/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
#include "Rotary.h"
/* 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 ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
/* USER CODE BEGIN PV */
int16_t speed = 1000;
int16_t steps = 10;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM1_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#define IN1_PIN GPIO_PIN_7
#define IN1_PORT GPIOA
#define IN2_PIN GPIO_PIN_6
#define IN2_PORT GPIOA
#define IN3_PIN GPIO_PIN_5
#define IN3_PORT GPIOA
#define IN4_PIN GPIO_PIN_4
#define IN4_PORT GPIOA
void microDelay (uint16_t delay)
{
__HAL_TIM_SET_COUNTER(&htim1, 0);
while (__HAL_TIM_GET_COUNTER(&htim1) < delay);
}
void stepCCV (int steps, uint16_t delay) // CCV - Counter Clockwise
{
for(int x=0; x<steps; x=x+1)
{
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET); // IN4
microDelay(delay);
}
}
void stepCV (int steps, uint16_t delay) // CV - Clockwise
{
for(int x=0; x<steps; x=x+1)
{
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_SET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_SET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_RESET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_SET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
HAL_GPIO_WritePin(IN1_PORT, IN1_PIN, GPIO_PIN_SET); // IN1
HAL_GPIO_WritePin(IN2_PORT, IN2_PIN, GPIO_PIN_RESET); // IN2
HAL_GPIO_WritePin(IN3_PORT, IN3_PIN, GPIO_PIN_RESET); // IN3
HAL_GPIO_WritePin(IN4_PORT, IN4_PIN, GPIO_PIN_RESET); // IN4
microDelay(delay);
}
}
/* 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_TIM1_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim1);
unsigned int button, s1, s2;
unsigned char result;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
button = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
s1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2); //digital read on STM32
s2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3); //digital read on STM32
result = Pin_process(s1,s2);
HAL_Delay(200);
if(button == GPIO_PIN_RESET){
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
if (result == DIR_CW) {
speed++;
} else if (result == DIR_CCW) {
--speed;
}
}else{
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
if (result == DIR_CW) {
steps++;
} else if (result == DIR_CCW) {
--steps;
}
}
// 512 full rev & 1 rpm - 14648
stepCV(steps, speed); // 256 half revolution
HAL_Delay(100);
stepCCV(steps, speed); // 128 quarter revolution
HAL_Delay(100);
/* 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_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
/** 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.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 84;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{
/* USER CODE BEGIN TIM1_Init 0 */
/* USER CODE END TIM1_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM1_Init 1 */
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 83;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
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();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */
/* USER CODE END TIM1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PA1 */
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA2 PA3 */
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PA4 PA5 PA6 PA7 */
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|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 */Loading
st-nucleo-l031k6
st-nucleo-l031k6