gestione ciclo
This commit is contained in:
andrea
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280057
workspace/.metadata/.ide.log
280057
workspace/.metadata/.ide.log
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Load Diff
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workspace/.metadata/.ide.log-2025-12-24.log
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12899
workspace/.metadata/.ide.log-2025-12-24.log
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Load Diff
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workspace/.metadata/.ide.log-2026-03-07.log
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workspace/.metadata/.ide.log-2026-03-07.log
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56
workspace/.metadata/.ide.log-2026-04-12.log
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workspace/.metadata/.ide.log-2026-04-12.log
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@@ -0,0 +1,56 @@
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2026-04-14 07:55:53,761 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:53,917 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:54,260 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:54,262 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:54,481 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:54,481 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:54,681 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:54,681 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:54,864 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:54,864 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,078 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,078 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,185 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,185 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,294 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,296 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,399 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,399 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,491 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,493 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,583 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,583 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,683 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,884 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,886 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:55,980 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:55,980 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:56,102 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,328 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,426 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,428 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:56,509 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,614 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,614 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:56,674 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,674 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:56,734 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:56,734 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:56,797 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-14 07:55:57,058 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-14 07:55:57,120 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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workspace/.metadata/.ide.log-2026-04-13.log
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workspace/.metadata/.ide.log-2026-04-13.log
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@@ -0,0 +1,60 @@
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2026-04-13 04:30:36,588 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:36,656 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:36,756 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:36,885 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:36,922 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:36,922 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:36,954 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:36,954 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:37,002 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:37,041 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:37,041 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:37,078 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:37,078 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:37,124 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:37,171 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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2026-04-13 04:30:37,171 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT]
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2026-04-13 04:30:37,213 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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||||||
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2026-04-13 04:30:37,709 [ERROR] LogOutputStream:75 - [STDERR_REDIRECT] [Fatal Error] :1:1: Premature end of file.
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File diff suppressed because it is too large
Load Diff
@@ -13,3 +13,7 @@
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*** SESSION dic 08, 2025 13:49:44.543 ------------------------------------------
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*** SESSION dic 08, 2025 13:49:44.543 ------------------------------------------
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*** SESSION dic 24, 2025 16:22:32.878 ------------------------------------------
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*** SESSION dic 24, 2025 16:22:32.878 ------------------------------------------
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||||||
*** SESSION dic 24, 2025 18:17:23.377 ------------------------------------------
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*** SESSION dic 24, 2025 18:17:23.377 ------------------------------------------
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||||||
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*** SESSION dic 24, 2025 23:43:28.279 ------------------------------------------
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||||||
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*** SESSION mar 07, 2026 09:31:21.846 ------------------------------------------
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||||||
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*** SESSION mar 07, 2026 09:55:51.295 ------------------------------------------
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*** SESSION apr 12, 2026 22:09:33.269 ------------------------------------------
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|||||||
Binary file not shown.
@@ -0,0 +1,3 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<section name="Workbench">
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</section>
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@@ -1,17 +1,19 @@
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|||||||
19:34:52 **** Incremental Build of configuration Debug for project AUTOM10 ****
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11:50:42 **** Incremental Build of configuration Debug for project AUTOM10 ****
|
||||||
make -j12 all
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make -j12 all
|
||||||
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
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arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
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||||||
|
arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o"
|
||||||
|
arm-none-eabi-gcc "../Core/Src/pwm.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pwm.d" -MT"Core/Src/pwm.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pwm.o"
|
||||||
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
|
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
|
||||||
Finished building target: AUTOM10.elf
|
Finished building target: AUTOM10.elf
|
||||||
|
|
||||||
arm-none-eabi-size AUTOM10.elf
|
arm-none-eabi-size AUTOM10.elf
|
||||||
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
|
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
|
||||||
text data bss dec hex filename
|
text data bss dec hex filename
|
||||||
48792 464 7248 56504 dcb8 AUTOM10.elf
|
49908 464 7248 57620 e114 AUTOM10.elf
|
||||||
Finished building: default.size.stdout
|
Finished building: default.size.stdout
|
||||||
|
|
||||||
Finished building: AUTOM10.list
|
Finished building: AUTOM10.list
|
||||||
|
|
||||||
|
|
||||||
19:34:58 Build Finished. 0 errors, 0 warnings. (took 5s.556ms)
|
11:50:43 Build Finished. 0 errors, 0 warnings. (took 865ms)
|
||||||
|
|
||||||
|
|||||||
@@ -33,4 +33,8 @@
|
|||||||
<item key="DIALOG_HEIGHT" value="480"/>
|
<item key="DIALOG_HEIGHT" value="480"/>
|
||||||
<item key="DIALOG_FONT_NAME" value="1|Segoe UI|9.0|0|WINDOWS|1|-15|0|0|0|400|0|0|0|1|0|0|0|0|Segoe UI"/>
|
<item key="DIALOG_FONT_NAME" value="1|Segoe UI|9.0|0|WINDOWS|1|-15|0|0|0|400|0|0|0|1|0|0|0|0|Segoe UI"/>
|
||||||
</section>
|
</section>
|
||||||
|
<section name="org.eclipse.cdt.ui.text.hover.CMacroExpansionExploration.internal">
|
||||||
|
<item key="size.width" value="595"/>
|
||||||
|
<item key="size.height" value="180"/>
|
||||||
|
</section>
|
||||||
</section>
|
</section>
|
||||||
|
|||||||
@@ -1,48 +1,15 @@
|
|||||||
16:32:16 **** Incremental Build of configuration Debug for project AUTOM10 ****
|
11:50:42 **** Incremental Build of configuration Debug for project AUTOM10 ****
|
||||||
make -j12 all
|
make -j12 all
|
||||||
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
|
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
|
||||||
|
arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o"
|
||||||
|
arm-none-eabi-gcc "../Core/Src/pwm.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pwm.d" -MT"Core/Src/pwm.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pwm.o"
|
||||||
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
|
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
|
||||||
Finished building target: AUTOM10.elf
|
Finished building target: AUTOM10.elf
|
||||||
|
|
||||||
arm-none-eabi-size AUTOM10.elf
|
arm-none-eabi-size AUTOM10.elf
|
||||||
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
|
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
|
||||||
text data bss dec hex filename
|
text data bss dec hex filename
|
||||||
48788 464 7248 56500 dcb4 AUTOM10.elf
|
49908 464 7248 57620 e114 AUTOM10.elf
|
||||||
Finished building: default.size.stdout
|
|
||||||
|
|
||||||
Finished building: AUTOM10.list
|
|
||||||
|
|
||||||
16:33:18 **** Incremental Build of configuration Debug for project AUTOM10 ****
|
|
||||||
make -j12 all
|
|
||||||
arm-none-eabi-size AUTOM10.elf
|
|
||||||
text data bss dec hex filename
|
|
||||||
48788 464 7248 56500 dcb4 AUTOM10.elf
|
|
||||||
Finished building: default.size.stdout
|
|
||||||
|
|
||||||
16:34:44 **** Incremental Build of configuration Debug for project AUTOM10 ****
|
|
||||||
make -j12 all
|
|
||||||
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
|
|
||||||
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
|
|
||||||
Finished building target: AUTOM10.elf
|
|
||||||
|
|
||||||
arm-none-eabi-size AUTOM10.elf
|
|
||||||
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
|
|
||||||
text data bss dec hex filename
|
|
||||||
48788 464 7248 56500 dcb4 AUTOM10.elf
|
|
||||||
Finished building: default.size.stdout
|
|
||||||
|
|
||||||
Finished building: AUTOM10.list
|
|
||||||
|
|
||||||
19:34:52 **** Incremental Build of configuration Debug for project AUTOM10 ****
|
|
||||||
make -j12 all
|
|
||||||
arm-none-eabi-gcc "../Core/Src/cdc_int.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/cdc_int.d" -MT"Core/Src/cdc_int.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/cdc_int.o"
|
|
||||||
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
|
|
||||||
Finished building target: AUTOM10.elf
|
|
||||||
|
|
||||||
arm-none-eabi-size AUTOM10.elf
|
|
||||||
arm-none-eabi-objdump -h -S AUTOM10.elf > "AUTOM10.list"
|
|
||||||
text data bss dec hex filename
|
|
||||||
48792 464 7248 56504 dcb8 AUTOM10.elf
|
|
||||||
Finished building: default.size.stdout
|
Finished building: default.size.stdout
|
||||||
|
|
||||||
Finished building: AUTOM10.list
|
Finished building: AUTOM10.list
|
||||||
|
|||||||
@@ -0,0 +1,724 @@
|
|||||||
|
/* 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,
|
||||||
|
omaperto,
|
||||||
|
omchiusura1,
|
||||||
|
omchiusura2,
|
||||||
|
omchiusura3,
|
||||||
|
omchiusura4,
|
||||||
|
omchiusura5,
|
||||||
|
omchiusura6,
|
||||||
|
omstop,
|
||||||
|
}omciclo_st;
|
||||||
|
typedef enum{
|
||||||
|
bzoff,
|
||||||
|
bz moving,
|
||||||
|
}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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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{
|
||||||
|
stPulsanti&=(~P1START);
|
||||||
|
if(rtP1<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
stPulsanti&=(~P2START);
|
||||||
|
if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case omapertura1:
|
||||||
|
break;
|
||||||
|
case omapertura2:
|
||||||
|
break;
|
||||||
|
case omapertura3:
|
||||||
|
break;
|
||||||
|
case omapertura4:
|
||||||
|
break;
|
||||||
|
case omapertura5:
|
||||||
|
break;
|
||||||
|
case omapertura6:
|
||||||
|
break;
|
||||||
|
case omaperto:
|
||||||
|
break;
|
||||||
|
case omchiusura1:
|
||||||
|
break;
|
||||||
|
case omchiusura2:
|
||||||
|
break;
|
||||||
|
case omchiusura3:
|
||||||
|
break;
|
||||||
|
case omchiusura4:
|
||||||
|
break;
|
||||||
|
case omchiusura5:
|
||||||
|
break;
|
||||||
|
case omchiusura6:
|
||||||
|
break;
|
||||||
|
case omstop:
|
||||||
|
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 +1,223 @@
|
|||||||
|
#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);
|
||||||
|
sprintf((char*)s,"\n");
|
||||||
|
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 +1,746 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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{
|
||||||
|
stPulsanti&=(~P1START);
|
||||||
|
if(rtP1<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
stPulsanti&=(~P2START);
|
||||||
|
if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
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 +1,336 @@
|
|||||||
|
#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
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
0,
|
||||||
|
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 +1,628 @@
|
|||||||
|
/* USER CODE BEGIN Header */
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file : main.c
|
||||||
|
* @brief : Main program body
|
||||||
|
******************************************************************************
|
||||||
|
* @attention
|
||||||
|
*
|
||||||
|
* Copyright (c) 2025 STMicroelectronics.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* This software is licensed under terms that can be found in the LICENSE file
|
||||||
|
* in the root directory of this software component.
|
||||||
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||||
|
*
|
||||||
|
******************************************************************************
|
||||||
|
*/
|
||||||
|
/* USER CODE END Header */
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
#include "main.h"
|
||||||
|
#include "usb_device.h"
|
||||||
|
|
||||||
|
/* Private includes ----------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN Includes */
|
||||||
|
#include "usbd_cdc_if.h"
|
||||||
|
#include "cdc_int.h"
|
||||||
|
#include "eeprom.h"
|
||||||
|
#include "pwm.h"
|
||||||
|
#include "adc.h"
|
||||||
|
/* USER CODE END Includes */
|
||||||
|
|
||||||
|
/* Private typedef -----------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN PTD */
|
||||||
|
|
||||||
|
/* USER CODE END PTD */
|
||||||
|
|
||||||
|
/* Private define ------------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN PD */
|
||||||
|
|
||||||
|
/* USER CODE END PD */
|
||||||
|
|
||||||
|
/* Private macro -------------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN PM */
|
||||||
|
|
||||||
|
/* USER CODE END PM */
|
||||||
|
|
||||||
|
/* Private variables ---------------------------------------------------------*/
|
||||||
|
ADC_HandleTypeDef hadc1;
|
||||||
|
DMA_HandleTypeDef hdma_adc1;
|
||||||
|
|
||||||
|
TIM_HandleTypeDef htim2;
|
||||||
|
TIM_HandleTypeDef htim4;
|
||||||
|
|
||||||
|
UART_HandleTypeDef huart1;
|
||||||
|
|
||||||
|
/* USER CODE BEGIN PV */
|
||||||
|
|
||||||
|
extern volatile uint16_t adc_dma_buf[];
|
||||||
|
extern uint16_t ch4 ;
|
||||||
|
extern uint16_t ch5 ;
|
||||||
|
extern uint16_t ch6 ;
|
||||||
|
extern uint16_t ch7 ;
|
||||||
|
extern uint16_t ch8 ;
|
||||||
|
|
||||||
|
uint8_t pulsanti=0;
|
||||||
|
/* USER CODE END PV */
|
||||||
|
|
||||||
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
|
void SystemClock_Config(void);
|
||||||
|
static void MX_GPIO_Init(void);
|
||||||
|
static void MX_DMA_Init(void);
|
||||||
|
static void MX_TIM2_Init(void);
|
||||||
|
static void MX_TIM4_Init(void);
|
||||||
|
static void MX_ADC1_Init(void);
|
||||||
|
static void MX_USART1_UART_Init(void);
|
||||||
|
/* USER CODE BEGIN PFP */
|
||||||
|
|
||||||
|
/* USER CODE END PFP */
|
||||||
|
|
||||||
|
/* Private user code ---------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN 0 */
|
||||||
|
void HAL_SYSTICK_Callback(void){
|
||||||
|
static unsigned char c10ms = 0;
|
||||||
|
static uint8_t c100ms = 0;
|
||||||
|
static uint8_t c1s = 0;
|
||||||
|
static uint8_t inidx=0;
|
||||||
|
static uint8_t inbuf[4];
|
||||||
|
|
||||||
|
if (++c10ms >= 10) { // 10 ms
|
||||||
|
c10ms = 0;
|
||||||
|
//**** legge i tasti********************************************************************************
|
||||||
|
inidx++;
|
||||||
|
inidx&=0x03;
|
||||||
|
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
||||||
|
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
||||||
|
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
|
||||||
|
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
|
||||||
|
//**** legge adc ***********************************************************************************
|
||||||
|
readAdc();
|
||||||
|
if (++c100ms >= 10) { // 10 ms
|
||||||
|
|
||||||
|
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
|
||||||
|
if (++c1s >= 10) { // 10 ms
|
||||||
|
c1s = 0;
|
||||||
|
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* USER CODE END 0 */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief The application entry point.
