447 lines
11 KiB
C
447 lines
11 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) 2024 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "adc.h"
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#include "dma.h"
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#include "spi.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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/* 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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void sys_init()
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{
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ADS1256_Init();
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// hc595_init(&hc595);
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_74hc165_init();
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dac7311_init();
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modbus_tim_init();
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modbus_init();
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adc1_start_dma();
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MS5803Init();
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laser_init(usart2_laser_send);
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// encode_init();
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}
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char step_cnt = 0;
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int i = 0;
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int flow_flag = 0;
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int bub_flag = 0;//<2F><><EFBFBD>ݼ<EFBFBD><DDBC><EFBFBD>״̬
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float AO1_data = 0;//AO1<4F><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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float AO2_data = 0;//AO2<4F><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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uint16_t dis_temp = 0;//DI<44><49><EFBFBD><EFBFBD><EFBFBD>洢<EFBFBD>м<EFBFBD><D0BC><EFBFBD>
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uint32_t flow1 = 0;
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uint32_t flow2 = 0;
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uint32_t flow3 = 0;
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uint8_t get_mf4700_addr[] = {0x01,0x03,0x00,0x01,0x00,0x01,0xD5,0xCA};
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uint8_t get_mf5000_addr[] = {0x02,0x03,0x00,0x81,0x00,0x01,0xD4,0x11};
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void sys_task(void)
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{
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//AO(0-25mA)<29><><EFBFBD><EFBFBD>,ÿ<><C3BF><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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if(!(AO1_data == (float)(HoldReg[0]) / 1000))
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{
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AO1_data = (float)(HoldReg[0]) / 1000;
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if(AO1_data > 25)
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AO1_data = 25;
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ao1_set(AO1_data);
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}
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if(!(AO2_data == (float)(HoldReg[1]) / 1000))
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{
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AO2_data = (float)(HoldReg[1]) / 1000;
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if(AO2_data > 25)
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AO2_data = 25;
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ao2_set(AO2_data);
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}
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adc_task();//ADS1256<35><36><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD>
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ms5803_task();//ms5803<30><33><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD>
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laser_task();//<2F><>ȡһ<C8A1>μ<EFBFBD><CEBC><EFBFBD><E2B4AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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get_adc_value();//<2F>õ<EFBFBD><C3B5>¶Ⱥ<C2B6>AO<41><4F><EFBFBD><EFBFBD>ֵ
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io_output();//ʵʱ<CAB5><CAB1><EFBFBD><EFBFBD>IO<49><4F><EFBFBD><EFBFBD>״̬
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//DI<44><49><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD><EFBFBD>ɢ<EFBFBD><C9A2><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݼ<EFBFBD><DDBC><EFBFBD>
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bub_flag = DisState[0] & 0x04;//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>ݼ<EFBFBD><DDBC><EFBFBD>״̬
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dis_temp =_74hc165_read_byte();
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DisState[1] = ~((unsigned char)(dis_temp & 0x00ff)); //<2F>ڶ<EFBFBD><DAB6><EFBFBD>74HC165<36><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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DisState[0] = ~((unsigned char)((dis_temp >> 8) & 0x00ff));//<2F><>һ<EFBFBD><D2BB>74HC165<36><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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if(bub_flag != (DisState[0] & 0x40))
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{
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HoldReg[2] ++;
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if(HoldReg[2] > 65500)
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HoldReg[2] = 65500;
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}
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if(it_50ms_falg == 1)
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{
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if(flow_flag == 1)
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{
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read_mf4700_flow();
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flow1 = usart6_rx_buf[3] * 0xFFFFFF + usart6_rx_buf[4] * 0xFFFF + usart6_rx_buf[5] * 0xFF + usart6_rx_buf[6];
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}
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else if(flow_flag == 2)
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{
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read_mf5000_flow();
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flow2 = usart6_rx_buf[3] * 0xFFFFFF + usart6_rx_buf[4] * 0xFFFF + usart6_rx_buf[5] * 0xFF + usart6_rx_buf[6];
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}
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else
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{
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read_mf5000_flow();
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flow3 = usart6_rx_buf[3] * 0xFFFFFF + usart6_rx_buf[4] * 0xFFFF + usart6_rx_buf[5] * 0xFF + usart6_rx_buf[6];
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}
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it_50ms_falg = 0;
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}
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}
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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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step_cnt = 0;
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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_SPI3_Init();
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MX_TIM7_Init();
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MX_USART3_UART_Init();
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MX_ADC1_Init();
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MX_SPI1_Init();
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MX_USART6_UART_Init();
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MX_SPI2_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_TIM4_Init();
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MX_TIM3_Init();
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/* USER CODE BEGIN 2 */
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LL_TIM_EnableCounter(TIM3); //ʹ<>ܼ<EFBFBD><DCBC><EFBFBD>
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LL_TIM_EnableIT_UPDATE(TIM3); //ʹ<>ܸ<EFBFBD><DCB8><EFBFBD><EFBFBD>ж<EFBFBD>
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LL_TIM_EnableAllOutputs(TIM3);
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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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if(it_1000ms_falg == 1)
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{
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switch(step_cnt)
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{
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case 0 :
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{
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LL_GPIO_ResetOutputPin(SENSOR_SELECT_GPIO_Port,SENSOR_SELECT_Pin);//ѹ<><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
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SetCS();//<2F><><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭѡ
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usart6_send(get_mf4700_addr,8);
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it_1000ms_falg = 0;
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step_cnt++;
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}
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break;
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case 1 :
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{
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if(usart6_rx_buf[0] == 0x01 && usart6_rx_buf[4] == 0x01)
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{
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flow_flag = 1;
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}
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else
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{
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usart6_send(get_mf5000_addr,8);
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}
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step_cnt++;
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it_1000ms_falg = 0;
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}
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break;
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case 2 :
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{
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if(usart6_rx_buf[0] == 0x02 && usart6_rx_buf[4] == 0x02)
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{
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flow_flag = 2;
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}
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else
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{
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usart6_send(get_mf5000_addr,8);
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}
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sys_init();//Ӳ<><D3B2><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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it_1000ms_falg = 0;
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step_cnt++;
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}
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break;
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case 3 :
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{
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sys_task();//ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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break;
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}
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}
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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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LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);
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while(LL_FLASH_GetLatency()!= LL_FLASH_LATENCY_5)
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{
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}
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LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
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LL_RCC_HSE_Enable();
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/* Wait till HSE is ready */
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while(LL_RCC_HSE_IsReady() != 1)
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{
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}
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LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_4, 168, LL_RCC_PLLP_DIV_2);
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LL_RCC_PLL_Enable();
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/* Wait till PLL is ready */
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while(LL_RCC_PLL_IsReady() != 1)
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{
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}
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while (LL_PWR_IsActiveFlag_VOS() == 0)
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{
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}
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LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
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LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
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LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);
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LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
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/* Wait till System clock is ready */
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while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
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{
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}
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LL_SetSystemCoreClock(168000000);
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/* Update the time base */
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if (HAL_InitTick (TICK_INT_PRIORITY) != 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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static uint16_t g_fac_ms = 0; // ms<6D><73>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>os<6F><73>,<2C><><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>ms<6D><73>
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static uint32_t g_fac_us = 0; /* us<75><73>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
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void SysTick_Init(void)
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{
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NVIC_SetPriority(SysTick_IRQn, 3);
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LL_SYSTICK_EnableIT();
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}
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/**
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* @brief <20><>ʼ<EFBFBD><CABC><EFBFBD>ӳٺ<D3B3><D9BA><EFBFBD>
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* @param sysclk: ϵͳʱ<CDB3><CAB1>Ƶ<EFBFBD><C6B5>, <20><>CPUƵ<55><C6B5>(rcc_c_ck)
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* @retval <20><>
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*/
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void delay_init(uint16_t sysclk)
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{
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#if SYS_SUPPORT_OS /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS */
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uint32_t reload;
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#endif
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SysTick_Init();
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LL_SetSystemCoreClock(LL_SYSTICK_CLKSOURCE_HCLK); /* SYSTICKʹ<4B><CAB9><EFBFBD>ں<EFBFBD>ʱ<EFBFBD><CAB1>Դ,ͬCPUͬƵ<CDAC><C6B5> */
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g_fac_us = sysclk; /* <20><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>OS,g_fac_us<75><73><EFBFBD><EFBFBD>Ҫʹ<D2AA><CAB9> */
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g_fac_ms = g_fac_ms;
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#if SYS_SUPPORT_OS /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ֧<D2AA><D6A7>OS. */
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reload = sysclk; /* ÿ<><C3BF><EFBFBD>ӵļ<D3B5><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪM */
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reload *= 1000000 / configTICK_RATE_HZ; /* <20><><EFBFBD><EFBFBD>delay_ostickspersec<65>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>,reloadΪ24λ
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* <20>Ĵ<EFBFBD><C4B4><EFBFBD>,<2C><><EFBFBD><EFBFBD>ֵ:16777216,<2C><>168M<38><4D>,Լ<><D4BC>0.099s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*/
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g_fac_ms = 1000 / configTICK_RATE_HZ; // <20><><EFBFBD><EFBFBD>OS<4F><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ٵ<EFBFBD>λ
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SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk; /* <20><><EFBFBD><EFBFBD>SYSTICK<43>ж<EFBFBD> */
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SysTick->LOAD = reload; /* ÿ1/delay_ostickspersec<65><63><EFBFBD>ж<EFBFBD>һ<EFBFBD><D2BB> */
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SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; /* <20><><EFBFBD><EFBFBD>SYSTICK */
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#endif
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}
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/**
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* @brief <20><>ʱnus
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* @param nus: Ҫ<><D2AA>ʱ<EFBFBD><CAB1>us<75><73>.
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* @note ע<><D7A2>: nus<75><73>ֵ,<2C><>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>34952us(<28><><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>2^24 / g_fac_us @g_fac_us = 168)
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* @retval <20><>
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*/
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void delay_us(uint32_t nus)
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{
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uint32_t ticks;
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uint32_t told, tnow, tcnt = 0;
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uint32_t reload = SysTick->LOAD; /* LOAD<41><44>ֵ */
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ticks = nus * g_fac_us; /* <20><>Ҫ<EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD> */
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told = SysTick->VAL; /* <20>ս<EFBFBD><D5BD><EFBFBD>ʱ<EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>ֵ */
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while (1)
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{
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tnow = SysTick->VAL;
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if (tnow != told)
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{
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if (tnow < told)
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{
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tcnt += told - tnow; /* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>һ<EFBFBD><D2BB>SYSTICK<43><4B>һ<EFBFBD><D2BB><EFBFBD>ݼ<EFBFBD><DDBC>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><CDBF><EFBFBD><EFBFBD><EFBFBD> */
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}
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else
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{
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tcnt += reload - tnow + told;
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}
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told = tnow;
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if (tcnt >= ticks)
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{
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__NOP();
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break; /* ʱ<>䳬<EFBFBD><E4B3AC>/<2F><><EFBFBD><EFBFBD>Ҫ<EFBFBD>ӳٵ<D3B3>ʱ<EFBFBD><CAB1>,<2C><><EFBFBD>˳<EFBFBD> */
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}
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}
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}
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}
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/**
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* @brief <20><>ʱnms
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* @param nms: Ҫ<><D2AA>ʱ<EFBFBD><CAB1>ms<6D><73> (0< nms <= 65535)
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* @retval <20><>
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*/
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void delay_ms(uint16_t nms)
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{
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uint32_t repeat = nms / 30; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>30,<2C>ǿ<EFBFBD><C7BF>ǵ<EFBFBD><C7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>г<EFBFBD>ƵӦ<C6B5><D3A6> */
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uint32_t remain = nms % 30;
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while (repeat)
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{
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delay_us(30 * 1000); /* <20><><EFBFBD><EFBFBD>delay_us ʵ<><CAB5> 1000ms <20><>ʱ */
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repeat--;
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}
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if (remain)
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{
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delay_us(remain * 1000); /* <20><><EFBFBD><EFBFBD>delay_us, <20><>β<EFBFBD><CEB2><EFBFBD><EFBFBD>ʱ(remain ms)<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
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}
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}
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/**
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* @brief <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>Ӳ<EFBFBD><D3B2><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
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* @param {uint32_t} ticks
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* @return {*}
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* @note: <20><>ע<EFBFBD>⣬<EFBFBD><E2A3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>Ӳ<EFBFBD><D3B2><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ʵ<EFBFBD><CAB5>Ӧ<EFBFBD><D3A6><EFBFBD>п<EFBFBD><D0BF><EFBFBD><EFBFBD><EFBFBD>Ҫʹ<D2AA><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>HAL_Delay<61><79>rt_delay<61><79>
|
||
*/
|
||
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 */
|