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working version 1

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This commit is contained in:
Johannes Paehr
2026-01-02 20:44:24 +01:00
parent 9559c516d1
commit 6b55dea700
23 changed files with 1407 additions and 1018 deletions
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36
Core/Src/TLE5012.cpp
View File

@@ -4,22 +4,19 @@
#include "stm32g0xx_hal_spi.h"
#include <stdint.h>
Tle5012::Tle5012(GPIO_TypeDef * csPort, uint16_t csPin, SPI_HandleTypeDef *spiHandler){
Tle5012::Tle5012(GPIO_TypeDef * csPort, uint16_t csPin,
SPI_HandleTypeDef * spiHandler) {
this->csPort = csPort;
this->csPin = csPin;
this->spiHandler = spiHandler;
}
double Tle5012::getAngel(){
uint16_t Tle5012::getAngel() {
// enable chip select
HAL_GPIO_WritePin(this->csPort, this->csPin, GPIO_PIN_RESET);
// uint16_t command = 0b1000000000100001;
uint16_t command = RW | AVAL | SAFETY;
uint8_t formatedCommand[6] = {0};
formatedCommand[0] = (uint8_t)(command >> 8);
formatedCommand[1] = (uint8_t)command;
@@ -30,26 +27,33 @@ double Tle5012::getAngel(){
HAL_SPI_Transmit(this->spiHandler, formatedCommand, 2, 100);
HAL_SPI_Receive(this->spiHandler, angle, 4, 0xFFFF);
// HAL_SPI_TransmitReceive(this->spiHandler, formatedCommand, angle, 6, 1);
// HAL_SPI_Receive(&hspi1, (uint8_t *)(&safety), 2, 0xFF);
HAL_GPIO_WritePin(this->csPort, this->csPin, GPIO_PIN_SET);
int16_t signedAngle = ((angle[0] << 8 | angle[1]) & 0x3FFF);
bool bitSet = 0;
if (angle[0] & 0b01000000){
if (angle[0] & 0b01000000) {
signedAngle -= 16384;
bitSet = 1;
}
else{
else {
bitSet = 0;
}
double angleDeg = 360.0 / 32768.0 * signedAngle;
// normalize range
uint16_t normalizedValue;
if (signedAngle < 0) {
normalizedValue = -signedAngle;
}
else {
normalizedValue = 16383 + (16383 - signedAngle);
}
// double angleDeg = 360.0 / 32768.0 * signedAngle;
// double angleDeg = 360.0 / 128.0 * ((angle[0] >> 8) & 0x7F);
// disable chip select
HAL_GPIO_WritePin(this->csPort, this->csPin, GPIO_PIN_SET);
return angleDeg;
return normalizedValue;
}

370
Core/Src/main.c
View File

@@ -1,370 +0,0 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
DMA_HandleTypeDef hdma_spi2_tx;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_SPI2_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void)
{
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief SPI2 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI2_Init(void)
{
/* USER CODE BEGIN SPI2_Init 0 */
/* USER CODE END SPI2_Init 0 */
/* USER CODE BEGIN SPI2_Init 1 */
/* USER CODE END SPI2_Init 1 */
/* SPI2 parameter configuration*/
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 7;
hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI2_Init 2 */
/* USER CODE END SPI2_Init 2 */
}
/**
* @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 = 9600;
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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* @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_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin : PA7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &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 */

