/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2023 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 "adc.h" #include "dma.h" #include "fdcan.h" #include "i2c.h" #include "iwdg.h" #include "usart.h" #include "lwip.h" #include "quadspi.h" #include "tim.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "BHBF_ROBOT.h" #include #include /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ void CV_GV_Init(); void GF_Robot_Init(); /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ #define RS485_1_WaitTime 6 #define RS485_2_WaitTime 6 #define RS485_3_WaitTime 6 #define RS485_4_WaitTime 6 #define LTE_7S0_Serial_WaitTime 6 #define InterCall_DEBUG_WaitTime 6 #define E28_SBUS_WaitTime 4 #define LPUART1_UART_WaitTime 6 #define RS485_1_Dispacher_Time 100 #define RS485_2_Dispacher_Time 100 #define RS485_3_Dispacher_Time 100 #define RS485_4_Dispacher_Time 100 #define LTE_7S0_Serial_Dispacher_Time 100 #define InterCall_DEBUG_Dispacher_Time 100 #define E28_SBUS_Dispacher_Time 100 #define LPUART1_UART_Dispacher_Time 100 int can1_sendListPeriod = 10; int can1_DispacherPeriod = 4; int can2_sendListPeriod = 10; int can2_DispacherPeriod = 20; int SAVE_To_CV = 0; /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ void protobuf_mqtt_setting_test(void); /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MPU_Config(void); /* USER CODE BEGIN PFP */ char ReadIO[8]; /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ // the baud rate // 485Motor 115200 // TL720D 115200 /* USER CODE END 1 */ /* MPU Configuration--------------------------------------------------------*/ MPU_Config(); /* Enable I-Cache---------------------------------------------------------*/ SCB_EnableICache(); /* Enable D-Cache---------------------------------------------------------*/ SCB_EnableDCache(); /* 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_RCC_D2SRAM3_CLK_ENABLE(); /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_FDCAN1_Init(); MX_FDCAN2_Init(); MX_I2C4_Init(); MX_TIM1_Init(); MX_UART4_Init(); MX_UART5_Init(); MX_UART7_Init(); MX_USART1_UART_Init(); MX_USART3_UART_Init(); MX_USART2_UART_Init(); MX_USART6_UART_Init(); MX_TIM8_Init(); MX_QUADSPI_Init(); MX_LPUART1_UART_Init(); MX_ADC2_Init(); MX_LWIP_Init(); // MX_IWDG1_Init(); MX_TIM2_Init(); /* USER CODE BEGIN 2 */ SystemTimer_Intialize(); Error_Detect_Intialzie(1000); //every 1 seconds GF_Robot_Init(); // GV.Robot_Move_Speed = 1; /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { HAL_Delay(1); //HAL_IWDG_Refresh(&hiwdg1); // 添加这一�??? 看门�??? if (SAVE_To_CV == 1) { SAVE_To_CV = 0; //CV写入falsh ??? GF_BSP_EEPROM_Set_CV(CV); CV = GF_BSP_EEPROM_Get_CV(); //FS_SetZero(); } /* 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}; /** Supply configuration update enable */ HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY); /** Configure the main internal regulator output voltage */ __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {} /** Macro to configure the PLL clock source */ __HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.LSIState = RCC_LSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 2; RCC_OscInitStruct.PLL.PLLN = 64; RCC_OscInitStruct.PLL.PLLP = 2; RCC_OscInitStruct.PLL.PLLQ = 20; RCC_OscInitStruct.PLL.PLLR = 4; RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3; RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE; RCC_OscInitStruct.PLL.PLLFRACN = 0; 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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2; RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2; RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } /** Enables the Clock Security System */ HAL_RCC_EnableCSS(); } /* USER CODE BEGIN 4 */ void GF_Robot_Init() { GF_BSP_EEPROM_Init();//先初始化存储 CV_GV_Init();//然后从存储读取机器人参数到CV；GV初始化为0 //初始化多路串�???????? GF_BSP_UARTHandlers_Intialize( //等待超时时间 (WaitTime) RS485_1_WaitTime, RS485_2_WaitTime, RS485_3_WaitTime, RS485_4_WaitTime, LTE_7S0_Serial_WaitTime, InterCall_DEBUG_WaitTime, E28_SBUS_WaitTime, LPUART1_UART_WaitTime, //消息处理周期 (Dispacher_Time) RS485_1_Dispacher_Time, RS485_2_Dispacher_Time, RS485_3_Dispacher_Time, RS485_4_Dispacher_Time, LTE_7S0_Serial_Dispacher_Time, InterCall_DEBUG_Dispacher_Time, E28_SBUS_Dispacher_Time, LPUART1_UART_Dispacher_Time); //LPUART1_UART_Handler // uwb_sensor_intialize(&InterCall_DEBUG_UART_Handler);//串口//huart4//InterCall_DEBUG_UART_Handler // upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);//receive from computer by 485 Motor_Controller_intialize(&RS_485_3_UART_Handler); TL720D_intialize(&RS_485_2_UART_Handler); K1061DC_intialize(&RS_485_4_UART_Handler); //压强传感器，电流采集模块 wire_sensor_intialize(&RS_485_1_UART_Handler); //拉线传感器与 卷线电机 is_upper_computer_take_over_control = 0; //上位机控制权标志 DLT_LOG_ENABLE_LEVEL = 0; //7 send all information //0 send nothing dLT_Log_intialize(&InterCall_DEBUG_UART_Handler); //huart4 udp_client_init();//网口通讯 // MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler); //huart5 client_setting_intialize(&LPUART1_UART_Handler); //huart1 // WH_LTE_7S0_intialize(<E_7S0_Serial_UART_Handler); //huart2 // GF_BSP_FDCAN_Init();//初始化FDCAN // GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod, // can2_sendListPeriod, can2_DispacherPeriod); // TankWashing_Motor_Controller_intialize(&FD_CAN_1_Handler);//(原Tai5电机motors) Fsm_Init(); GF_BSP_TIMER_Init(); //定时器最后启 } /* * */ void CV_GV_Init() { //IV_struct_define IV; //通过串口发�?�到遥控数据 //PV_struct_define decoded_PV; //通过串口从遥控接收数�???????? //GV.PV = decoded_PV; //PV_Data_Reading() //Read CV CV = GF_BSP_EEPROM_Get_CV(); SystemErrorCode = &GV.SystemErrorData.Com_Error_Code; //电机绑定 Motor485[1] = &GV.LeftMotor; Motor485[2] = &GV.RightMotor; Motor485[1]->MotorID = 1; Motor485[2]->MotorID = 2; P_MK32 = &GV.P_MK32; SP_MSP_RF_TL720D_Parameters_In = &GV.TL720DParameters; RobotAngle = &GV.Robot_Angle;/* GV.Robot_Angle �????? GV.TL720DParameters.RF_Angle_Roll相同? */ tempature = &GV.TempatureE_2C; // MSP_DDM360B_Parameters_In = &; RobotAngle_DDM = &GV.RobotAngle_DDM; wire_length = &GV.Wire_lenth; pressure = &GV.ForceValue; Wire_Motor = &GV.WireMotor; UWB_20_CM = &GV.UWB_20cm; SLAM_cm = &GV.SLAM; GV.SLAM.SLAM_width = 0.24;// 单位m,轮距(�????修改) GV.has_P_MK32 = true; GV.has_LeftMotor = true; GV.has_RightMotor = true; GV.has_TL720DParameters = true; GV.has_IO = true; GV.has_SystemErrorData = true; ////////////////////////////////////////////////////// //(1r/min)1*20 //ratio=20 // 1r=3.14*80mm/1000 =0.2512m // 1m/min=20/0.2512= 79.6 CV.wheel_Reduction_Ratio = 20; CV.wheel_Diameter_m = 0.08; CV.Joy_Sticker_Value_Allowance = 300; CV.Joy_Sticker_Angle_Allowance = 30; // CV.LeftTurnSpeed = 300; // CV.RightTurnSpeed = 300; CV.RobotUpAngleValue = 0;//? CV.RobotLeftAngleValue = -90 * 100;//? CV.RobotRightAngleValue = 90 * 100;//? ////CV.RobotDownAngleValue = ;//+-180 * 100? ////////////////////////////////////////////////////// } /* * */ /* USER CODE END 4 */ /* MPU Configuration */ void MPU_Config(void) { MPU_Region_InitTypeDef MPU_InitStruct = {0}; /* Disables the MPU */ HAL_MPU_Disable(); /** Initializes and configures the Region and the memory to be protected */ MPU_InitStruct.Enable = MPU_REGION_ENABLE; MPU_InitStruct.Number = MPU_REGION_NUMBER0; MPU_InitStruct.BaseAddress = 0x30040000; MPU_InitStruct.Size = MPU_REGION_SIZE_32KB; MPU_InitStruct.SubRegionDisable = 0x0; MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1; MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS; MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE; MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE; MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE; MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE; HAL_MPU_ConfigRegion(&MPU_InitStruct); /** Initializes and configures the Region and the memory to be protected */ MPU_InitStruct.Number = MPU_REGION_NUMBER1; MPU_InitStruct.Size = MPU_REGION_SIZE_1KB; MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0; MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE; MPU_InitStruct.IsBufferable = MPU_ACCESS_BUFFERABLE; HAL_MPU_ConfigRegion(&MPU_InitStruct); /** Initializes and configures the Region and the memory to be protected */ MPU_InitStruct.Number = MPU_REGION_NUMBER2; MPU_InitStruct.BaseAddress = 0x30030000; MPU_InitStruct.Size = MPU_REGION_SIZE_32KB; MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1; MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE; MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE; HAL_MPU_ConfigRegion(&MPU_InitStruct); /* Enables the MPU */ HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT); } /** * @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) { HAL_Delay(1000); LOGFF(DL_ERROR, "Something Bad Happened, Now in Error_Handler Function"); } /* 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 */