/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @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 "main.h" #include "adc.h" #include "dma.h" #include "i2c.h" #include "spi.h" #include "tim.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "gpios.h" #include "adcs.h" #include "ADS1256.h" #include "ads1220.h" #include "dac7311.h" #include "wf5803.h" #include "ds18b20.h" #include "cmd_queue.h" #include "atcom.h" #include "eeprom.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ //4-20mA电流输出 float ao_dwq = 0; //AO输出电流值(定位器) float ao_blf1 = 0; //AO输出电流值(比例阀) float ao_blf2 = 0; //AO输出电流值(比例阀) //编码器相关参数 int last_encode_num = 0;//上次编码器数值 int curr_encode_num = 0;//当前编码器数值 uint32_t encode_num = 0;//编码器数值 int cnt_update = 152;//编码器初始值，152*65535 + 38680 = 10 000 000 int size = 0; //串口屏指令长度 int aok = 10034,aob = 239,aij = 423; uint8_t jiaozhun[6]; uint8_t Device_ID[2];//设备ID uint8_t *check_str = 0; /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ delay_ms(1000); /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_ADC1_Init(); MX_I2C1_Init(); MX_SPI2_Init(); MX_TIM1_Init(); MX_UART4_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); MX_USART3_UART_Init(); MX_USART6_UART_Init(); MX_TIM6_Init(); MX_TIM7_Init(); MX_TIM10_Init(); MX_TIM11_Init(); /* USER CODE BEGIN 2 */ ee_io_init(); //eeprom初始化 HAL_TIM_Base_Start_IT(&htim6); //主要定时 HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL); //定时器1编码器启动 __HAL_TIM_SetCounter(&htim1, 0x9718); //编码器初始值一千万 adcs_init(); ads1256_init(); delay_ms(200); ads1220_init(); delay_ms(200); dac7311_init(); delay_ms(200); //wf5803_setup(); ds18b20_init(); _74hc165_init(); modbus_rtu_init(); //laser_init(usart3_laser_send); delay_ms(200); HAL_UART_Receive_IT(&huart6, (uint8_t *)&u6_RxBuffer, 1); //开启接收中断(透传) HAL_UART_Receive_IT(&huart2, (uint8_t *)&u2_RxBuffer, 1); //开启接收中断(气密) HAL_UART_Receive_IT(&huart3, (uint8_t *)&u3_RxBuffer, 1); //开启接收中断(温度) ee_readbytes(Device_ID,0,2); //读取设备ID HoldReg[37] = Device_ID[0] << 8 | Device_ID[1]; //网络通讯预设信息读取 ee_readbytes((uint8_t*)wifiname,100,100); if((uint8_t)wifiname[0] == 0xff) wifiname[0] = '\0'; ee_readbytes((uint8_t*)wifipassword,200,100); if((uint8_t)wifipassword[0] == 0xff) wifipassword[0] = '\0'; ee_readbytes((uint8_t*)hisip,300,100); if((uint8_t)hisip[0] == 0xff) hisip[0] = '\0'; ee_readbytes((uint8_t*)port,400,100); if((uint8_t)port[0] == 0xff) port[0] = '\0'; // jiaozhun[0] = aok >> 8; // jiaozhun[1] = aok & 0xFF; // jiaozhun[2] = aob >> 8; // jiaozhun[3] = aob & 0xFF; // jiaozhun[4] = aij >> 8; // jiaozhun[5] = aij & 0xFF; // ee_writebytes(jiaozhun,500,6); ee_readbytes(jiaozhun,500,6); aok = jiaozhun[0] * 256 + jiaozhun[1]; aob = jiaozhun[2] * 256 + jiaozhun[3]; aij = jiaozhun[4] * 256 + jiaozhun[5]; // ch395_hardware_init(); //ch395硬件初始化 // ch395_init(); //以太网初始化 /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ //串口屏任务处理 size = queue_find_cmd(cmd_buffer,CMD_MAX_SIZE); //从缓冲区中获取一条指令 if(size>0 && cmd_buffer[1]!=0x07) //接收到指令 ，及判断是否为开机提示 { ProcessMessage((PCTRL_MSG)cmd_buffer, size); //指令处理 } if(it_100ms_flag) { UpdateUI(); //UI界面更新 it_100ms_flag = 0; } //ch395q_handler(); //网络通讯 //4-20mA电流输出控制 if( !(ao_dwq == (float)(HoldReg[0]) / 1000) || !(ao_blf1 == (float)(HoldReg[1]) / 1000) || !(ao_blf2 == (float)(HoldReg[2]) / 1000)) { ao_dwq = (float)(HoldReg[0]) / 1000; ao_blf1 = (float)(HoldReg[1]) / 1000; ao_blf2 = (float)(HoldReg[2]) / 1000; if(ao_dwq > 25) ao_dwq = 25; if(ao_blf1 > 25) ao_blf1 = 25; if(ao_blf2 > 25) ao_blf2 = 25; ao_dwq = (aok / 10000.0) * ao_dwq - (aob / 10000.0); ao_dwq_set(ao_dwq); ao_blf1_set(ao_blf1); ao_blf2_set(ao_blf2); } if(it_10ms_flag) { ads1220_get_data(); //比例阀输出反馈和比例阀控制电流输出反馈 it_10ms_flag = 0; } //wf5803_loop(); //气压输入 //ads1220_get_data(); //比例阀输出反馈和比例阀控制电流输出反馈 ads1256_get_data(); //模拟量输入 adcs_data(); //定位器控制电流输出反馈 digital_ctrl(); //数字量输入输出，ds18b20温度采集与运行指示灯同步进行 //编码器 last_encode_num = curr_encode_num; curr_encode_num = __HAL_TIM_GET_COUNTER(&htim1); if((curr_encode_num - last_encode_num) < -50000)//编码器计数最大值为65535，通过前后两次计数差值判断溢出方向 cnt_update++; else if((curr_encode_num - last_encode_num) > 50000) cnt_update--; encode_num = curr_encode_num + cnt_update * 0xFFFF;//编码器，返回计数脉冲值 InputReg[20] = (encode_num >> 16) & 0xffff; InputReg[21] = encode_num & 0xffff; //设备ID赋值与保存 Device_ID[0] = HoldReg[37] >> 8; Device_ID[1] = HoldReg[37] & 0xFF; ee_writebytes(Device_ID,0,2); } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 4; RCC_OscInitStruct.PLL.PLLN = 168; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ #define CPU_FREQUENCY_MHZ 168 // STM32时钟主频 void delay_us(__IO uint32_t delay) { int last, curr, val; int temp; while (delay != 0) { temp = delay > 900 ? 900 : delay; last = SysTick->VAL; curr = last - CPU_FREQUENCY_MHZ * temp; if (curr >= 0) { do { val = SysTick->VAL; } while ((val < last) && (val >= curr)); } else { curr += CPU_FREQUENCY_MHZ * 1000; do { val = SysTick->VAL; } while ((val <= last) || (val > curr)); } delay -= temp; } } void delay_ms(__IO uint32_t delay) { HAL_Delay(delay); } void delay_tick(uint32_t ticks) { while (ticks--) { __NOP(); } } /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */