Resolve "Запустить управление синусом с тестовыми токами"
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39 changed files with 524 additions and 302 deletions
342
firmware/Src/main.c
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342
firmware/Src/main.c
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "can.h"
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#include "spi.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <math.h>
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_NVIC_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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#define PI 3.14159265359f
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#define TWO_PI (2 * PI)
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#define MAX_CURRENT 3.0f // Max phase current
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#define POLE_PAIRS 3 // Motor's number of pole pairs
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#define TARGET_ANGLE 120.0f // Target angle in degrees
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#define TARGET_ANGLE_RAD (TARGET_ANGLE * PI / 180.0f) //
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void StartMotorControl(void) {
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
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}
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void StopMotorControl(void) {
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
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HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3);
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}
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void UpdateMotor(float a, float b, float c) {
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uint32_t pwm_value_a = (uint32_t)((a / MAX_CURRENT) * ((float)htim1.Init.Period));
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uint32_t pwm_value_b = (uint32_t)((b / MAX_CURRENT) * ((float)htim1.Init.Period));
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uint32_t pwm_value_c = (uint32_t)((c / MAX_CURRENT) * ((float)htim1.Init.Period));
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm_value_a);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, pwm_value_b);
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__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, pwm_value_c);
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}
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void RunMotorToAngle(float rotorAngle) {
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float phaseA, phaseB, phaseC;
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float rotorRadians = fmod(rotorAngle, 360.0f) * (PI / 180.0f);
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if (rotorAngle >= TARGET_ANGLE) {
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// StopMotor(); // Stop the motor
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}
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phaseA = MAX_CURRENT * sinf(rotorRadians);
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phaseB = MAX_CURRENT * sinf(rotorRadians - TWO_PI / 3.0f);
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phaseC = MAX_CURRENT * sinf(rotorRadians + TWO_PI / 3.0f);
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// char buf[100];
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// /// print all phases currents
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// sprintf(buf, "Phase A B C: %f %f %f\n", phaseA, phaseB, phaseC);
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// USART1_PutString(buf);
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UpdateMotor(phaseA, phaseB, phaseC);
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_TIM1_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_TIM2_Init();
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MX_SPI2_Init();
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MX_CAN1_Init();
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MX_CAN2_Init();
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MX_TIM3_Init();
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MX_ADC2_Init();
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/* Initialize interrupts */
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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AS5045_CS_Init();
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/// INIT DRV8313
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HAL_GPIO_WritePin(DRV_RESET_GPIO_Port, DRV_RESET_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(DRV_SLEEP_GPIO_Port, DRV_SLEEP_Pin, GPIO_PIN_SET);
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HAL_Delay(100);
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HAL_GPIO_WritePin(EN_U_GPIO_Port, EN_U_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(EN_V_GPIO_Port, EN_V_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(EN_W_GPIO_Port, EN_W_Pin, GPIO_PIN_SET);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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float angle_values[200];
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uint8_t angle_index = 0;
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float ADC123_ANGLE[4] = {0, 0, 0, 0};
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StartMotorControl();
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while (1)
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{
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// Ready to MERGE
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RunMotorToAngle(ADC123_ANGLE[3] + 10.0f);
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if (flag_10kHz == SET)
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{
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flag_10kHz = RESET;
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// Do something every 10 kHz
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// BLINK LED1
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HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
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uint8_t status = 0;
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uint16_t angle = AS5045_ReadAngle(&hspi2, &status);
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if (angle_index == 200)
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{
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angle_index = 0;
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float average = 0;
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for (int i = 0; i < 200; i++)
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{
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average += angle_values[i];
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}
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average /= 200.0;
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ADC123_ANGLE[0] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_15)); // Read ADC
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ADC123_ANGLE[1] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_8)); // Read ADC
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ADC123_ANGLE[2] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_9)); // Read ADC
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ADC123_ANGLE[3] = average;
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USART1_PutString("\xDE\xAD");
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SendFloatsWithLL((uint8_t *)ADC123_ANGLE);
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USART1_PutString("\xBE\xAF");
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// break;
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}
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if (status == 0)
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{
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float degrees = NormalizeToDegrees(angle);
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angle_values[angle_index] = degrees;
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angle_index++;
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}
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else
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{
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// Handle the error
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if (status & AS5040_DIAG_OC_FAULT)
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{
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// Offset Compensation not finished
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}
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if (status & AS5040_DIAG_CO_FAULT)
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{
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// Cordic Overflow error
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}
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if (status & AS5040_DIAG_LIN_FAULT)
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{
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// Linearity Alarm error
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}
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// StopMotorControl();
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}
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// sprintf(buf, "Average: %f\r\n", degrees);
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// USART1_PutString(buf);
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// HAL_Delay(100);
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}
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 4;
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RCC_OscInitStruct.PLL.PLLN = 180;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 2;
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RCC_OscInitStruct.PLL.PLLR = 2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Activate the Over-Drive mode
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*/
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if (HAL_PWREx_EnableOverDrive() != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief NVIC Configuration.
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* @retval None
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*/
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static void MX_NVIC_Init(void)
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{
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/* TIM1_BRK_TIM9_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 1, 0);
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HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
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/* TIM1_CC_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(TIM1_CC_IRQn, 3, 0);
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HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
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/* TIM2_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(TIM2_IRQn, 4, 0);
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HAL_NVIC_EnableIRQ(TIM2_IRQn);
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/* ADC_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
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HAL_NVIC_EnableIRQ(ADC_IRQn);
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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