|
||||||
|
* @retval int
|
||||||
|
*/
|
||||||
|
int main(void)
|
||||||
|
{
|
||||||
|
|
||||||
|
/* USER CODE BEGIN 1 */
|
||||||
|
|
||||||
|
/* USER CODE END 1 */
|
||||||
|
|
||||||
|
/* MCU Configuration--------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||||
|
HAL_Init();
|
||||||
|
|
||||||
|
/* USER CODE BEGIN Init */
|
||||||
|
|
||||||
|
/* USER CODE END Init */
|
||||||
|
|
||||||
|
/* Configure the system clock */
|
||||||
|
SystemClock_Config();
|
||||||
|
|
||||||
|
/* USER CODE BEGIN SysInit */
|
||||||
|
|
||||||
|
/* USER CODE END SysInit */
|
||||||
|
|
||||||
|
/* Initialize all configured peripherals */
|
||||||
|
MX_GPIO_Init();
|
||||||
|
MX_DMA_Init();
|
||||||
|
MX_USB_DEVICE_Init();
|
||||||
|
MX_TIM2_Init();
|
||||||
|
MX_TIM4_Init();
|
||||||
|
MX_ADC1_Init();
|
||||||
|
MX_USART1_UART_Init();
|
||||||
|
/* USER CODE BEGIN 2 */
|
||||||
|
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
|
||||||
|
StopMot(timMot1,FWMot1);
|
||||||
|
StopMot(timMot1,BWMot1);
|
||||||
|
StopMot(timMot2,FWMot2);
|
||||||
|
StopMot(timMot2,BWMot2);
|
||||||
|
StopMot(timMot3,FWMot3);
|
||||||
|
StopMot(timMot3,BWMot3);
|
||||||
|
StopMot(timMot4,FWMot4);
|
||||||
|
StopMot(timMot4,BWMot4);
|
||||||
|
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
|
||||||
|
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
|
||||||
|
if (EE_Init() != EE_OK){
|
||||||
|
for(;;);//errore eeprom
|
||||||
|
}
|
||||||
|
/* USER CODE END 2 */
|
||||||
|
|
||||||
|
/* Infinite loop */
|
||||||
|
/* USER CODE BEGIN WHILE */
|
||||||
|
while (1){
|
||||||
|
manageCDC();
|
||||||
|
manageAdc();
|
||||||
|
// while (CDC_Available()) {
|
||||||
|
// int c = CDC_ReadByte();
|
||||||
|
//if (c < 0) break;
|
||||||
|
|
||||||
|
// uint8_t out = (uint8_t)c;
|
||||||
|
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
|
||||||
|
|
||||||
|
// unsigned char s[100];
|
||||||
|
// sprintf((char*)s,"\nc=%03d",c);
|
||||||
|
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
|
||||||
|
// // tiny spin or yield
|
||||||
|
// }
|
||||||
|
// }
|
||||||
|
|
||||||
|
//HAL_Delay(1000);
|
||||||
|
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
|
||||||
|
/* USER CODE END WHILE */
|
||||||
|
|
||||||
|
/* USER CODE BEGIN 3 */
|
||||||
|
}
|
||||||
|
/* USER CODE END 3 */
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief System Clock Configuration
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void SystemClock_Config(void)
|
||||||
|
{
|
||||||
|
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||||
|
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||||
|
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
|
||||||
|
|
||||||
|
/** Initializes the RCC Oscillators according to the specified parameters
|
||||||
|
* in the RCC_OscInitTypeDef structure.
|
||||||
|
*/
|
||||||
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
||||||
|
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||||||
|
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
|
||||||
|
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||||
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||||
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||||||
|
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_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 +1,747 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||||
|
else if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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 +1,750 @@
|
|||||||
|
/* 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<=180){
|
||||||
|
stPulsanti|=P1STOP;
|
||||||
|
}
|
||||||
|
rtP1=200;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||||
|
else if(rtP2<=180)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 +1,749 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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<20){
|
||||||
|
stPulsanti|=P1STOP;
|
||||||
|
}
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||||
|
else if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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 +1,740 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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{
|
||||||
|
stPulsanti&=(~P1START);
|
||||||
|
if(rtP1<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
stPulsanti&=(~P2START);
|
||||||
|
if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
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:
|
||||||
|
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:
|
||||||
|
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 +1,746 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||||
|
else if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
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 +1,746 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||||
|
else if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
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 +1,724 @@
|
|||||||
|
/* 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,
|
||||||
|
omaperto,
|
||||||
|
omchiusura1,
|
||||||
|
omchiusura2,
|
||||||
|
omchiusura3,
|
||||||
|
omchiusura4,
|
||||||
|
omchiusura5,
|
||||||
|
omchiusura6,
|
||||||
|
omstop,
|
||||||
|
}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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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{
|
||||||
|
stPulsanti&=(~P1START);
|
||||||
|
if(rtP1<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
stPulsanti&=(~P2START);
|
||||||
|
if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case omapertura1:
|
||||||
|
break;
|
||||||
|
case omapertura2:
|
||||||
|
break;
|
||||||
|
case omapertura3:
|
||||||
|
break;
|
||||||
|
case omapertura4:
|
||||||
|
break;
|
||||||
|
case omapertura5:
|
||||||
|
break;
|
||||||
|
case omapertura6:
|
||||||
|
break;
|
||||||
|
case omaperto:
|
||||||
|
break;
|
||||||
|
case omchiusura1:
|
||||||
|
break;
|
||||||
|
case omchiusura2:
|
||||||
|
break;
|
||||||
|
case omchiusura3:
|
||||||
|
break;
|
||||||
|
case omchiusura4:
|
||||||
|
break;
|
||||||
|
case omchiusura5:
|
||||||
|
break;
|
||||||
|
case omchiusura6:
|
||||||
|
break;
|
||||||
|
case omstop:
|
||||||
|
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 */
|
||||||
@@ -19,6 +19,7 @@ extern uint16_t ch5 ;
|
|||||||
extern uint16_t ch6 ;
|
extern uint16_t ch6 ;
|
||||||
extern uint16_t ch7 ;
|
extern uint16_t ch7 ;
|
||||||
extern uint16_t ch8 ;
|
extern uint16_t ch8 ;
|
||||||
|
extern const uint8_t deftab[];
|
||||||
|
|
||||||
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
|
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
|
||||||
if((c1>='0')&&(c1<='9')){
|
if((c1>='0')&&(c1<='9')){
|
||||||
@@ -77,7 +78,7 @@ void manageCDC(void){
|
|||||||
if(rxidx){
|
if(rxidx){
|
||||||
switch(rxbuf[0]){
|
switch(rxbuf[0]){
|
||||||
case 'i':
|
case 'i':
|
||||||
sprintf((char*)s,"\ninfo");
|
sprintf((char*)s,"info\n");
|
||||||
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
|
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));
|
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);
|
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||||
@@ -88,7 +89,7 @@ void manageCDC(void){
|
|||||||
break;
|
break;
|
||||||
case 'I':
|
case 'I':
|
||||||
sprintf((char*)s,"\nID000000");
|
sprintf((char*)s,"\nID000000");
|
||||||
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
|
while (CDC_Transmit_FS(s, 9) == USBD_BUSY);
|
||||||
break;
|
break;
|
||||||
case 'm':
|
case 'm':
|
||||||
if(rxidx==8){
|
if(rxidx==8){
|
||||||
@@ -168,10 +169,6 @@ void manageCDC(void){
|
|||||||
}else if(rxbuf[1]=='d'){
|
}else if(rxbuf[1]=='d'){
|
||||||
if(rxidx==2){
|
if(rxidx==2){
|
||||||
for(i=0;i<32;i++){
|
for(i=0;i<32;i++){
|
||||||
if((i%4)==0){
|
|
||||||
sprintf((char*)s,"\n");
|
|
||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
|
||||||
}
|
|
||||||
st=EEW_Read(i, &val);
|
st=EEW_Read(i, &val);
|
||||||
if (st == EE_OK){
|
if (st == EE_OK){
|
||||||
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
|
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
|
||||||
@@ -181,12 +178,30 @@ void manageCDC(void){
|
|||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
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{
|
}else{
|
||||||
sprintf((char*)s,"\n?ed");
|
sprintf((char*)s,"\n?ed");
|
||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
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",eeadd,val);
|
||||||
|
else sprintf((char*)s,"\nee write error %d", st);
|
||||||
|
sprintf((char*)s,"\n");
|
||||||
|
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||||
|
|
||||||
|
}
|
||||||
}else{
|
}else{
|
||||||
sprintf((char*)s,"\n?er|w|d");
|
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);
|
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||||
}
|
}
|
||||||
}else{
|
}else{
|
||||||
@@ -0,0 +1,749 @@
|
|||||||
|
/* 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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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<=16){
|
||||||
|
stPulsanti|=P1STOP;
|
||||||
|
}
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
if(stPulsanti&P2START)stPulsanti&=(~P2START);
|
||||||
|
else if(rtP2<=16)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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 +1,724 @@
|
|||||||
|
/* 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,
|
||||||
|
omaperto,
|
||||||
|
omchiusura1,
|
||||||
|
omchiusura2,
|
||||||
|
omchiusura3,
|
||||||
|
omchiusura4,
|
||||||
|
omchiusura5,
|
||||||
|
omchiusura6,
|
||||||
|
omstop,
|
||||||
|
}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;
|
||||||
|
//**** 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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
//**** 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{
|
||||||
|
stPulsanti&=(~P1START);
|
||||||
|
if(rtP1<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
stPulsanti&=(~P2START);
|
||||||
|
if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void manageCiclo(void){
|
||||||
|
switch(stCiclo){
|
||||||
|
case omchiuso:
|
||||||
|
if(stPulsanti&P1START){
|
||||||
|
stBuz=bzmoving;
|
||||||
|
stCiclo=omapertura1;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case omapertura1:
|
||||||
|
break;
|
||||||
|
case omapertura2:
|
||||||
|
break;
|
||||||
|
case omapertura3:
|
||||||
|
break;
|
||||||
|
case omapertura4:
|
||||||
|
break;
|
||||||
|
case omapertura5:
|
||||||
|
break;
|
||||||
|
case omapertura6:
|
||||||
|
break;
|
||||||
|
case omaperto:
|
||||||
|
break;
|
||||||
|
case omchiusura1:
|
||||||
|
break;
|
||||||
|
case omchiusura2:
|
||||||
|
break;
|
||||||
|
case omchiusura3:
|
||||||
|
break;
|
||||||
|
case omchiusura4:
|
||||||
|
break;
|
||||||
|
case omchiusura5:
|
||||||
|
break;
|
||||||
|
case omchiusura6:
|
||||||
|
break;
|
||||||
|
case omstop:
|
||||||
|
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 */
|
||||||
@@ -19,6 +19,7 @@ extern uint16_t ch5 ;
|
|||||||
extern uint16_t ch6 ;
|
extern uint16_t ch6 ;
|
||||||
extern uint16_t ch7 ;
|
extern uint16_t ch7 ;
|
||||||
extern uint16_t ch8 ;
|
extern uint16_t ch8 ;
|
||||||
|
extern const uint8_t deftab[];
|
||||||
|
|
||||||
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
|
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
|
||||||
if((c1>='0')&&(c1<='9')){
|
if((c1>='0')&&(c1<='9')){
|
||||||
@@ -77,7 +78,7 @@ void manageCDC(void){
|
|||||||
if(rxidx){
|
if(rxidx){
|
||||||
switch(rxbuf[0]){
|
switch(rxbuf[0]){
|
||||||
case 'i':
|
case 'i':
|
||||||
sprintf((char*)s,"\ninfo");
|
sprintf((char*)s,"info\n");
|
||||||
while (CDC_Transmit_FS(s, 5) == USBD_BUSY);
|
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));
|
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);
|
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||||
@@ -168,10 +169,6 @@ void manageCDC(void){
|
|||||||
}else if(rxbuf[1]=='d'){
|
}else if(rxbuf[1]=='d'){
|
||||||
if(rxidx==2){
|
if(rxidx==2){
|
||||||
for(i=0;i<32;i++){
|
for(i=0;i<32;i++){
|
||||||
if((i%4)==0){
|
|
||||||
sprintf((char*)s,"\n");
|
|
||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
|
||||||
}
|
|
||||||
st=EEW_Read(i, &val);
|
st=EEW_Read(i, &val);
|
||||||
if (st == EE_OK){
|
if (st == EE_OK){
|
||||||
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
|
sprintf((char*)s,"0x%02x=0x%04x ",i,val);
|
||||||
@@ -181,12 +178,27 @@ void manageCDC(void){
|
|||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
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{
|
}else{
|
||||||
sprintf((char*)s,"\n?ed");
|
sprintf((char*)s,"\n?ed");
|
||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
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",eeadd,val);
|
||||||
|
else sprintf((char*)s,"\nee write error %d", st);
|
||||||
|
}
|
||||||
}else{
|
}else{
|
||||||
sprintf((char*)s,"\n?er|w|d");
|
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);
|
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||||
}
|
}
|
||||||
}else{
|
}else{
|
||||||
@@ -0,0 +1,655 @@
|
|||||||
|
/* USER CODE BEGIN Header */
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file : main.c
|
||||||
|
* @brief : Main program body
|
||||||
|
******************************************************************************
|
||||||
|
* @attention
|
||||||
|
*
|
||||||
|
* Copyright (c) 2025 STMicroelectronics.
|
||||||
|
* All rights reserved.
|
||||||
|
*
|
||||||
|
* This software is licensed under terms that can be found in the LICENSE file
|
||||||
|
* in the root directory of this software component.
|
||||||
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||||
|
*
|
||||||
|
******************************************************************************
|
||||||
|
*/
|
||||||
|
/* USER CODE END Header */
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
#include "main.h"
|
||||||
|
#include "usb_device.h"
|
||||||
|
|
||||||
|
/* Private includes ----------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN Includes */
|
||||||
|
#include "usbd_cdc_if.h"
|
||||||
|
#include "cdc_int.h"
|
||||||
|
#include "eeprom.h"
|
||||||
|
#include "pwm.h"
|
||||||
|
#include "adc.h"
|
||||||
|
/* USER CODE END Includes */
|
||||||
|
|
||||||
|
/* Private typedef -----------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN PTD */
|
||||||
|
|
||||||
|
/* USER CODE END PTD */
|
||||||
|
|
||||||
|
/* Private define ------------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN PD */
|
||||||
|
#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;
|
||||||
|
/* USER CODE END PV */
|
||||||
|
|
||||||
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
|
void SystemClock_Config(void);
|
||||||
|
static void MX_GPIO_Init(void);
|
||||||
|
static void MX_DMA_Init(void);
|
||||||
|
static void MX_TIM2_Init(void);
|
||||||
|
static void MX_TIM4_Init(void);
|
||||||
|
static void MX_ADC1_Init(void);
|
||||||
|
static void MX_USART1_UART_Init(void);
|
||||||
|
/* USER CODE BEGIN PFP */
|
||||||
|
|
||||||
|
/* USER CODE END PFP */
|
||||||
|
|
||||||
|
/* Private user code ---------------------------------------------------------*/
|
||||||
|
/* USER CODE BEGIN 0 */
|
||||||
|
void HAL_SYSTICK_Callback(void){
|
||||||
|
static unsigned char c10ms = 0;
|
||||||
|
static uint8_t c100ms = 0;
|
||||||
|
static uint8_t c1s = 0;
|
||||||
|
static uint8_t inidx=0;
|
||||||
|
static uint8_t inbuf[4];
|
||||||
|
|
||||||
|
if (++c10ms >= 10) { // 10 ms
|
||||||
|
c10ms = 0;
|
||||||
|
//**** legge i tasti********************************************************************************
|
||||||
|
inidx++;
|
||||||
|
inidx&=0x03;
|
||||||
|
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_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
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
|
||||||
|
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{
|
||||||
|
stPulsanti&=(~P1START);
|
||||||
|
if(rtP1<20)stPulsanti|=P1STOP;
|
||||||
|
rtP1=20;
|
||||||
|
}
|
||||||
|
if(pulsanti&INP2){
|
||||||
|
if(rtP2==0)stPulsanti|=P2START;
|
||||||
|
}else{
|
||||||
|
stPulsanti&=(~P2START);
|
||||||
|
if(rtP2<20)stPulsanti|=P2STOP;
|
||||||
|
rtP2=20;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/* 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();
|
||||||
|
// 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 */
|
||||||
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@@ -3,6 +3,9 @@ org.eclipse.debug.ui.MemoryView.orientation=0
|
|||||||
org.eclipse.debug.ui.PREF_LAUNCH_PERSPECTIVES=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<launchPerspectives/>\r\n
|
org.eclipse.debug.ui.PREF_LAUNCH_PERSPECTIVES=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<launchPerspectives/>\r\n
|
||||||
org.eclipse.debug.ui.switch_perspective_on_suspend=always
|
org.eclipse.debug.ui.switch_perspective_on_suspend=always
|
||||||
org.eclipse.debug.ui.user_view_bindings=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<viewBindings>\r\n <view id\="org.eclipse.debug.ui.ExpressionView">\r\n <perspective id\="org.eclipse.debug.ui.DebugPerspective" userAction\="opened"/>\r\n </view>\r\n</viewBindings>\r\n
|
org.eclipse.debug.ui.user_view_bindings=<?xml version\="1.0" encoding\="UTF-8" standalone\="no"?>\r\n<viewBindings>\r\n <view id\="org.eclipse.debug.ui.ExpressionView">\r\n <perspective id\="org.eclipse.debug.ui.DebugPerspective" userAction\="opened"/>\r\n </view>\r\n</viewBindings>\r\n
|
||||||
|
pref_state_memento.org.eclipse.debug.ui.BreakpointView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.BreakpointView">\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="org.eclipse.debug.ui.check"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
|
||||||
pref_state_memento.org.eclipse.debug.ui.DebugVieworg.eclipse.debug.ui.DebugView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<DebugViewMemento org.eclipse.debug.ui.BREADCRUMB_DROPDOWN_AUTO_EXPAND\="false"/>
|
pref_state_memento.org.eclipse.debug.ui.DebugVieworg.eclipse.debug.ui.DebugView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<DebugViewMemento org.eclipse.debug.ui.BREADCRUMB_DROPDOWN_AUTO_EXPAND\="false"/>
|
||||||
preferredDetailPanes=DefaultDetailPane\:DefaultDetailPane|
|
pref_state_memento.org.eclipse.debug.ui.ExpressionView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.ExpressionView">\r\n<INTEGER IMemento.internal.id\="initialChildCountLimitForCollections" INTEGER\="100"/>\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="PRESENTATION_SHOW_LOGICAL_STRUCTURES"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
|
||||||
|
pref_state_memento.org.eclipse.debug.ui.VariableView=<?xml version\="1.0" encoding\="UTF-8"?>\r\n<VariablesViewMemento org.eclipse.debug.ui.SASH_DETAILS_PART\="315" org.eclipse.debug.ui.SASH_VIEW_PART\="684">\r\n<PRESENTATION_CONTEXT_PROPERTIES IMemento.internal.id\="org.eclipse.debug.ui.VariableView">\r\n<INTEGER IMemento.internal.id\="initialChildCountLimitForCollections" INTEGER\="100"/>\r\n<BOOLEAN BOOLEAN\="true" IMemento.internal.id\="PRESENTATION_SHOW_LOGICAL_STRUCTURES"/>\r\n</PRESENTATION_CONTEXT_PROPERTIES>\r\n</VariablesViewMemento>
|
||||||
|
preferredDetailPanes=NumberFormatPane\:NumberFormatPane|DefaultDetailPane\:DefaultDetailPane|
|
||||||
preferredTargets=org.eclipse.cdt.debug.ui.toggleCBreakpointTarget,org.eclipse.cdt.debug.ui.toggleCDynamicPrintfTarget\:org.eclipse.cdt.debug.ui.toggleCBreakpointTarget|
|
preferredTargets=org.eclipse.cdt.debug.ui.toggleCBreakpointTarget,org.eclipse.cdt.debug.ui.toggleCDynamicPrintfTarget\:org.eclipse.cdt.debug.ui.toggleCBreakpointTarget|
|
||||||
|
|||||||
File diff suppressed because one or more lines are too long
@@ -38,7 +38,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="HAL_ADC_PollForConversion"/>
|
<item key="textPattern" value="SetMot"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -53,7 +53,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="P2_Pin"/>
|
<item key="textPattern" value="rtp1"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -65,7 +65,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="p2"/>
|
<item key="textPattern" value="stpulsanti"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -77,7 +77,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="EE_VirtAddrse"/>
