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started witht the code

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This commit is contained in:
janik
2025-12-18 17:33:43 +07:00
parent b491ce3266
commit b92a583b4d
31 changed files with 11117 additions and 7337 deletions
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202
code/Core/Src/main.c
View File

@@ -32,6 +32,11 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define FEED_DISTANCE 127863 // pi * 40.7mm dia in um, per revolution
#define REVOLUTION_COUNT 370800 // 360 * 1030 (gear ratio)
#define CNT_MAX 65535
#define CNT_LIMIT_ZONE 1000
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
@@ -43,21 +48,32 @@
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim14;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
DMA_HandleTypeDef hdma_tim3_up;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
/* USER CODE BEGIN PV */
uint8_t sw1_pressed,sw2_pressed = 0;
int32_t encoder_count_extra=0;
uint16_t encoder_previous=0;
/* 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_TIM1_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_TIM16_Init(void);
static void MX_TIM17_Init(void);
static void MX_TIM14_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -96,10 +112,14 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM16_Init();
MX_TIM17_Init();
MX_TIM14_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@@ -108,6 +128,7 @@ int main(void)
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
@@ -176,7 +197,7 @@ static void MX_TIM1_Init(void)
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.Period = 2400;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
@@ -271,7 +292,7 @@ static void MX_TIM3_Init(void)
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -296,6 +317,101 @@ static void MX_TIM3_Init(void)
}
/**
* @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 */
/* USER CODE BEGIN TIM14_Init 1 */
/* USER CODE END TIM14_Init 1 */
htim14.Instance = TIM14;
htim14.Init.Prescaler = 480-1;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
htim14.Init.Period = 50;
htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM14_Init 2 */
/* USER CODE END TIM14_Init 2 */
}
/**
* @brief TIM16 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM16_Init(void)
{
/* USER CODE BEGIN TIM16_Init 0 */
/* USER CODE END TIM16_Init 0 */
/* USER CODE BEGIN TIM16_Init 1 */
/* USER CODE END TIM16_Init 1 */
htim16.Instance = TIM16;
htim16.Init.Prescaler = 48000-1;
htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
htim16.Init.Period = 65535;
htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim16.Init.RepetitionCounter = 0;
htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM16_Init 2 */
/* USER CODE END TIM16_Init 2 */
}
/**
* @brief TIM17 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM17_Init(void)
{
/* USER CODE BEGIN TIM17_Init 0 */
/* USER CODE END TIM17_Init 0 */
/* USER CODE BEGIN TIM17_Init 1 */
/* USER CODE END TIM17_Init 1 */
htim17.Instance = TIM17;
htim17.Init.Prescaler = 48000-1;
htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
htim17.Init.Period = 65535;
htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim17.Init.RepetitionCounter = 0;
htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM17_Init 2 */
/* USER CODE END TIM17_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
@@ -392,6 +508,22 @@ static void MX_USART2_UART_Init(void)
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
@@ -432,10 +564,14 @@ static void MX_GPIO_Init(void)
/*Configure GPIO pins : SW2_Pin SW1_Pin */
GPIO_InitStruct.Pin = SW2_Pin|SW1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
@@ -443,6 +579,66 @@ static void MX_GPIO_Init(void)
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef * htim)
{
if (htim == &htim14) // encoder check timer (runs at 20khz)
{
uint16_t count = htim3.Instance->CNT;
if ((encoder_previous > (CNT_MAX-CNT_LIMIT_ZONE)) && (count < CNT_LIMIT_ZONE)) // positive turnaround
{
encoder_count_extra ++;
return;
}
else if ((encoder_previous < CNT_LIMIT_ZONE) && (count > CNT_MAX-CNT_LIMIT_ZONE)) // negative turnaround
{
encoder_count_extra --;
return;
}
int32_t total_count = (encoder_count_extra * CNT_MAX) + count;
// todo run PID on target position with previous error and current error (assume previous target == current target)
}
if (htim == &htim3) return; // PWM timer
else if (htim == &htim3) // encoder overflow
{
// will this fire on rising / falling overflow the same ?
}
if (htim == &htim16) //SW1 timer
{
sw1_pressed = 0;
//todo handle overflow after ~65seconds (48MHz / 48000) *
}
else if (htim == &htim17) //SW2 timer
{
//todo
sw2_pressed = 0;
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == SW1_Pin) // SW1 (lower button)
{
if (!sw1_pressed)
{
HAL_TIM_Base_Start_IT(&htim16);
sw1_pressed = 1;
// now the main loop has to sample sw1_pressed and act. It can check how long its been pressed by reading TIM->CNT
// the main loop has to sample GPIO_IDR to check pin state if its still pressed to determine which function is to be called
}
}
else if (GPIO_Pin == SW2_Pin) // SW2 (upper button)
{
if (!sw2_pressed)
{
HAL_TIM_Base_Start_IT(&htim17);
sw2_pressed = 1;
}
}
}
/* USER CODE END 4 */
/**

