0
\$\begingroup\$

I am using a bluepill, and the final case statement is looping constantly from GO_TO_TOP -> COME_TO BOTTOM -> ROTATE_ACTION, the 'top' variable is being latched to '1' at the GO_TO_TOP case although it is not flagged high previously and has been cleared,
AND if there is a better way to code (for an embedded system on a special machine for a factory) please do tell.

all the custom functions are just HAL_GPIO_Write functions referencing certain pins.
top, bottom, user_buttton, are limit switches and push buttons by user respectively

*/ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ typedef enum { HOME_FOR_TOP, COME_TO_BOTTOM, ROTATE_ACTION, GO_TO_TOP }system_state; system_state current_state = HOME_FOR_TOP; /* 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 ---------------------------------------------------------*/ ADC_HandleTypeDef hadc1; TIM_HandleTypeDef htim2; /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_TIM2_Init(void); static void MX_ADC1_Init(void); /* USER CODE BEGIN PFP */ void elevationUpDirection(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);// DIRECTION PIN ELEVATION MOTOR UP HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);// DIRECTION PIN ELEVATION MOTOR UP } void elevationDownDirection(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);// DIRECTION PIN ELEVATION MOTOR DOWN HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);// DIRECTION PIN ELEVATION MOTOR DOWN } void elevationDisable(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);// DIRECTION PIN ELEVATION MOTOR DOWN HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);// DIRECTION PIN ELEVATION MOTOR DOWN } void rotationCW(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_SET);// DIRECTION PIN ELEVATION MOTOR } void rotationCCW(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_10, GPIO_PIN_RESET);// DIRECTION PIN ELEVATION MOTOR } void rotationEnable(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);// ENABLE PIN ELEVATION MOTOR } void rotationDisable(){ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);// DISABLE PIN ELEVATION MOTOR } void rotorStartRunning(){ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);// FOR ROTOR MOTOR 1 HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);// FOR ROTOR MOTOR 2 HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);// FOR ROTOR MOTOR 3 HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);// FOR ROTOR MOTOR 4 } void rotorStopRunning(){ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);// FOR ROTOR MOTOR 1 HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_2);// FOR ROTOR MOTOR 2 HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);// FOR ROTOR MOTOR 3 HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);// FOR ROTOR MOTOR 4 } void timeElevationMotor(uint16_t time){ HAL_Delay(time); } void timeRotationMotor(uint16_t time){ HAL_Delay(time); } //////////////////////////MOTOR RELATED FUNCTIONS ENDS///////////////////////////////////////////////////////////// void pumpEnable(){ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_RESET);// PUMP RELAY PIN } void pumpDisable(){ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, GPIO_PIN_SET);// PUMP RELAY PIN } ////////////////////////////////////PUMP FUNCTIONS///////////////////////////////////////////////////////////////// void valveEnable(){ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_RESET);// VALVE RELAY PIN } void valveDisable(){ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_SET);// VALVE RELAY PIN } /////////////////////////////////VALVE FUNCTIONS///////////////////////////////////////////////////////////////// void lockEnable(){ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_RESET);// LOCK RELAY PIN } void lockDisable(){ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_SET);/// LOCK RELAY PIN } //////////////////////////////LOCK FUNCTIONS///////////////////////////////////////////////////////////////////// /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ uint16_t user_button_pressed = 0; uint16_t do_once = 0; uint16_t check_button = 0; uint16_t top = 0; uint16_t bottom = 0; ///////////////////////// THESE ARE BUTTONS AND SWITCHES////////////////////////// void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { if (GPIO_Pin == GPIO_PIN_13) { user_button_pressed = 1; } if (GPIO_Pin == GPIO_PIN_15) { bottom = 1; } if (GPIO_Pin == GPIO_PIN_14) { top = 1; } } /* 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_TIM2_Init(); MX_ADC1_Init(); /* USER CODE BEGIN 2 */ HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);// FOR ROTOR MOTOR 1 HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_2);// FOR ROTOR MOTOR 2 HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_3);// FOR ROTOR MOTOR 3 HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_4);// FOR ROTOR MOTOR 4 rotationDisable(); pumpDisable(); valveDisable(); lockDisable(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { if (top == 1) HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET); // LED ON else HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET); // LED OFF if (bottom == 1) HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, GPIO_PIN_RESET); // LED ON else HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, GPIO_PIN_SET); // LED OFF switch(current_state){ case HOME_FOR_TOP: if(top){ if(do_once ==0){ elevationDisable(); lockEnable(); do_once = 1; top = 0; bottom = 0; user_button_pressed = 0; current_state = COME_TO_BOTTOM; } } else { elevationUpDirection(); } break; case COME_TO_BOTTOM: if(user_button_pressed == 1){ elevationDownDirection(); top=0; timeElevationMotor(3000); elevationDisable(); current_state = ROTATE_ACTION; } break; case ROTATE_ACTION: if(bottom){ pumpEnable(); valveEnable(); rotationEnable(); rotorStartRunning(); rotationCW(); timeRotationMotor(5000); rotorStopRunning(); rotationDisable(); valveDisable(); pumpDisable(); top = 0; current_state = GO_TO_TOP; } break; case GO_TO_TOP: elevationUpDirection(); if(top){ HAL_Delay(1000); elevationDisable(); bottom = 0; user_button_pressed = 0; current_state = COME_TO_BOTTOM; } } /* 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}; RCC_PeriphCLKInitTypeDef PeriphClkInit = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL2; 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_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) { Error_Handler(); } PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC; PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2; if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) { Error_Handler(); } } /** * @brief ADC1 Initialization Function * @param None * @retval None */ static void MX_ADC1_Init(void) { /* USER CODE BEGIN ADC1_Init 0 */ /* USER CODE END ADC1_Init 0 */ ADC_ChannelConfTypeDef sConfig = {0}; /* USER CODE BEGIN ADC1_Init 1 */ /* USER CODE END ADC1_Init 1 */ /** Common config */ hadc1.Instance = ADC1; hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE; hadc1.Init.ContinuousConvMode = DISABLE; hadc1.Init.DiscontinuousConvMode = DISABLE; hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START; hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; hadc1.Init.NbrOfConversion = 1; if (HAL_ADC_Init(&hadc1) != HAL_OK) { Error_Handler(); } /** Configure Regular Channel */ sConfig.Channel = ADC_CHANNEL_8; sConfig.Rank = ADC_REGULAR_RANK_1; sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5; if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN ADC1_Init 2 */ /* USER CODE END ADC1_Init 2 */ } /** * @brief TIM2 Initialization Function * @param None * @retval None */ static void MX_TIM2_Init(void) { /* USER CODE BEGIN TIM2_Init 0 */ /* USER CODE END TIM2_Init 0 */ TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; /* USER CODE BEGIN TIM2_Init 1 */ /* USER CODE END TIM2_Init 1 */ htim2.Instance = TIM2; htim2.Init.Prescaler = 0; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 65535; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_PWM_Init(&htim2) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */ HAL_TIM_MspPostInit(&htim2); } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; /* USER CODE BEGIN MX_GPIO_Init_1 */ /* USER CODE END MX_GPIO_Init_1 */ /* 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(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOA, ROTOR_ENABLE_Pin|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7 |ELEVATION_DIR__Pin|ELEVATION_DIR_A9_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOB, Blue_LED_Pin|Green_LED_Pin|Red_LED_Pin|LOCK_Pin |VALVE_Pin|PUMP_Pin|ACTUATOR_PROVISION_Pin, GPIO_PIN_RESET); /*Configure GPIO pin : PC13 */ GPIO_InitStruct.Pin = GPIO_PIN_13; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /*Configure GPIO pins : ROTOR_ENABLE_Pin PA5 PA6 PA7 ELEVATION_DIR__Pin ELEVATION_DIR_A9_Pin */ GPIO_InitStruct.Pin = ROTOR_ENABLE_Pin|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7 |ELEVATION_DIR__Pin|ELEVATION_DIR_A9_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /*Configure GPIO pins : Blue_LED_Pin Green_LED_Pin Red_LED_Pin LOCK_Pin VALVE_Pin PUMP_Pin ACTUATOR_PROVISION_Pin */ GPIO_InitStruct.Pin = Blue_LED_Pin|Green_LED_Pin|Red_LED_Pin|LOCK_Pin |VALVE_Pin|PUMP_Pin|ACTUATOR_PROVISION_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /*Configure GPIO pins : user_push_button_Pin TOP_LIMIT_SWITCH_Pin BOTTOM_LIMIT_SWITCH_Pin CHECK_BUTTON_Pin */ GPIO_InitStruct.Pin = user_push_button_Pin|TOP_LIMIT_SWITCH_Pin|BOTTOM_LIMIT_SWITCH_Pin|CHECK_BUTTON_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* EXTI interrupt init*/ HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0); HAL_NVIC_EnableIRQ(EXTI3_IRQn); HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0); HAL_NVIC_EnableIRQ(EXTI15_10_IRQn); /* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE END MX_GPIO_Init_2 */ } /* 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 */ ```
New contributor
Samartha Rao HP is a new contributor to this site. Take care in asking for clarification, commenting, and answering. Check out our Code of Conduct.
\$\endgroup\$
8
  • \$\begingroup\$ This is likely a pure C issue, has likely nothing to do with running on a MCU like Bluepill, and the parts of the code that might show what the problem might be is not shown. How do you expect that to work, if it doesn't work the way you expect? \$\endgroup\$ Commented 2 days ago
  • \$\begingroup\$ hi @Justme, the code is looping back into the same cases without interupts , hardware seems right, thus im asking here as to the code and if its right ?? \$\endgroup\$ Commented 2 days ago
  • 1
    \$\begingroup\$ I'm having trouble getting switch cases to work as intended ... what is the intended operation? ... please update your question with a description ... edit the post, do not write a comment \$\endgroup\$ Commented 2 days ago
  • 1
    \$\begingroup\$ please clean up the code, it is a mess that is difficult to follow ... excessive blank lines ... indentation that is not constant, 7 spaces in some places, 4 spaces in others, 2 spaces elsewhere ... it is no surprise that you are having problems when you write code like that \$\endgroup\$ Commented 2 days ago
  • \$\begingroup\$ Please clarify your specific problem or provide additional details to highlight exactly what you need. As it's currently written, it's hard to tell exactly what you're asking. \$\endgroup\$ Commented 2 days ago

0

Reset to default

Start asking to get answers

Find the answer to your question by asking.

Ask question

Explore related questions

See similar questions with these tags.