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MADAO
2025-06-25 16:40:01 +08:00
parent ab6a22962b
commit 9b471b16da
32 changed files with 5962 additions and 4842 deletions
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26
Core/Inc/main.h
View File

@@ -57,10 +57,30 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define HC_Trig_Pin GPIO_PIN_8
#define HC_Trig_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_9
#define PWMA_Pin GPIO_PIN_2
#define PWMA_GPIO_Port GPIOC
#define PWMB_Pin GPIO_PIN_1
#define PWMB_GPIO_Port GPIOB
#define AIN1_Pin GPIO_PIN_0
#define AIN1_GPIO_Port GPIOG
#define AIN2_Pin GPIO_PIN_1
#define AIN2_GPIO_Port GPIOG
#define E1A_Pin GPIO_PIN_9
#define E1A_GPIO_Port GPIOE
#define E1B_Pin GPIO_PIN_11
#define E1B_GPIO_Port GPIOE
#define BIN1_Pin GPIO_PIN_2
#define BIN1_GPIO_Port GPIOG
#define BIN2_Pin GPIO_PIN_3
#define BIN2_GPIO_Port GPIOG
#define E2A_Pin GPIO_PIN_6
#define E2A_GPIO_Port GPIOC
#define E2B_Pin GPIO_PIN_7
#define E2B_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_8
#define HC_Echo_GPIO_Port GPIOC
#define HC_Trig_Pin GPIO_PIN_9
#define HC_Trig_GPIO_Port GPIOC
#define Shake_Motor_Pin GPIO_PIN_12
#define Shake_Motor_GPIO_Port GPIOC
#define Buzzer_Pin GPIO_PIN_2

5
Core/Inc/stm32h5xx_it.h
View File

@@ -55,11 +55,12 @@ void DebugMon_Handler(void);
void GPDMA1_Channel3_IRQHandler(void);
void GPDMA1_Channel4_IRQHandler(void);
void GPDMA1_Channel5_IRQHandler(void);
void TIM1_UP_IRQHandler(void);
void TIM2_IRQHandler(void);
void USART1_IRQHandler(void);
void TIM3_IRQHandler(void);
void TIM5_IRQHandler(void);
void USART2_IRQHandler(void);
void USART3_IRQHandler(void);
void UART4_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

11
Core/Inc/tim.h
View File

@@ -32,16 +32,27 @@ extern "C" {
/* USER CODE END Includes */
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern TIM_HandleTypeDef htim8;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void MX_TIM8_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */

4
Core/Inc/usart.h
View File

@@ -32,7 +32,7 @@ extern "C" {
/* USER CODE END Includes */
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart2;
@@ -42,7 +42,7 @@ extern UART_HandleTypeDef huart3;
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
void MX_UART4_Init(void);
void MX_USART2_UART_Init(void);
void MX_USART3_UART_Init(void);

87
Core/Src/app_threadx.c
View File

@@ -55,8 +55,49 @@ _GPSData gps_data;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>app_thread.c<><63>
// #define task_test 1
/* USER CODE END 1 */
/* USER CODE END 1 */
/* USER CODE END PFP */
/**
* @brief Application ThreadX Initialization.
* @param memory_ptr: memory pointer
* @retval int
*/
UINT App_ThreadX_Init(VOID *memory_ptr)
{
UINT ret = TX_SUCCESS;
/* USER CODE BEGIN App_ThreadX_MEM_POOL */
/* USER CODE END App_ThreadX_MEM_POOL */
/* USER CODE BEGIN App_ThreadX_Init */
/* USER CODE END App_ThreadX_Init */
return ret;
}
/**
* @brief Function that implements the kernel's initialization.
* @param None
* @retval None
*/
void MX_ThreadX_Init(void)
{
/* USER CODE BEGIN Before_Kernel_Start */
/* USER CODE END Before_Kernel_Start */
tx_kernel_enter();
/* USER CODE BEGIN Kernel_Start_Error */
/* USER CODE END Kernel_Start_Error */
}
/* USER CODE BEGIN 1 */
#ifdef TEST //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
@@ -103,47 +144,5 @@ void main_control_thread_entry(ULONG thread_input)
}
}
}
/* USER CODE END 1 */
/* USER CODE END 1 */
#endif
/* USER CODE END PFP */
/**
* @brief Application ThreadX Initialization.
* @param memory_ptr: memory pointer
* @retval int
*/
UINT App_ThreadX_Init(VOID *memory_ptr)
{
UINT ret = TX_SUCCESS;
/* USER CODE BEGIN App_ThreadX_MEM_POOL */
/* USER CODE END App_ThreadX_MEM_POOL */
/* USER CODE BEGIN App_ThreadX_Init */
/* USER CODE END App_ThreadX_Init */
return ret;
}
/**
* @brief Function that implements the kernel's initialization.
* @param None
* @retval None
*/
void MX_ThreadX_Init(void)
{
/* USER CODE BEGIN Before_Kernel_Start */
/* USER CODE END Before_Kernel_Start */
tx_kernel_enter();
/* USER CODE BEGIN Kernel_Start_Error */
/* USER CODE END Kernel_Start_Error */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

