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bmy
2024-06-10 18:04:53 +08:00
commit 3c525b4cfd
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265
project/src/at32f425_int.c Normal file
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/* add user code begin Header */
/**
**************************************************************************
* @file at32f425_int.c
* @brief main interrupt service routines.
**************************************************************************
* Copyright notice & Disclaimer
*
* The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer.
*
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
*
**************************************************************************
*/
/* add user code end Header */
/* includes ------------------------------------------------------------------*/
#include "at32f425_int.h"
/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
#include "by_debug.h"
#include "by_motion.h"
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
/* add user code begin private typedef */
/* add user code end private typedef */
/* private define ------------------------------------------------------------*/
/* add user code begin private define */
/* add user code end private define */
/* private macro -------------------------------------------------------------*/
/* add user code begin private macro */
/* add user code end private macro */
/* private variables ---------------------------------------------------------*/
/* add user code begin private variables */
/* add user code end private variables */
/* private function prototypes --------------------------------------------*/
/* add user code begin function prototypes */
/* add user code end function prototypes */
/* private user code ---------------------------------------------------------*/
/* add user code begin 0 */
/* add user code end 0 */
/* external variables ---------------------------------------------------------*/
/* add user code begin external variables */
/* add user code end external variables */
/**
* @brief this function handles nmi exception.
* @param none
* @retval none
*/
void NMI_Handler(void)
{
/* add user code begin NonMaskableInt_IRQ 0 */
/* add user code end NonMaskableInt_IRQ 0 */
/* add user code begin NonMaskableInt_IRQ 1 */
/* add user code end NonMaskableInt_IRQ 1 */
}
/**
* @brief this function handles hard fault exception.
* @param none
* @retval none
*/
void HardFault_Handler(void)
{
/* add user code begin HardFault_IRQ 0 */
/* add user code end HardFault_IRQ 0 */
/* go to infinite loop when hard fault exception occurs */
while (1)
{
/* add user code begin W1_HardFault_IRQ 0 */
/* add user code end W1_HardFault_IRQ 0 */
}
}
/**
* @brief this function handles memory manage exception.
* @param none
* @retval none
*/
void MemManage_Handler(void)
{
/* add user code begin MemoryManagement_IRQ 0 */
/* add user code end MemoryManagement_IRQ 0 */
/* go to infinite loop when memory manage exception occurs */
while (1)
{
/* add user code begin W1_MemoryManagement_IRQ 0 */
/* add user code end W1_MemoryManagement_IRQ 0 */
}
}
/**
* @brief this function handles bus fault exception.
* @param none
* @retval none
*/
void BusFault_Handler(void)
{
/* add user code begin BusFault_IRQ 0 */
/* add user code end BusFault_IRQ 0 */
/* go to infinite loop when bus fault exception occurs */
while (1)
{
/* add user code begin W1_BusFault_IRQ 0 */
/* add user code end W1_BusFault_IRQ 0 */
}
}
/**
* @brief this function handles usage fault exception.
* @param none
* @retval none
*/
void UsageFault_Handler(void)
{
/* add user code begin UsageFault_IRQ 0 */
/* add user code end UsageFault_IRQ 0 */
/* go to infinite loop when usage fault exception occurs */
while (1)
{
/* add user code begin W1_UsageFault_IRQ 0 */
/* add user code end W1_UsageFault_IRQ 0 */
}
}
/**
* @brief this function handles svcall exception.
* @param none
* @retval none
*/
void SVC_Handler(void)
{
/* add user code begin SVCall_IRQ 0 */
/* add user code end SVCall_IRQ 0 */
/* add user code begin SVCall_IRQ 1 */
/* add user code end SVCall_IRQ 1 */
}
/**
* @brief this function handles debug monitor exception.
* @param none
* @retval none
*/
void DebugMon_Handler(void)
{
/* add user code begin DebugMonitor_IRQ 0 */
/* add user code end DebugMonitor_IRQ 0 */
/* add user code begin DebugMonitor_IRQ 1 */
/* add user code end DebugMonitor_IRQ 1 */
}
/**
* @brief this function handles pendsv_handler exception.
* @param none
* @retval none
*/
void PendSV_Handler(void)
{
/* add user code begin PendSV_IRQ 0 */
/* add user code end PendSV_IRQ 0 */
/* add user code begin PendSV_IRQ 1 */
/* add user code end PendSV_IRQ 1 */
}
/**
* @brief this function handles TMR6 handler.
