2024.7.23 수업날
< TIMER >
STM32cubeide 진행 과정
TIMER main.c 소스코드
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 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.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.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 */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM11)
{
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
}
}
/* 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_USART2_UART_Init();
MX_TIM11_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim11);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* 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_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
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_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != 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 */
주기를 5000-1로 바꾼 소스코드( main.c에서 이부분만 수정하면 됨)
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM11)
{
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
}
TIM11->ARR = 5000-1;
}
주기를 1000-1로 바꾼 소스코드( main.c에서 이부분만 수정하면 됨)
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
if(htim->Instance == TIM11)
{
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
}
TIM11->ARR = 1000-1;
}
< STEP MOTOR >
STM32cubeide 진행 과정
delay.c 소스코드
/*
* delay.c
*
* Created on: Jul 29, 2024
*/
#include "delay.h"
void delay_us(uint16_t us)
{
__HAL_TIM_SET_COUNTER(&htim10, 0); // 타이머10번 0으로 리셋
HAL_TIM_Base_Start(&htim10); // 타이머10번 시작
while(__HAL_TIM_GET_COUNTER(&htim10) < us); // 카운트가 us보다 작으면...
HAL_TIM_Base_Stop(&htim10); // 탸이머 10번 중지
}
delay.h 소스코드
/*
* delay.h
*
* Created on: Jul 29, 2024
*/
#ifndef INC_DELAY_H_
#define INC_DELAY_H_
#include "stm32f4xx_hal.h"
#include "tim.h"
void delay_us(uint16_t us); // 마이크로 세크 단위, 타이머가 16비트밖에 못 읽기 때문
#endif /* INC_DELAY_H_ */
stepper.c 소스코드
/*
* stepper.c
*
* Created on: Jul 29, 2024
*/
#include "stepper.h"
void stepMotor(uint8_t step)
{
HAL_GPIO_WritePin(IN1_GPIO_Port, IN1_pin, HALF_STEP_SEQ[step][0]);
HAL_GPIO_WritePin(IN2_GPIO_Port, IN2_pin, HALF_STEP_SEQ[step][1]);
HAL_GPIO_WritePin(IN3_GPIO_Port, IN3_pin, HALF_STEP_SEQ[step][2]);
HAL_GPIO_WritePin(IN4_GPIO_Port, IN4_pin, HALF_STEP_SEQ[step][3]);
}
void rotateSteps(uint16_t steps, uint8_t direction)
{
for(uint16_t i = 0; i < steps; i++)
{
// 회전 방향에 맞춰서 스텝 패턴 설정
uint8_t step;
if(direction == DIR_CW)
{
step = 1 % 8; // 시계 방향
}
else
{
step = 7 - (i % 8); // 반시계 방향
}
stepMotor(step);
delay_us(1000); // 각 스텝간의 지연
}
}
void rotateDegrees(uint16_t degrees, uint8_t direction)
{
uint16_t steps = (uint16_t)(((uint32_t)degrees * STEPS_PER_REVOLATION) / 360);
rotateSteps(steps, direction);
}
stepper.h 소스코드
/*
* stepper.h
*
* Created on: Jul 29, 2024
*/
#ifndef INC_STEPPER_H_
#define INC_STEPPER_H_
#include "stm32f4xx_hal.h"
#include "delay.h"
#define STEPS_PER_REVOLATION 4096
#define DIR_CW 0 // 시계방향
#define DIR_CCW 1 // 반시계방향
#define IN1_pin GPIO_PIN_9
#define IN1_GPIO_Port GPIOC
#define IN2_pin GPIO_PIN_8
#define IN2_GPIO_Port GPIOC
#define IN3_pin GPIO_PIN_6
#define IN3_GPIO_Port GPIOC
#define IN4_pin GPIO_PIN_5
#define IN4_GPIO_Port GPIOC
static const uint8_t HALF_STEP_SEQ[8][4]=
{
{1,0,0,0}, // step 1
{1,1,0,0}, // step 2
{0,1,0,0}, // step 3
{0,1,1,0}, // step 4
{0,0,1,0}, // step 5
{0,0,1,1}, // step 6
{0,0,0,1}, // step 7
{1,0,0,1} // step 8
};
void stepMotor(uint8_t step);
void rotateSteps(uint16_t steps, uint8_t direction);
void rotateDegrees(uint16_t degrees, uint8_t direction);
#endif /* INC_STEPPER_H_ */
stepper.h에서 HALF_STEP_SEQ는 아래의 표를 참고하여 작성한 것이다.
main.c 소스코드
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 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.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stepper.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 */
/* 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_TIM10_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
rotateDegrees(360, DIR_CCW); // Degree control
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* 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_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
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_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != 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 */
이번에는 uart 통신을 통해 a360를 전송하면 step motor가 시계 방향으로 360도 회전하고
b270을 전송하면 step motor가 반시계 방향으로 270도 회전하도록 하는 소스코드를 만들어보자.
위에서 했던 Step motor와 과정은 비슷하며 수정해야할 코드만 첨부한다.
stepper.h 소스코드
/*
* stepper.h
*
* Created on: Jul 29, 2024
*/
#ifndef INC_STEPPER_H_
#define INC_STEPPER_H_
#include "stm32f4xx_hal.h"
#include "delay.h"
#define STEPS_PER_REVOLATION 4096
#define DIR_CW 'a' // 시계방향
#define DIR_CCW 'b' // 반시계방향
#define IN1_pin GPIO_PIN_9
#define IN1_GPIO_Port GPIOC
#define IN2_pin GPIO_PIN_8
#define IN2_GPIO_Port GPIOC
#define IN3_pin GPIO_PIN_6
#define IN3_GPIO_Port GPIOC
#define IN4_pin GPIO_PIN_5
#define IN4_GPIO_Port GPIOC
static const uint8_t HALF_STEP_SEQ[8][4]=
{
{1,0,0,0}, // step 1
{1,1,0,0}, // step 2
{0,1,0,0}, // step 3
{0,1,1,0}, // step 4
{0,0,1,0}, // step 5
{0,0,1,1}, // step 6
{0,0,0,1}, // step 7
{1,0,0,1} // step 8
};
void stepMotor(uint8_t step);
void rotateSteps(uint16_t steps, uint8_t direction);
void rotateDegrees(uint16_t degrees, uint8_t direction);
#endif /* INC_STEPPER_H_ */
main.c 소스코드
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 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.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "stepper.h"
#include "stdlib.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 */
int _write(int file, unsigned char* p, int len)
{
HAL_StatusTypeDef status = HAL_UART_Transmit(&huart2, p, len, 100);
return (status == HAL_OK ? len : 0);
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t buffer[10];
uint8_t rxData;
uint8_t rxIndex = 0;
uint8_t dir;
uint16_t degree;
/* USER CODE END PV /
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance == USART2)
{
if (rxIndex == 0)
{
dir = rxData; // direction is 'a' or 'b'
rxIndex++;
printf("Direction: %c\n", dir); // debuging msg
}
else
{
if (rxData != '\n')
{
if (rxIndex < sizeof(buffer))
{
buffer[rxIndex - 1] = rxData;
rxIndex++;
}
}
else
{
buffer[rxIndex - 1] = '\0';
degree = (uint16_t)atoi((char*)buffer);
printf("Degree: %d\n", degree); // debuging msg
rotateDegrees(degree, dir);
rxIndex = 0;
}
}
HAL_UART_Receive_IT(&huart2, &rxData, sizeof(rxData));
}
}
/* 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_TIM10_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
//rotateDegrees(540, DIR_CCW);
HAL_UART_Receive_IT(&huart2, &rxData, sizeof(rxData));
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* 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_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
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_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != 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 */
TIMER, STEP MOTOR 끝!
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