1.  
2. /**
3.   ******************************************************************************
4.   * @file           : main.c
5.   * @brief          : Main program body
6.   ******************************************************************************
7.   ** This notice applies to any and all portions of this file
8.   * that are not between comment pairs USER CODE BEGIN and
9.   * USER CODE END. Other portions of this file, whether
10.   * inserted by the user or by software development tools
11.   * are owned by their respective copyright owners.
12.   *
13.   * COPYRIGHT(c) 2019 STMicroelectronics
14.   *
15.   * Redistribution and use in source and binary forms, with or without modification,
16.   * are permitted provided that the following conditions are met:
17.   *   1. Redistributions of source code must retain the above copyright notice,
18.   *      this list of conditions and the following disclaimer.
19.   *   2. Redistributions in binary form must reproduce the above copyright notice,
20.   *      this list of conditions and the following disclaimer in the documentation
21.   *      and/or other materials provided with the distribution.
22.   *   3. Neither the name of STMicroelectronics nor the names of its contributors
23.   *      may be used to endorse or promote products derived from this software
24.   *      without specific prior written permission.
25.   *
26.   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
27.   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
28.   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
29.   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
30.   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
31.   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
32.   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
33.   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
34.   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
35.   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
36.   *
37.   ******************************************************************************
38.   */
39. /* Includes ------------------------------------------------------------------*/
40. #include "main.h"
41. #include "stm32f3xx_hal.h"
42. #include "tim.h"
43. #include "gpio.h"
44. #include "Engine.h"
45.  
46. float in_period,in_start, in_end;
47.  
48. /* USER CODE BEGIN Includes */
49.  
50. /* USER CODE END Includes */
51.  
52. /* Private variables ---------------------------------------------------------*/
53.  
54. /* USER CODE BEGIN PV */
55. /* Private variables ---------------------------------------------------------*/
56.  
57. /* USER CODE END PV */
58.  
59. /* Private function prototypes -----------------------------------------------*/
60. void SystemClock_Config(void);
61.  
62. /* USER CODE BEGIN PFP */
63. /* Private function prototypes -----------------------------------------------*/
64.  
65. /* USER CODE END PFP */
66.  
67. /* USER CODE BEGIN 0 */
68.  
69. /* USER CODE END 0 */
70.  
71. /**
72.   * @brief  The application entry point.
73.   *
74.   * @retval None
75.   */
76. int main(void)
77. {
78.   /* USER CODE BEGIN 1 */
79.  
80.   /* USER CODE END 1 */
81.  
82.   /* MCU Configuration----------------------------------------------------------*/
83.  
84.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
85.   HAL_Init();
86.  
87.   /* USER CODE BEGIN Init */
88.  
89.   /* USER CODE END Init */
90.  
91.   /* Configure the system clock */
92.   SystemClock_Config();
93.  
94.   /* USER CODE BEGIN SysInit */
95.  
96.   /* USER CODE END SysInit */
97.  
98.   /* Initialize all configured peripherals */
99.   MX_GPIO_Init();
100.   MX_TIM2_Init();
101.   /* USER CODE BEGIN 2 */
102.         HAL_TIM_Base_Start(&htim2);
103.         HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
104.   HAL_TIM_OC_Start_IT(&htim2, TIM_CHANNEL_1);
105.         /* USER CODE END 2 */
106.         Engine_Start(60,5,-60.f);
107.         Engine_Analyser(&in_period,&in_start,&in_end);
108.   /* Infinite loop */
109.   /* USER CODE BEGIN WHILE */
110.   while (1)
111.   {
112.  
113.   /* USER CODE END WHILE */
114.  
115.   /* USER CODE BEGIN 3 */
116.  
117.   }
118.   /* USER CODE END 3 */
119.  
120. }
121.  
122. /**
123.   * @brief System Clock Configuration
124.   * @retval None
125.   */
126. void SystemClock_Config(void)
127. {
128.  
129.   RCC_OscInitTypeDef RCC_OscInitStruct;
130.   RCC_ClkInitTypeDef RCC_ClkInitStruct;
131.  
132.     /**Initializes the CPU, AHB and APB busses clocks
133.     */
134.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
135.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
136.   RCC_OscInitStruct.HSICalibrationValue = 16;
137.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
138.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
139.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
140.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
141.   {
142.     _Error_Handler(__FILE__, __LINE__);
143.   }
144.  
145.     /**Initializes the CPU, AHB and APB busses clocks
146.     */
147.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
148.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
149.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
150.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
151.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
152.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
153.  
154.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
155.   {
156.     _Error_Handler(__FILE__, __LINE__);
157.   }
158.  
159.     /**Configure the Systick interrupt time
160.     */
161.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
162.  
163.     /**Configure the Systick
164.     */
165.   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
166.  
167.   /* SysTick_IRQn interrupt configuration */
168.   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
169. }
170.  
171. /* USER CODE BEGIN 4 */
172. unsigned int period=0, lastTime=0, counter=0, lastperiod=0, state=0;
173. float angle, slope_size;
174. void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim){
175.        
176.  
177.  
178.        
179.         unsigned int time;
180.         time =  HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
181.   period = time-lastTime;
182.         lastTime = time;
183.        
184.  
185.        
186.                 if(period>(15*lastperiod/10))
187.                 {
188.                         counter=0;
189.                         angle=-60;
190.         //I set the start time for State Machine on 10us
191.         htim2.Instance->CCR1= htim2.Instance->CNT + 10;
192.         //Set state machine state
193.         state=0;
194.                 }
195.                 else
196.                 {
197.                         counter++;
198.                         angle+=slope_size;
199.                
200.                 }
201.                
202.                 lastperiod = period;
203.         TIM2->CCR2=time+100;
204.                
205.  
206. }
207.  
208.  
209. int MyStateMachine (int mState)
210.         {int nextState;
211.                 switch(mState){
212.                         case 0:
213.                                 //State Machine First State
214.                                 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,GPIO_PIN_RESET);
215.                                 // Next function calls for 0.1 seconds
216.                                 htim2.Instance->CCR1+=100000;
217.                                 // Next state No. 1.
218.                                 nextState = 1;
219.                                 break;
220.                         case 1:
221.                                 //State machine Second State
222.                                 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,GPIO_PIN_SET);
223.                                 // Next function calls for 0.1 seconds
224.                                 htim2.Instance->CCR1+=100000;
225.                                 // Next state No. 2.
226.                                 nextState = 2;
227.                                 break;
228.                         case 2:
229.                                 // State machine Third State
230.                                 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,GPIO_PIN_RESET);
231.                                 // Next state No. 2.
232.                                 nextState = 2;
233.                                 break;
234.                 }
235.                 return nextState;
236. }
237.        
238. void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim){
239.  
240.         state = MyStateMachine(state);
241.        
242.        
243.         //I set the start time for State Machine on 10us
244.         htim2.Instance->CCR1= htim2.Instance->CNT + 10;
245.         //Set state machine state
246.         state=0;
247. }
248.        
249. /* USER CODE END 4 */
250.  
251. /**
252.   * @brief  This function is executed in case of error occurrence.
253.   * @param  file: The file name as string.
254.   * @param  line: The line in file as a number.
255.   * @retval None
256.   */
257. void _Error_Handler(char *file, int line)
258. {
259.   /* USER CODE BEGIN Error_Handler_Debug */
260.   /* User can add his own implementation to report the HAL error return state */
261.   while(1)
262.   {
263.   }
264.   /* USER CODE END Error_Handler_Debug */
265. }
266.  
267. #ifdef  USE_FULL_ASSERT
268. /**
269.   * @brief  Reports the name of the source file and the source line number
270.   *         where the assert_param error has occurred.
271.   * @param  file: pointer to the source file name
272.   * @param  line: assert_param error line source number
273.   * @retval None
274.   */
275. void assert_failed(uint8_t* file, uint32_t line)
276. {
277.   /* USER CODE BEGIN 6 */
278.   /* User can add his own implementation to report the file name and line number,
279.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
280.   /* USER CODE END 6 */
281. }
282. #endif /* USE_FULL_ASSERT */
283.  
284. /**
285.   * @}
286.   */
287.  
288. /**
289.   * @}
290.   */
291.  
292. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
293.