ECOHIM/RS485_Relay2_fw
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WIP: Add new features for board version 2

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This commit is contained in:
Anton Mukhin
2024-01-17 15:52:55 +03:00
parent c882ede6bd
commit 108f165ca2
10 changed files with 374 additions and 68 deletions
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6
Core/Inc/board_logic.h
View File

@@ -6,7 +6,7 @@
#ifndef BOARD_LOGIC_H_
#define BOARD_LOGIC_H_
#define MODBUS_FIRMWARE_VERSION ( /*major*/ 10 + /*minor*/ 1 * 0x100)
#define MODBUS_FIRMWARE_VERSION ( /*major*/ 11 + /*minor*/ 0 * 0x100)
#define MODBUS_BOARD_TYPE (8) //Relay Module board ID
#define REL_MAIN_BIT (1u<<0)
@@ -16,7 +16,11 @@
#define MOTOR_MAX 255
void estop_reset(void);
void board_init(void);
void set_pwm(uint8_t unit, uint16_t duty);
void loop_iterate();
void timer1_ovf_isr(void);
void update_service_indication(void);
#endif

13
Core/Inc/main.h
View File

@@ -59,6 +59,16 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define WATER_Pin GPIO_PIN_0
#define WATER_GPIO_Port GPIOA
#define WATER_EXTI_IRQn EXTI0_1_IRQn
#define ESTOP_Pin GPIO_PIN_1
#define ESTOP_GPIO_Port GPIOA
#define ESTOP_EXTI_IRQn EXTI0_1_IRQn
#define LIGHTS_Pin GPIO_PIN_4
#define LIGHTS_GPIO_Port GPIOA
#define RL_EN_Pin GPIO_PIN_5
#define RL_EN_GPIO_Port GPIOA
#define LED_AUX_Pin GPIO_PIN_6
#define LED_AUX_GPIO_Port GPIOA
#define LED_MAIN_Pin GPIO_PIN_7
@@ -67,6 +77,9 @@ void Error_Handler(void);
#define LED_ERR_GPIO_Port GPIOB
#define LED_ACT_Pin GPIO_PIN_1
#define LED_ACT_GPIO_Port GPIOB
#define LIGHTS_SW_Pin GPIO_PIN_8
#define LIGHTS_SW_GPIO_Port GPIOA
#define LIGHTS_SW_EXTI_IRQn EXTI4_15_IRQn
#define TXEN_Pin GPIO_PIN_11
#define TXEN_GPIO_Port GPIOA
#define RL_AUX_Pin GPIO_PIN_15

2
Core/Inc/stm32f0xx_it.h
View File

@@ -51,6 +51,8 @@ void HardFault_Handler(void);
void SVC_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI0_1_IRQHandler(void);
void EXTI4_15_IRQHandler(void);
void DMA1_Channel2_3_IRQHandler(void);
void TIM1_BRK_UP_TRG_COM_IRQHandler(void);
void TIM1_CC_IRQHandler(void);

134
Core/Src/board_logic.c
View File

@@ -12,8 +12,10 @@
#define BOARD_DESC_LEN (16)
extern TIM_HandleTypeDef htim1;
extern TIM_HandleTypeDef htim3;
static const char board_description[BOARD_DESC_LEN] = "RS485_Relay V1R1";
extern TIM_HandleTypeDef htim14;
static const char board_description[BOARD_DESC_LEN] = "RS485_Relay V2R1";
extern uint16_t tranfer_errors_count;
extern uint16_t last_rx_time;
@@ -28,11 +30,59 @@ extern uint16_t last_rx_time;
#define LED_ACT_ON HAL_GPIO_WritePin(LED_ACT_GPIO_Port, LED_ACT_Pin, GPIO_PIN_SET)
#define LED_ACT_OFF HAL_GPIO_WritePin(LED_ACT_GPIO_Port, LED_ACT_Pin, GPIO_PIN_RESET)
uint16_t relays=0;
uint16_t motor_pwm=0;
uint16_t led_time_act=0;
void update_service_indication(void);
uint16_t relays = 0;
uint16_t status = 0;
uint16_t motor1_pwm = 0;
uint16_t motor2_pwm = 0;
uint16_t lights_pwm = 0;
uint16_t led_time_act = 0;
void estop_reset(void) {
HAL_GPIO_WritePin(RL_EN_GPIO_Port, RL_EN_Pin, GPIO_PIN_RESET);
HAL_Delay(1);
HAL_GPIO_WritePin(RL_EN_GPIO_Port, RL_EN_Pin, GPIO_PIN_SET);
}
void board_init(void) {
// Activate (normalize) E-STOP trigger
estop_reset();
// 1ms timer start
HAL_TIM_Base_Start_IT(&htim1);
}
void set_pwm(uint8_t unit, uint16_t duty) {
uint32_t channel;
TIM_HandleTypeDef* tim;
switch (unit) {
case 1: // motor 1
tim = &htim3;
channel = TIM_CHANNEL_1;
break;
case 2: // motor 2
tim = &htim3;
channel = TIM_CHANNEL_2;
break;
case 3: // lights
tim = &htim14;
channel = TIM_CHANNEL_1;
break;
default:
return;
}
if (duty > MOTOR_MAX) duty = MOTOR_MAX;
if (duty < MOTOR_MIN) duty = MOTOR_MIN;
if (duty == 0)
HAL_TIM_PWM_Stop(tim, channel);
else {
HAL_TIM_PWM_Start(tim, channel);
__HAL_TIM_SetCompare(tim, channel, duty);
HAL_Delay(5);
}
}
void loop_iterate()
{
@@ -82,22 +132,13 @@ void timer1_ovf_isr(void) //1 ms
void update_service_indication(void)
{
if(led_time_act)
{
if (led_time_act) {
LED_ACT_ON;
led_time_act--;
}
else
} else
LED_ACT_OFF;
/*
if(led_time_g)
{
LED_G_ON;
led_time_g--;
}
else
LED_G_OFF;
*/
}
@@ -125,9 +166,22 @@ uint8_t read_register(uint16_t address, uint16_t* value)
{
*value = relays;
}
else if (address == 0x2002) //Read motor pwm
else if (address == 0x2002) //Read motor 1 pwm
{
*value = motor_pwm;
*value = motor1_pwm;
}
else if (address == 0x2003) //Read motor 2 pwm
{
*value = motor2_pwm;
}
else if (address == 0x2004) //Read Lights pwm
{
*value = lights_pwm;
}
else if (address == 0x2004) //Read status
{
*value = status;
status &= 0b011; // Reset light button press event status
}
else
return 1;
@@ -137,7 +191,7 @@ uint8_t read_register(uint16_t address, uint16_t* value)
uint8_t write_register(uint16_t address, uint16_t value)
{
uint8_t ret;
ret=0;
ret = 0;
#ifdef UART_DEBUG
printf("Write A=0x%X D=0x%X\n\r",address,value);
#endif
@@ -146,15 +200,21 @@ uint8_t write_register(uint16_t address, uint16_t value)
relays = value;
break;
case 0x2002:
motor_pwm = value;
if(motor_pwm>MOTOR_MAX)motor_pwm=MOTOR_MAX;
if(motor_pwm<MOTOR_MIN)motor_pwm=MOTOR_MIN;
if(motor_pwm==0)
HAL_TIM_PWM_Stop(&htim3, TIM_CHANNEL_1);
else {
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
__HAL_TIM_SetCompare(&htim3, TIM_CHANNEL_1, motor_pwm);
HAL_Delay(5);
motor1_pwm = value;
set_pwm(1, motor1_pwm);
break;
case 0x2003:
motor2_pwm = value;
set_pwm(2, motor2_pwm);
break;
case 0x2004:
lights_pwm = value;
set_pwm(3, lights_pwm);
break;
case 0x2020:
if (value == 1) {
estop_reset();
status &= 0b101;
}
break;
default:
@@ -163,3 +223,17 @@ uint8_t write_register(uint16_t address, uint16_t value)
return ret;
}
// Pin external interrupts handler
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == ESTOP_Pin) {
status = status | 0b010;
}
if(GPIO_Pin == LIGHTS_SW_Pin) {
status |= 0b100; // Set "lights switch pressed" status bit
}
if(GPIO_Pin == WATER_Pin) {
// Set or reset "water" status bit
status |= HAL_GPIO_ReadPin(WATER_GPIO_Port, WATER_Pin);
}
}

89
Core/Src/main.c
View File

@@ -45,6 +45,7 @@
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim14;
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;
@@ -61,6 +62,7 @@ static void MX_DMA_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM14_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
@@ -102,8 +104,9 @@ int main(void)
MX_TIM3_Init();
MX_USART1_UART_Init();
MX_TIM1_Init();
MX_TIM14_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim1);
board_init();
/* USER CODE END 2 */
@@ -183,9 +186,9 @@ static void MX_TIM1_Init(void)
/* USER CODE END TIM1_Init 1 */
htim1.Instance = TIM1;
htim1.Init.Prescaler = 479;
htim1.Init.Prescaler = 480-1;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 100;
htim1.Init.Period = 100-1;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
@@ -229,7 +232,7 @@ static void MX_TIM3_Init(void)
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 239;
htim3.Init.Prescaler = 240-1;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 255;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
@@ -252,6 +255,10 @@ static void MX_TIM3_Init(void)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
@@ -259,6 +266,52 @@ static void MX_TIM3_Init(void)
}
/**
* @brief TIM14 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM14_Init(void)
{
/* USER CODE BEGIN TIM14_Init 0 */
/* USER CODE END TIM14_Init 0 */
TIM_OC_InitTypeDef sConfigOC = {0};
/* USER CODE BEGIN TIM14_Init 1 */
/* USER CODE END TIM14_Init 1 */
htim14.Instance = TIM14;
htim14.Init.Prescaler = 6-1;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
htim14.Init.Period = 255;
htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_Init(&htim14) != HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim14, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM14_Init 2 */
/* USER CODE END TIM14_Init 2 */
HAL_TIM_MspPostInit(&htim14);
}
/**
* @brief USART1 Initialization Function
* @param None
@@ -326,14 +379,31 @@ static void MX_GPIO_Init(void)
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(RL_EN_GPIO_Port, RL_EN_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, LED_AUX_Pin|LED_MAIN_Pin|TXEN_Pin|RL_AUX_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LED_ERR_Pin|LED_ACT_Pin|RL_MAIN_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : LED_AUX_Pin LED_MAIN_Pin TXEN_Pin RL_AUX_Pin */
GPIO_InitStruct.Pin = LED_AUX_Pin|LED_MAIN_Pin|TXEN_Pin|RL_AUX_Pin;
/*Configure GPIO pin : WATER_Pin */
GPIO_InitStruct.Pin = WATER_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(WATER_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : ESTOP_Pin LIGHTS_SW_Pin */
GPIO_InitStruct.Pin = ESTOP_Pin|LIGHTS_SW_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : RL_EN_Pin LED_AUX_Pin LED_MAIN_Pin TXEN_Pin
RL_AUX_Pin */
GPIO_InitStruct.Pin = RL_EN_Pin|LED_AUX_Pin|LED_MAIN_Pin|TXEN_Pin
|RL_AUX_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -346,6 +416,13 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI0_1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
HAL_NVIC_SetPriority(EXTI4_15_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_15_IRQn);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

49
Core/Src/stm32f0xx_hal_msp.c
View File

@@ -63,7 +63,7 @@ extern DMA_HandleTypeDef hdma_usart1_tx;
/* USER CODE END 0 */
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/**
/**
* Initializes the Global MSP.
*/
void HAL_MspInit(void)
@@ -106,6 +106,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM1_MspInit 1 */
}
else if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspInit 0 */
/* USER CODE END TIM14_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM14_CLK_ENABLE();
/* USER CODE BEGIN TIM14_MspInit 1 */
/* USER CODE END TIM14_MspInit 1 */
}
}
@@ -139,12 +150,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
/* USER CODE BEGIN TIM3_MspPostInit 0 */
/* USER CODE END TIM3_MspPostInit 0 */
__HAL_RCC_GPIOB_CLK_ENABLE();
/**TIM3 GPIO Configuration
PB4 ------> TIM3_CH1
PB5 ------> TIM3_CH2
*/
GPIO_InitStruct.Pin = GPIO_PIN_4;
GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -155,6 +166,27 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
/* USER CODE END TIM3_MspPostInit 1 */
}
else if(htim->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspPostInit 0 */
/* USER CODE END TIM14_MspPostInit 0 */
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM14 GPIO Configuration
PA4 ------> TIM14_CH1
*/
GPIO_InitStruct.Pin = LIGHTS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_TIM14;
HAL_GPIO_Init(LIGHTS_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM14_MspPostInit 1 */
/* USER CODE END TIM14_MspPostInit 1 */
}
}
/**
@@ -180,6 +212,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(htim_base->Instance==TIM14)
{
/* USER CODE BEGIN TIM14_MspDeInit 0 */
/* USER CODE END TIM14_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM14_CLK_DISABLE();
/* USER CODE BEGIN TIM14_MspDeInit 1 */
/* USER CODE END TIM14_MspDeInit 1 */
}
}

29
Core/Src/stm32f0xx_it.c
View File

@@ -143,6 +143,35 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f0xx.s). */
/******************************************************************************/
/**
* @brief This function handles EXTI line 0 and 1 interrupts.
*/
void EXTI0_1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
/* USER CODE END EXTI0_1_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(WATER_Pin);
HAL_GPIO_EXTI_IRQHandler(ESTOP_Pin);
/* USER CODE BEGIN EXTI0_1_IRQn 1 */
/* USER CODE END EXTI0_1_IRQn 1 */
}
/**
* @brief This function handles EXTI line 4 to 15 interrupts.
*/
void EXTI4_15_IRQHandler(void)
{
/* USER CODE BEGIN EXTI4_15_IRQn 0 */
/* USER CODE END EXTI4_15_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(LIGHTS_SW_Pin);
/* USER CODE BEGIN EXTI4_15_IRQn 1 */
/* USER CODE END EXTI4_15_IRQn 1 */
}
/**
* @brief This function handles DMA1 channel 2 and 3 interrupts.
*/