From 7749d1d7b76ae551ddf17dbf556599f62e626867 Mon Sep 17 00:00:00 2001 From: lijie Date: Thu, 22 Feb 2024 10:16:24 +0800 Subject: [PATCH] =?UTF-8?q?=E5=B0=86ICM42688=E6=94=B9=E4=B8=BA=E7=A1=AC?= =?UTF-8?q?=E4=BB=B6SPI=E9=80=9A=E8=AE=AF=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- APP/LED_RGB.c | 38 ++ APP/LED_RGB.h | 20 + APP/Usart1.c | 113 +++++ APP/Usart1.h | 20 + APP/foc.c | 40 +- APP/mymain.c | 23 +- APP/mymain.h | 2 + Core/Inc/spi.h | 3 + Core/Inc/stm32h7xx_it.h | 1 + Core/Inc/tim.h | 3 + Core/Src/gpio.c | 2 + Core/Src/main.c | 6 +- Core/Src/spi.c | 97 ++++ Core/Src/stm32h7xx_it.c | 16 +- Core/Src/tim.c | 114 ++++- Core/Src/usart.c | 6 + IMU/icm42688.c | 962 +++++++++++++++++++++++++--------------- IMU/icm42688.h | 311 ++++++++++--- foc_n.ioc | 82 +++- 19 files changed, 1391 insertions(+), 468 deletions(-) create mode 100644 APP/LED_RGB.c create mode 100644 APP/LED_RGB.h create mode 100644 APP/Usart1.c create mode 100644 APP/Usart1.h diff --git a/APP/LED_RGB.c b/APP/LED_RGB.c new file mode 100644 index 0000000..79da761 --- /dev/null +++ b/APP/LED_RGB.c @@ -0,0 +1,38 @@ +// +// Created by hu123456 on 2024/2/22. +// + +#include "LED_RGB.h" + +void LED_RGB_Init() +{ + HAL_TIM_Base_Start(&htim4); //Æô¶¯¶¨Ê±Æ÷ + HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_1); + HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_2); + HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_3); +} +void Set_RGB_color(enum RGB_Color color) +{ + switch (color) { + case black: + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,0); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,0); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,0); + break; + case red: + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,200); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,0); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,0); + break; + case green: + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,0); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,200); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,0); + break; + case blue: + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,0); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,0); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,200); + break; + } +} diff --git a/APP/LED_RGB.h b/APP/LED_RGB.h new file mode 100644 index 0000000..86826bb --- /dev/null +++ b/APP/LED_RGB.h @@ -0,0 +1,20 @@ +// +// Created by hu123456 on 2024/2/22. +// + +#ifndef FOC_N_LED_RGB_H +#define FOC_N_LED_RGB_H +#include "mymain.h" + +enum RGB_Color +{ + black, + red, + green, + blue +}; + +void LED_RGB_Init(); +void Set_RGB_color(enum RGB_Color color); + +#endif //FOC_N_LED_RGB_H diff --git a/APP/Usart1.c b/APP/Usart1.c new file mode 100644 index 0000000..0aa8662 --- /dev/null +++ b/APP/Usart1.c @@ -0,0 +1,113 @@ +// +// Created by hu123456 on 2024/2/20. +// +#include "Usart1.h" +#include "stdio.h" +#include + +#if USART_EN_RX +uint16_t g_usart_rx_sta = 0; +uint8_t g_usart_rx_buf[USART_REC_LEN]; +uint8_t g_rx_buffer[RXBUFFERSIZE]; +void set_pid(); +void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) +{ + if(huart->Instance == USART1) + { + if((g_usart_rx_sta & 0x8000) == 0) + { + if(g_usart_rx_sta & 0x4000) + { + if(g_rx_buffer[0] != 0x0a) + { + g_usart_rx_sta = 0; + } + else + { + g_usart_rx_sta |= 0x8000; + } + } + else + { + if(g_rx_buffer[0] == 0x0d) + { + g_usart_rx_sta |= 0x4000; + } + else + { + g_usart_rx_buf[g_usart_rx_sta & 0X3FFF] = g_rx_buffer[0] ; + g_usart_rx_sta++; + if(g_usart_rx_sta > (USART_REC_LEN - 1)) + { + g_usart_rx_sta = 0; + } + } + } + } + HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); + } +} + +#endif +//xzp1.16 +void commander_run(void) +{ + if((g_usart_rx_sta&0x8000)!=0) + { + switch(g_usart_rx_buf[0]) + { + case 'H': + printf("Hello World!\r\n"); + break; + case 'x': //T6.28 + set_pid(); + break; + case 'y': + set_pid(); + break; + } + g_usart_rx_sta=0; + } +} +void set_pid() +{ + float a =0; + if(g_usart_rx_buf[1] == 'z') + { + switch (g_usart_rx_buf[2]) + { + case 'p': + a = atof((const char *) (g_usart_rx_buf + 3)); + printf("xzp:%f\r\n",a); + break; + case 'i': + FOCStruct_X.ZT_KI = atof((const char *) (g_usart_rx_buf + 3)); + printf("xzi:%f\r\n",FOCStruct_X.ZT_KP); + break; + case 'd': + FOCStruct_X.ZT_KD = atof((const char *) (g_usart_rx_buf + 3)); + printf("xzd:%f\r\n",FOCStruct_X.ZT_KP); + break; + } + } + else + { + switch (g_usart_rx_buf[2]) + { + case 'p': + FOCStruct_X.V_KP = atof((const char *) (g_usart_rx_buf + 3)); + printf("xvp:%f\r\n",FOCStruct_X.ZT_KP); + break; + case 'i': + FOCStruct_X.V_KI = atof((const char *) (g_usart_rx_buf + 3)); + printf("xvi:%f\r\n",FOCStruct_X.ZT_KP); + break; + case 'd': + FOCStruct_X.V_KD = atof((const char *) (g_usart_rx_buf + 3)); + printf("xvd:%f\r\n",FOCStruct_X.ZT_KP); + break; + } + } +} + + diff --git a/APP/Usart1.h b/APP/Usart1.h new file mode 100644 index 0000000..2363fa7 --- /dev/null +++ b/APP/Usart1.h @@ -0,0 +1,20 @@ +// +// Created by hu123456 on 2024/2/20. +// + +#ifndef FOC_N_USART1_H +#define FOC_N_USART1_H + +#define USART_REC_LEN 200 +#define USART_EN_RX 1 +#define RXBUFFERSIZE 1 + +#include "mymain.h" + +extern uint8_t g_usart_rx_buf[USART_REC_LEN]; +extern uint16_t g_usart_rx_sta; +extern uint8_t g_rx_buffer[RXBUFFERSIZE]; + +void commander_run(void); + +#endif //FOC_N_USART1_H diff --git a/APP/foc.c b/APP/foc.c index cd33013..cc48a31 100644 --- a/APP/foc.c +++ b/APP/foc.c @@ -17,12 +17,12 @@ FOCTypeDef FOCStruct_Y={0,0,0,0,0,0,0,0,0,0,0,0,0,0}; void PID_Iint(void) { - FOCStruct_X.ZT_KP = 2; + FOCStruct_X.ZT_KP = 4; FOCStruct_X.ZT_KI = 0; - FOCStruct_X.ZT_KD = 0.2; + FOCStruct_X.ZT_KD = 0.5; FOCStruct_X.V_KP = 0.1; - FOCStruct_X.V_KI = 1.5; + FOCStruct_X.V_KI = 2; FOCStruct_X.V_KD = 0; //2024/1/2 YÖáЧ¹û²»´í FOCStruct_Y.ZT_KP = 2; @@ -33,6 +33,22 @@ void PID_Iint(void) FOCStruct_Y.V_KI = 1; FOCStruct_Y.V_KD = 0; +// FOCStruct_X.ZT_KP = 4; +// FOCStruct_X.ZT_KI = 0; +// FOCStruct_X.ZT_KD = 0.5; +// +// FOCStruct_X.V_KP = 0.1; +// FOCStruct_X.V_KI = 2; +// FOCStruct_X.V_KD = 0; +////2024/1/2 YÖáЧ¹û²»´í +// FOCStruct_Y.ZT_KP = 2; +// FOCStruct_Y.ZT_KI = 0; +// FOCStruct_Y.ZT_KD = 0.5; +// +// FOCStruct_Y.V_KP = 0.1; +// FOCStruct_Y.V_KI = 1; +// FOCStruct_Y.V_KD = 0; + ////2024/1/23 xYÖáЧ¹û²»´í // FOCStruct_X.ZT_KP = 2; @@ -50,7 +66,6 @@ void PID_Iint(void) // FOCStruct_Y.V_KP = 0.1; // FOCStruct_Y.V_KI = 1; // FOCStruct_Y.V_KD = 0; - } void setPhaseVoltage(unsigned char motor,float Uq, float Ud, double angle_el) { @@ -67,7 +82,8 @@ void setPhaseVoltage(unsigned char motor,float Uq, float Ud, double angle_el) angle_el = _normalizeAngle(angle_el + atan2(Uq, Ud)); } else - {// only Uq available - no need for atan2 and sqrt + { + // only Uq available - no