/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2024 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "usb_device.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "GlobalDefines.h" #include "usbd_cdc_if.h" #include "pca9685.h" #include "IR.h" #include "IR_CMD_Handler.h" #include "EEPROM.h" #include "Print.h" #include "SimpleTimer.h" #include "RobotFunctions.h" #include "ShiftReg.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ I2C_HandleTypeDef hi2c1; TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; UART_HandleTypeDef huart3; /* USER CODE BEGIN PV */ uint8_t txdata[64]; uint8_t rxdata[64]; uint8_t velosety[600]; uint8_t rxcomlite = 0; uint8_t initcomlete = 0; uint8_t uart_rx_buffer[UART_BUFFER_SIZE]; unsigned char Shiftreg[3]; uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2... uint8_t avto = 0; // vkl/otkl avtomaticheskoi raboti uint8_t rejim_number = 1; // nomer tekyshego rejima int16_t Vz1 = 100; int16_t Vz2 = 100; uint16_t vi = 0; uint16_t timing1 = 0; uint16_t timing2 = 0; struct Shot BufShots[MAX_NUMBER_SHOTS]; struct Program BufPrograms; struct Macro BufMacro; extern PCD_HandleTypeDef hpcd_USB_FS; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_I2C1_Init(void); static void MX_TIM1_Init(void); static void MX_TIM2_Init(void); static void MX_TIM3_Init(void); static void MX_USART3_UART_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ // Установка приоритета прерывания // NVIC_SetPriority(SysTick_IRQn, 0); // Настройка SysTick таймера на 1 мс SysTick->LOAD = 479999; // 1ms Sys timer // SysTick_Config(SystemCoreClock / 1000); __HAL_RCC_USB_FORCE_RESET(); HAL_Delay(10); __HAL_RCC_USB_RELEASE_RESET(); /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_I2C1_Init(); MX_USB_DEVICE_Init(); MX_TIM1_Init(); MX_TIM2_Init(); MX_TIM3_Init(); MX_USART3_UART_Init(); /* USER CODE BEGIN 2 */ HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8 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_2); //PA1 HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); //PA2 HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); //PA3 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] = 0x66; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x00; Shiftreg[1] = 0x77; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10); EEPROM_INIT(); Shiftreg[0] = 0x01; Shiftreg[1] = 0x77; Shiftreg[2] = 0x01; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x03; Shiftreg[1] = 0x77; Shiftreg[2] = 0x03; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x07; Shiftreg[1] = 0x77; Shiftreg[2] = 0x07; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x0F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x0F; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x1F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x1F; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x3F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x3F; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x7F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x7F; SetShiftReg(Shiftreg); HAL_Delay(10); Shiftreg[0] = 0x00; Shiftreg[1] = 0x00; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10); initcomlete = 1; HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); // ������ �� ������ 1 �6 ������ ��� ��������� �� PA0 PA1 HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_2); HAL_TIM_Base_Start_IT(&htim3); HAL_NVIC_EnableIRQ(TIM3_IRQn); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ Shot testShot; memset(&testShot, 0x00, sizeof(Shot)); getShot(3, &testShot); if(!testShot.isExist){ testShot.countRepeatShot = 1; testShot.speedRollerTop = 200; testShot.speedRollerBottom = 200; testShot.speedScrew = 100; testShot.rotationAxial = 90; testShot.rotationHorizontal = 90; testShot.rotationVertical = 90; saveShot(3, &testShot); } while (1) { IR_CMD_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) { resetForTimer(blinkTimer); GPIOC->ODR ^= GPIO_PIN_13; // unsigned char text[] = "Hello\n"; // printNumber(SysTick->LOAD); // CDC_Transmit_FS(text, sizeof(text)); } /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; RCC_PeriphCLKInitTypeDef PeriphClkInit = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) { Error_Handler(); } PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB; PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL; if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) { Error_Handler(); } } /** * @brief I2C1 Initialization Function * @param None * @retval None */ static void MX_I2C1_Init(void) { /* USER CODE BEGIN I2C1_Init 0 */ /* USER CODE END I2C1_Init 0 */ /* USER CODE BEGIN I2C1_Init 1 */ /* USER