diff --git a/.vscode/settings.json b/.vscode/settings.json index 64105ef..56a8b04 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -20,6 +20,8 @@ "functional": "cpp", "tuple": "cpp", "type_traits": "cpp", - "utility": "cpp" + "utility": "cpp", + "string": "cpp", + "string_view": "cpp" } } \ No newline at end of file diff --git a/app/Core/Inc/tim.h b/app/Core/Inc/tim.h index e2d9acf..1507bb2 100644 --- a/app/Core/Inc/tim.h +++ b/app/Core/Inc/tim.h @@ -32,6 +32,8 @@ extern "C" { /* USER CODE END Includes */ +extern TIM_HandleTypeDef htim1; + extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim3; @@ -46,6 +48,7 @@ extern TIM_HandleTypeDef htim7; /* USER CODE END Private defines */ +void MX_TIM1_Init(void); void MX_TIM2_Init(void); void MX_TIM3_Init(void); void MX_TIM4_Init(void); diff --git a/app/Core/Src/gpio.c b/app/Core/Src/gpio.c index 366cafa..5c08792 100644 --- a/app/Core/Src/gpio.c +++ b/app/Core/Src/gpio.c @@ -62,33 +62,31 @@ void MX_GPIO_Init(void) 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); + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11|GPIO_PIN_12, GPIO_PIN_SET); + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_8|GPIO_PIN_10, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOD, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11|GPIO_PIN_12, GPIO_PIN_SET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6, GPIO_PIN_RESET); /*Configure GPIO pins : PE2 PE3 PE4 PE5 - PE6 PE7 PE9 PE10 - PE13 PE14 PE15 PE0 - PE1 */ + PE6 PE7 PE13 PE14 + PE15 PE0 PE1 */ GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5 - |GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_9|GPIO_PIN_10 - |GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_0 - |GPIO_PIN_1; + |GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_13|GPIO_PIN_14 + |GPIO_PIN_15|GPIO_PIN_0|GPIO_PIN_1; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); - /*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; + /*Configure GPIO pins : PC13 PC14 PC15 PC8 + PC10 PC11 PC12 */ + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_8 + |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); @@ -123,20 +121,25 @@ void MX_GPIO_Init(void) 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 - PB9 */ - GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_10 - |GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14 - |GPIO_PIN_15|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_8 - |GPIO_PIN_9; + /*Configure GPIO pin : PB1 */ + GPIO_InitStruct.Pin = GPIO_PIN_1; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /*Configure GPIO pins : PB2 PB10 PB11 PB12 + PB13 PB14 PB15 PB4 + PB5 PB8 PB9 */ + GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12 + |GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15|GPIO_PIN_4 + |GPIO_PIN_5|GPIO_PIN_8|GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - /*Configure GPIO pins : PE8 PE11 PE12 */ - GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_11|GPIO_PIN_12; + /*Configure GPIO pins : PE8 PE10 PE11 PE12 */ + GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; diff --git a/app/Core/Src/main.c b/app/Core/Src/main.c index 95b4102..4b771f0 100644 --- a/app/Core/Src/main.c +++ b/app/Core/Src/main.c @@ -102,6 +102,7 @@ int main(void) MX_TIM7_Init(); MX_SPI1_Init(); MX_TIM6_Init(); + MX_TIM1_Init(); /* USER CODE BEGIN 2 */ extern int umain(int argc, char const *argv[]); char const argv[1]={NULL}; diff --git a/app/Core/Src/tim.c b/app/Core/Src/tim.c index a209ce5..4ea4d7d 100644 --- a/app/Core/Src/tim.c +++ b/app/Core/Src/tim.c @@ -24,12 +24,83 @@ /* USER CODE END 0 */ +TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; TIM_HandleTypeDef htim4; TIM_HandleTypeDef htim6; TIM_HandleTypeDef htim7; +/* TIM1 init function */ +void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 143; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 9999; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &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(&htim1, &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(&htim1, &sBreakDeadTimeConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + HAL_TIM_MspPostInit(&htim1); + +} /* TIM2 init function */ void MX_TIM2_Init(void) { @@ -82,6 +153,7 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 0 */ + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; @@ -89,11 +161,20 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; - htim3.Init.Prescaler = 0; + htim3.Init.Prescaler = 71; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; - htim3.Init.Period = 65535; + htim3.Init.Period = 9999; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim3) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) { Error_Handler(); @@ -229,21 +310,21 @@ void MX_TIM7_Init(void) } -void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) { - if(tim_pwmHandle->Instance==TIM2) + if(tim_baseHandle->Instance==TIM1) { - /* USER CODE BEGIN TIM2_MspInit 0 */ + /* USER CODE BEGIN TIM1_MspInit 0 */ - /* USER CODE END TIM2_MspInit 0 */ - /* TIM2 clock enable */ - __HAL_RCC_TIM2_CLK_ENABLE(); - /* USER CODE BEGIN TIM2_MspInit 1 */ + /* USER CODE END TIM1_MspInit 0 */ + /* TIM1 clock enable */ + __HAL_RCC_TIM1_CLK_ENABLE(); + /* USER CODE BEGIN TIM1_MspInit 1 */ - /* USER CODE END TIM2_MspInit 1 */ + /* USER CODE END TIM1_MspInit 1 */ } - else if(tim_pwmHandle->Instance==TIM3) + else if(tim_baseHandle->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspInit 0 */ @@ -254,23 +335,7 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM3_MspInit 1 */ } - else if(tim_pwmHandle->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_MspInit(TIM_HandleTypeDef* tim_baseHandle) -{ - - if(tim_baseHandle->Instance==TIM6) + else if(tim_baseHandle->Instance==TIM6) { /* USER CODE BEGIN TIM6_MspInit 0 */ @@ -293,15 +358,63 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM7_MspInit 1 */ } } + +void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle) +{ + + if(tim_pwmHandle->Instance==TIM2) + { + /* USER CODE BEGIN TIM2_MspInit 0 */ + + /* USER CODE END TIM2_MspInit 0 */ + /* TIM2 clock enable */ + __HAL_RCC_TIM2_CLK_ENABLE(); + /* USER CODE BEGIN TIM2_MspInit 1 */ + + /* USER CODE END TIM2_MspInit 1 */ + } + else if(tim_pwmHandle->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_MspPostInit(TIM_HandleTypeDef* timHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(timHandle->Instance==TIM2) + if(timHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspPostInit 0 */ + + /* USER CODE END TIM1_MspPostInit 0 */ + __HAL_RCC_GPIOE_CLK_ENABLE(); + /**TIM1 GPIO Configuration + PE9 ------> TIM1_CH1 + */ + GPIO_InitStruct.Pin = GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM1_MspPostInit 1 */ + + /* USER CODE END TIM1_MspPostInit 1 */ + } + else if(timHandle->Instance==TIM2) { /* USER CODE BEGIN TIM2_MspPostInit 0 */ /* USER CODE END TIM2_MspPostInit 0 */ + __HAL_RCC_GPIOB_CLK_ENABLE(); /**TIM2 GPIO Configuration PB3 ------> TIM2_CH2 @@ -323,16 +436,16 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) /* USER CODE END TIM3_MspPostInit 0 */ - __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); /**TIM3 GPIO Configuration - PC8 ------> TIM3_CH3 + PB0 ------> TIM3_CH3 */ - GPIO_InitStruct.Pin = GPIO_PIN_8; + GPIO_InitStruct.Pin = GPIO_PIN_0; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF2_TIM3; - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* USER CODE BEGIN TIM3_MspPostInit 1 */ @@ -362,21 +475,21 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) } -void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) { - if(tim_pwmHandle->Instance==TIM2) + if(tim_baseHandle->Instance==TIM1) { - /* USER CODE BEGIN TIM2_MspDeInit 0 */ + /* USER CODE BEGIN TIM1_MspDeInit 0 */ - /* USER CODE END TIM2_MspDeInit 0 */ + /* USER CODE END TIM1_MspDeInit 0 */ /* Peripheral clock disable */ - __HAL_RCC_TIM2_CLK_DISABLE(); - /* USER CODE BEGIN TIM2_MspDeInit 1 */ + __HAL_RCC_TIM1_CLK_DISABLE(); + /* USER CODE BEGIN TIM1_MspDeInit 1 */ - /* USER CODE END TIM2_MspDeInit 1 */ + /* USER CODE END TIM1_MspDeInit 1 */ } - else if(tim_pwmHandle->Instance==TIM3) + else if(tim_baseHandle->Instance==TIM3) { /* USER CODE BEGIN TIM3_MspDeInit 0 */ @@ -387,23 +500,7 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) /* USER CODE END TIM3_MspDeInit 1 */ } - else if(tim_pwmHandle->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 */ - } -} - -void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) -{ - - if(tim_baseHandle->Instance==TIM6) + else if(tim_baseHandle->Instance==TIM6) { /* USER CODE BEGIN TIM6_MspDeInit 0 */ @@ -427,6 +524,33 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) } } +void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle) +{ + + if(tim_pwmHandle->Instance==TIM2) + { + /* USER CODE BEGIN TIM2_MspDeInit 0 */ + + /* USER CODE END TIM2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM2_CLK_DISABLE(); + /* USER CODE BEGIN TIM2_MspDeInit 1 */ + + /* USER CODE END TIM2_MspDeInit 1 */ + } + else if(tim_pwmHandle->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.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index 7f5c5c7..dd68aca 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -15,7 +15,7 @@ 38003 Registers - 162 163 + 122 30 346 @@ -101,17 +101,17 @@ -1 - 69 - 188 - 1866 - 1069 + 2 + 199 + 1299 + 988 0 2371 - 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898 @@ -3661,7 +3661,7 @@ ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp 21 - 49 + 50 76 1 @@ -3705,9 +3705,9 @@ ..\..\dep\libtrinamic\src\ic\tmc4361A.hpp - 54 - 98 - 124 + 3 + 125 + 151 1 0 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index 0043e92..871f88c 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 4 + 3 @@ -114,11 +114,16 @@ - Segger\JL2CM3.dll + BIN\CMSIS_AGDI.dll 0 + CMSIS_AGDI + -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) + + + 0 ARMRTXEVENTFLAGS -L70 -Z18 -C0 -M0 -T1 @@ -140,7 +145,7 @@ 0 JL2CM3 - -U23520538 -O78 -S5 -ZTIFSpeedSel1000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) + -U23520538 -O78 -S5 -ZTIFSpeedSel1000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8001 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) 0 diff --git a/app/app.ioc b/app/app.ioc index 7d682a1..5c3d655 100644 --- a/app/app.ioc +++ b/app/app.ioc @@ -9,60 +9,66 @@ Mcu.CPN=STM32F407VET6 Mcu.Family=STM32F4 Mcu.IP0=CRC Mcu.IP1=NVIC -Mcu.IP10=TIM7 -Mcu.IP11=USART1 +Mcu.IP10=TIM6 +Mcu.IP11=TIM7 +Mcu.IP12=USART1 Mcu.IP2=RCC Mcu.IP3=RNG Mcu.IP4=SPI1 Mcu.IP5=SYS -Mcu.IP6=TIM2 -Mcu.IP7=TIM3 -Mcu.IP8=TIM4 -Mcu.IP9=TIM6 -Mcu.IPNb=12 +Mcu.IP6=TIM1 +Mcu.IP7=TIM2 +Mcu.IP8=TIM3 +Mcu.IP9=TIM4 +Mcu.IPNb=13 Mcu.Name=STM32F407V(E-G)Tx Mcu.Package=LQFP100 Mcu.Pin0=PH0-OSC_IN Mcu.Pin1=PH1-OSC_OUT Mcu.Pin10=PC4 Mcu.Pin11=PC5 -Mcu.Pin12=PE8 -Mcu.Pin13=PE11 -Mcu.Pin14=PE12 -Mcu.Pin15=PD14 -Mcu.Pin16=PC6 -Mcu.Pin17=PC7 -Mcu.Pin18=PC8 -Mcu.Pin19=PC9 +Mcu.Pin12=PB0 +Mcu.Pin13=PB1 +Mcu.Pin14=PE8 +Mcu.Pin15=PE9 +Mcu.Pin16=PE10 +Mcu.Pin17=PE11 +Mcu.Pin18=PE12 +Mcu.Pin19=PD14 Mcu.Pin2=PC0 -Mcu.Pin20=PA9 -Mcu.Pin21=PA10 -Mcu.Pin22=PA13 -Mcu.Pin23=PA14 -Mcu.Pin24=PD0 -Mcu.Pin25=PD1 -Mcu.Pin26=PD2 -Mcu.Pin27=PD3 -Mcu.Pin28=PD4 -Mcu.Pin29=PD5 +Mcu.Pin20=PC6 +Mcu.Pin21=PC7 +Mcu.Pin22=PC9 +Mcu.Pin23=PA9 +Mcu.Pin24=PA10 +Mcu.Pin25=PA13 +Mcu.Pin26=PA14 +Mcu.Pin27=PD0 +Mcu.Pin28=PD1 +Mcu.Pin29=PD2 Mcu.Pin3=PC1 -Mcu.Pin30=PD6 -Mcu.Pin31=PD7 -Mcu.Pin32=PB3 -Mcu.Pin33=PB6 -Mcu.Pin34=PB7 -Mcu.Pin35=VP_CRC_VS_CRC -Mcu.Pin36=VP_RNG_VS_RNG -Mcu.Pin37=VP_SYS_VS_Systick -Mcu.Pin38=VP_TIM6_VS_ClockSourceINT -Mcu.Pin39=VP_TIM7_VS_ClockSourceINT +Mcu.Pin30=PD3 +Mcu.Pin31=PD4 +Mcu.Pin32=PD5 +Mcu.Pin33=PD6 +Mcu.Pin34=PD7 +Mcu.Pin35=PB3 +Mcu.Pin36=PB6 +Mcu.Pin37=PB7 +Mcu.Pin38=VP_CRC_VS_CRC +Mcu.Pin39=VP_RNG_VS_RNG Mcu.Pin4=PC2 +Mcu.Pin40=VP_SYS_VS_Systick +Mcu.Pin41=VP_TIM1_VS_ClockSourceINT +Mcu.Pin42=VP_TIM3_VS_ClockSourceINT +Mcu.Pin43=VP_TIM6_VS_ClockSourceINT +Mcu.Pin44=VP_TIM7_VS_ClockSourceINT Mcu.Pin5=PC3 Mcu.Pin6=PA4 Mcu.Pin7=PA5 Mcu.Pin8=PA6 Mcu.Pin9=PA7 -Mcu.PinsNb=40 +Mcu.PinsNb=45 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F407VETx @@ -99,6 +105,13 @@ PA7.Signal=SPI1_MOSI PA9.Locked=true PA9.Mode=Asynchronous PA9.Signal=USART1_TX +PB0.GPIOParameters=GPIO_ModeDefaultPP,GPIO_PuPd +PB0.GPIO_ModeDefaultPP=GPIO_MODE_AF_PP +PB0.GPIO_PuPd=GPIO_PULLDOWN +PB0.Locked=true +PB0.Signal=S_TIM3_CH3 +PB1.Locked=true +PB1.Signal=GPIO_Output PB3.Locked=true PB3.Signal=S_TIM2_CH2 PB6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_ModeDefaultOutputPP @@ -129,8 +142,6 @@ PC6.Locked=true PC6.Signal=GPIO_Input 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 @@ -152,6 +163,8 @@ PD6.Locked=true PD6.Signal=GPIO_Output PD7.Locked=true PD7.Signal=GPIO_Input +PE10.Locked=true +PE10.Signal=GPIO_Output PE11.GPIOParameters=PinState PE11.Locked=true PE11.PinState=GPIO_PIN_SET @@ -162,6 +175,11 @@ PE12.PinState=GPIO_PIN_SET PE12.Signal=GPIO_Output PE8.Locked=true PE8.Signal=GPIO_Output +PE9.GPIOParameters=GPIO_ModeDefaultPP,GPIO_PuPd +PE9.GPIO_ModeDefaultPP=GPIO_MODE_AF_PP +PE9.GPIO_PuPd=GPIO_PULLDOWN +PE9.Locked=true +PE9.Signal=S_TIM1_CH1 PH0-OSC_IN.Mode=HSE-External-Oscillator PH0-OSC_IN.Signal=RCC_OSC_IN PH1-OSC_OUT.Mode=HSE-External-Oscillator @@ -194,7 +212,7 @@ 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,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 +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,12-MX_TIM1_Init-TIM1-false-HAL-true RCC.48MHZClocksFreq_Value=48000000 RCC.AHBFreq_Value=144000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 @@ -235,6 +253,8 @@ RCC.VCOI2SOutputFreq_Value=128000000 RCC.VCOInputFreq_Value=2000000 RCC.VCOOutputFreq_Value=288000000 RCC.VcooutputI2S=64000000 +SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 +SH.S_TIM1_CH1.ConfNb=1 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 @@ -247,6 +267,10 @@ SPI1.Direction=SPI_DIRECTION_2LINES SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler SPI1.Mode=SPI_MODE_MASTER SPI1.VirtualType=VM_MASTER +TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 +TIM1.IPParameters=Channel-PWM Generation1 CH1,Period,Prescaler +TIM1.Period=9999 +TIM1.Prescaler=143 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 @@ -254,7 +278,9 @@ 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 +TIM3.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period +TIM3.Period=9999 +TIM3.Prescaler=71 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 @@ -273,6 +299,10 @@ 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_TIM1_VS_ClockSourceINT.Mode=Internal +VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT +VP_TIM3_VS_ClockSourceINT.Mode=Internal +VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer diff --git a/src/port.cpp b/src/port.cpp index e815dd4..857c441 100644 --- a/src/port.cpp +++ b/src/port.cpp @@ -77,3 +77,55 @@ int32_t port_tmc4361_get_version(uint8_t channel) { return value; } #endif + +// PE9 COLD_CTR_PWM0 +static void port_peltier_cold_ctr_pwm(int pwm) { + __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); +} +// PB0 HOT_CTR_PWM0 +static void port_peltier_hot_ctr_pwm(int pwm) { + __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, pwm); + HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3); +} + +void port_peltier_set_pwm(int pwm) { + /** + * @brief + * + * 待机状态 + * HOT_CTR_PWM0(AL) = 0 + * HOT_CTR(AH) = 0 + * COLD_CTR_PWM0(BL) = 0 + * COLD_CTR(BH) = 0 + * 加热时 + * HOT_CTR_PWM0(AL) = 1(PWM) + * HOT_CTR(AH) = 0 + * COLD_CTR_PWM0(BL) = 0 + * COLD_CTR(BH) = 1(IO/保持) + * 制冷时 + * HOT_CTR_PWM0(AL) = 0 + * HOT_CTR(AH) = 1(IO/保持) + * COLD_CTR_PWM0(BL) = 1(PWM) + * COLD_CTR(BH) = 0 + */ + + pwm = pwm * 100; + + if (pwm == 0) { + port_peltier_hot_ctr_pwm(0); /*HOT_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); /*HOT_CTR*/ + port_peltier_cold_ctr_pwm(0); /*COLD_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ + } else if (pwm > 0) { + port_peltier_hot_ctr_pwm(pwm); /*HOT_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); /*HOT_CTR*/ + port_peltier_cold_ctr_pwm(0); /*COLD_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_SET); /*COLD_CTR*/ + } else { + port_peltier_hot_ctr_pwm(0); /*HOT_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET); /*HOT_CTR*/ + port_peltier_cold_ctr_pwm(-pwm); /*COLD_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ + } +} diff --git a/src/port.hpp b/src/port.hpp index eb4c2c2..7bcd42c 100644 --- a/src/port.hpp +++ b/src/port.hpp @@ -15,3 +15,8 @@ void port_tmc_ENN_pin_set_state(uint8_t channel, bool state); void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state); int32_t port_tmc4361_get_version(uint8_t channel); + +/******************************************************************************* + * 帕尔贴驱动电路 * + *******************************************************************************/ +void port_peltier_set_pwm(int pwm); diff --git a/src/umain.cpp b/src/umain.cpp index 6087fdb..c81168b 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -41,10 +41,7 @@ class TMC2160Impl : public TMC2160 { static TMC4361AImpl tmc4361motor1; static TMC2160Impl tmc2160motor1; -extern "C" { -int umain(int argc, char const *argv[]) { - sys_loggger_enable(true); - ZLOGI(TAG, "VERSION:%s", VERSION); +void initmotor() { port_tmc_extern_clk_enable(); // tmc4361motor1.init(); @@ -82,14 +79,29 @@ int umain(int argc, char const *argv[]) { tmc4361motor1.setMaximumAcceleration(300000); tmc4361motor1.setMaximumDeceleration(300000); tmc4361motor1.moveTo(8000000, 1000000); +} +extern "C" { +int umain(int argc, char const *argv[]) { +#if 1 + sys_loggger_enable(true); + ZLOGI(TAG, "VERSION:%s", VERSION); + + // port_peltier_set_pwm(30); + port_peltier_set_pwm(0); while (true) { port_do_debug_light_state(); - HAL_Delay(30); - int32_t encpos = tmc4361motor1.getENC_POS(); - int32_t xactual = tmc4361motor1.getXACTUAL(); - ZLOGI(TAG, "encpos:%d xactual:%d %d", encpos, xactual, tmc4361motor1.getENC_POS_DEV()); + // HAL_Delay(30); + // 打印电机当前位置 + // int32_t encpos = tmc4361motor1.getENC_POS(); + // int32_t xactual = tmc4361motor1.getXACTUAL(); + // ZLOGI(TAG, "encpos:%d xactual:%d %d", encpos, xactual, tmc4361motor1.getENC_POS_DEV()); } +#endif + return 0; } } + + +