[开发工具] 【第二周！ STM32垂直应用挑战第2周】+电机开发SDK..

/* USER CODE BEGIN Header */

/**

  ******************************************************************************

  * [url=home.php?mod=space&uid=288409]@file[/url]           : main.c

  * [url=home.php?mod=space&uid=247401]@brief[/url]          : Main program body

  ******************************************************************************

  * @attention

  *

  * <h2><center>© Copyright (c) 2020 STMicroelectronics.

  * All rights reserved.</center></h2>

  *

  * This software component is licensed by ST under Ultimate Liberty license

  * SLA0044, the "License"; You may not use this file except in compliance with

  * the License. You may obtain a copy of the License at:

  *                             www.st.com/SLA0044

  *

  ******************************************************************************

  */

/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/

#include "main.h"

#include "motorcontrol.h"



/* Private includes ----------------------------------------------------------*/

/* USER CODE BEGIN Includes */



/* USER CODE END Includes */



/* Private typedef -----------------------------------------------------------*/

/* USER CODE BEGIN PTD */



/* USER CODE END PTD */



/* Private define ------------------------------------------------------------*/

/* USER CODE BEGIN PD */

/* USER CODE END PD */



/* Private macro -------------------------------------------------------------*/

/* USER CODE BEGIN PM */



/* USER CODE END PM */



/* Private variables ---------------------------------------------------------*/

ADC_HandleTypeDef hadc;

DMA_HandleTypeDef hdma_adc;



TIM_HandleTypeDef htim1;

TIM_HandleTypeDef htim3;

TIM_HandleTypeDef htim14;

DMA_HandleTypeDef hdma_tim1_ch4_trig_com;

DMA_HandleTypeDef hdma_tim3_ch4_up;



UART_HandleTypeDef huart2;



/* USER CODE BEGIN PV */



/* USER CODE END PV */



/* Private function prototypes -----------------------------------------------*/

void SystemClock_Config(void);

static void MX_GPIO_Init(void);

static void MX_DMA_Init(void);

static void MX_ADC_Init(void);

static void MX_TIM1_Init(void);

static void MX_TIM3_Init(void);

static void MX_TIM14_Init(void);

static void MX_USART2_UART_Init(void);

static void MX_NVIC_Init(void);

/* USER CODE BEGIN PFP */



/* USER CODE END PFP */



/* Private user code ---------------------------------------------------------*/

/* USER CODE BEGIN 0 */



/* USER CODE END 0 */



/**

  * [url=home.php?mod=space&uid=247401]@brief[/url]  The application entry point.

  * @retval int

  */

int main(void)

{

  /* USER CODE BEGIN 1 */



  /* USER CODE END 1 */



  /* MCU Configuration--------------------------------------------------------*/



  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

  HAL_Init();



  /* USER CODE BEGIN Init */



  /* USER CODE END Init */



  /* Configure the system clock */

  SystemClock_Config();



  /* USER CODE BEGIN SysInit */



  /* USER CODE END SysInit */



  /* Initialize all configured peripherals */

  MX_GPIO_Init();

  MX_DMA_Init();

  MX_ADC_Init();

  MX_TIM1_Init();

  MX_TIM3_Init();

  MX_TIM14_Init();

  MX_USART2_UART_Init();

  MX_MotorControl_Init();



  /* Initialize interrupts */

  MX_NVIC_Init();

  /* USER CODE BEGIN 2 */



  /* USER CODE END 2 */



  /* Infinite loop */

  /* USER CODE BEGIN WHILE */

  while (1)

  {

    /* USER CODE END WHILE */



    /* USER CODE BEGIN 3 */

  }

  /* USER CODE END 3 */

}



/**

  * [url=home.php?mod=space&uid=247401]@brief[/url] System Clock Configuration

  * @retval None

  */

void SystemClock_Config(void)

{

  RCC_OscInitTypeDef RCC_OscInitStruct = {0};

  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};



  /** Initializes the RCC Oscillators according to the specified parameters

  * in the RCC_OscInitTypeDef structure.

  */

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSE;

  RCC_OscInitStruct.HSEState = RCC_HSE_ON;

  RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;

  RCC_OscInitStruct.HSI14CalibrationValue = 16;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;

  RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;

  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)

  {

    Error_Handler();

  }

  /** Initializes the CPU, AHB and APB buses clocks

  */

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK

                              |RCC_CLOCKTYPE_PCLK1;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;



  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)

  {

    Error_Handler();

  }

  /** Enables the Clock Security System

  */

  HAL_RCC_EnableCSS();

}



/**

  * @brief NVIC Configuration.

