/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2026 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. * ****************************************************************************** */ #define ONECHIP_GLOBAL_DEF_FLAG /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "adc.h" #include "dma.h" #include "i2c.h" #include "tim.h" #include "usart.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "onechip_include_header.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 ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* 定时器2溢出中断回调函数 */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { /* 检查触发中断的定时器是否为 TIM2 */ if (htim->Instance == TIM2) { sysinf.ms_conter++; if(sysinf.ms_conter%10 == 0){ sysinf.ms10_flag = 1; sysinf.conter10ms++; if(sysinf.ms_conter%1000 == 0){ sysinf.s1_flag = 1; if(sysinf.ms_conter%10000 == 0){ sysinf.s10_flag = 1; } } Motor_mix_work(); } if(sysinf.ms_conter%100 == 1){ sysinf.deal_espFlag=1; } if(sysinf.ms_conter%50 == 0){ light_ctrl(); } } } /* 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_DMA_Init(); MX_ADC1_Init(); MX_UART4_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); MX_I2C1_Init(); MX_I2C2_Init(); MX_TIM1_Init(); MX_TIM2_Init(); MX_TIM3_Init(); MX_TIM4_Init(); /* USER CODE BEGIN 2 */ /* 启动定时器2的中断模式 */ dev_load_allinf(); light_set(MODE_BLINK, 250, COLOR_YELLOW, 0); light_set(MODE_BLINK, 250, COLOR_YELLOW, 1); light_refresh(COLOR_YELLOW, COLOR_YELLOW); con_sysinf_debugUart((void *)&huart1); Van_Debug_UART_Init((UART_HandleTypeDef *)sysinf.debugUart); if (HAL_TIM_Base_Start_IT(&htim2) != HAL_OK) { /* 启动失败，可在此处添加错误处理 */ Error_Handler(); } ADC_Inner_start(); load_com_pwm_Cfg(&sysinf.devdesc); sysinf.scannerUart = &huart4; svanner_receive_Rec_Start(sysinf.scannerUart); sysinf.ESPUart = &huart2; esp_receive_Rec_Start(sysinf.ESPUart); SensorInitial(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ Van_Device_Printf(VAN_LOG_CRITICAL, "\n-----------------------------\n\r"); Van_Device_Printf(VAN_LOG_CRITICAL,"* build %s %s *\n",__DATE__,__TIME__); Van_Device_Printf(VAN_LOG_CRITICAL, "ATCG ControlBoard\n\r"); #ifdef ONE_CHIP_GIT_SHA Van_Device_Printf(VAN_LOG_CRITICAL, "git sha: %s\n\r", ONE_CHIP_GIT_SHA); #endif Van_Device_Printf(VAN_LOG_CRITICAL, "desversion 0x%x \n\r",sysinf.devdesc.desversion); Van_Device_Printf(VAN_LOG_CRITICAL, "dev type:%d ver:%d\n\r",sysinf.devdesc.deveice_type,sysinf.devdesc.deveice_ver); Van_Device_Printf(VAN_LOG_CRITICAL, "structure type:%d structure ver:%d\n\r",sysinf.devdesc.structure_type,sysinf.devdesc.structure_ver); Van_Device_Printf(VAN_LOG_CRITICAL, "hard type:%d hard ver :%d \n\r",sysinf.devdesc.hardware_type,sysinf.devdesc.hardware_ver); Van_Device_Printf(VAN_LOG_CRITICAL, "Soft Version: V%d.%d.%d.%d\n\r",SOFT_VERSION_1, SOFT_VERSION_2, SOFT_VERSION_3, SOFT_VERSION_4); if(sysinf.resetByIwdg){ Van_Device_Printf(VAN_LOG_CRITICAL, "**************************************************************************\n\r"); Van_Device_Printf(VAN_LOG_CRITICAL, "* *\n\r"); Van_Device_Printf(VAN_LOG_CRITICAL, "* iwdg reset *\n\r"); Van_Device_Printf(VAN_LOG_CRITICAL, "* *\n\r"); Van_Device_Printf(VAN_LOG_CRITICAL, "**************************************************************************\n\r"); } cfg_param_init(); if( SensorSelfCheck()){ Van_Device_Printf(VAN_LOG_CRITICAL, "SensorSelfCheck failed\n\r"); }else{ Van_Device_Printf(VAN_LOG_CRITICAL, "SensorSelfCheck pass\n\r"); } while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ svanner_receive_analysis(); Van_Debug_UART1_test(); if(sysinf.deal_espFlag){ sysinf.deal_espFlag =0; WIFI_process(); } if( sysinf.s1_flag == 1){ sysinf.s1_flag = 0; HAL_GPIO_TogglePin((GPIO_TypeDef *)sysinf.run_led_port, sysinf.run_led_pin); /*green*/ } if( sysinf.s10_flag == 1){ sysinf.s10_flag = 0; } } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; RCC_PeriphCLKInitTypeDef PeriphClkInit = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL2; 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_0) != HAL_OK) { Error_Handler(); } PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC; PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2; if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) { Error_Handler(); } } /* 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 */