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Uart working

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DashyFox 2024-09-15 19:29:07 +03:00
parent 419c55d807
commit cad6b45c5d
21 changed files with 1187 additions and 697 deletions
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4
.cproject
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@ -36,7 +36,7 @@
</tool> </tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.400718382" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler"> <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.400718382" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1282773953" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/> <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1282773953" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.394842051" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.oz" valueType="enumerated"/> <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.394842051" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1350178782" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1350178782" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="DEBUG"/> <listOptionValue builtIn="false" value="DEBUG"/>
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/> <listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@ -117,7 +117,7 @@
</tool> </tool>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.422705567" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler"> <tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.422705567" name="MCU/MPU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.131805638" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/> <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.131805638" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.324687102" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/> <option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.324687102" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o1" valueType="enumerated"/>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.971138536" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols"> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.971138536" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/> <listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
<listOptionValue builtIn="false" value="STM32F103xB"/> <listOptionValue builtIn="false" value="STM32F103xB"/>

4
.settings/language.settings.xml
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@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="4489868063458550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true"> <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1139920058673081605" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="4489868063458550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true"> <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1139920058673081605" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/> <language-scope id="org.eclipse.cdt.core.g++"/>
</provider> </provider>

28
Core/Inc/EEPROM.h
View File

@ -10,21 +10,21 @@
#define START_ADR_SHOT (START_ADR_STAT+STAT_BLOCKSIZE) #define START_ADR_SHOT (START_ADR_STAT+STAT_BLOCKSIZE)
#define SHOT_BLOCKSIZE 10 #define SHOT_BLOCKSIZE 10
#define MAX_NUMBER_SHOTS 255 #define MAX_SHOT_COUNT 256
#define START_ADR_PROGRAM (START_ADR_SHOT + (SHOT_BLOCKSIZE*MAX_NUMBER_SHOTS)) #define START_ADR_PROGRAM (START_ADR_SHOT + (SHOT_BLOCKSIZE*MAX_SHOT_COUNT))
#define PROGRAM_BLOCKSIZE 203 #define PROGRAM_BLOCKSIZE 67
#define MAX_NUMBER_PROGRAMS 100 #define MAX_PROGRAM_COUNT 256
#define MAX_NUMBER_SHOTS_IN_PROGRAMS \ #define MAX_SHOT_COUNT_IN_PROGRAMS \
(PROGRAM_BLOCKSIZE-sizeof(ProgramHeader)) /sizeof(ProgramShot) // 100 (PROGRAM_BLOCKSIZE-sizeof(ProgramHeader)) /sizeof(ProgramShot) //
#define START_ADR_MACRO (START_ADR_PROGRAM + (PROGRAM_BLOCKSIZE*MAX_NUMBER_PROGRAMS)) #define START_ADR_MACRO (START_ADR_PROGRAM + (PROGRAM_BLOCKSIZE*MAX_PROGRAM_COUNT))
#define MACRO_BLOCKSIZE 81 #define MACRO_BLOCKSIZE 129
#define MAX_NUMBER_MACRO 100 #define MAX_MACRO_COUNT 100
#define MAX_NUMBER_PROGRAMS_IN_MACRO \ #define MAX_PROGRAM_COUNT_IN_MACRO \
(MACRO_BLOCKSIZE-sizeof(MacroHeader)) /sizeof(MacroProgram) // 20 (MACRO_BLOCKSIZE-sizeof(MacroHeader)) /sizeof(MacroProgram) //
#define MEMORY_END (START_ADR_MACRO + (MACRO_BLOCKSIZE*MAX_NUMBER_MACRO)) #define MEMORY_END (START_ADR_MACRO + (MACRO_BLOCKSIZE*MAX_MACRO_COUNT))
typedef enum MemoryStatus { typedef enum MemoryStatus {
EEPROM_FAIL, EEPROM_FAIL,
@ -58,7 +58,7 @@ typedef struct ProgramShot {
typedef struct Program { typedef struct Program {
ProgramHeader header; ProgramHeader header;
ProgramShot shots[MAX_NUMBER_SHOTS_IN_PROGRAMS]; ProgramShot shots[MAX_SHOT_COUNT_IN_PROGRAMS];
} Program; } Program;
typedef struct MacroHeader { typedef struct MacroHeader {
@ -74,7 +74,7 @@ typedef struct MacroProgram {
typedef struct Macro { typedef struct Macro {
MacroHeader header; MacroHeader header;
MacroProgram programs[MAX_NUMBER_PROGRAMS_IN_MACRO]; MacroProgram programs[MAX_PROGRAM_COUNT_IN_MACRO];
} Macro; } Macro;
typedef struct ServoSetting { typedef struct ServoSetting {

13
Core/Inc/GlobalDefines.h
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@ -1,13 +0,0 @@
/*
* GlobalDefines.h
*
* Created on: Aug 25, 2024
* Author: DashyFox
*/
#ifndef INC_GLOBALDEFINES_H_
#define INC_GLOBALDEFINES_H_
#define UART_BUFFER_SIZE 64
#endif /* INC_GLOBALDEFINES_H_ */

1
Core/Inc/Print.h
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@ -9,3 +9,4 @@
void print(char* str); void print(char* str);
void int_to_str(int number, char *str, int base); void int_to_str(int number, char *str, int base);
void printNumber(long int number); void printNumber(long int number);
void printHexBuffer(uint8_t *buffer, uint16_t size);

1
Core/Inc/RobotFunctions.h
View File

@ -30,6 +30,7 @@ void stopShooting();
void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical); void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical);
void setPosSingle(ServoMap servo, uint8_t value);
void setPosDefault(); void setPosDefault();
// 0 .. 100 // 0 .. 100

42
Core/Inc/UART3_CMD_Handler.h Normal file
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@ -0,0 +1,42 @@
/*
* UART3_CMD_Handler.h
*
* Created on: Sep 12, 2024
* Author: DashyFox
*/
#ifndef INC_UART3_CMD_HANDLER_H_
#define INC_UART3_CMD_HANDLER_H_
#include "stm32f1xx_hal.h"
void UART3_SaveShot(uint8_t *dataPtr, uint8_t len);
void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len);
void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len);
void UART3_StartMacro(uint8_t *dataPtr, uint8_t len);
void UART3_StartProgram(uint8_t *dataPtr, uint8_t len);
void UART3_StartShot(uint8_t *dataPtr, uint8_t len);
void UART3_Stop(uint8_t *dataPtr, uint8_t len);
void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len);
void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len);
void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len);
void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len);
void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len);
void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len);
void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len);
void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len);
void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len);
void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len);
void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len);
void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len);
void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len);
void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len);
void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len);
void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len);
void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len);
void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len);
#endif /* INC_UART3_CMD_HANDLER_H_ */

