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v0stap
2026-04-03 16:34:46 +02:00
commit bd00d0025d
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72
Test2/Core/Src/adc.c Normal file
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/*
* adc.c
*
* Created on: Sep 6, 2017
* Author: dmitrijs
*/
#include "main.h"
void Adc_Init(void) {
RCC->APB2ENR |= RCC_APB2ENR_ADCEN;
ADC1->CFGR2 = (0x00000002 << 30); // pclk/4 -> 12Mhz
ADC1->SMPR = 0x00000001; // Sample 7.5 adc cycles
ADC1->CFGR1 = 0;
/* (1) Ensure that ADEN = 0 */
/* (2) Clear ADEN by setting ADDIS*/
/* (3) Clear DMAEN */
/* (4) Launch the calibration by setting ADCAL */
/* (5) Wait until ADCAL=0 */
if ((ADC1->CR & ADC_CR_ADEN) != 0) /* (1) */
{
ADC1->CR |= ADC_CR_ADDIS; /* (2) */
}
while ((ADC1->CR & ADC_CR_ADEN) != 0) {
/* For robust implementation, add here time-out management */
}
ADC1->CFGR1 &= ~ADC_CFGR1_DMAEN; /* (3) */
ADC1->CR |= ADC_CR_ADCAL; /* (4) */
while ((ADC1->CR & ADC_CR_ADCAL) != 0) /* (5) */
{
/* For robust implementation, add here time-out management */
}
/* (1) Ensure that ADRDY = 0 */
/* (2) Clear ADRDY */
/* (3) Enable the ADC */
/* (4) Wait until ADC ready */
if ((ADC1->ISR & ADC_ISR_ADRDY) != 0) /* (1) */
{
ADC1->ISR |= ADC_ISR_ADRDY; /* (2) */
}
ADC1->CR |= ADC_CR_ADEN; /* (3) */
while ((ADC1->ISR & ADC_ISR_ADRDY) == 0) /* (4) */
{
/*TODO For robust implementation, add here time-out management */
}
ADC1->IER = 0;
//NVIC_EnableIRQ(ADC1_IRQn);
}
unsigned short Adc_Read(unsigned char ch) {
unsigned short tmp;
if (ADC1->ISR & ADC_ISR_EOC)
tmp = ADC1->DR; //ADC1->ISR |= ADC_ISR_EOC; // clear EOC flag
ADC1->CHSELR = (1 << ch); // select channel
ADC1->CR |= ADC_CR_ADSTART;
while ((~ADC1->ISR) & ADC_ISR_EOC)
;
ADC1->ISR |= ADC_ISR_EOC;
tmp = ADC1->DR;
return tmp;
}
void Get_Analog_Var(void) {
var.avi[0] = LPF(700, Adc_Read(0), var.avi[0]);
var.avi[1] = LPF(700, Adc_Read(1), var.avi[1]);
var.avi[2] = LPF(700, Adc_Read(2), var.avi[2]);
var.avi[3] = LPF(700, Adc_Read(3), var.avi[3]);
}

281
Test2/Core/Src/can.c Normal file
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/*
* CAN.c
*
* Created on: Dec 04, 2018
* Author: v0stap
*/
#include "main.h"
#include "can.h"
can_msg_typedef CAN_TX_Msg; // CAN message for transmit
can_msg_typedef CAN_RX_Msg; // CAN received message
uint8_t CAN_TX_Rdy = 0; // CAN hardware ready to transmit a message
uint8_t CAN_RX_Rdy = 0; // CAN hardware message received
uint32_t CAN_Speed = CAN_500KBS; // CAN Speed / CAN BTR register
can_buffer_typedef CAN_TX_Buffer, CAN_RX_Buffer;
uint8_t CAN_Filter_Idx = 0; // CAN filter index
void CAN_Init(void) {
CAN_TX_Buffer.todo = 0;
CAN_TX_Buffer.corent = 0;
CAN_TX_Buffer.done = 0;
CAN_RX_Buffer.todo = 0;
CAN_RX_Buffer.corent = 0;
CAN_RX_Buffer.done = 0;
CAN_Setup(CAN_1000KBS);
CAN_Write_Filter(0x101, EXTD_FORMAT);
CAN_Write_Filter(0x2D0, EXTD_FORMAT);
CAN_Write_Filter(0x2D2, EXTD_FORMAT);
//CAN_Write_Filter(0x630, STD_FORMAT);
//CAN_Write_Filter(0x240, STD_FORMAT);
CAN_Start();
CAN_Wait_Ready();
}
/*----------------------------------------------------------------------------
setup CAN interface
*----------------------------------------------------------------------------*/
void CAN_Setup(uint32_t speed) {
RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
RCC->APB1ENR |= RCC_APB1ENR_CANEN;
GPIOB->MODER &= ~((3 << (8 * 2)) | (3 << (9 * 2)));
GPIOB->MODER |= ((2 << (8 * 2)) | (2 << (9 * 2)));
GPIOB->OTYPER &= ~((1 << 8) | (1 << 9));
GPIOB->OSPEEDR &= ~((3 << (8 * 2)) | (3 << (9 * 2)));
GPIOB->PUPDR &= ~((3 << (8 * 2)) | (3 << (9 * 2)));
GPIOB->AFR[1] &= ~((15 << (0 * 4)) | (15 << (1 * 4)));
GPIOB->AFR[1] |= ((4 << 0) | (4 << (1 * 4)));
CAN->MCR |= CAN_MCR_INRQ;
while ((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) {
//some code
}
CAN->MCR &= ~ CAN_MCR_SLEEP;
CAN->BTR &= ~(((0x03) << 24) | ((0x07) << 20) | ((0x0F) << 16) | (0x1FF));
CAN->BTR |= speed;
NVIC_EnableIRQ(CEC_CAN_IRQn);
CAN->IER |= CAN_IER_FMPIE0;
}
/*----------------------------------------------------------------------------
leave initialisation mode
*----------------------------------------------------------------------------*/
void CAN_Start(void) {
CAN->MCR &= ~CAN_MCR_INRQ;
while ((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) {
}
}
/*----------------------------------------------------------------------------
check if transmit mailbox is empty
*----------------------------------------------------------------------------*/
void CAN_Wait_Ready(void) {
while ((CAN->TSR & CAN_TSR_TME0) == 0) { // Transmit mailbox 0 is empty
}
CAN_TX_Rdy = 1;
}
// CAN send data
void CAN_Send_Msg(can_msg_typedef *msg) {
CAN_TX_Rdy = 0;
CAN->sTxMailBox[0].TIR = (uint32_t) 0;
if (msg->format == STD_FORMAT) {
CAN->sTxMailBox[0].TIR |= (uint32_t) (msg->id << 21) | CAN_ID_STD;
} else {
CAN->sTxMailBox[0].TIR |= (uint32_t) (msg->id << 3) | CAN_ID_EXT;
}
if (msg->frame == DATA_FRAME) {
CAN->sTxMailBox[0].TIR |= CAN_RTR_DATA;
} else {
CAN->sTxMailBox[0].TIR |= CAN_RTR_REMOTE;
}
CAN->sTxMailBox[0].TDLR = (((uint32_t) msg->data[3] << 24)
| ((uint32_t) msg->data[2] << 16) | ((uint32_t) msg->data[1] << 8)
| ((uint32_t) msg->data[0]));
CAN->sTxMailBox[0].TDHR = (((uint32_t) msg->data[7] << 24)
| ((uint32_t) msg->data[6] << 16) | ((uint32_t) msg->data[5] << 8)
| ((uint32_t) msg->data[4]));
CAN->sTxMailBox[0].TDTR &= ~CAN_TDT0R_DLC;
CAN->sTxMailBox[0].TDTR |= (msg->lenght & CAN_TDT0R_DLC);
CAN->IER |= CAN_IER_TMEIE;
CAN->sTxMailBox[0].TIR |= CAN_TI0R_TXRQ;
}
// Read CAN message
void CAN_Read_Msg(can_msg_typedef *msg) {
if ((CAN->sFIFOMailBox[0].RIR & CAN_ID_EXT) == 0) {
msg->format = STD_FORMAT;
msg->id = (uint32_t) 0x000007FF & (CAN->sFIFOMailBox[0].RIR >> 21);
} else {
msg->format = EXTD_FORMAT;
msg->id = (uint32_t) 0x0003FFFF & (CAN->sFIFOMailBox[0].RIR >> 3);
}
if ((CAN->sFIFOMailBox[0].RIR & CAN_RTR_REMOTE) == 0) {
msg->frame = DATA_FRAME;
} else {
msg->frame = REMOTE_FRAME;
}
msg->lenght = (uint8_t) 0x0000000F & CAN->sFIFOMailBox[0].RDTR;
msg->data[0] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR);
msg->data[1] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 8);
msg->data[2] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 16);
msg->data[3] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDLR >> 24);
msg->data[4] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR);
msg->data[5] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 8);
msg->data[6] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 16);
msg->data[7] = (uint32_t) 0x000000FF & (CAN->sFIFOMailBox[0].RDHR >> 24);
CAN->RF0R |= CAN_RF0R_RFOM0;
CAN_RX_Rdy = 0;
// if (msg->id == 0x643)
// printf(
// "CAN ID: 0x%X%X Data: 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X \n",
// (uint16_t) (msg->id >> 16), (uint16_t) msg->id, msg->data[0],
// msg->data[1], msg->data[2], msg->data[3], msg->data[4],
// msg->data[5], msg->data[6], msg->data[7]);
// //(&canRxMsg); //TO DO not realy working
}
//Write CAN Filter
void CAN_Write_Filter(uint32_t id, uint8_t format) {
uint32_t CAN_msg_typedefId = 0;
if (CAN_Filter_Idx > 13) {
return;
}
if (format == STD_FORMAT) {
CAN_msg_typedefId |= (uint32_t) (id << 21) | CAN_ID_STD;
} else {
CAN_msg_typedefId |= (uint32_t) (id << 3) | CAN_ID_EXT;
}
CAN->FMR |= CAN_FMR_FINIT;
CAN->FA1R &= ~(uint32_t) (1 << CAN_Filter_Idx);
CAN->FS1R |= (uint32_t) (1 << CAN_Filter_Idx);
CAN->FM1R |= (uint32_t) (1 << CAN_Filter_Idx);
//Comment next to lines for no filter
if (id != 0) {
CAN->sFilterRegister[CAN_Filter_Idx].FR1 = CAN_msg_typedefId;
CAN->sFilterRegister[CAN_Filter_Idx].FR2 = CAN_msg_typedefId;
//Uncomment next to line for no filter
} else {
CAN->sFilterRegister[CAN_Filter_Idx].FR1 = 0; // 32-bit identifier
CAN->sFilterRegister[CAN_Filter_Idx].FR2 = 0; // 32-bit identifier
}
CAN->FFA1R &= ~(uint32_t) (1 << CAN_Filter_Idx);
CAN->FA1R |= (uint32_t) (1 << CAN_Filter_Idx);
CAN->FMR &= ~CAN_FMR_FINIT;
CAN_Filter_Idx++;
}
//CAN recive/transmit irq handler
void CEC_CAN_IRQHandler(void) {
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
CAN->TSR |= CAN_TSR_RQCP0;
CAN->IER &= ~CAN_IER_TMEIE;
CAN_TX_Rdy = 1;
}
if ((CAN->RF0R & CAN_RF0R_FMP0) != 0) {
//CAN_Add_RX_Buffer();
// TO DO
CAN->RF0R |= CAN_RF0R_RFOM0;
CAN_RX_Rdy = 1;
}
}
void CAN_Send_TX_Buffer(void) {
if (CAN_TX_Rdy) {
//HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
if (CAN_TX_Buffer.todo > 0) {
CAN_TX_Buffer.todo--;
//HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_1);
CAN_Send_Msg(&CAN_TX_Buffer.data[CAN_TX_Buffer.done]);
if ((CAN_TX_Buffer.done++) > 14) {
CAN_TX_Buffer.done = 0;
}
}
}
}
void CAN_Add_TX_Buffer(can_msg_typedef *data) {
if ((CAN_TX_Buffer.todo++) < 15) {
if ((CAN_TX_Buffer.corent++) > 14) {
CAN_TX_Buffer.corent = 0;
}
//memcpy((void*) &canTX_buffer.data[canTX_buffer.corent], (void*) &data, sizeof(CAN_msg_typedef));
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].id = data->id;
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].format = data->format;
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].frame = data->frame;
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].lenght = data->lenght;
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[0] = data->data[0];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[1] = data->data[1];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[2] = data->data[2];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[3] = data->data[3];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[4] = data->data[4];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[5] = data->data[5];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[6] = data->data[6];
CAN_TX_Buffer.data[CAN_TX_Buffer.corent].data[7] = data->data[7];
}
}
void CAN_Add_RX_Buffer(void) {
if ((CAN_RX_Buffer.todo) < 16) {
CAN_RX_Buffer.todo++;
if ((CAN->sFIFOMailBox[0].RIR & CAN_ID_EXT) == 0) {
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].format = STD_FORMAT;
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].id = (uint32_t) 0x000007FF
& (CAN->sFIFOMailBox[0].RIR >> 21);
} else {
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].format = EXTD_FORMAT;
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].id = (uint32_t) 0x0003FFFF
& (CAN->sFIFOMailBox[0].RIR >> 3);
}
if ((CAN->sFIFOMailBox[0].RIR & CAN_RTR_REMOTE) == 0) {
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].frame = DATA_FRAME;
} else {
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].frame = REMOTE_FRAME;
}
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].lenght = (uint8_t) 0x0000000F
& CAN->sFIFOMailBox[0].RDTR;
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[0] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDLR);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[1] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDLR >> 8);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[2] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDLR >> 16);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[3] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDLR >> 24);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[4] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDHR);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[5] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDHR >> 8);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[6] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDHR >> 16);
CAN_RX_Buffer.data[CAN_RX_Buffer.corent].data[7] = (uint32_t) 0x000000FF
& (CAN->sFIFOMailBox[0].RDHR >> 24);
if ((CAN_RX_Buffer.corent++) > 15) {
CAN_RX_Buffer.corent = 0;
}
//canAddRXBuffer(&canRxMsg); //TO DO not realy working
}
CAN->RF0R |= CAN_RF0R_RFOM0;
}
void CAN_Read_RX_Buffer(can_msg_typedef *data) {
if (CAN_RX_Buffer.todo > 0) {
//memcpy((void*) &data, (void*) &canRX_buffer.data[canRX_buffer.done], sizeof(CAN_msg_typedef));
data->id = CAN_RX_Buffer.data[CAN_RX_Buffer.done].id;
data->format = CAN_RX_Buffer.data[CAN_RX_Buffer.done].format;
data->frame = CAN_RX_Buffer.data[CAN_RX_Buffer.done].frame;
data->lenght = CAN_RX_Buffer.data[CAN_RX_Buffer.done].lenght;
data->data[0] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[0];
data->data[1] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[1];
data->data[2] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[2];
data->data[3] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[3];
data->data[4] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[4];
data->data[5] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[5];
data->data[6] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[6];
data->data[7] = CAN_RX_Buffer.data[CAN_RX_Buffer.done].data[7];
if ((CAN_RX_Buffer.done++) > 15) {
CAN_RX_Buffer.done = 0;
}
CAN_RX_Buffer.todo--;
}
}

224
Test2/Core/Src/haltech.c Normal file
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/*
* mazda_can.c
*
* Created on: Mar 17, 2022
* Author: v0stap
*/
/*
* app.c
*
* Created on: Jul 25, 2020
* Author: v0stap
*/
//int AVIsendCANAddress = 0x2C0;
//int DPIsendCANAddress1 = 0x2C2;
//int DPIsendCANAddress2 = 0x2C4;
//int DPOrxCANAddress1 = 0x2D0;
//int DPOrxCANAddress2 = 0x2D2;
//int KeepAliveCANAddress = 0x2C6;
#include "main.h"
void Haltech_App_Init(void) {
// configure TIM2 to 1uS / tick timer
// setup CCR interrupt happen after sturtup delay is over
}
void Haltech_App(uint32_t id) {
if (CAN_RX_Rdy) {
var.can_timeout = 0;
CAN_Read_Msg(&CAN_RX_Msg);
Haltech_Write_Digital(&CAN_RX_Msg);
}
if (var.can_timeout > 2) {
}
if (CAN_TX_Rdy) {
if (var.Send_Data_IRQ) {
if (var.Send_Data_IRQ == 4)
Haltech_Send_Keap_Alive(id + 6);
else if (var.Send_Data_IRQ == 3)
Haltech_Send_Analog(id);
else if (var.Send_Data_IRQ == 2)
Haltech_Send_Digital1(id + 2);
else if (var.Send_Data_IRQ == 1)
Haltech_Send_Digital2(id + 4);
var.Send_Data_IRQ--;
}
}
}
void Haltech_Send_Analog(uint32_t id) {
Get_Analog_Var();
CAN_TX_Msg.id = id;
CAN_TX_Msg.frame = DATA_FRAME;
CAN_TX_Msg.format = EXTD_FORMAT;
CAN_TX_Msg.data[0] = (uint8_t) var.avi[0];
CAN_TX_Msg.data[1] = (uint8_t) (var.avi[0] >> 8);
CAN_TX_Msg.data[2] = (uint8_t) var.avi[1];
CAN_TX_Msg.data[3] = (uint8_t) (var.avi[1] >> 8);
CAN_TX_Msg.data[4] = (uint8_t) var.avi[2];
CAN_TX_Msg.data[5] = (uint8_t) (var.avi[2] >> 8);
CAN_TX_Msg.data[6] = (uint8_t) var.avi[3];
CAN_TX_Msg.data[7] = (uint8_t) (var.avi[3] >> 8);
CAN_TX_Msg.lenght = 8;
CAN_Send_Msg(&CAN_TX_Msg);
}
void Haltech_Send_Digital1(uint32_t id) {
if (var.tim1_timeout > 2) {
NVIC_DisableIRQ(TIM1_CC_IRQn);
if (GPIO_READ_PIN(GPIOB, GPIO_PIN_15)) {
var.dvi_dt[0] = 0xff00;
var.dvi_fr[0] = 0;
} else {
var.dvi_dt[0] = 0;
var.dvi_fr[0] = 0;
}
NVIC_EnableIRQ(TIM1_CC_IRQn);
}
if (var.tim2_timeout > 2) {
NVIC_DisableIRQ(TIM2_IRQn);
if (GPIO_READ_PIN(GPIOB, GPIO_PIN_3)) {
var.dvi_dt[1] = 0xff00;
var.dvi_fr[1] = 0;
} else {
var.dvi_dt[1] = 0;
var.dvi_fr[1] = 0;
}
NVIC_EnableIRQ(TIM2_IRQn);
}
CAN_TX_Msg.id = id;
CAN_TX_Msg.frame = DATA_FRAME;
CAN_TX_Msg.format = EXTD_FORMAT;
CAN_TX_Msg.data[0] = (uint8_t) (var.dvi_dt[0]);
CAN_TX_Msg.data[1] = (uint8_t) (var.dvi_dt[0] >> 8);
CAN_TX_Msg.data[2] = (uint8_t) (var.dvi_fr[0]);
CAN_TX_Msg.data[3] = (uint8_t) (var.dvi_fr[0] >> 8);
CAN_TX_Msg.data[4] = (uint8_t) (var.dvi_dt[1]);
CAN_TX_Msg.data[5] = (uint8_t) (var.dvi_dt[1] >> 8);
CAN_TX_Msg.data[6] = (uint8_t) (var.dvi_fr[1]);
CAN_TX_Msg.data[7] = (uint8_t) (var.dvi_fr[1] >> 8);
CAN_TX_Msg.lenght = 8;
CAN_Send_Msg(&CAN_TX_Msg);
}
void Haltech_Send_Digital2(uint32_t id) {
if (var.tim3_timeout > 2) {
var.dvi_dt[2] = 0xff00;
var.dvi_fr[2] = 0;
}
if (var.tim15_timeout > 2) {
NVIC_DisableIRQ(TIM15_IRQn);
if (GPIO_READ_PIN(GPIOB, GPIO_PIN_13)) {
var.dvi_dt[3] = 0xff00;
var.dvi_fr[3] = 0;
} else {
var.dvi_dt[3] = 0;
var.dvi_fr[3] = 0;
}
NVIC_EnableIRQ(TIM15_IRQn);
}
CAN_TX_Msg.id = id;
CAN_TX_Msg.frame = DATA_FRAME;
CAN_TX_Msg.format = EXTD_FORMAT;
CAN_TX_Msg.data[0] = (uint8_t) (var.dvi_dt[2]);
CAN_TX_Msg.data[1] = (uint8_t) (var.dvi_dt[2] >> 8);
CAN_TX_Msg.data[2] = (uint8_t) (var.dvi_fr[2]);
CAN_TX_Msg.data[3] = (uint8_t) (var.dvi_fr[2] >> 8);
CAN_TX_Msg.data[4] = (uint8_t) (var.dvi_dt[3]);
CAN_TX_Msg.data[5] = (uint8_t) (var.dvi_dt[3] >> 8);
CAN_TX_Msg.data[6] = (uint8_t) (var.dvi_fr[3]);
CAN_TX_Msg.data[7] = (uint8_t) (var.dvi_fr[3] >> 8);
CAN_TX_Msg.lenght = 8;
CAN_Send_Msg(&CAN_TX_Msg);
}
void Haltech_Send_Keap_Alive(uint32_t id) {
CAN_TX_Msg.id = id;
CAN_TX_Msg.frame = DATA_FRAME;
CAN_TX_Msg.format = EXTD_FORMAT;
CAN_TX_Msg.data[0] = 0X10;
CAN_TX_Msg.data[1] = 0x09;
CAN_TX_Msg.data[2] = 0x0a;
CAN_TX_Msg.data[3] = 0x00;
CAN_TX_Msg.data[4] = 0x00;
CAN_TX_Msg.lenght = 5;
CAN_Send_Msg(&CAN_TX_Msg);
}
void Haltech_Write_Digital(can_msg_typedef *section) {
uint16_t temp_dt = 0, temp_fr = 0;
if (section->id == 0x2D0) {
//printf("\n Digital1");
temp_fr = section->data[0] + (section->data[1] << 8);
temp_dt = section->data[2] + (section->data[3] << 8);
if (temp_fr != var.dvo_fr[0]) {
var.dvo_fr[0] = temp_fr;
TIM14->PSC = var.dvo_fr[0];
}
if (temp_dt != var.dvo_dt[0]) {
if (temp_dt < 1000) {
var.dvo_dt[0] = temp_dt;
TIM14->CCR1 = var.dvo_dt[0];
} else {
var.dvo_dt[0] = 1000;
TIM14->CCR1 = var.dvo_dt[0];
}
}
temp_fr = section->data[4] + (section->data[5] << 8);
temp_dt = section->data[6] + (section->data[7] << 8);
if (temp_fr != var.dvo_fr[1]) {
var.dvo_fr[1] = temp_fr;
TIM16->PSC = var.dvo_fr[1];
}
if (temp_dt != var.dvo_dt[1]) {
if (temp_dt < 1000) {
var.dvo_dt[1] = temp_dt;
TIM16->CCR1 = var.dvo_dt[1];
} else {
var.dvo_dt[1] = 1000;
TIM16->CCR1 = var.dvo_dt[1];
}
}
} else if (section->id == 0x2D2) {
temp_fr = section->data[0] + (section->data[1] << 8);
temp_dt = section->data[2] + (section->data[3] << 8);
if (temp_fr != var.dvo_fr[2]) {
var.dvo_fr[2] = temp_fr;
TIM17->PSC = var.dvo_fr[2];
}
if (temp_dt != var.dvo_dt[2]) {
if (temp_dt < 1000) {
var.dvo_dt[2] = temp_dt;
TIM17->CCR1 = var.dvo_dt[2];
} else {
var.dvo_dt[2] = 1000;
TIM17->CCR1 = var.dvo_dt[2];
}
}
temp_fr = section->data[4] + (section->data[5] << 8);
temp_dt = section->data[6] + (section->data[7] << 8);
if (temp_fr != var.dvo_fr[3]) {
var.dvo_fr[3] = temp_fr;
TIM7->PSC = var.dvo_fr[3];
}
if (temp_dt != var.dvo_dt[3]) {
if (temp_dt < 1000) {
var.dvo_dt[3] = temp_dt;
//todo
} else {
var.dvo_dt[3] = 1000;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
}
}
} else {
//TODO Eror
printf("\n Digital Error");
}
}

827
Test2/Core/Src/main.c Normal file
View File

@@ -0,0 +1,827 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "usb_device.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
ADC_HandleTypeDef hadc;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim14;
TIM_HandleTypeDef htim15;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
var_typedef var;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM3_Init(void);
static void MX_TIM14_Init(void);
static void MX_TIM15_Init(void);
static void MX_TIM16_Init(void);
static void MX_TIM17_Init(void);
static void MX_USART1_UART_Init(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 */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM14_Init();
MX_TIM15_Init();
MX_TIM16_Init();
MX_TIM17_Init();
MX_USART1_UART_Init();
MX_USB_DEVICE_Init();
/* USER CODE BEGIN 2 */
Adc_Init();
Timers_Init();
CAN_Init();
var.avi[0] = 0;
var.avi[1] = 0;
var.avi[2] = 0;
var.avi[3] = 0;
var.buffer = 49;
var.dvo_dt[3] = 700;
