/**
* @brief 编码器初始化.
* @param None
* @retval None
*/
void Encoder_Init(void){
//A8 A9引脚定义
GPIO_InitTypeDef GPIO_InitStruct;
__HAL_RCC_TIM9_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_2 | GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM9;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//A0 A1引脚定义
__HAL_RCC_TIM5_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//设置TIM1为编码器读数功能
TIM_Encoder_InitTypeDef encoderConfig;
TimHandleT9.Instance = TIM9;
TimHandleT9.Init.Period = 0xFFFF;
TimHandleT9.Init.Prescaler = 0;
TimHandleT9.Init.ClockDivision = 0;
TimHandleT9.Init.CounterMode = TIM_COUNTERMODE_UP;
encoderConfig.EncoderMode =TIM_ENCODERMODE_TI12;
encoderConfig.IC1Polarity =TIM_ICPOLARITY_RISING;
encoderConfig.IC1Selection=TIM_ICSELECTION_DIRECTTI;
encoderConfig.IC1Prescaler=0;
encoderConfig.IC1Filter =6;
encoderConfig.IC2Polarity =TIM_ICPOLARITY_RISING;
encoderConfig.IC2Selection=TIM_ICSELECTION_DIRECTTI;
encoderConfig.IC2Prescaler=0;
encoderConfig.IC2Filter =6;
HAL_TIM_Encoder_Init(&TimHandleT9, &encoderConfig);
HAL_TIM_Encoder_Start(&TimHandleT9,TIM_CHANNEL_1);
//设置TIM5为编码器读数功能
TimHandleT5.Instance = TIM5;
TimHandleT5.Init.Period = 0xFFFF;
TimHandleT5.Init.Prescaler = 0;
TimHandleT5.Init.ClockDivision = 0;
TimHandleT5.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_Encoder_Init(&TimHandleT5, &encoderConfig);
HAL_TIM_Encoder_Start(&TimHandleT5,TIM_CHANNEL_1);
}
void HAL_QuadEncoder_Enable(int channel, int enable)
{
#ifdef ENABLE_QUAD_DECODERS
if (channel < (sizeof(p_quad_encoder_channels)/sizeof(p_quad_encoder_channels[0]))){
if (enable != 0 ) {
/* Be sure to configure the auto-reload register (ARR) to the max possible value. */
p_quad_encoder_channels[channel]->Instance->ARR = 0xFFFF;
HAL_TIM_Encoder_Start(p_quad_encoder_channels[channel], BOTH_ENCODER_TIMER_CHANNELS);
} else {
HAL_TIM_Encoder_Stop(p_quad_encoder_channels[channel], BOTH_ENCODER_TIMER_CHANNELS);
}
}
#endif
}
void EncoderInit(TIM_HandleTypeDef *encoderL,TIM_HandleTypeDef *encoderR){
//Left motor encoder initialization
encoderL->Instance = TIM3;
encoderL->Init.Period = 0xFFFF;
encoderL->Init.Prescaler = 0;
encoderL->Init.ClockDivision = 0;
encoderL->Init.CounterMode = TIM_COUNTERMODE_UP;
encoderL->Init.RepetitionCounter = 0;
TIM_Encoder_InitTypeDef sEncoderConfig;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 3; ///?????
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(encoderL, &sEncoderConfig);
HAL_TIM_Encoder_Start(encoderL, TIM_CHANNEL_ALL); //TI1&TI2
//Right motor encoder initialization
//*
encoderR->Instance = TIM2;
encoderR->Init.Period = 0xFFFF;
encoderR->Init.Prescaler = 0;
encoderR->Init.ClockDivision = 0;
encoderR->Init.CounterMode = TIM_COUNTERMODE_UP;
//encoderR->Init.RepetitionCounter = 3;
HAL_TIM_Encoder_Init(encoderR, &sEncoderConfig);
HAL_TIM_Encoder_Start(encoderR, TIM_CHANNEL_ALL);//*/
}
void encoder2_init(void) {
GPIO_InitTypeDef gpio_init;
gpio_init.Pin = GPIO_PIN_12;
gpio_init.Pull = GPIO_PULLUP;
gpio_init.Speed = GPIO_SPEED_HIGH;
gpio_init.Mode = GPIO_MODE_AF_PP;
gpio_init.Alternate = GPIO_AF2_TIM4;
__GPIOD_CLK_ENABLE();
HAL_GPIO_Init(GPIOD, &gpio_init);
gpio_init.Pin = GPIO_PIN_13;
HAL_GPIO_Init(GPIOD, &gpio_init);
__TIM4_CLK_ENABLE();
hTIM4.Instance = TIM4;
// hTIM4.Init.Prescaler = (SystemCoreClock/65535) - 1; // 1s
// hTIM4.Init.CounterMode = TIM_COUNTERMODE_UP;
// hTIM4.Init.ClockDivision = 0;
hTIM4.Init.Period = 65535;
//hTIM4.Channel = HAL_TIM_ACTIVE_CHANNEL_1 | HAL_TIM_ACTIVE_CHANNEL_2;
//HAL_TIM_Base_Init(&hTIM4);
TIM_Encoder_InitTypeDef enc_init;
enc_init.EncoderMode = TIM_ENCODERMODE_TI12;
enc_init.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
enc_init.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
enc_init.IC1Selection = TIM_ICSELECTION_DIRECTTI;
enc_init.IC2Selection = TIM_ICSELECTION_DIRECTTI;
enc_init.IC1Prescaler = TIM_ICPSC_DIV1;
enc_init.IC2Prescaler = TIM_ICPSC_DIV1;
enc_init.IC1Filter = 0;
enc_init.IC2Filter = 0;
HAL_TIM_Encoder_Init(&hTIM4, &enc_init);
__HAL_TIM_SetCounter(&hTIM4,0);
HAL_TIM_Encoder_Start(&hTIM4, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
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();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1 | TIM_CHANNEL_2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
c = __HAL_TIM_GET_COUNTER(&htim1);
printf("%d\n", c);
HAL_Delay(250);
}
/* USER CODE END 3 */
}
/**********************************************************
* @brief Encoder init timer 8
* @param None
* @retval None
**********************************************************/
static void encoder_iniTimer8(void)
{
TIM_HandleTypeDef timer8_initStruct;
TIM_Encoder_InitTypeDef t8Encod_initStruct;
// TIM8 Clock Enable
__TIM8_CLK_ENABLE();
// Timer 8 init structure
timer8_initStruct.Instance = TIM8;
timer8_initStruct.Init.Prescaler = 0;
timer8_initStruct.Init.CounterMode = TIM_COUNTERMODE_UP;
timer8_initStruct.Init.Period = 0xFFFF;
timer8_initStruct.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
t8Encod_initStruct.EncoderMode = TIM_ENCODERMODE_TI12;
t8Encod_initStruct.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC2Polarity = TIM_INPUTCHANNELPOLARITY_RISING;
t8Encod_initStruct.IC1Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC2Selection = TIM_ICSELECTION_DIRECTTI;
t8Encod_initStruct.IC1Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC2Prescaler = TIM_ICPSC_DIV1;
t8Encod_initStruct.IC1Filter = 8;// digital filter
t8Encod_initStruct.IC2Filter = 8;// digital filter
// Init timer
HAL_TIM_Encoder_Init(&timer8_initStruct,&t8Encod_initStruct);
__HAL_TIM_SetCounter(&timer8_initStruct,0);
HAL_TIM_Encoder_Start(&timer8_initStruct, TIM_CHANNEL_1 | TIM_CHANNEL_2);
}
/**
* @brief The application entry point.
*
* @retval None
*/
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 */
/* 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_TIM3_Init();
//MX_IWDG_Init();
MX_TIM14_Init();
MX_TIM16_Init();
MX_TIM17_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
HAL_TIM_Base_Start_IT(&htim3);
// Seconds Counter startup duty
HAL_TIM_Base_Start_IT(&htim14);
HAL_TIM_Base_Stop_IT(&htim14);
HAL_TIM_Base_Start_IT(&htim16);
HAL_TIM_Base_Start_IT(&htim17);
HAL_GPIO_WritePin(GPIOA, LED_RED_PIN, GPIO_PIN_RESET);
ssd1306_Init();
current_cursor = exposition;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//HAL_IWDG_Refresh(&hiwdg);
if(__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_SYSCLKSOURCE_STATUS_HSE) HAL_GPIO_WritePin(GPIOA, LED_GREEN_PIN, GPIO_PIN_SET);
else HAL_GPIO_WritePin(GPIOA, LED_GREEN_PIN, GPIO_PIN_RESET);
if (update_screen_flag)
{
ssd1306_Fill(Black);
ssd1306_UpdateScreen();
update_screen_flag = 0;
}
if (seconds_counter > STOP_TIME_SEC) //if more than 10 s need to stop
{
// Entering STOP Mode Procedure
seconds_counter = 0;
GPIO_InitTypeDef GPIO_InitStruct;
ssd1306_WriteCommand(0xAE); // OLED Off
GPIO_InitStruct.Pin = ENC_BUTTON_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
HAL_GPIO_WritePin(GPIOA, LED_GREEN_PIN|LED_RED_PIN|GATE_PIN|FOCUS_PIN, GPIO_PIN_RESET);
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFE);
// Exit from STOP Mode procedure
SystemClock_Config();
ssd1306_WriteCommand(0xAF); // OLED On
GPIO_InitStruct.Pin = ENC_BUTTON_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
current_state = menu_navigation;
}
Menu();
if (current_state == running_timer || current_state == running_interval)
{
if(gate_flag)
{
// Reset Gate & Focus
HAL_GPIO_WritePin(GPIOA, FOCUS_PIN, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GATE_PIN, GPIO_PIN_RESET);
HAL_TIM_Base_Stop_IT(&htim14);
HAL_Delay(500);
__HAL_TIM_SET_COUNTER(&htim14, 0);
HAL_TIM_Base_Start_IT(&htim14);
gate_flag = 0;
// If not last shot, go to Interval state
if(tmp_num_shots != 0)
{
tmp_int_minutes = set_int_minutes;
tmp_int_sec = set_int_sec;
tmp_exp_minutes = set_exp_minutes;
tmp_exp_sec = set_exp_sec;
current_state = running_interval;
HAL_GPIO_WritePin(GPIOA, LED_RED_PIN,GPIO_PIN_RESET); // 1s LED Off
}
else
{
HAL_TIM_Base_Stop_IT(&htim14);
__HAL_TIM_SET_COUNTER(&htim14, 0);
HAL_GPIO_WritePin(GPIOA, LED_RED_PIN,GPIO_PIN_RESET); // 1s LED Off
tmp_exp_minutes = set_exp_minutes;
tmp_exp_sec = set_exp_sec;
current_state = menu_navigation;
update_screen_flag = 1;
}
}
}
if (exiting_run)
{
HAL_TIM_Base_Stop_IT(&htim16);
HAL_Delay(1000);
exiting_run = 0;
HAL_TIM_Base_Start_IT(&htim16);
HAL_GPIO_WritePin(GPIOA, FOCUS_PIN, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GATE_PIN, GPIO_PIN_RESET);
}
}
/* USER CODE END 3 */
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Configure LED1 and LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED3);
/* Initialize TIM3 to emulate a quadrature encoder outputs */
Init_TIM_Emulator(&EmulatorHandle);
/* -1- Initialize TIM1 to handle the encoder sensor */
/* Initialize TIM1 peripheral as follow:
+ Period = 65535
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
Encoder_Handle.Instance = TIM1;
Encoder_Handle.Init.Period = 65535;
Encoder_Handle.Init.Prescaler = 0;
Encoder_Handle.Init.ClockDivision = 0;
Encoder_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
Encoder_Handle.Init.RepetitionCounter = 0;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 0;
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 0;
