From 1d998ea45b40e3cc3dccdb4d5e20411c167d2a82 Mon Sep 17 00:00:00 2001 From: vanyabeat Date: Tue, 20 Feb 2024 11:26:25 +0300 Subject: [PATCH] ADD: SimpleFOC native library and port arduino core to project #15 #7 STAGING REBORN NEW ARDUINO CORE ADD: simple FOC, AS5040 driver, commands, work with gui --- firmware/.clang-format | 20 - firmware/.gitignore | 6 +- firmware/.gitlab-ci.yml | 18 - firmware/Inc/adc.h | 56 -- firmware/Inc/gpio.h | 49 -- firmware/Inc/main.h | 109 ---- firmware/Inc/spi.h | 55 -- firmware/Inc/stm32_assert.h | 53 -- firmware/Inc/stm32f4xx_hal_conf.h | 491 --------------- firmware/Inc/stm32f4xx_it.h | 72 --- firmware/Inc/tim.h | 63 -- firmware/Inc/usart.h | 54 -- firmware/Lib/foc/foc.c | 188 ------ firmware/Lib/foc/foc.h | 52 -- firmware/Lib/helpers/helpers.c | 13 - firmware/Lib/helpers/helpers.h | 4 - firmware/Lib/motor/motor.c | 22 - firmware/Lib/motor/motor.h | 8 - firmware/Lib/pid/pid.c | 82 --- firmware/Lib/pid/pid.h | 34 -- firmware/STM32F446RETX_FLASH.ld | 185 ------ firmware/STM32F446RETX_RAM.ld | 185 ------ firmware/Src/adc.c | 189 ------ firmware/Src/gpio.c | 153 ----- firmware/Src/main.c | 245 -------- firmware/Src/spi.c | 166 ----- firmware/Src/stm32f4xx_hal_msp.c | 81 --- firmware/Src/stm32f4xx_it.c | 303 --------- firmware/Src/system_stm32f4xx.c | 747 ----------------------- firmware/Src/tim.c | 386 ------------ firmware/Src/usart.c | 133 ---- firmware/Startup/startup_stm32f446retx.s | 538 ---------------- firmware/cubemx_config.ioc | 164 +++-- firmware/extra_script.py | 12 - firmware/lib/AS5040/AS5040.cpp | 36 ++ firmware/lib/AS5040/AS5040.h | 26 + firmware/{Lib => lib}/README | 0 firmware/platformio.ini | 18 +- firmware/src/main.cpp | 114 ++++ firmware/startup_stm32f446retx.s | 538 ---------------- firmware/stm32pio.ini | 18 - firmware/vizualize.py | 88 --- 42 files changed, 265 insertions(+), 5509 deletions(-) delete mode 100644 firmware/.clang-format delete mode 100644 firmware/.gitlab-ci.yml delete mode 100644 firmware/Inc/adc.h delete mode 100644 firmware/Inc/gpio.h delete mode 100644 firmware/Inc/main.h delete mode 100644 firmware/Inc/spi.h delete mode 100644 firmware/Inc/stm32_assert.h delete mode 100644 firmware/Inc/stm32f4xx_hal_conf.h delete mode 100644 firmware/Inc/stm32f4xx_it.h delete mode 100644 firmware/Inc/tim.h delete mode 100644 firmware/Inc/usart.h delete mode 100644 firmware/Lib/foc/foc.c delete mode 100644 firmware/Lib/foc/foc.h delete mode 100644 firmware/Lib/helpers/helpers.c delete mode 100644 firmware/Lib/helpers/helpers.h delete mode 100644 firmware/Lib/motor/motor.c delete mode 100644 firmware/Lib/motor/motor.h delete mode 100644 firmware/Lib/pid/pid.c delete mode 100644 firmware/Lib/pid/pid.h delete mode 100644 firmware/STM32F446RETX_FLASH.ld delete mode 100644 firmware/STM32F446RETX_RAM.ld delete mode 100644 firmware/Src/adc.c delete mode 100644 firmware/Src/gpio.c delete mode 100644 firmware/Src/main.c delete mode 100644 firmware/Src/spi.c delete mode 100644 firmware/Src/stm32f4xx_hal_msp.c delete mode 100644 firmware/Src/stm32f4xx_it.c delete mode 100644 firmware/Src/system_stm32f4xx.c delete mode 100644 firmware/Src/tim.c delete mode 100644 firmware/Src/usart.c delete mode 100644 firmware/Startup/startup_stm32f446retx.s delete mode 100644 firmware/extra_script.py create mode 100644 firmware/lib/AS5040/AS5040.cpp create mode 100644 firmware/lib/AS5040/AS5040.h rename firmware/{Lib => lib}/README (100%) create mode 100644 firmware/src/main.cpp delete mode 100644 firmware/startup_stm32f446retx.s delete mode 100644 firmware/stm32pio.ini delete mode 100644 firmware/vizualize.py diff --git a/firmware/.clang-format b/firmware/.clang-format deleted file mode 100644 index a0a2abd..0000000 --- a/firmware/.clang-format +++ /dev/null @@ -1,20 +0,0 @@ ---- -BasedOnStyle: LLVM -IndentWidth: 2 - -# If function declarations have brace on the new line like this: -# void function() -# { -# ... -# } -BreakBeforeBraces: Allman - -# If function declarations have brace on the same line like this: -# void function() { -# ... -# } -# BreakBeforeBraces: Attach - -AllowShortIfStatementsOnASingleLine: false -BinPackParameters: true -ColumnLimit: 0 # Disable line column limit \ No newline at end of file diff --git a/firmware/.gitignore b/firmware/.gitignore index 4122bf7..89cc49c 100644 --- a/firmware/.gitignore +++ b/firmware/.gitignore @@ -1,3 +1,5 @@ .pio -.vscode -.idea \ No newline at end of file +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/firmware/.gitlab-ci.yml b/firmware/.gitlab-ci.yml deleted file mode 100644 index 5518602..0000000 --- a/firmware/.gitlab-ci.yml +++ /dev/null @@ -1,18 +0,0 @@ -image: python:3.9 - -stages: - - build - -before_script: - - pip install -U platformio - - pio update - -build: - stage: build - script: - - pio run - artifacts: - paths: - - .pio/build/robotroller/firmware.elf - - .pio/build/robotroller/firmware.bin - expire_in: 1 week \ No newline at end of file diff --git a/firmware/Inc/adc.h b/firmware/Inc/adc.h deleted file mode 100644 index 2571906..0000000 --- a/firmware/Inc/adc.h +++ /dev/null @@ -1,56 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file adc.h - * @brief This file contains all the function prototypes for - * the adc.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __ADC_H__ -#define __ADC_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -extern ADC_HandleTypeDef hadc2; - -/* USER CODE BEGIN Private defines */ -#define Vref 3.3f -#define ADCResolution 4096.0f -#define ShuntResistorValue 1.f -#define INA_gain 10.f // This gain -/* USER CODE END Private defines */ - -void MX_ADC2_Init(void); - -/* USER CODE BEGIN Prototypes */ -uint32_t ReadADCValue(ADC_HandleTypeDef *hadc, uint32_t channel); -float GetCurrentFromADC(uint32_t adcValue); -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __ADC_H__ */ - diff --git a/firmware/Inc/gpio.h b/firmware/Inc/gpio.h deleted file mode 100644 index 87921b4..0000000 --- a/firmware/Inc/gpio.h +++ /dev/null @@ -1,49 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file gpio.h - * @brief This file contains all the function prototypes for - * the gpio.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __GPIO_H__ -#define __GPIO_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_GPIO_Init(void); - -/* USER CODE BEGIN Prototypes */ -void AS5045_CS_Init(void); -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif -#endif /*__ GPIO_H__ */ - diff --git a/firmware/Inc/main.h b/firmware/Inc/main.h deleted file mode 100644 index 373189d..0000000 --- a/firmware/Inc/main.h +++ /dev/null @@ -1,109 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.h - * @brief : Header for main.c file. - * This file contains the common defines of the application. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __MAIN_H -#define __MAIN_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -#include "stm32f4xx_ll_system.h" -#include "stm32f4xx_ll_gpio.h" -#include "stm32f4xx_ll_exti.h" -#include "stm32f4xx_ll_bus.h" -#include "stm32f4xx_ll_cortex.h" -#include "stm32f4xx_ll_rcc.h" -#include "stm32f4xx_ll_utils.h" -#include "stm32f4xx_ll_pwr.h" -#include "stm32f4xx_ll_dma.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* Exported types ------------------------------------------------------------*/ -/* USER CODE BEGIN ET */ - -/* USER CODE END ET */ - -/* Exported constants --------------------------------------------------------*/ -/* USER CODE BEGIN EC */ - -/* USER CODE END EC */ - -/* Exported macro ------------------------------------------------------------*/ -/* USER CODE BEGIN EM */ - -/* USER CODE END EM */ - -/* Exported functions prototypes ---------------------------------------------*/ -void Error_Handler(void); - -/* USER CODE BEGIN EFP */ - -/* USER CODE END EFP */ - -/* Private defines -----------------------------------------------------------*/ -#define SENSE3_Pin LL_GPIO_PIN_5 -#define SENSE3_GPIO_Port GPIOC -#define SENSE2_Pin LL_GPIO_PIN_0 -#define SENSE2_GPIO_Port GPIOB -#define SENSE1_Pin LL_GPIO_PIN_1 -#define SENSE1_GPIO_Port GPIOB -#define AS5045_CS_Pin LL_GPIO_PIN_15 -#define AS5045_CS_GPIO_Port GPIOB -#define EN_W_Pin LL_GPIO_PIN_6 -#define EN_W_GPIO_Port GPIOC -#define DRV_FAULT_Pin LL_GPIO_PIN_7 -#define DRV_FAULT_GPIO_Port GPIOC -#define DRV_RESET_Pin LL_GPIO_PIN_8 -#define DRV_RESET_GPIO_Port GPIOC -#define DRV_SLEEP_Pin LL_GPIO_PIN_9 -#define DRV_SLEEP_GPIO_Port GPIOC -#define EN_U_Pin LL_GPIO_PIN_11 -#define EN_U_GPIO_Port GPIOA -#define EN_V_Pin LL_GPIO_PIN_12 -#define EN_V_GPIO_Port GPIOA -#define LED1_Pin LL_GPIO_PIN_10 -#define LED1_GPIO_Port GPIOC -#define LED2_Pin LL_GPIO_PIN_11 -#define LED2_GPIO_Port GPIOC -#define LED3_Pin LL_GPIO_PIN_12 -#define LED3_GPIO_Port GPIOC -#define spi1_cs_Pin LL_GPIO_PIN_2 -#define spi1_cs_GPIO_Port GPIOD -/* USER CODE BEGIN Private defines */ -typedef int bool; -#define true 1 -#define false 0 -#define nullptr ((void*)0) -/* USER CODE END Private defines */ - -#ifdef __cplusplus -} -#endif - -#endif /* __MAIN_H */ diff --git a/firmware/Inc/spi.h b/firmware/Inc/spi.h deleted file mode 100644 index 795ad55..0000000 --- a/firmware/Inc/spi.h +++ /dev/null @@ -1,55 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file spi.h - * @brief This file contains all the function prototypes for - * the spi.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __SPI_H__ -#define __SPI_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -extern SPI_HandleTypeDef hspi2; - -/* USER CODE BEGIN Private defines */ -#define AS5040_DIAG_OC_FAULT 0x0001 // Offset Compensation Finished -#define AS5040_DIAG_CO_FAULT 0x0002 // Cordic Overflow -#define AS5040_DIAG_LIN_FAULT 0x0004 // Linearity Alarm -/* USER CODE END Private defines */ - -void MX_SPI2_Init(void); - -/* USER CODE BEGIN Prototypes */ -float NormalizeToDegrees(uint16_t rawAngle); -uint16_t AS5045_ReadAngle(SPI_HandleTypeDef *hspi, uint8_t *status); -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __SPI_H__ */ - diff --git a/firmware/Inc/stm32_assert.h b/firmware/Inc/stm32_assert.h deleted file mode 100644 index c096d4b..0000000 --- a/firmware/Inc/stm32_assert.h +++ /dev/null @@ -1,53 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32_assert.h - * @brief STM32 assert file. - ****************************************************************************** - * @attention - * - * Copyright (c) 2018 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32_ASSERT_H -#define __STM32_ASSERT_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Includes ------------------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -#ifdef USE_FULL_ASSERT -/** - * @brief The assert_param macro is used for function's parameters check. - * @param expr: If expr is false, it calls assert_failed function - * which reports the name of the source file and the source - * line number of the call that failed. - * If expr is true, it returns no value. - * @retval None - */ - #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) -/* Exported functions ------------------------------------------------------- */ - void assert_failed(uint8_t* file, uint32_t line); -#else - #define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32_ASSERT_H */ - diff --git a/firmware/Inc/stm32f4xx_hal_conf.h b/firmware/Inc/stm32f4xx_hal_conf.h deleted file mode 100644 index d736f6f..0000000 --- a/firmware/Inc/stm32f4xx_hal_conf.h +++ /dev/null @@ -1,491 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32f4xx_hal_conf_template.h - * @author MCD Application Team - * @brief HAL configuration template file. - * This file should be copied to the application folder and renamed - * to stm32f4xx_hal_conf.h. - ****************************************************************************** - * @attention - * - * Copyright (c) 2017 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CONF_H -#define __STM32F4xx_HAL_CONF_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ - -/* ########################## Module Selection ############################## */ -/** - * @brief This is the list of modules to be used in the HAL driver - */ -#define HAL_MODULE_ENABLED - - #define HAL_ADC_MODULE_ENABLED -/* #define HAL_CRYP_MODULE_ENABLED */ -/* #define HAL_CAN_MODULE_ENABLED */ -/* #define HAL_CRC_MODULE_ENABLED */ -/* #define HAL_CAN_LEGACY_MODULE_ENABLED */ -/* #define HAL_CRYP_MODULE_ENABLED */ -/* #define HAL_DAC_MODULE_ENABLED */ -/* #define HAL_DCMI_MODULE_ENABLED */ -/* #define HAL_DMA2D_MODULE_ENABLED */ -/* #define HAL_ETH_MODULE_ENABLED */ -/* #define HAL_NAND_MODULE_ENABLED */ -/* #define HAL_NOR_MODULE_ENABLED */ -/* #define HAL_PCCARD_MODULE_ENABLED */ -/* #define HAL_SRAM_MODULE_ENABLED */ -/* #define HAL_SDRAM_MODULE_ENABLED */ -/* #define HAL_HASH_MODULE_ENABLED */ -/* #define HAL_I2C_MODULE_ENABLED */ -/* #define HAL_I2S_MODULE_ENABLED */ -/* #define HAL_IWDG_MODULE_ENABLED */ -/* #define HAL_LTDC_MODULE_ENABLED */ -/* #define HAL_RNG_MODULE_ENABLED */ -/* #define HAL_RTC_MODULE_ENABLED */ -/* #define HAL_SAI_MODULE_ENABLED */ -/* #define HAL_SD_MODULE_ENABLED */ -/* #define HAL_MMC_MODULE_ENABLED */ -#define HAL_SPI_MODULE_ENABLED -#define HAL_TIM_MODULE_ENABLED -#define HAL_UART_MODULE_ENABLED -/* #define HAL_USART_MODULE_ENABLED */ -/* #define HAL_IRDA_MODULE_ENABLED */ -/* #define HAL_SMARTCARD_MODULE_ENABLED */ -/* #define HAL_SMBUS_MODULE_ENABLED */ -/* #define HAL_WWDG_MODULE_ENABLED */ -/* #define HAL_PCD_MODULE_ENABLED */ -/* #define HAL_HCD_MODULE_ENABLED */ -/* #define HAL_DSI_MODULE_ENABLED */ -/* #define HAL_QSPI_MODULE_ENABLED */ -/* #define HAL_QSPI_MODULE_ENABLED */ -/* #define HAL_CEC_MODULE_ENABLED */ -/* #define HAL_FMPI2C_MODULE_ENABLED */ -/* #define HAL_FMPSMBUS_MODULE_ENABLED */ -/* #define HAL_SPDIFRX_MODULE_ENABLED */ -/* #define HAL_DFSDM_MODULE_ENABLED */ -/* #define HAL_LPTIM_MODULE_ENABLED */ -#define HAL_GPIO_MODULE_ENABLED -#define HAL_EXTI_MODULE_ENABLED -#define HAL_DMA_MODULE_ENABLED -#define HAL_RCC_MODULE_ENABLED -#define HAL_FLASH_MODULE_ENABLED -#define HAL_PWR_MODULE_ENABLED -#define HAL_CORTEX_MODULE_ENABLED - -/* ########################## HSE/HSI Values adaptation ##################### */ -/** - * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. - * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). - */ -#if !defined (HSE_VALUE) - #define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */ -#endif /* HSE_VALUE */ - -#if !defined (HSE_STARTUP_TIMEOUT) - #define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */ -#endif /* HSE_STARTUP_TIMEOUT */ - -/** - * @brief Internal High Speed oscillator (HSI) value. - * This value is used by the RCC HAL module to compute the system frequency - * (when HSI is used as system clock source, directly or through the PLL). - */ -#if !defined (HSI_VALUE) - #define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/ -#endif /* HSI_VALUE */ - -/** - * @brief Internal Low Speed oscillator (LSI) value. - */ -#if !defined (LSI_VALUE) - #define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/ -#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz - The real value may vary depending on the variations - in voltage and temperature.*/ -/** - * @brief External Low Speed oscillator (LSE) value. - */ -#if !defined (LSE_VALUE) - #define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */ -#endif /* LSE_VALUE */ - -#if !defined (LSE_STARTUP_TIMEOUT) - #define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */ -#endif /* LSE_STARTUP_TIMEOUT */ - -/** - * @brief External clock source for I2S peripheral - * This value is used by the I2S HAL module to compute the I2S clock source - * frequency, this source is inserted directly through I2S_CKIN pad. - */ -#if !defined (EXTERNAL_CLOCK_VALUE) - #define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External audio frequency in Hz*/ -#endif /* EXTERNAL_CLOCK_VALUE */ - -/* Tip: To avoid modifying this file each time you need to use different HSE, - === you can define the HSE value in your toolchain compiler preprocessor. */ - -/* ########################### System Configuration ######################### */ -/** - * @brief This is the HAL system configuration section - */ -#define VDD_VALUE 3300U /*!< Value of VDD in mv */ -#define TICK_INT_PRIORITY 15U /*!