TuxMonkey/bf_original_balance_chassis
1
1
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 19:47:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

修改freertos时基心跳为tim14,更新引脚lable

Browse Source
This commit is contained in:
NeoZng
2023-02-04 15:38:05 +08:00
parent 1262f9a516
commit 429aa17fa4
32 changed files with 621 additions and 1840 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
HAL_N_Middlewares/Src/freertos.c
View File

@@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -118,7 +118,6 @@ void MX_FREERTOS_Init(void) {
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
osThreadDef(instask, StartINSTASK, osPriorityNormal, 0, 1024);
defaultTaskHandle = osThreadCreate(osThread(instask), NULL);
@@ -130,7 +129,6 @@ void MX_FREERTOS_Init(void) {
osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
@@ -152,8 +150,6 @@ void StartDefaultTask(void const * argument)
/* Infinite loop */
for(;;)
{
//1kHz
led_RGB_flow_task();
osDelay(1);
}
/* USER CODE END StartDefaultTask */
@@ -161,6 +157,7 @@ void StartDefaultTask(void const * argument)
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
void StartINSTASK(void const * argument)
{
while (1)
@@ -202,6 +199,4 @@ void StartROBOTTASK(void const * argument)
}
}
/* USER CODE END Application */

11
HAL_N_Middlewares/Src/gpio.c
View File

@@ -56,7 +56,7 @@ void MX_GPIO_Init(void)
__HAL_RCC_GPIOE_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(MAG_RST_GPIO_Port, MAG_RST_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(MAG_RST_GPIO_Port, MAG_RST_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_SET);
@@ -67,8 +67,8 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = MAG_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(MAG_RST_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
@@ -91,7 +91,7 @@ void MX_GPIO_Init(void)
HAL_GPIO_Init(CS1_ACCEL_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PCPin PCPin */
GPIO_InitStruct.Pin = INT_ACCEL_Pin|INT_GYRO_Pin;
GPIO_InitStruct.Pin = INT_ACC_Pin|INT_GYRO_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
@@ -110,6 +110,9 @@ void MX_GPIO_Init(void)
HAL_NVIC_SetPriority(EXTI4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
}
/* USER CODE BEGIN 2 */

33
HAL_N_Middlewares/Src/main.c
View File

@@ -6,7 +6,7 @@
******************************************************************************
* @attention
*
* Copyright (c) 2022 STMicroelectronics.
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
@@ -21,13 +21,15 @@
#include "cmsis_os.h"
#include "adc.h"
#include "can.h"
#include "crc.h"
#include "dac.h"
#include "dma.h"
#include "i2c.h"
#include "rng.h"
#include "rtc.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "i2c.h"
#include "usb_device.h"
#include "gpio.h"
@@ -110,11 +112,14 @@ int main(void)
MX_TIM10_Init();
MX_USART1_UART_Init();
MX_USART6_UART_Init();
MX_TIM8_Init();
MX_I2C2_Init();
MX_I2C3_Init();
MX_SPI2_Init();
MX_CRC_Init();
MX_DAC_Init();
/* USER CODE BEGIN 2 */
RobotInit();
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
@@ -183,6 +188,28 @@ void SystemClock_Config(void)
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM14 interrupt took place, inside
* 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
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM14)
{
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None