CODE END I2C1_Init 1 */ hi2c1.Instance = I2C1; hi2c1.Init.ClockSpeed = 100000; hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c1.Init.OwnAddress2 = 0; hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; if (HAL_I2C_Init(&hi2c1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN I2C1_Init 2 */ /* USER CODE END I2C1_Init 2 */ } /** * @brief TIM1 Initialization Function * @param None * @retval None */ static void MX_TIM1_Init(void) { /* USER CODE BEGIN TIM1_Init 0 */ /* USER CODE END TIM1_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; /* USER CODE BEGIN TIM1_Init 1 */ /* USER CODE END TIM1_Init 1 */ htim1.Instance = TIM1; htim1.Init.Prescaler = 0; htim1.Init.CounterMode = TIM_COUNTERMODE_UP; htim1.Init.Period = 4000; htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim1.Init.RepetitionCounter = 0; htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim1) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; sBreakDeadTimeConfig.DeadTime = 0; sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM1_Init 2 */ /* USER CODE END TIM1_Init 2 */ HAL_TIM_MspPostInit(&htim1); } /** * @brief TIM2 Initialization Function * @param None * @retval None */ static void MX_TIM2_Init(void) { /* USER CODE BEGIN TIM2_Init 0 */ /* USER CODE END TIM2_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; /* USER CODE BEGIN TIM2_Init 1 */ /* USER CODE END TIM2_Init 1 */ htim2.Instance = TIM2; htim2.Init.Prescaler = 0; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 4000; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim2) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */ HAL_TIM_MspPostInit(&htim2); } /** * @brief TIM3 Initialization Function * @param None * @retval None */ static void MX_TIM3_Init(void) { /* USER CODE BEGIN TIM3_Init 0 */ __HAL_RCC_TIM3_CLK_ENABLE(); /* USER CODE END TIM3_Init 0 */ TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_IC_InitTypeDef sConfigIC = {0}; /* USER CODE BEGIN TIM3_Init 1 */ /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; htim3.Init.Prescaler = 47; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.Period = 65000; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim3) != HAL_OK) { Error_Handler(); } sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_Init(&htim3) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING; sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI; sConfigIC.ICPrescaler = TIM_ICPSC_DIV1; sConfigIC.ICFilter = 0; if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM3_Init 2 */ /* USER CODE END TIM3_Init 2 */ } /** * @brief USART3 Initialization Function * @param None * @retval None */ static void MX_USART3_UART_Init(void) { /* USER CODE BEGIN USART3_Init 0 */ /* USER CODE END USART3_Init 0 */ /* USER CODE BEGIN USART3_Init 1 */ /* USER CODE END USART3_Init 1 */ huart3.Instance = USART3; huart3.Init.BaudRate = 115200; huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Mode = UART_MODE_TX_RX; huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart3.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart3) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART3_Init 2 */ if (HAL_UART_Receive_IT(&huart3, uart_rx_buffer, UART_BUFFER_SIZE) != HAL_OK) { Error_Handler(); } /* USER CODE END USART3_Init 2 */ } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; /* USER CODE BEGIN MX_GPIO_Init_1 */ /* USER CODE END MX_GPIO_Init_1 */ /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOA, LED_DATA_Pin|LED_CLK_Pin, GPIO_PIN_RESET); /*Configure GPIO pin : PC13 */ GPIO_InitStruct.Pin = GPIO_PIN_13; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /*Configure GPIO pins : LED_DATA_Pin LED_CLK_Pin */ GPIO_InitStruct.Pin = LED_DATA_Pin|LED_CLK_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /*Configure GPIO pin : BALL_EXT_Pin */ GPIO_InitStruct.Pin = BALL_EXT_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; GPIO_InitStruct.Pull = GPIO_PULLDOWN; HAL_GPIO_Init(BALL_EXT_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : IR_EXT_Pin */ GPIO_InitStruct.Pin = IR_EXT_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING; GPIO_InitStruct.Pull = GPIO_PULLDOWN; HAL_GPIO_Init(IR_EXT_GPIO_Port, &GPIO_InitStruct); /* EXTI interrupt init*/ HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0); HAL_NVIC_EnableIRQ(EXTI0_IRQn); HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0); HAL_NVIC_EnableIRQ(EXTI1_IRQn); /* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE END MX_GPIO_Init_2 */ } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); // GPIOC->ODR &= ~GPIO_PIN_13; while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */