From 1cc8327f13e7c4adabbe0dfca69c62b872c21872 Mon Sep 17 00:00:00 2001 From: wangbeihong Date: Fri, 3 Apr 2026 20:24:55 +0800 Subject: [PATCH] =?UTF-8?q?=E7=89=B9=E6=80=A7=EF=BC=9A=E5=AE=9E=E7=8E=B0?= =?UTF-8?q?=E7=94=B5=E6=9C=BA=E6=8E=A7=E5=88=B6=E4=B8=8E=E9=9C=8D=E5=B0=94?= =?UTF-8?q?=E4=BC=A0=E6=84=9F=E5=99=A8=E5=8A=9F=E8=83=BD=20=E6=96=B0?= =?UTF-8?q?=E5=A2=9E=E7=94=B5=E6=9C=BA=E6=9D=BF=E7=BA=A7=E6=94=AF=E6=8C=81?= =?UTF-8?q?=E5=8C=85=EF=BC=9A=E5=9F=BA=E4=BA=8E=20AT8236-MS=20=E9=A9=B1?= =?UTF-8?q?=E5=8A=A8=E8=8A=AF=E7=89=87=EF=BC=8C=E5=AE=9E=E7=8E=B0=E4=BA=86?= =?UTF-8?q?=E5=AF=B9=204=20=E4=B8=AA=E7=9B=B4=E6=B5=81=E7=94=B5=E6=9C=BA?= =?UTF-8?q?=E7=9A=84=20PWM=20=E6=8E=A7=E5=88=B6=E3=80=82=20=E5=AE=9E?= =?UTF-8?q?=E7=8E=B0=E9=9C=8D=E5=B0=94=E4=BC=A0=E6=84=9F=E5=99=A8=E5=8A=9F?= =?UTF-8?q?=E8=83=BD=EF=BC=9A=E7=94=A8=E4=BA=8E=E9=80=9F=E5=BA=A6=E6=B5=8B?= =?UTF-8?q?=E9=87=8F=E5=92=8C=E8=84=89=E5=86=B2=E8=AE=A1=E6=95=B0=E3=80=82?= =?UTF-8?q?=20=E6=9B=B4=E6=96=B0=20GPIO=20=E5=88=9D=E5=A7=8B=E5=8C=96?= =?UTF-8?q?=EF=BC=9A=E4=B8=BA=E9=9C=8D=E5=B0=94=E4=BC=A0=E6=84=9F=E5=99=A8?= =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E5=A4=96=E9=83=A8=E4=B8=AD=E6=96=AD?= =?UTF-8?q?=EF=BC=88EXTI=EF=BC=89=E9=85=8D=E7=BD=AE=E3=80=82=20=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E7=B3=BB=E7=BB=9F=E6=97=B6=E9=92=9F=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=EF=BC=9A=E6=94=B9=E7=94=A8=E9=AB=98=E9=80=9F=E5=A4=96=E9=83=A8?= =?UTF-8?q?=E6=97=B6=E9=92=9F=EF=BC=88HSE=EF=BC=89=E5=B9=B6=E8=B0=83?= =?UTF-8?q?=E6=95=B4=E4=BA=86=E9=94=81=E7=9B=B8=E7=8E=AF=EF=BC=88PLL?= =?UTF-8?q?=EF=BC=89=E8=AE=BE=E7=BD=AE=E3=80=82=20=E6=9B=B4=E6=94=B9?= =?UTF-8?q?=E5=AE=9A=E6=97=B6=E5=99=A8=E9=85=8D=E7=BD=AE=EF=BC=9A=E5=B0=86?= =?UTF-8?q?=E6=97=B6=E5=9F=BA=E7=94=9F=E6=88=90=E4=BB=8E=20TIM8=20?= =?UTF-8?q?=E6=94=B9=E4=B8=BA=20TIM4=E3=80=82=20=E5=A2=9E=E5=BC=BA=20FreeR?= =?UTF-8?q?TOS=20=E4=BB=BB=E5=8A=A1=EF=BC=9A=E5=AE=9E=E7=8E=B0=E4=BB=8E?= =?UTF-8?q?=E9=9C=8D=E5=B0=94=E4=BC=A0=E6=84=9F=E5=99=A8=E5=91=A8=E6=9C=9F?= =?UTF-8?q?=E6=80=A7=E8=AF=BB=E5=8F=96=E5=B9=B6=E6=9B=B4=E6=96=B0=E9=80=9F?= =?UTF-8?q?=E5=BA=A6=E6=95=B0=E6=8D=AE=E3=80=82=20=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E9=A1=B9=E7=9B=AE=E9=85=8D=E7=BD=AE=EF=BC=9A=E4=BB=A5=E5=8F=8D?= =?UTF-8?q?=E6=98=A0=E5=A4=96=E8=AE=BE=E4=BD=BF=E7=94=A8=E6=83=85=E5=86=B5?= =?UTF-8?q?=E5=92=8C=E4=BC=98=E5=85=88=E7=BA=A7=E7=9A=84=E5=8F=98=E6=9B=B4?= =?UTF-8?q?=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 6 + Core/Bsp/README.md | 99 +++++++++++++ Core/Bsp/bsp_hall.c | 134 +++++++++++++++++ Core/Bsp/bsp_hall.h | 35 +++++ Core/Bsp/bsp_motor.c | 122 +++++++++++++++ Core/Bsp/bsp_motor.h | 35 +++++ Core/Inc/FreeRTOSConfig.h | 2 +- Core/Inc/main.h | 5 + Core/Inc/stm32f1xx_it.h | 4 +- Core/Src/freertos.c | 99 ++++++++----- Core/Src/gpio.c | 7 + Core/Src/main.c | 13 +- Core/Src/stm32f1xx_hal_timebase_tim.c | 65 ++++---- Core/Src/stm32f1xx_it.c | 47 +++++- Core/Src/tim.c | 8 +- f103_car.ioc | 148 ++++++++++--------- 物流小车/esp_12f/TCPUDPDbg/config/config.ini | 2 +- 17 files changed, 682 insertions(+), 149 deletions(-) create mode 100644 Core/Bsp/README.md create mode 100644 Core/Bsp/bsp_hall.c create mode 100644 Core/Bsp/bsp_hall.h create mode 100644 Core/Bsp/bsp_motor.c create mode 100644 Core/Bsp/bsp_motor.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 5f20010..f248ede 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,6 +53,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/easylogger/port/elog_port.c ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/checksum.c ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/protocol.c + ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_motor.c + ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_hall.c ) # Add include paths @@ -77,3 +79,7 @@ target_link_libraries(${CMAKE_PROJECT_NAME} # Add user defined libraries ) +# Enable float support for printf +target_link_options(${CMAKE_PROJECT_NAME} PRIVATE + -u _printf_float +) \ No newline at end of file diff --git a/Core/Bsp/README.md b/Core/Bsp/README.md new file mode 100644 index 0000000..5af20fd --- /dev/null +++ b/Core/Bsp/README.md @@ -0,0 +1,99 @@ +# BSP Motor 驱动说明 (AT8236-MS) + +该驱动模块用于通过 STM32 的硬件 PWM 功能控制 4 路直流电机，适配 **AT8236-MS** 驱动芯片。 + +## 硬件连接 + +| 电机 ID | 信号定义 | STM32 引脚 | 定时器通道 | +| :--- | :--- | :--- | :--- | +| **MOTOR_1** | M1_W / M1_S | PE9 / PE11 | TIM1_CH1 / TIM1_CH2 | +| **MOTOR_2** | M2_W / M2_S | PE13 / PE14 | TIM1_CH3 / TIM1_CH4 | +| **MOTOR_3** | M3_W / M3_S | PA15 / PB3 | TIM2_CH1 / TIM2_CH2 | +| **MOTOR_4** | M4_W / M4_S | PA2 / PA3 | TIM2_CH3 / TIM2_CH4 | + +## 霍尔传感器 (由于是一根线，仅限频率测速) + +| 传感器 ID | STM32 引脚 | 模式 | 功能 | +| :--- | :--- | :--- | :--- | +| **HALL_1 (M1)** | PD9 (M_I_1) | GPIO_EXTI | 脉冲计数 / 测速 | +| **HALL_2 (M2)** | PD8 (M_I_2) | GPIO_EXTI | 脉冲计数 / 测速 | +| **HALL_3 (M3)** | PB15 (M_I_3) | GPIO_EXTI | 脉冲计数 / 测速 | +| **HALL_4 (M4)** | PB14 (M_I_4) | GPIO_EXTI | 脉冲计数 / 测速 | + +## 使用方式 + +### 1. 硬件初始化 (main.c) +在 `main.c` 的循环前调用电机和霍尔的初始化函数： +```c +/* USER CODE BEGIN 2 */ +motor_init(); +hall_init(); +/* USER CODE END 2 */ +``` + +### 2. 中断绑定 (stm32f1xx_it.c) +在外部中断回调函数中加入脉冲统计： +```c +void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) +{ + hall_pulse_callback(GPIO_Pin); +} +``` + +### 3. 控制电机 +调用 `motor_set_speed` 函数控制电机转动： +```c +// 电机1正转，中等速度 +motor_set_speed(MOTOR_1, 2000); + +// 电机2反转，全速 +motor_set_speed(MOTOR_2, -3599); +``` + +### 4. 获取测量结果 +在 FreeRTOS 任务或主循环中读取脉冲数或计算转速： +```c +uint32_t count = hall_get_count(MOTOR_1); +printf("Motor 1 Pulses: %ld\r\n", count); +``` + +## 预期结果 + +1. **电机控制**： + - 给予正数速度时，对应电机的 W 引脚输出 PWM，S 引脚为低，电机正向旋转。 + - 给予负数速度时，S 引脚输出 PWM，W 引脚为低，电机反向旋转。 + - 速度数值越大，电机转速越高，最大有效值为 3599。 + +2. **霍尔测量**： + - 电机每旋转一圈，对应的 `pulse_count` 会根据编码器磁极对数增加。 + - 通过观察 `hall_get_count` 的数值增长，可以确认传感器信号捕获正常。 + +## 驱动逻辑 (AT8236-MS) + +驱动器通过两路电平差控制方向： +- **正转**: W引脚输出 PWM，S引脚输出低电平(0%)。 +- **反转**: W引脚输出低电平(0%)，S引脚输出 PWM。 +- **停止/刹车**: W和S引脚均输出低电平(0%)。 + +## 核心 API + +### 1. 初始化 +`void motor_init(void);` +- 开启 TIM1 和 TIM2 的所有对应 PWM 通道。 +- 初始电机状态为停止。 + +### 2. 设置电机速度 +`void motor_set_speed(motor_id_t motor_id, int16_t speed);` +- **motor_id**: `MOTOR_1` 到 `MOTOR_4`。 +- **speed**: 范围为 `-3599` 到 `3599`（对应 20kHz 频率下的 ARR 重装载值）。 + - 正数：正转。 + - 负数：反转。 + - 0：停止。 + +### 3. 停止电机 +`void motor_stop(motor_id_t motor_id);` +- 立即将对应电机的两路占空比清零。 + +## 注意事项 +- 使用前请确保 `MX_TIM1_Init()` 和 `MX_TIM2_Init()` 已在 `main.c` 中正常调用。 +- 定时器的 `Period`（重装载值值）决定了最大速度的分辨率，当前配置为 16 位（65535）。 diff --git a/Core/Bsp/bsp_hall.c b/Core/Bsp/bsp_hall.c new file mode 100644 index 0000000..aeb424d --- /dev/null +++ b/Core/Bsp/bsp_hall.c @@ -0,0 +1,134 @@ +#include "bsp_hall.h" + + +/* 霍尔传感器数据结构体定义描述 */ +static hall_sensor_t sensors[MOTOR_COUNT]; + +/** + * @brief 霍尔引脚初始化 (本驱动依赖 CubeMX 预设的 GPIO_EXTI 模式) + */ +void hall_init(void) +{ + for(int i = 0; i < MOTOR_COUNT; i++) { + sensors[i].pulse_count = 0; + sensors[i].speed_rpm = 0.0f; + } +} + +/** + * @brief HAL 层 GPIO 外部中断回调函数实现 + * @note 此函数重写了 HAL 库中的 __weak 定义 + */ +void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) +{ + hall_pulse_callback(GPIO_Pin); +} + +/** + * @brief 外部中断回调函数中的统计处理 + */ +void hall_pulse_callback(uint16_t GPIO_Pin) +{ + /* 只负责计数，不再在中断中进行浮点运算和日志打印 */ + if (GPIO_Pin == M_I_1_Pin) { + sensors[MOTOR_1].pulse_count++; + } else if (GPIO_Pin == M_I_2_Pin) { + sensors[MOTOR_2].pulse_count++; + } else if (GPIO_Pin == M_I_3_Pin) { + sensors[MOTOR_3].pulse_count++; + } else if (GPIO_Pin == M_I_4_Pin) { + sensors[MOTOR_4].pulse_count++; + } +} + +// /** +// * @brief 获取霍尔传感器脉冲计数 +// */ +// uint32_t hall_get_count(motor_id_t motor_id) +// { +// if (motor_id < MOTOR_COUNT) { +// return sensors[motor_id].pulse_count; +// } +// return 0; +// } + +// /** +// * @brief 重置霍尔传感器计数值 +// */ +// void hall_reset_count(motor_id_t motor_id) +// { +// if (motor_id < MOTOR_COUNT) { +// sensors[motor_id].pulse_count = 0; +// } +// } + +/** + * @brief 计算并更新转速 (供应用层在定时任务中调用) + * @param motor_id 电机 ID + * @param interval_ms 两次调用之间的时间间隔 (ms) + * @return float 计算出的 RPM + */ +float hall_update_speed(motor_id_t motor_id, uint32_t interval_ms) +{ + if (motor_id >= MOTOR_COUNT || interval_ms == 0) return 0.0f; + + /* 获取当前增量并重置计数 */ + uint32_t current_pulses = sensors[motor_id].pulse_count; + sensors[motor_id].pulse_count = 0; + + /* PPR = 330. RPM = (增量脉冲 / 间隔ms) * 60000ms / PPR */ + sensors[motor_id].speed_rpm = ((float)current_pulses / (float)interval_ms) * 60000.0f / 330.0f; + + // /* 应用层打印日志 */ + // log_i("Motor[%d] Real-time: %.2f RPM (pulses: %d)", motor_id + 1, sensors[motor_id].speed_rpm, current_pulses); + + return sensors[motor_id].speed_rpm; +} + +// /** +// * @brief 计算转速 (由于只有一根线，仅支持根据脉冲频率计算速度) +// */ +// float hall_calculate_speed(motor_id_t motor_id, uint32_t interval_ms) +// { +// if (motor_id >= MOTOR_COUNT || interval_ms == 0) return 0.0f; +// +// /* 获取当前脉冲数 */ +// uint32_t current_count = sensors[motor_id].pulse_count; +// +// /* +// * 计算 RPM (转每分钟) +// * 公式: (脉冲增量 / 采样时间ms) * 1000ms * 60s / PPR +// * 注意：由于此处没有传入上一次的 count，我们假设 interval_ms 是相对于 count=0 开始的， +// * 或者你可以在调用前手动 reset。