136
HAL_N_Middlewares/Src/stm32f4xx_hal_timebase_tim.c Normal file
View File

@@ -0,0 +1,136 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_TIM.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* @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 "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim14;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM14 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priority.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock, uwAPB1Prescaler = 0U;
uint32_t uwPrescalerValue = 0U;
uint32_t pFLatency;
HAL_StatusTypeDef status;
/* Enable TIM14 clock */
__HAL_RCC_TIM14_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Get APB1 prescaler */
uwAPB1Prescaler = clkconfig.APB1CLKDivider;
/* Compute TIM14 clock */
if (uwAPB1Prescaler == RCC_HCLK_DIV1)
{
uwTimclock = HAL_RCC_GetPCLK1Freq();
}
else
{
uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
}
/* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
/* Initialize TIM14 */
htim14.Instance = TIM14;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM14CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim14.Init.Period = (1000000U / 1000U) - 1U;
htim14.Init.Prescaler = uwPrescalerValue;
htim14.Init.ClockDivision = 0;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
status = HAL_TIM_Base_Init(&htim14);
if (status == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
status = HAL_TIM_Base_Start_IT(&htim14);
if (status == HAL_OK)
{
/* Enable the TIM14 global Interrupt */
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* Configure the SysTick IRQ priority */
if (TickPriority < (1UL << __NVIC_PRIO_BITS))
{
/* Configure the TIM IRQ priority */
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, TickPriority, 0U);
uwTickPrio = TickPriority;
}
else
{
status = HAL_ERROR;
}
}
}
/* Return function status */
return status;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM14 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim14, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM14 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim14, TIM_IT_UPDATE);
}

61
HAL_N_Middlewares/Src/stm32f4xx_it.c
View File

@@ -20,8 +20,6 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
#include "FreeRTOS.h"
#include "task.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -71,6 +69,7 @@ extern DMA_HandleTypeDef hdma_spi2_rx;
extern DMA_HandleTypeDef hdma_spi2_tx;
extern SPI_HandleTypeDef hspi1;
extern SPI_HandleTypeDef hspi2;
extern TIM_HandleTypeDef htim8;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart3_rx;
@@ -79,6 +78,8 @@ extern DMA_HandleTypeDef hdma_usart6_tx;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
extern UART_HandleTypeDef huart6;
extern TIM_HandleTypeDef htim14;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -107,14 +108,11 @@ void NMI_Handler(void)
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
// 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
asm("bx lr");
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
asm("bx lr");
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
@@ -177,28 +175,6 @@ void DebugMon_Handler(void)
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
#if (INCLUDE_xTaskGetSchedulerState == 1)
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
{
#endif /* INCLUDE_xTaskGetSchedulerState */
xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState == 1)
}
#endif /* INCLUDE_xTaskGetSchedulerState */
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
@@ -228,7 +204,7 @@ void EXTI4_IRQHandler(void)
/* USER CODE BEGIN EXTI4_IRQn 0 */
/* USER CODE END EXTI4_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(INT_ACCEL_Pin);
HAL_GPIO_EXTI_IRQHandler(INT_ACC_Pin);
/* USER CODE BEGIN EXTI4_IRQn 1 */
/* USER CODE END EXTI4_IRQn 1 */
@@ -318,6 +294,20 @@ void CAN1_RX1_IRQHandler(void)
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
void EXTI9_5_IRQHandler(void)
{
/* USER CODE BEGIN EXTI9_5_IRQn 0 */
/* USER CODE END EXTI9_5_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(INT_GYRO_Pin);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */
/* USER CODE END EXTI9_5_IRQn 1 */
}
/**
* @brief This function handles I2C2 event interrupt.
*/
@@ -402,6 +392,21 @@ void USART3_IRQHandler(void)
/* USER CODE END USART3_IRQn 1 */
}
/**
* @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
*/
void TIM8_TRG_COM_TIM14_IRQHandler(void)
{
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
HAL_TIM_IRQHandler(&htim8);
HAL_TIM_IRQHandler(&htim14);
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream7 global interrupt.
*/

15
HAL_N_Middlewares/Src/tim.c
View File

@@ -320,9 +320,9 @@ void MX_TIM10_Init(void)
/* USER CODE END TIM10_Init 1 */
htim10.Instance = TIM10;
htim10.Init.Prescaler = 0;
htim10.Init.Prescaler = 167;
htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
htim10.Init.Period = 4999;
htim10.Init.Period = 5000-1;
htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim10) != HAL_OK)
@@ -391,6 +391,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* TIM8 interrupt Init */
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 15, 0);
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
@@ -515,9 +519,9 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
/* USER CODE END TIM10_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
/**TIM10 GPIO Configuration
PB8 ------> TIM10_CH1
PF6 ------> TIM10_CH1
*/
GPIO_InitStruct.Pin = IMU_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
@@ -576,6 +580,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* TIM8 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */