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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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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 */