20
Core/Inc/UART3_Handler.h Normal file
View File

@ -0,0 +1,20 @@
/*
* UART3_Handler.h
*
* Created on: Sep 12, 2024
* Author: DashyFox
*/
#ifndef INC_UART3_HANDLER_H_
#define INC_UART3_HANDLER_H_
#include "stm32f1xx_hal.h"
#define UART_BUFFER_SIZE 256
extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
void UART3_START();
void UART3_Handler();
#endif /* INC_UART3_HANDLER_H_ */

2
Core/Inc/stm32f1xx_hal_conf.h
View File

@ -42,7 +42,7 @@
/*#define HAL_CORTEX_MODULE_ENABLED */ /*#define HAL_CORTEX_MODULE_ENABLED */
/*#define HAL_CRC_MODULE_ENABLED */ /*#define HAL_CRC_MODULE_ENABLED */
/*#define HAL_DAC_MODULE_ENABLED */ /*#define HAL_DAC_MODULE_ENABLED */
/*#define HAL_DMA_MODULE_ENABLED */ #define HAL_DMA_MODULE_ENABLED
/*#define HAL_ETH_MODULE_ENABLED */ /*#define HAL_ETH_MODULE_ENABLED */
/*#define HAL_FLASH_MODULE_ENABLED */ /*#define HAL_FLASH_MODULE_ENABLED */
#define HAL_GPIO_MODULE_ENABLED #define HAL_GPIO_MODULE_ENABLED

1
Core/Inc/stm32f1xx_it.h
View File

@ -57,6 +57,7 @@ void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void EXTI0_IRQHandler(void); void EXTI0_IRQHandler(void);
void EXTI1_IRQHandler(void); void EXTI1_IRQHandler(void);
void DMA1_Channel3_IRQHandler(void);
void USB_LP_CAN1_RX0_IRQHandler(void); void USB_LP_CAN1_RX0_IRQHandler(void);
void TIM3_IRQHandler(void); void TIM3_IRQHandler(void);
void I2C1_EV_IRQHandler(void); void I2C1_EV_IRQHandler(void);

16
Core/Src/EEPROM.c
View File

@ -43,7 +43,7 @@ MemoryStatus getShot(unsigned char number, Shot *shot) {
MemoryStatus saveProg(unsigned char number, Program *prog) { MemoryStatus saveProg(unsigned char number, Program *prog) {
MemoryStatus result = EEPROM_OK; MemoryStatus result = EEPROM_OK;
for (uint16_t i = 0; i < MAX_NUMBER_SHOTS_IN_PROGRAMS; ++i) { for (uint16_t i = 0; i < MAX_SHOT_COUNT_IN_PROGRAMS; ++i) {
Shot shot; Shot shot;
MemoryStatus stat = getShot(prog->shots[i].id, &shot); MemoryStatus stat = getShot(prog->shots[i].id, &shot);
if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) { if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) {
@ -77,7 +77,7 @@ MemoryStatus getProg(unsigned char number, Program *prog) {
MemoryStatus saveMacro(unsigned char number, Macro *macro) { MemoryStatus saveMacro(unsigned char number, Macro *macro) {
MemoryStatus result = EEPROM_OK; MemoryStatus result = EEPROM_OK;
for (uint16_t i = 0; i < MAX_NUMBER_PROGRAMS_IN_MACRO; ++i) { for (uint16_t i = 0; i < MAX_PROGRAM_COUNT_IN_MACRO; ++i) {
Program prog; Program prog;
MemoryStatus stat = getProg(macro->programs[i].id, &prog); MemoryStatus stat = getProg(macro->programs[i].id, &prog);
if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) { if (!(stat == EEPROM_OK || stat == EEPROM_MISSING_ELEMENT)) {
@ -246,9 +246,9 @@ MemoryStatus FLASH_WriteBlock(uint16_t startAddr, uint8_t number,
HAL_StatusTypeDef result; HAL_StatusTypeDef result;
// Проверка на корректность входных данных // Проверка на корректность входных данных
if ((startAddr == START_ADR_SHOT && number > MAX_NUMBER_SHOTS) if ((startAddr == START_ADR_SHOT && number >= MAX_SHOT_COUNT)
|| (startAddr == START_ADR_PROGRAM && number > MAX_NUMBER_PROGRAMS) || (startAddr == START_ADR_PROGRAM && number >= MAX_PROGRAM_COUNT)
|| (startAddr == START_ADR_MACRO && number > MAX_NUMBER_MACRO)) { || (startAddr == START_ADR_MACRO && number >= MAX_MACRO_COUNT)) {
return EEPROM_OUT_OF_RANGE; return EEPROM_OUT_OF_RANGE;
} }
@ -278,9 +278,9 @@ MemoryStatus FLASH_ReadBlock(uint16_t startAddr, uint8_t number,
HAL_StatusTypeDef result; HAL_StatusTypeDef result;
// Проверка на корректность входных данных // Проверка на корректность входных данных
if ((startAddr == START_ADR_SHOT && number > MAX_NUMBER_SHOTS) if ((startAddr == START_ADR_SHOT && number > MAX_SHOT_COUNT)
|| (startAddr == START_ADR_PROGRAM && number > MAX_NUMBER_PROGRAMS) || (startAddr == START_ADR_PROGRAM && number > MAX_PROGRAM_COUNT)
|| (startAddr == START_ADR_MACRO && number > MAX_NUMBER_MACRO)) { || (startAddr == START_ADR_MACRO && number > MAX_MACRO_COUNT)) {
return EEPROM_OUT_OF_RANGE; return EEPROM_OUT_OF_RANGE;
} }

