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PingPong/Core/Src/main.c
DashyFox 0e845d9ebd music
2024-10-02 22:59:51 +03:00

881 lines
24 KiB
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/* 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 "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"
#include "UART3_Handler.h"
#include "Sound.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;
IWDG_HandleTypeDef hiwdg;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart3_rx;
/* 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 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;
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_DMA_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);
static void MX_IWDG_Init(void);
static void MX_TIM4_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 */
HAL_Delay(10);
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
SysTick->LOAD = 479999;
__HAL_RCC_USB_FORCE_RESET();
HAL_Delay(10);
__HAL_RCC_USB_RELEASE_RESET();
HAL_Delay(10);
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_I2C1_Init();
MX_USB_DEVICE_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_USART3_UART_Init();
MX_IWDG_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
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
Robot_INIT();
initcomlete = 1;
HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 <20>6 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 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 */
const char* getStateString(State state) {
switch (state) {
case STOP:
return "STOP";
case RUN:
return "RUN";
case PAUSE:
return "PAUSE";
case PRERUN_WAIT:
return "PRERUN_WAIT";
default:
return "UNKNOWN";
}
}
const char* getModeString(Mode mode) {
switch (mode) {
case NoneMode:
return "NoneMode";
case ShotMode:
return "ShotMode";
case ProgramMode:
return "ProgramMode";
case MacroMode:
return "MacroMode";
case DebugShot:
return "DebugShot";
default:
return "UNKNOWN";
}
}
sound_set_bpm(147);
Note_t melody[] = {
sound_create_note(C0, T16, 50),
sound_create_note(C0_sharp, T16, 50),
sound_create_note(D0, T16, 50),
sound_create_note(D0_sharp, T16, 50),
sound_create_note(E0, T16, 50),
sound_create_note(F0, T16, 50),
sound_create_note(F0_sharp, T16, 50),
sound_create_note(G0, T16, 50),
sound_create_note(G0_sharp, T16, 50),
sound_create_note(A0, T16, 50),
sound_create_note(A0_sharp, T16, 50),
sound_create_note(B0, T16, 50),
sound_create_note(C1, T16, 50),
sound_create_note(C1_sharp, T16, 50),
sound_create_note(D1, T16, 50),
sound_create_note(D1_sharp, T16, 50),
sound_create_note(E1, T16, 50),
sound_create_note(F1, T16, 50),
sound_create_note(F1_sharp, T16, 50),
sound_create_note(G1, T16, 50),
sound_create_note(G1_sharp, T16, 50),
sound_create_note(A1, T16, 50),
sound_create_note(A1_sharp, T16, 50),
sound_create_note(B1, T16, 50),
sound_create_note(C2, T16, 50),
sound_create_note(C2_sharp, T16, 50),
sound_create_note(D2, T16, 50),
sound_create_note(D2_sharp, T16, 50),
sound_create_note(E2, T16, 50),
sound_create_note(F2, T16, 50),
sound_create_note(F2_sharp, T16, 50),
sound_create_note(G2, T16, 50),
sound_create_note(G2_sharp, T16, 50),
sound_create_note(A2, T16, 50),
sound_create_note(A2_sharp, T16, 50),
sound_create_note(B2, T16, 50),
sound_create_note(C3, T16, 50),
sound_create_note(C3_sharp, T16, 50),
sound_create_note(D3, T16, 50),
sound_create_note(D3_sharp, T16, 50),
sound_create_note(E3, T16, 50),
sound_create_note(F3, T16, 50),
sound_create_note(F3_sharp, T16, 50),
sound_create_note(G3, T16, 50),
sound_create_note(G3_sharp, T16, 50),
sound_create_note(A3, T16, 50),
sound_create_note(A3_sharp, T16, 50),
sound_create_note(B3, T16, 50),
sound_create_note(C4, T16, 50),
sound_create_note(C4_sharp, T16, 50),
sound_create_note(D4, T16, 50),
sound_create_note(D4_sharp, T16, 50),
sound_create_note(E4, T16, 50),
