todo

2025-05-04 07:10:17 +00:00 · 2024-09-07 00:09:34 +03:00 · 2024-09-07 00:09:34 +03:00 · 962333bfec
commit 962333bfec
parent 7d2bbc63e8
4 changed files with 192 additions and 17 deletions
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@ -148,10 +148,10 @@ int main(void)
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USB_DEVICE_Init();
+  MX_USART3_UART_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
-  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */

  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);   //PA8
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@ -451,6 +451,10 @@ void SysTick_Handler(void)
    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><>
  if (vi < 600)
@ -494,22 +498,22 @@ 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
-  }
+//  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 */
--- a/Release.launch
+++ b/Release.launch
@ -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>
--- a/TODO.md
+++ b/TODO.md
@ -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;
+}
+
+	
+	
+