14
Core/Src/gpio.c
View File

@@ -44,17 +44,29 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOG, AIN1_Pin|AIN2_Pin|BIN1_Pin|BIN2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, HC_Trig_Pin|Shake_Motor_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(Buzzer_GPIO_Port, Buzzer_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : AIN1_Pin AIN2_Pin BIN1_Pin BIN2_Pin */
GPIO_InitStruct.Pin = AIN1_Pin|AIN2_Pin|BIN1_Pin|BIN2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pin : HC_Trig_Pin */
GPIO_InitStruct.Pin = HC_Trig_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

9
Core/Src/main.c
View File

@@ -92,11 +92,14 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_GPDMA1_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_USART3_UART_Init();
MX_TIM4_Init();
MX_UART4_Init();
MX_TIM1_Init();
MX_TIM8_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@@ -179,7 +182,7 @@ void SystemClock_Config(void)
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM1 interrupt took place, inside
* @note This function is called when TIM5 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
@@ -190,7 +193,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM1)
if (htim->Instance == TIM5)
{
HAL_IncTick();
}

63
Core/Src/stm32h5xx_hal_timebase_tim.c
View File

@@ -25,12 +25,12 @@
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim5;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM1 as a time base source.
* @brief This function configures the TIM5 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
@@ -41,49 +41,58 @@ TIM_HandleTypeDef htim1;
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock;
uint32_t uwTimclock, uwAPB1Prescaler;
uint32_t uwPrescalerValue;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/* Enable TIM1 clock */
__HAL_RCC_TIM1_CLK_ENABLE();
/* Enable TIM5 clock */
__HAL_RCC_TIM5_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM1 clock */
uwTimclock = HAL_RCC_GetPCLK2Freq();
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM5 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM1 counter clock equal to 100KHz */
/* Compute the prescaler value to have TIM5 counter clock equal to 100KHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 100000U) - 1U);
/* Initialize TIM1 */
htim1.Instance = TIM1;
/* Initialize TIM5 */
htim5.Instance = TIM5;
/* Initialize TIMx peripheral as follow:
* Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
* Period = [(TIM5CLK/1000) - 1]. to have a (1/1000) s time base.
* Prescaler = (uwTimclock/100000 - 1) to have a 100KHz counter clock.
* ClockDivision = 0
* Counter direction = Up
*/
htim1.Init.Period = (100000U / 1000U) - 1U;
htim1.Init.Prescaler = uwPrescalerValue;
htim1.Init.ClockDivision = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = (100000U / 1000U) - 1U;
htim5.Init.Prescaler = uwPrescalerValue;
htim5.Init.ClockDivision = 0;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
status = HAL_TIM_Base_Init(&htim1);
status = HAL_TIM_Base_Init(&htim5);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim1);
status = HAL_TIM_Base_Start_IT(&htim5);
if (status == HAL_OK)
{
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Enable the TIM1 global Interrupt */
HAL_NVIC_SetPriority(TIM1_UP_IRQn, TickPriority, 0U);
/* Enable the TIM5 global Interrupt */
HAL_NVIC_SetPriority(TIM5_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
@@ -93,8 +102,8 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
}
}
/* Enable the TIM1 global Interrupt */
HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
/* Enable the TIM5 global Interrupt */
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* Return function status */
return status;
@@ -102,25 +111,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM1 update interrupt.
* @note Disable the tick increment by disabling TIM5 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM1 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
/* Disable TIM5 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim5, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM1 update interrupt.
* @note Enable the tick increment by Enabling TIM5 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM1 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
/* Enable TIM5 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim5, TIM_IT_UPDATE);
}

77
Core/Src/stm32h5xx_it.c
View File

@@ -57,6 +57,7 @@
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
extern DMA_QListTypeDef List_GPDMA1_Channel5;
extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -64,10 +65,10 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
extern DMA_QListTypeDef List_GPDMA1_Channel3;
extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim5;
/* USER CODE BEGIN EV */
@@ -213,20 +214,6 @@ void GPDMA1_Channel5_IRQHandler(void)
/* USER CODE END GPDMA1_Channel5_IRQn 1 */
}
/**
* @brief This function handles TIM1 Update interrupt.
*/
void TIM1_UP_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_IRQn 0 */
/* USER CODE END TIM1_UP_IRQn 0 */
HAL_TIM_IRQHandler(&htim1);
/* USER CODE BEGIN TIM1_UP_IRQn 1 */
/* USER CODE END TIM1_UP_IRQn 1 */
}
/**
* @brief This function handles TIM2 global interrupt.
*/
@@ -242,31 +229,31 @@ void TIM2_IRQHandler(void)
}
/**
* @brief This function handles USART1 global interrupt.
* @brief This function handles TIM3 global interrupt.
*/
void USART1_IRQHandler(void)
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE))
{
__HAL_UART_CLEAR_IDLEFLAG(&huart1);
//<2F><><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>
uint16_t len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart1.hdmarx);
for(uint16_t i = 0;i < len; i++)
{
ble_rx_ring.buffer[ble_rx_ring.head] = uart_dma_rx_buf[i];
ble_rx_ring.head = (ble_rx_ring.head + 1) %RING_BUFFER_SIZE;
}
HAL_UART_AbortReceive(&huart1); //ֹͣ<CDA3><D6B9>ǰDMA
HCBle_InitDMAReception();
}
/* USER CODE END USART1_IRQn 1 */
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles TIM5 global interrupt.
*/
void TIM5_IRQHandler(void)
{
/* USER CODE BEGIN TIM5_IRQn 0 */
/* USER CODE END TIM5_IRQn 0 */
HAL_TIM_IRQHandler(&htim5);
/* USER CODE BEGIN TIM5_IRQn 1 */
/* USER CODE END TIM5_IRQn 1 */
}
/**
@@ -297,6 +284,20 @@ void USART3_IRQHandler(void)
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles UART4 global interrupt.
*/
void UART4_IRQHandler(void)
{
/* USER CODE BEGIN UART4_IRQn 0 */
/* USER CODE END UART4_IRQn 0 */
HAL_UART_IRQHandler(&huart4);
/* USER CODE BEGIN UART4_IRQn 1 */
/* USER CODE END UART4_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

341
Core/Src/tim.c
View File

@@ -24,9 +24,58 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim8;
/* TIM1 init function */
void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {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 = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
@@ -78,6 +127,7 @@ void MX_TIM3_Init(void)
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
@@ -101,6 +151,10 @@ void MX_TIM3_Init(void)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
@@ -111,15 +165,178 @@ void MX_TIM3_Init(void)
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_3) != 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(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
HAL_TIM_MspPostInit(&htim3);
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
/* USER CODE BEGIN TIM4_Init 0 */
/* USER CODE END TIM4_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {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_Base_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
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_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */
/* USER CODE END TIM4_Init 2 */
HAL_TIM_MspPostInit(&htim4);
}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
/* USER CODE BEGIN TIM8_Init 0 */
/* USER CODE END TIM8_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {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 = 65535;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = 0;
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim8, &sConfig) != 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();
}
/* USER CODE BEGIN TIM8_Init 2 */
/* USER CODE END TIM8_Init 2 */
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(tim_encoderHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* TIM1 clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
*/
GPIO_InitStruct.Pin = E1A_Pin|E1B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(tim_encoderHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
PC7 ------> TIM8_CH2
*/
GPIO_InitStruct.Pin = E2A_Pin|E2B_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
@@ -150,7 +367,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM3 GPIO Configuration
PC9 ------> TIM3_CH4
PC8 ------> TIM3_CH3
*/
GPIO_InitStruct.Pin = HC_Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
@@ -159,10 +376,112 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* TIM3 interrupt Init */
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(timHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB1 ------> TIM3_CH4
*/
GPIO_InitStruct.Pin = PWMB_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(PWMB_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspPostInit 1 */
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(timHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspPostInit 0 */
/* USER CODE END TIM4_MspPostInit 0 */
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM4 GPIO Configuration
PC2 ------> TIM4_CH4
*/
GPIO_InitStruct.Pin = PWMA_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
HAL_GPIO_Init(PWMA_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM4_MspPostInit 1 */
/* USER CODE END TIM4_MspPostInit 1 */
}
}
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{
if(tim_encoderHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/**TIM1 GPIO Configuration
PE9 ------> TIM1_CH1
PE11 ------> TIM1_CH2
*/
HAL_GPIO_DeInit(GPIOE, E1A_Pin|E1B_Pin);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(tim_encoderHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/**TIM8 GPIO Configuration
PC6 ------> TIM8_CH1
PC7 ------> TIM8_CH2
*/
HAL_GPIO_DeInit(GPIOC, E2A_Pin|E2B_Pin);
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -191,14 +510,30 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PC9 ------> TIM3_CH4
PB1 ------> TIM3_CH4
PC8 ------> TIM3_CH3
*/
HAL_GPIO_DeInit(PWMB_GPIO_Port, PWMB_Pin);
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* TIM3 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM3_IRQn);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */

119
Core/Src/usart.c
View File

@@ -24,7 +24,7 @@
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart4;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_NodeTypeDef Node_GPDMA1_Channel5;
@@ -35,48 +35,47 @@ DMA_NodeTypeDef Node_GPDMA1_Channel3;
DMA_QListTypeDef List_GPDMA1_Channel3;
DMA_HandleTypeDef handle_GPDMA1_Channel3;
/* USART1 init function */
void MX_USART1_UART_Init(void)
/* UART4 init function */
void MX_UART4_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE BEGIN UART4_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE END UART4_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE BEGIN UART4_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 9600;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
/* USER CODE END UART4_Init 1 */
huart4.Instance = UART4;
huart4.Init.BaudRate = 9600;
huart4.Init.WordLength = UART_WORDLENGTH_8B;
huart4.Init.StopBits = UART_STOPBITS_1;
huart4.Init.Parity = UART_PARITY_NONE;
huart4.Init.Mode = UART_MODE_TX_RX;
huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart4.Init.OverSampling = UART_OVERSAMPLING_16;
huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart4.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart4) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
if (HAL_UARTEx_SetTxFifoThreshold(&huart4, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
if (HAL_UARTEx_SetRxFifoThreshold(&huart4, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
if (HAL_UARTEx_DisableFifoMode(&huart4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE BEGIN UART4_Init 2 */
/* USER CODE END USART1_Init 2 */
/* USER CODE END UART4_Init 2 */
}
/* USART2 init function */
@@ -174,40 +173,40 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitTypeDef GPIO_InitStruct = {0};
DMA_NodeConfTypeDef NodeConfig= {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(uartHandle->Instance==USART1)
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE BEGIN UART4_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* USER CODE END UART4_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
PeriphClkInitStruct.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART4;
PeriphClkInitStruct.Uart4ClockSelection = RCC_UART4CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART1 clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
/* UART4 clock enable */
__HAL_RCC_UART4_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
/**UART4 GPIO Configuration
PB8 ------> UART4_RX
PB9 ------> UART4_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USART1 DMA Init */
/* GPDMA1_REQUEST_USART1_RX Init */
/* UART4 DMA Init */
/* GPDMA1_REQUEST_UART4_RX Init */
NodeConfig.NodeType = DMA_GPDMA_LINEAR_NODE;
NodeConfig.Init.Request = GPDMA1_REQUEST_USART1_RX;
NodeConfig.Init.Request = GPDMA1_REQUEST_UART4_RX;
NodeConfig.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
NodeConfig.Init.Direction = DMA_PERIPH_TO_MEMORY;
NodeConfig.Init.SrcInc = DMA_SINC_FIXED;
@@ -260,9 +259,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
Error_Handler();
}
/* GPDMA1_REQUEST_USART1_TX Init */
/* GPDMA1_REQUEST_UART4_TX Init */
handle_GPDMA1_Channel4.Instance = GPDMA1_Channel4;
handle_GPDMA1_Channel4.Init.Request = GPDMA1_REQUEST_USART1_TX;
handle_GPDMA1_Channel4.Init.Request = GPDMA1_REQUEST_UART4_TX;
handle_GPDMA1_Channel4.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
handle_GPDMA1_Channel4.Init.Direction = DMA_MEMORY_TO_PERIPH;
handle_GPDMA1_Channel4.Init.SrcInc = DMA_SINC_INCREMENTED;
@@ -287,12 +286,12 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
Error_Handler();
}
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
/* UART4 interrupt Init */
HAL_NVIC_SetPriority(UART4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
/* USER CODE END UART4_MspInit 1 */
}
else if(uartHandle->Instance==USART2)
{
@@ -429,29 +428,29 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART1)
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE BEGIN UART4_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* USER CODE END UART4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
__HAL_RCC_UART4_CLK_DISABLE();
/**USART1 GPIO Configuration
PB14 ------> USART1_TX
PB15 ------> USART1_RX
/**UART4 GPIO Configuration
PB8 ------> UART4_RX
PB9 ------> UART4_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14|GPIO_PIN_15);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
/* USART1 DMA DeInit */
/* UART4 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* USART1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* UART4 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
/* USER CODE END UART4_MspDeInit 1 */
}
else if(uartHandle->Instance==USART2)
{