE(void){
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,968 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
//HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
else{
|
||||
if(rtP1&4)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}else{
|
||||
if(stPulsanti&P1START){
|
||||
stPulsanti&=(~P1START);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,229 +0,0 @@
|
||||
#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;
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
extern const uint8_t deftab[];
|
||||
extern omCiclo_st stCiclo;
|
||||
extern omCiclo_st memstCiclo;
|
||||
extern uint8_t stPulsanti;
|
||||
|
||||
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,"info\n");
|
||||
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 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);
|
||||
sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
|
||||
while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
|
||||
break;
|
||||
case 'I':
|
||||
sprintf((char*)s,"\nID000000");
|
||||
while (CDC_Transmit_FS(s, 9) == 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++){
|
||||
st=EEW_Read(i, &val);
|
||||
if (st == EE_OK){
|
||||
sprintf((char*)s,"\n0x%02x=%5d ",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);
|
||||
}
|
||||
}
|
||||
if((i%4)==0){
|
||||
sprintf((char*)s,"\n");
|
||||
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 if(rxbuf[1]=='x'){
|
||||
if(rxidx==2){
|
||||
for(i=0;i<64;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone 0x%02x=0x%04x",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
|
||||
}
|
||||
loadEE();
|
||||
}else{
|
||||
sprintf((char*)s,"\n?ex");
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}else{
|
||||
sprintf((char*)s,"\n?er|w|d|x");
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,283 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,333 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,480 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,470 +0,0 @@
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [100];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,apM1start);
|
||||
EEW_Read(APM1STOP ,apM1stop);
|
||||
EEW_Read(APM2START,apM2start);
|
||||
EEW_Read(APM2STOP ,apM2stop);
|
||||
EEW_Read(APM3START,apM3start);
|
||||
EEW_Read(APM3STOP ,apM3stop);
|
||||
EEW_Read(APM4START,apM4start);
|
||||
EEW_Read(APM4STOP ,apM4stop);
|
||||
EEW_Read(CHM1START,chM1start);
|
||||
EEW_Read(CHM1STOP ,chM1stop);
|
||||
EEW_Read(CHM2START,chM2start);
|
||||
EEW_Read(CHM2STOP ,chM2stop);
|
||||
EEW_Read(CHM3START,chM3start);
|
||||
EEW_Read(CHM3STOP ,chM3stop);
|
||||
EEW_Read(CHM4START,chM4start);
|
||||
EEW_Read(CHM4STOP ,chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
@@ -1,962 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
}else{
|
||||
if(stPulsanti&P1START)stPulsanti&=(~P1START);
|
||||
else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,961 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t t1ch;
|
||||
uint16_t t2ch;
|
||||
uint16_t t3ch;
|
||||
uint16_t t4ch;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
}else{
|
||||
if(stPulsanti&P1START)stPulsanti&=(~P1START);
|
||||
else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,968 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else if(stBuz==bzwarning){
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
//HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
else{
|
||||
if(rtP1&0x10)HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}else{
|
||||
if(stPulsanti&P1START){
|
||||
stPulsanti&=(~P1START);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,229 +0,0 @@
|
||||
#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;
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
extern const uint16_t deftab[];
|
||||
extern omCiclo_st stCiclo;
|
||||
extern omCiclo_st memstCiclo;
|
||||
extern uint8_t stPulsanti;
|
||||
|
||||
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,"info\n");
|
||||
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 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);
|
||||
sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
|
||||
while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
|
||||
break;
|
||||
case 'I':
|
||||
sprintf((char*)s,"\nID000000");
|
||||
while (CDC_Transmit_FS(s, 9) == 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++){
|
||||
st=EEW_Read(i, &val);
|
||||
if (st == EE_OK){
|
||||
sprintf((char*)s,"\n0x%02x=%5d ",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);
|
||||
}
|
||||
}
|
||||
if((i%4)==0){
|
||||
sprintf((char*)s,"\n");
|
||||
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 if(rxbuf[1]=='x'){
|
||||
if(rxidx==2){
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
|
||||
}
|
||||
loadEE();
|
||||
}else{
|
||||
sprintf((char*)s,"\n?ex");
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}else{
|
||||
sprintf((char*)s,"\n?er|w|d|x");
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,231 +0,0 @@
|
||||
#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"
|
||||
