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servo/Src/main.c
vanyabeat 578962d9fe ADD: DEADBEEF packet #8
2024-01-24 00:04:00 +03:00

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/* 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 "can.h"
#include "gpio.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */
/* 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 */
/* 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_TIM1_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();
MX_SPI2_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_TIM3_Init();
MX_ADC2_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
AS5045_CS_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
float angle_values[200];
uint8_t angle_index = 0;
float ADC123_ANGLE[4] = {0, 0, 0, 0};
while (1)
{
if (flag_10kHz == SET)
{
flag_10kHz = RESET;
// Do something every 10 kHz
// BLINK LED1
HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
uint8_t status = 0;
uint16_t angle = AS5045_ReadAngle(&hspi2, &status);
if (angle_index == 200)
{
angle_index = 0;
float average = 0;
for (int i = 0; i < 20; i++)
{
average += angle_values[i];
}
average /= 20.0;
ADC123_ANGLE[0] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_15)); // Read ADC
ADC123_ANGLE[1] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_8)); // Read ADC
ADC123_ANGLE[2] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_9)); // Read ADC
ADC123_ANGLE[3] = average;
USART1_PutString("\xDE\xAD");
SendFloatsWithLL((uint8_t *)ADC123_ANGLE);
USART1_PutString("\xBE\xAF");
}
if (status == 0)
{
float degrees = NormalizeToDegrees(angle);
angle_values[angle_index] = degrees;
angle_index++;
}
else
{
// Handle the error
if (status & AS5040_DIAG_OC_FAULT)
{
// Offset Compensation not finished
}
if (status & AS5040_DIAG_CO_FAULT)
{
// Cordic Overflow error
}
if (status & AS5040_DIAG_LIN_FAULT)
{
// Linearity Alarm error
}
}
// sprintf(buf, "Average: %f\r\n", degrees);
// USART1_PutString(buf);
// HAL_Delay(100);
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* 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
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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 = 4;
RCC_OscInitStruct.PLL.PLLN = 180;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Activate the Over-Drive mode
*/
if (HAL_PWREx_EnableOverDrive() != 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_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief NVIC Configuration.
* @retval None
*/
static void MX_NVIC_Init(void)
{
/* TIM1_BRK_TIM9_IRQn interrupt configuration */
NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 1, 0));
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
/* TIM1_CC_IRQn interrupt configuration */
NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 3, 0));
NVIC_EnableIRQ(TIM1_CC_IRQn);
/* TIM2_IRQn interrupt configuration */
NVIC_SetPriority(TIM2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 4, 0));
NVIC_EnableIRQ(TIM2_IRQn);
/* ADC_IRQn interrupt configuration */
HAL_NVIC_SetPriority(ADC_IRQn, 2, 0);
HAL_NVIC_EnableIRQ(ADC_IRQn);
}
/* USER CODE BEGIN 4 */
/* 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 */
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