if(HAL_TIM_Encoder_Init(&Encoder_Handle, &sEncoderConfig) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the encoder interface */
HAL_TIM_Encoder_Start(&Encoder_Handle, TIM_CHANNEL_ALL);
/* Infinite loop */
while (1)
{
/* Step 1: */
/* Emulate a Forward direction */
Emulate_Forward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_IS_TIM_COUNTING_DOWN(&Encoder_Handle);
/* Step 2: */
/* Emulate a Backward direction */
Emulate_Backward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_IS_TIM_COUNTING_DOWN(&Encoder_Handle);
}
}
/**
* @brief Configures IOs to control the two motors and one pump
* @param None
* @retval None
*/
void MOTOR_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
// Enable all timers
PUMP_PWM_TIMER_CLK_ENABLE();
MOTOR_PWM_TIMER_CLK_ENABLE();
MOTOR_HALL_ENC1_TIMER_CLK_ENABLE();
MOTOR_HALL_ENC2_TIMER_CLK_ENABLE();
MOTOR_HALL_SPEED_TIMER_CLK_ENABLE();
// Enable the clock for all IO pins
MOTOR_PWM_CLK_ENABLE();
MOTOR_CURR_CLK_ENABLE();
MOTOR_HALL_M1_ENC_CLK_ENABLE();
MOTOR_HALL_M2_ENC_CLK_ENABLE();
MOTOR_HALL_SPEED_CLK_ENABLE();
// Motor driver --------------------------------------------------------
// Configure the 4 motor pins of motor 1 and 2 as normal IO
GPIO_InitStruct.Pin = MOTOR_M2_IN1_PIN | MOTOR_M2_IN2_PIN
| MOTOR_M1_IN1_PIN| MOTOR_M1_IN2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_PWM_TIMER_AF;
HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// Configure the 2 motor pins of motor 3 as PWM output
GPIO_InitStruct.Pin = MOTOR_M3_IN1_PIN | MOTOR_M3_IN2_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = PUMP_PWM_TIMER_AF;
HAL_GPIO_Init(MOTOR_PWM_PORT, &GPIO_InitStruct);
// Configure the 10 motor current pins
GPIO_InitStruct.Pin = MOTOR_M2_I0_PIN | MOTOR_M2_I1_PIN | MOTOR_M2_I2_PIN
| MOTOR_M2_I3_PIN | MOTOR_M2_I4_PIN
| MOTOR_M1_I0_PIN | MOTOR_M1_I1_PIN | MOTOR_M1_I2_PIN
| MOTOR_M1_I3_PIN | MOTOR_M1_I4_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
HAL_GPIO_Init(MOTOR_CURR_PORT, &GPIO_InitStruct);
// Timer configuration for motor pwm
htimMotor.Instance = MOTOR_PWM_TIMER;
htimMotor.Init.Period = MOTOR_MAX - 1; // = 20kHz = 84MHz / 1 / 4200
htimMotor.Init.Prescaler = 1-1;
htimMotor.Init.ClockDivision = 1;
htimMotor.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&htimMotor);
// Timer configuration for pump
htimPump.Instance = PUMP_PWM_TIMER;
htimPump.Init.Period = MOTOR_MAX - 1; // = 20kHz = 168MHz / 2 / 4200
htimPump.Init.Prescaler = 2-1;
htimPump.Init.ClockDivision = 1;
htimPump.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&htimPump);
// Configure Timer 1 channel 1 and 2 as PWM output
sConfigTimMotor.OCMode = TIM_OCMODE_PWM1;
sConfigTimMotor.Pulse = 0;
sConfigTimMotor.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigTimMotor.OCFastMode = TIM_OCFAST_ENABLE;
sConfigTimMotor.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigTimMotor.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigTimMotor.OCNIdleState= TIM_OCNIDLESTATE_SET;
// Configure Timer 1 channel 1 as PWM output
sConfigTimPump.OCMode = TIM_OCMODE_PWM1;
sConfigTimPump.Pulse = 0;
sConfigTimPump.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigTimPump.OCFastMode = TIM_OCFAST_ENABLE;
sConfigTimPump.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigTimPump.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigTimPump.OCNIdleState= TIM_OCNIDLESTATE_SET;
// PWM Mode
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_2);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_3);
HAL_TIM_PWM_ConfigChannel(&htimMotor, &sConfigTimMotor, TIM_CHANNEL_4);
HAL_TIM_PWM_ConfigChannel(&htimPump, &sConfigTimPump, TIM_CHANNEL_1);
HAL_TIM_PWM_ConfigChannel(&htimPump, &sConfigTimPump, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htimMotor, TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htimPump, TIM_CHANNEL_2);
MOTOR_SetVal(MOTOR_M1, 0, 0);
MOTOR_SetVal(MOTOR_M2, 0 , 0);
MOTOR_SetVal(MOTOR_PUMP, 0, 0);
// Encoder ----------------------------------------------------------
// Configure the hall encoder pins
GPIO_InitStruct.Pin = MOTOR_HALL_M1A_ENC_PIN | MOTOR_HALL_M1B_ENC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_ENC1_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_M1_ENC_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR_HALL_M2A_ENC_PIN | MOTOR_HALL_M2B_ENC_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_ENC2_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_M2_ENC_PORT, &GPIO_InitStruct);
GPIO_InitStruct.Pin = MOTOR_HALL_M1A_SPEED_PIN | MOTOR_HALL_M1B_SPEED_PIN
| MOTOR_HALL_M2A_SPEED_PIN | MOTOR_HALL_M2B_SPEED_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
GPIO_InitStruct.Alternate = MOTOR_HALL_SPEED_TIMER_AF;
HAL_GPIO_Init(MOTOR_HALL_SPEED_PORT, &GPIO_InitStruct);
// Timer configuration for hall encoder M1
htimEncM1.Instance = MOTOR_HALL_ENC1_TIMER;
htimEncM1.Init.Period = 0xFFFF;
htimEncM1.Init.Prescaler = 0;
htimEncM1.Init.ClockDivision = 0;
htimEncM1.Init.CounterMode = TIM_COUNTERMODE_UP;
sConfigEncM.EncoderMode = TIM_ENCODERMODE_TI2;
sConfigEncM.IC1Filter = 0;
sConfigEncM.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfigEncM.IC1Prescaler = TIM_ICPSC_DIV1;
sConfigEncM.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfigEncM.IC2Filter = 0;
sConfigEncM.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfigEncM.IC2Prescaler = TIM_ICPSC_DIV1;
sConfigEncM.IC2Selection = TIM_ICSELECTION_DIRECTTI;
// Encoder Mode
HAL_TIM_Encoder_Init(&htimEncM1, &sConfigEncM);
HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htimEncM1, TIM_CHANNEL_2);
// Timer configuration for hall encoder M2
htimEncM2.Instance = MOTOR_HALL_ENC2_TIMER;
htimEncM2.Init.Period = 0xFFFF;
htimEncM2.Init.Prescaler = 0;
htimEncM2.Init.ClockDivision = 0;
htimEncM2.Init.CounterMode = TIM_COUNTERMODE_UP;
// Encoder mode
HAL_TIM_Encoder_Init(&htimEncM2, &sConfigEncM);
HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&htimEncM2, TIM_CHANNEL_2);
#ifdef MOTOR_MEASURE_SPEED
// Timer configuration for input capture
htimEncSpeed.Instance = MOTOR_HALL_SPEED_TIMER;
htimEncSpeed.Init.Period = 0xFFFF;
htimEncSpeed.Init.Prescaler = 84-1; // 10us
htimEncSpeed.Init.ClockDivision = 0;
htimEncSpeed.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_IC_Init(&htimEncSpeed);
sConfigEncSpeed.ICFilter = 0;
sConfigEncSpeed.ICPolarity = TIM_ICPOLARITY_RISING;
sConfigEncSpeed.ICPrescaler = TIM_ICPSC_DIV1;
sConfigEncSpeed.ICSelection = TIM_ICSELECTION_DIRECTTI;
// Configure the NVIC
HAL_NVIC_SetPriority(TIM_HALL_SPEED_IRQn, 0, 1);
/* Enable the TIM8 global Interrupt */
HAL_NVIC_EnableIRQ(TIM_HALL_SPEED_IRQn);
// Input capture mode
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_1);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_2);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_3);
HAL_TIM_IC_ConfigChannel(&htimEncSpeed, &sConfigEncSpeed, TIM_CHANNEL_4);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_2);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_3);
HAL_TIM_IC_Start_IT(&htimEncSpeed, TIM_CHANNEL_4);
#endif //MOTOR_MEASURE_SPEED
}
/**
* @brief Initialize encoder reader.
