wip
This commit is contained in:
andrea
@@ -1,288 +0,0 @@
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/*
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* pwm.c
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*
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* Created on: Dec 6, 2025
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* Author: user
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*/
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#include "stm32f1xx_hal.h"
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#include "main.h"
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#include "pwm.h"
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extern TIM_HandleTypeDef htim1;
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extern TIM_HandleTypeDef htim2;
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extern TIM_HandleTypeDef htim3;
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extern TIM_HandleTypeDef htim4;
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extern volatile uint8_t rtramp[4];
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extern uint16_t mrampstart[4];
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extern UART_HandleTypeDef huart1;
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bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
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{
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HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
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return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
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}
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void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
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HAL_TIM_PWM_Stop(htim, Channel);
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}
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void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
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__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
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HAL_TIM_PWM_Start(htim, Channel);
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}
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void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
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__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
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}
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void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
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switch(mot){
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case 1:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot1,FWMot1);
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot1, FWMot1)){
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SetMotPwm(timMot1,FWMot1,pwmval);
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}else{
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
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StartMot(timMot1,FWMot1,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot1,BWMot1);
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot1, BWMot1)){
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SetMotPwm(timMot1,BWMot1,pwmval);
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}else{
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
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StartMot(timMot1,BWMot1,pwmval);
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}
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}
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break;
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case 2:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot2,FWMot2);
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot2, FWMot2)){
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SetMotPwm(timMot2,FWMot2,pwmval);
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}else{
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
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StartMot(timMot2,FWMot2,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot2,BWMot2);
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot2, BWMot2)){
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SetMotPwm(timMot2,BWMot2,pwmval);
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}else{
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
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StartMot(timMot2,BWMot2,pwmval);
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}
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}
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break;
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case 3:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot3,FWMot3);
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot3, FWMot3)){
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SetMotPwm(timMot3,FWMot3,pwmval);
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}else{
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
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StartMot(timMot3,FWMot3,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot3,BWMot3);
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot3, BWMot3)){
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SetMotPwm(timMot3,BWMot3,pwmval);
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}else{
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
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StartMot(timMot3,BWMot3,pwmval);
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}
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}
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break;
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case 4:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot4,FWMot4);
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot4, FWMot4)){
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SetMotPwm(timMot4,FWMot4,pwmval);
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}else{
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
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StartMot(timMot4,FWMot4,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot4,BWMot4);
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot4, BWMot4)){
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SetMotPwm(timMot4,BWMot4,pwmval);
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}else{
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
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StartMot(timMot4,BWMot4,pwmval);
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}
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}
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break;
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default:
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break;
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}
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}
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void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
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uint16_t pwmval;
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uint32_t tempval;
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tempval=perc;
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tempval*=16384;
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tempval/=100;
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pwmval=(uint16_t)tempval;
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switch(mot){
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case 1:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot1,FWMot1);
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot1, FWMot1)){
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SetMotPwm(timMot1,FWMot1,pwmval);
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}else{
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
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StartMot(timMot1,FWMot1,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot1,BWMot1);
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot1, BWMot1)){
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SetMotPwm(timMot1,BWMot1,pwmval);
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}else{
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HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
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StartMot(timMot1,BWMot1,pwmval);
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}
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}
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break;
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case 2:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot2,FWMot2);
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot2, FWMot2)){
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SetMotPwm(timMot2,FWMot2,pwmval);
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}else{
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
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StartMot(timMot2,FWMot2,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot2,BWMot2);
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot2, BWMot2)){
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SetMotPwm(timMot2,BWMot2,pwmval);
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}else{
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HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
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StartMot(timMot2,BWMot2,pwmval);
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}
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}
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break;
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case 3:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot3,FWMot3);
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot3, FWMot3)){
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SetMotPwm(timMot3,FWMot3,pwmval);
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}else{
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
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StartMot(timMot3,FWMot3,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot3,BWMot3);
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot3, BWMot3)){
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SetMotPwm(timMot3,BWMot3,pwmval);
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}else{
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HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
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StartMot(timMot3,BWMot3,pwmval);
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}
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}
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break;
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case 4:
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if(dir==FW){
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if(pwmval==0){
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StopMot(timMot4,FWMot4);
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot4, FWMot4)){
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SetMotPwm(timMot4,FWMot4,pwmval);
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}else{
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
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StartMot(timMot4,FWMot4,pwmval);
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}
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}else{
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if(pwmval==0){
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StopMot(timMot4,BWMot4);
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
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}else if(IsPwmRunning(timMot4, BWMot4)){
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SetMotPwm(timMot4,BWMot4,pwmval);
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}else{
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HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
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StartMot(timMot4,BWMot4,pwmval);
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}
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}
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break;
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default:
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break;
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}
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}
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uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
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static uint8_t memrtramp[4];
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char s[10];
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uint16_t delta;
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switch(mode){
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case RAMPINIT:
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memrtramp[mot-1]=rtramp[mot-1]=tr;
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SetMotPerc(mot,dir,percStart);
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return DONE;
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case RAMPRUN:
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if(memrtramp[mot-1]!=rtramp[mot-1]){
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memrtramp[mot-1]=rtramp[mot-1];
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if(rtramp[mot-1]){
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if(percStart>percEnd){
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delta=percStart-percEnd;
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delta=delta*(uint16_t)(tr-rtramp[mot-1]);
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delta=delta/tr;
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SetMotPerc(mot,dir,percStart-delta);
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return RUNNING;
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}else if(percStart<percEnd){
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delta=percEnd-percStart;
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delta=delta*(uint16_t)(tr-rtramp[mot-1]);
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delta=delta/tr;
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SetMotPerc(mot,dir,percStart+delta);
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sprintf((char*)s,"\n%d",percStart+delta);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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return RUNNING;
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}else{
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SetMotPerc(mot,dir,percEnd);
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return DONE;
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}
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}else{
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SetMotPerc(mot,dir,percEnd);
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return DONE;
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}
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}else return RUNNING;
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break;
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}
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return DONE;
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}
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@@ -1,396 +0,0 @@
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/*
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* mot.c
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*
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* Created on: May 2, 2026
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* Author: user
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*/
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#include <stdio.h>
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#include <string.h>
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#include "main.h"
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#include "mot.h"
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#include "pwm.h"
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extern uint16_t apM1start;
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extern uint16_t apM1stop;
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extern uint16_t apM2start;
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extern uint16_t apM2stop;
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extern uint16_t apM3start;
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extern uint16_t apM3stop;
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extern uint16_t apM4start;
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extern uint16_t apM4stop;
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extern uint16_t chM1start;
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extern uint16_t chM1stop;
