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
parent
902480e449
commit
c796394dda
8 changed files with 128 additions and 34 deletions
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  1. 4
      .cproject
  2. 2
      .settings/com.st.stm32cube.ide.mcu.sfrview.prefs
  3. 4
      Core/Inc/stm32f4xx_it.h
  4. 30
      Core/Src/can.c
  5. 4
      Core/Src/main.c
  6. 57
      Core/Src/stm32f4xx_it.c
  7. 54
      mainboard.ioc
  8. 7
      usrc/main.cpp

4
.cproject
View File

@ -24,7 +24,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1309904835" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
<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.debug.option.cpuclock.2099520072" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" 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"/>
@ -133,7 +133,7 @@
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.89474453" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1772914499" 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.1362099555" 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 || Release || false || 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.1903330877" 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.debug.option.cpuclock.1903330877" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1554547639" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
<builder buildPath="${workspace_loc:/mainboard}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1369125200" 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.1650882513" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">

2
.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
View File

@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

4
Core/Inc/stm32f4xx_it.h
View File

@ -52,6 +52,10 @@ void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void CAN1_SCE_IRQHandler(void);
void TIM1_UP_TIM10_IRQHandler(void);
void TIM1_TRG_COM_TIM11_IRQHandler(void);
void USART1_IRQHandler(void);

30
Core/Src/can.c
View File

@ -38,16 +38,16 @@ void MX_CAN1_Init(void)
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 16;
hcan1.Init.Prescaler = 4;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.SyncJumpWidth = CAN_SJW_3TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_14TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan1.Init.TimeTriggeredMode = ENABLE;
hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = ENABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
@ -83,6 +83,15 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
@ -106,6 +115,11 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */

4
Core/Src/main.c
View File

@ -141,7 +141,7 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLN = 144;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
@ -158,7 +158,7 @@ void SystemClock_Config(void)
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
{
Error_Handler();
}

57
Core/Src/stm32f4xx_it.c
View File

@ -55,6 +55,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1;
extern TIM_HandleTypeDef htim6;
extern TIM_HandleTypeDef htim7;
extern TIM_HandleTypeDef htim10;
@ -164,6 +165,62 @@ void DebugMon_Handler(void)
/******************************************************************************/
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_TX_IRQn 0 */
/* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX1 interrupt.
*/
void CAN1_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
/* USER CODE END CAN1_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles CAN1 SCE interrupt.
*/
void CAN1_SCE_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_SCE_IRQn 0 */
/* USER CODE END CAN1_SCE_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_SCE_IRQn 1 */
/* USER CODE END CAN1_SCE_IRQn 1 */
}
/**
* @brief This function handles TIM1 update interrupt and TIM10 global interrupt.
*/
void TIM1_UP_TIM10_IRQHandler(void)

54
mainboard.ioc
View File

@ -2,10 +2,18 @@
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN1.CalculateBaudRate=875000
CAN1.CalculateTimeBit=1142
CAN1.CalculateTimeQuantum=380.95238095238096
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
CAN1.ABOM=ENABLE
CAN1.BS1=CAN_BS1_14TQ
CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=500000
CAN1.CalculateTimeBit=2000
CAN1.CalculateTimeQuantum=111.11111111111111
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,SJW,TTCM,ABOM,NART,RFLM
CAN1.NART=ENABLE
CAN1.Prescaler=4
CAN1.RFLM=ENABLE
CAN1.SJW=CAN_SJW_3TQ
CAN1.TTCM=ENABLE
FREERTOS.FootprintOK=true
FREERTOS.IPParameters=Tasks01,FootprintOK,configUSE_RECURSIVE_MUTEXES,configUSE_NEWLIB_REENTRANT
FREERTOS.Tasks01=defaultTask,0,512,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL
@ -49,6 +57,10 @@ Mcu.UserName=STM32F407ZGTx
MxCube.Version=6.9.0
MxDb.Version=DB.6.0.90
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_SCE_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@ -116,38 +128,38 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_TIM6_Init-TIM6-false-HAL-true,5-MX_TIM7_Init-TIM7-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_TIM6_Init-TIM6-false-HAL-true,5-MX_TIM7_Init-TIM7-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_USART2_UART_Init-USART2-false-HAL-true,8-MX_TIM10_Init-TIM10-false-HAL-true
RCC.48MHZClocksFreq_Value=72000000
RCC.AHBFreq_Value=144000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB1Freq_Value=36000000
RCC.APB1TimFreq_Value=72000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimFreq_Value=168000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.APB2Freq_Value=72000000
RCC.APB2TimFreq_Value=144000000
RCC.CortexFreq_Value=144000000
RCC.EthernetFreq_Value=144000000
RCC.FCLKCortexFreq_Value=144000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=168000000
RCC.HCLKFreq_Value=144000000
RCC.HSE_VALUE=25000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.MCO2PinFreq_Value=144000000
RCC.PLLCLKFreq_Value=144000000
RCC.PLLM=8
RCC.PLLN=168
RCC.PLLQCLKFreq_Value=84000000
RCC.PLLN=144
RCC.PLLQCLKFreq_Value=72000000
RCC.RTCFreq_Value=32000
RCC.RTCHSEDivFreq_Value=12500000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKFreq_VALUE=144000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VCOOutputFreq_Value=288000000
RCC.VcooutputI2S=192000000
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC

7
usrc/main.cpp
View File

@ -320,6 +320,11 @@ void regfn() {
}
motor->moveTo(step);
});
cmdScheduler.registerCmd("sleep_ms", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
CHECK_ARGC(1);
HAL_Delay(atoi(argv[1]));
});
}
void Main::run() {
@ -369,7 +374,7 @@ void Main::run() {
OSDefaultSchduler::getInstance()->loop();
cmdScheduler.schedule();
m_IflytopCanMaster.periodicJob();
// m_IflytopCanMaster.writeReg(1,1,1,10);
osDelay(1);
}
}
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