< tick interrupt priority */ -#define USE_RTOS 0U -#define PREFETCH_ENABLE 1U -#define INSTRUCTION_CACHE_ENABLE 1U -#define DATA_CACHE_ENABLE 1U - -#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ -#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */ -#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ -#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */ -#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ -#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */ -#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */ -#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */ -#define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */ -#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ -#define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */ -#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ -#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ -#define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */ -#define USE_HAL_FMPSMBUS_REGISTER_CALLBACKS 0U /* FMPSMBUS register callback disabled */ -#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ -#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ -#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */ -#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */ -#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */ -#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ -#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ -#define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */ -#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */ -#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */ -#define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */ -#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */ -#define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */ -#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */ -#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */ -#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */ -#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ -#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */ -#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */ -#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ -#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ -#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ -#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ -#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ - -/* ########################## Assert Selection ############################## */ -/** - * @brief Uncomment the line below to expanse the "assert_param" macro in the - * HAL drivers code - */ -/* #define USE_FULL_ASSERT 1U */ - -/* ################## Ethernet peripheral configuration ##################### */ - -/* Section 1 : Ethernet peripheral configuration */ - -/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */ -#define MAC_ADDR0 2U -#define MAC_ADDR1 0U -#define MAC_ADDR2 0U -#define MAC_ADDR3 0U -#define MAC_ADDR4 0U -#define MAC_ADDR5 0U - -/* Definition of the Ethernet driver buffers size and count */ -#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ -#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ -#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ -#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ - -/* Section 2: PHY configuration section */ - -/* DP83848_PHY_ADDRESS Address*/ -#define DP83848_PHY_ADDRESS 0x01U -/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ -#define PHY_RESET_DELAY 0x000000FFU -/* PHY Configuration delay */ -#define PHY_CONFIG_DELAY 0x00000FFFU - -#define PHY_READ_TO 0x0000FFFFU -#define PHY_WRITE_TO 0x0000FFFFU - -/* Section 3: Common PHY Registers */ - -#define PHY_BCR ((uint16_t)0x0000U) /*!< Transceiver Basic Control Register */ -#define PHY_BSR ((uint16_t)0x0001U) /*!< Transceiver Basic Status Register */ - -#define PHY_RESET ((uint16_t)0x8000U) /*!< PHY Reset */ -#define PHY_LOOPBACK ((uint16_t)0x4000U) /*!< Select loop-back mode */ -#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100U) /*!< Set the full-duplex mode at 100 Mb/s */ -#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000U) /*!< Set the half-duplex mode at 100 Mb/s */ -#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100U) /*!< Set the full-duplex mode at 10 Mb/s */ -#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000U) /*!< Set the half-duplex mode at 10 Mb/s */ -#define PHY_AUTONEGOTIATION ((uint16_t)0x1000U) /*!< Enable auto-negotiation function */ -#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200U) /*!< Restart auto-negotiation function */ -#define PHY_POWERDOWN ((uint16_t)0x0800U) /*!< Select the power down mode */ -#define PHY_ISOLATE ((uint16_t)0x0400U) /*!< Isolate PHY from MII */ - -#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */ -#define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */ -#define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */ - -/* Section 4: Extended PHY Registers */ -#define PHY_SR ((uint16_t)0x10U) /*!< PHY status register Offset */ - -#define PHY_SPEED_STATUS ((uint16_t)0x0002U) /*!< PHY Speed mask */ -#define PHY_DUPLEX_STATUS ((uint16_t)0x0004U) /*!< PHY Duplex mask */ - -/* ################## SPI peripheral configuration ########################## */ - -/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver -* Activated: CRC code is present inside driver -* Deactivated: CRC code cleaned from driver -*/ - -#define USE_SPI_CRC 0U - -/* Includes ------------------------------------------------------------------*/ -/** - * @brief Include module's header file - */ - -#ifdef HAL_RCC_MODULE_ENABLED - #include "stm32f4xx_hal_rcc.h" -#endif /* HAL_RCC_MODULE_ENABLED */ - -#ifdef HAL_GPIO_MODULE_ENABLED - #include "stm32f4xx_hal_gpio.h" -#endif /* HAL_GPIO_MODULE_ENABLED */ - -#ifdef HAL_EXTI_MODULE_ENABLED - #include "stm32f4xx_hal_exti.h" -#endif /* HAL_EXTI_MODULE_ENABLED */ - -#ifdef HAL_DMA_MODULE_ENABLED - #include "stm32f4xx_hal_dma.h" -#endif /* HAL_DMA_MODULE_ENABLED */ - -#ifdef HAL_CORTEX_MODULE_ENABLED - #include "stm32f4xx_hal_cortex.h" -#endif /* HAL_CORTEX_MODULE_ENABLED */ - -#ifdef HAL_ADC_MODULE_ENABLED - #include "stm32f4xx_hal_adc.h" -#endif /* HAL_ADC_MODULE_ENABLED */ - -#ifdef HAL_CAN_MODULE_ENABLED - #include "stm32f4xx_hal_can.h" -#endif /* HAL_CAN_MODULE_ENABLED */ - -#ifdef HAL_CAN_LEGACY_MODULE_ENABLED - #include "stm32f4xx_hal_can_legacy.h" -#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */ - -#ifdef HAL_CRC_MODULE_ENABLED - #include "stm32f4xx_hal_crc.h" -#endif /* HAL_CRC_MODULE_ENABLED */ - -#ifdef HAL_CRYP_MODULE_ENABLED - #include "stm32f4xx_hal_cryp.h" -#endif /* HAL_CRYP_MODULE_ENABLED */ - -#ifdef HAL_DMA2D_MODULE_ENABLED - #include "stm32f4xx_hal_dma2d.h" -#endif /* HAL_DMA2D_MODULE_ENABLED */ - -#ifdef HAL_DAC_MODULE_ENABLED - #include "stm32f4xx_hal_dac.h" -#endif /* HAL_DAC_MODULE_ENABLED */ - -#ifdef HAL_DCMI_MODULE_ENABLED - #include "stm32f4xx_hal_dcmi.h" -#endif /* HAL_DCMI_MODULE_ENABLED */ - -#ifdef HAL_ETH_MODULE_ENABLED - #include "stm32f4xx_hal_eth.h" -#endif /* HAL_ETH_MODULE_ENABLED */ - -#ifdef HAL_FLASH_MODULE_ENABLED - #include "stm32f4xx_hal_flash.h" -#endif /* HAL_FLASH_MODULE_ENABLED */ - -#ifdef HAL_SRAM_MODULE_ENABLED - #include "stm32f4xx_hal_sram.h" -#endif /* HAL_SRAM_MODULE_ENABLED */ - -#ifdef HAL_NOR_MODULE_ENABLED - #include "stm32f4xx_hal_nor.h" -#endif /* HAL_NOR_MODULE_ENABLED */ - -#ifdef HAL_NAND_MODULE_ENABLED - #include "stm32f4xx_hal_nand.h" -#endif /* HAL_NAND_MODULE_ENABLED */ - -#ifdef HAL_PCCARD_MODULE_ENABLED - #include "stm32f4xx_hal_pccard.h" -#endif /* HAL_PCCARD_MODULE_ENABLED */ - -#ifdef HAL_SDRAM_MODULE_ENABLED - #include "stm32f4xx_hal_sdram.h" -#endif /* HAL_SDRAM_MODULE_ENABLED */ - -#ifdef HAL_HASH_MODULE_ENABLED - #include "stm32f4xx_hal_hash.h" -#endif /* HAL_HASH_MODULE_ENABLED */ - -#ifdef HAL_I2C_MODULE_ENABLED - #include "stm32f4xx_hal_i2c.h" -#endif /* HAL_I2C_MODULE_ENABLED */ - -#ifdef HAL_SMBUS_MODULE_ENABLED - #include "stm32f4xx_hal_smbus.h" -#endif /* HAL_SMBUS_MODULE_ENABLED */ - -#ifdef HAL_I2S_MODULE_ENABLED - #include "stm32f4xx_hal_i2s.h" -#endif /* HAL_I2S_MODULE_ENABLED */ - -#ifdef HAL_IWDG_MODULE_ENABLED - #include "stm32f4xx_hal_iwdg.h" -#endif /* HAL_IWDG_MODULE_ENABLED */ - -#ifdef HAL_LTDC_MODULE_ENABLED - #include "stm32f4xx_hal_ltdc.h" -#endif /* HAL_LTDC_MODULE_ENABLED */ - -#ifdef HAL_PWR_MODULE_ENABLED - #include "stm32f4xx_hal_pwr.h" -#endif /* HAL_PWR_MODULE_ENABLED */ - -#ifdef HAL_RNG_MODULE_ENABLED - #include "stm32f4xx_hal_rng.h" -#endif /* HAL_RNG_MODULE_ENABLED */ - -#ifdef HAL_RTC_MODULE_ENABLED - #include "stm32f4xx_hal_rtc.h" -#endif /* HAL_RTC_MODULE_ENABLED */ - -#ifdef HAL_SAI_MODULE_ENABLED - #include "stm32f4xx_hal_sai.h" -#endif /* HAL_SAI_MODULE_ENABLED */ - -#ifdef HAL_SD_MODULE_ENABLED - #include "stm32f4xx_hal_sd.h" -#endif /* HAL_SD_MODULE_ENABLED */ - -#ifdef HAL_SPI_MODULE_ENABLED - #include "stm32f4xx_hal_spi.h" -#endif /* HAL_SPI_MODULE_ENABLED */ - -#ifdef HAL_TIM_MODULE_ENABLED - #include "stm32f4xx_hal_tim.h" -#endif /* HAL_TIM_MODULE_ENABLED */ - -#ifdef HAL_UART_MODULE_ENABLED - #include "stm32f4xx_hal_uart.h" -#endif /* HAL_UART_MODULE_ENABLED */ - -#ifdef HAL_USART_MODULE_ENABLED - #include "stm32f4xx_hal_usart.h" -#endif /* HAL_USART_MODULE_ENABLED */ - -#ifdef HAL_IRDA_MODULE_ENABLED - #include "stm32f4xx_hal_irda.h" -#endif /* HAL_IRDA_MODULE_ENABLED */ - -#ifdef HAL_SMARTCARD_MODULE_ENABLED - #include "stm32f4xx_hal_smartcard.h" -#endif /* HAL_SMARTCARD_MODULE_ENABLED */ - -#ifdef HAL_WWDG_MODULE_ENABLED - #include "stm32f4xx_hal_wwdg.h" -#endif /* HAL_WWDG_MODULE_ENABLED */ - -#ifdef HAL_PCD_MODULE_ENABLED - #include "stm32f4xx_hal_pcd.h" -#endif /* HAL_PCD_MODULE_ENABLED */ - -#ifdef HAL_HCD_MODULE_ENABLED - #include "stm32f4xx_hal_hcd.h" -#endif /* HAL_HCD_MODULE_ENABLED */ - -#ifdef HAL_DSI_MODULE_ENABLED - #include "stm32f4xx_hal_dsi.h" -#endif /* HAL_DSI_MODULE_ENABLED */ - -#ifdef HAL_QSPI_MODULE_ENABLED - #include "stm32f4xx_hal_qspi.h" -#endif /* HAL_QSPI_MODULE_ENABLED */ - -#ifdef HAL_CEC_MODULE_ENABLED - #include "stm32f4xx_hal_cec.h" -#endif /* HAL_CEC_MODULE_ENABLED */ - -#ifdef HAL_FMPI2C_MODULE_ENABLED - #include "stm32f4xx_hal_fmpi2c.h" -#endif /* HAL_FMPI2C_MODULE_ENABLED */ - -#ifdef HAL_FMPSMBUS_MODULE_ENABLED - #include "stm32f4xx_hal_fmpsmbus.h" -#endif /* HAL_FMPSMBUS_MODULE_ENABLED */ - -#ifdef HAL_SPDIFRX_MODULE_ENABLED - #include "stm32f4xx_hal_spdifrx.h" -#endif /* HAL_SPDIFRX_MODULE_ENABLED */ - -#ifdef HAL_DFSDM_MODULE_ENABLED - #include "stm32f4xx_hal_dfsdm.h" -#endif /* HAL_DFSDM_MODULE_ENABLED */ - -#ifdef HAL_LPTIM_MODULE_ENABLED - #include "stm32f4xx_hal_lptim.h" -#endif /* HAL_LPTIM_MODULE_ENABLED */ - -#ifdef HAL_MMC_MODULE_ENABLED - #include "stm32f4xx_hal_mmc.h" -#endif /* HAL_MMC_MODULE_ENABLED */ - -/* Exported macro ------------------------------------------------------------*/ -#ifdef USE_FULL_ASSERT -/** - * @brief The assert_param macro is used for function's parameters check. - * @param expr If expr is false, it calls assert_failed function - * which reports the name of the source file and the source - * line number of the call that failed. - * If expr is true, it returns no value. - * @retval None - */ - #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) -/* Exported functions ------------------------------------------------------- */ - void assert_failed(uint8_t* file, uint32_t line); -#else - #define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CONF_H */ diff --git a/firmware/Inc/stm32f4xx_it.h b/firmware/Inc/stm32f4xx_it.h deleted file mode 100644 index 775246e..0000000 --- a/firmware/Inc/stm32f4xx_it.h +++ /dev/null @@ -1,72 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32f4xx_it.h - * @brief This file contains the headers of the interrupt handlers. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_IT_H -#define __STM32F4xx_IT_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* Exported types ------------------------------------------------------------*/ -/* USER CODE BEGIN ET */ - -/* USER CODE END ET */ - -/* Exported constants --------------------------------------------------------*/ -/* USER CODE BEGIN EC */ - -/* USER CODE END EC */ - -/* Exported macro ------------------------------------------------------------*/ -/* USER CODE BEGIN EM */ - -/* USER CODE END EM */ - -/* Exported functions prototypes ---------------------------------------------*/ -void NMI_Handler(void); -void HardFault_Handler(void); -void MemManage_Handler(void); -void BusFault_Handler(void); -void UsageFault_Handler(void); -void SVC_Handler(void); -void DebugMon_Handler(void); -void PendSV_Handler(void); -void SysTick_Handler(void); -void ADC_IRQHandler(void); -void TIM1_BRK_TIM9_IRQHandler(void); -void TIM1_CC_IRQHandler(void); -void TIM2_IRQHandler(void); -void TIM3_IRQHandler(void); -void SPI2_IRQHandler(void); -/* USER CODE BEGIN EFP */ -extern volatile FlagStatus flag_10kHz; -/* USER CODE END EFP */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_IT_H */ diff --git a/firmware/Inc/tim.h b/firmware/Inc/tim.h deleted file mode 100644 index cd8e183..0000000 --- a/firmware/Inc/tim.h +++ /dev/null @@ -1,63 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file tim.h - * @brief This file contains all the function prototypes for - * the tim.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __TIM_H__ -#define __TIM_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -extern TIM_HandleTypeDef htim1; - -extern TIM_HandleTypeDef htim2; - -extern TIM_HandleTypeDef htim3; - -extern TIM_HandleTypeDef htim5; - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_TIM1_Init(void); -void MX_TIM2_Init(void); -void MX_TIM3_Init(void); -void MX_TIM5_Init(void); - -void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); - -/* USER CODE BEGIN Prototypes */ - extern volatile FlagStatus flag_10kHz; -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __TIM_H__ */ - diff --git a/firmware/Inc/usart.h b/firmware/Inc/usart.h deleted file mode 100644 index 98e3327..0000000 --- a/firmware/Inc/usart.h +++ /dev/null @@ -1,54 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file usart.h - * @brief This file contains all the function prototypes for - * the usart.c file - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USART_H__ -#define __USART_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ -#include -#include -#include -/* USER CODE END Includes */ - -extern UART_HandleTypeDef huart1; - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_USART1_UART_Init(void); - -/* USER CODE BEGIN Prototypes */ -int _write(int file, char *data, int len); -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __USART_H__ */ - diff --git a/firmware/Lib/foc/foc.c b/firmware/Lib/foc/foc.c deleted file mode 100644 index 2689460..0000000 --- a/firmware/Lib/foc/foc.c +++ /dev/null @@ -1,188 +0,0 @@ -#include "foc.h" - -#include - -#include "pid.h" -foc_motor_t Motor_6208; - -float _SIN(float theta) { - return sin(theta); -} - -float _COS(float theta) { - return cos(theta); -} - -#define SQRT_3 1.73205080757f - -void get_Angle(foc_motor_t *__obj, float AbsoulteAngle) { - __obj->machine_angle = AbsoulteAngle - __obj->Encoder_ZeroPoint; - - if (__obj->machine_angle < 0) { - __obj->machine_angle += (2 * PI); - } - - __obj->electron_angle = __obj->polar_pair * __obj->machine_angle; -} - -// Feedback Part - -void Current_Sample(foc_motor_t *__obj) {} - -void Clark_Trans(foc_motor_t *__obj) {} - -void Park_Trans(foc_motor_t *__obj) {} - -void Inv_Park_Trans(foc_motor_t *__obj) { - float theta = __obj->electron_angle; - __obj->inv_park_U_alpha = _COS(theta) * __obj->current_loop_Ud - _SIN(theta) * __obj->current_loop_Uq; - __obj->inv_park_U_beta = _SIN(theta) * __obj->current_loop_Ud + _COS(theta) * __obj->current_loop_Uq; -} - - - -/// @brief Функция преобразования вектора напряжения в ШИМ сигнал для управления мотором -/// @param __obj -/// @param htim -void SVPWM_Trans(foc_motor_t *__obj, TIM_HandleTypeDef *htim) { -// float Udc = sqrtf(powf(__obj->inv_park_U_alpha, 2) + powf(__obj->inv_park_U_beta, 2)); // 总电压向量模值，即输出电压大小 - float Udc = __obj->Udc; - float