sound_create_note(F4, T16, 50),
sound_create_note(F4_sharp, T16, 50),
sound_create_note(G4, T16, 50),
sound_create_note(G4_sharp, T16, 50),
sound_create_note(A4, T16, 50),
sound_create_note(A4_sharp, T16, 50),
sound_create_note(B4, T16, 50),
sound_create_note(C5, T16, 50),
sound_create_note(C5_sharp, T16, 50),
sound_create_note(D5, T16, 50),
sound_create_note(D5_sharp, T16, 50),
sound_create_note(E5, T16, 50),
sound_create_note(F5, T16, 50),
sound_create_note(F5_sharp, T16, 50),
sound_create_note(G5, T16, 50),
sound_create_note(G5_sharp, T16, 50),
sound_create_note(A5, T16, 50),
sound_create_note(A5_sharp, T16, 50),
sound_create_note(B5, T16, 50),
sound_create_note(C6, T16, 50),
sound_create_note(C6_sharp, T16, 50),
sound_create_note(D6, T16, 50),
sound_create_note(D6_sharp, T16, 50),
sound_create_note(E6, T16, 50),
sound_create_note(F6, T16, 50),
sound_create_note(F6_sharp, T16, 50),
sound_create_note(G6, T16, 50),
sound_create_note(G6_sharp, T16, 50),
sound_create_note(A6, T16, 50),
sound_create_note(A6_sharp, T16, 50),
sound_create_note(B6, T16, 50),
sound_create_note(C7, T16, 50),
sound_create_note(C7_sharp, T16, 50),
sound_create_note(D7, T16, 50),
sound_create_note(D7_sharp, T16, 50),
sound_create_note(E7, T16, 50),
sound_create_note(F7, T16, 50),
sound_create_note(F7_sharp, T16, 50),
sound_create_note(G7, T16, 50),
sound_create_note(G7_sharp, T16, 50),
sound_create_note(A7, T16, 50),
sound_create_note(A7_sharp, T16, 50),
sound_create_note(B7, T16, 50),
sound_create_note(C8, T16, 50),
sound_create_note(C8_sharp, T16, 50),
sound_create_note(D8, T16, 50)
};
sound_play_melody(melody, sizeof(melody)/sizeof(melody), 3, 1);
while (1) {
IR_CMD_Handler();
UART3_Handler();
RobotTick();
forTimer(blinkTimer, 1500) {
resetForTimer(blinkTimer);
GPIOC->ODR ^= GPIO_PIN_13;
// unsigned char text[] = "Hello\n";
// printNumber(SysTick->LOAD);
// CDC_Transmit_FS(text, sizeof(text));
// char buffer[100]; // Буфер для формата строки
// extern uint32_t vsk1;
// extern uint32_t vsk2;
// extern uint16_t timing1;
// extern uint16_t timing2;
// sprintf(buffer,
// "timing1: %u ms, timing2: %u ms, vsk1: %u RPM, vsk2: %u RPM\n",
// timing1, timing2, vsk1, vsk2);
//
// CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
char buffer[64];
sprintf(buffer, "Current mode: %s, Current state: %s\n",
getModeString(currentInfo.mode),
getStateString(currentInfo.state));
CDC_Transmit_FS((uint8_t*)buffer, strlen(buffer));
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_IWDG_Refresh(&hiwdg);
}
/* 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_LSI|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_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 IWDG Initialization Function
* @param None
* @retval None
*/
static void MX_IWDG_Init(void)
{
/* USER CODE BEGIN IWDG_Init 0 */
/* USER CODE END IWDG_Init 0 */
/* USER CODE BEGIN IWDG_Init 1 */
/* USER CODE END IWDG_Init 1 */
hiwdg.Instance = IWDG;
hiwdg.Init.Prescaler = IWDG_PRESCALER_64;
hiwdg.Init.Reload = 625*3;
if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN IWDG_Init 2 */
/* USER CODE END IWDG_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 TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM4_Init 1 */
/* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &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(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/**
* @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 = 9600;
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 */
}
/**
* 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
* @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_HIGH;
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, 7, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI1_IRQn, 7, 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 */
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