wip
This commit is contained in:
andrea
@@ -0,0 +1,871 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "usb_device.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "usbd_cdc_if.h"
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#include "cdc_int.h"
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#include "eeprom.h"
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#include "pwm.h"
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#include "adc.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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typedef enum{
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omchiuso,
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omapertura1,
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omapertura2,
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omapertura3,
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omapertura4,
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omapertura5,
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omapertura6,
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omapertura7,
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omapertura8,
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omapertura9,
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omapertura10,
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omapertura11,
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omapertura12,
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omapertura13,
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omapertura14,
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omstopapertura,
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omaperto,
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omchiusura1,
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omchiusura2,
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omchiusura3,
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omchiusura4,
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omchiusura5,
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omchiusura6,
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omstopchiusura,
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}omCiclo_st;
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typedef enum{
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bzoff,
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bzmoving,
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}stBuz_st;
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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#define P1START 0x01
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#define P1STOP 0x02
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#define P2START 0x04
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#define P2STOP 0x08
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#define M1 1
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#define M2 2
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#define M3 3
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#define M4 4
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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ADC_HandleTypeDef hadc1;
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DMA_HandleTypeDef hdma_adc1;
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TIM_HandleTypeDef htim2;
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TIM_HandleTypeDef htim4;
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UART_HandleTypeDef huart1;
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/* USER CODE BEGIN PV */
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extern volatile uint16_t adc_dma_buf[];
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extern uint16_t ch4 ;
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extern uint16_t ch5 ;
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extern uint16_t ch6 ;
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extern uint16_t ch7 ;
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extern uint16_t ch8 ;
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uint8_t pulsanti=0;
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volatile uint8_t rtP1=0;
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volatile uint8_t rtP2=0;
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volatile uint16_t rtramp[4];
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volatile uint16_t rtCiclo;
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uint16_t m1pwmap;
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uint16_t m1pwmch;
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uint16_t m2pwmap;
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uint16_t m2pwmch;
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uint16_t m3pwmap;
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uint16_t m3pwmch;
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uint16_t m4pwmap;
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uint16_t m4pwmch;
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uint16_t t1ap;
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uint16_t t2ap;
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uint16_t t3ap;
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uint16_t t4ap;
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uint16_t twap;
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uint16_t tramp;
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uint16_t mrampstart[4];
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uint8_t stPulsanti=0;
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omCiclo_st stCiclo=omchiuso;
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volatile stBuz_st stBuz=bzoff;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_DMA_Init(void);
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static void MX_TIM2_Init(void);
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static void MX_TIM4_Init(void);
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static void MX_ADC1_Init(void);
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static void MX_USART1_UART_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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void HAL_SYSTICK_Callback(void){
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static unsigned char c10ms = 0;
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static uint8_t c100ms = 0;
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static uint8_t c1s = 0;
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static uint8_t inidx=0;
