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旋转编码器控制LED明暗,按钮控制电机转速

This commit is contained in:
james 2024-11-07 21:23:17 +08:00
parent b6a0e98611
commit 7908b65803
35 changed files with 5135 additions and 4994 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
Inc/key.h
View File

@ -1,2 +1,5 @@
#define KEY_PRESSED GPIO_PIN_RESET
#define KEY_NOT_PRESSED GPIO_PIN_SET
//WK_UP 是高电平有效，其他三个按键是低电平有效。
#define KEY_UP_PRESSED GPIO_PIN_SET
#define KEY_UP_NOT_PRESSED GPIO_PIN_RESET

20
Inc/main.h
View File

@ -57,6 +57,10 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define KEY_UP_Pin GPIO_PIN_13
#define KEY_UP_GPIO_Port GPIOC
#define BIN1_Pin GPIO_PIN_4
#define BIN1_GPIO_Port GPIOA
#define BEEP_Pin GPIO_PIN_2
#define BEEP_GPIO_Port GPIOB
#define LED_R_Pin GPIO_PIN_7
@ -65,14 +69,18 @@ void Error_Handler(void);
#define LED_G_GPIO_Port GPIOE
#define LED_B_Pin GPIO_PIN_9
#define LED_B_GPIO_Port GPIOE
#define BIN2_Pin GPIO_PIN_11
#define BIN2_GPIO_Port GPIOB
#define PWMB_Pin GPIO_PIN_13
#define PWMB_GPIO_Port GPIOB
#define SERVO_Pin GPIO_PIN_15
#define SERVO_GPIO_Port GPIOB
#define KEY0_Pin GPIO_PIN_8
#define KEY0_GPIO_Port GPIOD
#define KEY1_Pin GPIO_PIN_9
#define KEY1_GPIO_Port GPIOD
#define KEY2_Pin GPIO_PIN_10
#define KEY2_GPIO_Port GPIOD
#define KEY_LEFT_Pin GPIO_PIN_8
#define KEY_LEFT_GPIO_Port GPIOD
#define KEY_DOWN_Pin GPIO_PIN_9
#define KEY_DOWN_GPIO_Port GPIOD
#define KEY_RIGHT_Pin GPIO_PIN_10
#define KEY_RIGHT_GPIO_Port GPIOD
#define PB8_EXTI_Pin GPIO_PIN_8
#define PB8_EXTI_GPIO_Port GPIOB
#define PB8_EXTI_EXTI_IRQn EXTI9_5_IRQn

2
Inc/servo.h
View File

@ -1,6 +1,6 @@
#include "main.h"
//Tanslate angle into Capture Compare Register value
#define ANGLETOCCR(angle) 2000 * (angle) / 180 + 500
#define ANGLETOCCR(angle) (2000 * (angle) / 180 + 500)
extern int16_t Servo_Speed,Servo_goal,Servo_position;

2
Inc/tim.h
View File

@ -49,7 +49,7 @@ void MX_TIM15_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */
int NewCCRValue(int now_ccr,int plus,int maxvalue);
/* USER CODE END Prototypes */
#ifdef __cplusplus

BIN
MDK-ARM/Project/Project.axf
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Binary file not shown.

10
MDK-ARM/Project/Project.build_log.htm
View File

@ -27,12 +27,12 @@ Project File Date: 11/07/2024
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\Keil5\ARM\ARMCC\Bin'
Build target 'Project'
compiling servo.c...
..\Src\servo.c(25): warning: #177-D: variable "tt" was declared but never referenced
static uint8_t times = 0, tt = 0;
..\Src\servo.c: 1 warning, 0 errors
compiling main.c...
../Src/main.c(86): warning: #177-D: variable "ADC_Value" was declared but never referenced
uint32_t ADC_Value;
../Src/main.c: 1 warning, 0 errors
linking...
Program Size: Code=18972 RO-data=59236 RW-data=40 ZI-data=2896
Program Size: Code=19496 RO-data=59236 RW-data=44 ZI-data=2892
FromELF: creating hex file...
"Project\Project.axf" - 0 Error(s), 1 Warning(s).

