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DashyFox 2024-08-20 22:26:27 +03:00
parent eefbc336fa
commit 2c2ebd7137
15 changed files with 930 additions and 25 deletions
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44
.cproject
View File

@ -14,7 +14,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.952459078" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.952459078" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug" postbuildStep="STM32_Programmer_CLI -c port=SWD -w &quot;${ProjName}.hex&quot; -v -rst">
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@ -22,7 +22,9 @@
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<builder buildPath="${workspace_loc:/StackSport}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.344440156" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
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@ -101,26 +103,26 @@
<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.301353199" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release">
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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.868416533" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F103C8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../USB_DEVICE/App | ../USB_DEVICE/Target | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include || || || USE_HAL_DRIVER | STM32F103xB || || Drivers | Core/Startup | Middlewares | Core | USB_DEVICE || || || ${workspace_loc:/${ProjName}/STM32F103C8TX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.868416533" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F103C8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../USB_DEVICE/App | ../USB_DEVICE/Target | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc | ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc | ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include || || || USE_HAL_DRIVER | STM32F103xB || || Drivers | Core/Startup | Middlewares | Core | USB_DEVICE || || || ${workspace_loc:/${ProjName}/STM32F103C8TX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
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<listOptionValue builtIn="false" value="../USB_DEVICE/App"/>
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<listOptionValue builtIn="false" value="../Core/Inc"/>
@ -134,11 +136,11 @@
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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script.376508526" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F103C8TX_FLASH.ld}" valueType="string"/>
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@ -181,4 +183,12 @@
<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/StackSport"/>
</configuration>
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/StackSport"/>
</configuration>
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</cproject>

3
.settings/stm32cubeide.project.prefs
View File

@ -1,3 +1,4 @@
66BE74F758C12D739921AEA421D593D3=1
66BE74F758C12D739921AEA421D593D3=2
8DF89ED150041C4CBC7CB9A9CAA90856=93F4DF6BEDA92BA75FD1174676FB3EF4
DC22A860405A8BF2F2C095E5B6529F12=93F4DF6BEDA92BA75FD1174676FB3EF4
eclipse.preferences.version=1

4
.vscode/settings.json vendored Normal file
View File

@ -0,0 +1,4 @@
{
"stm32-for-vscode.openOCDPath": "C:\\USERS\\DASHYFOX\\APPDATA\\ROAMING\\CODE\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\OPENOCD\\0.12.0-4.1\\.CONTENT\\BIN\\OPENOCD.EXE",
"stm32-for-vscode.makePath": "C:\\USERS\\DASHYFOX\\APPDATA\\ROAMING\\CODE\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\WINDOWS-BUILD-TOOLS\\4.4.1-2.1\\.CONTENT\\BIN\\MAKE.EXE"
}

52
Core/Inc/EEPROM.h Normal file
View File

@ -0,0 +1,52 @@
#include "stm32f1xx_hal.h"
#define AT24C_ADRESS 0x50 // i2c slave adress EEPROM
#define FLASH_BLOCKSIZE 64
#define START_ADR_SHOT 0x0000 //00000
#define START_ADR_PROGRAM 0x3000 //12288
#define START_ADR_MACRO 0x6000 //24576
#define MAX_NUMBER_MACRO 100
#define MAX_NUMBER_SHOTS 160
#define MAX_NUMBER_PROGRAMS 100
#define MAX_NUMBER_SHOTS_IN_PROGRAMS 31
#define MAX_NUMBER_PROGRAMS_IN_MACRO 16
struct StructNumberScrewCount{
unsigned char number;
unsigned char speedScrew;
unsigned char countRepeat;
unsigned char options;
};
struct StructNumberScrew{
unsigned char number;
unsigned char speedScrew;
};
struct StructShot {
unsigned char countRepeatShot;
unsigned char speedRollerTop;
unsigned char speedRollerBottom;
unsigned char speedScrew;
unsigned char rotationAxial;
unsigned char rotationHorizontal;
unsigned char rotationVertical;
};
struct StructProgram {
unsigned char countRepeat;
unsigned char options;
struct StructNumberScrew numberScrew[MAX_NUMBER_SHOTS_IN_PROGRAMS];
};
struct StructMacro {
struct StructNumberScrewCount numberScrewCount[MAX_NUMBER_PROGRAMS_IN_MACRO];
};
void SaveShot(unsigned char number, struct StructShot* shot);
void FLASH_WriteBlock(uint8_t *writeAddr, unsigned char *flashWrBufPtr);
struct StructShot GetShot( unsigned char number );

19
Core/Inc/IR.h Normal file
View File

@ -0,0 +1,19 @@
#include "stm32f1xx_hal.h"
#define STATUS_START 0
#define STATUS_COMMAND 1
#define STATUS_ADDRESS 2
#define STATUS_REPEAT 3
#define STATUS_ERROR 10
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 (unsigned char shiftreg[3]);

11
Core/Inc/Print.h Normal file
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@ -0,0 +1,11 @@
#include "usbd_cdc_if.h"
#include <stdio.h> // Для функции sprintf
#include <stdint.h>
#include <string.h> // Для функции strlen
#define BUFFER_SIZE 32 // Размер буфера для строки
void print(char* str);
void int_to_str(int number, char *str, int base);
void printNumber(long int number);

7
Core/Inc/pca9685.h Normal file
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@ -0,0 +1,7 @@
#include "stm32f1xx_hal.h"
extern I2C_HandleTypeDef hi2c1;
void initPCA9685(void);
void SetServo(uint8_t channel, uint8_t angel);

67
Core/Src/EEPROM.c Normal file
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@ -0,0 +1,67 @@
#include "EEPROM.h"
#include "pca9685.h"
#include "usbd_cdc_if.h"
void SaveShot(unsigned char number, struct StructShot* shot)
{
uint16_t blockAddr16 = (uint16_t)(START_ADR_SHOT + (uint16_t)(number*FLASH_BLOCKSIZE));
uint8_t blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
unsigned char Buf[FLASH_BLOCKSIZE];
for( unsigned char i = 0; i < FLASH_BLOCKSIZE; i++ ) Buf[i] = 0;
Buf[0] = number;
Buf[1] = shot->countRepeatShot;
Buf[2] = shot->speedRollerTop;
Buf[3] = shot->speedRollerBottom;
Buf[4] = shot->speedScrew;
Buf[5] = shot->rotationAxial;
Buf[6] = shot->rotationHorizontal;
Buf[7] = shot->rotationVertical;
// Writes buffer contents to current block
FLASH_WriteBlock(blockAddr, Buf);
}
struct StructShot GetShot( unsigned char number )
{
struct StructShot shot;
uint16_t blockAddr16 = (uint16_t)(START_ADR_SHOT + (uint16_t)(number*FLASH_BLOCKSIZE));
uint8_t blockAddr[2] = {HIBYTE(blockAddr16), LOBYTE(blockAddr16)};
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);
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;
}
void FLASH_WriteBlock(uint8_t *writeAddr, unsigned char *flashWrBufPtr)
{
unsigned char Buf[FLASH_BLOCKSIZE+2];
Buf[0] = writeAddr[0];
Buf[1] = writeAddr[1];
for( unsigned char i = 0; i < (FLASH_BLOCKSIZE); i++ ) Buf[i+2] = flashWrBufPtr[i];
HAL_I2C_Master_Transmit(&hi2c1, (AT24C_ADRESS << 1), Buf, (FLASH_BLOCKSIZE + 2), 10);
HAL_Delay(1);
}