#include <stdbool.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;
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
extern const uint16_t deftab[];
|
||||
extern omCiclo_st stCiclo;
|
||||
extern omCiclo_st memstCiclo;
|
||||
extern uint8_t stPulsanti;
|
||||
extern bool nobuz;
|
||||
|
||||
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,"info\n");
|
||||
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 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);
|
||||
sprintf((char*)s,"\nstCiclo=%05d stPulsanti=%05d",stCiclo,stPulsanti);
|
||||
while (CDC_Transmit_FS(s, 31) == USBD_BUSY);
|
||||
break;
|
||||
case 'I':
|
||||
sprintf((char*)s,"\nID000000");
|
||||
while (CDC_Transmit_FS(s, 9) == 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++){
|
||||
st=EEW_Read(i, &val);
|
||||
if (st == EE_OK){
|
||||
sprintf((char*)s,"\n0x%02x=%5d ",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);
|
||||
}
|
||||
}
|
||||
if((i%4)==0){
|
||||
sprintf((char*)s,"\n");
|
||||
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 if(rxbuf[1]=='x'){
|
||||
if(rxidx==2){
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
|
||||
}
|
||||
loadEE();
|
||||
}else{
|
||||
sprintf((char*)s,"\n?ex");
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}else{
|
||||
sprintf((char*)s,"\n?er|w|d|x");
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,472 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [100];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,apM1start);
|
||||
EEW_Read(APM1STOP ,apM1stop);
|
||||
EEW_Read(APM2START,apM2start);
|
||||
EEW_Read(APM2STOP ,apM2stop);
|
||||
EEW_Read(APM3START,apM3start);
|
||||
EEW_Read(APM3STOP ,apM3stop);
|
||||
EEW_Read(APM4START,apM4start);
|
||||
EEW_Read(APM4STOP ,apM4stop);
|
||||
EEW_Read(CHM1START,chM1start);
|
||||
EEW_Read(CHM1STOP ,chM1stop);
|
||||
EEW_Read(CHM2START,chM2start);
|
||||
EEW_Read(CHM2STOP ,chM2stop);
|
||||
EEW_Read(CHM3START,chM3start);
|
||||
EEW_Read(CHM3STOP ,chM3stop);
|
||||
EEW_Read(CHM4START,chM4start);
|
||||
EEW_Read(CHM4STOP ,chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
@@ -1,13 +0,0 @@
|
||||
/*
|
||||
* mot.h
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#ifndef SRC_MOT_H_
|
||||
#define SRC_MOT_H_
|
||||
|
||||
|
||||
|
||||
#endif /* SRC_MOT_H_ */
|
||||
@@ -1,343 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,482 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeouMan,m2TimeoutMan,m3timeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,342 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=mem1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,472 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [100];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
@@ -1,330 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -0,0 +1,289 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint16_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d",percStart+delta);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,475 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
0, //apM1start;
|
||||
0, //apM1stop;
|
||||
0, //apM2start;
|
||||
0, //apM2stop;
|
||||
0, //apM3start;
|
||||
0, //apM3stop;
|
||||
0, //apM4start;
|
||||
0, //apM4stop;
|
||||
0, //chM1start;
|
||||
0, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
0, //chM3start;
|
||||
0, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwma, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,8 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
@@ -1,481 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t t1ap;
|
||||
extern uint16_t t2ap;
|
||||
extern uint16_t t3ap;
|
||||
extern uint16_t t4ap;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint8_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
28, //t1ap
|
||||
4, //t2ap
|
||||
10, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
0, //chM2start;
|
||||
0, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
0, //chM4start;
|
||||
0, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
EEW_Read(T1AP, &t1ap);
|
||||
EEW_Read(T2AP, &t2ap);
|
||||
EEW_Read(T3AP, &t3ap);
|
||||
EEW_Read(T4AP, &t4ap);
|
||||
EEW_Read(TWAP, &twap);
|
||||
EEW_Read(T1CH, &t1ch);
|
||||
EEW_Read(T2CH, &t2ch);
|
||||
EEW_Read(T3CH, &t3ch);
|
||||
EEW_Read(T4CH, &t4ch);
|
||||
EEW_Read(TWCH, &twch);
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
|
||||
}
|
||||
@@ -1,396 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ap=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ap=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ap=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ch=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ch=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ch=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ch=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,978 +0,0 @@
|
||||
/* 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"
|
||||
#include "debug.h"
|
||||
#include "mot.h"
|
||||
#include <stdbool.h>
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
bzwarning,
|