printf("Hello from STM32 via SWV!\n");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if (TIM7->CNT >= var.dvo_dt[3]) {
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
}
// HAL_UART_Receive(&huart1, &var.buffer, 1, 10);
// if (var.Send_Data_IRQ == 4) {
//
// if (var.buffer == 49) {
// printf("\n Digital F, %d, %d, %d,%d", var.dvi_fr[0],
// var.dvi_fr[1], var.dvi_fr[2], var.dvi_fr[3]);
// } else if (var.buffer == 50) {
// printf("\n Digital D, %d, %d, %d,%d", var.dvi_dt[0],
// var.dvi_dt[1], var.dvi_dt[2], var.dvi_dt[3]);
// } else if (var.buffer == 51) {
// Get_Analog_Var();
// printf("\n Analog, %d, %d, %d,%d", var.avi[0], var.avi[1],
// var.avi[2], var.avi[3]);
// } else {
// printf("\nBuffer %d", var.buffer);
// }
// }
Haltech_App(0x2C0);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
RCC_OscInitStruct.HSI14CalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
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_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB|RCC_PERIPHCLK_USART1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief ADC Initialization Function
* @param None
* @retval None
*/
static void MX_ADC_Init(void)
{
/* USER CODE BEGIN ADC_Init 0 */
/* USER CODE END ADC_Init 0 */
ADC_ChannelConfTypeDef sConfig = {0};
/* USER CODE BEGIN ADC_Init 1 */
/* USER CODE END ADC_Init 1 */
/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc.Instance = ADC1;
hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
hadc.Init.Resolution = ADC_RESOLUTION_12B;
hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
hadc.Init.LowPowerAutoWait = DISABLE;
hadc.Init.LowPowerAutoPowerOff = DISABLE;
hadc.Init.ContinuousConvMode = DISABLE;
hadc.Init.DiscontinuousConvMode = DISABLE;
hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc.Init.DMAContinuousRequests = DISABLE;
hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
if (HAL_ADC_Init(&hadc) != HAL_OK)
{
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_1;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_2;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/** Configure for the selected ADC regular channel to be converted.
*/
sConfig.Channel = ADC_CHANNEL_3;
if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC_Init 2 */
/* USER CODE END ADC_Init 2 */
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_IC_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim1, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 4294967295;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchro(&htim2, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_IC_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI2FP2;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchro(&htim3, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
/**
* @brief TIM14 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM14_Init(void)
{
/* USER CODE BEGIN TIM14_Init 0 */
/* USER CODE END TIM14_Init 0 */
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM14_Init 1 */
/* USER CODE END TIM14_Init 1 */
htim14.Instance = TIM14;
htim14.Init.Prescaler = 48-1;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
htim14.Init.Period = 65535;
htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 1;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM14_Init 2 */
/* USER CODE END TIM14_Init 2 */
HAL_TIM_MspPostInit(&htim14);
}
/**
* @brief TIM15 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM15_Init(void)
{
/* USER CODE BEGIN TIM15_Init 0 */
/* USER CODE END TIM15_Init 0 */
TIM_SlaveConfigTypeDef sSlaveConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM15_Init 1 */
/* USER CODE END TIM15_Init 1 */
htim15.Instance = TIM15;
htim15.Init.Prescaler = 0;
htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
htim15.Init.Period = 65535;
htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim15.Init.RepetitionCounter = 0;
htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_IC_Init(&htim15) != HAL_OK)
{
Error_Handler();
}
sSlaveConfig.SlaveMode = TIM_SLAVEMODE_RESET;
sSlaveConfig.InputTrigger = TIM_TS_TI1FP1;
sSlaveConfig.TriggerPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sSlaveConfig.TriggerPrescaler = TIM_ICPSC_DIV1;
sSlaveConfig.TriggerFilter = 0;
if (HAL_TIM_SlaveConfigSynchro(&htim15, &sSlaveConfig) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim15, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
if (HAL_TIM_IC_ConfigChannel(&htim15, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM15_Init 2 */
/* USER CODE END TIM15_Init 2 */
}
/**
* @brief TIM16 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM16_Init(void)
{
/* USER CODE BEGIN TIM16_Init 0 */
/* USER CODE END TIM16_Init 0 */
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM16_Init 1 */
/* USER CODE END TIM16_Init 1 */
htim16.Instance = TIM16;
htim16.Init.Prescaler = 0;
htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
htim16.Init.Period = 65535;
htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim16.Init.RepetitionCounter = 0;
htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim16, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM16_Init 2 */
/* USER CODE END TIM16_Init 2 */
HAL_TIM_MspPostInit(&htim16);
}
/**
* @brief TIM17 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM17_Init(void)
{
/* USER CODE BEGIN TIM17_Init 0 */
/* USER CODE END TIM17_Init 0 */
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE BEGIN TIM17_Init 1 */
/* USER CODE END TIM17_Init 1 */
htim17.Instance = TIM17;
htim17.Init.Prescaler = 0;
htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
htim17.Init.Period = 65535;
htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim17.Init.RepetitionCounter = 0;
htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim17) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM17_Init 2 */
/* USER CODE END TIM17_Init 2 */
HAL_TIM_MspPostInit(&htim17);
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(OUT1_GPIO_Port, OUT1_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : OUT1_Pin */
GPIO_InitStruct.Pin = OUT1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(OUT1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PB3 */
GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
PUTCHAR_PROTOTYPE {
HAL_UART_Transmit(&huart1, (uint8_t*) &ch, 1, HAL_MAX_DELAY);
return ch;
}
/* 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 */

33
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/*
* math.c
*
* Created on: 2 февр. 2026 г.
* Author: v0stap
*/
#include "main.h"
uint16_t map16_t(uint16_t x, uint16_t in_min, uint16_t in_max, uint16_t out_min, uint16_t out_max) {
// Input validation: avoid division by zero
if (in_max == in_min) {
fprintf(stderr, "Error: Input range cannot be zero.\n");
return out_min;
} else {
// Perform mapping
return (uint16_t)(out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min));
}
}
uint16_t LPF(unsigned short lpf_c, unsigned short value, unsigned short old_value) {
// Averageing filtering
float tmp;
tmp = ((float) (value - old_value) * ((float) (lpf_c) / (float) 1000.0)); // filter
if (tmp > 0)
tmp += (float) 0.5; // roundup
else
tmp -= (float) 0.5;
return (uint16_t)((signed int) old_value + (signed int) tmp);
}

556
Test2/Core/Src/stm32f0xx_hal_msp.c Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f0xx_hal_msp.c
* @brief This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN Define */
/* USER CODE END Define */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN Macro */
/* USER CODE END Macro */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* External functions --------------------------------------------------------*/
/* USER CODE BEGIN ExternalFunctions */
/* USER CODE END ExternalFunctions */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
__HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
/* System interrupt init*/
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/**
* @brief ADC MSP Initialization
* This function configures the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**ADC GPIO Configuration
PA0 ------> ADC_IN0
PA1 ------> ADC_IN1
PA2 ------> ADC_IN2
PA3 ------> ADC_IN3
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
}
/**
* @brief ADC MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hadc: ADC handle pointer
* @retval None
*/
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
{
if(hadc->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC GPIO Configuration
PA0 ------> ADC_IN0
PA1 ------> ADC_IN1
PA2 ------> ADC_IN2
PA3 ------> ADC_IN3
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
}
/**
* @brief TIM_IC MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_ic: TIM_IC handle pointer
* @retval None
*/
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* htim_ic)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim_ic->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
*/
GPIO_InitStruct.Pin = IN0_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
HAL_GPIO_Init(IN0_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_ic->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspInit 0 */
/* USER CODE END TIM2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA15 ------> TIM2_CH1
*/
GPIO_InitStruct.Pin = IN1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(IN1_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
}
else if(htim_ic->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = IN2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
HAL_GPIO_Init(IN2_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(htim_ic->Instance==TIM15)
{
/* USER CODE BEGIN TIM15_MspInit 0 */
/* USER CODE END TIM15_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM15_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM15 GPIO Configuration
PB14 ------> TIM15_CH1
*/
GPIO_InitStruct.Pin = IN3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM15;
HAL_GPIO_Init(IN3_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM15_MspInit 1 */
/* USER CODE END TIM15_MspInit 1 */
}
}
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspInit 0 */
/* USER CODE END TIM14_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM14_CLK_ENABLE();
/* USER CODE BEGIN TIM14_MspInit 1 */
/* USER CODE END TIM14_MspInit 1 */
}
else if(htim_base->Instance==TIM16)
{
/* USER CODE BEGIN TIM16_MspInit 0 */
/* USER CODE END TIM16_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM16_CLK_ENABLE();
/* USER CODE BEGIN TIM16_MspInit 1 */
/* USER CODE END TIM16_MspInit 1 */
}
else if(htim_base->Instance==TIM17)
{
/* USER CODE BEGIN TIM17_MspInit 0 */
/* USER CODE END TIM17_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM17_CLK_ENABLE();
/* USER CODE BEGIN TIM17_MspInit 1 */
/* USER CODE END TIM17_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspPostInit 0 */
/* USER CODE END TIM14_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM14 GPIO Configuration
PA4 ------> TIM14_CH1
*/
GPIO_InitStruct.Pin = OUT0_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_TIM14;
HAL_GPIO_Init(OUT0_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM14_MspPostInit 1 */
/* USER CODE END TIM14_MspPostInit 1 */
}
else if(htim->Instance==TIM16)
{
/* USER CODE BEGIN TIM16_MspPostInit 0 */
/* USER CODE END TIM16_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM16 GPIO Configuration
PA6 ------> TIM16_CH1
*/
GPIO_InitStruct.Pin = OUT2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM16;
HAL_GPIO_Init(OUT2_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM16_MspPostInit 1 */
/* USER CODE END TIM16_MspPostInit 1 */
}
else if(htim->Instance==TIM17)
{
/* USER CODE BEGIN TIM17_MspPostInit 0 */
/* USER CODE END TIM17_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM17 GPIO Configuration
PA7 ------> TIM17_CH1
*/
GPIO_InitStruct.Pin = OUT3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF5_TIM17;
HAL_GPIO_Init(OUT3_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM17_MspPostInit 1 */
/* USER CODE END TIM17_MspPostInit 1 */
}
}
/**
* @brief TIM_IC MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_ic: TIM_IC handle pointer
* @retval None
*/
void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef* htim_ic)
{
if(htim_ic->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/**TIM1 GPIO Configuration
PA8 ------> TIM1_CH1
*/
HAL_GPIO_DeInit(IN0_GPIO_Port, IN0_Pin);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(htim_ic->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/**TIM2 GPIO Configuration
PA15 ------> TIM2_CH1
*/
HAL_GPIO_DeInit(IN1_GPIO_Port, IN1_Pin);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(htim_ic->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PB5 ------> TIM3_CH2
*/
HAL_GPIO_DeInit(IN2_GPIO_Port, IN2_Pin);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(htim_ic->Instance==TIM15)
{
/* USER CODE BEGIN TIM15_MspDeInit 0 */
/* USER CODE END TIM15_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM15_CLK_DISABLE();
/**TIM15 GPIO Configuration
PB14 ------> TIM15_CH1
*/
HAL_GPIO_DeInit(IN3_GPIO_Port, IN3_Pin);
/* USER CODE BEGIN TIM15_MspDeInit 1 */
/* USER CODE END TIM15_MspDeInit 1 */
}
}
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspDeInit 0 */
/* USER CODE END TIM14_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM14_CLK_DISABLE();
/* USER CODE BEGIN TIM14_MspDeInit 1 */
/* USER CODE END TIM14_MspDeInit 1 */
}
else if(htim_base->Instance==TIM16)
{
/* USER CODE BEGIN TIM16_MspDeInit 0 */
/* USER CODE END TIM16_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM16_CLK_DISABLE();
/* USER CODE BEGIN TIM16_MspDeInit 1 */
/* USER CODE END TIM16_MspDeInit 1 */
}
else if(htim_base->Instance==TIM17)
{
/* USER CODE BEGIN TIM17_MspDeInit 0 */
/* USER CODE END TIM17_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM17_CLK_DISABLE();
/* USER CODE BEGIN TIM17_MspDeInit 1 */
/* USER CODE END TIM17_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PA9 ------> USART1_TX
PA10 ------> USART1_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

159
Test2/Core/Src/stm32f0xx_it.c Normal file
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f0xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2025 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 "stm32f0xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* 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 -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_FS;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M0 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVC_IRQn 0 */
/* USER CODE END SVC_IRQn 0 */
/* USER CODE BEGIN SVC_IRQn 1 */
/* USER CODE END SVC_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F0xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f0xx.s). */
/******************************************************************************/
/**
* @brief This function handles USB global interrupt / USB wake-up interrupt through EXTI line 18.
*/
void USB_IRQHandler(void)
{
/* USER CODE BEGIN USB_IRQn 0 */
/* USER CODE END USB_IRQn 0 */
HAL_PCD_IRQHandler(&hpcd_USB_FS);
/* USER CODE BEGIN USB_IRQn 1 */
/* USER CODE END USB_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

178
Test2/Core/Src/syscalls.c Normal file
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/**
******************************************************************************
* @file syscalls.c
* @author Auto-generated by STM32CubeIDE
* @brief STM32CubeIDE Minimal System calls file
*
* For more information about which c-functions
* need which of these lowlevel functions
* please consult the Newlib libc-manual
******************************************************************************
* @attention
*
* Copyright (c) 2020-2025 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.
*
******************************************************************************
*/
/* Includes */
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* Variables */
extern int __io_putchar(int ch) __attribute__((weak));
extern int __io_getchar(void) __attribute__((weak));
char *__env[1] = { 0 };
char **environ = __env;
/* Functions */
void initialise_monitor_handles()
{
}
int _getpid(void)
{
return 1;
}
int _kill(int pid, int sig)
{
(void)pid;
(void)sig;
errno = EINVAL;
return -1;
}
void _exit (int status)
{
_kill(status, -1);
while (1) {} /* Make sure we hang here */
}
__attribute__((weak)) int _read(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
*ptr++ = __io_getchar();
}
return len;
}
__attribute__((weak)) int _write(int file, char *ptr, int len)
{
(void)file;
int DataIdx;
for (DataIdx = 0; DataIdx < len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
int _close(int file)
{
(void)file;
return -1;
}
int _fstat(int file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _isatty(int file)
{
(void)file;
return 1;
}
int _lseek(int file, int ptr, int dir)
{
(void)file;
(void)ptr;
(void)dir;
return 0;
}
int _open(char *path, int flags, ...)
{
(void)path;
(void)flags;
/* Pretend like we always fail */
return -1;
}
int _wait(int *status)
{
(void)status;
errno = ECHILD;
return -1;
}
int _unlink(char *name)
{
(void)name;
errno = ENOENT;
return -1;
}
int _times(struct tms *buf)
{
(void)buf;
return -1;
}
int _stat(char *file, struct stat *st)
{
(void)file;
st->st_mode = S_IFCHR;
return 0;
}
int _link(char *old, char *new)
{
(void)old;
(void)new;
errno = EMLINK;
return -1;
}
int _fork(void)
{
errno = EAGAIN;
return -1;
}
int _execve(char *name, char **argv, char **env)
{
(void)name;
(void)argv;
(void)env;
errno = ENOMEM;
return -1;
}

79
Test2/Core/Src/sysmem.c Normal file
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/**
******************************************************************************
* @file sysmem.c
* @author Generated by STM32CubeIDE
* @brief STM32CubeIDE System Memory calls file
*
* For more information about which C functions
* need which of these lowlevel functions
* please consult the newlib libc manual
******************************************************************************
* @attention
*
* Copyright (c) 2025 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.
*
******************************************************************************
*/
/* Includes */
#include <errno.h>
#include <stdint.h>
/**
* Pointer to the current high watermark of the heap usage
*/
static uint8_t *__sbrk_heap_end = NULL;
/**
* @brief _sbrk() allocates memory to the newlib heap and is used by malloc
* and others from the C library
*
* @verbatim
* ############################################################################
* # .data # .bss # newlib heap # MSP stack #
* # # # # Reserved by _Min_Stack_Size #
* ############################################################################
* ^-- RAM start ^-- _end _estack, RAM end --^
* @endverbatim
*
* This implementation starts allocating at the '_end' linker symbol
* The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
* The implementation considers '_estack' linker symbol to be RAM end
* NOTE: If the MSP stack, at any point during execution, grows larger than the
* reserved size, please increase the '_Min_Stack_Size'.
*
* @param incr Memory size
* @return Pointer to allocated memory
*/
void *_sbrk(ptrdiff_t incr)
{
extern uint8_t _end; /* Symbol defined in the linker script */
extern uint8_t _estack; /* Symbol defined in the linker script */
extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
const uint8_t *max_heap = (uint8_t *)stack_limit;
uint8_t *prev_heap_end;
/* Initialize heap end at first call */
if (NULL == __sbrk_heap_end)
{
__sbrk_heap_end = &_end;
}
/* Protect heap from growing into the reserved MSP stack */
if (__sbrk_heap_end + incr > max_heap)
{
errno = ENOMEM;
return (void *)-1;
}
prev_heap_end = __sbrk_heap_end;
__sbrk_heap_end += incr;
return (void *)prev_heap_end;
}

249
Test2/Core/Src/system_stm32f0xx.c Normal file
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/**
******************************************************************************
* @file system_stm32f0xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M0 Device Peripheral Access Layer System Source File.
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f0xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
*
******************************************************************************
* @attention
*
* Copyright (c) 2016 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.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f0xx_system
* @{
*/
/** @addtogroup STM32F0xx_System_Private_Includes
* @{
*/
#include "stm32f0xx.h"
/**
* @}
*/
/** @addtogroup STM32F0xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F0xx_System_Private_Defines
* @{
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Default value of the External oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)8000000) /*!< Default value of the Internal oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSI_VALUE */
#if !defined (HSI48_VALUE)
#define HSI48_VALUE ((uint32_t)48000000) /*!< Default value of the HSI48 Internal oscillator in Hz.
This value can be provided and adapted by the user application. */
#endif /* HSI48_VALUE */
/**
* @}
*/
/** @addtogroup STM32F0xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F0xx_System_Private_Variables
* @{
*/
/* This variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = 8000000;
const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4};
/**
* @}
*/
/** @addtogroup STM32F0xx_System_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F0xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* @param None
* @retval None
*/
void SystemInit(void)
{
/* NOTE :SystemInit(): This function is called at startup just after reset and
before branch to main program. This call is made inside
the "startup_stm32f0xx.s" file.
User can setups the default system clock (System clock source, PLL Multiplier
and Divider factors, AHB/APBx prescalers and Flash settings).
*/
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* - If SYSCLK source is HSI48, SystemCoreClock will contain the HSI48_VALUE(***)
*
* (*) HSI_VALUE is a constant defined in stm32f0xx_hal_conf.h file (default value
* 8 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f0xx_hal_conf.h file (its value
* depends on the application requirements), user has to ensure that HSE_VALUE
* is same as the real frequency of the crystal used. Otherwise, this function
* may have wrong result.
*
* (***) HSI48_VALUE is a constant defined in stm32f0xx_hal_conf.h file (default value
* 48 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate (void)
{
uint32_t tmp = 0, pllmull = 0, pllsource = 0, predivfactor = 0;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case RCC_CFGR_SWS_HSI: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
case RCC_CFGR_SWS_HSE: /* HSE used as system clock */
SystemCoreClock = HSE_VALUE;
break;
case RCC_CFGR_SWS_PLL: /* PLL used as system clock */
/* Get PLL clock source and multiplication factor ----------------------*/
pllmull = RCC->CFGR & RCC_CFGR_PLLMUL;
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
pllmull = ( pllmull >> 18) + 2;
predivfactor = (RCC->CFGR2 & RCC_CFGR2_PREDIV) + 1;
if (pllsource == RCC_CFGR_PLLSRC_HSE_PREDIV)
{
/* HSE used as PLL clock source : SystemCoreClock = HSE/PREDIV * PLLMUL */
SystemCoreClock = (HSE_VALUE/predivfactor) * pllmull;
}
#if defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F071xB) || defined(STM32F072xB) || defined(STM32F078xx) || defined(STM32F091xC) || defined(STM32F098xx)
else if (pllsource == RCC_CFGR_PLLSRC_HSI48_PREDIV)
{
/* HSI48 used as PLL clock source : SystemCoreClock = HSI48/PREDIV * PLLMUL */
SystemCoreClock = (HSI48_VALUE/predivfactor) * pllmull;
}
#endif /* STM32F042x6 || STM32F048xx || STM32F071xB || STM32F072xB || STM32F078xx || STM32F091xC || STM32F098xx */
else
{
#if defined(STM32F042x6) || defined(STM32F048xx) || defined(STM32F070x6) \
|| defined(STM32F078xx) || defined(STM32F071xB) || defined(STM32F072xB) \
|| defined(STM32F070xB) || defined(STM32F091xC) || defined(STM32F098xx) || defined(STM32F030xC)
/* HSI used as PLL clock source : SystemCoreClock = HSI/PREDIV * PLLMUL */
SystemCoreClock = (HSI_VALUE/predivfactor) * pllmull;
#else
/* HSI used as PLL clock source : SystemCoreClock = HSI/2 * PLLMUL */
SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
#endif /* STM32F042x6 || STM32F048xx || STM32F070x6 ||
STM32F071xB || STM32F072xB || STM32F078xx || STM32F070xB ||
STM32F091xC || STM32F098xx || STM32F030xC */
}
break;
default: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK clock frequency ----------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/

358
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/*
* timers.c
*
* Created on: 4 янв. 2026 г.
* Author: v0stap
*/
#include "main.h"
void Timers_Init(void) {
var.Send_Data_IRQ = 0;
TIM1_Init();
TIM2_Init();
TIM3_Init();
TIM7_Init();
TIM14_Init();
TIM15_Init();
TIM16_Init();
TIM17_Init();
TIM6_Init();
//Init Timer1 PWM Input 1
}
void TIM1_Init(void) { //configure IN1 as Iddle input PA8 TIM1 CH1
// PB4 AF1 TIM3 Input1
RCC->AHBENR |= RCC_AHBENR_GPIOAEN;
GPIOA->MODER &= ~(3 << (8 * 2));
GPIOA->MODER |= (2 << (8 * 2));
GPIOA->OTYPER &= ~(1 << (8 * 1));
GPIOA->OSPEEDR &= ~(3 << (8 * 2));
GPIOA->PUPDR &= ~(3 << (8 * 2));
GPIOA->AFR[1] &= ~(15 << (0 * 4));
GPIOA->AFR[1] |= (2 << (0 * 4));
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
/* (1) Select the active input TI1 for TIM3_CCR1 (CC1S = 01),
select the active input TI1 for TIM3_CCR2 (CC2S = 10) */
/* (2) Select TI1FP1 as valid trigger input (TS = 101)
configure the slave mode in reset mode (SMS = 100) */
/* (3) Enable capture by setting CC1E and CC2E
select the rising edge on CC1 and CC1N (CC1P = 0 and CC1NP = 0, reset
value),
select the falling edge on CC2 (CC2P = 1). */
/* (4) Enable interrupt on Capture/Compare 1 */
/* (5) Enable counter */
TIM1->CCMR1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_1; /* (1)*/
TIM1->SMCR |= TIM_SMCR_TS_2 | TIM_SMCR_TS_0 | TIM_SMCR_SMS_2; /* (2) */
TIM1->CCER |= TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC2P; /* (3) */
TIM1->DIER |= TIM_DIER_CC1IE; /* (4) */
TIM1->CR1 |= TIM_CR1_CEN; /* (5) */
NVIC_EnableIRQ(TIM1_CC_IRQn);
}
void TIM2_Init(void) { //configure IN1 as PWM input PA15 TIM2
// PB4 AF1 TIM3 Input1
RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
GPIOA->MODER &= ~(3 << (15 * 2));
GPIOA->MODER |= (2 << (15 * 2));
GPIOA->OTYPER &= ~(1 << (15 * 1));
GPIOA->OSPEEDR &= ~(3 << (15 * 2));
GPIOA->PUPDR &= ~(3 << (15 * 2));
GPIOA->AFR[1] &= ~(15 << (7 * 4));
GPIOA->AFR[1] |= (2 << (7 * 4));
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
/* (1) Select the active input TI1 for TIM3_CCR1 (CC1S = 01),
select the active input TI1 for TIM3_CCR2 (CC2S = 10) */
/* (2) Select TI1FP1 as valid trigger input (TS = 101)
configure the slave mode in reset mode (SMS = 100) */
/* (3) Enable capture by setting CC1E and CC2E
select the rising edge on CC1 and CC1N (CC1P = 0 and CC1NP = 0, reset
value),
select the falling edge on CC2 (CC2P = 1). */
/* (4) Enable interrupt on Capture/Compare 1 */
/* (5) Enable counter */
TIM2->CCMR1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_1; /* (1)*/
TIM2->SMCR |= TIM_SMCR_TS_2 | TIM_SMCR_TS_0 | TIM_SMCR_SMS_2; /* (2) */
TIM2->CCER |= TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC2P; /* (3) */
TIM2->DIER |= TIM_DIER_CC1IE; /* (4) */
TIM2->CR1 |= TIM_CR1_CEN; /* (5) */
NVIC_EnableIRQ(TIM2_IRQn);
}
void TIM3_Init(void) { //configure IN1 as Iddle input PB4 TIM3
// PB4 AF1 TIM3 Input1
RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
// GPIOB->MODER &= ~(3 << (4 * 2));
// GPIOB->MODER |= (2 << (4 * 2));
// GPIOB->OTYPER &= ~(1 << 4 * 1);
// GPIOB->OSPEEDR &= ~(3 << (4 * 2));
// GPIOB->PUPDR &= ~(3 << (4 * 2));
// GPIOB->AFR[0] &= ~(15 << (4 * 4));
// GPIOB->AFR[0] |= (1 << (4 * 4));
GPIOB->MODER &= ~(3 << (5 * 2));
GPIOB->MODER |= (2 << (5 * 2));
GPIOB->OTYPER &= ~(1 << (5 * 1));
GPIOB->OSPEEDR &= ~(3 << (5 * 2));
GPIOB->PUPDR &= ~(3 << (5 * 2));
GPIOB->AFR[0] &= ~(15 << (5 * 4));
GPIOB->AFR[0] |= (1 << (5 * 4));
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
/* (1) Select the active input TI1 for TIM3_CCR1 (CC1S = 01),
select the active input TI1 for TIM3_CCR2 (CC2S = 10) */
/* (2) Select TI1FP1 as valid trigger input (TS = 101)
configure the slave mode in reset mode (SMS = 100) */
/* (3) Enable capture by setting CC1E and CC2E
select the rising edge on CC1 and CC1N (CC1P = 0 and CC1NP = 0, reset
value),
select the falling edge on CC2 (CC2P = 1). */
/* (4) Enable interrupt on Capture/Compare 1 */
/* (5) Enable counter */
TIM3->CCMR1 |= TIM_CCMR1_CC1S_1 | TIM_CCMR1_CC2S_0; /* (1)*/
TIM3->SMCR |= TIM_SMCR_TS_2 | TIM_SMCR_TS_0 | TIM_SMCR_SMS_2; /* (2) */
TIM3->CCER |= TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC2P; /* (3) */
TIM3->DIER |= TIM_DIER_CC1IE; /* (4) */
TIM3->CR1 |= TIM_CR1_CEN; /* (5) */
NVIC_EnableIRQ(TIM3_IRQn);
}
void TIM6_Init(void) {
// Init Timer 6
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
TIM6->PSC = 479;
TIM6->ARR = 2000;
TIM6->CR1 |= 1 << 0 | 1 << 7;
TIM6->CR2 = 0;
TIM6->SMCR = 0;
TIM6->DIER = 1 << 0;
TIM6->CCMR1 = 0;
TIM6->CCMR2 = 0;
TIM6->CCER = 0x1111;
TIM6->SR = 0;
NVIC_EnableIRQ(TIM6_IRQn);
}
void TIM7_Init(void) {
// Init Timer 6
RCC->APB1ENR |= RCC_APB1ENR_TIM7EN;
TIM7->PSC = 4799;
TIM7->ARR = 1000;
TIM7->CR1 |= 1 << 0 | 1 << 7;
TIM7->CR2 = 0;
TIM7->SMCR = 0;
TIM7->DIER = 1 << 0;
TIM7->CCMR1 = 0;
TIM7->CCMR2 = 0;
TIM7->CCER = 0x1111;
TIM7->SR = 0;
NVIC_EnableIRQ(TIM7_IRQn);
}
void TIM14_Init(void) {
/* (1) Set prescaler to 47, so APBCLK/48 i.e 1MHz */
/* (2) Set ARR = 8, as timer clock is 1MHz the period is 9 us */
/* (3) Set CCRx = 4, , the signal will be high during 4 us */
/* (4) Select PWM mode 1 on OC1 (OC1M = 110),
enable preload register on OC1 (OC1PE = 1) */
/* (5) Select active high polarity on OC1 (CC1P = 0, reset value),
enable the output on OC1 (CC1E = 1)*/
/* (6) Enable output (MOE = 1)*/
/* (7) Enable counter (CEN = 1)
select edge aligned mode (CMS = 00, reset value)
select direction as upcounter (DIR = 0, reset value) */
/* (8) Force update generation (UG = 1) */
TIM14->PSC = 48 - 1; /* (1) */
TIM14->ARR = 1000; /* (2) */
TIM14->CCR1 = 500; /* (3) */
TIM14->CCMR1 |= TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1
| TIM_CCMR1_OC1PE; /* (4) */
TIM14->CCER |= TIM_CCER_CC1E; /* (5) */
TIM14->BDTR |= TIM_BDTR_MOE; /* (6) */
TIM14->CR1 |= TIM_CR1_CEN; /* (7) */
TIM14->EGR |= TIM_EGR_UG; /* (8) */
}
void TIM15_Init(void) { //configure IN1 as Iddle input PB4 TIM3
// PB4 AF1 TIM3 Input1
RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
GPIOB->MODER &= ~(3 << (14 * 2));
GPIOB->MODER |= (2 << (14 * 2));
GPIOB->OTYPER &= ~(1 << (14 * 1));
GPIOB->OSPEEDR &= ~(3 << (4 * 2));
GPIOB->PUPDR &= ~(3 << (4 * 2));
GPIOB->AFR[0] &= ~(15 << (6 * 4));
GPIOB->AFR[0] |= (1 << (6 * 4));
RCC->APB2ENR |= RCC_APB2ENR_TIM15EN;
/* (1) Select the active input TI1 for TIM3_CCR1 (CC1S = 01),
select the active input TI1 for TIM3_CCR2 (CC2S = 10) */
/* (2) Select TI1FP1 as valid trigger input (TS = 101)
configure the slave mode in reset mode (SMS = 100) */
/* (3) Enable capture by setting CC1E and CC2E
select the rising edge on CC1 and CC1N (CC1P = 0 and CC1NP = 0, reset
value),
select the falling edge on CC2 (CC2P = 1). */
/* (4) Enable interrupt on Capture/Compare 1 */
/* (5) Enable counter */
TIM15->CCMR1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_1; /* (1)*/
TIM15->SMCR |= TIM_SMCR_TS_2 | TIM_SMCR_TS_0 | TIM_SMCR_SMS_2; /* (2) */
TIM15->CCER |= TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC2P; /* (3) */
TIM15->DIER |= TIM_DIER_CC1IE; /* (4) */
TIM15->CR1 |= TIM_CR1_CEN; /* (5) */
NVIC_EnableIRQ(TIM15_IRQn);
}
void TIM16_Init(void) {
/* (1) Set prescaler to 47, so APBCLK/48 i.e 1MHz */
/* (2) Set ARR = 8, as timer clock is 1MHz the period is 9 us */
/* (3) Set CCRx = 4, , the signal will be high during 4 us */
/* (4) Select PWM mode 1 on OC1 (OC1M = 110),
enable preload register on OC1 (OC1PE = 1) */
/* (5) Select active high polarity on OC1 (CC1P = 0, reset value),
enable the output on OC1 (CC1E = 1)*/
/* (6) Enable output (MOE = 1)*/
/* (7) Enable counter (CEN = 1)
select edge aligned mode (CMS = 00, reset value)
select direction as upcounter (DIR = 0, reset value) */
/* (8) Force update generation (UG = 1) */
TIM16->PSC = 48 - 1; /* (1) */
TIM16->ARR = 1000; /* (2) */
TIM16->CCR1 = 500; /* (3) */
TIM16->CCMR1 |= TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1
| TIM_CCMR1_OC1PE; /* (4) */
TIM16->CCER |= TIM_CCER_CC1E; /* (5) */
TIM16->BDTR |= TIM_BDTR_MOE; /* (6) */
TIM16->CR1 |= TIM_CR1_CEN; /* (7) */
TIM16->EGR |= TIM_EGR_UG; /* (8) */
}
void TIM17_Init(void) {
/* (1) Set prescaler to 47, so APBCLK/48 i.e 1MHz */
/* (2) Set ARR = 8, as timer clock is 1MHz the period is 9 us */
/* (3) Set CCRx = 4, , the signal will be high during 4 us */
/* (4) Select PWM mode 1 on OC1 (OC1M = 110),
enable preload register on OC1 (OC1PE = 1) */
/* (5) Select active high polarity on OC1 (CC1P = 0, reset value),
enable the output on OC1 (CC1E = 1)*/
/* (6) Enable output (MOE = 1)*/
/* (7) Enable counter (CEN = 1)
select edge aligned mode (CMS = 00, reset value)
select direction as upcounter (DIR = 0, reset value) */
/* (8) Force update generation (UG = 1) */
TIM17->PSC = 48 - 1; /* (1) */
TIM17->ARR = 1000; /* (2) */
TIM17->CCR1 = 0; /* (3) */
TIM17->CCMR1 |= TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1
| TIM_CCMR1_OC1PE; /* (4) */
TIM17->CCER |= TIM_CCER_CC1E; /* (5) */
TIM17->BDTR |= TIM_BDTR_MOE; /* (6) */
TIM17->CR1 |= TIM_CR1_CEN; /* (7) */
TIM17->EGR |= TIM_EGR_UG; /* (8) */
}
void TIM1_CC_IRQHandler(void) {
if ((TIM1->SR & TIM_SR_CC1IF) != 0) {
if ((TIM1->SR & TIM_SR_CC1OF) != 0) /* Check the overflow */
{
/* Overflow error management */
/* Reinitialize the laps computing */
TIM1->SR &= ~(TIM_SR_CC1OF | TIM_SR_CC1IF); /* Clear the flags */
return;
} else {
var.dvi_fr[0] = TIM1->CCR1;
var.dvi_dt[0] = (TIM1->CCR2) * 100 / var.dvi_fr[0]; //Get DC
var.dvi_fr[0] = 48000000 / var.dvi_fr[0];
// printf("data1 =%d; data2 =%d \n",counter0,counter1);
}
} else {
/* Unexpected Interrupt */
/* Manage an error for robust application */
}
}
void TIM2_IRQHandler(void) {
var.tim2_timeout = 0;
if ((TIM2->SR & TIM_SR_CC1IF) != 0) {
if ((TIM2->SR & TIM_SR_CC1OF) != 0) {/* Check the overflow */
/* Overflow error management */
/* Reinitialize the laps computing */
TIM2->SR &= ~(TIM_SR_CC1OF | TIM_SR_CC1IF); /* Clear the flags */
return;
} else {
var.dvi_fr[1] = TIM2->CCR1;
var.dvi_dt[1] = (TIM2->CCR2) * 100 / var.dvi_fr[1]; //Get DC
var.dvi_fr[1] = 48000000 / var.dvi_fr[1];
// printf("data1 =%d; data2 =%d \n",counter0,counter1);
}
} else {
var.dvi_dt[1] = 0xff00;
var.dvi_fr[1] = 0;
/* Unexpected Interrupt */
/* Manage an error for robust application */
}
}
void TIM3_IRQHandler(void) {
if ((TIM3->SR & TIM_SR_CC1IF) != 0) {
if ((TIM3->SR & TIM_SR_CC1OF) != 0) /* Check the overflow */
{
/* Overflow error management */
/* Reinitialize the laps computing */
TIM3->SR &= ~(TIM_SR_CC1OF | TIM_SR_CC1IF); /* Clear the flags */
return;
} else {
var.dvi_fr[2] = TIM3->CCR1;
var.dvi_dt[2] = (TIM3->CCR2) * 1000 / var.dvi_fr[2]; //Get DC
var.dvi_fr[2] = 48000000 / var.dvi_fr[2];
// printf("data1 =%d; data2 =%d \n",counter0,counter1);
}
} else {
/* Unexpected Interrupt */
/* Manage an error for robust application */
}
}
void TIM6_DAC_IRQHandler(void) {
TIM6->SR &= ~(1 << 0);
//TIM2->CNT = 600;
var.Send_Data_IRQ = 4;
if (var.tim1_timeout < 254)
var.tim1_timeout++;
if (var.tim2_timeout < 254)
var.tim2_timeout++;
if (var.tim3_timeout < 254)
var.tim3_timeout++;
if (var.tim15_timeout < 254)
var.tim15_timeout++;
if (var.can_timeout < 254)
var.can_timeout++;
}
void TIM7_IRQHandler(void) {
TIM7->SR &= ~(1 << 0);
if (var.dvo_dt[3] == 0)
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
else
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_SET);
}
void TIM15_IRQHandler(void) {
if ((TIM15->SR & TIM_SR_CC1IF) != 0) {
if ((TIM15->SR & TIM_SR_CC1OF) != 0) /* Check the overflow */
{
/* Overflow error management */
/* Reinitialize the laps computing */
TIM15->SR &= ~(TIM_SR_CC1OF | TIM_SR_CC1IF); /* Clear the flags */
return;
} else {
var.dvi_fr[3] = TIM15->CCR1;
var.dvi_dt[3] = (TIM15->CCR2) * 100 / TIM15->CCR1; //Get DC
var.dvi_fr[3] = 48000000 / var.dvi_fr[3];
// printf("data1 =%d; data2 =%d \n",counter0,counter1);
}
} else {
/* Unexpected Interrupt */
/* Manage an error for robust application */
}
}