/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "can.h"
#include "dac.h"
#include "dma.h"
#include "i2c.h"
#include "iwdg.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
#define ADC_BUFFER_SIZE 32
uint32_t adcBuffer[ADC_BUFFER_SIZE];
uint32_t dac1_value = 2048;
uint32_t dac2_value = 1024;
uint32_t tim1_pulse = 500;
uint32_t tim3_ch1_pulse = 300;
uint32_t tim3_ch2_pulse = 700;
/* 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 */
/* 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_ADC2_Init();
MX_ADC3_Init();
MX_I2C1_Init();
MX_IWDG_Init();
MX_I2C2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_DAC_Init();
MX_TIM2_Init();
MX_TIM6_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);
uint32_t adc1_value = 0;
uint32_t adc2_value = 0;
uint32_t adc3_value = 0;
uint32_t new_duty_cycle_1 = 0;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_DAC_Start(&hdac,DAC1_CHANNEL_1);
HAL_TIM_Base_Start(&htim6);
HAL_DAC_Start(&hdac,DAC1_CHANNEL_1);
HAL_DAC_Start(&hdac,DAC1_CHANNEL_2);
uint32_t adc1_buffer[ADC_BUFFER_SIZE];
uint32_t adc2_buffer[ADC_BUFFER_SIZE];
uint32_t adc3_buffer[ADC_BUFFER_SIZE];
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc1_buffer, ADC_BUFFER_SIZE);
HAL_ADC_Start_DMA(&hadc2, (uint32_t*)adc2_buffer, ADC_BUFFER_SIZE);
HAL_ADC_Start_DMA(&hadc3, (uint32_t*)adc3_buffer, ADC_BUFFER_SIZE);
HAL_DAC_SetValue(&hdac, DAC_CHANNEL_1, DAC_ALIGN_12B_R, dac1_value);
HAL_DAC_Start(&hdac, DAC_CHANNEL_1);
HAL_DAC_SetValue(&hdac, DAC_CHANNEL_2, DAC_ALIGN_12B_R, dac2_value);
HAL_DAC_Start(&hdac, DAC_CHANNEL_2);
HAL_TIM_Base_Start(&htim6);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM2)
{
float feedback = read_adc_value();
float output = pid_calculate(setpoint, feedback);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, output);
}
}
while (1)
{
dac2_value = adcBuffer[0] >> 4;
HAL_DAC_SetValue(&hdac, DAC_CHANNEL_2, DAC_ALIGN_12B_R, dac2_value);
HAL_DAC_Start(&hdac, DAC_CHANNEL_2);
HAL_Delay(10);
}
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != 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 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2025 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "can.h"
#include "dac.h"
#include "dma.h"
#include "i2c.h"
#include "iwdg.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
#define ADC_BUFFER_SIZE 32
uint32_t adcBuffer[ADC_BUFFER_SIZE];
uint32_t dac1_value = 2048;
uint32_t dac2_value = 1024;
uint32_t tim1_pulse = 500;
uint32_t tim3_ch1_pulse = 300;
uint32_t tim3_ch2_pulse = 700;
/* 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 */
/* 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_ADC2_Init();
MX_ADC3_Init();
MX_I2C1_Init();
MX_IWDG_Init();
MX_I2C2_Init();
MX_TIM1_Init();
MX_TIM3_Init();
MX_CAN1_Init();
MX_CAN2_Init();
MX_DAC_Init();
MX_TIM2_Init();
MX_TIM6_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim2);
uint32_t adc1_value = 0;
uint32_t adc2_value = 0;
uint32_t adc3_value = 0;
uint32_t new_duty_cycle_1 = 0;
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
HAL_DAC_Start(&hdac,DAC1_CHANNEL_1);
HAL_TIM_Base_Start(&htim6);
HAL_DAC_Start(&hdac,DAC1_CHANNEL_1);
HAL_DAC_Start(&hdac,DAC1_CHANNEL_2);
uint32_t adc1_buffer[ADC_BUFFER_SIZE];
uint32_t adc2_buffer[ADC_BUFFER_SIZE];
uint32_t adc3_buffer[ADC_BUFFER_SIZE];
HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc1_buffer, ADC_BUFFER_SIZE);
HAL_ADC_Start_DMA(&hadc2, (uint32_t*)adc2_buffer, ADC_BUFFER_SIZE);
HAL_ADC_Start_DMA(&hadc3, (uint32_t*)adc3_buffer, ADC_BUFFER_SIZE);
HAL_DAC_SetValue(&hdac, DAC_CHANNEL_1, DAC_ALIGN_12B_R, dac1_value);
HAL_DAC_Start(&hdac, DAC_CHANNEL_1);
HAL_DAC_SetValue(&hdac, DAC_CHANNEL_2, DAC_ALIGN_12B_R, dac2_value);
HAL_DAC_Start(&hdac, DAC_CHANNEL_2);
HAL_TIM_Base_Start(&htim6);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM2)
{
float feedback = read_adc_value();
float output = pid_calculate(setpoint, feedback);
__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, output);
}
}
while (1)
{
dac2_value = adcBuffer[0] >> 4;
HAL_DAC_SetValue(&hdac, DAC_CHANNEL_2, DAC_ALIGN_12B_R, dac2_value);
HAL_DAC_Start(&hdac, DAC_CHANNEL_2);
HAL_Delay(10);
}
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != 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 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
../Src/main.c(160): error: #65: expected a ";"
本文介绍了Flex框架中mx_internal命名空间的作用，解释了它如何用于隔离可能在未来版本中发生变化的功能和属性。并通过一个示例演示了如何正确地访问和设置mx_internal变量。
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