diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..f0f9b90 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,98 @@ +{ + "configurations": [ + { + "name": "app", + "includePath": [ + "./app\\Core\\Inc", + "./app\\Drivers\\STM32F1xx_HAL_Driver\\Inc", + "./app\\Drivers\\STM32F1xx_HAL_Driver\\Inc\\Legacy", + "./app\\Drivers\\CMSIS\\Device\\ST\\STM32F1xx\\Include", + "./app\\Drivers\\CMSIS\\Include", + "./dep", + "./src", + "./dep\\libtrinamic\\IFLYTOP-TMC-API", + "./app\\MDK-ARM", + "./app\\Core\\Src", + "./app\\Drivers\\STM32F1xx_HAL_Driver\\Src" + ], + "defines": [ + "USE_HAL_DRIVER", + "STM32F103xB", + "__CC_ARM", + "__arm__", + "__align(x)=", + "__ALIGNOF__(x)=", + "__alignof__(x)=", + "__asm(x)=", + "__forceinline=", + "__restrict=", + "__global_reg(n)=", + "__inline=", + "__int64=long long", + "__INTADDR__(expr)=0", + "__irq=", + "__packed=", + "__pure=", + "__smc(n)=", + "__svc(n)=", + "__svc_indirect(n)=", + "__svc_indirect_r7(n)=", + "__value_in_regs=", + "__weak=", + "__writeonly=", + "__declspec(x)=", + "__attribute__(x)=", + "__nonnull__(x)=", + "__register=", + "__breakpoint(x)=", + "__cdp(x,y,z)=", + "__clrex()=", + "__clz(x)=0U", + "__current_pc()=0U", + "__current_sp()=0U", + "__disable_fiq()=", + "__disable_irq()=", + "__dmb(x)=", + "__dsb(x)=", + "__enable_fiq()=", + "__enable_irq()=", + "__fabs(x)=0.0", + "__fabsf(x)=0.0f", + "__force_loads()=", + "__force_stores()=", + "__isb(x)=", + "__ldrex(x)=0U", + "__ldrexd(x)=0U", + "__ldrt(x)=0U", + "__memory_changed()=", + "__nop()=", + "__pld(...)=", + "__pli(...)=", + "__qadd(x,y)=0", + "__qdbl(x)=0", + "__qsub(x,y)=0", + "__rbit(x)=0U", + "__rev(x)=0U", + "__return_address()=0U", + "__ror(x,y)=0U", + "__schedule_barrier()=", + "__semihost(x,y)=0", + "__sev()=", + "__sqrt(x)=0.0", + "__sqrtf(x)=0.0f", + "__ssat(x,y)=0", + "__strex(x,y)=0U", + "__strexd(x,y)=0", + "__strt(x,y)=", + "__swp(x,y)=0U", + "__usat(x,y)=0U", + "__wfe()=", + "__wfi()=", + "__yield()=", + "__vfp_status(x,y)=0" + ], + "intelliSenseMode": "${default}" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/keil-assistant.log b/.vscode/keil-assistant.log new file mode 100644 index 0000000..2361011 --- /dev/null +++ b/.vscode/keil-assistant.log @@ -0,0 +1,2 @@ +[info] Log at : 2023/6/14|21:19:34|GMT+0800 + diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..2bf588b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "files.associations": { + "compare": "cpp" + } +} \ No newline at end of file diff --git a/.vscode/uv4.log.lock b/.vscode/uv4.log.lock new file mode 100644 index 0000000..e69de29 diff --git a/app/.mxproject b/app/.mxproject index 1e435b8..8f59296 100644 --- a/app/.mxproject +++ b/app/.mxproject @@ -1,36 +1,38 @@ [PreviousLibFiles] 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[PreviousUsedIarFiles] SourceFiles=..\Core\Src\main.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_iwdg.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_iwdg.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;; HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER; +[PreviousUsedKeilFiles] +SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\iwdg.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_iwdg.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_iwdg.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;; +HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER; + [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=6 +HeaderFileListSize=7 HeaderFiles#0=..\Core\Inc\gpio.h HeaderFiles#1=..\Core\Inc\iwdg.h -HeaderFiles#2=..\Core\Inc\usart.h -HeaderFiles#3=..\Core\Inc\stm32f1xx_it.h -HeaderFiles#4=..\Core\Inc\stm32f1xx_hal_conf.h -HeaderFiles#5=..\Core\Inc\main.h +HeaderFiles#2=..\Core\Inc\tim.h +HeaderFiles#3=..\Core\Inc\usart.h +HeaderFiles#4=..\Core\Inc\stm32f1xx_it.h +HeaderFiles#5=..\Core\Inc\stm32f1xx_hal_conf.h +HeaderFiles#6=..\Core\Inc\main.h HeaderFolderListSize=1 HeaderPath#0=..\Core\Inc HeaderFiles=; -SourceFileListSize=6 +SourceFileListSize=7 SourceFiles#0=..\Core\Src\gpio.c SourceFiles#1=..\Core\Src\iwdg.c -SourceFiles#2=..\Core\Src\usart.c -SourceFiles#3=..\Core\Src\stm32f1xx_it.c -SourceFiles#4=..\Core\Src\stm32f1xx_hal_msp.c -SourceFiles#5=..\Core\Src\main.c +SourceFiles#2=..\Core\Src\tim.c +SourceFiles#3=..\Core\Src\usart.c +SourceFiles#4=..\Core\Src\stm32f1xx_it.c +SourceFiles#5=..\Core\Src\stm32f1xx_hal_msp.c +SourceFiles#6=..\Core\Src\main.c SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; -[PreviousUsedKeilFiles] -SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\iwdg.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_iwdg.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_iwdg.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;; -HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; -CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER; - diff --git a/app/Core/Inc/stm32f1xx_hal_conf.h b/app/Core/Inc/stm32f1xx_hal_conf.h index cbecc8a..cc08dec 100644 --- a/app/Core/Inc/stm32f1xx_hal_conf.h +++ b/app/Core/Inc/stm32f1xx_hal_conf.h @@ -64,7 +64,7 @@ /*#define HAL_SMARTCARD_MODULE_ENABLED */ /*#define HAL_SPI_MODULE_ENABLED */ /*#define HAL_SRAM_MODULE_ENABLED */ -/*#define HAL_TIM_MODULE_ENABLED */ +#define HAL_TIM_MODULE_ENABLED #define HAL_UART_MODULE_ENABLED /*#define HAL_USART_MODULE_ENABLED */ /*#define HAL_WWDG_MODULE_ENABLED */ diff --git a/app/Core/Inc/tim.h b/app/Core/Inc/tim.h new file mode 100644 index 0000000..155c0b5 --- /dev/null +++ b/app/Core/Inc/tim.h @@ -0,0 +1,52 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file tim.h + * @brief This file contains all the function prototypes for + * the tim.c file + ****************************************************************************** + * @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 */ +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __TIM_H__ +#define __TIM_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +extern TIM_HandleTypeDef htim4; + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_TIM4_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __TIM_H__ */ + diff --git a/app/Core/Src/main.c b/app/Core/Src/main.c index d51fb6b..657a614 100644 --- a/app/Core/Src/main.c +++ b/app/Core/Src/main.c @@ -19,6 +19,7 @@ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "iwdg.h" +#include "tim.h" #include "usart.h" #include "gpio.h" @@ -88,6 +89,7 @@ int main(void) MX_GPIO_Init(); MX_IWDG_Init(); MX_USART2_UART_Init(); + MX_TIM4_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ diff --git a/app/Core/Src/tim.c b/app/Core/Src/tim.c new file mode 100644 index 0000000..04a7b2e --- /dev/null +++ b/app/Core/Src/tim.c @@ -0,0 +1,104 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file tim.c + * @brief This file provides code for the configuration + * of the TIM instances. + ****************************************************************************** + * @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 "tim.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +TIM_HandleTypeDef htim4; + +/* TIM4 init function */ +void MX_TIM4_Init(void) +{ + + /* USER CODE BEGIN TIM4_Init 0 */ + + /* USER CODE END TIM4_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM4_Init 1 */ + + /* USER CODE END TIM4_Init 1 */ + htim4.Instance = TIM4; + htim4.Init.Prescaler = 63; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.Period = 65535; + htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM4_Init 2 */ + + /* USER CODE END TIM4_Init 2 */ + +} + +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspInit 0 */ + + /* USER CODE END TIM4_MspInit 0 */ + /* TIM4 clock enable */ + __HAL_RCC_TIM4_CLK_ENABLE(); + /* USER CODE BEGIN TIM4_MspInit 1 */ + + /* USER CODE END TIM4_MspInit 1 */ + } +} + +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspDeInit 0 */ + + /* USER CODE END TIM4_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM4_CLK_DISABLE(); + /* USER CODE BEGIN TIM4_MspDeInit 1 */ + + /* USER CODE END TIM4_MspDeInit 1 */ + } +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index b061bf2..03e5372 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -336,7 +336,7 @@ 0 0 - --diag_suppress=381 --diag_suppress=1 --diag_suppress=177 --diag_suppress=111 --diag_suppress=1295 + --diag_suppress=381 --diag_suppress=1 --diag_suppress=177 --diag_suppress=111 --diag_suppress=1295 USE_HAL_DRIVER,STM32F103xB ../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../../dep;../../src;../../dep/libtrinamic/IFLYTOP-TMC-API @@ -409,6 +409,62 @@ ../Core/Src/iwdg.c + tim.c + 1 + ../Core/Src/tim.c + + + 2 + 0 + 0 + 0 + 0 + 1 + 2 + 2 + 2 + 2 + 11 + + + 1 + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 0 + 0 + 2 + 2 + 2 + 2 + 2 + + + + + + + + + + + usart.c 1 ../Core/Src/usart.c @@ -516,6 +572,171 @@ + dep/libiflytop_micro + + + basic.c + 1 + ..\..\dep\libiflytop_micro\stm32\basic\basic.c + + + stm32_hal.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\stm32_hal.cpp + + + zsignal.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\zsignal.cpp + + + pid_ctrl.c + 1 + ..\..\dep\libiflytop_micro\stm32\component\pid\pid_ctrl.c + + + iflytop_can_slave.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.cpp + + + stm32_gpio.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\stm32_gpio.cpp + + + iflytop_can_slave_controler_service.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\motor_control\iflytop_can_slave_controler_service.cpp + + + i_iflytop_can_slave_module.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_module\i_iflytop_can_slave_module.cpp + + + device_base_control_service.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_module\device_base_control_service.cpp + + + single_axis_motor_control_v2.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_module\single_axis_motor_control_v2.cpp + + + iflytop_micro_os.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\iflytop_micro_os.cpp + + + queue.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\queue.cpp + + + state_machine.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\state_machine.cpp + + + stm32_uart.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\stm32_uart.cpp + + + qy3235.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\gxservo\qy3235.cpp + + + idcard_reader_service.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\iflytop_can_slave_module\idcard_reader_service.cpp + + + m3078_code_scaner.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\m3078\m3078_code_scaner.cpp + + + servo_motor_control.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\motor_control\servo_motor_control.cpp + + + single_axis_motor_control.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\motor_control\single_axis_motor_control.cpp + + + pwm.c + 1 + ..\..\dep\libiflytop_micro\stm32\component\pwm\pwm.c + + + TMC4361A.c + 1 + ..\..\dep\libiflytop_micro\stm32\component\tmc\ic\TMC4361A\TMC4361A.c + + + TMC5130.c + 1 + ..\..\dep\libiflytop_micro\stm32\component\tmc\ic\TMC5130\TMC5130.c + + + ztmc2160.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\tmc\ic\ztmc2160.cpp + + + ztmc5130.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\tmc\ic\ztmc5130.cpp + + + ztmc5160.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\tmc\ic\ztmc5160.cpp + + + tmc4361A_stm32_channel.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\tmcutils\tmc4361A_stm32_channel.cpp + + + tmp117.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\tmp117\tmp117.cpp + + + ztmc4361A.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\component\tmc\ic\ztmc4361A.cpp + + + stm32_tim.cpp + 8 + ..\..\dep\libiflytop_micro\stm32\basic\stm32_tim.cpp + + + + + src + + + umain.cpp + 8 + ..\..\src\umain.cpp + + + hardware.cpp + 8 + ..\..\src\board\hardware.cpp + + + + ::CMSIS diff --git a/app/app.ioc b/app/app.ioc index da18fab..e7795c8 100644 --- a/app/app.ioc +++ b/app/app.ioc @@ -13,8 +13,9 @@ Mcu.IP0=IWDG Mcu.IP1=NVIC Mcu.IP2=RCC Mcu.IP3=SYS -Mcu.IP4=USART2 -Mcu.IPNb=5 +Mcu.IP4=TIM4 +Mcu.IP5=USART2 +Mcu.IPNb=6 Mcu.Name=STM32F103C(8-B)Tx Mcu.Package=LQFP48 Mcu.Pin0=PA2 @@ -23,7 +24,8 @@ Mcu.Pin2=PA13 Mcu.Pin3=PA14 Mcu.Pin4=VP_IWDG_VS_IWDG Mcu.Pin5=VP_SYS_VS_Systick -Mcu.PinsNb=6 +Mcu.Pin6=VP_TIM4_VS_ClockSourceINT +Mcu.PinsNb=7 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F103C8Tx @@ -96,10 +98,14 @@ RCC.SYSCLKFreq_VALUE=64000000 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK RCC.TimSysFreq_Value=64000000 RCC.USBFreq_Value=64000000 +TIM4.IPParameters=Prescaler +TIM4.Prescaler=63 USART2.IPParameters=VirtualMode USART2.VirtualMode=VM_ASYNC VP_IWDG_VS_IWDG.Mode=IWDG_Activate VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Signal=SYS_VS_Systick +VP_TIM4_VS_ClockSourceINT.Mode=Internal +VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT board=custom diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index 5110054..66cbc54 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit 51100549ca3b283c5281efec0921a281910c56fc +Subproject commit 66cbc54d57a7a2d1b2e704e1042a98a44ce0959e diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp new file mode 100644 index 0000000..dac1307 --- /dev/null +++ b/src/board/hardware.cpp @@ -0,0 +1,61 @@ +#include "hardware.hpp" +using namespace iflytop; + +#define TAG "hardware" + +extern "C" { +int fputc(int ch, FILE* stream) { + uint8_t c = ch; + HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); + return ch; +} +} + + +void Hardware::initialize() { + STM32_HAL::regListener(this); +} +void Hardware::periodicJob() {} +/******************************************************************************* + * 测试指示灯 * + *******************************************************************************/ +void Hardware::debug_light_init() { DEBUG_LIGHT_GPIO.initAsOutput(STM32_GPIO::kOutput_nopull, false, false); } +void Hardware::debug_light_periodicJob() { + static uint32_t lastprocess = 0; + if (sys_haspassedms(lastprocess) > 300) { + lastprocess = HAL_GetTick(); + DEBUG_LIGHT_GPIO.toggleState(); + } +} + + + +/******************************************************************************* + * INPUT SENSOR * + *******************************************************************************/ +void Hardware::input_sensor_init() {} + +uint32_t Hardware::input_sensor_get_table0() { + uint32_t val = 0; + return val; +} + +void Hardware::input_sensor_table0_dump() { + uint32_t val = input_sensor_get_table0(); + ZLOGI(TAG, "input_sensor_table0_dump:%d%d%d%d %d%d%d%d %d%d%d%d %d%d%d", (val >> 0) & 0x01, // + (val >> 1) & 0x01, // + (val >> 2) & 0x01, // + (val >> 3) & 0x01, // + (val >> 4) & 0x01, // + (val >> 5) & 0x01, // + (val >> 6) & 0x01, // + (val >> 7) & 0x01, // + (val >> 8) & 0x01, // + (val >> 9) & 0x01, // + (val >> 10) & 0x01, // + (val >> 11) & 0x01, // + (val >> 12) & 0x01, // + (val >> 13) & 0x01, // + (val >> 14) & 0x01); + // return val; +} \ No newline at end of file diff --git a/src/board/hardware.hpp b/src/board/hardware.hpp new file mode 100644 index 0000000..676c082 --- /dev/null +++ b/src/board/hardware.hpp @@ -0,0 +1,60 @@ +#pragma once +#include "board/project_board.hpp" +#include "libiflytop_micro/stm32/basic/basic.h" +#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp" +#include "libiflytop_micro\stm32\basic\stm32_hal.hpp" +#include "libiflytop_micro\stm32\component\tmcutils\tmc51x0_port_impl.hpp" +#include "main.h" +#include "usart.h" +namespace iflytop { +#define MAX_HARDWARE_LISTENER_NUM 5 +class HardwareListener { + public: + virtual void Hardware_OnHardwareException(){}; + virtual void Hardware_OnCanRxData(void *packet){}; + virtual void Hardware_onHomeRefSwitchISR(){}; +}; + +class Hardware : public STM32_HAL_LISTENER, // + public IflytopMicroOS, + public STM32_GPIO_LISTENER { + private: + + public: + + public: + Hardware(/* args */){}; + ~Hardware(){}; + void initialize(); + void periodicJob(); + /******************************************************************************* + * 测试指示灯 * + *******************************************************************************/ + void debug_light_init(); + void debug_light_periodicJob(); + + public: + /******************************************************************************* + * INPUT SENSOR * + *******************************************************************************/ + void input_sensor_init(); + uint32_t input_sensor_get_table0(); + void input_sensor_table0_dump(); + + public: + /******************************************************************************* + * OVERRIDE IflytopMicroOS * + *******************************************************************************/ + virtual void sleepMS(int ms) { HAL_Delay(ms); }; + virtual uint32_t hasPassedMS(uint32_t ticket) { return sys_haspassedms(ticket); }; + virtual uint32_t getTicket() { return HAL_GetTick(); }; + virtual uint32_t getNowMS() { return HAL_GetTick(); }; + virtual void sleepus(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } + + /******************************************************************************* + * STM32_GPIO_LISTENER * + *******************************************************************************/ + private: +}; + +} // namespace iflytop diff --git a/src/board/project_board.hpp b/src/board/project_board.hpp new file mode 100644 index 0000000..12d846a --- /dev/null +++ b/src/board/project_board.hpp @@ -0,0 +1,10 @@ +#pragma once +#include "libiflytop_micro\stm32\basic\stm32_gpio.hpp" +#define VERSION "v1.0" +// 调试串口 +#define DEBUG_UART huart2 +// 调试指示灯 +#define DEBUG_LIGHT_GPIO PA1 +// 微秒延迟定时器，注意该延时定时器需要按照以下文档进行配置 +// http://192.168.1.3:3000/zwikipedia/iflytop_wikipedia/src/branch/master/doc/stm32cubemx_us_timer.md +#define DELAY_US_TIMER htim4 \ No newline at end of file diff --git a/src/umain.cpp b/src/umain.cpp new file mode 100644 index 0000000..7548d8d --- /dev/null +++ b/src/umain.cpp @@ -0,0 +1,27 @@ +#include "umain.hpp" + +#include +#include + +using namespace iflytop; +using namespace std; + +/******************************************************************************* + * CODE BEGIN * + *******************************************************************************/ +#define TAG "umain" +int random(int max) { return SysTick->VAL % max; } +/******************************************************************************* + * MAIN * + *******************************************************************************/ +void Main::main(int argc, char const *argv[]) { + sys_loggger_enable(true); + ZLOGI(TAG, "setup") + m_hardware.initialize(); + m_hardware.debug_light_init(); + m_hardware.input_sensor_init(); + while (true) { + m_hardware.periodicJob(); + m_hardware.debug_light_periodicJob(); + } +} diff --git a/src/umain.hpp b/src/umain.hpp new file mode 100644 index 0000000..169bb8f --- /dev/null +++ b/src/umain.hpp @@ -0,0 +1,46 @@ +#pragma once +#include +#include + +#include "board/project_board.hpp" +#include "libiflytop_micro\stm32\basic\basic.h" +#include "libiflytop_micro\stm32\component\tmc\ic\tmc4361A.hpp" +// +#include + +#include "board/hardware.hpp" +#include "libiflytop_micro\stm32\basic\stm32_tim.hpp" +#include "libiflytop_micro\stm32\basic\zsignal.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_slave_module\device_base_control_service.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_slave_module\idcard_reader_service.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_slave_module\single_axis_motor_control_v2.hpp" +#include "libiflytop_micro\stm32\component\iflytop_can_slave_v1\iflytop_can_slave.hpp" +#include "libiflytop_micro\stm32\component\m3078\m3078_code_scaner.hpp" + +#define UPDATE_REG(reg, value, periodms) \ + { \ + static uint32_t lastReportTicket = 0; \ + if (m_hardware.hasPassedMS(lastReportTicket) > (periodms + random(3))) { \ + lastReportTicket = m_hardware.getTicket(); \ + m_protocolStack.writeRegValue(reg, value, false); \ + } \ + } +namespace iflytop { +class Main { + public: + Hardware m_hardware; + + Main() {} + void main(int argc, char const *argv[]); + + public: +}; +} // namespace iflytop + +static iflytop::Main mainObject; +extern "C" { +int umain(int argc, char const *argv[]) { + mainObject.main(argc, argv); + return 0; +} +}