90 lines
2.1 KiB
C
90 lines
2.1 KiB
C
#include "main.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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#include "app_main.h"
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#include "Com_type.h"
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#include "Com_debug.h"
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#include "Int_Encoder.h"
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#include "Int_TMC2209.h"
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#include "app_key.h"
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#include "app_motor.h"
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#include "app_param_store.h"
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#include "app_test.h"
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#include "CANopen.h"
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#include "CO_app_STM32.h"
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#include "can.h"
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Encoder_t encoder_1 = {0};
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// 静音最大速度：65mm/s
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// 有效运动最大速度：350mm/s
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// 最远运行距离：230mm
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Stepper_t stepper_1 = {
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.dir = GPIO_PIN_RESET, // 方向(1为手轮方向，0为电机方向)
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.distance = 100.0f, // 距离mm
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.speed = 50.0f, // 速度mm/s
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.acc = 40.0f, // 加速度 mm/s^2
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.dec = 40.0f, // 减速度 mm/s^2
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.start_speed = 5.0f, // 启动速度
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};
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CANopenNodeSTM32 CANopenNode;
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static void CANopenNode_init(void)
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{
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/* 初始化CANopen */
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CANopenNode.CANHandle = &hcan1; /* 使用CAN接口 */
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CANopenNode.HWInitFunction = MX_CAN1_Init; /* 初始化CAN */
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CANopenNode.timerHandle = &htim11; /* 使用的定时器句柄 */
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CANopenNode.desiredNodeID = 3; /* Node-ID */
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CANopenNode.baudrate = 500; /* 波特率，单位KHz */
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canopen_app_init(&CANopenNode);
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}
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void app_main(void)
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{
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debug_printf("hello three-axis steppers");
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CANopenNode_init();
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App_Motor_Init();
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App_ParamStore_Init();
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(void)App_ParamStore_LoadAndApply();
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while (1)
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{
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App_key_run(&stepper_1);
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canopen_app_process();
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App_Motor_Process();
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App_ParamStore_Process();
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}
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}
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
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{
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switch (GPIO_Pin)
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{
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// PE2对应X_ZERO引脚
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case X_ZERO_Pin:
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stepper_1.x_zero = 1;
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break;
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// PC9对应编码器1的Z引脚
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case ENCODER1_Z_Pin:
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encoder_1.z++;
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break;
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default:
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break;
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}
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}
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void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
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{
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if (htim == CANopenNode.timerHandle)
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{
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canopen_app_interrupt();
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}
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if (htim->Instance == TIM12)
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{
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App_Motor_StepLossCheck();
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}
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}
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