||||
}stBuz_st;
|
||||
|
||||
|
||||
/* 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[];
|
||||
extern uint16_t ch4 ;
|
||||
extern uint16_t ch5 ;
|
||||
extern uint16_t ch6 ;
|
||||
extern uint16_t ch7 ;
|
||||
extern uint16_t ch8 ;
|
||||
|
||||
uint8_t pulsanti=0;
|
||||
volatile uint8_t rtP1=200;
|
||||
volatile uint8_t rtP2=200;
|
||||
volatile uint8_t rtTLC=100;
|
||||
volatile uint16_t rtramp[4];
|
||||
volatile uint16_t rtCiclo;
|
||||
uint16_t m1pwmap;
|
||||
uint16_t m1pwmch;
|
||||
uint16_t m2pwmap;
|
||||
uint16_t m2pwmch;
|
||||
uint16_t m3pwmap;
|
||||
uint16_t m3pwmch;
|
||||
uint16_t m4pwmap;
|
||||
uint16_t m4pwmch;
|
||||
uint16_t t1ap;
|
||||
uint16_t t2ap;
|
||||
uint16_t t3ap;
|
||||
uint16_t t4ap;
|
||||
uint16_t twap;
|
||||
uint16_t m1TimeoutMan;
|
||||
uint16_t m2TimeoutMan;
|
||||
uint16_t m3TimeoutMan;
|
||||
uint16_t m4TimeoutMan;
|
||||
uint16_t twch;
|
||||
uint16_t tramp;
|
||||
uint16_t tramp1;
|
||||
uint16_t trampman;
|
||||
uint16_t m1pwmMan;
|
||||
uint16_t m2pwmMan;
|
||||
uint16_t m3pwmMan;
|
||||
uint16_t m4pwmMan;
|
||||
|
||||
uint16_t apM1start;
|
||||
uint16_t apM1stop;
|
||||
uint16_t apM2start;
|
||||
uint16_t apM2stop;
|
||||
uint16_t apM3start;
|
||||
uint16_t apM3stop;
|
||||
uint16_t apM4start;
|
||||
uint16_t apM4stop;
|
||||
uint16_t chM1start;
|
||||
uint16_t chM1stop;
|
||||
uint16_t chM2start;
|
||||
uint16_t chM2stop;
|
||||
uint16_t chM3start;
|
||||
uint16_t chM3stop;
|
||||
uint16_t chM4start;
|
||||
uint16_t chM4stop;
|
||||
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint16_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=omchiuso;
|
||||
omCiclo_st memstCiclo=omchiuso;
|
||||
volatile stBuz_st stBuz=bzoff;
|
||||
bool nobuz=false;
|
||||
/* 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];
|
||||
uint8_t i;
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
if(rtTLC)rtTLC--;
|
||||
//**** legge i tasti********************************************************************************
|
||||
inidx++;
|
||||
inidx&=0x03;
|
||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||
if(HAL_GPIO_ReadPin(CH1_GPIO_Port, CH1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH1;else inbuf[inidx]&=(~INCH1);
|
||||
if(HAL_GPIO_ReadPin(CH2_GPIO_Port, CH2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH2;else inbuf[inidx]&=(~INCH2);
|
||||
if(HAL_GPIO_ReadPin(CH3_GPIO_Port, CH3_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH3;else inbuf[inidx]&=(~INCH3);
|
||||
if(HAL_GPIO_ReadPin(CH4_GPIO_Port, CH4_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INCH4;else inbuf[inidx]&=(~INCH4);
|
||||
|
||||
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
|
||||
for(i=0;i<4;i++){
|
||||
if(rtramp[i])rtramp[i]--;
|
||||
}
|
||||
if(rtCiclo<0xffff)rtCiclo++;
|
||||
|
||||
//**** gestione buzzer *****************************************************************************
|
||||
if(stBuz==bzmoving){
|
||||
if(nobuz){
|
||||
if(c1s>=5)HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
}else{
|
||||
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
}else if(stBuz==bzwarning){
|
||||
if(nobuz){
|
||||
if(c1s&2)HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_SET);
|
||||
}else{
|
||||
if(c1s&2)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
}else{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 1 s
|
||||
c1s = 0;
|
||||
//HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void managePulsanti(void){
|
||||
if(pulsanti&INP1){
|
||||
if(rtP1==0)stPulsanti|=P1START;
|
||||
else{
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_SET);
|
||||
}
|
||||
}else{
|
||||
if(stPulsanti&P1START){
|
||||
stPulsanti&=(~P1START);
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}else if(rtP1<=190){
|
||||
stPulsanti|=P1STOP;
|
||||
HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
rtP1=200;
|
||||
}
|
||||
if(pulsanti&INP2){
|
||||
if(rtP2==0)stPulsanti|=P2START;
|
||||
}else{
|
||||
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||
else if(rtP2<=190)stPulsanti|=P2STOP;
|
||||
rtP2=200;
|
||||
}
|
||||
stPulsanti&=(P1START|P1STOP|P2START|P2STOP);
|
||||
if(stPulsanti==0){
|
||||
switch(pulsanti&0x3c){
|
||||
case 0x00:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
case 0x08://tlc1
|
||||
if(rtTLC==0)stPulsanti|=M1FW;
|
||||
break;
|
||||
case 0x10://tlc2
|
||||
if(rtTLC==0)stPulsanti|=M1BW;
|
||||
break;
|
||||
case 0x20://tlc3
|
||||
if(rtTLC==0)stPulsanti|=M3FW;
|
||||
break;
|
||||
case 0x04://tlc4
|
||||
if(rtTLC==0)stPulsanti|=M3BW;
|
||||
break;
|
||||
case 0x30://tlc5
|
||||
if(rtTLC==0)stPulsanti|=M4FW;
|
||||
break;
|
||||
case 0x0c://tlc6
|
||||
if(rtTLC==0)stPulsanti|=M4BW;
|
||||
break;
|
||||
default:
|
||||
rtTLC=100;
|
||||
stPulsanti&=(!(M1FW|M1BW|M3FW|M3BW|M4FW|M4BW));
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
motMov_st m1,m2,m3,m4;
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzwarning;
|
||||
rtCiclo=0;
|
||||
stCiclo=omapertura0;
|
||||
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
|
||||
