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修正电流限幅

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This commit is contained in:
BoomPC
2024-12-02 02:45:48 +08:00
parent 721796e105
commit 58e529da77
73 changed files with 1920 additions and 12247 deletions
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4
Core/Src/adc.c
View File

@@ -281,7 +281,7 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
/* ADC1 interrupt Init */
HAL_NVIC_SetPriority(ADC1_2_IRQn, 1, 0);
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
/* USER CODE BEGIN ADC1_MspInit 1 */
@@ -327,7 +327,7 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* ADC2 interrupt Init */
HAL_NVIC_SetPriority(ADC1_2_IRQn, 1, 0);
HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
/* USER CODE BEGIN ADC2_MspInit 1 */

12
Core/Src/dma.c
View File

@@ -42,11 +42,21 @@ void MX_DMA_Init(void)
/* DMA controller clock enable */
__HAL_RCC_DMAMUX1_CLK_ENABLE();
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 2, 0);
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel6_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel6_IRQn);
/* DMA2_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Channel1_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(DMA2_Channel1_IRQn);
/* DMA2_Channel2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA2_Channel2_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(DMA2_Channel2_IRQn);
}

32
Core/Src/gpio.c
View File

@@ -45,44 +45,14 @@ void MX_GPIO_Init(void)
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(SPI1_CS_GPIO_Port, SPI1_CS_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PE7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PE14 */
GPIO_InitStruct.Pin = GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PE15 */
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PB10 */
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = SPI1_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

102
Core/Src/i2c.c
View File

@@ -7,7 +7,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -24,49 +24,49 @@
/* USER CODE END 0 */
I2C_HandleTypeDef hi2c3;
I2C_HandleTypeDef hi2c1;
/* I2C3 init function */
void MX_I2C3_Init(void)
/* I2C1 init function */
void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C3_Init 0 */
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C3_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C3_Init 1 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C3_Init 1 */
hi2c3.Instance = I2C3;
hi2c3.Init.Timing = 0x60505F8C;
hi2c3.Init.OwnAddress1 = 0;
hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c3.Init.OwnAddress2 = 0;
hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c3) != HAL_OK)
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x6050DCFF;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/** Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
/** Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK)
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C3_Init 2 */
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C3_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
@@ -75,63 +75,67 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(i2cHandle->Instance==I2C3)
if(i2cHandle->Instance==I2C1)
{
/* USER CODE BEGIN I2C3_MspInit 0 */
/* USER CODE BEGIN I2C1_MspInit 0 */
/* USER CODE END I2C3_MspInit 0 */
/* USER CODE END I2C1_MspInit 0 */
/** Initializes the peripherals clocks
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C3;
PeriphClkInit.I2c3ClockSelection = RCC_I2C3CLKSOURCE_PCLK1;
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
__HAL_RCC_GPIOC_CLK_ENABLE();
/**I2C3 GPIO Configuration
PC8 ------> I2C3_SCL
PC9 ------> I2C3_SDA
__HAL_RCC_GPIOB_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB8-BOOT0 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF8_I2C3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* I2C3 clock enable */
__HAL_RCC_I2C3_CLK_ENABLE();
/* USER CODE BEGIN I2C3_MspInit 1 */
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB8);
/* USER CODE END I2C3_MspInit 1 */
__HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB9);
/* I2C1 clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
/* USER CODE BEGIN I2C1_MspInit 1 */
/* USER CODE END I2C1_MspInit 1 */
}
}
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
{
if(i2cHandle->Instance==I2C3)
if(i2cHandle->Instance==I2C1)
{
/* USER CODE BEGIN I2C3_MspDeInit 0 */
/* USER CODE BEGIN I2C1_MspDeInit 0 */
/* USER CODE END I2C3_MspDeInit 0 */
/* USER CODE END I2C1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_I2C3_CLK_DISABLE();
__HAL_RCC_I2C1_CLK_DISABLE();
/**I2C3 GPIO Configuration
PC8 ------> I2C3_SCL
PC9 ------> I2C3_SDA
/**I2C1 GPIO Configuration
PB8-BOOT0 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_8);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_9);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_9);
/* USER CODE BEGIN I2C3_MspDeInit 1 */
/* USER CODE BEGIN I2C1_MspDeInit 1 */
/* USER CODE END I2C3_MspDeInit 1 */
/* USER CODE END I2C1_MspDeInit 1 */
}
}

102
Core/Src/main.c
View File

@@ -20,16 +20,28 @@
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "gpio.h"
#include "i2c.h"
#include "opamp.h"
#include "spi.h"
#include "tim.h"
#include "usb_device.h"
#include "gpio.h"
#include "usart.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "APP_Main.h"
#include "APP_Task.h"
#include "PreDrive.h"
#include "controller.h"
#include "encoder.h"
#include "foc.h"
#include "pwm_curr.h"
#include "string.h"
#include "usr_config.h"
#include "eeprom.h"
#include "rgb.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -39,7 +51,9 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define AT24C256_Write 0xA0
#define AT24C256_Read 0xA1
#define BufferSize 256
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -50,7 +64,8 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t w[BufferSize], r[BufferSize];
uint16_t i, j;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -94,15 +109,57 @@ int main(void) {
MX_DMA_Init();
MX_TIM1_Init();
MX_ADC1_Init();
MX_I2C3_Init();
MX_OPAMP1_Init();
MX_OPAMP2_Init();
MX_OPAMP3_Init();
MX_ADC2_Init();
MX_SPI1_Init();
MX_USB_Device_Init();
MX_USART1_UART_Init();
MX_I2C1_Init();
MX_TIM8_Init();
/* USER CODE BEGIN 2 */
HAL_Delay(100);
APP_Init();
HAL_Delay(100);
// typedef struct
// {
// uint32_t Speed;
// char *st;
// uint8_t TxBuff[16];
// } SystemPrm;
//
// SystemPrm *systemSave;
//
// uint8_t size = 0;
// size = sizeof(SystemPrm);
// for (uint32_t t = 0; t < size; t++) {
// if (EP24C_WriteOneByte(t, *(uint8_t *) systemSave)) {
// printf("Write Successful\r\n");
// }
// ++systemSave;
// }
// uint8_t strOut[size];
// if (EP24C_ReadBytes(0, strOut, size) == HAL_OK) {
// printf("%s\r\n", strOut);
// }
// printf("%u\r\n", sizeof(tEEPROM_storage));
// if (EP24C_WriteLongData(0, (unsigned char *) &e2_memory, sizeof(tEEPROM_storage)) == HAL_OK) {
// printf("Write Successful\r\n");
// }
// HAL_Delay(1000);
// // uint8_t strIn[] = "AAAAAAAABBBBBBBBCCCCCCCCDDDDDDDDEEEEEEEEFFFFFFFFGGGGGGGGHHHHHHHHI";
// // if (EP24C_WriteLongData(0, strIn, sizeof(strIn)) == HAL_OK) {
// // printf("Write Successful\r\n");
// // }
// // HAL_Delay(100);
// uint8_t strOut[16];
// if (EP24C_ReadBytes(0, strOut, 16) == HAL_OK) {
// printf("%s\r\n", strOut);
// }
/* USER CODE END 2 */
/* Infinite loop */
@@ -111,7 +168,7 @@ int main(void) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
APP_Main();
// APP_Main();
}
/* USER CODE END 3 */
}
@@ -125,15 +182,14 @@ void SystemClock_Config(void) {
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSE;
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
@@ -146,9 +202,8 @@ void SystemClock_Config(void) {
}
/** 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.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_DIV1;
@@ -159,12 +214,14 @@ void SystemClock_Config(void) {
}
/** Enables the Clock Security System
*/
*/
HAL_RCC_EnableCSS();
}
/* USER CODE BEGIN 4 */
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
//
//}
/* USER CODE END 4 */
/**
@@ -180,7 +237,7 @@ void Error_Handler(void) {
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
@@ -188,11 +245,10 @@ void Error_Handler(void) {
* @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,
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 */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

