void Ultrasonic_Init(void) {
HAL_TIM_Base_Stop(&htim_sonar);
GPIO_TRIG->BSRR |= (1 << GPIO_TRIG_PIN)<<16;
Ultrasonic.status = USS_IDLE;
Ultrasonic.altitude = 0.0f;
Ultrasonic.callback = 0;
}
void threewire_tim_set_prescaler(t_hydra_console *con)
{
mode_config_proto_t* proto = &con->mode->proto;
HAL_TIM_Base_Stop(&htim);
HAL_TIM_Base_DeInit(&htim);
htim.Init.Prescaler = (THREEWIRE_MAX_FREQ/proto->config.rawwire.dev_speed) - 1;
HAL_TIM_Base_Init(&htim);
TIM4->SR &= ~TIM_SR_UIF; //clear overflow flag
HAL_TIM_Base_Start(&htim);
}
/**
* @brief This function Pauses the audio file stream.
* @retval AUDIO_OK if correct communication, else wrong communication
*/
uint8_t BSP_AUDIO_IN_Pause(void)
{
uint32_t ret = AUDIO_OK;
/* Stop the time base triggering the ADC */
if (HAL_TIM_Base_Stop(&hAudioInTim3) != HAL_OK)
{
ret = AUDIO_ERROR;
}
/* Return AUDIO_OK if all operations are OK */
return ret;
}
void Ultrasonic_Echo(char high){
if (Ultrasonic.status == USS_IDLE) return;
if (high) { //超声波开始
HAL_TIM_Base_Start(&htim_sonar);
Ultrasonic.status = USS_TIMING;
} else { //超声波结束
HAL_TIM_Base_Stop(&htim_sonar);
US_UPDATE(htim_sonar.Instance->CNT / Ultrasonic_SpeedFactor);
if (Ultrasonic.callback)
(*Ultrasonic.callback)();
Ultrasonic.status = USS_IDLE;
}
}
/* --- Load and start micro-second delay counter --- */
void startMicroDelay(uint16_t Delay)
{
portENTER_CRITICAL();
if (Delay)
{
htim7.Instance->ARR = Delay;
HAL_TIM_Base_Start(&htim7);
while(htim7.Instance->CNT != 0)
{
}
HAL_TIM_Base_Stop(&htim7);
}
portEXIT_CRITICAL();
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if (htim->Instance == htim17.Instance)
{
if (PWM1_DeltaCount > 0)
{
htim3.Instance->CCR4 += (PWM1_DeltaStep * PWM1_Direction);
PWM1_DeltaCount--;
}
if (PWM2_DeltaCount > 0)
{
htim14.Instance->CCR1 += (PWM2_DeltaStep * PWM2_Direction);
PWM2_DeltaCount--;
}
if (PWM1_DeltaCount == 0 && PWM2_DeltaCount == 0)
{
HAL_TIM_Base_Stop(&htim17);
}
}
}
/**
* @brief Stop audio recording
* @retval None
*/
uint8_t BSP_AUDIO_IN_Stop(void)
{
uint32_t ret = AUDIO_OK;
/* Stop the time base triggering the ADC */
if (HAL_TIM_Base_Stop(&hAudioInTim3) != HAL_OK)
{
ret = AUDIO_ERROR;
}
if (HAL_ADC_Stop_DMA(&hAudioInAdc) != HAL_OK)
{
/* Return 0 if all operations are OK */
ret = AUDIO_ERROR;
}
/* Disable OPAMPx */
if (HAL_OPAMP_Stop(&hAudioInOpamp) != HAL_OK)
{
ret = AUDIO_ERROR;
}
return ret;
}
void TIMGenDisable(void){
HAL_TIM_Base_Stop(&htim6);
HAL_TIM_Base_Stop(&htim7);
}
void TIMScopeDisable(){
HAL_TIM_Base_Stop(&htim_scope);
}
void Ultrasonic_TimeoutCallback(void) {
HAL_TIM_Base_Stop(&htim_sonar);
Ultrasonic.status = USS_IDLE;
}
/**
* @brief This function handles TIM interrupt request.
* @param None
* @retval None
*/
void TIM7_IRQHandler(void)
{
present_encoder_count = __HAL_TIM_GET_COUNTER(&TimHandle_Enc1);
speed = present_encoder_count - previous_encoder_count ;
local_time++;
/* If control is PBC, turn off the motor when the present_encoder_count is greater than or equal to pOn */
if(control == PBC && ((dir == pos && present_encoder_count >= pOn) || (dir == rev && present_encoder_count <= pOn)))
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8 , GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
isHigh = 1; // Calculate PCC for adaptation
}
/* If control is TBC, turn off the motor when the local_time is greater than or equal to tOn */
if(control == TBC && local_time>=tOn)
{
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8 , GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
}
/* Wait until motor settles */
if(speed_count == 10 )
{
pS = present_encoder_count ;
if(isHigh) // If the control was PBC, calculate PCC for adaptation
{
pcc = (((float)x*pcc)+((float)y*pcc*((float)local_demand/(float)(absolute(pS - pSa)))))/((float)x+(float)y);
isHigh = 0;}
error = demand - pS;
local_demand = absolute(error);
pSa = __HAL_TIM_GET_COUNTER(&TimHandle_Enc1);
if(local_demand <= 6); // If error is less than 6 pulses, exit the control loop
else if(local_demand <= 100){ // If error is less than 100 pulses, use Time Based Control
control = TBC;
local_time=0;
isDemandChanged=1;}
else { // If error is greater tha 100 pulses, use Position Based Control
control = PBC;
isDemandChanged=1;}
/* Set direction depending on the sign of the error */
if(error < 0)
dir = rev;
else
dir = pos;
/* Disable Timer Interrupt */
HAL_TIM_Base_Stop(&TimHandle_int);
/* Reset Speed count*/
speed_count = 0;
}
/* Wait for 10ms after speed becomes 0 ie., until the motor settles */
if(speed == 0)
speed_count++; // If speed is 0, increment speed count
else
speed_count = 0; // Else reset speed count
previous_encoder_count = present_encoder_count;
HAL_TIM_IRQHandler(&TimHandle_int);
}