34
Core/Src/Print.c
View File

@ -8,15 +8,13 @@
void print(char *str) { void print(char *str) {
unsigned int size = 0; unsigned int size = 0;
while (str[size] != '\0') while (str[size] != '\0') {
{
size++; size++;
} }
CDC_Transmit_FS((unsigned char*) str, size); CDC_Transmit_FS((unsigned char*) str, size);
} }
void int_to_str(int number, char *str, int base) void int_to_str(int number, char *str, int base) {
{
static const char digits[] = "0123456789ABCDEF"; static const char digits[] = "0123456789ABCDEF";
char buffer[32]; char buffer[32];
char *ptr = buffer + sizeof(buffer) - 1; char *ptr = buffer + sizeof(buffer) - 1;
@ -45,8 +43,7 @@ void int_to_str(int number, char *str, int base)
strcpy(str, ptr); strcpy(str, ptr);
} }
void printNumber(long int number) void printNumber(long int number) {
{
char buffer[BUFFER_SIZE]; char buffer[BUFFER_SIZE];
// Преобразование числа в строку // Преобразование числа в строку
@ -56,3 +53,28 @@ void printNumber(long int number)
// Отправка строки через USB CDC // Отправка строки через USB CDC
CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer)); CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
} }
void printHexBuffer(uint8_t *buffer, uint16_t size) {
char hex_str[3 * size + 3]; // Строка для хранения шестнадцатеричных значений (2 символа на байт, пробелы и переносы строк)
int index = 0;
for (uint16_t i = 0; i < size; i++) {
// Преобразуем каждый байт в шестнадцатеричный формат
index += sprintf(&hex_str[index], "%02X ", buffer[i]);
// Добавляем перенос строки после каждых 8 байт
if ((i + 1) % 32 == 0) {
hex_str[index++] = '\n';
} else if ((i + 1) % 8 == 0) {
hex_str[index++] = ' ';
}
}
// Добавляем два переноса строки в конце
hex_str[index++] = '\n';
hex_str[index++] = '\n';
hex_str[index] = '\0'; // Завершаем строку символом конца строки
// Отправляем строку через UART (CDC)
CDC_Transmit_FS((uint8_t*) hex_str, strlen(hex_str));
}

68
Core/Src/RobotFunctions.c
View File

@ -37,22 +37,15 @@ Current current;
HardwareInit_t hwSettings = { HardwareInit_t hwSettings = {
/*DelayTimes*/{ /*DelayTimes*/{
/*preRun*/ 0 /*preRun*/0 },
}, /*ServoSetting*/{ { 0, 0, 90, 180 }, { 0, 0, 90, 180 }, { 0, 0, 90, 180 } },
/*ServoSetting*/{ /*Motors*/{ 0, 0 } };
{0, 0, 90, 180},
{0, 0, 90, 180},
{0, 0, 90, 180}
},
/*Motors*/{
0, 0
}
};
extern int16_t Vz1; extern int16_t Vz1;
extern int16_t Vz2; extern int16_t Vz2;
int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) { int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min,
int16_t out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
} }
@ -72,15 +65,22 @@ void startShooting() {
if (current.shot.isExist) { if (current.shot.isExist) {
print("Fire!\n"); print("Fire!\n");
print("isExist ");printNumber(current.shot.isExist); print("isExist ");
print("countRepeatShot; ");printNumber(current.shot.countRepeatShot); printNumber(current.shot.isExist);
print("speedRollerTop; ");printNumber(current.shot.speedRollerTop); print("countRepeatShot; ");
print("speedRollerBottom; ");printNumber(current.shot.speedRollerBottom); printNumber(current.shot.countRepeatShot);
print("speedScrew; ");printNumber(current.shot.speedScrew); print("speedRollerTop; ");
print("rotationAxial; ");printNumber(current.shot.rotationAxial); printNumber(current.shot.speedRollerTop);
print("rotationHorizontal; ");printNumber(current.shot.rotationHorizontal); print("speedRollerBottom; ");
print("rotationVertical; ");printNumber(current.shot.rotationVertical); printNumber(current.shot.speedRollerBottom);
print("speedScrew; ");
printNumber(current.shot.speedScrew);
print("rotationAxial; ");
printNumber(current.shot.rotationAxial);
print("rotationHorizontal; ");
printNumber(current.shot.rotationHorizontal);
print("rotationVertical; ");
printNumber(current.shot.rotationVertical);
isShooting = 1; isShooting = 1;
doShot(&current.shot); doShot(&current.shot);
@ -126,26 +126,30 @@ uint8_t prepareShot(uint8_t number) {
} }
} }
void setPosSingle(ServoMap servo, uint8_t value) {
if (hwSettings.servos[servo].invert)
value = 180 - value;
SetServo(servo, value);
}
void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical) { void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical) {
setPosSingle(SERVO_AXIAL, axial);
//todo: setPosSingle(SERVO_HORIZONTAL, horizontal);
// hwSettings.servos[SERVO_AXIAL].invert setPosSingle(SERVO_VERTICAL, vertical);
SetServo(SERVO_AXIAL, axial); // Axial
SetServo(SERVO_HORIZONTAL, horizontal); // Horizontal
SetServo(SERVO_VERTICAL, vertical); // Vertical
} }
void setPosDefault() { void setPosDefault() {
SetServo(SERVO_AXIAL, hwSettings.servos[SERVO_AXIAL].def); // Axial setPos(
SetServo(SERVO_HORIZONTAL, hwSettings.servos[SERVO_HORIZONTAL].def); // Horizontal hwSettings.servos[SERVO_AXIAL].def,
SetServo(SERVO_VERTICAL, hwSettings.servos[SERVO_VERTICAL].def); // Vertical hwSettings.servos[SERVO_HORIZONTAL].def,
hwSettings.servos[SERVO_VERTICAL].def
);
} }
// 0 .. 100 // 0 .. 100
void setScrewkSpeed(uint8_t speed) { void setScrewkSpeed(uint8_t speed) {
// if(speed < 0) speed = 0; // if(speed < 0) speed = 0;
if(speed > 100) speed = 100; if (speed > 100)
speed = 100;
speed = map(speed, 0, 100, hwSettings.motors.speed_Screw_min, 100); speed = map(speed, 0, 100, hwSettings.motors.speed_Screw_min, 100);

239
Core/Src/UART3_CMD_Handler.c Normal file
View File

@ -0,0 +1,239 @@
/*
* UART3_CMD_Handler.c
*
* Created on: Sep 12, 2024
* Author: DashyFox
*/
#include "UART3_CMD_Handler.h"
#include "Print.h"
extern void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
uint8_t data_length);
uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
if (current_length >= required_length) {
print("Invalid length for command");
printNumber(cmd);
print("\n");
return 0;
}
return 1;
}
void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_Stop(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_ResetStatistics(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 0;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
SendResponse(dataPtr[0], 0, NULL, 0);
}

295
Core/Src/UART3_Handler.c Normal file
View File

@ -0,0 +1,295 @@
/*
* UART3_Handler.c
*
* Created on: Sep 12, 2024
* Author: DashyFox
*/
#include "UART3_Handler.h"
#include "UART3_CMD_Handler.h"
#include "Print.h"
#include "SimpleTimer.h"
uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
uint8_t uart_rx_buffer_out[UART_BUFFER_SIZE];
volatile uint8_t uart_rx_comlite = 0;
extern UART_HandleTypeDef huart3;
void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len);
void UART3_START() {
HAL_UART_Receive_DMA(&huart3, uart_rx_buffer, UART_BUFFER_SIZE);
}
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
// if (huart->Instance == USART3) {
// uartTimer = millis();
// packet_index++;
//
// CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE);
//
// if (packet_index < UART_BUFFER_SIZE) {
// HAL_UART_Receive_DMA(&huart3, &uart_rx_buffer[packet_index], 1);
// }
// }
//}
volatile uint32_t last_rx_time = 0;
volatile uint32_t rx_complete_timeout = 10;
volatile uint32_t old_pos = 0;
volatile uint16_t rx_index = 0;
extern DMA_HandleTypeDef hdma_usart3_rx;
void handle_rx_complete(uint8_t *data, uint16_t len)
{
// Проверка, если данных пришло меньше двух байт
if (len < 2) {
char error_msg[64];
snprintf(error_msg, sizeof(error_msg),
"Received less than 2 bytes: len = %d\n", len);
CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
return;
}
// Распечатать пришедший буфер с указанием номеров байт
char byte_msg[128];
snprintf(byte_msg, sizeof(byte_msg), "Received buffer (%d bytes):\n", len);
CDC_Transmit_FS((uint8_t*) byte_msg, strlen(byte_msg));
for (uint16_t i = 0; i < len; i++) {
char byte_info[32];
snprintf(byte_info, sizeof(byte_info), "Byte %d: 0x%02X\n", i, data[i]);
CDC_Transmit_FS((uint8_t*) byte_info, strlen(byte_info));
}
// Проверка правильности пакета (первый байт должен быть 0xF0)
if (data[0] != 0xF0) {
char error_msg[64];
snprintf(error_msg, sizeof(error_msg),
"Wrong fix 0xF0: received 0x%02X\n", data[0]);
CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
return;
}
// Проверка длины пакета
uint8_t length = data[1];
if (length + 3 > UART_BUFFER_SIZE) {
char error_msg[128];
snprintf(error_msg, sizeof(error_msg),
"Packet length exceeds buffer size: received length = %d, max size = %d\n",
length + 3, UART_BUFFER_SIZE);
CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
return;
}
// Проверка контрольной суммы
uint16_t checksum = 0;
for (uint8_t i = 0; i < length + 2; i++) {
checksum += data[i];
}
checksum %= 0xFF;
if (checksum != data[length + 2]) {
char error_msg[64];
snprintf(error_msg, sizeof(error_msg),
"Wrong checksum: calculated 0x%02X, received 0x%02X\n",
checksum, data[length + 2]);
CDC_Transmit_FS((uint8_t*) error_msg, strlen(error_msg));
return;
}
CDC_Transmit_FS((uint8_t*)"\n\n", 2);
// Если пакет корректен, передать управление обработчику команд
uint8_t *data_ptr = &data[2];
UART3_CMD_Handler(data_ptr, length);
}
void handle_rx_data(uint8_t* data, uint16_t len)
{
if (len > 0)
{
if(!rx_index){
memset(uart_rx_buffer_out, 0x00, UART_BUFFER_SIZE);
}
memcpy(uart_rx_buffer_out+rx_index, data, len);
rx_index += len;
// uint8_t ff = 0xFF;
// CDC_Transmit_FS(&ff, 1);
}
}
void process_uart_data(uint32_t old_pos, uint32_t new_pos)
{
if (new_pos > old_pos)
{
// Обрабатываем данные между old_pos и new_pos
handle_rx_data(&uart_rx_buffer[old_pos], new_pos - old_pos);
}
else
{
// Обрабатываем данные от old_pos до конца буфера и от начала до new_pos
handle_rx_data(&uart_rx_buffer[old_pos], UART_BUFFER_SIZE - old_pos);
handle_rx_data(&uart_rx_buffer[0], new_pos);
}
}
volatile uint8_t rx_in_progress = 0;
void check_uart3_timeout(void)
{
}
void UART3_Handler() {
// Текущая позиция в буфере (DMA передаёт значение обратного счётчика)
uint32_t pos = UART_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart3_rx);
if (pos != old_pos)
{
// Если есть новые данные, обновляем таймер
last_rx_time = millis();
rx_in_progress = 1;
process_uart_data(old_pos, pos); // Обрабатываем новые данные
old_pos = pos; // Обновляем позицию
}
else if (rx_in_progress && (millis() - last_rx_time) > rx_complete_timeout)
{
handle_rx_complete(uart_rx_buffer_out, rx_index);
rx_index = 0;
last_rx_time = millis();
rx_in_progress = 0;
}
}
void SendResponse(uint8_t command, uint8_t result, uint8_t *data,
uint8_t data_length) {
uint8_t response_buffer[64];
uint8_t index = 0;
response_buffer[index++] = 0xF0;
response_buffer[index++] = data_length + 3;
response_buffer[index++] = command;
response_buffer[index++] = result;
if (data != NULL && data_length > 0) {
for (uint8_t i = 0; i < data_length; i++) {
response_buffer[index++] = data[i];
}
}
uint8_t checksum = 0;
for (uint8_t i = 0; i < index; i++) {
checksum += response_buffer[i];
}
checksum %= 0xFF;
response_buffer[index++] = checksum;
HAL_UART_Transmit(&huart3, response_buffer, index, HAL_MAX_DELAY);
}
void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) {
uint8_t command = dataPtr[0];
print("Received command: ");
printNumber(command);
print("\nParameters: [");
for (uint8_t i = 1; i < len; i++) {
printNumber(dataPtr[i]);
if (i < len - 1) {
print(", ");
}
}
print("]\n");
switch (command) {
case 10:
UART3_SaveShot(dataPtr, len);
break;
case 11:
UART3_SaveProgram(dataPtr, len);
break;
case 12:
UART3_SaveMacro(dataPtr, len);
break;
case 100:
UART3_StartMacro(dataPtr, len);
break;
case 101:
UART3_StartProgram(dataPtr, len);
break;
case 102:
UART3_StartShot(dataPtr, len);
break;
case 110:
UART3_Stop(dataPtr, len);
break;
case 13:
UART3_DeleteShot(dataPtr, len);
break;
case 14:
UART3_DeleteProgram(dataPtr, len);
break;
case 15:
UART3_DeleteMacro(dataPtr, len);
break;
case 120:
UART3_DeleteAllData(dataPtr, len);
break;
case 180:
UART3_GetDeviceStatus(dataPtr, len);
break;
case 200:
UART3_SetServoOffset(dataPtr, len);
break;
case 204:
UART3_GetServoOffset(dataPtr, len);
break;
case 201:
UART3_SetServoMaxAngle(dataPtr, len);
break;
case 202:
UART3_GetServoMaxAngle(dataPtr, len);
break;
case 203:
UART3_MoveServoToInitialPosition(dataPtr, len);
break;
case 206:
UART3_SetStartupDelay(dataPtr, len);
break;
case 207:
UART3_GetStartupDelay(dataPtr, len);
break;
case 210:
UART3_SetMinRollerSpeed(dataPtr, len);
break;
case 211:
UART3_GetMinRollerSpeed(dataPtr, len);
break;
case 212:
UART3_SetMinScrewSpeed(dataPtr, len);
break;
case 213:
UART3_GetMinScrewSpeed(dataPtr, len);
break;
case 214:
UART3_SetServoInvertFlag(dataPtr, len);
break;
case 215:
UART3_GetServoInvertFlag(dataPtr, len);
break;
case 181:
UART3_ReadStatistics(dataPtr, len);
break;
case 121:
UART3_ResetStatistics(dataPtr, len);
break;
default:
print("Unknown command");
break;
}
}

208
Core/Src/main.c
View File

@ -23,8 +23,6 @@
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "GlobalDefines.h"
#include "usbd_cdc_if.h" #include "usbd_cdc_if.h"
#include "pca9685.h" #include "pca9685.h"
#include "IR.h" #include "IR.h"
@ -34,6 +32,7 @@
#include "SimpleTimer.h" #include "SimpleTimer.h"
#include "RobotFunctions.h" #include "RobotFunctions.h"
#include "ShiftReg.h" #include "ShiftReg.h"
#include "UART3_Handler.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
@ -59,6 +58,7 @@ TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart3; UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart3_rx;
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
@ -68,8 +68,6 @@ uint8_t velosety[600];
uint8_t rxcomlite = 0; uint8_t rxcomlite = 0;
uint8_t initcomlete = 0; uint8_t initcomlete = 0;
uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
unsigned char Shiftreg[3]; unsigned char Shiftreg[3];
uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2... uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
@ -84,10 +82,6 @@ uint16_t vi = 0;
uint16_t timing1 = 0; uint16_t timing1 = 0;
uint16_t timing2 = 0; uint16_t timing2 = 0;
struct Shot BufShots[MAX_NUMBER_SHOTS];
struct Program BufPrograms;
struct Macro BufMacro;
extern PCD_HandleTypeDef hpcd_USB_FS; extern PCD_HandleTypeDef hpcd_USB_FS;
/* USER CODE END PV */ /* USER CODE END PV */
@ -95,6 +89,7 @@ extern PCD_HandleTypeDef hpcd_USB_FS;
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void); void SystemClock_Config(void);
static void MX_GPIO_Init(void); static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_I2C1_Init(void); static void MX_I2C1_Init(void);
static void MX_TIM1_Init(void); static void MX_TIM1_Init(void);
static void MX_TIM2_Init(void); static void MX_TIM2_Init(void);
@ -126,7 +121,7 @@ int main(void)
HAL_Init(); HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
HAL_Delay(10);
/* USER CODE END Init */ /* USER CODE END Init */
/* Configure the system clock */ /* Configure the system clock */
@ -142,10 +137,12 @@ int main(void)
__HAL_RCC_USB_FORCE_RESET(); __HAL_RCC_USB_FORCE_RESET();
HAL_Delay(10); HAL_Delay(10);
__HAL_RCC_USB_RELEASE_RESET(); __HAL_RCC_USB_RELEASE_RESET();
HAL_Delay(10);
/* USER CODE END SysInit */ /* USER CODE END SysInit */
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init();
MX_I2C1_Init(); MX_I2C1_Init();
MX_USB_DEVICE_Init(); MX_USB_DEVICE_Init();
MX_TIM1_Init(); MX_TIM1_Init();
@ -153,10 +150,14 @@ int main(void)
MX_TIM3_Init(); MX_TIM3_Init();
MX_USART3_UART_Init(); MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HAL_Delay(10);
__HAL_RCC_USART3_CLK_ENABLE();
HAL_Delay(10);
__HAL_RCC_DMA1_CLK_ENABLE();
HAL_Delay(10);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8 HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); //PA9 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_1); //PA0
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); //PA1 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_3); //PA2
@ -164,19 +165,6 @@ int main(void)
initPCA9685(); 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);
Shiftreg[0] = 0x00; Shiftreg[1] = 0x44; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10); 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] = 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] = 0x00; Shiftreg[1] = 0x77; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
@ -198,6 +186,7 @@ initcomlete = 1;
HAL_TIM_Base_Start_IT(&htim3); HAL_TIM_Base_Start_IT(&htim3);
HAL_NVIC_EnableIRQ(TIM3_IRQn); HAL_NVIC_EnableIRQ(TIM3_IRQn);
UART3_START();
/* USER CODE END 2 */ /* USER CODE END 2 */
@ -226,148 +215,7 @@ initcomlete = 1;
{ {
IR_CMD_Handler(); IR_CMD_Handler();
UART3_Handler();
// 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);
// }
forTimer(blinkTimer, 500) forTimer(blinkTimer, 500)
{ {
@ -693,7 +541,7 @@ static void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */ /* USER CODE END USART3_Init 1 */
huart3.Instance = USART3; huart3.Instance = USART3;
huart3.Init.BaudRate = 115200; huart3.Init.BaudRate = 9600;
huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Parity = UART_PARITY_NONE;
@ -705,14 +553,30 @@ static void MX_USART3_UART_Init(void)
Error_Handler(); Error_Handler();
} }
/* USER CODE BEGIN USART3_Init 2 */ /* USER CODE BEGIN USART3_Init 2 */
if (HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE) != HAL_OK) // if (HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE) != HAL_OK)
{ // {
Error_Handler(); // Error_Handler();
} // }
/* USER CODE END USART3_Init 2 */ /* USER CODE END USART3_Init 2 */
} }
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
}
/** /**
* @brief GPIO Initialization Function * @brief GPIO Initialization Function
* @param None * @param None
@ -763,10 +627,10 @@ static void MX_GPIO_Init(void)
HAL_GPIO_Init(IR_EXT_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(IR_EXT_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/ /* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0); HAL_NVIC_SetPriority(EXTI0_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn); HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0); HAL_NVIC_SetPriority(EXTI1_IRQn, 7, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn); HAL_NVIC_EnableIRQ(EXTI1_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE BEGIN MX_GPIO_Init_2 */