* @param none
* @retval none
*/
void TMR6_GLOBAL_IRQHandler(void)
{
/* add user code begin TMR6_GLOBAL_IRQ 0 */
if (SET == tmr_interrupt_flag_get(TMR6, TMR_OVF_FLAG)) {
by_motion_run();
tmr_flag_clear(TMR6, TMR_OVF_FLAG);
}
/* add user code end TMR6_GLOBAL_IRQ 0 */
/* add user code begin TMR6_GLOBAL_IRQ 1 */
/* add user code end TMR6_GLOBAL_IRQ 1 */
}
/**
* @brief this function handles TMR7 handler.
* @param none
* @retval none
*/
void TMR7_GLOBAL_IRQHandler(void)
{
/* add user code begin TMR7_GLOBAL_IRQ 0 */
/* add user code end TMR7_GLOBAL_IRQ 0 */
/* add user code begin TMR7_GLOBAL_IRQ 1 */
/* add user code end TMR7_GLOBAL_IRQ 1 */
}
/**
* @brief this function handles CAN1 handler.
* @param none
* @retval none
*/
void CAN1_IRQHandler(void)
{
/* add user code begin CAN1_IRQ 0 */
if (SET == can_flag_get(CAN1, CAN_RF0MN_FLAG)) {
can_rx_message_type can_rx_message;
can_message_receive(CAN1, CAN_RX_FIFO0, &can_rx_message);
by_motion_can_handle((uint16_t)can_rx_message.standard_id, can_rx_message.data, can_rx_message.dlc);
can_flag_clear(CAN1, CAN_RF0MN_FLAG);
}
/* add user code end CAN1_IRQ 0 */
/* add user code begin CAN1_IRQ 1 */
/* add user code end CAN1_IRQ 1 */
}
/* add user code begin 1 */
/* add user code end 1 */

752
project/src/at32f425_wk_config.c Normal file
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/* add user code begin Header */
/**
**************************************************************************
* @file at32f425_wk_config.c
* @brief work bench config program
**************************************************************************
* Copyright notice & Disclaimer
*
* The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer.
*
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
*
**************************************************************************
*/
/* add user code end Header */
#include "at32f425_wk_config.h"
/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
/* add user code begin private typedef */
/* add user code end private typedef */
/* private define ------------------------------------------------------------*/
/* add user code begin private define */
/* add user code end private define */
/* private macro -------------------------------------------------------------*/
/* add user code begin private macro */
/* add user code end private macro */
/* private variables ---------------------------------------------------------*/
/* add user code begin private variables */
/* add user code end private variables */
/* private function prototypes --------------------------------------------*/
/* add user code begin function prototypes */
/* add user code end function prototypes */
/* private user code ---------------------------------------------------------*/
/* add user code begin 0 */
/* add user code end 0 */
/**
* @brief system clock config program
* @note the system clock is configured as follow:
* system clock (sclk) = hext * pll_mult
* system clock source = HEXT_VALUE
* - hext = HEXT_VALUE
* - sclk = 96000000
* - ahbdiv = 1
* - ahbclk = 96000000
* - apb1div = 1
* - apb1clk = 96000000
* - apb2div = 1
* - apb2clk = 96000000
* - pll_mult = 6
* - flash_wtcyc = 2 cycle
* @param none
* @retval none
*/
void wk_system_clock_config(void)
{
/* reset crm */
crm_reset();
/* config flash psr register */
flash_psr_set(FLASH_WAIT_CYCLE_2);
/* enable lick */
crm_clock_source_enable(CRM_CLOCK_SOURCE_LICK, TRUE);
/* wait till lick is ready */
while(crm_flag_get(CRM_LICK_STABLE_FLAG) != SET)
{
}
/* 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);
/* wait till hick is ready */
while(crm_flag_get(CRM_HICK_STABLE_FLAG) != SET)
{
}
/* config pll clock resource */
crm_pll_config(CRM_PLL_SOURCE_HEXT, CRM_PLL_MULT_6);
/* enable pll */
crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE);
/* wait till pll is ready */
while(crm_flag_get(CRM_PLL_STABLE_FLAG) != SET)
{
}
/* config ahbclk */
crm_ahb_div_set(CRM_AHB_DIV_1);
/* config apb2clk */
crm_apb2_div_set(CRM_APB2_DIV_1);
/* config apb1clk */
crm_apb1_div_set(CRM_APB1_DIV_1);
/* select pll as system clock source */
crm_sysclk_switch(CRM_SCLK_PLL);
/* wait till pll is used as system clock source */
while(crm_sysclk_switch_status_get() != CRM_SCLK_PLL)
{
}
/* update system_core_clock global variable */
system_core_clock_update();
}
/**
* @brief config periph clock
* @param none
* @retval none
*/
void wk_periph_clock_config(void)
{
/* enable gpioa periph clock */
crm_periph_clock_enable(CRM_GPIOA_PERIPH_CLOCK, TRUE);
/* enable gpiob periph clock */
crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
/* enable gpiof periph clock */
crm_periph_clock_enable(CRM_GPIOF_PERIPH_CLOCK, TRUE);
/* enable tmr1 periph clock */
crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE);
/* enable usart1 periph clock */
crm_periph_clock_enable(CRM_USART1_PERIPH_CLOCK, TRUE);
/* enable tmr2 periph clock */
crm_periph_clock_enable(CRM_TMR2_PERIPH_CLOCK, TRUE);
/* enable tmr3 periph clock */
crm_periph_clock_enable(CRM_TMR3_PERIPH_CLOCK, TRUE);
/* enable tmr6 periph clock */
crm_periph_clock_enable(CRM_TMR6_PERIPH_CLOCK, TRUE);
/* enable tmr7 periph clock */
crm_periph_clock_enable(CRM_TMR7_PERIPH_CLOCK, TRUE);
/* enable can1 periph clock */
crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
}
/**
* @brief nvic config
* @param none
* @retval none
*/
void wk_nvic_config(void)
{
nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
nvic_irq_enable(TMR6_GLOBAL_IRQn, 0, 0);
nvic_irq_enable(TMR7_GLOBAL_IRQn, 0, 0);
nvic_irq_enable(CAN1_IRQn, 0, 0);
}
/**
* @brief init gpio_input/gpio_output/gpio_analog/eventout function.
* @param none
* @retval none
*/
void wk_gpio_config(void)
{
/* add user code begin gpio_config 0 */
/* add user code end gpio_config 0 */
gpio_init_type gpio_init_struct;
gpio_default_para_init(&gpio_init_struct);
/* add user code begin gpio_config 1 */
/* add user code end gpio_config 1 */
/* gpio input config */
gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
gpio_init_struct.gpio_pins = GPIO_PINS_4 | GPIO_PINS_5;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct);
/* gpio output config */
gpio_bits_reset(GPIOA, GPIO_PINS_12);
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 = GPIO_PINS_12;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOA, &gpio_init_struct);
/* add user code begin gpio_config 2 */
/* add user code end gpio_config 2 */
}
/**
* @brief init tmr1 function.
* @param none
* @retval none
*/
void wk_tmr1_init(void)
{
/* add user code begin tmr1_init 0 */
/* add user code end tmr1_init 0 */
gpio_init_type gpio_init_struct;
tmr_output_config_type tmr_output_struct;
tmr_brkdt_config_type tmr_brkdt_struct;
gpio_default_para_init(&gpio_init_struct);
/* add user code begin tmr1_init 1 */
/* add user code end tmr1_init 1 */
/* configure the tmr1 CH1 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_8;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE8, GPIO_MUX_2);
/* configure the tmr1 CH2 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_9;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE9, GPIO_MUX_2);
/* configure the tmr1 CH3 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_10;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE10, GPIO_MUX_2);
/* configure the tmr1 CH4 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_11;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE11, GPIO_MUX_2);
/* configure counter settings */
tmr_base_init(TMR1, 999, 239);
tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1);
tmr_repetition_counter_set(TMR1, 0);
tmr_period_buffer_enable(TMR1, FALSE);
/* configure primary mode settings */
tmr_sub_sync_mode_set(TMR1, FALSE);
tmr_primary_mode_select(TMR1, TMR_PRIMARY_SEL_RESET);
/* configure channel 1 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
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(TMR1, TMR_SELECT_CHANNEL_1, &tmr_output_struct);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_1, 0);
tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_1, FALSE);
tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_1, FALSE);
/* configure channel 2 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
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(TMR1, TMR_SELECT_CHANNEL_2, &tmr_output_struct);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, 0);
tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_2, FALSE);
tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_2, FALSE);
/* configure channel 3 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
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(TMR1, TMR_SELECT_CHANNEL_3, &tmr_output_struct);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_3, 0);
tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_3, FALSE);
tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_3, FALSE);
/* configure channel 4 output settings */
tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
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(TMR1, TMR_SELECT_CHANNEL_4, &tmr_output_struct);
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_4, 0);
tmr_output_channel_buffer_enable(TMR1, TMR_SELECT_CHANNEL_4, FALSE);
tmr_output_channel_immediately_set(TMR1, TMR_SELECT_CHANNEL_4, FALSE);
/* configure break and dead-time settings */
tmr_brkdt_struct.brk_enable = FALSE;
tmr_brkdt_struct.auto_output_enable = FALSE;
tmr_brkdt_struct.brk_polarity = TMR_BRK_INPUT_ACTIVE_LOW;
tmr_brkdt_struct.fcsoen_state = FALSE;
tmr_brkdt_struct.fcsodis_state = FALSE;
tmr_brkdt_struct.wp_level = TMR_WP_OFF;
tmr_brkdt_struct.deadtime = 0;
tmr_brkdt_config(TMR1, &tmr_brkdt_struct);
tmr_brk_filter_value_set(TMR1, 0);
tmr_output_enable(TMR1, TRUE);
tmr_counter_enable(TMR1, TRUE);
/* add user code begin tmr1_init 2 */
/* add user code end tmr1_init 2 */
}
/**
* @brief init tmr2 function.
* @param none
* @retval none
*/
void wk_tmr2_init(void)
{
/* add user code begin tmr2_init 0 */
/* add user code end tmr2_init 0 */
gpio_init_type gpio_init_struct;
tmr_input_config_type tmr_input_struct;
gpio_default_para_init(&gpio_init_struct);
/* add user code begin tmr2_init 1 */
/* add user code end tmr2_init 1 */
/* configure the tmr2 CH1 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_0;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE0, GPIO_MUX_2);
/* configure the tmr2 CH2 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_1;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE1, GPIO_MUX_2);
/* configure counter settings */
tmr_base_init(TMR2, 65535, 0);
tmr_cnt_dir_set(TMR2, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR2, TMR_CLOCK_DIV1);
tmr_period_buffer_enable(TMR2, FALSE);
/* configure primary mode settings */
tmr_sub_sync_mode_set(TMR2, FALSE);
tmr_primary_mode_select(TMR2, TMR_PRIMARY_SEL_RESET);
/* configure encoder mode */
tmr_input_struct.input_channel_select = TMR_SELECT_CHANNEL_1;
tmr_input_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
tmr_input_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
tmr_input_struct.input_filter_value = 0;
tmr_input_channel_init(TMR2, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
tmr_input_struct.input_channel_select = TMR_SELECT_CHANNEL_2;
tmr_input_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
tmr_input_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
tmr_input_struct.input_filter_value = 0;
tmr_input_channel_init(TMR2, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
tmr_encoder_mode_config(TMR2, TMR_ENCODER_MODE_A, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
tmr_counter_enable(TMR2, TRUE);
/* add user code begin tmr2_init 2 */
/* add user code end tmr2_init 2 */
}
/**
* @brief init tmr3 function.
* @param none
* @retval none
*/
void wk_tmr3_init(void)
{
/* add user code begin tmr3_init 0 */
/* add user code end tmr3_init 0 */
gpio_init_type gpio_init_struct;
tmr_input_config_type tmr_input_struct;
gpio_default_para_init(&gpio_init_struct);
/* add user code begin tmr3_init 1 */
/* add user code end tmr3_init 1 */
/* configure the tmr3 CH1 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_6;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE6, GPIO_MUX_1);
/* configure the tmr3 CH2 pin */
gpio_init_struct.gpio_pins = GPIO_PINS_7;
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(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE7, GPIO_MUX_1);
/* configure counter settings */
tmr_base_init(TMR3, 65535, 0);
tmr_cnt_dir_set(TMR3, TMR_COUNT_UP);
tmr_clock_source_div_set(TMR3, TMR_CLOCK_DIV1);
tmr_period_buffer_enable(TMR3, FALSE);
/* configure primary mode settings */
tmr_sub_sync_mode_set(TMR3, FALSE);
tmr_primary_mode_select(TMR3, TMR_PRIMARY_SEL_RESET);
/* configure encoder mode */
tmr_input_struct.input_channel_select = TMR_SELECT_CHANNEL_1;
tmr_input_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
tmr_input_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
tmr_input_struct.input_filter_value = 0;
tmr_input_channel_init(TMR3, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
tmr_input_struct.input_channel_select = TMR_SELECT_CHANNEL_2;
tmr_input_struct.input_mapped_select = TMR_CC_CHANNEL_MAPPED_DIRECT;
tmr_input_struct.input_polarity_select = TMR_INPUT_RISING_EDGE;
tmr_input_struct.input_filter_value = 0;
tmr_input_channel_init(TMR3, &tmr_input_struct, TMR_CHANNEL_INPUT_DIV_1);
tmr_encoder_mode_config(TMR3, TMR_ENCODER_MODE_A, TMR_INPUT_RISING_EDGE, TMR_INPUT_RISING_EDGE);
tmr_counter_enable(TMR3, TRUE);
/* add user code begin tmr3_init 2 */
/* add user code end tmr3_init 2 */
}
/**
* @brief init tmr6 function.
* @param none
* @retval none
*/
void wk_tmr6_init(void)
{
/* add user code begin tmr6_init 0 */
/* add user code end tmr6_init 0 */
/* add user code begin tmr6_init 1 */
/* add user code end tmr6_init 1 */
/* configure counter settings */
tmr_base_init(TMR6, 1999, 959);
tmr_cnt_dir_set(TMR6, TMR_COUNT_UP);
tmr_period_buffer_enable(TMR6, FALSE);
/* configure primary mode settings */
tmr_primary_mode_select(TMR6, TMR_PRIMARY_SEL_RESET);
tmr_counter_enable(TMR6, TRUE);
/**
* Users need to configure TMR6 interrupt functions according to the actual application.
* 1. Call the below function to enable the corresponding TMR6 interrupt.
* --tmr_interrupt_enable(...)
* 2. Add the user's interrupt handler code into the below function in the at32f425_int.c file.
* --void TMR6_GLOBAL_IRQHandler(void)
*/
/* add user code begin tmr6_init 2 */
tmr_interrupt_enable(TMR6, TMR_OVF_INT, TRUE);
/* add user code end tmr6_init 2 */
}
/**
* @brief init tmr7 function.
* @param none
* @retval none
*/
void wk_tmr7_init(void)
{
/* add user code begin tmr7_init 0 */
/* add user code end tmr7_init 0 */
/* add user code begin tmr7_init 1 */
/* add user code end tmr7_init 1 */
/* configure counter settings */
tmr_base_init(TMR7, 99, 19199);
tmr_cnt_dir_set(TMR7, TMR_COUNT_UP);
tmr_period_buffer_enable(TMR7, FALSE);
/* configure primary mode settings */
tmr_primary_mode_select(TMR7, TMR_PRIMARY_SEL_RESET);
tmr_counter_enable(TMR7, TRUE);
/**
* Users need to configure TMR7 interrupt functions according to the actual application.
* 1. Call the below function to enable the corresponding TMR7 interrupt.
* --tmr_interrupt_enable(...)
* 2. Add the user's interrupt handler code into the below function in the at32f425_int.c file.
* --void TMR7_GLOBAL_IRQHandler(void)
*/
/* add user code begin tmr7_init 2 */
/* add user code end tmr7_init 2 */
}
/**
* @brief init usart1 function
* @param none
* @retval none
*/
void wk_usart1_init(void)
{
/* add user code begin usart1_init 0 */
/* add user code end usart1_init 0 */
gpio_init_type gpio_init_struct;
gpio_default_para_init(&gpio_init_struct);
/* add user code begin usart1_init 1 */
/* add user code end usart1_init 1 */
/* configure the TX 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_MUX;
gpio_init_struct.gpio_pins = GPIO_PINS_6;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct);
gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE6, GPIO_MUX_0);
/* configure the RX 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_MUX;
gpio_init_struct.gpio_pins = GPIO_PINS_7;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOB, &gpio_init_struct);
gpio_pin_mux_config(GPIOB, GPIO_PINS_SOURCE7, GPIO_MUX_0);
/* configure param */
usart_init(USART1, 115200, USART_DATA_8BITS, USART_STOP_1_BIT);
usart_transmitter_enable(USART1, TRUE);
usart_receiver_enable(USART1, TRUE);
usart_parity_selection_config(USART1, USART_PARITY_NONE);
usart_hardware_flow_control_set(USART1, USART_HARDWARE_FLOW_NONE);
usart_enable(USART1, TRUE);
/* add user code begin usart1_init 2 */
/* add user code end usart1_init 2 */
}
/**
* @brief init can1 function.
* @param none
* @retval none
*/
void wk_can1_init(void)
{
/* add user code begin can1_init 0 */
/* add user code end can1_init 0 */
gpio_init_type gpio_init_struct;
can_base_type can_base_struct;
can_baudrate_type can_baudrate_struct;
can_filter_init_type can_filter_init_struct;
/* add user code begin can1_init 1 */
/* add user code end can1_init 1 */
/*gpio-----------------------------------------------------------------------------*/
gpio_default_para_init(&gpio_init_struct);
/* configure the CAN1 TX 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_MUX;
gpio_init_struct.gpio_pins = GPIO_PINS_3;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE3, GPIO_MUX_4);
/* configure the CAN1 RX 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_MUX;
gpio_init_struct.gpio_pins = GPIO_PINS_2;
gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
gpio_init(GPIOA, &gpio_init_struct);
gpio_pin_mux_config(GPIOA, GPIO_PINS_SOURCE2, GPIO_MUX_4);
/*can_base_init--------------------------------------------------------------------*/
can_default_para_init(&can_base_struct);
can_base_struct.mode_selection = CAN_MODE_COMMUNICATE;
can_base_struct.ttc_enable = FALSE;
can_base_struct.aebo_enable = TRUE;
can_base_struct.aed_enable = TRUE;
can_base_struct.prsf_enable = FALSE;
can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
can_base_init(CAN1, &can_base_struct);
/*can_baudrate_setting-------------------------------------------------------------*/
/*set baudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size))------------------*/
can_baudrate_struct.baudrate_div = 24; /*value: 1~0xFFF*/
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ; /*value: 1~4*/
can_baudrate_struct.bts1_size = CAN_BTS1_6TQ; /*value: 1~16*/
can_baudrate_struct.bts2_size = CAN_BTS2_1TQ; /*value: 1~8*/
can_baudrate_set(CAN1, &can_baudrate_struct);
/*can_filter_0_config--------------------------------------------------------------*/
can_filter_init_struct.filter_activate_enable = TRUE;
can_filter_init_struct.filter_number = 0;
can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
can_filter_init_struct.filter_bit = CAN_FILTER_16BIT;
can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
/*Standard identifier + Mask Mode + Data/Remote frame: id/mask 11bit --------------*/
can_filter_init_struct.filter_id_high = 0x0 << 5;
can_filter_init_struct.filter_id_low = 0x0 << 5;
can_filter_init_struct.filter_mask_high = 0x0 << 5;
can_filter_init_struct.filter_mask_low = 0x0 << 5;
can_filter_init(CAN1, &can_filter_init_struct);
/**
* Users need to configure CAN1 interrupt functions according to the actual application.
* 1. Call the below function to enable the corresponding CAN1 interrupt.
* --can_interrupt_enable(...)
* 2. Add the user's interrupt handler code into the below function in the at32f402_405_int.c file.
* --void CAN1_IRQHandler(void)
*/
/* add user code begin can1_init 2 */
can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
/* add user code end can1_init 2 */
}
/* add user code begin 1 */
/* add user code end 1 */

98
project/src/by_debug.c Normal file
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#include "by_debug.h"
#include "at32f425.h"
#include "lwprintf.h"
/* delay macros */
#define STEP_DELAY_MS 50
/* delay variable */
static __IO uint32_t fac_us;
static __IO uint32_t fac_ms;
int lwprintf_out(int ch, lwprintf_t *lwp)
{
/* May use printf to output it for test */
if (ch != '\0') {
while (usart_flag_get(BY_DEBUG_USART_INDEX, USART_TDC_FLAG) == RESET);
usart_data_transmit(BY_DEBUG_USART_INDEX, (char)ch);
}
return ch;
}
void by_debug_init(void)
{
lwprintf_init(lwprintf_out);
}
void delay_init(void)
{
systick_clock_source_config(SYSTICK_CLOCK_SOURCE_AHBCLK_DIV8);
crm_clocks_freq_type clocks;
crm_clocks_freq_get(&clocks);
fac_us = clocks.sclk_freq / (8000000U);
fac_ms = fac_us * (1000U);
}
/**
* @brief inserts a delay time.
* @param nus: specifies the delay time length, in microsecond.
* @retval none
*/
void delay_us(uint32_t nus)
{
uint32_t temp = 0;
SysTick->LOAD = (uint32_t)(nus * fac_us);
SysTick->VAL = 0x00;
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
do {
temp = SysTick->CTRL;
} while ((temp & 0x01) && !(temp & (1 << 16)));
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
SysTick->VAL = 0x00;
}
/**
* @brief inserts a delay time.
* @param nms: specifies the delay time length, in milliseconds.
* @retval none
*/
void delay_ms(uint16_t nms)
{
uint32_t temp = 0;
while (nms) {
if (nms > STEP_DELAY_MS) {
SysTick->LOAD = (uint32_t)(STEP_DELAY_MS * fac_ms);
nms -= STEP_DELAY_MS;
} else {
SysTick->LOAD = (uint32_t)(nms * fac_ms);
nms = 0;
}
SysTick->VAL = 0x00;
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
do {
temp = SysTick->CTRL;
} while ((temp & 0x01) && !(temp & (1 << 16)));
SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
SysTick->VAL = 0x00;
}
}
/**
* @brief inserts a delay time.
* @param sec: specifies the delay time, in seconds.
* @retval none
*/
void delay_sec(uint16_t sec)
{
uint16_t index;
for (index = 0; index < sec; index++) {
delay_ms(500);
delay_ms(500);
}
}

126
project/src/main.c Normal file
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/* add user code begin Header */
/**
**************************************************************************
* @file main.c
* @brief main program
**************************************************************************
* Copyright notice & Disclaimer
*
* The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer.
*
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
*
**************************************************************************
*/
/* add user code end Header */
/* Includes ------------------------------------------------------------------*/
#include "at32f425_wk_config.h"
/* private includes ----------------------------------------------------------*/
/* add user code begin private includes */
#include "by_debug.h"
#include "by_motion.h"
/* add user code end private includes */
/* private typedef -----------------------------------------------------------*/
/* add user code begin private typedef */
/* add user code end private typedef */
/* private define ------------------------------------------------------------*/
/* add user code begin private define */
/* add user code end private define */
/* private macro -------------------------------------------------------------*/
/* add user code begin private macro */
/* add user code end private macro */
/* private variables ---------------------------------------------------------*/
/* add user code begin private variables */
/* add user code end private variables */
/* private function prototypes --------------------------------------------*/
/* add user code begin function prototypes */
/* add user code end function prototypes */
/* private user code ---------------------------------------------------------*/
/* add user code begin 0 */
/* add user code end 0 */
/**
* @brief main function.
* @param none
* @retval none
*/
int main(void)
{
/* add user code begin 1 */
by_debug_init();
/* add user code end 1 */
/* system clock config. */
wk_system_clock_config();
/* config periph clock. */
wk_periph_clock_config();
/* nvic config. */
wk_nvic_config();
/* init usart1 function. */
wk_usart1_init();
/* init can1 function. */
wk_can1_init();
/* init gpio function. */
wk_gpio_config();
/* init tmr1 function. */
wk_tmr1_init();
/* init tmr2 function. */
wk_tmr2_init();
/* init tmr3 function. */
wk_tmr3_init();
/* init tmr6 function. */
wk_tmr6_init();
/* init tmr7 function. */
wk_tmr7_init();
/* add user code begin 2 */
delay_init();
LOGD("init delay");
by_motion_init();
LOGD("init motion");
/* add user code end 2 */
while(1)
{
/* add user code begin 3 */
lwprintf("%f,%f,%f\r\n", param_m2.real_speed, param_m2.target_speed, param_m2.out_pwm);
delay_ms(10);
/* add user code end 3 */
}
}