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extern uint16_t chM2start;
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extern uint16_t chM2stop;
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extern uint16_t chM3start;
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extern uint16_t chM3stop;
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extern uint16_t chM4start;
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extern uint16_t chM4stop;
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extern volatile uint16_t rtCiclo;
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extern uint16_t m1pwmap;
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extern uint16_t m1pwmch;
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extern uint16_t m2pwmap;
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extern uint16_t m2pwmch;
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extern uint16_t m3pwmap;
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extern uint16_t m3pwmch;
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extern uint16_t m4pwmap;
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extern uint16_t m4pwmch;
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extern uint16_t mrampstart[4];
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extern uint16_t tramp;
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extern UART_HandleTypeDef huart1;
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motMov_st m1ap(void){
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static motMov_st m1st=motWaiting;
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static motMov_st memm1st=motStop;
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char s[100];
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if(memm1st!=m1st){
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memm1st=m1st;
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sprintf(s,"\nm1ap=%d",m1st);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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}
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if(rtCiclo<apM1start)m1st=motWaiting;
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switch(m1st){
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case motWaiting:
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SetMotPerc(M1,FW,0);
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SetMotPerc(M1,BW,0);
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if(rtCiclo>=apM1start){
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(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
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m1st=motStartRamp;
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}
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break;
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case motStartRamp:
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if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
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m1st=motWaitingTime;
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}
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break;
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case motWaitingTime:
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if(rtCiclo>=apM1stop){
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(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
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m1st=motStopRamp;
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}
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break;
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case motStopRamp:
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if(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE){
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m1st=motStop;
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}
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break;
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case motStop:
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default:
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SetMotPerc(M1,FW,0);
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SetMotPerc(M1,BW,0);
|
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break;
|
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}
|
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return m1st;
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}
|
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|
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motMov_st m2ap(void){
|
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static motMov_st m2st;
|
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static motMov_st memm2st=motStop;
|
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char s[100];
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if(memm2st!=m2st){
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memm2st=m2st;
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sprintf(s,"\nm2ap=%d",m2st);
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
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}
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if(rtCiclo<apM2start)m2st=motWaiting;
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switch(m2st){
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case motWaiting:
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SetMotPerc(M2,FW,0);
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SetMotPerc(M2,BW,0);
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if(rtCiclo>=apM2start){
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(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
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m2st=motStartRamp;
|
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}
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break;
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case motStartRamp:
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if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
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m2st=motWaitingTime;
|
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}
|
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break;
|
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case motWaitingTime:
|
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if(rtCiclo>=apM2stop){
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(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
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m2st=motStopRamp;
|
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}
|
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break;
|
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case motStopRamp:
|
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if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
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m2st=motStop;
|
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}
|
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break;
|
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case motStop:
|
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default:
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SetMotPerc(M2,FW,0);
|
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SetMotPerc(M2,BW,0);
|
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break;
|
||||
}
|
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return m2st;
|
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}
|
||||
|
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motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
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sprintf(s,"\nm3ap=%d",m3st);
|
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HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
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}
|
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if(rtCiclo<apM3start)m3st=motWaiting;
|
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switch(m3st){
|
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case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ap=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ch=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ch=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ch=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ch=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,396 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ap=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ap=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ap=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ch=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ch=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ch=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ch=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