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static uint8_t inbuf[4];
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uint8_t i;
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if (++c10ms >= 10) { // 10 ms
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c10ms = 0;
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if(rtP1)rtP1--;
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if(rtP2)rtP2--;
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//**** legge i tasti********************************************************************************
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inidx++;
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inidx&=0x03;
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if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
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if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
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pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
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pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
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//**** legge adc ***********************************************************************************
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readAdc();
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if (++c100ms >= 10) { // 10 ms
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c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
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for(i=0;i<4;i++){
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if(rtramp[i])rtramp[i]--;
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}
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//**** gestione buzzer *****************************************************************************
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if(stBuz==bzmoving){
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if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
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}else{//bzoff
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HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
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}
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//**************************************************************************************************
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if (++c1s >= 10) { // 10 ms
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c1s = 0;
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if(rtCiclo)rtCiclo--;
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HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
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}
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}
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}
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}
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void managePulsanti(void){
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if(pulsanti&INP1){
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if(rtP1==0)stPulsanti|=P1START;
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}else{
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if(stPulsanti&P1START)stPulsanti&=(~P1START);
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else if(rtP1<=190){
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stPulsanti|=P1STOP;
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}
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rtP1=200;
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}
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if(pulsanti&INP2){
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if(rtP2==0)stPulsanti|=P2START;
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}else{
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if(stPulsanti&P2START)stPulsanti&=(~P2START);
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else if(rtP2<=190)stPulsanti|=P2STOP;
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rtP2=200;
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}
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}
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void manageCiclo(void){
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switch(stCiclo){
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case omchiuso:
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if(stPulsanti&P1START){
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stBuz=bzmoving;
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(void)ramp(M2,BW,mrampstart(M2-1),m2pwmap,tramp,RAMPINIT);
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stCiclo=omapertura1;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura1:
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if(ramp(M2,BW,mrampstart(M2-1),m2pwmap,tramp,RAMPRUN)==DONE){
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rtCiclo=t1ap;
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stCiclo=omapertura1;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura2:
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if(rtCiclo==0){
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(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
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stCiclo=omapertura3;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura3:
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if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
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rtCiclo=twap;
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stCiclo=omapertura4;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura4:
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if(rtCiclo==0){
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(void)ramp(M1,FW,mrampstart(M1-1),m1pwmap,tramp,RAMPINIT);
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stCiclo=omapertura5;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura5:
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if(ramp(M1,FW,mrampstart(M1-1),m1pwmap,tramp,RAMPRUN)==DONE){
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rtCiclo=t2ap;
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stCiclo=omapertura6;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura6:
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if(rtCiclo==0){
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(void)ramp(M3,FW,mrampstart(M3-1),m3pwmap,tramp,RAMPINIT);
