/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 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 ------------------------------------------------------------------*/ #include "main.h" #include "dma.h" #include "tim.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "PLSR.h" #include "includes.h" #include "modbus.h" #include "bitset.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ uint8_t ArrFlag = 0; /* 加速度Flag */ float Acc; /* 加速度 */ int32_t AllPulseCNT = 0; int32_t BaseCNT = 0; int32_t CNT_Only[10] = {0}; uint8_t AccITCount = 0; uint8_t PulseStartFlag = 0; extern uint8_t Register_H[16384]; ///<寄存器的高字节 extern uint8_t Register_L[16384]; ///<寄存器的低字节 /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ void PVD_Init(void); /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* 任务优先级 */ #define TASK_Y1Direction 6 #define TASK_PulseStart 5 #define TASK_DirOutput 6 #define TASK_PulseGetCount 6 /* 任务堆栈大小 */ #define Task_Y1Direction_SIZE 256 #define Task_PulseStart_SIZE 512 #define Task_DirOutput_SIZE 256 #define Task_PulseGetCount_SIZE 256 /* 任务控制块 */ OS_TCB Y1Direction_Tsk; OS_TCB PulseStart_Tsk; OS_TCB DirOutput_Tsk; OS_TCB PulseGetCount_Tsk; /* 任务栈 */ CPU_STK Task_Y1Direction_STK[Task_Y1Direction_SIZE]; CPU_STK Task_PulseStart_STK[Task_PulseStart_SIZE]; CPU_STK Task_DirOutput_STK[Task_DirOutput_SIZE]; CPU_STK Task_PulseGetCount_STK[Task_PulseGetCount_SIZE]; /* 任务函数 */ void Y1Direction(void *p_arg); void PulseStartTsk(void *p_arg); void DirOutput(void *p_arg); void PulseGetCount(void *p_arg); /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ OS_ERR err; /* 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 */ HAL_PWR_EnableBkUpAccess();/* 使能备份域访问 */ __HAL_RCC_BKPSRAM_CLK_ENABLE();/* 使能备份SRAM时钟 */ HAL_PWREx_EnableBkUpReg();/* 使能备份SRAM */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_USART1_UART_Init(); MX_TIM10_Init(); MX_TIM2_Init(); MX_TIM11_Init(); MX_TIM13_Init(); MX_TIM14_Init(); /* USER CODE BEGIN 2 */ // PulseBaseInit(0, 0, 200);//设置为第0段脉冲开始，相对模式, 最大脉冲为0 // PulseInit(0, 1, 5, 0); //第几段脉冲，频率，数量，下一段脉冲 // AddPulse(1, 100, 200, 0); // AddPulse(2, 1, 55, 0); // Options.AccUpTime = 50; BSP_Init(); OSInit(&err); CPU_SR_ALLOC(); CPU_CRITICAL_ENTER();///进入临界区 /* 任务1 */ OSTaskCreate((OS_TCB * )&Y1Direction_Tsk, /* 任务控制块 */ (CPU_CHAR* )"Y1Direction", /* 任务名字 */ (OS_TASK_PTR)Y1Direction, /* 任务函数 */ (void * )0, /* 传递给任务函数的参数 */ (OS_PRIO )TASK_Y1Direction, /* 任务优先级 */ (CPU_STK * )&Task_Y1Direction_STK[0], /* 任务堆栈基地址 */ (CPU_STK_SIZE)Task_Y1Direction_SIZE/10, /* 任务堆栈深度限位 */ (CPU_STK_SIZE)Task_Y1Direction_SIZE, /* 任务堆栈大小 */ (OS_MSG_QTY)0, /* 任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息 */ (OS_TICK )0, /* 当使能时间片轮转时的时间片长度，为0时为默认长度 */ (void * )0, /* 用户补充的存储区 */ (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, /* 任务选项 */ (OS_ERR * )&err); /* 存放该函数错误时的返回值 */ /* 任务2 */ OSTaskCreate((OS_TCB * )&PulseStart_Tsk, (CPU_CHAR* )"PulseStartTsk", (OS_TASK_PTR)PulseStartTsk, (void * )0, (OS_PRIO )TASK_PulseStart, (CPU_STK * )&Task_PulseStart_STK[0], (CPU_STK_SIZE)Task_PulseStart_SIZE/10, (CPU_STK_SIZE)Task_PulseStart_SIZE, (OS_MSG_QTY)0, (OS_TICK )0, (void * )0, (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, (OS_ERR * )&err); /* 任务3 */ OSTaskCreate((OS_TCB * )&DirOutput_Tsk, (CPU_CHAR* )"DirOutput_Tsk", (OS_TASK_PTR)DirOutput, (void * )0, (OS_PRIO )TASK_DirOutput, (CPU_STK * )&Task_DirOutput_STK[0], (CPU_STK_SIZE)Task_DirOutput_SIZE/10, (CPU_STK_SIZE)Task_DirOutput_SIZE, (OS_MSG_QTY)0, (OS_TICK )0, (void * )0, (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, (OS_ERR * )&err); /* 任务4 */ OSTaskCreate((OS_TCB * )&PulseGetCount_Tsk, (CPU_CHAR* )"PulseGetCount_Tsk", (OS_TASK_PTR)PulseGetCount, (void * )0, (OS_PRIO )TASK_PulseGetCount, (CPU_STK * )&Task_PulseGetCount_STK[0], (CPU_STK_SIZE)Task_PulseGetCount_SIZE/10, (CPU_STK_SIZE)Task_PulseGetCount_SIZE, (OS_MSG_QTY)0, (OS_TICK )0, (void * )0, (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, (OS_ERR * )&err); /* 掉电数据读取 */ ModbusLoadSRAM(); CPU_CRITICAL_EXIT() ; ///退出临界区 OSStart(&err); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 6; RCC_OscInitStruct.PLL.PLLN = 72; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /** * @brief 任务1， 脉冲加减速 * @return 无 */ void Y1Direction(void *p_arg) { p_arg = p_arg; OS_ERR err; while(1) { /* 获取加减速所需要的脉冲数 */ GetAddCount(); /* 段切换时的脉冲加减速 */ if (ArrFlag == 1) { /* 脉冲加速 */ if (Acc > 0) { if (TIM2->CNT <= AccUpCount) { SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc); if (TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */ } else { SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency); ArrFlag = 0; } } /* 脉冲减速 */ else if (Acc <= 0) { if (TIM2->CNT <= AccDownCount) { SetFrequency(Options.SentPost, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc); if(TIM2->CNT == 0) PulseStart(); /* 开始产生脉冲 */ } else { SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency); ArrFlag = 0; } } } OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍 } } /** * @brief 任务2，脉冲开始,数据处理 * @return 无 */ void PulseStartTsk(void *p_arg) { p_arg = p_arg; OS_ERR err; uint8_t EN = 1; while(1) { PLSRPluseLoad(); //读取脉冲设置 PLSROptionLoad(); //读取脉冲基础设置 if(Register_L[0x3000] == 0x01 && EN == 1) { SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency); PulseStart(); EN = 0; PulseStartFlag = 1; } else if(Register_L[0x3000] == 0x02 && EN == 0) { EN = 1; } ModbusSaveSRAM(); /* 第一段脉冲的加速 */ if (NowPulse == Options.StartPulse && PulseStartFlag == 1) { Acc = (float)PulseOutput[NowPulse].Frequency / (float)AccUpCount;/* 计算加速度 */ if (AccUpCount < PulseOutput[NowPulse].PulseCount)//如果能够完成加速 { if(TIM2->CNT < AccUpCount) { SetFrequency(Options.SentPost, TIM2->CNT * Acc); } else { SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency); PulseStartFlag = 0; } } else //不能完成加速 { } } /* 最后一段脉冲的减速 */ if (NowPulse == Options.AllPulse - 1) { Acc = - (float)PulseOutput[NowPulse].Frequency / (float)AccDownCount;/* 计算加速度 */ if (TIM2->CNT > PulseOutput[NowPulse].PulseCount - AccUpCount - AccDownCount) /* 当达到脉冲减速的位置开始减速 */ { SetFrequency(Options.SentPost, PulseOutput[NowPulse].Frequency + TIM2->CNT * Acc); } } OSTimeDly(10, OS_OPT_TIME_DLY, &err); // 延时 10 个节拍 } } /** * @brief 任务3，脉冲方向输出 * @return 无 */ void DirOutput(void *p_arg) { p_arg = p_arg; OS_ERR err; while(1) { /* 根据当前的方向和输出的方向的端口进行输出的配置 */ if (Options.DirPost == 0) { if (Options.Dir == 1) { HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_RESET); } } if (Options.DirPost == 1) { if (Options.Dir == 1) { HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_RESET); } } if (Options.DirPost == 2) { if (Options.Dir == 1) { HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_RESET); } } if (Options.DirPost == 3) { if (Options.Dir == 1) { HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_SET); } else { HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_RESET); } } /* 预留时间给其他任务 */ OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍 } } /** * @brief 任务4，脉冲计数 * @return 无 */ void PulseGetCount(void *p_arg) { p_arg = p_arg; OS_ERR err; while(1) { /* 根据当前脉冲的方向设置输出的方向 */ if(PulseOutput[NowPulse].PulseCount < 0) { Options.Dir = 1; } else { Options.Dir = 0; } // if(Options.Dir == 0) // { // AllPulseCNT = BaseCNT + TIM2->CNT; // } // else if(Options.Dir == 1) // { // AllPulseCNT = BaseCNT - TIM2->CNT; // } if(TIM2->CNT != 0) { if (Options.Dir == 1) { CNT_Only[NowPulse] = 0 - (TIM2->CNT); } else if (Options.Dir == 0) { CNT_Only[NowPulse] = TIM2->CNT; } } AllPulseCNT = CNT_Only[0] + CNT_Only[1] + CNT_Only[2] + CNT_Only[3] + CNT_Only[4] + CNT_Only[5] + CNT_Only[6] + CNT_Only[7] + CNT_Only[8] + CNT_Only[9]; CountSave(); OSTimeDly(10, OS_OPT_TIME_DLY, &err); } } /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */