diff --git a/BC3D.ATWP b/BC3D.ATWP
index 670c04d..8caf8f4 100644
--- a/BC3D.ATWP
+++ b/BC3D.ATWP
@@ -16,6 +16,10 @@
+
+
+
+
@@ -67,7 +71,7 @@
0;0;0
0;0;0
0;0;0
- 0;0;0
+ 1;0;0
0;0;0
0;0;0
0;0;0
@@ -136,7 +140,7 @@
BC3D
- C:/Users/evan/Desktop
+ C:/Users/ForgotDoge/Desktop/BC2024/firmware
MDK_V5
true
0x200
diff --git a/app/by_can.c b/app/by_can.c
index cb1b32a..d1e1201 100644
--- a/app/by_can.c
+++ b/app/by_can.c
@@ -26,14 +26,16 @@ by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len,
transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
/* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
- while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
- // LOGD("CAN#SEND: timeout=%d", timeout);
- if (0 == timeout--) {
- LOGW("CAN#TIMEOUT: ID=0x%x", id);
+ if (timeout) {
+ while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
+ // LOGD("CAN#SEND: timeout=%d", timeout);
+ if (0 == timeout--) {
+ LOGW("CAN#TIMEOUT: ID=0x%x", id);
- return BY_ERROR;
+ return BY_ERROR;
+ }
+ DWT_Delay(10);
}
- DWT_Delay(10);
}
return BY_SUCCESS;
diff --git a/app/by_messy.c b/app/by_messy.c
new file mode 100644
index 0000000..ab08854
--- /dev/null
+++ b/app/by_messy.c
@@ -0,0 +1,38 @@
+#include "by_messy.h"
+
+#include
+#include "by_stepper.h"
+#include "by_can.h"
+
+void by_messy_loop(void)
+{
+}
+
+void by_messy_int(void)
+{
+ can_rx_message_type can_rx_message_struct;
+ can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message_struct);
+
+ // 接收到位置控制帧
+ if (0x006 == can_rx_message_struct.standard_id) {
+ uint8_t mode = 0;
+ uint8_t speed = 0;
+ float position_temp = 0;
+
+ memcpy(&mode, can_rx_message_struct.data, 1);
+ memcpy(&speed, can_rx_message_struct.data + 1, 1);
+ memcpy(&position_temp, can_rx_message_struct.data + 2, 4);
+
+ by_stepper_set_speed((stepper_speed_t)speed);
+
+ if (0 == mode) {
+ by_stepper_set_position_millimeter(position_temp);
+ } else if (1 == mode) {
+ by_stepper_add_position_millimeter(position_temp);
+ }
+ } else if (0x007 == can_rx_message_struct.standard_id) {
+ if (CAN_TFT_REMOTE == can_rx_message_struct.frame_type) {
+ by_can_send_stdd(0x007, &running_flag, 1, 0);
+ }
+ }
+}
\ No newline at end of file
diff --git a/app/by_messy.h b/app/by_messy.h
new file mode 100644
index 0000000..9bbce58
--- /dev/null
+++ b/app/by_messy.h
@@ -0,0 +1,9 @@
+#ifndef _BY_MESSY_H__
+#define _BY_MESSY_H__
+
+#include "at32f413.h"
+
+extern void by_messy_loop(void);
+extern void by_messy_int(void);
+
+#endif
\ No newline at end of file
diff --git a/app/by_motion.c b/app/by_motion.c
deleted file mode 100644
index fbb0479..0000000
--- a/app/by_motion.c
+++ /dev/null
@@ -1,108 +0,0 @@
-#include "by_motion.h"
-
-#include "pid.h"
-#include "dwt_delay.h"
-#include "by_utils.h"
-#include "by_debug.h"
-
-#define DRV_ENABLE() gpio_bits_set(GPIOB, GPIO_PINS_15)
-#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
-
-by_motor_param param_m1;
-by_motor_param param_m2;
-PID_TypeDef pid_m1;
-PID_TypeDef pid_m2;
-int16_t speed_m1;
-int16_t speed_m2;
-uint8_t motion_enable_flag;
-
-void by_motion_set_pwm_m1(int32_t pwm_duty)
-{
- pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
- pwm_duty += 499;
-
- // 互补 pwm 输出，499 为中值
- tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, pwm_duty);
-}
-
-void by_motion_set_pwm_m2(int32_t pwm_duty)
-{
- pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
- pwm_duty += 499;
-
- // 互补 pwm 输出，499 为中值
- tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
-}
-
-int16_t by_motion_get_speed_m1(void)
-{
- param_m1.real_speed = (float)(-1 * (int16_t)tmr_counter_value_get(TMR2));
- tmr_counter_value_set(TMR2, 0);
- return (int16_t)param_m1.real_speed;
-}
-
-int16_t by_motion_get_speed_m2(void)
-{
- param_m2.real_speed = (float)(-1 * (int16_t)tmr_counter_value_get(TMR3));
- tmr_counter_value_set(TMR3, 0);
- return (int16_t)param_m2.real_speed;
-}
-
-void by_motion_set_speed_m1(int16_t speed)
-{
- param_m1.target_speed = speed;
-}
-
-void by_motion_set_speed_m2(int16_t speed)
-{
- param_m2.target_speed = speed;
-}
-
-void by_motion_init(void)
-{
- motion_enable_flag = 0;
-
- by_motion_set_pwm_m1(0);
- by_motion_set_pwm_m2(0);
-
- /* set default parameters */
- param_m1.Kp = BY_MOTION_DEFAULT_KP_M1;
- param_m1.Ki = BY_MOTION_DEFAULT_KI_M1;
- param_m1.Kd = BY_MOTION_DEFAULT_KD_M1;
- param_m2.Kp = BY_MOTION_DEFAULT_KP_M2;
- param_m2.Ki = BY_MOTION_DEFAULT_KI_M2;
- param_m2.Kd = BY_MOTION_DEFAULT_KD_M2;
-
- /* load parameters form ee */
- // TODO
-
- PID(&pid_m1, ¶m_m1.real_speed, ¶m_m1.out_pwm, ¶m_m1.target_speed, param_m1.Kp, param_m1.Ki, param_m1.Kd, _PID_P_ON_E, _PID_CD_DIRECT);
- PID_SetMode(&pid_m1, _PID_MODE_AUTOMATIC);
- PID_SetSampleTime(&pid_m1, 10);
- PID_SetOutputLimits(&pid_m1, -400, 400);
-
- PID(&pid_m2, ¶m_m2.real_speed, ¶m_m2.out_pwm, ¶m_m2.target_speed, param_m2.Kp, param_m2.Ki, param_m2.Kd, _PID_P_ON_E, _PID_CD_DIRECT);
- PID_SetMode(&pid_m2, _PID_MODE_AUTOMATIC);
- PID_SetSampleTime(&pid_m2, 10);
- PID_SetOutputLimits(&pid_m2, -400, 400);
-
- param_m1.target_speed = 17;
-
- motion_enable_flag = 1;
- DRV_ENABLE();
-}
-
-void by_motion_run(void)
-{
- if (motion_enable_flag) {
- by_motion_get_speed_m1();
- by_motion_get_speed_m2();
-
- PID_Compute(&pid_m1);
- PID_Compute(&pid_m2);
-
- LOGD("m1:%f,%f,%f", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
- by_motion_set_pwm_m1((int32_t)param_m1.out_pwm);
- // by_motion_set_pwm_m2((int32_t)param_m2.out_pwm);
- }
-}
\ No newline at end of file
diff --git a/app/by_motion.h b/app/by_motion.h
deleted file mode 100644
index 2aa9e92..0000000
--- a/app/by_motion.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef _BY_MOTION_H__
-#define _BY_MOTION_H__
-
-#include "at32f413.h"
-
-typedef struct by_motor_param {
- float Kp;
- float Ki;
- float Kd;
- float real_speed;
- float target_speed;
- float out_pwm;
-} by_motor_param;
-
-#define BY_MOTION_DEFAULT_KP_M1 (13.0f)
-#define BY_MOTION_DEFAULT_KI_M1 (5.0f)
-#define BY_MOTION_DEFAULT_KD_M1 (0.1f)
-#define BY_MOTION_DEFAULT_KP_M2 (1.0f)
-#define BY_MOTION_DEFAULT_KI_M2 (0.0f)
-#define BY_MOTION_DEFAULT_KD_M2 (0.0f)
-
-extern void by_motion_init(void);
-extern void by_motion_run(void);
-extern void by_motion_set_pwm_m1(int32_t pwm_duty);
-extern void by_motion_set_pwm_m2(int32_t pwm_duty);
-extern int16_t by_motion_get_speed_m1(void);
-extern int16_t by_motion_get_speed_m2(void);
-extern void by_motion_set_speed_m1(int16_t speed);
-extern void by_motion_set_speed_m2(int16_t speed);
-
-extern int16_t speed_m1;
-extern int16_t speed_m2;
-
-#endif
diff --git a/app/by_param.c b/app/by_param.c
deleted file mode 100644
index 12751ba..0000000
--- a/app/by_param.c
+++ /dev/null
@@ -1,46 +0,0 @@
-#include "by_param.h"
-
-#include
-#include "eeprom.h"
-#include "by_debug.h"
-
-by_param_type param_index[BY_PARAM_NUM_MAX];
-uint16_t param_num = 0;
-
-by_error_status by_param_init(void)
-{
- param_num = 0;
- return BY_SUCCESS;
-}
-
-by_error_status by_param_reg(uint16_t reg_addr, uint16_t *data_ptr, const char *data_str)
-{
- param_index[param_num].reg_addr = reg_addr;
- param_index[param_num].data_ptr = data_ptr;
- strncpy(param_index[param_num].data_str, data_str, sizeof(param_index[param_num].data_str));
- LOGD("reg data [%s]: addr-0x%04x", param_index[param_num].data_str, param_index[param_num].reg_addr);
- param_num++;
- return BY_SUCCESS;
-}
-
-by_error_status by_param_load_from_ee(uint16_t reg_addr)
-{
- for (int i = 0; i < param_num; i++) {
- if (param_index[i].reg_addr == reg_addr) {
- flash_ee_data_read(reg_addr, param_index[i].data_ptr);
- return BY_SUCCESS;
- }
- }
- return BY_ERROR;
-}
-
-by_error_status by_param_save_to_ee(uint16_t reg_addr)
-{
- for (int i = 0; i < param_num; i++) {
- if (param_index[i].reg_addr == reg_addr) {
- flash_ee_data_write(reg_addr, *param_index[i].data_ptr);
- return BY_SUCCESS;
- }
- }
- return BY_ERROR;
-}
diff --git a/app/by_param.h b/app/by_param.h
deleted file mode 100644
index 3721897..0000000
--- a/app/by_param.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef _BY_PARAM_H__
-#define _BY_PARAM_H__
-
-#include "at32f413.h"
-
-#include "by_utils.h"
-
-typedef struct by_param_type {
- uint16_t reg_addr;
- uint16_t *data_ptr;
- char data_str[20];
-} by_param_type;
-
-#define BY_PARAM_NUM_MAX (20)
-
-by_error_status by_param_init(void);
-by_error_status by_param_reg(uint16_t reg_addr, uint16_t *data_ptr, const char *data_str);
-
-#endif
diff --git a/app/by_stepper.c b/app/by_stepper.c
index 2d0eb7f..abb2150 100644
--- a/app/by_stepper.c
+++ b/app/by_stepper.c
@@ -22,6 +22,7 @@ int64_t position_aim = 0;
int64_t position_offset = 0;
uint8_t running_flag = 0;
+uint8_t reset_flag = 0;
// TODO 是否增加一个动作列表？一般都比较简单吧
@@ -50,6 +51,8 @@ void by_stepper_set_speed(stepper_speed_t speed)
void by_stepper_run(void)
{
// 根据预设条件发送脉冲
+ gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
+
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);
@@ -66,6 +69,14 @@ void by_stepper_stop(uint8_t hold)
void by_stepper_set_position_millimeter(float distance)
{
if (!running_flag) {
+ // 设置距离较小时直接复位，减少累计定位误差
+ if (distance < 3 && distance > -3) {
+ reset_flag = 1;
+ running_flag = 1;
+ return;
+ }
+
+ gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
position_aim = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position;
running_flag = 1;
@@ -75,6 +86,7 @@ void by_stepper_set_position_millimeter(float distance)
void by_stepper_add_position_millimeter(float distance)
{
if (!running_flag) {
+ gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
position_aim = position + (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
position_offset = position_aim - position;
running_flag = 1;
@@ -112,7 +124,9 @@ void by_stepper_init(void)
DWT_Delay(40U * (uint16_t)by_stepper.speed);
}
- position = 0; // 位置归零
+ position = 0; // 位置归零
+ position_aim = 0;
+ position_offset = 0;
tmr_counter_value_set(TMR3, 0);
LOGD("by_stepper init ok");
@@ -125,21 +139,31 @@ void by_stepper_loop(void)
tmr_counter_value_set(TMR3, 0);
if (running_flag) {
- if (position_offset > 0) {
- by_stepper_set_dir(0);
- by_stepper_run();
- } else if (position_offset < 0) {
- by_stepper_set_dir(1);
- by_stepper_run();
+
+ if (reset_flag) // 复位模式
+ {
+ by_stepper_init();
+ running_flag = 0;
+ reset_flag = 0;
+ } else // 正常模式
+ {
+ if (position_offset > 0) {
+ by_stepper_set_dir(0);
+ by_stepper_run();
+ } else if (position_offset < 0) {
+ by_stepper_set_dir(1);
+ by_stepper_run();
+ }
+
+ // 当定位误差小于阈值时，停止运动。否则重新计算定位误差
+ if (abs_s64(position_aim - position) < ENCODER_ERROR_THRESHOLD) {
+ running_flag = 0;
+ position_offset = 0;
+ } else {
+ position_offset = position_aim - position;
+ }
}
- // 当定位误差小于阈值时，停止运动。否则重新计算定位误差
- if (abs_s64(position_aim - position) < ENCODER_ERROR_THRESHOLD) {
- running_flag = 0;
- position_offset = 0;
- } else {
- position_offset = position_aim - position;
- }
} else {
by_stepper_stop(0);
}
diff --git a/app/by_stepper.h b/app/by_stepper.h
index ea9dd1b..3165163 100644
--- a/app/by_stepper.h
+++ b/app/by_stepper.h
@@ -25,5 +25,6 @@ extern void by_stpepper_int(void);
extern int64_t position;
extern int64_t position_aim;
extern int64_t position_offset;
+extern uint8_t running_flag;
#endif
\ No newline at end of file
diff --git a/project/inc/at32f413_int.h b/project/inc/at32f413_int.h
index 9e3e1f5..73de982 100644
--- a/project/inc/at32f413_int.h
+++ b/project/inc/at32f413_int.h
@@ -65,6 +65,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
+void USBFS_L_CAN1_RX0_IRQHandler(void);
void TMR4_GLOBAL_IRQHandler(void);
/* add user code begin exported functions */
diff --git a/project/inc/at32f413_wk_config.h b/project/inc/at32f413_wk_config.h
index 4f00297..06f40fb 100644
--- a/project/inc/at32f413_wk_config.h
+++ b/project/inc/at32f413_wk_config.h
@@ -55,65 +55,6 @@ extern "C" {
/* add user code end exported macro */
-/* add user code begin dma define */
-/* user can only modify the dma define value */
-//#define DMA1_CHANNEL1_BUFFER_SIZE 0
-//#define DMA1_CHANNEL1_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL1_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA1_CHANNEL2_BUFFER_SIZE 0
-//#define DMA1_CHANNEL2_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL2_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA1_CHANNEL3_BUFFER_SIZE 0
-//#define DMA1_CHANNEL3_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL3_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA1_CHANNEL4_BUFFER_SIZE 0
-//#define DMA1_CHANNEL4_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL4_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA1_CHANNEL5_BUFFER_SIZE 0
-//#define DMA1_CHANNEL5_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL5_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA1_CHANNEL6_BUFFER_SIZE 0
-//#define DMA1_CHANNEL6_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL6_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA1_CHANNEL7_BUFFER_SIZE 0
-//#define DMA1_CHANNEL7_MEMORY_BASE_ADDR 0
-//#define DMA1_CHANNEL7_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL1_BUFFER_SIZE 0
-//#define DMA2_CHANNEL1_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL1_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL2_BUFFER_SIZE 0
-//#define DMA2_CHANNEL2_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL2_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL3_BUFFER_SIZE 0
-//#define DMA2_CHANNEL3_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL3_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL4_BUFFER_SIZE 0
-//#define DMA2_CHANNEL4_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL4_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL5_BUFFER_SIZE 0
-//#define DMA2_CHANNEL5_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL5_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL6_BUFFER_SIZE 0
-//#define DMA2_CHANNEL6_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL6_PERIPHERAL_BASE_ADDR 0
-
-//#define DMA2_CHANNEL7_BUFFER_SIZE 0
-//#define DMA2_CHANNEL7_MEMORY_BASE_ADDR 0
-//#define DMA2_CHANNEL7_PERIPHERAL_BASE_ADDR 0
-/* add user code end dma define */
-
/* Private defines -------------------------------------------------------------*/
#define MODE2_PIN GPIO_PINS_12
#define MODE2_GPIO_PORT GPIOB
diff --git a/project/src/at32f413_int.c b/project/src/at32f413_int.c
index 3f72b76..fddde65 100644
--- a/project/src/at32f413_int.c
+++ b/project/src/at32f413_int.c
@@ -1,27 +1,27 @@
/* add user code begin Header */
/**
- **************************************************************************
- * @file at32f413_int.c
- * @brief main interrupt service routines.
