Новоая логика. 4 ШИМ канала.

modules/gpio.c

@@ -26,28 +26,15 @@ void gpio_init(void)
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
-    
-    GPIO_InitStruct.Pin = GPIO_PIN_12;
+
+    // LED - индикация входного сигнала
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
     GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
     GPIO_InitStruct.Pull = GPIO_PULLDOWN;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     
-    GPIO_InitStruct.Pin = GPIO_PIN_12;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    // GPIO_PIN_5 - инфракрасный LED
-    GPIO_InitStruct.Pin = GPIO_PIN_1 | GPIO_PIN_3 | GPIO_PIN_4;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-    
-    // LED - индикация входного сигнала
-    GPIO_InitStruct.Pin = GPIO_PIN_2; 
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-    
     HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
-    
-    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_12, GPIO_PIN_RESET);
-    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1 | GPIO_PIN_3 | GPIO_PIN_4, GPIO_PIN_RESET);
 }
 
 

modules/logic.c

@@ -15,20 +15,9 @@ void logic_main(void)
       
     if (get_button()) 
     {
-        gpio_set_output(true);
-        HAL_Delay(500);
-        IWDG->KR = 0xAAAA;
-        HAL_Delay(500);
-        IWDG->KR = 0xAAAA;
         logic_set_out_pwm();
-        HAL_Delay(500);
-        IWDG->KR = 0xAAAA;
-        gpio_set_output(false);
-        tim_pwm_pulse_idle();
-        
         set_button(false);
     }   
-    
 }
 
 //
@@ -37,19 +26,19 @@ void logic_set_out_pwm(void)
     switch (step_number)
     {
         case 0:
-            tim_pwm_out_set_pulse(PWM_OUT_CH_1, 1300);
+            tim_pwm_out_set_pulse(PWM_OUT_CH_1, 1760);
         break;
     
         case 1:
-            tim_pwm_out_set_pulse(PWM_OUT_CH_2, 1300);
+            tim_pwm_out_set_pulse(PWM_OUT_CH_2, 1760);
         break;
     
         case 2:
-            tim_pwm_out_set_pulse(PWM_OUT_CH_1, 1850);
+            tim_pwm_out_set_pulse(PWM_OUT_CH_3, 1760);
         break;
     
         case 3:
-            tim_pwm_out_set_pulse(PWM_OUT_CH_2, 1850);
+            tim_pwm_out_set_pulse(PWM_OUT_CH_4, 1760);
         break;
     
         default : break;

modules/pwm_in.c

@@ -32,11 +32,10 @@ void tim_pwm_in_init(void)
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_PULLUP;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;//GPIO_AF0_TIM3;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     
     HAL_NVIC_SetPriority(TIM3_IRQn, 0, 1);
-    //HAL_NVIC_SetPriority(TIM3_IRQn, 2, 0); // From lasertag project
     HAL_NVIC_EnableIRQ(TIM3_IRQn);
     
     prescaler = HAL_RCC_GetHCLKFreq()/PWM_IN_TIM_FREQ - 1;
@@ -104,7 +103,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
             
             duty = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
             
-            if (duty > 1600) {
+            if (duty > 1760) {
                 filter_cnt++;
                 LED_ON;
             }

modules/pwm_out.c

@@ -5,7 +5,7 @@
 #define PWM_OUT_TIM_FREQ    1000000
 #define PERIOD_VALUE        20000
 
-#define IDLE_PULSE          1552    // Начальное значение PWM до нажатий
+#define IDLE_PULSE          1160    // Начальное значение PWM до нажатий
 
 
 static TIM_HandleTypeDef   TimHandle;
@@ -27,7 +27,7 @@ void tim_pwm_out_init(void)
     GPIO_InitStruct.Pull = GPIO_PULLUP;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM1;
-    GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10;
+    GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
     
     prescaler = HAL_RCC_GetHCLKFreq()/PWM_OUT_TIM_FREQ - 1;
@@ -49,14 +49,22 @@ void tim_pwm_out_init(void)
     
     sConfig.OCIdleState  = TIM_OCIDLESTATE_RESET;
     
+    sConfig.Pulse = IDLE_PULSE;
+    HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_1);
+    
     sConfig.Pulse = IDLE_PULSE;
     HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_2);
     
     sConfig.Pulse = IDLE_PULSE;
     HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_3);
     
+    sConfig.Pulse = IDLE_PULSE;
+    HAL_TIM_PWM_ConfigChannel(&TimHandle, &sConfig, TIM_CHANNEL_4);
+
+    HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_1);
     HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_2);
     HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_3);
+    HAL_TIM_PWM_Start(&TimHandle, TIM_CHANNEL_4);
 }
 
 //
@@ -72,6 +80,14 @@ void tim_pwm_out_set_pulse(pwm_out_ch channel, uint16_t pulse)
             TIM1->CCR3 = pulse;
         break;
         
+        case PWM_OUT_CH_3:
+            TIM1->CCR1 = pulse;
+        break;
+        
+        case PWM_OUT_CH_4:
+            TIM1->CCR4 = pulse;
+        break;
+        
         default : break;
     }  
 }
@@ -79,6 +95,8 @@ void tim_pwm_out_set_pulse(pwm_out_ch channel, uint16_t pulse)
 //
 void tim_pwm_pulse_idle(void)
 {
+    TIM1->CCR1 = IDLE_PULSE;
     TIM1->CCR2 = IDLE_PULSE;
     TIM1->CCR3 = IDLE_PULSE;
+    TIM1->CCR4 = IDLE_PULSE;
 }

modules/pwm_out.h

@@ -7,6 +7,8 @@ typedef enum
 {
     PWM_OUT_CH_1 = 1,
     PWM_OUT_CH_2,
+    PWM_OUT_CH_3,
+    PWM_OUT_CH_4,
     PWM_OUT_CH_MAX,
   
 } pwm_out_ch;

output/drone.hex

@@ -1,15 +1,15 @@
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+:1000000078050020C91E0008D91E0008DD1E000862
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+:10002000000000000000000000000000E11E0008C9
+:100030000000000000000000E31E0008751B00081F
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@@ -227,8 +227,8 @@
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