Ual = __obj->inv_park_U_alpha, Ubt = __obj->inv_park_U_beta; - float Ts = 2399.0f; - float X, Y, Z; - uint8_t A, B, C, N; // нужно ли оценивать сектор в котором находится вектор - float Ta, Tb, Tc, t1, t2; // промежутки времени для каждого сектора - - X = SQRT_3 * Ts * Ubt / Udc; - Y = SQRT_3 * Ts * (SQRT_3 * Ual + Ubt) / Udc / 2; - Z = SQRT_3 * Ts * (-SQRT_3 * Ual + Ubt) / Udc / 2; - - if (Ubt < -SQRT_3 * Ual) A = 1; else A = 0; - if (Ubt < SQRT_3 * Ual) B = 1; else B = 0; - if (Ubt > 0) C = 1; else C = 0; - N = 4 * A + 2 * B + C; - - if (N == 3) { - t1 = -Z; - t2 = X; - Ta = 0.5f * (Ts - t1 - t2); - Tb = Ta + t1; - Tc = Tb + t2; - __obj->svpwm_Ua = (uint16_t) (Ts - Ta); - __obj->svpwm_Ub = (uint16_t) (Ts - Tb); - __obj->svpwm_Uc = (uint16_t) (Ts - Tc); - - } else if (N == 1) { - t1 = Z; - t2 = Y; - Ta = 0.5f * (Ts - t1 - t2); - Tb = Ta + t1; - Tc = Tb + t2; - __obj->svpwm_Ua = (uint16_t) (Ts - Tb); - __obj->svpwm_Ub = (uint16_t) (Ts - Ta); - __obj->svpwm_Uc = (uint16_t) (Ts - Tc); - - } else if (N == 5) { - t1 = X; - t2 = -Y; - Ta = 0.5f * (Ts - t1 - t2); - Tb = Ta + t1; - Tc = Tb + t2; - __obj->svpwm_Ua = (uint16_t) (Ts - Tc); - __obj->svpwm_Ub = (uint16_t) (Ts - Ta); - __obj->svpwm_Uc = (uint16_t) (Ts - Tb); - - } else if (N == 4) { - t1 = -X; - t2 = Z; - Ta = 0.5f * (Ts - t1 - t2); - Tb = Ta + t1; - Tc = Tb + t2; - __obj->svpwm_Ua = (uint16_t) (Ts - Tc); - __obj->svpwm_Ub = (uint16_t) (Ts - Tb); - __obj->svpwm_Uc = (uint16_t) (Ts - Ta); - - } else if (N == 6) { - t1 = -Y; - t2 = -Z; - Ta = 0.5f * (Ts - t1 - t2); - Tb = Ta + t1; - Tc = Tb + t2; - __obj->svpwm_Ua = (uint16_t) (Ts - Tb); - __obj->svpwm_Ub = (uint16_t) (Ts - Tc); - __obj->svpwm_Uc = (uint16_t) (Ts - Ta); - - } else { - t1 = Y; - t2 = -X; - Ta = 0.5f * (Ts - t1 - t2); - Tb = Ta + t1; - Tc = Tb + t2; - __obj->svpwm_Ua = (uint16_t) (Ts - Ta); - __obj->svpwm_Ub = (uint16_t) (Ts - Tc); - __obj->svpwm_Uc = (uint16_t) (Ts - Tb); - - } - - __obj->set_pwm(htim, __obj->svpwm_Ua, __obj->svpwm_Ub, __obj->svpwm_Uc); -} - -void set_torque(foc_motor_t *__obj, float Uq) { - __obj->current_loop_Ud = 0; - __obj->current_loop_Uq = Uq; -} - - - -/// @brief Функция обработки границы для углов и токов -/// @param ref -/// @param exp -/// @param max -/// @return -float boundary_process(float ref, float exp, float max) { - if (ref - exp >= (max / 2)) { - return ref - max; - } else if (ref - exp <= -max / 2) { - return ref + max; - } else { - return ref; - } -} - -pid_type_t position_loop; - -void foc_init(foc_motor_t *__obj, float polar_pair, float Encoder_ZP, float Udc, set_pwm_handler set_pwm, get_raw_angle raw_angle) { - __obj->polar_pair = polar_pair; - __obj->machine_angle = 0; - __obj->electron_angle = 0; - __obj->Encoder_ZeroPoint = Encoder_ZP; - __obj->Udc = Udc; - __obj->set_pwm = set_pwm; - __obj->raw_angle = raw_angle; - pid_init(&position_loop, PID_POSITION, 5, 3, 3, __obj->Udc, __obj->Udc * 0.8f); -} - -void foc_run(foc_motor_t *__obj, TIM_HandleTypeDef *htim, SPI_HandleTypeDef *hspi) { - get_Angle(__obj, 2.0f * PI * __obj->raw_angle(hspi, NULL) / 1024); - static float T_count = 0; - T_count += 0.07; -// static float target_angle = 1.5*_SIN(T_count) * _SIN(0.05*T_count);//expf(-0.01*T_count); - static float target_angle = 0;//expf(-0.01*T_count); - - target_angle = 2.0f * PI * _SIN(T_count); - - float angle_bias = boundary_process(__obj->machine_angle, target_angle, 2 * PI); - float torque = pid_calc(&position_loop, angle_bias, target_angle); - - set_torque(__obj, torque); - -// printf("%.2f, %.2f, %.2f\n", 180 / PI * __obj->Encoder_ZeroPoint, 180 / PI * __obj->machine_angle, target_angle); - // printf("%.2f, %.2f, %.2f\n", angle_bias, target_angle, torque); - - Inv_Park_Trans(__obj); - SVPWM_Trans(__obj, htim); - // target_angle += PI / 3; -// printf("%d,%d,%d\n", __obj->svpwm_Ua, __obj->svpwm_Ub, __obj->svpwm_Uc); - printf("Machine Angle: %.2f, Target Angle: %.2f, Torque: %.2f\n", 180 / PI * __obj->machine_angle, 180 / PI * target_angle, torque); - // target_angle += 10; -} \ No newline at end of file diff --git a/firmware/Lib/foc/foc.h b/firmware/Lib/foc/foc.h deleted file mode 100644 index a8800e0..0000000 --- a/firmware/Lib/foc/foc.h +++ /dev/null @@ -1,52 +0,0 @@ -#pragma once -#include "stm32f4xx_hal.h" -#include -#include - -#define PI 3.14159265358979323846f - -typedef void (*set_pwm_handler)(TIM_HandleTypeDef *htim, uint32_t phaseA, uint32_t phaseB, uint32_t phaseC); -typedef uint16_t (*get_raw_angle)(SPI_HandleTypeDef *hspi, uint8_t *status); - -typedef struct __FOC_MOTOR_CONTROL -{ - float polar_pair; - float machine_angle; - float electron_angle; - float Encoder_ZeroPoint; - float Udc; - - // output - float current_loop_Ud; - float current_loop_Uq; - - float inv_park_U_alpha; - float inv_park_U_beta; - - uint16_t svpwm_Ua; - uint16_t svpwm_Ub; - uint16_t svpwm_Uc; - set_pwm_handler set_pwm; - get_raw_angle raw_angle; -#if 0 -// input - float Phase_Ia; - float Phase_Ib; - float Phase_Ic; - - float clark_I_alpha; - float clark_I_beta; - - float park_Id; - float park_Iq; -#endif - -} foc_motor_t; - -void set_torque(foc_motor_t *__obj, float Uq); - -void foc_init(foc_motor_t *__obj, float polar_pair, float Encoder_ZP, float Udc, set_pwm_handler set_pwm, get_raw_angle raw_angle); - -void foc_run(foc_motor_t *__obj, TIM_HandleTypeDef *htim, SPI_HandleTypeDef *hspi); - -extern foc_motor_t Motor_6208; \ No newline at end of file diff --git a/firmware/Lib/helpers/helpers.c b/firmware/Lib/helpers/helpers.c deleted file mode 100644 index 4984824..0000000 --- a/firmware/Lib/helpers/helpers.c +++ /dev/null @@ -1,13 +0,0 @@ -#include "helpers.h" -#include - -void print_for_debug(UART_HandleTypeDef *huart1, float values[4]) { - const uint8_t size = 4 + (sizeof(float) * 4); - char buffer[4 + (sizeof(float) * 4)]; - buffer[0] = '\xDE'; - buffer[1] = '\xAD'; - memcpy(&buffer[2], values, sizeof(float) * 4); - buffer[2 + (sizeof(float) * 4)] = '\xBE'; - buffer[2 + (sizeof(float) * 4) + 1] = '\xAF'; - HAL_UART_Transmit(huart1, (uint8_t *) buffer, size, HAL_MAX_DELAY); -} \ No newline at end of file diff --git a/firmware/Lib/helpers/helpers.h b/firmware/Lib/helpers/helpers.h deleted file mode 100644 index a5bfe5f..0000000 --- a/firmware/Lib/helpers/helpers.h +++ /dev/null @@ -1,4 +0,0 @@ -#pragma once -#include "stm32f4xx_hal.h" - -void print_for_debug(UART_HandleTypeDef *huart1, float values[4]); \ No newline at end of file diff --git a/firmware/Lib/motor/motor.c b/firmware/Lib/motor/motor.c deleted file mode 100644 index b02665e..0000000 --- a/firmware/Lib/motor/motor.c +++ /dev/null @@ -1,22 +0,0 @@ -#include "motor.h" - -void start_motor_control(TIM_HandleTypeDef *htim, uint32_t channel1, uint32_t channel2, uint32_t channel3) -{ - HAL_TIM_PWM_Start(htim, channel1); - HAL_TIM_PWM_Start(htim, channel2); - HAL_TIM_PWM_Start(htim, channel3); -} - -void stop_motor_control(TIM_HandleTypeDef *htim, uint32_t channel1, uint32_t channel2, uint32_t channel3) -{ - HAL_TIM_PWM_Stop(htim, channel1); - HAL_TIM_PWM_Stop(htim, channel2); - HAL_TIM_PWM_Stop(htim, channel3); -} - -void set_pwm(TIM_HandleTypeDef *htim, uint32_t phaseA, uint32_t phaseB, uint32_t phaseC) -{ - __HAL_TIM_SET_COMPARE(htim, TIM_CHANNEL_1, phaseA); - __HAL_TIM_SET_COMPARE(htim, TIM_CHANNEL_2, phaseB); - __HAL_TIM_SET_COMPARE(htim, TIM_CHANNEL_3, phaseC); -} diff --git a/firmware/Lib/motor/motor.h b/firmware/Lib/motor/motor.h deleted file mode 100644 index 2df550f..0000000 --- a/firmware/Lib/motor/motor.h +++ /dev/null @@ -1,8 +0,0 @@ -#pragma once -#include "stm32f4xx_hal.h" - -void start_motor_control(TIM_HandleTypeDef *htim, uint32_t channel1, uint32_t channel2, uint32_t channel3); - -void stop_motor_control(TIM_HandleTypeDef *htim, uint32_t channel1, uint32_t channel2, uint32_t channel3); - -void set_pwm(TIM_HandleTypeDef *htim, uint32_t phaseA, uint32_t phaseB, uint32_t phaseC); \ No newline at end of file diff --git a/firmware/Lib/pid/pid.c b/firmware/Lib/pid/pid.c deleted file mode 100644 index ecff980..0000000 --- a/firmware/Lib/pid/pid.c +++ /dev/null @@ -1,82 +0,0 @@ -#include "pid.h" -#include -#include - -#define LimitMax(input, max) \ - { \ - if (input > max) \ - { \ - input = max; \ - } \ - else if (input < -max) \ - { \ - input = -max; \ - } \ - } - -void pid_init(pid_type_t *pid, uint8_t mode, float Kp, float Ki, float Kd, float max_out, float max_iout) -{ - if (pid == NULL) - { - return; - } - pid->mode = mode; - pid->Kp = Kp; - pid->Ki = Ki; - pid->Kd = Kd; - pid->max_out = max_out; - pid->max_iout = max_iout; - pid->Dbuf[0] = pid->Dbuf[1] = pid->Dbuf[2] = 0.0f; - pid->error[0] = pid->error[1] = pid->error[2] = pid->Pout = pid->Iout = pid->Dout = pid->out = 0.0f; -} - -float pid_calc(pid_type_t *pid, float ref, float set) -{ - if (pid == NULL) - { - return 0.0f; - } - - pid->error[2] = pid->error[1]; - pid->error[1] = pid->error[0]; - pid->set = set; - pid->fdb = ref; - pid->error[0] = set - ref; - if (pid->mode == PID_POSITION) - { - pid->Pout = pid->Kp * pid->error[0]; - pid->Iout += pid->Ki * pid->error[0]; - pid->Dbuf[2] = pid->Dbuf[1]; - pid->Dbuf[1] = pid->Dbuf[0]; - pid->Dbuf[0] = (pid->error[0] - pid->error[1]); - pid->Dout = pid->Kd * pid->Dbuf[0]; - LimitMax(pid->Iout, pid->max_iout); - pid->out = pid->Pout + pid->Iout + pid->Dout; - LimitMax(pid->out, pid->max_out); - } - else if (pid->mode == PID_DELTA) - { - pid->Pout = pid->Kp * (pid->error[0] - pid->error[1]); - pid->Iout = pid->Ki * pid->error[0]; - pid->Dbuf[2] = pid->Dbuf[1]; - pid->Dbuf[1] = pid->Dbuf[0]; - pid->Dbuf[0] = (pid->error[0] - 2.0f * pid->error[1] + pid->error[2]); - pid->Dout = pid->Kd * pid->Dbuf[0]; - pid->out += pid->Pout + pid->Iout + pid->Dout; - LimitMax(pid->out, pid->max_out); - } - return pid->out; -} - -void pid_clear(pid_type_t *pid) -{ - if (pid == NULL) - { - return; - } - - pid->error[0] = pid->error[1] = pid->error[2] = 0.0f; - pid->Dbuf[0] = pid->Dbuf[1] = pid->Dbuf[2] = 0.0f; - pid->out = pid->Pout = pid->Iout = pid->Dout = 0.0f; - pid->fdb = pid->set = 0.0f; -} \ No newline at end of file diff --git a/firmware/Lib/pid/pid.h b/firmware/Lib/pid/pid.h deleted file mode 100644 index 6b9a36f..0000000 --- a/firmware/Lib/pid/pid.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once -#include "stdint.h" - -enum PID_MODE -{ - PID_POSITION = 0, - PID_DELTA -}; - -typedef struct pid_type -{ - uint8_t mode; - // PID parameters - float Kp; - float Ki; - float Kd; - - float max_out; // max output - float max_iout; // max integral output - - float set; - float fdb; - - float out; - float Pout; - float Iout; - float Dout; - float Dbuf[3]; // diff buffer 0 save now 1 save last 2 save last last - float error[3]; // - -} pid_type_t; -extern void pid_init(pid_type_t *pid, uint8_t mode, float Kp, float Ki, float Kd, float max_out, float max_iout); -extern float pid_calc(pid_type_t *pid, float ref, float set); -extern void pid_clear(pid_type_t *pid); \ No newline at end of file diff --git a/firmware/STM32F446RETX_FLASH.ld b/firmware/STM32F446RETX_FLASH.ld deleted file mode 100644 index 88e3368..0000000 --- a/firmware/STM32F446RETX_FLASH.ld +++ /dev/null @@ -1,185 +0,0 @@ -/* -****************************************************************************** -** -** @file : LinkerScript.ld -** -** @author : Auto-generated by STM32CubeIDE -** -** @brief : Linker script for STM32F446RETx Device from STM32F4 series -** 512Kbytes FLASH -** 128Kbytes RAM -** -** Set heap size, stack size and stack location according -** to application requirements. -** -** Set memory bank area and size if external memory is used -** -** Target : STMicroelectronics STM32 -** -** Distribution: The file is distributed as is, without any warranty -** of any kind. -** -****************************************************************************** -** @attention -** -** Copyright (c) 2023 STMicroelectronics. -** All rights reserved. -** -** This software is licensed under terms that can be found in the LICENSE file -** in the root directory of this software component. -** If no LICENSE file comes with this software, it is provided AS-IS. -** -****************************************************************************** -*/ - -/* Entry Point */ -ENTRY(Reset_Handler) - -/* Highest address of the user mode stack */ -_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */ - -_Min_Heap_Size = 0x200; /* required amount of heap */ -_Min_Stack_Size = 0x400; /* required amount of stack */ - -/* Memories definition */ -MEMORY -{ - RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K - FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 512K -} - -/* Sections */ -SECTIONS -{ - /* The startup code into "FLASH" Rom type memory */ - .isr_vector : - { - . = ALIGN(4); - KEEP(*(.isr_vector)) /* Startup code */ - . = ALIGN(4); - } >FLASH - - /* The program code and other data into "FLASH" Rom type memory */ - .text : - { - . = ALIGN(4); - *(.text) /* .text sections (code) */ - *(.text*) /* .text* sections (code) */ - *(.glue_7) /* glue arm to thumb code */ - *(.glue_7t) /* glue thumb to arm code */ - *(.eh_frame) - - KEEP (*(.init)) - KEEP (*(.fini)) - - . = ALIGN(4); - _etext = .; /* define a global symbols at end of code */ - } >FLASH - - /* Constant data into "FLASH" Rom type memory */ - .rodata : - { - . = ALIGN(4); - *(.rodata) /* .rodata sections (constants, strings, etc.) */ - *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ - . = ALIGN(4); - } >FLASH - - .ARM.extab : { - . = ALIGN(4); - *(.ARM.extab* .gnu.linkonce.armextab.*) - . = ALIGN(4); - } >FLASH - - .ARM : { - . = ALIGN(4); - __exidx_start = .; - *(.ARM.exidx*) - __exidx_end = .; - . = ALIGN(4); - } >FLASH - - .preinit_array : - { - . = ALIGN(4); - PROVIDE_HIDDEN (__preinit_array_start = .); - KEEP (*(.preinit_array*)) - PROVIDE_HIDDEN (__preinit_array_end = .); - . = ALIGN(4); - } >FLASH - - .init_array : - { - . = ALIGN(4); - PROVIDE_HIDDEN (__init_array_start = .); - KEEP (*(SORT(.init_array.*))) - KEEP (*(.init_array*)) - PROVIDE_HIDDEN (__init_array_end = .); - . = ALIGN(4); - } >FLASH - - .fini_array : - { - . = ALIGN(4); - PROVIDE_HIDDEN (__fini_array_start = .); - KEEP (*(SORT(.fini_array.*))) - KEEP (*(.fini_array*)) - PROVIDE_HIDDEN (__fini_array_end = .); - . = ALIGN(4); - } >FLASH - - /* Used by the startup to initialize data */ - _sidata = LOADADDR(.data); - - /* Initialized data sections into "RAM" Ram type memory */ - .data : - { - . = ALIGN(4); - _sdata = .; /* create a global symbol at data start */ - *(.data) /* .data sections */ - *(.data*) /* .data* sections */ - *(.RamFunc) /* .RamFunc sections */ - *(.RamFunc*) /* .RamFunc* sections */ - - . = ALIGN(4); - _edata = .; /* define a global symbol at data end */ - - } >RAM AT> FLASH - - /* Uninitialized data section into "RAM" Ram type memory */ - . = ALIGN(4); - .bss : - { - /* This is used by the startup in order to initialize the .bss section */ - _sbss = .; /* define a global symbol at bss start */ - __bss_start__ = _sbss; - *(.bss) - *(.bss*) - *(COMMON) - - . = ALIGN(4); - _ebss = .; /* define a global symbol at bss end */ - __bss_end__ = _ebss; - } >RAM - - /* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */ - ._user_heap_stack : - { - . = ALIGN(8); - PROVIDE ( end = . ); - PROVIDE ( _end = . ); - . = . + _Min_Heap_Size; - . = . + _Min_Stack_Size; - . = ALIGN(8); - } >RAM - - /* Remove information from the compiler libraries */ - /DISCARD/ : - { - libc.a ( * ) - libm.a ( * ) - libgcc.a ( * ) - } - - .ARM.attributes 0 : { *(.ARM.attributes) } -} diff --git a/firmware/STM32F446RETX_RAM.ld b/firmware/STM32F446RETX_RAM.ld deleted file mode 100644 index acbad3c..0000000 --- a/firmware/STM32F446RETX_RAM.ld +++ /dev/null @@ -1,185 +0,0 @@ -/* -****************************************************************************** -** -** @file : LinkerScript.ld (debug in RAM dedicated) -** -** @author : Auto-generated by STM32CubeIDE -** -** @brief : Linker script for STM32F446RETx Device from STM32F4 series -** 512Kbytes FLASH -** 128Kbytes RAM -** -** Set heap size, stack size and stack location according -** to application requirements. -** -** Set memory bank area and size if external memory is used -** -** Target : STMicroelectronics STM32 -** -** Distribution: The file is distributed as is, without any warranty -** of any kind. -** -****************************************************************************** -** @attention -** -** Copyright (c) 2023 STMicroelectronics. -** All rights reserved. -** -** This software is licensed under terms that can be found in the LICENSE file -** in the root directory of this software component. -** If no LICENSE file comes with this software, it is provided AS-IS. -** -****************************************************************************** -*/ - -/* Entry Point */ -ENTRY(Reset_Handler) - -/* Highest address of the user mode stack */ -_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */ - -_Min_Heap_Size = 0x200; /* required amount of heap */ -_Min_Stack_Size = 0x400; /* required amount of stack */ - -/* Memories definition */ -MEMORY -{ - RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K - FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 512K -} - -/* Sections */ -SECTIONS -{ - /* The startup code into "RAM" Ram type memory */ - .isr_vector : - { - . = ALIGN(4); - KEEP(*(.isr_vector)) /* Startup code */ - . = ALIGN(4); - } >RAM - - /* The program code and other data into "RAM" Ram type memory */ - .text : - { - . = ALIGN(4); - *(.text) /* .text sections (code) */ - *(.text*) /* .text* sections (code) */ - *(.glue_7) /* glue arm to thumb code */ - *(.glue_7t) /* glue thumb to arm code */ - *(.eh_frame) - *(.RamFunc) /* .RamFunc sections */ - *(.RamFunc*) /* .RamFunc* sections */ - - KEEP (*(.init)) - KEEP (*(.fini)) - - . = ALIGN(4); - _etext = .; /* define a global symbols at end of code */ - } >RAM - - /* Constant data into "RAM" Ram type memory */ - .rodata : - { - . = ALIGN(4); - *(.rodata) /* .rodata sections (constants, strings, etc.) */ - *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ - . = ALIGN(4); - } >RAM - - .ARM.extab : { - . = ALIGN(4); - *(.ARM.extab* .gnu.linkonce.armextab.