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This commit is contained in:
bmy
2024-04-30 09:57:59 +08:00
parent 200b5703f9
commit 13d9324385
9 changed files with 159 additions and 149 deletions
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1
.gitignore vendored
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@@ -1,5 +1,4 @@
# dot files # dot files
/.vscode/launch.json
/.settings /.settings
/.eide/log /.eide/log
/.eide.usr.ctx.json /.eide.usr.ctx.json

19
.vscode/launch.json vendored Normal file
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@@ -0,0 +1,19 @@
{
"version": "0.2.0",
"configurations": [
{
"cwd": "${workspaceRoot}",
"type": "cortex-debug",
"request": "launch",
"name": "openocd",
"servertype": "openocd",
"executable": "build\\BC3D\\BC3D.elf",
"runToEntryPoint": "main",
"configFiles": [
"interface/cmsis-dap.cfg",
"target/at32f413xx.cfg"
],
"toolchainPrefix": "arm-none-eabi",
}
]
}

44
BC3D.ATWP
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@@ -18,6 +18,14 @@
<ParametersSub name="RSAW" value="CAN_RSAW_1TQ"/> <ParametersSub name="RSAW" value="CAN_RSAW_1TQ"/>
</Parameters> </Parameters>
</CAN1> </CAN1>
<CRM>
<Mode>
<ModeSub name="HEXT" value="HEXT-External-Oscillator"/>
</Mode>
<Parameters>
<ParametersSub name="HEXT" value="HEXT_CRYSTAL"/>
</Parameters>
</CRM>
<DEBUG> <DEBUG>
<Mode> <Mode>
<ModeSub name="Debug interface" value="SWD"/> <ModeSub name="Debug interface" value="SWD"/>
@@ -39,14 +47,6 @@
<ModeSub name="Activated" value="TRUE"/> <ModeSub name="Activated" value="TRUE"/>
</Mode> </Mode>
</TMR3> </TMR3>
<TMR9>
<Mode>
<ModeSub name="Channel2 mode" value="Output_CH2"/>
<ModeSub name="Subordinate mode" value="Clock Mode"/>
<ModeSub name="Sub-mode input selection" value="SubModeInput_IS2"/>
<ModeSub name="Activated" value="TRUE"/>
</Mode>
</TMR9>
<TMR10> <TMR10>
<Mode> <Mode>
<ModeSub name="Channel1 mode" value="Output_without_pin"/> <ModeSub name="Channel1 mode" value="Output_without_pin"/>
@@ -75,12 +75,6 @@
<USART2_IRQHandler>0;0;0</USART2_IRQHandler> <USART2_IRQHandler>0;0;0</USART2_IRQHandler>
</NVIC> </NVIC>
<GPIO> <GPIO>
<Signal SignalName="GPIO_Input" PinName="PB10">
<Parameters name="Label" value="SW_IN2"/>
</Signal>
<Signal SignalName="GPIO_Input" PinName="PB11">
<Parameters name="Label" value="SW_IN1"/>
</Signal>
<Signal SignalName="GPIO_Output" PinName="PB12"> <Signal SignalName="GPIO_Output" PinName="PB12">
<Parameters name="Label" value="MODE2"/> <Parameters name="Label" value="MODE2"/>
</Signal> </Signal>
@@ -90,22 +84,22 @@
<Signal SignalName="GPIO_Output" PinName="PB14"> <Signal SignalName="GPIO_Output" PinName="PB14">
<Parameters name="Label" value="MODE0"/> <Parameters name="Label" value="MODE0"/>
</Signal> </Signal>
<Signal SignalName="TMR9_CH2" PinName="PB15"> <Signal SignalName="GPIO_Output" PinName="PB15">
<Parameters name="Label" value="STEP"/> <Parameters name="Label" value="CLK"/>
</Signal> </Signal>
<Signal SignalName="GPIO_Output" PinName="PA8"> <Signal SignalName="GPIO_Output" PinName="PA8">
<Parameters name="Label" value="DIR"/> <Parameters name="Label" value="DIR"/>
</Signal> </Signal>
<Signal SignalName="GPIO_Analog" PinName="PA9"> <Signal SignalName="GPIO_Output" PinName="PA9">
<Parameters name="Label" value="EN"/> <Parameters name="Label" value="EN"/>
