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IR_CMD_Handler

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This commit is contained in:
DashyFox 2024-08-25 20:27:17 +03:00
parent 55e8424f78
commit 148d748c20
17 changed files with 853 additions and 469 deletions
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32
Core/Inc/EEPROM.h
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@ -13,19 +13,19 @@
#define MAX_NUMBER_SHOTS_IN_PROGRAMS 31
#define MAX_NUMBER_PROGRAMS_IN_MACRO 16
struct StructNumberScrewCount{
unsigned char number;
typedef struct MacroProgram{
unsigned char id;
unsigned char speedScrew;
unsigned char countRepeat;
unsigned char options;
};
}MacroProgram;
struct StructNumberScrew{
unsigned char number;
typedef struct ProgramShot{
unsigned char id;
unsigned char speedScrew;
};
}ProgramShot;
struct StructShot {
typedef struct Shot {
unsigned char countRepeatShot;
unsigned char speedRollerTop;
unsigned char speedRollerBottom;
@ -33,20 +33,20 @@ struct StructShot {
unsigned char rotationAxial;
unsigned char rotationHorizontal;
unsigned char rotationVertical;
};
}Shot;
struct StructProgram {
typedef struct Program {
unsigned char countRepeat;
unsigned char options;
struct StructNumberScrew numberScrew[MAX_NUMBER_SHOTS_IN_PROGRAMS];
};
ProgramShot shots[MAX_NUMBER_SHOTS_IN_PROGRAMS];
}Program;
struct StructMacro {
struct StructNumberScrewCount numberScrewCount[MAX_NUMBER_PROGRAMS_IN_MACRO];
};
typedef struct Macro {
MacroProgram programs[MAX_NUMBER_PROGRAMS_IN_MACRO];
} Macro;
void SaveShot(unsigned char number, struct StructShot* shot);
void SaveShot(unsigned char number, struct Shot* shot);
void FLASH_WriteBlock(uint8_t *writeAddr, unsigned char *flashWrBufPtr);
struct StructShot GetShot( unsigned char number );
Shot GetShot( unsigned char number );

13
Core/Inc/GlobalDefines.h Normal file
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@ -0,0 +1,13 @@
/*
* GlobalDefines.h
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#ifndef INC_GLOBALDEFINES_H_
#define INC_GLOBALDEFINES_H_
#define UART_BUFFER_SIZE 64
#endif /* INC_GLOBALDEFINES_H_ */

49
Core/Inc/IR.h
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@ -8,45 +8,16 @@
extern unsigned char IR_Command;
extern unsigned char IR_Address;
extern unsigned char IR_CommandNumber[3];
extern unsigned char IRStatus;
void IR_handler(void);
void ClearIRStatus(void);
void ClearIRCommand(void);
void ClearIR(void);
void SetShiftReg_inline (unsigned char b1, unsigned char b2, unsigned char b3);
void SetShiftReg (unsigned char shiftreg[3]);
//extern unsigned char IR_CommandNumber[3];
enum IR_CMD_LIST {
IR_FRONT_LEFT = 20,
IR_FRONT_MID = 58,
IR_FONT_RIGHT = 21,
IR_MACRO = 63,
IR_PROG = 37,
IR_SHOT = 56,
IR_NUM_1 = 0,
IR_NUM_2 = 1,
IR_NUM_3 = 2,
IR_NUM_4 = 3,
IR_NUM_5 = 4,
IR_NUM_6 = 5,
IR_NUM_7 = 6,
IR_NUM_8 = 7,
IR_NUM_9 = 8,
IR_NUM_0 = 9,
IR_DEBUG = 29, // -/--
IR_PAUSE = 43,
IR_STOP = 116,
IR_START = 124,
IR_F_BTN = 23,
IR_ESC = 117,
IR_ENTER = 97,
IR_TEMPO_INC = 60,
IR_TEMPO_DEC = 54,
IR_ENGINE_UP_INC = 18, // скорость верхнего мотора
IR_ENGINE_UP_DEC = 19,
IR_ENGINE_DOWM_INC = 16,
IR_ENGINE_DOWM_DEC = 17
};
typedef struct IRData{
unsigned char address;
unsigned char command;
} IRData;
void IR_handler(void);
IRData getIRData(void);
unsigned char IR_Available();
void ClearIRStatus(void);

47
Core/Inc/IR_CMD_Handler.h Normal file
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@ -0,0 +1,47 @@
/*
* IR_CMD_Handler.h
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#ifndef INC_IR_CMD_HANDLER_H_
#define INC_IR_CMD_HANDLER_H_
#include "stm32f1xx_hal.h"
void IR_CMD_Handler();
enum IR_CMD_LIST {
IR_FRONT_LEFT = 20,
IR_FRONT_MID = 58,
IR_FONT_RIGHT = 21,
IR_MACRO = 63,
IR_PROG = 37,
IR_SHOT = 56,
IR_NUM_1 = 0,
IR_NUM_2 = 1,
IR_NUM_3 = 2,
IR_NUM_4 = 3,
IR_NUM_5 = 4,
IR_NUM_6 = 5,
IR_NUM_7 = 6,
IR_NUM_8 = 7,
IR_NUM_9 = 8,
IR_NUM_0 = 9,
IR_DEBUG = 29, // -/--
IR_PAUSE = 43,
IR_STOP = 116,
IR_START = 124,
IR_F_BTN = 23,
IR_ESC = 117,
IR_ENTER = 97,
IR_TEMPO_INC = 60,
IR_TEMPO_DEC = 54,
IR_ENGINE_UP_INC = 18, // скорость верхнего мотора
IR_ENGINE_UP_DEC = 19,
IR_ENGINE_DOWM_INC = 16,
IR_ENGINE_DOWM_DEC = 17
};
#endif /* INC_IR_CMD_HANDLER_H_ */

39
Core/Inc/RobotFunctions.h Normal file
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@ -0,0 +1,39 @@
/*
* RobotFunctions.h
*
* Created on: Aug 24, 2024
* Author: DashyFox
*/
#ifndef INC_ROBOTFUNCTIONS_H_
#define INC_ROBOTFUNCTIONS_H_
#include "pca9685.h"
void doShot();
void doShotForever();
void prepareShot();
void stopShooting();
void setPos();
void setPosDefault();
// 0 .. 100
void setShneckSpeed(uint8_t speed);
//(-v) 0 .. 100(stop) .. 200(+v)
void setRollersSpeed(uint8_t speed); //(-v) 0 . 100(stop) . 200(+v)
void startProgram(); // shot sequence
void startMacro(); // shot sequence
#endif /* INC_ROBOTFUNCTIONS_H_ */

17
Core/Inc/ShiftReg.h Normal file
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@ -0,0 +1,17 @@
/*
* ShiftReg.h
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#ifndef SRC_SHIFTREG_H_
#define SRC_SHIFTREG_H_
#include "stm32f1xx_hal.h"
void SetShiftReg_inline (unsigned char b1, unsigned char b2, unsigned char b3);
void SetShiftReg (unsigned char shiftreg[3]);
#endif /* SRC_SHIFTREG_H_ */

23
Core/Inc/SimpleTimer.h Normal file
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@ -0,0 +1,23 @@
/*
* SimpleTimer.h
*
* Created on: Aug 24, 2024
* Author: DashyFox
*/
#ifndef INC_SIMPLETIMER_H_
#define INC_SIMPLETIMER_H_
#include "stm32f1xx_hal.h"
#define forTimer(name, time) \
static uint32_t name##_previousMillis = 0; \
if (millis() - name##_previousMillis >= time)
#define resetForTimer(name) \
name##_previousMillis = millis();
uint32_t millis();
#endif /* INC_SIMPLETIMER_H_ */

1
Core/Inc/stm32f1xx_it.h
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@ -61,6 +61,7 @@ void USB_LP_CAN1_RX0_IRQHandler(void);
void TIM3_IRQHandler(void);
void I2C1_EV_IRQHandler(void);
void I2C1_ER_IRQHandler(void);
void USART3_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

37
Core/Src/EEPROM.c
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@ -3,7 +3,7 @@
#include "usbd_cdc_if.h"
void SaveShot(unsigned char number, struct StructShot* shot)
void SaveShot(unsigned char number, struct Shot* shot)
{
uint16_t blockAddr16 = (uint16_t)(START_ADR_SHOT + (uint16_t)(number*FLASH_BLOCKSIZE));
@ -26,31 +26,30 @@ void SaveShot(unsigned char number, struct StructShot* shot)
FLASH_WriteBlock(blockAddr, Buf);
}
struct StructShot GetShot( unsigned char number )
struct Shot GetShot( unsigned char number )
{
struct StructShot shot;
struct Shot shot;
uint16_t blockAddr16 = (uint16_t)(START_ADR_SHOT + (uint16_t)(number*FLASH_BLOCKSIZE));
uint16_t blockAddr16 = (uint16_t)(START_ADR_SHOT + (uint16_t)(number*FLASH_BLOCKSIZE));
uint8_t blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
uint8_t blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
unsigned char Buf[FLASH_BLOCKSIZE];
unsigned char Buf[FLASH_BLOCKSIZE];
HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2, 10);
HAL_Delay(1);
HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1), Buf, FLASH_BLOCKSIZE, 10);
HAL_Delay(1);
HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), blockAddr, 2, 10);
HAL_Delay(1);
HAL_I2C_Master_Receive(&hi2c1, (AT24C_ADRESS << 1), Buf, FLASH_BLOCKSIZE, 10);
HAL_Delay(1);
shot.countRepeatShot = Buf[1];
shot.speedRollerTop = Buf[2];
shot.speedRollerBottom = Buf[3];
shot.speedScrew = Buf[4];
shot.rotationAxial = Buf[5];
shot.rotationHorizontal = Buf[6];
shot.rotationVertical = Buf[7];
shot.countRepeatShot = Buf[1];
shot.speedRollerTop = Buf[2];
shot.speedRollerBottom = Buf[3];
shot.speedScrew = Buf[4];
shot.rotationAxial = Buf[5];
shot.rotationHorizontal = Buf[6];
shot.rotationVertical = Buf[7];
return shot;
return shot;
}

78
Core/Src/IR.c
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@ -11,13 +11,7 @@ unsigned char IR_IndexBitAddress;
unsigned int IR_Pulse;
unsigned int currentIR_Pulse;
unsigned char IR_CommandNumber[3];
unsigned char IRStatus;
unsigned char NumberMacroProgramShot;
unsigned char NumberShot;
unsigned char NumberProgram;
unsigned char NumberMacro;
unsigned char CommandMacroProgramShot;
void IR_handler() // SONY (SIRC) protocol 12 bit (7+5)
{
@ -136,71 +130,13 @@ void ClearIRStatus()
IRStatus = STATUS_START;
}
void ClearIRCommand()
{
IR_CommandNumber[0] = 0xFF;
IR_CommandNumber[1] = 0xFF;
IR_CommandNumber[2] = 0xFF;
IRData getIRData(){
NVIC_DisableIRQ(EXTI1_IRQn);
IRData ret = {IR_Address, IR_Command};
NVIC_EnableIRQ(EXTI1_IRQn);
return ret;
}
void ClearIR()
{
IR_Command = 0x7F;
IR_Address = 0x1F;
IR_OptionsProgram = 0x00;
NumberMacroProgramShot = 0xFF;
NumberShot = 0xFF;
NumberProgram = 0xFF;
NumberMacro = 0xFF;
CommandMacroProgramShot = 0x00;
ClearIRStatus();
unsigned char IR_Available(){
return IRStatus == STATUS_REPEAT;
}
void SetShiftReg_inline(unsigned char b1, unsigned char b2, unsigned char b3){
unsigned char shiftreg[3] = {b1,b2,b3};
SetShiftReg(shiftreg);
}
void SetShiftReg(unsigned char shiftreg[3])
{
for (unsigned char i = 0; i < 3; i++)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
for (unsigned char j = 0; j < 8; j++)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET); // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
if (((shiftreg[i] >> j) & 0x01) == 0x01)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
}
else
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET); // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
}
}

163
Core/Src/IR_CMD_Handler.c Normal file
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@ -0,0 +1,163 @@
/*
* IR_CMD_Handler.c
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#include "IR_CMD_Handler.h"
#include "IR.h"
#include "SimpleTimer.h"
#include "Print.h"
#include "ShiftReg.h"
#define IR_Timeout 137
#define ResetInputProgerss_Timeout 2500
#define NULL_NumberParam 0xFFFF
//extern unsigned char IR_Command;
//extern unsigned char IR_Address;
extern unsigned char IRStatus;
IRData data;
IRData old_data;
unsigned char b1 = 1;
unsigned char b2 = 1;
unsigned char b3 = 1;
uint32_t IR_Timeout_timer = 0;
uint8_t dataHandled_flag = 0;
uint32_t inputInProgerss_timer = 0;
uint8_t inputInProgerss = 0;
uint8_t digitInputInProgerss = 0;
uint8_t inputDigit = 0; // left = 0 to right
uint16_t inputNumberParam = NULL_NumberParam;
enum IR_MENU {
IR_MENU_Home,
IR_MENU_SHOT, IR_MENU_PROGR, IR_MENU_MACRO, IR_MENU_,
};
void IR_Home_Process();
void IR_Shot_Selection();
void IR_CMD_Clear();
void (*InputHandler)(void) = IR_Home_Process;
void IR_CMD_Handler() {
// timeout tick
if (dataHandled_flag && (millis() - IR_Timeout_timer > IR_Timeout)) {
dataHandled_flag = 0;
}
if (inputInProgerss
&& (millis() - inputInProgerss_timer > ResetInputProgerss_Timeout)) {
IR_CMD_Clear();
}
// cmd handler
if (IR_Available()) {
data = getIRData();
IR_Timeout_timer = millis();
// works once per button press
if (memcmp(&data, &old_data, sizeof(IRData)) != 0
|| !dataHandled_flag) {
dataHandled_flag = 1;
if (IR_Address == 0x01) {
printNumber(data.command);
InputHandler();
inputInProgerss = 1;
inputInProgerss_timer = millis();
}
memcpy(&old_data, &data, sizeof(IRData));
}
IR_Timeout_timer = millis();
ClearIRStatus();
}
}
void IR_CMD_Clear() {
InputHandler = IR_Home_Process;
inputDigit = 0;
inputInProgerss = 0;
digitInputInProgerss = 0;
inputNumberParam = NULL_NumberParam;
SetShiftReg_inline(0, 0xff, 0);
}
void IR_Home_Process() {
InputHandler = IR_Home_Process;
SetShiftReg_inline(0xff, 0, 0);
switch (data.command) {
case IR_FONT_RIGHT:
InputHandler = IR_Shot_Selection;
break;
// case IR_FONT_RIGHT:
// // if(!(b1>64 || b2> 64|| b3>64)) b1 = 64;
// // else
// // {
// // b1 = b1>>1;
// // b2 = b2<<1;
// // b3 = b3<<1;
// // }
// SetShiftReg_inline(b1, b2, b3);
// break;
case IR_FRONT_MID:
SetShiftReg_inline(0, 0, 0);
b1 = b2 = b3 = 0;
break;
case IR_FRONT_LEFT:
// if(!b3)
// b3 = 128;
// b3 = b3>>1;
// if(!b3)
// b2 = 64;
SetShiftReg_inline(++b1, ++b2, ++b3);
break;
default:
break;
}
}
void IR_Shot_Selection() { // Сделать общим
SetShiftReg_inline(0x03, 0, 0);
if (0 <= data.command && data.command <= 9) {
if (digitInputInProgerss) {
inputNumberParam = inputNumberParam * 10; // dec shift << 1
inputNumberParam += data.command + 1;
SetShiftReg_inline(0xF0, 0, 0);
} else {
inputNumberParam = data.command + 1;
}
digitInputInProgerss = 1;
} else {
digitInputInProgerss = 0;
switch (data.command) {
case IR_ENTER:
if(inputNumberParam != NULL_NumberParam){
SetShiftReg_inline(0, 0, inputNumberParam);
}
inputNumberParam = NULL_NumberParam;
digitInputInProgerss = 0;
break;
default:
IR_Home_Process();
break;
}
}
}

52
Core/Src/ShiftReg.c Normal file
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@ -0,0 +1,52 @@
/*
* ShiftReg.c
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#include "ShiftReg.h"
void SetShiftReg_inline(unsigned char b1, unsigned char b2, unsigned char b3){
unsigned char shiftreg[3] = {b1,b2,b3};
SetShiftReg(shiftreg);
}
void SetShiftReg(unsigned char shiftreg[3])
{
for (unsigned char i = 0; i < 3; i++)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
for (unsigned char j = 0; j < 8; j++)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET); // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
if (((shiftreg[i] >> j) & 0x01) == 0x01)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
}
else
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET); // <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
}
}

12
Core/Src/SimpleTimer.c Normal file
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@ -0,0 +1,12 @@
/*
* SimpleTimer.c
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#include "SimpleTimer.h"
uint32_t millis(){
return HAL_GetTick()*10;
}

191
Core/Src/main.c
View File

@ -23,11 +23,17 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "GlobalDefines.h"
#include "usbd_cdc_if.h"
#include "pca9685.h"
#include "IR.h"
#include "IR_CMD_Handler.h"
#include "EEPROM.h"
#include "Print.h"
#include "SimpleTimer.h"
#include "RobotFunctions.h"
#include "ShiftReg.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -62,6 +68,8 @@ uint8_t velosety[600];
uint8_t rxcomlite = 0;
uint8_t initcomlete = 0;
uint8_t uart_rx_buffer[64];
unsigned char Shiftreg[3];
uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
@ -76,14 +84,9 @@ uint16_t vi = 0;
uint16_t timing1 = 0;
uint16_t timing2 = 0;
uint8_t MYIR_command = 0;
volatile uint32_t millisCounter = 0;
uint32_t previousMillis = 0;
struct StructShot BufShots[MAX_NUMBER_SHOTS];
struct StructProgram BufPrograms;
struct StructMacro BufMacro;
struct Shot BufShots[MAX_NUMBER_SHOTS];
struct Program BufPrograms;
struct Macro BufMacro;
extern PCD_HandleTypeDef hpcd_USB_FS;
@ -107,19 +110,12 @@ static void MX_USART3_UART_Init(void);
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
unsigned char b1 = 1;
unsigned char b2 = 1;
unsigned char b3 = 1;
IRMenu menu();
* @brief The application entry point.
* @retval int
*/
int main(void)
{
menu.foo();
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
@ -206,45 +202,8 @@ initcomlete = 1;
/* USER CODE BEGIN WHILE */
while (1)
{
if (IRStatus == STATUS_REPEAT)
{
if (IR_Address == 0x01)
{
MYIR_command = IR_Command;
printNumber(MYIR_command);
// CDC_Transmit_FS(&MYIR_command, 1);
switch (MYIR_command)
{
case IR_FONT_RIGHT:
// if(!(b1>64 || b2> 64|| b3>64)) b1 = 64;
// else
// {
// b1 = b1>>1;
// b2 = b2<<1;
// b3 = b3<<1;
// }
SetShiftReg_inline(b1, b2, b3);
break;
case IR_FRONT_MID:
SetShiftReg_inline(0, 0, 0);
b1=b2=b3=0;
break;
case IR_FRONT_LEFT:
// if(!b3)
// b3 = 128;
// b3 = b3>>1;
// if(!b3)
// b2 = 64;
SetShiftReg_inline(++b1, ++b2, ++b3);
break;
default:
break;
}
}
ClearIRStatus();
}
IR_CMD_Handler();
if (rxcomlite == 1)
{
@ -388,14 +347,13 @@ initcomlete = 1;
// // HAL_Delay(1000);
}
uint32_t currentMillis = millisCounter;
if (currentMillis - previousMillis >= 500)
{
previousMillis = currentMillis;
GPIOC->ODR ^= GPIO_PIN_13;
// unsigned char text[] = "Hello\n";
// printNumber(SysTick->LOAD);
// CDC_Transmit_FS(text, sizeof(text));
forTimer(blinkTimer, 500)
{
resetForTimer(blinkTimer);
GPIOC->ODR ^= GPIO_PIN_13;
// unsigned char text[] = "Hello\n";
// printNumber(SysTick->LOAD);
// CDC_Transmit_FS(text, sizeof(text));
}
/* USER CODE END WHILE */
@ -406,9 +364,9 @@ initcomlete = 1;
}
/**
* @brief System Clock Configuration
* @retval None
*/
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
@ -416,8 +374,8 @@ void SystemClock_Config(void)
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
@ -431,8 +389,9 @@ void SystemClock_Config(void)
}
/** 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.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;
@ -451,10 +410,10 @@ void SystemClock_Config(void)
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
@ -481,13 +440,14 @@ static void MX_I2C1_Init(void)
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
@ -559,13 +519,14 @@ static void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{
@ -629,13 +590,14 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
@ -690,13 +652,14 @@ static void MX_TIM3_Init(void)
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
/**
* @brief USART3 Initialization Function
* @param None
* @retval None
*/
* @brief USART3 Initialization Function
* @param None
* @retval None
*/
static void MX_USART3_UART_Init(void)
{
@ -720,20 +683,24 @@ static void MX_USART3_UART_Init(void)
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
if (HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE) != HAL_OK)
{
Error_Handler();
}
/* USER CODE END USART3_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
* @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 */
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
@ -745,7 +712,7 @@ static void MX_GPIO_Init(void)
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, LED_DATA_Pin | LED_CLK_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, LED_DATA_Pin|LED_CLK_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
@ -755,7 +722,7 @@ static void MX_GPIO_Init(void)
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : LED_DATA_Pin LED_CLK_Pin */
GPIO_InitStruct.Pin = LED_DATA_Pin | LED_CLK_Pin;
GPIO_InitStruct.Pin = LED_DATA_Pin|LED_CLK_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@ -780,8 +747,8 @@ static void MX_GPIO_Init(void)
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
@ -789,9 +756,9 @@ static void MX_GPIO_Init(void)
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
@ -804,14 +771,14 @@ void Error_Handler(void)
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
#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
*/
* @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 */