199
Core/Src/IR.c Normal file
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#include "IR.h"
#include "usbd_cdc_if.h"
#include "Print.h"
unsigned char IR_Command;
unsigned char IR_Address;
unsigned char IR_OptionsProgram;
unsigned char IR_IndexBitCommand;
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)
{
if ((GPIOB->IDR & 0x0002) == 0)
{
IR_Pulse = SysTick->VAL;
// GPIOC->ODR ^= GPIO_PIN_13;
}
else
{
{
currentIR_Pulse = SysTick->VAL;
if (currentIR_Pulse > IR_Pulse)
{
currentIR_Pulse = IR_Pulse + 479999 - currentIR_Pulse;
}
else
{
currentIR_Pulse = IR_Pulse - currentIR_Pulse;
}
// if (currentIR_Pulse > 150000 ) currentIR_Pulse = 0xFFFFFFFF - currentIR_Pulse;
switch (IRStatus)
{
case STATUS_START:
{
if ((currentIR_Pulse < 130000) && (currentIR_Pulse > 110000)) // 2,7 ms - 2,3 ms
{
IRStatus = STATUS_COMMAND; // 129600 - 110400
print("STATUS_COMMAND\n");
}
else
{
IRStatus = STATUS_ERROR;
}
}
break;
case STATUS_COMMAND:
{
if (currentIR_Pulse < 37440) // 0.78 ms 37440
{
IR_Command &= ~((1 << IR_IndexBitCommand) & 0xFF);
print("0");
}
else
{
IR_Command |= ((1 << IR_IndexBitCommand) & 0xFF);
print("1");
}
IR_IndexBitCommand++;
if (IR_IndexBitCommand == 7)
{
IRStatus = STATUS_ADDRESS;
print(" STATUS_ADDRESS ");
}
else
{
IRStatus = STATUS_COMMAND;
}
}
break;
case STATUS_ADDRESS:
{
{
if (currentIR_Pulse < 37440) // 0.78 <20><>
{
IR_Address &= ~((1 << IR_IndexBitAddress) & 0xFF);
print("0");
}
else
{
IR_Address |= ((1 << IR_IndexBitAddress) & 0xFF);
print("1");
}
IR_IndexBitAddress++;
if (IR_IndexBitAddress == 5)
{
IRStatus = STATUS_REPEAT;
print("\n\n\n");
}
else
{
IRStatus = STATUS_ADDRESS;
}
}
}
break;
case STATUS_REPEAT:
break;
case STATUS_ERROR:
print("STATUS_ERROR\n\n");
default:
ClearIRStatus();
break;
}
}
}
}
void ClearIRStatus()
{
IR_IndexBitCommand = 0x00;
IR_IndexBitAddress = 0x00;
IRStatus = STATUS_START;
}
void ClearIRCommand()
{
IR_CommandNumber[0] = 0xFF;
IR_CommandNumber[1] = 0xFF;
IR_CommandNumber[2] = 0xFF;
}
void ClearIR()
{
IR_Command = 0x7F;
IR_Address = 0x1F;
IR_OptionsProgram = 0x00;
NumberMacroProgramShot = 0xFF;
NumberShot = 0xFF;
NumberProgram = 0xFF;
NumberMacro = 0xFF;
CommandMacroProgramShot = 0x00;
ClearIRStatus();
}
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);
}
}

53
Core/Src/Print.c Normal file
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@ -0,0 +1,53 @@
/*
* Print.c
*
* Created on: Aug 19, 2024
* Author: DashyFox
*/
#include "Print.h"
void print(char* str){
unsigned int size = 0;
while (str[size] != '\0')
{
size++;
}
CDC_Transmit_FS((unsigned char*)str, size);
}
void int_to_str(int number, char *str, int base)
{
static const char digits[] = "0123456789ABCDEF";
char buffer[32];
char *ptr = buffer + sizeof(buffer) - 1;
int is_negative = 0;
if (number < 0 && base == 10) {
is_negative = 1;
number = -number;
}
*ptr = '\0';
do {
*--ptr = digits[number % base];
number /= base;
} while (number);
if (is_negative) {
*--ptr = '-';
}
strcpy(str, ptr);
}
void printNumber(long int number)
{
char buffer[BUFFER_SIZE];
// Преобразование числа в строку
int_to_str(number, buffer, 10); // 10 — это основание системы счисления (десятичная система)
strcat(buffer, "\r\n"); // Добавление новой строки
// Отправка строки через USB CDC
CDC_Transmit_FS((uint8_t*)buffer, strlen(buffer));
}

