472 lines
12 KiB
C
472 lines
12 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 "wf5803.h"
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#include "ch395.h"
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#include "hp303s.h"
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#include "dac7311.h"
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#include "eeprom.h"
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#include "digital.h"
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#include "cmd_queue.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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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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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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float ao1_offsets = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float ao2_offsets = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int16_t ao1_k,ao1_b,ao2_k,ao2_b;
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uint8_t ao_data[8] = {0x26,0xF3,0xFF,0xDE,0x26,0xCA,0x00,0x19};
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int16_t current_offsets[4] = {0,0,0,0}; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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int16_t pressure_offsets[4] = {0,0,0,0};//<2F><>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD>ֵ
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uint16_t holdreg_data1[10] = {0,0,0,0,0,0,0,0,0,0};//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD>ڱȽ<DAB1>
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uint16_t holdreg_data2[10] = {0,0,0,0,0,0,0,0,0,0};//<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD><EFBFBD>ڱȽ<DAB1>
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/* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>IP<49><50>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͷ˿ں<CBBF> */
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uint8_t ch395_addr[16] = {192,168,114,194,192,168,114,110,255,255,255,0,15,250,19,226};
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int size = 0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EEB3A4>
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int cnt_update = 152;
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int net_status = 0;
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long adc_sum[4] = {0};
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int adc_cnt = 0;
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int ee_cnt = 0;
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bool cal_change_flag = false;
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void analog_cal()
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{
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//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>ּĴ<D6BC><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3>Ƚ<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>б仯<D0B1><E4BBAF><EFBFBD>б仯<D0B1><E4BBAF><EFBFBD><EFBFBD>Уֵ
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for(int hold_num = 3;hold_num < 13;hold_num ++)
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{
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holdreg_data1[hold_num-3] = holdreg_data2[hold_num-3];
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holdreg_data2[hold_num-3] = HoldReg[hold_num];
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>ֱ<EFBFBD>Ӹ<EFBFBD><D3B8><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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if(holdreg_data1[0] != holdreg_data2[0])
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{
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cal_change_flag = true;
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if(holdreg_data2[0] > 0xF000)
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ao1_offsets = holdreg_data2[0]-1-0xFFFF;
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else
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ao1_offsets = holdreg_data2[0];
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}
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if(holdreg_data1[1] != holdreg_data2[1])
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{
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cal_change_flag = true;
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if(holdreg_data2[1] > 0xF000)
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ao2_offsets = holdreg_data2[1]-1-0xFFFF;
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else
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ao2_offsets = holdreg_data2[1];
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}
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for(int off_num = 2;off_num < 10;off_num++)
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{
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if(holdreg_data1[off_num] != holdreg_data2[off_num])
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{
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cal_change_flag = true;
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//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>Уֵ
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if(off_num < 6)
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{
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if(holdreg_data2[off_num] > 0xF000)
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current_offsets[off_num - 2] = holdreg_data2[off_num]-1-0xFFFF;
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else
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current_offsets[off_num - 2] = holdreg_data2[off_num];
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}
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//<2F><>ȡѹ<C8A1><D1B9>Уֵ
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else
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{
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if(holdreg_data2[off_num] > 0xF000)
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pressure_offsets[off_num - 6] = holdreg_data2[off_num]-1-0xFFFF;
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else
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pressure_offsets[off_num - 6] = holdreg_data2[off_num];
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}
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}
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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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/* 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_ADC1_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_TIM3_Init();
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MX_USART3_UART_Init();
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MX_I2C1_Init();
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MX_I2C2_Init();
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MX_I2C3_Init();
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MX_SPI1_Init();
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MX_SPI3_Init();
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MX_TIM1_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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MX_TIM10_Init();
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MX_TIM2_Init();
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/* USER CODE BEGIN 2 */
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delay_ms(100);
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wf5803_setup(); //ѹ<><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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delay_ms(100);
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hp303_init(); //<2F><>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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dac7311_init(); //<2F><>ʼ<EFBFBD><CABC>DAC7311
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adcs_init();
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modbus_rtu_init(&huart1,&htim7); //modbus rtuģʽ<C4A3><CABD>ʼ<EFBFBD><CABC>
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hart_init(); //Hartͨ<74><CDA8>
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__HAL_UART_ENABLE_IT(&huart6, UART_IT_RXNE); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
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HAL_TIM_Base_Start_IT(&htim6); //<2F><>Ҫ<EFBFBD><D2AA>ʱ
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HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL); //<2F><>ʱ<EFBFBD><CAB1>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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__HAL_TIM_SetCounter(&htim1, 0x9718); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼֵ30000//1<><31>
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HAL_TIM_PWM_Init(&htim3);
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HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2); //460.8kHzPWM<EFBFBD><EFBFBD>
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HAL_TIM_Base_Start_IT(&htim2);
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HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_2);
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__HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_2,30000);//50%ռ<>ձ<EFBFBD>
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__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_2,67);//50%ռ<>ձ<EFBFBD>
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ee_io_init(); //eeprom<6F><6D>ʼ<EFBFBD><CABC>
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ee_read_data();
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HoldReg[13] = 6000;//<2F><><EFBFBD><EFBFBD>ֱ<EFBFBD><D6B1>
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
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ee_readbytes(ch395_addr,100,16);
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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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HoldReg[53] = ch395_addr[14] << 8 | ch395_addr[15];
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У
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//ee_writebytes(ao_data,20,8);
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ee_readbytes(ao_data,20,8);
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ao1_k = (int16_t)(ao_data[0] << 8 | ao_data[1]);
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ao1_b = (int16_t)(ao_data[2] << 8 | ao_data[3]);
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ao2_k = (int16_t)(ao_data[4] << 8 | ao_data[5]);
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ao2_b = (int16_t)(ao_data[6] << 8 | ao_data[7]);
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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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if(HoldReg[54] == 1)
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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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ch395_addr[14] = HoldReg[53] >> 8;
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ch395_addr[15] = HoldReg[53] & 0xFF;
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ee_writebytes(ch395_addr,100,16);
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HoldReg[54] = 2;
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}
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if(net_status == 1)
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{
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ch395_hardware_init(); //ch395Ӳ<35><D3B2><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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ch395_init(); //<2F><>̫<EFBFBD><CCAB><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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net_status = 2;
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}
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if(net_status == 2)
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{
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ch395q_handler(); //<2F><><EFBFBD><EFBFBD>ͨѶ
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if(HoldReg[54] == 2)
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{
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HoldReg[54] = 0;
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set_ipv4();
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}
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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size = queue_find_cmd(cmd_buffer,CMD_MAX_SIZE); //<2F>ӻ<EFBFBD><D3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD>ȡһ<C8A1><D2BB>ָ<EFBFBD><D6B8>
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if(size>0 && cmd_buffer[1]!=0x07) //<2F><><EFBFBD>յ<EFBFBD>ָ<EFBFBD><D6B8> <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
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{
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ProcessMessage((PCTRL_MSG)cmd_buffer, size); //ָ<><EFBFBD><EEB4A6>
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}
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if(it_100ms_flag)
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{
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UpdateUI(); //UI<55><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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hp303_read(); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD>ݲɼ<DDB2>
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it_100ms_flag = 0;
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}
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wf5803_loop(); //A<><41>B<EFBFBD><42><EFBFBD><EFBFBD>Դѹ<D4B4><D1B9><EFBFBD><EFBFBD><EFBFBD>ݲɼ<DDB2>
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analog_cal(); //Уֵ<D7BC><D6B5><EFBFBD><EFBFBD>
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di_do_ctrl(); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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adcs_data_processing();
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//4-20mA<6D><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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if(!(AO1_data == (float)(HoldReg[0] + ao1_offsets) / 1000))
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{
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AO1_data = (float)(HoldReg[0] + ao1_offsets) / 1000;
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if(AO1_data > 25)
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AO1_data = 25;
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ao1_set((ao1_k * AO1_data + ao1_b) / 10000.0f);
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//ao1_set(AO1_data);
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}
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if(!(AO2_data == (float)(HoldReg[1] + ao2_offsets) / 1000))
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{
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AO2_data = (float)(HoldReg[1] + ao2_offsets) / 1000;
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if(AO2_data > 25)
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AO2_data = 25;
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ao2_set((ao2_k * AO2_data + ao2_b) / 10000.0f);
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//ao2_set(AO2_data);
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}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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last_encode_num = curr_encode_num; //<2F><><EFBFBD><EFBFBD>ǰ<EFBFBD>α<EFBFBD><CEB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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curr_encode_num = __HAL_TIM_GET_COUNTER(&htim1); //<2F><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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//<2F>жϱ<D0B6><CFB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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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; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ؼ<EFBFBD><D8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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InputReg[10] = (encode_num >> 16) & 0xffff;
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InputReg[11] = encode_num & 0xffff;
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InputReg[12]= (((float)adcs_data[0] * 3300 / 4096) / 0.082f) * 1.01 - 69 + current_offsets[0];
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InputReg[0]= adcs_data[1] * 3300 / 4096;
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InputReg[1]= (((float)adcs_data[2] * 3300 / 4096) / 0.082f);// + 450;
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InputReg[2]= (((float)adcs_data[3] * 3300 / 4096) / 0.082f);
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if(it_1000ms_flag)
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{
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HAL_GPIO_TogglePin(LED_GPIO_Port,LED_Pin);
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it_1000ms_flag = 0;
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}
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if(cal_change_flag)
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{
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ee_write_data();
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cal_change_flag = false;
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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;
|
||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||
RCC_OscInitStruct.PLL.PLLM = 8;
|
||
RCC_OscInitStruct.PLL.PLLN = 90;
|
||
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_DIV2;
|
||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
|
||
|
||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
}
|
||
|
||
/* USER CODE BEGIN 4 */
|
||
#define CPU_FREQUENCY_MHZ 62 // STM32ʱ<32><CAB1><EFBFBD><EFBFBD>Ƶ,ʵ<><CAB5><EFBFBD><EFBFBD>ƵΪ62.208MHz,<2C><><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1>,us<75><73>ʱ<EFBFBD><CAB1>ƫ<EFBFBD><C6AB>
|
||
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 */
|