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omM1fw1:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1fw2;
|
||||
break;
|
||||
case omM1fw2:
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM1bw1:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM1bw2;
|
||||
break;
|
||||
case omM1bw2:
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2fw1:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2fw2;
|
||||
break;
|
||||
case omM2fw2:
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM2bw1:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM2bw2;
|
||||
break;
|
||||
case omM2bw2:
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3fw1:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3fw2;
|
||||
break;
|
||||
case omM3fw2:
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM3bw1:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM3bw2;
|
||||
break;
|
||||
case omM3bw2:
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4fw1:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4fw2;
|
||||
break;
|
||||
case omM4fw2:
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omM4bw1:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti==0)stCiclo=omM4bw2;
|
||||
break;
|
||||
case omM4bw2:
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
|
||||
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
|
||||
if(pulsanti)stCiclo=omStopMan;
|
||||
break;
|
||||
case omStopMan:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
break;
|
||||
case omapertura0:
|
||||
if(rtCiclo>=30){//doppo 3 secondi
|
||||
stBuz=bzmoving;
|
||||
m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
|
||||
if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
case omaperto:
|
||||
rtCiclo=0;
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
else if(stPulsanti&M1FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1fw1;
|
||||
}else if(stPulsanti&M1BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM1bw1;
|
||||
}else if(stPulsanti&M2FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2fw1;
|
||||
}else if(stPulsanti&M2BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM2bw1;
|
||||
}else if(stPulsanti&M3FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3fw1;
|
||||
}else if(stPulsanti&M3BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM3bw1;
|
||||
}else if(stPulsanti&M4FW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4fw1;
|
||||
}else if(stPulsanti&M4BW){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
|
||||
stCiclo=omM4bw1;
|
||||
}
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(rtCiclo>=10){//doppo 1 secondi
|
||||
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
}
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
|
||||
case omstopchiusura:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M4,FW,0);
|
||||
if(pulsanti==0){
|
||||
stBuz=bzoff;
|
||||
stCiclo=omaperto;
|
||||
stPulsanti&=(~P1STOP);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 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
|
||||
}
|
||||
loadEE();
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
debug();
|
||||
// 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_MUL6;
|
||||
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 */
|
||||
@@ -1,342 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(43,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -38,7 +38,7 @@
|
||||
<item key="ignoreCase" value="true"/>
|
||||
<item key="isRegExSearch" value="false"/>
|
||||
<item key="isWholeWord" value="false"/>
|
||||
<item key="textPattern" value="bool"/>
|
||||
<item key="textPattern" value="rtramp"/>
|
||||
<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="deftab"/>
|
||||
<item key="textPattern" value="mrampstart"/>
|
||||
<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="rtCiclo"/>
|
||||
<item key="textPattern" value="M1PWMAP"/>
|
||||
<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="tramp1"/>
|
||||
<item key="textPattern" value="chM3start"/>
|
||||
<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="t4ch"/>
|
||||
<item key="textPattern" value="cm3start"/>
|
||||
<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="bzmoving"/>
|
||||
<item key="textPattern" value="chM1start"/>
|
||||
<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="rtciclo--"/>
|
||||
<item key="textPattern" value="m1ch"/>
|
||||
<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="trampman"/>
|
||||
<item key="textPattern" value="bool"/>
|
||||
<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="rtramp"/>
|
||||
<item key="textPattern" value="deftab"/>
|
||||
<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="tramp"/>
|
||||
<item key="textPattern" value="rtCiclo"/>
|
||||
<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="tramp="/>
|
||||
<item key="textPattern" value="tramp1"/>
|
||||
<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="loadee"/>
|
||||
<item key="textPattern" value="t4ch"/>
|
||||
<item key="scope" value="0"/>
|
||||
<list key="fileNamePatterns">
|
||||
<item value="*"/>
|
||||
|
||||
Reference in New Issue
Block a user