</Signal> </Signal>
</GPIO> </GPIO>
<ClockConfiguration> <ClockConfiguration>
<rtcsel>0</rtcsel> <rtcsel>0</rtcsel>
<hext>8.000000</hext> <hext>16.000000</hext>
<pllhextdiv>0</pllhextdiv> <pllhextdiv>1</pllhextdiv>
<pllrcs>1</pllrcs> <pllrcs>0</pllrcs>
<pllmult>50</pllmult> <pllmult>25</pllmult>
<sclkselect>1</sclkselect> <sclkselect>1</sclkselect>
<ahbdiv>1</ahbdiv> <ahbdiv>1</ahbdiv>
<apb1div>2</apb1div> <apb1div>2</apb1div>
@@ -118,6 +112,8 @@
<adcdiv>4</adcdiv> <adcdiv>4</adcdiv>
</ClockConfiguration> </ClockConfiguration>
<PINInfo> <PINInfo>
<PinSub pinname="PD0/HEXT_IN" signalname="CRM_HEXT_IN" signaltype="2"/>
<PinSub pinname="PD1/HEXT_OUT" signalname="CRM_HEXT_OUT" signaltype="2"/>
<PinSub pinname="PA2" signalname="USART2_TX" signaltype="2"/> <PinSub pinname="PA2" signalname="USART2_TX" signaltype="2"/>
<PinSub pinname="PA3" signalname="USART2_RX" signaltype="2"/> <PinSub pinname="PA3" signalname="USART2_RX" signaltype="2"/>
<PinSub pinname="PA5" signalname="EXINT5" signaltype="3"/> <PinSub pinname="PA5" signalname="EXINT5" signaltype="3"/>
@@ -128,9 +124,9 @@
<PinSub pinname="PB12" signalname="GPIO_Output" signaltype="3"/> <PinSub pinname="PB12" signalname="GPIO_Output" signaltype="3"/>
<PinSub pinname="PB13" signalname="GPIO_Output" signaltype="3"/> <PinSub pinname="PB13" signalname="GPIO_Output" signaltype="3"/>
<PinSub pinname="PB14" signalname="GPIO_Output" signaltype="3"/> <PinSub pinname="PB14" signalname="GPIO_Output" signaltype="3"/>
<PinSub pinname="PB15" signalname="TMR9_CH2" signaltype="2"/> <PinSub pinname="PB15" signalname="GPIO_Output" signaltype="3"/>
<PinSub pinname="PA8" signalname="GPIO_Output" signaltype="3"/> <PinSub pinname="PA8" signalname="GPIO_Output" signaltype="3"/>
<PinSub pinname="PA9" signalname="GPIO_Analog" signaltype="3"/> <PinSub pinname="PA9" signalname="GPIO_Output" signaltype="3"/>
<PinSub pinname="PA13" signalname="DEBUG_JTMS_SWDIO" signaltype="2"/> <PinSub pinname="PA13" signalname="DEBUG_JTMS_SWDIO" signaltype="2"/>
<PinSub pinname="PA14" signalname="DEBUG_JTCK_SWCLK" signaltype="2"/> <PinSub pinname="PA14" signalname="DEBUG_JTCK_SWCLK" signaltype="2"/>
<PinSub pinname="PB8" signalname="CAN1_RX" signaltype="2"/> <PinSub pinname="PB8" signalname="CAN1_RX" signaltype="2"/>
@@ -143,7 +139,7 @@
<KeepUserCode>true</KeepUserCode> <KeepUserCode>true</KeepUserCode>
<MinHeapSize>0x200</MinHeapSize> <MinHeapSize>0x200</MinHeapSize>
<MinStackSize>0x400</MinStackSize> <MinStackSize>0x400</MinStackSize>
<UseFirmware>true</UseFirmware> <UseFirmware>false</UseFirmware>
<PackageVersion>V2.1.3</PackageVersion> <PackageVersion>V2.1.3</PackageVersion>
</ProjectInfomation> </ProjectInfomation>
</Root> </Root>

41
app/by_stepper.c Normal file
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@@ -0,0 +1,41 @@
#include "by_stepper.h"
#include <string.h>
#include <dwt_delay.h>
#include "by_debug.h"
// TODO 是否增加一个动作列表？一般都比较简单吧
struct by_stepper_t {
uint8_t dir;
stepper_speed_t speed;
};
struct by_stepper_t by_stepper;
void by_stepper_init(void)
{
memset(&by_stepper, 0x00, sizeof(by_stepper));
}
void by_stepper_set_dir(uint8_t dir)
{
by_stepper.dir = dir;
}
void by_stepper_set_speed(stepper_speed_t speed)
{
by_stepper.speed = speed;
}
void by_stepper_run(void)
{
// 根据预设条件发送脉冲
gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
void by_stepper_stop(void)
{
}

10
app/by_stepper.h Normal file
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@@ -0,0 +1,10 @@
#include "at32f413.h"
typedef enum stepper_speed_t {
STEPPER_SPEED_DIV0 = 0,
STEPPER_SPEED_DIV2 = 2,
STEPPER_SPEED_DIV4 = 4,
STEPPER_SPEED_DIV8 = 8,
STEPPER_SPEED_DIV16 = 16,
STEPPER_SPEED_DIV32 = 32
} stepper_speed_t;

2
project/inc/at32f413_conf.h
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@@ -39,7 +39,7 @@ extern "C" {
* *
*/ */
#if !defined HEXT_VALUE #if !defined HEXT_VALUE
#define HEXT_VALUE ((uint32_t)8000000) /*!< value of the high speed exernal crystal in hz */ #define HEXT_VALUE ((uint32_t)16000000) /*!< value of the high speed exernal crystal in hz */
#endif #endif
/** /**

11
project/inc/at32f413_wk_config.h
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@@ -56,18 +56,14 @@ extern "C" {
/* add user code end exported macro */ /* add user code end exported macro */
/* Private defines -------------------------------------------------------------*/ /* Private defines -------------------------------------------------------------*/
#define SW_IN2_PIN GPIO_PINS_10
#define SW_IN2_GPIO_PORT GPIOB
#define SW_IN1_PIN GPIO_PINS_11
#define SW_IN1_GPIO_PORT GPIOB
#define MODE2_PIN GPIO_PINS_12 #define MODE2_PIN GPIO_PINS_12
#define MODE2_GPIO_PORT GPIOB #define MODE2_GPIO_PORT GPIOB
#define MODE1_PIN GPIO_PINS_13 #define MODE1_PIN GPIO_PINS_13
#define MODE1_GPIO_PORT GPIOB #define MODE1_GPIO_PORT GPIOB
#define MODE0_PIN GPIO_PINS_14 #define MODE0_PIN GPIO_PINS_14
#define MODE0_GPIO_PORT GPIOB #define MODE0_GPIO_PORT GPIOB
#define STEP_PIN GPIO_PINS_15 #define CLK_PIN GPIO_PINS_15
#define STEP_GPIO_PORT GPIOB #define CLK_GPIO_PORT GPIOB
#define DIR_PIN GPIO_PINS_8 #define DIR_PIN GPIO_PINS_8
#define DIR_GPIO_PORT GPIOA #define DIR_GPIO_PORT GPIOA
#define EN_PIN GPIO_PINS_9 #define EN_PIN GPIO_PINS_9
@@ -104,9 +100,6 @@ extern "C" {
/* init tmr3 function. */ /* init tmr3 function. */
void wk_tmr3_init(void); void wk_tmr3_init(void);
/* init tmr9 function. */
void wk_tmr9_init(void);
/* init tmr10 function. */ /* init tmr10 function. */
void wk_tmr10_init(void); void wk_tmr10_init(void);

102
project/src/at32f413_wk_config.c
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@@ -64,8 +64,9 @@
/** /**
* @brief system clock config program * @brief system clock config program
* @note the system clock is configured as follow: * @note the system clock is configured as follow:
* system clock (sclk) = hick / 12 * pll_mult * system clock (sclk) = hext / 2 * pll_mult
* system clock source = HICK_VALUE * system clock source = HEXT_VALUE
* - hext = HEXT_VALUE
* - sclk = 200000000 * - sclk = 200000000
* - ahbdiv = 1 * - ahbdiv = 1
* - ahbclk = 200000000 * - ahbclk = 200000000
@@ -73,7 +74,7 @@
* - apb1clk = 100000000 * - apb1clk = 100000000
* - apb2div = 2 * - apb2div = 2
* - apb2clk = 100000000 * - apb2clk = 100000000
* - pll_mult = 50 * - pll_mult = 25
* - pll_range = GT72MHZ (greater than 72 mhz) * - pll_range = GT72MHZ (greater than 72 mhz)
* @param none * @param none
* @retval none * @retval none
@@ -91,6 +92,14 @@ void wk_system_clock_config(void)
{ {
} }
/* enable hext */
crm_clock_source_enable(CRM_CLOCK_SOURCE_HEXT, TRUE);
/* wait till hext is ready */
while(crm_hext_stable_wait() == ERROR)
{
}
/* enable hick */ /* enable hick */
crm_clock_source_enable(CRM_CLOCK_SOURCE_HICK, TRUE); crm_clock_source_enable(CRM_CLOCK_SOURCE_HICK, TRUE);
@@ -100,7 +109,7 @@ void wk_system_clock_config(void)
} }
/* config pll clock resource */ /* config pll clock resource */
crm_pll_config(CRM_PLL_SOURCE_HICK, CRM_PLL_MULT_50, CRM_PLL_OUTPUT_RANGE_GT72MHZ); crm_pll_config(CRM_PLL_SOURCE_HEXT_DIV, CRM_PLL_MULT_25, CRM_PLL_OUTPUT_RANGE_GT72MHZ);
/* enable pll */ /* enable pll */
crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE); crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE);
@@ -153,12 +162,12 @@ void wk_periph_clock_config(void)
/* enable gpiob periph clock */ /* enable gpiob periph clock */
crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE); crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
/* enable gpiod periph clock */
crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
/* enable tmr1 periph clock */ /* enable tmr1 periph clock */
crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE); crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE);
/* enable tmr9 periph clock */
crm_periph_clock_enable(CRM_TMR9_PERIPH_CLOCK, TRUE);
/* enable tmr10 periph clock */ /* enable tmr10 periph clock */
crm_periph_clock_enable(CRM_TMR10_PERIPH_CLOCK, TRUE); crm_periph_clock_enable(CRM_TMR10_PERIPH_CLOCK, TRUE);
@@ -213,33 +222,27 @@ void wk_gpio_config(void)
/* gpio input config */ /* gpio input config */
gpio_init_struct.gpio_mode = GPIO_MODE_INPUT; gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
gpio_init_struct.gpio_pins = SW_IN2_PIN | SW_IN1_PIN; gpio_init_struct.gpio_pins = GPIO_PINS_10 | GPIO_PINS_11;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct); gpio_init(GPIOB, &gpio_init_struct);
/* gpio output config */ /* gpio output config */
gpio_bits_reset(GPIOB, MODE2_PIN | MODE1_PIN | MODE0_PIN); gpio_bits_reset(GPIOB, MODE2_PIN | MODE1_PIN | MODE0_PIN | CLK_PIN);
gpio_bits_reset(DIR_GPIO_PORT, DIR_PIN); gpio_bits_reset(GPIOA, DIR_PIN | EN_PIN);
gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT; gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
gpio_init_struct.gpio_pins = MODE2_PIN | MODE1_PIN | MODE0_PIN; gpio_init_struct.gpio_pins = MODE2_PIN | MODE1_PIN | MODE0_PIN | CLK_PIN;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct); gpio_init(GPIOB, &gpio_init_struct);
gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE; gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL; gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT; gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
gpio_init_struct.gpio_pins = DIR_PIN; gpio_init_struct.gpio_pins = DIR_PIN | EN_PIN;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE; gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(DIR_GPIO_PORT, &gpio_init_struct); gpio_init(GPIOA, &gpio_init_struct);
/* gpio analog config */
gpio_init_struct.gpio_mode = GPIO_MODE_ANALOG;
gpio_init_struct.gpio_pins = EN_PIN;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(EN_GPIO_PORT, &gpio_init_struct);
/* add user code begin gpio_config 2 */ /* add user code begin gpio_config 2 */
@@ -436,67 +439,6 @@ void wk_tmr3_init(void)
/* add user code end tmr3_init 2 */ /* add user code end tmr3_init 2 */
} }
/**
* @brief init tmr9 function.
