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Encoder by time difference

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This commit is contained in:
Gabriel Lima
2023-07-29 12:06:45 -03:00
parent e567566e30
commit e862a044f7
28 changed files with 323 additions and 337 deletions
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2
Code/ESP8266_UDP_Telemetry/src/main.cpp
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@@ -18,7 +18,7 @@ void setup() {
pinMode(1, OUTPUT);
pinMode(LED_BUILTIN_AUX, OUTPUT);
pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(921600);
Serial.begin(2000000);
Serial.setTimeout(1);
WiFi.hostname("PFC_GabrielLima");
WiFi.begin(WIFI_SSID, WIFI_PSK);

41
Code/F407VG-PFC/Core/Src/main.c
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@@ -45,6 +45,7 @@ ADC_HandleTypeDef hadc1;
I2C_HandleTypeDef hi2c1;
SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
@@ -79,6 +80,7 @@ static void MX_UART4_Init(void);
static void MX_UART5_Init(void);
static void MX_ADC1_Init(void);
static void MX_TIM10_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -129,6 +131,7 @@ int main(void)
MX_UART5_Init();
MX_ADC1_Init();
MX_TIM10_Init();
MX_SPI2_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
@@ -313,6 +316,44 @@ static void MX_SPI1_Init(void)
}
/**
* @brief SPI2 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI2_Init(void)
{
/* USER CODE BEGIN SPI2_Init 0 */
/* USER CODE END SPI2_Init 0 */
/* USER CODE BEGIN SPI2_Init 1 */
/* USER CODE END SPI2_Init 1 */
/* SPI2 parameter configuration*/
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI2_Init 2 */
/* USER CODE END SPI2_Init 2 */
}
/**
* @brief TIM1 Initialization Function
* @param None

44
Code/F407VG-PFC/Core/Src/stm32f4xx_hal_msp.c
View File

@@ -276,6 +276,31 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
/* USER CODE END SPI1_MspInit 1 */
}
else if(hspi->Instance==SPI2)
{
/* USER CODE BEGIN SPI2_MspInit 0 */
/* USER CODE END SPI2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_SPI2_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**SPI2 GPIO Configuration
PB13 ------> SPI2_SCK
PB14 ------> SPI2_MISO
PB15 ------> SPI2_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN SPI2_MspInit 1 */
/* USER CODE END SPI2_MspInit 1 */
}
}
@@ -306,6 +331,25 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
/* USER CODE END SPI1_MspDeInit 1 */
}
else if(hspi->Instance==SPI2)
{
/* USER CODE BEGIN SPI2_MspDeInit 0 */
/* USER CODE END SPI2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_SPI2_CLK_DISABLE();
/**SPI2 GPIO Configuration
PB13 ------> SPI2_SCK
PB14 ------> SPI2_MISO
PB15 ------> SPI2_MOSI
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);
/* USER CODE BEGIN SPI2_MspDeInit 1 */
/* USER CODE END SPI2_MspDeInit 1 */
}
}

95
Code/F407VG-PFC/F407VG-PFC.ioc
View File

@@ -14,21 +14,22 @@ Mcu.CPN=STM32F407VGT6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=I2C1
Mcu.IP10=TIM5
Mcu.IP11=TIM8
Mcu.IP12=TIM10
Mcu.IP13=UART4
Mcu.IP14=UART5
Mcu.IP15=USB_OTG_FS
Mcu.IP10=TIM4
Mcu.IP11=TIM5
Mcu.IP12=TIM8
Mcu.IP13=TIM10
Mcu.IP14=UART4
Mcu.IP15=UART5
Mcu.IP16=USB_OTG_FS
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI1
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM2
Mcu.IP8=TIM3
Mcu.IP9=TIM4
Mcu.IPNb=16
Mcu.IP5=SPI2
Mcu.IP6=SYS
Mcu.IP7=TIM1
Mcu.IP8=TIM2
Mcu.IP9=TIM3
Mcu.IPNb=17
Mcu.Name=STM32F407V(E-G)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PH0-OSC_IN
@@ -45,38 +46,41 @@ Mcu.Pin18=PE11
Mcu.Pin19=PE13
Mcu.Pin2=PC0
Mcu.Pin20=PE14
Mcu.Pin21=PD12
Mcu.Pin22=PD13
Mcu.Pin23=PC6
Mcu.Pin24=PC7
Mcu.Pin25=PC8
Mcu.Pin26=PC9
Mcu.Pin27=PA9
Mcu.Pin28=PA11
Mcu.Pin29=PA12
Mcu.Pin21=PB13
Mcu.Pin22=PB14
Mcu.Pin23=PB15
Mcu.Pin24=PD12
Mcu.Pin25=PD13
Mcu.Pin26=PC6
Mcu.Pin27=PC7
Mcu.Pin28=PC8
Mcu.Pin29=PC9
Mcu.Pin3=PC1
Mcu.Pin30=PA13
Mcu.Pin31=PA14
Mcu.Pin32=PA15
Mcu.Pin33=PC10
Mcu.Pin34=PC11
Mcu.Pin35=PC12
Mcu.Pin36=PD2
Mcu.Pin37=PB3
Mcu.Pin38=PB4
Mcu.Pin39=PB5
Mcu.Pin30=PA9
Mcu.Pin31=PA11
Mcu.Pin32=PA12
Mcu.Pin33=PA13
Mcu.Pin34=PA14
Mcu.Pin35=PA15
Mcu.Pin36=PC10
Mcu.Pin37=PC11
Mcu.Pin38=PC12
Mcu.Pin39=PD2
Mcu.Pin4=PC2
Mcu.Pin40=PB6
Mcu.Pin41=PB7
Mcu.Pin42=PB8
Mcu.Pin43=VP_SYS_VS_Systick
Mcu.Pin44=VP_TIM10_VS_ClockSourceINT
Mcu.Pin40=PB3
Mcu.Pin41=PB4
Mcu.Pin42=PB5
Mcu.Pin43=PB6
Mcu.Pin44=PB7
Mcu.Pin45=PB8
Mcu.Pin46=VP_SYS_VS_Systick
Mcu.Pin47=VP_TIM10_VS_ClockSourceINT
Mcu.Pin5=PC3
Mcu.Pin6=PA0-WKUP
Mcu.Pin7=PA1
Mcu.Pin8=PA2
Mcu.Pin9=PA5
Mcu.PinsNb=45
Mcu.PinsNb=48
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407VGTx
@@ -129,6 +133,15 @@ PB0.Signal=ADCx_IN8
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=M0_CUR_B
PB1.Signal=ADCx_IN9
PB13.Locked=true
PB13.Mode=Full_Duplex_Master
PB13.Signal=SPI2_SCK
PB14.Locked=true
PB14.Mode=Full_Duplex_Master
PB14.Signal=SPI2_MISO
PB15.Locked=true
PB15.Mode=Full_Duplex_Master
PB15.Signal=SPI2_MOSI
PB2.GPIOParameters=GPIO_Label
PB2.GPIO_Label=BOOT1
PB2.Locked=true
@@ -223,6 +236,8 @@ ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM1_Init-TIM1-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_TIM5_Init-TIM5-false-HAL-true,8-MX_TIM8_Init-TIM8-false-HAL-true,9-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true,10-MX_I2C1_Init-I2C1-false-HAL-true,11-MX_SPI1_Init-SPI1-false-HAL-true,12-MX_UART4_Init-UART4-false-HAL-true,13-MX_UART5_Init-UART5-false-HAL-true,14-MX_ADC1_Init-ADC1-false-HAL-true,15-MX_TIM10_Init-TIM10-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
@@ -315,6 +330,12 @@ SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
SPI1.Mode=SPI_MODE_MASTER
SPI1.VirtualType=VM_MASTER
SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
SPI2.CalculateBaudRate=5.25 MBits/s
SPI2.Direction=SPI_DIRECTION_2LINES
SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
SPI2.Mode=SPI_MODE_MASTER
SPI2.VirtualType=VM_MASTER
TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3

1
Code/STM32/Core/Inc/stm32f1xx_it.h
View File

@@ -58,6 +58,7 @@ void SysTick_Handler(void);
void DMA1_Channel4_IRQHandler(void);
void DMA1_Channel5_IRQHandler(void);
void DMA1_Channel7_IRQHandler(void);
void EXTI9_5_IRQHandler(void);
void TIM4_IRQHandler(void);
void USART1_IRQHandler(void);
void USART2_IRQHandler(void);

23
Code/STM32/Core/Src/Components/Encoder.cpp
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@@ -7,6 +7,8 @@
#include "Encoder.hpp"
#define pi 3.1415926535
Encoder::Encoder(__IO uint32_t* cnt, __IO uint32_t* arr, uint32_t countsPerRevolution) :
cnt(cnt), arr(arr), countsPerRevolution(countsPerRevolution)
{
@@ -17,6 +19,13 @@ Encoder::~Encoder() {
}
void Encoder::callback(GPIO_PinState _direction){
lastTick = currentTick;
currentTick = DWT->CYCCNT;
direction = _direction;
updated = true;
}
uint32_t Encoder::getCount(){
lastCount = *cnt;
return lastCount;
@@ -28,6 +37,20 @@ int16_t Encoder::getDelta(){
return delta;
}
float Encoder::getOmega(){
if(!updated){
return 0;
}
updated = false;
float deltaT = (currentTick - lastTick)/(float)HAL_RCC_GetHCLKFreq();
if(direction){
return -8*pi/(countsPerRevolution*deltaT); // rad/s
}else{
return 8*pi/(countsPerRevolution*deltaT); // rad/s
}
}
uint32_t Encoder::getCountsPerRevolution(){
return countsPerRevolution;
}

