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467 lines
13 KiB
467 lines
13 KiB
/* 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) 2023 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 "adc.h"
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#include "dma.h"
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#include "fdcan.h"
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#include "i2c.h"
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#include "iwdg.h"
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#include "usart.h"
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#include "lwip.h"
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#include "quadspi.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 "BHBF_ROBOT.h"
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#include <bsp_client_setting.h>
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#include <bsp_tempature.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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#define RS485_1_WaitTime 6
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#define RS485_2_WaitTime 6
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#define RS485_3_WaitTime 6
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#define RS485_4_WaitTime 6
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#define LTE_7S0_Serial_WaitTime 6
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#define InterCall_DEBUG_WaitTime 6
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#define E28_SBUS_WaitTime 4
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#define LPUART1_UART_WaitTime 6
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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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int can1_sendListPeriod = 10;
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int can1_DispacherPeriod = 4;
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int can2_sendListPeriod = 10;
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int can2_DispacherPeriod = 20;
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int SAVE_To_CV = 0;
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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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void protobuf_mqtt_setting_test(void);
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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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static void MPU_Config(void);
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/* USER CODE BEGIN PFP */
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char ReadIO[8];
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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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/* 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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// the baud rate
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// 485Motor 115200 // TL720D 115200
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/* USER CODE END 1 */
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/* MPU Configuration--------------------------------------------------------*/
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MPU_Config();
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/* Enable I-Cache---------------------------------------------------------*/
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SCB_EnableICache();
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/* Enable D-Cache---------------------------------------------------------*/
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SCB_EnableDCache();
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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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/* 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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//__HAL_RCC_D2SRAM3_CLK_ENABLE();
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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_FDCAN1_Init();
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MX_FDCAN2_Init();
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MX_I2C4_Init();
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MX_TIM1_Init();
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MX_UART4_Init();
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MX_UART5_Init();
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MX_UART7_Init();
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MX_USART1_UART_Init();
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MX_USART3_UART_Init();
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MX_USART2_UART_Init();
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MX_USART6_UART_Init();
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MX_TIM8_Init();
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MX_QUADSPI_Init();
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MX_LPUART1_UART_Init();
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MX_ADC2_Init();
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MX_LWIP_Init();
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// MX_IWDG1_Init();
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MX_TIM2_Init();
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/* USER CODE BEGIN 2 */
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SystemTimer_Intialize();
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Error_Detect_Intialzie(1000); //every 1 seconds
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GF_Robot_Init();
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// GV.Robot_Move_Speed = 1;
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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_Delay(1);
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//HAL_IWDG_Refresh(&hiwdg1); // 添加这一�??? 看门�???
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if (SAVE_To_CV == 1)
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{
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SAVE_To_CV = 0;
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//CV写入falsh ???
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GF_BSP_EEPROM_Set_CV(CV);
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CV = GF_BSP_EEPROM_Get_CV();
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//FS_SetZero();
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}
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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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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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/** Macro to configure the PLL clock source
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*/
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__HAL_RCC_PLL_PLLSOURCE_CONFIG(RCC_PLLSOURCE_HSE);
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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_LSI|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.LSIState = RCC_LSI_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 2;
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RCC_OscInitStruct.PLL.PLLN = 64;
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RCC_OscInitStruct.PLL.PLLP = 2;
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RCC_OscInitStruct.PLL.PLLQ = 20;
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RCC_OscInitStruct.PLL.PLLR = 4;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
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{
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Error_Handler();
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}
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/** Enables the Clock Security System
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*/
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HAL_RCC_EnableCSS();
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}
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/* USER CODE BEGIN 4 */
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void GF_Robot_Init()
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{
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GF_BSP_EEPROM_Init();//先初始化存储
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CV_GV_Init();//然后从存储读取机器人参数到CV；GV初始化为0
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//初始化多路串�????????
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GF_BSP_UARTHandlers_Intialize(
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//等待超时时间 (WaitTime)
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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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//消息处理周期 (Dispacher_Time)
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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);
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//LPUART1_UART_Handler
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// uwb_sensor_intialize(&InterCall_DEBUG_UART_Handler);//串口//huart4//InterCall_DEBUG_UART_Handler
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// upper_Computer_UART_Handler_intialize(&RS_485_4_UART_Handler);//receive from computer by 485
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Motor_Controller_intialize(&RS_485_3_UART_Handler);
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TL720D_intialize(&RS_485_2_UART_Handler);
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K1061DC_intialize(&RS_485_4_UART_Handler); //压强传感器，电流采集模块
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wire_sensor_intialize(&RS_485_1_UART_Handler); //拉线传感器与 卷线电机
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is_upper_computer_take_over_control = 0; //上位机控制权标志
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DLT_LOG_ENABLE_LEVEL = 0; //7 send all information //0 send nothing
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dLT_Log_intialize(&InterCall_DEBUG_UART_Handler); //huart4
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udp_client_init();//网口通讯
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// MK32_Sbus_UART_Handler_intialize(&E28_SBUS_UART_Handler); //huart5
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client_setting_intialize(&LPUART1_UART_Handler); //huart1
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// WH_LTE_7S0_intialize(<E_7S0_Serial_UART_Handler); //huart2
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// GF_BSP_FDCAN_Init();//初始化FDCAN
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// GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod,
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// can2_sendListPeriod, can2_DispacherPeriod);
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// TankWashing_Motor_Controller_intialize(&FD_CAN_1_Handler);//(原Tai5电机motors)
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Fsm_Init();
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GF_BSP_TIMER_Init(); //定时器最后启
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}
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/*
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* */
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void CV_GV_Init()
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{
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//IV_struct_define IV; //通过串口发�?�到遥控数据
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//PV_struct_define decoded_PV; //通过串口从遥控接收数�????????
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//GV.PV = decoded_PV; //PV_Data_Reading()
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//Read CV
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CV = GF_BSP_EEPROM_Get_CV();
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SystemErrorCode = &GV.SystemErrorData.Com_Error_Code;
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//电机绑定
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Motor485[1] = &GV.LeftMotor;
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Motor485[2] = &GV.RightMotor;
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Motor485[1]->MotorID = 1;
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Motor485[2]->MotorID = 2;
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P_MK32 = &GV.P_MK32;
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SP_MSP_RF_TL720D_Parameters_In = &GV.TL720DParameters;
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RobotAngle = &GV.Robot_Angle;/* GV.Robot_Angle �????? GV.TL720DParameters.RF_Angle_Roll相同? */
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tempature = &GV.TempatureE_2C;
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// MSP_DDM360B_Parameters_In = &;
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RobotAngle_DDM = &GV.RobotAngle_DDM;
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wire_length = &GV.Wire_lenth;
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pressure = &GV.ForceValue;
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Wire_Motor = &GV.WireMotor;
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UWB_20_CM = &GV.UWB_20cm;
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SLAM_cm = &GV.SLAM;
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GV.SLAM.SLAM_width = 0.24;// 单位m,轮距(�????修改)
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GV.has_P_MK32 = true;
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GV.has_LeftMotor = true;
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GV.has_RightMotor = true;
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GV.has_TL720DParameters = true;
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GV.has_IO = true;
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GV.has_SystemErrorData = true;
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//////////////////////////////////////////////////////
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//(1r/min)1*20 //ratio=20
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// 1r=3.14*80mm/1000 =0.2512m
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// 1m/min=20/0.2512= 79.6
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CV.wheel_Reduction_Ratio = 20;
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CV.wheel_Diameter_m = 0.08;
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CV.Joy_Sticker_Value_Allowance = 300;
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CV.Joy_Sticker_Angle_Allowance = 30;
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// CV.LeftTurnSpeed = 300;
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// CV.RightTurnSpeed = 300;
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CV.RobotUpAngleValue = 0;//?
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CV.RobotLeftAngleValue = -90 * 100;//?
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CV.RobotRightAngleValue = 90 * 100;//?
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////CV.RobotDownAngleValue = ;//+-180 * 100?
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//////////////////////////////////////////////////////
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}
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/*
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* */
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/* USER CODE END 4 */
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/* MPU Configuration */
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void MPU_Config(void)
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{
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MPU_Region_InitTypeDef MPU_InitStruct = {0};
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/* Disables the MPU */
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HAL_MPU_Disable();
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/** Initializes and configures the Region and the memory to be protected
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*/
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MPU_InitStruct.Enable = MPU_REGION_ENABLE;
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MPU_InitStruct.Number = MPU_REGION_NUMBER0;
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MPU_InitStruct.BaseAddress = 0x30040000;
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MPU_InitStruct.Size = MPU_REGION_SIZE_32KB;
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MPU_InitStruct.SubRegionDisable = 0x0;
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MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
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MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
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MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
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MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
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MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
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MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
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HAL_MPU_ConfigRegion(&MPU_InitStruct);
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/** Initializes and configures the Region and the memory to be protected
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*/
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MPU_InitStruct.Number = MPU_REGION_NUMBER1;
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MPU_InitStruct.Size = MPU_REGION_SIZE_1KB;
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MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
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MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
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MPU_InitStruct.IsBufferable = MPU_ACCESS_BUFFERABLE;
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HAL_MPU_ConfigRegion(&MPU_InitStruct);
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/** Initializes and configures the Region and the memory to be protected
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*/
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MPU_InitStruct.Number = MPU_REGION_NUMBER2;
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MPU_InitStruct.BaseAddress = 0x30030000;
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MPU_InitStruct.Size = MPU_REGION_SIZE_32KB;
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MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
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MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
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MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
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HAL_MPU_ConfigRegion(&MPU_InitStruct);
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/* Enables the MPU */
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HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
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}
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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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HAL_Delay(1000);
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LOGFF(DL_ERROR, "Something Bad Happened, Now in Error_Handler Function");
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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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