104
code/Core/Src/stm32c0xx_hal_msp.c
View File

@@ -23,6 +23,7 @@
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_tim3_up;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -97,7 +98,48 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspInit 0 */
/* USER CODE END TIM14_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM14_CLK_ENABLE();
/* TIM14 interrupt Init */
HAL_NVIC_SetPriority(TIM14_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM14_IRQn);
/* USER CODE BEGIN TIM14_MspInit 1 */
/* USER CODE END TIM14_MspInit 1 */
}
else if(htim_base->Instance==TIM16)
{
/* USER CODE BEGIN TIM16_MspInit 0 */
/* USER CODE END TIM16_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM16_CLK_ENABLE();
/* TIM16 interrupt Init */
HAL_NVIC_SetPriority(TIM16_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM16_IRQn);
/* USER CODE BEGIN TIM16_MspInit 1 */
/* USER CODE END TIM16_MspInit 1 */
}
else if(htim_base->Instance==TIM17)
{
/* USER CODE BEGIN TIM17_MspInit 0 */
/* USER CODE END TIM17_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM17_CLK_ENABLE();
/* TIM17 interrupt Init */
HAL_NVIC_SetPriority(TIM17_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM17_IRQn);
/* USER CODE BEGIN TIM17_MspInit 1 */
/* USER CODE END TIM17_MspInit 1 */
}
}
@@ -131,6 +173,24 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* TIM3 DMA Init */
/* TIM3_UP Init */
hdma_tim3_up.Instance = DMA1_Channel1;
hdma_tim3_up.Init.Request = DMA_REQUEST_TIM3_UP;
hdma_tim3_up.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_tim3_up.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim3_up.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim3_up.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_tim3_up.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_tim3_up.Init.Mode = DMA_NORMAL;
hdma_tim3_up.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_tim3_up) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(htim_encoder,hdma[TIM_DMA_ID_UPDATE],hdma_tim3_up);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
@@ -194,6 +254,48 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspDeInit 0 */
/* USER CODE END TIM14_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM14_CLK_DISABLE();
/* TIM14 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM14_IRQn);
/* USER CODE BEGIN TIM14_MspDeInit 1 */
/* USER CODE END TIM14_MspDeInit 1 */
}
else if(htim_base->Instance==TIM16)
{
/* USER CODE BEGIN TIM16_MspDeInit 0 */
/* USER CODE END TIM16_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM16_CLK_DISABLE();
/* TIM16 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM16_IRQn);
/* USER CODE BEGIN TIM16_MspDeInit 1 */
/* USER CODE END TIM16_MspDeInit 1 */
}
else if(htim_base->Instance==TIM17)
{
/* USER CODE BEGIN TIM17_MspDeInit 0 */
/* USER CODE END TIM17_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM17_CLK_DISABLE();
/* TIM17 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM17_IRQn);
/* USER CODE BEGIN TIM17_MspDeInit 1 */
/* USER CODE END TIM17_MspDeInit 1 */
}
}
@@ -219,6 +321,8 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
*/
HAL_GPIO_DeInit(GPIOC, QUAD_A_Pin|QUAD_B_Pin);
/* TIM3 DMA DeInit */
HAL_DMA_DeInit(htim_encoder->hdma[TIM_DMA_ID_UPDATE]);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */

76
code/Core/Src/stm32c0xx_it.c
View File

@@ -55,7 +55,10 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_tim3_up;
extern TIM_HandleTypeDef htim14;
extern TIM_HandleTypeDef htim16;
extern TIM_HandleTypeDef htim17;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -140,6 +143,77 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32c0xx.s). */
/******************************************************************************/
/**
* @brief This function handles EXTI line 4 to 15 interrupts.
*/
void EXTI4_15_IRQHandler(void)
{
/* USER CODE BEGIN EXTI4_15_IRQn 0 */
/* USER CODE END EXTI4_15_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(SW2_Pin);
HAL_GPIO_EXTI_IRQHandler(SW1_Pin);
/* USER CODE BEGIN EXTI4_15_IRQn 1 */
/* USER CODE END EXTI4_15_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel 1 interrupt.
*/
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
/* USER CODE END DMA1_Channel1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_tim3_up);
/* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles TIM14 global interrupt.
*/
void TIM14_IRQHandler(void)
{
/* USER CODE BEGIN TIM14_IRQn 0 */
/* USER CODE END TIM14_IRQn 0 */
HAL_TIM_IRQHandler(&htim14);
/* USER CODE BEGIN TIM14_IRQn 1 */
/* USER CODE END TIM14_IRQn 1 */
}
/**
* @brief This function handles TIM16 global interrupt.
*/
void TIM16_IRQHandler(void)
{
/* USER CODE BEGIN TIM16_IRQn 0 */
/* USER CODE END TIM16_IRQn 0 */
HAL_TIM_IRQHandler(&htim16);
/* USER CODE BEGIN TIM16_IRQn 1 */
/* USER CODE END TIM16_IRQn 1 */
}
/**
* @brief This function handles TIM17 global interrupt.
*/
void TIM17_IRQHandler(void)
{
/* USER CODE BEGIN TIM17_IRQn 0 */
/* USER CODE END TIM17_IRQn 0 */
HAL_TIM_IRQHandler(&htim17);
/* USER CODE BEGIN TIM17_IRQn 1 */
/* USER CODE END TIM17_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */