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改正了角度转到CCR的值，加入了tim7定时中断

This commit is contained in:
james 2024-11-07 13:49:33 +08:00
parent c895308110
commit 2830892d58
22 changed files with 4500 additions and 4247 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Inc/servo.h
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@ -1,4 +1,6 @@
#include "main.h" #include "main.h"
//Tanslate angle into Capture Compare Register value
#define ANGLETOCCR(angle) 2000 * (angle) / 180 + 500
extern uint8_t Servo_Speed,Servo_goal,Servo_position; extern uint8_t Servo_Speed,Servo_goal,Servo_position;

1
Inc/stm32l4xx_it.h
View File

@ -57,6 +57,7 @@ void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void EXTI9_5_IRQHandler(void); void EXTI9_5_IRQHandler(void);
void USART1_IRQHandler(void); void USART1_IRQHandler(void);
void TIM7_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */

3
Inc/tim.h
View File

@ -34,6 +34,8 @@ extern "C" {
extern TIM_HandleTypeDef htim1; extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim7;
extern TIM_HandleTypeDef htim15; extern TIM_HandleTypeDef htim15;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
@ -41,6 +43,7 @@ extern TIM_HandleTypeDef htim15;
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_TIM1_Init(void); void MX_TIM1_Init(void);
void MX_TIM7_Init(void);
void MX_TIM15_Init(void); void MX_TIM15_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

BIN
MDK-ARM/Project/Project.axf
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8
MDK-ARM/Project/Project.build_log.htm
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@ -27,10 +27,14 @@ Project File Date: 11/07/2024
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\Keil5\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\Keil5\ARM\ARMCC\Bin'
Build target 'Project' Build target 'Project'
compiling main.c...
../Src/main.c(126): warning: #177-D: variable "ADC_Value" was declared but never referenced
uint32_t ADC_Value;
../Src/main.c: 1 warning, 0 errors
linking... linking...
Program Size: Code=17940 RO-data=59236 RW-data=36 ZI-data=2820 Program Size: Code=18628 RO-data=59236 RW-data=36 ZI-data=2892
FromELF: creating hex file... FromELF: creating hex file...
"Project\Project.axf" - 0 Error(s), 0 Warning(s). "Project\Project.axf" - 0 Error(s), 1 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>

