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63d3980ddc47e68756aa291d008adba36d84f963
AUTOM/workspace/AUTOM10/Core/Src/main.c
andrea 63d3980ddc wip
2026-04-16 20:28:50 +02:00

944 lines
24 KiB
C
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "cdc_int.h"
#include "eeprom.h"
#include "pwm.h"
#include "adc.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
typedef enum{
bzoff,
bzmoving,
}stBuz_st;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define P1START 0x01
#define P1STOP 0x02
#define P2START 0x04
#define P2STOP 0x08
#define M1 1
#define M2 2
#define M3 3
#define M4 4
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;
DMA_HandleTypeDef hdma_adc1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
extern volatile uint16_t adc_dma_buf[];
extern uint16_t ch4 ;
extern uint16_t ch5 ;
extern uint16_t ch6 ;
extern uint16_t ch7 ;
extern uint16_t ch8 ;
uint8_t pulsanti=0;
volatile uint8_t rtP1=200;
volatile uint8_t rtP2=200;
volatile uint16_t rtramp[4];
volatile uint16_t rtCiclo;
uint16_t m1pwmap;
uint16_t m1pwmch;
uint16_t m2pwmap;
uint16_t m2pwmch;
uint16_t m3pwmap;
uint16_t m3pwmch;
uint16_t m4pwmap;
uint16_t m4pwmch;
uint16_t t1ap;
uint16_t t2ap;
uint16_t t3ap;
uint16_t t4ap;
uint16_t twap;
uint16_t t1ch;
uint16_t t2ch;
uint16_t t3ch;
uint16_t t4ch;
uint16_t twch;
uint16_t tramp;
uint16_t mrampstart[4];
uint8_t stPulsanti=0;
omCiclo_st stCiclo=omchiuso;
omCiclo_st memstCiclo=omchiuso;
volatile stBuz_st stBuz=bzoff;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
static void MX_ADC1_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_SYSTICK_Callback(void){
static unsigned char c10ms = 0;
static uint8_t c100ms = 0;
static uint8_t c1s = 0;
static uint8_t inidx=0;
static uint8_t inbuf[4];
uint8_t i;
if (++c10ms >= 10) { // 10 ms
c10ms = 0;
if(rtP1)rtP1--;
if(rtP2)rtP2--;
//**** legge i tasti********************************************************************************
inidx++;
inidx&=0x03;
if(HAL_GPIO_ReadPin(P1_GPIO_Port, P1_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP1;else inbuf[inidx]&=(~INP1);
if(HAL_GPIO_ReadPin(P2_GPIO_Port, P2_Pin)==GPIO_PIN_RESET)inbuf[inidx]|=INP2;else inbuf[inidx]&=(~INP2);
pulsanti|=(inbuf[0]&inbuf[1]&inbuf[2]&inbuf[3]);
pulsanti&=(inbuf[0]|inbuf[1]|inbuf[2]|inbuf[3]);
//**** legge adc ***********************************************************************************
readAdc();
if (++c100ms >= 10) { // 10 ms
c100ms = 0; //flag_10ms = 1; // set a flag; do real work in main loop
for(i=0;i<4;i++){
if(rtramp[i])rtramp[i]--;
}
//**** gestione buzzer *****************************************************************************
if(stBuz==bzmoving){
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
}else{//bzoff
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
}
//**************************************************************************************************
if (++c1s >= 10) { // 10 ms
c1s = 0;
if(rtCiclo)rtCiclo--;
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
}
}
}
}
void managePulsanti(void){
if(pulsanti&INP1){
if(rtP1==0)stPulsanti|=P1START;
}else{
if(stPulsanti&P1START)stPulsanti&=(~P1START);
else if(rtP1<=190){
stPulsanti|=P1STOP;
}
rtP1=200;
}
if(pulsanti&INP2){
if(rtP2==0)stPulsanti|=P2START;
}else{
if(stPulsanti&P2START)stPulsanti&=(~P2START);
else if(rtP2<=190)stPulsanti|=P2STOP;
rtP2=200;
}
}
void manageCiclo(void){
switch(stCiclo){
case omchiuso:
if(stPulsanti&P1START){
stBuz=bzmoving;
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
stCiclo=omapertura1;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura1:
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t1ap;
stCiclo=omapertura2;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura2:
if(rtCiclo==0){
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
stCiclo=omapertura3;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura3:
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
rtCiclo=twap;
stCiclo=omapertura4;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura4:
if(rtCiclo==0){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
stCiclo=omapertura5;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura5:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t2ap;
stCiclo=omapertura6;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura6:
if(rtCiclo==0){
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
stCiclo=omapertura7;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura7:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t3ap;
stCiclo=omapertura8;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura8:
if(rtCiclo==0){
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
stCiclo=omapertura9;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura9:
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
rtCiclo=twap;
stCiclo=omapertura10;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura10:
if(rtCiclo==0){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
stCiclo=omapertura11;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura11:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t4ap;
stCiclo=omapertura12;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura12:
if(rtCiclo==0){
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
stCiclo=omapertura13;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura13:
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
rtCiclo=twap;
stCiclo=omapertura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura14:
if(rtCiclo==0){
stBuz=bzoff;
stCiclo=omaperto;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omstopapertura:
SetMotPerc(M1,FW,0);
SetMotPerc(M2,FW,0);
SetMotPerc(M3,FW,0);
SetMotPerc(M4,FW,0);
stBuz=bzoff;
stCiclo=omchiuso;
stPulsanti&=(~P1STOP);
break;
case omaperto:
if(stPulsanti&P1START){
stBuz=bzmoving;
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
stCiclo=omchiusura1;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura1:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
rtCiclo=t4ch;
stCiclo=omchiusura2;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura2:
if(rtCiclo==0){
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
stCiclo=omchiusura3;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura3:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
rtCiclo=t1ch;
stCiclo=omchiusura4;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura4:
if(rtCiclo==0){
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura5;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura5:
if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
rtCiclo=twch;
stCiclo=omchiusura6;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura6:
if(rtCiclo==0){
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
stCiclo=omchiusura7;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura7:
if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
rtCiclo=t3ch;
stCiclo=omchiusura8;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura8:
if(rtCiclo==0){
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura9;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura9:
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
rtCiclo=t2ch;
stCiclo=omchiusura10;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura10:
if(rtCiclo==0){
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura11;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura11:
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
rtCiclo=twch;
stCiclo=omchiusura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura12:
if(rtCiclo==0){
//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura13:
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
rtCiclo=twch;
stCiclo=omchiusura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura14:
if(rtCiclo==0){
stBuz=bzoff;
stCiclo=omchiuso;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omstopchiusura:
SetMotPerc(M1,FW,0);
SetMotPerc(M2,FW,0);
SetMotPerc(M3,FW,0);
SetMotPerc(M4,FW,0);
stBuz=bzoff;
stCiclo=omaperto;
stPulsanti&=(~P1STOP);
break;
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USB_DEVICE_Init();
MX_TIM2_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, (uint32_t *)adc_dma_buf, ADC_NUM_CHANNELS);
StopMot(timMot1,FWMot1);
StopMot(timMot1,BWMot1);
StopMot(timMot2,FWMot2);
StopMot(timMot2,BWMot2);
StopMot(timMot3,FWMot3);
StopMot(timMot3,BWMot3);
StopMot(timMot4,FWMot4);
StopMot(timMot4,BWMot4);
//CDC_Transmit_FS((uint8_t*)"Start\r\n", 7);
//while (CDC_Transmit_FS((uint8_t*)"Start\r\n", 7) == USBD_BUSY);
if (EE_Init() != EE_OK){
for(;;);//errore eeprom
}
loadEE();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1){
manageCDC();
manageAdc();
managePulsanti();
manageCiclo();
// while (CDC_Available()) {
// int c = CDC_ReadByte();
//if (c < 0) break;
// uint8_t out = (uint8_t)c;
// if (out >= 'a' && out <= 'z') out -= 32; // to upper
// unsigned char s[100];
// sprintf((char*)s,"\nc=%03d",c);
// while (CDC_Transmit_FS(s, 6) == USBD_BUSY) {
// // tiny spin or yield
// }
// }
//HAL_Delay(1000);
// CDC_Transmit_FS((uint8_t*)"Ping\r\n", 6);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC|RCC_PERIPHCLK_USB;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief ADC1 Initialization Function
* @param None
* @retval None
*/
static void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 5;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_4;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_28CYCLES_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_5;
sConfig.Rank = ADC_REGULAR_RANK_2;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = ADC_REGULAR_RANK_3;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_7;
sConfig.Rank = ADC_REGULAR_RANK_4;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_8;
sConfig.Rank = ADC_REGULAR_RANK_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 17999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 1000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 2000;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 3000;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 4000;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 17999;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_ENABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 6000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 7000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 8000;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(LED2_GPIO_Port, LED2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, BUZ_Pin|LED1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : LED2_Pin */
GPIO_InitStruct.Pin = LED2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : P1_Pin P2_Pin */
GPIO_InitStruct.Pin = P1_Pin|P2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : AIN1_Pin */
GPIO_InitStruct.Pin = AIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(AIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : INH1_Pin INH2_Pin INH3_Pin INH4_Pin
EXP1_Pin EXP2_Pin EXP3_Pin */
GPIO_InitStruct.Pin = INH1_Pin|INH2_Pin|INH3_Pin|INH4_Pin
|EXP1_Pin|EXP2_Pin|EXP3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : CH1_Pin CH2_Pin CH3_Pin CH4_Pin */
GPIO_InitStruct.Pin = CH1_Pin|CH2_Pin|CH3_Pin|CH4_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : BUZ_Pin LED1_Pin */
GPIO_InitStruct.Pin = BUZ_Pin|LED1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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