5
Core/Src/stm32f1xx_hal_msp.c
View File

@ -348,6 +348,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(RX_GPIO_Port, &GPIO_InitStruct);
/* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
@ -378,6 +381,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/
HAL_GPIO_DeInit(GPIOB, TX_Pin|RX_Pin);
/* USART3 interrupt DeInit */
HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */

552
Core/Src/stm32f1xx_it.c
View File

@ -1,20 +1,20 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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.
*
******************************************************************************
*/
******************************************************************************
* @file stm32f1xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 ------------------------------------------------------------------*/
@ -27,6 +27,8 @@
#include "usb_device.h"
#include "usbd_cdc_if.h"
#include "GlobalDefines.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -46,43 +48,39 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
extern volatile uint32_t millisCounter;
uint8_t myi;
//uint8_t ticktime = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> 0,01 <20>
uint8_t update1 = 0; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0 <20><><EFBFBD> 1
// uint8_t ticktime = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> 0,01 <20>
uint8_t update1 = 0; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0 <20><><EFBFBD> 1
uint8_t update2 = 0;
extern uint16_t vi; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> 0..599
uint16_t v1[30]; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) [0] - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, [1-29] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint16_t vi; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> 0..599
uint16_t v1[30]; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) [0] - <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, [1-29] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t v2[30];
uint32_t vt1 = 0; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
uint32_t vt1 = 0; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
uint32_t vt2 = 0;
uint16_t vs1[4] = {0,0,0,0}; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 3 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t vs2[4] = {0,0,0,0}; //[0] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//[1-3] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> vt
uint16_t vs1[4] = {0, 0, 0, 0}; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 3 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t vs2[4] = {0, 0, 0, 0}; //[0] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//[1-3] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> vt
uint32_t vsk1 = 0; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
uint32_t vsk1 = 0; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
uint32_t vsk2 = 0;
uint16_t Vzad1 = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t Vupr1 = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t Vzad2 = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t Vupr2 = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
extern uint8_t avto; // vkl/otkl avtomaticheskoi raboti
extern uint8_t rejim_number; // nomer tekyshego rejima
uint16_t Vzad1 = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t Vupr1 = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t Vzad2 = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
uint16_t Vupr2 = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
extern uint8_t avto; // vkl/otkl avtomaticheskoi raboti
extern uint8_t rejim_number; // nomer tekyshego rejima
extern uint8_t initcomlete;
extern uint16_t timing1; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint16_t timing2; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint8_t velosety[600]; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>
extern uint16_t timing1; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint16_t timing2; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint8_t velosety[600]; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>
extern uint8_t Vz1;
extern uint8_t Vz2;
@ -99,49 +97,84 @@ int32_t computePID2(uint16_t input, uint16_t setpoint);
/* USER CODE BEGIN 0 */
int32_t computePID1(uint16_t input, uint16_t setpoint)
{
