servo/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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 "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.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 */
#define PWM_FRQ_HZ (20000)
#define ALG_TIMER_HZ (1000)
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
__disable_irq();
  /* 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 */
  SystemCoreClockUpdate();
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_ADC3_Init();
  MX_SPI1_Init();
  MX_TIM1_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  MX_CAN2_Init();
  MX_TIM2_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
  LL_GPIO_ResetOutputPin(LED1_GPIO_Port, LED1_Pin);
  LL_GPIO_ResetOutputPin(LED2_GPIO_Port, LED2_Pin);

  LL_ADC_EnableIT_JEOS(ADC1);
  LL_ADC_Enable(ADC1);

  LL_TIM_SetAutoReload(TIM1, SystemCoreClock/PWM_FRQ_HZ);
  LL_TIM_OC_SetCompareCH4(TIM1, (SystemCoreClock/PWM_FRQ_HZ)-1);
  LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH4);

  LL_TIM_EnableIT_CC4(TIM1);
  LL_TIM_EnableCounter(TIM1);
  /*TIM2 on Half clock bus so divide SystemClock by 2 */
  LL_TIM_SetAutoReload(TIM2, ((SystemCoreClock/ALG_TIMER_HZ)>>1)-1);
  LL_TIM_EnableIT_UPDATE(TIM2);
  LL_TIM_EnableCounter(TIM2);
  __enable_irq();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);
  while(LL_FLASH_GetLatency()!= LL_FLASH_LATENCY_5)
  {
  }
  LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
  LL_PWR_EnableOverDriveMode();
  LL_RCC_HSE_Enable();

   /* Wait till HSE is ready */
  while(LL_RCC_HSE_IsReady() != 1)
  {

  }
  LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_4, 180, LL_RCC_PLLP_DIV_2);
  LL_RCC_PLL_Enable();

   /* Wait till PLL is ready */
  while(LL_RCC_PLL_IsReady() != 1)
  {

  }
  LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
  LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
  LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);
  LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);

   /* Wait till System clock is ready */
  while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
  {

  }
  LL_SetSystemCoreClock(180000000);

   /* Update the time base */
  if (HAL_InitTick (TICK_INT_PRIORITY) != HAL_OK)
  {
    Error_Handler();
  }
  LL_RCC_SetTIMPrescaler(LL_RCC_TIM_PRESCALER_TWICE);
}

/**
  * @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);
  /* CAN2_RX0_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* CAN2_RX1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
  /* ADC_IRQn interrupt configuration */
  NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
  NVIC_EnableIRQ(ADC_IRQn);
  /* TIM1_CC_IRQn interrupt configuration */
  NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
  NVIC_EnableIRQ(TIM1_CC_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 */