Stm32Project/Src/main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "lcd.h"
#include "sys.h"
#include <stdio.h>
#include <string.h>
#include "servo.h"
#include "key.h"
#include "motor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
char rxdata[52];
uint16_t rxlen = 52;
uint8_t LED_B_ON = 0, LED1_ON = 0, LED2_ON = 0, LED3_ON = 0;
int cnt = 0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void Servo_test(void);
int fputc(int ch, FILE *f);
int fgetc(FILE *f);
void Breathing_light(void);
void ADC_BEEP(void);
void Key_get(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
    uint32_t ADC_Value;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  MX_USART1_UART_Init();
  MX_SPI3_Init();
  MX_TIM1_Init();
  MX_TIM15_Init();
  MX_TIM7_Init();
  /* USER CODE BEGIN 2 */
    LCD_Init();
    HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
    HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
    HAL_ADC_Start(&hadc1);
    POINT_COLOR = BLUE; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim15, TIM_CHANNEL_2);
    HAL_TIMEx_PWMN_Start(&htim15, TIM_CHANNEL_1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
    HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
    HAL_GPIO_WritePin(LED_G_GPIO_Port, LED_G_Pin, GPIO_PIN_SET);
    HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET);

    HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin, GPIO_PIN_RESET);
    HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_SET);
    printf("Hello!");
    //__HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_2,5);
    HAL_TIM_Base_Start_IT(&htim7);
    while (1)
    {
        ADC_BEEP();
        LCD_ShowxNum(50, 50, Servo_Speed, 4, 16, 0);
        LCD_ShowxNum(150, 50, Motor_Speed, 4, 16, 0);
        LCD_ShowxNum(50, 100, HAL_GPIO_ReadPin(PB8_EXTI_GPIO_Port,PB8_EXTI_Pin), 4, 16, 0);
		if(Motor_time>=0)
        LCD_ShowxNum(150, 100, Motor_time, 4, 16, 0);
        LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
        LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
        Key_get();
        // Servo_test();
        //Breathing_light();
    }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 18;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void Servo_test(void)
{
    // cnt=(cnt+30)%(180+30);
    LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
    LCD_ShowxNum(50, 150, ANGLETOCCR(cnt), 4, 16, 0);
    Servo_SetAngle(cnt);
    HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
    printf("rx\r\n");
    if (huart == &huart1)
    {
        rxdata[Size] = '\0';
        if (strcmp(rxdata, "LED1") == 0)
        {
            LED1_ON = !LED1_ON;
            HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
        }
        else if (strcmp(rxdata, "LED2") == 0)
        {
            LED2_ON = !LED2_ON;
            HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
        }
        else if (strcmp(rxdata, "LED3") == 0)
        {
            LED_B_ON = !LED_B_ON;
            LED3_ON = !LED3_ON;
        }
        else
        {
            cnt = 0;
            for (int i = 0; i < Size; i++)
            {
                cnt *= 10;
                cnt += rxdata[i] - '0';
            }
            Servo_goal = cnt;
        }
        HAL_UARTEx_ReceiveToIdle_IT(&huart1, (uint8_t *)rxdata, sizeof(rxdata));
    }
}
int fgetc(FILE *f)
{
    int ch;
    // while (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE) == RESET);
    HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
    return (ch);
}
int fputc(int ch, FILE *f)
{

    HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
    return ch;
}
// LED_B的呼吸灯
void Breathing_light(void)
{
    if (!LED_B_ON)
    {
        return;
    }
    for (int i = 0; i <= 100; i++)
    {
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 100 - i);
        HAL_Delay(10);
    }
    for (int i = 0; i <= 100; i++)
    {
        __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, i);
        HAL_Delay(10);
    }
}
void ADC_BEEP(void)
{
#ifdef ONE_ADC_BEEP
    ADC_Value = Get_Adc_Average(ADC_CHANNEL_3, 5); //??AD?
    LCD_ShowxNum(50, 100, ADC_Value, 4, 16, 0);
    if (ADC_Value * 3.3 / 4095 > 1.7)
    {
        cnt++;
    }
    else
    {
        cnt = 0;
    }
    if (cnt == 50)
    {
        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
        HAL_Delay(100);
        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
        HAL_Delay(100);
        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
        HAL_Delay(100);
        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
        HAL_Delay(100);
        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
        HAL_Delay(100);
        HAL_GPIO_TogglePin(BEEP_GPIO_Port, BEEP_Pin);
    }
    LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
    HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
    //  }
    HAL_Delay(100);
#endif
}
void Key_get(void)
{
    if (HAL_GPIO_ReadPin(KEY_LEFT_GPIO_Port, KEY_LEFT_Pin) == KEY_PRESSED)
    {
        HAL_Delay(15);
        LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
        while (HAL_GPIO_ReadPin(KEY_LEFT_GPIO_Port, KEY_LEFT_Pin) == KEY_PRESSED)
            ;
        Servo_goal = (Servo_goal + 90) % (180 + 90);
        LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
        HAL_Delay(15);
    }
    if (HAL_GPIO_ReadPin(KEY_RIGHT_GPIO_Port, KEY_RIGHT_Pin) == KEY_PRESSED)
    {
        HAL_Delay(15);
        while (HAL_GPIO_ReadPin(KEY_RIGHT_GPIO_Port, KEY_RIGHT_Pin) == KEY_PRESSED)
            ;
        Servo_Speed = Servo_Speed % 3 + 1;
        LCD_ShowxNum(50, 50, Servo_Speed, 4, 16, 0);
        HAL_Delay(15);
    }
	if (HAL_GPIO_ReadPin(KEY_UP_GPIO_Port, KEY_UP_Pin) == KEY_UP_PRESSED)
    {
        HAL_Delay(15);
        while (HAL_GPIO_ReadPin(KEY_UP_GPIO_Port, KEY_UP_Pin) == KEY_UP_PRESSED);
        Motor_Speed = NewCCRValue(Motor_Speed,+1,20);
		if(Motor_Speed==1)
		{
			Motor_time = 0;
			Motor_start=1;
		}
        HAL_Delay(15);
        HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
		Motor_reset_ornot();
        __HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_1,MOTORCCR(Motor_Speed));
    }
    if (HAL_GPIO_ReadPin(KEY_DOWN_GPIO_Port, KEY_DOWN_Pin) == KEY_PRESSED)
    {
        HAL_Delay(15);
        while (HAL_GPIO_ReadPin(KEY_DOWN_GPIO_Port, KEY_DOWN_Pin) == KEY_PRESSED);
        Motor_Speed = NewCCRValue(Motor_Speed,-1,20);
        HAL_Delay(15);
        HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
		Motor_reset_ornot();
        __HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_1,MOTORCCR(Motor_Speed));
    }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */