wangbeihong
1cc8327f13
新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。 实现霍尔传感器功能：用于速度测量和脉冲计数。 更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。 修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。 更改定时器配置：将时基生成从 TIM8 改为 TIM4。 增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。 更新项目配置：以反映外设使用情况和优先级的变更。
119 lines
3.3 KiB
C
119 lines
3.3 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.h
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* @brief : Header for main.c file.
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* This file contains the common defines of the application.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 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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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __MAIN_H
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#define __MAIN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Exported types ------------------------------------------------------------*/
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/* USER CODE BEGIN ET */
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/* USER CODE END ET */
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/* Exported constants --------------------------------------------------------*/
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/* USER CODE BEGIN EC */
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/* USER CODE END EC */
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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/* USER CODE END EM */
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/* Exported functions prototypes ---------------------------------------------*/
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void Error_Handler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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/* Private defines -----------------------------------------------------------*/
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#define RUN_LED_Pin GPIO_PIN_13
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#define RUN_LED_GPIO_Port GPIOC
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#define HC_SR04_Pin GPIO_PIN_0
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#define HC_SR04_GPIO_Port GPIOA
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#define M4_W_Pin GPIO_PIN_2
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#define M4_W_GPIO_Port GPIOA
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#define M4_S_Pin GPIO_PIN_3
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#define M4_S_GPIO_Port GPIOA
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#define SDA_Pin GPIO_PIN_4
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#define SDA_GPIO_Port GPIOC
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#define IOR_Pin GPIO_PIN_5
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#define IOR_GPIO_Port GPIOC
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#define IOR_EXTI_IRQn EXTI9_5_IRQn
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#define RST_Pin GPIO_PIN_0
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#define RST_GPIO_Port GPIOB
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#define M1_W_Pin GPIO_PIN_9
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#define M1_W_GPIO_Port GPIOE
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#define M1_S_Pin GPIO_PIN_11
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#define M1_S_GPIO_Port GPIOE
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#define M2_W_Pin GPIO_PIN_13
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#define M2_W_GPIO_Port GPIOE
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#define M2_S_Pin GPIO_PIN_14
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#define M2_S_GPIO_Port GPIOE
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#define M_I_4_Pin GPIO_PIN_14
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#define M_I_4_GPIO_Port GPIOB
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#define M_I_4_EXTI_IRQn EXTI15_10_IRQn
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#define M_I_3_Pin GPIO_PIN_15
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#define M_I_3_GPIO_Port GPIOB
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#define M_I_3_EXTI_IRQn EXTI15_10_IRQn
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#define M_I_2_Pin GPIO_PIN_8
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#define M_I_2_GPIO_Port GPIOD
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#define M_I_2_EXTI_IRQn EXTI9_5_IRQn
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#define M_I_1_Pin GPIO_PIN_9
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#define M_I_1_GPIO_Port GPIOD
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#define M_I_1_EXTI_IRQn EXTI9_5_IRQn
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#define H4_Pin GPIO_PIN_11
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#define H4_GPIO_Port GPIOD
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#define H3_Pin GPIO_PIN_12
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#define H3_GPIO_Port GPIOD
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#define H2_Pin GPIO_PIN_13
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#define H2_GPIO_Port GPIOD
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#define H1_Pin GPIO_PIN_14
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#define H1_GPIO_Port GPIOD
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#define LED_Pin GPIO_PIN_15
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#define LED_GPIO_Port GPIOD
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#define M3_W_Pin GPIO_PIN_15
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#define M3_W_GPIO_Port GPIOA
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#define M3_S_Pin GPIO_PIN_3
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#define M3_S_GPIO_Port GPIOB
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __MAIN_H */
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