使用定时器

2023-06-27 18:16:46 +08:00
parent cdad432f8a
commit edd3010a20
6 changed files with 338 additions and 9 deletions
--- a/ReadMe.txt
+++ b/ReadMe.txt
@@ -3,3 +3,6 @@
 2023.6.25
    使用rt-thread
    电机控制、按键、ADC在M4上实现
+2023.6.27
+    在m4上使用定时器，实现pwm控制的时候没有找到光感输入脚
+    如果发现程序不能运行，检查RTE文件
--- a/checker_m4.uvoptx
+++ b/checker_m4.uvoptx
@@ -1130,7 +1130,7 @@

  <Group>
    <GroupName>::Compiler</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>1</RteFlg>
--- a/checker_m4.uvprojx
+++ b/checker_m4.uvprojx
@@ -606,6 +606,11 @@
              <FileName>stm32mp1xx_hal_fdcan.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\source\stm32lib\STM32MP1xx_HAL_Driver\Src\stm32mp1xx_hal_fdcan.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32mp1xx_hal_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\source\stm32lib\STM32MP1xx_HAL_Driver\Src\stm32mp1xx_hal_tim.c</FilePath>
              <FileOption>
                <CommonProperty>
                  <UseCPPCompiler>2</UseCPPCompiler>
@@ -658,11 +663,6 @@
                </FileArmAds>
              </FileOption>
            </File>
-            <File>
-              <FileName>stm32mp1xx_hal_tim.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>.\source\stm32lib\STM32MP1xx_HAL_Driver\Src\stm32mp1xx_hal_tim.c</FilePath>
-            </File>
          </Files>
        </Group>
        <Group>
@@ -772,6 +772,57 @@
              <FileName>if_pwm.c</FileName>
              <FileType>1</FileType>
              <FilePath>.\source\interface\if_pwm.c</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>0</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>0</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <uSurpInc>2</uSurpInc>
+                    <uC99>2</uC99>
+                    <uGnu>2</uGnu>
+                    <useXO>2</useXO>
+                    <v6Lang>0</v6Lang>
+                    <v6LangP>0</v6LangP>
+                    <vShortEn>2</vShortEn>
+                    <vShortWch>2</vShortWch>
+                    <v6Lto>2</v6Lto>
+                    <v6WtE>2</v6WtE>
+                    <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
            </File>
          </Files>
        </Group>
--- a/debug.ini
+++ b/debug.ini
@@ -0,0 +1 @@
+LOAD %L NOCODE INCREMENTAL
--- a/source/interface/if_pwm.c
+++ b/source/interface/if_pwm.c
@@ -1,15 +1,35 @@
 #include "board.h"
 #include "debug.h"
+#include "lock_resource.h"

 // 使用定时器14

 // PF7,8,9 是输出口
+// 使用PF7来产生脉冲，PF8来改变方向
+
+typedef struct{
+  int tick;
+  int step;
+  int fre;
+  int fre_max;
+  int fre_min;
+  int up_tick;
+}ctrl_fre;
+

 typedef struct{
  TIM_HandleTypeDef htim;
+  TIM_HandleTypeDef htim2;
+  int count_all;
+  int count_past;
+  int fre;
+  ctrl_fre cfre;
+  void (*end_irq)(void *t);
+  void *t;
 }self_def;


+
 static self_def g_self;


@@ -18,11 +38,13 @@ static int init(pwm_def *p)
  self_def *s=&g_self;
  if(p->private_data) return 0;
  p->private_data=s;
+  s->cfre.step=320;
+  s->cfre.fre_min=1100;

  s->htim.Instance = TIM14;
  s->htim.Init.Prescaler = 209-1;
  s->htim.Init.CounterMode = TIM_COUNTERMODE_UP;
-  s->htim.Init.Period = 65535;
+  s->htim.Init.Period = 31-1;
  s->htim.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  s->htim.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&s->htim) != HAL_OK)
@@ -30,16 +52,257 @@ static int init(pwm_def *p)
    DBG_ERR("time init failed.");
    return -1;
  }
+  s->htim2.Instance = TIM13;
+  s->htim2.Init.Prescaler = 209-1;
+  s->htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  s->htim2.Init.Period = 1000-1;
+  s->htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  s->htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+  if (HAL_TIM_Base_Init(&s->htim2) != HAL_OK)
+  {
+    DBG_ERR("time init failed.");
+    return -1;
+  }
+  
+  GPIO_InitTypeDef init={0};
+  __HAL_RCC_GPIOF_CLK_ENABLE();
+  
+  init.Mode = GPIO_MODE_INPUT;
+  init.Pull = GPIO_NOPULL;
+  init.Pin = GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
+  PERIPH_LOCK(GPIOF);
+  HAL_GPIO_Init(GPIOF, &init);
+  PERIPH_UNLOCK(GPIOF);
+
  return 0;
 }

+static int deinit(pwm_def *p)
+{
+  return 0;
+}
+
+static int start(pwm_def *p,int step_count)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_def *self=p->private_data;
+  if(step_count==0) return 0;
+  if((*self->dtb->bitmap_pin_zero==0)&&(step_count<0))
+  {
+    // 到达零点后不能继续上升
+    if(self->end_irq)
+      self->end_irq(self->t);
+    return -1;
+  }
+  if(step_count>0)
+    *self->dtb->bitmap_pin_dir=0;
+  else{
+    step_count=-step_count;
+    *self->dtb->bitmap_pin_dir=1;
+  }
+  if(self->fre==0)
+  {
+    ctrl_fre *cfre=&self->cfre;
+    memset(cfre,0,sizeof(ctrl_fre));
+    int max_count=0;
+    cfre->tick=0;
+    cfre->step=320;
+    cfre->fre_max=16000;
+    cfre->fre_min=1100;
+    cfre->up_tick=0;
+    cfre->fre=cfre->fre_min;
+  }
+  irq_disable();
+  if(step_count>0)
+  {
+    self->count_all=step_count;
+  }else{
+    self->count_all=0;
+  }
+  self->count_past=0;
+  irq_enable();
+  HAL_TIM_Base_Start_IT(&self->htim);
+  HAL_TIM_Base_Start_IT(&self->htim2);
+  return 0;
+}
+
+
+static inline void self_stop__(self_def *self);
+
+static int stop(pwm_def *p)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_def *self=p->private_data;
+  self_stop__(self);
+  return 0;
+}
+static inline void self_set_fre(self_def *self,int fre)
+{
+  // 两个定时器溢出为一个翻转周期，这里重装载值要除2
+  __HAL_TIM_SET_AUTORELOAD(&self->htim,1000000/2/fre);
+  __HAL_TIM_SET_COUNTER(&self->htim,0);
+}
+
+// 设置频率，最低8hz，最高16000hz
+// 如果设置fre为0，则自动运行
+static int set_fre(pwm_def *p,int fre)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_def *self=p->private_data;
+  if(fre==0)
+  {
+    self->fre=fre;
+    return 0;
+  }
+  if((fre<8)||(fre>16000)) return -1;
+  self->fre=fre;
+  self_set_fre(self,fre);
+  return 0;
+}
+
+
+// 设置中断回调
+static int set_irq_fun(pwm_def *p,void (*fun)(void *t),void *t)
+{
+  param_check(p);
+  param_check(p->private_data);
+  self_def *self=p->private_data;
+  irq_disable();
+  self->end_irq=fun;
+  self->t=t;
+  irq_enable();
+  return 0;
+}
+
+static inline void self_stop__(self_def *self)
+{
+  HAL_TIM_Base_Stop_IT(&self->htim);
+  HAL_TIM_Base_Stop_IT(&self->htim2);
+  if(self->end_irq)
+    self->end_irq(self->t);
+}
+
+
+
+pwm_init_export(pwm,init,deinit,start,stop,set_fre,set_irq_fun,0)
+
+
+
+
+
+static inline void self_irq(self_def *self)
+{
+	rt_interrupt_enter();
+  volatile uint32_t *pin=self->dtb->bitmap_pin;
+  if(TIM_GetFlagStatus(self->dtb->tim,TIM_FLAG_Update))
+  {
+    TIM_ClearFlag(self->dtb->tim,TIM_FLAG_Update);
+    *pin=!(*pin);
+    irq_disable();
+    self->count_past++;
+    irq_enable();
+    if(self->count_all>0&&(self->count_all<=self->count_past))
+    {
+      self_stop__(self);
+    }
+  }
+	rt_interrupt_leave();
+}
+
+
+static inline void calc_up(self_def *self)
+{
+  ctrl_fre *cfre=&self->cfre;
+  if(self->count_past<self->count_all/2)
+  {
+    if(cfre->fre<cfre->fre_max)
+      cfre->fre+=cfre->step;
+    else
+      cfre->up_tick++;
+  }else{
+    if(cfre->up_tick>0)
+      cfre->up_tick--;
+    else{
+      cfre->fre-=cfre->step;
+    }
+  }
+  // 防止速度减到0，永远不停止
+  if(cfre->fre<cfre->fre_min)
+    cfre->fre=cfre->fre_min;
+}
+
+
+static int calc_fre(self_def *self)
+{
+  ctrl_fre *cfre=&self->cfre;
+  int fre=0;
+  calc_up(self);
+  fre=cfre->fre;
+  // 会每1ms更新一次频率，因此频率必须大于1000
+  param_check(fre>1000);
+  cfre->tick++;
+  return fre;
+}
+static inline void self_irq2(self_def *self)
+{
+	rt_interrupt_enter();
+  volatile uint32_t *pin=self->dtb->bitmap_pin;
+  if(TIM_GetFlagStatus(self->dtb->tim2,TIM_FLAG_Update))
+  {
+    TIM_ClearFlag(self->dtb->tim2,TIM_FLAG_Update);
+    if(self->fre==0)
+      self_set_fre(self,calc_fre(self));
+  }
+	rt_interrupt_leave();
+}
+
+
+static inline void self_stop_irq(self_def *self)
+{
+	rt_interrupt_enter();
+  if(EXTI_GetFlagStatus(1<<self->dtb->gpio_zero_pin)){
+    irq_disable();
+    self->count_past=0;
+    self->count_all=0;
+    irq_enable();
+    self_stop__(self);
+    EXTI_ClearFlag(1<<self->dtb->gpio_zero_pin);
+  }
+	rt_interrupt_leave();
+}
+




+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  //DBG_LOG("timer updata.");
+}



+void HAL_TIMEx_Break2Callback(TIM_HandleTypeDef *htim)
+{
+}
+void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef *htim)
+{
+}
+void HAL_TIMEx_CommutHalfCpltCallback(TIM_HandleTypeDef *htim)
+{
+}
+void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim)
+{
+}
+void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma)
+{
+}
+void TIMEx_DMACommutationHalfCplt(DMA_HandleTypeDef *hdma)
+{
+}



@@ -50,6 +313,11 @@ void TIM14_IRQHandler(void)
  self_def *s=&g_self;
  HAL_TIM_IRQHandler(&s->htim);
 }
+void TIM13_IRQHandler(void)
+{
+  self_def *s=&g_self;
+  HAL_TIM_IRQHandler(&s->htim2);
+}



--- a/source/main/main.c
+++ b/source/main/main.c
@@ -25,6 +25,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "debug.h"
+#include "board.h"
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@@ -139,6 +140,11 @@ int main(void)
  {
    Error_Handler();
  }
+  
+  pwm_def *pwm=dev_get("pwm");
+  pwm->init(pwm);
+  DBG_LOG("pwm start.");
+  pwm->start(pwm,1);
  /* USER CODE END 2 */

  /* Infinite loop */