增加读取寄存器状态和控制步进电机功能
This commit is contained in:
yankun
136
Core/Inc/machine.h
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136
Core/Inc/machine.h
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : machine.h
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* @brief : LK540 Machine Stepper Motor Control Header
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* 步进电机控制模块头文件
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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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******************************************************************************
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*/
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/* USER CODE END Header */
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#ifndef __MACHINE_H
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#define __MACHINE_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 "main.h"
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief 步进电机方向枚举
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*/
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typedef enum
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{
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MOTOR_DIR_CWW = 0, /* 向左移动 (Counter Clockwise) */
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MOTOR_DIR_CW = 1 /* 向右移动 (Clockwise) */
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} Motor_DirectionTypeDef;
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/* Exported constants --------------------------------------------------------*/
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/* 电机参数定义 */
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#define MOTOR_PULSE_PER_MM 5.33f /* 每毫米脉冲数 */
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#define MOTOR_ORIGIN_DISTANCE 215.0f /* 原点距离 (mm) */
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#define MOTOR_MATERIAL1_DISTANCE 192.4f /* 1#料距离 (mm) */
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#define MOTOR_MATERIAL2_DISTANCE 65.4f /* 2#料距离 (mm) */
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#define MOTOR_MATERIAL3_DISTANCE 61.6f /* 3#料距离 (mm) */
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#define MOTOR_MATERIAL4_DISTANCE 188.6f /* 4#料距离 (mm) */
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/* GPIO引脚定义 */
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#define MOTOR_ORIGIN_PIN_PORT GPIOB
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#define MOTOR_ORIGIN_PIN GPIO_PIN_3
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#define MOTOR_LIMIT_PIN_PORT GPIOG
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#define MOTOR_LIMIT_PIN GPIO_PIN_15
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#define MOTOR_DIR_PIN_PORT GPIOD
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#define MOTOR_DIR_PIN GPIO_PIN_7
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#define MOTOR_STEP_PIN_PORT GPIOG
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#define MOTOR_STEP_PIN GPIO_PIN_9
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/* Exported macro ------------------------------------------------------------*/
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/* Exported functions prototypes ---------------------------------------------*/
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/**
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* @brief 检测步进电机是否在原点
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* @retval 1: 在原点, 0: 不在原点
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*/
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uint8_t Machine_IsAtOrigin(void);
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/**
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* @brief 检测步进电机是否在临界点（限位传感器）
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* @retval 1: 在临界点, 0: 不在临界点
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*/
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uint8_t Machine_IsAtLimit(void);
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/**
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* @brief 设置步进电机方向
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* @param dir: 方向 (MOTOR_DIR_CWW: 向左, MOTOR_DIR_CW: 向右)
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* @retval None
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*/
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void Machine_SetDirection(Motor_DirectionTypeDef dir);
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/**
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* @brief 步进电机移动一步
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* @note 产生一个脉冲信号，电机移动一步（1/5.33 mm）
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* @retval None
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*/
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void Machine_Step(void);
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/**
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* @brief 步进电机移动到原点
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* @note 一直向左移动直到检测到原点传感器（PB3为0）
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* 如果检测到限位传感器（PG15为0），则停止并返回错误
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* @retval 0: 成功到达原点, 1: 到达限位点（错误）
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*/
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uint8_t Machine_MoveToOrigin(void);
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/**
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* @brief 步进电机从原点移动到中心点
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* @note 中心点就是原点位置（215.0mm处）
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* 如果已经在原点，则不需要移动
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* @retval 0: 成功, 1: 失败
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*/
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uint8_t Machine_MoveToCenter(void);
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/**
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* @brief 步进电机从中心点移动到1#料位置
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* @note 从原点（215.0mm）向左移动22.6mm到达1#料（192.4mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial1(void);
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/**
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* @brief 步进电机从中心点移动到2#料位置
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* @note 从原点（215.0mm）向左移动149.6mm到达2#料（65.4mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial2(void);
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/**
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* @brief 步进电机从中心点移动到3#料位置
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* @note 从原点（215.0mm）向右移动153.4mm到达3#料（61.6mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial3(void);
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/**
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* @brief 步进电机从中心点移动到4#料位置
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* @note 从原点（215.0mm）向右移动26.4mm到达4#料（188.6mm）
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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uint8_t Machine_MoveToMaterial4(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __MACHINE_H */
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138
Core/Inc/main.h
138
Core/Inc/main.h
@@ -1,69 +1,69 @@
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/* USER CODE BEGIN Header */
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/* USER CODE BEGIN Header */
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/**
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/**
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******************************************************************************
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******************************************************************************
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* @file : main.h
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* @file : main.h
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* @brief : Header for main.c file.
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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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* This file contains the common defines of the application.
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******************************************************************************
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******************************************************************************
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* @attention
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* @attention
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*
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*
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* Copyright (c) 2026 STMicroelectronics.
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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* All rights reserved.
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*
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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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* 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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* 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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* 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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******************************************************************************
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*/
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*/
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/* USER CODE END Header */
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/* USER CODE END Header */
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/* Define to prevent recursive inclusion -------------------------------------*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __MAIN_H
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#ifndef __MAIN_H
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#define __MAIN_H
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#define __MAIN_H
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#ifdef __cplusplus
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#ifdef __cplusplus
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extern "C" {
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extern "C" {
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#endif
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#endif
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/* Includes ------------------------------------------------------------------*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32f1xx_hal.h"
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#include "stm32f1xx_hal.h"
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/* Private includes ----------------------------------------------------------*/
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE BEGIN Includes */
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#include "machine.h"
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/* USER CODE END Includes */
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/* USER CODE END Includes */
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/* Exported types ------------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/* USER CODE BEGIN ET */
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/* USER CODE BEGIN ET */
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/* USER CODE END ET */
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/* USER CODE END ET */
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/* Exported constants --------------------------------------------------------*/
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/* Exported constants --------------------------------------------------------*/
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/* USER CODE BEGIN EC */
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/* USER CODE BEGIN EC */
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/* USER CODE END EC */
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/* USER CODE END EC */
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/* Exported macro ------------------------------------------------------------*/
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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/* USER CODE BEGIN EM */
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/* USER CODE END EM */
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/* USER CODE END EM */
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/* Exported functions prototypes ---------------------------------------------*/
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/* Exported functions prototypes ---------------------------------------------*/
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void Error_Handler(void);
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void Error_Handler(void);
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/* USER CODE BEGIN EFP */
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/* USER CODE BEGIN EFP */
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/* USER CODE END EFP */
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/* USER CODE END EFP */
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/* Private defines -----------------------------------------------------------*/
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/* Private defines -----------------------------------------------------------*/
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/* USER CODE BEGIN Private defines */
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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/* USER CODE END Private defines */
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#ifdef __cplusplus
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#ifdef __cplusplus
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}
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}
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#endif
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#endif
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#endif /* __MAIN_H */
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#endif /* __MAIN_H */
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332
Core/Src/machine.c
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Core/Src/machine.c
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : machine.c
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* @brief : LK540 Machine Stepper Motor Control Implementation
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* 步进电机控制模块实现
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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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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "machine.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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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* 步进脉冲时序参数（微秒） */
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#define STEP_PULSE_HIGH_TIME_US 10 /* 脉冲高电平时间 */
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#define STEP_PULSE_LOW_TIME_US 10 /* 脉冲低电平时间 */
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/* 移动相关参数 */
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#define MAX_STEPS_TO_ORIGIN 50000 /* 移动到原点的最大步数（防止无限循环） */
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#define STEP_DELAY_US 100 /* 每步之间的延时（微秒） */
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/* 各料位相对于原点的距离（mm） */
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#define DISTANCE_TO_MATERIAL1 22.6f /* 215.0 - 192.4 = 22.6mm (向左) */
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#define DISTANCE_TO_MATERIAL2 149.6f /* 215.0 - 65.4 = 149.6mm (向左) */
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#define DISTANCE_TO_MATERIAL3 153.4f /* 215.0 - 61.6 = 153.4mm (向右) */
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#define DISTANCE_TO_MATERIAL4 26.4f /* 215.0 - 188.6 = 26.4mm (向右) */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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static void DelayUs(uint32_t us);
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static uint32_t Machine_MmToSteps(float mm);
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static uint8_t Machine_MoveSteps(Motor_DirectionTypeDef dir, uint32_t steps);
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/**
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* @brief 微秒级延时函数
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* @param us: 延时时间（微秒）
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* @note 基于系统时钟的简单延时，72MHz系统时钟下
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* 考虑循环开销，使用约60个周期/微秒
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* @retval None
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*/
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static void DelayUs(uint32_t us)
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{
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uint32_t i;
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/* 72MHz时钟，考虑循环开销，约60个周期/微秒 */
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for (i = 0; i < us * 60; i++)
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{
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__NOP();
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}
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}
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/**
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* @brief 将毫米距离转换为步数
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* @param mm: 距离（毫米）
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* @retval 步数
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*/
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static uint32_t Machine_MmToSteps(float mm)
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{
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/* 每毫米5.33个脉冲，向上取整 */
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return (uint32_t)(mm * MOTOR_PULSE_PER_MM + 0.5f);
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}
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||||||
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/**
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* @brief 步进电机移动指定步数
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* @param dir: 移动方向
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* @param steps: 移动步数
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* @retval 0: 成功, 1: 失败（到达限位点）
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*/
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static uint8_t Machine_MoveSteps(Motor_DirectionTypeDef dir, uint32_t steps)
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{
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uint32_t i;
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/* 设置方向 */
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Machine_SetDirection(dir);
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DelayUs(STEP_DELAY_US);
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/* 移动指定步数 */
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for (i = 0; i < steps; i++)
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{
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/* 检查限位传感器 */
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if (Machine_IsAtLimit())
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{
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return 1; /* 到达限位点，返回错误 */
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}
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/* 移动一步 */
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Machine_Step();
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DelayUs(STEP_DELAY_US);
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}
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||||||
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return 0; /* 成功 */
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}
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||||||
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||||||
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/* USER CODE END 0 */
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||||||
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||||||
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/* Exported functions --------------------------------------------------------*/
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||||||
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||||||
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/**
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||||||
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* @brief 检测步进电机是否在原点
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||||||
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* @note PB3状态为0表示检测到步进电机在原点
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||||||
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* @retval 1: 在原点, 0: 不在原点
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||||||
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*/
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||||||
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uint8_t Machine_IsAtOrigin(void)
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||||||
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{
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||||||
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GPIO_PinState pinState;
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||||||
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||||||
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/* 读取PB3引脚状态 */
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||||||
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pinState = HAL_GPIO_ReadPin(MOTOR_ORIGIN_PIN_PORT, MOTOR_ORIGIN_PIN);
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||||||
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||||||
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/* PB3为0表示在原点 */
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||||||
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return (pinState == GPIO_PIN_RESET) ? 1 : 0;
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||||||
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}
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||||||
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||||||
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/**
|
||||||
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* @brief 检测步进电机是否在临界点（限位传感器）
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||||||
|
* @note PG15状态为0表示检测到步进电机到达临界点，不能再前进了
|
||||||
|
* @retval 1: 在临界点, 0: 不在临界点
|
||||||
|
*/
|
||||||
|
uint8_t Machine_IsAtLimit(void)
|
||||||
|
{
|
||||||
|
GPIO_PinState pinState;
|
||||||
|
|
||||||
|
/* 读取PG15引脚状态 */
|
||||||
|
pinState = HAL_GPIO_ReadPin(MOTOR_LIMIT_PIN_PORT, MOTOR_LIMIT_PIN);
|
||||||
|
|
||||||
|
/* PG15为0表示在临界点 */
|
||||||
|
return (pinState == GPIO_PIN_RESET) ? 1 : 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 设置步进电机方向
|
||||||
|
* @param dir: 方向
|
||||||
|
* MOTOR_DIR_CWW (0): 向左移动 (CWW - Counter Clockwise)
|
||||||
|
* MOTOR_DIR_CW (1): 向右移动 (CW - Clockwise)
|
||||||
|
* @note PD7为0表示向左，1表示向右
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void Machine_SetDirection(Motor_DirectionTypeDef dir)
|
||||||
|
{
|
||||||
|
GPIO_PinState pinState;
|
||||||
|
|
||||||
|
/* 根据方向设置PD7引脚状态 */
|
||||||
|
pinState = (dir == MOTOR_DIR_CWW) ? GPIO_PIN_RESET : GPIO_PIN_SET;
|
||||||
|
|
||||||
|
/* 设置方向引脚 */
|
||||||
|
HAL_GPIO_WritePin(MOTOR_DIR_PIN_PORT, MOTOR_DIR_PIN, pinState);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机移动一步
|
||||||
|
* @note 产生一个脉冲信号，电机移动一步
|
||||||
|
* 移动1mm需要5.33个脉冲，所以一步约等于1/5.33 mm
|
||||||
|
* 脉冲时序：低->高->低
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void Machine_Step(void)
|
||||||
|
{
|
||||||
|
/* 确保步进引脚初始为低电平 */
|
||||||
|
HAL_GPIO_WritePin(MOTOR_STEP_PIN_PORT, MOTOR_STEP_PIN, GPIO_PIN_RESET);
|
||||||
|
DelayUs(STEP_PULSE_LOW_TIME_US);
|
||||||
|
|
||||||
|
/* 产生高电平脉冲 */
|
||||||
|
HAL_GPIO_WritePin(MOTOR_STEP_PIN_PORT, MOTOR_STEP_PIN, GPIO_PIN_SET);
|
||||||
|
DelayUs(STEP_PULSE_HIGH_TIME_US);
|
||||||
|
|
||||||
|
/* 恢复低电平 */
|
||||||
|
HAL_GPIO_WritePin(MOTOR_STEP_PIN_PORT, MOTOR_STEP_PIN, GPIO_PIN_RESET);
|
||||||
|
DelayUs(STEP_PULSE_LOW_TIME_US);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机移动到原点
|
||||||
|
* @note 一直向左移动直到检测到原点传感器（PB3为0）
|
||||||
|
* 如果检测到限位传感器（PG15为0），则停止并返回错误
|
||||||
|
* @retval 0: 成功到达原点, 1: 到达限位点（错误）
|
||||||
|
*/
|
||||||
|
uint8_t Machine_MoveToOrigin(void)
|
||||||
|
{
|
||||||
|
uint32_t stepCount = 0;
|
||||||
|
|
||||||
|
/* 设置方向为向左（CWW） */
|
||||||
|
Machine_SetDirection(MOTOR_DIR_CWW);
|
||||||
|
DelayUs(STEP_DELAY_US);
|
||||||
|
|
||||||
|
/* 如果已经在原点，直接返回 */
|
||||||
|
if (Machine_IsAtOrigin())
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* 一直向左移动直到检测到原点 */
|
||||||
|
while (!Machine_IsAtOrigin())
|
||||||
|
{
|
||||||
|
/* 检查限位传感器 */
|
||||||
|
if (Machine_IsAtLimit())
|
||||||
|
{
|
||||||
|
return 1; /* 到达限位点，返回错误 */
|
||||||
|
}
|
||||||
|
|
||||||
|
/* 防止无限循环 */
|
||||||
|
if (stepCount++ > MAX_STEPS_TO_ORIGIN)
|
||||||
|
{
|
||||||
|
return 1; /* 超时，返回错误 */
|
||||||
|
}
|
||||||
|
|
||||||
|
/* 移动一步 */
|
||||||
|
Machine_Step();
|
||||||
|
DelayUs(STEP_DELAY_US);
|
||||||
|
}
|
||||||
|
|
||||||
|
return 0; /* 成功到达原点 */
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机从原点移动到中心点
|
||||||
|
* @note 中心点就是原点位置（215.0mm处）
|
||||||
|
* 如果已经在原点，则不需要移动
|
||||||
|
* @retval 0: 成功, 1: 失败
|
||||||
|
*/
|
||||||
|
uint8_t Machine_MoveToCenter(void)
|
||||||
|
{
|
||||||
|
/* 如果已经在原点（中心点），直接返回成功 */
|
||||||
|
if (Machine_IsAtOrigin())
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* 否则移动到原点 */
|
||||||
|
return Machine_MoveToOrigin();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机从中心点移动到1#料位置
|
||||||
|
* @note 从原点（215.0mm）向左移动22.6mm到达1#料（192.4mm）
|
||||||
|
* @retval 0: 成功, 1: 失败（到达限位点）
|
||||||
|
*/
|
||||||
|
uint8_t Machine_MoveToMaterial1(void)
|
||||||
|
{
|
||||||
|
uint32_t steps;
|
||||||
|
|
||||||
|
/* 计算需要的步数 */
|
||||||
|
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL1);
|
||||||
|
|
||||||
|
/* 向左移动 */
|
||||||
|
return Machine_MoveSteps(MOTOR_DIR_CWW, steps);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机从中心点移动到2#料位置
|
||||||
|
* @note 从原点（215.0mm）向左移动149.6mm到达2#料（65.4mm）
|
||||||
|
* @retval 0: 成功, 1: 失败（到达限位点）
|
||||||
|
*/
|
||||||
|
uint8_t Machine_MoveToMaterial2(void)
|
||||||
|
{
|
||||||
|
uint32_t steps;
|
||||||
|
|
||||||
|
/* 计算需要的步数 */
|
||||||
|
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL2);
|
||||||
|
|
||||||
|
/* 向左移动 */
|
||||||
|
return Machine_MoveSteps(MOTOR_DIR_CWW, steps);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机从中心点移动到3#料位置
|
||||||
|
* @note 从原点（215.0mm）向右移动153.4mm到达3#料（61.6mm）
|
||||||
|
* @retval 0: 成功, 1: 失败（到达限位点）
|
||||||
|
*/
|
||||||
|
uint8_t Machine_MoveToMaterial3(void)
|
||||||
|
{
|
||||||
|
uint32_t steps;
|
||||||
|
|
||||||
|
/* 计算需要的步数 */
|
||||||
|
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL3);
|
||||||
|
|
||||||
|
/* 向右移动 */
|
||||||
|
return Machine_MoveSteps(MOTOR_DIR_CW, steps);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 步进电机从中心点移动到4#料位置
|
||||||
|
* @note 从原点（215.0mm）向右移动26.4mm到达4#料（188.6mm）
|
||||||
|
* @retval 0: 成功, 1: 失败（到达限位点）
|
||||||
|
*/
|
||||||
|
uint8_t Machine_MoveToMaterial4(void)
|
||||||
|
{
|
||||||
|
uint32_t steps;
|
||||||
|
|
||||||
|
/* 计算需要的步数 */
|
||||||
|
steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL4);
|
||||||
|
|
||||||
|
/* 向右移动 */
|
||||||
|
return Machine_MoveSteps(MOTOR_DIR_CW, steps);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* USER CODE BEGIN 1 */
|
||||||
|
|
||||||
|
/* USER CODE END 1 */
|
||||||
646
Core/Src/main.c
646
Core/Src/main.c
@@ -1,315 +1,331 @@
|
|||||||
/* USER CODE BEGIN Header */
|
/* USER CODE BEGIN Header */
|
||||||
/**
|
/**
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
* @file : main.c
|
* @file : main.c
|
||||||
* @brief : Main program body
|
* @brief : Main program body
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
* @attention
|
* @attention
|
||||||
*
|
*
|
||||||
* Copyright (c) 2026 STMicroelectronics.
|
* Copyright (c) 2026 STMicroelectronics.
|
||||||
* All rights reserved.
|
* All rights reserved.
|
||||||
*
|
*
|
||||||
* This software is licensed under terms that can be found in the LICENSE file
|
* This software is licensed under terms that can be found in the LICENSE file
|
||||||
* in the root directory of this software component.
|
* in the root directory of this software component.
|
||||||
* If no LICENSE file comes with this software, it is provided AS-IS.
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
||||||
*
|
*
|
||||||
******************************************************************************
|
******************************************************************************
|
||||||
*/
|
*/
|
||||||
/* USER CODE END Header */
|
/* USER CODE END Header */
|
||||||
/* Includes ------------------------------------------------------------------*/
|
/* Includes ------------------------------------------------------------------*/
|
||||||
#include "main.h"
|
#include "main.h"
|
||||||
#include "cmsis_os.h"
|
#include "cmsis_os.h"
|
||||||
|
|
||||||
/* Private includes ----------------------------------------------------------*/
|
/* Private includes ----------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN Includes */
|
/* USER CODE BEGIN Includes */
|
||||||
|
|
||||||
/* USER CODE END Includes */
|
/* USER CODE END Includes */
|
||||||
|
|
||||||
/* Private typedef -----------------------------------------------------------*/
|
/* Private typedef -----------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PTD */
|
/* USER CODE BEGIN PTD */
|
||||||
|
|
||||||
/* USER CODE END PTD */
|
/* USER CODE END PTD */
|
||||||
|
|
||||||
/* Private define ------------------------------------------------------------*/
|
/* Private define ------------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PD */
|
/* USER CODE BEGIN PD */
|
||||||
|
|
||||||
/* USER CODE END PD */
|
/* USER CODE END PD */
|
||||||
|
|
||||||
/* Private macro -------------------------------------------------------------*/
|
/* Private macro -------------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN PM */
|
/* USER CODE BEGIN PM */
|
||||||
|
|
||||||
/* USER CODE END PM */
|
/* USER CODE END PM */
|
||||||
|
|
||||||
/* Private variables ---------------------------------------------------------*/
|
/* Private variables ---------------------------------------------------------*/
|
||||||
/* Definitions for motorTask */
|
/* Definitions for motorTask */
|
||||||
osThreadId_t motorTaskHandle;
|
osThreadId_t motorTaskHandle;
|
||||||
const osThreadAttr_t motorTask_attributes = {
|
const osThreadAttr_t motorTask_attributes = {
|
||||||
.name = "motorTask",
|
.name = "motorTask",
|
||||||
.stack_size = 256 * 4,
|
.stack_size = 256 * 4,
|
||||||
.priority = (osPriority_t) osPriorityAboveNormal,
|
.priority = (osPriority_t) osPriorityAboveNormal,
|
||||||
};
|
};
|
||||||
/* USER CODE BEGIN PV */
|
/* USER CODE BEGIN PV */
|
||||||
|
|
||||||
/* USER CODE END PV */
|
/* USER CODE END PV */
|
||||||
|
|
||||||
/* Private function prototypes -----------------------------------------------*/
|
/* Private function prototypes -----------------------------------------------*/
|
||||||
void SystemClock_Config(void);
|
void SystemClock_Config(void);
|
||||||
static void MX_GPIO_Init(void);
|
static void MX_GPIO_Init(void);
|
||||||
void StartMotorTask(void *argument);
|
void StartMotorTask(void *argument);
|
||||||
|
|
||||||
/* USER CODE BEGIN PFP */
|
/* USER CODE BEGIN PFP */
|
||||||
|
|
||||||
/* USER CODE END PFP */
|
/* USER CODE END PFP */
|
||||||
|
|
||||||
/* Private user code ---------------------------------------------------------*/
|
/* Private user code ---------------------------------------------------------*/
|
||||||
/* USER CODE BEGIN 0 */
|
/* USER CODE BEGIN 0 */
|
||||||
|
|
||||||
/* USER CODE END 0 */
|
/* USER CODE END 0 */
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The application entry point.
|
* @brief The application entry point.
|
||||||
* @retval int
|
* @retval int
|
||||||
*/
|
*/
|
||||||
int main(void)
|
int main(void)
|
||||||
{
|
{
|
||||||
|
|
||||||
/* USER CODE BEGIN 1 */
|
/* USER CODE BEGIN 1 */
|
||||||
|
|
||||||
/* USER CODE END 1 */
|
/* USER CODE END 1 */
|
||||||
|
|
||||||
/* MCU Configuration--------------------------------------------------------*/
|
/* MCU Configuration--------------------------------------------------------*/
|
||||||
|
|
||||||
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
|
||||||
HAL_Init();
|
HAL_Init();
|
||||||
|
|
||||||
/* USER CODE BEGIN Init */
|
/* USER CODE BEGIN Init */
|
||||||
|
|
||||||
/* USER CODE END Init */
|
/* USER CODE END Init */
|
||||||
|
|
||||||
/* Configure the system clock */
|
/* Configure the system clock */
|
||||||
SystemClock_Config();
|
SystemClock_Config();
|
||||||
|
|
||||||
/* USER CODE BEGIN SysInit */
|
/* USER CODE BEGIN SysInit */
|
||||||
|
|
||||||
/* USER CODE END SysInit */
|
/* USER CODE END SysInit */
|
||||||
|
|
||||||
/* Initialize all configured peripherals */
|
/* Initialize all configured peripherals */
|
||||||
MX_GPIO_Init();
|
MX_GPIO_Init();
|
||||||
/* USER CODE BEGIN 2 */
|
/* USER CODE BEGIN 2 */
|
||||||
|
|
||||||
/* USER CODE END 2 */
|
/* 上电后步进电机初始化：从任何位置移动到原点 */
|
||||||
|
/* Power-on initialization: Move stepper motor to origin from any position */
|
||||||
/* Init scheduler */
|
if (Machine_MoveToOrigin() == 0)
|
||||||
osKernelInitialize();
|
{
|
||||||
|
/* 成功到达原点，移动到中心点（中心点就是原点位置） */
|
||||||
/* USER CODE BEGIN RTOS_MUTEX */
|
/* Successfully reached origin, move to center (center is the origin position) */
|
||||||
/* add mutexes, ... */
|
Machine_MoveToCenter();
|
||||||
/* USER CODE END RTOS_MUTEX */
|
}
|
||||||
|
else
|
||||||
/* USER CODE BEGIN RTOS_SEMAPHORES */
|
{
|
||||||
/* add semaphores, ... */
|
/* 移动到原点失败，可能是到达限位点或超时 */
|
||||||
/* USER CODE END RTOS_SEMAPHORES */
|
/* Failed to move to origin, may have reached limit or timeout */
|
||||||
|
/* 这里可以添加错误处理，例如LED闪烁或蜂鸣器报警 */
|
||||||
/* USER CODE BEGIN RTOS_TIMERS */
|
/* Error handling can be added here, such as LED blinking or buzzer alarm */
|
||||||
/* start timers, add new ones, ... */
|
}
|
||||||
/* USER CODE END RTOS_TIMERS */
|
|
||||||
|
/* USER CODE END 2 */
|
||||||
/* USER CODE BEGIN RTOS_QUEUES */
|
|
||||||
/* add queues, ... */
|
/* Init scheduler */
|
||||||
/* USER CODE END RTOS_QUEUES */
|
osKernelInitialize();
|
||||||
|
|
||||||
/* Create the thread(s) */
|
/* USER CODE BEGIN RTOS_MUTEX */
|
||||||
/* creation of motorTask */
|
/* add mutexes, ... */
|
||||||
motorTaskHandle = osThreadNew(StartMotorTask, NULL, &motorTask_attributes);
|
/* USER CODE END RTOS_MUTEX */
|
||||||
|
|
||||||
/* USER CODE BEGIN RTOS_THREADS */
|
/* USER CODE BEGIN RTOS_SEMAPHORES */
|
||||||
/* add threads, ... */
|
/* add semaphores, ... */
|
||||||
/* USER CODE END RTOS_THREADS */
|
/* USER CODE END RTOS_SEMAPHORES */
|
||||||
|
|
||||||
/* USER CODE BEGIN RTOS_EVENTS */
|
/* USER CODE BEGIN RTOS_TIMERS */
|
||||||
/* add events, ... */
|
/* start timers, add new ones, ... */
|
||||||
/* USER CODE END RTOS_EVENTS */
|
/* USER CODE END RTOS_TIMERS */
|
||||||
|
|
||||||
/* Start scheduler */
|
/* USER CODE BEGIN RTOS_QUEUES */
|
||||||
osKernelStart();
|
/* add queues, ... */
|
||||||
|
/* USER CODE END RTOS_QUEUES */
|
||||||
/* We should never get here as control is now taken by the scheduler */
|
|
||||||
|
/* Create the thread(s) */
|
||||||
/* Infinite loop */
|
/* creation of motorTask */
|
||||||
/* USER CODE BEGIN WHILE */
|
motorTaskHandle = osThreadNew(StartMotorTask, NULL, &motorTask_attributes);
|
||||||
while (1)
|
|
||||||
{
|
/* USER CODE BEGIN RTOS_THREADS */
|
||||||
/* USER CODE END WHILE */
|
/* add threads, ... */
|
||||||
|
/* USER CODE END RTOS_THREADS */
|
||||||
/* USER CODE BEGIN 3 */
|
|
||||||
}
|
/* USER CODE BEGIN RTOS_EVENTS */
|
||||||
/* USER CODE END 3 */
|
/* add events, ... */
|
||||||
}
|
/* USER CODE END RTOS_EVENTS */
|
||||||
|
|
||||||
/**
|
/* Start scheduler */
|
||||||
* @brief System Clock Configuration
|
osKernelStart();
|
||||||
* @retval None
|
|
||||||
*/
|
/* We should never get here as control is now taken by the scheduler */
|
||||||
void SystemClock_Config(void)
|
|
||||||
{
|
/* Infinite loop */
|
||||||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
/* USER CODE BEGIN WHILE */
|
||||||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
while (1)
|
||||||
|
{
|
||||||
/** Initializes the RCC Oscillators according to the specified parameters
|
/* USER CODE END WHILE */
|
||||||
* in the RCC_OscInitTypeDef structure.
