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70b20af87447dc44faa1a4ad47f1aee0a5ae43ad
feeder_mk2/code/Core/Src/main.c
janik 70b20af874 more code
2025-12-19 17:49:10 +07:00

877 lines
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "photon_protocol.h"
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include "pid.h"
#include "crc.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* 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
#define UUID_LENGTH 12 // 12 8bit values
#define PHOTON_NETWORK_CONTROLLER_ADDRESS 0x00
#define PHOTON_NETWORK_BROADCAST_ADDRESS 0xFF
#define PWM_MAX 2400
#define MAX_PWM_DIFFERENCE 10
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim14;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
/* USER CODE BEGIN PV */
uint8_t sw1_pressed,sw2_pressed = 0;
int32_t encoder_count_extra=0;
uint16_t encoder_previous=0;
uint8_t UUID[UUID_LENGTH];
uint8_t is_initialized=0;
uint8_t network_buffer_RX[64];
uint8_t msg_buffer1_empty = 1;
uint8_t msg_buffer2_empty = 1;
uint8_t msg_buffer1 [64];
uint8_t msg_buffer2 [64];
uint8_t DMA_buffer[64];
uint8_t my_address = 0xFF;
int32_t total_count = 0;
int32_t target_count = 0;
int32_t kp = 4;
int32_t ki = 1;
int32_t kd = 0;
int32_t i_min = -500;
int32_t i_max = 500;
int32_t pid_max_step = 10;
pid_i32_t motor_pid;
pid_motor_cmd_t motor_cmd;
/* 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 */
void set_LED (uint8_t R, uint8_t G, uint8_t B);
void handleRS485Message(uint8_t *buffer, uint8_t size);
void set_Feeder_PWM(uint16_t PWM, uint8_t direction);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief 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 */
pid_init(&motor_pid,kp,ki,kd,i_min,i_max,PWM_MAX,pid_max_step);
/* 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_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 */
uint32_t * puuid = (uint32_t *)UUID;
*puuid = HAL_GetUIDw0();
*(puuid+1) = HAL_GetUIDw1();
*(puuid+2) = HAL_GetUIDw2();
HAL_UARTEx_ReceiveToIdle_DMA (&huart2,DMA_buffer,64);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
if (sw1_pressed)
{
uint16_t time_pressed = htim16.Instance->CNT;
if ((HAL_GPIO_ReadPin(SW1_GPIO_Port,SW1_Pin)) && (time_pressed > 750)) // button still pressed
{
// todo long button action
}
else if (!HAL_GPIO_ReadPin(SW1_GPIO_Port,SW1_Pin) && (time_pressed <= 750) && (time_pressed >75)) // release in short window
{
// todo short button action
sw1_pressed = 0;
}
else if (!HAL_GPIO_ReadPin(SW1_GPIO_Port,SW1_Pin)) sw1_pressed = 0; // release in long window
}
if (sw2_pressed)
{
uint16_t time_pressed = htim17.Instance->CNT;
if ((HAL_GPIO_ReadPin(SW2_GPIO_Port,SW2_Pin)) && (time_pressed > 750)) // button still pressed
{
// todo long button action
}
else if (!HAL_GPIO_ReadPin(SW2_GPIO_Port,SW2_Pin) && (time_pressed <= 750)) // release in short window
{
// todo short button action
sw2_pressed = 0;
}
else if (!HAL_GPIO_ReadPin(SW2_GPIO_Port,SW2_Pin)) sw2_pressed = 0; // release in long window
}
if (!msg_buffer2_empty) // msg 2 buffer has a message
{
// decode message from msg_buffer2
for (uint8_t i = 0; i<64 ; i++)
{
msg_buffer2[i]=0;
}
msg_buffer2_empty = 1;
}
if (!msg_buffer1_empty)
{
for (uint8_t i = 0; i<64 ; i++)
{
msg_buffer1[i]=0;
}
msg_buffer1_empty = 1;
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
__HAL_FLASH_SET_LATENCY(FLASH_LATENCY_1);
/** 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.HSIDiv = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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_HSI;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
/**
* @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_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 = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 2400;
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.MasterOutputTrigger2 = TIM_TRGO2_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();
}
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();
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != 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.BreakFilter = 0;
sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
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_Encoder_InitTypeDef sConfig = {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 = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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 */
/* 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
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @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 = 57600;
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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_RS485Ex_Init(&huart2, UART_DE_POLARITY_HIGH, 0, 0) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_2) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&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();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* DMA1_Channel2_3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, USART2_NRE_Pin|ONEWIRE_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LED_R_Pin|LED_B_Pin|LED_G_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : USART2_NRE_Pin ONEWIRE_Pin */
GPIO_InitStruct.Pin = USART2_NRE_Pin|ONEWIRE_Pin;
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 : LED_R_Pin LED_B_Pin LED_G_Pin */
GPIO_InitStruct.Pin = LED_R_Pin|LED_B_Pin|LED_G_Pin;
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 : SW2_Pin SW1_Pin */
GPIO_InitStruct.Pin = SW2_Pin|SW1_Pin;
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 */
}
/* 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;
}
total_count = (encoder_count_extra * CNT_MAX) + count;
if (total_count > INT32_MAX/2)
{
total_count-= INT32_MAX/4;
target_count-= INT32_MAX/4;
}
else if (total_count < INT32_MIN/2)
{
total_count+= INT32_MAX/4;
target_count+= INT32_MAX/4;
}
motor_cmd = pid_update_motor(&motor_pid,target_count,total_count);
set_Feeder_PWM(motor_cmd.pwm,motor_cmd.dir);
}
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;
}
}
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
if (Size > 64) return; // todo error handling
if (msg_buffer1_empty)
{
memcpy(DMA_buffer,msg_buffer1,Size);
msg_buffer1_empty = 0;
}
else if (msg_buffer2_empty)
{
memcpy(DMA_buffer,msg_buffer2,Size);
msg_buffer2_empty = 0;
}
else // no free buffer available todo error handling
{
return;
}
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, DMA_buffer, 64);
}
void set_LED (uint8_t R, uint8_t G, uint8_t B)
{
if (R) R = GPIO_PIN_SET;
if (G) G = GPIO_PIN_SET;
if (B) B = GPIO_PIN_SET;
HAL_GPIO_WritePin(LED_R_GPIO_Port,LED_R_Pin,R);
HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,G);
HAL_GPIO_WritePin(LED_B_GPIO_Port,LED_B_Pin,B);
}
void handleRS485Message(uint8_t *buffer, uint8_t size)
{
PhotonPacketHeader *header = (PhotonPacketHeader *) buffer;
// check if message is for this device or is broadcast
if (!(header->toAddress == PHOTON_NETWORK_BROADCAST_ADDRESS))
{
if (!(header->toAddress == my_address))
{
return;
}
}
else // this message is relevant to this device
{
PhotonCommand *command = (PhotonCommand *) buffer;
PhotonResponse response;
response.header.fromAddress = my_address;
response.header.packetId = command->header.packetId;
response.header.toAddress = command->header.fromAddress;
switch (command->commandId)
{
case GET_FEEDER_ID:
break;
case INITIALIZE_FEEDER:
break;
case GET_VERSION:
break;
case MOVE_FEED_FORWARD:
break;
case MOVE_FEED_BACKWARD:
break;
case MOVE_FEED_STATUS:
break;
case VENDOR_OPTIONS:
break;
case GET_FEEDER_ADDRESS:
break;
case IDENTIFY_FEEDER:
break;
case PROGRAM_FEEDER_FLOOR:
break;
case UNINITIALIZED_FEEDERS_RESPOND:
break;
default:
// todo error handling
break;
}
}
}
void set_Feeder_PWM(uint16_t PWM, uint8_t direction)
{
if (direction)
{
htim1.Instance->CCR1 = PWM;
htim1.Instance->CCR2 = 0;
}
else
{
htim1.Instance->CCR1 = 0;
htim1.Instance->CCR2 = PWM;
}
}
/* 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 */
__disable_irq();
while (1)
{
}
/* 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,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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