cleanup
This commit is contained in:
parent
cd72ac6ded
commit
7670cda730
85
Inc/adc.h
85
Inc/adc.h
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@ -1,85 +0,0 @@
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/**
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******************************************************************************
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* File Name : ADC.h
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* Description : This file provides code for the configuration
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* of the ADC instances.
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||||
******************************************************************************
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||||
** This notice applies to any and all portions of this file
|
||||
* that are not between comment pairs USER CODE BEGIN and
|
||||
* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
|
||||
* are owned by their respective copyright owners.
|
||||
*
|
||||
* COPYRIGHT(c) 2017 STMicroelectronics
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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||||
*
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||||
******************************************************************************
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||||
*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __adc_H
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#define __adc_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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#include "main.h"
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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extern ADC_HandleTypeDef hadc1;
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extern ADC_HandleTypeDef hadc2;
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extern ADC_HandleTypeDef hadc3;
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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extern void _Error_Handler(char *, int);
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void MX_ADC1_Init(void);
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void MX_ADC2_Init(void);
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void MX_ADC3_Init(void);
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/* USER CODE BEGIN Prototypes */
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/* USER CODE END Prototypes */
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#ifdef __cplusplus
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}
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#endif
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#endif /*__ adc_H */
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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@ -71,9 +71,9 @@
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#define RIGHT_TIM_WL_PIN GPIO_PIN_15
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#define RIGHT_TIM_WL_PORT GPIOB
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#define LEFT_DC_CUR_ADC ADC1
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#define LEFT_U_CUR_ADC ADC1
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#define LEFT_V_CUR_ADC ADC1
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// #define LEFT_DC_CUR_ADC ADC1
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// #define LEFT_U_CUR_ADC ADC1
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// #define LEFT_V_CUR_ADC ADC1
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#define LEFT_DC_CUR_PIN GPIO_PIN_0
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#define LEFT_U_CUR_PIN GPIO_PIN_0
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@ -83,9 +83,9 @@
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#define LEFT_U_CUR_PORT GPIOA
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#define LEFT_V_CUR_PORT GPIOC
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#define RIGHT_DC_CUR_ADC ADC2
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#define RIGHT_U_CUR_ADC ADC2
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#define RIGHT_V_CUR_ADC ADC2
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// #define RIGHT_DC_CUR_ADC ADC2
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// #define RIGHT_U_CUR_ADC ADC2
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// #define RIGHT_V_CUR_ADC ADC2
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#define RIGHT_DC_CUR_PIN GPIO_PIN_1
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#define RIGHT_U_CUR_PIN GPIO_PIN_4
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@ -95,12 +95,12 @@
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#define RIGHT_U_CUR_PORT GPIOC
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#define RIGHT_V_CUR_PORT GPIOC
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#define DCLINK_ADC ADC3
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#define DCLINK_CHANNEL
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// #define DCLINK_ADC ADC3
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// #define DCLINK_CHANNEL
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#define DCLINK_PIN GPIO_PIN_2
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#define DCLINK_PORT GPIOC
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#define DCLINK_PULLUP 30000
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#define DCLINK_PULLDOWN 1000
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// #define DCLINK_PULLUP 30000
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// #define DCLINK_PULLDOWN 1000
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#define LED_PIN GPIO_PIN_2
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#define LED_PORT GPIOB
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@ -129,10 +129,6 @@
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#define MILLI_PSI (PSI * 1000)
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#define MILLI_V (V * 1000)
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#define NO 0
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#define YES 1
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#define ABS(a) (((a) < 0.0) ? -(a) : (a))
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@ -151,6 +147,14 @@
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#define MAX3(a, b, c) MAX(a, MAX(b, c))
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typedef struct {
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uint16_t data1;
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uint16_t data2;
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} adc_buf_t;
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uint16_t rr1;
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uint16_t rr2;
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uint16_t rl1;
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uint16_t rl2;
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uint16_t r_dc1;
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uint16_t l_dc2;
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uint16_t batt1;
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uint16_t l_tx2;
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uint16_t bat1;
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uint16_t l_rx2;
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} adc_buf_t;
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|
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78
Inc/dma.h
78
Inc/dma.h
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@ -1,78 +0,0 @@
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/**
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******************************************************************************
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* File Name : dma.h
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* Description : This file contains all the function prototypes for
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* the dma.c file
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******************************************************************************
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** This notice applies to any and all portions of this file
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||||
* that are not between comment pairs USER CODE BEGIN and
|
||||
* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
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||||
* are owned by their respective copyright owners.
|
||||
*
|
||||
* COPYRIGHT(c) 2017 STMicroelectronics
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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||||
*
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||||
******************************************************************************
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||||
*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __dma_H
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#define __dma_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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#include "main.h"
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/* DMA memory to memory transfer handles -------------------------------------*/
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extern void _Error_Handler(char*, int);
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/* USER CODE BEGIN Includes */
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||||
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||||
/* USER CODE END Includes */
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/* USER CODE BEGIN Private defines */
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||||
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/* USER CODE END Private defines */
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void MX_DMA_Init(void);
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/* USER CODE BEGIN Prototypes */
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||||
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||||
/* USER CODE END Prototypes */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __dma_H */
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
|
@ -80,7 +80,7 @@
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/*#define HAL_SPI_MODULE_ENABLED */
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/*#define HAL_SRAM_MODULE_ENABLED */
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#define HAL_TIM_MODULE_ENABLED
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/*#define HAL_UART_MODULE_ENABLED */
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#define HAL_UART_MODULE_ENABLED
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/*#define HAL_USART_MODULE_ENABLED */
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/*#define HAL_WWDG_MODULE_ENABLED */
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||||
|
|
86
Inc/tim.h
86
Inc/tim.h
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@ -1,86 +0,0 @@
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|||
/**
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||||
******************************************************************************
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||||
* File Name : TIM.h
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||||
* Description : This file provides code for the configuration
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||||
* of the TIM instances.
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||||
******************************************************************************
|
||||
** This notice applies to any and all portions of this file
|
||||
* that are not between comment pairs USER CODE BEGIN and
|
||||
* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
|
||||
* are owned by their respective copyright owners.
|
||||
*
|
||||
* COPYRIGHT(c) 2017 STMicroelectronics
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
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||||
#ifndef __tim_H
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#define __tim_H
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||||
#ifdef __cplusplus
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extern "C" {
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||||
#endif
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||||
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||||
/* Includes ------------------------------------------------------------------*/
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||||
#include "stm32f1xx_hal.h"
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||||
#include "main.h"
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||||
/* USER CODE BEGIN Includes */
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||||
/* USER CODE END Includes */
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extern TIM_HandleTypeDef htim1;
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extern TIM_HandleTypeDef htim8;
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||||
/* USER CODE BEGIN Private defines */
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||||
/* USER CODE END Private defines */
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||||
extern void _Error_Handler(char *, int);
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||||
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||||
void MX_TIM1_Init(void);
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||||
void MX_TIM8_Init(void);
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||||
|
||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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||||
|
||||
|
||||
/* USER CODE BEGIN Prototypes */
|
||||
|
||||
/* USER CODE END Prototypes */
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||||
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||||
#ifdef __cplusplus
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||||
}
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||||
#endif
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||||
#endif /*__ tim_H */
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||||
|
||||
/**
|
||||
* @}
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||||
*/
|
||||
|
||||
/**
|
||||
* @}
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||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
40
Makefile
40
Makefile
|
@ -1,21 +1,8 @@
|
|||
##########################################################################################################################
|
||||
# File automatically-generated by tool: [projectgenerator] version: [2.26.0] date: [Fri Dec 29 02:20:09 CET 2017]
|
||||
##########################################################################################################################
|
||||
|
||||
# ------------------------------------------------
|
||||
# Generic Makefile (based on gcc)
|
||||
#
|
||||
# ChangeLog :
|
||||
# 2017-02-10 - Several enhancements + project update mode
|
||||
# 2015-07-22 - first version
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||||
# ------------------------------------------------
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||||
|
||||
######################################
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||||
# target
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||||
######################################
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||||
TARGET = hover
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||||
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||||
|
||||
######################################
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||||
# building variables
|
||||
######################################
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||||
|
@ -24,14 +11,6 @@ DEBUG = 1
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|||
# optimization
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||||
OPT = -Og
|
||||
|
||||
|
||||
#######################################
|
||||
# paths
|
||||
#######################################
|
||||
|
||||
# firmware library path
|
||||
PERIFLIB_PATH =
|
||||
|
||||
# Build path
|
||||
BUILD_DIR = build
|
||||
|
||||
|
@ -47,30 +26,23 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c \
|
|||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c \
|
||||
Src/gpio.c \
|
||||
Src/stm32f1xx_it.c \
|
||||
Src/main.c \
|
||||
Src/system_stm32f1xx.c \
|
||||
Src/stm32f1xx_hal_msp.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \
|
||||
|
||||
Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
|
||||
Src/system_stm32f1xx.c \
|
||||
Src/stm32f1xx_hal_msp.c \
|
||||
Src/gpio.c \
|
||||
Src/stm32f1xx_it.c \
|
||||
Src/main.c \
|
||||
|
||||
# ASM sources
|
||||
ASM_SOURCES = \
|
||||
startup_stm32f103xe.s
|
||||
|
||||
|
||||
######################################
|
||||
# firmware library
|
||||
######################################
|
||||
PERIFLIB_SOURCES =
|
||||
|
||||
|
||||
#######################################
|
||||
# binaries
|
||||
#######################################
|
||||
|
|
380
Src/adc.c
380
Src/adc.c
|
@ -1,380 +0,0 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* File Name : ADC.c
|
||||
* Description : This file provides code for the configuration
|
||||
* of the ADC instances.
