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b38ced942848d9d1e6d2b1953c86e4e14c224fb4
foc/Core/Src/main.c
赵天浩 b38ced9428 init
2026-02-23 21:13:00 +08:00

323 lines
9.6 KiB
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "TLE5012B.h"
#include <stdio.h>
#include "Open0.h"
#include "arm_math.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 */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
uint8_t buffer[64];
uint16_t adcBuffer[3];
float offset_angle = 0.0f;
uint8_t isReady = 0;
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* Prevent unused argument(s) compilation warning */
// UNUSED(htim);
if (htim->Instance==TIM1) {
// HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3,GPIO_PIN_SET);
// float Ia = (float)adcBuffer[0]*3.15f/4096;
// float Ib = (float)adcBuffer[1]*3.15f/4096;
// rtU.Ia = Ia;
// rtU.Ib = Ib;
// float angle = ReadAngle_Rad();
// rtU.Rotoranglethetamrad = angle;
// Controller_step();
// TIM1->CCR1 = (int)rtY.CCR3;
// TIM1->CCR2 = (int)rtY.CCR2;
// TIM1->CCR4 = (int)rtY.CCR1;
// HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3,GPIO_PIN_RESET);
if (isReady==1){
rtU.theta = ReadAngle_Rad() - offset_angle;
rtU.theta = rtU.theta*-1;
if (rtU.theta<0) {
rtU.theta+=2*PI;
}
rtU.theta = rtU.theta*7;
Open0_step();
TIM1->CCR1 = (uint32_t) rtY.CCR1;
TIM1->CCR2 = (uint32_t) rtY.CCR2;
TIM1->CCR4 = (uint32_t) rtY.CCR3;
}
}
}
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
if(hadc->Instance==ADC1){
// int size = sprintf((char *) buffer, "adc1-1: %d,adc1-2: %d,adc1-3: %d\n", (int) adcBuffer[0], (int) adcBuffer[1], (int) adcBuffer[2]);
// HAL_UART_Transmit_DMA(&huart1, buffer, size);
// HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_3);
}
}
/* 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_DMA_Init();
MX_ADC1_Init();
MX_CAN_Init();
MX_SPI3_Init();
MX_TIM1_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
// rtU.Speed_ref = 20;
HAL_TIM_OC_Start_IT(&htim1,TIM_CHANNEL_3);
HAL_TIM_Base_Start_IT(&htim1);
HAL_ADC_Start_DMA(&hadc1,(uint32_t *)adcBuffer,3);
TIM1->CCR1 = 394;
TIM1->CCR2 = 506;
TIM1->CCR4 = 506;
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);
HAL_Delay(700);
offset_angle = ReadAngle_Rad();
isReady = 1;
rtU.Uq = 0.5;
rtU.Ud = 0.0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// int int_part = (int)rtU.theta;
// int frac_part = (int)(fabs(rtU.theta) * 1000) % 1000;
// int size = sprintf((char *)buffer, "angle: %d.%03d\n", int_part, frac_part);
// HAL_UART_Transmit_DMA(&huart1, buffer, size);
HAL_Delay(10);
}
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_TIM1
|RCC_PERIPHCLK_ADC12;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12PLLCLK_DIV1;
PeriphClkInit.Tim1ClockSelection = RCC_TIM1CLK_PLLCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
#if 0
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_TIM1
|RCC_PERIPHCLK_ADC12;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
PeriphClkInit.Adc12ClockSelection = RCC_ADC12PLLCLK_DIV1;
PeriphClkInit.Tim1ClockSelection = RCC_TIM1CLK_PLLCLK;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
#endif
/* 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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