这里先实现基础频率转换为 RPM 的逻辑。 +// * 假设 PPR (每圈脉冲数) 暂定为 11 (常见磁平衡霍尔) * 30 (减速比) = 330 +// */ +// const float PPR = 330.0f; +// sensors[motor_id].speed_rpm = ((float)current_count / interval_ms) * 60000.0f / PPR; +// +// /* 输出日志：电机编号 + 转速 */ +// // log_i("Motor[%d] speed: %.2f RPM", motor_id + 1, sensors[motor_id].speed_rpm); +// +// /* 计算完后为了下一次增量计算，通常需要重置计数，或者记录旧值。这里保持框架。 */ +// +// return sensors[motor_id].speed_rpm; +// } + +/* USER CODE BEGIN Header_speed_get */ +/** + * @brief Function implementing the timerTask thread. + * @param argument: Not used + * @retval None + */ +/* USER CODE END Header_speed_get */ +void speed_get(void *argument) { + /* USER CODE BEGIN speed_get */ + /* Infinite loop */ + for (;;) { + /* 在每 100ms 执行一次的任务中 */ + for (int i = 0; i < MOTOR_COUNT; i++) { + hall_update_speed(i, 100); + } + osDelay(100); // 100ms + } + /* USER CODE END speed_get */ +} diff --git a/Core/Bsp/bsp_hall.h b/Core/Bsp/bsp_hall.h new file mode 100644 index 0000000..c7998a5 --- /dev/null +++ b/Core/Bsp/bsp_hall.h @@ -0,0 +1,35 @@ +#ifndef __BSP_HALL_H +#define __BSP_HALL_H + + +#include "main.h" +#include "bsp_motor.h" // 确保 motor_id_t 类型可见 +#include "elog.h" +#include "cmsis_os.h" +/** + * @brief 霍尔周期/脉冲计数结构体 + */ +typedef struct { + uint32_t pulse_count; // 总脉冲计数值 + float speed_rpm; // 计算得到的转速 (RPM) +} hall_sensor_t; + +/* 初始化霍尔传感器 (GPIO 外部中断模式) */ +void hall_init(void); + +/* 外部中断处理接口 (供 HAL 层调用，请勿在应用层直接调用) */ +void hall_pulse_callback(uint16_t GPIO_Pin); + +// /* 获取指定霍尔传感器的计数值 */ +// uint32_t hall_get_count(motor_id_t motor_id); + +/* 每隔固定时间调用此函数计算并更新转速 (例如在 100ms 任务中调用) */ +float hall_update_speed(motor_id_t motor_id, uint32_t interval_ms); + +// /* 清位计数值 */ +// void hall_reset_count(motor_id_t motor_id); + +// /* 计算转速的原始接口 (内部使用) */ +// float hall_calculate_speed(motor_id_t motor_id, uint32_t interval_ms); + +#endif /* __BSP_HALL_H */ diff --git a/Core/Bsp/bsp_motor.c b/Core/Bsp/bsp_motor.c new file mode 100644 index 0000000..4ef1e09 --- /dev/null +++ b/Core/Bsp/bsp_motor.c @@ -0,0 +1,122 @@ +#include "bsp_motor.h" +#include "tim.h" + +/** + * @file bsp_motor.c + * @brief AT8236-MS 电机驱动实现 (PWM) + * + * AT8236-MS 驱动逻辑参考： + * - IN1 (PWM) / IN2 (L) -> 正转 + * - IN1 (L) / IN2 (PWM) -> 反转 + * - IN1 (L) / IN2 (L) -> 停止/刹车 (视具体芯片配置而定) + */ + +/** + * @brief 初始化电机相关外设 + */ +void motor_init(void) +{ + /* 1. 开启 PWM 定时器硬件通道 (TIM1 用于 M1, M2) */ + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4); + + /* --- 关键修改：强制使能 TIM1 的主输出 (仅高级定时器需要) --- */ + __HAL_TIM_MOE_ENABLE(&htim1); + + /* 2. 开启 PWM 定时器硬件通道 (TIM2 用于 M3, M4) */ + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); + HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); + + /* 3. 初始状态设置为停止 */ + motor_stop(MOTOR_1); + motor_stop(MOTOR_2); + motor_stop(MOTOR_3); + motor_stop(MOTOR_4); +} + +/** + * @brief 设置电机PWM速度和方向 + * @param motor_id 电机 ID (MOTOR_1 到 MOTOR_4) + * @param speed 速度值 (-3599 到 3599，正数正转，负数反转) + */ +void motor_set_speed(motor_id_t motor_id, int16_t speed) +{ + TIM_HandleTypeDef* htim_w = NULL; + uint32_t channel_w = 0; + TIM_HandleTypeDef* htim_s = NULL; + uint32_t channel_s = 0; + + /* 获取对应电机的 定时器句柄和通道 (根据 tim.c GPIO 复用定义) */ + switch (motor_id) { + case MOTOR_1: // PE9->TIM1_CH1, PE11->TIM1_CH2 + htim_w = &htim1; channel_w = TIM_CHANNEL_1; + htim_s = &htim1; channel_s = TIM_CHANNEL_2; + break; + case MOTOR_2: // PE13->TIM1_CH3, PE14->TIM1_CH4 + htim_w = &htim1; channel_w = TIM_CHANNEL_3; + htim_s = &htim1; channel_s = TIM_CHANNEL_4; + break; + case MOTOR_3: // PA15->TIM2_CH1, PB3->TIM2_CH2 + htim_w = &htim2; channel_w = TIM_CHANNEL_1; + htim_s = &htim2; channel_s = TIM_CHANNEL_2; + break; + case MOTOR_4: // PA2->TIM2_CH3, PA3->TIM2_CH4 + htim_w = &htim2; channel_w = TIM_CHANNEL_3; + htim_s = &htim2; channel_s = TIM_CHANNEL_4; + break; + default: return; + } + + /* 限制速度范围 (ARR=3599) */ + if (speed > 3599) speed = 3599; + if (speed < -3599) speed = -3599; + + /* 计算绝对值速度 */ + uint16_t pwm_val = (speed < 0) ? (uint16_t)(-speed) : (uint16_t)speed; + + /* 根据速度判断方向 */ + if (speed > 0) { + /* 正转：W 输出 PWM, S 输出低电平 (占空比 0) */ + __HAL_TIM_SET_COMPARE(htim_w, channel_w, pwm_val); + __HAL_TIM_SET_COMPARE(htim_s, channel_s, 0); + } else if (speed < 0) { + /* 反转：W 输出低电平 (占空比 0), S 输出 PWM */ + __HAL_TIM_SET_COMPARE(htim_w, channel_w, 0); + __HAL_TIM_SET_COMPARE(htim_s, channel_s, pwm_val); + } else { + motor_stop(motor_id); + } +} + +/** + * @brief 停止电机 + * @param motor_id 电机 ID + */ +void motor_stop(motor_id_t