- **************************************************************************
- * Copyright notice & Disclaimer
- *
- * The software Board Support Package (BSP) that is made available to
- * download from Artery official website is the copyrighted work of Artery.
- * Artery authorizes customers to use, copy, and distribute the BSP
- * software and its related documentation for the purpose of design and
- * development in conjunction with Artery microcontrollers. Use of the
- * software is governed by this copyright notice and the following disclaimer.
- *
- * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
- * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
- * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
- * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
- * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
- *
- **************************************************************************
- */
+ **************************************************************************
+ * @file at32f413_int.c
+ * @brief main interrupt service routines.
+ **************************************************************************
+ * Copyright notice & Disclaimer
+ *
+ * The software Board Support Package (BSP) that is made available to
+ * download from Artery official website is the copyrighted work of Artery.
+ * Artery authorizes customers to use, copy, and distribute the BSP
+ * software and its related documentation for the purpose of design and
+ * development in conjunction with Artery microcontrollers. Use of the
+ * software is governed by this copyright notice and the following disclaimer.
+ *
+ * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
+ * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
+ * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
+ * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
+ * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
+ *
+ **************************************************************************
+ */
/* add user code end Header */
/* includes ------------------------------------------------------------------*/
@@ -31,6 +31,7 @@
/* add user code begin private includes */
#include "by_debug.h"
#include "by_stepper.h"
+#include "by_messy.h"
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
@@ -205,6 +206,24 @@ void PendSV_Handler(void)
/* add user code end PendSV_IRQ 1 */
}
+/**
+ * @brief this function handles USB Low Priority or CAN1 RX0 handler.
+ * @param none
+ * @retval none
+ */
+void USBFS_L_CAN1_RX0_IRQHandler(void)
+{
+ /* add user code begin USBFS_L_CAN1_RX0_IRQ 0 */
+ if (SET == can_interrupt_flag_get(CAN1, CAN_RF0MN_FLAG)) {
+ by_messy_int();
+ can_flag_clear(CAN1, CAN_RF0MN_FLAG);
+ }
+ /* add user code end USBFS_L_CAN1_RX0_IRQ 0 */
+ /* add user code begin USBFS_L_CAN1_RX0_IRQ 1 */
+
+ /* add user code end USBFS_L_CAN1_RX0_IRQ 1 */
+}
+
/**
* @brief this function handles TMR4 handler.
* @param none
@@ -213,7 +232,7 @@ void PendSV_Handler(void)
void TMR4_GLOBAL_IRQHandler(void)
{
/* add user code begin TMR4_GLOBAL_IRQ 0 */
- if(SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)){
+ if (SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)) {
by_stpepper_int();
tmr_flag_clear(TMR4, TMR_OVF_FLAG);
}
diff --git a/project/src/at32f413_wk_config.c b/project/src/at32f413_wk_config.c
index 9169021..5a34a97 100644
--- a/project/src/at32f413_wk_config.c
+++ b/project/src/at32f413_wk_config.c
@@ -1,27 +1,27 @@
/* add user code begin Header */
/**
- **************************************************************************
- * @file at32f413_wk_config.c
- * @brief work bench config program
- **************************************************************************
- * Copyright notice & Disclaimer
- *
- * The software Board Support Package (BSP) that is made available to
- * download from Artery official website is the copyrighted work of Artery.
- * Artery authorizes customers to use, copy, and distribute the BSP
- * software and its related documentation for the purpose of design and
- * development in conjunction with Artery microcontrollers. Use of the
- * software is governed by this copyright notice and the following disclaimer.
- *
- * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
- * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
- * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
- * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
- * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
- *
- **************************************************************************
- */
+ **************************************************************************
+ * @file at32f413_wk_config.c
+ * @brief work bench config program
+ **************************************************************************
+ * Copyright notice & Disclaimer
+ *
+ * The software Board Support Package (BSP) that is made available to
+ * download from Artery official website is the copyrighted work of Artery.
+ * Artery authorizes customers to use, copy, and distribute the BSP
+ * software and its related documentation for the purpose of design and
+ * development in conjunction with Artery microcontrollers. Use of the
+ * software is governed by this copyright notice and the following disclaimer.
+ *
+ * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
+ * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
+ * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
+ * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
+ * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
+ *
+ **************************************************************************
+ */
/* add user code end Header */
#include "at32f413_wk_config.h"
@@ -201,6 +201,7 @@ void wk_nvic_config(void)
{
nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
+ nvic_irq_enable(USBFS_L_CAN1_RX0_IRQn, 0, 0);
nvic_irq_enable(TMR4_GLOBAL_IRQn, 0, 0);
}
@@ -424,7 +425,7 @@ void wk_tmr4_init(void)
/* add user code end tmr4_init 1 */
/* configure counter settings */
- tmr_base_init(TMR4, 9999, 1999);
+ tmr_base_init(TMR4, 9999, 199);
tmr_cnt_dir_set(TMR4, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR4, TMR_CLOCK_DIV1);
tmr_period_buffer_enable(TMR4, FALSE);
@@ -556,17 +557,28 @@ void wk_can1_init(void)
can_filter_init_struct.filter_number = 0;
can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
can_filter_init_struct.filter_bit = CAN_FILTER_16BIT;
- can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
- /*Standard identifier + Mask Mode + Data/Remote frame: id/mask 11bit --------------*/
- can_filter_init_struct.filter_id_high = 0x0 << 5;
- can_filter_init_struct.filter_id_low = 0x0 << 5;
+ can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_LIST;
+ /*Standard identifier + List Mode + Data/Remote frame: id/mask 11bit --------------*/
+ can_filter_init_struct.filter_id_high = 0x000 << 5;
+ can_filter_init_struct.filter_id_low = 0x006 << 5;
can_filter_init_struct.filter_mask_high = 0x0 << 5;
- can_filter_init_struct.filter_mask_low = 0x0 << 5;
+ can_filter_init_struct.filter_mask_low = 0x007 << 5;
can_filter_init(CAN1, &can_filter_init_struct);
- /* add user code begin can1_init 2 */
+ /**
+ * Users need to configure CAN1 interrupt functions according to the actual application.
+ * 1. Call the below function to enable the corresponding CAN1 interrupt.
+ * --can_interrupt_enable(...)
+ * 2. Add the user's interrupt handler code into the below function in the at32f413_int.c file.
+ * --void USBFS_L_CAN1_RX0_IRQHandler(void)
+ */
+ /*can1 rx0 interrupt config--------------------------------------------------------*/
+ //can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
+
+ /* add user code begin can1_init 2 */
+ can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
/* add user code end can1_init 2 */
}
diff --git a/project/src/main.c b/project/src/main.c
index 637e0d5..286cc3d 100644
--- a/project/src/main.c
+++ b/project/src/main.c
@@ -67,10 +67,10 @@
/* add user code end 0 */
/**
- * @brief main function.
- * @param none
- * @retval none
- */
+ * @brief main function.
+ * @param none
+ * @retval none
+ */
int main(void)
{
/* add user code begin 1 */
@@ -116,7 +116,8 @@ int main(void)
/* add user code end 2 */
- while (1) {
+ while(1)
+ {
/* add user code begin 3 */
by_stepper_loop();
/* add user code end 3 */