need for atan2 and sqrt Uout = Uq / Voltage_PowerSupply; // angle normalisation in between 0 and 2pi // only necessary if using _sin and _cos - approximation functions @@ -121,16 +137,16 @@ void setPhaseVoltage(unsigned char motor,float Uq, float Ud, double angle_el) } if (motor == motory) { - __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,Ta*4800); - __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,Tb*4800); - __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,Tc*4800); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,Ta*4800); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_2,Tb*4800); + __HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_3,Tc*4800); } else if (motor == motorx) { - __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,Ta*4800); - __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,Tb*4800); - __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,Tc*4800); + __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_1,Ta*4800); + __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,Tb*4800); + __HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_3,Tc*4800); } } @@ -160,7 +176,7 @@ void speed_closed_loop(unsigned motor,FOCTypeDef *FOCStruct,float V_Target) float V_Pid_I = FOCStruct->V_Pid_IPrev + FOCStruct->V_KI*Ts*0.5*(V_Error + FOCStruct->V_Error_Prev); V_Pid_I = _constrain(V_Pid_I, -Voltage_Limit, Voltage_Limit); - float V_Out = V_Pid_P+V_Pid_I; + float V_Out = V_Pid_P + V_Pid_I; V_Out = _constrain(V_Out, -Voltage_Limit, Voltage_Limit); float V_Acc_Now = (V_Out - FOCStruct->V_Out_Prev)/Ts; diff --git a/APP/mymain.c b/APP/mymain.c index 2fb0794..85472fb 100644 --- a/APP/mymain.c +++ b/APP/mymain.c @@ -6,6 +6,7 @@ void mymain() { + HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); //¿ªÆô´®¿Ú1½ÓÊÕÖÐ¶Ï HAL_Delay(2000); led_init(); tle5012b_init(); @@ -17,13 +18,13 @@ void mymain() float x = 0,y=0; unsigned int i =0; HAL_TIM_Base_Start(&htim5); //Æô¶¯¶¨Ê±Æ÷ - while(i<3300*3) - { - Angel_closed_loop(motorx,&FOCStruct_X,-0.2); - Angel_closed_loop(motory,&FOCStruct_Y,2.3); - i++; - } - i=0; +// while(i<3300*3) +// { +// Angel_closed_loop(motorx,&FOCStruct_X,-0.2); +// Angel_closed_loop(motory,&FOCStruct_Y,2.3); +// i++; +// } +// i=0; LED_ON; while(1) { @@ -33,6 +34,7 @@ void mymain() y = Angle.roll ; Zitai_closed_loop(motorx,&FOCStruct_X,x); Zitai_closed_loop(motory,&FOCStruct_Y,-y); + commander_run(); // x = getAngle(motorx); // y = getAngle(motory); // printf("%fY%f\n",x,y); @@ -45,7 +47,10 @@ void mymain() // } // i++; // - Data_send(x,y); +// Data_send(x,y); // HAL_Delay(3); } -} \ No newline at end of file +} + + + diff --git a/APP/mymain.h b/APP/mymain.h index 35c55ef..ac8c039 100644 --- a/APP/mymain.h +++ b/APP/mymain.h @@ -28,6 +28,8 @@ #include "alldata.h" #include "usart_ano.h" #include "LED.h" +#include "Usart1.h" +#include "LED_RGB.h" void mymain(); #endif //FOC_N_MYMAIN_H diff --git a/Core/Inc/spi.h b/Core/Inc/spi.h index 6a5279d..43636ac 100644 --- a/Core/Inc/spi.h +++ b/Core/Inc/spi.h @@ -34,11 +34,14 @@ extern "C" { extern SPI_HandleTypeDef hspi1; +extern SPI_HandleTypeDef hspi2; + /* USER CODE BEGIN Private defines */ /* USER CODE END Private defines */ void MX_SPI1_Init(void); +void MX_SPI2_Init(void); /* USER CODE BEGIN Prototypes */ diff --git a/Core/Inc/stm32h7xx_it.h b/Core/Inc/stm32h7xx_it.h index 7fcda7d..fb70563 100644 --- a/Core/Inc/stm32h7xx_it.h +++ b/Core/Inc/stm32h7xx_it.h @@ -55,6 +55,7 @@ void SVC_Handler(void); void DebugMon_Handler(void); void PendSV_Handler(void); void SysTick_Handler(void); +void USART1_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h index 82cd2e8..45541ce 100644 --- a/Core/Inc/tim.h +++ b/Core/Inc/tim.h @@ -36,6 +36,8 @@ extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim3; +extern TIM_HandleTypeDef htim4; + extern TIM_HandleTypeDef htim5; /* USER CODE BEGIN Private defines */ @@ -44,6 +46,7 @@ extern TIM_HandleTypeDef htim5; void MX_TIM2_Init(void); void MX_TIM3_Init(void); +void MX_TIM4_Init(void); void MX_TIM5_Init(void); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 0c995c2..46c2592 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -42,6 +42,8 @@ void MX_GPIO_Init(void) /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE(); } diff --git a/Core/Src/main.c b/Core/Src/main.c index 9526a98..6b46a30 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -92,16 +92,18 @@ int main(void) MX_TIM5_Init(); MX_USART1_UART_Init(); MX_SPI1_Init(); + MX_SPI2_Init(); + MX_TIM4_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ - + mymain(); /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ - mymain(); + /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ diff --git a/Core/Src/spi.c b/Core/Src/spi.c index a7f05b6..3678cd5 100644 --- a/Core/Src/spi.c +++ b/Core/Src/spi.c @@ -25,6 +25,7 @@ /* USER CODE END 0 */ SPI_HandleTypeDef hspi1; +SPI_HandleTypeDef hspi2; /* SPI1 init function */ void MX_SPI1_Init(void) @@ -67,6 +68,48 @@ void MX_SPI1_Init(void) /* USER CODE END SPI1_Init 2 */ +} +/* SPI2 init function */ +void MX_SPI2_Init(void) +{ + + /* USER CODE BEGIN SPI2_Init 0 */ + + /* USER CODE END SPI2_Init 0 */ + + /* USER CODE BEGIN SPI2_Init 1 */ + + /* USER CODE END SPI2_Init 1 */ + hspi2.Instance = SPI2; + hspi2.Init.Mode = SPI_MODE_MASTER; + hspi2.Init.Direction = SPI_DIRECTION_2LINES; + hspi2.Init.DataSize = SPI_DATASIZE_8BIT; + hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH; + hspi2.Init.CLKPhase = SPI_PHASE_2EDGE; + hspi2.Init.NSS = SPI_NSS_SOFT; + hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; + hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi2.Init.TIMode = SPI_TIMODE_DISABLE; + hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi2.Init.CRCPolynomial = 0x0; + hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + hspi2.Init.NSSPolarity = SPI_NSS_POLARITY_HIGH; + hspi2.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA; + hspi2.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN; + hspi2.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN; + hspi2.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE; + hspi2.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE; + hspi2.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE; + hspi2.