/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2024 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" #include "i2c.h" #include "tim.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "drv_at24cxx.h" #include "bsp.h" #include "Modbus_Function.h" /* 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 ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ volatile unsigned char sys_id = 0; volatile unsigned char key_state = 0; uint8_t buff[100]; size_t len; int32_t cpu_load = 0; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* 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 */ uint32_t tick_last = 0; uint8_t isAck = 0; unsigned char count = 0; uint32_t cur_ticks_us = 0; cpu_load = 0; /* 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_I2C1_Init(); MX_USART1_UART_Init(); MX_USART3_UART_Init(); MX_TIM3_Init(); MX_TIM2_Init(); /* USER CODE BEGIN 2 */ AT24C_Init(&hi2c1); for(int i = 0;i < sizeof(buff);i++) { buff[i] = i; } //AT24C_Write(0x100,buff,sizeof(buff)); memset(buff,0x00,sizeof(buff)); AT24C_Read(0x100,buff,sizeof(buff)); //获取系统ID sys_id = SYS_getID(); MODBUS_SLAVE_ID = sys_id; COMM_setSel(COMM_TYPE_485); //设置电机 MOTOR_setDir(MOTOR_DIR_CW); MOTOR_setMS(MOTOR_MS_64); MOTOR_setEn(MOTOR_ENABLE); SERIAL_Init(&serial1,"UART1",&huart1,100, 100); SERIAL_StartRecv(&serial1); Modbus_Init(); //开启系统定时器 tick_init(); tick_last = tick_count_200Hz; /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ if(tick_last != tick_count_200Hz) { tick_last = tick_count_200Hz; cur_ticks_us = get_ticks_usec(); //modbus 轮询 Modbus_Poll(); //获取按键状态 //做动到端点，或者指定位置，红灯亮 key_state = SYS_getKey(); if(key_state) { LED_setToggle(LED_RED); } //电机控制 len = SERIAL_Read(&serial1, buff, sizeof(buff)); if(len)//这个长度不出意外的话是一包的长度 { SERIAL_Write(&serial1,buff,len); } //SERIAL_Write(&serial1,"1234567890",10); //cpu使用量计算 int32_t cur_cpu_load = get_ticks_usec() - cur_ticks_us; if (cur_cpu_load >= cpu_load) { cpu_load = cur_cpu_load; } else if (cpu_load) { --cpu_load; } } } /* USER CODE END 3 */ } /** * @brief 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_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16; 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_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief Period elapsed callback in non blocking mode * @note This function is called when TIM4 interrupt took place, inside * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param htim : TIM handle * @retval None */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { /* USER CODE BEGIN Callback 0 */ /* USER CODE END Callback 0 */ if (htim->Instance == TIM4) { HAL_IncTick(); } /* USER CODE BEGIN Callback 1 */ else if (htim->Instance == TIM2) { tick_count(); } /* USER CODE END Callback 1 */ } /** * @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 */