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DashyFox 2024-09-07 00:09:34 +03:00
parent 7d2bbc63e8
commit 962333bfec
4 changed files with 192 additions and 17 deletions
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2
Core/Src/main.c
View File

@ -148,10 +148,10 @@ int main(void)
MX_GPIO_Init(); MX_GPIO_Init();
MX_I2C1_Init(); MX_I2C1_Init();
MX_USB_DEVICE_Init(); MX_USB_DEVICE_Init();
MX_USART3_UART_Init();
MX_TIM1_Init(); MX_TIM1_Init();
MX_TIM2_Init(); MX_TIM2_Init();
MX_TIM3_Init(); MX_TIM3_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8 HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8

36
Core/Src/stm32f1xx_it.c
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@ -451,6 +451,10 @@ void SysTick_Handler(void)
TIM2->CCR3 = Vupr2; TIM2->CCR3 = Vupr2;
} }
// TIM2->CCR4 = 0xffff;
// TIM2->CCR3 = 0xffff;
// TIM2->CCR1 = 0xffff;
// TIM2->CCR2 = 0xffff;
// <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><> // <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) if (vi < 600)
@ -494,22 +498,22 @@ void SysTick_Handler(void)
void EXTI0_IRQHandler(void) void EXTI0_IRQHandler(void)
{ {
/* USER CODE BEGIN EXTI0_IRQn 0 */ /* USER CODE BEGIN EXTI0_IRQn 0 */
if (avto == 1) // if (avto == 1)
{ // {
if (rejim_number < rejim[0]) // if (rejim_number < rejim[0])
rejim_number++; // rejim_number++;
else // else
rejim_number = 1; // rejim_number = 1;
//
SetServo(0, rejim[1 + (rejim_number - 1) * 6]); // SetServo(0, rejim[1 + (rejim_number - 1) * 6]);
SetServo(1, rejim[2 + (rejim_number - 1) * 6]); // SetServo(1, rejim[2 + (rejim_number - 1) * 6]);
SetServo(2, rejim[3 + (rejim_number - 1) * 6]); // SetServo(2, rejim[3 + (rejim_number - 1) * 6]);
Vz1 = rejim[4 + (rejim_number - 1) * 6]; // Vz1 = rejim[4 + (rejim_number - 1) * 6];
Vz2 = rejim[5 + (rejim_number - 1) * 6]; // Vz2 = rejim[5 + (rejim_number - 1) * 6];
TIM1->CCR1 = 0; // TIM1->CCR1 = 0;
TIM1->CCR2 = (uint16_t)(40 * rejim[6 + (rejim_number - 1) * 6]); // TIM1->CCR2 = (uint16_t)(40 * rejim[6 + (rejim_number - 1) * 6]);
vi = 0; // zapis grafika start // vi = 0; // zapis grafika start
} // }
/* USER CODE END EXTI0_IRQn 0 */ /* USER CODE END EXTI0_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(BALL_EXT_Pin); HAL_GPIO_EXTI_IRQHandler(BALL_EXT_Pin);
/* USER CODE BEGIN EXTI0_IRQn 1 */ /* USER CODE BEGIN EXTI0_IRQn 1 */

81
StackSport Release.launch Normal file
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@ -0,0 +1,81 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/StackSport.elf&quot;,&quot;fProjectName&quot;:&quot;StackSport&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="48000000"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="C:\AnyProject\StackSport\StackSport\Release\st-link_gdbserver_log.txt"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/>
<intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/StackSport.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="StackSport"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.952459078"/>
<booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/StackSport"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
</launchConfiguration>

90
TODO.md
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@ -39,4 +39,94 @@ IR:
uint32_t GetTimerClockFrequency(TIM_TypeDef *TIMx) {
uint32_t clock_frequency = 0;
uint32_t sysclk_frequency = 0;
uint32_t hclk_frequency = 0;
uint32_t apb1_frequency = 0;
uint32_t apb2_frequency = 0;
// Определяем источник системного тактирования (SYSCLK)
switch (RCC->CFGR & RCC_CFGR_SWS) {
case RCC_CFGR_SWS_HSI: // HSI используется как системный клок
sysclk_frequency = 8000000; // HSI - 8 MHz
break;
case RCC_CFGR_SWS_HSE: // HSE используется как системный клок
sysclk_frequency = HSE_VALUE; // Предположим, что значение HSE_VALUE определено
break;
case RCC_CFGR_SWS_PLL: // PLL используется как системный клок
// Получаем значение входного тактового сигнала PLL
if ((RCC->CFGR & RCC_CFGR_PLLSRC) == RCC_CFGR_PLLSRC_HSI_DIV2) {
sysclk_frequency = 4000000; // HSI/2 - 4 MHz
} else {
sysclk_frequency = HSE_VALUE; // HSE_VALUE определено как 8 или 16 MHz
}
// Получаем множитель PLL
uint32_t pll_mul = ((RCC->CFGR & RCC_CFGR_PLLMULL) >> 18) + 2;
sysclk_frequency *= pll_mul;
break;
default:
sysclk_frequency = 8000000; // По умолчанию HSI
break;
}
// Определяем частоту шины AHB (HCLK)
uint32_t ahb_prescaler = (RCC->CFGR & RCC_CFGR_HPRE) >> 4;
if (ahb_prescaler < 8) {
hclk_frequency = sysclk_frequency;
} else {
hclk_frequency = sysclk_frequency >> ((ahb_prescaler - 7));
}
// Определяем частоту шины APB1
uint32_t apb1_prescaler = (RCC->CFGR & RCC_CFGR_PPRE1) >> 8;
if (apb1_prescaler < 4) {
apb1_frequency = hclk_frequency;
} else {
apb1_frequency = hclk_frequency >> ((apb1_prescaler - 3));
}
// Определяем частоту шины APB2
uint32_t apb2_prescaler = (RCC->CFGR & RCC_CFGR_PPRE2) >> 11;
if (apb2_prescaler < 4) {
apb2_frequency = hclk_frequency;
} else {
apb2_frequency = hclk_frequency >> ((apb2_prescaler - 3));
}
// Определяем частоту для конкретного таймера
if (TIMx == TIM1 || TIMx == TIM8) { // Таймеры на шине APB2
clock_frequency = (apb2_prescaler == 0 ? apb2_frequency : apb2_frequency * 2);
} else { // Таймеры на шине APB1
clock_frequency = (apb1_prescaler == 0 ? apb1_frequency : apb1_frequency * 2);
}
return clock_frequency;
}
// Функция для вычисления целевого значения
uint32_t CalculateTargetCount(TIM_TypeDef *TIMx, uint32_t freq) {
// Проверяем, что частота не равна нулю
if (freq == 0) return 0xFFFFFFFF; // Защита от деления на ноль
// Получаем частоту тактового генератора для данного таймера
uint32_t clock_frequency = GetTimerClockFrequency(TIMx);
// Получаем значение предделителя (PSC) и ARR таймера
uint32_t psc = TIMx->PSC;
uint32_t arr = TIMx->ARR;
// Вычисляем частоту работы таймера
uint32_t timer_frequency = clock_frequency / ((psc + 1) * (arr + 1));
// Вычисляем целевое значение счетчика для заданной частоты
uint32_t target_count = timer_frequency / freq;
return target_count;
}