  * @retval None

  */

static void MX_NVIC_Init(void)

{

  /* DMA1_Channel2_3_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 1, 0);

  HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);

  /* DMA1_Channel4_5_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(DMA1_Channel4_5_IRQn, 0, 0);

  HAL_NVIC_EnableIRQ(DMA1_Channel4_5_IRQn);

  /* TIM1_BRK_UP_TRG_COM_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(TIM1_BRK_UP_TRG_COM_IRQn, 0, 0);

  HAL_NVIC_EnableIRQ(TIM1_BRK_UP_TRG_COM_IRQn);

  /* USART2_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(USART2_IRQn, 3, 0);

  HAL_NVIC_EnableIRQ(USART2_IRQn);

  /* EXTI4_15_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(EXTI4_15_IRQn, 3, 0);

  HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);

}



/**

  * @brief ADC Initialization Function

  * @param None

  * @retval None

  */

static void MX_ADC_Init(void)

{



  /* USER CODE BEGIN ADC_Init 0 */



  /* USER CODE END ADC_Init 0 */



  ADC_ChannelConfTypeDef sConfig = {0};



  /* USER CODE BEGIN ADC_Init 1 */



  /* USER CODE END ADC_Init 1 */

  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)

  */

  hadc.Instance = ADC1;

  hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;

  hadc.Init.Resolution = ADC_RESOLUTION_12B;

  hadc.Init.DataAlign = ADC_DATAALIGN_LEFT;

  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;

  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;

  hadc.Init.LowPowerAutoWait = DISABLE;

  hadc.Init.LowPowerAutoPowerOff = DISABLE;

  hadc.Init.ContinuousConvMode = DISABLE;

  hadc.Init.DiscontinuousConvMode = DISABLE;

  hadc.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_TRGO;

  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;

  hadc.Init.DMAContinuousRequests = ENABLE;

  hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;

  if (HAL_ADC_Init(&hadc) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure for the selected ADC regular channel to be converted.

  */

  sConfig.Channel = ADC_CHANNEL_1;

  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;

  sConfig.SamplingTime = ADC_SAMPLETIME_7CYCLES_5;

  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure for the selected ADC regular channel to be converted.

  */

  sConfig.Channel = ADC_CHANNEL_11;

  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /** Configure for the selected ADC regular channel to be converted.

  */

  sConfig.Channel = ADC_CHANNEL_12;

  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN ADC_Init 2 */



  /* USER CODE END ADC_Init 2 */



}



/**

  * @brief TIM1 Initialization Function

  * @param None

  * @retval None

  */

static void MX_TIM1_Init(void)

{



  /* USER CODE BEGIN TIM1_Init 0 */



  /* USER CODE END TIM1_Init 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 = ((TIM_CLOCK_DIVIDER) - 1);

  htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;

  htim1.Init.Period = ((PWM_PERIOD_CYCLES) / 2);

  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;

  htim1.Init.RepetitionCounter = (REP_COUNTER);

  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)

  {

    Error_Handler();

  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;

  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)

  {

    Error_Handler();

  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;

  sConfigOC.Pulse = ((PWM_PERIOD_CYCLES) / 4);

  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();

  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)

  {

    Error_Handler();

  }

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)

  {

    Error_Handler();

  }

  sConfigOC.OCMode = TIM_OCMODE_PWM2;

  sConfigOC.Pulse = (((PWM_PERIOD_CYCLES) / 2) - (HTMIN));

  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)

  {

    Error_Handler();

  }

  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;

  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;

  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_1;

  sBreakDeadTimeConfig.DeadTime = 0;

  sBreakDeadTimeConfig.BreakState = TIM_BREAK_ENABLE;

  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;

  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);



}



/**

  * @brief TIM3 Initialization Function

  * @param None

  * @retval None

  */

static void MX_TIM3_Init(void)

{



  /* USER CODE BEGIN TIM3_Init 0 */



  /* USER CODE END TIM3_Init 0 */



  TIM_ClockConfigTypeDef sClockSourceConfig = {0};

  TIM_MasterConfigTypeDef sMasterConfig = {0};



  /* USER CODE BEGIN TIM3_Init 1 */



  /* USER CODE END TIM3_Init 1 */

  htim3.Instance = TIM3;

  htim3.Init.Prescaler = 0;

  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;

  htim3.Init.Period = ((PWM_PERIOD_CYCLES) - 1);

  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;

  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();

  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF;

  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;

  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN TIM3_Init 2 */



  /* USER CODE END TIM3_Init 2 */



}



/**

  * @brief TIM14 Initialization Function

  * @param None

  * @retval None

  */

static void MX_TIM14_Init(void)

{



  /* USER CODE BEGIN TIM14_Init 0 */



  /* USER CODE END TIM14_Init 0 */



  TIM_OC_InitTypeDef sConfigOC = {0};



