From c49825944420ff53cb138aba396376ea366e1a23 Mon Sep 17 00:00:00 2001 From: shen <664376944@qq.com> Date: Tue, 3 Feb 2026 17:49:58 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0can=20id=E9=85=8D=E7=BD=AE?= =?UTF-8?q?=E4=BF=9D=E5=AD=98=E5=88=B0flash=EF=BC=8Ccan=E8=BE=93=E5=87=BA?= =?UTF-8?q?=E6=95=B0=E6=8D=AE=EF=BC=8Cas5600=E6=8E=A5=E5=8F=A3=E9=80=82?= =?UTF-8?q?=E9=85=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .mxproject | 28 +- Core/Inc/dma.h | 52 + Core/Inc/stm32l4xx_it.h | 3 + Core/Src/can.c | 5 + Core/Src/dma.c | 55 + Core/Src/i2c.c | 14 +- Core/Src/main.c | 70 +- Core/Src/stm32l4xx_it.c | 49 +- Core/Src/usart.c | 29 +- MDK-ARM/EventRecorderStub.scvd | 9 + MDK-ARM/arm_joint_sensor.uvguix.66437 | 1861 ++++++++++++++++++++++++- MDK-ARM/arm_joint_sensor.uvoptx | 155 +- MDK-ARM/arm_joint_sensor.uvprojx | 98 +- arm_joint_sensor.ioc | 47 +- devices/AS5600.c | 138 ++ devices/AS5600.h | 13 + devices/can_node.c | 80 ++ devices/can_node.h | 10 + devices/cmd.c | 83 ++ devices/cmd.h | 8 + devices/flash.c | 39 + devices/flash.h | 14 + devices/log.c | 23 + devices/log.h | 6 + 24 files changed, 2809 insertions(+), 80 deletions(-) create mode 100644 Core/Inc/dma.h create mode 100644 Core/Src/dma.c create mode 100644 MDK-ARM/EventRecorderStub.scvd create mode 100644 devices/AS5600.c create mode 100644 devices/AS5600.h create mode 100644 devices/can_node.c create mode 100644 devices/can_node.h create mode 100644 devices/cmd.c create mode 100644 devices/cmd.h create mode 100644 devices/flash.c create mode 100644 devices/flash.h create mode 100644 devices/log.c create mode 100644 devices/log.h diff --git a/.mxproject b/.mxproject index ec25b91..d33859c 100644 --- a/.mxproject +++ b/.mxproject @@ -2,31 +2,33 @@ LibFiles=Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_can.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_def.h;Drivers\STM32L4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_rcc.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_rcc_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_bus.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_rcc.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_crs.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_system.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_utils.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_flash.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_flash_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_flash_ramfunc.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_gpio.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_gpio_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_gpio.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_i2c.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_i2c_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_dma.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_dma_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_dma.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_dmamux.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_pwr.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_pwr_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_pwr.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_cortex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_cortex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_exti.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_exti.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_i2c.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_uart.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_usart.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_lpuart.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_uart_ex.h;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_can.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc_ex.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ex.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ramfunc.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_gpio.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c_ex.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma_ex.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr_ex.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_cortex.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_exti.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart.c;Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart_ex.c;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_can.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_def.h;Drivers\STM32L4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_rcc.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_rcc_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_bus.