6
Code/STM32/Core/Src/Components/Encoder.hpp
View File

@@ -14,14 +14,20 @@ class Encoder {
public:
Encoder(__IO uint32_t* cnt, __IO uint32_t* arr, uint32_t countsPerRevolution);
virtual ~Encoder();
void callback(GPIO_PinState _direction);
uint32_t getCount();
int16_t getDelta();
float getOmega();
uint32_t getCountsPerRevolution();
private:
__IO uint32_t* cnt;
__IO uint32_t* arr;
uint32_t lastCount = 0;
uint32_t countsPerRevolution = 0;
uint32_t lastTick = 0;
uint32_t currentTick = 0;
bool direction;
bool updated;
};
#endif /* SRC_COMPONENTS_ENCODER_HPP_ */

12
Code/STM32/Core/Src/Components/Motor.cpp
View File

@@ -21,18 +21,18 @@ void Motor::setEncoder(Encoder* _encoder){
encoder = _encoder;
}
float Motor::getCurrentRevPerTick(){
float Motor::getCurrentRadPerSecond(){
#ifdef CONTROL_DISABLED
return (float)encoder->getDelta()/encoder->getCountsPerRevolution();
return encoder->getOmega();
#else
return currentRevPerTick;
return currentRadPerSecond;
#endif
}
void Motor::pid(float inputRevPerTick){
currentRevPerTick = (float)encoder->getDelta()/encoder->getCountsPerRevolution();
void Motor::pid(float inputRadPerSecond){
currentRadPerSecond = encoder->getOmega();
lastError = error;
error = inputRevPerTick - currentRevPerTick;
error = inputRadPerSecond - currentRadPerSecond;
derror = error - lastError;
ierror += error;
if(ki*ierror > 1){ // Anti-windup (verificar possibilidades)

4
Code/STM32/Core/Src/Components/Motor.hpp
View File

@@ -17,7 +17,7 @@ public:
virtual ~Motor();
virtual void setPower(float power){}
void setEncoder(Encoder* _encoder);
float getCurrentRevPerTick();
float getCurrentRadPerSecond();
void pid(float inputRevPerTick);
float kp;
float ki;
@@ -28,7 +28,7 @@ private:
float ierror = 0;
float derror = 0;
float lastError = 0;
float currentRevPerTick = 0;
float currentRadPerSecond = 0;
};
#endif /* SRC_COMPONENTS_MOTOR_HPP_ */

12
Code/STM32/Core/Src/Components/Robot.cpp
View File

@@ -10,12 +10,10 @@
#include "SerialDebug.hpp"
#include "Definitions.hpp"
#define CONVERSION (reductionRatio/(ticksPerSecond*2*3.14159*wheelRadius))
#define CONVERSION (reductionRatio/wheelRadius)
extern UART_HandleTypeDef huart1;
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
extern I2C_HandleTypeDef hi2c1;
extern SerialDebug debug;
@@ -50,8 +48,8 @@ void Robot::controlCallback(){
motor1.pid(convertedSpeed1);
#endif
sprintf((char*)buf, ">Speed:%+0.6e,%+0.6e,%+0.6e,%+0.6e",
motor0.getCurrentRevPerTick()/CONVERSION,
motor1.getCurrentRevPerTick()/CONVERSION,
motor0.getCurrentRadPerSecond()/CONVERSION,
motor1.getCurrentRadPerSecond()/CONVERSION,
desiredSpeed0,
desiredSpeed1);
HAL_UART_Transmit_DMA(&huart1, buf, 64);
@@ -86,10 +84,6 @@ void Robot::init(){
motor1.ki = 22.3758/(ticksPerSecond*CONVERSION);
motor1.kd = 0*ticksPerSecond/CONVERSION;
debug.info("Init timers begin");
//HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL);
//HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_Base_Start(&htim2);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);

8
Code/STM32/Core/Src/Components/Robot.hpp
View File

@@ -20,6 +20,10 @@ public:
void uartCallback();
void controlCallback();
void init();
Encoder encoder0 = Encoder(&(TIM1->CNT), &(TIM1->ARR), 52);
Encoder encoder1 = Encoder(&(TIM3->CNT), &(TIM3->ARR), 52);
BTS7960B motor0 = BTS7960B(&(TIM2->CCR1), &(TIM2->CCR2), &(TIM2->ARR), &(TIM2->ARR), GPIOB, GPIO_PIN_4, GPIOB, GPIO_PIN_5);
BTS7960B motor1 = BTS7960B(&(TIM2->CCR3), &(TIM2->CCR4), &(TIM2->ARR), &(TIM2->ARR), GPIOB, GPIO_PIN_0, GPIOB, GPIO_PIN_1);
private:
void print_roll_pitch_yaw();
const float reductionRatio = 30;
@@ -27,10 +31,6 @@ private:
const float ticksPerSecond = 100;
uint8_t rxBuffer[1500] = "0.000000,0.000000";
uint8_t txBuffer[1500];
Encoder encoder0 = Encoder(&(TIM1->CNT), &(TIM1->ARR), 52);
Encoder encoder1 = Encoder(&(TIM3->CNT), &(TIM3->ARR), 52);
BTS7960B motor0 = BTS7960B(&(TIM2->CCR1), &(TIM2->CCR2), &(TIM2->ARR), &(TIM2->ARR), GPIOB, GPIO_PIN_4, GPIOB, GPIO_PIN_5);
BTS7960B motor1 = BTS7960B(&(TIM2->CCR3), &(TIM2->CCR4), &(TIM2->ARR), &(TIM2->ARR), GPIOB, GPIO_PIN_0, GPIOB, GPIO_PIN_1);
MPU9250 imu0;
};

11
Code/STM32/Core/Src/Components/Start.cpp
View File

@@ -29,7 +29,16 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
switch(GPIO_Pin){
case GPIO_PIN_8:
//encoder0
robot.encoder0.callback(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_9));
break;
case GPIO_PIN_6:
//encoder1
robot.encoder1.callback(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_7));
break;
}
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){

127
Code/STM32/Core/Src/main.c
View File

@@ -43,9 +43,7 @@ ADC_HandleTypeDef hadc1;
I2C_HandleTypeDef hi2c1;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
UART_HandleTypeDef huart1;
@@ -68,8 +66,6 @@ static void MX_USART1_UART_Init(void);
static void MX_TIM4_Init(void);
static void MX_TIM2_Init(void);
static void MX_USB_PCD_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_ADC1_Init(void);
static void MX_I2C1_Init(void);
@@ -115,8 +111,6 @@ int main(void)
MX_TIM4_Init();
MX_TIM2_Init();
MX_USB_PCD_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_USART2_UART_Init();
MX_ADC1_Init();
MX_I2C1_Init();
@@ -287,56 +281,6 @@ static void MX_I2C1_Init(void)
}
/**
* @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_Encoder_InitTypeDef sConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {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 = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.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(&htim1, &sConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/**
* @brief TIM2 Initialization Function
* @param None
@@ -408,55 +352,6 @@ static void MX_TIM2_Init(void)
}
/**
* @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 TIM4 Initialization Function
* @param None
@@ -518,7 +413,7 @@ static void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 921600;
huart1.Init.BaudRate = 2000000;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
@@ -651,6 +546,18 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LED_BUILTIN_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PA6 PA8 IMU_INT_Pin */
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_8|IMU_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA7 PA9 */
GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PB0 PB1 PB4 PB5 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -664,11 +571,9 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BOOT1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : IMU_INT_Pin */
GPIO_InitStruct.Pin = IMU_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(IMU_INT_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */

103
Code/STM32/Core/Src/stm32f1xx_hal_msp.c
View File

@@ -221,62 +221,6 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
}
/**
* @brief TIM_Encoder MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* htim_encoder)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim_encoder->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_encoder->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM3 GPIO Configuration
PA6 ------> TIM3_CH1
PA7 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
@@ -348,53 +292,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
}
}
/**
* @brief TIM_Encoder MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_encoder: TIM_Encoder handle pointer
* @retval None
*/
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* htim_encoder)
{
if(htim_encoder->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8|GPIO_PIN_9);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(htim_encoder->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PA6 ------> TIM3_CH1
PA7 ------> TIM3_CH2
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_6|GPIO_PIN_7);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
}
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example

15
Code/STM32/Core/Src/stm32f1xx_it.c
View File

@@ -245,6 +245,21 @@ void DMA1_Channel7_IRQHandler(void)
/* USER CODE END DMA1_Channel7_IRQn 1 */
}
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_6);
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_8);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */
}
/**
* @brief This function handles TIM4 global interrupt.
*/

59
Code/STM32/F103C8-PFC.ioc
View File

@@ -60,18 +60,16 @@ Mcu.CPN=STM32F103C8T6
Mcu.Family=STM32F1
Mcu.IP0=ADC1
Mcu.IP1=DMA
Mcu.IP10=USART1
Mcu.IP11=USART2
Mcu.IP12=USB
Mcu.IP10=USB
Mcu.IP2=I2C1
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM2
Mcu.IP8=TIM3
Mcu.IP9=TIM4
Mcu.IPNb=13
Mcu.IP6=TIM2
Mcu.IP7=TIM4
Mcu.IP8=USART1
Mcu.IP9=USART2
Mcu.IPNb=11
Mcu.Name=STM32F103C(8-B)Tx
Mcu.Package=LQFP48
Mcu.Pin0=PC13-TAMPER-RTC
@@ -121,6 +119,7 @@ NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DMA1_Channel7_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.EXTI9_5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -155,18 +154,18 @@ PA3.Mode=Asynchronous
PA3.Signal=USART2_RX
PA4.Signal=ADCx_IN4
PA5.Signal=ADCx_IN5
PA6.GPIOParameters=GPIO_PuPd
PA6.GPIO_PuPd=GPIO_PULLUP
PA6.Signal=S_TIM3_CH1
PA7.GPIOParameters=GPIO_PuPd
PA7.GPIO_PuPd=GPIO_PULLUP
PA7.Signal=S_TIM3_CH2
PA8.GPIOParameters=GPIO_PuPd
PA8.GPIO_PuPd=GPIO_PULLUP
PA8.Signal=S_TIM1_CH1
PA9.GPIOParameters=GPIO_PuPd
PA9.GPIO_PuPd=GPIO_PULLUP
PA9.Signal=S_TIM1_CH2
PA6.GPIOParameters=GPIO_ModeDefaultEXTI
PA6.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING
PA6.Locked=true
PA6.Signal=GPXTI6
PA7.Locked=true
PA7.Signal=GPIO_Input
PA8.GPIOParameters=GPIO_ModeDefaultEXTI
PA8.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING
PA8.Locked=true
PA8.Signal=GPXTI8
PA9.Locked=true
PA9.Signal=GPIO_Input
PB0.Locked=true
PB0.Signal=GPIO_Output
PB1.Locked=true
@@ -237,7 +236,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_USB_PCD_Init-USB-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_ADC1_Init-ADC1-false-HAL-true,12-MX_I2C1_Init-I2C1-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_USB_PCD_Init-USB-false-HAL-true,8-MX_USART2_UART_Init-USART2-false-HAL-true,9-MX_ADC1_Init-ADC1-false-HAL-true,10-MX_I2C1_Init-I2C1-false-HAL-true
RCC.ADCFreqValue=12000000
RCC.ADCPresc=RCC_ADCPCLK2_DIV6
RCC.AHBFreq_Value=72000000
@@ -271,10 +270,10 @@ SH.ADCx_IN5.0=ADC1_IN5,IN5
SH.ADCx_IN5.ConfNb=1
SH.GPXTI10.0=GPIO_EXTI10
SH.GPXTI10.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,Encoder_Interface
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,Encoder_Interface
SH.S_TIM1_CH2.ConfNb=1
SH.GPXTI6.0=GPIO_EXTI6
SH.GPXTI6.ConfNb=1
SH.GPXTI8.0=GPIO_EXTI8
SH.GPXTI8.ConfNb=1
SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
SH.S_TIM2_CH1_ETR.ConfNb=1
SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
@@ -283,12 +282,6 @@ SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1
SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
SH.S_TIM2_CH4.ConfNb=1
SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
SH.S_TIM3_CH2.ConfNb=1
TIM1.EncoderMode=TIM_ENCODERMODE_TI12
TIM1.IPParameters=EncoderMode
TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
@@ -297,12 +290,10 @@ TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,Prescaler,AutoReloadPreload
TIM2.Period=2047
TIM2.Prescaler=0
TIM3.EncoderMode=TIM_ENCODERMODE_TI12
TIM3.IPParameters=EncoderMode
TIM4.IPParameters=Prescaler,Period
TIM4.Period=9999
TIM4.Prescaler=71
USART1.BaudRate=921600
USART1.BaudRate=2000000
USART1.IPParameters=VirtualMode,BaudRate
USART1.VirtualMode=VM_ASYNC
USART2.BaudRate=921600

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Code/Untitled 1.vi
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