m5/M5Unit-ExtEncoder-Internal-FW
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M5Unit-ExtEncoder-Internal-FW/code/Unit_ExtEncoder/Core/Src/main.c
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chenzhjie 9b2f9f2d86 init
2023-02-07 12:12:29 +08:00

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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 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"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "i2c_ex.h"
#include "flash.h"
#include "modecfg.h"
#include "encoder.h"
#include <stdio.h>
#include <string.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define FIRMWARE_VERSION 1
#define I2C_ADDRESS 0x59
#define APPLICATION_ADDRESS ((uint32_t)0x08001000)
#define FLASH_DATA_SIZE 10
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim3;
/* USER CODE BEGIN PV */
__IO float meter;
__IO int32_t meter_int32;
__IO int32_t perimeter = 100;
__IO int32_t pulse = 2000;
char temp_tx_char[9] = {0};
char temp_integer_part[8] = {0};
uint8_t flash_data[FLASH_DATA_SIZE] = {0};
uint8_t i2c_address[1] = {0};
volatile uint8_t fm_version = FIRMWARE_VERSION;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
void MX_TIM3_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void IAP_Set()
{
uint8_t i;
uint32_t *pVecTab=(uint32_t *)(0x20000000);
//复制中断向量表到SRAM首地址
for(i = 0; i < 48; i++)
{
*(pVecTab++) = *(__IO uint32_t*)(APPLICATION_ADDRESS + (i<<2));
}
/* Enable the SYSCFG peripheral clock*/
#if 1 //STM32
__HAL_RCC_SYSCFG_CLK_ENABLE();
//重映射 SRAM 地址到 0x00000000
__HAL_SYSCFG_REMAPMEMORY_SRAM();
#else //AMP32
RCM_EnableAPB2PeriphClock(RCM_APB2_PERIPH_SYSCFG);
/* Remap SRAM at 0x00000000 */
SYSCFG->CFG1_B.MMSEL = SYSCFG_MemoryRemap_SRAM;
#endif
}
void user_i2c_init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
LL_I2C_InitTypeDef I2C_InitStruct = {0};
LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
/**I2C1 GPIO Configuration
PA9 ------> I2C1_SCL
PA10 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = LL_GPIO_PIN_9;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_OPENDRAIN;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
GPIO_InitStruct.Alternate = LL_GPIO_AF_4;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LL_GPIO_PIN_10;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_OPENDRAIN;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
GPIO_InitStruct.Alternate = LL_GPIO_AF_4;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral clock enable */
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_I2C1);
/* I2C1 interrupt Init */
NVIC_SetPriority(I2C1_IRQn, 0);
NVIC_EnableIRQ(I2C1_IRQn);
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
/** I2C Initialization
*/
LL_I2C_DisableOwnAddress2(I2C1);
LL_I2C_DisableGeneralCall(I2C1);
LL_I2C_EnableClockStretching(I2C1);
I2C_InitStruct.PeripheralMode = LL_I2C_MODE_I2C;
I2C_InitStruct.Timing = 0x2000090E;
I2C_InitStruct.AnalogFilter = LL_I2C_ANALOGFILTER_ENABLE;
I2C_InitStruct.DigitalFilter = 0;
I2C_InitStruct.OwnAddress1 = i2c_address[0]<<1;
I2C_InitStruct.TypeAcknowledge = LL_I2C_ACK;
I2C_InitStruct.OwnAddrSize = LL_I2C_OWNADDRESS1_7BIT;
LL_I2C_Init(I2C1, &I2C_InitStruct);
LL_I2C_EnableAutoEndMode(I2C1);
LL_I2C_SetOwnAddress2(I2C1, 0, LL_I2C_OWNADDRESS2_NOMASK);
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
void cover_data_to_flash(void)
{
flash_data[0] = I2C_ADDRESS;
flash_data[1] = 0;
flash_data[2] = perimeter & 0xff;
flash_data[3] = (perimeter >> 8) & 0xff;
flash_data[4] = (perimeter >> 16) & 0xff;
flash_data[5] = (perimeter >> 24) & 0xff;
flash_data[6] = pulse & 0xff;
flash_data[7] = (pulse >> 8) & 0xff;
flash_data[8] = (pulse >> 16) & 0xff;
flash_data[9] = (pulse >> 24) & 0xff;
}
void init_flash_data(void)
{
if (!(readPackedMessageFromFlash(flash_data, FLASH_DATA_SIZE))) {
i2c_address[0] = I2C_ADDRESS;
cover_data_to_flash();
writeMessageToFlash(flash_data , FLASH_DATA_SIZE);
} else {
i2c_address[0] = flash_data[0];
perimeter = flash_data[2] | (flash_data[3] << 8) | (flash_data[4] << 16) | (flash_data[5] << 24);
}
set_i2c_slave_address(i2c_address[0]);
}
void Slave_Complete_Callback(uint8_t *rx_data, uint16_t len)
{
char temp_sign_part[2] = {0};
char temp_decimal_part[4] = {0};
uint8_t buf[4];
uint8_t rx_buf[16];
uint8_t rx_mark[16] = {0};
if (len == 1 && (rx_data[0] <= 0x03))
{
i2c1_set_send_data((uint8_t *)&encoder_countAB, 4);
}
else if (len == 1 && (rx_data[0] >= 0x10 && rx_data[0] <= 0x13))
{
meter_int32 = (int32_t)(meter * 1000);
i2c1_set_send_data((uint8_t *)&meter_int32, 4);
}
else if (len == 1 && ((rx_data[0] >= 0x20) && (rx_data[0] <= 0x26)))
{
int32_t temp, dec;
if (meter > 0) {
temp_sign_part[0] = 0x2B;
} else {
temp_sign_part[0] = 0x2D;
}
temp = ((int32_t)(meter * 1000));
if (meter < 0) {
temp = -temp;
}
dec = temp;
temp = temp / 1000;
dec = dec - temp * 1000;
if (temp <= 9999)
sprintf(temp_integer_part, "%04d", temp);
if (dec <= 999)
sprintf(temp_decimal_part, "%c%03d", '.', dec);
memcpy(temp_tx_char, temp_sign_part, 1);
memcpy(temp_tx_char+1, temp_integer_part, 4);
memcpy(temp_tx_char+5, temp_decimal_part, 4);
i2c1_set_send_data((uint8_t *)temp_tx_char, sizeof(temp_tx_char));
}
else if (len > 1 && (rx_data[0] == 0x30))
{
if (rx_data[1] == 1) {
meter = 0;
encoder_countAB = 0;
}
}
else if (len > 1 && ((rx_data[0] >= 0x40) && (rx_data[0] <= 0x43)))
{
for(int i = 0; i < len - 1; i++) {
rx_buf[rx_data[0]-0x40+i] = rx_data[1+i];
rx_mark[rx_data[0]-0x40+i] = 1;
}
if (rx_mark[0] && rx_mark[1] && rx_mark[2] && rx_mark[3]) {
perimeter = (rx_buf[0] | (rx_buf[1] << 8) | (rx_buf[2] << 16) | (rx_buf[3] << 24));
if (readPackedMessageFromFlash(flash_data, FLASH_DATA_SIZE)) {
cover_data_to_flash();
writeMessageToFlash(flash_data , FLASH_DATA_SIZE);
}
}
}
else if (len == 1 && ((rx_data[0] >= 0x40) && (rx_data[0] <= 0x43)))
{
i2c1_set_send_data((uint8_t *)&perimeter, 4);
}
else if (len == 1 && ((rx_data[0] >= 0x50) && (rx_data[0] <= 0x53)))
{
i2c1_set_send_data((uint8_t *)&pulse, 4);
}
else if (len > 1 && ((rx_data[0] >= 0x50) && (rx_data[0] <= 0x53)))
{
for(int i = 0; i < len - 1; i++) {
rx_buf[rx_data[0]-0x50+i] = rx_data[1+i];
rx_mark[rx_data[0]-0x50+i] = 1;
}
if (rx_mark[0] && rx_mark[1] && rx_mark[2] && rx_mark[3]) {
pulse = (rx_buf[0] | (rx_buf[1] << 8) | (rx_buf[2] << 16) | (rx_buf[3] << 24));
if (readPackedMessageFromFlash(flash_data, FLASH_DATA_SIZE)) {
cover_data_to_flash();
writeMessageToFlash(flash_data , FLASH_DATA_SIZE);
}
}
}
else if (len == 1 && ((rx_data[0] >= 0x60) && (rx_data[0] <= 0x63)))
{
i2c1_set_send_data((uint8_t *)&encoder_counter, 4);
}
else if (len == 1 && (rx_data[0] == 0xFE))
{
i2c1_set_send_data((uint8_t *)&fm_version, 1);
}
else if (len > 1 && (rx_data[0] == 0xFF))
{
if (len == 2) {
if (rx_data[1] < 128) {
if (readPackedMessageFromFlash(flash_data, FLASH_DATA_SIZE)) {
i2c_address[0] = rx_data[1];
flash_data[0] = i2c_address[0];
flash_data[1] = 0;