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_rcc.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_crs.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_system.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_utils.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_flash.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_flash_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_flash_ramfunc.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_gpio.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_gpio_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_gpio.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_i2c.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_i2c_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_dma.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_dma_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_dma.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_dmamux.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_pwr.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_pwr_ex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_pwr.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_cortex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_cortex.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_exti.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_exti.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_i2c.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_uart.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_usart.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_ll_lpuart.h;Drivers\STM32L4xx_HAL_Driver\Inc\stm32l4xx_hal_uart_ex.h;Drivers\CMSIS\Device\ST\STM32L4xx\Include\stm32l431xx.h;Drivers\CMSIS\Device\ST\STM32L4xx\Include\stm32l4xx.h;Drivers\CMSIS\Device\ST\STM32L4xx\Include\system_stm32l4xx.h;Drivers\CMSIS\Device\ST\STM32L4xx\Include\system_stm32l4xx.h;Drivers\CMSIS\Device\ST\STM32L4xx\Source\Templates\system_stm32l4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h; [PreviousUsedKeilFiles] -SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\can.c;..\Core\Src\i2c.c;..\Core\Src\usart.c;..\Core\Src\stm32l4xx_it.c;..\Core\Src\stm32l4xx_hal_msp.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_can.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ramfunc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_gpio.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_cortex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_exti.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart_ex.c;..\Drivers\CMSIS\Device\ST\STM32L4xx\Source\Templates\system_stm32l4xx.c;..\Core\Src\system_stm32l4xx.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_can.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ramfunc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_gpio.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_cortex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_exti.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart_ex.c;..\Drivers\CMSIS\Device\ST\STM32L4xx\Source\Templates\system_stm32l4xx.c;..\Core\Src\system_stm32l4xx.c;;; +SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\i2c.c;..\Core\Src\usart.c;..\Core\Src\stm32l4xx_it.c;..\Core\Src\stm32l4xx_hal_msp.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_can.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ramfunc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_gpio.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_cortex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_exti.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart_ex.c;..\Drivers\CMSIS\Device\ST\STM32L4xx\Source\Templates\system_stm32l4xx.c;..\Core\Src\system_stm32l4xx.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_can.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_rcc_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_flash_ramfunc.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_gpio.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_i2c_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_dma_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_pwr_ex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_cortex.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_exti.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart.c;..\Drivers\STM32L4xx_HAL_Driver\Src\stm32l4xx_hal_uart_ex.c;..\Drivers\CMSIS\Device\ST\STM32L4xx\Source\Templates\system_stm32l4xx.c;..\Core\Src\system_stm32l4xx.c;;; HeaderPath=..\Drivers\STM32L4xx_HAL_Driver\Inc;..\Drivers\STM32L4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32L4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc; CDefines=USE_HAL_DRIVER;STM32L431xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=7 +HeaderFileListSize=8 HeaderFiles#0=..\Core\Inc\gpio.h HeaderFiles#1=..\Core\Inc\can.h -HeaderFiles#2=..\Core\Inc\i2c.h -HeaderFiles#3=..\Core\Inc\usart.h -HeaderFiles#4=..\Core\Inc\stm32l4xx_it.h -HeaderFiles#5=..\Core\Inc\stm32l4xx_hal_conf.h -HeaderFiles#6=..\Core\Inc\main.h +HeaderFiles#2=..\Core\Inc\dma.h +HeaderFiles#3=..\Core\Inc\i2c.h +HeaderFiles#4=..\Core\Inc\usart.h +HeaderFiles#5=..\Core\Inc\stm32l4xx_it.h +HeaderFiles#6=..\Core\Inc\stm32l4xx_hal_conf.h +HeaderFiles#7=..\Core\Inc\main.h HeaderFolderListSize=1 HeaderPath#0=..\Core\Inc HeaderFiles=; -SourceFileListSize=7 +SourceFileListSize=8 SourceFiles#0=..\Core\Src\gpio.c SourceFiles#1=..\Core\Src\can.c -SourceFiles#2=..\Core\Src\i2c.c -SourceFiles#3=..\Core\Src\usart.c -SourceFiles#4=..\Core\Src\stm32l4xx_it.c -SourceFiles#5=..\Core\Src\stm32l4xx_hal_msp.c -SourceFiles#6=..\Core\Src\main.c +SourceFiles#2=..\Core\Src\dma.c +SourceFiles#3=..\Core\Src\i2c.c +SourceFiles#4=..\Core\Src\usart.c +SourceFiles#5=..\Core\Src\stm32l4xx_it.c +SourceFiles#6=..\Core\Src\stm32l4xx_hal_msp.c +SourceFiles#7=..\Core\Src\main.c SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; diff --git a/Core/Inc/dma.h b/Core/Inc/dma.h new file mode 100644 index 0000000..afad30d --- /dev/null +++ b/Core/Inc/dma.h @@ -0,0 +1,52 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file dma.h + * @brief This file contains all the function prototypes for + * the dma.c file + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 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 */ +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __DMA_H__ +#define __DMA_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* DMA memory to memory transfer handles -------------------------------------*/ + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_DMA_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __DMA_H__ */ + diff --git a/Core/Inc/stm32l4xx_it.h b/Core/Inc/stm32l4xx_it.h index 990aa3b..9962f30 100644 --- a/Core/Inc/stm32l4xx_it.h +++ b/Core/Inc/stm32l4xx_it.h @@ -55,6 +55,9 @@ void SVC_Handler(void); void DebugMon_Handler(void); void PendSV_Handler(void); void SysTick_Handler(void); +void DMA1_Channel5_IRQHandler(void); +void CAN1_RX0_IRQHandler(void); +void USART1_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Src/can.c b/Core/Src/can.c index d48a706..75932c2 100644 --- a/Core/Src/can.c +++ b/Core/Src/can.c @@ -83,6 +83,9 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + /* CAN1 interrupt Init */ + HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); /* USER CODE BEGIN CAN1_MspInit 1 */ /* USER CODE END CAN1_MspInit 1 */ @@ -106,6 +109,8 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) */ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9); + /* CAN1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); /* USER CODE BEGIN CAN1_MspDeInit 1 */ /* USER CODE END CAN1_MspDeInit 1 */ diff --git a/Core/Src/dma.c b/Core/Src/dma.c new file mode 100644 index 0000000..1d6068c --- /dev/null +++ b/Core/Src/dma.c @@ -0,0 +1,55 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file dma.c + * @brief This file provides code for the configuration + * of all the requested memory to memory DMA transfers. + ****************************************************************************** + * @attention + * + * Copyright (c) 2026 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 "dma.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/*----------------------------------------------------------------------------*/ +/* Configure DMA */ +/*----------------------------------------------------------------------------*/ + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ + +/** + * Enable DMA controller clock + */ +void MX_DMA_Init(void) +{ + + /* DMA controller clock enable */ + __HAL_RCC_DMA1_CLK_ENABLE(); + + /* DMA interrupt init */ + /* DMA1_Channel5_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn); + +} + +/* USER CODE BEGIN 2 */ + +/* USER CODE END 2 */ + diff --git a/Core/Src/i2c.c b/Core/Src/i2c.c index 61acfc1..a2b406f 100644 --- a/Core/Src/i2c.c +++ b/Core/Src/i2c.c @@ -92,10 +92,10 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle) __HAL_RCC_GPIOB_CLK_ENABLE(); /**I2C2 GPIO Configuration - PB10 ------> I2C2_SCL - PB11 ------> I2C2_SDA + PB13 ------> I2C2_SCL + PB14 ------> I2C2_SDA */ - GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11; + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14; GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; @@ -122,12 +122,12 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle) __HAL_RCC_I2C2_CLK_DISABLE(); /**I2C2 GPIO Configuration - PB10 ------> I2C2_SCL - PB11 ------> I2C2_SDA + PB13 ------> I2C2_SCL + PB14 ------> I2C2_SDA */ - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10); + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13); - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_11); + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14); /* USER CODE BEGIN I2C2_MspDeInit 1 */ diff --git a/Core/Src/main.c b/Core/Src/main.c index 178e975..90f50b2 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -19,13 +19,19 @@ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "can.h" +#include "dma.h" #include "i2c.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ - +#include "AS5600.h" +#include "log.h" +#include +#include "can_node.h" +#include "cmd.h" +#include "flash.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -57,7 +63,15 @@ void SystemClock_Config(void); /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ - +uint8_t can_checksum_calculate(uint8_t *data, uint8_t length) +{ + uint8_t sum = 0; + for (uint8_t i = 0; i < length; i++) + { + sum += data[i]; + } + return sum & 0xff; +} /* USER CODE END 0 */ /** @@ -68,7 +82,9 @@ int main(void) { /* USER CODE BEGIN 1 */ - + int status = -1; + uint16_t angle = 0; + FlashConfig_t *flashConfig = NULL; /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ @@ -89,17 +105,63 @@ int main(void) /* Initialize all configured peripherals */ MX_GPIO_Init(); + MX_DMA_Init(); MX_CAN1_Init(); MX_I2C2_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ - + can_node_init(); + init_cmd(); + flashConfig = Flash_ReadConfig(); + _dbg_printf("Current CAN ID: 0x%02X\r\n", flashConfig->can_id); + status = -1; /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { + switch (status) + { + case -1: + if (AS5600_Init() == 0) + { + status = 0; + } + else + { + status = -1; + // _dbg_printf("AS5600 Initialization Failed!\r\n"); + HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin); + HAL_Delay(100); + } + break; + case 0: + HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET); + angle = AS5600_GetAngle(); + // _dbg_printf("Angle: %d\r\n", angle); + HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin); + HAL_Delay(100); + status = 1; + break; + case 1: + { + uint8_t canData[8] = {0}; + canData[0] = 0xAA; // 头 + canData[1] = flashConfig->can_id; // canID + canData[2] = (angle >> 8) & 0xFF; + canData[3] = angle & 0xFF; + canData[4] = 0x00; // 保留 + canData[5] = 0x00; // 保留 + canData[6] = 0x00; // 保留 + canData[7] = can_checksum_calculate(canData, 7); + can_node_transmit(flashConfig->can_id, canData); + // _dbg_printf("CAN Message send done checksum: %d\n", canData[7]); + status = 0; + } + default: + break; + } /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ diff --git a/Core/Src/stm32l4xx_it.c b/Core/Src/stm32l4xx_it.c index e823669..c72b297 100644 --- a/Core/Src/stm32l4xx_it.c +++ b/Core/Src/stm32l4xx_it.c @@ -22,6 +22,7 @@ #include "stm32l4xx_it.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ +#include "cmd.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -55,7 +56,9 @@ /* USER CODE END 0 */ /* External variables --------------------------------------------------------*/ - +extern CAN_HandleTypeDef hcan1; +extern DMA_HandleTypeDef hdma_usart1_rx; +extern UART_HandleTypeDef huart1; /* USER CODE BEGIN EV */ /* USER CODE END EV */ @@ -198,6 +201,50 @@ void SysTick_Handler(void) /* please refer to the startup file (startup_stm32l4xx.s). */ /******************************************************************************/ +/** + * @brief This function handles DMA1 channel5 global interrupt. + */ +void DMA1_Channel5_IRQHandler(void) +{ + /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */ + + /* USER CODE END DMA1_Channel5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_rx); + /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */ + + /* USER CODE END DMA1_Channel5_IRQn 1 */ +} + +/** + * @brief This function handles CAN1 RX0 interrupt. + */ +void CAN1_RX0_IRQHandler(void) +{ + /* USER CODE BEGIN CAN1_RX0_IRQn 0 */ + + /* USER CODE END CAN1_RX0_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan1); + /* USER CODE BEGIN CAN1_RX0_IRQn 1 */ + + /* USER CODE END CAN1_RX0_IRQn 1 */ +} + +/** + * @brief This function handles USART1 global interrupt. + */ +void USART1_IRQHandler(void) +{ + /* USER CODE BEGIN USART1_IRQn 0 */ + + usart_irq_dma_process(&huart1); + + /* USER CODE END USART1_IRQn 0 */ + HAL_UART_IRQHandler(&huart1); + /* USER CODE BEGIN USART1_IRQn 1 */ + + /* USER CODE END USART1_IRQn 1 */ +} + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 0488903..db98815 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -25,6 +25,7 @@ /* USER CODE END 0 */ UART_HandleTypeDef huart1; +DMA_HandleTypeDef hdma_usart1_rx; /* USART1 init function */ @@ -88,11 +89,32 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) */ GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + /* USART1 DMA Init */ + /* USART1_RX Init */ + hdma_usart1_rx.Instance = DMA1_Channel5; + hdma_usart1_rx.Init.Request = DMA_REQUEST_2; + hdma_usart1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart1_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart1_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart1_rx.Init.Mode = DMA_NORMAL; + hdma_usart1_rx.Init.Priority = DMA_PRIORITY_LOW; + if (HAL_DMA_Init(&hdma_usart1_rx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart1_rx); + + /* USART1 interrupt Init */ + HAL_NVIC_SetPriority(USART1_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspInit 1 */ /* USER CODE END USART1_MspInit 1 */ @@ -116,6 +138,11 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); + /* USART1 DMA DeInit */ + HAL_DMA_DeInit(uartHandle->hdmarx); + + /* USART1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspDeInit 1 */ /* USER CODE END USART1_MspDeInit 1 */ diff --git a/MDK-ARM/EventRecorderStub.scvd b/MDK-ARM/EventRecorderStub.scvd new file mode 100644 index 0000000..2956b29 --- /dev/null +++ b/MDK-ARM/EventRecorderStub.scvd @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/MDK-ARM/arm_joint_sensor.uvguix.66437 b/MDK-ARM/arm_joint_sensor.uvguix.66437 index c63fac8..19e3fc9 100644 --- a/MDK-ARM/arm_joint_sensor.uvguix.66437 +++ b/MDK-ARM/arm_joint_sensor.uvguix.66437 @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- + D:\git_rep\openarm\arm_joint_sensor\devices @@ -15,17 +15,17 @@ 38003 Registers - 140 90 + 140 100 346 Code Coverage - 1010 160 + 514 656 204 Performance Analyzer - 1170 + 674 175 175 146 @@ -78,11 +78,11 @@ - 1 - 1 + 0 + 0 0 - 0 - -1 + 50 + 16 @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 60 - 010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000 + 930 + 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898 @@ -1857,4 +3598,94 @@ + + 1 + 0 + + 100 + 2 + + ..\devices\log.h + 0 + 1 + 7 + 1 + + 0 + + + ..\devices\AS5600.c + 21 + 73 + 101 + 1 + + 0 + + + ../Core/Src/main.c + 34 + 71 + 99 + 1 + + 0 + + + startup_stm32l431xx.s + 0 + 163 + 173 + 1 + + 0 + + + ../Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c + 0 + 329 + 340 + 1 + + 0 + + + ..\devices\can_node.c + 0 + 27 + 59 + 1 + + 0 + + + ..\devices\can_node.h + 0 + 1 + 11 + 1 + + 0 + + + ..\devices\cmd.c + 0 + 18 + 26 + 1 + + 0 + + + ..\devices\flash.c + 0 + 1 + 8 + 1 + + 0 + + + + diff --git a/MDK-ARM/arm_joint_sensor.uvoptx b/MDK-ARM/arm_joint_sensor.uvoptx index 7f07341..b59ca40 100644 --- a/MDK-ARM/arm_joint_sensor.uvoptx +++ b/MDK-ARM/arm_joint_sensor.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 6 + 3 @@ -114,9 +114,34 @@ - STLink\ST-LINKIII-KEIL_SWO.dll + BIN\CMSIS_AGDI.dll + + 0 + ARMRTXEVENTFLAGS + -L70 -Z18 -C0 -M0 -T1 + + + 0 + DLGTARM + (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0) + + + 0 + ARMDBGFLAGS + + + + 0 + DLGUARM + + + + 0 + CMSIS_AGDI + -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC8000 -FN1 -FF0STM32L4xx_256.FLM -FS08000000 -FL040000 -FP0($$Device:STM32L431CCUx$CMSIS\Flash\STM32L4xx_256.FLM) + 0 UL2CM3 @@ -203,7 +228,7 @@ Application/User/Core - 0 + 1 0 0 0 @@ -250,6 +275,18 @@ 0 0 0 + ../Core/Src/dma.c + dma.c + 0 + 0 + + + 2 + 6 + 1 + 0 + 0 + 0 ../Core/Src/i2c.c i2c.c 0 @@ -257,7 +294,7 @@ 2 - 6 + 7 1 0 0 @@ -269,7 +306,7 @@ 2 - 7 + 8 1 0 0 @@ -281,7 +318,7 @@ 2 - 8 + 9 1 0 0 @@ -301,7 +338,7 @@ 0 3 - 9 + 10 1 0 0 @@ -313,7 +350,7 @@ 3 - 10 + 11 1 0 0 @@ -325,7 +362,7 @@ 3 - 11 + 12 1 0 0 @@ -337,7 +374,7 @@ 3 - 12 + 13 1 0 0 @@ -349,7 +386,7 @@ 3 - 13 + 14 1 0 0 @@ -361,7 +398,7 @@ 3 - 14 + 15 1 0 0 @@ -373,7 +410,7 @@ 3 - 15 + 16 1 0 0 @@ -385,7 +422,7 @@ 3 - 16 + 17 1 0 0 @@ -397,7 +434,7 @@ 3 - 17 + 18 1 0 0 @@ -409,7 +446,7 @@ 3 - 18 + 19 1 0 0 @@ -421,7 +458,7 @@ 3 - 19 + 20 1 0 0 @@ -433,7 +470,7 @@ 3 - 20 + 21 1 0 0 @@ -445,7 +482,7 @@ 3 - 21 + 22 1 0 0 @@ -457,7 +494,7 @@ 3 - 22 + 23 1 0 0 @@ -469,7 +506,7 @@ 3 - 23 + 24 1 0 0 @@ -481,7 +518,7 @@ 3 - 24 + 25 1 0 0 @@ -493,7 +530,7 @@ 3 - 25 + 26 1 0 0 @@ -505,7 +542,7 @@ 3 - 26 + 27 1 0 0 @@ -525,7 +562,7 @@ 0 4 - 27 + 28 1 0 0 @@ -537,6 +574,74 @@ + + devices + 1 + 0 + 0 + 0 + + 5 + 29 + 1 + 0 + 0 + 0 + ..\devices\AS5600.c + AS5600.c + 0 + 0 + + + 5 + 30 + 1 + 0 + 0 + 0 + ..\devices\log.c + log.c + 0 + 0 + + + 5 + 31 + 1 + 0 + 0 + 0 + ..\devices\can_node.c + can_node.c + 0 + 0 + + + 5 + 32 + 1 + 0 + 0 + 0 + ..\devices\cmd.c + cmd.c + 0 + 0 + + + 5 + 33 + 1 + 0 + 0 + 0 + ..\devices\flash.c + flash.c + 0 + 0 + + + ::CMSIS 0 diff --git a/MDK-ARM/arm_joint_sensor.uvprojx b/MDK-ARM/arm_joint_sensor.uvprojx index 53ab106..c232c6d 100644 --- a/MDK-ARM/arm_joint_sensor.uvprojx +++ b/MDK-ARM/arm_joint_sensor.uvprojx @@ -10,6 +10,7 @@ arm_joint_sensor 0x4 ARM-ADS + 5050106::V5.05 update 1 (build 106)::.