6915
MDK-ARM/Project/Project.hex
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716
MDK-ARM/Project/Project.htm
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900
MDK-ARM/Project/Project.map
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28
MDK-ARM/Project/Project_Project.dep
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@ -1,5 +1,5 @@
Dependencies for Project 'Project', Target 'Project': (DO NOT MODIFY !) Dependencies for Project 'Project', Target 'Project': (DO NOT MODIFY !)
F (startup_stm32l475xx.s)(0x672B9D47)(--cpu Cortex-M4.fp -g --apcs=interwork --pd "__MICROLIB SETA 1" -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include --pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32L475xx SETA 1" --list startup_stm32l475xx.lst --xref -o project\startup_stm32l475xx.o --depend project\startup_stm32l475xx.d) F (startup_stm32l475xx.s)(0x672C524E)(--cpu Cortex-M4.fp -g --apcs=interwork --pd "__MICROLIB SETA 1" -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include --pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32L475xx SETA 1" --list startup_stm32l475xx.lst --xref -o project\startup_stm32l475xx.o --depend project\startup_stm32l475xx.d)
F (..\Src\lcd.c)(0x672794C0)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\lcd.o --omf_browse project\lcd.crf --depend project\lcd.d) F (..\Src\lcd.c)(0x672794C0)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\lcd.o --omf_browse project\lcd.crf --depend project\lcd.d)
I (../Inc/sys.h)(0x67279973) I (../Inc/sys.h)(0x67279973)
I (../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h)(0x671507AF) I (../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h)(0x671507AF)
@ -116,7 +116,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/main.c)(0x672B9D9A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\main.o --omf_browse project\main.crf --depend project\main.d) F (../Src/main.c)(0x672C5484)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\main.o --omf_browse project\main.crf --depend project\main.d)
I (../Inc/main.h)(0x672B2071) I (../Inc/main.h)(0x672B2071)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD) I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
@ -155,14 +155,14 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/adc.h)(0x67284CF2) I (../Inc/adc.h)(0x67284CF2)
I (../Inc/spi.h)(0x67279574) I (../Inc/spi.h)(0x67279574)
I (../Inc/tim.h)(0x672B9D44) I (../Inc/tim.h)(0x672C524A)
I (../Inc/usart.h)(0x67276B93) I (../Inc/usart.h)(0x67276B93)
I (../Inc/gpio.h)(0x6715E327) I (../Inc/gpio.h)(0x6715E327)
I (../Inc/lcd.h)(0x5BF21D0E) I (../Inc/lcd.h)(0x5BF21D0E)
I (../Inc/sys.h)(0x67279973) I (../Inc/sys.h)(0x67279973)
I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344) I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
I (D:\Keil5\ARM\ARMCC\include\string.h)(0x588B8344) I (D:\Keil5\ARM\ARMCC\include\string.h)(0x588B8344)
I (../Inc/servo.h)(0x672B3D09) I (../Inc/servo.h)(0x672C51E6)
F (../Src/gpio.c)(0x672A38B6)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\gpio.o --omf_browse project\gpio.crf --depend project\gpio.d) F (../Src/gpio.c)(0x672A38B6)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\gpio.o --omf_browse project\gpio.crf --depend project\gpio.d)
I (../Inc/gpio.h)(0x6715E327) I (../Inc/gpio.h)(0x6715E327)
I (../Inc/main.h)(0x672B2071) I (../Inc/main.h)(0x672B2071)
@ -277,8 +277,8 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/tim.c)(0x672B9D44)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\tim.o --omf_browse project\tim.crf --depend project\tim.d) F (../Src/tim.c)(0x672C524A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\tim.o --omf_browse project\tim.crf --depend project\tim.d)
I (../Inc/tim.h)(0x672B9D44) I (../Inc/tim.h)(0x672C524A)
I (../Inc/main.h)(0x672B2071) I (../Inc/main.h)(0x672B2071)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD) I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
@ -353,7 +353,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/stm32l4xx_it.c)(0x672B9D45)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_it.o --omf_browse project\stm32l4xx_it.crf --depend project\stm32l4xx_it.d) F (../Src/stm32l4xx_it.c)(0x672C524A)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_it.o --omf_browse project\stm32l4xx_it.crf --depend project\stm32l4xx_it.d)
I (../Inc/main.h)(0x672B2071) I (../Inc/main.h)(0x672B2071)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD) I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
@ -390,9 +390,9 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/stm32l4xx_it.h)(0x672B9D45) I (../Inc/stm32l4xx_it.h)(0x672C524A)
I (../Inc/tim.h)(0x672B9D44) I (../Inc/tim.h)(0x672C524A)
I (../Inc/servo.h)(0x672B3D09) I (../Inc/servo.h)(0x672C51E6)
I (../Inc/usart.h)(0x67276B93) I (../Inc/usart.h)(0x67276B93)
I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344) I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
I (../Inc/gpio.h)(0x6715E327) I (../Inc/gpio.h)(0x6715E327)
@ -433,8 +433,8 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (..\Src\servo.c)(0x672B9D72)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\servo.o --omf_browse project\servo.crf --depend project\servo.d) F (..\Src\servo.c)(0x672C52EE)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\servo.o --omf_browse project\servo.crf --depend project\servo.d)
I (../Inc/servo.h)(0x672B3D09) I (../Inc/servo.h)(0x672C51E6)
I (../Inc/main.h)(0x672B2071) I (../Inc/main.h)(0x672B2071)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD) I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
@ -471,10 +471,10 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_tim_ex.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/tim.h)(0x672B9D44) I (../Inc/tim.h)(0x672C524A)
I (../Inc/lcd.h)(0x5BF21D0E) I (../Inc/lcd.h)(0x5BF21D0E)
I (../Inc/sys.h)(0x67279973) I (../Inc/sys.h)(0x67279973)
F (..\Inc\servo.h)(0x672B3D09)() F (..\Inc\servo.h)(0x672C51E6)()
F (../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_adc.c)(0x671507AF)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_hal_adc.o --omf_browse project\stm32l4xx_hal_adc.crf --depend project\stm32l4xx_hal_adc.d) F (../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_adc.c)(0x671507AF)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -O3 --apcs=interwork --split_sections -I../Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc -I../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32L4xx/Include -I../Drivers/CMSIS/Include -I D:\Develop\Stm32Project\Project\MDK-ARM\RTE -I D:\Keil5\ARM\PACK\ARM\CMSIS\5.0.1\CMSIS\Include -I D:\Keil5\ARM\PACK\Keil\STM32L4xx_DFP\1.4.0\Device\Include -D__UVISION_VERSION="514" -D_RTE_ -DSTM32L475xx -DUSE_HAL_DRIVER -DSTM32L475xx -o project\stm32l4xx_hal_adc.o --omf_browse project\stm32l4xx_hal_adc.crf --depend project\stm32l4xx_hal_adc.d)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF) I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD) I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)

