249 lines
6.0 KiB
C
249 lines
6.0 KiB
C
/*
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* STM32F103C8T6 firmware core for the new PCB:
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* - PC <-> STM32: USART1, PA9 TX, PA10 RX, 115200 8N1
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* - Linear actuator driver: DRV8870, IN1/IN2
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* - Servo outputs: TIM2 CH4/CH3 on PB11/PB10, 50 Hz PWM
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*
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* Put this logic into a CubeMX/HAL project. Keep the MX_* init functions
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* generated by CubeMX, then add the user code below.
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*/
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#include "main.h"
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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extern UART_HandleTypeDef huart1;
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extern TIM_HandleTypeDef htim2;
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/* PCB V1.0 measured netlist. */
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#define LM_IN1_GPIO_Port GPIOB
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#define LM_IN1_Pin GPIO_PIN_12
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#define LM_IN2_GPIO_Port GPIOB
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#define LM_IN2_Pin GPIO_PIN_13
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#define SERVO1_TIM htim2
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#define SERVO1_CHANNEL TIM_CHANNEL_4 /* PB11 on STM32F103 TIM2_CH4 */
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#define SERVO2_TIM htim2
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#define SERVO2_CHANNEL TIM_CHANNEL_3 /* PB10 on STM32F103 TIM2_CH3 */
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#define UART_RX_BUF_SIZE 96
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#define FAILSAFE_MS 1000U
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static uint8_t rx_byte;
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static char rx_line[UART_RX_BUF_SIZE];
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static uint8_t rx_len = 0;
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static volatile bool line_ready = false;
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static uint32_t last_cmd_tick = 0;
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// ====== 新增：电机运行超时保护变量 ======
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static uint32_t motor_start_tick = 0;
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static uint8_t motor_state = 0; // 0=停止, 1=张开, 2=闭合
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static void reply(const char *text)
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{
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HAL_UART_Transmit(&huart1, (uint8_t *)text, strlen(text), 100);
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}
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static void motor_stop(void)
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{
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HAL_GPIO_WritePin(LM_IN1_GPIO_Port, LM_IN1_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LM_IN2_GPIO_Port, LM_IN2_Pin, GPIO_PIN_RESET);
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motor_state = 0; // 新增
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motor_start_tick = 0; // 新增
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}
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static void motor_open(void)
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{
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HAL_GPIO_WritePin(LM_IN1_GPIO_Port, LM_IN1_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LM_IN2_GPIO_Port, LM_IN2_Pin, GPIO_PIN_SET);
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}
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static void motor_close(void)
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{
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HAL_GPIO_WritePin(LM_IN2_GPIO_Port, LM_IN2_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LM_IN1_GPIO_Port, LM_IN1_Pin, GPIO_PIN_SET);
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}
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static uint16_t servo_angle_to_us(int angle)
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{
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if (angle < 0) {
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angle = 0;
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}
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if (angle > 180) {
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angle = 180;
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}
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/* MG996R/common servo: 500 us to 2500 us at 50 Hz. */
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return (uint16_t)(500 + (angle * 2000) / 180);
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}
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static void servo_set_angle(uint8_t id, int angle)
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{
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uint16_t pulse_us = servo_angle_to_us(angle);
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if (id == 1) {
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__HAL_TIM_SET_COMPARE(&SERVO1_TIM, SERVO1_CHANNEL, pulse_us);
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} else if (id == 2) {
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__HAL_TIM_SET_COMPARE(&SERVO2_TIM, SERVO2_CHANNEL, pulse_us);
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}
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}
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static void apply_config(uint8_t mode)
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{
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switch (mode) {
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case 0:
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servo_set_angle(1, 90);
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servo_set_angle(2, 90);
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break;
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case 1:
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servo_set_angle(1, 30);
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servo_set_angle(2, 150);
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break;
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case 2:
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servo_set_angle(1, 120);
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servo_set_angle(2, 60);
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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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static void handle_command(char *cmd)
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{
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last_cmd_tick = HAL_GetTick();
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if (strcmp(cmd, "PING") == 0) {
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reply("OK:PONG\r\n");
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return;
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}
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if (strcmp(cmd, "M:OPEN") == 0) {
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motor_open();
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reply("OK:M:OPEN\r\n");
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return;
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}
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if (strcmp(cmd, "M:CLOSE") == 0) {