\ARMCC 0 @@ -339,7 +340,7 @@ USE_HAL_DRIVER,STM32L431xx - ../Core/Inc;../Drivers/STM32L4xx_HAL_Driver/Inc;../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32L4xx/Include;../Drivers/CMSIS/Include + ../Core/Inc;../Drivers/STM32L4xx_HAL_Driver/Inc;../Drivers/STM32L4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32L4xx/Include;../Drivers/CMSIS/Include;../devices @@ -408,6 +409,62 @@ 1 ../Core/Src/can.c + + dma.c + 1 + ../Core/Src/dma.c + + + 2 + 0 + 0 + 0 + 0 + 1 + 2 + 2 + 2 + 2 + 11 + + + 1 + + + + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 0 + 2 + 2 + 2 + 2 + 2 + 0 + 0 + 2 + 2 + 2 + 2 + 2 + + + + + + + + + + i2c.c 1 @@ -535,6 +592,36 @@ + + devices + + + AS5600.c + 1 + ..\devices\AS5600.c + + + log.c + 1 + ..\devices\log.c + + + can_node.c + 1 + ..\devices\can_node.c + + + cmd.c + 1 + ..\devices\cmd.c + + + flash.c + 1 + ..\devices\flash.c + + + ::CMSIS @@ -555,4 +642,13 @@ + + + + arm_joint_sensor + 1 + + + + diff --git a/arm_joint_sensor.ioc b/arm_joint_sensor.ioc index 70b167e..2ff5b62 100644 --- a/arm_joint_sensor.ioc +++ b/arm_joint_sensor.ioc @@ -8,6 +8,17 @@ CAN1.CalculateTimeBit=1000 CAN1.CalculateTimeQuantum=250.0 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1 CAN1.Prescaler=20 +Dma.Request0=USART1_RX +Dma.RequestsNb=1 +Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART1_RX.0.Instance=DMA1_Channel5 +Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART1_RX.0.MemInc=DMA_MINC_ENABLE +Dma.USART1_RX.0.Mode=DMA_NORMAL +Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE +Dma.USART1_RX.0.Priority=DMA_PRIORITY_LOW +Dma.USART1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority File.Version=6 GPIO.groupedBy=Group By Peripherals I2C2.IPParameters=Timing @@ -16,12 +27,13 @@ KeepUserPlacement=false Mcu.CPN=STM32L431CCU6 Mcu.Family=STM32L4 Mcu.IP0=CAN1 -Mcu.IP1=I2C2 -Mcu.IP2=NVIC -Mcu.IP3=RCC -Mcu.IP4=SYS -Mcu.IP5=USART1 -Mcu.IPNb=6 +Mcu.IP1=DMA +Mcu.IP2=I2C2 +Mcu.IP3=NVIC +Mcu.IP4=RCC +Mcu.IP5=SYS +Mcu.IP6=USART1 +Mcu.IPNb=7 Mcu.Name=STM32L431C(B-C)Ux Mcu.Package=UFQFPN48 Mcu.Pin0=PH0-OSC_IN (PH0) @@ -31,8 +43,8 @@ Mcu.Pin11=PB5 Mcu.Pin12=PB8 Mcu.Pin13=PB9 Mcu.Pin14=VP_SYS_VS_Systick -Mcu.Pin2=PB10 -Mcu.Pin3=PB11 +Mcu.Pin2=PB13 +Mcu.Pin3=PB14 Mcu.Pin4=PA9 Mcu.Pin5=PA10 Mcu.Pin6=PA13 (JTMS-SWDIO) @@ -46,6 +58,8 @@ Mcu.UserName=STM32L431CCUx MxCube.Version=6.16.1 MxDb.Version=DB.6.0.161 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.CAN1_RX0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true +NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.ForceEnableDMAVector=true NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false @@ -55,7 +69,10 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false +NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +PA10.GPIOParameters=GPIO_PuPd +PA10.GPIO_PuPd=GPIO_PULLUP PA10.Locked=true PA10.Mode=Asynchronous PA10.Signal=USART1_RX @@ -69,13 +86,17 @@ PA15\ (JTDI).GPIO_PuPd=GPIO_PULLUP PA15\ (JTDI).Locked=true PA15\ (JTDI).PinState=GPIO_PIN_SET PA15\ (JTDI).Signal=GPIO_Output +PA9.GPIOParameters=GPIO_PuPd +PA9.GPIO_PuPd=GPIO_PULLUP PA9.Locked=true PA9.Mode=Asynchronous PA9.Signal=USART1_TX -PB10.Mode=I2C -PB10.Signal=I2C2_SCL -PB11.Mode=I2C -PB11.Signal=I2C2_SDA +PB13.Locked=true +PB13.Mode=I2C +PB13.Signal=I2C2_SCL +PB14.Locked=true +PB14.Mode=I2C +PB14.Signal=I2C2_SDA PB3\ (JTDO-TRACESWO).GPIOParameters=PinState,GPIO_PuPd,GPIO_Label PB3\ (JTDO-TRACESWO).GPIO_Label=LED_R PB3\ (JTDO-TRACESWO).GPIO_PuPd=GPIO_PULLUP @@ -137,7 +158,7 @@ ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_CAN1_Init-CAN1-false-HAL-true,4-MX_I2C2_Init-I2C2-false-HAL-true,5-MX_USART1_UART_Init-USART1-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_I2C2_Init-I2C2-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true RCC.ADCFreq_Value=32000000 RCC.AHBFreq_Value=80000000 RCC.APB1Freq_Value=80000000 diff --git a/devices/AS5600.c b/devices/AS5600.c new file mode 100644 index 0000000..6f39710 --- /dev/null +++ b/devices/AS5600.c @@ -0,0 +1,138 @@ +#include "AS5600.h" +#include "i2c.h" +#include "main.h" +#include +#include "log.h" + +#define AS5600_ADDRESS 0x36 << 1 // AS5600的I2C从机地址（左移1位） +#define AS5600_REG_ZPOS_H 0x01 // 起始位置11-8 +#define AS5600_REG_ZPOS_L 0x02 // 起始位置7-0 +#define AS5600_REG_MPOS_H 0x03 // 终止位置11-8 +#define AS5600_REG_MPOS_L 0x04 // 终止位置7-0 +#define AS5600_REG_MANG_H 0x05 // 最大角度11-8 +#define AS5600_REG_MANG_L 0x06 // 最大角度7-0 +#define AS5600_REG_CFG_1 0x07 // CONF高位寄存器 +#define AS5600_REG_CFG_2 0x08 // CONF低位寄存器 +#define AS5600_REG_RAW_ANGLE_H 0x0C // 原始角度11-8(读) +#define AS5600_REG_RAW_ANGLE_L 0x0D // 原始角度7-0(读) +#define AS5600_REG_ANGLE_H 0x0E // 角度11-8(读) +#define AS5600_REG_ANGLE_L 0x0F // 角度7-0(读) +#define AS5600_REG_STATUS 0x0B // 状态寄存器(读) +#define AS5600_REG_AGC 0x1A // AGC寄存器(读) +#define AS5600_REG_MAGNITUDE_1 0x1B // MAGNITUDE寄存器(读) +#define AS5600_REG_MAGNITUDE_2 0x1C // MAGNITUDE寄存器(读) + +/* + * 函 数：AS5600初始化 + */ +int AS5600_Init(void) +{ + int ret = -1; + ret = AS5600_CheckMagnet(); + if (ret == 0) + { + // _dbg_printf("AS5600 Init Error: Magnet not detected!