|
<item key="textPattern" value="buz"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -89,7 +89,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="ee_init"/>
|
<item key="textPattern" value="led2"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -101,7 +101,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="tohex"/>
|
<item key="textPattern" value="led"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -113,7 +113,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="EE_ReadVariable"/>
|
<item key="textPattern" value="blink"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -125,7 +125,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="inh2"/>
|
<item key="textPattern" value="pa15"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -137,7 +137,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="INH1_GPIO_Port"/>
|
<item key="textPattern" value="pc13"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -149,7 +149,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="INH1"/>
|
<item key="textPattern" value="led1"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -161,7 +161,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="INH1_Pin"/>
|
<item key="textPattern" value="led3"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
@@ -173,7 +173,7 @@
|
|||||||
<item key="ignoreCase" value="true"/>
|
<item key="ignoreCase" value="true"/>
|
||||||
<item key="isRegExSearch" value="false"/>
|
<item key="isRegExSearch" value="false"/>
|
||||||
<item key="isWholeWord" value="false"/>
|
<item key="isWholeWord" value="false"/>
|
||||||
<item key="textPattern" value="Led2"/>
|
<item key="textPattern" value="managecdc"/>
|
||||||
<item key="scope" value="0"/>
|
<item key="scope" value="0"/>
|
||||||
<list key="fileNamePatterns">
|
<list key="fileNamePatterns">
|
||||||
<item value="*"/>
|
<item value="*"/>
|
||||||
|
|||||||
@@ -3,6 +3,9 @@
|
|||||||
<item key="hasShownOverlayPopupBefore" value="true"/>
|
<item key="hasShownOverlayPopupBefore" value="true"/>
|
||||||
<item key="replaceBarOpen" value="false"/>
|
<item key="replaceBarOpen" value="false"/>
|
||||||
<list key="searchhistory">
|
<list key="searchhistory">
|
||||||
|
<item value="deftab"/>
|
||||||
|
<item value="rtp1"/>
|
||||||
|
<item value="cdc"/>
|
||||||
<item value="eefindinpage"/>
|
<item value="eefindinpage"/>
|
||||||
<item value="eefindstring"/>
|
<item value="eefindstring"/>
|
||||||
<item value="eeadd"/>
|
<item value="eeadd"/>
|
||||||
|
|||||||
@@ -1,3 +1,3 @@
|
|||||||
#Wed Dec 24 18:17:19 CET 2025
|
#Sun Apr 12 22:09:27 CEST 2026
|
||||||
org.eclipse.core.runtime=2
|
org.eclipse.core.runtime=2
|
||||||
org.eclipse.platform=4.33.0.v20240903-0240
|
org.eclipse.platform=4.33.0.v20240903-0240
|
||||||
|
|||||||
@@ -271,7 +271,7 @@ ProjectManager.FreePins=false
|
|||||||
ProjectManager.HalAssertFull=false
|
ProjectManager.HalAssertFull=false
|
||||||
ProjectManager.HeapSize=0x200
|
ProjectManager.HeapSize=0x200
|
||||||
ProjectManager.KeepUserCode=true
|
ProjectManager.KeepUserCode=true
|
||||||
ProjectManager.LastFirmware=true
|
ProjectManager.LastFirmware=false
|
||||||
ProjectManager.LibraryCopy=1
|
ProjectManager.LibraryCopy=1
|
||||||
ProjectManager.MainLocation=Core/Src
|
ProjectManager.MainLocation=Core/Src
|
||||||
ProjectManager.NoMain=false
|
ProjectManager.NoMain=false
|
||||||
@@ -299,17 +299,18 @@ RCC.APB2TimFreq_Value=72000000
|
|||||||
RCC.FCLKCortexFreq_Value=72000000
|
RCC.FCLKCortexFreq_Value=72000000
|
||||||
RCC.FamilyName=M
|
RCC.FamilyName=M
|
||||||
RCC.HCLKFreq_Value=72000000
|
RCC.HCLKFreq_Value=72000000
|
||||||
RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,USBPrescaler,VCOOutput2Freq_Value
|
RCC.HSE_VALUE=12000000
|
||||||
|
RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,USBPrescaler,VCOOutput2Freq_Value
|
||||||
RCC.MCOFreq_Value=72000000
|
RCC.MCOFreq_Value=72000000
|
||||||
RCC.PLLCLKFreq_Value=72000000
|
RCC.PLLCLKFreq_Value=72000000
|
||||||
RCC.PLLMCOFreq_Value=36000000
|
RCC.PLLMCOFreq_Value=36000000
|
||||||
RCC.PLLMUL=RCC_PLL_MUL9
|
RCC.PLLMUL=RCC_PLL_MUL6
|
||||||
RCC.SYSCLKFreq_VALUE=72000000
|
RCC.SYSCLKFreq_VALUE=72000000
|
||||||
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
|
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
|
||||||
RCC.TimSysFreq_Value=72000000
|
RCC.TimSysFreq_Value=72000000
|
||||||
RCC.USBFreq_Value=48000000
|
RCC.USBFreq_Value=48000000
|
||||||
RCC.USBPrescaler=RCC_USBCLKSOURCE_PLL_DIV1_5
|
RCC.USBPrescaler=RCC_USBCLKSOURCE_PLL_DIV1_5
|
||||||
RCC.VCOOutput2Freq_Value=8000000
|
RCC.VCOOutput2Freq_Value=12000000
|
||||||
SH.ADCx_IN4.0=ADC1_IN4,IN4
|
SH.ADCx_IN4.0=ADC1_IN4,IN4
|
||||||
SH.ADCx_IN4.1=ADC2_IN4
|
SH.ADCx_IN4.1=ADC2_IN4
|
||||||
SH.ADCx_IN4.ConfNb=2
|
SH.ADCx_IN4.ConfNb=2
|
||||||
|
|||||||
@@ -13,6 +13,7 @@ void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel);
|
|||||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval);
|
||||||
void SetMotPwm(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 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 timMot1 &htim2
|
||||||
#define FWMot1 TIM_CHANNEL_1
|
#define FWMot1 TIM_CHANNEL_1
|
||||||
|
|||||||
@@ -84,7 +84,7 @@
|
|||||||
* (when HSE is used as system clock source, directly or through the PLL).
|
* (when HSE is used as system clock source, directly or through the PLL).
|
||||||
*/
|
*/
|
||||||
#if !defined (HSE_VALUE)
|
#if !defined (HSE_VALUE)
|
||||||
#define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */
|
#define HSE_VALUE 12000000U /*!< Value of the External oscillator in Hz */
|
||||||
#endif /* HSE_VALUE */
|
#endif /* HSE_VALUE */
|
||||||
|
|
||||||
#if !defined (HSE_STARTUP_TIMEOUT)
|
#if !defined (HSE_STARTUP_TIMEOUT)
|
||||||
|
|||||||
@@ -19,6 +19,7 @@ extern uint16_t ch5 ;
|
|||||||
extern uint16_t ch6 ;
|
extern uint16_t ch6 ;
|
||||||
extern uint16_t ch7 ;
|
extern uint16_t ch7 ;
|
||||||
extern uint16_t ch8 ;
|
extern uint16_t ch8 ;
|
||||||
|
extern const uint8_t deftab[];
|
||||||
|
|
||||||
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
|
bool toHex(char c1,char c2,char c3,char c4,uint16_t* retval){
|
||||||
if((c1>='0')&&(c1<='9')){
|
if((c1>='0')&&(c1<='9')){
|
||||||
@@ -185,8 +186,21 @@ void manageCDC(void){
|
|||||||
sprintf((char*)s,"\n?ed");
|
sprintf((char*)s,"\n?ed");
|
||||||
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
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{
|
}else{
|
||||||
sprintf((char*)s,"\n?er|w|d");
|
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);
|
while (CDC_Transmit_FS(s, strlen((char*)s)) == USBD_BUSY);
|
||||||
}
|
}
|
||||||
}else{
|
}else{
|
||||||
|
|||||||
@@ -10,6 +10,41 @@
|
|||||||
* [2..] Records...
|
* [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
|
typedef struct
|
||||||
{
|
{
|
||||||
uint16_t VirtAddress;
|
uint16_t VirtAddress;
|
||||||
|
|||||||
@@ -31,11 +31,36 @@
|
|||||||
|
|
||||||
/* Private typedef -----------------------------------------------------------*/
|
/* Private typedef -----------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PTD */
|
/* 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 */
|
/* USER CODE END PTD */
|
||||||
|
|
||||||
/* Private define ------------------------------------------------------------*/
|
/* Private define ------------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PD */
|
/* USER CODE BEGIN PD */
|
||||||
|
#define P1START 0x01
|
||||||
|
#define P1STOP 0x02
|
||||||
|
#define P2START 0x04
|
||||||
|
#define P2STOP 0x08
|
||||||
|
|
||||||
/* USER CODE END PD */
|
/* USER CODE END PD */
|
||||||
|
|
||||||
@@ -63,6 +88,12 @@ extern uint16_t ch7 ;
|
|||||||
extern uint16_t ch8 ;
|
extern uint16_t ch8 ;
|
||||||
|
|
||||||
uint8_t pulsanti=0;
|
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 */
|
/* USER CODE END PV */
|
||||||
|
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
@@ -88,26 +119,115 @@ void HAL_SYSTICK_Callback(void){
|
|||||||
|
|
||||||
if (++c10ms >= 10) { // 10 ms
|
if (++c10ms >= 10) { // 10 ms
|
||||||
c10ms = 0;
|
c10ms = 0;
|
||||||
|
if(rtP1)rtP1--;
|
||||||
|
if(rtP2)rtP2--;
|
||||||
|
|
||||||
//**** legge i tasti********************************************************************************
|
//**** legge i tasti********************************************************************************
|
||||||
inidx++;
|
inidx++;
|
||||||
inidx&=0x03;
|
inidx&=0x03;
|
||||||
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_SET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
|
if(HAL_GPIO_ReadPin(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_SET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
|
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]);
|
||||||
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
|
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
|
||||||
//**** legge adc ***********************************************************************************
|
//**** legge adc ***********************************************************************************
|
||||||
readAdc();
|
readAdc();
|
||||||
if (++c100ms >= 10) { // 10 ms
|
if (++c100ms >= 10) { // 10 ms
|
||||||
|
|
||||||
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
|
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
|
if (++c1s >= 10) { // 10 ms
|
||||||
c1s = 0;
|
c1s = 0;
|
||||||
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
|
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 */
|
/* USER CODE END 0 */
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@@ -156,7 +276,7 @@ int main(void)
|
|||||||
StopMot(timMot4,FWMot4);
|
StopMot(timMot4,FWMot4);
|
||||||
StopMot(timMot4,BWMot4);
|
StopMot(timMot4,BWMot4);
|
||||||
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
|
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
|
||||||
while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
|
//while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
|
||||||
if (EE_Init() != EE_OK){
|
if (EE_Init() != EE_OK){
|
||||||
for(;;);//errore eeprom
|
for(;;);//errore eeprom
|
||||||
}
|
}
|
||||||
@@ -167,6 +287,8 @@ int main(void)
|
|||||||
while (1){
|
while (1){
|
||||||
manageCDC();
|
manageCDC();
|
||||||
manageAdc();
|
manageAdc();
|
||||||
|
managePulsanti();
|
||||||
|
manageCiclo();
|
||||||
// while (CDC_Available()) {
|
// while (CDC_Available()) {
|
||||||
// int c = CDC_ReadByte();
|
// int c = CDC_ReadByte();
|
||||||
//if (c < 0) break;
|
//if (c < 0) break;
|
||||||
@@ -209,7 +331,7 @@ void SystemClock_Config(void)
|
|||||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||||||
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
|
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
|
||||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||||
{
|
{
|
||||||
Error_Handler();
|
Error_Handler();
|
||||||
|
|||||||
@@ -135,3 +135,110 @@ void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
|||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|||||||
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|
|||||||
../Core/Src/eeprom.h:77:24:EEW_Read 1
|
../Core/Src/eeprom.h:77:24:EEW_Read 1
|
||||||
../Core/Src/eeprom.h:82:24:EEW_Write 1
|
../Core/Src/eeprom.h:82:24:EEW_Write 1
|
||||||
../Core/Src/cdc_int.c:23:6:toHex 17
|
../Core/Src/cdc_int.c:24:6:toHex 17
|
||||||
../Core/Src/cdc_int.c:59:6:manageCDC 64
|
../Core/Src/cdc_int.c:60:6:manageCDC 70
|
||||||
|
|||||||
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@@ -1,4 +1,4 @@
|
|||||||
../Core/Src/eeprom.h:77:24:EEW_Read 16 static
|
../Core/Src/eeprom.h:77:24:EEW_Read 16 static
|
||||||
../Core/Src/eeprom.h:82:24:EEW_Write 16 static
|
../Core/Src/eeprom.h:82:24:EEW_Write 16 static
|
||||||
../Core/Src/cdc_int.c:23:6:toHex 16 static
|
../Core/Src/cdc_int.c:24:6:toHex 16 static
|
||||||
../Core/Src/cdc_int.c:59:6:manageCDC 184 static
|
../Core/Src/cdc_int.c:60:6:manageCDC 184 static
|
||||||
|
|||||||
@@ -1,11 +1,11 @@
|
|||||||
../Core/Src/eeprom.c:38:17:EE_GetPageStatus 1
|
../Core/Src/eeprom.c:73:17:EE_GetPageStatus 1
|
||||||
../Core/Src/eeprom.c:43:26:EE_FlashProgramHalfWord 1
|
../Core/Src/eeprom.c:78:26:EE_FlashProgramHalfWord 1
|
||||||
../Core/Src/eeprom.c:54:26:EE_FlashErasePage 1
|
../Core/Src/eeprom.c:89:26:EE_FlashErasePage 1
|
||||||
../Core/Src/eeprom.c:73:17:EE_FindFreeAddress 3
|
../Core/Src/eeprom.c:108:17:EE_FindFreeAddress 3
|
||||||
../Core/Src/eeprom.c:95:18:EE_FindInPage 6
|
../Core/Src/eeprom.c:130:18:EE_FindInPage 6
|
||||||
../Core/Src/eeprom.c:135:18:EE_Format 4
|
../Core/Src/eeprom.c:170:18:EE_Format 4
|
||||||
../Core/Src/eeprom.c:153:17:EE_GetOtherPageBase 2
|
../Core/Src/eeprom.c:188:17:EE_GetOtherPageBase 2
|
||||||
../Core/Src/eeprom.c:159:18:EE_PageTransfer 11
|
../Core/Src/eeprom.c:194:18:EE_PageTransfer 11
|
||||||
../Core/Src/eeprom.c:232:10:EE_Init 7
|
../Core/Src/eeprom.c:267:10:EE_Init 7
|
||||||
../Core/Src/eeprom.c:263:10:EE_ReadVariable 2
|
../Core/Src/eeprom.c:298:10:EE_ReadVariable 2
|
||||||
../Core/Src/eeprom.c:280:10:EE_WriteVariable 4
|
../Core/Src/eeprom.c:315:10:EE_WriteVariable 4
|
||||||
|
|||||||
Binary file not shown.