23
Core/Src/stm32f1xx_hal_msp.c
View File

@ -24,6 +24,7 @@
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
/* USER CODE END Includes */ /* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_usart3_rx;
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */ /* USER CODE BEGIN TD */
@ -348,8 +349,25 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(RX_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(RX_GPIO_Port, &GPIO_InitStruct);
/* USART3 DMA Init */
/* USART3_RX Init */
hdma_usart3_rx.Instance = DMA1_Channel3;
hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart3_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart3_rx.Init.Priority = DMA_PRIORITY_HIGH;
if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(huart,hdmarx,hdma_usart3_rx);
/* USART3 interrupt Init */ /* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0); HAL_NVIC_SetPriority(USART3_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn); HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */ /* USER CODE BEGIN USART3_MspInit 1 */
@ -381,6 +399,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/ */
HAL_GPIO_DeInit(GPIOB, TX_Pin|RX_Pin); HAL_GPIO_DeInit(GPIOB, TX_Pin|RX_Pin);
/* USART3 DMA DeInit */
HAL_DMA_DeInit(huart->hdmarx);
/* USART3 interrupt DeInit */ /* USART3 interrupt DeInit */
HAL_NVIC_DisableIRQ(USART3_IRQn); HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */ /* USER CODE BEGIN USART3_MspDeInit 1 */

223
Core/Src/stm32f1xx_it.c
View File

@ -28,8 +28,10 @@
#include "usb_device.h" #include "usb_device.h"
#include "usbd_cdc_if.h" #include "usbd_cdc_if.h"
#include "GlobalDefines.h"
#include "Print.h" #include "Print.h"
#include "UART3_Handler.h"
#include "SimpleTimer.h"
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
@ -50,6 +52,11 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
extern volatile uint16_t packet_index;
extern volatile uint32_t uartTimer;
extern volatile uint8_t uart_rx_in_progress;
uint8_t myi; uint8_t myi;
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 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
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> 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>
@ -93,82 +100,68 @@ int32_t computePID2(uint16_t input, uint16_t setpoint);
/* Private user code ---------------------------------------------------------*/ /* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
int32_t computePID1(uint16_t input, uint16_t setpoint) 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> 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> 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; 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) if (integral > 4000) {
{
integral = 4000; integral = 4000;
} }
if (integral < 0) if (integral < 0) {
{
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 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) if (D > 4000) {
{
D = 4000; D = 4000;
} }
if (D < 0) if (D < 0) {
{
D = 0; D = 0;
} }
prevErr = err; prevErr = err;
// //
int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01 int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
if (Rout > 4000) if (Rout > 4000) {
{
Rout = 4000; Rout = 4000;
} // } //
if (Rout < 0) if (Rout < 0) {
{
Rout = 0; Rout = 0;
} // } //
return Rout; return Rout;
} }
int32_t computePID2(uint16_t input, uint16_t setpoint) 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> 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> 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; 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) if (integral > 4000) {
{
integral = 4000; integral = 4000;
} }
if (integral < 0) if (integral < 0) {
{
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 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) if (D > 4000) {
{
D = 4000; D = 4000;
} }
if (D < 0) if (D < 0) {
{
D = 0; D = 0;
} }
prevErr = err; prevErr = err;
// //
int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01 int32_t Rout = ((err * 3) >> 1) + integral + D; // 4. <20>=1,5 + <20>=5 + <20>=0.01
if (Rout > 4000) if (Rout > 4000) {
{
Rout = 4000; Rout = 4000;
} // } //
if (Rout < 0) if (Rout < 0) {
{
Rout = 0; Rout = 0;
} // } //
@ -180,6 +173,7 @@ int32_t computePID2(uint16_t input, uint16_t setpoint)
extern PCD_HandleTypeDef hpcd_USB_FS; extern PCD_HandleTypeDef hpcd_USB_FS;
extern I2C_HandleTypeDef hi2c1; extern I2C_HandleTypeDef hi2c1;
extern TIM_HandleTypeDef htim3; extern TIM_HandleTypeDef htim3;
extern DMA_HandleTypeDef hdma_usart3_rx;
extern UART_HandleTypeDef huart3; extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE]; extern uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
@ -197,8 +191,7 @@ void NMI_Handler(void)
/* USER CODE END NonMaskableInt_IRQn 0 */ /* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */ /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1) while (1) {
{
} }
/* USER CODE END NonMaskableInt_IRQn 1 */ /* USER CODE END NonMaskableInt_IRQn 1 */
} }
@ -310,53 +303,42 @@ void SysTick_Handler(void)
/* USER CODE BEGIN SysTick_IRQn 0 */ /* USER CODE BEGIN SysTick_IRQn 0 */
// <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 // <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
if (v1[0] > 0) 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>
{ // <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> // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vt1 = 0; vt1 = 0;
for (uint8_t i = 1; i <= v1[0]; i++) for (uint8_t i = 1; i <= v1[0]; i++) {
{
vt1 += v1[i]; vt1 += v1[i];
} }
vt1 = vt1 / v1[0]; vt1 = vt1 / v1[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> <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> // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
} } else {
else
{
vt1 = timing1; 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> 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> <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 // <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) 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><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> // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vt2 = 0; vt2 = 0;
for (uint8_t i = 1; i <= v2[0]; i++) for (uint8_t i = 1; i <= v2[0]; i++) {
{
vt2 += v2[i]; vt2 += v2[i];
} }
vt2 = vt2 / v2[0]; 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> <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> // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
} } else {
else
{
vt2 = timing2; 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> 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> <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 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 3
if (vs1[0] < 3) if (vs1[0] < 3) {
{
vs1[vs1[0] + 1] = (uint16_t) vt1; vs1[vs1[0] + 1] = (uint16_t) vt1;
vs1[0]++; vs1[0]++;
} } else {
else
{
vs1[0] = 0; vs1[0] = 0;
vs1[vs1[0] + 1] = (uint16_t) vt1; vs1[vs1[0] + 1] = (uint16_t) vt1;
vs1[0]++; vs1[0]++;
@ -364,13 +346,10 @@ void SysTick_Handler(void)
vsk1 = (vs1[1] + vs1[2] + vs1[3]) / 3; vsk1 = (vs1[1] + vs1[2] + vs1[3]) / 3;
if (vs2[0] < 3) if (vs2[0] < 3) {
{
vs2[vs2[0] + 1] = (uint16_t) vt2; vs2[vs2[0] + 1] = (uint16_t) vt2;
vs2[0]++; vs2[0]++;
} } else {
else
{
vs2[0] = 0; vs2[0] = 0;
vs2[vs2[0] + 1] = (uint16_t) vt2; vs2[vs2[0] + 1] = (uint16_t) vt2;
vs2[0]++; vs2[0]++;
@ -379,23 +358,19 @@ void SysTick_Handler(void)
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) // <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) if (vsk1 != 0) {
{
vsk1 = 6000000 / vsk1; vsk1 = 6000000 / vsk1;
} } else {
else
{
vsk1 = 0; vsk1 = 0;
} }
if (vsk1 > 10000) vsk1 = 10000; if (vsk1 > 10000)
if (vsk1 < 150) vsk1 = 0; vsk1 = 10000;
if (vsk1 < 150)
vsk1 = 0;
if (vsk2 != 0) if (vsk2 != 0) {
{
vsk2 = 6000000 / vsk2; vsk2 = 6000000 / vsk2;
} } else {
else
{
vsk2 = 0; vsk2 = 0;
} }
if (vsk2 > 10000) if (vsk2 > 10000)
@ -404,25 +379,27 @@ void SysTick_Handler(void)
vsk2 = 0; 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>. // <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 < 0) {
if (Vz1 > 200) {Vz1 = 200;} Vz1 = 0;
if (Vz2 < 0) {Vz2 = 0;}
if (Vz2 > 200) {Vz2 = 200;}
if (Vz1 > 100)
{
Vzad1 = (Vz1 - 100) * 80;
} }
else 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; Vzad1 = (100 - Vz1) * 80;
} }
if (Vz2 > 100) if (Vz2 > 100) {
{
Vzad2 = (Vz2 - 100) * 80; Vzad2 = (Vz2 - 100) * 80;
} } else {
else
{
Vzad2 = (100 - Vz2) * 80; Vzad2 = (100 - Vz2) * 80;
} }
@ -430,24 +407,18 @@ void SysTick_Handler(void)
Vupr1 = (uint16_t) computePID1(vsk1, Vzad1); Vupr1 = (uint16_t) computePID1(vsk1, Vzad1);
Vupr2 = (uint16_t) computePID2(vsk2, Vzad2); Vupr2 = (uint16_t) computePID2(vsk2, Vzad2);
if (Vz1 > 100) if (Vz1 > 100) {
{
TIM2->CCR2 = 0; TIM2->CCR2 = 0;
TIM2->CCR1 = Vupr1; TIM2->CCR1 = Vupr1;
} } else {
else
{
TIM2->CCR1 = 0; TIM2->CCR1 = 0;
TIM2->CCR2 = Vupr1; TIM2->CCR2 = Vupr1;
} }
if (Vz2 > 100) if (Vz2 > 100) {
{
TIM2->CCR3 = 0; TIM2->CCR3 = 0;
TIM2->CCR4 = Vupr2; TIM2->CCR4 = Vupr2;
} } else {
else
{
TIM2->CCR4 = 0; TIM2->CCR4 = 0;
TIM2->CCR3 = Vupr2; TIM2->CCR3 = Vupr2;
} }
@ -458,8 +429,7 @@ void SysTick_Handler(void)
// TIM2->CCR2 = 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) {
{
velosety[vi] = LOBYTE(timing1); velosety[vi] = LOBYTE(timing1);
velosety[vi + 1] = HIBYTE(timing1); velosety[vi + 1] = HIBYTE(timing1);
velosety[vi + 2] = LOBYTE(vsk1); velosety[vi + 2] = LOBYTE(vsk1);
@ -536,6 +506,20 @@ void EXTI1_IRQHandler(void)
/* USER CODE END EXTI1_IRQn 1 */ /* 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. * @brief This function handles USB low priority or CAN RX0 interrupts.
*/ */
@ -568,8 +552,7 @@ void TIM3_IRQHandler(void)
/* USER CODE BEGIN TIM3_IRQn 0 */ /* USER CODE BEGIN TIM3_IRQn 0 */
// Обработка переполнения таймера // Обработка переполнения таймера
if (TIM3->SR & TIM_SR_UIF) if (TIM3->SR & TIM_SR_UIF) {
{
current_capture1 = 0xFFFFFFFF; current_capture1 = 0xFFFFFFFF;
current_capture2 = 0xFFFFFFFF; current_capture2 = 0xFFFFFFFF;
// Сброс флага переполнения // Сброс флага переполнения
@ -577,27 +560,20 @@ void TIM3_IRQHandler(void)
} }
// Обработка захвата сигнала для канала 1 // Обработка захвата сигнала для канала 1
if (TIM3->SR & TIM_SR_CC1IF) if (TIM3->SR & TIM_SR_CC1IF) {
{
current_capture1 = TIM3->CCR1; current_capture1 = TIM3->CCR1;
if (current_capture1 >= prev_capture1) if (current_capture1 >= prev_capture1) {
{
elapsed_time1 = current_capture1 - prev_capture1; elapsed_time1 = current_capture1 - prev_capture1;
} } else {
else
{
// Учёт переполнения таймера // Учёт переполнения таймера
elapsed_time1 = (65000 - prev_capture1) + current_capture1 + 1; elapsed_time1 = (65000 - prev_capture1) + current_capture1 + 1;
} }
// Ограничение значения для сохранения в 16-битную переменную // Ограничение значения для сохранения в 16-битную переменную
if (elapsed_time1 > 65535) if (elapsed_time1 > 65535) {
{
timing1 = 65535; // Максимальное значение timing1 = 65535; // Максимальное значение
} } else {
else
{
timing1 = (uint16_t) elapsed_time1; timing1 = (uint16_t) elapsed_time1;
} }
@ -606,27 +582,20 @@ void TIM3_IRQHandler(void)
} }
// Обработка захвата сигнала для канала 2 // Обработка захвата сигнала для канала 2
if (TIM3->SR & TIM_SR_CC2IF) if (TIM3->SR & TIM_SR_CC2IF) {
{
current_capture2 = TIM3->CCR2; current_capture2 = TIM3->CCR2;
if (current_capture2 >= prev_capture2) if (current_capture2 >= prev_capture2) {
{
elapsed_time2 = current_capture2 - prev_capture2; elapsed_time2 = current_capture2 - prev_capture2;
} } else {
else
{
// Учёт переполнения таймера // Учёт переполнения таймера
elapsed_time2 = (65000 - prev_capture2) + current_capture2 + 1; elapsed_time2 = (65000 - prev_capture2) + current_capture2 + 1;
} }
// Ограничение значения для сохранения в 16-битную переменную // Ограничение значения для сохранения в 16-битную переменную
if (elapsed_time2 > 65535) if (elapsed_time2 > 65535) {
{
timing2 = 65535; // Максимальное значение timing2 = 65535; // Максимальное значение
} } else {
else
{
timing2 = (uint16_t) elapsed_time2; timing2 = (uint16_t) elapsed_time2;
} }
@ -675,15 +644,19 @@ void I2C1_ER_IRQHandler(void)
void USART3_IRQHandler(void) void USART3_IRQHandler(void)
{ {
/* USER CODE BEGIN USART3_IRQn 0 */ /* USER CODE BEGIN USART3_IRQn 0 */
HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE); // if (USART3->SR & USART_SR_RXNE) {
// CDC_Transmit_FS(uart_rx_buffer, UART_BUFFER_SIZE); // 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 */ /* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3); HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */ /* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */ /* USER CODE END USART3_IRQn 1 */
} }