*/
void encoder_init(void)
{
HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_1 | TIM_CHANNEL_2);
__HAL_TIM_SetCounter(&htim2, 0x7FFFFFFF);
}
void InputDecoder()
{
HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start(&htim8, TIM_CHANNEL_ALL);
}
int main(void) {
HAL_Init();
Nucleo_BSP_Init();
MX_TIM1_Init();
MX_TIM3_Init();
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_OC_Start(&htim1, TIM_CHANNEL_2);
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
tick = HAL_GetTick();
while (1) {
if (HAL_GetTick() - tick > 1000L) {
cnt2 = __HAL_TIM_GET_COUNTER(&htim3);
if (__HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3)) {
if (cnt2 < cnt1) /* Check for counter underflow */
diff = cnt1 - cnt2;
else
diff = (65535 - cnt2) + cnt1;
} else {
if (cnt2 > cnt1) /* Check for counter overflow */
diff = cnt2 - cnt1;
else
diff = (65535 - cnt1) + cnt2;
}
sprintf(msg, "Difference: %d\r\n", diff);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
speed = ((diff / PULSES_PER_REVOLUTION) / 60);
/* If the first three bits of SMCR register are set to 0x3
* then the timer is set in X4 mode (TIM_ENCODERMODE_TI12)
* and we need to divide the pulses counter by two, because
* they include the pulses for both the channels */
if ((TIM3->SMCR & 0x3) == 0x3)
speed /= 2;
sprintf(msg, "Speed: %d RPM\r\n", speed);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim3);
sprintf(msg, "Direction: %d\r\n", dir);
HAL_UART_Transmit(&huart2, (uint8_t*) msg, strlen(msg), HAL_MAX_DELAY);
tick = HAL_GetTick();
cnt1 = __HAL_TIM_GET_COUNTER(&htim3);
}
if (HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_13) == GPIO_PIN_RESET) {
/* Invert rotation by swapping CH1 and CH2 CCR value */
tim1_ch1_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_1);
tim1_ch2_pulse = __HAL_TIM_GET_COMPARE(&htim1, TIM_CHANNEL_2);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, tim1_ch2_pulse);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, tim1_ch1_pulse);
}
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 180 MHz */
SystemClock_Config();
/* Initialize LED1 & LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED3);
/* Initialize TIM3 to emulate a quadrature encoder outputs */
Init_TIM_Emulator(&EmulatorHandle);
/* -1- Initialize TIM1 to handle the encoder sensor */
/* Initialize TIM1 peripheral as follow:
+ Period = 65535
+ Prescaler = 0
+ ClockDivision = 0
+ Counter direction = Up
*/
Encoder_Handle.Instance = TIM1;
Encoder_Handle.Init.Period = 65535;
Encoder_Handle.Init.Prescaler = 0;
Encoder_Handle.Init.ClockDivision = 0;
Encoder_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
Encoder_Handle.Init.RepetitionCounter = 0;
sEncoderConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sEncoderConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC1Filter = 0;
sEncoderConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sEncoderConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sEncoderConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sEncoderConfig.IC2Filter = 0;
if(HAL_TIM_Encoder_Init(&Encoder_Handle, &sEncoderConfig) != HAL_OK)
{
/* Initialization Error */
Error_Handler();
}
/* Start the encoder interface */
HAL_TIM_Encoder_Start(&Encoder_Handle, TIM_CHANNEL_ALL);
/* Infinite loop */
while (1)
{
/* Step 1: */
/* Emulate a Forward direction */
Emulate_Forward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_DIRECTION_STATUS(&Encoder_Handle);
/* Step 2: */
/* Emulate a Backward direction */
Emulate_Backward_Direction(&EmulatorHandle);
/* Insert 1s delay */
HAL_Delay(1000);
/* Get the current direction */
uwDirection = __HAL_TIM_DIRECTION_STATUS(&Encoder_Handle);
}
}
void encodersbsp_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
TIM_Encoder_InitTypeDef sConfig;
__TIM2_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
__TIM5_CLK_ENABLE();
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
mst_htim2.Instance = TIM2;
mst_htim2.Init.Prescaler = 0;
mst_htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
mst_htim2.Init.Period = 0xffffffff;
mst_htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(&mst_htim2, &sConfig);
mst_htim5.Instance = TIM5;
mst_htim5.Init.Prescaler = 0;
mst_htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
mst_htim5.Init.Period = 0xffffffff;
mst_htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 3;
sConfig.IC2Polarity = TIM_ICPOLARITY_FALLING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 3;
HAL_TIM_Encoder_Init(&mst_htim5, &sConfig);
HAL_TIM_Encoder_Start(&mst_htim2, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&mst_htim2, TIM_CHANNEL_2);
HAL_TIM_Encoder_Start(&mst_htim5, TIM_CHANNEL_1);
HAL_TIM_Encoder_Start(&mst_htim5, TIM_CHANNEL_2);
}
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();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_SPI2_Init();
MX_TIM1_Init();
MX_TIM2_Init();
/* USER CODE BEGIN 2 */
InitMotor();
HAL_TIM_Encoder_Start(&htim1,TIM_CHANNEL_ALL);
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* Create the semaphores(s) */
/* definition and creation of stopMoveByTime */
osSemaphoreDef(stopMoveByTime);
stopMoveByTimeHandle = osSemaphoreCreate(osSemaphore(stopMoveByTime), 1);
/* definition and creation of suspendMoveByTime */
osSemaphoreDef(suspendMoveByTime);
suspendMoveByTimeHandle = osSemaphoreCreate(osSemaphore(suspendMoveByTime), 1);
/* USER CODE BEGIN RTOS_SEMAPHORES */
xSemaphoreTake(stopMoveByTimeHandle, 0);
xSemaphoreTake(suspendMoveByTimeHandle, 0);
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* Create the timer(s) */
/* definition and creation of elapsedTimer */
osTimerDef(elapsedTimer, elapsedTimerCallback);
elapsedTimerHandle = osTimerCreate(osTimer(elapsedTimer), osTimerPeriodic, NULL);
/* definition and creation of moveTimer */
osTimerDef(moveTimer, moveTimerCallback);
moveTimerHandle = osTimerCreate(osTimer(moveTimer), osTimerPeriodic, NULL);
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 64);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* definition and creation of buttonScanTask */
osThreadDef(buttonScanTask, buttonScanFunc, osPriorityLow, 0, 128);
buttonScanTaskHandle = osThreadCreate(osThread(buttonScanTask), NULL);
/* definition and creation of guiTask */
osThreadDef(guiTask, guiFunc, osPriorityNormal, 0, 128);
guiTaskHandle = osThreadCreate(osThread(guiTask), NULL);
/* definition and creation of motorTask */
osThreadDef(motorTask, motorFunc, osPriorityAboveNormal, 0, 64);
motorTaskHandle = osThreadCreate(osThread(motorTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
/* Create the queue(s) */
/* definition and creation of buttonEvents */
osMessageQDef(buttonEvents, 16, uint16_t);
buttonEventsHandle = osMessageCreate(osMessageQ(buttonEvents), NULL);
/* definition and creation of encoderEvents */
osMessageQDef(encoderEvents, 16, uint16_t);
encoderEventsHandle = osMessageCreate(osMessageQ(encoderEvents), NULL);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
xInputEvents = xQueueCreate( 8, sizeof( struct Event ) );
xMotorEvents = xQueueCreate( 4, sizeof( struct MotorEvent ) );
/* USER CODE END RTOS_QUEUES */
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void TIM4_StartCount(void)
{
HAL_TIM_Encoder_Start(&htim4,TIM_CHANNEL_ALL);
}
