diff --git a/.gitignore b/.gitignore
index c2f4ce9..1205a8e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,4 @@
# dot files
-/.vscode/launch.json
/.settings
/.eide/log
/.eide.usr.ctx.json
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 0000000..984a112
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,19 @@
+{
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "cwd": "${workspaceRoot}",
+ "type": "cortex-debug",
+ "request": "launch",
+ "name": "openocd",
+ "servertype": "openocd",
+ "executable": "build\\BC3D\\BC3D.elf",
+ "runToEntryPoint": "main",
+ "configFiles": [
+ "interface/cmsis-dap.cfg",
+ "target/at32f413xx.cfg"
+ ],
+ "toolchainPrefix": "arm-none-eabi",
+ }
+ ]
+}
\ No newline at end of file
diff --git a/BC3D.ATWP b/BC3D.ATWP
index 49e8470..3d53aab 100644
--- a/BC3D.ATWP
+++ b/BC3D.ATWP
@@ -18,6 +18,14 @@
+
+
+
+
+
+
+
+
@@ -39,14 +47,6 @@
-
-
-
-
-
-
-
-
@@ -75,12 +75,6 @@
0;0;0
-
-
-
-
-
-
@@ -90,22 +84,22 @@
-
-
+
+
-
+
0
- 8.000000
- 0
- 1
- 50
+ 16.000000
+ 1
+ 0
+ 25
1
1
2
@@ -118,6 +112,8 @@
4
+
+
@@ -128,9 +124,9 @@
-
+
-
+
@@ -143,7 +139,7 @@
true
0x200
0x400
- true
+ false
V2.1.3
diff --git a/app/by_stepper.c b/app/by_stepper.c
new file mode 100644
index 0000000..7244fa9
--- /dev/null
+++ b/app/by_stepper.c
@@ -0,0 +1,41 @@
+#include "by_stepper.h"
+
+#include
+#include
+#include "by_debug.h"
+
+// TODO 是否增加一个动作列表？一般都比较简单吧
+
+struct by_stepper_t {
+ uint8_t dir;
+ stepper_speed_t speed;
+};
+
+struct by_stepper_t by_stepper;
+
+void by_stepper_init(void)
+{
+ memset(&by_stepper, 0x00, sizeof(by_stepper));
+}
+
+void by_stepper_set_dir(uint8_t dir)
+{
+ by_stepper.dir = dir;
+}
+
+void by_stepper_set_speed(stepper_speed_t speed)
+{
+ by_stepper.speed = speed;
+}
+
+void by_stepper_run(void)
+{
+ // 根据预设条件发送脉冲
+ gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
+ gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
+ DWT_Delay(40U * (uint16_t)by_stepper.speed);
+}
+
+void by_stepper_stop(void)
+{
+}
\ No newline at end of file
diff --git a/app/by_stepper.h b/app/by_stepper.h
new file mode 100644
index 0000000..8b20976
--- /dev/null
+++ b/app/by_stepper.h
@@ -0,0 +1,10 @@
+#include "at32f413.h"
+
+typedef enum stepper_speed_t {
+ STEPPER_SPEED_DIV0 = 0,
+ STEPPER_SPEED_DIV2 = 2,
+ STEPPER_SPEED_DIV4 = 4,
+ STEPPER_SPEED_DIV8 = 8,
+ STEPPER_SPEED_DIV16 = 16,
+ STEPPER_SPEED_DIV32 = 32
+} stepper_speed_t;
\ No newline at end of file
diff --git a/project/inc/at32f413_conf.h b/project/inc/at32f413_conf.h
index 516b139..2199495 100644
--- a/project/inc/at32f413_conf.h
+++ b/project/inc/at32f413_conf.h
@@ -39,7 +39,7 @@ extern "C" {
*
*/
#if !defined HEXT_VALUE
-#define HEXT_VALUE ((uint32_t)8000000) /*!< value of the high speed exernal crystal in hz */
+#define HEXT_VALUE ((uint32_t)16000000) /*!< value of the high speed exernal crystal in hz */
#endif
/**
diff --git a/project/inc/at32f413_wk_config.h b/project/inc/at32f413_wk_config.h
index d5a272d..f35a28d 100644
--- a/project/inc/at32f413_wk_config.h
+++ b/project/inc/at32f413_wk_config.h
@@ -56,18 +56,14 @@ extern "C" {
/* add user code end exported macro */
/* Private defines -------------------------------------------------------------*/
-#define SW_IN2_PIN GPIO_PINS_10
-#define SW_IN2_GPIO_PORT GPIOB
-#define SW_IN1_PIN GPIO_PINS_11
-#define SW_IN1_GPIO_PORT GPIOB
#define MODE2_PIN GPIO_PINS_12
#define MODE2_GPIO_PORT GPIOB
#define MODE1_PIN GPIO_PINS_13
#define MODE1_GPIO_PORT GPIOB
#define MODE0_PIN GPIO_PINS_14
#define MODE0_GPIO_PORT GPIOB
-#define STEP_PIN GPIO_PINS_15
-#define STEP_GPIO_PORT GPIOB
+#define CLK_PIN GPIO_PINS_15
+#define CLK_GPIO_PORT GPIOB
#define DIR_PIN GPIO_PINS_8
#define DIR_GPIO_PORT GPIOA
#define EN_PIN GPIO_PINS_9
@@ -104,9 +100,6 @@ extern "C" {
/* init tmr3 function. */
void wk_tmr3_init(void);
- /* init tmr9 function. */
- void wk_tmr9_init(void);
-
/* init tmr10 function. */
void wk_tmr10_init(void);
diff --git a/project/src/at32f413_wk_config.c b/project/src/at32f413_wk_config.c
index a8c6efe..a9f8e48 100644
--- a/project/src/at32f413_wk_config.c
+++ b/project/src/at32f413_wk_config.c
@@ -64,8 +64,9 @@
/**
* @brief system clock config program
* @note the system clock is configured as follow:
- * system clock (sclk) = hick / 12 * pll_mult
- * system clock source = HICK_VALUE
+ * system clock (sclk) = hext / 2 * pll_mult
+ * system clock source = HEXT_VALUE
+ * - hext = HEXT_VALUE
* - sclk = 200000000
* - ahbdiv = 1
* - ahbclk = 200000000
@@ -73,7 +74,7 @@
* - apb1clk = 100000000
* - apb2div = 2
* - apb2clk = 100000000
- * - pll_mult = 50
+ * - pll_mult = 25
* - pll_range = GT72MHZ (greater than 72 mhz)
* @param none
* @retval none
@@ -91,6 +92,14 @@ void wk_system_clock_config(void)
{
}
+ /* enable hext */
+ crm_clock_source_enable(CRM_CLOCK_SOURCE_HEXT, TRUE);
+
+ /* wait till hext is ready */
+ while(crm_hext_stable_wait() == ERROR)
+ {
+ }
+
/* enable hick */
crm_clock_source_enable(CRM_CLOCK_SOURCE_HICK, TRUE);
@@ -100,7 +109,7 @@ void wk_system_clock_config(void)
}
/* config pll clock resource */
- crm_pll_config(CRM_PLL_SOURCE_HICK, CRM_PLL_MULT_50, CRM_PLL_OUTPUT_RANGE_GT72MHZ);
+ crm_pll_config(CRM_PLL_SOURCE_HEXT_DIV, CRM_PLL_MULT_25, CRM_PLL_OUTPUT_RANGE_GT72MHZ);
/* enable pll */
crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE);
@@ -153,12 +162,12 @@ void wk_periph_clock_config(void)
/* enable gpiob periph clock */
crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
+ /* enable gpiod periph clock */
+ crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
+
/* enable tmr1 periph clock */
crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE);
- /* enable tmr9 periph clock */
- crm_periph_clock_enable(CRM_TMR9_PERIPH_CLOCK, TRUE);
-
/* enable tmr10 periph clock */
crm_periph_clock_enable(CRM_TMR10_PERIPH_CLOCK, TRUE);
@@ -213,33 +222,27 @@ void wk_gpio_config(void)
/* gpio input config */
gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
- gpio_init_struct.gpio_pins = SW_IN2_PIN | SW_IN1_PIN;
+ gpio_init_struct.gpio_pins = GPIO_PINS_10 | GPIO_PINS_11;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct);
/* gpio output config */
- gpio_bits_reset(GPIOB, MODE2_PIN | MODE1_PIN | MODE0_PIN);
- gpio_bits_reset(DIR_GPIO_PORT, DIR_PIN);
+ gpio_bits_reset(GPIOB, MODE2_PIN | MODE1_PIN | MODE0_PIN | CLK_PIN);
+ gpio_bits_reset(GPIOA, DIR_PIN | EN_PIN);
gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
- gpio_init_struct.gpio_pins = MODE2_PIN | MODE1_PIN | MODE0_PIN;
+ gpio_init_struct.gpio_pins = MODE2_PIN | MODE1_PIN | MODE0_PIN | CLK_PIN;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct);
gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
- gpio_init_struct.gpio_pins = DIR_PIN;
+ gpio_init_struct.gpio_pins = DIR_PIN | EN_PIN;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
- gpio_init(DIR_GPIO_PORT, &gpio_init_struct);
-
- /* gpio analog config */
- gpio_init_struct.gpio_mode = GPIO_MODE_ANALOG;
- gpio_init_struct.gpio_pins = EN_PIN;
- gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
- gpio_init(EN_GPIO_PORT, &gpio_init_struct);
+ gpio_init(GPIOA, &gpio_init_struct);
/* add user code begin gpio_config 2 */
@@ -436,67 +439,6 @@ void wk_tmr3_init(void)
/* add user code end tmr3_init 2 */
}
-/**
- * @brief init tmr9 function.
- * @param none
- * @retval none
- */
-void wk_tmr9_init(void)
-{
- /* add user code begin tmr9_init 0 */
-
- /* add user code end tmr9_init 0 */
-
- gpio_init_type gpio_init_struct;
- tmr_output_config_type tmr_output_struct;
- gpio_default_para_init(&gpio_init_struct);
-
- /* add user code begin tmr9_init 1 */
-
- /* add user code end tmr9_init 1 */
-
- /* configure the CH2 pin */
- gpio_init_struct.gpio_pins = STEP_PIN;
- gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
- gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
- gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
- gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
- gpio_init(STEP_GPIO_PORT, &gpio_init_struct);
-
- /* GPIO PIN remap */
- gpio_pin_remap_config(TMR9_GMUX, TRUE);
-
- /* configure counter settings */
- tmr_base_init(TMR9, 65535, 0);
- tmr_cnt_dir_set(TMR9, TMR_COUNT_UP);
- tmr_clock_source_div_set(TMR9, TMR_CLOCK_DIV1);
- tmr_period_buffer_enable(TMR9, FALSE);
-
- /* configure sub-mode */
- tmr_sub_mode_select(TMR9, TMR_SUB_EXTERNAL_CLOCK_MODE_A);
-
- /* configure sub-mode input */
- tmr_trigger_input_select(TMR9, TMR_SUB_INPUT_SEL_IS2);
-
- /* configure channel 2 output settings */
- tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
- tmr_output_struct.oc_output_state = TRUE;
- tmr_output_struct.occ_output_state = FALSE;
- tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
- tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
- tmr_output_struct.oc_idle_state = FALSE;
- tmr_output_struct.occ_idle_state = FALSE;
- tmr_output_channel_config(TMR9, TMR_SELECT_CHANNEL_2, &tmr_output_struct);
- tmr_channel_value_set(TMR9, TMR_SELECT_CHANNEL_2, 0);
- tmr_output_channel_buffer_enable(TMR9, TMR_SELECT_CHANNEL_2, FALSE);
-
- tmr_counter_enable(TMR9, TRUE);
-
- /* add user code begin tmr9_init 2 */
-
- /* add user code end tmr9_init 2 */
-}
-
/**
* @brief init tmr10 function.
* @param none
diff --git a/project/src/main.c b/project/src/main.c
index 370c7b3..6dbd982 100644
--- a/project/src/main.c
+++ b/project/src/main.c
@@ -29,7 +29,10 @@
/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
+#include "dwt_delay.h"
+
#include "by_debug.h"
+#include "by_can.h"
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
@@ -63,59 +66,66 @@
/* 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 */
+ /* add user code begin 1 */
by_debug_init();
/* add user code end 1 */
- /* system clock config. */
- wk_system_clock_config();
+ /* system clock config. */
+ wk_system_clock_config();
- /* config periph clock. */
- wk_periph_clock_config();
+ /* config periph clock. */
+ wk_periph_clock_config();
- /* init debug function. */
- wk_debug_config();
+ /* init debug function. */
+ wk_debug_config();
- /* nvic config. */
- wk_nvic_config();
+ /* nvic config. */
+ wk_nvic_config();
- /* init usart2 function. */
- wk_usart2_init();
+ /* init usart2 function. */
+ wk_usart2_init();
- /* init exint function. */
- wk_exint_config();
+ /* init exint function. */
+ wk_exint_config();
- /* init tmr1 function. */
- wk_tmr1_init();
+ /* init tmr1 function. */
+ wk_tmr1_init();
- /* init tmr3 function. */
- wk_tmr3_init();
+ /* init tmr3 function. */
+ wk_tmr3_init();
- /* init tmr9 function. */
- wk_tmr9_init();
+ /* init tmr10 function. */
+ wk_tmr10_init();
- /* init tmr10 function. */
- wk_tmr10_init();
+ /* init can1 function. */
+ wk_can1_init();
- /* init can1 function. */
- wk_can1_init();
+ /* init gpio function. */
+ wk_gpio_config();
- /* init gpio function. */
- wk_gpio_config();
+ /* add user code begin 2 */
+ DWT_Init();
- /* add user code begin 2 */
LOGD("hello world");
- /* add user code end 2 */
- while (1) {
- /* add user code begin 3 */
+ gpio_bits_write(GPIOB, GPIO_PINS_12, FALSE); // MODE2
+ gpio_bits_write(GPIOB, GPIO_PINS_13, TRUE); // MODE1
+ gpio_bits_write(GPIOB, GPIO_PINS_14, TRUE); // MODE0
+ gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE); // EN
+ gpio_bits_write(GPIOA, GPIO_PINS_8, TRUE); // DIR
+ gpio_bits_write(GPIOB, GPIO_PINS_15, TRUE); // CLK
+ /* add user code end 2 */
+ while(1)
+ {
+ /* add user code begin 3 */
+ DWT_Delay(40);
/* add user code end 3 */
- }
+ }
}