\r\n"); + return -1; // 磁体异常，返回错误 + } + + return 0; +} + +/* + * 函 数：AS5600写寄存器 + * 参 数：RegAddress 寄存器地址 + * 参 数：Data 要写入寄存器的数据 + */ +void AS5600_WriteReg(uint8_t RegAddress, uint8_t Data) +{ + HAL_I2C_Mem_Write(&hi2c2, AS5600_ADDRESS, RegAddress, I2C_MEMADD_SIZE_8BIT, &Data, 1, 1000); +} + +/* + * 函 数：AS5600读寄存器 + * 参 数：RegAddress 寄存器地址 + * 返 回 值：读取寄存器的数据 + */ +uint8_t AS5600_ReadReg(uint8_t RegAddress) +{ + uint8_t Data; + HAL_I2C_Mem_Read(&hi2c2, AS5600_ADDRESS, RegAddress, I2C_MEMADD_SIZE_8BIT, &Data, 1, 1000); + return Data; +} + +/* + * 函 数：AS5600获取原始角度 + * 参 数：无 + * 返 回 值：12位原始角度值（0-4095） + */ +uint16_t AS5600_GetRawAngle(void) +{ + uint8_t AngleH, AngleL; + uint16_t RawAngle; + + // 读取角度高位寄存器（0x0E） + AngleH = AS5600_ReadReg(AS5600_REG_ANGLE_H); + // 读取角度低位寄存器（0x0F） + AngleL = AS5600_ReadReg(AS5600_REG_ANGLE_L); + + // 组合12位角度值（高4位 + 低8位） + RawAngle = ((uint16_t)(AngleH & 0x0F) << 8) | AngleL; + + return RawAngle; +} + +/** + * 函 数：AS5600获取状态 + * 参 数：无 + * 返 回 值：状态寄存器值 + * 说 明：bit5(MD)=1表示磁体在有效范围 + */ +uint8_t AS5600_GetStatus(void) +{ + return AS5600_ReadReg(AS5600_REG_STATUS); +} + +/** + * 函 数：AS5600获取AGC值 + * 参 数：无 + * 返 回 值：AGC值（0-255） + * 说 明：反映磁场强度，理想值100-150 + */ +uint8_t AS5600_GetAGC(void) +{ + return AS5600_ReadReg(AS5600_REG_AGC); +} + +/** + * 函 数：AS5600获取处理后的角度 + * 参 数：无 + * 返 回 值：12位角度值（0-4095） + * 说 明：经过滤波和零位校准后的角度 + */ +uint16_t AS5600_GetAngle(void) +{ + uint8_t AngleH, AngleL; + uint16_t Angle; + + // 读取角度高位寄存器（0x0E） + AngleH = AS5600_ReadReg(AS5600_REG_ANGLE_H); + // 读取角度低位寄存器（0x0F） + AngleL = AS5600_ReadReg(AS5600_REG_ANGLE_L); + + // 组合12位角度值（高4位 + 低8位） + Angle = ((uint16_t)(AngleH & 0x0F) << 8) | AngleL; + + return Angle; +} + +/** + * 函 数：AS5600检查磁体状态 + * 参 数：无 + * 返 回 值：1-磁体正常，0-磁体丢失或太弱 + */ +uint8_t AS5600_CheckMagnet(void) +{ + uint8_t status = AS5600_GetStatus(); + // 检查状态寄存器的bit5(MD) + return (status & 0x20) ? 1 : 0; +} diff --git a/devices/AS5600.h b/devices/AS5600.h new file mode 100644 index 0000000..763136c --- /dev/null +++ b/devices/AS5600.h @@ -0,0 +1,13 @@ +#ifndef _AS5600_H_ +#define _AS5600_H_ + +#include + +int AS5600_Init(void); +uint16_t AS5600_GetRawAngle(void); +uint8_t AS5600_GetStatus(void); +uint8_t AS5600_GetAGC(void); +uint16_t AS5600_GetAngle(void); +uint8_t AS5600_CheckMagnet(void); + +#endif /* _AS5600_H_ */ diff --git a/devices/can_node.c b/devices/can_node.c new file mode 100644 index 0000000..cbd64f3 --- /dev/null +++ b/devices/can_node.c @@ -0,0 +1,80 @@ +#include "main.h" +#include +#include +#include +#include "can.h" +#include "log.h" +#include "can_node.h" + +CAN_RxHeaderTypeDef can1RxHeader; // FDCAN1 接收头 +uint8_t can1RxData[8]; // FDCAN1 接收数据 + +void can_node_init(void) +{ + CAN_FilterTypeDef filter; + // 设置接收过滤器 + filter.FilterBank = 0; + filter.FilterMode = CAN_FILTERMODE_IDMASK; + filter.FilterScale = CAN_FILTERSCALE_32BIT; + + // 全部接收 + filter.FilterIdHigh = 0x0000; + filter.FilterIdLow = 0x0000; + filter.FilterMaskIdHigh = 0x0000; + filter.FilterMaskIdLow = 0x0000; + + filter.FilterFIFOAssignment = CAN_FILTER_FIFO0; + filter.FilterActivation = ENABLE; + if (HAL_CAN_ConfigFilter(&hcan1, &filter) != HAL_OK) + { + Error_Handler(); + } + + // 启动 CAN1 + if (HAL_CAN_Start(&hcan1) != HAL_OK) + { + Error_Handler(); + } + // 启动接收 + if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) + { + Error_Handler(); + } + + HAL_Delay(5); + _dbg_printf("CAN1 initialized successfully\r\n"); +} + +void can_node_transmit(uint32_t canID, uint8_t *TxData) +{ + CAN_TxHeaderTypeDef txHeader; + uint32_t txMailbox; + + txHeader.StdId = canID; + txHeader.ExtId = 0; + txHeader.IDE = CAN_ID_STD; + txHeader.RTR = CAN_RTR_DATA; + txHeader.DLC = 8; + txHeader.TransmitGlobalTime = DISABLE; + + // 等待邮箱空闲 + while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) + { + }; + HAL_CAN_AddTxMessage(&hcan1, &txHeader, TxData, &txMailbox); +} + +void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) +{ + HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &can1RxHeader, can1RxData); + + if (can1RxHeader.IDE == CAN_ID_STD) + { + // 示例：收到 ID = 0x123 + if (can1RxHeader.StdId == 0x123) + { + // 处理数据 + // can1RxData[0..can1RxHeader.DLC-1] + } + } +} diff --git a/devices/can_node.h b/devices/can_node.h new file mode 100644 index 0000000..6bfbed1 --- /dev/null +++ b/devices/can_node.h @@ -0,0 +1,10 @@ +#ifndef _CAN_NODE_H_ +#define _CAN_NODE_H_ + +#include + +void can_node_init(void); + +void can_node_transmit(uint32_t canID, uint8_t *TxData); + +#endif /* _CAN_NODE_H_ */ diff --git a/devices/cmd.c b/devices/cmd.c new file mode 100644 index 0000000..6041e59 --- /dev/null +++ b/devices/cmd.c @@ -0,0 +1,83 @@ +#include "usart.h" +#include +#include "cmd.h" +#include "log.h" +#include "main.h" +#include "dma.h" +#include +#include "stm32l4xx_hal_uart.h" +#include "flash.h" +#include + +uint8_t cmdData[32]; +uint8_t uart1len = 0; +extern DMA_HandleTypeDef hdma_usart1_rx; + +FlashConfig_t *currentConfig; + + +void UART_CommandHandler(char *data, uint16_t len) +{ + data[len] = '\0'; // 确保字符串结束 + + if (strncmp(data, "SETID", 5) == 0) + { + uint8_t id; + if (sscanf(data + 5, "%x", &id) == 1) + { + + currentConfig = Flash_ReadConfig(); + if(currentConfig->can_id != id) + { + _dbg_printf("Current ID: 0x%02X, New ID: 0x%02X\n", currentConfig->can_id, id); + currentConfig->can_id = id; + currentConfig->crc = id ^ 0xFF; // 简单校验 + Flash_WriteConfig(currentConfig); + } + else + { + _dbg_printf("CAN ID unchanged: 0x%02X\n", id); + } + + } + } +} + + +void init_cmd(void) +{ + __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE); + __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE); + HAL_UART_Receive_DMA(&huart1, cmdData, sizeof(cmdData)); +} + +void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) +{ +} + +void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) +{ + if (huart->Instance == USART1) + { + HAL_UART_DMAStop(huart); + uart1len = 0; + memset(cmdData, 0, sizeof(cmdData)); + HAL_UART_Receive_DMA(huart, cmdData, sizeof(cmdData)); + } +} + +void usart_irq_dma_process(UART_HandleTypeDef *huart) +{ + if (huart->Instance == USART1) + { + if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) == SET) + { + __HAL_UART_CLEAR_IDLEFLAG(huart); + HAL_UART_DMAStop(huart); + uart1len = sizeof(cmdData) - __HAL_DMA_GET_COUNTER(&hdma_usart1_rx); + UART_CommandHandler((char *)cmdData, uart1len); + memset(cmdData, 0, sizeof(cmdData)); + HAL_UART_Receive_DMA(huart, cmdData, sizeof(cmdData)); + } + } +} diff --git a/devices/cmd.h b/devices/cmd.h new file mode 100644 index 0000000..75711de --- /dev/null +++ b/devices/cmd.h @@ -0,0 +1,8 @@ +#ifndef _CMD_H_ +#define _CMD_H_ + +#include "main.h" +void init_cmd(void); +void usart_irq_dma_process(UART_HandleTypeDef *huart); + +#endif /* _CMD_H_ */ diff --git a/devices/flash.c b/devices/flash.c new file mode 100644 index 0000000..4b667cb --- /dev/null +++ b/devices/flash.c @@ -0,0 +1,39 @@ +#include "flash.h" +#include "main.h" +#include +#include +#include + +#define FLASH_BASE_ADDR 0x08000000UL +// #define FLASH_PAGE_SIZE 0x800 // 2KB +#define FLASH_PAGE_NUM 128 +#define FLASH_USER_PAGE (FLASH_PAGE_NUM - 1) +#define FLASH_USER_ADDR (FLASH_BASE_ADDR + FLASH_USER_PAGE * FLASH_PAGE_SIZE) + +FlashConfig_t currentCfg; +FlashConfig_t *Flash_ReadConfig(void) +{ + memcpy(¤tCfg, (void *)FLASH_USER_ADDR, sizeof(currentCfg)); + return ¤tCfg; +} + +void Flash_WriteConfig(FlashConfig_t *cfg) +{ + HAL_FLASH_Unlock(); + + FLASH_EraseInitTypeDef erase; + uint32_t page_error; + + erase.TypeErase = FLASH_TYPEERASE_PAGES; + erase.Page = FLASH_USER_PAGE; + erase.NbPages = 1; + + HAL_FLASHEx_Erase(&erase, &page_error); + + uint32_t addr = FLASH_USER_ADDR; + uint64_t data = ((uint64_t)cfg->crc << 16) | cfg->can_id; + + HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD, addr, data); + + HAL_FLASH_Lock(); +} diff --git a/devices/flash.h b/devices/flash.h new file mode 100644 index 0000000..a73b930 --- /dev/null +++ b/devices/flash.h @@ -0,0 +1,14 @@ +#ifndef _FLASH_H_ +#define _FLASH_H_ +#include + +typedef struct +{ + uint16_t can_id; + uint16_t crc; // 可选，简单校验 +} FlashConfig_t; + +FlashConfig_t *Flash_ReadConfig(void); +void Flash_WriteConfig(FlashConfig_t *cfg); + +#endif /* _FLASH_H_ */ diff --git a/devices/log.c b/devices/log.c new file mode 100644 index 0000000..1b9d11b --- /dev/null +++ b/devices/log.c @@ -0,0 +1,23 @@ +#include +#include +#include +#include +#include "usart.h" +#include "log.h" +#include "main.h" + +static char _dbg_TXBuff[128]; + +void _dbg_printf(const char *format, ...) +{ + uint32_t length; + va_list args; + + va_start(args, format); + length = vsnprintf((char *)_dbg_TXBuff, sizeof(_dbg_TXBuff), (char *)format, args); + va_end(args); + + // HAL_UART_Transmit_DMA(&huart3, (uint8_t *)_dbg_TXBuff, length); + HAL_UART_Transmit(&huart1, (uint8_t *)_dbg_TXBuff, length, 1000); +} + diff --git a/devices/log.h b/devices/log.h new file mode 100644 index 0000000..408a746 --- /dev/null +++ b/devices/log.h @@ -0,0 +1,6 @@ +#ifndef _LOG_H_ +#define _LOG_H_ + +void _dbg_printf(const char *format, ...); + +#endif /* _LOG_H_ */