@@ -1,11 +1,11 @@
|
|||||||
../Core/Src/eeprom.c:38:17:EE_GetPageStatus 16 static
|
../Core/Src/eeprom.c:73:17:EE_GetPageStatus 16 static
|
||||||
../Core/Src/eeprom.c:43:26:EE_FlashProgramHalfWord 32 static
|
../Core/Src/eeprom.c:78:26:EE_FlashProgramHalfWord 32 static
|
||||||
../Core/Src/eeprom.c:54:26:EE_FlashErasePage 40 static
|
../Core/Src/eeprom.c:89:26:EE_FlashErasePage 40 static
|
||||||
../Core/Src/eeprom.c:73:17:EE_FindFreeAddress 32 static
|
../Core/Src/eeprom.c:108:17:EE_FindFreeAddress 32 static
|
||||||
../Core/Src/eeprom.c:95:18:EE_FindInPage 40 static
|
../Core/Src/eeprom.c:130:18:EE_FindInPage 40 static
|
||||||
../Core/Src/eeprom.c:135:18:EE_Format 8 static
|
../Core/Src/eeprom.c:170:18:EE_Format 8 static
|
||||||
../Core/Src/eeprom.c:153:17:EE_GetOtherPageBase 16 static
|
../Core/Src/eeprom.c:188:17:EE_GetOtherPageBase 16 static
|
||||||
../Core/Src/eeprom.c:159:18:EE_PageTransfer 40 static
|
../Core/Src/eeprom.c:194:18:EE_PageTransfer 40 static
|
||||||
../Core/Src/eeprom.c:232:10:EE_Init 16 static
|
../Core/Src/eeprom.c:267:10:EE_Init 16 static
|
||||||
../Core/Src/eeprom.c:263:10:EE_ReadVariable 24 static
|
../Core/Src/eeprom.c:298:10:EE_ReadVariable 24 static
|
||||||
../Core/Src/eeprom.c:280:10:EE_WriteVariable 24 static
|
../Core/Src/eeprom.c:315:10:EE_WriteVariable 24 static
|
||||||
|
|||||||
@@ -1,10 +1,12 @@
|
|||||||
../Core/Src/main.c:82:6:HAL_SYSTICK_Callback 6
|
../Core/Src/main.c:113:6:HAL_SYSTICK_Callback 10
|
||||||
../Core/Src/main.c:117:5:main 3
|
../Core/Src/main.c:151:6:managePulsanti 9
|
||||||
../Core/Src/main.c:197:6:SystemClock_Config 4
|
../Core/Src/main.c:170:6:manageCiclo 32
|
||||||
../Core/Src/main.c:245:13:MX_ADC1_Init 7
|
../Core/Src/main.c:237:5:main 2
|
||||||
../Core/Src/main.c:328:13:MX_TIM2_Init 9
|
../Core/Src/main.c:319:6:SystemClock_Config 4
|
||||||
../Core/Src/main.c:404:13:MX_TIM4_Init 9
|
../Core/Src/main.c:367:13:MX_ADC1_Init 7
|
||||||
../Core/Src/main.c:478:13:MX_USART1_UART_Init 2
|
../Core/Src/main.c:450:13:MX_TIM2_Init 9
|
||||||
../Core/Src/main.c:509:13:MX_DMA_Init 1
|
../Core/Src/main.c:526:13:MX_TIM4_Init 9
|
||||||
../Core/Src/main.c:527:13:MX_GPIO_Init 1
|
../Core/Src/main.c:600:13:MX_USART1_UART_Init 2
|
||||||
../Core/Src/main.c:603:6:Error_Handler 1
|
../Core/Src/main.c:631:13:MX_DMA_Init 1
|
||||||
|
../Core/Src/main.c:649:13:MX_GPIO_Init 1
|
||||||
|
../Core/Src/main.c:725:6:Error_Handler 1
|
||||||
|
|||||||
Binary file not shown.
@@ -1,10 +1,12 @@
|
|||||||
../Core/Src/main.c:82:6:HAL_SYSTICK_Callback 8 static
|
../Core/Src/main.c:113:6:HAL_SYSTICK_Callback 8 static
|
||||||
../Core/Src/main.c:117:5:main 8 static
|
../Core/Src/main.c:151:6:managePulsanti 4 static
|
||||||
../Core/Src/main.c:197:6:SystemClock_Config 88 static
|
../Core/Src/main.c:170:6:manageCiclo 4 static
|
||||||
../Core/Src/main.c:245:13:MX_ADC1_Init 24 static
|
../Core/Src/main.c:237:5:main 8 static
|
||||||
../Core/Src/main.c:328:13:MX_TIM2_Init 64 static
|
../Core/Src/main.c:319:6:SystemClock_Config 88 static
|
||||||
../Core/Src/main.c:404:13:MX_TIM4_Init 64 static
|
../Core/Src/main.c:367:13:MX_ADC1_Init 24 static
|
||||||
../Core/Src/main.c:478:13:MX_USART1_UART_Init 8 static
|
../Core/Src/main.c:450:13:MX_TIM2_Init 64 static
|
||||||
../Core/Src/main.c:509:13:MX_DMA_Init 16 static
|
../Core/Src/main.c:526:13:MX_TIM4_Init 64 static
|
||||||
../Core/Src/main.c:527:13:MX_GPIO_Init 40 static
|
../Core/Src/main.c:600:13:MX_USART1_UART_Init 8 static
|
||||||
../Core/Src/main.c:603:6:Error_Handler 4 static,ignoring_inline_asm
|
../Core/Src/main.c:631:13:MX_DMA_Init 16 static
|
||||||
|
../Core/Src/main.c:649:13:MX_GPIO_Init 40 static
|
||||||
|
../Core/Src/main.c:725:6:Error_Handler 4 static,ignoring_inline_asm
|
||||||
|
|||||||
@@ -3,3 +3,4 @@
|
|||||||
../Core/Src/pwm.c:29:6:StartMot 4
|
../Core/Src/pwm.c:29:6:StartMot 4
|
||||||
../Core/Src/pwm.c:34:6:SetMotPwm 4
|
../Core/Src/pwm.c:34:6:SetMotPwm 4
|
||||||
../Core/Src/pwm.c:38:6:SetMot 25
|
../Core/Src/pwm.c:38:6:SetMot 25
|
||||||
|
../Core/Src/pwm.c:139:6:SetMotPerc 25
|
||||||
|
|||||||
Binary file not shown.
@@ -3,3 +3,4 @@
|
|||||||
../Core/Src/pwm.c:29:6:StartMot 24 static
|
../Core/Src/pwm.c:29:6:StartMot 24 static
|
||||||
../Core/Src/pwm.c:34:6:SetMotPwm 24 static
|
../Core/Src/pwm.c:34:6:SetMotPwm 24 static
|
||||||
../Core/Src/pwm.c:38:6:SetMot 16 static
|
../Core/Src/pwm.c:38:6:SetMot 16 static
|
||||||
|
../Core/Src/pwm.c:139:6:SetMotPerc 24 static
|
||||||
|
|||||||
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Reference in New Issue
Block a user