mirror of
https://github.com/DashyFox/StackSport.git
synced 2025-05-04 07:10:17 +00:00
809 lines
21 KiB
C
809 lines
21 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "usb_device.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "GlobalDefines.h"
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#include "usbd_cdc_if.h"
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#include "pca9685.h"
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#include "IR.h"
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#include "IR_CMD_Handler.h"
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#include "EEPROM.h"
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#include "Print.h"
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#include "SimpleTimer.h"
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#include "RobotFunctions.h"
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#include "ShiftReg.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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I2C_HandleTypeDef hi2c1;
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim2;
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TIM_HandleTypeDef htim3;
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UART_HandleTypeDef huart3;
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/* USER CODE BEGIN PV */
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uint8_t txdata[64];
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uint8_t rxdata[64];
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uint8_t velosety[600];
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uint8_t rxcomlite = 0;
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uint8_t initcomlete = 0;
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uint8_t uart_rx_buffer[UART_BUFFER_SIZE];
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unsigned char Shiftreg[3];
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uint8_t rejim[60]; // 0 - chislo rejimov, 1-6 - rejim1, 7-12 - rejim2...
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uint8_t avto = 0; // vkl/otkl avtomaticheskoi raboti
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uint8_t rejim_number = 1; // nomer tekyshego rejima
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int16_t Vz1 = 100;
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int16_t Vz2 = 100;
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uint16_t vi = 0;
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uint16_t timing1 = 0;
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uint16_t timing2 = 0;
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struct Shot BufShots[MAX_NUMBER_SHOTS];
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struct Program BufPrograms;
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struct Macro BufMacro;
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extern PCD_HandleTypeDef hpcd_USB_FS;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_I2C1_Init(void);
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static void MX_TIM1_Init(void);
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static void MX_TIM2_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_USART3_UART_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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// Установка приоритета прерывания
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// NVIC_SetPriority(SysTick_IRQn, 0);
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// Настройка SysTick таймера на 1 мс
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SysTick->LOAD = 479999; // 1ms Sys timer
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// SysTick_Config(SystemCoreClock / 1000);
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__HAL_RCC_USB_FORCE_RESET();
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HAL_Delay(10);
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__HAL_RCC_USB_RELEASE_RESET();
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_I2C1_Init();
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MX_USB_DEVICE_Init();
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MX_TIM1_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_USART3_UART_Init();
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/* USER CODE BEGIN 2 */
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); //PA9
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); //PA0
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); //PA1
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); //PA2
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); //PA3
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initPCA9685();
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//BufShots[0].countRepeatShot = 5;
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//BufShots[0].speedRollerTop = 120;
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//BufShots[0].speedRollerBottom = 130;
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//BufShots[0].speedScrew = 50;
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//BufShots[0].rotationAxial = 90;
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//BufShots[0].rotationHorizontal = 90;
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//BufShots[0].rotationVertical = 90;
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// SaveShot(0, &BufShots[0]);
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// BufShots[1] = GetShot(0);
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initcomlete = 1;
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x44; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x66; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x77; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x01; Shiftreg[1] = 0x77; Shiftreg[2] = 0x01; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x03; Shiftreg[1] = 0x77; Shiftreg[2] = 0x03; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x07; Shiftreg[1] = 0x77; Shiftreg[2] = 0x07; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x0F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x0F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x1F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x1F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x3F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x3F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x7F; Shiftreg[1] = 0x77; Shiftreg[2] = 0x7F; SetShiftReg(Shiftreg); HAL_Delay(10);
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Shiftreg[0] = 0x00; Shiftreg[1] = 0x00; Shiftreg[2] = 0x00; SetShiftReg(Shiftreg); HAL_Delay(10);
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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
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HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_2);
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HAL_TIM_Base_Start_IT(&htim3);
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HAL_NVIC_EnableIRQ(TIM3_IRQn);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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Shot testShot;
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memset(&testShot, 0x00, sizeof(Shot));
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getShot(3, &testShot);
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if(!testShot.isExist){
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testShot.countRepeatShot = 1;
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testShot.speedRollerTop = 200;
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testShot.speedRollerBottom = 200;
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testShot.speedScrew = 100;
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testShot.rotationAxial = 90;
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testShot.rotationHorizontal = 90;
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testShot.rotationVertical = 90;
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saveShot(3, &testShot);
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}
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while (1)
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{
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IR_CMD_Handler();
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// if (rxcomlite == 1)
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// {
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//
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// txdata[0] = 'O';
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// txdata[1] = 'K';
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// txdata[2] = '?';
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//
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// switch (rxdata[0])
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// {
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//
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// case 1:
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// {
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// SetServo(0, rxdata[1]);
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// txdata[0] = 'O';
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// txdata[1] = 'K';
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// txdata[2] = '1';
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//// CDC_Transmit_FS(txdata, 3);
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// break;
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// }
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//
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// case 2:
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// {
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// SetServo(1, rxdata[1]);
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// txdata[0] = 'O';
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// txdata[1] = 'K';
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// txdata[2] = '2';
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//// CDC_Transmit_FS(txdata, 3);
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// break;
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// }
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//
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// case 3:
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// {
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// SetServo(2, rxdata[1]);
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// txdata[0] = 'O';
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// txdata[1] = 'K';
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// txdata[2] = '3';
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//// CDC_Transmit_FS(txdata, 3);
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// break;
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// }
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//
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// case 4:
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// {
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// SetServo(0, rxdata[1]);
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// SetServo(1, rxdata[2]);
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// SetServo(2, rxdata[3]);
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//
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// Vz1 = rxdata[4]; // rolic verh 0..200
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// Vz2 = rxdata[5]; // rolic niz 0..200
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// vi = 0;
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//
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// // shnek 0..100
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// if (rxdata[6] < 101)
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// {
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// TIM1->CCR1 = 0;
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// TIM1->CCR2 = (uint16_t)(40 * rxdata[6]);
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// }
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// else
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// {
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// TIM1->CCR1 = 0;
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// TIM1->CCR2 = 4000;
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// }
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//
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// txdata[0] = 'O';
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// txdata[1] = 'K';
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// txdata[2] = '4';
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//// CDC_Transmit_FS(txdata, 3);
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// break;
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// }
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//
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// case 5:
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// {
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// txdata[0] = LOBYTE(timing1);
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// txdata[1] = HIBYTE(timing1);
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//// CDC_Transmit_FS(txdata, 3);
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// break;
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// }
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// case 6:
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// {
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//// CDC_Transmit_FS(velosety, 600);
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// break;
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// }
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//
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// case 7:
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// {
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// rejim[0] = rxdata[1];
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// // copy to buffer
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// for (uint8_t i = 0; i < rejim[0]; i++)
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// {
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// rejim[(i * 6) + 1] = rxdata[(i * 6) + 2];
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// rejim[(i * 6) + 2] = rxdata[(i * 6) + 3];
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// rejim[(i * 6) + 3] = rxdata[(i * 6) + 4];
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// rejim[(i * 6) + 4] = rxdata[(i * 6) + 5];
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// rejim[(i * 6) + 5] = rxdata[(i * 6) + 6];
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// rejim[(i * 6) + 6] = rxdata[(i * 6) + 7];
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// }
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// // set rejim #1
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// SetServo(0, rejim[1]);
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// SetServo(1, rejim[2]);
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// SetServo(2, rejim[3]);
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// Vz1 = rejim[4];
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// Vz2 = rejim[5];
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// TIM1->CCR1 = 0;
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// TIM1->CCR2 = (uint16_t)(40 * rejim[6]);
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// // set avto
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// rejim_number = 1;
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// avto = 1;
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// break;
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// }
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// case 8:
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// { // stop avto
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// avto = 0;
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// rejim_number = 1;
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// // stop mecanics
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// SetServo(0, 90);
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// SetServo(1, 90);
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// SetServo(2, 90);
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// Vz1 = 100;
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// Vz2 = 100;
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// TIM1->CCR1 = 0;
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// TIM1->CCR2 = 0;
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//
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// break;
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// }
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//
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// case 9:
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// {
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// txdata[0] = avto;
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// txdata[1] = rejim_number;
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//// CDC_Transmit_FS(txdata, 3);
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//
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// break;
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// }
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//
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// default:
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// break;
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// }
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//
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// rxcomlite = 0;
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//
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// // // HAL_Delay(1000);
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// }
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forTimer(blinkTimer, 500)
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{
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resetForTimer(blinkTimer);
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GPIOC->ODR ^= GPIO_PIN_13;
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// unsigned char text[] = "Hello\n";
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// printNumber(SysTick->LOAD);
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// CDC_Transmit_FS(text, sizeof(text));
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}
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
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{
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Error_Handler();
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}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
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PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief I2C1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_I2C1_Init(void)
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{
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/* USER CODE BEGIN I2C1_Init 0 */
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/* USER CODE END I2C1_Init 0 */
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/* USER CODE BEGIN I2C1_Init 1 */
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/* USER CODE END I2C1_Init 1 */
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hi2c1.Instance = I2C1;
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hi2c1.Init.ClockSpeed = 100000;
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hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
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hi2c1.Init.OwnAddress1 = 0;
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hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c1.Init.OwnAddress2 = 0;
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hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN I2C1_Init 2 */
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/* USER CODE END I2C1_Init 2 */
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}
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/**
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* @brief TIM1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM1_Init(void)
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{
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 0;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 4000;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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||
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 */
|