192
Core/Src/main.c
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@ -23,6 +23,11 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usbd_cdc_if.h"
#include "pca9685.h"
#include "IR.h"
#include "EEPROM.h"
#include "Print.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -51,6 +56,40 @@ UART_HandleTypeDef huart3;
/* USER CODE BEGIN PV */
uint8_t txdata[64];
uint8_t rxdata[64];
uint8_t velosety[600];
uint8_t rxcomlite = 0;
uint8_t initcomlete = 0;
unsigned char Shiftreg[3];
uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
uint8_t avto = 0; // vkl/otkl avtomaticheskoi raboti
uint8_t rejim_number = 1; // nomer tekyshego rejima
uint8_t Vz1 = 100;
uint8_t Vz2 = 100;
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;
extern PCD_HandleTypeDef hpcd_USB_FS;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@ -94,7 +133,15 @@ int main(void)
SystemClock_Config();
/* USER CODE BEGIN SysInit */
// Установка приоритета прерывания
// NVIC_SetPriority(SysTick_IRQn, 0);
// Настройка SysTick таймера на 1 мс
SysTick->LOAD = 479999; // 1ms Sys timer
// SysTick_Config(SystemCoreClock / 1000);
__HAL_RCC_USB_FORCE_RESET();
HAL_Delay(10);
__HAL_RCC_USB_RELEASE_RESET();
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
@ -107,12 +154,151 @@ int main(void)
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); //PA9
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); //PA0
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); //PA1
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); //PA2
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); //PA3
initPCA9685();
//BufShots[0].countRepeatShot = 5;
//BufShots[0].speedRollerTop = 120;
//BufShots[0].speedRollerBottom = 130;
//BufShots[0].speedScrew = 50;
//BufShots[0].rotationAxial = 90;
//BufShots[0].rotationHorizontal = 90;
//BufShots[0].rotationVertical = 90;
// SaveShot(0, &BufShots[0]);
// BufShots[1] = GetShot(0);
initcomlete = 1;
Shiftreg[0] = 0x00; Shiftreg[1] = 0x44; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x00; Shiftreg[1] = 0x66; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x00; Shiftreg[1] = 0x77; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x01; Shiftreg[1] = 0x77; Shiftreg[2] = 0x01; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x03; Shiftreg[1] = 0x77; Shiftreg[2] = 0x03; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x07; Shiftreg[1] = 0x77; Shiftreg[2] = 0x07; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x0F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x0F; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x1F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x1F; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x3F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x3F; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x7F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x7F; SetShiftReg(Shiftreg); HAL_Delay(10);
Shiftreg[0] = 0x00; Shiftreg[1] = 0x00; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 <20>6 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> PA0 PA1
HAL_TIM_Base_Start_IT(&htim3);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
if (IRStatus == STATUS_REPEAT) {
if (IR_Address == 0x01) MYIR_command = IR_Command;
CDC_Transmit_FS(&MYIR_command, 1);
ClearIRStatus();
}
if (rxcomlite == 1) {
txdata[0] = 'O'; txdata[1] = 'K'; txdata[2] = '?';
switch (rxdata[0]) {
case 1: { SetServo(0, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
txdata[2] = '1'; CDC_Transmit_FS(txdata, 3); break; }
case 2: { SetServo(1, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
txdata[2] = '2'; CDC_Transmit_FS(txdata, 3); break; }
case 3: { SetServo(2, rxdata[1] ); txdata[0] = 'O'; txdata[1] = 'K';
txdata[2] = '3'; CDC_Transmit_FS(txdata, 3); break; }
case 4: { SetServo(0, rxdata[1] ); SetServo(1, rxdata[2] ); SetServo(2, rxdata[3] );
Vz1 = rxdata[4]; //rolic verh 0..200
Vz2 = rxdata[5]; //rolic niz 0..200
vi = 0;
//shnek 0..100
if (rxdata[6] < 101) { TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rxdata[6]); } else
{ TIM1->CCR1 = 0; TIM1->CCR2 = 4000;}
txdata[0] = 'O'; txdata[1] = 'K'; txdata[2] = '4'; CDC_Transmit_FS(txdata, 3); break; }
case 5: {txdata[0] = LOBYTE(timing1) ; txdata[1] = HIBYTE(timing1) ;
CDC_Transmit_FS(txdata, 3); break; }
case 6: { CDC_Transmit_FS(velosety, 600); break; }
case 7: { rejim[0] = rxdata[1];
// copy to buffer
for (uint8_t i = 0; i < rejim[0]; i++)
{
rejim[(i*6)+1] = rxdata[(i*6)+2];
rejim[(i*6)+2] = rxdata[(i*6)+3];
rejim[(i*6)+3] = rxdata[(i*6)+4];
rejim[(i*6)+4] = rxdata[(i*6)+5];
rejim[(i*6)+5] = rxdata[(i*6)+6];
rejim[(i*6)+6] = rxdata[(i*6)+7];
}
// set rejim #1
SetServo(0, rejim[1] );
SetServo(1, rejim[2] );
SetServo(2, rejim[3] );
Vz1 = rejim[4];
Vz2 = rejim[5];
TIM1->CCR1 = 0; TIM1->CCR2 = (uint16_t)(40*rejim[6]);
// set avto
rejim_number = 1;
avto = 1;
break; }
case 8: { // stop avto
avto = 0; rejim_number = 1;
// stop mecanics
SetServo(0, 90);
SetServo(1, 90);
SetServo(2, 90);
Vz1 = 100;
Vz2 = 100;
TIM1->CCR1 = 0; TIM1->CCR2 = 0;
break; }
case 9: { txdata[0] = avto ;
txdata[1] = rejim_number;
CDC_Transmit_FS(txdata, 3);
break; }
default: break;
}
rxcomlite = 0;
// // 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));
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
@ -359,7 +545,7 @@ static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
@ -463,7 +649,7 @@ static void MX_GPIO_Init(void)
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_GPIO_WritePin(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);
@ -518,8 +704,10 @@ 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();
// GPIOC->ODR &= ~GPIO_PIN_13;
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}

