diff --git a/.cproject b/.cproject
index e162b1b..0940674 100644
--- a/.cproject
+++ b/.cproject
@@ -30,7 +30,7 @@
-
+
@@ -66,7 +66,7 @@
-
+
@@ -102,8 +102,8 @@
-
-
+
+
@@ -127,15 +127,15 @@
+
+
+
-
+
-
-
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-
+
diff --git a/.mxproject b/.mxproject
index 7545582..bd3140d 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,8 +1,8 @@
[PreviousLibFiles]
-LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_iwdg.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_iwdg.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_iwdg.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\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portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_iwdg.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_iwdg.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
[PreviousUsedCubeIDEFiles]
-SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\crc.c;Core\Src\dma.c;Core\Src\iwdg.c;Core\Src\rng.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Core\Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_iwdg.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_iwdg.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
+SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\crc.c;Core\Src\dma.c;Core\Src\iwdg.c;Core\Src\rng.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Core\Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_iwdg.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_iwdg.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 20bfd27..6a737e3 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,6 +1,6 @@
-2F62501ED4689FB349E356AB974DBE57=E1D44A1E495B58081025CCE424330771
+2F62501ED4689FB349E356AB974DBE57=1A37C75E31949FC1CF47D46CC4BFA318
635E684B79701B039C64EA45C3F84D30=C8B026EBE17C208F17FB66CE4235156C
66BE74F758C12D739921AEA421D593D3=1
8DF89ED150041C4CBC7CB9A9CAA90856=E1D44A1E495B58081025CCE424330771
-DC22A860405A8BF2F2C095E5B6529F12=EC6C4D369FD4F7EABFE17B3222B5F3A0
+DC22A860405A8BF2F2C095E5B6529F12=04D228EE310336E74B34A2B70F9D8D14
eclipse.preferences.version=1
diff --git a/stm32halport b/stm32halport
index 26fbb13..501f90b 160000
--- a/stm32halport
+++ b/stm32halport
@@ -1 +1 @@
-Subproject commit 26fbb13a22589c870560ce43785ab1284ec9efb3
+Subproject commit 501f90be82b57377614f982e133a0dd841927d0e
diff --git a/transmit_disinfection_micro.ioc b/transmit_disinfection_micro.ioc
index 035cddb..3ff91c6 100644
--- a/transmit_disinfection_micro.ioc
+++ b/transmit_disinfection_micro.ioc
@@ -71,9 +71,10 @@ Mcu.IP10=TIM1
Mcu.IP11=TIM3
Mcu.IP12=TIM6
Mcu.IP13=TIM7
-Mcu.IP14=USART1
-Mcu.IP15=USART2
-Mcu.IP16=USART3
+Mcu.IP14=TIM8
+Mcu.IP15=USART1
+Mcu.IP16=USART2
+Mcu.IP17=USART3
Mcu.IP2=DMA
Mcu.IP3=FREERTOS
Mcu.IP4=IWDG
@@ -82,38 +83,42 @@ Mcu.IP6=RCC
Mcu.IP7=RNG
Mcu.IP8=SPI1
Mcu.IP9=SYS
-Mcu.IPNb=17
+Mcu.IPNb=18
Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN
Mcu.Pin1=PH1-OSC_OUT
Mcu.Pin10=PB11
-Mcu.Pin11=PC9
-Mcu.Pin12=PA9
-Mcu.Pin13=PA10
-Mcu.Pin14=PA11
-Mcu.Pin15=PA12
-Mcu.Pin16=PA13
-Mcu.Pin17=PA14
-Mcu.Pin18=PD3
-Mcu.Pin19=VP_CRC_VS_CRC
+Mcu.Pin11=PD14
+Mcu.Pin12=PC6
+Mcu.Pin13=PC8
+Mcu.Pin14=PC9
+Mcu.Pin15=PA9
+Mcu.Pin16=PA10
+Mcu.Pin17=PA11
+Mcu.Pin18=PA12
+Mcu.Pin19=PA13
Mcu.Pin2=PC0
-Mcu.Pin20=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin21=VP_IWDG_VS_IWDG
-Mcu.Pin22=VP_RNG_VS_RNG
-Mcu.Pin23=VP_SYS_VS_tim11
-Mcu.Pin24=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin25=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
-Mcu.Pin27=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin20=PA14
+Mcu.Pin21=PD3
+Mcu.Pin22=VP_CRC_VS_CRC
+Mcu.Pin23=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin24=VP_IWDG_VS_IWDG
+Mcu.Pin25=VP_RNG_VS_RNG
+Mcu.Pin26=VP_SYS_VS_tim11
+Mcu.Pin27=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin28=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin29=VP_TIM6_VS_ClockSourceINT
Mcu.Pin3=PA2
+Mcu.Pin30=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin31=VP_TIM8_VS_ClockSourceINT
Mcu.Pin4=PA3
Mcu.Pin5=PA5
Mcu.Pin6=PA6
Mcu.Pin7=PA7
Mcu.Pin8=PC4
Mcu.Pin9=PB10
-Mcu.PinsNb=28
+Mcu.PinsNb=32
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407VETx
@@ -182,9 +187,15 @@ PC0.Locked=true
PC0.Signal=GPXTI0
PC4.Locked=true
PC4.Signal=GPXTI4
+PC6.Locked=true
+PC6.Signal=S_TIM8_CH1
+PC8.Locked=true
+PC8.Signal=S_TIM3_CH3
PC9.Locked=true
PC9.Mode=Clock-out-2
PC9.Signal=RCC_MCO_2
+PD14.Locked=true
+PD14.Signal=GPIO_Output
PD3.Locked=true
PD3.Signal=GPIO_Output
PH0-OSC_IN.Mode=HSE-External-Oscillator
@@ -269,6 +280,10 @@ SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
SH.GPXTI4.0=GPIO_EXTI4
SH.GPXTI4.ConfNb=1
+SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
+SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
+SH.S_TIM8_CH1.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128
SPI1.CalculateBaudRate=562.5 KBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
@@ -278,13 +293,20 @@ SPI1.VirtualType=VM_MASTER
TIM1.IPParameters=Period,Prescaler
TIM1.Period=9999
TIM1.Prescaler=143
-TIM3.IPParameters=Prescaler,Period
-TIM3.Period=9999
+TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM3.IPParameters=Prescaler,Period,Channel-PWM Generation3 CH3,OCPolarity_3
+TIM3.OCPolarity_3=TIM_OCPOLARITY_LOW
+TIM3.Period=4999
TIM3.Prescaler=71
TIM6.IPParameters=Prescaler
TIM6.Prescaler=71
TIM7.IPParameters=Prescaler
TIM7.Prescaler=81
+TIM8.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM8.IPParameters=Channel-PWM Generation1 CH1,Prescaler,Period,AutoReloadPreload
+TIM8.Period=99
+TIM8.Prescaler=143
USART1.BaudRate=460800
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
@@ -311,6 +333,8 @@ VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
+VP_TIM8_VS_ClockSourceINT.Mode=Internal
+VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
board=custom
rtos.0.ip=FREERTOS
isbadioc=false
diff --git a/usrc/board/hal/dbdm_power_ctrl_board.cpp b/usrc/board/hal/dbdm_power_ctrl_board.cpp
index 95297bd..c76d795 100644
--- a/usrc/board/hal/dbdm_power_ctrl_board.cpp
+++ b/usrc/board/hal/dbdm_power_ctrl_board.cpp
@@ -1,6 +1,8 @@
#include "dbdm_power_ctrl_board.hpp"
using namespace iflytop;
-void DBDMPowerCtrlBoard::HTIM3_INIT() {
+
+void DBDMPowerCtrlBoard::INIT_PC8_AS_HTIM3_CH3_PWM_OUTPUT() {
+ __HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
@@ -13,11 +15,11 @@ void DBDMPowerCtrlBoard::HTIM3_INIT() {
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
- htim3.Init.Prescaler = 143;
+ htim3.Init.Prescaler = 71;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim3.Init.Period = 9999;
+ htim3.Init.Period = 4999;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK) {
Error_Handler();
}
@@ -37,16 +39,18 @@ void DBDMPowerCtrlBoard::HTIM3_INIT() {
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
- /* USER CODE END TIM3_Init 2 */
- __HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM3 GPIO Configuration
PC8 ------> TIM3_CH3
*/
+
+ __HAL_RCC_GPIOC_CLK_ENABLE();
+
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
@@ -54,4 +58,115 @@ void DBDMPowerCtrlBoard::HTIM3_INIT() {
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-}
\ No newline at end of file
+
+ TIM3_CH3_SET_DUTY(0);
+}
+
+void DBDMPowerCtrlBoard::TIM3_CH3_SET_DUTY(int32_t duty) {
+ duty = 100 - duty;
+ if (duty < 0) duty = 0;
+ if (duty > 100) duty = 100;
+
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(&htim3);
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+
+ HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_3);
+ HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
+}
+
+void DBDMPowerCtrlBoard::INIT_PC6_AS_HTIM8_CH1_PWM_OUTPUT() {
+ __HAL_RCC_TIM8_CLK_ENABLE();
+
+ /* USER CODE END TIM8_Init 0 */
+
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+ /* USER CODE BEGIN TIM8_Init 1 */
+
+ /* USER CODE END TIM8_Init 1 */
+ htim8.Instance = TIM8;
+ htim8.Init.Prescaler = 143;
+ htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim8.Init.Period = 99;
+ htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim8.Init.RepetitionCounter = 0;
+ htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+ if (HAL_TIM_Base_Init(&htim8) != HAL_OK) {
+ Error_Handler();
+ }
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+ if (HAL_TIM_ConfigClockSource(&htim8, &sClockSourceConfig) != HAL_OK) {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_Init(&htim8) != HAL_OK) {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK) {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 0;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+ if (HAL_TIM_PWM_ConfigChannel(&htim8, &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(&htim8, &sBreakDeadTimeConfig) != HAL_OK) {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM8_Init 2 */
+
+ /* USER CODE END TIM8_Init 2 */
+ // HAL_TIM_MspPostInit(&htim8);
+
+ __HAL_RCC_GPIOC_CLK_ENABLE();
+ /**TIM8 GPIO Configuration
+ PC6 ------> TIM8_CH1
+ */
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ GPIO_InitStruct.Pin = GPIO_PIN_6;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+ HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+}
+
+void DBDMPowerCtrlBoard::TIM8_CH1_SET_DUTY(int32_t duty) {
+ duty = 100 - duty;
+ if (duty < 0) duty = 0;
+ if (duty > 100) duty = 100;
+
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(&htim8);
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+
+ HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1);
+ HAL_TIM_PWM_Stop(&htim8, TIM_CHANNEL_1);
+ HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
+}
diff --git a/usrc/board/hal/dbdm_power_ctrl_board.hpp b/usrc/board/hal/dbdm_power_ctrl_board.hpp
index e748263..53f6d7f 100644
--- a/usrc/board/hal/dbdm_power_ctrl_board.hpp
+++ b/usrc/board/hal/dbdm_power_ctrl_board.hpp
@@ -7,7 +7,16 @@
namespace iflytop {
class DBDMPowerCtrlBoard {
public:
- static void HTIM3_INIT();
+ /**
+ * @brief
+ *
+ */
+ static void INIT_PC8_AS_HTIM3_CH3_PWM_OUTPUT();
+ static void TIM3_CH3_SET_DUTY(int32_t duty);
+
+ static void INIT_PC6_AS_HTIM8_CH1_PWM_OUTPUT();
+ static void TIM8_CH1_SET_DUTY(int32_t duty);
+
private:
};
} // namespace iflytop
\ No newline at end of file
diff --git a/usrc/dmapp_service/air_compressor_ctrl_service.cpp b/usrc/dmapp_service/air_compressor_ctrl_service.cpp
index 22f9b17..95d2053 100644
--- a/usrc/dmapp_service/air_compressor_ctrl_service.cpp
+++ b/usrc/dmapp_service/air_compressor_ctrl_service.cpp
@@ -16,7 +16,8 @@ typedef struct {
} IOAirCompressor_t;
typedef struct {
- int32_t mark;
+ ZGPIO fbGpio; // 反馈引脚
+ uint16_t blowerFbCnt; // 反馈计数
} MiniPwmAirPump_t;
static AirCompressorType_t m_type = kAirCompressorType_notSet;
@@ -50,6 +51,13 @@ void AirCompressorCtrlService::initialize() {
else if (PORT::isPowerCtrlBoard() && PORT::isDrawBarDM()) {
// PC6 pwm控制具体控制见
// PC4 反馈每圈1个脉冲
+
+ m_type = kAirCompressorType_MiniPwmAirPump;
+ DBDMPowerCtrlBoard::INIT_PC6_AS_HTIM8_CH1_PWM_OUTPUT(); //
+ m_miniPwmAirPump.fbGpio.initAsInput(PC4, kxs_gpio_nopull, kxs_gpio_rising_irq, false /*mirror*/); //
+
+ AppPeriodTaskMgr::ins()->regTask("GPIO-IRQ_CNT_READ", []() { m_miniPwmAirPump.blowerFbCnt = PC4_IRQ_CNT; },
+ 500); // 每秒更新一次
}
}
bool AirCompressorCtrlService::isSupport() {
@@ -67,6 +75,12 @@ int32_t AirCompressorCtrlService::ctrl(int32_t val) {
m_ioAirCompressor.ctrlGpio.write(val); // 控制空压机开关
m_power_level = val; // 更新功率等级
return 0; // 成功
+ } else if (m_type == kAirCompressorType_MiniPwmAirPump) {
+ if (val < 0) val = 0;
+ if (val > 100) val = 100;
+ m_power_level = val; // 更新功率等级
+ DBDMPowerCtrlBoard::TIM8_CH1_SET_DUTY(val); // 设置空压机PWM占空比
+ return 0; // 成功
}
return kerr_function_not_support; // 不支持的空压机类型
}
@@ -77,8 +91,8 @@ void AirCompressorCtrlService::readState(int16_t* state, int32_t* maxnum) {
*maxnum = 2; // 返回空压机状态
} else {
state[0] = m_power_level;
- state[1] = 0; // fbcnt
- *maxnum = 2; // 返回空压机状态
+ state[1] = m_miniPwmAirPump.blowerFbCnt; // fbcnt
+ *maxnum = 2; // 返回空压机状态
}
}
diff --git a/usrc/dmapp_service/blower_ctrl_service.cpp b/usrc/dmapp_service/blower_ctrl_service.cpp
index 5fed440..805a032 100644
--- a/usrc/dmapp_service/blower_ctrl_service.cpp
+++ b/usrc/dmapp_service/blower_ctrl_service.cpp
@@ -29,11 +29,9 @@ typedef struct {
} HighPowerUartBlower;
typedef struct {
- TIM_HandleTypeDef* htim;
- uint32_t channle;
- ZGPIO enGpio;
- ZGPIO fbGpio;
- uint16_t blowerFbCnt;
+ ZGPIO enGpio;
+ ZGPIO fbGpio;
+ uint16_t blowerFbCnt;
} PwmBlower;
static IOBlower ioblower;
@@ -47,26 +45,6 @@ static int32_t m_open_ticket = 0;
static zmutex lock = {"BlowerCtrlService"};
-void mini_pwm_blower_ctrl(int32_t duty) {
- duty = 100 - duty;
- if (duty < 0) duty = 0;
- if (duty > 100) duty = 100;
-
- TIM_OC_InitTypeDef sConfigOC = {0};
- sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = duty / 100.0 * __HAL_TIM_GET_AUTORELOAD(miniPwmBlower.htim);
- sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
- sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
- sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
- sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
-
- HAL_TIM_PWM_ConfigChannel(miniPwmBlower.htim, &sConfigOC, miniPwmBlower.channle);
- HAL_TIM_PWM_Stop(miniPwmBlower.htim, miniPwmBlower.channle);
- HAL_TIM_PWM_Start(miniPwmBlower.htim, miniPwmBlower.channle);
-
- miniPwmBlower.enGpio.setState(duty != 0);
-}
-
bool BlowerCtrlService::isSupport() {
if (PORT::isPowerCtrlBoard() && (PORT::isLargeSpaceDM() || PORT::isSamllSpaceDM() || PORT::isDT600B())) {
return true;
@@ -131,9 +109,7 @@ void BlowerCtrlService::initialize() {
// 宁波锚点调速风机
m_blowerType = kMiniPwmBlower;
- DBDMPowerCtrlBoard::HTIM3_INIT(); // TIM3
- miniPwmBlower.htim = &htim3; // TIM1
- miniPwmBlower.channle = TIM_CHANNEL_3; // TIM1_CH1 PC8
+ DBDMPowerCtrlBoard::INIT_PC8_AS_HTIM3_CH3_PWM_OUTPUT(); // TIM3
miniPwmBlower.fbGpio.initAsInput(PC9, kxs_gpio_nopull, kxs_gpio_rising_irq, false /*mirror*/); // PC9
miniPwmBlower.enGpio.initAsOutput(PC10, kxs_gpio_nopull, true, false); // PC10
@@ -186,7 +162,8 @@ int32_t BlowerCtrlService::ctrl(int32_t val) {
* kMiniPwmBlower *
***********************************************************************************************************************/
case kMiniPwmBlower:
- mini_pwm_blower_ctrl(toPowerVal);
+ DBDMPowerCtrlBoard::TIM3_CH3_SET_DUTY(toPowerVal); // 设置占空比
+ miniPwmBlower.enGpio.write(toOpen); // 控制风机开关
break;
default: