#include "main.h"
#include "stdlib.h"
#include "string.h"
#include "math.h"
#include "ctype.h"
#include "stdio.h"
#include "speed_torq_ctrl.h"
#include "ramp_ext_mngr.h"
#define USART_IT_ENABLE 1
uint8_t rxbuffer[10] = {0};
uint16_t motor1Faults;
volatile uint8_t flag = 0;
volatile uint8_t rcflag = 0;
volatile uint8_t fault_flag = 0;
volatile uint8_t startflag = 0;
volatile uint8_t stopflag = 0;
volatile uint8_t txflag = 0;
char TempBuffer[40] = "Invalid command or RPM value\r\n";
uint8_t rxindex = 0;
volatile uint8_t rpmflag = 0;
volatile uint8_t rpm = 0;
uint32_t rpmValue = 0;
char buffer[50] = {0};
uint32_t rampStartTime = 0;
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
ADC_HandleTypeDef hadc3;
CORDIC_HandleTypeDef hcordic;
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
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_ADC2_Init();
MX_ADC3_Init();
MX_CORDIC_Init();
MX_TIM1_Init();
MX_USART2_UART_Init();
MX_MotorControl_Init();
MX_TIM2_Init();
MX_TIM3_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);
#if (USART_IT_ENABLE)
LL_USART_DisableDMAReq_RX (USART2);
HAL_UART_Receive_IT(&huart2,(uint8_t*)rxbuffer, 1);
#else
HAL_UART_Receive_DMA(&huart2,(uint8_t*)rxbuffer,1);
#endif
/* USER CODE END 2 */
MC_ProgramSpeedRampMotor1(500,20000);
//MC_StartMotor1();
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
if(fault_flag == 1)
{
handlefaults();
fault_flag = 0;
}
if(flag == 1)
{
MC_StartMotor1();
}
if(flag == 2)
{
MC_StopMotor1();
}
if(rpm == 2)
{
HAL_UART_Transmit(&huart2, (uint8_t*)TempBuffer, strlen(TempBuffer), 100);
}
if(rcflag == 1 && (HAL_GetTick() - rampStartTime >= 30000))
{
HAL_UART_Transmit(&huart2, (uint8_t*)"Motor is running at RPM ", 23, 100);
sprintf(buffer," %d",rpmValue);
HAL_UART_Transmit(&huart2, (uint8_t*)buffer, strlen(buffer), 100);
}
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
//if (htim->Instance == TIM2)
//{
fault_flag = 1;
//}
//if (htim->Instance == TIM3)
//{
// rcflag = 1;
// handleflags();
// __HAL_TIM_SET_COUNTER(&htim3, 0);
// HAL_TIM_Base_Stop_IT(&htim3);
// }
}
void handlefaults()
{
motor1Faults = MC_GetOccurredFaultsMotor1();
//motor1Faults = MC_GetCurrentFaultsMotor1();
if(motor1Faults & MC_DURATION)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_DURATION", 12,100);
}
if(motor1Faults & MC_OVER_VOLT)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_OVER_VOLT", 13,100);
}
if(motor1Faults & MC_UNDER_VOLT)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_UNDER_VOLT", 14,100);
}
if(motor1Faults & MC_OVER_TEMP)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_OVER_TEMP", 13,100);
}
if(motor1Faults & MC_START_UP)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_START_UP", 12,100);
}
if(motor1Faults & MC_SPEED_FDBK)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_SPEED_FDBK", 14,100);
}
if(motor1Faults & MC_BREAK_IN)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_BREAK_IN", 12,100);
}
if(motor1Faults & MC_SW_ERROR)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"MC_SW_ERRORS",12,100);
}
fault_flag = 0;
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
int cmd_ok = 0;
if(rxbuffer[rxindex] == '#')
{
if(rxindex > 0 && rxbuffer[rxindex - 1] == '#')
{
if(strstr((const char*)rxbuffer, "start##") != NULL)
{
flag = 1;
startflag = 1;
}
else if(strstr((const char*)rxbuffer, "stop##") != NULL)
{
flag = 2;
stopflag = 1;
}
else
{
rxbuffer[rxindex] = '\0';
rxbuffer[rxindex - 1] = '\0';
rpmValue = atoi((char*)rxbuffer);
if (rpmValue >= 100 && rpmValue <= 3000)
{
MC_ProgramSpeedRampMotor1((uint32_t)rpmValue,30000);
rampStartTime = HAL_GetTick(); // Record ramp start time
rpmflag = 1;
}
else
{
rpm = 2;
}
}
cmd_ok = 1;
}
}
if(rxindex > 9)
{
cmd_ok = 1;
txflag = 1;
}
if(cmd_ok == 1)
{
memset(rxbuffer, 0, sizeof(rxbuffer));
cmd_ok = 0;
rxindex = 0;
}
else
{
rxindex++;
}
handleflags();
HAL_UART_Receive_IT(&huart2, ((uint8_t *)rxbuffer) + strlen(rxbuffer), 1);
}
void handleflags(void)
{
if(startflag == 1)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"Motor Started\n\r", 13, 100);
startflag = 0;
}
if(stopflag == 1)
{
HAL_UART_Transmit(&huart2, (uint8_t*)"Motor Stopped\n\r", 13, 100);
stopflag = 0;
}
if(rpmflag == 1 )
{
HAL_UART_Transmit(&huart2, (uint8_t*)"Ramp execution started\r\n", 22, 100);
rpmflag = 0;
rcflag = 1;
}
}
static void MX_TIM2_Init(void)
{
/* USER CODE BEGIN TIM2_Init 0 */
/* USER CODE END TIM2_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM2_Init 1 */
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 1699;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 49999;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
}
static void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 16999;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 29999;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
Issue 1: after completion of first ramp execution i am getting message from UART "Motor is running at RPM 650" . Thereafter other commands are not working
Issue 2: I have set the timer interrupt for 5s to check error conditions, i should receive error messages once every 5s
but that is not happening here
clock frequency is 170MHz
