mini7_V2/Core/Src/main.c

/* 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 */