|
||||
******************************************************************************
|
||||
** This notice applies to any and all portions of this file
|
||||
* that are not between comment pairs USER CODE BEGIN and
|
||||
* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
|
||||
* are owned by their respective copyright owners.
|
||||
*
|
||||
* COPYRIGHT(c) 2017 STMicroelectronics
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "adc.h"
|
||||
|
||||
#include "gpio.h"
|
||||
#include "dma.h"
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
ADC_HandleTypeDef hadc1;
|
||||
ADC_HandleTypeDef hadc2;
|
||||
ADC_HandleTypeDef hadc3;
|
||||
DMA_HandleTypeDef hdma_adc1;
|
||||
DMA_HandleTypeDef hdma_adc3;
|
||||
|
||||
/* ADC1 init function */
|
||||
void MX_ADC1_Init(void)
|
||||
{
|
||||
ADC_MultiModeTypeDef multimode;
|
||||
ADC_ChannelConfTypeDef sConfig;
|
||||
|
||||
/**Common config
|
||||
*/
|
||||
hadc1.Instance = ADC1;
|
||||
hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
|
||||
hadc1.Init.ContinuousConvMode = ENABLE;
|
||||
hadc1.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
|
||||
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc1.Init.NbrOfConversion = 3;
|
||||
if (HAL_ADC_Init(&hadc1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Enable or disable the remapping of ADC1_ETRGREG:
|
||||
* ADC1 External Event regular conversion is connected to TIM8 TRG0
|
||||
*/
|
||||
__HAL_AFIO_REMAP_ADC1_ETRGREG_ENABLE();
|
||||
|
||||
/**Configure the ADC multi-mode
|
||||
*/
|
||||
multimode.Mode = ADC_DUALMODE_REGSIMULT;
|
||||
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_0;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_10;
|
||||
sConfig.Rank = 2;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_13;
|
||||
sConfig.Rank = 3;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
}
|
||||
/* ADC2 init function */
|
||||
void MX_ADC2_Init(void)
|
||||
{
|
||||
ADC_ChannelConfTypeDef sConfig;
|
||||
|
||||
/**Common config
|
||||
*/
|
||||
hadc2.Instance = ADC2;
|
||||
hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
|
||||
hadc2.Init.ContinuousConvMode = DISABLE;
|
||||
hadc2.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
|
||||
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc2.Init.NbrOfConversion = 3;
|
||||
if (HAL_ADC_Init(&hadc2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_11;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_14;
|
||||
sConfig.Rank = 2;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_15;
|
||||
sConfig.Rank = 3;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
}
|
||||
/* ADC3 init function */
|
||||
void MX_ADC3_Init(void)
|
||||
{
|
||||
ADC_ChannelConfTypeDef sConfig;
|
||||
|
||||
/**Common config
|
||||
*/
|
||||
hadc3.Instance = ADC3;
|
||||
hadc3.Init.ScanConvMode = ADC_SCAN_DISABLE;
|
||||
hadc3.Init.ContinuousConvMode = DISABLE;
|
||||
hadc3.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
|
||||
hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc3.Init.NbrOfConversion = 1;
|
||||
if (HAL_ADC_Init(&hadc3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_12;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
|
||||
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
if(adcHandle->Instance==ADC1)
|
||||
{
|
||||
/* USER CODE BEGIN ADC1_MspInit 0 */
|
||||
|
||||
/* USER CODE END ADC1_MspInit 0 */
|
||||
/* ADC1 clock enable */
|
||||
__HAL_RCC_ADC1_CLK_ENABLE();
|
||||
|
||||
/**ADC1 GPIO Configuration
|
||||
PC0 ------> ADC1_IN10
|
||||
PC3 ------> ADC1_IN13
|
||||
PA0-WKUP ------> ADC1_IN0
|
||||
*/
|
||||
GPIO_InitStruct.Pin = LEFT_DC_Pin|L_B_CUR_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
GPIO_InitStruct.Pin = L_A_CUR_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
HAL_GPIO_Init(L_A_CUR_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/* ADC1 DMA Init */
|
||||
/* ADC1 Init */
|
||||
hdma_adc1.Instance = DMA1_Channel1;
|
||||
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
|
||||
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
|
||||
hdma_adc1.Init.Mode = DMA_NORMAL;
|
||||
hdma_adc1.Init.Priority = DMA_PRIORITY_HIGH;
|
||||
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
|
||||
|