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MDK-ARM/Project/main.crf
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MDK-ARM/Project/main.o
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MDK-ARM/Project/servo.crf
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MDK-ARM/Project/stm32l4xx_it.crf
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MDK-ARM/Project/stm32l4xx_it.o
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MDK-ARM/Project/tim.crf
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17
Project.ioc
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@ -23,9 +23,10 @@ Mcu.IP2=RCC
Mcu.IP3=SPI3 Mcu.IP3=SPI3
Mcu.IP4=SYS Mcu.IP4=SYS
Mcu.IP5=TIM1 Mcu.IP5=TIM1
Mcu.IP6=TIM15 Mcu.IP6=TIM7
Mcu.IP7=USART1 Mcu.IP7=TIM15
Mcu.IPNb=8 Mcu.IP8=USART1
Mcu.IPNb=9
Mcu.Name=STM32L475V(C-E-G)Tx Mcu.Name=STM32L475V(C-E-G)Tx
Mcu.Package=LQFP100 Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN (PH0) Mcu.Pin0=PH0-OSC_IN (PH0)
@ -36,7 +37,8 @@ Mcu.Pin12=PC12
Mcu.Pin13=PB8 Mcu.Pin13=PB8
Mcu.Pin14=PB9 Mcu.Pin14=PB9
Mcu.Pin15=VP_SYS_VS_Systick Mcu.Pin15=VP_SYS_VS_Systick
Mcu.Pin16=VP_TIM15_VS_ClockSourceINT Mcu.Pin16=VP_TIM7_VS_ClockSourceINT
Mcu.Pin17=VP_TIM15_VS_ClockSourceINT
Mcu.Pin2=PC2 Mcu.Pin2=PC2
Mcu.Pin3=PB2 Mcu.Pin3=PB2
Mcu.Pin4=PE7 Mcu.Pin4=PE7
@ -45,7 +47,7 @@ Mcu.Pin6=PE9
Mcu.Pin7=PB15 Mcu.Pin7=PB15
Mcu.Pin8=PA9 Mcu.Pin8=PA9
Mcu.Pin9=PA10 Mcu.Pin9=PA10
Mcu.PinsNb=17 Mcu.PinsNb=18
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32L475VETx Mcu.UserName=STM32L475VETx
@ -62,6 +64,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
NVIC.TIM7_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA10.Mode=Asynchronous PA10.Mode=Asynchronous
@ -143,7 +146,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath= ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI3_Init-SPI3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI3_Init-SPI3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM15_Init-TIM15-false-HAL-true
RCC.ADCFreq_Value=12000000 RCC.ADCFreq_Value=12000000
RCC.AHBFreq_Value=72000000 RCC.AHBFreq_Value=72000000
RCC.APB1Freq_Value=72000000 RCC.APB1Freq_Value=72000000
@ -231,4 +234,6 @@ VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM15_VS_ClockSourceINT.Mode=Internal VP_TIM15_VS_ClockSourceINT.Mode=Internal
VP_TIM15_VS_ClockSourceINT.Signal=TIM15_VS_ClockSourceINT VP_TIM15_VS_ClockSourceINT.Signal=TIM15_VS_ClockSourceINT
VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
board=custom board=custom

7
Src/main.c
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@ -149,6 +149,7 @@ int main(void)
MX_SPI3_Init(); MX_SPI3_Init();
MX_TIM1_Init(); MX_TIM1_Init();
MX_TIM15_Init(); MX_TIM15_Init();
MX_TIM7_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
LCD_Init(); LCD_Init();
HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED); HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED);
@ -166,7 +167,7 @@ int main(void)
HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET);
printf("Hello!"); printf("Hello!");
//__HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_2,5); //__HAL_TIM_SET_COMPARE(&htim15,TIM_CHANNEL_2,5);
//HAL_TIM_Base_Start_IT(&htim7); HAL_TIM_Base_Start_IT(&htim7);
while (1) while (1)
{ //??ADC?? { //??ADC??
// HAL_ADC_PollForConversion(&hadc1, 50); //??????,50???????,???ms // HAL_ADC_PollForConversion(&hadc1, 50); //??????,50???????,???ms
@ -208,8 +209,8 @@ int main(void)
//cnt=(cnt+30)%(180+30); //cnt=(cnt+30)%(180+30);
LCD_ShowxNum(50, 200, cnt, 4, 16, 0); LCD_ShowxNum(50, 200, cnt, 4, 16, 0);
LCD_ShowxNum(50, 150, 2000*cnt/180+500, 4, 16, 0); LCD_ShowxNum(50, 150, ANGLETOCCR(cnt), 4, 16, 0);
Servo_SetAngle(cnt); // Servo_SetAngle(cnt);
HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin); HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
HAL_Delay(1000); HAL_Delay(1000);
if(!LED_B_ON) if(!LED_B_ON)