@@ -1,396 +0,0 @@
|
||||
/*
|
||||
* mot.c
|
||||
*
|
||||
* Created on: May 2, 2026
|
||||
* Author: user
|
||||
*/
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "main.h"
|
||||
#include "mot.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
extern volatile uint16_t rtCiclo;
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t mrampstart[4];
|
||||
extern uint16_t tramp;
|
||||
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
motMov_st m1ap(void){
|
||||
static motMov_st m1st=motWaiting;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ap=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=apM1start){
|
||||
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM1stop){
|
||||
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ap(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ap=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=apM2start){
|
||||
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM2stop){
|
||||
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ap(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ap=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=apM3start){
|
||||
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM3stop){
|
||||
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ap(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ap=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<apM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=apM4start){
|
||||
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=apM4stop){
|
||||
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
|
||||
motMov_st m1ch(void){
|
||||
static motMov_st m1st;
|
||||
static motMov_st memm1st=motStop;
|
||||
char s[100];
|
||||
if(memm1st!=m1st){
|
||||
memm1st=m1st;
|
||||
sprintf(s,"\nm1ch=%d",m1st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
if(rtCiclo<chM1start)m1st=motWaiting;
|
||||
switch(m1st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
if(rtCiclo>=chM1start){
|
||||
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
|
||||
m1st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
|
||||
m1st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM1stop){
|
||||
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
|
||||
m1st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m1st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M1,FW,0);
|
||||
SetMotPerc(M1,BW,0);
|
||||
break;
|
||||
}
|
||||
return m1st;
|
||||
}
|
||||
|
||||
motMov_st m2ch(void){
|
||||
static motMov_st m2st;
|
||||
static motMov_st memm2st=motStop;
|
||||
char s[100];
|
||||
if(memm2st!=m2st){
|
||||
memm2st=m2st;
|
||||
sprintf(s,"\nm2ch=%d",m2st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM2start)m2st=motWaiting;
|
||||
switch(m2st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
if(rtCiclo>=chM2start){
|
||||
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
|
||||
m2st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
|
||||
m2st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM2stop){
|
||||
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
|
||||
m2st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m2st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M2,FW,0);
|
||||
SetMotPerc(M2,BW,0);
|
||||
break;
|
||||
}
|
||||
return m2st;
|
||||
}
|
||||
|
||||
motMov_st m3ch(void){
|
||||
static motMov_st m3st;
|
||||
static motMov_st memm3st=motStop;
|
||||
char s[100];
|
||||
if(memm3st!=m3st){
|
||||
memm3st=m3st;
|
||||
sprintf(s,"\nm3ch=%d",m3st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM3start)m3st=motWaiting;
|
||||
switch(m3st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
if(rtCiclo>=chM3start){
|
||||
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
|
||||
m3st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
|
||||
m3st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM3stop){
|
||||
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
|
||||
m3st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m3st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M3,FW,0);
|
||||
SetMotPerc(M3,BW,0);
|
||||
break;
|
||||
}
|
||||
return m3st;
|
||||
}
|
||||
|
||||
motMov_st m4ch(void){
|
||||
static motMov_st m4st;
|
||||
static motMov_st memm4st=motStop;
|
||||
char s[100];
|
||||
if(memm4st!=m4st){
|
||||
memm4st=m4st;
|
||||
sprintf(s,"\nm4ch=%d",m4st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
if(rtCiclo<chM4start)m4st=motWaiting;
|
||||
switch(m4st){
|
||||
case motWaiting:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
if(rtCiclo>=chM4start){
|
||||
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
|
||||
m4st=motStartRamp;
|
||||
}
|
||||
break;
|
||||
case motStartRamp:
|
||||
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
|
||||
m4st=motWaitingTime;
|
||||
}
|
||||
break;
|
||||
case motWaitingTime:
|
||||
if(rtCiclo>=chM4stop){
|
||||
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
|
||||
m4st=motStopRamp;
|
||||
}
|
||||
break;
|
||||
case motStopRamp:
|
||||
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
|
||||
m4st=motStop;
|
||||
}
|
||||
break;
|
||||
case motStop:
|
||||
default:
|
||||
SetMotPerc(M4,FW,0);
|
||||
SetMotPerc(M4,BW,0);
|
||||
break;
|
||||
}
|
||||
return m4st;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,286 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,491 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
|
||||
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,289 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d",percStart+delta);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,288 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,283 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=percStart=tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,283 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=percStart=tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(mrampstart[mot-1]>percEnd){
|
||||
delta=mrampstart[mot-1]-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]-delta);
|
||||
return RUNNING;
|
||||
}else if(mrampstart[mot-1]<percEnd){
|
||||
delta=percEnd-mrampstart[mot-1];
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,mrampstart[mot-1]+delta);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
@@ -1,492 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
|
||||
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,283 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint8_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -32,7 +32,8 @@ extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t tanem;
|
||||
extern uint16_t thanem;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
@@ -58,6 +59,8 @@ extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
extern uint16_t flagPar;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
@@ -83,8 +86,8 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
0x200,//thanem
|
||||
20, //tanem
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
@@ -96,7 +99,7 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
340, //apM3start;
|
||||
420, //apM3stop;
|
||||
430, //apM3stop;
|
||||
30, //apM4start;
|
||||
430, //apM4stop;
|
||||
10, //chM1start;
|
||||
@@ -122,7 +125,7 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
0xa5,//flag parametri caricati correttamente. deve valere 0xa5
|
||||
};
|
||||
|
||||
typedef struct
|
||||
@@ -424,6 +427,19 @@ uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadDefault(void){
|
||||
uint8_t i;
|
||||
char s[100];
|
||||
uint16_t st;
|
||||
for(i=0;i<EE_NUM_VIRTUAL_ADDR;i++){
|
||||
st=EEW_Write(i,deftab[i]);
|
||||
if (st == EE_OK)sprintf((char*)s,"\ndone %d=%d",i,deftab[i]);
|
||||
else sprintf((char*)s,"\nee write error %d", st);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
@@ -446,7 +462,8 @@ void loadEE(void){
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(THANEM, &thanem);
|
||||
EEW_Read(TANEM, &thanem);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
@@ -471,6 +488,8 @@ void loadEE(void){
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
EEW_Read(FLAGPAR ,&flagPar);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
@@ -1,493 +0,0 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "eeprom.h"
|
||||
#include "pwm.h"
|
||||
extern UART_HandleTypeDef huart1;
|
||||
/*
|
||||
* Record format (4 bytes):
|
||||
* [0] VirtAddress (uint16_t)
|
||||
* [2] Data (uint16_t)
|
||||
*
|
||||
* Page layout:
|
||||
* [0] PageStatus (uint16_t)
|
||||
* [2..] Records...
|
||||
*/
|
||||
|
||||
extern uint16_t m1pwmap;
|
||||
extern uint16_t m1pwmch;
|
||||
extern uint16_t m2pwmap;
|
||||
extern uint16_t m2pwmch;
|
||||
extern uint16_t m3pwmap;
|
||||
extern uint16_t m3pwmch;
|
||||
extern uint16_t m4pwmap;
|
||||
extern uint16_t m4pwmch;
|
||||
extern uint16_t m1TimeoutMan;
|
||||
extern uint16_t m2TimeoutMan;
|
||||
extern uint16_t m3TimeoutMan;
|
||||
extern uint16_t m4TimeoutMan;
|
||||
extern uint16_t twap;
|
||||
extern uint16_t tramp;
|
||||
extern uint16_t t1ch;
|
||||
extern uint16_t t2ch;
|
||||
extern uint16_t t3ch;
|
||||
extern uint16_t t4ch;
|
||||
extern uint16_t twch;
|
||||
extern uint16_t tramp1;
|
||||
extern uint16_t trampman;
|
||||
extern uint16_t m1pwmMan;
|
||||
extern uint16_t m2pwmMan;
|
||||
extern uint16_t m3pwmMan;
|
||||
extern uint16_t m4pwmMan;
|
||||
extern uint16_t mrampstart[];
|
||||
|
||||
|
||||
extern uint16_t apM1start;
|
||||
extern uint16_t apM1stop;
|
||||
extern uint16_t apM2start;
|
||||
extern uint16_t apM2stop;
|
||||
extern uint16_t apM3start;
|
||||
extern uint16_t apM3stop;
|
||||
extern uint16_t apM4start;
|
||||
extern uint16_t apM4stop;
|
||||
extern uint16_t chM1start;
|
||||
extern uint16_t chM1stop;
|
||||
extern uint16_t chM2start;
|
||||
extern uint16_t chM2stop;
|
||||
extern uint16_t chM3start;
|
||||
extern uint16_t chM3stop;
|
||||
extern uint16_t chM4start;
|
||||
extern uint16_t chM4stop;
|
||||
|
||||
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
|
||||
40, //m1pwmap
|
||||
60, //m1pwmch
|
||||
70, //m2pwmap
|
||||
70, //m2pwmch
|
||||
35, //m3pwmap
|
||||
40, //m3pwmch
|
||||
40, //m4pwmap
|
||||
40, //m4pwmch
|
||||
20, //m1rampstart
|
||||
20, //m2rampstart
|
||||
20, //m3rampstart
|
||||
20, //m4rampstart
|
||||
230,//m1timeoutman
|
||||
100,//m2timeoutman
|
||||
130,//m3timeoutman
|
||||
300,//m4timeoutman
|
||||
1, //twap
|
||||
27, //t1ch
|
||||
10, //t2ch
|
||||
30, //t3ch
|
||||
1, //t4ch
|
||||
1, //twch
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100, //tramp1
|
||||
60, //m1pwmMan
|
||||
70, //m2pwmMan
|
||||
40, //m3pwmMan
|
||||
40, //m4pwmMan
|
||||
50, //trampman
|
||||
10, //tramp
|
||||
310, //apM1start;
|
||||
450, //apM1stop;
|
||||
30, //apM2start;
|
||||
310, //apM2stop;
|
||||
350, //apM3start;
|
||||
450, //apM3stop;
|
||||
450, //apM4start;
|
||||
850, //apM4stop;
|
||||
10, //chM1start;
|
||||
280, //chM1stop;
|
||||
280, //chM2start;
|
||||
580, //chM2stop;
|
||||
20, //chM3start;
|
||||
280, //chM3stop;
|
||||
280, //chM4start;
|
||||
680, //chM4stop;
|
||||
1,
|
||||
27,
|
||||
10,
|
||||
30,
|
||||
1,
|
||||
1,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
100,
|
||||
60,
|
||||
70,
|
||||
40,
|
||||
40,
|
||||
50,
|
||||
10,
|
||||
};
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t VirtAddress;
|
||||
uint16_t Data;
|
||||
} EE_Record_t;
|
||||
|
||||
/* Active page base address (runtime selected in EE_Init) */
|
||||
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
/* 32 sequential virtual addresses */
|
||||
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
|
||||
{
|
||||
0x0001, 0x0002, 0x0003, 0x0004,
|
||||
0x0005, 0x0006, 0x0007, 0x0008,
|
||||
0x0009, 0x000A, 0x000B, 0x000C,
|
||||
0x000D, 0x000E, 0x000F, 0x0010,
|
||||
0x0011, 0x0012, 0x0013, 0x0014,
|
||||
0x0015, 0x0016, 0x0017, 0x0018,
|
||||
0x0019, 0x001A, 0x001B, 0x001C,
|
||||
0x001D, 0x001E, 0x001F, 0x0020,
|
||||
|
||||
0x0021, 0x0022, 0x0023, 0x0024,
|
||||
0x0025, 0x0026, 0x0027, 0x0028,
|
||||
0x0029, 0x002A, 0x002B, 0x002C,
|
||||
0x002D, 0x002E, 0x002F, 0x0030,
|
||||
0x0031, 0x0032, 0x0033, 0x0034,
|
||||
0x0035, 0x0036, 0x0037, 0x0038,
|
||||
0x0039, 0x003A, 0x003B, 0x003C,
|
||||
0x003D, 0x003E, 0x003F, 0x0040
|
||||
};
|
||||
/* ========================================================================= */
|
||||
|
||||
/* --- Internal helpers ---------------------------------------------------- */
|
||||
|
||||
static uint16_t EE_GetPageStatus(uint32_t pageBase)
|
||||
{
|
||||
return *(__IO uint16_t *)pageBase;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
|
||||
HAL_FLASH_Lock();
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
|
||||
{
|
||||
HAL_StatusTypeDef status;
|
||||
FLASH_EraseInitTypeDef EraseInit;
|
||||
uint32_t PageError = 0;
|
||||
|
||||
HAL_FLASH_Unlock();
|
||||
|
||||
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
|
||||
EraseInit.PageAddress = PageAddress;
|
||||
EraseInit.NbPages = 1;
|
||||
|
||||
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
|
||||
|
||||
HAL_FLASH_Lock();
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Find first free record address in given page (returns 0 if full) */
|
||||
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; /* Skip status word */
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
|
||||
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
/* Empty slot */
|
||||
return addr;
|
||||
}
|
||||
addr += sizeof(EE_Record_t);
|
||||
}
|
||||
|
||||
return 0U; /* No space */
|
||||
}
|
||||
|
||||
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
|
||||
/* Find latest value of VirtAddress in a specific page (scan forward) */
|
||||
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
uint32_t addr = pageBase + 2U; // skip status halfword
|
||||
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
|
||||
EE_Status result = EE_NOT_FOUND;
|
||||
uint16_t lastVal = 0;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
while (addr <= (pageEnd - sizeof(EE_Record_t)))
|
||||
{
|
||||
uint16_t vaddr = *(__IO uint16_t *)addr;
|
||||
|
||||
if (vaddr == 0xFFFFU)
|
||||
{
|
||||
// First empty slot => no more records in this page
|
||||
break;
|
||||
}
|
||||
|
||||
uint16_t value = *(__IO uint16_t *)(addr + 2U);
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
lastVal = value; // keep most recent
|
||||
result = EE_OK;
|
||||
}
|
||||
|
||||
addr += sizeof(EE_Record_t); // move 4 bytes forward
|
||||
}
|
||||
|
||||
if (result == EE_OK)
|
||||
*Data = lastVal;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Format both pages: erase and set PAGE0 as VALID */
|
||||
static EE_Status EE_Format(void)
|
||||
{
|
||||
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* PAGE1 will remain erased (status = 0xFFFF) */
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* Get the base of the other page */
|
||||
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
|
||||
{
|
||||
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
|
||||
}
|
||||
|
||||
/* Page transfer (garbage collection + new write) */
|
||||
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t oldBase = EE_ActivePageBase;
|
||||
uint32_t newBase = EE_GetOtherPageBase(oldBase);
|
||||
uint32_t addr;
|
||||
uint16_t value;
|
||||
EE_Status st;
|
||||
|
||||
/* Erase new page */
|
||||
if (EE_FlashErasePage(newBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as RECEIVE */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Start writing records just after status */
|
||||
addr = newBase + 2U;
|
||||
|
||||
/* For each known virtual variable */
|
||||
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
|
||||
{
|
||||
uint16_t vaddr = EE_VirtAddrs[i];
|
||||
|
||||
if (vaddr == VirtAddress)
|
||||
{
|
||||
/* Use the new data passed into PageTransfer */
|
||||
value = Data;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Read latest value from old active page */
|
||||
st = EE_FindInPage(oldBase, vaddr, &value);
|
||||
if (st != EE_STATUS_OK)
|
||||
{
|
||||
/* Variable never written -> skip */
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
/* Write record to new page */
|
||||
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
addr += sizeof(EE_Record_t);
|
||||
if (addr >= (newBase + EE_PAGE_SIZE))
|
||||
return EE_STATUS_NO_SPACE;
|
||||
}
|
||||
|
||||
/* Erase old page */
|
||||
if (EE_FlashErasePage(oldBase) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Mark new page as VALID */
|
||||
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
|
||||
return EE_STATUS_ERROR;
|
||||
|
||||
/* Update active page */
|
||||
EE_ActivePageBase = newBase;
|
||||
|
||||
return EE_STATUS_OK;
|
||||
}
|
||||
|
||||
/* --- Public API ----------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
* Initialize the EEPROM emulation.
|
||||
* - Checks page statuses and chooses the active page.
|
||||
* - If inconsistent or blank, formats pages.
|
||||
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
|
||||
*/
|
||||
uint16_t EE_Init(void)
|
||||
{
|
||||
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
|
||||
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
|
||||
|
||||
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
/* Fresh device -> format */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE0_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
|
||||
{
|
||||
EE_ActivePageBase = EE_PAGE1_BASE;
|
||||
return EE_OK;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Any weird or inconsistent state -> reformat */
|
||||
return (uint16_t)EE_Format();
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Read a 16-bit variable by its virtual address.
|
||||
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
|
||||
{
|
||||
EE_Status st;
|
||||
|
||||
if (Data == NULL)
|
||||
return EE_ERROR;
|
||||
|
||||
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
/*
|
||||
* Write (append) a 16-bit variable.
|
||||
* - Writes a new record in the active page.
|
||||
* - If the page is full, triggers a page transfer (GC).
|
||||
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
|
||||
*/
|
||||
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
|
||||
{
|
||||
uint32_t freeAddr;
|
||||
EE_Status st;
|
||||
|
||||
/* Find free space in active page */
|
||||
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
|
||||
if (freeAddr != 0U)
|
||||
{
|
||||
/* Write new record */
|
||||
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
|
||||
return EE_ERROR;
|
||||
|
||||
return EE_OK;
|
||||
}
|
||||
|
||||
/* No space -> page transfer */
|
||||
st = EE_PageTransfer(VirtAddress, Data);
|
||||
return (uint16_t)st;
|
||||
}
|
||||
|
||||
void loadEE(void){
|
||||
char s [200];
|
||||
EEW_Read(M1PWMAP, &m1pwmap);
|
||||
EEW_Read(M1PWMCH, &m1pwmch);
|
||||
EEW_Read(M2PWMAP, &m2pwmap);
|
||||
EEW_Read(M2PWMCH, &m2pwmch);
|
||||
EEW_Read(M3PWMAP, &m3pwmap);
|
||||
EEW_Read(M3PWMCH, &m3pwmch);
|
||||
EEW_Read(M4PWMAP, &m4pwmap);
|
||||
EEW_Read(M4PWMCH, &m4pwmch);
|
||||
|
||||
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
|
||||
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
|
||||
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
|
||||
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
|
||||
|
||||
|
||||
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
|
||||
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
|
||||
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
|
||||
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
|
||||
|
||||
EEW_Read(TRAMP1, &tramp1);
|
||||
EEW_Read(M1PWMMAN, &m1pwmMan);
|
||||
EEW_Read(M2PWMMAN, &m2pwmMan);
|
||||
EEW_Read(M3PWMMAN, &m3pwmMan);
|
||||
EEW_Read(M4PWMMAN, &m4pwmMan);
|
||||
EEW_Read(TRAMPMAN, &trampman);
|
||||
EEW_Read(TRAMP, &tramp);
|
||||
|
||||
EEW_Read(APM1START,&apM1start);
|
||||
EEW_Read(APM1STOP ,&apM1stop);
|
||||
EEW_Read(APM2START,&apM2start);
|
||||
EEW_Read(APM2STOP ,&apM2stop);
|
||||
EEW_Read(APM3START,&apM3start);
|
||||
EEW_Read(APM3STOP ,&apM3stop);
|
||||
EEW_Read(APM4START,&apM4start);
|
||||
EEW_Read(APM4STOP ,&apM4stop);
|
||||
EEW_Read(CHM1START,&chM1start);
|
||||
EEW_Read(CHM1STOP ,&chM1stop);
|
||||
EEW_Read(CHM2START,&chM2start);
|
||||
EEW_Read(CHM2STOP ,&chM2stop);
|
||||
EEW_Read(CHM3START,&chM3start);
|
||||
EEW_Read(CHM3STOP ,&chM3stop);
|
||||
EEW_Read(CHM4START,&chM4start);
|
||||
EEW_Read(CHM4STOP ,&chM4stop);
|
||||
|
||||
sprintf((char*)s,"LoadEE\n");
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
|
||||
}
|
||||
@@ -1,289 +0,0 @@
|
||||
/*
|
||||
* pwm.c
|
||||
*
|
||||
* Created on: Dec 6, 2025
|
||||
* Author: user
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "stm32f1xx_hal.h"
|
||||
#include "main.h"
|
||||
#include "pwm.h"
|
||||
|
||||
extern TIM_HandleTypeDef htim1;
|
||||
extern TIM_HandleTypeDef htim2;
|
||||
extern TIM_HandleTypeDef htim3;
|
||||
extern TIM_HandleTypeDef htim4;
|
||||
extern volatile uint16_t rtramp[4];
|
||||
extern uint16_t mrampstart[4];
|
||||
extern UART_HandleTypeDef huart1;
|
||||
|
||||
bool IsPwmRunning(TIM_HandleTypeDef *htim, uint32_t Channel)
|
||||
{
|
||||
HAL_TIM_ChannelStateTypeDef chState = HAL_TIM_GetChannelState(htim, Channel);
|
||||
|
||||
return (chState == HAL_TIM_CHANNEL_STATE_BUSY);
|
||||
}
|
||||
|
||||
void StopMot(TIM_HandleTypeDef *htim,uint32_t Channel){
|
||||
HAL_TIM_PWM_Stop(htim, Channel);
|
||||
}
|
||||
|
||||
void StartMot(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
HAL_TIM_PWM_Start(htim, Channel);
|
||||
}
|
||||
|
||||
void SetMotPwm(TIM_HandleTypeDef *htim,uint32_t Channel,uint16_t pwmval){
