mirror of
https://github.com/DashyFox/StackSport.git
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Uart working
This commit is contained in:
@ -28,8 +28,10 @@
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#include "usb_device.h"
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#include "usbd_cdc_if.h"
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#include "GlobalDefines.h"
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#include "Print.h"
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#include "UART3_Handler.h"
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#include "SimpleTimer.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -50,17 +52,22 @@
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
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extern volatile uint16_t packet_index;
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extern volatile uint32_t uartTimer;
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extern volatile uint8_t uart_rx_in_progress;
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uint8_t myi;
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extern uint16_t vi; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><> 0..599
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uint16_t v1[30]; // <20><><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>
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uint16_t v1[30]; // <20><><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>
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uint16_t v2[30];
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uint32_t vt1 = 0; // <20><><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>)
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uint32_t vt2 = 0;
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uint16_t vs1[4] = {0, 0, 0, 0}; // <20><><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>
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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>
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//[1-3] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> vt
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uint16_t vs1[4] = { 0, 0, 0, 0 }; // <20><><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>
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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>
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//[1-3] - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> vt
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uint32_t vsk1 = 0; // <20><><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>)
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uint32_t vsk2 = 0;
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@ -71,7 +78,7 @@ uint16_t Vupr1 = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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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>
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uint16_t Vupr2 = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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extern uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
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extern uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
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extern uint8_t avto; // vkl/otkl avtomaticheskoi raboti
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extern uint8_t rejim_number; // nomer tekyshego rejima
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@ -93,86 +100,72 @@ int32_t computePID2(uint16_t input, uint16_t setpoint);
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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int32_t computePID1(uint16_t input, uint16_t setpoint)
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{
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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>
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int32_t computePID1(uint16_t input, uint16_t setpoint) {
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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>
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int32_t err = setpoint - input; // 1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int32_t err = setpoint - input; // 1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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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;
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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;
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if (integral > 4000)
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{
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integral = 4000;
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}
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if (integral < 0)
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{
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integral = 0;
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}
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if (integral > 4000) {
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integral = 4000;
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}
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if (integral < 0) {
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integral = 0;
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}
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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
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if (D > 4000)
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{
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D = 4000;
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}
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if (D < 0)
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{
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D = 0;
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}
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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
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if (D > 4000) {
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D = 4000;
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}
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if (D < 0) {
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D = 0;
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}
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prevErr = err;
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//
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int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
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if (Rout > 4000)
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{
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Rout = 4000;
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} //
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if (Rout < 0)
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{
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Rout = 0;
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} //
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prevErr = err;
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//
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int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
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if (Rout > 4000) {
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Rout = 4000;
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} //
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if (Rout < 0) {
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Rout = 0;
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} //
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return Rout;
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return Rout;
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}
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int32_t computePID2(uint16_t input, uint16_t setpoint)
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{
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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> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int32_t err = setpoint - input; // 1.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int32_t computePID2(uint16_t input, uint16_t setpoint) {
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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>
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int32_t err = setpoint - input; // 1.<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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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;
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if (integral > 4000)
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{
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integral = 4000;
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}
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if (integral < 0)
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{
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integral = 0;
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}
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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;
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if (integral > 4000) {
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integral = 4000;
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}
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if (integral < 0) {
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integral = 0;
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}
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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
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if (D > 4000)
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{
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D = 4000;
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}
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if (D < 0)
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{
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D = 0;
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}
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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
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if (D > 4000) {
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D = 4000;
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}
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if (D < 0) {
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D = 0;
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}
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prevErr = err;
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//
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int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
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if (Rout > 4000)
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{
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Rout = 4000;
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} //
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if (Rout < 0)
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{
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Rout = 0;
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} //
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prevErr = err;
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//
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int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
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if (Rout > 4000) {
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Rout = 4000;
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} //
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if (Rout < 0) {
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Rout = 0;
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} //
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return Rout;
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return Rout;
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}
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/* USER CODE END 0 */
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@ -180,6 +173,7 @@ int32_t computePID2(uint16_t input, uint16_t setpoint)
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extern PCD_HandleTypeDef hpcd_USB_FS;
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extern I2C_HandleTypeDef hi2c1;
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extern TIM_HandleTypeDef htim3;
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extern DMA_HandleTypeDef hdma_usart3_rx;
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extern UART_HandleTypeDef huart3;
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/* USER CODE BEGIN EV */
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extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
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@ -197,9 +191,8 @@ void NMI_Handler(void)
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/* USER CODE END NonMaskableInt_IRQn 0 */
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1)
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{
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}
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while (1) {
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}
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/* USER CODE END NonMaskableInt_IRQn 1 */
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}
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@ -309,175 +302,152 @@ void SysTick_Handler(void)
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{
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/* USER CODE BEGIN SysTick_IRQn 0 */
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// <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
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if (v1[0] > 0)
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{ // <20><><EFBFBD><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> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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vt1 = 0;
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for (uint8_t i = 1; i <= v1[0]; i++)
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{
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vt1 += v1[i];
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}
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vt1 = vt1 / v1[0];
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// <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>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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else
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{
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vt1 = timing1;
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}
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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>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// <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
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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>
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||||
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
vt1 = 0;
|
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for (uint8_t i = 1; i <= v1[0]; i++) {
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vt1 += v1[i];
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||||
}
|
||||
vt1 = vt1 / v1[0];
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||||
// <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> <EFBFBD><EFBFBD><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><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>
|
||||
// <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>
|
||||
|
||||
// <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]++;
|
||||
}
|
||||
// <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;
|
||||
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]++;
|
||||
}
|
||||
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;
|
||||
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;
|
||||
// <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;
|
||||
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 < 0) {Vz1 = 0;}
|
||||
if (Vz1 > 200) {Vz1 = 200;}
|
||||
if (Vz2 < 0) {Vz2 = 0;}
|
||||
if (Vz2 > 200) {Vz2 = 200;}
|
||||
// <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 < 0) {
|
||||
Vz1 = 0;
|
||||
}
|
||||
if (Vz1 > 200) {
|
||||
Vz1 = 200;
|
||||
}
|
||||
if (Vz2 < 0) {
|
||||
Vz2 = 0;
|
||||
}
|
||||
if (Vz2 > 200) {
|
||||
Vz2 = 200;
|
||||
}
|
||||
|
||||
if (Vz1 > 100)
|
||||
{
|
||||
Vzad1 = (Vz1 - 100) * 80;
|
||||
}
|
||||
else
|
||||
{
|
||||
Vzad1 = (100 - Vz1) * 80;
|
||||
}
|
||||
if (Vz2 > 100)
|
||||
{
|
||||
Vzad2 = (Vz2 - 100) * 80;
|
||||
}
|
||||
else
|
||||
{
|
||||
Vzad2 = (100 - Vz2) * 80;
|
||||
}
|
||||
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);
|
||||
// <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 (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;
|
||||
}
|
||||
if (Vz2 > 100) {
|
||||
TIM2->CCR3 = 0;
|
||||
TIM2->CCR4 = Vupr2;
|
||||
} else {
|
||||
TIM2->CCR4 = 0;
|
||||
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)
|
||||
{
|
||||
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> <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; }
|
||||
// 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; }
|
||||
|
||||
/* USER CODE END SysTick_IRQn 0 */
|
||||
HAL_IncTick();
|
||||
@ -528,7 +498,7 @@ 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 */
|
||||
@ -536,6 +506,20 @@ void EXTI1_IRQHandler(void)
|
||||
/* USER CODE END EXTI1_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles DMA1 channel3 global interrupt.
|
||||
*/
|
||||
void DMA1_Channel3_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN DMA1_Channel3_IRQn 0 */
|
||||
|
||||
/* USER CODE END DMA1_Channel3_IRQn 0 */
|
||||
HAL_DMA_IRQHandler(&hdma_usart3_rx);
|
||||
/* USER CODE BEGIN DMA1_Channel3_IRQn 1 */
|
||||
|
||||
/* USER CODE END DMA1_Channel3_IRQn 1 */
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief This function handles USB low priority or CAN RX0 interrupts.
|
||||
*/
|
||||
@ -557,82 +541,67 @@ 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)
|
||||
{
|
||||
current_capture1 = 0xFFFFFFFF;
|
||||
current_capture2 = 0xFFFFFFFF;
|
||||
// Сброс флага переполнения
|
||||
TIM3->SR &= ~TIM_SR_UIF;
|
||||
}
|
||||
// Обработка переполнения таймера
|
||||
if (TIM3->SR & TIM_SR_UIF) {
|
||||
current_capture1 = 0xFFFFFFFF;
|
||||
current_capture2 = 0xFFFFFFFF;
|
||||
// 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
|
||||
}
|
||||
prev_capture1 = current_capture1;
|
||||
TIM3->SR &= ~TIM_SR_CC1IF; // Сброс флага захвата сигнала
|
||||
}
|
||||
|
||||
// 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
|
||||
}
|
||||
prev_capture2 = current_capture2;
|
||||
TIM3->SR &= ~TIM_SR_CC2IF; // Сброс флага захвата сигнала
|
||||
}
|
||||
|
||||
/* USER CODE END TIM3_IRQn 0 */
|
||||
HAL_TIM_IRQHandler(&htim3);
|
||||
@ -675,15 +644,19 @@ void I2C1_ER_IRQHandler(void)
|
||||
void USART3_IRQHandler(void)
|
||||
{
|
||||
/* USER CODE BEGIN USART3_IRQn 0 */
|
||||
HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
|
||||
// CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
|
||||
|
||||
|
||||
// if (USART3->SR & USART_SR_RXNE) {
|
||||
// uartTimer = millis();
|
||||
// uart_rx_in_progress = 1;
|
||||
// uint8_t received_byte = (uint8_t) (USART3->DR & 0xFF);
|
||||
// uart_rx_buffer[uart_rx_index++] = received_byte;
|
||||
// if (uart_rx_index >= UART_BUFFER_SIZE) {
|
||||
// uart_rx_index = 0;
|
||||
// }
|
||||
// }
|
||||
|
||||
/* USER CODE END USART3_IRQn 0 */
|
||||
HAL_UART_IRQHandler(&huart3);
|
||||
/* USER CODE BEGIN USART3_IRQn 1 */
|
||||
|
||||
/* USER CODE END USART3_IRQn 1 */
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user