68
Src/servo.c
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@ -7,7 +7,7 @@ uint8_t Servo_Speed = 1, Servo_goal = 0, Servo_position = 0;
void Servo_SetAngle(int goal) void Servo_SetAngle(int goal)
{ {
Servo_position = goal; Servo_position = goal;
__HAL_TIM_SET_COMPARE(&htim15, TIM_CHANNEL_2, 2500 * goal / 180 - 500); __HAL_TIM_SET_COMPARE(&htim15, TIM_CHANNEL_2, ANGLETOCCR(goal));
} }
// 往哪个方向转 // 往哪个方向转
@ -16,36 +16,36 @@ int Servo_toward(void)
return Servo_goal > Servo_position; return Servo_goal > Servo_position;
} }
// void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
// { {
// static uint8_t times = 0,tt=0; static uint8_t times = 0,tt=0;
// if (htim == &htim7) if (htim == &htim7)
// { {
// // if (++times == 250) // if (++times == 250)
// // { // {
// // LCD_ShowxNum(50, 50, ++tt, 4, 16, 0); // LCD_ShowxNum(50, 50, ++tt, 4, 16, 0);
// // times = 0; // times = 0;
// // } // }
// // else // else
// // { // {
// // return; // return;
// // } // }
// if (Servo_position == Servo_goal) if (Servo_position == Servo_goal)
// { {
// return; return;
// } }
// if (Servo_Speed == 1) if (Servo_Speed == 1)
// { {
// Servo_position = Servo_goal; Servo_position = Servo_goal;
// } }
// if (Servo_Speed == 2) if (Servo_Speed == 2)
// { {
// Servo_position += Servo_toward() * 9; Servo_position += Servo_toward() * 9;
// } }
// if (Servo_Speed == 3) if (Servo_Speed == 3)
// { {
// Servo_position += Servo_toward(); Servo_position += Servo_toward();
// } }
// Servo_SetAngle(Servo_position); Servo_SetAngle(Servo_position);
// } }
// } }

15
Src/stm32l4xx_it.c
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@ -60,6 +60,7 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim7;
extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
extern uint8_t Servo_Speed; extern uint8_t Servo_Speed;
@ -234,6 +235,20 @@ void USART1_IRQHandler(void)
/* USER CODE END USART1_IRQn 1 */ /* USER CODE END USART1_IRQn 1 */
} }
/**
* @brief This function handles TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
uint8_t NewCCRValue(int now_ccr,int plus) uint8_t NewCCRValue(int now_ccr,int plus)
{ {

67
Src/tim.c
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@ -25,6 +25,7 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim7;
TIM_HandleTypeDef htim15; TIM_HandleTypeDef htim15;
/* TIM1 init function */ /* TIM1 init function */
@ -91,6 +92,39 @@ void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 2 */ /* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1); HAL_TIM_MspPostInit(&htim1);
}
/* TIM7 init function */
void MX_TIM7_Init(void)
{
/* USER CODE BEGIN TIM7_Init 0 */
/* USER CODE END TIM7_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM7_Init 1 */
/* USER CODE END TIM7_Init 1 */
htim7.Instance = TIM7;
htim7.Init.Prescaler = 0;
htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
htim7.Init.Period = 65535;
htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM7_Init 2 */
/* USER CODE END TIM7_Init 2 */
} }
/* TIM15 init function */ /* TIM15 init function */
void MX_TIM15_Init(void) void MX_TIM15_Init(void)
@ -182,7 +216,22 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{ {
if(tim_baseHandle->Instance==TIM15) if(tim_baseHandle->Instance==TIM7)
{
/* USER CODE BEGIN TIM7_MspInit 0 */
/* USER CODE END TIM7_MspInit 0 */
/* TIM7 clock enable */
__HAL_RCC_TIM7_CLK_ENABLE();
/* TIM7 interrupt Init */
HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM15)
{ {
/* USER CODE BEGIN TIM15_MspInit 0 */ /* USER CODE BEGIN TIM15_MspInit 0 */
@ -261,7 +310,21 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{ {
if(tim_baseHandle->Instance==TIM15) if(tim_baseHandle->Instance==TIM7)
{
/* USER CODE BEGIN TIM7_MspDeInit 0 */
/* USER CODE END TIM7_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM7_CLK_DISABLE();
/* TIM7 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspDeInit 1 */
/* USER CODE END TIM7_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM15)
{ {
/* USER CODE BEGIN TIM15_MspDeInit 0 */ /* USER CODE BEGIN TIM15_MspDeInit 0 */