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE; + hspi2.Init.IOSwap = SPI_IO_SWAP_DISABLE; + if (HAL_SPI_Init(&hspi2) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI2_Init 2 */ + + /* USER CODE END SPI2_Init 2 */ + } void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) @@ -109,6 +152,41 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) /* USER CODE END SPI1_MspInit 1 */ } + else if(spiHandle->Instance==SPI2) + { + /* USER CODE BEGIN SPI2_MspInit 0 */ + + /* USER CODE END SPI2_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2; + PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /* SPI2 clock enable */ + __HAL_RCC_SPI2_CLK_ENABLE(); + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**SPI2 GPIO Configuration + PB13 ------> SPI2_SCK + PB14 ------> SPI2_MISO + PB15 ------> SPI2_MOSI + */ + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN SPI2_MspInit 1 */ + + /* USER CODE END SPI2_MspInit 1 */ + } } void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) @@ -133,6 +211,25 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) /* USER CODE END SPI1_MspDeInit 1 */ } + else if(spiHandle->Instance==SPI2) + { + /* USER CODE BEGIN SPI2_MspDeInit 0 */ + + /* USER CODE END SPI2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SPI2_CLK_DISABLE(); + + /**SPI2 GPIO Configuration + PB13 ------> SPI2_SCK + PB14 ------> SPI2_MISO + PB15 ------> SPI2_MOSI + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15); + + /* USER CODE BEGIN SPI2_MspDeInit 1 */ + + /* USER CODE END SPI2_MspDeInit 1 */ + } } /* USER CODE BEGIN 1 */ diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 387c207..2ab5df3 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -55,7 +55,7 @@ /* USER CODE END 0 */ /* External variables --------------------------------------------------------*/ - +extern UART_HandleTypeDef huart1; /* USER CODE BEGIN EV */ /* USER CODE END EV */ @@ -198,6 +198,20 @@ void SysTick_Handler(void) /* please refer to the startup file (startup_stm32h7xx.s). */ /******************************************************************************/ +/** + * @brief This function handles USART1 global interrupt. + */ +void USART1_IRQHandler(void) +{ + /* USER CODE BEGIN USART1_IRQn 0 */ + + /* 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/tim.c b/Core/Src/tim.c index a2353cc..43385ef 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -26,6 +26,7 @@ TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; +TIM_HandleTypeDef htim4; TIM_HandleTypeDef htim5; /* TIM2 init function */ @@ -44,9 +45,9 @@ void MX_TIM2_Init(void) /* USER CODE END TIM2_Init 1 */ htim2.Instance = TIM2; - htim2.Init.Prescaler = 0; + htim2.Init.Prescaler = 1 - 1; htim2.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1; - htim2.Init.Period = 4800-1; + htim2.Init.Period = 4800 - 1; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim2) != HAL_OK) @@ -106,7 +107,7 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 1 */ htim3.Instance = TIM3; - htim3.Init.Prescaler = 0; + htim3.Init.Prescaler = 1 - 1; htim3.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1; htim3.Init.Period = 4800-1; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; @@ -151,6 +152,68 @@ void MX_TIM3_Init(void) /* USER CODE END TIM3_Init 2 */ HAL_TIM_MspPostInit(&htim3); +} +/* TIM4 init function */ +void MX_TIM4_Init(void) +{ + + /* USER CODE BEGIN TIM4_Init 0 */ + + /* USER CODE END TIM4_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; + + /* USER CODE BEGIN TIM4_Init 1 */ + + /* USER CODE END TIM4_Init 1 */ + htim4.Instance = TIM4; + htim4.Init.Prescaler = 240 - 1; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.Period = 255; + htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 0; + sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) + { + Error_Handler(); + } + if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM4_Init 2 */ + + /* USER CODE END TIM4_Init 2 */ + HAL_TIM_MspPostInit(&htim4); + } /* TIM5 init function */ void MX_TIM5_Init(void) @@ -218,6 +281,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM3_MspInit 1 */ } + else if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspInit 0 */ + + /* USER CODE END TIM4_MspInit 0 */ + /* TIM4 clock enable */ + __HAL_RCC_TIM4_CLK_ENABLE(); + /* USER CODE BEGIN TIM4_MspInit 1 */ + + /* USER CODE END TIM4_MspInit 1 */ + } else if(tim_baseHandle->Instance==TIM5) { /* USER CODE BEGIN TIM5_MspInit 0 */ @@ -279,6 +353,29 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) /* USER CODE END TIM3_MspPostInit 1 */ } + else if(timHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspPostInit 0 */ + + /* USER CODE END TIM4_MspPostInit 0 */ + + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**TIM4 GPIO Configuration + PD12 ------> TIM4_CH1 + PD13 ------> TIM4_CH2 + PD14 ------> TIM4_CH3 + */ + GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + GPIO_InitStruct.Alternate = GPIO_AF2_TIM4; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /* USER CODE BEGIN TIM4_MspPostInit 1 */ + + /* USER CODE END TIM4_MspPostInit 1 */ + } } @@ -307,6 +404,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) /* USER CODE END TIM3_MspDeInit 1 */ } + else if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspDeInit 0 */ + + /* USER CODE END TIM4_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM4_CLK_DISABLE(); + /* USER CODE BEGIN TIM4_MspDeInit 1 */ + + /* USER CODE END TIM4_MspDeInit 1 */ + } else if(tim_baseHandle->Instance==TIM5) { /* USER CODE BEGIN TIM5_MspDeInit 0 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index d61c372..6181e40 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -67,6 +67,7 @@ void MX_USART1_UART_Init(void) } /* USER CODE BEGIN USART1_Init 2 */ + /* USER CODE END USART1_Init 2 */ } @@ -106,6 +107,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + /* 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 */ @@ -129,6 +133,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); + /* USART1 interrupt Deinit */ + HAL_NVIC_DisableIRQ(USART1_IRQn); /* USER CODE BEGIN USART1_MspDeInit 1 */ /* USER CODE END USART1_MspDeInit 1 */ diff --git a/IMU/icm42688.c b/IMU/icm42688.c index f2c7e13..7f1f5fd 100644 --- a/IMU/icm42688.c +++ b/IMU/icm42688.c @@ -3,107 +3,43 @@ #include "kalman.h" #include "alldata.h" -// ICM42688¼ÓËٶȼÆÊý¾Ý -float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; -// ICM42688½Ç¼ÓËÙ¶ÈÊý¾Ý -float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; - static float icm42688_acc_inv = 1, icm42688_gyro_inv = 1; void Spi_GPIO_Init() { - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - __HAL_RCC_GPIOB_CLK_ENABLE(); - - /*Configure GPIO pins : PBPin PB12 */ - GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13 |GPIO_PIN_15; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /*Configure GPIO pins : PBPin PB14 */ - GPIO_InitStruct.Pin = GPIO_PIN_14; - GPIO_InitStruct.Mode = GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = GPIO_NOPULL; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + GPIO_InitTypeDef GPIO_InitStruct = {0}; + __HAL_RCC_GPIOB_CLK_ENABLE(); + /*Configure GPIO pins : PBPin PB12 */ + GPIO_InitStruct.Pin = GPIO_PIN_12; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); } void Init_ICM42688(void) { - unsigned