/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_delay.h"
#include "bsp_key.h"
//#include "bsp_motor.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 ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
uint16_t encoder_update_cnt = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_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_USART1_UART_Init();
MX_TIM1_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
delay_init(168);
__IO uint32_t encoder_step;
__HAL_TIM_SET_COUNTER(&htim3, 0);
__HAL_TIM_CLEAR_FLAG(&htim3, TIM_FLAG_UPDATE);
__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_UPDATE);
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
encoder_step = encoder_update_cnt * htim3.Init.Period + __HAL_TIM_GET_COUNTER(&htim3);
if(KEY1_StateRead()==KEY_DOWN) /* 停止 */
{
HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
__HAL_TIM_SET_COUNTER(&htim1, 0);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period >> 1);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
}
if (KEY2_StateRead() == KEY_DOWN)
{
HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
__HAL_TIM_SET_COUNTER(&htim1, 0);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period / 6);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
}
if (KEY3_StateRead() == KEY_DOWN)
{
HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
__HAL_TIM_SET_COUNTER(&htim1, 0);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period / 3);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
}
if (KEY5_StateRead() == KEY_DOWN) /* 反方向 */
{
HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Stop(&htim1, TIM_CHANNEL_1);
__HAL_TIM_SET_COUNTER(&htim1, 0);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, htim1.Init.Period / 4 * 3);
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
}
/* 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 = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 20;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 10000;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 5000;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pins : PE2 PE3 PE4 PE0
PE1 */
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_0
|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : PD3 PD7 */
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
}
/* 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 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/**
******************************************************************************
* 文件名程: bsp_key.c
* 作 者: 硬石嵌入式开发团队
* 版 本: V1.0
* 编写日期: 2017-05-31
* 功 能: 板载独立按键底层驱动函数
******************************************************************************
* 说明:
* 本例程配套硬石stm32开发板YS-F1Pro使用。
*
* 淘宝:
* 论坛:http://www.ing10bbs.com
* 版权归硬石嵌入式开发团队所有,请勿商用。
******************************************************************************
*/
/* 包含头文件 ----------------------------------------------------------------*/
#include "bsp_key.h"
#include "bsp_delay.h"
/* 私有类型定义 --------------------------------------------------------------*/
/* 私有宏定义 ----------------------------------------------------------------*/
/* 私有变量 ------------------------------------------------------------------*/
/* 扩展变量 ------------------------------------------------------------------*/
/* 私有函数原形 --------------------------------------------------------------*/
/* 函数体 --------------------------------------------------------------------*/
/**
* 函数功能: 读取按键KEY1的状态
* 输入参数:无
* 返 回 值: KEY_DOWN:按键被按下;
* KEY_UP :按键没被按下
* 说 明:无。
*/
KEYState_TypeDef KEY1_StateRead(void)
{
/* 读取此时按键值并判断是否是被按下状态,如果是被按下状态进入函数内 */
if(HAL_GPIO_ReadPin(KEY1_GPIO,KEY1_GPIO_PIN)==KEY1_DOWN_LEVEL)
{
/* 延时一小段时间,消除抖动 */
delay_ms(20);
/* 延时时间后再来判断按键状态,如果还是按下状态说明按键确实被按下 */
if(HAL_GPIO_ReadPin(KEY1_GPIO,KEY1_GPIO_PIN)==KEY1_DOWN_LEVEL)
{
/* 等待按键弹开才退出按键扫描函数 */
while(HAL_GPIO_ReadPin(KEY1_GPIO,KEY1_GPIO_PIN)==KEY1_DOWN_LEVEL);
/* 按键扫描完毕,确定按键被按下,返回按键被按下状态 */
return KEY_DOWN;
}
}
/* 按键没被按下,返回没被按下状态 */
return KEY_UP;
}
/**
* 函数功能: 读取按键KEY2的状态
* 输入参数:无
* 返 回 值: KEY_DOWN:按键被按下;
* KEY_UP :按键没被按下
* 说 明:无。
*/
KEYState_TypeDef KEY2_StateRead(void)
{
/* 读取此时按键值并判断是否是被按下状态,如果是被按下状态进入函数内 */
if(HAL_GPIO_ReadPin(KEY2_GPIO,KEY2_GPIO_PIN)==KEY2_DOWN_LEVEL)
{
/* 延时一小段时间,消除抖动 */
delay_ms(20);
/* 延时时间后再来判断按键状态,如果还是按下状态说明按键确实被按下 */
if(HAL_GPIO_ReadPin(KEY2_GPIO,KEY2_GPIO_PIN)==KEY2_DOWN_LEVEL)
{
/* 等待按键弹开才退出按键扫描函数 */
while(HAL_GPIO_ReadPin(KEY2_GPIO,KEY2_GPIO_PIN)==KEY2_DOWN_LEVEL);
/* 按键扫描完毕,确定按键被按下,返回按键被按下状态 */
return KEY_DOWN;
}
}
/* 按键没被按下,返回没被按下状态 */
return KEY_UP;
}
/**
* 函数功能: 读取按键KEY3的状态
* 输入参数:无
* 返 回 值: KEY_DOWN:按键被按下;
* KEY_UP :按键没被按下
* 说 明:无。
*/
KEYState_TypeDef KEY3_StateRead(void)
{
/* 读取此时按键值并判断是否是被按下状态,如果是被按下状态进入函数内 */
if(HAL_GPIO_ReadPin(KEY3_GPIO,KEY3_GPIO_PIN)==KEY3_DOWN_LEVEL)
{
/* 延时一小段时间,消除抖动 */
delay_ms(20);
/* 延时时间后再来判断按键状态,如果还是按下状态说明按键确实被按下 */
if(HAL_GPIO_ReadPin(KEY3_GPIO,KEY3_GPIO_PIN)==KEY3_DOWN_LEVEL)
{
/* 等待按键弹开才退出按键扫描函数 */
while(HAL_GPIO_ReadPin(KEY3_GPIO,KEY3_GPIO_PIN)==KEY3_DOWN_LEVEL);
/* 按键扫描完毕,确定按键被按下,返回按键被按下状态 */
return KEY_DOWN;
}
}
/* 按键没被按下,返回没被按下状态 */
return KEY_UP;
}
/**
* 函数功能: 读取按键KEY4的状态
* 输入参数:无
* 返 回 值: KEY_DOWN:按键被按下;
* KEY_UP :按键没被按下
* 说 明:无。
*/
KEYState_TypeDef KEY4_StateRead(void)
{
while (1)
{
/* 读取此时按键值并判断是否是被按下状态,如果是被按下状态进入函数内 */
if(HAL_GPIO_ReadPin(KEY4_GPIO,KEY4_GPIO_PIN)==KEY4_DOWN_LEVEL)
{
/* 延时一小段时间,消除抖动 */
delay_ms(20);
/* 延时时间后再来判断按键状态,如果还是按下状态说明按键确实被按下 */
if(HAL_GPIO_ReadPin(KEY4_GPIO,KEY4_GPIO_PIN)==KEY4_DOWN_LEVEL)
{
/* 等待按键弹开才退出按键扫描函数 */
//while(HAL_GPIO_ReadPin(KEY4_GPIO,KEY4_GPIO_PIN)==KEY4_DOWN_LEVEL);
/* 按键扫描完毕,确定按键被按下,返回按键被按下状态 */
return KEY_DOWN;
}
}
else
{
/* 延时一小段时间,消除抖动 */
delay_ms(20);
/* 延时时间后再来判断按键状态,如果还是按下状态说明按键确实被按下 */
if(HAL_GPIO_ReadPin(KEY4_GPIO,KEY4_GPIO_PIN)!=KEY4_DOWN_LEVEL)
{
/* 等待按键弹开才退出按键扫描函数 */
//while(HAL_GPIO_ReadPin(KEY4_GPIO,KEY4_GPIO_PIN)==KEY4_DOWN_LEVEL);
/* 按键扫描完毕,确定按键被按下,返回按键被按下状态 */
return KEY_UP;
}
}
}
/* 按键没被按下,返回没被按下状态 */
// return KEY_UP;
}
/**
* 函数功能: 读取按键KEY5的状态
* 输入参数:无
* 返 回 值: KEY_DOWN:按键被按下;
* KEY_UP :按键没被按下
* 说 明:无。
*/
KEYState_TypeDef KEY5_StateRead(void)
{
/* 读取此时按键值并判断是否是被按下状态,如果是被按下状态进入函数内 */
if(HAL_GPIO_ReadPin(KEY5_GPIO,KEY5_GPIO_PIN)==KEY5_DOWN_LEVEL)
{
/* 延时一小段时间,消除抖动 */
delay_ms(20);
/* 延时时间后再来判断按键状态,如果还是按下状态说明按键确实被按下 */
if(HAL_GPIO_ReadPin(KEY5_GPIO,KEY5_GPIO_PIN)==KEY5_DOWN_LEVEL)
{
/* 等待按键弹开才退出按键扫描函数 */
while(HAL_GPIO_ReadPin(KEY5_GPIO,KEY5_GPIO_PIN)==KEY5_DOWN_LEVEL);
/* 按键扫描完毕,确定按键被按下,返回按键被按下状态 */
return KEY_DOWN;
}
}
/* 按键没被按下,返回没被按下状态 */
return KEY_UP;
}
/******************* (C) COPYRIGHT 2015-2020 硬石嵌入式开发团队 *****END OF FILE****/
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2022 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_motor.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* 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 -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/
/**
* @brief This function handles TIM3 global interrupt.
*/
void TIM3_IRQHandler(void)
{
/* USER CODE BEGIN TIM3_IRQn 0 */
/* USER CODE END TIM3_IRQn 0 */
HAL_TIM_IRQHandler(&htim3);
/* USER CODE BEGIN TIM3_IRQn 1 */
/* USER CODE END TIM3_IRQn 1 */
}
/**
* @brief This function handles USART1 global interrupt.
*/
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
/* USER CODE END USART1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim == &htim3)
{
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3))
{
encoder_update_cnt--;
}
else
{
encoder_update_cnt++;
}
}
}
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
总结:
1、编码器11线,电机减速比21.3,所以理论上走一圈编码器走的步数为11421.3=937.2
调试大概走一圈
2、
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8、