37
Core/Src/pca9685.c Normal file
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@ -0,0 +1,37 @@
#include "pca9685.h"
extern I2C_HandleTypeDef hi2c1; // hendl for i2c
#define PCA9685_ADRESS 0x40 // i2c slave adress pca9685
uint8_t PRESCALE_REG[2] = {0xFE,0x79}; // prescale = 121 (50 Hz)
uint8_t MODE1_REG[2] = {0x00,0x20}; // Auto increment mode, sleep out
void initPCA9685(void)
{
HAL_I2C_Master_Transmit(&hi2c1, (PCA9685_ADRESS << 1), PRESCALE_REG, 2, 10);
HAL_Delay(1);
HAL_I2C_Master_Transmit(&hi2c1, (PCA9685_ADRESS << 1), MODE1_REG, 2, 10);
HAL_Delay(1);
}
void SetServo(uint8_t channel, uint8_t angel)
{
uint8_t bufer[5];
uint16_t A;
if (angel > 180) { angel = 180;} //check for scale 0..180
A = 150 + ((angel*15)>>3); //get puls time for servo from min to max
// min 150/4095
// max 488/4095
bufer[0] = 6 + channel*4; //channel register adress
bufer[1] = 0; //start time for "on" Lowbyte (0..4095)
bufer[2] = 0; //start time for "on" HIbyte
bufer[3] = A&0xFF; //start time for "off" Lowbyte (0..4095)
bufer[4] = A>>8;; //start time for "off" HIbyte
HAL_I2C_Master_Transmit(&hi2c1, (PCA9685_ADRESS << 1), bufer, 5, 10);
}

259
Core/Src/stm32f1xx_it.c
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@ -22,6 +22,11 @@
#include "stm32f1xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "pca9685.h"
#include "IR.h"
#include "usb_device.h"
#include "usbd_cdc_if.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -41,17 +46,103 @@
/* 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; //<2F><><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; //<2F><><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]; //<2F><><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; //<2F><><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}; //<2F><><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; //<2F><><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
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; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern uint8_t velosety[600]; //<2F><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><>
extern uint8_t Vz1;
extern uint8_t Vz2;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
int32_t computePID1(uint16_t input, uint16_t setpoint);
int32_t computePID2(uint16_t input, uint16_t setpoint);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* 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>
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;}
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;} //
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>
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;}
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;
}
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
@ -186,6 +277,95 @@ 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>
//<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>
//<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]++; }
vsk1 = (vs1[1]+vs1[2]+vs1[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]++; }
vsk2 = (vs2[1]+vs2[2]+vs2[3])/3;
// <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;
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><EFBFBD><EFBFBD>
Vupr1 = (uint16_t)computePID1(vsk1, Vzad1);
Vupr2 = (uint16_t)computePID2(vsk2, Vzad2);
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 */
@ -206,7 +386,17 @@ void SysTick_Handler(void)
void EXTI0_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_IRQn 0 */
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
}
/* USER CODE END EXTI0_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(BALL_EXT_Pin);
/* USER CODE BEGIN EXTI0_IRQn 1 */
@ -220,7 +410,7 @@ void EXTI0_IRQHandler(void)
void EXTI1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI1_IRQn 0 */
IR_handler();
/* USER CODE END EXTI1_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(IR_EXT_Pin);
/* USER CODE BEGIN EXTI1_IRQn 1 */
@ -249,6 +439,71 @@ void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 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;
/* USER CODE BEGIN TIM3_IRQn 0 */
// 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;
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;
}
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;
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;
}
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);
/* USER CODE BEGIN TIM3_IRQn 1 */

6
StackSport.ioc
View File

@ -138,9 +138,10 @@ PB7.GPIOParameters=GPIO_Label
PB7.GPIO_Label=SDA
PB7.Mode=I2C
PB7.Signal=I2C1_SDA
PC13-TAMPER-RTC.GPIOParameters=GPIO_Speed
PC13-TAMPER-RTC.GPIOParameters=GPIO_Speed,PinState
PC13-TAMPER-RTC.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PC13-TAMPER-RTC.Locked=true
PC13-TAMPER-RTC.PinState=GPIO_PIN_SET
PC13-TAMPER-RTC.Signal=GPIO_Output
PD0-OSC_IN.Mode=HSE-External-Oscillator
PD0-OSC_IN.Signal=RCC_OSC_IN
@ -238,7 +239,8 @@ USART3.VirtualMode=VM_ASYNC
USB_DEVICE.APP_RX_DATA_SIZE=64
USB_DEVICE.APP_TX_DATA_SIZE=64
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode,VirtualModeFS,CLASS_NAME_FS,APP_RX_DATA_SIZE,APP_TX_DATA_SIZE
USB_DEVICE.IPParameters=VirtualMode,VirtualModeFS,CLASS_NAME_FS,APP_RX_DATA_SIZE,APP_TX_DATA_SIZE,MANUFACTURER_STRING
USB_DEVICE.MANUFACTURER_STRING=StackSport
USB_DEVICE.VirtualMode=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
VP_SYS_VS_Systick.Mode=SysTick

2
USB_DEVICE/App/usbd_desc.c
View File

@ -64,7 +64,7 @@
#define USBD_VID 1155
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "STMicroelectronics"
#define USBD_MANUFACTURER_STRING "StackSport"
#define USBD_PID_FS 22336
#define USBD_PRODUCT_STRING_FS "STM32 Virtual ComPort"
#define USBD_CONFIGURATION_STRING_FS "CDC Config"