char time; - unsigned char model; - Spi_GPIO_Init(); - // ¶ÁÈ¡ÍÓÂÝÒÇÐͺÅÍÓÂÝÒÇ×Ô¼ì - model = 0xff; - while(1) - { - Read_Datas_ICM42688(ICM42688_WHO_AM_I, &model, 1); - if(model == 0x47) - { - // ICM42688 - break; - } - ICM42688_DELAY_MS(10); - } - Write_Data_ICM42688(ICM42688_PWR_MGMT0,0x00); // ¸´Î»É豸 - ICM42688_DELAY_MS(10); // ²Ù×÷ÍêPWR¡ªMGMT0¼Ä´æÆ÷ºó200usÄÚ²»ÄÜÓÐÈκζÁд¼Ä´æÆ÷µÄ²Ù×÷ - - // ÉèÖÃICM42688¼ÓËٶȼƺÍÍÓÂÝÒǵÄÁ¿³ÌºÍÊä³öËÙÂÊ - Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G, ICM42688_AODR_32000HZ, ICM42688_GFS_2000DPS, ICM42688_GODR_32000HZ); - - Write_Data_ICM42688(ICM42688_PWR_MGMT0, 0x0f); // ÉèÖÃGYRO_MODE,ACCEL_MODEΪµÍÔëÉùģʽ - ICM42688_DELAY_MS(10); -} -/** -* -* @brief »ñµÃICM42688ÍÓÂÝÒǼÓËÙ¶È -* @param -* @return void -* @notes µ¥Î»:g(m/s^2),Óû§µ÷Óà -* Example: Get_Acc_ICM42688(); -* -**/ -void Get_Acc_ICM42688(void) -{ - unsigned char dat[6]; - Read_Datas_ICM42688(ICM42688_ACCEL_DATA_X1, dat, 6); - icm42688_acc_x = icm42688_acc_inv * (short int)(((short int)dat[0] << 8) | dat[1]); - icm42688_acc_y = icm42688_acc_inv * (short int)(((short int)dat[2] << 8) | dat[3]); - icm42688_acc_z = icm42688_acc_inv * (short int)(((short int)dat[4] << 8) | dat[5]); + unsigned char model; + Spi_GPIO_Init(); + // ¶ÁÈ¡ÍÓÂÝÒÇÐͺÅÍÓÂÝÒÇ×Ô¼ì + model = 0xff; + while(1) + { + Read_Datas_ICM42688(ICM42688_WHO_AM_I, &model, 1); + if(model == 0x47) + { + break; + } + ICM42688_DELAY_MS(10); + } + Write_Data_ICM42688(ICM42688_PWR_MGMT0,0x00); // ¸´Î»É豸 + ICM42688_DELAY_MS(10); // ²Ù×÷ÍêPWR¡ªMGMT0¼Ä´æÆ÷ºó200usÄÚ²»ÄÜÓÐÈκζÁд¼Ä´æÆ÷µÄ²Ù×÷ + // ÉèÖÃICM42688¼ÓËٶȼƺÍÍÓÂÝÒǵÄÁ¿³ÌºÍÊä³öËÙÂÊ + Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G, ICM42688_AODR_32000HZ, ICM42688_GFS_2000DPS, ICM42688_GODR_32000HZ); + Write_Data_ICM42688(ICM42688_PWR_MGMT0, 0x0f); // ÉèÖÃGYRO_MODE,ACCEL_MODEΪµÍÔëÉùģʽ + ICM42688_DELAY_MS(10); } -/** -* -* @brief »ñµÃICM42688ÍÓÂÝÒǽǼÓËÙ¶È -* @param -* @return void -* @notes µ¥Î»Îª:¡ã/s,Óû§µ÷Óà -* Example: Get_Gyro_ICM42688(); -* -**/ -void Get_Gyro_ICM42688(void) -{ - unsigned char dat[6]; - Read_Datas_ICM42688(ICM42688_GYRO_DATA_X1, dat, 6); - icm42688_gyro_x = icm42688_gyro_inv * (short int)(((short int)dat[0] << 8) | dat[1]); - icm42688_gyro_y = icm42688_gyro_inv * (short int)(((short int)dat[2] << 8) | dat[3]); - icm42688_gyro_z = icm42688_gyro_inv * (short int)(((short int)dat[4] << 8) | dat[5]); -} - -/** -* -* @brief ÉèÖÃICM42688ÍÓÂÝÒǵÍͨÂ˲¨Æ÷´ø¿íºÍÁ¿³Ì -* @param afs // ¼ÓËٶȼÆÁ¿³Ì,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 -* @param aodr // ¼ÓËٶȼÆÊä³öËÙÂÊ,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 -* @param gfs // ÍÓÂÝÒÇÁ¿³Ì,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 -* @param godr // ÍÓÂÝÒÇÊä³öËÙÂÊ,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 -* @return void -* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ -* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ); -* -**/ void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr) { Write_Data_ICM42688(ICM42688_ACCEL_CONFIG0, (afs << 5) | (aodr + 1)); // ³õʼ»¯ACCELÁ¿³ÌºÍÊä³öËÙÂÊ(p77) @@ -111,218 +47,52 @@ void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr switch(afs) { - case ICM42688_AFS_2G: - icm42688_acc_inv = 2000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À2g - break; - case ICM42688_AFS_4G: - icm42688_acc_inv = 4000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À4g - break; - case ICM42688_AFS_8G: - icm42688_acc_inv = 8000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À8g - break; - case ICM42688_AFS_16G: - icm42688_acc_inv = 16000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À16g - break; - default: - icm42688_acc_inv = 1; // ²»×ª»¯ÎªÊµ¼ÊÊý¾Ý - break; + case ICM42688_AFS_2G: + icm42688_acc_inv = 2000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À2g + break; + case ICM42688_AFS_4G: + icm42688_acc_inv = 4000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À4g + break; + case ICM42688_AFS_8G: + icm42688_acc_inv = 8000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À8g + break; + case ICM42688_AFS_16G: + icm42688_acc_inv = 16000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À16g + break; + default: + icm42688_acc_inv = 1; // ²»×ª»¯ÎªÊµ¼ÊÊý¾Ý + break; } switch(gfs) { - case ICM42688_GFS_15_625DPS: - icm42688_gyro_inv = 15.625f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À15.625dps - break; - case ICM42688_GFS_31_25DPS: - icm42688_gyro_inv = 31.25f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À31.25dps - break; - case ICM42688_GFS_62_5DPS: - icm42688_gyro_inv = 62.5f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À62.5dps - break; - case ICM42688_GFS_125DPS: - icm42688_gyro_inv = 125.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À125dps - break; - case ICM42688_GFS_250DPS: - icm42688_gyro_inv = 250.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À250dps - break; - case ICM42688_GFS_500DPS: - icm42688_gyro_inv = 500.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À500dps - break; - case ICM42688_GFS_1000DPS: - icm42688_gyro_inv = 1000.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À1000dps - break; - case ICM42688_GFS_2000DPS: - icm42688_gyro_inv = 2000.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À2000dps - break; - default: - icm42688_gyro_inv = 1; // ²»×ª»¯ÎªÊµ¼ÊÊý¾Ý - break; + case ICM42688_GFS_15_625DPS: + icm42688_gyro_inv = 15.625f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À15.625dps + break; + case ICM42688_GFS_31_25DPS: + icm42688_gyro_inv = 31.25f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À31.25dps + break; + case ICM42688_GFS_62_5DPS: + icm42688_gyro_inv = 62.5f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À62.5dps + break; + case ICM42688_GFS_125DPS: + icm42688_gyro_inv = 125.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À125dps + break; + case ICM42688_GFS_250DPS: + icm42688_gyro_inv = 250.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À250dps + break; + case ICM42688_GFS_500DPS: + icm42688_gyro_inv = 500.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À500dps + break; + case ICM42688_GFS_1000DPS: + icm42688_gyro_inv = 1000.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À1000dps + break; + case ICM42688_GFS_2000DPS: + icm42688_gyro_inv = 2000.