|
||||
__HAL_TIM_SET_COMPARE(htim, Channel, pwmval);
|
||||
}
|
||||
|
||||
void SetMot(uint8_t mot,uint8_t dir,uint16_t pwmval){
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SetMotPerc(uint8_t mot,uint8_t dir,uint8_t perc){
|
||||
uint16_t pwmval;
|
||||
uint32_t tempval;
|
||||
tempval=perc;
|
||||
tempval*=16384;
|
||||
tempval/=100;
|
||||
pwmval=(uint16_t)tempval;
|
||||
switch(mot){
|
||||
case 1:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,FWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, FWMot1)){
|
||||
SetMotPwm(timMot1,FWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,FWMot1,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot1,BWMot1);
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot1, BWMot1)){
|
||||
SetMotPwm(timMot1,BWMot1,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH1_GPIO_Port, INH1_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot1,BWMot1,pwmval);
|
||||
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,FWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, FWMot2)){
|
||||
SetMotPwm(timMot2,FWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,FWMot2,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot2,BWMot2);
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot2, BWMot2)){
|
||||
SetMotPwm(timMot2,BWMot2,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH2_GPIO_Port, INH2_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot2,BWMot2,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 3:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,FWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, FWMot3)){
|
||||
SetMotPwm(timMot3,FWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,FWMot3,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot3,BWMot3);
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot3, BWMot3)){
|
||||
SetMotPwm(timMot3,BWMot3,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH3_GPIO_Port, INH3_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot3,BWMot3,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
if(dir==FW){
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,FWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, FWMot4)){
|
||||
SetMotPwm(timMot4,FWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,FWMot4,pwmval);
|
||||
}
|
||||
}else{
|
||||
if(pwmval==0){
|
||||
StopMot(timMot4,BWMot4);
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_RESET);
|
||||
}else if(IsPwmRunning(timMot4, BWMot4)){
|
||||
SetMotPwm(timMot4,BWMot4,pwmval);
|
||||
}else{
|
||||
HAL_GPIO_WritePin(INH4_GPIO_Port, INH4_Pin, GPIO_PIN_SET);
|
||||
StartMot(timMot4,BWMot4,pwmval);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
uint8_t ramp(uint8_t mot,uint8_t dir,uint8_t percStart,uint8_t percEnd,uint8_t tr,uint8_t mode){
|
||||
static uint8_t memrtramp[4];
|
||||
char s[10];
|
||||
uint16_t delta;
|
||||
switch(mode){
|
||||
case RAMPINIT:
|
||||
memrtramp[mot-1]=rtramp[mot-1]=tr;
|
||||
SetMotPerc(mot,dir,percStart);
|
||||
return DONE;
|
||||
case RAMPRUN:
|
||||
if(memrtramp[mot-1]!=rtramp[mot-1]){
|
||||
memrtramp[mot-1]=rtramp[mot-1];
|
||||
if(rtramp[mot-1]){
|
||||
if(percStart>percEnd){
|
||||
delta=percStart-percEnd;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart-delta);
|
||||
return RUNNING;
|
||||
}else if(percStart<percEnd){
|
||||
delta=percEnd-percStart;
|
||||
delta=delta*(uint16_t)(tr-rtramp[mot-1]);
|
||||
delta=delta/tr;
|
||||
SetMotPerc(mot,dir,percStart+delta);
|
||||
sprintf((char*)s,"\n%d",percStart+delta);
|
||||
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
|
||||
return RUNNING;
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else{
|
||||
SetMotPerc(mot,dir,percEnd);
|
||||
return DONE;
|
||||
}
|
||||
}else return RUNNING;
|
||||
break;
|
||||
}
|
||||
return DONE;
|
||||
}
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user