803
Core/Src/main.cpp
View File

@@ -1,55 +1,44 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32g030xx.h"
#include "stm32g0xx_hal.h"
#include "stm32g0xx_hal_gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "TLE5012.hpp"
#include "stm32g030xx.h"
#include "stm32g0xx_hal.h"
#include "stm32g0xx_hal_gpio.h"
#include "stm32g0xx_hal_tim.h"
#include "stm32g0xx_hal_uart.h"
#include <cstdint>
#include <stdint.h>
constexpr uint8_t NUM_LED = 10;
#define NUM_LED 10
#define READ_BLOCK_CRC 0x8088
uint8_t buffer[24 * NUM_LED];
// TLE5012 sensor
#define READ_SENSOR 0x8000 // READ
#define REG_AVAL (0x0020U)
#define UPD_low 0x0000
#define SAFE_low 0x0000 //!< \brief switch of safety word generation
#define SAFE_high 0x0001
#define WRITE_SENSOR 0x5000
uint8_t buffer[24*NUM_LED];
struct color{
struct color {
uint8_t red;
uint8_t green;
uint8_t blue;
};
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -72,6 +61,9 @@ SPI_HandleTypeDef hspi1;
SPI_HandleTypeDef hspi2;
DMA_HandleTypeDef hdma_spi2_tx;
TIM_HandleTypeDef htim1;
DMA_HandleTypeDef hdma_tim1_ch4;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
@@ -85,16 +77,15 @@ static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_SPI1_Init(void);
static void MX_SPI2_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE);
void ws2812_spi(struct color * led_data);
void angleToCharArray(double angle, char* charAngle);
void angleToCharArray(double angle, char * charAngle);
uint16_t mapToRange(uint16_t minIn, uint16_t maxIn, uint16_t minOut,
uint16_t maxOut, uint16_t input);
// void getAngle(uint8_t * angle);
// void setOneSensor();
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@@ -103,405 +94,379 @@ void angleToCharArray(double angle, char* charAngle);
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
* @brief The application entry point.
* @retval int
*/
int main(void) {
/* USER CODE BEGIN 1 */
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* MCU
* Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Reset of all peripherals, Initializes the Flash interface and the
* Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
MX_SPI2_Init();
/* USER CODE BEGIN 2 */
// HAL_DMA_Init(&hdma_spi2_tx);
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
// MX_SPI2_Init();
MX_TIM1_Init();
/* USER CODE BEGIN 2 */
struct color led_data[NUM_LED];
for(uint8_t i = 0; i < NUM_LED; i++){
led_data[i].red = 10;
led_data[i].blue = 10;
led_data[i].green = 10;
// disable brake
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_1, &hspi1);
uint16_t dutyCycle = 0;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
TIM1->CCR4 = 0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
uint16_t angleSensor = AngleSensor.getAngel();
dutyCycle = mapToRange(12600, 16100, 0, 1000, angleSensor);
if (dutyCycle < 100) {
dutyCycle = 0;
// enable brake
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
}
else {
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
}
if (dutyCycle > 950) {
dutyCycle = 1000;
}
TIM1->CCR4 = dutyCycle;
HAL_Delay(5);
}
ws2812_spi(led_data);
int i = 0;
uint8_t angle[6];
/* USER CODE END 3 */
}
Tle5012 AngleSensor = Tle5012(GPIOA, GPIO_PIN_7, &hspi1);
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
// setOneSensor();
/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
// HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_4);
// HAL_Delay(1000);
// HAL_UART_Transmit(&huart1, buffer, sizeof(buffer), 10000);
// setLED(0, 50, 1, 20);
// uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi1, uint8_t *pData, uint16_t Size)
// build read command
// uint16_t READ_COMMAND =
// HAL_SPI_TransmitReceive_DMA(&hspi1, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size)
// uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24*NUM_LED);
// uint8_t maxBrightness = 50;
// uint8_t delay = 10;
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[0].blue = i;
// led_data[0].red = 0;
// led_data[0].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// ws2812_spi(led_data);
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[0].blue = 0;
// led_data[0].red = i;
// led_data[0].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[0].blue = 0;
// led_data[0].red = 0;
// led_data[0].green = i;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[1].blue = i;
// led_data[1].red = 0;
// led_data[1].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[1].blue = 0;
// led_data[1].red = i;
// led_data[1].green = 0;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// for(uint8_t i = 0; i < maxBrightness; i++){
// led_data[1].blue = 0;
// led_data[1].red = 0;
// led_data[1].green = i;
// ws2812_spi(led_data);
// HAL_Delay(delay);
// }
// getAngle(angle);
// uint16_t command = READ_SENSOR | REG_AVAL | UPD_low | SAFE_low;
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
// HAL_Delay(1);
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
// uint16_t command = 0b1000000000100001;
// // 1000000000100001
// uint8_t formatedCommand[6] = {0};
// formatedCommand[0] = (uint8_t)(command >> 8);
// formatedCommand[1] = (uint8_t)command;
// uint16_t angle[3] = {0};
// uint16_t safety;
// // HAL_SPI_TransmitReceive_DMA(&hspi1,formatedCommand, angle, 6);
// HAL_SPI_Transmit(&hspi1, formatedCommand, 2, 100);
// HAL_SPI_Receive(&hspi1, (uint8_t *)(angle), 4, 0xFFFF);
// // HAL_SPI_Receive(&hspi1, (uint8_t *)(&safety), 2, 0xFF);
// double angleDeg = 360.0 / 32768.0 * (angle[0] & 0x7FFF);
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_SET);
// // HAL_SPI_Transmit(&hspi1,formatedCommand,2,1000);
// // HAL_SPI_Receive(&hspi1, angle, 2, 1000);
// HAL_Delay(10);
double angle = AngleSensor.getAngel();
if(angle < 0){
angle *= 1;
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Error_Handler();
}
for(uint8_t i = 0; i < NUM_LED; i++){
led_data[i].red = (uint8_t)angle;
led_data[i].blue = 180-(uint8_t)angle;
led_data[i].green = (uint8_t)angle*0;
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType =
RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
Error_Handler();
}
ws2812_spi(led_data);
// char buf2[] = "Hallo Welt\n";
// HAL_UART_Transmit(&huart1, (uint8_t*)buf2, sizeof(buf2), 1000);
char charAngle[6] = {0};
charAngle[5] = '\n';
angleToCharArray(angle, charAngle);
HAL_UART_Transmit(&huart1, (uint8_t*)charAngle, sizeof(charAngle), 1000);
HAL_Delay(100);
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void) {
/** Configure the main internal regulator output voltage
*/
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);
/* USER CODE BEGIN SPI1_Init 0 */
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
RCC_OscInitStruct.PLL.PLLN = 10;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USER CODE END SPI1_Init 0 */
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
/* USER CODE BEGIN SPI1_Init 1 */
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_1LINE;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE END SPI1_Init 2 */
}
/**
* @brief SPI2 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI2_Init(void) {
/* USER CODE BEGIN SPI2_Init 0 */
/* USER CODE END SPI2_Init 0 */
/* USER CODE BEGIN SPI2_Init 1 */
/* USER CODE END SPI2_Init 1 */
/* SPI2 parameter configuration*/
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 7;
hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
if (HAL_SPI_Init(&hspi2) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN SPI2_Init 2 */
/* USER CODE END SPI2_Init 2 */
}
/**
* @brief SPI1 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI1_Init(void)
{
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void) {
/* USER CODE BEGIN SPI1_Init 0 */
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END SPI1_Init 0 */
/* USER CODE END TIM1_Init 0 */
/* USER CODE BEGIN SPI1_Init 1 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_OC_InitTypeDef sConfigOC = {0};
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
/* USER CODE END SPI1_Init 1 */
/* SPI1 parameter configuration*/
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi1.Init.CRCPolynomial = 7;
hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi1.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
if (HAL_SPI_Init(&hspi1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI1_Init 2 */
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END SPI1_Init 2 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 20 - 1;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 1000 - 1;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK) {
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) {
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) {
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) !=
HAL_OK) {
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) !=
HAL_OK) {
Error_Handler();
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = 0;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.BreakFilter = 0;
sBreakDeadTimeConfig.BreakAFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
sBreakDeadTimeConfig.Break2Filter = 0;
sBreakDeadTimeConfig.Break2AFMode = TIM_BREAK_AFMODE_INPUT;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) !=
HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
HAL_TIM_MspPostInit(&htim1);
}
/**
* @brief SPI2 Initialization Function
* @param None
* @retval None
*/
static void MX_SPI2_Init(void)
{
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void) {
/* USER CODE BEGIN SPI2_Init 0 */
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END SPI2_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN SPI2_Init 1 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END SPI2_Init 1 */
/* SPI2 parameter configuration*/
hspi2.Instance = SPI2;
hspi2.Init.Mode = SPI_MODE_MASTER;
hspi2.Init.Direction = SPI_DIRECTION_2LINES;
hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
hspi2.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi2.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi2.Init.NSS = SPI_NSS_SOFT;
hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 7;
hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
hspi2.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN SPI2_Init 2 */
/* USER CODE END SPI2_Init 2 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 9600;
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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK) {
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) !=
HAL_OK) {
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) !=
HAL_OK) {
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) {
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
* Enable DMA controller clock
*/
static void MX_DMA_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 = 9600;
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.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
}
/**
* Enable DMA controller clock
*/
static void MX_DMA_Init(void)
{
* @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 */
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* USER CODE END MX_GPIO_Init_1 */
/* DMA interrupt init */
/* DMA1_Channel1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
}
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, CS_Sensor_Pin | BRAKE_Pin, GPIO_PIN_RESET);
/**
* @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 */
/*Configure GPIO pins : CS_Sensor_Pin BRAKE_Pin */
GPIO_InitStruct.Pin = CS_Sensor_Pin | BRAKE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/* USER CODE BEGIN MX_GPIO_Init_2 */
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin : PA7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}
/* USER CODE BEGIN 4 */
uint16_t mapToRange(uint16_t minIn, uint16_t maxIn, uint16_t minOut,
uint16_t maxOut, uint16_t input) {
float m = (float)(maxOut - minOut) / (maxIn - minIn);
float b = minOut - m * minIn;
uint16_t valToRet = input * m + b;
if (valToRet > maxOut) {
return 0;
}
return uint16_t(input * m + b);
// minIn should be lower than maxIn
}
// void setLED(uint8_t led, uint8_t RED, uint8_t GREEN, uint8_t BLUE){
// LED_DATA[led][0] = led;
// LED_DATA[led][1] = GREEN;
@@ -509,7 +474,6 @@ static void MX_GPIO_Init(void)
// LED_DATA[led][3] = BLUE;
// }
// void setOneSensor(){
// uint8_t command[4] = {0};
@@ -517,37 +481,38 @@ static void MX_GPIO_Init(void)
// command[1] = 0;
// command[2] = 0;
// command[3] = 0;
// HAL_SPI_Transmit(&hspi1, command, 4, 1000);
// HAL_SPI_Transmit(&hspi1, command, 4, 1000);
// }
void ws2812_spi(struct color *led_data){
void ws2812_spi(struct color * led_data) {
int index = 0;
for(uint8_t x = 0; x < NUM_LED; x++){
uint32_t color = led_data[x].green << 16 | led_data[x].red << 8 | led_data[x].blue;
for (uint8_t x = 0; x < NUM_LED; x++) {
uint32_t color =
led_data[x].green << 16 | led_data[x].red << 8 | led_data[x].blue;
// index = 0;
for(int i = 23; i >= 0; i--){
if(((color >> i) & 0x01) == 1){
for (int i = 23; i >= 0; i--) {
if (((color >> i) & 0x01) == 1) {
buffer[index++] = 0b110; // 1
}
else{
else {
buffer[index++] = 0b100; // 0
}
}
}
// HAL_SPI_Transmit(&hspi2, sendData, 24*NUM_LED, 1000);
uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24*NUM_LED);
uint32_t retcode = HAL_SPI_Transmit_DMA(&hspi2, buffer, 24 * NUM_LED);
// uint8_t fuck = 1;
}
void angleToCharArray(double angle, char* charAngle){
int16_t angleInt = (int16_t)(angle*10);
if (angle < 0){
void angleToCharArray(double angle, char * charAngle) {
int16_t angleInt = (int16_t)(angle * 10);
if (angle < 0) {
charAngle[0] = '-';
angleInt *= -1;
}
else{
else {
charAngle[0] = '+';
}
charAngle[4] = angleInt % 10 + 48;
@@ -558,38 +523,34 @@ void angleToCharArray(double angle, char* charAngle){
angleInt /= 10;
charAngle[1] = angleInt % 10 + 48;
}
/* 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 */
* @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
#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 */
* @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 */

201
Core/Src/stm32g0xx_hal_msp.c
View File

@@ -25,6 +25,8 @@
/* USER CODE END Includes */
extern DMA_HandleTypeDef hdma_spi2_tx;
extern DMA_HandleTypeDef hdma_tim1_ch4;
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
@@ -58,7 +60,9 @@ extern DMA_HandleTypeDef hdma_spi2_tx;
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
@@ -79,44 +83,43 @@ void HAL_MspInit(void)
}
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example
* @param hspi: SPI handle pointer
* @retval None
*/
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example
* @param hspi: SPI handle pointer
* @retval None
*/
void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(hspi->Instance==SPI1)
{
/* USER CODE BEGIN SPI1_MspInit 0 */
/* USER CODE BEGIN SPI1_MspInit 0 */
/* USER CODE END SPI1_MspInit 0 */
/* USER CODE END SPI1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_SPI1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**SPI1 GPIO Configuration
PA1 ------> SPI1_SCK
PA2 ------> SPI1_MOSI
PA6 ------> SPI1_MISO
PA5 ------> SPI1_SCK
PA7 ------> SPI1_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_6;
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF0_SPI1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE BEGIN SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
/* USER CODE END SPI1_MspInit 1 */
}
else if(hspi->Instance==SPI2)
{
/* USER CODE BEGIN SPI2_MspInit 0 */
/* USER CODE BEGIN SPI2_MspInit 0 */
/* USER CODE END SPI2_MspInit 0 */
/* USER CODE END SPI2_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_SPI2_CLK_ENABLE();
@@ -161,45 +164,44 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
/* SPI2 interrupt Init */
HAL_NVIC_SetPriority(SPI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(SPI2_IRQn);
/* USER CODE BEGIN SPI2_MspInit 1 */
/* USER CODE BEGIN SPI2_MspInit 1 */
/* USER CODE END SPI2_MspInit 1 */
/* USER CODE END SPI2_MspInit 1 */
}
}
/**
* @brief SPI MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hspi: SPI handle pointer
* @retval None
*/
* @brief SPI MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hspi: SPI handle pointer
* @retval None
*/
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
{
if(hspi->Instance==SPI1)
{
/* USER CODE BEGIN SPI1_MspDeInit 0 */
/* USER CODE BEGIN SPI1_MspDeInit 0 */
/* USER CODE END SPI1_MspDeInit 0 */
/* USER CODE END SPI1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_SPI1_CLK_DISABLE();
/**SPI1 GPIO Configuration
PA1 ------> SPI1_SCK
PA2 ------> SPI1_MOSI
PA6 ------> SPI1_MISO
PA5 ------> SPI1_SCK
PA7 ------> SPI1_MOSI
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_6);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_7);
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE BEGIN SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */
/* USER CODE END SPI1_MspDeInit 1 */
}
else if(hspi->Instance==SPI2)
{
/* USER CODE BEGIN SPI2_MspDeInit 0 */
/* USER CODE BEGIN SPI2_MspDeInit 0 */
/* USER CODE END SPI2_MspDeInit 0 */
/* USER CODE END SPI2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_SPI2_CLK_DISABLE();
@@ -215,28 +217,121 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi)
/* SPI2 interrupt DeInit */
HAL_NVIC_DisableIRQ(SPI2_IRQn);
/* USER CODE BEGIN SPI2_MspDeInit 1 */
/* USER CODE BEGIN SPI2_MspDeInit 1 */
/* USER CODE END SPI2_MspDeInit 1 */
/* USER CODE END SPI2_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspInit 0 */
/* USER CODE END TIM1_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM1_CLK_ENABLE();
/* TIM1 DMA Init */
/* TIM1_CH4 Init */
hdma_tim1_ch4.Instance = DMA1_Channel4;
hdma_tim1_ch4.Init.Request = DMA_REQUEST_TIM1_CH4;
hdma_tim1_ch4.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tim1_ch4.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tim1_ch4.Init.MemInc = DMA_MINC_ENABLE;
hdma_tim1_ch4.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_tim1_ch4.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_tim1_ch4.Init.Mode = DMA_NORMAL;
hdma_tim1_ch4.Init.Priority = DMA_PRIORITY_LOW;
if (HAL_DMA_Init(&hdma_tim1_ch4) != HAL_OK)
{
Error_Handler();
}
__HAL_LINKDMA(htim_base,hdma[TIM_DMA_ID_CC4],hdma_tim1_ch4);
/* USER CODE BEGIN TIM1_MspInit 1 */
/* USER CODE END TIM1_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(htim->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM1 GPIO Configuration
PA11 [PA9] ------> TIM1_CH4
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN TIM1_MspPostInit 1 */
/* USER CODE END TIM1_MspPostInit 1 */
}
}
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspDeInit 0 */
/* USER CODE END TIM1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM1_CLK_DISABLE();
/* TIM1 DMA DeInit */
HAL_DMA_DeInit(htim_base->hdma[TIM_DMA_ID_CC4]);
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
}
/**
* @brief UART MSP Initialization
* This function configures the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/** Initializes the peripherals clocks
*/
@@ -262,27 +357,27 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
GPIO_InitStruct.Alternate = GPIO_AF0_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
}
/**
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
* @brief UART MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param huart: UART handle pointer
* @retval None
*/
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{
if(huart->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
@@ -292,9 +387,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7|GPIO_PIN_6);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
}

15
Core/Src/stm32g0xx_it.c
View File

@@ -57,6 +57,7 @@
/* External variables --------------------------------------------------------*/
extern DMA_HandleTypeDef hdma_spi2_tx;
extern SPI_HandleTypeDef hspi2;
extern DMA_HandleTypeDef hdma_tim1_ch4;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -155,6 +156,20 @@ void DMA1_Channel1_IRQHandler(void)
/* USER CODE END DMA1_Channel1_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel 4, channel 5 and DMAMUX1 interrupts.
*/
void DMA1_Ch4_5_DMAMUX1_OVR_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Ch4_5_DMAMUX1_OVR_IRQn 0 */
/* USER CODE END DMA1_Ch4_5_DMAMUX1_OVR_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_tim1_ch4);
/* USER CODE BEGIN DMA1_Ch4_5_DMAMUX1_OVR_IRQn 1 */
/* USER CODE END DMA1_Ch4_5_DMAMUX1_OVR_IRQn 1 */
}
/**
* @brief This function handles SPI2 global interrupt.
*/