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À2000dps + break; + default: + icm42688_gyro_inv = 1; // ²»×ª»¯ÎªÊµ¼ÊÊý¾Ý + break; } -} - -/** -* -* @brief ICM42688ÍÓÂÝÒÇд8bitÊý¾Ý -* @param data Êý¾Ý -* @return void -* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ -* Example: Write_8bit_ICM42688(0x00); -* -**/ -static void Write_8bit_ICM42688(unsigned char dat) -{ - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - if(0x80 & dat) - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); - } - else - { - sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); - } - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - dat <<= 1; -} - -/** -* -* @brief ICM42688ÍÓÂÝÒǶÁ8bitÊý¾Ý -* @param data Êý¾Ý -* @return void -* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ -* Example: Read_8bit_ICM42688(dat); -* -**/ -static void Read_8bit_ICM42688(unsigned char *dat) -{ - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); - - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); - *dat = *dat << 1; - *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); - HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); } /** @@ -337,10 +107,10 @@ static void Read_8bit_ICM42688(unsigned char *dat) **/ static void Write_Data_ICM42688(unsigned char reg, unsigned char dat) { - sys_gpio_pin_set(GPIOB,GPIO_PIN_12,0); - Write_8bit_ICM42688(reg); - Write_8bit_ICM42688(dat); - sys_gpio_pin_set(GPIOB,GPIO_PIN_12,1); + HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,0); + HAL_SPI_Transmit(&hspi2, ®, 1, 0xff); + HAL_SPI_Transmit(&hspi2, &dat, 1, 0xff); + HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,1); } /** @@ -356,11 +126,17 @@ static void Write_Data_ICM42688(unsigned char reg, unsigned char dat) **/ static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num) { - sys_gpio_pin_set(GPIOB,GPIO_PIN_12,0); + uint8_t Data; reg |= 0x80; - Write_8bit_ICM42688(reg); - while(num--) Read_8bit_ICM42688(dat++); - sys_gpio_pin_set(GPIOB,GPIO_PIN_12,1); + HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,0); + HAL_SPI_Transmit(&hspi2, ®, 1, 0xff ); + while(num--) + { + HAL_SPI_Receive(&hspi2,&Data, 1, 0xff); + *dat = Data; + dat++; + } + HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,1); } /* ¶ÁÈ¡MPU6050Êý¾Ý²¢¼ÓÂ˲¨ */ //·µ»ØÖµ:0,Õý³£ @@ -371,72 +147,522 @@ int16_t MpuOffset[6] = {0}; //MPU6050 uint8_t MpuGetData(void) { - uint8_t i; - int res; - unsigned char buffer[12]; - Read_Datas_ICM42688(ICM42688_ACCEL_DATA_X1,buffer,12); + uint8_t i; + int res; + uint8_t buffer[12]; + Read_Datas_ICM42688(ICM42688_ACCEL_DATA_X1,buffer,12); - for(i=0;i<6;i++) - { - pMpu[i] = (((int16_t)buffer[i<<1] << 8) | buffer[(i<<1)+1])-MpuOffset[i]; /* ½«Êý¾ÝÕûΪ16bit£¬²¢¼õȥˮƽУ׼ֵ */ - if(i < 3) /* ½Ç¼ÓËٶȿ¨¶ûÂüÂ˲¨ */ - { - { - static struct KalmanFilter EKF[3] = {{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543}}; - kalmanfiter(&EKF[i],(float)pMpu[i]); - pMpu[i] = (int16_t)EKF[i].Out; - } - } - if(i > 2) /* ½ÇËÙ¶ÈÒ»½×»¥²¹Â˲¨ */ - { - uint8_t k=i-3; - const float factor = 0.15f; - static float tBuff[3]; - - pMpu[i] = tBuff[k] = tBuff[k] * (1 - factor) + pMpu[i] * factor; - } - } - return 0; -} - -void get_IMU(float *pitch,float *roll) -{ - *roll = atan2(ICM42688.accY, ICM42688.accZ) * 180.0 / _PI; - *pitch = atan2(-ICM42688.accX, sqrt(ICM42688.accX * ICM42688.accY + ICM42688.accZ * ICM42688.accZ)) * 180.0 / _PI; - -// *roll = atan2(ICM42688.accY, ICM42688.accZ); -// *pitch = atan2(-ICM42688.accX, sqrt(ICM42688.accX * ICM42688.accY + ICM42688.accZ * ICM42688.accZ)); -} - -/** -ÉèÖÃÒý½Åµçƽ - */ -void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status) -{ - if (status & 0X01) + for(i=0;i<6;i++) { - p_gpiox->BSRR |= pinx; - } - else - { - p_gpiox->BSRR |= (uint32_t)pinx << 16; - } -} + pMpu[i] = (((int16_t)buffer[i<<1] << 8) | buffer[(i<<1)+1])-MpuOffset[i]; /* ½«Êý¾ÝÕûΪ16bit£¬²¢¼õȥˮƽУ׼ֵ */ + if(i < 3) /* ½Ç¼ÓËٶȿ¨¶ûÂüÂ˲¨ */ + { + { + static struct KalmanFilter EKF[3] = {{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543}}; + kalmanfiter(&EKF[i],(float)pMpu[i]); + pMpu[i] = (int16_t)EKF[i].Out; + } + } + if(i > 2) /* ½ÇËÙ¶ÈÒ»½×»¥²¹Â˲¨ */ + { + uint8_t k=i-3; + const float factor = 0.15f; + static float tBuff[3]; -/** - * ¶ÁÈ¡Òý½Åµçƽ - */ -uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx) -{ - if (p_gpiox->IDR & pinx) - { - return 1; - } - else - { - return 0; + pMpu[i] = tBuff[k] = tBuff[k] * (1 - factor) + pMpu[i] * factor; + } } + return 0; } + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +/////////////Ä£Äâspi°æ±¾ +//#include "icm42688.h" +// +//#include "kalman.h" +//#include "alldata.h" +// +//// ICM42688¼ÓËٶȼÆÊý¾Ý +//float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; +//// ICM42688½Ç¼ÓËÙ¶ÈÊý¾Ý +//float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; +// +//static float icm42688_acc_inv = 1, icm42688_gyro_inv = 1; +// +//void Spi_GPIO_Init() +//{ +// +// GPIO_InitTypeDef GPIO_InitStruct = {0}; +// __HAL_RCC_GPIOB_CLK_ENABLE(); +// +// /*Configure GPIO pins : PBPin PB12 */ +// GPIO_InitStruct.Pin = GPIO_PIN_12 | GPIO_PIN_13 |GPIO_PIN_15; +// GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; +// GPIO_InitStruct.Pull = GPIO_NOPULL; +// GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; +// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); +// +// /*Configure GPIO pins : PBPin PB14 */ +// GPIO_InitStruct.Pin = GPIO_PIN_14; +// GPIO_InitStruct.Mode = GPIO_MODE_INPUT; +// GPIO_InitStruct.Pull = GPIO_NOPULL; +// HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); +//} +// +//void Init_ICM42688(void) +//{ +// unsigned char time; +// unsigned char model; +// Spi_GPIO_Init(); +// // ¶ÁÈ¡ÍÓÂÝÒÇÐͺÅÍÓÂÝÒÇ×Ô¼ì +// model = 0xff; +// while(1) +// { +// Read_Datas_ICM42688(ICM42688_WHO_AM_I, &model, 1); +// if(model == 0x47) +// { +// // ICM42688 +// break; +// } +// ICM42688_DELAY_MS(10); +// } +// Write_Data_ICM42688(ICM42688_PWR_MGMT0,0x00); // ¸´Î»É豸 +// ICM42688_DELAY_MS(10); // ²Ù×÷ÍêPWR¡ªMGMT0¼Ä´æÆ÷ºó200usÄÚ²»ÄÜÓÐÈκζÁд¼Ä´æÆ÷µÄ²Ù×÷ +// +// // ÉèÖÃICM42688¼ÓËٶȼƺÍÍÓÂÝÒǵÄÁ¿³ÌºÍÊä³öËÙÂÊ +// Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G, ICM42688_AODR_32000HZ, ICM42688_GFS_2000DPS, ICM42688_GODR_32000HZ); +// +// Write_Data_ICM42688(ICM42688_PWR_MGMT0, 0x0f); // ÉèÖÃGYRO_MODE,ACCEL_MODEΪµÍÔëÉùģʽ +// ICM42688_DELAY_MS(10); +//} +///** +//* +//* @brief »ñµÃICM42688ÍÓÂÝÒǼÓËÙ¶È +//* @param +//* @return void +//* @notes µ¥Î»:g(m/s^2),Óû§µ÷Óà +//* Example: Get_Acc_ICM42688(); +//* +//**/ +//void Get_Acc_ICM42688(void) +//{ +// unsigned char dat[6]; +// Read_Datas_ICM42688(ICM42688_ACCEL_DATA_X1, dat, 6); +// icm42688_acc_x = icm42688_acc_inv * (short int)(((short int)dat[0] << 8) | dat[1]); +// icm42688_acc_y = icm42688_acc_inv * (short int)(((short int)dat[2] << 8) | dat[3]); +// icm42688_acc_z = icm42688_acc_inv * (short int)(((short int)dat[4] << 8) | dat[5]); +//} +// +///** +//* +//* @brief »ñµÃICM42688ÍÓÂÝÒǽǼÓËÙ¶È +//* @param +//* @return void +//* @notes µ¥Î»Îª:¡ã/s,Óû§µ÷Óà +//* Example: Get_Gyro_ICM42688(); +//* +//**/ +//void Get_Gyro_ICM42688(void) +//{ +// unsigned char dat[6]; +// Read_Datas_ICM42688(ICM42688_GYRO_DATA_X1, dat, 6); +// icm42688_gyro_x = icm42688_gyro_inv * (short int)(((short int)dat[0] << 8) | dat[1]); +// icm42688_gyro_y = icm42688_gyro_inv * (short int)(((short int)dat[2] << 8) | dat[3]); +// icm42688_gyro_z = icm42688_gyro_inv * (short int)(((short int)dat[4] << 8) | dat[5]); +//} +// +///** +//* +//* @brief ÉèÖÃICM42688ÍÓÂÝÒǵÍͨÂ˲¨Æ÷´ø¿íºÍÁ¿³Ì +//* @param afs // ¼ÓËٶȼÆÁ¿³Ì,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 +//* @param aodr // ¼ÓËٶȼÆÊä³öËÙÂÊ,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 +//* @param gfs // ÍÓÂÝÒÇÁ¿³Ì,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 +//* @param godr // ÍÓÂÝÒÇÊä³öËÙÂÊ,¿ÉÔÚdmx_icm42688.hÎļþÀïö¾Ù¶¨ÒåÖв鿴 +//* @return void +//* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ +//* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ); +//* +//**/ +//void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr) +//{ +// Write_Data_ICM42688(ICM42688_ACCEL_CONFIG0, (afs << 5) | (aodr + 1)); // ³õʼ»¯ACCELÁ¿³ÌºÍÊä³öËÙÂÊ(p77) +// Write_Data_ICM42688(ICM42688_GYRO_CONFIG0, (gfs << 5) | (godr + 1)); // ³õʼ»¯GYROÁ¿³ÌºÍÊä³öËÙÂÊ(p76) +// +// switch(afs) +// { +// case ICM42688_AFS_2G: +// icm42688_acc_inv = 2000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À2g +// break; +// case ICM42688_AFS_4G: +// icm42688_acc_inv = 4000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À4g +// break; +// case ICM42688_AFS_8G: +// icm42688_acc_inv = 8000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À8g +// break; +// case ICM42688_AFS_16G: +// icm42688_acc_inv = 16000 / 32768.0f; // ¼ÓËٶȼÆÁ¿³ÌΪ:¡À16g +// break; +// default: +// icm42688_acc_inv = 1; // ²»×ª»¯ÎªÊµ¼ÊÊý¾Ý +// break; +// } +// switch(gfs) +// { +// case ICM42688_GFS_15_625DPS: +// icm42688_gyro_inv = 15.625f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À15.625dps +// break; +// case ICM42688_GFS_31_25DPS: +// icm42688_gyro_inv = 31.25f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À31.25dps +// break; +// case ICM42688_GFS_62_5DPS: +// icm42688_gyro_inv = 62.5f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À62.5dps +// break; +// case ICM42688_GFS_125DPS: +// icm42688_gyro_inv = 125.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À125dps +// break; +// case ICM42688_GFS_250DPS: +// icm42688_gyro_inv = 250.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À250dps +// break; +// case ICM42688_GFS_500DPS: +// icm42688_gyro_inv = 500.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À500dps +// break; +// case ICM42688_GFS_1000DPS: +// icm42688_gyro_inv = 1000.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À1000dps +// break; +// case ICM42688_GFS_2000DPS: +// icm42688_gyro_inv = 2000.0f / 32768.0f; // ÍÓÂÝÒÇÁ¿³ÌΪ:¡À2000dps +// break; +// default: +// icm42688_gyro_inv = 1; // ²»×ª»¯ÎªÊµ¼ÊÊý¾Ý +// break; +// } +//} +// +///** +//* +//* @brief ICM42688ÍÓÂÝÒÇд8bitÊý¾Ý +//* @param data Êý¾Ý +//* @return void +//* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ +//* Example: Write_8bit_ICM42688(0x00); +//* +//**/ +//static void Write_8bit_ICM42688(unsigned char dat) +//{ +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// if(0x80 & dat) +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,1); +// } +// else +// { +// sys_gpio_pin_set(GPIOB,GPIO_PIN_15,0); +// } +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// dat <<= 1; +//} +// +///** +//* +//* @brief ICM42688ÍÓÂÝÒǶÁ8bitÊý¾Ý +//* @param data Êý¾Ý +//* @return void +//* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ +//* Example: Read_8bit_ICM42688(dat); +//* +//**/ +//static void Read_8bit_ICM42688(unsigned char *dat) +//{ +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +// +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,0); +// *dat = *dat << 1; +// *dat |=sys_gpio_pin_get(GPIOB,GPIO_PIN_14); +// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,1); +//} +// +///** +//* +//* @brief ICM42688ÍÓÂÝÒÇдÊý¾Ý +//* @param reg ¼Ä´æÆ÷ +//* @param data ÐèҪд½ø¸Ã¼Ä´æÆ÷µÄÊý¾Ý +//* @return void +//* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ +//* Example: Write_Data_ICM42688(0x00,0x00); +//* +//**/ +//static void Write_Data_ICM42688(unsigned char reg, unsigned char dat) +//{ +// sys_gpio_pin_set(GPIOB,GPIO_PIN_12,0); +// Write_8bit_ICM42688(reg); +// Write_8bit_ICM42688(dat); +// sys_gpio_pin_set(GPIOB,GPIO_PIN_12,1); +//} +// +///** +//* +//* @brief ICM42688ÍÓÂÝÒǶÁÊý¾Ý +//* @param reg ¼Ä´æÆ÷ +//* @param data °Ñ¶Á³öµÄÊý¾Ý´æÈëdata +//* @param num Êý¾Ý¸öÊý +//* @return void +//* @notes ICM42688.cÎļþÄÚ²¿µ÷ÓÃ,Óû§ÎÞÐèµ÷Óó¢ÊÔ +//* Example: Read_Datas_ICM42688(0x00,0x00,1); +//* +//**/ +//static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num) +//{ +// sys_gpio_pin_set(GPIOB,GPIO_PIN_12,0); +// reg |= 0x80; +// Write_8bit_ICM42688(reg); +// while(num--) Read_8bit_ICM42688(dat++); +// sys_gpio_pin_set(GPIOB,GPIO_PIN_12,1); +//} +///* ¶ÁÈ¡MPU6050Êý¾Ý²¢¼ÓÂ˲¨ */ +////·µ»ØÖµ:0,Õý³£ +////ÆäËû,´íÎó´úÂë +//_st_Mpu ICM42688; +//static volatile int16_t *pMpu = (int16_t *)&ICM42688; +//int16_t MpuOffset[6] = {0}; //MPU6050²¹³¥ÊýÖµ +// +//uint8_t MpuGetData(void) +//{ +// uint8_t i; +// int res; +// unsigned char buffer[12]; +// Read_Datas_ICM42688(ICM42688_ACCEL_DATA_X1,buffer,12); +// +// for(i=0;i<6;i++) +// { +// pMpu[i] = (((int16_t)buffer[i<<1] << 8) | buffer[(i<<1)+1])-MpuOffset[i]; /* ½«Êý¾ÝÕûΪ16bit£¬²¢¼õȥˮƽУ׼ֵ */ +// if(i < 3) /* ½Ç¼ÓËٶȿ¨¶ûÂüÂ˲¨ */ +// { +// { +// static struct KalmanFilter EKF[3] = {{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543}}; +// kalmanfiter(&EKF[i],(float)pMpu[i]); +// pMpu[i] = (int16_t)EKF[i].Out; +// } +// } +// if(i > 2) /* ½ÇËÙ¶ÈÒ»½×»¥²¹Â˲¨ */ +// { +// uint8_t k=i-3; +// const float factor = 0.15f; +// static float tBuff[3]; +// +// pMpu[i] = tBuff[k] = tBuff[k] * (1 - factor) + pMpu[i] * factor; +// } +// } +// return 0; +//} +// +//void get_IMU(float *pitch,float *roll) +//{ +// *roll = atan2(ICM42688.accY, ICM42688.accZ) * 180.0 / _PI; +// *pitch = atan2(-ICM42688.accX, sqrt(ICM42688.accX * ICM42688.accY + ICM42688.accZ * ICM42688.accZ)) * 180.0 / _PI; +// +//// *roll = atan2(ICM42688.accY, ICM42688.accZ); +//// *pitch = atan2(-ICM42688.accX, sqrt(ICM42688.accX * ICM42688.accY + ICM42688.accZ * ICM42688.accZ)); +//} +// +///** +//ÉèÖÃÒý½Åµçƽ +// */ +//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status) +//{ +// if (status & 0X01) +// { +// p_gpiox->BSRR |= pinx; +// } +// else +// { +// p_gpiox->BSRR |= (uint32_t)pinx << 16; +// } +//} +// +///** +// * ¶ÁÈ¡Òý½Åµçƽ +// */ +//uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx) +//{ +// if (p_gpiox->IDR & pinx) +// { +// return 1; +// } +// else +// { +// return 0; +// } +//} +// +// +// diff --git a/IMU/icm42688.h b/IMU/icm42688.h index 7b74c64..c1c6b82 100644 --- a/IMU/icm42688.h +++ b/IMU/icm42688.h @@ -4,10 +4,7 @@ #include "mymain.h" #define ICM42688_DELAY_MS(time) (HAL_Delay(time)) -extern float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; // ����ICM42688���ٶȼ����� -extern float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; // ����ICM42688�Ǽ��ٶ����� -static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num); -static void Write_Data_ICM42688(unsigned char reg, unsigned char dat); + enum icm42688_afs { ICM42688_AFS_16G,// default @@ -69,58 +66,7 @@ enum icm42688_godr NUM_ICM42688_GODR }; -void gpio_init(void); -/** -* -* @brief ICM42688�����dz�ʼ�� -* @param -* @return void -* @notes �û����� -* Example: Init_ICM42688(); -* -**/ -void Init_ICM42688(void); -//void get_IMU(float accx,float accy,float accz,float *pitch,float *roll); -void get_IMU(float *pitch,float *roll); -uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx); -void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status); -/** -* -* @brief ���ICM42688�����Ǽ��ٶ� -* @param -* @return void -* @notes ��λ:g(m/s^2),�û����� -* Example: Get_Acc_ICM42688(); -* -**/ -void Get_Acc_ICM42688(void); - -/** -* -* @brief ���ICM42688�����ǽǼ��ٶ� -* @param -* @return void -* @notes ��λΪ:��/s,�û����� -* Example: Get_Gyro_ICM42688(); -* -**/ -void Get_Gyro_ICM42688(void); - -/** -* -* @brief ����ICM42688�����ǵ�ͨ�˲������������ -* @param afs // ���ٶȼ�����,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 -* @param aodr // ���ٶȼ��������,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 -* @param gfs // ����������,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 -* @param godr // �������������,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 -* @return void -* @notes ICM42688.c�ļ��ڲ�����,�û�������ó��� -* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ); -* -**/ -void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr); -uint8_t MpuGetData(void); // ICM42688Bank0�ڲ���ַ #define ICM42688_DEVICE_CONFIG 0x11 #define ICM42688_DRIVE_CONFIG 0x13 @@ -201,4 +147,257 @@ uint8_t MpuGetData(void); #define ICM42688_INTF_CONFIG5 0x7B #define ICM42688_INTF_CONFIG6 0x7C -#endif \ No newline at end of file + +static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num); +static void Write_Data_ICM42688(unsigned char reg, unsigned char dat); +void Init_ICM42688(void); +//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status); +void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr); +uint8_t MpuGetData(void); + + +#endif + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +//#ifndef _DMX_ICM42688_H_ +//#define _DMX_ICM42688_H_ +//#include "stm32h7xx_hal.h" +//#include "mymain.h" +//#define ICM42688_DELAY_MS(time) (HAL_Delay(time)) +// +//extern float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; // ����ICM42688���ٶȼ����� +//extern float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; // ����ICM42688�Ǽ��ٶ����� +//static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num); +//static void Write_Data_ICM42688(unsigned char reg, unsigned char dat); +//enum icm42688_afs +//{ +// ICM42688_AFS_16G,// default +// ICM42688_AFS_8G, +// ICM42688_AFS_4G, +// ICM42688_AFS_2G, +// NUM_ICM42688__AFS +//}; +// +//enum icm42688_aodr +//{ +// ICM42688_AODR_32000HZ, +// ICM42688_AODR_16000HZ, +// ICM42688_AODR_8000HZ, +// ICM42688_AODR_4000HZ, +// ICM42688_AODR_2000HZ, +// ICM42688_AODR_1000HZ,// default +// ICM42688_AODR_200HZ, +// ICM42688_AODR_100HZ, +// ICM42688_AODR_50HZ, +// ICM42688_AODR_25HZ, +// ICM42688_AODR_12_5HZ, +// ICM42688_AODR_6_25HZ, +// ICM42688_AODR_3_125HZ, +// ICM42688_AODR_1_5625HZ, +// ICM42688_AODR_500HZ, +// NUM_ICM42688_AODR +//}; +// +//enum icm42688_gfs +//{ +// ICM42688_GFS_2000DPS,// default +// ICM42688_GFS_1000DPS, +// ICM42688_GFS_500DPS, +// ICM42688_GFS_250DPS, +// ICM42688_GFS_125DPS, +// ICM42688_GFS_62_5DPS, +// ICM42688_GFS_31_25DPS, +// ICM42688_GFS_15_625DPS, +// NUM_ICM42688_GFS +//}; +//enum icm42688_godr +//{ +// ICM42688_GODR_32000HZ, +// ICM42688_GODR_16000HZ, +// ICM42688_GODR_8000HZ, +// ICM42688_GODR_4000HZ, +// ICM42688_GODR_2000HZ, +// ICM42688_GODR_1000HZ,// default +// ICM42688_GODR_200HZ, +// ICM42688_GODR_100HZ, +// ICM42688_GODR_50HZ, +// ICM42688_GODR_25HZ, +// ICM42688_GODR_12_5HZ, +// ICM42688_GODR_X0HZ, +// ICM42688_GODR_X1HZ, +// ICM42688_GODR_X2HZ, +// ICM42688_GODR_500HZ, +// NUM_ICM42688_GODR +//}; +// +//void gpio_init(void); +// +///** +//* +//* @brief ICM42688�����dz�ʼ�� +//* @param +//* @return void +//* @notes �û����� +//* Example: Init_ICM42688(); +//* +//**/ +//void Init_ICM42688(void); +////void get_IMU(float accx,float accy,float accz,float *pitch,float *roll); +//void get_IMU(float *pitch,float *roll); +//uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx); +//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status); +///** +//* +//* @brief ���ICM42688�����Ǽ��ٶ� +//* @param +//* @return void +//* @notes ��λ:g(m/s^2),�û����� +//* Example: Get_Acc_ICM42688(); +//* +//**/ +//void Get_Acc_ICM42688(void); +// +///** +//* +//* @brief ���ICM42688�����ǽǼ��ٶ� +//* @param +//* @return void +//* @notes ��λΪ:��/s,�û����� +//* Example: Get_Gyro_ICM42688(); +//* +//**/ +//void Get_Gyro_ICM42688(void); +// +///** +//* +//* @brief ����ICM42688�����ǵ�ͨ�˲������������ +//* @param afs // ���ٶȼ�����,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 +//* @param aodr // ���ٶȼ��������,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 +//* @param gfs // ����������,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 +//* @param godr // �������������,����dmx_icm42688.h�ļ���ö�ٶ����в鿴 +//* @return void +//* @notes ICM42688.c�ļ��ڲ�����,�û�������ó��� +//* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ); +//* +//**/ +//void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr); +//uint8_t MpuGetData(void); +//// ICM42688Bank0�ڲ���ַ +//#define ICM42688_DEVICE_CONFIG 0x11 +//#define ICM42688_DRIVE_CONFIG 0x13 +//#define ICM42688_INT_CONFIG 0x14 +//#define ICM42688_FIFO_CONFIG 0x16 +//#define ICM42688_TEMP_DATA1 0x1D +//#define ICM42688_TEMP_DATA0 0x1E +//#define ICM42688_ACCEL_DATA_X1 0x1F +//#define ICM42688_ACCEL_DATA_X0 0x20 +//#define ICM42688_ACCEL_DATA_Y1 0x21 +//#define ICM42688_ACCEL_DATA_Y0 0x22 +//#define ICM42688_ACCEL_DATA_Z1 0x23 +//#define ICM42688_ACCEL_DATA_Z0 0x24 +//#define ICM42688_GYRO_DATA_X1 0x25 +//#define ICM42688_GYRO_DATA_X0 0x26 +//#define ICM42688_GYRO_DATA_Y1 0x27 +//#define ICM42688_GYRO_DATA_Y0 0x28 +//#define ICM42688_GYRO_DATA_Z1 0x29 +//#define ICM42688_GYRO_DATA_Z0 0x2A +//#define ICM42688_TMST_FSYNCH 0x2B +//#define ICM42688_TMST_FSYNCL 0x2C +//#define ICM42688_INT_STATUS 0x2D +//#define ICM42688_FIFO_COUNTH 0x2E +//#define ICM42688_FIFO_COUNTL 0x2F +//#define ICM42688_FIFO_DATA 0x30 +//#define ICM42688_APEX_DATA0 0x31 +//#define ICM42688_APEX_DATA1 0x32 +//#define ICM42688_APEX_DATA2 0x33 +//#define ICM42688_APEX_DATA3 0x34 +//#define ICM42688_APEX_DATA4 0x35 +//#define ICM42688_APEX_DATA5 0x36 +//#define ICM42688_INT_STATUS2 0x37 +//#define ICM42688_INT_STATUS3 0x38 +//#define ICM42688_SIGNAL_PATH_RESET 0x4B +//#define ICM42688_INTF_CONFIG0 0x4C +//#define ICM42688_INTF_CONFIG1 0x4D +//#define ICM42688_PWR_MGMT0 0x4E +//#define ICM42688_GYRO_CONFIG0 0x4F +//#define ICM42688_ACCEL_CONFIG0 0x50 +//#define ICM42688_GYRO_CONFIG1 0x51 +//#define ICM42688_GYRO_ACCEL_CONFIG0 0x52 +//#define ICM42688_ACCEL_CONFIG1 0x53 +//#define ICM42688_TMST_CONFIG 0x54 +//#define ICM42688_APEX_CONFIG0 0x56 +//#define ICM42688_SMD_CONFIG 0x57 +//#define ICM42688_FIFO_CONFIG1 0x5F +//#define ICM42688_FIFO_CONFIG2 0x60 +//#define ICM42688_FIFO_CONFIG3 0x61 +//#define ICM42688_FSYNC_CONFIG 0x62 +//#define ICM42688_INT_CONFIG0 0x63 +//#define ICM42688_INT_CONFIG1 0x64 +//#define ICM42688_INT_SOURCE0 0x65 +//#define ICM42688_INT_SOURCE1 0x66 +//#define ICM42688_INT_SOURCE3 0x68 +//#define ICM42688_INT_SOURCE4 0x69 +//#define ICM42688_FIFO_LOST_PKT0 0x6C +//#define ICM42688_FIFO_LOST_PKT1 0x6D +//#define ICM42688_SELF_TEST_CONFIG 0x70 +//#define ICM42688_WHO_AM_I 0x75 +//#define ICM42688_REG_BANK_SEL 0x76 // Banks +//#define ICM42688_SENSOR_CONFIG0 0x03 +//#define ICM42688_GYRO_CONFIG_STATIC2 0x0B +//#define ICM42688_GYRO_CONFIG_STATIC3 0x0C +//#define ICM42688_GYRO_CONFIG_STATIC4 0x0D +//#define ICM42688_GYRO_CONFIG_STATIC5 0x0E +//#define ICM42688_GYRO_CONFIG_STATIC6 0x0F +//#define ICM42688_GYRO_CONFIG_STATIC7 0x10 +//#define ICM42688_GYRO_CONFIG_STATIC8 0x11 +//#define ICM42688_GYRO_CONFIG_STATIC9 0x12 +//#define ICM42688_GYRO_CONFIG_STATIC10 0x13 +//#define ICM42688_XG_ST_DATA 0x5F +//#define ICM42688_YG_ST_DATA 0x60 +//#define ICM42688_ZG_ST_DATA 0x61 +//#define ICM42688_TMSTVAL0 0x62 +//#define ICM42688_TMSTVAL1 0x63 +//#define ICM42688_TMSTVAL2 0x64 +//#define ICM42688_INTF_CONFIG4 0x7A +//#define ICM42688_INTF_CONFIG5 0x7B +//#define ICM42688_INTF_CONFIG6 0x7C +// +//#endif \ No newline at end of file diff --git a/foc_n.ioc b/foc_n.ioc index 2296693..a659f65 100644 --- a/foc_n.ioc +++ b/foc_n.ioc @@ -6,34 +6,43 @@ Mcu.CPN=STM32H750VBT6 Mcu.Family=STM32H7 Mcu.IP0=CORTEX_M7 Mcu.IP1=NVIC +Mcu.IP10=USART1 Mcu.IP2=RCC Mcu.IP3=SPI1 -Mcu.IP4=SYS -Mcu.IP5=TIM2 -Mcu.IP6=TIM3 -Mcu.IP7=TIM5 -Mcu.IP8=USART1 -Mcu.IPNb=9 +Mcu.IP4=SPI2 +Mcu.IP5=SYS +Mcu.IP6=TIM2 +Mcu.IP7=TIM3 +Mcu.IP8=TIM4 +Mcu.IP9=TIM5 +Mcu.IPNb=11 Mcu.Name=STM32H750VBTx Mcu.Package=LQFP100 Mcu.Pin0=PH0-OSC_IN (PH0) Mcu.Pin1=PH1-OSC_OUT (PH1) -Mcu.Pin10=PC8 -Mcu.Pin11=PA9 -Mcu.Pin12=PA10 -Mcu.Pin13=VP_SYS_VS_Systick -Mcu.Pin14=VP_TIM2_VS_ClockSourceINT -Mcu.Pin15=VP_TIM3_VS_ClockSourceINT -Mcu.Pin16=VP_TIM5_VS_ClockSourceINT +Mcu.Pin10=PB15 +Mcu.Pin11=PD12 +Mcu.Pin12=PD13 +Mcu.Pin13=PD14 +Mcu.Pin14=PC6 +Mcu.Pin15=PC7 +Mcu.Pin16=PC8 +Mcu.Pin17=PA9 +Mcu.Pin18=PA10 +Mcu.Pin19=VP_SYS_VS_Systick Mcu.Pin2=PA0 +Mcu.Pin20=VP_TIM2_VS_ClockSourceINT +Mcu.Pin21=VP_TIM3_VS_ClockSourceINT +Mcu.Pin22=VP_TIM4_VS_ClockSourceINT +Mcu.Pin23=VP_TIM5_VS_ClockSourceINT Mcu.Pin3=PA1 Mcu.Pin4=PA2 Mcu.Pin5=PA5 Mcu.Pin6=PA6 Mcu.Pin7=PA7 -Mcu.Pin8=PC6 -Mcu.Pin9=PC7 -Mcu.PinsNb=17 +Mcu.Pin8=PB13 +Mcu.Pin9=PB14 +Mcu.PinsNb=24 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32H750VBTx @@ -49,6 +58,7 @@ 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 PA0.Locked=true PA0.Signal=S_TIM2_CH1_ETR @@ -71,12 +81,27 @@ PA7.Signal=SPI1_MOSI PA9.Locked=true PA9.Mode=Asynchronous PA9.Signal=USART1_TX +PB13.Locked=true +PB13.Mode=Full_Duplex_Master +PB13.Signal=SPI2_SCK +PB14.Locked=true +PB14.Mode=Full_Duplex_Master +PB14.Signal=SPI2_MISO +PB15.Locked=true +PB15.Mode=Full_Duplex_Master +PB15.Signal=SPI2_MOSI PC6.Locked=true PC6.Signal=S_TIM3_CH1 PC7.Locked=true PC7.Signal=S_TIM3_CH2 PC8.Locked=true PC8.Signal=S_TIM3_CH3 +PD12.Locked=true +PD12.Signal=S_TIM4_CH1 +PD13.Locked=true +PD13.Signal=S_TIM4_CH2 +PD14.Locked=true +PD14.Signal=S_TIM4_CH3 PH0-OSC_IN\ (PH0).Mode=HSE-External-Oscillator PH0-OSC_IN\ (PH0).Signal=RCC_OSC_IN PH1-OSC_OUT\ (PH1).Mode=HSE-External-Oscillator @@ -109,7 +134,7 @@ ProjectManager.StackSize=0x400 ProjectManager.TargetToolchain=STM32CubeIDE ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=true -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM5_Init-TIM5-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM5_Init-TIM5-false-HAL-true,6-MX_USART1_UART_Init-USART1-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_SPI2_Init-SPI2-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true RCC.ADCFreq_Value=50390625 RCC.AHB12Freq_Value=240000000 RCC.AHB4Freq_Value=240000000 @@ -199,6 +224,12 @@ SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2 SH.S_TIM3_CH2.ConfNb=1 SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3 SH.S_TIM3_CH3.ConfNb=1 +SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1 +SH.S_TIM4_CH1.ConfNb=1 +SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2 +SH.S_TIM4_CH2.ConfNb=1 +SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3 +SH.S_TIM4_CH3.ConfNb=1 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32 SPI1.CLKPhase=SPI_PHASE_2EDGE SPI1.CalculateBaudRate=5.0 MBits/s @@ -207,6 +238,16 @@ SPI1.Direction=SPI_DIRECTION_2LINES SPI1.IPParameters=VirtualType,Mode,Direction,BaudRatePrescaler,CalculateBaudRate,DataSize,CLKPhase SPI1.Mode=SPI_MODE_MASTER SPI1.VirtualType=VM_MASTER +SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8 +SPI2.CLKPhase=SPI_PHASE_2EDGE +SPI2.CLKPolarity=SPI_POLARITY_HIGH +SPI2.CalculateBaudRate=20.0 MBits/s +SPI2.DataSize=SPI_DATASIZE_8BIT +SPI2.Direction=SPI_DIRECTION_2LINES +SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,CLKPolarity,CLKPhase,BaudRatePrescaler,NSSPolarity +SPI2.Mode=SPI_MODE_MASTER +SPI2.NSSPolarity=SPI_NSS_POLARITY_HIGH +SPI2.VirtualType=VM_MASTER TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 @@ -219,6 +260,11 @@ TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 TIM3.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1 TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Period,CounterMode TIM3.Period=4800 +TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1 +TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2 +TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3 +TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Period +TIM4.Period=255 TIM5.IPParameters=Prescaler TIM5.Prescaler=24 USART1.IPParameters=VirtualMode-Asynchronous @@ -229,6 +275,8 @@ VP_TIM2_VS_ClockSourceINT.Mode=Internal VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT VP_TIM3_VS_ClockSourceINT.Mode=Internal VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT +VP_TIM4_VS_ClockSourceINT.Mode=Internal +VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT VP_TIM5_VS_ClockSourceINT.Mode=Internal VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT board=custom