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@@ -50,6 +50,9 @@ UART_HandleTypeDef huart2; |
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RTC_TimeTypeDef sTime; |
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RTC_DateTypeDef sDate; |
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RTC_AlarmTypeDef sAlarmA, sAlarmB; |
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static volatile uint16_t gLastError; |
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static volatile bool gButtonPressed = FALSE; |
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static volatile float sunWindow; |
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//Nuremberg coordinates |
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int latitude_nbg = 49; |
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@@ -73,6 +76,7 @@ typedef struct { |
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int day; |
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int year; |
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} timeAndDate; |
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/* USER CODE END PV */ |
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/* Private function prototypes -----------------------------------------------*/ |
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@@ -80,6 +84,8 @@ void SystemClock_Config(void); |
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static void MX_GPIO_Init(void); |
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static void MX_USART2_UART_Init(void); |
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static void MX_RTC_Init(void); |
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static void MyFlagInterruptHandler(void); |
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void ButtonHandler(void); |
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/* USER CODE BEGIN PFP */ |
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/* USER CODE END PFP */ |
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@@ -418,7 +424,20 @@ int main(void) |
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HAL_Init(); |
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/* USER CODE BEGIN Init */ |
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//----- Init of the Motor control library |
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/* Set the L6208 library to use 1 device */ |
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BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_L6208, 1); |
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BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6208, NULL); |
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/* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */ |
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BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler); |
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/* Attach the function MyErrorHandler (defined below) to the error Handler*/ |
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BSP_MotorControl_AttachErrorHandler(Error_Handler); |
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/* Set Systick Interrupt priority highest to ensure no lock by using HAL_Delay */ |
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HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0); |
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/* Configure KEY Button */ |
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BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI); |
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/* Disable the power bridges after initialization */ |
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BSP_MotorControl_CmdDisable(0); |
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/* USER CODE END Init */ |
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/* Configure the system clock */ |
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@@ -445,15 +464,37 @@ int main(void) |
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0 |
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}; |
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int32_t pos; |
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uint32_t freqPwm, timeToNextStep; |
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/* USER CODE END 2 */ |
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/* Infinite loop */ |
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/* USER CODE BEGIN WHILE */ |
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while (1) |
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{ |
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/* USER CODE END WHILE */ |
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HAL_Delay(2000); |
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freqPwm = BSP_MotorControl_GetBridgeInputPwmFreq(0); |
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BSP_MotorControl_SetBridgeInputPwmFreq(0, freqPwm>>1); |
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pos = BSP_MotorControl_GetPosition(0); |
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BSP_MotorControl_SetHome(0, pos); |
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BSP_MotorControl_SelectStepMode(0, STEP_MODE_FULL); |
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BSP_MotorControl_Move(0, FORWARD, 25); |
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BSP_MotorControl_WaitWhileActive(0); |
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BSP_MotorControl_Move(0, FORWARD, 25); |
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BSP_MotorControl_WaitWhileActive(0); |
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BSP_MotorControl_Move(0, FORWARD, 25); |
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BSP_MotorControl_WaitWhileActive(0); |
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/* USER CODE END WHILE */ |
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/* USER CODE BEGIN 3 */ |
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/* USER CODE BEGIN 3 */ |
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setTime(&initialDate); |
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setDate(&initialDate); |
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leap_year_check(initialDate.year); |
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@@ -731,6 +772,27 @@ void HAL_RTCEx_AlarmBEventCallback(RTC_HandleTypeDef *hrtc) |
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/* Alarm generation */ |
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transmit_uart("B: Alarm!!!!\r\n"); |
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} |
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/** |
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* @brief This function is the User handler for the flag interrupt |
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* @param None |
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* @retval None |
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*/ |
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void MyFlagInterruptHandler(void) |
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{ |
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//When EN pin is forced low by a failure, configure the GPIO as an ouput low |
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BSP_MotorControl_CmdDisable(0); |
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} |
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void ButtonHandler(void) |
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{ |
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gButtonPressed = TRUE; |
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/* Let 200 ms before clearing the IT for key debouncing */ |
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HAL_Delay(200); |
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__HAL_GPIO_EXTI_CLEAR_IT(KEY_BUTTON_PIN); |
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HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn); |
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} |
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/* USER CODE END 4 */ |
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/** |