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stCiclo=omapertura7;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura7:
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if(ramp(M3,FW,mrampstart(M3-1),m3pwmap,tramp,RAMPRUN)==DONE){
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rtCiclo=t3ap;
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stCiclo=omapertura8;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura8:
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if(rtCiclo==0){
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(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
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(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
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stCiclo=omapertura9;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura9:
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if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
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rtCiclo=twap;
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stCiclo=omapertura10;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura10:
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if(rtCiclo==0){
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(void)ramp(M4,FW,mrampstart(M4-1),m4pwmap,tramp,RAMPINIT);
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stCiclo=omapertura11;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura11:
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if(ramp(M4,FW,mrampstart(M4-1),m4pwmap,tramp,RAMPRUN)==DONE){
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rtCiclo=t4ap;
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stCiclo=omapertura12;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura12:
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if(rtCiclo==0){
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(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
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stCiclo=omapertura13;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura13:
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if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
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rtCiclo=twap;
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stCiclo=omapertura14;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omapertura14:
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if(rtCiclo==0){
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stBuz=bzoff;
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stCiclo=omaperto;
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}
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if(stPulsanti&P1STOP)stCiclo=omstopapertura;
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break;
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case omstopapertura:
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SetMotPerc(M1,FW,0);
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SetMotPerc(M2,FW,0);
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SetMotPerc(M3,FW,0);
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SetMotPerc(M4,FW,0);
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stBuz=bzoff;
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stCiclo=omchiuso;
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stPulsanti&=(~P1STOP);
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break;
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case omaperto:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
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break;
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case omchiusura1:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
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break;
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case omchiusura2:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
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break;
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case omchiusura3:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
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break;
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||||
case omchiusura4:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
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break;
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||||
case omchiusura5:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
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break;
|
||||
case omchiusura6:
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if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
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break;
|
||||
case omstopchiusura:
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||||
stBuz=bzoff;
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||||
stCiclo=omaperto;
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||||
stPulsanti&=(~P1STOP);
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||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,750 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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];
|
||||
|
||||
if (++c10ms >= 10) { // 10 ms
|
||||
c10ms = 0;
|
||||
if(rtP1)rtP1--;
|
||||
if(rtP2)rtP2--;
|
||||
|
||||
//**** 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);
|
||||
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
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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
|
||||
}
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
// 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 */
|
||||
@@ -0,0 +1,222 @@
|
||||
#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[];
|
||||
|
||||
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);
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,225 @@
|
||||
#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;
|
||||
|
||||
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);
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,113 @@
|
||||
/*
|
||||
* 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 32U
|
||||
#define EEW_ADDR(i) (uint16_t)(0x0001 + (i)) // i = 0..31
|
||||
|
||||
|
||||
#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 TRAMP 31 //tramp
|
||||
|
||||
|
||||
/* 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);
|
||||
|
||||
/* 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 */
|
||||
@@ -0,0 +1,159 @@
|
||||
/* 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,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omapertura7,
|
||||
omapertura8,
|
||||
omapertura9,
|
||||
omapertura10,
|
||||
omapertura11,
|
||||
omapertura12,
|
||||
omapertura13,
|
||||
omapertura14,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
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
|
||||
/* USER CODE END Private defines */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __MAIN_H */
|
||||
@@ -0,0 +1,771 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
volatile uint16_t rtramp[4];
|
||||
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 tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,37 @@
|
||||
/*
|
||||
* pwm.h
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#ifndef INC_PWM_H_
|
||||
#define INC_PWM_H_
|
||||
#include <stdbool.h>
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval);
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc);
|
||||
|
||||
#define timMot1 &htim2
|
||||
#define FWMot1 TIM_CHANNEL_1
|
||||
#define BWMot1 TIM_CHANNEL_2
|
||||
|
||||
#define timMot2 &htim2
|
||||
#define FWMot2 TIM_CHANNEL_3
|
||||
#define BWMot2 TIM_CHANNEL_4
|
||||
|
||||
#define timMot3 &htim4
|
||||
#define FWMot3 TIM_CHANNEL_1
|
||||
#define BWMot3 TIM_CHANNEL_2
|
||||
|
||||
#define timMot4 &htim4
|
||||
#define FWMot4 TIM_CHANNEL_3
|
||||
#define BWMot4 TIM_CHANNEL_4
|
||||
|
||||
#define FW 0
|
||||
#define BW 1
|
||||
|
||||
#endif /* INC_PWM_H_ */
|
||||
@@ -0,0 +1,113 @@
|
||||
/*
|
||||
* 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 32U
|
||||
#define EEW_ADDR(i) (uint16_t)(0x0001 + (i)) // i = 0..31
|
||||
|
||||
|
||||
#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 TRAMP 31 //tramp
|
||||
|
||||
|
||||
/* 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 */
|
||||
@@ -0,0 +1,770 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
volatile uint16_t rtramp[4];
|
||||
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 tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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
|
||||
}
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
// 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 */
|
||||
@@ -0,0 +1,282 @@
|
||||
/*
|
||||
* 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;
|
||||
|
||||
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 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,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;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -0,0 +1,229 @@
|
||||
#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;
|
||||
|
||||
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
|
||||
if(memstCiclo!=stCiclo){
|
||||
memstCiclo=stCiclo;
|
||||
sprintf((char*)s,"\nstCiclo=%05d",stCiclo);
|
||||
while (CDC_Transmit_FS(s, 13) == USBD_BUSY);
|
||||
}
|
||||
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);
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,355 @@
|
||||
#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;
|
||||
|
||||
const uint8_t deftab[32]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
50, //m2pwmap
|
||||
50, //m2pwmch
|
||||
40, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
26, //t1ap
|
||||
2, //t2ap
|
||||
8, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0, //tramp
|
||||
};
|
||||
|
||||
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
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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){
|
||||
|
||||
}
|
||||
@@ -0,0 +1,871 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omapertura7,
|
||||
omapertura8,
|
||||
omapertura9,
|
||||
omapertura10,
|
||||
omapertura11,
|
||||
omapertura12,
|
||||
omapertura13,
|
||||
omapertura14,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
#define M1 1
|
||||
#define M2 2
|
||||
#define M3 3
|
||||
#define M4 4
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
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 tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
c1s = 0;
|
||||
if(rtCiclo)rtCiclo--;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t1ap;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M1,FW,mrampstart(M1-1),m1pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ap;
|
||||
stCiclo=omapertura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura7:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ap;
|
||||
stCiclo=omapertura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura9:
|
||||
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura11:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t4ap;
|
||||
stCiclo=omapertura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura12:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura13;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura13:
|
||||
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura14;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura14:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,227 @@
|
||||
#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;
|
||||
|
||||
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",stCiclo);
|
||||
while (CDC_Transmit_FS(s, 13) == 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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,770 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
volatile uint16_t rtramp[4];
|
||||
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 tramp
|
||||
|
||||
uintm_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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
|
||||
}
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
// 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 */
|
||||
@@ -0,0 +1,871 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omapertura7,
|
||||
omapertura8,
|
||||
omapertura9,
|
||||
omapertura10,
|
||||
omapertura11,
|
||||
omapertura12,
|
||||
omapertura13,
|
||||
omapertura14,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
#define M1 1
|
||||
#define M2 2
|
||||
#define M3 3
|
||||
#define M4 4
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
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 tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
c1s = 0;
|
||||
if(rtCiclo)rtCiclo--;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t1ap;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ap;
|
||||
stCiclo=omapertura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura7:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ap;
|
||||
stCiclo=omapertura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura9:
|
||||
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura11:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t4ap;
|
||||
stCiclo=omapertura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura12:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura13;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura13:
|
||||
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura14;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura14:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,244 @@
|
||||
/*
|
||||
* 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;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,755 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
volatile uint8_t rtramp[4];
|
||||
uint8_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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
|
||||
}
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
// 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 */
|
||||
@@ -0,0 +1,43 @@
|
||||
/*
|
||||
* pwm.h
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#ifndef INC_PWM_H_
|
||||
#define INC_PWM_H_
|
||||
#include <stdbool.h>
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval);
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc);
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percEnd,uint8_t tr,uint8_t mode);
|
||||
|
||||
#define timMot1 &htim2
|
||||
#define FWMot1 TIM_CHANNEL_1
|
||||
#define BWMot1 TIM_CHANNEL_2
|
||||
|
||||
#define timMot2 &htim2
|
||||
#define FWMot2 TIM_CHANNEL_3
|
||||
#define BWMot2 TIM_CHANNEL_4
|
||||
|
||||
#define timMot3 &htim4
|
||||
#define FWMot3 TIM_CHANNEL_1
|
||||
#define BWMot3 TIM_CHANNEL_2
|
||||
|
||||
#define timMot4 &htim4
|
||||
#define FWMot4 TIM_CHANNEL_3
|
||||
#define BWMot4 TIM_CHANNEL_4
|
||||
|
||||
#define FW 0
|
||||
#define BW 1
|
||||
|
||||
#define RAMPINIT 0
|
||||
|
||||
#define DONE 0
|
||||
#define RUNNING 1
|
||||
|
||||
#endif /* INC_PWM_H_ */
|
||||
@@ -0,0 +1,336 @@
|
||||
#include "eeprom.h"
|
||||
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
const uint8_t deftab[32]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
50, //m2pwmap
|
||||
50, //m2pwmch
|
||||
40, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
26, //t1ap
|
||||
2, //t2ap
|
||||
8, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
};
|
||||
|
||||
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
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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;
|
||||
}
|
||||
@@ -0,0 +1,227 @@
|
||||
#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;
|
||||
|
||||
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",stCiclo);
|
||||
while (CDC_Transmit_FS(s, 14) == 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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,230 @@
|
||||
#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;
|
||||
|
||||
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()) {
|
||||
if(memstCiclo!=stCiclo){
|
||||
memstCiclo=stCiclo;
|
||||
sprintf((char*)s,"\nstCiclo=%05d",stCiclo);
|
||||
while (CDC_Transmit_FS(s, 13) == USBD_BUSY);
|
||||
}
|
||||
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);
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,368 @@
|
||||
#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;
|
||||
|
||||
const uint8_t deftab[32]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
50, //m2pwmap
|
||||
50, //m2pwmch
|
||||
40, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
26, //t1ap
|
||||
2, //t2ap
|
||||
8, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
10, //tramp
|
||||
};
|
||||
|
||||
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
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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(TRAMP, &tramp);
|
||||
}
|
||||
@@ -0,0 +1,336 @@
|
||||
#include "eeprom.h"
|
||||
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
const uint8_t deftab[32]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
50, //m2pwmap
|
||||
50, //m2pwmch
|
||||
40, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
26, //t1ap
|
||||
2, //t2ap
|
||||
8, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0, //tramp
|
||||
};
|
||||
|
||||
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
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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;
|
||||
}
|
||||
@@ -0,0 +1,928 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
#define M1 1
|
||||
#define M2 2
|
||||
#define M3 3
|
||||
#define M4 4
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
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 twch;
|
||||
uint16_t tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
c1s = 0;
|
||||
if(rtCiclo)rtCiclo--;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t1ap;
|
||||
stCiclo=omapertura2;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ap;
|
||||
stCiclo=omapertura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura7:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ap;
|
||||
stCiclo=omapertura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura9:
|
||||
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura11:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t4ap;
|
||||
stCiclo=omapertura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura12:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura13;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura13:
|
||||
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura14;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura14:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if((ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=t1ch;
|
||||
stCiclo=omchiusura2;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twch;
|
||||
stCiclo=omchiusura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ch;
|
||||
stCiclo=omchiusura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura7:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twch;
|
||||
stCiclo=omchiusura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura9:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ch;
|
||||
stCiclo=omchiusura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
|
||||
stCiclo=omchiusura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura11:
|
||||
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twch;
|
||||
stCiclo=omchiusura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura12:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,227 @@
|
||||
#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;
|
||||
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 +1,847 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
#define M1 1
|
||||
#define M2 2
|
||||
#define M3 3
|
||||
#define M4 4
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
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 tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
c1s = 0;
|
||||
if(rtCiclo)rtCiclo--;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t1ap;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ap;
|
||||
stCiclo=omapertura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura7:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ap;
|
||||
stCiclo=omapertura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura9:
|
||||
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura11:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t4ap;
|
||||
stCiclo=omapertura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura12:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura13;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura13:
|
||||
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura14;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura14:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,847 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
#define M1 1
|
||||
#define M2 2
|
||||
#define M3 3
|
||||
#define M4 4
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
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 tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
c1s = 0;
|
||||
if(rtCiclo)rtCiclo--;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t1ap;
|
||||
stCiclo=omapertura2;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ap;
|
||||
stCiclo=omapertura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura7:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ap;
|
||||
stCiclo=omapertura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura9:
|
||||
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura11:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t4ap;
|
||||
stCiclo=omapertura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura12:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura13;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura13:
|
||||
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura14;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura14:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,770 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
typedef enum{
|
||||
omchiuso,
|
||||
omapertura1,
|
||||
omapertura2,
|
||||
omapertura3,
|
||||
omapertura4,
|
||||
omapertura5,
|
||||
omapertura6,
|
||||
omstopapertura,
|
||||
omaperto,
|
||||
omchiusura1,
|
||||
omchiusura2,
|
||||
omchiusura3,
|
||||
omchiusura4,
|
||||
omchiusura5,
|
||||
omchiusura6,
|
||||
omstopchiusura,
|
||||
}omCiclo_st;
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
volatile uint16_t rtramp[4];
|
||||
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 tramp;
|
||||
|
||||
uintm_t mrampstart[4];
|
||||
uint8_t stPulsanti=0;
|
||||
omCiclo_st stCiclo=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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omstopapertura:
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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
|
||||
}
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Infinite loop */
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1){
|
||||
manageCDC();
|
||||
manageAdc();
|
||||
managePulsanti();
|
||||
manageCiclo();
|
||||
// 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 */
|
||||
@@ -0,0 +1,38 @@
|
||||
/*
|
||||
* pwm.h
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#ifndef INC_PWM_H_
|
||||
#define INC_PWM_H_
|
||||
#include <stdbool.h>
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval);
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc);
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percEnd,uint8_t tr,uint8_t mode);
|
||||
|
||||
#define timMot1 &htim2
|
||||
#define FWMot1 TIM_CHANNEL_1
|
||||
#define BWMot1 TIM_CHANNEL_2
|
||||
|
||||
#define timMot2 &htim2
|
||||
#define FWMot2 TIM_CHANNEL_3
|
||||
#define BWMot2 TIM_CHANNEL_4
|
||||
|
||||
#define timMot3 &htim4
|
||||
#define FWMot3 TIM_CHANNEL_1
|
||||
#define BWMot3 TIM_CHANNEL_2
|
||||
|
||||
#define timMot4 &htim4
|
||||
#define FWMot4 TIM_CHANNEL_3
|
||||
#define BWMot4 TIM_CHANNEL_4
|
||||
|
||||
#define FW 0
|
||||
#define BW 1
|
||||
|
||||
#endif /* INC_PWM_H_ */
|
||||
@@ -0,0 +1,230 @@
|
||||
#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;
|
||||
|
||||
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()) {
|
||||
if(memstCiclo!=stCiclo){
|
||||
memstCiclo=stCiclo;
|
||||
sprintf((char*)s,"\nstCiclo=%05d",stCiclo);
|
||||
while (CDC_Transmit_FS(s, 13) == USBD_BUSY);
|
||||
}
|
||||
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);
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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 uint8_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 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,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;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -0,0 +1,851 @@
|
||||
/* USER CODE BEGIN Header */
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file : main.c
|
||||
* @brief : Main program body
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* Copyright (c) 2025 STMicroelectronics.
|
||||
* All rights reserved.
|
||||
*
|
||||
* This software is licensed under terms that can be found in the LICENSE file
|
||||
* in the root directory of this software component.
|
||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* USER CODE END Header */
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "main.h"
|
||||
#include "usb_device.h"
|
||||
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "usbd_cdc_if.h"
|
||||
#include "cdc_int.h"
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
#include "adc.h"
|
||||
/* USER CODE END Includes */
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PTD */
|
||||
|
||||
typedef enum{
|
||||
bzoff,
|
||||
bzmoving,
|
||||
}stBuz_st;
|
||||
/* USER CODE END PTD */
|
||||
|
||||
/* Private define ------------------------------------------------------------*/
|
||||
/* USER CODE BEGIN PD */
|
||||
#define P1START 0x01
|
||||
#define P1STOP 0x02
|
||||
#define P2START 0x04
|
||||
#define P2STOP 0x08
|
||||
#define M1 1
|
||||
#define M2 2
|
||||
#define M3 3
|
||||
#define M4 4
|
||||
|
||||
/* 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=0;
|
||||
volatile uint8_t rtP2=0;
|
||||
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 twch;
|
||||
uint16_t tramp;
|
||||
|
||||
uint16_t mrampstart[4];
|
||||
uint8_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--;
|
||||
|
||||
//**** 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);
|
||||
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]--;
|
||||
}
|
||||
//**** 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{//bzoff
|
||||
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
|
||||
}
|
||||
//**************************************************************************************************
|
||||
if (++c1s >= 10) { // 10 ms
|
||||
c1s = 0;
|
||||
if(rtCiclo)rtCiclo--;
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
void manageCiclo(void){
|
||||
switch(stCiclo){
|
||||
case omchiuso:
|
||||
if(stPulsanti&P1START){
|
||||
stBuz=bzmoving;
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura1;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura1:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t1ap;
|
||||
stCiclo=omapertura2;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura2:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura3;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura3:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura4;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura4:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura5;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura5:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t2ap;
|
||||
stCiclo=omapertura6;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura6:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura7;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura7:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t3ap;
|
||||
stCiclo=omapertura8;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura8:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura9;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura9:
|
||||
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura10;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura10:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
|
||||
stCiclo=omapertura11;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura11:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=t4ap;
|
||||
stCiclo=omapertura12;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura12:
|
||||
if(rtCiclo==0){
|
||||
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
|
||||
stCiclo=omapertura13;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura13:
|
||||
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
rtCiclo=twap;
|
||||
stCiclo=omapertura14;
|
||||
}
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
|
||||
break;
|
||||
case omapertura14:
|
||||
if(rtCiclo==0){
|
||||
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);
|
||||
stBuz=bzoff;
|
||||
stCiclo=omchiuso;
|
||||
stPulsanti&=(~P1STOP);
|
||||
break;
|
||||
case omaperto:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura1:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura2:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura3:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura4:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura5:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omchiusura6:
|
||||
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
|
||||
break;
|
||||
case omstopchiusura:
|
||||
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();
|
||||
// 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 */
|
||||
@@ -0,0 +1,368 @@
|
||||
#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;
|
||||
|
||||
const uint8_t deftab[32]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
50, //m2pwmap
|
||||
50, //m2pwmch
|
||||
40, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
26, //t1ap
|
||||
2, //t2ap
|
||||
8, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0, //tramp
|
||||
};
|
||||
|
||||
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
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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(TRAMP, &tramp);
|
||||
}
|
||||
@@ -0,0 +1,355 @@
|
||||
#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
|
||||
|
||||
const uint8_t deftab[32]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
50, //m2pwmap
|
||||
50, //m2pwmch
|
||||
40, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
26, //t1ap
|
||||
2, //t2ap
|
||||
8, //t3ap
|
||||
40, //t4ap
|
||||
1, //twap
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0, //tramp
|
||||
};
|
||||
|
||||
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
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- 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){
|
||||
|
||||
}
|
||||
@@ -0,0 +1,44 @@
|
||||
/*
|
||||
* pwm.h
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#ifndef INC_PWM_H_
|
||||
#define INC_PWM_H_
|
||||
#include <stdbool.h>
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel);;
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval);
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc);
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percEnd,uint8_t tr,uint8_t mode);
|
||||
|
||||
#define timMot1 &htim2
|
||||
#define FWMot1 TIM_CHANNEL_1
|
||||
#define BWMot1 TIM_CHANNEL_2
|
||||
|
||||
#define timMot2 &htim2
|
||||
#define FWMot2 TIM_CHANNEL_3
|
||||
#define BWMot2 TIM_CHANNEL_4
|
||||
|
||||
#define timMot3 &htim4
|
||||
#define FWMot3 TIM_CHANNEL_1
|
||||
#define BWMot3 TIM_CHANNEL_2
|
||||
|
||||
#define timMot4 &htim4
|
||||
#define FWMot4 TIM_CHANNEL_3
|
||||
#define BWMot4 TIM_CHANNEL_4
|
||||
|
||||
#define FW 0
|
||||
#define BW 1
|
||||
|
||||
#define RAMPINIT 0
|
||||
#define RAMPRUN 10
|
||||
|
||||
#define DONE 0
|
||||
#define RUNNING 1
|
||||
|
||||
#endif /* INC_PWM_H_ */
|
||||
@@ -0,0 +1,230 @@
|
||||
#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;
|
||||
|
||||
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()) {
|
||||
// if(memstCiclo!=stCiclo){
|
||||
// memstCiclo=stCiclo;
|
||||
// sprintf((char*)s,"\nstCiclo=%05d",stCiclo);
|
||||
// while (CDC_Transmit_FS(s, 13) == USBD_BUSY);
|
||||
// }
|
||||
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);
|
||||
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,"0x%02x=0x%04x ",i,val);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}else{
|
||||
sprintf((char*)s,"rderr %d ",st);
|
||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||
}
|
||||
}
|
||||
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<32;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);
|
||||
|
||||
}
|
||||
}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
|
||||
}
|
||||
|
||||
}
|
||||
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Reference in New Issue
Block a user