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servo/Src/main.c
on4ip84 fc1f245eb2 Added CAN
2023-10-06 17:55:56 +03:00

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/* 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 */
#include "CAN_API.h"
#include "InitDrive.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 */
volatile uint16_t asSpiWordLow = 0;
volatile uint16_t asSpiWordHigh = 0;
volatile uint32_t asResultWord = 0;
typedef struct AS5045_data {
};
/* 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 */
SysTick_Config(0xFFFFFF);
LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM3_STOP);
LL_DBGMCU_APB1_GRP1_FreezePeriph( LL_DBGMCU_APB1_GRP1_TIM2_STOP);
LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM1_STOP);
LL_DBGMCU_APB2_GRP1_FreezePeriph( LL_DBGMCU_APB2_GRP1_TIM8_STOP);
/* 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_TIM1_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();
MX_SPI2_Init();
MX_CAN1_Init();
MX_CAN2_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);
/*Used center alogned mode so set ARR to Half of Calculated period*/
uint32_t TIM_ARR_value = (SystemCoreClock / PWM_FRQ_HZ) >> 1;
LL_TIM_SetAutoReload(TIM1, TIM_ARR_value - 1);
LL_TIM_OC_SetCompareCH4(TIM1, LL_TIM_GetAutoReload(TIM1) - 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);
LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
LL_SPI_SetBaudRatePrescaler(SPI2, LL_SPI_BAUDRATEPRESCALER_DIV64);
LL_SPI_Enable(SPI2);
/*Init Control structure*/
float TSAMPLE_FAST = 1.f / PWM_FRQ_HZ;
float TSAMPLE_SLOW = 1.f / ALG_TIMER_HZ;
DriveInit(TSAMPLE_FAST, TSAMPLE_SLOW);
//initCAN(CAN_BAUD_1000);
__enable_irq();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if (!LL_SPI_IsActiveFlag_OVR(SPI2)) {
LL_GPIO_ResetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
while (!LL_SPI_IsActiveFlag_TXE(SPI2)) {
};
LL_SPI_TransmitData16(SPI2, 0xFFFF);
while (!LL_SPI_IsActiveFlag_RXNE(SPI2)) {
}
uint16_t buffer = LL_SPI_ReceiveData16(SPI2);
asSpiWordLow = (buffer >> 4) & 0xFFF;
LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
} else {
LL_SPI_ClearFlag_OVR(SPI2);
}
CAN_TxHeaderTypeDef txheader;
uint8_t txdata[8];
txheader.DLC = 8;
txheader.ExtId = 0x11111111;
txheader.IDE = CAN_ID_STD;
txheader.RTR = CAN_RTR_DATA;
for (uint8_t i = 0; i < 8; i++) {
txdata[i] = i;
}
static uint32_t txMailBox = 0;
if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
(uint32_t*) &txMailBox) != HAL_OK) {
HAL_CAN_AbortTxRequest(&hcan2,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
}
/*
if (HAL_CAN_AddTxMessage(&hcan1, &txheader, txdata,
(uint32_t*) &txMailBox) != HAL_OK) {
HAL_CAN_AbortTxRequest(&hcan1,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
}
if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
(uint32_t*) &txMailBox) != HAL_OK) {
HAL_CAN_AbortTxRequest(&hcan2,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
}
*/
HAL_Delay(10);
static uint16_t state =0;
//state = HAL_CAN_GetState(&hcan2);
//LL_GPIO_TogglePin(CAN2_RX_GPIO_Port, CAN2_RX_Pin);
//LL_GPIO_TogglePin(CAN2_TX_GPIO_Port, CAN2_TX_Pin);
}
/* 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 */
NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),2, 0));
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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