IRIS_Zhu/Encoder_Time_Sysn
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可以实现编码器输出同时输出时间单位毫秒

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This commit is contained in:
wantong
2024-04-25 16:58:12 +08:00
parent 8d6d5c773d
commit 6fc86e91e9
44 changed files with 3677 additions and 7640 deletions
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52
Core/Inc/dma.h Normal file
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@ -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) 2024 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__ */

1
Core/Inc/stm32h7xx_it.h
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@ -57,6 +57,7 @@ void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI2_IRQHandler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream0_IRQHandler(void);
void TIM2_IRQHandler(void);
void USART1_IRQHandler(void);
/* USER CODE BEGIN EFP */

55
Core/Src/dma.c Normal file
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@ -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) 2024 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_Stream0_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

18
Core/Src/gpio.c
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@ -61,5 +61,23 @@ void MX_GPIO_Init(void)
}
/* USER CODE BEGIN 2 */
volatile uint8_t captureFlag = 0;
extern uint32_t G_StartMillis;
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == GPIO_PIN_2)
{
// <20><>?查捕获标志，避免重复捕获
if (!captureFlag)
{
// 处理上升沿触发事<E58F91><E4BA8B>?
G_StartMillis=0;
G_StartMillis = HAL_GetTick(); //获取当前系统时间
// 禁用对应的外部中断，防止再次触发
HAL_NVIC_DisableIRQ(EXTI2_IRQn);
captureFlag = 1; // 设置捕获标志为已捕获
}
}
}
/* USER CODE END 2 */

65
Core/Src/main.c
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@ -18,6 +18,7 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
@ -45,14 +46,17 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint32_t currentMillis = 0;
int enc1;
volatile uint32_t G_StartMillis = 0;
volatile uint32_t G_CurrentMillis = 0;
int enc;
uint8_t buf[10];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
/* USER CODE BEGIN PFP */
void data_shift();
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@ -70,6 +74,9 @@ int main(void)
/* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
/* Enable I-Cache---------------------------------------------------------*/
SCB_EnableICache();
@ -94,6 +101,7 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_TIM2_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
@ -110,10 +118,12 @@ int main(void)
/* USER CODE BEGIN 3 */
enc1 = __HAL_TIM_GET_COUNTER(&htim2);//获取定时器的值
printf("encoder:%d\r\n", enc1);
currentMillis = HAL_GetTick(); //获取当前系统时间
printf("start time:%lu\r\n", currentMillis);
enc = __HAL_TIM_GET_COUNTER(&htim2);//获取定时器的值
G_CurrentMillis = HAL_GetTick()-G_StartMillis;
data_shift();
HAL_UART_Transmit_DMA(&huart1, buf, sizeof(buf));
// printf("start time:%lu\r\n", G_StartMillis);
// printf("current time:%lu\r\n", G_CurrentMillis);
@ -186,8 +196,49 @@ void SystemClock_Config(void)
/* USER CODE BEGIN 4 */
void data_shift(){
buf[0] = (uint8_t)(enc & 0xFF);
buf[1] = (uint8_t)((enc >> 8) & 0xFF);
buf[2] = (uint8_t)((enc >> 16) & 0xFF);
buf[3] = (uint8_t)((enc >> 24) & 0xFF);
buf[4] = G_CurrentMillis & 0xFF;
buf[5] = (G_CurrentMillis >> 8) & 0xFF;
buf[6] = (G_CurrentMillis >> 16) & 0xFF;
buf[7] = (G_CurrentMillis >> 24) & 0xFF;
buf[8] = 0x0d;
buf[9] = 0xff;
}
/* USER CODE END 4 */
/* MPU Configuration */
void MPU_Config(void)
{
MPU_Region_InitTypeDef MPU_InitStruct = {0};
/* Disables the MPU */
HAL_MPU_Disable();
/** Initializes and configures the Region and the memory to be protected
*/
MPU_InitStruct.Enable = MPU_REGION_ENABLE;
MPU_InitStruct.Number = MPU_REGION_NUMBER0;
MPU_InitStruct.BaseAddress = 0x24000000;
MPU_InitStruct.Size = MPU_REGION_SIZE_512KB;
MPU_InitStruct.SubRegionDisable = 0x0;
MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
MPU_InitStruct.IsCacheable = MPU_ACCESS_CACHEABLE;
MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
HAL_MPU_ConfigRegion(&MPU_InitStruct);
/* Enables the MPU */
HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None

19
Core/Src/stm32h7xx_it.c
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@ -56,6 +56,7 @@
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim2;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN EV */
@ -222,11 +223,25 @@ void EXTI4_IRQHandler(void)
/* USER CODE END EXTI4_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
/* USER CODE BEGIN EXTI9_5_IRQn 1 */
__HAL_TIM_SET_COUNTER(&htim2,0);
/* USER CODE BEGIN EXTI4_IRQn 1 */
__HAL_TIM_SET_COUNTER(&htim2,0);
/* USER CODE END EXTI4_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream0 global interrupt.
*/
void DMA1_Stream0_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
/* USER CODE END DMA1_Stream0_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart1_tx);
/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
/* USER CODE END DMA1_Stream0_IRQn 1 */
}
/**
* @brief This function handles TIM2 global interrupt.
*/

8
Core/Src/tim.c
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@ -130,13 +130,5 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
}
/* USER CODE BEGIN 1 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(GPIO_Pin);
/* NOTE: This function Should not be modified, when the callback is needed,
the HAL_GPIO_EXTI_Callback could be implemented in the user file
*/
}
/* USER CODE END 1 */

43
Core/Src/usart.c
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@ -19,12 +19,13 @@
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
#include "stdio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_tx;
/* USART1 init function */
@ -106,11 +107,30 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 DMA Init */
/* USART1_TX Init */
hdma_usart1_tx.Instance = DMA1_Stream0;
hdma_usart1_tx.Init.Request = DMA_REQUEST_USART1_TX;
hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart1_tx.Init.Mode = DMA_CIRCULAR;
hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* USER CODE BEGIN USART1_MspInit 1 */
HAL_DMA_Init(uartHandle->hdmatx);
/* USER CODE END USART1_MspInit 1 */
}
}
@ -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 */