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motor_close();
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reply("OK:M:CLOSE\r\n");
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return;
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}
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if (strcmp(cmd, "M:STOP") == 0) {
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motor_stop();
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reply("OK:M:STOP\r\n");
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return;
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}
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if (strncmp(cmd, "S1:", 3) == 0) {
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servo_set_angle(1, atoi(cmd + 3));
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reply("OK:S1\r\n");
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return;
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}
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if (strncmp(cmd, "S2:", 3) == 0) {
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servo_set_angle(2, atoi(cmd + 3));
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reply("OK:S2\r\n");
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return;
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}
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if (strncmp(cmd, "CFG:", 4) == 0) {
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apply_config((uint8_t)atoi(cmd + 4));
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reply("OK:CFG\r\n");
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return;
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}
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reply("ERR:UNKNOWN\r\n");
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}
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void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
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{
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if (huart->Instance != USART1) {
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return;
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}
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if (rx_byte == '\n' || rx_byte == '\r') {
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if (rx_len > 0) {
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rx_line[rx_len] = '\0';
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line_ready = true;
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rx_len = 0;
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}
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} else if (rx_len < UART_RX_BUF_SIZE - 1) {
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rx_line[rx_len++] = (char)rx_byte;
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} else {
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rx_len = 0;
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reply("ERR:LINE_TOO_LONG\r\n");
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}
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HAL_UART_Receive_IT(&huart1, &rx_byte, 1);
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}
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/*
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* Call this after MX_GPIO_Init(), MX_USART1_UART_Init(), MX_TIM2_Init().
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* CubeMX TIM2 recommendation:
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* channels: PB10 = TIM2_CH3, PB11 = TIM2_CH4
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* enable TIM2 remap for PB10/PB11 if CubeMX does not do it automatically
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* clock = 72 MHz, prescaler = 71, counter period = 19999
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* PWM pulse units are microseconds.
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*/
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void app_init(void)
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{
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motor_stop();
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// ====== 强制使能 TIM2 部分重映射（PB10/PB11） ======
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// 不依赖 CubeMX 宏定义，直接写寄存器
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__HAL_RCC_AFIO_CLK_ENABLE(); // 开启 AFIO 时钟
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AFIO->MAPR |= AFIO_MAPR_TIM2_REMAP_PARTIALREMAP2; // 部分重映射 2
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HAL_TIM_PWM_Start(&SERVO1_TIM, SERVO1_CHANNEL);
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HAL_TIM_PWM_Start(&SERVO2_TIM, SERVO2_CHANNEL);
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servo_set_angle(1, 90);
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servo_set_angle(2, 90);
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last_cmd_tick = HAL_GetTick();
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HAL_UART_Receive_IT(&huart1, &rx_byte, 1);
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reply("READY:DRV8870_SERVO\r\n");
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}
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void app_loop(void)
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{
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if (line_ready) {
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char cmd[UART_RX_BUF_SIZE];
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__disable_irq();
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strncpy(cmd, rx_line, sizeof(cmd));
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cmd[sizeof(cmd) - 1] = '\0';
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line_ready = false;
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__enable_irq();
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handle_command(cmd);
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}
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// 空闲超时停止（原有）
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if ((HAL_GetTick() - last_cmd_tick) > FAILSAFE_MS) {
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motor_stop();
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}
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// ====== 新增：电机运行超时保护（3秒） ======
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if (motor_state != 0) {
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if ((HAL_GetTick() - motor_start_tick) > 3000U) {
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motor_stop();
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reply("ERR:MOTOR_TIMEOUT\r\n");
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}
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}
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}
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/*
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* In generated main.c, use:
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*
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* int main(void)
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* {
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* HAL_Init();
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* SystemClock_Config();
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* MX_GPIO_Init();
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* MX_USART1_UART_Init();
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* MX_TIM2_Init();
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* app_init();
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* while (1) {
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* app_loop();
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* }
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* }
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*/
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