342 lines
8.6 KiB
C
342 lines
8.6 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 "i2c.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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#include "gpios.h"
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#include "adcs.h"
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#include "ADS1256.h"
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#include "ads1220.h"
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#include "dac7311.h"
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#include "wf5803.h"
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#include "ds18b20.h"
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#include "eeprom.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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//4-20mA电流输出
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float ao_dwq = 0; //AO输出电流值(定位器)
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float ao_blf1 = 0; //AO输出电流值(比例阀)
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float ao_blf2 = 0; //AO输出电流值(比例阀)
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//编码器相关参数
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int last_encode_num = 0;
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int curr_encode_num = 0;
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uint32_t encode_num = 0;
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int cnt_update = 152;
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/* 本地网络信息：IP地址、网关地址、子网掩码和端口号 */
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uint8_t ch395_addr[14] = {192,168,114,194,192,168,114,110,255,255,255,0,31,144};
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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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/* 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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delay_ms(1000);
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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_ADC1_Init();
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MX_I2C1_Init();
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MX_SPI2_Init();
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MX_TIM1_Init();
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MX_UART4_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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MX_USART3_UART_Init();
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MX_USART6_UART_Init();
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MX_TIM6_Init();
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MX_TIM7_Init();
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/* USER CODE BEGIN 2 */
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HAL_TIM_Base_Start_IT(&htim6); //主要定时
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HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL); //定时器1编码器启动
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__HAL_TIM_SetCounter(&htim1, 0x9718); //编码器初始值一千万
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adcs_init();
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ads1256_init();
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delay_ms(200);
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ads1220_init();
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delay_ms(200);
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dac7311_init();
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delay_ms(200);
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wf5803_setup();
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ds18b20_init();
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_74hc165_init();
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modbus_rtu_init();
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//laser_init(usart3_laser_send);
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delay_ms(200);
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ee_readbytes(ch395_addr,0,14);
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for(int n = 0;n < 12;n++)
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{
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HoldReg[40 + n] = ch395_addr[n];
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}
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HoldReg[52] = ch395_addr[12] << 8 | ch395_addr[13];
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//ee_writebytes(ch395_addr,0,14);
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ch395_hardware_init(); //ch395硬件初始化
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ch395_init(); //以太网初始化
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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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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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ch395q_handler(); //网络通讯
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//4-20mA电流输出控制
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if( !(ao_dwq == (float)(HoldReg[0]) / 1000) || !(ao_blf1 == (float)(HoldReg[1]) / 1000) || !(ao_blf2 == (float)(HoldReg[2]) / 1000))
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{
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ao_dwq = (float)(HoldReg[0]) / 1000;
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ao_blf1 = (float)(HoldReg[1]) / 1000;
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ao_blf2 = (float)(HoldReg[2]) / 1000;
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if(ao_dwq > 25) ao_dwq = 25;
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if(ao_blf1 > 25) ao_blf1 = 25;
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if(ao_blf2 > 25) ao_blf2 = 25;
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ao_dwq_set(ao_dwq);
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ao_blf1_set(ao_blf1);
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ao_blf2_set(ao_blf2);
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}
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if(it_50ms_flag)
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{
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wf5803_task();
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it_50ms_flag = 0;
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}
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//wf5803_loop(); //气压输入
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ads1220_get_data(); //比例阀输出反馈和比例阀控制电流输出反馈
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ads1256_get_data(); //模拟量输入
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adcs_data(); //定位器控制电流输出反馈
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digital_ctrl(); //数字量输入输出，ds18b20温度采集与运行指示灯同步进行
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//编码器
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last_encode_num = curr_encode_num;
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curr_encode_num = __HAL_TIM_GET_COUNTER(&htim1);
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if((curr_encode_num - last_encode_num) < -50000)
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cnt_update++;
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else if((curr_encode_num - last_encode_num) > 50000)
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cnt_update--;
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encode_num = curr_encode_num + cnt_update * 0xFFFF;//编码器，返回计数脉冲值
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InputReg[20] = (encode_num >> 16) & 0xffff;
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InputReg[21] = encode_num & 0xffff;
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if(HoldReg[53])
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{
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for(int n = 0;n < 12;n++)
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{
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ch395_addr[n] = HoldReg[40 + n];
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}
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ch395_addr[12] = HoldReg[52] >> 8;
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ch395_addr[13] = HoldReg[52] & 0xFF;
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ee_writebytes(ch395_addr,0,14);
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HoldReg[53] = 0;
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set_ipv4();
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}
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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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/** Configure the main internal regulator output voltage
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*/
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__HAL_RCC_PWR_CLK_ENABLE();
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
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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_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 4;
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RCC_OscInitStruct.PLL.PLLN = 168;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 4;
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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|RCC_CLOCKTYPE_PCLK2;
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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_DIV4;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != 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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#define CPU_FREQUENCY_MHZ 168 // STM32时钟主频
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void delay_us(__IO uint32_t delay)
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{
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int last, curr, val;
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int temp;
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while (delay != 0)
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{
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temp = delay > 900 ? 900 : delay;
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last = SysTick->VAL;
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curr = last - CPU_FREQUENCY_MHZ * temp;
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if (curr >= 0)
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{
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do
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{
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val = SysTick->VAL;
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}
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while ((val < last) && (val >= curr));
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}
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else
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{
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curr += CPU_FREQUENCY_MHZ * 1000;
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do
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{
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val = SysTick->VAL;
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}
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while ((val <= last) || (val > curr));
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}
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delay -= temp;
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}
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}
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void delay_ms(__IO uint32_t delay)
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{
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HAL_Delay(delay);
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}
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void delay_tick(uint32_t ticks)
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{
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while (ticks--)
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{
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__NOP();
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}
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}
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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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