motor_ctl-2/Core/Src/gpio.c

/**
  ******************************************************************************
  * File Name          : gpio.c
  * Description        : This file provides code for the configuration
  *                      of all used GPIO pins.
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether 
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2019 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "gpio.h"
/* USER CODE BEGIN 0 */
#include "protect_check.h"
/* USER CODE END 0 */

/*----------------------------------------------------------------------------*/
/* Configure GPIO                                                             */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
        * Free pins are configured automatically as Analog (this feature is enabled through 
        * the Code Generation settings)
*/
void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(SYC_IO_GPIO_Port, SYC_IO_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pins : PC13 PC14 PC15 
                           PC8 PC9 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15 
                          |GPIO_PIN_8|GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pins : PA3 PA8 
                           PA9 PA10 PA11 */
  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_8 
                          |GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PB0 PB1 PB2 PB10 
                           PB11 PB13 PB14 PB15 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_10 
                          |GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : PtPin */
  GPIO_InitStruct.Pin = BREAK_IN_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(BREAK_IN_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : PCPin PCPin */
  GPIO_InitStruct.Pin = SYC_IO_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);

}

/* USER CODE BEGIN 2 */
void Enable_PwmGpio_Out(void)
{
	GPIO_InitTypeDef GPIO_InitStruct;
	GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
	GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

void Disable_PwmGpio_Out(void)
{
	GPIO_InitTypeDef GPIO_InitStruct;
	GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

	GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10;
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD; 
	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
	
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_14, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET);
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	static uint32_t SignalTrigCount = 0;
	static uint32_t DiffTime_ms_Old = 0;
	
	if(GPIO_Pin == SPEED_SENSOR_Pin)
	{
    //车速计算变量更新	 
		MC_SpeedSensorData.IsTrigFlag = TRUE; // 更新信号触发标志
		if(MC_SpeedSensorData.IsStopFlag == TRUE)
		{
		  MC_SpeedSensorData.TrigSysTime = HAL_GetTick();
			MC_SpeedSensorData.DiffTime_ms = 0xFFFFFFFF;
			MC_SpeedSensorData.IsStopFlag = FALSE;
		}
		else
		{
		  MC_SpeedSensorData.DiffTime_ms = HAL_GetTick() - MC_SpeedSensorData.TrigSysTime;
			if(MC_SpeedSensorData.DiffTime_ms < 75)//限制车速测量最高值，抗干扰，3600/0.075*2.19/1000 = 105km/h
			{
			  MC_SpeedSensorData.DiffTime_ms = DiffTime_ms_Old;
			}
			MC_SpeedSensorData.TrigSysTime = HAL_GetTick();
		}
		DiffTime_ms_Old = MC_SpeedSensorData.DiffTime_ms;
		//车轮圈数更新
		if(MC_SpeedSensorData.DiffTime_ms >= 75) //滤掉干扰信号，电机转速按照2000rpm时，前齿按照20T，后齿按照11T时，车轮转速为2000 / 4.55 * 20 / 11 = 800rpm，即每圈周期75ms
		{
		  SignalTrigCount++;
		  MC_SpeedSensorData.WheelTurnCount = SignalTrigCount / ((MC_ConfigParam1.SpeedSensorPoles == 0) ? 1: MC_ConfigParam1.SpeedSensorPoles);
		}
	}
	else if(GPIO_Pin == BREAK_IN_Pin)
	{
	  //过流触发标志置位
		MC_Protect_OverCurrentTrig_Flag = SET;
	}
}
/* USER CODE END 2 */

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/