312 lines
7.0 KiB
C
312 lines
7.0 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "i2c.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "drv_at24cxx.h"
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#include "bsp.h"
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#include "Modbus_Function.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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volatile unsigned char sys_id = 0;
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volatile unsigned char key_state = 0;
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uint8_t buff[100];
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size_t len;
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int32_t cpu_load = 0;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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uint32_t tick_last = 0;
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uint8_t isAck = 0;
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unsigned char count = 0;
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uint32_t cur_ticks_us = 0;
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cpu_load = 0;
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_I2C1_Init();
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MX_USART1_UART_Init();
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MX_USART3_UART_Init();
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MX_TIM3_Init();
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MX_TIM2_Init();
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/* USER CODE BEGIN 2 */
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AT24C_Init(&hi2c1);
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for(int i = 0;i < sizeof(buff);i++)
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{
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buff[i] = i;
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}
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//AT24C_Write(0x100,buff,sizeof(buff));
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memset(buff,0x00,sizeof(buff));
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AT24C_Read(0x100,buff,sizeof(buff));
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//获取系统ID
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sys_id = SYS_getID();
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MODBUS_SLAVE_ID = sys_id;
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COMM_setSel(COMM_TYPE_485);
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//设置电机
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MOTOR_setDir(MOTOR_DIR_CW);
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MOTOR_setMS(MOTOR_MS_64);
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MOTOR_setEn(MOTOR_ENABLE);
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SERIAL_Init(&serial1,"UART1",&huart1,100, 100);
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SERIAL_StartRecv(&serial1);
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Modbus_Init();
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//开启系统定时器
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tick_init();
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tick_last = tick_count_200Hz;
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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if(tick_last != tick_count_200Hz)
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{
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tick_last = tick_count_200Hz;
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cur_ticks_us = get_ticks_usec();
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//modbus 轮询
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Modbus_Poll();
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//获取按键状态
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//做动到端点，或者指定位置，红灯亮
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key_state = SYS_getKey();
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if(key_state)
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{
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LED_setToggle(LED_RED);
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}
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//电机控制
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len = SERIAL_Read(&serial1, buff, sizeof(buff));
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if(len)//这个长度不出意外的话是一包的长度
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{
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SERIAL_Write(&serial1,buff,len);
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}
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//SERIAL_Write(&serial1,"1234567890",10);
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//cpu使用量计算
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int32_t cur_cpu_load = get_ticks_usec() - cur_ticks_us;
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if (cur_cpu_load >= cpu_load)
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{
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cpu_load = cur_cpu_load;
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}
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else if (cpu_load)
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{
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--cpu_load;
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}
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}
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief Period elapsed callback in non blocking mode
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* @note This function is called when TIM4 interrupt took place, inside
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* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
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* a global variable "uwTick" used as application time base.
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* @param htim : TIM handle
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* @retval None
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*/
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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/* USER CODE BEGIN Callback 0 */
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/* USER CODE END Callback 0 */
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if (htim->Instance == TIM4) {
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HAL_IncTick();
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}
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/* USER CODE BEGIN Callback 1 */
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else if (htim->Instance == TIM2) {
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tick_count();
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}
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/* USER CODE END Callback 1 */
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}
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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