writeMessageToFlash(flash_data , FLASH_DATA_SIZE);
set_i2c_slave_address(i2c_address[0]);
user_i2c_init();
}
}
}
}
else if (len == 1 && (rx_data[0] == 0xFF))
{
i2c1_set_send_data(i2c_address, 1);
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
IAP_Set();
/* 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_I2C1_Init();
MX_TIM3_Init();
/* USER CODE BEGIN 2 */
advanceModeInit(0);
init_flash_data();
user_i2c_init();
i2c1_it_enable();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
encode_update();
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
LL_FLASH_SetLatency(LL_FLASH_LATENCY_0);
while(LL_FLASH_GetLatency() != LL_FLASH_LATENCY_0)
{
}
LL_RCC_HSI_Enable();
/* Wait till HSI is ready */
while(LL_RCC_HSI_IsReady() != 1)
{
}
LL_RCC_HSI_SetCalibTrimming(16);
LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);
LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_HSI);
/* Wait till System clock is ready */
while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_HSI)
{
}
LL_SetSystemCoreClock(8000000);
/* Update the time base */
if (HAL_InitTick (TICK_INT_PRIORITY) != HAL_OK)
{
Error_Handler();
}
LL_RCC_SetI2CClockSource(LL_RCC_I2C1_CLKSOURCE_HSI);
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
LL_I2C_InitTypeDef I2C_InitStruct = {0};
LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA);
/**I2C1 GPIO Configuration
PA9 ------> I2C1_SCL
PA10 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = LL_GPIO_PIN_9;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_OPENDRAIN;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
GPIO_InitStruct.Alternate = LL_GPIO_AF_4;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = LL_GPIO_PIN_10;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_OPENDRAIN;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
GPIO_InitStruct.Alternate = LL_GPIO_AF_4;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral clock enable */
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_I2C1);
/* I2C1 interrupt Init */
NVIC_SetPriority(I2C1_IRQn, 0);
NVIC_EnableIRQ(I2C1_IRQn);
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
/** I2C Initialization
*/
LL_I2C_DisableOwnAddress2(I2C1);
LL_I2C_DisableGeneralCall(I2C1);
LL_I2C_EnableClockStretching(I2C1);
I2C_InitStruct.PeripheralMode = LL_I2C_MODE_I2C;
I2C_InitStruct.Timing = 0x2000090E;
I2C_InitStruct.AnalogFilter = LL_I2C_ANALOGFILTER_ENABLE;
I2C_InitStruct.DigitalFilter = 0;
I2C_InitStruct.OwnAddress1 = 0x59<<1;
I2C_InitStruct.TypeAcknowledge = LL_I2C_ACK;
I2C_InitStruct.OwnAddrSize = LL_I2C_OWNADDRESS1_7BIT;
LL_I2C_Init(I2C1, &I2C_InitStruct);
LL_I2C_EnableAutoEndMode(I2C1);
LL_I2C_SetOwnAddress2(I2C1, 0, LL_I2C_OWNADDRESS2_NOMASK);
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/**
* @brief TIM3 Initialization Function
* @param None
* @retval None
*/
void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_Encoder_InitTypeDef sConfig = {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;
sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 0;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 0;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != 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 GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin : PA4 */
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
}
/* USER CODE BEGIN 4 */
/* 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 */
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