52
StackSport.ioc
View File

@ -2,22 +2,34 @@
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= CAD.provider=
Dma.Request0=USART3_RX
Dma.RequestsNb=1
Dma.USART3_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.USART3_RX.0.Instance=DMA1_Channel3
Dma.USART3_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.USART3_RX.0.MemInc=DMA_MINC_ENABLE
Dma.USART3_RX.0.Mode=DMA_CIRCULAR
Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.USART3_RX.0.Priority=DMA_PRIORITY_HIGH
Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
File.Version=6 File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false KeepUserPlacement=false
Mcu.CPN=STM32F103C8T6 Mcu.CPN=STM32F103C8T6
Mcu.Family=STM32F1 Mcu.Family=STM32F1
Mcu.IP0=I2C1 Mcu.IP0=DMA
Mcu.IP1=NVIC Mcu.IP1=I2C1
Mcu.IP2=RCC Mcu.IP10=USB_DEVICE
Mcu.IP3=SYS Mcu.IP2=NVIC
Mcu.IP4=TIM1 Mcu.IP3=RCC
Mcu.IP5=TIM2 Mcu.IP4=SYS
Mcu.IP6=TIM3 Mcu.IP5=TIM1
Mcu.IP7=USART3 Mcu.IP6=TIM2
Mcu.IP8=USB Mcu.IP7=TIM3
Mcu.IP9=USB_DEVICE Mcu.IP8=USART3
Mcu.IPNb=10 Mcu.IP9=USB
Mcu.IPNb=11
Mcu.Name=STM32F103C(8-B)Tx Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48 Mcu.Package=LQFP48
Mcu.Pin0=PC13-TAMPER-RTC Mcu.Pin0=PC13-TAMPER-RTC
@ -55,22 +67,23 @@ Mcu.UserName=STM32F103C8Tx
MxCube.Version=6.12.0 MxCube.Version=6.12.0
MxDb.Version=DB.6.0.120 MxDb.Version=DB.6.0.120
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DMA1_Channel3_IRQn=true\:2\:0\:true\:false\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.EXTI0_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
NVIC.EXTI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.EXTI1_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.I2C1_ER_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.I2C1_ER_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.I2C1_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.I2C1_EV_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.TIM3_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.USART3_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
NVIC.USB_LP_CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true NVIC.USB_LP_CAN1_RX0_IRQn=true\:1\:0\:true\:false\:true\:false\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA0-WKUP.GPIOParameters=GPIO_Speed,GPIO_Label PA0-WKUP.GPIOParameters=GPIO_Speed,GPIO_Label
PA0-WKUP.GPIO_Label=RPWM_UP PA0-WKUP.GPIO_Label=RPWM_UP
@ -187,7 +200,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_I2C1_Init-I2C1-false-HAL-true,4-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_I2C1_Init-I2C1-false-HAL-true,5-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM2_Init-TIM2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true
RCC.ADCFreqValue=24000000 RCC.ADCFreqValue=24000000
RCC.AHBFreq_Value=48000000 RCC.AHBFreq_Value=48000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2 RCC.APB1CLKDivider=RCC_HCLK_DIV2
@ -243,7 +256,8 @@ TIM3.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
TIM3.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2,Prescaler,Period TIM3.IPParameters=Channel-Input_Capture1_from_TI1,Channel-Input_Capture2_from_TI2,Prescaler,Period
TIM3.Period=65000 TIM3.Period=65000
TIM3.Prescaler=47 TIM3.Prescaler=47
USART3.IPParameters=VirtualMode USART3.BaudRate=9600
USART3.IPParameters=VirtualMode,BaudRate
USART3.VirtualMode=VM_ASYNC USART3.VirtualMode=VM_ASYNC
USB_DEVICE.APP_RX_DATA_SIZE=64 USB_DEVICE.APP_RX_DATA_SIZE=64
USB_DEVICE.APP_TX_DATA_SIZE=64 USB_DEVICE.APP_TX_DATA_SIZE=64

14
USB_DEVICE/App/usbd_cdc_if.c
View File

@ -178,8 +178,7 @@ static int8_t CDC_DeInit_FS(void)
static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length) static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
{ {
/* USER CODE BEGIN 5 */ /* USER CODE BEGIN 5 */
switch(cmd) switch (cmd) {
{
case CDC_SEND_ENCAPSULATED_COMMAND: case CDC_SEND_ENCAPSULATED_COMMAND:
break; break;
@ -280,13 +279,20 @@ uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
{ {
uint8_t result = USBD_OK; uint8_t result = USBD_OK;
/* USER CODE BEGIN 7 */ /* USER CODE BEGIN 7 */
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData; USBD_CDC_HandleTypeDef *hcdc =
(USBD_CDC_HandleTypeDef*) hUsbDeviceFS.pClassData;
if (hcdc->TxState != 0) { if (hcdc->TxState != 0) {
return USBD_BUSY; return USBD_BUSY;
} }
USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len); USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
result = USBD_CDC_TransmitPacket(&hUsbDeviceFS); result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
while(hcdc->TxState != 0); volatile uint32_t timeout = 5000;
while (hcdc->TxState != 0) {
if (!timeout) {
return USBD_FAIL;
}
timeout--;
}
/* USER CODE END 7 */ /* USER CODE END 7 */
return result; return result;
} }

2
USB_DEVICE/Target/usbd_conf.c
View File

@ -77,7 +77,7 @@ void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
__HAL_RCC_USB_CLK_ENABLE(); __HAL_RCC_USB_CLK_ENABLE();
/* Peripheral interrupt init */ /* Peripheral interrupt init */
HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0); HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN USB_MspInit 1 */ /* USER CODE BEGIN USB_MspInit 1 */