412 lines
13 KiB
C
412 lines
13 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "comp.h"
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#include "dma.h"
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#include "rtc.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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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <string.h>
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#include "ESHL_driver.h"
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#include "ws2812b.h"
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#include "communication_management.h"
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#include "ESHL_protocol.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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extern uint16_t ESHL_RunPWMBuff; //电调运行pwm缓存
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extern ESHL_PROTOCOL_PACK_ANALYSIS_T recv_str;
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_RTC_Init();
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MX_COMP2_Init();
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MX_TIM2_Init();
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MX_TIM3_Init();
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MX_TIM6_Init();
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MX_TIM16_Init();
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MX_ADC_Init();
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MX_USART1_UART_Init();
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/* USER CODE BEGIN 2 */
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uint8_t ESHL_OpenLoopRestartNum = 0;//电调重开环启动计数
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WS2812B_OBJ_T ESHL_StateLed; //创建电调ws2812b指示灯对象
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WS2812_Init(&ESHL_StateLed,&htim16,TIM_CHANNEL_1,1);//初始化
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WS2812_Set(&ESHL_StateLed,0,15,15,0); //默认为黄色
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//电调指示灯 内容
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//--------------------------------------------------
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//绿色常亮 表示电调准备就绪,正常运行
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//--------------------------------------------------
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//黄色常亮 表示正在初始化
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//--------------------------------------------------
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//红色闪烁 表示MOS异常,闪烁次数代表错误代码
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//--------------------------------------------------
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//橙色闪烁 表示电流异常
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//--------------------------------------------------
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//蓝色闪烁 表示主机离线,数据接收超时
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//--------------------------------------------------
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//白色闪烁 表示电调开环启动超过最大次数,开环启动失败
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//--------------------------------------------------
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//紫色常亮 表示电调正在设置地址
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//--------------------------------------------------
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//紫色闪烁 表示地址设置完毕,闪烁次数代表电调地址
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//--------------------------------------------------
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//浅蓝闪烁 表示电池电压异常
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//--------------------------------------------------
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//绿色与蓝色交替闪烁 表示电调串口接收到数据,但不是发给本电调的
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//--------------------------------------------------
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ESHL_ESC_Init();
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uint8_t mos_error_id = MOS_SelfTest();//MOS自检,并获取错误代码
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if (mos_error_id != 0) {
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while (1) {
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for (uint8_t i = 0;i < mos_error_id;i++) {
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WS2812_SetAll(&ESHL_StateLed,15,0,0);//红灯闪烁,闪烁次数代表错误码
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HAL_Delay(200);
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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HAL_Delay(200);
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ESHL_CommunicationSendCode(ESHL_PROTOCOL_CMD_ERROR,0xE0);
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}
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HAL_Delay(800);
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}
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}
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//----------开机音乐----------
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ESHL_Beep(ESHL_BEEP_SHORT);//E
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HAL_Delay(100);
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ESHL_Beep(ESHL_BEEP_SHORT);//S
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ESHL_Beep(ESHL_BEEP_SHORT);
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ESHL_Beep(ESHL_BEEP_SHORT);
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HAL_Delay(100);
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ESHL_Beep(ESHL_BEEP_LONG);//C
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ESHL_Beep(ESHL_BEEP_SHORT);
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ESHL_Beep(ESHL_BEEP_LONG);
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ESHL_Beep(ESHL_BEEP_SHORT);
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HAL_Delay(100);
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// ESHL_Beep(ESHL_BEEP_SHORT);//E
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// HAL_Delay(100);
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//
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// ESHL_Beep(ESHL_BEEP_SHORT);//S
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// HAL_Delay(100);
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//
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// ESHL_Beep(ESHL_BEEP_SHORT);//H
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// HAL_Delay(100);
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//
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// ESHL_Beep(ESHL_BEEP_SHORT);//L
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// ESHL_Beep(ESHL_BEEP_LONG);
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// ESHL_Beep(ESHL_BEEP_SHORT);
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// HAL_Delay(100);
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//----------end of 开机音乐----------
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if (ESHL_GetState() == ESHL_STATE_OFF) {//初始化无错误
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ESHL_SetState(EShl_STATE_READY);//将电调状态设置为准备就绪
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}
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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ESHL_RuningCurrentVBATChack();//电流和电池电压检测
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switch (ESHL_GetState()) {
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case ESHL_STATE_OFF://电调关闭
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ESHL_CloseMOSComp();//关闭所有MOS管并且关闭比较器
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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break;
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case EShl_STATE_READY://电调准备就绪
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WS2812_SetAll(&ESHL_StateLed,0,15,0);//状态指示灯设为绿色
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ESHL_CommunicationStart();//开始通信
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break;
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case ESHL_STATE_START://启动电机
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WS2812_SetAll(&ESHL_StateLed,0,15,0);//状态指示灯设为绿色
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ESHL_Start(ESHL_GetDirection());
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break;
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case ESHL_STATE_OPEN_LOOP_START_FAIL://电调开环启动失败
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if (ESHL_OpenLoopRestartNum > ESHL_OPEN_LOOP_RESTART_MAX_NUM - 2) {
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ESHL_SetState(ESHL_STATE_OPEN_LOOP_START_ERROR);//设置电调状态为无法开环启动
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}