18
Core/Src/opamp.c
View File

@@ -70,7 +70,7 @@ void MX_OPAMP2_Init(void)
hopamp2.Instance = OPAMP2;
hopamp2.Init.PowerMode = OPAMP_POWERMODE_NORMALSPEED;
hopamp2.Init.Mode = OPAMP_STANDALONE_MODE;
hopamp2.Init.InvertingInput = OPAMP_INVERTINGINPUT_IO1;
hopamp2.Init.InvertingInput = OPAMP_INVERTINGINPUT_IO0;
hopamp2.Init.NonInvertingInput = OPAMP_NONINVERTINGINPUT_IO0;
hopamp2.Init.InternalOutput = DISABLE;
hopamp2.Init.TimerControlledMuxmode = OPAMP_TIMERCONTROLLEDMUXMODE_DISABLE;
@@ -145,22 +145,16 @@ void HAL_OPAMP_MspInit(OPAMP_HandleTypeDef* opampHandle)
/* USER CODE END OPAMP2_MspInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**OPAMP2 GPIO Configuration
PA5 ------> OPAMP2_VINM
PA6 ------> OPAMP2_VOUT
PA7 ------> OPAMP2_VINP
PC5 ------> OPAMP2_VINM
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN OPAMP2_MspInit 1 */
/* USER CODE END OPAMP2_MspInit 1 */
@@ -215,13 +209,11 @@ void HAL_OPAMP_MspDeInit(OPAMP_HandleTypeDef* opampHandle)
/* USER CODE END OPAMP2_MspDeInit 0 */
/**OPAMP2 GPIO Configuration
PA5 ------> OPAMP2_VINM
PA6 ------> OPAMP2_VOUT
PA7 ------> OPAMP2_VINP
PC5 ------> OPAMP2_VINM
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_6|GPIO_PIN_7);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_5);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
/* USER CODE BEGIN OPAMP2_MspDeInit 1 */

2
Core/Src/spi.c
View File

@@ -44,7 +44,7 @@ void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;

251
Core/Src/stm32g4xx_it.c
View File

@@ -22,7 +22,12 @@
#include "stm32g4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "APP_Main.h"
#include "APP_Task.h"
#include "controller.h"
#include "string.h"
#include "usart.h"
#include "usr_config.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -56,11 +61,14 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_FS;
extern DMA_HandleTypeDef hdma_adc1;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern DMA_HandleTypeDef hdma_tim8_ch1;
extern TIM_HandleTypeDef htim1;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -71,116 +79,129 @@ extern TIM_HandleTypeDef htim1;
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void) {
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
HAL_RCC_NMI_IRQHandler();
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
/* USER CODE END NonMaskableInt_IRQn 0 */
HAL_RCC_NMI_IRQHandler();
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1) {
}
/* USER CODE END NonMaskableInt_IRQn 1 */
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void) {
/* USER CODE BEGIN HardFault_IRQn 0 */
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1) {
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void) {
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1) {
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void) {
/* USER CODE BEGIN BusFault_IRQn 0 */
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1) {
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void) {
/* USER CODE BEGIN UsageFault_IRQn 0 */
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1) {
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void) {
/* USER CODE BEGIN SVCall_IRQn 0 */
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void) {
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void) {
/* USER CODE BEGIN PendSV_IRQn 0 */
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void) {
/* USER CODE BEGIN SysTick_IRQn 0 */
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
@@ -193,54 +214,106 @@ void SysTick_Handler(void) {
/**
* @brief This function handles DMA1 channel1 global interrupt.
*/
void DMA1_Channel1_IRQHandler(void) {
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_adc1);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel6 global interrupt.
*/
void DMA1_Channel6_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel6_IRQn 0 */
/* USER CODE END DMA1_Channel6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_tim8_ch1);
/* USER CODE BEGIN DMA1_Channel6_IRQn 1 */
/* USER CODE END DMA1_Channel6_IRQn 1 */
}
/**
* @brief This function handles ADC1 and ADC2 global interrupt.
*/
void ADC1_2_IRQHandler(void) {
/* USER CODE BEGIN ADC1_2_IRQn 0 */
void ADC1_2_IRQHandler(void)
{
/* USER CODE BEGIN ADC1_2_IRQn 0 */
/* USER CODE END ADC1_2_IRQn 0 */
HAL_ADC_IRQHandler(&hadc1);
HAL_ADC_IRQHandler(&hadc2);
/* USER CODE BEGIN ADC1_2_IRQn 1 */
High_Frequency_Task();
/* USER CODE END ADC1_2_IRQn 1 */
}
/**
* @brief This function handles USB low priority interrupt remap.
*/
void USB_LP_IRQHandler(void) {
/* USER CODE BEGIN USB_LP_IRQn 0 */
/* USER CODE END USB_LP_IRQn 0 */
HAL_PCD_IRQHandler(&hpcd_USB_FS);
/* USER CODE BEGIN USB_LP_IRQn 1 */
/* USER CODE END USB_LP_IRQn 1 */
/* USER CODE END ADC1_2_IRQn 0 */
HAL_ADC_IRQHandler(&hadc1);
HAL_ADC_IRQHandler(&hadc2);
/* USER CODE BEGIN ADC1_2_IRQn 1 */
// MCT_high_frequency_task();
// printf("ADC1_2_IRQHandler\r\n");
/* USER CODE END ADC1_2_IRQn 1 */
}
/**
* @brief This function handles TIM1 update interrupt and TIM16 global interrupt.
*/
void TIM1_UP_TIM16_IRQHandler(void) {
/* USER CODE BEGIN TIM1_UP_TIM16_IRQn 0 */
void TIM1_UP_TIM16_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_TIM16_IRQn 0 */
/* USER CODE END TIM1_UP_TIM16_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_TIM16_IRQn 1 */
/* USER CODE END TIM1_UP_TIM16_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_TIM16_IRQn 1 */
MCT_safety_task();
/* USER CODE END TIM1_UP_TIM16_IRQn 1 */
}
/* USER CODE END TIM1_UP_TIM16_IRQn 1 */
/**
* @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
USER_UART_IRQHandler(&huart1);
// USART1_IRQHandler_Status = 1;
// __HAL_UART_CLEAR_IDLEFLAG(&huart1);//清除标志<E6A087><E5BF97>????????
// // printf("%s\r\n", RxBuffer);
// HAL_UART_Receive_DMA(&huart1, RxBuffer, 2);//重新打开DMA与IDLE接收
/* USER CODE END USART1_IRQn 1 */
}
/**
* @brief This function handles DMA2 channel1 global interrupt.
*/
void DMA2_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Channel1_IRQn 0 */
/* USER CODE END DMA2_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_rx);
/* USER CODE BEGIN DMA2_Channel1_IRQn 1 */
/* USER CODE END DMA2_Channel1_IRQn 1 */
}
/**
* @brief This function handles DMA2 channel2 global interrupt.
*/
void DMA2_Channel2_IRQHandler(void)
{
/* USER CODE BEGIN DMA2_Channel2_IRQn 0 */
/* USER CODE END DMA2_Channel2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA2_Channel2_IRQn 1 */
/* USER CODE END DMA2_Channel2_IRQn 1 */
}
/* USER CODE BEGIN 1 */

