base code
1. base code - add main.c - 파일을 하나 추가했음
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neilkim
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main.c
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673
main.c
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/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <stdio.h>
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#include "define.h"
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#include "usart_func.h"
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#include "task_func.h"
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#include "state_func.h"
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#include "command.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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ADC_HandleTypeDef hadc;
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I2C_HandleTypeDef hi2c2;
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SPI_HandleTypeDef hspi1;
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim3;
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UART_HandleTypeDef huart1;
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UART_HandleTypeDef huart2;
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/* USER CODE BEGIN PV */
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st_status_t g_st;
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extern uint8_t g_uart_cli_rxd, g_uart_host_rxd;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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static void MX_GPIO_Init(void);
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static void MX_ADC_Init(void);
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static void MX_I2C2_Init(void);
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static void MX_SPI1_Init(void);
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static void MX_TIM1_Init(void);
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static void MX_TIM3_Init(void);
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static void MX_USART1_UART_Init(void);
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static void MX_USART2_UART_Init(void);
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/* USER CODE BEGIN PFP */
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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void APP_Init(void)
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{
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setbuf(stdout, NULL); //neil: initialize standard output buffer for printf
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HAL_UART_Receive_IT(&huart1, &g_uart_cli_rxd, 1); //neil: start receiving interrupt
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HAL_UART_Receive_IT(&huart2, &g_uart_host_rxd, 1); //neil: start receiving interrupt
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reset_cli_rx_que();
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HAL_TIM_IC_Start_IT(&htim1, TIM_CHANNEL_1);
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HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_3);
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//set_led_color(LED_MOTOR, LED_COLOR_OFF);
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//set_led_color(LED_HOST_TX, LED_COLOR_OFF);
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//set_led_color(LED_HOST_RX, LED_COLOR_OFF);
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print_ver();
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//state_ent_standby(EVENT_STATE_POLL);
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g_st.report = true;
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_ADC_Init();
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MX_I2C2_Init();
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MX_SPI1_Init();
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MX_TIM1_Init();
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MX_TIM3_Init();
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MX_USART1_UART_Init();
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MX_USART2_UART_Init();
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/* USER CODE BEGIN 2 */
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APP_Init();
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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task_console();
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task_event_timer();
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task_states();
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task_poll();
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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}
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI14;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.HSI14CalibrationValue = 16;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
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{
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Error_Handler();
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}
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
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PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief ADC Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_ADC_Init(void)
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{
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/* USER CODE BEGIN ADC_Init 0 */
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/* USER CODE END ADC_Init 0 */
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ADC_ChannelConfTypeDef sConfig = {0};
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/* USER CODE BEGIN ADC_Init 1 */
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/* USER CODE END ADC_Init 1 */
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/** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
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*/
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hadc.Instance = ADC1;
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hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
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hadc.Init.Resolution = ADC_RESOLUTION_12B;
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hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
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hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
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hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
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hadc.Init.LowPowerAutoWait = DISABLE;
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hadc.Init.LowPowerAutoPowerOff = DISABLE;
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hadc.Init.ContinuousConvMode = DISABLE;
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hadc.Init.DiscontinuousConvMode = DISABLE;
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hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
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hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
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hadc.Init.DMAContinuousRequests = DISABLE;
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hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
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if (HAL_ADC_Init(&hadc) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel to be converted.
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*/
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sConfig.Channel = ADC_CHANNEL_0;
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sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
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sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
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if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel to be converted.
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*/
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sConfig.Channel = ADC_CHANNEL_1;
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if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure for the selected ADC regular channel to be converted.
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*/
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sConfig.Channel = ADC_CHANNEL_4;
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if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN ADC_Init 2 */
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/* USER CODE END ADC_Init 2 */
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}
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/**
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* @brief I2C2 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_I2C2_Init(void)
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{
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/* USER CODE BEGIN I2C2_Init 0 */
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/* USER CODE END I2C2_Init 0 */
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/* USER CODE BEGIN I2C2_Init 1 */
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/* USER CODE END I2C2_Init 1 */
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hi2c2.Instance = I2C2;
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hi2c2.Init.Timing = 0x0000020B;
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hi2c2.Init.OwnAddress1 = 0;
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hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
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hi2c2.Init.OwnAddress2 = 0;
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hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
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hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
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hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
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if (HAL_I2C_Init(&hi2c2) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Analogue filter
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*/
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if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
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{
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Error_Handler();
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}
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/** Configure Digital filter
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*/
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if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN I2C2_Init 2 */
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/* USER CODE END I2C2_Init 2 */
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}
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/**
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* @brief SPI1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_SPI1_Init(void)
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{
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/* USER CODE BEGIN SPI1_Init 0 */
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/* USER CODE END SPI1_Init 0 */
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/* USER CODE BEGIN SPI1_Init 1 */
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/* USER CODE END SPI1_Init 1 */
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/* SPI1 parameter configuration*/
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hspi1.Instance = SPI1;
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hspi1.Init.Mode = SPI_MODE_MASTER;
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hspi1.Init.Direction = SPI_DIRECTION_1LINE;
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hspi1.Init.DataSize = SPI_DATASIZE_4BIT;
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
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hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
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hspi1.Init.NSS = SPI_NSS_SOFT;
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2;
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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hspi1.Init.CRCPolynomial = 7;
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hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
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hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
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if (HAL_SPI_Init(&hspi1) != HAL_OK)
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{
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Error_Handler();
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}
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/* USER CODE BEGIN SPI1_Init 2 */
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/* USER CODE END SPI1_Init 2 */
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}
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/**
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* @brief TIM1 Initialization Function
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* @param None
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* @retval None
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*/
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static void MX_TIM1_Init(void)
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{
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/* USER CODE BEGIN TIM1_Init 0 */
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/* USER CODE END TIM1_Init 0 */
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/* USER CODE BEGIN TIM1_Init 1 */
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/* USER CODE END TIM1_Init 1 */
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 0;
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 65535;
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
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sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
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sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
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sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
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sBreakDeadTimeConfig.DeadTime = 0;
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sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
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||||
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
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sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
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if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
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||||
{
|
||||
Error_Handler();
|
||||
}
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||||
/* USER CODE BEGIN TIM1_Init 2 */
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||||
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||||
/* USER CODE END TIM1_Init 2 */
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HAL_TIM_MspPostInit(&htim1);
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||||
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}
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||||
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||||
/**
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* @brief TIM3 Initialization Function
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||||
* @param None
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||||
* @retval None
|
||||
*/
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||||
static void MX_TIM3_Init(void)
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||||
{
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||||
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/* USER CODE BEGIN TIM3_Init 0 */
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||||
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||||
/* USER CODE END TIM3_Init 0 */
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||||
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||||
TIM_MasterConfigTypeDef sMasterConfig = {0};
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||||
TIM_OC_InitTypeDef sConfigOC = {0};
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||||
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/* USER CODE BEGIN TIM3_Init 1 */
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||||
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/* USER CODE END TIM3_Init 1 */
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 65535;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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||||
if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
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||||
{
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Error_Handler();
|
||||
}
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||||
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
|
||||
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
|
||||
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
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||||
}
|
||||
sConfigOC.OCMode = TIM_OCMODE_PWM1;
|
||||
sConfigOC.Pulse = 0;
|
||||
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
|
||||
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
|
||||
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN TIM3_Init 2 */
|
||||
|
||||
/* USER CODE END TIM3_Init 2 */
|
||||
HAL_TIM_MspPostInit(&htim3);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief USART1 Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_USART1_UART_Init(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN USART1_Init 0 */
|
||||
|
||||
/* USER CODE END USART1_Init 0 */
|
||||
|
||||
/* USER CODE BEGIN USART1_Init 1 */
|
||||
|
||||
/* USER CODE END USART1_Init 1 */
|
||||
huart1.Instance = USART1;
|
||||
huart1.Init.BaudRate = 115200;
|
||||
huart1.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart1.Init.StopBits = UART_STOPBITS_1;
|
||||
huart1.Init.Parity = UART_PARITY_NONE;
|
||||
huart1.Init.Mode = UART_MODE_TX_RX;
|
||||
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
||||
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
||||
if (HAL_UART_Init(&huart1) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN USART1_Init 2 */
|
||||
|
||||
/* USER CODE END USART1_Init 2 */
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief USART2 Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_USART2_UART_Init(void)
|
||||
{
|
||||
|
||||
/* USER CODE BEGIN USART2_Init 0 */
|
||||
|
||||
/* USER CODE END USART2_Init 0 */
|
||||
|
||||
/* USER CODE BEGIN USART2_Init 1 */
|
||||
|
||||
/* USER CODE END USART2_Init 1 */
|
||||
huart2.Instance = USART2;
|
||||
huart2.Init.BaudRate = 115200;
|
||||
huart2.Init.WordLength = UART_WORDLENGTH_8B;
|
||||
huart2.Init.StopBits = UART_STOPBITS_1;
|
||||
huart2.Init.Parity = UART_PARITY_NONE;
|
||||
huart2.Init.Mode = UART_MODE_TX_RX;
|
||||
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
|
||||
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
|
||||
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
|
||||
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
|
||||
if (HAL_UART_Init(&huart2) != HAL_OK)
|
||||
{
|
||||
Error_Handler();
|
||||
}
|
||||
/* USER CODE BEGIN USART2_Init 2 */
|
||||
|
||||
/* USER CODE END USART2_Init 2 */
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief GPIO Initialization Function
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
static void MX_GPIO_Init(void)
|
||||
{
|
||||
GPIO_InitTypeDef GPIO_InitStruct = {0};
|
||||
/* USER CODE BEGIN MX_GPIO_Init_1 */
|
||||
|
||||
/* USER CODE END MX_GPIO_Init_1 */
|
||||
|
||||
/* GPIO Ports Clock Enable */
|
||||
__HAL_RCC_GPIOC_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOF_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE();
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(SENSOR_POWER_GPIO_Port, SENSOR_POWER_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOF, STEP_UP_ENABLE_Pin|SHDN_ENABLE_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(GPIOB, OLED_CSB_Pin|OLED_BL_EN_Pin|MOTOR_DIR_Pin|MOTOR_TORQUE1_Pin
|
||||
|MOTOR_TORQUE2_Pin|BT_OLED_RESET_Pin|OLED_A0_Pin|AMP_ENABLE_Pin
|
||||
|MOTOR_STEP_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pin Output Level */
|
||||
HAL_GPIO_WritePin(ERR0_GPIO_Port, ERR0_Pin, GPIO_PIN_RESET);
|
||||
|
||||
/*Configure GPIO pins : BT_BOOT_SET_Pin CHG_CON_CHECK_Pin */
|
||||
GPIO_InitStruct.Pin = BT_BOOT_SET_Pin|CHG_CON_CHECK_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : SENSOR_POWER_Pin */
|
||||
GPIO_InitStruct.Pin = SENSOR_POWER_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(SENSOR_POWER_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : STEP_UP_ENABLE_Pin SHDN_ENABLE_Pin */
|
||||
GPIO_InitStruct.Pin = STEP_UP_ENABLE_Pin|SHDN_ENABLE_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : POWER_GOOD_Pin PHOTO_SENSOR_Pin HALL_SENSOR_Pin */
|
||||
GPIO_InitStruct.Pin = POWER_GOOD_Pin|PHOTO_SENSOR_Pin|HALL_SENSOR_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : OLED_CSB_Pin OLED_BL_EN_Pin MOTOR_DIR_Pin MOTOR_TORQUE1_Pin
|
||||
MOTOR_TORQUE2_Pin BT_OLED_RESET_Pin OLED_A0_Pin AMP_ENABLE_Pin
|
||||
MOTOR_STEP_Pin */
|
||||
GPIO_InitStruct.Pin = OLED_CSB_Pin|OLED_BL_EN_Pin|MOTOR_DIR_Pin|MOTOR_TORQUE1_Pin
|
||||
|MOTOR_TORQUE2_Pin|BT_OLED_RESET_Pin|OLED_A0_Pin|AMP_ENABLE_Pin
|
||||
|MOTOR_STEP_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pins : KEY_POWER_Pin KEY_MODE_Pin CART_CON_CHECK_Pin */
|
||||
GPIO_InitStruct.Pin = KEY_POWER_Pin|KEY_MODE_Pin|CART_CON_CHECK_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : ERR0_Pin */
|
||||
GPIO_InitStruct.Pin = ERR0_Pin;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
|
||||
GPIO_InitStruct.Pull = GPIO_NOPULL;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
|
||||
HAL_GPIO_Init(ERR0_GPIO_Port, &GPIO_InitStruct);
|
||||
|
||||
/* USER CODE BEGIN MX_GPIO_Init_2 */
|
||||
|
||||
/* USER CODE END MX_GPIO_Init_2 */
|
||||
}
|
||||
|
||||
/* 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 */
|
||||
Loading…
x
Reference in New Issue
Block a user