james
/
Stm32Project
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
Stm32Project/Src/main.c

390 lines
11 KiB
C
Raw Permalink Blame History

/* 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 */
Reference in New Issue View Git Blame Copy Permalink