183
Core/Src/tim.c
View File

@@ -25,6 +25,8 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim8;
DMA_HandleTypeDef hdma_tim8_ch1;
/* TIM1 init function */
void MX_TIM1_Init(void)
@@ -116,6 +118,83 @@ void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
/* USER CODE BEGIN TIM8_Init 0 */
/* USER CODE END TIM8_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM8_Init 1 */
/* USER CODE END TIM8_Init 1 */
htim8.Instance = TIM8;
htim8.Init.Prescaler = 0;
htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
htim8.Init.Period = 209;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &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(&htim8, &sConfigOC, TIM_CHANNEL_1) != 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.BreakFilter = 0;
sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM8_Init 2 */
/* USER CODE END TIM8_Init 2 */
HAL_TIM_MspPostInit(&htim8);
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -130,12 +209,42 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
__HAL_RCC_TIM1_CLK_ENABLE();
/* TIM1 interrupt Init */
HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 15, 0);
HAL_NVIC_SetPriority(TIM1_UP_TIM16_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM16_IRQn);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* TIM8 DMA Init */
/* TIM8_CH1 Init */
hdma_tim8_ch1.Instance = DMA1_Channel6;
hdma_tim8_ch1.Init.Request = DMA_REQUEST_TIM8_CH1;
hdma_tim8_ch1.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tim8_ch1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim8_ch1.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim8_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
hdma_tim8_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_tim8_ch1.Init.Mode = DMA_CIRCULAR;
hdma_tim8_ch1.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_tim8_ch1) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(tim_baseHandle,hdma[TIM_DMA_ID_CC1],hdma_tim8_ch1);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
@@ -146,28 +255,62 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE8 ------> TIM1_CH1N
PE9 ------> TIM1_CH1
PE10 ------> TIM1_CH2N
PE11 ------> TIM1_CH2
PE12 ------> TIM1_CH3N
PE13 ------> TIM1_CH3
PB13 ------> TIM1_CH1N
PB14 ------> TIM1_CH2N
PB15 ------> TIM1_CH3N
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
PA10 ------> TIM1_CH3
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11
|GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_TIM1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
else if(timHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspPostInit 0 */
/* USER CODE END TIM8_MspPostInit 0 */
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
*/
GPIO_InitStruct.Pin = GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */
/* USER CODE END TIM8_MspPostInit 1 */
}
}
@@ -188,6 +331,20 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* TIM8 DMA DeInit */
HAL_DMA_DeInit(tim_baseHandle->hdma[TIM_DMA_ID_CC1]);
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */