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310 lines
8.2 KiB
310 lines
8.2 KiB
3 months ago
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 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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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "dma.h"
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#include "usart.h"
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#include "tim.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "msp_Steering_Engine.h"
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#include "BHBF_ROBOT.h"
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#include <bsp_client_setting.h>
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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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void CV_GV_Init();
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void GF_Robot_Init();
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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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// int can1_sendListPeriod = 10;
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// int can1_DispacherPeriod = 4;
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// int can2_sendListPeriod = 20;
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// int can2_DispacherPeriod = 20;
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#define RS485_1_WaitTime 40
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#define RS485_2_WaitTime 40
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#define RS485_3_WaitTime 40
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#define RS485_4_WaitTime 40
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#define LTE_7S0_Serial_WaitTime 40
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#define InterCall_DEBUG_WaitTime 40
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#define E28_SBUS_WaitTime 6
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#define LPUART1_UART_WaitTime 40
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#define RS485_1_Dispacher_Time 100
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#define RS485_2_Dispacher_Time 100
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#define RS485_3_Dispacher_Time 100
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#define RS485_4_Dispacher_Time 100
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#define LTE_7S0_Serial_Dispacher_Time 100
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#define InterCall_DEBUG_Dispacher_Time 100
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#define E28_SBUS_Dispacher_Time 100
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#define LPUART1_UART_Dispacher_Time 100
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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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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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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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uint8_t sendcode[4]={0x01,0x03,0x07,0x1A};
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uint8_t sbus_Receive[32];
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void GF_Robot_MainLoop();
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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HAL_Delay(15000);
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_USART1_UART_Init();
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MX_LPUART1_UART_Init();
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MX_USART2_UART_Init();
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MX_TIM1_Init();
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MX_TIM8_Init();
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MX_USART3_UART_Init();
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/* USER CODE BEGIN 2 */
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//HAL_UART_Receive_IT(&huart3, sbus_Receive, 3);
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// GF_BSP_Interrupt_Add_CallBack(
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// DF_BSP_InterCall_TIM1_100ms_PeriodElapsedCallback,
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// GF_Robot_MainLoop);
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GF_BSP_TIMER_Init();
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GF_Robot_Init();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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// HAL_UART_Transmit(&huart1, sendcode, 4, 100);
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// HAL_UART_Transmit(&huart3, sendcode, 4, 100);
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// HAL_Delay(1000);
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
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RCC_OscInitStruct.PLL.PLLN = 20;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV8;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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void CV_GV_Init()
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{
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P_MK32 = &GV.MK32_Key;
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//RobotSpeed = &GV.Move_Speed;
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Desulfurizer_Steering_Set_Speed_1 = &GV.Servo_Speed_1;
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Desulfurizer_Steering_Set_Speed_2 = &GV.Servo_Speed_2;
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Desulfurizer_Steering_Set_Speed_3 = &GV.Servo_Speed_3;
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Desulfurizer_Steering_Set_Speed_4 = &GV.Servo_Speed_4;
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Steering_damping_power_1 = &GV.Servo_Power_1;
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Steering_damping_power_2 = &GV.Servo_Power_2;
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Steering_damping_power_3 = &GV.Servo_Power_3;
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Steering_damping_power_4 = &GV.Servo_Power_4;
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Desulfurizer_Steering_Angle_3 = &GV.Steering_Angle_3;
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Desulfurizer_Steering_Angle_4 = &GV.Steering_Angle_4;
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GV.Steering_Angle_3 = 93;
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GV.Steering_Angle_4 = 93;
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Desulfurizer_Steering_Real_Angle_3 = &GV.Steering_Real_Angle_3;
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Desulfurizer_Steering_Real_Angle_4 = &GV.Steering_Real_Angle_4;
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}
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void GF_Robot_Init()
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{
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uint8_t _state = 1;
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Fsm_Init();
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//2ms调度
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//GF_BSP_EEPROM_Init();
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CV_GV_Init();
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// //初始化encoder
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GF_BSP_UARTHandlers_Intialize(RS485_1_WaitTime,
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RS485_2_WaitTime,
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RS485_3_WaitTime,
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RS485_4_WaitTime,
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LTE_7S0_Serial_WaitTime,
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InterCall_DEBUG_WaitTime,
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E28_SBUS_WaitTime,
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LPUART1_UART_WaitTime,
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RS485_1_Dispacher_Time,
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RS485_2_Dispacher_Time,
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RS485_3_Dispacher_Time,
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RS485_4_Dispacher_Time,
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LTE_7S0_Serial_Dispacher_Time,
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InterCall_DEBUG_Dispacher_Time,
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E28_SBUS_Dispacher_Time,
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LPUART1_UART_Dispacher_Time); //已读
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MK32_Sbus_UART_Handler_intialize(&LPUART1_UART_Handler);
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steering_engine_intialize(&RS_485_1_UART_Handler);
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client_setting_intialize(&RS_485_3_UART_Handler);
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_state = _state & GF_BSP_TIMER_Init();
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}
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//int32_t a = 0;
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//void GF_Robot_MainLoop()
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//{
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// a++;
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//
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// if(a>=5)
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// {
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// a= 0;
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// HAL_UART_Transmit(&huart1, sendcode, 4, 100);
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// }
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//
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//}
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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