7229
MDK-ARM/Project/Project.hex
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1097
MDK-ARM/Project/Project.htm
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File diff suppressed because it is too large Load Diff

1155
MDK-ARM/Project/Project.map
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File diff suppressed because it is too large Load Diff

50
MDK-ARM/Project/Project_Project.dep
View File

@ -1,5 +1,5 @@
Dependencies for Project 'Project', Target 'Project': (DO NOT MODIFY !)
F (startup_stm32l475xx.s)(0x672C6B22)(--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)(0x672CB687)(--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)
I (../Inc/sys.h)(0x67279973)
I (../Drivers/CMSIS/Device/ST/STM32L4xx/Include/stm32l4xx.h)(0x671507AF)
@ -116,8 +116,8 @@ 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_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/main.c)(0x672C77C1)(--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)(0x672C6B20)
F (../Src/main.c)(0x672CBCC5)(--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)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -155,18 +155,18 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/adc.h)(0x67284CF2)
I (../Inc/spi.h)(0x67279574)
I (../Inc/tim.h)(0x672C524A)
I (../Inc/tim.h)(0x672CB995)
I (../Inc/usart.h)(0x67276B93)
I (../Inc/gpio.h)(0x6715E327)
I (../Inc/lcd.h)(0x5BF21D0E)
I (../Inc/sys.h)(0x67279973)
I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
I (D:\Keil5\ARM\ARMCC\include\string.h)(0x588B8344)
I (../Inc/servo.h)(0x672C7728)
I (../Inc/key.h)(0x672C7132)
F (../Src/gpio.c)(0x672C6B1E)(--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/servo.h)(0x672CAFBD)
I (../Inc/key.h)(0x672CBCA2)
F (../Src/gpio.c)(0x672CB682)(--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/main.h)(0x672C6B20)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -202,9 +202,9 @@ 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_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/adc.c)(0x672C6DE4)(--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\adc.o --omf_browse project\adc.crf --depend project\adc.d)
F (../Src/adc.c)(0x672CAB52)(--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\adc.o --omf_browse project\adc.crf --depend project\adc.d)
I (../Inc/adc.h)(0x67284CF2)
I (../Inc/main.h)(0x672C6B20)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -242,7 +242,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/spi.c)(0x67279973)(--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\spi.o --omf_browse project\spi.crf --depend project\spi.d)
I (../Inc/spi.h)(0x67279574)
I (../Inc/main.h)(0x672C6B20)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -278,9 +278,9 @@ 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_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
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)(0x672C524A)
I (../Inc/main.h)(0x672C6B20)
F (../Src/tim.c)(0x672CB991)(--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)(0x672CB995)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -318,7 +318,7 @@ I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/usart.c)(0x6728AD52)(--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\usart.o --omf_browse project\usart.crf --depend project\usart.d)
I (../Inc/usart.h)(0x67276B93)
I (../Inc/main.h)(0x672C6B20)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -354,8 +354,8 @@ 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_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
F (../Src/stm32l4xx_it.c)(0x672C7765)(--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)(0x672C6B20)
F (../Src/stm32l4xx_it.c)(0x672CB9B9)(--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)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -392,13 +392,13 @@ 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_ex.h)(0x671507AF)
I (../Inc/stm32l4xx_it.h)(0x672C524A)
I (../Inc/tim.h)(0x672C524A)
I (../Inc/servo.h)(0x672C7728)
I (../Inc/tim.h)(0x672CB995)
I (../Inc/servo.h)(0x672CAFBD)
I (../Inc/usart.h)(0x67276B93)
I (D:\Keil5\ARM\ARMCC\include\stdio.h)(0x588B8344)
I (../Inc/gpio.h)(0x6715E327)
F (../Src/stm32l4xx_hal_msp.c)(0x6715E328)(--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_msp.o --omf_browse project\stm32l4xx_hal_msp.crf --depend project\stm32l4xx_hal_msp.d)
I (../Inc/main.h)(0x672C6B20)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -435,8 +435,8 @@ 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_ex.h)(0x671507AF)
F (..\Src\servo.c)(0x672C78EF)(--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)(0x672C7728)
I (../Inc/main.h)(0x672C6B20)
I (../Inc/servo.h)(0x672CAFBD)
I (../Inc/main.h)(0x672CB685)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal.h)(0x671507AF)
I (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_rcc.h)(0x671507AF)
@ -472,12 +472,12 @@ 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_uart.h)(0x671507AF)
I (../Drivers/STM32L4xx_HAL_Driver/Inc/stm32l4xx_hal_uart_ex.h)(0x671507AF)
I (../Inc/tim.h)(0x672C524A)
I (../Inc/tim.h)(0x672CB995)
I (../Inc/lcd.h)(0x5BF21D0E)
I (../Inc/sys.h)(0x67279973)
F (..\Inc\servo.h)(0x672C7728)()
F (..\Inc\servo.h)(0x672CAFBD)()
F (..\Src\key.c)(0x672C6F85)(--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\key.o --omf_browse project\key.crf --depend project\key.d)
F (..\Inc\key.h)(0x672C7132)()
F (..\Inc\key.h)(0x672CBCA2)()
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 (../Inc/stm32l4xx_hal_conf.h)(0x67299DDD)

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Project.ioc
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@ -29,28 +29,32 @@ Mcu.IP8=USART1
Mcu.IPNb=9
Mcu.Name=STM32L475V(C-E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN (PH0)
Mcu.Pin1=PH1-OSC_OUT (PH1)
Mcu.Pin10=PD10
Mcu.Pin11=PA9
Mcu.Pin12=PA10
Mcu.Pin13=PC10
Mcu.Pin14=PC11
Mcu.Pin15=PC12
Mcu.Pin16=PB8
Mcu.Pin17=PB9
Mcu.Pin18=VP_SYS_VS_Systick
Mcu.Pin19=VP_TIM7_VS_ClockSourceINT
Mcu.Pin2=PC2
Mcu.Pin20=VP_TIM15_VS_ClockSourceINT
Mcu.Pin3=PB2
Mcu.Pin4=PE7
Mcu.Pin5=PE8
Mcu.Pin6=PE9
Mcu.Pin7=PB15
Mcu.Pin8=PD8
Mcu.Pin9=PD9
Mcu.PinsNb=21
Mcu.Pin0=PC13
Mcu.Pin1=PH0-OSC_IN (PH0)
Mcu.Pin10=PB13
Mcu.Pin11=PB15
Mcu.Pin12=PD8
Mcu.Pin13=PD9
Mcu.Pin14=PD10
Mcu.Pin15=PA9
Mcu.Pin16=PA10
Mcu.Pin17=PC10
Mcu.Pin18=PC11
Mcu.Pin19=PC12
Mcu.Pin2=PH1-OSC_OUT (PH1)
Mcu.Pin20=PB8
Mcu.Pin21=PB9
Mcu.Pin22=VP_SYS_VS_Systick
Mcu.Pin23=VP_TIM7_VS_ClockSourceINT
Mcu.Pin24=VP_TIM15_VS_ClockSourceINT
Mcu.Pin3=PC2
Mcu.Pin4=PA4
Mcu.Pin5=PB2
Mcu.Pin6=PE7
Mcu.Pin7=PE8
Mcu.Pin8=PE9
Mcu.Pin9=PB11
Mcu.PinsNb=25
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32L475VETx
@ -72,8 +76,23 @@ NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
PA4.GPIO_Label=BIN1
PA4.GPIO_PuPd=GPIO_PULLUP
PA4.Locked=true
PA4.Signal=GPIO_Output
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB11.GPIOParameters=GPIO_PuPd,GPIO_Label
PB11.GPIO_Label=BIN2
PB11.GPIO_PuPd=GPIO_PULLDOWN
PB11.Locked=true
PB11.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_Label
PB13.GPIO_Label=PWMB
PB13.Locked=true
PB13.Mode=PWM Generation1 CH1N
PB13.Signal=TIM15_CH1N
PB15.GPIOParameters=GPIO_Label
PB15.GPIO_Label=SERVO
PB15.Locked=true
@ -99,17 +118,21 @@ PC11.Mode=Full_Duplex_Master
PC11.Signal=SPI3_MISO
PC12.Mode=Full_Duplex_Master
PC12.Signal=SPI3_MOSI
PC13.GPIOParameters=GPIO_Label
PC13.GPIO_Label=KEY_UP
PC13.Locked=true
PC13.Signal=GPIO_Input
PC2.Signal=ADCx_IN3
PD10.GPIOParameters=GPIO_Label
PD10.GPIO_Label=KEY2
PD10.GPIO_Label=KEY_RIGHT
PD10.Locked=true
PD10.Signal=GPIO_Input
PD8.GPIOParameters=GPIO_Label
PD8.GPIO_Label=KEY0
PD8.GPIO_Label=KEY_LEFT
PD8.Locked=true
PD8.Signal=GPIO_Input
PD9.GPIOParameters=GPIO_Label
PD9.GPIO_Label=KEY1
PD9.GPIO_Label=KEY_DOWN
PD9.Locked=true
PD9.Signal=GPIO_Input
PE7.GPIOParameters=GPIO_PuPd,GPIO_Label
@ -233,13 +256,13 @@ SPI3.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
SPI3.Mode=SPI_MODE_MASTER
SPI3.VirtualType=VM_MASTER
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation1\ CH1\ CH1N=TIM_CHANNEL_1
TIM1.IPParameters=Channel-PWM Generation1 CH1 CH1N,Channel-PWM Generation1 CH1,Period,Prescaler,Pulse-PWM Generation1 CH1
TIM1.IPParameters=Channel-PWM Generation1 CH1,Period,Prescaler,Pulse-PWM Generation1 CH1
TIM1.Period=100-1
TIM1.Prescaler=720-1
TIM1.Pulse-PWM\ Generation1\ CH1=100
TIM15.Channel-PWM\ Generation1\ CH1N=TIM_CHANNEL_1
TIM15.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM15.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation2 CH2
TIM15.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation2 CH2,Channel-PWM Generation1 CH1N
TIM15.Period=20000-1
TIM15.Prescaler=72-1
TIM15.Pulse-PWM\ Generation2\ CH2=500

203
Src/adc.c
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@ -30,129 +30,130 @@ ADC_HandleTypeDef hadc1;
void MX_ADC1_Init(void)
{
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE BEGIN ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
/* USER CODE END ADC1_Init 0 */
ADC_MultiModeTypeDef multimode = {0};
ADC_ChannelConfTypeDef sConfig = {0};
ADC_MultiModeTypeDef multimode = {0};
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE BEGIN ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/* USER CODE END ADC1_Init 1 */
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV2;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc1.Init.OversamplingMode = DISABLE;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Common config
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV2;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc1.Init.LowPowerAutoWait = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
hadc1.Init.OversamplingMode = DISABLE;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}
/** Configure the ADC multi-mode
*/
multimode.Mode = ADC_MODE_INDEPENDENT;
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
{
Error_Handler();
}
/** Configure the ADC multi-mode
*/
multimode.Mode = ADC_MODE_INDEPENDENT;
if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
{
Error_Handler();
}
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_3;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/** Configure Regular Channel
*/
sConfig.Channel = ADC_CHANNEL_3;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_2CYCLES_5;
sConfig.SingleDiff = ADC_SINGLE_ENDED;
sConfig.OffsetNumber = ADC_OFFSET_NONE;
sConfig.Offset = 0;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
/* USER CODE END ADC1_Init 2 */
}
void HAL_ADC_MspInit(ADC_HandleTypeDef *adcHandle)
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if (adcHandle->Instance == ADC1)
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCCLKSOURCE_PLLSAI1;
PeriphClkInit.PLLSAI1.PLLSAI1Source = RCC_PLLSOURCE_HSE;
PeriphClkInit.PLLSAI1.PLLSAI1M = 1;
PeriphClkInit.PLLSAI1.PLLSAI1N = 9;
PeriphClkInit.PLLSAI1.PLLSAI1P = RCC_PLLP_DIV7;
PeriphClkInit.PLLSAI1.PLLSAI1Q = RCC_PLLQ_DIV2;
PeriphClkInit.PLLSAI1.PLLSAI1R = RCC_PLLR_DIV6;
PeriphClkInit.PLLSAI1.PLLSAI1ClockOut = RCC_PLLSAI1_ADC1CLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCCLKSOURCE_PLLSAI1;
PeriphClkInit.PLLSAI1.PLLSAI1Source = RCC_PLLSOURCE_HSE;
PeriphClkInit.PLLSAI1.PLLSAI1M = 1;
PeriphClkInit.PLLSAI1.PLLSAI1N = 9;
PeriphClkInit.PLLSAI1.PLLSAI1P = RCC_PLLP_DIV7;
PeriphClkInit.PLLSAI1.PLLSAI1Q = RCC_PLLQ_DIV2;
PeriphClkInit.PLLSAI1.PLLSAI1R = RCC_PLLR_DIV6;
PeriphClkInit.PLLSAI1.PLLSAI1ClockOut = RCC_PLLSAI1_ADC1CLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* ADC1 clock enable */
__HAL_RCC_ADC_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC2 ------> ADC1_IN3
*/
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG_ADC_CONTROL;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
Error_Handler();
}
/* ADC1 clock enable */
__HAL_RCC_ADC_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC2 ------> ADC1_IN3
*/
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG_ADC_CONTROL;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef *adcHandle)
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if (adcHandle->Instance == ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC_CLK_DISABLE();
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC_CLK_DISABLE();
/**ADC1 GPIO Configuration
PC2 ------> ADC1_IN3
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_2);
/**ADC1 GPIO Configuration
PC2 ------> ADC1_IN3
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_2);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */

31
Src/gpio.c
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@ -45,19 +45,35 @@ void MX_GPIO_Init(void)
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(BEEP_GPIO_Port, BEEP_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, BEEP_Pin|BIN2_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, LED_R_Pin|LED_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = KEY_UP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(KEY_UP_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = BIN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(BIN1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = BEEP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@ -72,8 +88,15 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = BIN2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(BIN2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PDPin PDPin PDPin */
GPIO_InitStruct.Pin = KEY0_Pin|KEY1_Pin|KEY2_Pin;
GPIO_InitStruct.Pin = KEY_LEFT_Pin|KEY_DOWN_Pin|KEY_RIGHT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

201
Src/main.c
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@ -41,7 +41,7 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define MOTORCCR(speed) (20000*(speed)/20)
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@ -55,7 +55,7 @@
char rxdata[52];
uint16_t rxlen = 52;
uint8_t LED_B_ON = 0, LED1_ON = 0, LED2_ON = 0, LED3_ON = 0;
uint8_t Motor_Speed=0;
int cnt = 0;
/* USER CODE END PV */
@ -76,41 +76,41 @@ void Key_get(void);
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE BEGIN 1 */
uint32_t ADC_Value;
/* USER CODE END 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE BEGIN SysInit */
/* USER CODE END 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 */
/* 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));
@ -118,13 +118,17 @@ int main(void)
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);
/* USER CODE END 2 */
HAL_TIMEx_PWMN_Start(&htim15, TIM_CHANNEL_1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
/* 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);
@ -132,63 +136,66 @@ int main(void)
{
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);
LCD_ShowxNum(50, 200, Servo_goal, 4, 16, 0);
LCD_ShowxNum(50, 150, Servo_position, 4, 16, 0);
/* USER CODE END WHILE */
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE BEGIN 3 */
Key_get();
// Servo_test();
Breathing_light();
//Breathing_light();
}
/* USER CODE END 3 */
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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();
}
/** 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 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;
/** 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();
}
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
@ -300,56 +307,74 @@ void ADC_BEEP(void)
}
void Key_get(void)
{
if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == KEY_PRESSED)
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(KEY0_GPIO_Port, KEY0_Pin) == KEY_PRESSED)
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(KEY1_GPIO_Port, KEY1_Pin) == KEY_PRESSED)
if (HAL_GPIO_ReadPin(KEY_RIGHT_GPIO_Port, KEY_RIGHT_Pin) == KEY_PRESSED)
{
HAL_Delay(15);
while (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == KEY_PRESSED)
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);
HAL_Delay(15);
HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
__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);
__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
*/
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* 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 */
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
* @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 CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

0
Src/motor.c Normal file
View File

22
Src/stm32l4xx_it.c
View File

@ -250,38 +250,28 @@ void TIM7_IRQHandler(void)
}
/* USER CODE BEGIN 1 */
uint8_t NewCCRValue(int now_ccr,int plus)
{
if(now_ccr==100&&plus>0)
{
return now_ccr;
}
if(now_ccr==0&&plus<0)
{
return now_ccr;
}
return now_ccr+plus;
}
void SET3CCR(int plus)
{
if(LED3_ON)
{
uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus));
uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus,100));
}
// if(LED2_ON)
// {
// uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
// __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus));
// __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus,100));
// }
// if(LED1_ON)
// {
// uint8_t now_ccr=__HAL_TIM_GET_COMPARE(&htim1,TIM_CHANNEL_1);
// __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus));
// __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,NewCCRValue(now_ccr,plus,100));
// }
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin==PB9_EXTI_Pin)
{
if(HAL_GPIO_ReadPin(PB8_EXTI_GPIO_Port,PB8_EXTI_Pin)==RESET)

25
Src/tim.c
View File

@ -169,12 +169,17 @@ void MX_TIM15_Init(void)
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 500;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigOC.Pulse = 500;
if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
@ -275,14 +280,15 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM15 GPIO Configuration
PB13 ------> TIM15_CH1N
PB15 ------> TIM15_CH2
*/
GPIO_InitStruct.Pin = SERVO_Pin;
GPIO_InitStruct.Pin = PWMB_Pin|SERVO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF14_TIM15;
HAL_GPIO_Init(SERVO_GPIO_Port, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM15_MspPostInit 1 */
@ -338,5 +344,16 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
}
/* USER CODE BEGIN 1 */
int NewCCRValue(int now_ccr,int plus,int maxvalue)
{
if(now_ccr+plus>maxvalue&&plus>0)
{
return now_ccr;
}
if(now_ccr+plus<0&&plus<0)
{
return now_ccr;
}
return now_ccr+plus;
}
/* USER CODE END 1 */