|
|
||||||
*/
|
/* USER CODE BEGIN 3 */
|
||||||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
}
|
||||||
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
/* USER CODE END 3 */
|
||||||
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
|
}
|
||||||
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
|
||||||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
/**
|
||||||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
* @brief System Clock Configuration
|
||||||
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
|
* @retval None
|
||||||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
*/
|
||||||
{
|
void SystemClock_Config(void)
|
||||||
Error_Handler();
|
{
|
||||||
}
|
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||||||
|
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||||||
/** Initializes the CPU, AHB and APB buses clocks
|
|
||||||
*/
|
/** Initializes the RCC Oscillators according to the specified parameters
|
||||||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
* in the RCC_OscInitTypeDef structure.
|
||||||
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
*/
|
||||||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
||||||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||||||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
|
||||||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
|
||||||
|
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||||||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
|
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||||||
{
|
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
|
||||||
Error_Handler();
|
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||||||
}
|
{
|
||||||
}
|
Error_Handler();
|
||||||
|
}
|
||||||
/**
|
|
||||||
* @brief GPIO Initialization Function
|
/** Initializes the CPU, AHB and APB buses clocks
|
||||||
* @param None
|
*/
|
||||||
* @retval None
|
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||||||
*/
|
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
||||||
static void MX_GPIO_Init(void)
|
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||||||
{
|
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
|
||||||
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
||||||
|
|
||||||
/* USER CODE END MX_GPIO_Init_1 */
|
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
|
||||||
|
{
|
||||||
/* GPIO Ports Clock Enable */
|
Error_Handler();
|
||||||
__HAL_RCC_GPIOD_CLK_ENABLE();
|
}
|
||||||
__HAL_RCC_GPIOG_CLK_ENABLE();
|
}
|
||||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
|
||||||
|
/**
|
||||||
/*Configure GPIO pin Output Level */
|
* @brief GPIO Initialization Function
|
||||||
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);
|
* @param None
|
||||||
|
* @retval None
|
||||||
/*Configure GPIO pin Output Level */
|
*/
|
||||||
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_RESET);
|
static void MX_GPIO_Init(void)
|
||||||
|
{
|
||||||
/*Configure GPIO pin : PD7 */
|
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_7;
|
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
/* USER CODE END MX_GPIO_Init_1 */
|
||||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
|
||||||
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
/* GPIO Ports Clock Enable */
|
||||||
|
__HAL_RCC_GPIOD_CLK_ENABLE();
|
||||||
/*Configure GPIO pin : PG9 */
|
__HAL_RCC_GPIOG_CLK_ENABLE();
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_9;
|
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
|
||||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
/*Configure GPIO pin Output Level */
|
||||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);
|
||||||
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
|
|
||||||
|
/*Configure GPIO pin Output Level */
|
||||||
/*Configure GPIO pin : PG15 */
|
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_RESET);
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_15;
|
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
/*Configure GPIO pin : PD7 */
|
||||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
GPIO_InitStruct.Pin = GPIO_PIN_7;
|
||||||
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||||
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
/*Configure GPIO pin : PB3 */
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||||
GPIO_InitStruct.Pin = GPIO_PIN_3;
|
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
|
||||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
|
||||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
/*Configure GPIO pin : PG9 */
|
||||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
GPIO_InitStruct.Pin = GPIO_PIN_9;
|
||||||
|
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||||
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||||
|
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
|
||||||
/* USER CODE END MX_GPIO_Init_2 */
|
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
|
||||||
}
|
|
||||||
|
/*Configure GPIO pin : PG15 */
|
||||||
/* USER CODE BEGIN 4 */
|
GPIO_InitStruct.Pin = GPIO_PIN_15;
|
||||||
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||||
/* USER CODE END 4 */
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||||
|
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
|
||||||
/* USER CODE BEGIN Header_StartMotorTask */
|
|
||||||
/**
|
/*Configure GPIO pin : PB3 */
|
||||||
* @brief Function implementing the motorTask thread.
