p_Intelligent_winding_robot_v2
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Intelligent_winding_robot_main_board
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update

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zhaohe 2 years ago
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0247887ed3
13 changed files with 339 additions and 11 deletions
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  1. 4
      .cproject
  2. 3
      Core/Inc/stm32f4xx_it.h
  3. 3
      Core/Inc/tim.h
  4. 2
      Core/Src/freertos.c
  5. 5
      Core/Src/main.c
  6. 45
      Core/Src/stm32f4xx_it.c
  7. 70
      Core/Src/tim.c
  8. BIN
      Explorer STM32F4_V2.2_SCH.pdf
  9. 2
      README.md
  10. 83
      mainboard Debug.launch
  11. 17
      mainboard.ioc
  12. 112
      usrc/main.cpp
  13. 4
      usrc/project_configs.h

4
.cproject
View File

@ -25,6 +25,8 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1444219737" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2013081428" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407ZGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F || || || USE_HAL_DRIVER | STM32F407xx || || Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32F407ZGTX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.2099520072" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="168" valueType="string"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.412061075" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.1033151657" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.488425717" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/mainboard}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1708127142" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.2063489662" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@ -101,6 +103,7 @@
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="usrc"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
</sourceEntries>
</configuration>
@ -197,6 +200,7 @@
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="sdk"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="usrc"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
</sourceEntries>
</configuration>

3
Core/Inc/stm32f4xx_it.h
View File

@ -52,7 +52,10 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void TIM1_UP_TIM10_IRQHandler(void);
void TIM1_TRG_COM_TIM11_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
void TIM7_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

3
Core/Inc/tim.h
View File

@ -36,12 +36,15 @@ extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern TIM_HandleTypeDef htim10;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM6_Init(void);
void MX_TIM7_Init(void);
void MX_TIM10_Init(void);
/* USER CODE BEGIN Prototypes */

2
Core/Src/freertos.c
View File

@ -102,7 +102,7 @@ void MX_FREERTOS_Init(void) {
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 512);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */

5
Core/Src/main.c
View File

@ -95,6 +95,7 @@ int main(void)
MX_TIM7_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM10_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@ -164,9 +165,9 @@ void SystemClock_Config(void)
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
#if 0
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM11 interrupt took place, inside

45
Core/Src/stm32f4xx_it.c
View File

@ -55,6 +55,9 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern TIM_HandleTypeDef htim10;
extern TIM_HandleTypeDef htim11;
/* USER CODE BEGIN EV */
@ -160,6 +163,20 @@ void DebugMon_Handler(void)
/******************************************************************************/
/**
* @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
*/
void TIM1_UP_TIM10_IRQHandler(void)
{
/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 0 */
/* USER CODE END TIM1_UP_TIM10_IRQn 0 */
HAL_TIM_IRQHandler(&htim10);
/* USER CODE BEGIN TIM1_UP_TIM10_IRQn 1 */
/* USER CODE END TIM1_UP_TIM10_IRQn 1 */
}
/**
* @brief This function handles TIM1 trigger and commutation interrupts and TIM11 global interrupt.
*/
void TIM1_TRG_COM_TIM11_IRQHandler(void)
@ -173,6 +190,34 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void)
/* USER CODE END TIM1_TRG_COM_TIM11_IRQn 1 */
}
/**
* @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/**
* @brief This function handles TIM7 global interrupt.
*/
void TIM7_IRQHandler(void)
{
/* USER CODE BEGIN TIM7_IRQn 0 */
/* USER CODE END TIM7_IRQn 0 */
HAL_TIM_IRQHandler(&htim7);
/* USER CODE BEGIN TIM7_IRQn 1 */
/* USER CODE END TIM7_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

70
Core/Src/tim.c
View File

@ -26,6 +26,7 @@
TIM_HandleTypeDef htim6;
TIM_HandleTypeDef htim7;
TIM_HandleTypeDef htim10;
/* TIM6 init function */
void MX_TIM6_Init(void)
@ -93,6 +94,32 @@ void MX_TIM7_Init(void)
/* USER CODE END TIM7_Init 2 */
}
/* TIM10 init function */
void MX_TIM10_Init(void)
{
/* USER CODE BEGIN TIM10_Init 0 */
/* USER CODE END TIM10_Init 0 */
/* USER CODE BEGIN TIM10_Init 1 */
/* USER CODE END TIM10_Init 1 */
htim10.Instance = TIM10;
htim10.Init.Prescaler = 0;
htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
htim10.Init.Period = 65535;
htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM10_Init 2 */
/* USER CODE END TIM10_Init 2 */
}
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
@ -104,6 +131,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspInit 0 */
/* TIM6 clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
@ -115,10 +146,29 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM7_MspInit 0 */
/* TIM7 clock enable */
__HAL_RCC_TIM7_CLK_ENABLE();
/* TIM7 interrupt Init */
HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspInit 1 */
/* USER CODE END TIM7_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspInit 0 */
/* USER CODE END TIM10_MspInit 0 */
/* TIM10 clock enable */
__HAL_RCC_TIM10_CLK_ENABLE();
/* TIM10 interrupt Init */
HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
/* USER CODE BEGIN TIM10_MspInit 1 */
/* USER CODE END TIM10_MspInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
@ -131,6 +181,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM6_CLK_DISABLE();
/* TIM6 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspDeInit 1 */
/* USER CODE END TIM6_MspDeInit 1 */
@ -142,10 +195,27 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM7_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM7_CLK_DISABLE();
/* TIM7 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM7_IRQn);
/* USER CODE BEGIN TIM7_MspDeInit 1 */
/* USER CODE END TIM7_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
/* USER CODE BEGIN TIM10_MspDeInit 0 */
/* USER CODE END TIM10_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM10_CLK_DISABLE();
/* TIM10 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
/* USER CODE BEGIN TIM10_MspDeInit 1 */
/* USER CODE END TIM10_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */

BIN
Explorer STM32F4_V2.2_SCH.pdf
View File

2
README.md
View File

@ -0,0 +1,2 @@
开发板资料
http://47.111.11.73/docs/boards/stm32/zdyz_stm32f407_explorer.html

83
mainboard Debug.launch
View File

@ -0,0 +1,83 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value="debug_non_secure_L3"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
<intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/mainboard.elf&quot;,&quot;fProjectName&quot;:&quot;mainboard&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="168000000"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="true"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\p_Intelligent_winding_robot\mainboard\Debug\st-link_gdbserver_log.txt"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="connect_under_reset"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="threadx"/>
<booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
<stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="cortex_m0"/>
<intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/mainboard.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="mainboard"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.487550817"/>
<booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/mainboard"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
<stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
</launchConfiguration>

17
mainboard.ioc
View File

@ -8,7 +8,7 @@ CAN1.CalculateTimeQuantum=380.95238095238096
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT
FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
FREERTOS.configUSE_NEWLIB_REENTRANT=1
FREERTOS.configUSE_RECURSIVE_MUTEXES=1
File.Version=6
@ -23,15 +23,17 @@ Mcu.IP3=RCC
Mcu.IP4=SYS
Mcu.IP5=TIM6
Mcu.IP6=TIM7
Mcu.IP7=USART1
Mcu.IP8=USART2
Mcu.IPNb=9
Mcu.IP7=TIM10
Mcu.IP8=USART1
Mcu.IP9=USART2
Mcu.IPNb=10
Mcu.Name=STM32F407Z(E-G)Tx
Mcu.Package=LQFP144
Mcu.Pin0=PA2
Mcu.Pin1=PA3
Mcu.Pin10=VP_TIM6_VS_ClockSourceINT
Mcu.Pin11=VP_TIM7_VS_ClockSourceINT
Mcu.Pin12=VP_TIM10_VS_ClockSourceINT
Mcu.Pin2=PA9
Mcu.Pin3=PA10
Mcu.Pin4=PA11
@ -40,7 +42,7 @@ Mcu.Pin6=PA13
Mcu.Pin7=PA14
Mcu.Pin8=VP_FREERTOS_VS_CMSIS_V1
Mcu.Pin9=VP_SYS_VS_tim11
Mcu.PinsNb=12
Mcu.PinsNb=13
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407ZGTx
@ -60,6 +62,9 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
NVIC.SavedSystickIrqHandlerGenerated=true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true
NVIC.TIM1_UP_TIM10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
NVIC.TimeBaseIP=TIM11
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@ -151,6 +156,8 @@ VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
VP_SYS_VS_tim11.Mode=TIM11
VP_SYS_VS_tim11.Signal=SYS_VS_tim11
VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer

112
usrc/main.cpp
View File

@ -5,7 +5,8 @@
//
#include "sdk/os/zos.hpp"
#include "sdk\components\step_motor_45\step_motor_45.hpp"
#include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
#define TAG "main"
namespace iflytop {
@ -18,9 +19,118 @@ using namespace std;
extern "C" {
void StartDefaultTask(void const* argument) { umain(); }
}
/*******************************************************************************
* ÅäÖÃ *
*******************************************************************************/
static chip_cfg_t chipcfg = {
.us_dleay_tim = &DELAY_US_TIMER,
.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER,
.huart = &DEBUG_UART,
.debuglight = DEBUG_LIGHT_GPIO,
};
static StepMotor45::cfg_t cfg1 = {
.max_pos = -1,
.enable_zero_limit = false,
.enable_max_pos_limit = false,
.mirror = false,
.zeroPin = PinNull,
.zeroPinMirror = false,
.driverPin = {PB15, PD11, PD12, PD13},
.driverPinMirror = false,
};
static StepMotor45::cfg_t cfg2 = {
.max_pos = -1,
.enable_zero_limit = false,
.enable_max_pos_limit = false,
.mirror = false,
.zeroPin = PinNull,
.zeroPinMirror = false,
.driverPin = {PG2, PG3, PG4, PG5},
.driverPinMirror = false,
};
static StepMotor45::cfg_t cfg3 = {
.max_pos = -1,
.enable_zero_limit = false,
.enable_max_pos_limit = false,
.mirror = false,
.zeroPin = PinNull,
.zeroPinMirror = false,
.driverPin = {PG6, PG7, PG8, PC6},
.driverPinMirror = false,
};
static StepMotor45::cfg_t cfg4 = {
.max_pos = -1,
.enable_zero_limit = false,
.enable_max_pos_limit = false,
.mirror = false,
.zeroPin = PinNull,
.zeroPinMirror = false,
.driverPin = {PC7, PC8, PC9, PA8},
.driverPinMirror = false,
};
static StepMotor45::cfg_t cfg5 = {
.max_pos = -1,
.enable_zero_limit = false,
.enable_max_pos_limit = false,
.mirror = false,
.zeroPin = PinNull,
.zeroPinMirror = false,
.driverPin = {PA13, PA14, PA15, PC10},
.driverPinMirror = false,
};
/*******************************************************************************
* ´úÂë *
*******************************************************************************/
static StepMotor45 g_step_motor45_1;
static StepMotor45 g_step_motor45_2;
static StepMotor45 g_step_motor45_3;
static StepMotor45 g_step_motor45_4;
static StepMotor45 g_step_motor45_5;
void Main::run() {
/*******************************************************************************
* ϵͳ³õʼ»¯ *
*******************************************************************************/
chip_init(&chipcfg);
zos_cfg_t zoscfg;
zos_init(&zoscfg);
g_step_motor45_1.initialize(cfg1);
g_step_motor45_2.initialize(cfg2);
g_step_motor45_3.initialize(cfg3);
g_step_motor45_4.initialize(cfg4);
g_step_motor45_5.initialize(cfg5);
StepMotor45Scheduler step_motor45_scheduler;
step_motor45_scheduler.initialize(&htim10, 1000);
step_motor45_scheduler.addMotor(&g_step_motor45_1);
step_motor45_scheduler.addMotor(&g_step_motor45_2);
step_motor45_scheduler.addMotor(&g_step_motor45_3);
step_motor45_scheduler.addMotor(&g_step_motor45_4);
step_motor45_scheduler.addMotor(&g_step_motor45_5);
// g_step_motor45_1.rotate(true, 1000);
step_motor45_scheduler.start();
while (true) {
OSDefaultSchduler::getInstance()->loop();
}

4
usrc/project_configs.h
View File

@ -2,11 +2,11 @@
#define VERSION "v1.0"
#define MANUFACTURER "http://www.iflytop.com/"
#define PROJECT_NAME "ecom_monitor"
#define PROJECT_NAME "robot"
// 调试串口
#define DEBUG_UART huart1
// 调试指示灯
#define DEBUG_LIGHT_GPIO PA1
#define DEBUG_LIGHT_GPIO PF9
#define DELAY_US_TIMER htim6 // 定时器无需配置使能即可
#define TIM_IRQ_SCHEDULER_TIMER htim7 // 定时器无需配置使能即可

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