motor_id) +{ + /* 设置对应通道占空比均为 0 以刹车/停止 */ + switch (motor_id) { + case MOTOR_1: + __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 0); + __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 0); + break; + case MOTOR_2: + __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0); + __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, 0); + break; + case MOTOR_3: + __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 0); + __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 0); + break; + case MOTOR_4: + __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0); + __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0); + break; + default: break; + } +} + diff --git a/Core/Bsp/bsp_motor.h b/Core/Bsp/bsp_motor.h new file mode 100644 index 0000000..88b5d35 --- /dev/null +++ b/Core/Bsp/bsp_motor.h @@ -0,0 +1,35 @@ +#ifndef __BSP_MOTOR_H +#define __BSP_MOTOR_H + +#include "main.h" + +/** + * @brief 电机选择枚举 + */ +typedef enum { + MOTOR_1 = 0, + MOTOR_2, + MOTOR_3, + MOTOR_4, + MOTOR_COUNT +} motor_id_t; + +/** + * @brief 电机方向枚举 + */ +typedef enum { + MOTOR_FWD = 0, // 正转 + MOTOR_REV, // 反转 + MOTOR_STOP // 停止 +} motor_dir_t; + +/* 电机初始化 */ +void motor_init(void); + +/* 设置电机PWM占空比和方向 */ +void motor_set_speed(motor_id_t motor_id, int16_t speed); + +/* 停止指定电机 */ +void motor_stop(motor_id_t motor_id); + +#endif /* __BSP_MOTOR_H */ diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index ec12b52..f0c28ab 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -64,7 +64,7 @@ #define configTICK_RATE_HZ ((TickType_t)1000) #define configMAX_PRIORITIES ( 56 ) #define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)3072) +#define configTOTAL_HEAP_SIZE ((size_t)10000) #define configMAX_TASK_NAME_LEN ( 16 ) #define configUSE_TRACE_FACILITY 1 #define configUSE_16_BIT_TICKS 0 diff --git a/Core/Inc/main.h b/Core/Inc/main.h index 0b525f5..5e89c61 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -69,6 +69,7 @@ void Error_Handler(void); #define SDA_GPIO_Port GPIOC #define IOR_Pin GPIO_PIN_5 #define IOR_GPIO_Port GPIOC +#define IOR_EXTI_IRQn EXTI9_5_IRQn #define RST_Pin GPIO_PIN_0 #define RST_GPIO_Port GPIOB #define M1_W_Pin GPIO_PIN_9 @@ -81,12 +82,16 @@ void Error_Handler(void); #define M2_S_GPIO_Port GPIOE #define M_I_4_Pin GPIO_PIN_14 #define M_I_4_GPIO_Port GPIOB +#define M_I_4_EXTI_IRQn EXTI15_10_IRQn #define M_I_3_Pin GPIO_PIN_15 #define M_I_3_GPIO_Port GPIOB +#define M_I_3_EXTI_IRQn EXTI15_10_IRQn #define M_I_2_Pin GPIO_PIN_8 #define M_I_2_GPIO_Port GPIOD +#define M_I_2_EXTI_IRQn EXTI9_5_IRQn #define M_I_1_Pin GPIO_PIN_9 #define M_I_1_GPIO_Port GPIOD +#define M_I_1_EXTI_IRQn EXTI9_5_IRQn #define H4_Pin GPIO_PIN_11 #define H4_GPIO_Port GPIOD #define H3_Pin GPIO_PIN_12 diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h index ddff6f9..52cbea7 100644 --- a/Core/Inc/stm32f1xx_it.h +++ b/Core/Inc/stm32f1xx_it.h @@ -55,9 +55,11 @@ void DebugMon_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); -void TIM8_UP_IRQHandler(void); +void EXTI15_10_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 71ec707..80c8d4c 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -1,20 +1,20 @@ /* USER CODE BEGIN Header */ /** - ****************************************************************************** - * File Name : freertos.c - * Description : Code for freertos applications - ****************************************************************************** - * @attention - * - * Copyright (c) 2026 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. - * - ****************************************************************************** - */ + ****************************************************************************** + * File Name : freertos.c + * Description : Code for freertos applications + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 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 ------------------------------------------------------------------*/ @@ -25,11 +25,14 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ -#include "bsp_uart.h" #include "bsp_beep.h" -#include "usart.h" +#include "bsp_motor.h" +#include "bsp_uart.h" #include "elog.h" #include "protocol.h" +#include "usart.h" +#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含 + /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -65,6 +68,13 @@ const osThreadAttr_t CarCtrlTask_attributes = { .stack_size = 256 * 4, .priority = (osPriority_t) osPriorityNormal, }; +/* Definitions for timerTask */ +osThreadId_t timerTaskHandle; +const osThreadAttr_t timerTask_attributes = { + .name = "timerTask", + .stack_size = 512 * 4, + .priority = (osPriority_t) osPriorityBelowNormal, +}; /* Definitions for CmdQueue */ osMessageQueueId_t CmdQueueHandle; const osMessageQueueAttr_t CmdQueue_attributes = { @@ -73,7 +83,7 @@ const osMessageQueueAttr_t CmdQueue_attributes = { /* Private function prototypes -----------------------------------------------*/ /* USER CODE BEGIN FunctionPrototypes */ - #ifdef __GNUC__ +#ifdef __GNUC__ #define PUTCHAR_PROTOTYPE int __io_putchar(int ch) #else #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) @@ -87,6 +97,7 @@ PUTCHAR_PROTOTYPE { void StartDefaultTask(void *argument); void CarCtrl_Task(void *argument); +void speed_get(void *argument); void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ @@ -100,7 +111,10 @@ void MX_FREERTOS_Init(void) { easylogger_init(); BEEP_Init(); BSP_UART1_Init(); - elog_raw("FreeRTOS Initialized\r\n"); + elog_raw("FreeRTOS Initialized\r\n"); + + motor_init(); // 初始化电机相关外设 + hall_init(); // 初始化霍尔传感器 /* USER CODE END Init */ @@ -132,6 +146,9 @@ void MX_FREERTOS_Init(void) { /* creation of CarCtrlTask */ CarCtrlTaskHandle = osThreadNew(CarCtrl_Task, NULL, &CarCtrlTask_attributes); + /* creation of timerTask */ + timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes); + /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ /* USER CODE END RTOS_THREADS */ @@ -144,46 +161,62 @@ void MX_FREERTOS_Init(void) { /* USER CODE BEGIN Header_StartDefaultTask */ /** - * @brief Function implementing the initTask thread. - * @param argument: Not used - * @retval None - */ + * @brief Function implementing the initTask thread. + * @param argument: Not used + * @retval None + */ /* USER CODE END Header_StartDefaultTask */ void StartDefaultTask(void *argument) { /* USER CODE BEGIN StartDefaultTask */ /* Infinite loop */ - for(;;) - { + for (;;) { + + HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin); - HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin); osDelay(1000); - } /* USER CODE END StartDefaultTask */ } /* USER CODE BEGIN Header_CarCtrl_Task */ /** -* @brief Function implementing the CarCtrlTask thread. -* @param argument: Not used -* @retval None -*/ + * @brief Function implementing the CarCtrlTask thread. + * @param argument: Not used + * @retval None + */ /* USER CODE END Header_CarCtrl_Task */ __weak void CarCtrl_Task(void *argument) { /* USER CODE BEGIN CarCtrl_Task */ /* Infinite loop */ - for(;;) - { + for (;;) { osDelay(1); // osMessageQueueGet 已经是阻塞的，不需要额外的 osDelay } /* USER CODE END CarCtrl_Task */ } +/* USER CODE BEGIN Header_speed_get */ +/** +* @brief Function implementing the timerTask thread. +* @param argument: Not used +* @retval None +*/ +/* USER CODE END Header_speed_get */ +__weak void speed_get(void *argument) +{ + /* USER CODE BEGIN speed_get */ + /* Infinite loop */ + for(;;) + { + osDelay(1); + } + /* USER CODE END speed_get */ +} + /* Private application code --------------------------------------------------*/ /* USER CODE BEGIN Application */ diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 0700596..89021fb 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -105,6 +105,13 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct); + /* EXTI interrupt init*/ + HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(EXTI9_5_IRQn); + + HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(EXTI15_10_IRQn); + } /* USER CODE BEGIN 2 */ diff --git a/Core/Src/main.c b/Core/Src/main.c index a9f8551..1264f41 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -140,12 +140,13 @@ void SystemClock_Config(void) /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; 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; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); @@ -178,7 +179,7 @@ void SystemClock_Config(void) /** * @brief Period elapsed callback in non blocking mode - * @note This function is called when TIM8 interrupt took place, inside + * @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 @@ -189,7 +190,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) /* USER CODE BEGIN Callback 0 */ /* USER CODE END Callback 0 */ - if (htim->Instance == TIM8) + if (htim->Instance == TIM4) { HAL_IncTick(); } diff --git a/Core/Src/stm32f1xx_hal_timebase_tim.c b/Core/Src/stm32f1xx_hal_timebase_tim.c index 9e615db..badd077 100644 --- a/Core/Src/stm32f1xx_hal_timebase_tim.c +++ b/Core/Src/stm32f1xx_hal_timebase_tim.c @@ -25,13 +25,13 @@ /* Private define ------------------------------------------------------------*/ /* Private macro -------------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/ -TIM_HandleTypeDef htim8; +TIM_HandleTypeDef htim4; /* Private function prototypes -----------------------------------------------*/ -void TIM8_IRQHandler(void); +void TIM4_IRQHandler(void); /* Private functions ---------------------------------------------------------*/ /** - * @brief This function configures the TIM8 as a time base source. + * @brief This function configures the TIM4 as a time base source. * The time source is configured to have 1ms time base with a dedicated * Tick interrupt priority. * @note This function is called automatically at the beginning of program after @@ -42,54 +42,63 @@ void TIM8_IRQHandler(void); HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) { RCC_ClkInitTypeDef clkconfig; - uint32_t uwTimclock = 0U; + uint32_t uwTimclock, uwAPB1Prescaler = 0U; uint32_t uwPrescalerValue = 0U; uint32_t pFLatency; HAL_StatusTypeDef status = HAL_OK; - /* Enable TIM8 clock */ - __HAL_RCC_TIM8_CLK_ENABLE(); + /* Enable TIM4 clock */ + __HAL_RCC_TIM4_CLK_ENABLE(); /* Get clock configuration */ HAL_RCC_GetClockConfig(&clkconfig, &pFLatency); - /* Compute TIM8 clock */ - uwTimclock = HAL_RCC_GetPCLK2Freq(); + /* Get APB1 prescaler */ + uwAPB1Prescaler = clkconfig.APB1CLKDivider; + /* Compute TIM4 clock */ + if (uwAPB1Prescaler == RCC_HCLK_DIV1) + { + uwTimclock = HAL_RCC_GetPCLK1Freq(); + } + else + { + uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq(); + } - /* Compute the prescaler value to have TIM8 counter clock equal to 1MHz */ + /* Compute the prescaler value to have TIM4 counter clock equal to 1MHz */ uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U); - /* Initialize TIM8 */ - htim8.Instance = TIM8; + /* Initialize TIM4 */ + htim4.Instance = TIM4; /* Initialize TIMx peripheral as follow: - * Period = [(TIM8CLK/1000) - 1]. to have a (1/1000) s time base. + * Period = [(TIM4CLK/1000) - 1]. to have a (1/1000) s time base. * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock. * ClockDivision = 0 * Counter direction = Up */ - htim8.Init.Period = (1000000U / 1000U) - 1U; - htim8.Init.Prescaler = uwPrescalerValue; - htim8.Init.ClockDivision = 0; - htim8.Init.CounterMode = TIM_COUNTERMODE_UP; - htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + htim4.Init.Period = (1000000U / 1000U) - 1U; + htim4.Init.Prescaler = uwPrescalerValue; + htim4.Init.ClockDivision = 0; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - status = HAL_TIM_Base_Init(&htim8); + status = HAL_TIM_Base_Init(&htim4); if (status == HAL_OK) { /* Start the TIM time Base generation in interrupt mode */ - status = HAL_TIM_Base_Start_IT(&htim8); + status = HAL_TIM_Base_Start_IT(&htim4); if (status == HAL_OK) { - /* Enable the TIM8 global Interrupt */ - HAL_NVIC_EnableIRQ(TIM8_UP_IRQn); + /* Enable the TIM4 global Interrupt */ + HAL_NVIC_EnableIRQ(TIM4_IRQn); /* Configure the SysTick IRQ priority */ if (TickPriority < (1UL << __NVIC_PRIO_BITS)) { /* Configure the TIM IRQ priority */ - HAL_NVIC_SetPriority(TIM8_UP_IRQn, TickPriority, 0U); + HAL_NVIC_SetPriority(TIM4_IRQn, TickPriority, 0U); uwTickPrio = TickPriority; } else @@ -105,25 +114,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) /** * @brief Suspend Tick increment. - * @note Disable the tick increment by disabling TIM8 update interrupt. + * @note Disable the tick increment by disabling TIM4 update interrupt. * @param None * @retval None */ void HAL_SuspendTick(void) { - /* Disable TIM8 update Interrupt */ - __HAL_TIM_DISABLE_IT(&htim8, TIM_IT_UPDATE); + /* Disable TIM4 update Interrupt */ + __HAL_TIM_DISABLE_IT(&htim4, TIM_IT_UPDATE); } /** * @brief Resume Tick increment. - * @note Enable the tick increment by Enabling TIM8 update interrupt. + * @note Enable the tick increment by Enabling TIM4 update interrupt. * @param None * @retval None */ void HAL_ResumeTick(void) { - /* Enable TIM8 Update interrupt */ - __HAL_TIM_ENABLE_IT(&htim8, TIM_IT_UPDATE); + /* Enable TIM4 Update interrupt */ + __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE); } diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c index e12622d..d1d1a45 100644 --- a/Core/Src/stm32f1xx_it.c +++ b/Core/Src/stm32f1xx_it.c @@ -61,7 +61,7 @@ extern DMA_HandleTypeDef hdma_usart1_tx; extern DMA_HandleTypeDef hdma_usart2_tx; extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart2; -extern TIM_HandleTypeDef htim8; +extern TIM_HandleTypeDef htim4; /* USER CODE BEGIN EV */ @@ -207,6 +207,36 @@ 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(IOR_Pin); + HAL_GPIO_EXTI_IRQHandler(M_I_2_Pin); + HAL_GPIO_EXTI_IRQHandler(M_I_1_Pin); + /* USER CODE BEGIN EXTI9_5_IRQn 1 */ + + /* USER CODE END EXTI9_5_IRQn 1 */ +} + +/** + * @brief This function handles TIM4 global interrupt. + */ +void TIM4_IRQHandler(void) +{ + /* USER CODE BEGIN TIM4_IRQn 0 */ + + /* USER CODE END TIM4_IRQn 0 */ + HAL_TIM_IRQHandler(&htim4); + /* USER CODE BEGIN TIM4_IRQn 1 */ + + /* USER CODE END TIM4_IRQn 1 */ +} + /** * @brief This function handles USART1 global interrupt. */ @@ -240,17 +270,18 @@ void USART2_IRQHandler(void) } /** - * @brief This function handles TIM8 update interrupt. + * @brief This function handles EXTI line[15:10] interrupts. */ -void TIM8_UP_IRQHandler(void) +void EXTI15_10_IRQHandler(void) { - /* USER CODE BEGIN TIM8_UP_IRQn 0 */ + /* USER CODE BEGIN EXTI15_10_IRQn 0 */ - /* USER CODE END TIM8_UP_IRQn 0 */ - HAL_TIM_IRQHandler(&htim8); - /* USER CODE BEGIN TIM8_UP_IRQn 1 */ + /* USER CODE END EXTI15_10_IRQn 0 */ + HAL_GPIO_EXTI_IRQHandler(M_I_4_Pin); + HAL_GPIO_EXTI_IRQHandler(M_I_3_Pin); + /* USER CODE BEGIN EXTI15_10_IRQn 1 */ - /* USER CODE END TIM8_UP_IRQn 1 */ + /* USER CODE END EXTI15_10_IRQn 1 */ } /* USER CODE BEGIN 1 */ diff --git a/Core/Src/tim.c b/Core/Src/tim.c index 539a99e..604dcf2 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -46,10 +46,10 @@ void MX_TIM1_Init(void) htim1.Instance = TIM1; htim1.Init.Prescaler = 0; htim1.Init.CounterMode = TIM_COUNTERMODE_UP; - htim1.Init.Period = 65535; + htim1.Init.Period = 3599; htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) { Error_Handler(); @@ -117,9 +117,9 @@ void MX_TIM2_Init(void) htim2.Instance = TIM2; htim2.Init.Prescaler = 0; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 65535; + htim2.Init.Period = 3599; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) { Error_Handler(); diff --git a/f103_car.ioc b/f103_car.ioc index e31d925..e7c9c1d 100644 --- a/f103_car.ioc +++ b/f103_car.ioc @@ -39,10 +39,11 @@ Dma.USART2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART2_TX.2.PeriphInc=DMA_PINC_DISABLE Dma.USART2_TX.2.Priority=DMA_PRIORITY_LOW Dma.USART2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority -FREERTOS.FootprintOK=true -FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01 +FREERTOS.FootprintOK=false +FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01,configTOTAL_HEAP_SIZE FREERTOS.Queues01=CmdQueue,16,16,1,Dynamic,NULL,NULL -FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL +FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL +FREERTOS.configTOTAL_HEAP_SIZE=10000 File.Version=6 GPIO.groupedBy=Group By Peripherals KeepUserPlacement=false @@ -64,40 +65,42 @@ Mcu.IPNb=12 Mcu.Name=STM32F103V(C-D-E)Tx Mcu.Package=LQFP100 Mcu.Pin0=PC13-TAMPER-RTC -Mcu.Pin1=PA0-WKUP -Mcu.Pin10=PE9 -Mcu.Pin11=PE11 -Mcu.Pin12=PE13 -Mcu.Pin13=PE14 -Mcu.Pin14=PB14 -Mcu.Pin15=PB15 -Mcu.Pin16=PD8 -Mcu.Pin17=PD9 -Mcu.Pin18=PD11 -Mcu.Pin19=PD12 -Mcu.Pin2=PA2 -Mcu.Pin20=PD13 -Mcu.Pin21=PD14 -Mcu.Pin22=PD15 -Mcu.Pin23=PC6 -Mcu.Pin24=PA9 -Mcu.Pin25=PA10 -Mcu.Pin26=PA13 -Mcu.Pin27=PA14 -Mcu.Pin28=PA15 -Mcu.Pin29=PD5 -Mcu.Pin3=PA3 -Mcu.Pin30=PD6 -Mcu.Pin31=PB3 -Mcu.Pin32=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin33=VP_SYS_VS_tim8 -Mcu.Pin4=PA5 -Mcu.Pin5=PA6 -Mcu.Pin6=PA7 -Mcu.Pin7=PC4 -Mcu.Pin8=PC5 -Mcu.Pin9=PB0 -Mcu.PinsNb=34 +Mcu.Pin1=OSC_IN +Mcu.Pin10=PC5 +Mcu.Pin11=PB0 +Mcu.Pin12=PE9 +Mcu.Pin13=PE11 +Mcu.Pin14=PE13 +Mcu.Pin15=PE14 +Mcu.Pin16=PB14 +Mcu.Pin17=PB15 +Mcu.Pin18=PD8 +Mcu.Pin19=PD9 +Mcu.Pin2=OSC_OUT +Mcu.Pin20=PD11 +Mcu.Pin21=PD12 +Mcu.Pin22=PD13 +Mcu.Pin23=PD14 +Mcu.Pin24=PD15 +Mcu.Pin25=PC6 +Mcu.Pin26=PA9 +Mcu.Pin27=PA10 +Mcu.Pin28=PA13 +Mcu.Pin29=PA14 +Mcu.Pin3=PA0-WKUP +Mcu.Pin30=PA15 +Mcu.Pin31=PD5 +Mcu.Pin32=PD6 +Mcu.Pin33=PB3 +Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin35=VP_SYS_VS_tim4 +Mcu.Pin4=PA2 +Mcu.Pin5=PA3 +Mcu.Pin6=PA5 +Mcu.Pin7=PA6 +Mcu.Pin8=PA7 +Mcu.Pin9=PC4 +Mcu.PinsNb=36 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F103VETx @@ -108,6 +111,8 @@ NVIC.DMA1_Channel4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Channel5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Channel7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false @@ -119,12 +124,16 @@ NVIC.SavedPendsvIrqHandlerGenerated=true NVIC.SavedSvcallIrqHandlerGenerated=true NVIC.SavedSystickIrqHandlerGenerated=true NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false -NVIC.TIM8_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true -NVIC.TimeBase=TIM8_UP_IRQn -NVIC.TimeBaseIP=TIM8 +NVIC.TIM4_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true +NVIC.TimeBase=TIM4_IRQn +NVIC.TimeBaseIP=TIM4 NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +OSC_IN.Mode=HSE-External-Oscillator +OSC_IN.Signal=RCC_OSC_IN +OSC_OUT.Mode=HSE-External-Oscillator +OSC_OUT.Signal=RCC_OSC_OUT PA0-WKUP.GPIOParameters=GPIO_Label PA0-WKUP.GPIO_Label=HC-SR04 PA0-WKUP.Signal=ADCx_IN0 @@ -265,32 +274,33 @@ ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=false 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_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM2_Init-TIM2-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true -RCC.ADCFreqValue=10666666.666666666 +RCC.ADCFreqValue=12000000 RCC.ADCPresc=RCC_ADCPCLK2_DIV6 -RCC.AHBFreq_Value=64000000 +RCC.AHBFreq_Value=72000000 RCC.APB1CLKDivider=RCC_HCLK_DIV2 -RCC.APB1Freq_Value=32000000 -RCC.APB1TimFreq_Value=64000000 -RCC.APB2Freq_Value=64000000 -RCC.APB2TimFreq_Value=64000000 -RCC.FCLKCortexFreq_Value=64000000 -RCC.FSMCFreq_Value=64000000 +RCC.APB1Freq_Value=36000000 +RCC.APB1TimFreq_Value=72000000 +RCC.APB2Freq_Value=72000000 +RCC.APB2TimFreq_Value=72000000 +RCC.FCLKCortexFreq_Value=72000000 +RCC.FSMCFreq_Value=72000000 RCC.FamilyName=M -RCC.HCLKFreq_Value=64000000 -RCC.I2S2Freq_Value=64000000 -RCC.I2S3Freq_Value=64000000 -RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FSMCFreq_Value,FamilyName,HCLKFreq_Value,I2S2Freq_Value,I2S3Freq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,SDIOFreq_Value,SDIOHCLKDiv2FreqValue,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value -RCC.MCOFreq_Value=64000000 -RCC.PLLCLKFreq_Value=64000000 -RCC.PLLMCOFreq_Value=32000000 -RCC.PLLMUL=RCC_PLL_MUL16 -RCC.SDIOFreq_Value=64000000 -RCC.SDIOHCLKDiv2FreqValue=32000000 -RCC.SYSCLKFreq_VALUE=64000000 +RCC.HCLKFreq_Value=72000000 +RCC.I2S2Freq_Value=72000000 +RCC.I2S3Freq_Value=72000000 +RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FSMCFreq_Value,FamilyName,HCLKFreq_Value,I2S2Freq_Value,I2S3Freq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,PLLSourceVirtual,SDIOFreq_Value,SDIOHCLKDiv2FreqValue,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value +RCC.MCOFreq_Value=72000000 +RCC.PLLCLKFreq_Value=72000000 +RCC.PLLMCOFreq_Value=36000000 +RCC.PLLMUL=RCC_PLL_MUL9 +RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE +RCC.SDIOFreq_Value=72000000 +RCC.SDIOHCLKDiv2FreqValue=36000000 +RCC.SYSCLKFreq_VALUE=72000000 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK -RCC.TimSysFreq_Value=64000000 -RCC.USBFreq_Value=64000000 -RCC.VCOOutput2Freq_Value=4000000 +RCC.TimSysFreq_Value=72000000 +RCC.USBFreq_Value=72000000 +RCC.VCOOutput2Freq_Value=8000000 SH.ADCx_IN0.0=ADC1_IN0,IN0 SH.ADCx_IN0.ConfNb=1 SH.GPXTI14.0=GPIO_EXTI14 @@ -322,21 +332,25 @@ SH.S_TIM2_CH4.ConfNb=1 SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1 SH.S_TIM3_CH1.ConfNb=1 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4 -SPI1.CalculateBaudRate=16.0 MBits/s +SPI1.CalculateBaudRate=18.0 MBits/s SPI1.Direction=SPI_DIRECTION_2LINES SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler SPI1.Mode=SPI_MODE_MASTER SPI1.VirtualType=VM_MASTER +TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 -TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4 +TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,AutoReloadPreload +TIM1.Period=3599 +TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 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 +TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,AutoReloadPreload +TIM2.Period=3599 TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM3.IPParameters=Channel-PWM Generation1 CH1 USART1.IPParameters=VirtualMode @@ -345,7 +359,7 @@ USART2.IPParameters=VirtualMode USART2.VirtualMode=VM_ASYNC VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 -VP_SYS_VS_tim8.Mode=TIM8 -VP_SYS_VS_tim8.Signal=SYS_VS_tim8 +VP_SYS_VS_tim4.Mode=TIM4 +VP_SYS_VS_tim4.Signal=SYS_VS_tim4 board=custom rtos.0.ip=FREERTOS diff --git a/物流小车/esp_12f/TCPUDPDbg/config/config.ini b/物流小车/esp_12f/TCPUDPDbg/config/config.ini index 5f76d9d..fbd538a 100644 --- a/物流小车/esp_12f/TCPUDPDbg/config/config.ini +++ b/物流小车/esp_12f/TCPUDPDbg/config/config.ini @@ -10,7 +10,7 @@ SendHex=0 [DlgCreateServer] DlgServerPort=3456 [Update] -Time=1775059200 +Time=1775206716 [SysOptions] SendBlSZforFile=10240 SendBlITforFile=1