312 lines
8.2 KiB
C
312 lines
8.2 KiB
C
/* 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) 2026 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 "can.h"
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#include "dma.h"
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#include "i2c.h"
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#include "usart.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 "AS5600.h"
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#include "log.h"
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#include <stdint.h>
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#include "can_node.h"
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#include "cmd.h"
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#include "flash.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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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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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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extern uint8_t g_debugLevel;
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extern uint8_t g_direction;
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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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/* USER CODE BEGIN PFP */
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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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uint8_t can_checksum_calculate(uint8_t *data, uint8_t length)
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{
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uint8_t sum = 0;
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for (uint8_t i = 0; i < length; i++)
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{
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sum += data[i];
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}
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return sum & 0xff;
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}
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float as5600_velocity(uint16_t a2, uint16_t a1, float dt_s)
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{
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if (dt_s <= 0.0f) return 0.0f;
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int32_t d = (int32_t)a2 - (int32_t)a1;
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// AS5600 12bit回绕修正：取最短路径差值
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if (d > 2048) d -= 4096;
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else if (d < -2048) d += 4096;
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// 返回单位：rps (revolutions per second)
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return ((float)d / 4096.0f) / dt_s;
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}
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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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int status = -1;
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uint16_t angle = 0;
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uint16_t prev_angle = 0;
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uint32_t prev_tick_ms = 0;
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float velocity_deg_s = 0.0f;
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FlashConfig_t *flashConfig = NULL;
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/* USER CODE END 1 */
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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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/* 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_CAN1_Init();
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MX_I2C2_Init();
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MX_USART1_UART_Init();
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/* USER CODE BEGIN 2 */
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can_node_init();
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init_cmd();
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flashConfig = Flash_ReadConfig();
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_dbg_printf("Current CAN ID: 0x%02X\r\n", flashConfig->can_id);
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status = -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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switch (status)
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{
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case -1:
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if (AS5600_Init() == 0)
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{
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prev_angle = AS5600_GetAngle();
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status = 0;
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}
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else
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{
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status = -1;
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// _dbg_printf("AS5600 Initialization Failed!\r\n");
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HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);
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HAL_Delay(100);
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}
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break;
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case 0:
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{
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HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_SET);
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prev_tick_ms = HAL_GetTick();
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angle = AS5600_GetAngle();
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HAL_Delay(5); // 10ms采样周期
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uint32_t now_ms = HAL_GetTick();
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uint32_t dt_ms = now_ms - prev_tick_ms;
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if (dt_ms > 0U)
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{
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velocity_deg_s = as5600_velocity(angle, prev_angle, (float)dt_ms * 0.001f) * 360.0f;
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}
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prev_angle = angle;
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prev_tick_ms = now_ms;
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if(g_direction > 0)
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{
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// 反转方向
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velocity_deg_s = -velocity_deg_s;
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angle = -angle;
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}
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if(g_debugLevel > 0)
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{
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_dbg_printf("Angle: %u, Vel: %.2f dt: %u ms\r\n", angle, velocity_deg_s, dt_ms);
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}
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HAL_GPIO_TogglePin(LED_G_GPIO_Port, LED_G_Pin);
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status = 1;
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}
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break;
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case 1:
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{
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uint8_t canData[8] = {0};
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int16_t vel_cdeg_s = (int16_t)(velocity_deg_s * 100.0f); // 0.01 deg/s
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int transmitResult = 0;
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canData[0] = 0xAA; // 头
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canData[1] = (angle >> 8) & 0xFF;
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canData[2] = angle & 0xFF;
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canData[3] = (vel_cdeg_s >> 8) & 0xFF;
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canData[4] = vel_cdeg_s & 0xFF;
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canData[5] = 0x00; // 保留
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canData[6] = 0x00; // 保留
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canData[7] = can_checksum_calculate(canData, 7);
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transmitResult = can_node_transmit(flashConfig->can_id, canData);
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if (transmitResult != 0)
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{
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status = -1; // 发送失败，回到初始化状态
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status = 2; // 直接进入错误状态，持续闪烁蓝灯
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}
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else
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{
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status = 0;
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HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //关闭蓝灯
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}
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}
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break;
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case 2:
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HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
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// HAL_Delay(100);
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break;
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default:
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break;
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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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/** Configure the main internal regulator output voltage
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*/
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if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
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{
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Error_Handler();
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}
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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_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_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 = 3;
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RCC_OscInitStruct.PLL.PLLN = 20;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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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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}
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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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