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. /* USER CODE BEGIN Includes */
48.  
49. /* USER CODE END Includes */
50.  
51. /* Private variables ---------------------------------------------------------*/
52.  
53. /* USER CODE BEGIN PV */
54. /* Private variables ---------------------------------------------------------*/
55.  
56. /* USER CODE END PV */
57.  
58. /* Private function prototypes -----------------------------------------------*/
59. void SystemClock_Config(void);
60.  
61. /* USER CODE BEGIN PFP */
62. /* Private function prototypes -----------------------------------------------*/
63.  
64. /* USER CODE END PFP */
65.  
66. /* USER CODE BEGIN 0 */
67.  
68. /* USER CODE END 0 */
69.  
70. /**
71.   * @brief  The application entry point.
72.   *
73.   * @retval None
74.   */
75. int main(void)
76. {
77.   /* USER CODE BEGIN 1 */
78.  
79.   /* USER CODE END 1 */
80.  
81.   /* MCU Configuration----------------------------------------------------------*/
82.  
83.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
84.   HAL_Init();
85.  
86.   /* USER CODE BEGIN Init */
87.  
88.   /* USER CODE END Init */
89.  
90.   /* Configure the system clock */
91.   SystemClock_Config();
92.  
93.   /* USER CODE BEGIN SysInit */
94.  
95.   /* USER CODE END SysInit */
96.  
97.   /* Initialize all configured peripherals */
98.   MX_GPIO_Init();
99.   MX_TIM2_Init();
100.   /* USER CODE BEGIN 2 */
101.         HAL_TIM_Base_Start(&htim2);
102.         HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_3);
103.   HAL_TIM_OC_Start_IT(&htim2, TIM_CHANNEL_1);
104.         /* USER CODE END 2 */
105.  Engine_Start(60,5,-60.f);
106.  Engine_Analyser(&in_period,&in_start,&in_end);
107.   /* Infinite loop */
108.   /* USER CODE BEGIN WHILE */
109.   while (1)
110.   {
111.  
112.   /* USER CODE END WHILE */
113.  
114.   /* USER CODE BEGIN 3 */
115.  
116.   }
117.   /* USER CODE END 3 */
118.  
119. }
120.  
121. /**
122.   * @brief System Clock Configuration
123.   * @retval None
124.   */
125. void SystemClock_Config(void)
126. {
127.  
128.   RCC_OscInitTypeDef RCC_OscInitStruct;
129.   RCC_ClkInitTypeDef RCC_ClkInitStruct;
130.  
131.     /**Initializes the CPU, AHB and APB busses clocks
132.     */
133.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
134.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
135.   RCC_OscInitStruct.HSICalibrationValue = 16;
136.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
137.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
138.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
139.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
140.   {
141.     _Error_Handler(__FILE__, __LINE__);
142.   }
143.  
144.     /**Initializes the CPU, AHB and APB busses clocks
145.     */
146.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
147.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
148.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
149.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
150.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
151.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
152.  
153.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
154.   {
155.     _Error_Handler(__FILE__, __LINE__);
156.   }
157.  
158.     /**Configure the Systick interrupt time
159.     */
160.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
161.  
162.     /**Configure the Systick
163.     */
164.   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
165.  
166.   /* SysTick_IRQn interrupt configuration */
167.   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
168. }
169.  
170. /* USER CODE BEGIN 4 */
171. unsigned int period=0, lastTime=0, counter=0, lastperiod=0, state=0;
172. float angle, slope_size;
173. void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim){
174.        
175.         unsigned int time;
176.         time =  HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
177.   period = time-lastTime;
178.         lastTime = time;
179.        
180.  
181.                
182.        
183.         if(period>(15*lastperiod/10))
184.                 {
185.                         counter=0;
186.                         angle=-60;
187.                                                                         //I set the start time for State Machine on 10us
188. htim2.Instance->CCR1= htim2.Instance->CNT + 1000;
189. //Set state machine state
190. state=0;
191.                 }
192.                 else
193.                 {
194.                         counter++;
195.                         angle+=slope_size;
196.                
197.                 }
198.                
199.                 lastperiod = period;
200.         TIM2->CCR1=time+100;
201.                                                                
202.  
203. }
204.  
205. int MyStateMachine (int mState)
206.         {int nextState;
207.                 switch(mState){
208.                         case 0:
209.                                 //State Machine First State
210.                                 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,GPIO_PIN_RESET);
211.                                 // Next function calls for 0.1 seconds
212.                                 htim2.Instance->CCR1+=10000;
213.                                 // Next state No. 1.
214.                                 nextState = 1;
215.                                 break;
216.                         case 1:
217.                                 //State machine Second State
218.                                 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,GPIO_PIN_SET);
219.                                 // Next function calls for 0.1 seconds
220.                                 htim2.Instance->CCR1+=100000;
221.                                 // Next state No. 2.
222.                                 nextState = 2;
223.                                 break;
224.                         case 2:
225.                                 // State machine Third State
226.                                 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,GPIO_PIN_RESET);
227.                                 // Next state No. 2.
228.                                 nextState = 2;
229.                                 break;
230.                 }
231.                 return nextState;
232. }
233.        
234. void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim){
235.  
236.         state = MyStateMachine(state);
237.      
238. }
239.        
240. /* USER CODE END 4 */
241.  
242. /**
243.   * @brief  This function is executed in case of error occurrence.
244.   * @param  file: The file name as string.
245.   * @param  line: The line in file as a number.
246.   * @retval None
247.   */
248. void _Error_Handler(char *file, int line)
249. {
250.   /* USER CODE BEGIN Error_Handler_Debug */
251.   /* User can add his own implementation to report the HAL error return state */
252.   while(1)
253.   {
254.   }
255.   /* USER CODE END Error_Handler_Debug */
256. }
257.  
258. #ifdef  USE_FULL_ASSERT
259. /**
260.   * @brief  Reports the name of the source file and the source line number
261.   *         where the assert_param error has occurred.
262.   * @param  file: pointer to the source file name
263.   * @param  line: assert_param error line source number
264.   * @retval None
265.   */
266. void assert_failed(uint8_t* file, uint32_t line)
267. {
268.   /* USER CODE BEGIN 6 */
269.   /* User can add his own implementation to report the file name and line number,
270.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
271.   /* USER CODE END 6 */
272. }
273. #endif /* USE_FULL_ASSERT */
274.  
275. /**
276.   * @}
277.   */
278.  
279. /**
280.   * @}
281.   */
282.  
283. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
284.