ZhenYulin/Core/Src/main.c

/* 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 "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 "fsm.h"

#include "motors.h"
#include "robot_state.h"

/* 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 */
  int can1_sendListPeriod = 10;
  int can1_DispacherPeriod = 4;
  int can2_sendListPeriod = 20;
  int can2_DispacherPeriod = 20;

  #define RS485_1_WaitTime  8
  #define RS485_2_WaitTime 8
  #define RS485_3_WaitTime 8
  #define RS485_4_WaitTime 8
  #define LTE_7S0_Serial_WaitTime 8
  #define InterCall_DEBUG_WaitTime 8
  #define E28_SBUS_WaitTime 6
  #define LPUART1_UART_WaitTime 40
  #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 10
  #define InterCall_DEBUG_Dispacher_Time 100
  #define E28_SBUS_Dispacher_Time  100
  #define LPUART1_UART_Dispacher_Time 100

/* 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 */

  /* 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_LWIP_Init();
  MX_QUADSPI_Init();
  MX_LPUART1_UART_Init();
  MX_ADC2_Init();
  /* USER CODE BEGIN 2 */
  DLT_LOG_ENABLE_LEVEL=0;//7 send all information  0 send nothing
  Error_Detect_Intialzie(500);//every 1 seconds
  GF_Robot_Init();

 // udp_client_init();
  //tcp_client_connect();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	while (1)
	{


	//MX_LWIP_Process();
    /* 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_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 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 CV_GV_Init()
{

	CV = GF_BSP_EEPROM_Get_CV(); //Read CV

	CV.RobotMoveSpeedBase = 10;//186.9 *
	CV.SwingMoveSpeedBase = 1000;
	CV.TiltMoveSpeedBase = 1000;



	Motor[1] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�?????????????
	Motor[2] = &GV.RightFrontMotor;



    RobotSpeed=&GV.Move_Speed;//RobotSpeed指向GV的移动车体�?�度 这是整体车�?? 不是单个轮的
    AuTo_Flag=&GV.AuTo_Flag;

	Motor[1]->MotorID = 1;
	Motor[2]->MotorID = 2;


	//P_U7 = &GV.U7_Key;//P_MK32 指向GV的遥控器参数

	SP_MSP_RF_TL720D_Parameters_In = &GV.Robot_Angle ;// SP_MSP_RF_TL720D_Parameters_In 指向GV的�?�角
	CMCUValue_in = &GV.Robot_ForceValue;
	DynamometerValue_in = &GV.Robot_DynamometerValue;
	PaintThickness = &GV.Robot_PaintThickness;
	USValue_in = &GV.Robot_Ultrasonic;

	//Error Config
	SystemErrorData= &GV.SystemErrorData;//send to upper computer
	SystemErrorCode=&GV.SystemErrorData.ErrorCode;
	Motor_ID_Errors[1] = &GV.SystemErrorData.Motor_1_Error;
	Motor_ID_Errors[2] = &GV.SystemErrorData.Motor_2_Error;


}

void GF_Robot_Init()
{

	//2ms调度
	GF_BSP_EEPROM_Init();
	CV_GV_Init();

	//初始化encoder
	GF_BSP_UARTHandlers_Intialize(
		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,
		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);

	DLT_LOG_ENABLE_LEVEL=0;	  //7 send all information 	  //0 send nothing
	dLT_Log_intialize(&InterCall_DEBUG_UART_Handler);//USART6

	TL720D_intialize(&RS_485_1_UART_Handler);
	Ultrasonic_sensor_intialize(&RS_485_2_UART_Handler);
	T_F4_Remote_Controller_intialize(&RS_485_3_UART_Handler);
	Paint_Thickness_intialize(&RS_485_4_UART_Handler);

	GF_BSP_FDCAN_Init();
	GF_BSP_CANHandler_Init(can1_sendListPeriod, can1_DispacherPeriod,
			can2_sendListPeriod, can2_DispacherPeriod);

//	HAL_Delay(3000);

	TankWashing_Motor_Controller_intialize(&FD_CAN_1_Handler);


	Fsm_Init();//把遥控器指令绑定定时�?????????????

	uint8_t _state = 1;

	_state = _state & GF_BSP_TIMER_Init(); //定时器最后启�??????????????????


}
/* 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 */