可以实现编码器输出同时输出时间单位毫秒
This commit is contained in:
wantong
6
.idea/vcs.xml
generated
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6
.idea/vcs.xml
generated
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@ -0,0 +1,6 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$" vcs="Git" />
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</component>
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</project>
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28
.mxproject
28
.mxproject
File diff suppressed because one or more lines are too long
52
Core/Inc/dma.h
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52
Core/Inc/dma.h
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@ -0,0 +1,52 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file dma.h
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* @brief This file contains all the function prototypes for
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* the dma.c file
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 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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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef __DMA_H__
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#define __DMA_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* DMA memory to memory transfer handles -------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* USER CODE BEGIN Private defines */
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/* USER CODE END Private defines */
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void MX_DMA_Init(void);
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/* USER CODE BEGIN Prototypes */
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/* USER CODE END Prototypes */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __DMA_H__ */
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@ -57,6 +57,7 @@ void PendSV_Handler(void);
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void SysTick_Handler(void);
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void EXTI2_IRQHandler(void);
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void EXTI4_IRQHandler(void);
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void DMA1_Stream0_IRQHandler(void);
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void TIM2_IRQHandler(void);
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void USART1_IRQHandler(void);
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/* USER CODE BEGIN EFP */
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55
Core/Src/dma.c
Normal file
55
Core/Src/dma.c
Normal file
@ -0,0 +1,55 @@
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file dma.c
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* @brief This file provides code for the configuration
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* of all the requested memory to memory DMA transfers.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2024 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 "dma.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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/*----------------------------------------------------------------------------*/
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/* Configure DMA */
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/*----------------------------------------------------------------------------*/
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/**
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* Enable DMA controller clock
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*/
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void MX_DMA_Init(void)
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{
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/* DMA controller clock enable */
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__HAL_RCC_DMA1_CLK_ENABLE();
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/* DMA interrupt init */
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/* DMA1_Stream0_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
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}
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/* USER CODE BEGIN 2 */
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/* USER CODE END 2 */
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@ -61,5 +61,23 @@ void MX_GPIO_Init(void)
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}
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/* USER CODE BEGIN 2 */
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volatile uint8_t captureFlag = 0;
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extern uint32_t G_StartMillis;
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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if (GPIO_Pin == GPIO_PIN_2)
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{
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// <20><>?查捕获标志，避免重复捕获
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if (!captureFlag)
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{
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// 处理上升沿触发事<E58F91><E4BA8B>?
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G_StartMillis=0;
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G_StartMillis = HAL_GetTick(); //获取当前系统时间
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// 禁用对应的外部中断，防止再次触发
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HAL_NVIC_DisableIRQ(EXTI2_IRQn);
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captureFlag = 1; // 设置捕获标志为已捕获
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}
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}
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}
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/* USER CODE END 2 */
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@ -18,6 +18,7 @@
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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 "dma.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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@ -45,14 +46,17 @@
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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volatile uint32_t currentMillis = 0;
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int enc1;
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volatile uint32_t G_StartMillis = 0;
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volatile uint32_t G_CurrentMillis = 0;
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int enc;
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uint8_t buf[10];
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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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void data_shift();
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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@ -70,6 +74,9 @@ int main(void)
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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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@ -94,6 +101,7 @@ int main(void)
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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_TIM2_Init();
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MX_USART1_UART_Init();
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/* USER CODE BEGIN 2 */
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@ -110,10 +118,12 @@ int main(void)
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/* USER CODE BEGIN 3 */
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enc1 = __HAL_TIM_GET_COUNTER(&htim2);//获取定时器的值
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printf("encoder:%d\r\n", enc1);
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currentMillis = HAL_GetTick(); //获取当前系统时间
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printf("start time:%lu\r\n", currentMillis);
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enc = __HAL_TIM_GET_COUNTER(&htim2);//获取定时器的值
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G_CurrentMillis = HAL_GetTick()-G_StartMillis;
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data_shift();
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HAL_UART_Transmit_DMA(&huart1, buf, sizeof(buf));
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// printf("start time:%lu\r\n", G_StartMillis);
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// printf("current time:%lu\r\n", G_CurrentMillis);
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@ -186,8 +196,49 @@ void SystemClock_Config(void)
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/* USER CODE BEGIN 4 */
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void data_shift(){
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buf[0] = (uint8_t)(enc & 0xFF);
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buf[1] = (uint8_t)((enc >> 8) & 0xFF);
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buf[2] = (uint8_t)((enc >> 16) & 0xFF);
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buf[3] = (uint8_t)((enc >> 24) & 0xFF);
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buf[4] = G_CurrentMillis & 0xFF;
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buf[5] = (G_CurrentMillis >> 8) & 0xFF;
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buf[6] = (G_CurrentMillis >> 16) & 0xFF;
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buf[7] = (G_CurrentMillis >> 24) & 0xFF;
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buf[8] = 0x0d;
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buf[9] = 0xff;
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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 = 0x24000000;
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MPU_InitStruct.Size = MPU_REGION_SIZE_512KB;
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MPU_InitStruct.SubRegionDisable = 0x0;
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MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
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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_SHAREABLE;
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MPU_InitStruct.IsCacheable = MPU_ACCESS_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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/* 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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@ -56,6 +56,7 @@
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/* External variables --------------------------------------------------------*/
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extern TIM_HandleTypeDef htim2;
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extern DMA_HandleTypeDef hdma_usart1_tx;
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extern UART_HandleTypeDef huart1;
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/* USER CODE BEGIN EV */
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@ -222,11 +223,25 @@ void EXTI4_IRQHandler(void)
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/* USER CODE END EXTI4_IRQn 0 */
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HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
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/* USER CODE BEGIN EXTI9_5_IRQn 1 */
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__HAL_TIM_SET_COUNTER(&htim2,0);
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/* USER CODE BEGIN EXTI4_IRQn 1 */
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__HAL_TIM_SET_COUNTER(&htim2,0);
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/* USER CODE END EXTI4_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream0 global interrupt.
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*/
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void DMA1_Stream0_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
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/* USER CODE END DMA1_Stream0_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_usart1_tx);
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/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
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/* USER CODE END DMA1_Stream0_IRQn 1 */
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}
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/**
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* @brief This function handles TIM2 global interrupt.
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*/
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@ -130,13 +130,5 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
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}
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/* USER CODE BEGIN 1 */
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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/* Prevent unused argument(s) compilation warning */
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UNUSED(GPIO_Pin);
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/* NOTE: This function Should not be modified, when the callback is needed,
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the HAL_GPIO_EXTI_Callback could be implemented in the user file
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*/
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}
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/* USER CODE END 1 */
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@ -19,12 +19,13 @@
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "usart.h"
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#include "stdio.h"
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/* USER CODE BEGIN 0 */
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/* USER CODE END 0 */
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UART_HandleTypeDef huart1;
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DMA_HandleTypeDef hdma_usart1_tx;
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/* USART1 init function */
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@ -106,11 +107,30 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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/* USART1 DMA Init */
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/* USART1_TX Init */
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hdma_usart1_tx.Instance = DMA1_Stream0;
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hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX;
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hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
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hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
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hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
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hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
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hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
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hdma_usart1_tx.Init.Mode = DMA_CIRCULAR;
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hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
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hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
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if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
|
||||
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
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|
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/* USART1 interrupt Init */
|
||||
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(USART1_IRQn);
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||||
/* USER CODE BEGIN USART1_MspInit 1 */
|
||||
|
||||
HAL_DMA_Init(uartHandle->hdmatx);
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||||
/* USER CODE END USART1_MspInit 1 */
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}
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||||
}
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@ -132,6 +152,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
||||
*/
|
||||
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
|
||||
|
||||
/* USART1 DMA DeInit */
|
||||
HAL_DMA_DeInit(uartHandle->hdmatx);
|
||||
|
||||
/* USART1 interrupt Deinit */
|
||||
HAL_NVIC_DisableIRQ(USART1_IRQn);
|
||||
/* USER CODE BEGIN USART1_MspDeInit 1 */
|
||||
@ -141,5 +164,21 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN 1 */
|
||||
#define SEND_COUNT 5
|
||||
volatile uint32_t sendCount = 0;
|
||||
uint8_t data = 16;
|
||||
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
|
||||
{
|
||||
if (huart->Instance == USART1)
|
||||
{
|
||||
sendCount++; // 每次传输完成增加计数
|
||||
|
||||
if (sendCount >= SEND_COUNT)
|
||||
{
|
||||
// 达到指定次数后停止传输
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
/* USER CODE END 1 */
|
||||
|
||||
@ -2,22 +2,49 @@
|
||||
CAD.formats=
|
||||
CAD.pinconfig=
|
||||
CAD.provider=
|
||||
CORTEX_M7.AccessPermission-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_FULL_ACCESS
|
||||
CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings=0x24000000
|
||||
CORTEX_M7.CPU_DCache=Enabled
|
||||
CORTEX_M7.CPU_ICache=Enabled
|
||||
CORTEX_M7.IPParameters=CPU_ICache,CPU_DCache,MPU_Control
|
||||
CORTEX_M7.MPU_Control=__NULL
|
||||
CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE
|
||||
CORTEX_M7.IPParameters=CPU_ICache,CPU_DCache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings,Size-Cortex_Memory_Protection_Unit_Region0_Settings,AccessPermission-Cortex_Memory_Protection_Unit_Region0_Settings,IsShareable-Cortex_Memory_Protection_Unit_Region0_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings
|
||||
CORTEX_M7.IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_CACHEABLE
|
||||
CORTEX_M7.IsShareable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_SHAREABLE
|
||||
CORTEX_M7.MPU_Control=MPU_PRIVILEGED_DEFAULT
|
||||
CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_SIZE_512KB
|
||||
Dma.Request0=USART1_TX
|
||||
Dma.RequestsNb=1
|
||||
Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
|
||||
Dma.USART1_TX.0.EventEnable=DISABLE
|
||||
Dma.USART1_TX.0.FIFOMode=DMA_FIFOMODE_DISABLE
|
||||
Dma.USART1_TX.0.Instance=DMA1_Stream0
|
||||
Dma.USART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
|
||||
Dma.USART1_TX.0.MemInc=DMA_MINC_ENABLE
|
||||
Dma.USART1_TX.0.Mode=DMA_CIRCULAR
|
||||
Dma.USART1_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
|
||||
Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE
|
||||
Dma.USART1_TX.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
|
||||
Dma.USART1_TX.0.Priority=DMA_PRIORITY_LOW
|
||||
Dma.USART1_TX.0.RequestNumber=1
|
||||
Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
|
||||
Dma.USART1_TX.0.SignalID=NONE
|
||||
Dma.USART1_TX.0.SyncEnable=DISABLE
|
||||
Dma.USART1_TX.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
|
||||
Dma.USART1_TX.0.SyncRequestNumber=1
|
||||
Dma.USART1_TX.0.SyncSignalID=NONE
|
||||
File.Version=6
|
||||
GPIO.groupedBy=Group By Peripherals
|
||||
KeepUserPlacement=false
|
||||
Mcu.CPN=STM32H750VBT6
|
||||
Mcu.Family=STM32H7
|
||||
Mcu.IP0=CORTEX_M7
|
||||
Mcu.IP1=NVIC
|
||||
Mcu.IP2=RCC
|
||||
Mcu.IP3=SYS
|
||||
Mcu.IP4=TIM2
|
||||
Mcu.IP5=USART1
|
||||
Mcu.IPNb=6
|
||||
Mcu.IP1=DMA
|
||||
Mcu.IP2=NVIC
|
||||
Mcu.IP3=RCC
|
||||
Mcu.IP4=SYS
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ignoring duplicate directory "f:/work/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/../../lib/gcc/arm-none-eabi/10.3.1/include-fixed"
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||||
ignoring duplicate directory "f:/work/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/../../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/include"
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||||
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||||
ignoring nonexistent directory "f:\work\arm-none-eabi-gcc\gcc-arm-none-eabi-10.3-2021.10-win32\gcc-arm-none-eabi-10.3-2021.10\bin\../arm-none-eabi/usr/include"
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||||
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||||
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f:/work/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/as.exe -v -march=armv4t -mfloat-abi=soft -meabi=5 -o CMakeFiles\cmTC_cf093.dir\CMakeCCompilerABI.c.obj C:\Users\iris\AppData\Local\Temp\ccuO2aAQ.s
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||||
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||||
collapse include dir [f:/work/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/include] ==> [F:/WORK/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/include]
|
||||
collapse include dir [f:/work/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/include-fixed] ==> [F:/WORK/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/include-fixed]
|
||||
collapse include dir [f:/work/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/include] ==> [F:/WORK/arm-none-eabi-gcc/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/arm-none-eabi/include]
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@ -865,6 +889,9 @@ help:
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Reference in New Issue
Block a user