|
GPIO_InitStruct.Pin = GPIO_PIN_3;
|
||||||
* @param argument: Not used
|
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||||
* @retval None
|
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||||
*/
|
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||||
/* USER CODE END Header_StartMotorTask */
|
|
||||||
void StartMotorTask(void *argument)
|
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||||||
{
|
|
||||||
/* USER CODE BEGIN 5 */
|
/* USER CODE END MX_GPIO_Init_2 */
|
||||||
/* Infinite loop */
|
}
|
||||||
for(;;)
|
|
||||||
{
|
/* USER CODE BEGIN 4 */
|
||||||
osDelay(1);
|
|
||||||
}
|
/* USER CODE END 4 */
|
||||||
/* USER CODE END 5 */
|
|
||||||
}
|
/* USER CODE BEGIN Header_StartMotorTask */
|
||||||
|
/**
|
||||||
/**
|
* @brief Function implementing the motorTask thread.
|
||||||
* @brief Period elapsed callback in non blocking mode
|
* @param argument: Not used
|
||||||
* @note This function is called when TIM6 interrupt took place, inside
|
* @retval None
|
||||||
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
|
*/
|
||||||
* a global variable "uwTick" used as application time base.
|
/* USER CODE END Header_StartMotorTask */
|
||||||
* @param htim : TIM handle
|
void StartMotorTask(void *argument)
|
||||||
* @retval None
|
{
|
||||||
*/
|
/* USER CODE BEGIN 5 */
|
||||||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
/* Infinite loop */
|
||||||
{
|
for(;;)
|
||||||
/* USER CODE BEGIN Callback 0 */
|
{
|
||||||
|
osDelay(1);
|
||||||
/* USER CODE END Callback 0 */
|
}
|
||||||
if (htim->Instance == TIM6)
|
/* USER CODE END 5 */
|
||||||
{
|
}
|
||||||
HAL_IncTick();
|
|
||||||
}
|
/**
|
||||||
/* USER CODE BEGIN Callback 1 */
|
* @brief Period elapsed callback in non blocking mode
|
||||||
|
* @note This function is called when TIM6 interrupt took place, inside
|
||||||
/* USER CODE END Callback 1 */
|
* 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
|
||||||
/**
|
* @retval None
|
||||||
* @brief This function is executed in case of error occurrence.
|
*/
|
||||||
* @retval None
|
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||||||
*/
|
{
|
||||||
void Error_Handler(void)
|
/* USER CODE BEGIN Callback 0 */
|
||||||
{
|
|
||||||
/* USER CODE BEGIN Error_Handler_Debug */
|
/* USER CODE END Callback 0 */
|
||||||
/* User can add his own implementation to report the HAL error return state */
|
if (htim->Instance == TIM6)
|
||||||
__disable_irq();
|
{
|
||||||
while (1)
|
HAL_IncTick();
|
||||||
{
|
}
|
||||||
}
|
/* USER CODE BEGIN Callback 1 */
|
||||||
/* USER CODE END Error_Handler_Debug */
|
|
||||||
}
|
/* USER CODE END Callback 1 */
|
||||||
#ifdef USE_FULL_ASSERT
|
}
|
||||||
/**
|
|
||||||
* @brief Reports the name of the source file and the source line number
|
/**
|
||||||
* where the assert_param error has occurred.
|
* @brief This function is executed in case of error occurrence.
|
||||||
* @param file: pointer to the source file name
|
* @retval None
|
||||||
* @param line: assert_param error line source number
|
*/
|
||||||
* @retval None
|
void Error_Handler(void)
|
||||||
*/
|
{
|
||||||
void assert_failed(uint8_t *file, uint32_t line)
|
/* USER CODE BEGIN Error_Handler_Debug */
|
||||||
{
|
/* User can add his own implementation to report the HAL error return state */
|
||||||
/* USER CODE BEGIN 6 */
|
__disable_irq();
|
||||||
/* User can add his own implementation to report the file name and line number,
|
while (1)
|
||||||
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
{
|
||||||
/* USER CODE END 6 */
|
}
|
||||||
}
|
/* USER CODE END Error_Handler_Debug */
|
||||||
#endif /* USE_FULL_ASSERT */
|
}
|
||||||
|
#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 */
|
||||||
|
|||||||
Reference in New Issue
Block a user