||||
/* USER CODE BEGIN ADC1_MspInit 1 */
|
||||
|
||||
/* USER CODE END ADC1_MspInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC2)
|
||||
{
|
||||
/* USER CODE BEGIN ADC2_MspInit 0 */
|
||||
|
||||
/* USER CODE END ADC2_MspInit 0 */
|
||||
/* ADC2 clock enable */
|
||||
__HAL_RCC_ADC2_CLK_ENABLE();
|
||||
|
||||
/**ADC2 GPIO Configuration
|
||||
PC1 ------> ADC2_IN11
|
||||
PC4 ------> ADC2_IN14
|
||||
PC5 ------> ADC2_IN15
|
||||
*/
|
||||
GPIO_InitStruct.Pin = RIGHT_DC_Pin|R_A_CUR_Pin|R_B_CUR_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN ADC2_MspInit 1 */
|
||||
|
||||
/* USER CODE END ADC2_MspInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC3)
|
||||
{
|
||||
/* USER CODE BEGIN ADC3_MspInit 0 */
|
||||
|
||||
/* USER CODE END ADC3_MspInit 0 */
|
||||
/* ADC3 clock enable */
|
||||
__HAL_RCC_ADC3_CLK_ENABLE();
|
||||
|
||||
/**ADC3 GPIO Configuration
|
||||
PC2 ------> ADC3_IN12
|
||||
*/
|
||||
GPIO_InitStruct.Pin = DC_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
|
||||
HAL_GPIO_Init(DC_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/* ADC3 DMA Init */
|
||||
/* ADC3 Init */
|
||||
hdma_adc3.Instance = DMA2_Channel5;
|
||||
hdma_adc3.Init.Direction = DMA_PERIPH_TO_MEMORY;
|
||||
hdma_adc3.Init.PeriphInc = DMA_PINC_DISABLE;
|
||||
hdma_adc3.Init.MemInc = DMA_MINC_ENABLE;
|
||||
hdma_adc3.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
|
||||
hdma_adc3.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
|
||||
hdma_adc3.Init.Mode = DMA_NORMAL;
|
||||
hdma_adc3.Init.Priority = DMA_PRIORITY_HIGH;
|
||||
if (HAL_DMA_Init(&hdma_adc3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc3);
|
||||
|
||||
/* USER CODE BEGIN ADC3_MspInit 1 */
|
||||
|
||||
/* USER CODE END ADC3_MspInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
|
||||
{
|
||||
|
||||
if(adcHandle->Instance==ADC1)
|
||||
{
|
||||
/* USER CODE BEGIN ADC1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END ADC1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_ADC1_CLK_DISABLE();
|
||||
|
||||
/**ADC1 GPIO Configuration
|
||||
PC0 ------> ADC1_IN10
|
||||
PC3 ------> ADC1_IN13
|
||||
PA0-WKUP ------> ADC1_IN0
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOC, LEFT_DC_Pin|L_B_CUR_Pin);
|
||||
|
||||
HAL_GPIO_DeInit(L_A_CUR_GPIO_Port, L_A_CUR_Pin);
|
||||
|
||||
/* ADC1 DMA DeInit */
|
||||
HAL_DMA_DeInit(adcHandle->DMA_Handle);
|
||||
/* USER CODE BEGIN ADC1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END ADC1_MspDeInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC2)
|
||||
{
|
||||
/* USER CODE BEGIN ADC2_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END ADC2_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_ADC2_CLK_DISABLE();
|
||||
|
||||
/**ADC2 GPIO Configuration
|
||||
PC1 ------> ADC2_IN11
|
||||
PC4 ------> ADC2_IN14
|
||||
PC5 ------> ADC2_IN15
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOC, RIGHT_DC_Pin|R_A_CUR_Pin|R_B_CUR_Pin);
|
||||
|
||||
/* USER CODE BEGIN ADC2_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END ADC2_MspDeInit 1 */
|
||||
}
|
||||
else if(adcHandle->Instance==ADC3)
|
||||
{
|
||||
/* USER CODE BEGIN ADC3_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END ADC3_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_ADC3_CLK_DISABLE();
|
||||
|
||||
/**ADC3 GPIO Configuration
|
||||
PC2 ------> ADC3_IN12
|
||||
*/
|
||||
HAL_GPIO_DeInit(DC_GPIO_Port, DC_Pin);
|
||||
|
||||
/* ADC3 DMA DeInit */
|
||||
HAL_DMA_DeInit(adcHandle->DMA_Handle);
|
||||
/* USER CODE BEGIN ADC3_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END ADC3_MspDeInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
85
Src/dma.c
85
Src/dma.c
|
@ -1,85 +0,0 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* File Name : dma.c
|
||||
* Description : This file provides code for the configuration
|
||||
* of all the requested memory to memory DMA transfers.
|
||||
******************************************************************************
|
||||
** This notice applies to any and all portions of this file
|
||||
* that are not between comment pairs USER CODE BEGIN and
|
||||
* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
|
||||
* are owned by their respective copyright owners.
