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This commit is contained in:
andrea
2025-12-06 23:49:34 +01:00
parent 0471607dd4
commit 9fd653ebcc
258 changed files with 161631 additions and 69041 deletions
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14
workspace/AUTOM10/Core/Inc/cdc_int.h Normal file
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@@ -0,0 +1,14 @@
/*
* cdc_int.h
*
* Created on: Dec 6, 2025
* Author: user
*/
#ifndef INC_CDC_INT_H_
#define INC_CDC_INT_H_
void manageCDC(void);
#endif /* INC_CDC_INT_H_ */

62
workspace/AUTOM10/Core/Inc/main.h
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@@ -59,6 +59,68 @@ void Error_Handler(void);
/* 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 */

36
workspace/AUTOM10/Core/Inc/pwm.h Normal file
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@@ -0,0 +1,36 @@
/*
* 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);
#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_ */

2
workspace/AUTOM10/Core/Inc/stm32f1xx_hal_conf.h
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@@ -65,7 +65,7 @@
/*#define HAL_SPI_MODULE_ENABLED */
/*#define HAL_SRAM_MODULE_ENABLED */
#define HAL_TIM_MODULE_ENABLED
/*#define HAL_UART_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/*#define HAL_USART_MODULE_ENABLED */
/*#define HAL_WWDG_MODULE_ENABLED */

94
workspace/AUTOM10/Core/Src/cdc_int.c Normal file
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@@ -0,0 +1,94 @@
#include <string.h>
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "stm32f1xx_hal.h"
#include "pwm.h"
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
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;
if (CDC_Available()) {
int rx = CDC_ReadByte();
if (rx < 0) return;
//uint8_t out = (uint8_t)c;
//if (out >= 'a' && out <= 'z') out -= 32; // to upper
rxbuf[rxidx]=rx;
while (CDC_Transmit_FS(&rxbuf[rxidx], 1) == USBD_BUSY);//echo
if((rx==0x0d)||(rx==0x0a)){
if(rxidx){
switch(rxbuf[0]){
case 'i':
sprintf((char*)s,"\ninfo");
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
sprintf((char*)s,"\npwm %d%d%d%d%d%d%d%d",IsPwmRunning(timMot1,FWMot1),IsPwmRunning(timMot1,BWMot1),IsPwmRunning(timMot2,FWMot2),IsPwmRunning(timMot2,BWMot2),IsPwmRunning(timMot3,FWMot3),IsPwmRunning(timMot3,BWMot3),IsPwmRunning(timMot4,FWMot4),IsPwmRunning(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
__HAL_TIM_GET_COMPARE(&htim3, TIM_CHANNEL_1);
sprintf((char*)s,"\n0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx 0x%lx",(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,FWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot1,BWMot1),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,FWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot2,BWMot2),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,FWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot3,BWMot3),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,FWMot4),(uint32_t)__HAL_TIM_GET_COMPARE(timMot4,BWMot4));
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
break;
case 'm':
if(rxidx==8){
if((rxbuf[1]>='1')&&(rxbuf[1]<='4')){
mot=rxbuf[1]-='0';
if(rxbuf[2]=='f'){
dir=FW;
}else if(rxbuf[2]=='b'){
dir=BW;
}else{
sprintf((char*)s,"\n?mnsvvvvv s=f|b");//m nmotore senso valore
while (CDC_Transmit_FS(s, 16) == USBD_BUSY);
break;
}
if(((rxbuf[3]>='0')&&(rxbuf[3]<='9'))&&((rxbuf[4]>='0')&&(rxbuf[4]<='9'))&&((rxbuf[5]>='0')&&(rxbuf[5]<='9'))&&((rxbuf[6]>='0')&&(rxbuf[6]<='9'))&&((rxbuf[7]>='0')&&(rxbuf[7]<='9'))){
dm=rxbuf[3]-='0';
m=rxbuf[4]-='0';
c=rxbuf[5]-='0';
d=rxbuf[6]-='0';
u=rxbuf[7]-='0';
val=dm;
val*=10;
val+=m;
val*=10;
val+=c;
val*=10;
val+=d;
val*=10;
val+=u;
SetMot(mot,dir,val);
}else{
sprintf((char*)s,"\n?mnsvvvvv 00000>=vvvvv<=99999");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv 1>=m<=4");//m nmotore senso valore
while (CDC_Transmit_FS(s, 19) == USBD_BUSY);
}
}else{
sprintf((char*)s,"\n?mnsvvvvv");//m nmotore senso valore
while (CDC_Transmit_FS(s, 10) == USBD_BUSY);
}
break;
default:
sprintf((char*)s,"\n?");
while (CDC_Transmit_FS(s, 2) == USBD_BUSY);
break;
}
}
rxidx=0;
}else rxidx++;
// tiny spin or yield
}
}

300
workspace/AUTOM10/Core/Src/main.c
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@@ -1,4 +1,3 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
@@ -24,6 +23,9 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "pwm.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -44,13 +46,16 @@
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -58,9 +63,8 @@ void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_TIM3_Init(void);
static void MX_ADC1_Init(void);
static void MX_TIM1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -118,47 +122,37 @@ int main(void)
MX_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_TIM3_Init();
MX_ADC1_Init();
MX_TIM1_Init();
// HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
// HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
// HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
// HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
// HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
// HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
// HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
while (CDC_Available()) {
int c = CDC_ReadByte();
manageCDC();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
unsigned char s[100];
sprintf((char*)s,"\nc=%03d",c);
while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// tiny spin or yield
}
}
// 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);
@@ -263,91 +257,6 @@ static void MX_ADC1_Init(void)
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 17999;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 2400;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 5500;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6500;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief TIM2 Initialization Function
* @param None
@@ -424,80 +333,6 @@ static void MX_TIM2_Init(void)
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 17999;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 9000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 10000;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 11000;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 12000;
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/**
* @brief TIM4 Initialization Function
* @param None
@@ -572,6 +407,39 @@ static void MX_TIM4_Init(void)
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
@@ -591,15 +459,55 @@ static void MX_GPIO_Init(void)
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
/*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 */

137
workspace/AUTOM10/Core/Src/pwm.c Normal file
View File

@@ -0,0 +1,137 @@
/*
* 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;
}
}

195
workspace/AUTOM10/Core/Src/stm32f1xx_hal_msp.c
View File

@@ -59,7 +59,7 @@
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
@@ -74,9 +74,9 @@ void HAL_MspInit(void)
/* System interrupt init*/
/** DISABLE: JTAG-DP Disabled and SW-DP Disabled
/** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
*/
__HAL_AFIO_REMAP_SWJ_DISABLE();
__HAL_AFIO_REMAP_SWJ_NOJTAG();
/* USER CODE BEGIN MspInit 1 */
@@ -101,14 +101,22 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**ADC1 GPIO Configuration
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PA7 ------> ADC1_IN7
PB0 ------> ADC1_IN8
*/
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
GPIO_InitStruct.Pin = AIN1_Pin|AIN2_Pin|AIN3_Pin|AIN4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = ANEM_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(ANEM_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
@@ -136,8 +144,13 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
/**ADC1 GPIO Configuration
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PA7 ------> ADC1_IN7
PB0 ------> ADC1_IN8
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_4|GPIO_PIN_5);
HAL_GPIO_DeInit(GPIOA, AIN1_Pin|AIN2_Pin|AIN3_Pin|AIN4_Pin);
HAL_GPIO_DeInit(ANEM_GPIO_Port, ANEM_Pin);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
@@ -154,18 +167,7 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM2)
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
@@ -176,17 +178,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
@@ -204,32 +195,11 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
PA10 ------> TIM1_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
else if(htim->Instance==TIM2)
if(htim->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA0-WKUP ------> TIM2_CH1
@@ -237,7 +207,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
PA2 ------> TIM2_CH3
PA3 ------> TIM2_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Pin = IN1_Pin|IN2_Pin|IN3_Pin|IN4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -246,34 +216,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
/* USER CODE END TIM2_MspPostInit 1 */
}
else if(htim->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PA6 ------> TIM3_CH1
PA7 ------> TIM3_CH2
PB0 ------> TIM3_CH3
PB1 ------> TIM3_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspPostInit 1 */
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(htim->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspPostInit 0 */
@@ -287,7 +229,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
PB8 ------> TIM4_CH3
PB9 ------> TIM4_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Pin = IN5_Pin|IN6_Pin|IN7_Pin|IN8_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -306,18 +248,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(htim_base->Instance==TIM2)
if(htim_base->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
@@ -328,17 +259,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(htim_base->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(htim_base->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
@@ -353,6 +273,75 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */