diff --git a/.vscode/settings.json b/.vscode/settings.json index a39c20c..cdf3583 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -10,6 +10,7 @@ "project_board.h": "c", "port.h": "c", "compare": "c", - "tmc4361a_register.h": "c" + "tmc4361a_register.h": "c", + "spi.h": "c" } } \ No newline at end of file diff --git a/README.md b/README.md index abc3767..599d0f4 100644 --- a/README.md +++ b/README.md @@ -5,4 +5,13 @@ STM32F407VET6示例工程 ``` 1. Cubemx中配置，所有未使用IO均配置成模拟输入模式 +``` + + +``` + 1. 实现方法写入和读取一个寄存器 + 2. 初始化系统实现从tmc2130读取一个数值 + 3. 控制tmc4361使得电机转起来 + 4. 配置闭环寄存器使得电机闭环转起来 + 5. 实现解析TMCL指令对接TMC-IDE ``` \ No newline at end of file diff --git a/app/.mxproject b/app/.mxproject index eb746e6..44742b0 100644 --- a/app/.mxproject +++ b/app/.mxproject @@ -1,34 +1,36 @@ [PreviousLibFiles] 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+LibFiles=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_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_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_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;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.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_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;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_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_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_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;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\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.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_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_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h; [PreviousUsedKeilFiles] -SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\crc.c;..\Core\Src\rng.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.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_rng.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;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.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_rng.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;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;;; +SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\crc.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;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.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_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;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.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_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;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;;; HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=8 +HeaderFileListSize=9 HeaderFiles#0=..\Core\Inc\gpio.h HeaderFiles#1=..\Core\Inc\crc.h HeaderFiles#2=..\Core\Inc\rng.h -HeaderFiles#3=..\Core\Inc\tim.h -HeaderFiles#4=..\Core\Inc\usart.h -HeaderFiles#5=..\Core\Inc\stm32f4xx_it.h -HeaderFiles#6=..\Core\Inc\stm32f4xx_hal_conf.h -HeaderFiles#7=..\Core\Inc\main.h +HeaderFiles#3=..\Core\Inc\spi.h +HeaderFiles#4=..\Core\Inc\tim.h +HeaderFiles#5=..\Core\Inc\usart.h +HeaderFiles#6=..\Core\Inc\stm32f4xx_it.h +HeaderFiles#7=..\Core\Inc\stm32f4xx_hal_conf.h +HeaderFiles#8=..\Core\Inc\main.h HeaderFolderListSize=1 HeaderPath#0=..\Core\Inc HeaderFiles=; -SourceFileListSize=8 +SourceFileListSize=9 SourceFiles#0=..\Core\Src\gpio.c SourceFiles#1=..\Core\Src\crc.c SourceFiles#2=..\Core\Src\rng.c -SourceFiles#3=..\Core\Src\tim.c -SourceFiles#4=..\Core\Src\usart.c -SourceFiles#5=..\Core\Src\stm32f4xx_it.c -SourceFiles#6=..\Core\Src\stm32f4xx_hal_msp.c -SourceFiles#7=..\Core\Src\main.c +SourceFiles#3=..\Core\Src\spi.c +SourceFiles#4=..\Core\Src\tim.c +SourceFiles#5=..\Core\Src\usart.c +SourceFiles#6=..\Core\Src\stm32f4xx_it.c +SourceFiles#7=..\Core\Src\stm32f4xx_hal_msp.c +SourceFiles#8=..\Core\Src\main.c SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; diff --git a/app/Core/Inc/spi.h b/app/Core/Inc/spi.h new file mode 100644 index 0000000..f40913c --- /dev/null +++ b/app/Core/Inc/spi.h @@ -0,0 +1,52 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file spi.h + * @brief This file contains all the function prototypes for + * the spi.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 __SPI_H__ +#define __SPI_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +extern SPI_HandleTypeDef hspi1; + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_SPI1_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __SPI_H__ */ + diff --git a/app/Core/Inc/stm32f4xx_hal_conf.h b/app/Core/Inc/stm32f4xx_hal_conf.h index 75b1935..57b0cc2 100644 --- a/app/Core/Inc/stm32f4xx_hal_conf.h +++ b/app/Core/Inc/stm32f4xx_hal_conf.h @@ -61,7 +61,7 @@ /* #define HAL_SAI_MODULE_ENABLED */ /* #define HAL_SD_MODULE_ENABLED */ /* #define HAL_MMC_MODULE_ENABLED */ -/* #define HAL_SPI_MODULE_ENABLED */ +#define HAL_SPI_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED #define HAL_UART_MODULE_ENABLED /* #define HAL_USART_MODULE_ENABLED */ @@ -95,7 +95,7 @@ * (when HSE is used as system clock source, directly or through the PLL). */ #if !defined (HSE_VALUE) - #define HSE_VALUE 25000000U /*!< Value of the External oscillator in Hz */ + #define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */ #endif /* HSE_VALUE */ #if !defined (HSE_STARTUP_TIMEOUT) diff --git a/app/Core/Inc/tim.h b/app/Core/Inc/tim.h index c761377..e2d9acf 100644 --- a/app/Core/Inc/tim.h +++ b/app/Core/Inc/tim.h @@ -38,6 +38,8 @@ extern TIM_HandleTypeDef htim3; extern TIM_HandleTypeDef htim4; +extern TIM_HandleTypeDef htim6; + extern TIM_HandleTypeDef htim7; /* USER CODE BEGIN Private defines */ @@ -47,6 +49,7 @@ extern TIM_HandleTypeDef htim7; void MX_TIM2_Init(void); void MX_TIM3_Init(void); void MX_TIM4_Init(void); +void MX_TIM6_Init(void); void MX_TIM7_Init(void); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); diff --git a/app/Core/Src/gpio.c b/app/Core/Src/gpio.c index 9c024b0..fa6af99 100644 --- a/app/Core/Src/gpio.c +++ b/app/Core/Src/gpio.c @@ -40,6 +40,7 @@ * EXTI * Free pins are configured automatically as Analog (this feature is enabled through * the Code Generation settings) + PC9 ------> RCC_MCO_2 */ void MX_GPIO_Init(void) { @@ -58,6 +59,9 @@ void MX_GPIO_Init(void) HAL_GPIO_WritePin(GPIOC, GPIO_PIN_0|GPIO_PIN_2|GPIO_PIN_3, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOE, GPIO_PIN_8, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ @@ -78,10 +82,10 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); - /*Configure GPIO pins : PC13 PC14 PC15 PC9 - PC10 PC11 PC12 */ - GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_9 - |GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12; + /*Configure GPIO pins : PC13 PC14 PC15 PC10 + PC11 PC12 */ + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_10 + |GPIO_PIN_11|GPIO_PIN_12; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); @@ -102,15 +106,20 @@ void MX_GPIO_Init(void) HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /*Configure GPIO pins : PA0 PA1 PA2 PA3 - PA4 PA5 PA6 PA7 PA8 PA11 PA12 PA15 */ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3 - |GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7 |GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_15; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + /*Configure GPIO pin : PA4 */ + GPIO_InitStruct.Pin = GPIO_PIN_4; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + /*Configure GPIO pins : PB0 PB1 PB2 PB10 PB11 PB12 PB13 PB14 PB15 PB4 PB5 PB8 @@ -138,6 +147,14 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + /*Configure GPIO pin : PC9 */ + GPIO_InitStruct.Pin = GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF0_MCO; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + /*Configure GPIO pins : PD0 PD1 PD2 PD3 PD7 */ GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3 diff --git a/app/Core/Src/main.c b/app/Core/Src/main.c index 73c2094..23b670b 100644 --- a/app/Core/Src/main.c +++ b/app/Core/Src/main.c @@ -20,6 +20,7 @@ #include "main.h" #include "crc.h" #include "rng.h" +#include "spi.h" #include "tim.h" #include "usart.h" #include "gpio.h" @@ -51,6 +52,7 @@ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); +void PeriphCommonClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ @@ -82,6 +84,9 @@ int main(void) /* Configure the system clock */ SystemClock_Config(); +/* Configure the peripherals common clocks */ + PeriphCommonClock_Config(); + /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ @@ -95,6 +100,8 @@ int main(void) MX_CRC_Init(); MX_RNG_Init(); MX_TIM7_Init(); + MX_SPI1_Init(); + MX_TIM6_Init(); /* USER CODE BEGIN 2 */ extern int umain(int argc, char const *argv[]); char const argv[1]={NULL}; @@ -129,12 +136,11 @@ void SystemClock_Config(void) /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; - RCC_OscInitStruct.HSIState = RCC_HSI_ON; - RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; - RCC_OscInitStruct.PLL.PLLM = 8; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLM = 4; RCC_OscInitStruct.PLL.PLLN = 168; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 7; @@ -156,6 +162,26 @@ void SystemClock_Config(void) { Error_Handler(); } + HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_PLLI2SCLK, RCC_MCODIV_4); +} + +/** + * @brief Peripherals Common Clock Configuration + * @retval None + */ +void PeriphCommonClock_Config(void) +{ + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_PLLI2S; + PeriphClkInitStruct.PLLI2S.PLLI2SN = 64; + PeriphClkInitStruct.PLLI2S.PLLI2SR = 2; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } } /* USER CODE BEGIN 4 */ diff --git a/app/Core/Src/spi.c b/app/Core/Src/spi.c new file mode 100644 index 0000000..6c5281b --- /dev/null +++ b/app/Core/Src/spi.c @@ -0,0 +1,119 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file spi.c + * @brief This file provides code for the configuration + * of the SPI 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 "spi.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +SPI_HandleTypeDef hspi1; + +/* SPI1 init function */ +void MX_SPI1_Init(void) +{ + + /* USER CODE BEGIN SPI1_Init 0 */ + + /* USER CODE END SPI1_Init 0 */ + + /* USER CODE BEGIN SPI1_Init 1 */ + + /* USER CODE END SPI1_Init 1 */ + hspi1.Instance = SPI1; + hspi1.Init.Mode = SPI_MODE_MASTER; + hspi1.Init.Direction = SPI_DIRECTION_2LINES; + hspi1.Init.DataSize = SPI_DATASIZE_8BIT; + hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi1.Init.NSS = SPI_NSS_SOFT; + hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; + hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi1.Init.TIMode = SPI_TIMODE_DISABLE; + hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi1.Init.CRCPolynomial = 10; + if (HAL_SPI_Init(&hspi1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI1_Init 2 */ + + /* USER CODE END SPI1_Init 2 */ + +} + +void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) +{ + + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(spiHandle->Instance==SPI1) + { + /* USER CODE BEGIN SPI1_MspInit 0 */ + + /* USER CODE END SPI1_MspInit 0 */ + /* SPI1 clock enable */ + __HAL_RCC_SPI1_CLK_ENABLE(); + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**SPI1 GPIO Configuration + PA5 ------> SPI1_SCK + PA6 ------> SPI1_MISO + PA7 ------> SPI1_MOSI + */ + GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN SPI1_MspInit 1 */ + + /* USER CODE END SPI1_MspInit 1 */ + } +} + +void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) +{ + + if(spiHandle->Instance==SPI1) + { + /* USER CODE BEGIN SPI1_MspDeInit 0 */ + + /* USER CODE END SPI1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SPI1_CLK_DISABLE(); + + /**SPI1 GPIO Configuration + PA5 ------> SPI1_SCK + PA6 ------> SPI1_MISO + PA7 ------> SPI1_MOSI + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7); + + /* USER CODE BEGIN SPI1_MspDeInit 1 */ + + /* USER CODE END SPI1_MspDeInit 1 */ + } +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/app/Core/Src/tim.c b/app/Core/Src/tim.c index cf073db..0e13ac5 100644 --- a/app/Core/Src/tim.c +++ b/app/Core/Src/tim.c @@ -27,6 +27,7 @@ TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim4; +TIM_HandleTypeDef htim6; TIM_HandleTypeDef htim7; /* TIM2 init function */ @@ -88,9 +89,9 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; - htim3.Init.Prescaler = 72-1; + htim3.Init.Prescaler = 0; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; - htim3.Init.Period = 1000-1; + htim3.Init.Period = 65535; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) @@ -104,8 +105,8 @@ void MX_TIM3_Init(void) Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 300; - sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW; + 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) { @@ -161,6 +162,39 @@ void MX_TIM4_Init(void) HAL_TIM_MspPostInit(&htim4); } +/* TIM6 init function */ +void MX_TIM6_Init(void) +{ + + /* USER CODE BEGIN TIM6_Init 0 */ + + /* USER CODE END TIM6_Init 0 */ + + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM6_Init 1 */ + + /* USER CODE END TIM6_Init 1 */ + htim6.Instance = TIM6; + htim6.Init.Prescaler = 83; + htim6.Init.CounterMode = TIM_COUNTERMODE_UP; + htim6.Init.Period = 65535; + htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim6) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM6_Init 2 */ + + /* USER CODE END TIM6_Init 2 */ + +} /* TIM7 init function */ void MX_TIM7_Init(void) { @@ -175,7 +209,7 @@ void MX_TIM7_Init(void) /* USER CODE END TIM7_Init 1 */ htim7.Instance = TIM7; - htim7.Init.Prescaler = 0; + htim7.Init.Prescaler = 83; htim7.Init.CounterMode = TIM_COUNTERMODE_UP; htim7.Init.Period = 65535; htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; @@ -236,7 +270,18 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) { - if(tim_baseHandle->Instance==TIM7) + if(tim_baseHandle->Instance==TIM6) + { + /* USER CODE BEGIN TIM6_MspInit 0 */ + + /* USER CODE END TIM6_MspInit 0 */ + /* TIM6 clock enable */ + __HAL_RCC_TIM6_CLK_ENABLE(); + /* USER CODE BEGIN TIM6_MspInit 1 */ + + /* USER CODE END TIM6_MspInit 1 */ + } + else if(tim_baseHandle->Instance==TIM7) { /* USER CODE BEGIN TIM7_MspInit 0 */ @@ -358,7 +403,18 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) { - if(tim_baseHandle->Instance==TIM7) + if(tim_baseHandle->Instance==TIM6) + { + /* USER CODE BEGIN TIM6_MspDeInit 0 */ + + /* USER CODE END TIM6_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM6_CLK_DISABLE(); + /* USER CODE BEGIN TIM6_MspDeInit 1 */ + + /* USER CODE END TIM6_MspDeInit 1 */ + } + else if(tim_baseHandle->Instance==TIM7) { /* USER CODE BEGIN TIM7_MspDeInit 0 */ diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index bcd4fcb..74a4988 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -70,7 +70,7 @@ 466 Source Browser 500 - 166 + 300 @@ -102,8 +102,8 @@ 9 - -1909 - -231 + 9 + 1687 1009 @@ -111,7 +111,7 @@ 0 1351 - 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59392 @@ -1822,7 +1822,7 @@ Build 966 - 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583 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index 8f9ee05..042ddf7 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -26,7 +26,7 @@ 0x4 ARM-ADS - 25000000 + 8000000 1 1 @@ -304,6 +304,18 @@ 0 0 0 + ../Core/Src/spi.c + spi.c + 0 + 0 + + + 2 + 7 + 1 + 0 + 0 + 0 ../Core/Src/tim.c tim.c 0 @@ -311,7 +323,7 @@ 2 - 7 + 8 1 0 0 @@ -323,7 +335,7 @@ 2 - 8 + 9 1 0 0 @@ -335,7 +347,7 @@ 2 - 9 + 10 1 0 0 @@ -355,7 +367,7 @@ 0 3 - 10 + 11 1 0 0 @@ -367,7 +379,7 @@ 3 - 11 + 12 1 0 0 @@ -379,7 +391,7 @@ 3 - 12 + 13 1 0 0 @@ -391,7 +403,7 @@ 3 - 13 + 14 1 0 0 @@ -403,7 +415,7 @@ 3 - 14 + 15 1 0 0 @@ -415,7 +427,7 @@ 3 - 15 + 16 1 0 0 @@ -427,7 +439,7 @@ 3 - 16 + 17 1 0 0 @@ -439,7 +451,7 @@ 3 - 17 + 18 1 0 0 @@ -451,7 +463,7 @@ 3 - 18 + 19 1 0 0 @@ -463,7 +475,7 @@ 3 - 19 + 20 1 0 0 @@ -475,7 +487,7 @@ 3 - 20 + 21 1 0 0 @@ -487,7 +499,7 @@ 3 - 21 + 22 1 0 0 @@ -499,7 +511,7 @@ 3 - 22 + 23 1 0 0 @@ -511,7 +523,7 @@ 3 - 23 + 24 1 0 0 @@ -523,7 +535,7 @@ 3 - 24 + 25 1 0 0 @@ -535,7 +547,19 @@ 3 - 25 + 26 + 1 + 0 + 0 + 0 + ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c + stm32f4xx_hal_spi.c + 0 + 0 + + + 3 + 27 1 0 0 @@ -547,7 +571,7 @@ 3 - 26 + 28 1 0 0 @@ -559,7 +583,7 @@ 3 - 27 + 29 1 0 0 @@ -579,7 +603,7 @@ 0 4 - 28 + 30 1 0 0 @@ -599,7 +623,7 @@ 0 5 - 29 + 31 1 0 0 @@ -619,7 +643,7 @@ 0 6 - 30 + 32 1 0 0 @@ -631,7 +655,7 @@ 6 - 31 + 33 1 0 0 @@ -651,7 +675,7 @@ 0 7 - 32 + 34 1 0 0 @@ -663,7 +687,7 @@ 7 - 33 + 35 1 0 0 @@ -675,7 +699,7 @@ 7 - 34 + 36 1 0 0 @@ -687,7 +711,7 @@ 7 - 35 + 37 1 0 0 @@ -699,7 +723,7 @@ 7 - 36 + 38 8 0 0 @@ -711,7 +735,7 @@ 7 - 37 + 39 1 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index f94a59e..eea7805 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -516,6 +516,62 @@ + spi.c + 1 + ../Core/Src/spi.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 + + + + + + + + + + + tim.c 1 ../Core/Src/tim.c @@ -769,6 +825,62 @@ + stm32f4xx_hal_spi.c + 1 + ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.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 + + + + + + + + + + + stm32f4xx_hal_tim.c 1 ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c diff --git a/app/app.ioc b/app/app.ioc index 5381d2d..908bac9 100644 --- a/app/app.ioc +++ b/app/app.ioc @@ -9,50 +9,58 @@ Mcu.CPN=STM32F407VET6 Mcu.Family=STM32F4 Mcu.IP0=CRC Mcu.IP1=NVIC +Mcu.IP10=TIM7 +Mcu.IP11=USART1 Mcu.IP2=RCC Mcu.IP3=RNG -Mcu.IP4=SYS -Mcu.IP5=TIM2 -Mcu.IP6=TIM3 -Mcu.IP7=TIM4 -Mcu.IP8=TIM7 -Mcu.IP9=USART1 -Mcu.IPNb=10 +Mcu.IP4=SPI1 +Mcu.IP5=SYS +Mcu.IP6=TIM2 +Mcu.IP7=TIM3 +Mcu.IP8=TIM4 +Mcu.IP9=TIM6 +Mcu.IPNb=12 Mcu.Name=STM32F407V(E-G)Tx Mcu.Package=LQFP100 Mcu.Pin0=PH0-OSC_IN Mcu.Pin1=PH1-OSC_OUT -Mcu.Pin10=PC6 -Mcu.Pin11=PC7 -Mcu.Pin12=PC8 -Mcu.Pin13=PA9 -Mcu.Pin14=PA10 -Mcu.Pin15=PA13 -Mcu.Pin16=PA14 -Mcu.Pin17=PD0 -Mcu.Pin18=PD1 -Mcu.Pin19=PD2 +Mcu.Pin10=PC4 +Mcu.Pin11=PC5 +Mcu.Pin12=PE8 +Mcu.Pin13=PD14 +Mcu.Pin14=PC6 +Mcu.Pin15=PC7 +Mcu.Pin16=PC8 +Mcu.Pin17=PC9 +Mcu.Pin18=PA9 +Mcu.Pin19=PA10 Mcu.Pin2=PC0 -Mcu.Pin20=PD3 -Mcu.Pin21=PD4 -Mcu.Pin22=PD5 -Mcu.Pin23=PD6 -Mcu.Pin24=PD7 -Mcu.Pin25=PB3 -Mcu.Pin26=PB6 -Mcu.Pin27=PB7 -Mcu.Pin28=VP_CRC_VS_CRC -Mcu.Pin29=VP_RNG_VS_RNG +Mcu.Pin20=PA13 +Mcu.Pin21=PA14 +Mcu.Pin22=PD0 +Mcu.Pin23=PD1 +Mcu.Pin24=PD2 +Mcu.Pin25=PD3 +Mcu.Pin26=PD4 +Mcu.Pin27=PD5 +Mcu.Pin28=PD6 +Mcu.Pin29=PD7 Mcu.Pin3=PC1 -Mcu.Pin30=VP_SYS_VS_Systick -Mcu.Pin31=VP_TIM7_VS_ClockSourceINT +Mcu.Pin30=PB3 +Mcu.Pin31=PB6 +Mcu.Pin32=PB7 +Mcu.Pin33=VP_CRC_VS_CRC +Mcu.Pin34=VP_RNG_VS_RNG +Mcu.Pin35=VP_SYS_VS_Systick +Mcu.Pin36=VP_TIM6_VS_ClockSourceINT +Mcu.Pin37=VP_TIM7_VS_ClockSourceINT Mcu.Pin4=PC2 Mcu.Pin5=PC3 -Mcu.Pin6=PC4 -Mcu.Pin7=PC5 -Mcu.Pin8=PE8 -Mcu.Pin9=PD14 -Mcu.PinsNb=32 +Mcu.Pin6=PA4 +Mcu.Pin7=PA5 +Mcu.Pin8=PA6 +Mcu.Pin9=PA7 +Mcu.PinsNb=38 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F407VETx @@ -75,6 +83,17 @@ PA13.Mode=Serial_Wire PA13.Signal=SYS_JTMS-SWDIO PA14.Mode=Serial_Wire PA14.Signal=SYS_JTCK-SWCLK +PA4.Locked=true +PA4.Signal=GPIO_Output +PA5.Locked=true +PA5.Mode=Full_Duplex_Master +PA5.Signal=SPI1_SCK +PA6.Locked=true +PA6.Mode=Full_Duplex_Master +PA6.Signal=SPI1_MISO +PA7.Locked=true +PA7.Mode=Full_Duplex_Master +PA7.Signal=SPI1_MOSI PA9.Locked=true PA9.Mode=Asynchronous PA9.Signal=USART1_TX @@ -110,6 +129,9 @@ PC7.Locked=true PC7.Signal=GPIO_Input PC8.Locked=true PC8.Signal=S_TIM3_CH3 +PC9.Locked=true +PC9.Mode=Clock-out-2 +PC9.Signal=RCC_MCO_2 PD0.Locked=true PD0.Signal=GPIO_Input PD1.Locked=true @@ -162,7 +184,7 @@ ProjectManager.StackSize=0x400 ProjectManager.TargetToolchain=MDK-ARM V5.32 ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_CRC_Init-CRC-false-HAL-true,8-MX_RNG_Init-RNG-false-HAL-true,9-MX_TIM7_Init-TIM7-false-HAL-true,10-MX_SPI1_Init-SPI1-false-HAL-true,11-MX_TIM6_Init-TIM6-false-HAL-true RCC.48MHZClocksFreq_Value=48000000 RCC.AHBFreq_Value=168000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 @@ -176,32 +198,45 @@ RCC.EthernetFreq_Value=168000000 RCC.FCLKCortexFreq_Value=168000000 RCC.FamilyName=M RCC.HCLKFreq_Value=168000000 -RCC.HSE_VALUE=25000000 +RCC.HSE_VALUE=8000000 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,PLLQ,PLLQCLKFreq_Value,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S +RCC.I2SClocksFreq_Value=64000000 +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,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SN,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLSourceVirtual,RCC_MCO1Source,RCC_MCO2Source,RCC_MCODiv1,RCC_MCODiv2,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.MCO1PinFreq_Value=42000000 +RCC.MCO2PinFreq_Value=16000000 RCC.PLLCLKFreq_Value=168000000 -RCC.PLLM=8 +RCC.PLLI2SN=64 +RCC.PLLM=4 RCC.PLLN=168 RCC.PLLQ=7 RCC.PLLQCLKFreq_Value=48000000 +RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE +RCC.RCC_MCO1Source=RCC_MCO1SOURCE_PLLCLK +RCC.RCC_MCO2Source=RCC_MCO2SOURCE_PLLI2SCLK +RCC.RCC_MCODiv1=RCC_MCODIV_4 +RCC.RCC_MCODiv2=RCC_MCODIV_4 RCC.RTCFreq_Value=32000 -RCC.RTCHSEDivFreq_Value=12500000 +RCC.RTCHSEDivFreq_Value=4000000 RCC.SYSCLKFreq_VALUE=168000000 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK -RCC.VCOI2SOutputFreq_Value=384000000 +RCC.VCOI2SOutputFreq_Value=128000000 RCC.VCOInputFreq_Value=2000000 RCC.VCOOutputFreq_Value=336000000 -RCC.VcooutputI2S=192000000 +RCC.VcooutputI2S=64000000 SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2 SH.S_TIM2_CH2.ConfNb=1 SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3 SH.S_TIM3_CH3.ConfNb=1 SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3 SH.S_TIM4_CH3.ConfNb=1 +SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_128 +SPI1.CalculateBaudRate=656.25 KBits/s +SPI1.Direction=SPI_DIRECTION_2LINES +SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler +SPI1.Mode=SPI_MODE_MASTER +SPI1.VirtualType=VM_MASTER TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM2.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation2 CH2,OCPolarity_2 TIM2.OCPolarity_2=TIM_OCPOLARITY_LOW @@ -209,17 +244,17 @@ TIM2.Period=1000-1 TIM2.Prescaler=72-1 TIM2.Pulse-PWM\ Generation2\ CH2=200 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 -TIM3.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period,OCPolarity_3,Pulse-PWM Generation3 CH3 -TIM3.OCPolarity_3=TIM_OCPOLARITY_LOW -TIM3.Period=1000-1 -TIM3.Prescaler=72-1 -TIM3.Pulse-PWM\ Generation3\ CH3=300 +TIM3.IPParameters=Channel-PWM Generation3 CH3 TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM4.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period,Pulse-PWM Generation3 CH3,OCPolarity_3 TIM4.OCPolarity_3=TIM_OCPOLARITY_LOW TIM4.Period=1000-1 TIM4.Prescaler=72 TIM4.Pulse-PWM\ Generation3\ CH3=400 +TIM6.IPParameters=Prescaler +TIM6.Prescaler=83 +TIM7.IPParameters=Prescaler +TIM7.Prescaler=83 USART1.IPParameters=VirtualMode USART1.VirtualMode=VM_ASYNC VP_CRC_VS_CRC.Mode=CRC_Activate @@ -228,6 +263,8 @@ VP_RNG_VS_RNG.Mode=RNG_Activate VP_RNG_VS_RNG.Signal=RNG_VS_RNG VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Signal=SYS_VS_Systick +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 board=custom diff --git a/dep/libtrinamic b/dep/libtrinamic index a66eaf2..c14b8b3 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit a66eaf2a974dbd93497c167cab4d092f61f4f92a +Subproject commit c14b8b32f3be6597254ff3c3c7990b8e205f1130 diff --git a/src/port.c b/src/port.c index b523e2e..d2c0b92 100644 --- a/src/port.c +++ b/src/port.c @@ -1,10 +1,12 @@ #include #include +#include "libiflytop_micro/stm32/basic/basic.h" #include "main.h" #include "project_board.h" +#include "spi.h" +#include "tim.h" #include "usart.h" -#include "libiflytop_micro/stm32/basic/basic.h" /** * @brief printf 串口重定向 * @@ -25,3 +27,34 @@ void port_do_debug_light_state() { HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); } } + +void port_spi_cs_select(uint8_t channel, bool select) { + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); + } else if (channel == MOTOR_1_TMC2160_CHANNEL) { + /** + * @brief TMC2160 连接到了 TMC4361A 的 SPI 接口上，所以不需要单独的片选 + */ + return; + } +} + +void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } + +void port_motor_spi_write_and_read(uint8_t channel, uint8_t* data, size_t length) { + // + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + port_spi_cs_select(channel, true); + port_delay_us(1); + HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); + port_spi_cs_select(channel, false); + } else if (channel == MOTOR_1_TMC2160_CHANNEL) { + } +} + +void port_tmc_extern_clk_enable() { + /** + * @brief TMC使用的外部时钟在stm32cubemx中已经进行配置，输出时钟为16MHZ + * 配置可以参考https://iflytop1.feishu.cn/wiki/wikcnog3hFm6dGFLMRksnhLb7Aw + */ +} diff --git a/src/port.h b/src/port.h index 84af3c5..7b240c9 100644 --- a/src/port.h +++ b/src/port.h @@ -1,4 +1,11 @@ #include #include -void port_do_debug_light_state(); \ No newline at end of file +void port_do_debug_light_state(); +void port_delay_us(uint32_t us); + +/******************************************************************************* + * tmc芯片驱动相关 * + *******************************************************************************/ +void port_motor_spi_write_and_read(uint8_t channel, uint8_t *data, size_t length); +void port_tmc_extern_clk_enable(); diff --git a/src/project_board.h b/src/project_board.h index baeb300..2ee4eaf 100644 --- a/src/project_board.h +++ b/src/project_board.h @@ -7,4 +7,12 @@ // 调试指示灯 #define DEBUG_LIGHT_PORT GPIOE -#define DEBUG_LIGHT_PIN GPIO_PIN_8 +#define DEBUG_LIGHT_PIN GPIO_PIN_8 + +//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 htim6 + +// 电机编号 +#define MOTOR_1_TMC4361A_CHANNEL 1 +#define MOTOR_1_TMC2160_CHANNEL 2 \ No newline at end of file diff --git a/src/umain.c b/src/umain.c index 15a6a30..ec17263 100644 --- a/src/umain.c +++ b/src/umain.c @@ -19,6 +19,11 @@ int umain(int argc, char const *argv[]) { sys_loggger_enable(true); ZLOGI(TAG, "VERSION:%s", VERSION); + + + + + while (true) { port_do_debug_light_state(); }