sensor_2026/USER/main.c

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "beep.h"
#include "key.h"


//ALIENTEK ̽<><CCBD><EFBFBD><EFBFBD>STM32F407<30><37><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ʵ<><CAB5>4
//<2F><><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>ʵ<EFBFBD><CAB5> -<2D>⺯<EFBFBD><E2BAAF><EFBFBD>汾
//<2F><><EFBFBD><EFBFBD>֧<EFBFBD>֣<EFBFBD>www.openedv.com
//<2F>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD>̣<EFBFBD>http://eboard.taobao.com
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿƼ<D3BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾  
//<2F><><EFBFBD>ߣ<EFBFBD><DFA3><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD> @ALIENTEK

void MX_TIM2_Init(void);
//void PWM_SetPulseWidth(uint16_t pulseWidth);
//void PWM_SetSpeed(int16_t speed);
void Error_Handler(void);

typedef uint32_t  u32;
typedef uint16_t u16;
typedef uint8_t  u8;
// <20><><EFBFBD><EFBFBD>TMC2240<34>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
#define REG_MICROSTEPS 0x03
#define REG_CURRENT       0x05
#define EG_STATUS           0x0F


extern  volatile u16 rx_len;        // <20><><EFBFBD>ռ<EFBFBD><D5BC><EFBFBD>
extern volatile u8 rx_flag;        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɱ<EFBFBD>־
#define GCONF          0x00
#define IHOLD_IRUN     0x10
#define TPOWERDOWN     0x11
#define TPWMTHRS       0x13
#define TCOOLTHRS      0x14
#define CHOPCONF       0x6C
#define COOLCONF       0x6D
#define DRV_CONF       0x0A
#define DRV_STATUS     0x6F
#define PWMCONF 			 0x70

#define SOFT_SPI_DR_PORT     GPIOD
#define SOFT_SPI_DR_PIN      GPIO_Pin_3
//forward and reverse
#define D3_DR_forward()     GPIO_SetBits(SOFT_SPI_DR_PORT, SOFT_SPI_DR_PIN)
#define D3_DR_reverse()     GPIO_ResetBits(SOFT_SPI_DR_PORT, SOFT_SPI_DR_PIN)

void TMC2240_Init_rotating() {
    // <20><><EFBFBD>õ<EFBFBD>ѹ<EFBFBD><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWMģʽ
    TMC2240_WriteReg(GCONF, 0x000000C4);

    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>IHOLD=0.5A, IRUN=1.2A
    TMC2240_WriteReg(IHOLD_IRUN, 0x00180C10);

    // 16΢<36><CEA2><EFBFBD><EFBFBD>MRES=4<><34><EFBFBD><EFBFBD>TOFF=3
    TMC2240_WriteReg(CHOPCONF, 0x030000C3);
		// <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD>ֵ500Hz<48><7A><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ֵ<EFBFBD><D6B5>StealthChop2<70><32>
    TMC2240_WriteReg(TPWMTHRS, 200);
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    TMC2240_WriteReg(DRV_CONF, 0x00000001);

    // ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ
    TMC2240_WriteReg(TPOWERDOWN, 10);
}

void TMC2240_Init() {
    // <20><><EFBFBD><EFBFBD>StealthChop2<70>Զ<EFBFBD><D4B6><EFBFBD>г + SpreadCycle<6C><65>̬<EFBFBD>л<EFBFBD>
    TMC2240_WriteReg(GCONF, 0x000000C4 | (1 << 7)); // bit7=1
    
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>IRUN=1.2A, IHOLD=0.8A<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>
    //TMC2240_WriteReg(IHOLD_IRUN, 0x00190C10);
	   TMC2240_WriteReg(IHOLD_IRUN, 0x04090101); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>̫<EFBFBD>󣬷<EFBFBD><F3A3ACB7>ȣ<EFBFBD><C8A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
   // <20><><EFBFBD><EFBFBD>΢<EFBFBD><CEA2><EFBFBD>ֱ<EFBFBD><D6B1>ʣ<EFBFBD><CAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>256΢<36><CEA2><EFBFBD><EFBFBD>Ϊ16΢<36><CEA2><EFBFBD><EFBFBD>
		TMC2240_WriteReg(CHOPCONF, 0x070080C3 ); // MRES=4<><34>16΢<36><CEA2><EFBFBD><EFBFBD>
    
    // <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD>ֵ500Hz<48><7A><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>ֵ<EFBFBD><D6B5>StealthChop2<70><32>
    TMC2240_WriteReg(TPWMTHRS, 50);
    
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ñ<EFBFBD><C3B1>ֲ<EFBFBD><D6B2><EFBFBD>
    TMC2240_WriteReg(DRV_CONF, 0x00000001);
		
    TMC2240_WriteReg(TPOWERDOWN, 10);
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
void CheckDriverStatus() {
    uint32_t status = TMC2240_ReadReg(DRV_STATUS);//
    if (status & (1 << 26)) { // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>
        printf("Short to ground detected\n");
    }
    if (status & (1 << 25)) { // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
        printf("Overtemperature detected\n");
    }
    if (status & (1 << 24)) { // <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
        printf("Motor stall detected\n");
    }
}

void motor_steps(uint8_t num, uint8_t dir, uint16_t steps)
{
           GPIO_SetBits(GPIOD, GPIO_Pin_4);    //TMS2240 - 2ʹ<32><CAB9><EFBFBD>ź<EFBFBD>
           delay_us(steps);		
           GPIO_ResetBits(GPIOD, GPIO_Pin_4);     //TMS2240 - 1ʹ<31><CAB9><EFBFBD>ź<EFBFBD>      
}

void motor_stop(uint8_t num)
{
}


uint8_t crc8_calculate(const uint8_t *data, uint32_t length, uint8_t poly, uint8_t init_val, uint8_t ref_out)
{
    // 1. <20><>ʼ<EFBFBD><CABC> CRC <20>Ĵ<EFBFBD><C4B4><EFBFBD>
    uint8_t crc = init_val;
    
    // 2. <20><><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD>ֽ<EFBFBD>
    for (uint32_t i = 0; i < length; i++)
    {
        // 3. <20><><EFBFBD><EFBFBD>ǰ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD> CRC <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򣨺<EFBFBD><F2A3A8BA>IJ<EFBFBD><C4B2>裩
        crc ^= data[i];
        
        // 4. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD>ֽڵ<D6BD>ÿһλ<D2BB><CEBB>8 λ<><CEBB>
        for (uint8_t j = 0; j < 8; j++)
        {
            // 5. <20>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>Ƿ<EFBFBD>Ϊ 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
            if (crc & 0x80)
            {
                // <20><><EFBFBD><EFBFBD> 1 λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD>ȼ<EFBFBD><C8BC>ڶ<EFBFBD><DAB6><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
                crc = (crc << 1) ^ poly;
            }
            else
            {
                // <20><><EFBFBD><EFBFBD>λΪ 0<><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 1 λ
                crc <<= 1;
            }
        }
    }
    
    // 6. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>
    if (ref_out)
    {
        // <20><>λ<EFBFBD><CEBB>ת CRC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0x12 <20><> 0x48<34><38>
        uint8_t reversed = 0;
        for (uint8_t i = 0; i < 8; i++)
        {
            reversed |= ((crc >> i) & 0x01) << (7 - i);
        }
        crc = reversed;
    }
    
    return crc;
}

uint8_t crc8_standard(const uint8_t *data, uint32_t length)
{
    // <20><><EFBFBD><EFBFBD> CRC-8/MAXIM/ITU <20><>׼<EFBFBD><D7BC>poly=0x07, init=0x00, ref_out=0
    return crc8_calculate(data, length, 0x07, 0x00, 0);
}

uint32_t status ;
u8 flg=0;

extern int flag_microswitch_left;   // <20><><EFBFBD>翪<EFBFBD><E7BFAA>left <20><>λ
extern int flag_microswitch_right;  // <20><><EFBFBD>翪<EFBFBD><E7BFAA>right <20><>λ


extern  uint8_t g_usart1_rx_buf[USART_REC_LEN];
extern  uint16_t g_usart1_rx_sta;
extern uint16_t g_usart1_rx_state;

extern uint8_t g_rx1_buffer[RXBUFFERSIZE];                  /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
extern uint8_t g_usart2_rx_buf[USART_REC_LEN];
extern uint16_t g_usart2_rx_sta;
extern uint8_t g_rx2_buffer[RXBUFFERSIZE];                  /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
extern uint8_t g_usart3_rx_buf[USART_REC_LEN];
extern uint16_t g_usart3_rx_sta;
extern uint8_t g_rx3_buffer[RXBUFFERSIZE];                  /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
extern uint8_t g_usart4_rx_buf[USART_REC_LEN];
extern uint16_t g_usart4_rx_sta;
extern uint8_t g_rx4_buffer[RXBUFFERSIZE];                  /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
extern uint8_t g_usart5_rx_buf[USART_REC_LEN];
extern uint16_t g_usart5_rx_sta;
extern uint8_t g_rx5_buffer[RXBUFFERSIZE];                  /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */
/* <20><><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>, <20><><EFBFBD><EFBFBD>USART_REC_LEN<45><4E><EFBFBD>ֽ<EFBFBD>. */
extern uint8_t g_usart6_rx_buf[USART_REC_LEN];
extern uint16_t g_usart6_rx_sta;
extern uint8_t g_rx6_buffer[RXBUFFERSIZE];                  /* HAL<41><4C>ʹ<EFBFBD>õĴ<C3B5><C4B4>ڽ<EFBFBD><DABD>ջ<EFBFBD><D5BB><EFBFBD> */


int main(void)
{ 
 
	u8 t;
	u8 len;	
	u16 times=0;  
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//<2F><><EFBFBD><EFBFBD>ϵͳ<CFB5>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD><EFBFBD><EFBFBD>2
	delay_init(168);		//<2F><>ʱ<EFBFBD><CAB1>ʼ<EFBFBD><CABC> 
	uart1_init(115200);	//<2F><><EFBFBD>ڳ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ115200
	gpio_Init();		  		//<2F><>ʼ<EFBFBD><CABC>gpio  
       motor_spi1_init();
	motor_spi2_init();
	TIM1_PWM_Init(16, 32);
	TIM2_PWM_Init(16, 32);
       TIM4_PWM_Init(16, 32);
       TIM_Cmd(TIM1, DISABLE);
	TIM_Cmd(TIM2, DISABLE);
	TIM_Cmd(TIM4, DISABLE);
	while(1)
	{
		if(USART_RX_STA&0x8000)
		{					   
			len=USART_RX_STA&0x3fff;//<2F>õ<EFBFBD><C3B5>˴ν<CBB4><CEBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
			printf("\r\n<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD><EFBFBD>ϢΪ:\r\n");
			for(t=0;t<len;t++)
			{
				USART_SendData(USART1, USART_RX_BUF[t]);         //<2F>򴮿<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
				while(USART_GetFlagStatus(USART1,USART_FLAG_TC)!=SET);//<2F>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD>ͽ<EFBFBD><CDBD><EFBFBD>
			}
			printf("\r\n\r\n");//<2F><><EFBFBD>뻻<EFBFBD><EBBBBB>
			USART_RX_STA=0;
		}else
		{
			times++;
			if(times%5000==0)
			{
				printf("\r\nALIENTEK ̽<><CCBD><EFBFBD><EFBFBD>STM32F407<30><37><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5>\r\n");
				printf("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><EFBFBD>@ALIENTEK\r\n\r\n\r\n");
			}
			if(times%200==0)printf("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C>Իس<D4BB><D8B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\r\n");  
			if(times%30==0)LED0=!LED0;//<2F><>˸LED,<2C><>ʾϵͳ<CFB5><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
			delay_ms(10);   
		}
	}
}