* @param none
* @retval none
*/
void wk_tmr9_init(void)
{
/* add user code begin tmr9_init 0 */
/* add user code end tmr9_init 0 */
gpio_init_type gpio_init_struct;
tmr_output_config_type tmr_output_struct;
gpio_default_para_init(&gpio_init_struct);
/* add user code begin tmr9_init 1 */
/* add user code end tmr9_init 1 */
/* configure the CH2 pin */
gpio_init_struct.gpio_pins = STEP_PIN;
gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
gpio_init(STEP_GPIO_PORT, &gpio_init_struct);
/* GPIO PIN remap */
gpio_pin_remap_config(TMR9_GMUX, TRUE);
/* configure counter settings */
tmr_base_init(TMR9, 65535, 0);
tmr_cnt_dir_set(TMR9, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR9, TMR_CLOCK_DIV1);
tmr_period_buffer_enable(TMR9, FALSE);
/* configure sub-mode */
tmr_sub_mode_select(TMR9, TMR_SUB_EXTERNAL_CLOCK_MODE_A);
/* configure sub-mode input */
tmr_trigger_input_select(TMR9, TMR_SUB_INPUT_SEL_IS2);
/* configure channel 2 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
tmr_output_struct.oc_output_state = TRUE;
tmr_output_struct.occ_output_state = FALSE;
tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
tmr_output_struct.oc_idle_state = FALSE;
tmr_output_struct.occ_idle_state = FALSE;
tmr_output_channel_config(TMR9, TMR_SELECT_CHANNEL_2, &tmr_output_struct);
tmr_channel_value_set(TMR9, TMR_SELECT_CHANNEL_2, 0);
tmr_output_channel_buffer_enable(TMR9, TMR_SELECT_CHANNEL_2, FALSE);
tmr_counter_enable(TMR9, TRUE);
/* add user code begin tmr9_init 2 */
/* add user code end tmr9_init 2 */
}
/** /**
* @brief init tmr10 function. * @brief init tmr10 function.
* @param none * @param none

20
project/src/main.c
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@@ -29,7 +29,10 @@
/* private includes ----------------------------------------------------------*/ /* private includes ----------------------------------------------------------*/
/* add user code begin private includes */ /* add user code begin private includes */
#include "dwt_delay.h"
#include "by_debug.h" #include "by_debug.h"
#include "by_can.h"
/* add user code end private includes */ /* add user code end private includes */
/* private typedef -----------------------------------------------------------*/ /* private typedef -----------------------------------------------------------*/
@@ -97,9 +100,6 @@ int main(void)
/* init tmr3 function. */ /* init tmr3 function. */
wk_tmr3_init(); wk_tmr3_init();
/* init tmr9 function. */
wk_tmr9_init();
/* init tmr10 function. */ /* init tmr10 function. */
wk_tmr10_init(); wk_tmr10_init();
@@ -110,12 +110,22 @@ int main(void)
wk_gpio_config(); wk_gpio_config();
/* add user code begin 2 */ /* add user code begin 2 */
DWT_Init();
LOGD("hello world"); LOGD("hello world");
gpio_bits_write(GPIOB, GPIO_PINS_12, FALSE); // MODE2
gpio_bits_write(GPIOB, GPIO_PINS_13, TRUE); // MODE1
gpio_bits_write(GPIOB, GPIO_PINS_14, TRUE); // MODE0
gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
gpio_bits_write(GPIOA, GPIO_PINS_8, TRUE); // DIR
gpio_bits_write(GPIOB, GPIO_PINS_15, TRUE); // CLK
/* add user code end 2 */ /* add user code end 2 */
while (1) { while(1)
{
/* add user code begin 3 */ /* add user code begin 3 */
DWT_Delay(40);
/* add user code end 3 */ /* add user code end 3 */
} }
} }