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else{
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ESHL_OpenLoopRestartNum++;
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ESHL_Start(ESHL_GetDirection());
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}
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break;
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case ESHL_STATE_OPEN_LOOP_START_ERROR://电调开环启动重试超过最大次数,无法开环启动
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ESHL_CloseMOSComp();//关闭所有MOS管并且关闭比较器
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WS2812_SetAll(&ESHL_StateLed,15,15,15);
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HAL_Delay(200);
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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HAL_Delay(200);
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ESHL_CommunicationSendCode(ESHL_PROTOCOL_CMD_ERROR,0XE2);//发送电调错误码
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break;
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case ESHL_STATE_RUN_CLOCKWISE://顺时针方向运动中
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ESHL_OpenLoopRestartNum = 0;//开环重启动计数清零
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ESHL_RuningChack(); //堵转检测
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ESHL_SET_PWM(ESHL_RunPWMBuff);//更新运行PWM值
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WS2812_SetAll(&ESHL_StateLed,0,15,0);//状态指示灯设为绿色
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break;
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case ESHL_STATE_RUN_COUNTER_CLOCKWISE://逆时针方向运动中
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ESHL_OpenLoopRestartNum = 0;//开环重启动计数清零
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ESHL_RuningChack(); //堵转检测
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ESHL_SET_PWM(ESHL_RunPWMBuff);//更新运行PWM值
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WS2812_SetAll(&ESHL_StateLed,0,15,0);//状态指示灯设为绿色
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break;
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case ESHL_STATE_MOTOR_RUNING_STOP://电机运行时停转
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ESHL_CommunicationSendCode(ESHL_PROTOCOL_CMD_ERROR,0XE3);//发送电调错误码
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ESHL_CommunicationStart();//开启接收
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ESHL_Start(ESHL_GetDirection());//开环启动
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break;
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case ESHL_STATE_CURRENT_ERROR://电流异常
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ESHL_CloseMOSComp();//关闭所有MOS管并且关闭比较器
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WS2812_SetAll(&ESHL_StateLed,15,5,0);
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HAL_Delay(200);
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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HAL_Delay(200);
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ESHL_CommunicationSendCode(ESHL_PROTOCOL_CMD_ERROR,0XE1);//发送电调错误码
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break;
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case ESHL_STATE_SET_HOST_TIMEOUT://主机离线
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ESHL_CloseMOSComp();//关闭所有MOS管并且关闭比较器
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WS2812_SetAll(&ESHL_StateLed,0,0,15);
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HAL_Delay(200);
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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HAL_Delay(200);
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break;
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case ESHL_STATE_SET_ADDR://电调设置地址中
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ESHL_SetAddr(recv_str.addr_dat);
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WS2812_SetAll(&ESHL_StateLed,15,0,15);
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break;
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case ESHL_STATE_SET_ADDR_OK://电调地址设置成功
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while (1) {
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for (uint8_t i = 0;i < (uint8_t)(ESHL_GetAddr() & 0xff);i++) {
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WS2812_SetAll(&ESHL_StateLed,15,0,15);
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HAL_Delay(200);
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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HAL_Delay(200);
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ESHL_CommunicationAddressSend();//广播电调地址
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}
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HAL_Delay(800);
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}
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break;
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case ESHL_STATE_BATTERY_VOLTAGE_ERROR://电池电压异常
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ESHL_CloseMOSComp();//关闭所有MOS管并且关闭比较器
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WS2812_SetAll(&ESHL_StateLed,0,15,15);
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HAL_Delay(200);
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WS2812_SetAll(&ESHL_StateLed,0,0,0);
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HAL_Delay(200);
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ESHL_CommunicationSendCode(ESHL_PROTOCOL_CMD_ERROR,0XE4);//发送电调错误码
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break;
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case ESHL_STATE_BRAKE:///刹车中
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ESHL_Break();
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break;
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case ESHL_STATE_BRAKE_OK://刹车完毕
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ESHL_CommunicationSendCode(ESHL_PROTOCOL_CMD_BREAK,0xA3);
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ESHL_SetState(EShl_STATE_READY);
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break;
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default:
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break;
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}
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ESHL_CommunicationDataProcessing();//通信数据处理
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI14
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|RCC_OSCILLATORTYPE_LSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.HSI14CalibrationValue = 16;
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RCC_OscInitStruct.LSIState = RCC_LSI_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
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RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
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{
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Error_Handler();
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}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_RTC;
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PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
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PeriphClkInit.RTCClockSelection = RCC_RTCCLKSOURCE_LSI;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/* USER CODE BEGIN 4 */
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/* USER CODE END 4 */
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/**
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* @brief This function is executed in case of error occurrence.
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* @retval None
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*/
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void Error_Handler(void)
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{
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/* USER CODE BEGIN Error_Handler_Debug */
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/* User can add his own implementation to report the HAL error return state */
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__disable_irq();
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while (1)
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{
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}
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/* USER CODE END Error_Handler_Debug */
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}
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* USER CODE BEGIN 6 */
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
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/* USER CODE END 6 */
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}
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#endif /* USE_FULL_ASSERT */
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