  /* USER CODE BEGIN TIM14_Init 1 */



  /* USER CODE END TIM14_Init 1 */

  htim14.Instance = TIM14;

  htim14.Init.Prescaler = 0;

  htim14.Init.CounterMode = TIM_COUNTERMODE_UP;

  htim14.Init.Period = 0x800;

  htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;

  htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

  if (HAL_TIM_Base_Init(&htim14) != HAL_OK)

  {

    Error_Handler();

  }

  if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)

  {

    Error_Handler();

  }

  sConfigOC.OCMode = TIM_OCMODE_PWM1;

  sConfigOC.Pulse = 0x400;

  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;

  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;

  if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN TIM14_Init 2 */



  /* USER CODE END TIM14_Init 2 */

  HAL_TIM_MspPostInit(&htim14);



}



/**

  * @brief USART2 Initialization Function

  * @param None

  * @retval None

  */

static void MX_USART2_UART_Init(void)

{



  /* USER CODE BEGIN USART2_Init 0 */



  /* USER CODE END USART2_Init 0 */



  /* USER CODE BEGIN USART2_Init 1 */



  /* USER CODE END USART2_Init 1 */

  huart2.Instance = USART2;

  huart2.Init.BaudRate = 115200;

  huart2.Init.WordLength = UART_WORDLENGTH_8B;

  huart2.Init.StopBits = UART_STOPBITS_1;

  huart2.Init.Parity = UART_PARITY_NONE;

  huart2.Init.Mode = UART_MODE_TX_RX;

  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;

  huart2.Init.OverSampling = UART_OVERSAMPLING_16;

  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;

  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;

  if (HAL_UART_Init(&huart2) != HAL_OK)

  {

    Error_Handler();

  }

  /* USER CODE BEGIN USART2_Init 2 */



  /* USER CODE END USART2_Init 2 */



}



/**

  * Enable DMA controller clock

  */

static void MX_DMA_Init(void)

{



  /* DMA controller clock enable */

  __HAL_RCC_DMA1_CLK_ENABLE();



}



/**

  * @brief GPIO Initialization Function

  * @param None

  * @retval None

  */

static void MX_GPIO_Init(void)

{

  GPIO_InitTypeDef GPIO_InitStruct = {0};



  /* GPIO Ports Clock Enable */

  __HAL_RCC_GPIOC_CLK_ENABLE();

  __HAL_RCC_GPIOF_CLK_ENABLE();

  __HAL_RCC_GPIOA_CLK_ENABLE();



  /*Configure GPIO pin Output Level */

  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);



  /*Configure GPIO pin Output Level */

  HAL_GPIO_WritePin(GPIOC, M1_PWM_EN_U_Pin|M1_PWM_EN_V_Pin|M1_PWM_EN_W_Pin, GPIO_PIN_RESET);



  /*Configure GPIO pin : Start_Stop_Pin */

  GPIO_InitStruct.Pin = Start_Stop_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;

  GPIO_InitStruct.Pull = GPIO_NOPULL;

  HAL_GPIO_Init(Start_Stop_GPIO_Port, &GPIO_InitStruct);



  /*Configure GPIO pin : LD2_Pin */

  GPIO_InitStruct.Pin = LD2_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

  GPIO_InitStruct.Pull = GPIO_NOPULL;

  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

  HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);



  /*Configure GPIO pins : M1_PWM_EN_U_Pin M1_PWM_EN_V_Pin M1_PWM_EN_W_Pin */

  GPIO_InitStruct.Pin = M1_PWM_EN_U_Pin|M1_PWM_EN_V_Pin|M1_PWM_EN_W_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

  GPIO_InitStruct.Pull = GPIO_PULLDOWN;

  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);



}



/* USER CODE BEGIN 4 */



/* USER CODE END 4 */



/**

  * @brief  This function is executed in case of error occurrence.

  * @retval None

  */

void Error_Handler(void)

{

  /* USER CODE BEGIN Error_Handler_Debug */

  /* User can add his own implementation to report the HAL error return state */



  /* USER CODE END Error_Handler_Debug */

}



#ifdef  USE_FULL_ASSERT

/**

  * @brief  Reports the name of the source file and the source line number

  *         where the assert_param error has occurred.

  * @param  file: pointer to the source file name

  * @param  line: assert_param error line source number

  * @retval None

  */

void assert_failed(uint8_t *file, uint32_t line)

{

  /* USER CODE BEGIN 6 */

  /* User can add his own implementation to report the file name and line number,

     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* USER CODE END 6 */

}

#endif /* USE_FULL_ASSERT */



/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/