Src/main.c
/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  ** 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 "main.h"
#include "stm32f4xx_hal.h"
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "iwdg.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* USER CODE BEGIN Includes */
#include "includes.h"
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t ADC_Value[160];
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
int can13Dog=1000;//@yyp
/* USER CODE END 0 */

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 */
	HAL_NVIC_DisableIRQ(USART2_IRQn);
	HAL_NVIC_DisableIRQ(USART3_IRQn);
	HAL_NVIC_DisableIRQ(USART6_IRQn);
	HAL_NVIC_DisableIRQ(DMA1_Stream1_IRQn);
	HAL_NVIC_DisableIRQ(DMA1_Stream5_IRQn);
	HAL_NVIC_DisableIRQ(DMA2_Stream1_IRQn);
	HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
	HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
	HAL_NVIC_DisableIRQ(USART1_IRQn);
	HAL_NVIC_DisableIRQ(DMA2_Stream2_IRQn);
	HAL_NVIC_DisableIRQ(TIM7_IRQn);
	HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_SPI5_Init();
  MX_USART1_UART_Init();
  MX_TIM6_Init();
  MX_TIM12_Init();
  MX_USART6_UART_Init();
  MX_TIM7_Init();
  MX_TIM10_Init();
  MX_TIM2_Init();
  //MX_IWDG_Init();
  MX_TIM5_Init();
  MX_USART3_UART_Init();
  MX_UART7_Init();
  MX_ADC1_Init();
  MX_UART8_Init();
  MX_USART2_UART_Init();
  MX_TIM8_Init();

  /* USER CODE BEGIN 2 */
//ģʼ
	//
	Motor_ID_Setting();
	for(int i=0;i<8;i++) {InitMotor(can1[i]);InitMotor(can2[i]);}
	InitCanReception();
	
	//
	#ifdef USE_AUTOAIM
		HAL_GPIO_WritePin(encode3508_GPIO_Port, encode3508_Pin, 0);
		InitAutoAim();
	#endif
	InitRemoteControl();
	InitJudgeUart();
	#ifdef USE_IMU
		mpu_device_init();
		init_quaternion();
	#else
		imu.InitFinish=1;
	#endif

	//ʱ
	HAL_TIM_Base_Start_IT(&ONE_MS_TIM);
	HAL_TIM_Base_Start_IT(&TWO_MS_TIM);
//	HAL_TIM_Base_Start_IT(&TEN_MS_TIM);

	//ж
	HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
	HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
	HAL_NVIC_EnableIRQ(USART1_IRQn);
	HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); 
	HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
	HAL_NVIC_EnableIRQ(TIM7_IRQn);
	
	//ADC
	HAL_ADC_Start_DMA(&hadc1,(uint32_t*)&ADC_Value,160);
	
	//Ź
	MX_IWDG_Init();	//Cubeǵע͵ԶɵĿŹʼ
	HAL_GPIO_WritePin(GPIOG, 0x1ff, GPIO_PIN_SET);//close all LED
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

    /**Configure the main internal regulator output voltage 
    */
  __HAL_RCC_PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  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 = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void _Error_Handler(char * file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  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

/**
  * @}
  */ 

/**
  * @}
*/ 

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