|
||||
*
|
||||
* COPYRIGHT(c) 2017 STMicroelectronics
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dma.h"
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Configure DMA */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/**
|
||||
* Enable DMA controller clock
|
||||
*/
|
||||
void MX_DMA_Init(void)
|
||||
{
|
||||
/* DMA controller clock 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, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
|
||||
/* DMA2_Channel4_5_IRQn interrupt configuration */
|
||||
HAL_NVIC_SetPriority(DMA2_Channel4_5_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn);
|
||||
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 2 */
|
||||
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
219
Src/gpio.c
219
Src/gpio.c
|
@ -20,6 +20,45 @@
|
|||
|
||||
#include "defines.h"
|
||||
|
||||
TIM_HandleTypeDef htim_right;
|
||||
TIM_HandleTypeDef htim_left;
|
||||
ADC_HandleTypeDef hadc1;
|
||||
ADC_HandleTypeDef hadc2;
|
||||
volatile adc_buf_t adc_buffer;
|
||||
|
||||
void UART_Init(){
|
||||
__HAL_RCC_USART3_CLK_ENABLE();
|
||||
__HAL_RCC_DMA1_CLK_ENABLE();
|
||||
|
||||
UART_HandleTypeDef huart3;
|
||||
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;
|
||||
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
HAL_UART_Init(&huart3);
|
||||
|
||||
USART3->CR3 |= USART_CR3_DMAT;// | USART_CR3_DMAR | USART_CR3_OVRDIS;
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_10;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
DMA1_Channel2->CCR = 0;
|
||||
DMA1_Channel2->CPAR = (uint32_t)&(USART3->DR);
|
||||
DMA1_Channel2->CNDTR = 0;
|
||||
DMA1_Channel2->CCR = DMA_CCR_MINC | DMA_CCR_DIR;
|
||||
DMA1->IFCR = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MX_GPIO_Init(void)
|
||||
{
|
||||
|
||||
|
@ -91,7 +130,6 @@ void MX_GPIO_Init(void)
|
|||
GPIO_InitStruct.Pin = DCLINK_PIN;
|
||||
HAL_GPIO_Init(DCLINK_PORT, &GPIO_InitStruct);
|
||||
|
||||
// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
|
||||
GPIO_InitStruct.Pin = LEFT_TIM_UH_PIN;
|
||||
|
@ -131,9 +169,6 @@ void MX_GPIO_Init(void)
|
|||
HAL_GPIO_Init(RIGHT_TIM_WL_PORT, &GPIO_InitStruct);
|
||||
}
|
||||
|
||||
TIM_HandleTypeDef htim_right;
|
||||
TIM_HandleTypeDef htim_left;
|
||||
|
||||
void MX_TIM_Init(void){
|
||||
__HAL_RCC_TIM1_CLK_ENABLE();
|
||||
__HAL_RCC_TIM8_CLK_ENABLE();
|
||||
|
@ -150,17 +185,11 @@ void MX_TIM_Init(void){
|
|||
htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim_right.Init.RepetitionCounter = 0;
|
||||
htim_right.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
||||
if (HAL_TIM_PWM_Init(&htim_right) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIM_PWM_Init(&htim_right);
|
||||
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig);
|
||||
|
||||
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
||||
sConfigOC.Pulse = 0;
|
||||
|
@ -169,20 +198,9 @@ void MX_TIM_Init(void){
|
|||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
||||
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1);
|
||||
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2);
|
||||
HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3);
|
||||
|
||||
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
|
||||
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
|
||||
|
@ -191,10 +209,7 @@ void MX_TIM_Init(void){
|
|||
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
|
||||
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
||||
if (HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig);
|
||||
|
||||
htim_left.Instance = LEFT_TIM;
|
||||
htim_left.Init.Prescaler = 0;
|
||||
|
@ -203,17 +218,11 @@ void MX_TIM_Init(void){
|
|||
htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim_left.Init.RepetitionCounter = 0;
|
||||
htim_left.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
||||
if (HAL_TIM_PWM_Init(&htim_left) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIM_PWM_Init(&htim_left);
|
||||
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig);
|
||||
|
||||
sTimConfig.InputTrigger = TIM_TS_ITR0;
|
||||
sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED;
|
||||
|
@ -226,20 +235,9 @@ void MX_TIM_Init(void){
|
|||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
||||
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1);
|
||||
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2);
|
||||
HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3);
|
||||
|
||||
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
|
||||
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
|
||||
|
@ -248,10 +246,7 @@ void MX_TIM_Init(void){
|
|||
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
|
||||
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
||||
if (HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig);
|
||||
|
||||
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_1);
|
||||
HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_2);
|
||||
|
@ -272,11 +267,6 @@ void MX_TIM_Init(void){
|
|||
__HAL_TIM_ENABLE(&htim_right);
|
||||
}
|
||||
|
||||
ADC_HandleTypeDef hadc1;
|
||||
ADC_HandleTypeDef hadc2;
|
||||
|
||||
volatile adc_buf_t adc_buffer[3];
|
||||
|
||||
void MX_ADC1_Init(void)
|
||||
{
|
||||
ADC_MultiModeTypeDef multimode;
|
||||
|
@ -284,22 +274,14 @@ void MX_ADC1_Init(void)
|
|||
|
||||
__HAL_RCC_ADC1_CLK_ENABLE();
|
||||
|
||||
// HAL_ADC_DeInit(&hadc1);
|
||||
// hadc1.Instance->CR2 = 0;
|
||||
/**Common config
|
||||
*/
|
||||
hadc1.Instance = ADC1;
|
||||
hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE;
|
||||
hadc1.Init.ContinuousConvMode = DISABLE;
|
||||
hadc1.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
|
||||
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc1.Init.NbrOfConversion = 3;
|
||||
if (HAL_ADC_Init(&hadc1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
hadc1.Init.NbrOfConversion = 5;
|
||||
HAL_ADC_Init(&hadc1);
|
||||
/**Enable or disable the remapping of ADC1_ETRGREG:
|
||||
* ADC1 External Event regular conversion is connected to TIM8 TRG0
|
||||
*/
|
||||
|
@ -308,45 +290,29 @@ void MX_ADC1_Init(void)
|
|||
/**Configure the ADC multi-mode
|
||||
*/
|
||||
multimode.Mode = ADC_DUALMODE_REGSIMULT;
|
||||
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode);
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_10;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_10;
|
||||
sConfig.Channel = ADC_CHANNEL_14;
|
||||
sConfig.Rank = 1;
|
||||
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
|
||||
|
||||
sConfig.Channel = ADC_CHANNEL_1;
|
||||
sConfig.Rank = 2;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_10;
|
||||
sConfig.Channel = ADC_CHANNEL_11;
|
||||
sConfig.Rank = 3;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
|
||||
|
||||
sConfig.Channel = ADC_CHANNEL_10;
|
||||
sConfig.Channel = ADC_CHANNEL_12;
|
||||
sConfig.Rank = 4;
|
||||
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
|
||||
|
||||
sConfig.Channel = ADC_CHANNEL_12;
|
||||
sConfig.Rank = 5;
|
||||
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
|
||||
|
||||
hadc1.Instance->CR2 |= ADC_CR2_DMA;
|
||||
|
||||
|
@ -355,9 +321,9 @@ void MX_ADC1_Init(void)
|
|||
__HAL_RCC_DMA1_CLK_ENABLE();
|
||||
|
||||
DMA1_Channel1->CCR = 0;
|
||||
DMA1_Channel1->CNDTR = 3;
|
||||
DMA1_Channel1->CNDTR = 5;
|
||||
DMA1_Channel1->CPAR = (uint32_t)&(ADC1->DR);
|
||||
DMA1_Channel1->CMAR = (uint32_t)adc_buffer;
|
||||
DMA1_Channel1->CMAR = (uint32_t)&adc_buffer;
|
||||
DMA1_Channel1->CCR = DMA_CCR_MSIZE_1 | DMA_CCR_PSIZE_1 | DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TCIE;
|
||||
DMA1_Channel1->CCR |= DMA_CCR_EN;
|
||||
|
||||
|
@ -382,39 +348,30 @@ void MX_ADC2_Init(void)
|
|||
hadc2.Init.DiscontinuousConvMode = DISABLE;
|
||||
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;
|
||||
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
|
||||
hadc2.Init.NbrOfConversion = 3;
|
||||
if (HAL_ADC_Init(&hadc2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
hadc2.Init.NbrOfConversion = 5;
|
||||
HAL_ADC_Init(&hadc2);
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_14;
|
||||
sConfig.Rank = 1;
|
||||
sConfig.SamplingTime = ADC_SAMPLETIME_13CYCLES_5;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_15;
|
||||
sConfig.Rank = 2;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
sConfig.Rank = 1;
|
||||
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
|
||||
|
||||
/**Configure Regular Channel
|
||||
*/
|
||||
sConfig.Channel = ADC_CHANNEL_11;
|
||||
sConfig.Channel = ADC_CHANNEL_13;
|
||||
sConfig.Rank = 2;
|
||||
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
|
||||
|
||||
sConfig.Channel = ADC_CHANNEL_10;
|
||||
sConfig.Rank = 3;
|
||||
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
|
||||
|
||||
sConfig.Channel = ADC_CHANNEL_2;
|
||||
sConfig.Rank = 4;
|
||||
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
|
||||
|
||||
sConfig.Channel = ADC_CHANNEL_3;
|
||||
sConfig.Rank = 5;
|
||||
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
|
||||
|
||||
hadc2.Instance->CR2 |= ADC_CR2_DMA;
|
||||
__HAL_ADC_ENABLE(&hadc2);
|
||||
|
|
46
Src/main.c
46
Src/main.c
|
@ -29,7 +29,7 @@ extern TIM_HandleTypeDef htim_left;
|
|||
extern TIM_HandleTypeDef htim_right;
|
||||
extern ADC_HandleTypeDef hadc1;
|
||||
extern ADC_HandleTypeDef hadc2;
|
||||
extern volatile adc_buf_t adc_buffer[3];
|
||||
extern volatile adc_buf_t adc_buffer;
|
||||
|
||||
volatile int posl = 0;
|
||||
volatile int posr = 0;
|
||||
|
@ -93,9 +93,44 @@ int timer = 0;
|
|||
int max_time = PWM_FREQ / 10;
|
||||
volatile int vel = 0;
|
||||
|
||||
volatile uint8_t uart_buf[10];
|
||||
|
||||
void DMA1_Channel1_IRQHandler(){
|
||||
DMA1->IFCR = DMA_IFCR_CTCIF1;
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
|
||||
/*
|
||||
uart_buf[0] = 0xff;
|
||||
uart_buf[1] = adc_buffer.r_dc1 - 1850 + 127;
|
||||
uart_buf[2] = adc_buffer.l_dc2 - 1850 + 127;
|
||||
uart_buf[3] = 127;//adc_buffer.rr1 - 2000 + 127;
|
||||
uart_buf[4] = 127;//adc_buffer.rr2 - 2000 + 127;
|
||||
uart_buf[5] = 127;//adc_buffer.rl1 - 2000 + 127;
|
||||
uart_buf[6] = 127;//adc_buffer.rl2 - 2000 + 127;
|
||||
uart_buf[7] = adc_buffer.batt1 - 1550 + 127;
|
||||
uart_buf[8] = adc_buffer.bat1 - 1550 + 127;
|
||||
uart_buf[9] = '\n';
|
||||
|
||||
if(DMA1_Channel2->CNDTR == 0){
|
||||
DMA1_Channel2->CCR &= ~DMA_CCR_EN;
|
||||
DMA1_Channel2->CNDTR = 10;
|
||||
DMA1_Channel2->CMAR = (uint32_t)uart_buf;
|
||||
DMA1_Channel2->CCR |= DMA_CCR_EN;
|
||||
}
|
||||
*/
|
||||
|
||||
if(adc_buffer.l_dc2 > 1950){
|
||||
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
}else{
|
||||
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
|
||||
}
|
||||
|
||||
if(adc_buffer.r_dc1 > 1950){
|
||||
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
|
||||
}else{
|
||||
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
|
||||
}
|
||||
|
||||
int ul = 0;
|
||||
int vl = 0;
|
||||
|
@ -152,8 +187,6 @@ void DMA1_Channel1_IRQHandler(){
|
|||
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 0, pwm_res);
|
||||
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 0, pwm_res);
|
||||
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 0, pwm_res);
|
||||
|
||||
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
|
||||
}
|
||||
|
||||
int milli_vel_error_sum = 0;
|
||||
|
@ -171,6 +204,7 @@ int main(void)
|
|||
MX_TIM_Init();
|
||||
MX_ADC1_Init();
|
||||
MX_ADC2_Init();
|
||||
UART_Init();
|
||||
|
||||
|
||||
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1);
|
||||
|
@ -190,8 +224,8 @@ int main(void)
|
|||
// milli_vel_error_sum += milli_vel_error;
|
||||
// milli_vel_error_sum = CLAMP(milli_vel_error_sum, -200000, 200000);
|
||||
// pwm = CLAMP(milli_vel_cmd / 5 + milli_vel_error_sum / 200, -500, 500);
|
||||
pwml = 100;
|
||||
pwmr = 100;
|
||||
pwml = 150;
|
||||
pwmr = 150;
|
||||
|
||||
// if(vel > milli_vel_cmd){
|
||||
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
|
||||
|
|
309
Src/tim.c
309
Src/tim.c
|
@ -1,309 +0,0 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* File Name : TIM.c
|
||||
* Description : This file provides code for the configuration
|
||||
* of the TIM instances.
|
||||
******************************************************************************
|
||||
** This notice applies to any and all portions of this file
|
||||
* that are not between comment pairs USER CODE BEGIN and
|
||||
* USER CODE END. Other portions of this file, whether
|
||||
* inserted by the user or by software development tools
|
||||
* are owned by their respective copyright owners.
|
||||
*
|
||||
* COPYRIGHT(c) 2017 STMicroelectronics
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "tim.h"
|
||||
|
||||
/* USER CODE BEGIN 0 */
|
||||
|
||||
/* USER CODE END 0 */
|
||||
|
||||
TIM_HandleTypeDef htim1;
|
||||
TIM_HandleTypeDef htim8;
|
||||
|
||||
/* TIM1 init function */
|
||||
void MX_TIM1_Init(void)
|
||||
{
|
||||
TIM_MasterConfigTypeDef sMasterConfig;
|
||||
TIM_OC_InitTypeDef sConfigOC;
|
||||
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
|
||||
|
||||
htim1.Instance = TIM1;
|
||||
htim1.Init.Prescaler = 0;
|
||||
htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
|
||||
htim1.Init.Period = 1600;
|
||||
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim1.Init.RepetitionCounter = 0;
|
||||
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
||||
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
||||
sConfigOC.Pulse = 0;
|
||||
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
|
||||
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
|
||||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
||||
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
|
||||
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
|
||||
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
||||
sBreakDeadTimeConfig.DeadTime = 255;
|
||||
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
|
||||
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
||||
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
HAL_TIM_MspPostInit(&htim1);
|
||||
|
||||
}
|
||||
/* TIM8 init function */
|
||||
void MX_TIM8_Init(void)
|
||||
{
|
||||
TIM_MasterConfigTypeDef sMasterConfig;
|
||||
TIM_OC_InitTypeDef sConfigOC;
|
||||
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
|
||||
|
||||
htim8.Instance = TIM8;
|
||||
htim8.Init.Prescaler = 0;
|
||||
htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
|
||||
htim8.Init.Period = 1600;
|
||||
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
|
||||
htim8.Init.RepetitionCounter = 0;
|
||||
htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
|
||||
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
||||
sConfigOC.Pulse = 0;
|
||||
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
|
||||
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
|
||||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
|
||||
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
|
||||
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
|
||||
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
|
||||
sBreakDeadTimeConfig.DeadTime = 255;
|
||||
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
|
||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
|
||||
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
|
||||
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
|
||||
{
|
||||
_Error_Handler(__FILE__, __LINE__);
|
||||
}
|
||||
|
||||
HAL_TIM_MspPostInit(&htim8);
|
||||
|
||||
}
|
||||
|
||||
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
|
||||
{
|
||||
|
||||
if(tim_pwmHandle->Instance==TIM1)
|
||||
{
|
||||
/* USER CODE BEGIN TIM1_MspInit 0 */
|
||||
|
||||
/* USER CODE END TIM1_MspInit 0 */
|
||||
/* TIM1 clock enable */
|
||||
__HAL_RCC_TIM1_CLK_ENABLE();
|
||||
/* USER CODE BEGIN TIM1_MspInit 1 */
|
||||
|
||||
/* USER CODE END TIM1_MspInit 1 */
|
||||
}
|
||||
else if(tim_pwmHandle->Instance==TIM8)
|
||||
{
|
||||
/* USER CODE BEGIN TIM8_MspInit 0 */
|
||||
|
||||
/* USER CODE END TIM8_MspInit 0 */
|
||||
/* TIM8 clock enable */
|
||||
__HAL_RCC_TIM8_CLK_ENABLE();
|
||||
/* USER CODE BEGIN TIM8_MspInit 1 */
|
||||
|
||||
/* USER CODE END TIM8_MspInit 1 */
|
||||
}
|
||||
}
|
||||
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
|
||||
{
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
if(timHandle->Instance==TIM1)
|
||||
{
|
||||
/* USER CODE BEGIN TIM1_MspPostInit 0 */
|
||||
|
||||
/* USER CODE END TIM1_MspPostInit 0 */
|
||||
/**TIM1 GPIO Configuration
|
||||
PB13 ------> TIM1_CH1N
|
||||
PB14 ------> TIM1_CH2N
|
||||
PB15 ------> TIM1_CH3N
|
||||
PA8 ------> TIM1_CH1
|
||||
PA9 ------> TIM1_CH2
|
||||
PA10 ------> TIM1_CH3
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
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.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
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 */
|
||||
|
||||
/**TIM8 GPIO Configuration
|
||||
PA7 ------> TIM8_CH1N
|
||||
PB0 ------> TIM8_CH2N
|
||||
PB1 ------> TIM8_CH3N
|
||||
PC6 ------> TIM8_CH1
|
||||
PC7 ------> TIM8_CH2
|
||||
PC8 ------> TIM8_CH3
|
||||
*/
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_7;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN TIM8_MspPostInit 1 */
|
||||
|
||||
/* USER CODE END TIM8_MspPostInit 1 */
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
|
||||
{
|
||||
|
||||
if(tim_pwmHandle->Instance==TIM1)
|
||||
{
|
||||
/* USER CODE BEGIN TIM1_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END TIM1_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_TIM1_CLK_DISABLE();
|
||||
/* USER CODE BEGIN TIM1_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END TIM1_MspDeInit 1 */
|
||||
}
|
||||
else if(tim_pwmHandle->Instance==TIM8)
|
||||
{
|
||||
/* USER CODE BEGIN TIM8_MspDeInit 0 */
|
||||
|
||||
/* USER CODE END TIM8_MspDeInit 0 */
|
||||
/* Peripheral clock disable */
|
||||
__HAL_RCC_TIM8_CLK_DISABLE();
|
||||
/* USER CODE BEGIN TIM8_MspDeInit 1 */
|
||||
|
||||
/* USER CODE END TIM8_MspDeInit 1 */
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
|
||||
/* USER CODE END 1 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
Loading…
Reference in New Issue