/* 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****/
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