static int32_t integral = 0, prevErr = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static int32_t integral = 0, prevErr = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int32_t err = setpoint - input; //1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int32_t err = setpoint - input; // 1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
integral = integral + err/20; //2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, ki = 5;
integral = integral + err / 20; // 2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, ki = 5;
if (integral > 4000) { integral = 4000;}
if (integral < 0) { integral = 0;}
if (integral > 4000)
{
integral = 4000;
}
if (integral < 0)
{
integral = 0;
}
int32_t D = (err - prevErr); //3.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, kd = 0.01
if (D > 4000) { D = 4000;}
if (D < 0) { D = 0;}
int32_t D = (err - prevErr); // 3.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, kd = 0.01
if (D > 4000)
{
D = 4000;
}
if (D < 0)
{
D = 0;
}
prevErr = err;
//
int32_t Rout = ((err * 3)>>1) + integral + D; //4. <20>=1,5 + <20>=5 + <20>=0.01
if (Rout > 4000) { Rout = 4000;} //
if (Rout < 0) { Rout = 0;} //
prevErr = err;
//
int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
if (Rout > 4000)
{
Rout = 4000;
} //
if (Rout < 0)
{
Rout = 0;
} //
return Rout;
return Rout;
}
int32_t computePID2(uint16_t input, uint16_t setpoint)
{
static int32_t integral = 0, prevErr = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int32_t err = setpoint - input; //1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
static int32_t integral = 0, prevErr = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int32_t err = setpoint - input; // 1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
integral = integral + err/20; //2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, ki = 5;
if (integral > 4000) { integral = 4000;}
if (integral < 0) { integral = 0;}
integral = integral + err / 20; // 2.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, ki = 5;
if (integral > 4000)
{
integral = 4000;
}
if (integral < 0)
{
integral = 0;
}
int32_t D = (err - prevErr); //3.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, kd = 0.01
if (D > 4000) { D = 4000;}
if (D < 0) { D = 0;}
int32_t D = (err - prevErr); // 3.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> dt = 0.01, kd = 0.01
if (D > 4000)
{
D = 4000;
}
if (D < 0)
{
D = 0;
}
prevErr = err;
//
int32_t Rout = ((err * 3)>>1) + integral + D; //4. <20>=1,5 + <20>=5 + <20>=0.01
if (Rout > 4000) { Rout = 4000;} //
if (Rout < 0) { Rout = 0;} //
prevErr = err;
//
int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
if (Rout > 4000)
{
Rout = 4000;
} //
if (Rout < 0)
{
Rout = 0;
} //
return Rout;
return Rout;
}
/* USER CODE END 0 */
@ -149,6 +182,7 @@ int32_t computePID2(uint16_t input, uint16_t setpoint)
extern PCD_HandleTypeDef hpcd_USB_FS;
extern I2C_HandleTypeDef hi2c1;
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@ -165,7 +199,7 @@ void NMI_Handler(void)
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
@ -277,95 +311,166 @@ void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1
if (v1[0] > 0) { //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vt1 = 0;
for (uint8_t i = 1; i <= v1[0]; i++) { vt1 += v1[i]; }
vt1 = vt1/v1[0];
//<2F><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else {vt1 = timing1; }
v1[0] = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1
if (v1[0] > 0)
{ // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vt1 = 0;
for (uint8_t i = 1; i <= v1[0]; i++)
{
vt1 += v1[i];
}
vt1 = vt1 / v1[0];
// <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else
{
vt1 = timing1;
}
v1[0] = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2
if (v2[0] > 0)
{ // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vt2 = 0;
for (uint8_t i = 1; i <= v2[0]; i++)
{
vt2 += v2[i];
}
vt2 = vt2 / v2[0];
// <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else
{
vt2 = timing2;
}
v2[0] = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 2
if (v2[0] > 0) { //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vt2 = 0;
for (uint8_t i = 1; i <= v2[0]; i++) { vt2 += v2[i]; }
vt2 = vt2/v2[0];
//<2F><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>, <20><> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
else {vt2 = timing2; }
v2[0] = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 3
if (vs1[0] < 3)
{
vs1[vs1[0] + 1] = (uint16_t)vt1;
vs1[0]++;
}
else
{
vs1[0] = 0;
vs1[vs1[0] + 1] = (uint16_t)vt1;
vs1[0]++;
}
vsk1 = (vs1[1] + vs1[2] + vs1[3]) / 3;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 3
if (vs1[0] < 3) { vs1[vs1[0]+1] = (uint16_t)vt1; vs1[0]++; } else
{vs1[0] = 0; vs1[vs1[0]+1] = (uint16_t)vt1; vs1[0]++; }
if (vs2[0] < 3)
{
vs2[vs2[0] + 1] = (uint16_t)vt2;
vs2[0]++;
}
else
{
vs2[0] = 0;
vs2[vs2[0] + 1] = (uint16_t)vt2;
vs2[0]++;
}
vsk1 = (vs1[1]+vs1[2]+vs1[3])/3;
vsk2 = (vs2[1] + vs2[2] + vs2[3]) / 3;
if (vs2[0] < 3) { vs2[vs2[0]+1] = (uint16_t)vt2; vs2[0]++; } else
{vs2[0] = 0; vs2[vs2[0]+1] = (uint16_t)vt2; vs2[0]++; }
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 60*1000000/(<28>*10)
if (vsk1 != 0)
{
vsk1 = 6000000 / vsk1;
}
else
{
vsk1 = 0;
}
if (vsk1 > 10000) vsk1 = 10000;
if (vsk1 < 150) vsk1 = 0;
vsk2 = (vs2[1]+vs2[2]+vs2[3])/3;
if (vsk2 != 0)
{
vsk2 = 6000000 / vsk2;
}
else
{
vsk2 = 0;
}
if (vsk2 > 10000)
vsk2 = 10000;
if (vsk2 < 150)
vsk2 = 0;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0 - 200 <20> -8000 ... 8000 <20><>./<2F><><EFBFBD>.
if (Vz1 > 100)
{
Vzad1 = (Vz1 - 100) * 80;
}
else
{
Vzad1 = (100 - Vz1) * 80;
}
if (Vz2 > 100)
{
Vzad2 = (Vz2 - 100) * 80;
}
else
{
Vzad2 = (100 - Vz2) * 80;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 60*1000000/(<28>*10)
if (vsk1 != 0) {vsk1 = 6000000/vsk1;} else { vsk1 = 0;}
if (vsk1 > 10000) vsk1 = 10000;
if (vsk1 < 150) vsk1 = 0;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Vupr1 = (uint16_t)computePID1(vsk1, Vzad1);
Vupr2 = (uint16_t)computePID2(vsk2, Vzad2);
if (vsk2 != 0) {vsk2 = 6000000/vsk2;} else { vsk2 = 0;}
if (vsk2 > 10000) vsk2 = 10000;
if (vsk2 < 150) vsk2 = 0;
if (Vz1 > 100)
{
TIM2->CCR2 = 0;
TIM2->CCR1 = Vupr1;
}
else
{
TIM2->CCR1 = 0;
TIM2->CCR2 = Vupr1;
}
if (Vz2 > 100)
{
TIM2->CCR3 = 0;
TIM2->CCR4 = Vupr2;
}
else
{
TIM2->CCR4 = 0;
TIM2->CCR3 = Vupr2;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0 - 200 <20> -8000 ... 8000 <20><>./<2F><><EFBFBD>.
if (Vz1 > 100) { Vzad1 = (Vz1 - 100)*80; } else { Vzad1 = (100 - Vz1)*80; }
if (Vz2 > 100) { Vzad2 = (Vz2 - 100)*80; } else { Vzad2 = (100 - Vz2)*80; }
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>
if (vi < 600)
{
velosety[vi] = LOBYTE(timing1);
velosety[vi + 1] = HIBYTE(timing1);
velosety[vi + 2] = LOBYTE(vsk1);
velosety[vi + 3] = HIBYTE(vsk1);
velosety[vi + 4] = LOBYTE(vsk2);
velosety[vi + 5] = HIBYTE(vsk2);
vi = vi + 6;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Vupr1 = (uint16_t)computePID1(vsk1, Vzad1);
Vupr2 = (uint16_t)computePID2(vsk2, Vzad2);
// else
// {vi = 0;
// velosety[vi] = LOBYTE(timing1);
// velosety[vi+1] = HIBYTE(timing1);
// velosety[vi+2] = LOBYTE(vt);
// velosety[vi+3] = HIBYTE(vt);
// velosety[vi+4] = LOBYTE(vsk);
// velosety[vi+5] = HIBYTE(vsk);
// vi = vi + 6; }
if (Vz1 > 100) { TIM2->CCR2 = 0; TIM2->CCR1 = Vupr1;} else
{ TIM2->CCR1 = 0; TIM2->CCR2 = Vupr1;}
if (Vz2 > 100) { TIM2->CCR3 = 0; TIM2->CCR4 = Vupr2;} else
{ TIM2->CCR4 = 0; TIM2->CCR3 = Vupr2;}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>
if (vi < 600) { velosety[vi] = LOBYTE(timing1);
velosety[vi+1] = HIBYTE(timing1);
velosety[vi+2] = LOBYTE(vsk1);
velosety[vi+3] = HIBYTE(vsk1);
velosety[vi+4] = LOBYTE(vsk2);
velosety[vi+5] = HIBYTE(vsk2);
vi = vi + 6; }
// else
// {vi = 0;
// velosety[vi] = LOBYTE(timing1);
// velosety[vi+1] = HIBYTE(timing1);
// velosety[vi+2] = LOBYTE(vt);
// velosety[vi+3] = HIBYTE(vt);
// velosety[vi+4] = LOBYTE(vsk);
// velosety[vi+5] = HIBYTE(vsk);
// vi = vi + 6; }
millisCounter+=10; // костыльная примерная коррекция
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
@ -386,17 +491,22 @@ if (vi < 600) { velosety[vi] = LOBYTE(timing1);
void EXTI0_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_IRQn 0 */
if (avto == 1) { if (rejim_number < rejim[0]) rejim_number++; else rejim_number = 1;
if (avto == 1)
{
if (rejim_number < rejim[0])
rejim_number++;
else
rejim_number = 1;
SetServo(0, rejim[1 + (rejim_number-1)*6] );
SetServo(1, rejim[2 + (rejim_number-1)*6] );
SetServo(2, rejim[3 + (rejim_number-1)*6] );
Vz1 = rejim[4 + (rejim_number-1)*6];
Vz2 = rejim[5 + (rejim_number-1)*6];
TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rejim[6 + (rejim_number-1)*6]);
vi = 0; // zapis grafika start
}
SetServo(0, rejim[1 + (rejim_number - 1) * 6]);
SetServo(1, rejim[2 + (rejim_number - 1) * 6]);
SetServo(2, rejim[3 + (rejim_number - 1) * 6]);
Vz1 = rejim[4 + (rejim_number - 1) * 6];
Vz2 = rejim[5 + (rejim_number - 1) * 6];
TIM1->CCR1 = 0;
TIM1->CCR2 = (uint16_t)(40 * rejim[6 + (rejim_number - 1) * 6]);
vi = 0; // zapis grafika start
}
/* USER CODE END EXTI0_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(BALL_EXT_Pin);
/* USER CODE BEGIN EXTI0_IRQn 1 */
@ -410,7 +520,7 @@ void EXTI0_IRQHandler(void)
void EXTI1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI1_IRQn 0 */
IR_handler();
IR_handler();
/* USER CODE END EXTI1_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(IR_EXT_Pin);
/* USER CODE BEGIN EXTI1_IRQn 1 */
@ -439,70 +549,82 @@ void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
static uint32_t prev_capture1 = 0;
static uint32_t prev_capture2 = 0;
static uint32_t prev_capture1 = 0;
static uint32_t prev_capture2 = 0;
uint32_t current_capture1 = 0;
uint32_t current_capture2 = 0;
uint32_t elapsed_time1 = 0;
uint32_t elapsed_time2 = 0;
uint32_t current_capture1 = 0;
uint32_t current_capture2 = 0;
uint32_t elapsed_time1 = 0;
uint32_t elapsed_time2 = 0;
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE BEGIN TIM3_IRQn 0 */
// Обработка переполнения таймера
if (TIM3->SR & TIM_SR_UIF)
{
// Сброс флага переполнения
TIM3->SR &= ~TIM_SR_UIF;
}
// Обработка переполнения таймера
if (TIM3->SR & TIM_SR_UIF)
{
// Сброс флага переполнения
TIM3->SR &= ~TIM_SR_UIF;
}
// Обработка захвата сигнала для канала 1
if (TIM3->SR & TIM_SR_CC1IF)
{
current_capture1 = TIM3->CCR1;
// Обработка захвата сигнала для канала 1
if (TIM3->SR & TIM_SR_CC1IF)
{
current_capture1 = TIM3->CCR1;
if (current_capture1 >= prev_capture1) {
elapsed_time1 = current_capture1 - prev_capture1;
} else {
// Учёт переполнения таймера
elapsed_time1 = (65000 - prev_capture1) + current_capture1 + 1;
}
if (current_capture1 >= prev_capture1)
{
elapsed_time1 = current_capture1 - prev_capture1;
}
else
{
// Учёт переполнения таймера
elapsed_time1 = (65000 - prev_capture1) + current_capture1 + 1;
}
// Ограничение значения для сохранения в 16-битную переменную
if (elapsed_time1 > 65535) {
timing1 = 65535; // Максимальное значение
} else {
timing1 = (uint16_t)elapsed_time1;
}
// Ограничение значения для сохранения в 16-битную переменную
if (elapsed_time1 > 65535)
{
timing1 = 65535; // Максимальное значение
}
else
{
timing1 = (uint16_t)elapsed_time1;
}
prev_capture1 = current_capture1;
TIM3->SR &= ~TIM_SR_CC1IF; // Сброс флага захвата сигнала
update1 = 0;
}
prev_capture1 = current_capture1;
TIM3->SR &= ~TIM_SR_CC1IF; // Сброс флага захвата сигнала
update1 = 0;
}
// Обработка захвата сигнала для канала 2
if (TIM3->SR & TIM_SR_CC2IF)
{
current_capture2 = TIM3->CCR2;
// Обработка захвата сигнала для канала 2
if (TIM3->SR & TIM_SR_CC2IF)
{
current_capture2 = TIM3->CCR2;
if (current_capture2 >= prev_capture2) {
elapsed_time2 = current_capture2 - prev_capture2;
} else {
// Учёт переполнения таймера
elapsed_time2 = (65000 - prev_capture2) + current_capture2 + 1;
}
if (current_capture2 >= prev_capture2)
{
elapsed_time2 = current_capture2 - prev_capture2;
}
else
{
// Учёт переполнения таймера
elapsed_time2 = (65000 - prev_capture2) + current_capture2 + 1;
}
// Ограничение значения для сохранения в 16-битную переменную
if (elapsed_time2 > 65535) {
timing2 = 65535; // Максимальное значение
} else {
timing2 = (uint16_t)elapsed_time2;
}
// Ограничение значения для сохранения в 16-битную переменную
if (elapsed_time2 > 65535)
{
timing2 = 65535; // Максимальное значение
}
else
{
timing2 = (uint16_t)elapsed_time2;
}
prev_capture2 = current_capture2;
TIM3->SR &= ~TIM_SR_CC2IF; // Сброс флага захвата сигнала
update2 = 0;
}
prev_capture2 = current_capture2;
TIM3->SR &= ~TIM_SR_CC2IF; // Сброс флага захвата сигнала
update2 = 0;
}
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
@ -539,6 +661,22 @@ void I2C1_ER_IRQHandler(void)
/* USER CODE END I2C1_ER_IRQn 1 */
}
/**
* @brief This function handles USART3 global interrupt.
*/
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN USART3_IRQn 0 */
CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

1
StackSport.ioc
View File

@ -69,6 +69,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USB_LP_CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0-WKUP.GPIOParameters=GPIO_Label