*) - . = ALIGN(4); - } >RAM - - .ARM : { - . = ALIGN(4); - __exidx_start = .; - *(.ARM.exidx*) - __exidx_end = .; - . = ALIGN(4); - } >RAM - - .preinit_array : - { - . = ALIGN(4); - PROVIDE_HIDDEN (__preinit_array_start = .); - KEEP (*(.preinit_array*)) - PROVIDE_HIDDEN (__preinit_array_end = .); - . = ALIGN(4); - } >RAM - - .init_array : - { - . = ALIGN(4); - PROVIDE_HIDDEN (__init_array_start = .); - KEEP (*(SORT(.init_array.*))) - KEEP (*(.init_array*)) - PROVIDE_HIDDEN (__init_array_end = .); - . = ALIGN(4); - } >RAM - - .fini_array : - { - . = ALIGN(4); - PROVIDE_HIDDEN (__fini_array_start = .); - KEEP (*(SORT(.fini_array.*))) - KEEP (*(.fini_array*)) - PROVIDE_HIDDEN (__fini_array_end = .); - . = ALIGN(4); - } >RAM - - /* Used by the startup to initialize data */ - _sidata = LOADADDR(.data); - - /* Initialized data sections into "RAM" Ram type memory */ - .data : - { - . = ALIGN(4); - _sdata = .; /* create a global symbol at data start */ - *(.data) /* .data sections */ - *(.data*) /* .data* sections */ - - . = ALIGN(4); - _edata = .; /* define a global symbol at data end */ - - } >RAM - - /* Uninitialized data section into "RAM" Ram type memory */ - . = ALIGN(4); - .bss : - { - /* This is used by the startup in order to initialize the .bss section */ - _sbss = .; /* define a global symbol at bss start */ - __bss_start__ = _sbss; - *(.bss) - *(.bss*) - *(COMMON) - - . = ALIGN(4); - _ebss = .; /* define a global symbol at bss end */ - __bss_end__ = _ebss; - } >RAM - - /* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */ - ._user_heap_stack : - { - . = ALIGN(8); - PROVIDE ( end = . ); - PROVIDE ( _end = . ); - . = . + _Min_Heap_Size; - . = . + _Min_Stack_Size; - . = ALIGN(8); - } >RAM - - /* Remove information from the compiler libraries */ - /DISCARD/ : - { - libc.a ( * ) - libm.a ( * ) - libgcc.a ( * ) - } - - .ARM.attributes 0 : { *(.ARM.attributes) } -} diff --git a/firmware/Src/adc.c b/firmware/Src/adc.c deleted file mode 100644 index 27f567d..0000000 --- a/firmware/Src/adc.c +++ /dev/null @@ -1,189 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file adc.c - * @brief This file provides code for the configuration - * of the ADC instances. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "adc.h" - -/* USER CODE BEGIN 0 */ -uint32_t ReadADCValue(ADC_HandleTypeDef *hadc, uint32_t channel) -{ - ADC_ChannelConfTypeDef sConfig = {0}; - - sConfig.Channel = channel; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; - - HAL_ADC_ConfigChannel(hadc, &sConfig); - HAL_ADC_Start(hadc); // Start conversion - - if (HAL_ADC_PollForConversion(hadc, HAL_MAX_DELAY) == HAL_OK) // Poll for conversion - { - return HAL_ADC_GetValue(hadc); // Get the converted value - } - else - { - return 0; // If there was an error, return 0 - } -} - -float GetCurrentFromADC(uint32_t adcValue) -{ - float voltage = (adcValue / ADCResolution) * Vref; - float current = voltage / (ShuntResistorValue * INA_gain); - // сократи значение до 0.000 - current = (int)(current * 1000) / 1000.0f; - return current; -} - -/* USER CODE END 0 */ - -ADC_HandleTypeDef hadc2; - -/* ADC2 init function */ -void MX_ADC2_Init(void) -{ - - /* USER CODE BEGIN ADC2_Init 0 */ - - /* USER CODE END ADC2_Init 0 */ - - ADC_ChannelConfTypeDef sConfig = {0}; - - /* USER CODE BEGIN ADC2_Init 1 */ - - /* USER CODE END ADC2_Init 1 */ - - /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion) - */ - hadc2.Instance = ADC2; - hadc2.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; - hadc2.Init.Resolution = ADC_RESOLUTION_12B; - hadc2.Init.ScanConvMode = ENABLE; - hadc2.Init.ContinuousConvMode = DISABLE; - hadc2.Init.DiscontinuousConvMode = DISABLE; - hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; - hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START; - hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc2.Init.NbrOfConversion = 3; - hadc2.Init.DMAContinuousRequests = DISABLE; - hadc2.Init.EOCSelection = ADC_EOC_SEQ_CONV; - if (HAL_ADC_Init(&hadc2) != HAL_OK) - { - Error_Handler(); - } - - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_15; - sConfig.Rank = 1; - sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES; - if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_8; - sConfig.Rank = 2; - if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) - { - Error_Handler(); - } - - /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time. - */ - sConfig.Channel = ADC_CHANNEL_9; - sConfig.Rank = 3; - if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN ADC2_Init 2 */ - - /* USER CODE END ADC2_Init 2 */ - -} - -void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle) -{ - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(adcHandle->Instance==ADC2) - { - /* USER CODE BEGIN ADC2_MspInit 0 */ - - /* USER CODE END ADC2_MspInit 0 */ - /* ADC2 clock enable */ - __HAL_RCC_ADC2_CLK_ENABLE(); - - __HAL_RCC_GPIOC_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**ADC2 GPIO Configuration - PC5 ------> ADC2_IN15 - PB0 ------> ADC2_IN8 - PB1 ------> ADC2_IN9 - */ - GPIO_InitStruct.Pin = GPIO_PIN_5; - GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; - GPIO_InitStruct.Pull = GPIO_NOPULL; - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; - GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; - GPIO_InitStruct.Pull = GPIO_NOPULL; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN ADC2_MspInit 1 */ - - /* USER CODE END ADC2_MspInit 1 */ - } -} - -void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle) -{ - - if(adcHandle->Instance==ADC2) - { - /* USER CODE BEGIN ADC2_MspDeInit 0 */ - - /* USER CODE END ADC2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_ADC2_CLK_DISABLE(); - - /**ADC2 GPIO Configuration - PC5 ------> ADC2_IN15 - PB0 ------> ADC2_IN8 - PB1 ------> ADC2_IN9 - */ - HAL_GPIO_DeInit(GPIOC, GPIO_PIN_5); - - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0|GPIO_PIN_1); - - /* ADC2 interrupt Deinit */ - HAL_NVIC_DisableIRQ(ADC_IRQn); - /* USER CODE BEGIN ADC2_MspDeInit 1 */ - - /* USER CODE END ADC2_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/firmware/Src/gpio.c b/firmware/Src/gpio.c deleted file mode 100644 index 1d1369b..0000000 --- a/firmware/Src/gpio.c +++ /dev/null @@ -1,153 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file gpio.c - * @brief This file provides code for the configuration - * of all used GPIO pins. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "gpio.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -/*----------------------------------------------------------------------------*/ -/* Configure GPIO */ -/*----------------------------------------------------------------------------*/ -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ - -/** Configure pins as - * Analog - * Input - * Output - * EVENT_OUT - * EXTI - PB8 ------> CAN1_RX - PB9 ------> CAN1_TX -*/ -void MX_GPIO_Init(void) -{ - - LL_GPIO_InitTypeDef GPIO_InitStruct = {0}; - - /* GPIO Ports Clock Enable */ - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOH); - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOC); - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOB); - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA); - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOD); - - /**/ - LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin); - - /**/ - LL_GPIO_ResetOutputPin(GPIOC, EN_W_Pin|DRV_RESET_Pin|DRV_SLEEP_Pin|LED1_Pin - |LED2_Pin|LED3_Pin); - - /**/ - LL_GPIO_ResetOutputPin(GPIOA, EN_U_Pin|EN_V_Pin); - - /**/ - LL_GPIO_ResetOutputPin(spi1_cs_GPIO_Port, spi1_cs_Pin); - - /**/ - GPIO_InitStruct.Pin = AS5045_CS_Pin; - GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_UP; - LL_GPIO_Init(AS5045_CS_GPIO_Port, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = EN_W_Pin; - GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN; - LL_GPIO_Init(EN_W_GPIO_Port, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = DRV_FAULT_Pin; - GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; - LL_GPIO_Init(DRV_FAULT_GPIO_Port, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = DRV_RESET_Pin|DRV_SLEEP_Pin|LED1_Pin|LED2_Pin - |LED3_Pin; - GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; - LL_GPIO_Init(GPIOC, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = EN_U_Pin|EN_V_Pin; - GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN; - LL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = spi1_cs_Pin; - GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN; - LL_GPIO_Init(spi1_cs_GPIO_Port, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = LL_GPIO_PIN_8; - GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_UP; - GPIO_InitStruct.Alternate = LL_GPIO_AF_9; - LL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /**/ - GPIO_InitStruct.Pin = LL_GPIO_PIN_9; - GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE; - GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct.Pull = LL_GPIO_PULL_NO; - GPIO_InitStruct.Alternate = LL_GPIO_AF_9; - LL_GPIO_Init(GPIOB, &GPIO_InitStruct); - -} - -/* USER CODE BEGIN 2 */ -void AS5045_CS_Init(void) { - GPIO_InitTypeDef GPIO_InitStruct = {0}; - - // Enable the GPIO clocks for CS pin - __HAL_RCC_GPIOB_CLK_ENABLE(); - - // Configure the GPIO pin for the CS as output - GPIO_InitStruct.Pin = AS5045_CS_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(AS5045_CS_GPIO_Port, &GPIO_InitStruct); - - // Set the CS pin high initially - HAL_GPIO_WritePin(AS5045_CS_GPIO_Port, AS5045_CS_Pin, GPIO_PIN_SET); -} -/* USER CODE END 2 */ diff --git a/firmware/Src/main.c b/firmware/Src/main.c deleted file mode 100644 index 29305f4..0000000 --- a/firmware/Src/main.c +++ /dev/null @@ -1,245 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file : main.c - * @brief : Main program body - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "adc.h" -#include "spi.h" -#include "tim.h" -#include "usart.h" -#include "gpio.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -#include -#include -#include -#include -#include -#include -#include -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN PTD */ - -/* 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 ---------------------------------------------------------*/ - -/* USER CODE BEGIN PV */ - -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -void SystemClock_Config(void); -static void MX_NVIC_Init(void); -/* USER CODE BEGIN PFP */ - -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ - -/* 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_TIM1_Init(); - MX_USART1_UART_Init(); - MX_TIM2_Init(); - MX_SPI2_Init(); - MX_TIM3_Init(); - MX_ADC2_Init(); - MX_TIM5_Init(); - - /* Initialize interrupts */ - MX_NVIC_Init(); - /* USER CODE BEGIN 2 */ - /// INIT DRV8313 - HAL_GPIO_WritePin(DRV_RESET_GPIO_Port, DRV_RESET_Pin, GPIO_PIN_SET); - HAL_GPIO_WritePin(DRV_SLEEP_GPIO_Port, DRV_SLEEP_Pin, GPIO_PIN_SET); - HAL_Delay(100); - HAL_GPIO_WritePin(EN_U_GPIO_Port, EN_U_Pin, GPIO_PIN_SET); - HAL_GPIO_WritePin(EN_V_GPIO_Port, EN_V_Pin, GPIO_PIN_SET); - HAL_GPIO_WritePin(EN_W_GPIO_Port, EN_W_Pin, GPIO_PIN_SET); - /* USER CODE END 2 */ - start_motor_control(&htim1, TIM_CHANNEL_1, TIM_CHANNEL_2, TIM_CHANNEL_3); - foc_init(&Motor_6208, 12, 0.0, 24.0, set_pwm, AS5045_ReadAngle); - - /* Infinite loop */ - /* USER CODE BEGIN WHILE */ - while (1) - { - if (flag_10kHz == SET) - { - foc_run(&Motor_6208, &htim1, &hspi2); - flag_10kHz = RESET; - } - /* 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}; - - /** Configure the main internal regulator output voltage - */ - __HAL_RCC_PWR_CLK_ENABLE(); - __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); - - /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; - RCC_OscInitStruct.HSEState = RCC_HSE_ON; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; - RCC_OscInitStruct.PLL.PLLM = 4; - RCC_OscInitStruct.PLL.PLLN = 180; - RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; - RCC_OscInitStruct.PLL.PLLQ = 2; - RCC_OscInitStruct.PLL.PLLR = 2; - if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) - { - Error_Handler(); - } - - /** Activate the Over-Drive mode - */ - if (HAL_PWREx_EnableOverDrive() != 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_DIV4; - RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; - - if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) - { - Error_Handler(); - } -} - -/** - * @brief NVIC Configuration. - * @retval None - */ -static void MX_NVIC_Init(void) -{ - /* TIM1_BRK_TIM9_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 1, 0); - HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn); - /* TIM1_CC_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(TIM1_CC_IRQn, 3, 0); - HAL_NVIC_EnableIRQ(TIM1_CC_IRQn); - /* TIM2_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(TIM2_IRQn, 4, 0); - HAL_NVIC_EnableIRQ(TIM2_IRQn); - /* ADC_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(ADC_IRQn, 2, 0); - HAL_NVIC_EnableIRQ(ADC_IRQn); -} - -/* 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 */ diff --git a/firmware/Src/spi.c b/firmware/Src/spi.c deleted file mode 100644 index b24d61b..0000000 --- a/firmware/Src/spi.c +++ /dev/null @@ -1,166 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file spi.c - * @brief This file provides code for the configuration - * of the SPI instances. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "spi.h" - -/* USER CODE BEGIN 0 */ - -// AS5040 diagnostic bits - -uint16_t AS5045_ReadAngle(SPI_HandleTypeDef *hspi, uint8_t *status) -{ - uint16_t rawData = 0; - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_RESET); - HAL_SPI_Receive(&hspi2, (uint8_t *)&rawData, 2, HAL_MAX_DELAY); - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_15, GPIO_PIN_SET); - *status = 0; - if (rawData & AS5040_DIAG_OC_FAULT) - { - *status |= AS5040_DIAG_OC_FAULT; - } - if (rawData & AS5040_DIAG_CO_FAULT) - { - *status |= AS5040_DIAG_CO_FAULT; - } - if (rawData & AS5040_DIAG_LIN_FAULT) - { - *status |= AS5040_DIAG_LIN_FAULT; - } - return (rawData >> 5) & 0x3FFF; -} - -float NormalizeToDegrees(uint16_t angleValue) -{ - float degrees = (angleValue * 360.0f) / 1024.0f; - return degrees; -} -/* USER CODE END 0 */ - -SPI_HandleTypeDef hspi2; - -/* SPI2 init function */ -void MX_SPI2_Init(void) -{ - - /* USER CODE BEGIN SPI2_Init 0 */ - - /* USER CODE END SPI2_Init 0 */ - - /* USER CODE BEGIN SPI2_Init 1 */ - - /* USER CODE END SPI2_Init 1 */ - hspi2.Instance = SPI2; - hspi2.Init.Mode = SPI_MODE_MASTER; - hspi2.Init.Direction = SPI_DIRECTION_2LINES; - hspi2.Init.DataSize = SPI_DATASIZE_16BIT; - hspi2.Init.CLKPolarity = SPI_POLARITY_LOW; - hspi2.Init.CLKPhase = SPI_PHASE_1EDGE; - hspi2.Init.NSS = SPI_NSS_SOFT; - hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; - hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; - hspi2.Init.TIMode = SPI_TIMODE_DISABLE; - hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; - hspi2.Init.CRCPolynomial = 10; - if (HAL_SPI_Init(&hspi2) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN SPI2_Init 2 */ - if (HAL_SPI_Init(&hspi2) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE END SPI2_Init 2 */ - -} - -void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) -{ - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(spiHandle->Instance==SPI2) - { - /* USER CODE BEGIN SPI2_MspInit 0 */ - - /* USER CODE END SPI2_MspInit 0 */ - /* SPI2 clock enable */ - __HAL_RCC_SPI2_CLK_ENABLE(); - - __HAL_RCC_GPIOC_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**SPI2 GPIO Configuration - PC1 ------> SPI2_MOSI - PB10 ------> SPI2_SCK - PB14 ------> SPI2_MISO - */ - GPIO_InitStruct.Pin = GPIO_PIN_1; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF7_SPI2; - HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_14; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* SPI2 interrupt Init */ - HAL_NVIC_SetPriority(SPI2_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(SPI2_IRQn); - /* USER CODE BEGIN SPI2_MspInit 1 */ - - /* USER CODE END SPI2_MspInit 1 */ - } -} - -void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) -{ - - if(spiHandle->Instance==SPI2) - { - /* USER CODE BEGIN SPI2_MspDeInit 0 */ - - /* USER CODE END SPI2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_SPI2_CLK_DISABLE(); - - /**SPI2 GPIO Configuration - PC1 ------> SPI2_MOSI - PB10 ------> SPI2_SCK - PB14 ------> SPI2_MISO - */ - HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1); - - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_14); - - /* SPI2 interrupt Deinit */ - HAL_NVIC_DisableIRQ(SPI2_IRQn); - /* USER CODE BEGIN SPI2_MspDeInit 1 */ - - /* USER CODE END SPI2_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/firmware/Src/stm32f4xx_hal_msp.c b/firmware/Src/stm32f4xx_hal_msp.c deleted file mode 100644 index c28f52c..0000000 --- a/firmware/Src/stm32f4xx_hal_msp.c +++ /dev/null @@ -1,81 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32f4xx_hal_msp.c - * @brief This file provides code for the MSP Initialization - * and de-Initialization codes. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN TD */ - -/* USER CODE END TD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN Define */ - -/* USER CODE END Define */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN Macro */ - -/* USER CODE END Macro */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN PV */ - -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN PFP */ - -/* USER CODE END PFP */ - -/* External functions --------------------------------------------------------*/ -/* USER CODE BEGIN ExternalFunctions */ - -/* USER CODE END ExternalFunctions */ - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ -/** - * Initializes the Global MSP. - */ -void HAL_MspInit(void) -{ - /* USER CODE BEGIN MspInit 0 */ - - /* USER CODE END MspInit 0 */ - - __HAL_RCC_SYSCFG_CLK_ENABLE(); - __HAL_RCC_PWR_CLK_ENABLE(); - - /* System interrupt init*/ - - /* USER CODE BEGIN MspInit 1 */ - - /* USER CODE END MspInit 1 */ -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/firmware/Src/stm32f4xx_it.c b/firmware/Src/stm32f4xx_it.c deleted file mode 100644 index d14a44f..0000000 --- a/firmware/Src/stm32f4xx_it.c +++ /dev/null @@ -1,303 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file stm32f4xx_it.c - * @brief Interrupt Service Routines. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" -#include "stm32f4xx_it.h" -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ -#include -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN TD */ - -/* USER CODE END TD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN PV */ - -/* USER CODE END PV */ - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN PFP */ - -/* USER CODE END PFP */ - -/* Private user code ---------------------------------------------------------*/ -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -/* External variables --------------------------------------------------------*/ -extern ADC_HandleTypeDef hadc2; -extern SPI_HandleTypeDef hspi2; -extern TIM_HandleTypeDef htim1; -extern TIM_HandleTypeDef htim2; -extern TIM_HandleTypeDef htim3; -/* USER CODE BEGIN EV */ -volatile FlagStatus flag_10kHz = RESET; -/* USER CODE END EV */ - -/******************************************************************************/ -/* Cortex-M4 Processor Interruption and Exception Handlers */ -/******************************************************************************/ -/** - * @brief This function handles Non maskable interrupt. - */ -void NMI_Handler(void) -{ - /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ - - /* USER CODE END NonMaskableInt_IRQn 0 */ - /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ - while (1) - { - } - /* USER CODE END NonMaskableInt_IRQn 1 */ -} - -/** - * @brief This function handles Hard fault interrupt. - */ -void HardFault_Handler(void) -{ - /* USER CODE BEGIN HardFault_IRQn 0 */ - - /* USER CODE END HardFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_HardFault_IRQn 0 */ - /* USER CODE END W1_HardFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Memory management fault. - */ -void MemManage_Handler(void) -{ - /* USER CODE BEGIN MemoryManagement_IRQn 0 */ - - /* USER CODE END MemoryManagement_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ - /* USER CODE END W1_MemoryManagement_IRQn 0 */ - } -} - -/** - * @brief This function handles Pre-fetch fault, memory access fault. - */ -void BusFault_Handler(void) -{ - /* USER CODE BEGIN BusFault_IRQn 0 */ - - /* USER CODE END BusFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_BusFault_IRQn 0 */ - /* USER CODE END W1_BusFault_IRQn 0 */ - } -} - -/** - * @brief This function handles Undefined instruction or illegal state. - */ -void UsageFault_Handler(void) -{ - /* USER CODE BEGIN UsageFault_IRQn 0 */ - - /* USER CODE END UsageFault_IRQn 0 */ - while (1) - { - /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ - /* USER CODE END W1_UsageFault_IRQn 0 */ - } -} - -/** - * @brief This function handles System service call via SWI instruction. - */ -void SVC_Handler(void) -{ - /* USER CODE BEGIN SVCall_IRQn 0 */ - - /* USER CODE END SVCall_IRQn 0 */ - /* USER CODE BEGIN SVCall_IRQn 1 */ - - /* USER CODE END SVCall_IRQn 1 */ -} - -/** - * @brief This function handles Debug monitor. - */ -void DebugMon_Handler(void) -{ - /* USER CODE BEGIN DebugMonitor_IRQn 0 */ - - /* USER CODE END DebugMonitor_IRQn 0 */ - /* USER CODE BEGIN DebugMonitor_IRQn 1 */ - - /* USER CODE END DebugMonitor_IRQn 1 */ -} - -/** - * @brief This function handles Pendable request for system service. - */ -void PendSV_Handler(void) -{ - /* USER CODE BEGIN PendSV_IRQn 0 */ - - /* USER CODE END PendSV_IRQn 0 */ - /* USER CODE BEGIN PendSV_IRQn 1 */ - - /* USER CODE END PendSV_IRQn 1 */ -} - -/** - * @brief This function handles System tick timer. - */ -void SysTick_Handler(void) -{ - /* USER CODE BEGIN SysTick_IRQn 0 */ - - /* USER CODE END SysTick_IRQn 0 */ - HAL_IncTick(); - /* USER CODE BEGIN SysTick_IRQn 1 */ - - /* USER CODE END SysTick_IRQn 1 */ -} - -/******************************************************************************/ -/* STM32F4xx Peripheral Interrupt Handlers */ -/* Add here the Interrupt Handlers for the used peripherals. */ -/* For the available peripheral interrupt handler names, */ -/* please refer to the startup file (startup_stm32f4xx.s). */ -/******************************************************************************/ - -/** - * @brief This function handles ADC1, ADC2 and ADC3 interrupts. - */ -void ADC_IRQHandler(void) -{ - /* USER CODE BEGIN ADC_IRQn 0 */ - - /* USER CODE END ADC_IRQn 0 */ - HAL_ADC_IRQHandler(&hadc2); - /* USER CODE BEGIN ADC_IRQn 1 */ - - /* USER CODE END ADC_IRQn 1 */ -} - -/** - * @brief This function handles TIM1 break interrupt and TIM9 global interrupt. - */ -void TIM1_BRK_TIM9_IRQHandler(void) -{ - /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */ - - /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */ - HAL_TIM_IRQHandler(&htim1); - /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */ - - /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */ -} - -/** - * @brief This function handles TIM1 capture compare interrupt. - */ -void TIM1_CC_IRQHandler(void) -{ - /* USER CODE BEGIN TIM1_CC_IRQn 0 */ - - /* USER CODE END TIM1_CC_IRQn 0 */ - HAL_TIM_IRQHandler(&htim1); - /* USER CODE BEGIN TIM1_CC_IRQn 1 */ - - /* USER CODE END TIM1_CC_IRQn 1 */ -} - -/** - * @brief This function handles TIM2 global interrupt. - */ -void TIM2_IRQHandler(void) -{ - /* USER CODE BEGIN TIM2_IRQn 0 */ - - /* USER CODE END TIM2_IRQn 0 */ - HAL_TIM_IRQHandler(&htim2); - /* USER CODE BEGIN TIM2_IRQn 1 */ - - /* USER CODE END TIM2_IRQn 1 */ -} - -/** - * @brief This function handles TIM3 global interrupt. - */ -void TIM3_IRQHandler(void) -{ - /* USER CODE BEGIN TIM3_IRQn 0 */ - // Check if update interrupt flag is set - if (__HAL_TIM_GET_FLAG(&htim3, TIM_FLAG_UPDATE) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(&htim3, TIM_IT_UPDATE) != RESET) - { - // Clear update interrupt flag - __HAL_TIM_CLEAR_IT(&htim3, TIM_IT_UPDATE); - - // Toggle or set the flag - flag_10kHz = SET; - } - } - /* USER CODE END TIM3_IRQn 0 */ - HAL_TIM_IRQHandler(&htim3); - /* USER CODE BEGIN TIM3_IRQn 1 */ - - /* USER CODE END TIM3_IRQn 1 */ -} - -/** - * @brief This function handles SPI2 global interrupt. - */ -void SPI2_IRQHandler(void) -{ - /* USER CODE BEGIN SPI2_IRQn 0 */ - - /* USER CODE END SPI2_IRQn 0 */ - HAL_SPI_IRQHandler(&hspi2); - /* USER CODE BEGIN SPI2_IRQn 1 */ - - /* USER CODE END SPI2_IRQn 1 */ -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/firmware/Src/system_stm32f4xx.c b/firmware/Src/system_stm32f4xx.c deleted file mode 100644 index bd17010..0000000 --- a/firmware/Src/system_stm32f4xx.c +++ /dev/null @@ -1,747 +0,0 @@ -/** - ****************************************************************************** - * @file system_stm32f4xx.c - * @author MCD Application Team - * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. - * - * This file provides two functions and one global variable to be called from - * user application: - * - SystemInit(): This function is called at startup just after reset and - * before branch to main program. This call is made inside - * the "startup_stm32f4xx.s" file. - * - * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used - * by the user application to setup the SysTick - * timer or configure other parameters. - * - * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must - * be called whenever the core clock is changed - * during program execution. - * - * - ****************************************************************************** - * @attention - * - * Copyright (c) 2017 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32f4xx_system - * @{ - */ - -/** @addtogroup STM32F4xx_System_Private_Includes - * @{ - */ - - -#include "stm32f4xx.h" - -#if !defined (HSE_VALUE) - #define HSE_VALUE ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */ -#endif /* HSE_VALUE */ - -#if !defined (HSI_VALUE) - #define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/ -#endif /* HSI_VALUE */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_TypesDefinitions - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Defines - * @{ - */ - -/************************* Miscellaneous Configuration ************************/ -/*!< Uncomment the following line if you need to use external SRAM or SDRAM as data memory */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\ - || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ - || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) -/* #define DATA_IN_ExtSRAM */ -#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx ||\ - STM32F412Zx || STM32F412Vx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ - || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/* #define DATA_IN_ExtSDRAM */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ - STM32F479xx */ - -/* Note: Following vector table addresses must be defined in line with linker - configuration. */ -/*!< Uncomment the following line if you need to relocate the vector table - anywhere in Flash or Sram, else the vector table is kept at the automatic - remap of boot address selected */ -/* #define USER_VECT_TAB_ADDRESS */ - -#if defined(USER_VECT_TAB_ADDRESS) -/*!< Uncomment the following line if you need to relocate your vector Table - in Sram else user remap will be done in Flash. */ -/* #define VECT_TAB_SRAM */ -#if defined(VECT_TAB_SRAM) -#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field. - This value must be a multiple of 0x200. */ -#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. - This value must be a multiple of 0x200. */ -#else -#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field. - This value must be a multiple of 0x200. */ -#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. - This value must be a multiple of 0x200. */ -#endif /* VECT_TAB_SRAM */ -#endif /* USER_VECT_TAB_ADDRESS */ -/******************************************************************************/ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Macros - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Variables - * @{ - */ - /* This variable is updated in three ways: - 1) by calling CMSIS function SystemCoreClockUpdate() - 2) by calling HAL API function HAL_RCC_GetHCLKFreq() - 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency - Note: If you use this function to configure the system clock; then there - is no need to call the 2 first functions listed above, since SystemCoreClock - variable is updated automatically. - */ -uint32_t SystemCoreClock = 16000000; -const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; -const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4}; -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes - * @{ - */ - -#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) - static void SystemInit_ExtMemCtl(void); -#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Functions - * @{ - */ - -/** - * @brief Setup the microcontroller system - * Initialize the FPU setting, vector table location and External memory - * configuration. - * @param None - * @retval None - */ -void SystemInit(void) -{ - /* FPU settings ------------------------------------------------------------*/ - #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) - SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ - #endif - -#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) - SystemInit_ExtMemCtl(); -#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */ - - /* Configure the Vector Table location -------------------------------------*/ -#if defined(USER_VECT_TAB_ADDRESS) - SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ -#endif /* USER_VECT_TAB_ADDRESS */ -} - -/** - * @brief Update SystemCoreClock variable according to Clock Register Values. - * The SystemCoreClock variable contains the core clock (HCLK), it can - * be used by the user application to setup the SysTick timer or configure - * other parameters. - * - * @note Each time the core clock (HCLK) changes, this function must be called - * to update SystemCoreClock variable value. Otherwise, any configuration - * based on this variable will be incorrect. - * - * @note - The system frequency computed by this function is not the real - * frequency in the chip. It is calculated based on the predefined - * constant and the selected clock source: - * - * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) - * - * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) - * - * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) - * or HSI_VALUE(*) multiplied/divided by the PLL factors. - * - * (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value - * 16 MHz) but the real value may vary depending on the variations - * in voltage and temperature. - * - * (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value - * depends on the application requirements), user has to ensure that HSE_VALUE - * is same as the real frequency of the crystal used. Otherwise, this function - * may have wrong result. - * - * - The result of this function could be not correct when using fractional - * value for HSE crystal. - * - * @param None - * @retval None - */ -void SystemCoreClockUpdate(void) -{ - uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2; - - /* Get SYSCLK source -------------------------------------------------------*/ - tmp = RCC->CFGR & RCC_CFGR_SWS; - - switch (tmp) - { - case 0x00: /* HSI used as system clock source */ - SystemCoreClock = HSI_VALUE; - break; - case 0x04: /* HSE used as system clock source */ - SystemCoreClock = HSE_VALUE; - break; - case 0x08: /* PLL used as system clock source */ - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N - SYSCLK = PLL_VCO / PLL_P - */ - pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22; - pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; - - if (pllsource != 0) - { - /* HSE used as PLL clock source */ - pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); - } - else - { - /* HSI used as PLL clock source */ - pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); - } - - pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2; - SystemCoreClock = pllvco/pllp; - break; - default: - SystemCoreClock = HSI_VALUE; - break; - } - /* Compute HCLK frequency --------------------------------------------------*/ - /* Get HCLK prescaler */ - tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; - /* HCLK frequency */ - SystemCoreClock >>= tmp; -} - -#if defined (DATA_IN_ExtSRAM) && defined (DATA_IN_ExtSDRAM) -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ - || defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Setup the external memory controller. - * Called in startup_stm32f4xx.s before jump to main. - * This function configures the external memories (SRAM/SDRAM) - * This SRAM/SDRAM will be used as program data memory (including heap and stack). - * @param None - * @retval None - */ -void SystemInit_ExtMemCtl(void) -{ - __IO uint32_t tmp = 0x00; - - register uint32_t tmpreg = 0, timeout = 0xFFFF; - register __IO uint32_t index; - - /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface clock */ - RCC->AHB1ENR |= 0x000001F8; - - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN); - - /* Connect PDx pins to FMC Alternate function */ - GPIOD->AFR[0] = 0x00CCC0CC; - GPIOD->AFR[1] = 0xCCCCCCCC; - /* Configure PDx pins in Alternate function mode */ - GPIOD->MODER = 0xAAAA0A8A; - /* Configure PDx pins speed to 100 MHz */ - GPIOD->OSPEEDR = 0xFFFF0FCF; - /* Configure PDx pins Output type to push-pull */ - GPIOD->OTYPER = 0x00000000; - /* No pull-up, pull-down for PDx pins */ - GPIOD->PUPDR = 0x00000000; - - /* Connect PEx pins to FMC Alternate function */ - GPIOE->AFR[0] = 0xC00CC0CC; - GPIOE->AFR[1] = 0xCCCCCCCC; - /* Configure PEx pins in Alternate function mode */ - GPIOE->MODER = 0xAAAA828A; - /* Configure PEx pins speed to 100 MHz */ - GPIOE->OSPEEDR = 0xFFFFC3CF; - /* Configure PEx pins Output type to push-pull */ - GPIOE->OTYPER = 0x00000000; - /* No pull-up, pull-down for PEx pins */ - GPIOE->PUPDR = 0x00000000; - - /* Connect PFx pins to FMC Alternate function */ - GPIOF->AFR[0] = 0xCCCCCCCC; - GPIOF->AFR[1] = 0xCCCCCCCC; - /* Configure PFx pins in Alternate function mode */ - GPIOF->MODER = 0xAA800AAA; - /* Configure PFx pins speed to 50 MHz */ - GPIOF->OSPEEDR = 0xAA800AAA; - /* Configure PFx pins Output type to push-pull */ - GPIOF->OTYPER = 0x00000000; - /* No pull-up, pull-down for PFx pins */ - GPIOF->PUPDR = 0x00000000; - - /* Connect PGx pins to FMC Alternate function */ - GPIOG->AFR[0] = 0xCCCCCCCC; - GPIOG->AFR[1] = 0xCCCCCCCC; - /* Configure PGx pins in Alternate function mode */ - GPIOG->MODER = 0xAAAAAAAA; - /* Configure PGx pins speed to 50 MHz */ - GPIOG->OSPEEDR = 0xAAAAAAAA; - /* Configure PGx pins Output type to push-pull */ - GPIOG->OTYPER = 0x00000000; - /* No pull-up, pull-down for PGx pins */ - GPIOG->PUPDR = 0x00000000; - - /* Connect PHx pins to FMC Alternate function */ - GPIOH->AFR[0] = 0x00C0CC00; - GPIOH->AFR[1] = 0xCCCCCCCC; - /* Configure PHx pins in Alternate function mode */ - GPIOH->MODER = 0xAAAA08A0; - /* Configure PHx pins speed to 50 MHz */ - GPIOH->OSPEEDR = 0xAAAA08A0; - /* Configure PHx pins Output type to push-pull */ - GPIOH->OTYPER = 0x00000000; - /* No pull-up, pull-down for PHx pins */ - GPIOH->PUPDR = 0x00000000; - - /* Connect PIx pins to FMC Alternate function */ - GPIOI->AFR[0] = 0xCCCCCCCC; - GPIOI->AFR[1] = 0x00000CC0; - /* Configure PIx pins in Alternate function mode */ - GPIOI->MODER = 0x0028AAAA; - /* Configure PIx pins speed to 50 MHz */ - GPIOI->OSPEEDR = 0x0028AAAA; - /* Configure PIx pins Output type to push-pull */ - GPIOI->OTYPER = 0x00000000; - /* No pull-up, pull-down for PIx pins */ - GPIOI->PUPDR = 0x00000000; - -/*-- FMC Configuration -------------------------------------------------------*/ - /* Enable the FMC interface clock */ - RCC->AHB3ENR |= 0x00000001; - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); - - FMC_Bank5_6->SDCR[0] = 0x000019E4; - FMC_Bank5_6->SDTR[0] = 0x01115351; - - /* SDRAM initialization sequence */ - /* Clock enable command */ - FMC_Bank5_6->SDCMR = 0x00000011; - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* Delay */ - for (index = 0; index<1000; index++); - - /* PALL command */ - FMC_Bank5_6->SDCMR = 0x00000012; - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - timeout = 0xFFFF; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* Auto refresh command */ - FMC_Bank5_6->SDCMR = 0x00000073; - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - timeout = 0xFFFF; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* MRD register program */ - FMC_Bank5_6->SDCMR = 0x00046014; - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - timeout = 0xFFFF; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* Set refresh count */ - tmpreg = FMC_Bank5_6->SDRTR; - FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1)); - - /* Disable write protection */ - tmpreg = FMC_Bank5_6->SDCR[0]; - FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF); - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) - /* Configure and enable Bank1_SRAM2 */ - FMC_Bank1->BTCR[2] = 0x00001011; - FMC_Bank1->BTCR[3] = 0x00000201; - FMC_Bank1E->BWTR[2] = 0x0fffffff; -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ -#if defined(STM32F469xx) || defined(STM32F479xx) - /* Configure and enable Bank1_SRAM2 */ - FMC_Bank1->BTCR[2] = 0x00001091; - FMC_Bank1->BTCR[3] = 0x00110212; - FMC_Bank1E->BWTR[2] = 0x0fffffff; -#endif /* STM32F469xx || STM32F479xx */ - - (void)(tmp); -} -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -#elif defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) -/** - * @brief Setup the external memory controller. - * Called in startup_stm32f4xx.s before jump to main. - * This function configures the external memories (SRAM/SDRAM) - * This SRAM/SDRAM will be used as program data memory (including heap and stack). - * @param None - * @retval None - */ -void SystemInit_ExtMemCtl(void) -{ - __IO uint32_t tmp = 0x00; -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ - || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#if defined (DATA_IN_ExtSDRAM) - register uint32_t tmpreg = 0, timeout = 0xFFFF; - register __IO uint32_t index; - -#if defined(STM32F446xx) - /* Enable GPIOA, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG interface - clock */ - RCC->AHB1ENR |= 0x0000007D; -#else - /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface - clock */ - RCC->AHB1ENR |= 0x000001F8; -#endif /* STM32F446xx */ - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN); - -#if defined(STM32F446xx) - /* Connect PAx pins to FMC Alternate function */ - GPIOA->AFR[0] |= 0xC0000000; - GPIOA->AFR[1] |= 0x00000000; - /* Configure PDx pins in Alternate function mode */ - GPIOA->MODER |= 0x00008000; - /* Configure PDx pins speed to 50 MHz */ - GPIOA->OSPEEDR |= 0x00008000; - /* Configure PDx pins Output type to push-pull */ - GPIOA->OTYPER |= 0x00000000; - /* No pull-up, pull-down for PDx pins */ - GPIOA->PUPDR |= 0x00000000; - - /* Connect PCx pins to FMC Alternate function */ - GPIOC->AFR[0] |= 0x00CC0000; - GPIOC->AFR[1] |= 0x00000000; - /* Configure PDx pins in Alternate function mode */ - GPIOC->MODER |= 0x00000A00; - /* Configure PDx pins speed to 50 MHz */ - GPIOC->OSPEEDR |= 0x00000A00; - /* Configure PDx pins Output type to push-pull */ - GPIOC->OTYPER |= 0x00000000; - /* No pull-up, pull-down for PDx pins */ - GPIOC->PUPDR |= 0x00000000; -#endif /* STM32F446xx */ - - /* Connect PDx pins to FMC Alternate function */ - GPIOD->AFR[0] = 0x000000CC; - GPIOD->AFR[1] = 0xCC000CCC; - /* Configure PDx pins in Alternate function mode */ - GPIOD->MODER = 0xA02A000A; - /* Configure PDx pins speed to 50 MHz */ - GPIOD->OSPEEDR = 0xA02A000A; - /* Configure PDx pins Output type to push-pull */ - GPIOD->OTYPER = 0x00000000; - /* No pull-up, pull-down for PDx pins */ - GPIOD->PUPDR = 0x00000000; - - /* Connect PEx pins to FMC Alternate function */ - GPIOE->AFR[0] = 0xC00000CC; - GPIOE->AFR[1] = 0xCCCCCCCC; - /* Configure PEx pins in Alternate function mode */ - GPIOE->MODER = 0xAAAA800A; - /* Configure PEx pins speed to 50 MHz */ - GPIOE->OSPEEDR = 0xAAAA800A; - /* Configure PEx pins Output type to push-pull */ - GPIOE->OTYPER = 0x00000000; - /* No pull-up, pull-down for PEx pins */ - GPIOE->PUPDR = 0x00000000; - - /* Connect PFx pins to FMC Alternate function */ - GPIOF->AFR[0] = 0xCCCCCCCC; - GPIOF->AFR[1] = 0xCCCCCCCC; - /* Configure PFx pins in Alternate function mode */ - GPIOF->MODER = 0xAA800AAA; - /* Configure PFx pins speed to 50 MHz */ - GPIOF->OSPEEDR = 0xAA800AAA; - /* Configure PFx pins Output type to push-pull */ - GPIOF->OTYPER = 0x00000000; - /* No pull-up, pull-down for PFx pins */ - GPIOF->PUPDR = 0x00000000; - - /* Connect PGx pins to FMC Alternate function */ - GPIOG->AFR[0] = 0xCCCCCCCC; - GPIOG->AFR[1] = 0xCCCCCCCC; - /* Configure PGx pins in Alternate function mode */ - GPIOG->MODER = 0xAAAAAAAA; - /* Configure PGx pins speed to 50 MHz */ - GPIOG->OSPEEDR = 0xAAAAAAAA; - /* Configure PGx pins Output type to push-pull */ - GPIOG->OTYPER = 0x00000000; - /* No pull-up, pull-down for PGx pins */ - GPIOG->PUPDR = 0x00000000; - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ - || defined(STM32F469xx) || defined(STM32F479xx) - /* Connect PHx pins to FMC Alternate function */ - GPIOH->AFR[0] = 0x00C0CC00; - GPIOH->AFR[1] = 0xCCCCCCCC; - /* Configure PHx pins in Alternate function mode */ - GPIOH->MODER = 0xAAAA08A0; - /* Configure PHx pins speed to 50 MHz */ - GPIOH->OSPEEDR = 0xAAAA08A0; - /* Configure PHx pins Output type to push-pull */ - GPIOH->OTYPER = 0x00000000; - /* No pull-up, pull-down for PHx pins */ - GPIOH->PUPDR = 0x00000000; - - /* Connect PIx pins to FMC Alternate function */ - GPIOI->AFR[0] = 0xCCCCCCCC; - GPIOI->AFR[1] = 0x00000CC0; - /* Configure PIx pins in Alternate function mode */ - GPIOI->MODER = 0x0028AAAA; - /* Configure PIx pins speed to 50 MHz */ - GPIOI->OSPEEDR = 0x0028AAAA; - /* Configure PIx pins Output type to push-pull */ - GPIOI->OTYPER = 0x00000000; - /* No pull-up, pull-down for PIx pins */ - GPIOI->PUPDR = 0x00000000; -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -/*-- FMC Configuration -------------------------------------------------------*/ - /* Enable the FMC interface clock */ - RCC->AHB3ENR |= 0x00000001; - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); - - /* Configure and enable SDRAM bank1 */ -#if defined(STM32F446xx) - FMC_Bank5_6->SDCR[0] = 0x00001954; -#else - FMC_Bank5_6->SDCR[0] = 0x000019E4; -#endif /* STM32F446xx */ - FMC_Bank5_6->SDTR[0] = 0x01115351; - - /* SDRAM initialization sequence */ - /* Clock enable command */ - FMC_Bank5_6->SDCMR = 0x00000011; - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* Delay */ - for (index = 0; index<1000; index++); - - /* PALL command */ - FMC_Bank5_6->SDCMR = 0x00000012; - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - timeout = 0xFFFF; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* Auto refresh command */ -#if defined(STM32F446xx) - FMC_Bank5_6->SDCMR = 0x000000F3; -#else - FMC_Bank5_6->SDCMR = 0x00000073; -#endif /* STM32F446xx */ - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - timeout = 0xFFFF; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* MRD register program */ -#if defined(STM32F446xx) - FMC_Bank5_6->SDCMR = 0x00044014; -#else - FMC_Bank5_6->SDCMR = 0x00046014; -#endif /* STM32F446xx */ - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - timeout = 0xFFFF; - while((tmpreg != 0) && (timeout-- > 0)) - { - tmpreg = FMC_Bank5_6->SDSR & 0x00000020; - } - - /* Set refresh count */ - tmpreg = FMC_Bank5_6->SDRTR; -#if defined(STM32F446xx) - FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1)); -#else - FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1)); -#endif /* STM32F446xx */ - - /* Disable write protection */ - tmpreg = FMC_Bank5_6->SDCR[0]; - FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF); -#endif /* DATA_IN_ExtSDRAM */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\ - || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\ - || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) - -#if defined(DATA_IN_ExtSRAM) -/*-- GPIOs Configuration -----------------------------------------------------*/ - /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */ - RCC->AHB1ENR |= 0x00000078; - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN); - - /* Connect PDx pins to FMC Alternate function */ - GPIOD->AFR[0] = 0x00CCC0CC; - GPIOD->AFR[1] = 0xCCCCCCCC; - /* Configure PDx pins in Alternate function mode */ - GPIOD->MODER = 0xAAAA0A8A; - /* Configure PDx pins speed to 100 MHz */ - GPIOD->OSPEEDR = 0xFFFF0FCF; - /* Configure PDx pins Output type to push-pull */ - GPIOD->OTYPER = 0x00000000; - /* No pull-up, pull-down for PDx pins */ - GPIOD->PUPDR = 0x00000000; - - /* Connect PEx pins to FMC Alternate function */ - GPIOE->AFR[0] = 0xC00CC0CC; - GPIOE->AFR[1] = 0xCCCCCCCC; - /* Configure PEx pins in Alternate function mode */ - GPIOE->MODER = 0xAAAA828A; - /* Configure PEx pins speed to 100 MHz */ - GPIOE->OSPEEDR = 0xFFFFC3CF; - /* Configure PEx pins Output type to push-pull */ - GPIOE->OTYPER = 0x00000000; - /* No pull-up, pull-down for PEx pins */ - GPIOE->PUPDR = 0x00000000; - - /* Connect PFx pins to FMC Alternate function */ - GPIOF->AFR[0] = 0x00CCCCCC; - GPIOF->AFR[1] = 0xCCCC0000; - /* Configure PFx pins in Alternate function mode */ - GPIOF->MODER = 0xAA000AAA; - /* Configure PFx pins speed to 100 MHz */ - GPIOF->OSPEEDR = 0xFF000FFF; - /* Configure PFx pins Output type to push-pull */ - GPIOF->OTYPER = 0x00000000; - /* No pull-up, pull-down for PFx pins */ - GPIOF->PUPDR = 0x00000000; - - /* Connect PGx pins to FMC Alternate function */ - GPIOG->AFR[0] = 0x00CCCCCC; - GPIOG->AFR[1] = 0x000000C0; - /* Configure PGx pins in Alternate function mode */ - GPIOG->MODER = 0x00085AAA; - /* Configure PGx pins speed to 100 MHz */ - GPIOG->OSPEEDR = 0x000CAFFF; - /* Configure PGx pins Output type to push-pull */ - GPIOG->OTYPER = 0x00000000; - /* No pull-up, pull-down for PGx pins */ - GPIOG->PUPDR = 0x00000000; - -/*-- FMC/FSMC Configuration --------------------------------------------------*/ - /* Enable the FMC/FSMC interface clock */ - RCC->AHB3ENR |= 0x00000001; - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); - /* Configure and enable Bank1_SRAM2 */ - FMC_Bank1->BTCR[2] = 0x00001011; - FMC_Bank1->BTCR[3] = 0x00000201; - FMC_Bank1E->BWTR[2] = 0x0fffffff; -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ -#if defined(STM32F469xx) || defined(STM32F479xx) - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN); - /* Configure and enable Bank1_SRAM2 */ - FMC_Bank1->BTCR[2] = 0x00001091; - FMC_Bank1->BTCR[3] = 0x00110212; - FMC_Bank1E->BWTR[2] = 0x0fffffff; -#endif /* STM32F469xx || STM32F479xx */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)\ - || defined(STM32F412Zx) || defined(STM32F412Vx) - /* Delay after an RCC peripheral clock enabling */ - tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN); - /* Configure and enable Bank1_SRAM2 */ - FSMC_Bank1->BTCR[2] = 0x00001011; - FSMC_Bank1->BTCR[3] = 0x00000201; - FSMC_Bank1E->BWTR[2] = 0x0FFFFFFF; -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx */ - -#endif /* DATA_IN_ExtSRAM */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx */ - (void)(tmp); -} -#endif /* DATA_IN_ExtSRAM && DATA_IN_ExtSDRAM */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ diff --git a/firmware/Src/tim.c b/firmware/Src/tim.c deleted file mode 100644 index 8b6c7db..0000000 --- a/firmware/Src/tim.c +++ /dev/null @@ -1,386 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file tim.c - * @brief This file provides code for the configuration - * of the TIM instances. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "tim.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -TIM_HandleTypeDef htim1; -TIM_HandleTypeDef htim2; -TIM_HandleTypeDef htim3; -TIM_HandleTypeDef htim5; - -/* TIM1 init function */ -void MX_TIM1_Init(void) -{ - - /* USER CODE BEGIN TIM1_Init 0 */ - - /* USER CODE END TIM1_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - TIM_OC_InitTypeDef sConfigOC = {0}; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0}; - - /* USER CODE BEGIN TIM1_Init 1 */ - - /* USER CODE END TIM1_Init 1 */ - htim1.Instance = TIM1; - htim1.Init.Prescaler = 0; - htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1; - htim1.Init.Period = 2399; - htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim1.Init.RepetitionCounter = 0; - htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE; - if (HAL_TIM_Base_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_Init(&htim1) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) - { - Error_Handler(); - } - if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) - { - Error_Handler(); - } - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = 0; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM1_Init 2 */ - if (HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1) != HAL_OK) - { - /* PWM Generation Error */ - Error_Handler(); - } - /* USER CODE END TIM1_Init 2 */ - HAL_TIM_MspPostInit(&htim1); - -} -/* TIM2 init function */ -void MX_TIM2_Init(void) -{ - - /* USER CODE BEGIN TIM2_Init 0 */ - - /* USER CODE END TIM2_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - - /* USER CODE BEGIN TIM2_Init 1 */ - - /* USER CODE END TIM2_Init 1 */ - htim2.Instance = TIM2; - htim2.Init.Prescaler = 89; - htim2.Init.CounterMode = TIM_COUNTERMODE_UP; - htim2.Init.Period = 3999; - htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim2) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM2_Init 2 */ - if (HAL_TIM_Base_Start_IT(&htim2) != HAL_OK) - { - /* Starting Error */ - Error_Handler(); - } - /* USER CODE END TIM2_Init 2 */ - -} -/* TIM3 init function */ -void MX_TIM3_Init(void) -{ - - /* USER CODE BEGIN TIM3_Init 0 */ - - /* USER CODE END TIM3_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - - /* USER CODE BEGIN TIM3_Init 1 */ - - /* USER CODE END TIM3_Init 1 */ - htim3.Instance = TIM3; - htim3.Init.Prescaler = 89; - htim3.Init.CounterMode = TIM_COUNTERMODE_UP; - htim3.Init.Period = 99; - htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim3) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM3_Init 2 */ - if (HAL_TIM_Base_Start_IT(&htim3) != HAL_OK) - { - /* Starting Error */ - Error_Handler(); - } - /* USER CODE END TIM3_Init 2 */ - -} -/* TIM5 init function */ -void MX_TIM5_Init(void) -{ - - /* USER CODE BEGIN TIM5_Init 0 */ - - /* USER CODE END TIM5_Init 0 */ - - TIM_ClockConfigTypeDef sClockSourceConfig = {0}; - TIM_MasterConfigTypeDef sMasterConfig = {0}; - - /* USER CODE BEGIN TIM5_Init 1 */ - - /* USER CODE END TIM5_Init 1 */ - htim5.Instance = TIM5; - htim5.Init.Prescaler = 0; - htim5.Init.CounterMode = TIM_COUNTERMODE_UP; - htim5.Init.Period = 4294967295; - htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - if (HAL_TIM_Base_Init(&htim5) != HAL_OK) - { - Error_Handler(); - } - sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; - if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK) - { - Error_Handler(); - } - sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN TIM5_Init 2 */ - - /* USER CODE END TIM5_Init 2 */ - -} - -void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) -{ - - if(tim_baseHandle->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspInit 0 */ - - /* USER CODE END TIM1_MspInit 0 */ - /* TIM1 clock enable */ - __HAL_RCC_TIM1_CLK_ENABLE(); - /* USER CODE BEGIN TIM1_MspInit 1 */ - - /* USER CODE END TIM1_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM2) - { - /* USER CODE BEGIN TIM2_MspInit 0 */ - - /* USER CODE END TIM2_MspInit 0 */ - /* TIM2 clock enable */ - __HAL_RCC_TIM2_CLK_ENABLE(); - /* USER CODE BEGIN TIM2_MspInit 1 */ - - /* USER CODE END TIM2_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspInit 0 */ - - /* USER CODE END TIM3_MspInit 0 */ - /* TIM3 clock enable */ - __HAL_RCC_TIM3_CLK_ENABLE(); - - /* TIM3 interrupt Init */ - HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(TIM3_IRQn); - /* USER CODE BEGIN TIM3_MspInit 1 */ - - /* USER CODE END TIM3_MspInit 1 */ - } - else if(tim_baseHandle->Instance==TIM5) - { - /* USER CODE BEGIN TIM5_MspInit 0 */ - - /* USER CODE END TIM5_MspInit 0 */ - /* TIM5 clock enable */ - __HAL_RCC_TIM5_CLK_ENABLE(); - /* USER CODE BEGIN TIM5_MspInit 1 */ - - /* USER CODE END TIM5_MspInit 1 */ - } -} -void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle) -{ - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(timHandle->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspPostInit 0 */ - - /* USER CODE END TIM1_MspPostInit 0 */ - - __HAL_RCC_GPIOA_CLK_ENABLE(); - /**TIM1 GPIO Configuration - PA8 ------> TIM1_CH1 - PA9 ------> TIM1_CH2 - PA10 ------> TIM1_CH3 - */ - GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; - HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); - - /* USER CODE BEGIN TIM1_MspPostInit 1 */ - - /* USER CODE END TIM1_MspPostInit 1 */ - } - -} - -void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) -{ - - if(tim_baseHandle->Instance==TIM1) - { - /* USER CODE BEGIN TIM1_MspDeInit 0 */ - - /* USER CODE END TIM1_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM1_CLK_DISABLE(); - - /* TIM1 interrupt Deinit */ - HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn); - HAL_NVIC_DisableIRQ(TIM1_CC_IRQn); - /* USER CODE BEGIN TIM1_MspDeInit 1 */ - - /* USER CODE END TIM1_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM2) - { - /* USER CODE BEGIN TIM2_MspDeInit 0 */ - - /* USER CODE END TIM2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM2_CLK_DISABLE(); - - /* TIM2 interrupt Deinit */ - HAL_NVIC_DisableIRQ(TIM2_IRQn); - /* USER CODE BEGIN TIM2_MspDeInit 1 */ - - /* USER CODE END TIM2_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM3) - { - /* USER CODE BEGIN TIM3_MspDeInit 0 */ - - /* USER CODE END TIM3_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM3_CLK_DISABLE(); - - /* TIM3 interrupt Deinit */ - HAL_NVIC_DisableIRQ(TIM3_IRQn); - /* USER CODE BEGIN TIM3_MspDeInit 1 */ - - /* USER CODE END TIM3_MspDeInit 1 */ - } - else if(tim_baseHandle->Instance==TIM5) - { - /* USER CODE BEGIN TIM5_MspDeInit 0 */ - - /* USER CODE END TIM5_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_TIM5_CLK_DISABLE(); - /* USER CODE BEGIN TIM5_MspDeInit 1 */ - - /* USER CODE END TIM5_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/firmware/Src/usart.c b/firmware/Src/usart.c deleted file mode 100644 index d211386..0000000 --- a/firmware/Src/usart.c +++ /dev/null @@ -1,133 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file usart.c - * @brief This file provides code for the configuration - * of the USART instances. - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ -/* Includes ------------------------------------------------------------------*/ -#include "usart.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -UART_HandleTypeDef huart1; - -/* USART1 init function */ - -void MX_USART1_UART_Init(void) -{ - - /* USER CODE BEGIN USART1_Init 0 */ - - /* USER CODE END USART1_Init 0 */ - - /* USER CODE BEGIN USART1_Init 1 */ - - /* USER CODE END USART1_Init 1 */ - huart1.Instance = USART1; - huart1.Init.BaudRate = 115200; - huart1.Init.WordLength = UART_WORDLENGTH_8B; - huart1.Init.StopBits = UART_STOPBITS_1; - huart1.Init.Parity = UART_PARITY_NONE; - huart1.Init.Mode = UART_MODE_TX_RX; - huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; - huart1.Init.OverSampling = UART_OVERSAMPLING_16; - if (HAL_UART_Init(&huart1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN USART1_Init 2 */ - - /* USER CODE END USART1_Init 2 */ - -} - -void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) -{ - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(uartHandle->Instance==USART1) - { - /* USER CODE BEGIN USART1_MspInit 0 */ - - /* USER CODE END USART1_MspInit 0 */ - /* USART1 clock enable */ - __HAL_RCC_USART1_CLK_ENABLE(); - - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**USART1 GPIO Configuration - PB6 ------> USART1_TX - PB7 ------> USART1_RX - */ - GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF7_USART1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN USART1_MspInit 1 */ - - /* USER CODE END USART1_MspInit 1 */ - } -} - -void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) -{ - - if(uartHandle->Instance==USART1) - { - /* USER CODE BEGIN USART1_MspDeInit 0 */ - - /* USER CODE END USART1_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_USART1_CLK_DISABLE(); - - /**USART1 GPIO Configuration - PB6 ------> USART1_TX - PB7 ------> USART1_RX - */ - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7); - - /* USER CODE BEGIN USART1_MspDeInit 1 */ - - /* USER CODE END USART1_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ -int _write(int file, char *data, int len) -{ - // Only redirect stdout and stderr - if (file != STDOUT_FILENO && file != STDERR_FILENO) - { - errno = EBADF; - return -1; - } - - // UART transmit function - if (HAL_UART_Transmit(&huart1, (uint8_t *)data, len, HAL_MAX_DELAY) == HAL_OK) - { - return len; - } - else - { - return 0; - } -} - -/* USER CODE END 1 */ diff --git a/firmware/Startup/startup_stm32f446retx.s b/firmware/Startup/startup_stm32f446retx.s deleted file mode 100644 index 2ec268e..0000000 --- a/firmware/Startup/startup_stm32f446retx.s +++ /dev/null @@ -1,538 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32f446xx.s - * @author MCD Application Team - * @brief STM32F446xx Devices vector table for GCC based toolchains. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M4 processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ****************************************************************************** - * @attention - * - * Copyright (c) 2017 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ - - .syntax unified - .cpu cortex-m4 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global Default_Handler - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss -/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ - -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - ldr sp, =_estack /* set stack pointer */ - -/* Call the clock system initialization function.*/ - bl SystemInit - -/* Copy the data segment initializers from flash to SRAM */ - ldr r0, =_sdata - ldr r1, =_edata - ldr r2, =_sidata - movs r3, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r4, [r2, r3] - str r4, [r0, r3] - adds r3, r3, #4 - -LoopCopyDataInit: - adds r4, r0, r3 - cmp r4, r1 - bcc CopyDataInit - -/* Zero fill the bss segment. */ - ldr r2, =_sbss - ldr r4, =_ebss - movs r3, #0 - b LoopFillZerobss - -FillZerobss: - str r3, [r2] - adds r2, r2, #4 - -LoopFillZerobss: - cmp r2, r4 - bcc FillZerobss - -/* Call static constructors */ - bl __libc_init_array -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * @param None - * @retval None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M3. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -*******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - - -g_pfnVectors: - .word _estack - .word Reset_Handler - - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word SVC_Handler - .word DebugMon_Handler - .word 0 - .word PendSV_Handler - .word SysTick_Handler - - /* External Interrupts */ - .word WWDG_IRQHandler /* Window WatchDog */ - .word PVD_IRQHandler /* PVD through EXTI Line detection */ - .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ - .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ - .word FLASH_IRQHandler /* FLASH */ - .word RCC_IRQHandler /* RCC */ - .word EXTI0_IRQHandler /* EXTI Line0 */ - .word EXTI1_IRQHandler /* EXTI Line1 */ - .word EXTI2_IRQHandler /* EXTI Line2 */ - .word EXTI3_IRQHandler /* EXTI Line3 */ - .word EXTI4_IRQHandler /* EXTI Line4 */ - .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ - .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ - .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ - .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ - .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ - .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ - .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ - .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ - .word CAN1_TX_IRQHandler /* CAN1 TX */ - .word CAN1_RX0_IRQHandler /* CAN1 RX0 */ - .word CAN1_RX1_IRQHandler /* CAN1 RX1 */ - .word CAN1_SCE_IRQHandler /* CAN1 SCE */ - .word EXTI9_5_IRQHandler /* External Line[9:5]s */ - .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */ - .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */ - .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */ - .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ - .word TIM2_IRQHandler /* TIM2 */ - .word TIM3_IRQHandler /* TIM3 */ - .word TIM4_IRQHandler /* TIM4 */ - .word I2C1_EV_IRQHandler /* I2C1 Event */ - .word I2C1_ER_IRQHandler /* I2C1 Error */ - .word I2C2_EV_IRQHandler /* I2C2 Event */ - .word I2C2_ER_IRQHandler /* I2C2 Error */ - .word SPI1_IRQHandler /* SPI1 */ - .word SPI2_IRQHandler /* SPI2 */ - .word USART1_IRQHandler /* USART1 */ - .word USART2_IRQHandler /* USART2 */ - .word USART3_IRQHandler /* USART3 */ - .word EXTI15_10_IRQHandler /* External Line[15:10]s */ - .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ - .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */ - .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ - .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ - .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ - .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ - .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ - .word FMC_IRQHandler /* FMC */ - .word SDIO_IRQHandler /* SDIO */ - .word TIM5_IRQHandler /* TIM5 */ - .word SPI3_IRQHandler /* SPI3 */ - .word UART4_IRQHandler /* UART4 */ - .word UART5_IRQHandler /* UART5 */ - .word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */ - .word TIM7_IRQHandler /* TIM7 */ - .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ - .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ - .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ - .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ - .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word CAN2_TX_IRQHandler /* CAN2 TX */ - .word CAN2_RX0_IRQHandler /* CAN2 RX0 */ - .word CAN2_RX1_IRQHandler /* CAN2 RX1 */ - .word CAN2_SCE_IRQHandler /* CAN2 SCE */ - .word OTG_FS_IRQHandler /* USB OTG FS */ - .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ - .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ - .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ - .word USART6_IRQHandler /* USART6 */ - .word I2C3_EV_IRQHandler /* I2C3 event */ - .word I2C3_ER_IRQHandler /* I2C3 error */ - .word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */ - .word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */ - .word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */ - .word OTG_HS_IRQHandler /* USB OTG HS */ - .word DCMI_IRQHandler /* DCMI */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word FPU_IRQHandler /* FPU */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word SPI4_IRQHandler /* SPI4 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word SAI1_IRQHandler /* SAI1 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word SAI2_IRQHandler /* SAI2 */ - .word QUADSPI_IRQHandler /* QuadSPI */ - .word CEC_IRQHandler /* CEC */ - .word SPDIF_RX_IRQHandler /* SPDIF RX */ - .word FMPI2C1_EV_IRQHandler /* FMPI2C 1 Event */ - .word FMPI2C1_ER_IRQHandler /* FMPI2C 1 Error */ - - - .size g_pfnVectors, .-g_pfnVectors - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_IRQHandler - .thumb_set PVD_IRQHandler,Default_Handler - - .weak TAMP_STAMP_IRQHandler - .thumb_set TAMP_STAMP_IRQHandler,Default_Handler - - .weak RTC_WKUP_IRQHandler - .thumb_set RTC_WKUP_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Stream0_IRQHandler - .thumb_set DMA1_Stream0_IRQHandler,Default_Handler - - .weak DMA1_Stream1_IRQHandler - .thumb_set DMA1_Stream1_IRQHandler,Default_Handler - - .weak DMA1_Stream2_IRQHandler - .thumb_set DMA1_Stream2_IRQHandler,Default_Handler - - .weak DMA1_Stream3_IRQHandler - .thumb_set DMA1_Stream3_IRQHandler,Default_Handler - - .weak DMA1_Stream4_IRQHandler - .thumb_set DMA1_Stream4_IRQHandler,Default_Handler - - .weak DMA1_Stream5_IRQHandler - .thumb_set DMA1_Stream5_IRQHandler,Default_Handler - - .weak DMA1_Stream6_IRQHandler - .thumb_set DMA1_Stream6_IRQHandler,Default_Handler - - .weak ADC_IRQHandler - .thumb_set ADC_IRQHandler,Default_Handler - - .weak CAN1_TX_IRQHandler - .thumb_set CAN1_TX_IRQHandler,Default_Handler - - .weak CAN1_RX0_IRQHandler - .thumb_set CAN1_RX0_IRQHandler,Default_Handler - - .weak CAN1_RX1_IRQHandler - .thumb_set CAN1_RX1_IRQHandler,Default_Handler - - .weak CAN1_SCE_IRQHandler - .thumb_set CAN1_SCE_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_TIM9_IRQHandler - .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler - - .weak TIM1_UP_TIM10_IRQHandler - .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_TIM11_IRQHandler - .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTC_Alarm_IRQHandler - .thumb_set RTC_Alarm_IRQHandler,Default_Handler - - .weak OTG_FS_WKUP_IRQHandler - .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler - - .weak TIM8_BRK_TIM12_IRQHandler - .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler - - .weak TIM8_UP_TIM13_IRQHandler - .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler - - .weak TIM8_TRG_COM_TIM14_IRQHandler - .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler - - .weak TIM8_CC_IRQHandler - .thumb_set TIM8_CC_IRQHandler,Default_Handler - - .weak DMA1_Stream7_IRQHandler - .thumb_set DMA1_Stream7_IRQHandler,Default_Handler - - .weak FMC_IRQHandler - .thumb_set FMC_IRQHandler,Default_Handler - - .weak SDIO_IRQHandler - .thumb_set SDIO_IRQHandler,Default_Handler - - .weak TIM5_IRQHandler - .thumb_set TIM5_IRQHandler,Default_Handler - - .weak SPI3_IRQHandler - .thumb_set SPI3_IRQHandler,Default_Handler - - .weak UART4_IRQHandler - .thumb_set UART4_IRQHandler,Default_Handler - - .weak UART5_IRQHandler - .thumb_set UART5_IRQHandler,Default_Handler - - .weak TIM6_DAC_IRQHandler - .thumb_set TIM6_DAC_IRQHandler,Default_Handler - - .weak TIM7_IRQHandler - .thumb_set TIM7_IRQHandler,Default_Handler - - .weak DMA2_Stream0_IRQHandler - .thumb_set DMA2_Stream0_IRQHandler,Default_Handler - - .weak DMA2_Stream1_IRQHandler - .thumb_set DMA2_Stream1_IRQHandler,Default_Handler - - .weak DMA2_Stream2_IRQHandler - .thumb_set DMA2_Stream2_IRQHandler,Default_Handler - - .weak DMA2_Stream3_IRQHandler - .thumb_set DMA2_Stream3_IRQHandler,Default_Handler - - .weak DMA2_Stream4_IRQHandler - .thumb_set DMA2_Stream4_IRQHandler,Default_Handler - - .weak CAN2_TX_IRQHandler - .thumb_set CAN2_TX_IRQHandler,Default_Handler - - .weak CAN2_RX0_IRQHandler - .thumb_set CAN2_RX0_IRQHandler,Default_Handler - - .weak CAN2_RX1_IRQHandler - .thumb_set CAN2_RX1_IRQHandler,Default_Handler - - .weak CAN2_SCE_IRQHandler - .thumb_set CAN2_SCE_IRQHandler,Default_Handler - - .weak OTG_FS_IRQHandler - .thumb_set OTG_FS_IRQHandler,Default_Handler - - .weak DMA2_Stream5_IRQHandler - .thumb_set DMA2_Stream5_IRQHandler,Default_Handler - - .weak DMA2_Stream6_IRQHandler - .thumb_set DMA2_Stream6_IRQHandler,Default_Handler - - .weak DMA2_Stream7_IRQHandler - .thumb_set DMA2_Stream7_IRQHandler,Default_Handler - - .weak USART6_IRQHandler - .thumb_set USART6_IRQHandler,Default_Handler - - .weak I2C3_EV_IRQHandler - .thumb_set I2C3_EV_IRQHandler,Default_Handler - - .weak I2C3_ER_IRQHandler - .thumb_set I2C3_ER_IRQHandler,Default_Handler - - .weak OTG_HS_EP1_OUT_IRQHandler - .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler - - .weak OTG_HS_EP1_IN_IRQHandler - .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler - - .weak OTG_HS_WKUP_IRQHandler - .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler - - .weak OTG_HS_IRQHandler - .thumb_set OTG_HS_IRQHandler,Default_Handler - - .weak DCMI_IRQHandler - .thumb_set DCMI_IRQHandler,Default_Handler - - .weak FPU_IRQHandler - .thumb_set FPU_IRQHandler,Default_Handler - - .weak SPI4_IRQHandler - .thumb_set SPI4_IRQHandler,Default_Handler - - .weak SAI1_IRQHandler - .thumb_set SAI1_IRQHandler,Default_Handler - - .weak SAI2_IRQHandler - .thumb_set SAI2_IRQHandler,Default_Handler - - .weak QUADSPI_IRQHandler - .thumb_set QUADSPI_IRQHandler,Default_Handler - - .weak CEC_IRQHandler - .thumb_set CEC_IRQHandler,Default_Handler - - .weak SPDIF_RX_IRQHandler - .thumb_set SPDIF_RX_IRQHandler,Default_Handler - - .weak FMPI2C1_EV_IRQHandler - .thumb_set FMPI2C1_EV_IRQHandler,Default_Handler - - .weak FMPI2C1_ER_IRQHandler - .thumb_set FMPI2C1_ER_IRQHandler,Default_Handler \ No newline at end of file diff --git a/firmware/cubemx_config.ioc b/firmware/cubemx_config.ioc index 65c4e43..619d4c8 100644 --- a/firmware/cubemx_config.ioc +++ b/firmware/cubemx_config.ioc @@ -13,78 +13,83 @@ ADC2.Rank-6\#ChannelRegularConversion=3 ADC2.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES +FREERTOS.IPParameters=Tasks01,configENABLE_FPU,configTIMER_TASK_PRIORITY +FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL +FREERTOS.configENABLE_FPU=1 +FREERTOS.configTIMER_TASK_PRIORITY=1 File.Version=6 GPIO.groupedBy=Group By Peripherals KeepUserPlacement=false Mcu.CPN=STM32F446RET6 Mcu.Family=STM32F4 Mcu.IP0=ADC2 -Mcu.IP1=NVIC -Mcu.IP2=RCC -Mcu.IP3=SPI2 -Mcu.IP4=SYS -Mcu.IP5=TIM1 -Mcu.IP6=TIM2 +Mcu.IP1=FREERTOS +Mcu.IP2=NVIC +Mcu.IP3=RCC +Mcu.IP4=SPI2 +Mcu.IP5=SYS +Mcu.IP6=TIM1 Mcu.IP7=TIM3 Mcu.IP8=TIM5 Mcu.IP9=USART1 Mcu.IPNb=10 Mcu.Name=STM32F446R(C-E)Tx Mcu.Package=LQFP64 -Mcu.Pin0=PH0-OSC_IN -Mcu.Pin1=PH1-OSC_OUT -Mcu.Pin10=PC7 -Mcu.Pin11=PC8 -Mcu.Pin12=PC9 -Mcu.Pin13=PA8 -Mcu.Pin14=PA9 -Mcu.Pin15=PA10 -Mcu.Pin16=PA11 -Mcu.Pin17=PA12 -Mcu.Pin18=PA13 -Mcu.Pin19=PA14 -Mcu.Pin2=PC1 -Mcu.Pin20=PC10 -Mcu.Pin21=PC11 -Mcu.Pin22=PC12 -Mcu.Pin23=PD2 -Mcu.Pin24=PB6 -Mcu.Pin25=PB7 -Mcu.Pin26=VP_SYS_VS_Systick -Mcu.Pin27=VP_TIM1_VS_ClockSourceINT -Mcu.Pin28=VP_TIM2_VS_ClockSourceINT -Mcu.Pin29=VP_TIM3_VS_ClockSourceINT -Mcu.Pin3=PC5 -Mcu.Pin30=VP_TIM5_VS_ClockSourceINT -Mcu.Pin4=PB0 -Mcu.Pin5=PB1 -Mcu.Pin6=PB10 -Mcu.Pin7=PB14 -Mcu.Pin8=PB15 -Mcu.Pin9=PC6 -Mcu.PinsNb=31 +Mcu.Pin0=PC1 +Mcu.Pin1=PC5 +Mcu.Pin10=PC9 +Mcu.Pin11=PA8 +Mcu.Pin12=PA9 +Mcu.Pin13=PA10 +Mcu.Pin14=PA11 +Mcu.Pin15=PA12 +Mcu.Pin16=PA13 +Mcu.Pin17=PA14 +Mcu.Pin18=PC10 +Mcu.Pin19=PC11 +Mcu.Pin2=PB0 +Mcu.Pin20=PC12 +Mcu.Pin21=PD2 +Mcu.Pin22=PB6 +Mcu.Pin23=PB7 +Mcu.Pin24=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin25=VP_SYS_VS_tim2 +Mcu.Pin26=VP_TIM1_VS_ClockSourceINT +Mcu.Pin27=VP_TIM3_VS_ClockSourceINT +Mcu.Pin28=VP_TIM5_VS_ClockSourceINT +Mcu.Pin3=PB1 +Mcu.Pin4=PB10 +Mcu.Pin5=PB14 +Mcu.Pin6=PB15 +Mcu.Pin7=PC6 +Mcu.Pin8=PC7 +Mcu.Pin9=PC8 +Mcu.PinsNb=29 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F446RETx MxCube.Version=6.5.0 MxDb.Version=DB.6.0.50 -NVIC.ADC_IRQn=true\:2\:0\:true\:true\:true\:4\:true\:true\:true -NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.ADC_IRQn=true\:5\:0\:true\:true\:true\:1\:true\:true\:true\:true +NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.ForceEnableDMAVector=true -NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 -NVIC.SPI2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true -NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false -NVIC.TIM1_BRK_TIM9_IRQn=true\:1\:0\:true\:true\:true\:1\:true\:true\:true -NVIC.TIM1_CC_IRQn=true\:3\:0\:true\:true\:true\:2\:true\:true\:true -NVIC.TIM2_IRQn=true\:4\:0\:true\:true\:true\:3\:true\:true\:true -NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true -NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false +NVIC.SavedPendsvIrqHandlerGenerated=true +NVIC.SavedSvcallIrqHandlerGenerated=true +NVIC.SavedSystickIrqHandlerGenerated=true +NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false +NVIC.TIM2_IRQn=true\:15\:0\:true\:false\:true\:false\:false\:true\:true +NVIC.TIM3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.TimeBase=TIM2_IRQn +NVIC.TimeBaseIP=TIM2 +NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false PA10.Signal=S_TIM1_CH3 PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label PA11.GPIO_Label=EN_U @@ -171,10 +176,6 @@ PD2.GPIO_PuPd=GPIO_PULLDOWN PD2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH PD2.Locked=true PD2.Signal=GPIO_Output -PH0-OSC_IN.Mode=HSE-External-Oscillator -PH0-OSC_IN.Signal=RCC_OSC_IN -PH1-OSC_OUT.Mode=HSE-External-Oscillator -PH1-OSC_OUT.Signal=RCC_OSC_OUT PinOutPanel.RotationAngle=0 ProjectManager.AskForMigrate=true ProjectManager.BackupPrevious=false @@ -203,7 +204,7 @@ ProjectManager.StackSize=0x400 ProjectManager.TargetToolchain=Other Toolchains (GPDSC) ProjectManager.ToolChainLocation= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_SPI2_Init-SPI2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_ADC2_Init-ADC2-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true +ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_ADC2_Init-ADC2-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true RCC.AHBFreq_Value=180000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 RCC.APB1Freq_Value=45000000 @@ -218,37 +219,36 @@ RCC.FMPI2C1Freq_Value=45000000 RCC.FamilyName=M RCC.HCLKFreq_Value=180000000 RCC.HSE_VALUE=8000000 -RCC.I2S1Freq_Value=48000000 -RCC.I2S2Freq_Value=48000000 -RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,FCLKCortexFreq_Value,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,I2S1Freq_Value,I2S2Freq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SoutputFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLRCLKFreq_Value,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PLLSAIoutputFreq_Value,PLLSourceVirtual,PWRFreq_Value,SAIAFreq_Value,SAIBFreq_Value,SDIOFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIInputFreq_Value,VCOSAIOutputFreq_Value +RCC.I2S1Freq_Value=96000000 +RCC.I2S2Freq_Value=96000000 +RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,FCLKCortexFreq_Value,FMPI2C1Freq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,I2S1Freq_Value,I2S2Freq_Value,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SoutputFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLRCLKFreq_Value,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PLLSAIoutputFreq_Value,PWRFreq_Value,SAIAFreq_Value,SAIBFreq_Value,SDIOFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIInputFreq_Value,VCOSAIOutputFreq_Value RCC.MCO2PinFreq_Value=180000000 RCC.PLLCLKFreq_Value=180000000 -RCC.PLLI2SPCLKFreq_Value=48000000 -RCC.PLLI2SQCLKFreq_Value=48000000 -RCC.PLLI2SRCLKFreq_Value=48000000 -RCC.PLLI2SoutputFreq_Value=48000000 -RCC.PLLM=4 +RCC.PLLI2SPCLKFreq_Value=96000000 +RCC.PLLI2SQCLKFreq_Value=96000000 +RCC.PLLI2SRCLKFreq_Value=96000000 +RCC.PLLI2SoutputFreq_Value=96000000 +RCC.PLLM=8 RCC.PLLN=180 RCC.PLLQCLKFreq_Value=180000000 RCC.PLLRCLKFreq_Value=180000000 -RCC.PLLSAIPCLKFreq_Value=48000000 -RCC.PLLSAIQCLKFreq_Value=48000000 -RCC.PLLSAIoutputFreq_Value=48000000 -RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE +RCC.PLLSAIPCLKFreq_Value=96000000 +RCC.PLLSAIQCLKFreq_Value=96000000 +RCC.PLLSAIoutputFreq_Value=96000000 RCC.PWRFreq_Value=180000000 -RCC.SAIAFreq_Value=48000000 -RCC.SAIBFreq_Value=48000000 +RCC.SAIAFreq_Value=96000000 +RCC.SAIBFreq_Value=96000000 RCC.SDIOFreq_Value=180000000 RCC.SPDIFRXFreq_Value=180000000 RCC.SYSCLKFreq_VALUE=180000000 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK RCC.USBFreq_Value=180000000 -RCC.VCOI2SInputFreq_Value=500000 -RCC.VCOI2SOutputFreq_Value=96000000 +RCC.VCOI2SInputFreq_Value=1000000 +RCC.VCOI2SOutputFreq_Value=192000000 RCC.VCOInputFreq_Value=2000000 RCC.VCOOutputFreq_Value=360000000 -RCC.VCOSAIInputFreq_Value=500000 -RCC.VCOSAIOutputFreq_Value=96000000 +RCC.VCOSAIInputFreq_Value=1000000 +RCC.VCOSAIOutputFreq_Value=192000000 SH.ADCx_IN15.0=ADC2_IN15,IN15 SH.ADCx_IN15.ConfNb=1 SH.ADCx_IN8.0=ADC2_IN8,IN8 @@ -281,21 +281,17 @@ TIM1.OffStateIDLEMode=TIM_OSSI_DISABLE TIM1.OffStateRunMode=TIM_OSSR_DISABLE TIM1.Period=2399 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_RESET -TIM2.IPParameters=TIM_MasterOutputTrigger,Prescaler,Period -TIM2.Period=3999 -TIM2.Prescaler=89 -TIM2.TIM_MasterOutputTrigger=TIM_TRGO_RESET TIM3.IPParameters=Period,Prescaler TIM3.Period=99 TIM3.Prescaler=89 USART1.IPParameters=VirtualMode USART1.VirtualMode=VM_ASYNC -VP_SYS_VS_Systick.Mode=SysTick -VP_SYS_VS_Systick.Signal=SYS_VS_Systick +VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 +VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 +VP_SYS_VS_tim2.Mode=TIM2 +VP_SYS_VS_tim2.Signal=SYS_VS_tim2 VP_TIM1_VS_ClockSourceINT.Mode=Internal VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT -VP_TIM2_VS_ClockSourceINT.Mode=Internal -VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT VP_TIM3_VS_ClockSourceINT.Mode=Internal VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT VP_TIM5_VS_ClockSourceINT.Mode=Internal diff --git a/firmware/extra_script.py b/firmware/extra_script.py deleted file mode 100644 index 13391f3..0000000 --- a/firmware/extra_script.py +++ /dev/null @@ -1,12 +0,0 @@ -Import("env") - - -# Dump build environment (for debug) -# print(env.Dump()) - -# add floating point unit support STM32F4 -FPU_FLAGS = "-mfloat-abi=hard -mfpu=fpv4-sp-d16" -# add -u _printf_float to LDFLAGS -env.Append(LINKFLAGS="-u _printf_float") -# env.Append(CCFLAGS=FPU_FLAGS) -# env.Append(LINKFLAGS=FPU_FLAGS) \ No newline at end of file diff --git a/firmware/lib/AS5040/AS5040.cpp b/firmware/lib/AS5040/AS5040.cpp new file mode 100644 index 0000000..d48336a --- /dev/null +++ b/firmware/lib/AS5040/AS5040.cpp @@ -0,0 +1,36 @@ +#include "AS5040.h" + +AS5040Sensor::AS5040Sensor(uint16_t cs, uint16_t mosi, uint16_t miso, uint16_t sck) { + cs_ = cs; + mosi_ = mosi; + miso_ = miso; + sck_ = sck; +} +void AS5040Sensor::init(SPIClass *_spi) { + spi = _spi; + // 1MHz clock (AMS should be able to accept up to 10MHz) + settings = SPISettings(1000000, MSBFIRST, SPI_MODE0); + //setup pins + pinMode(cs_, OUTPUT); + pinMode(miso_, INPUT); + pinMode(mosi_, OUTPUT); + pinMode(sck_, OUTPUT); + spi->setMISO(miso_); + spi->setMOSI(mosi_); + spi->setSCLK(sck_); + spi->begin(); + this->Sensor::init(); // call base class init +} + +float AS5040Sensor::getSensorAngle() { + //SPI - begin transaction + spi->beginTransaction(settings); + //Send the command + digitalWrite(cs_, LOW); + uint16_t data = spi->transfer16(0x3FFF); + digitalWrite(cs_,HIGH); +//SPI - end transaction + spi->endTransaction(); + data = (data) >> 5; + return (float)data * _2PI / cpr; +} diff --git a/firmware/lib/AS5040/AS5040.h b/firmware/lib/AS5040/AS5040.h new file mode 100644 index 0000000..b25ea97 --- /dev/null +++ b/firmware/lib/AS5040/AS5040.h @@ -0,0 +1,26 @@ +#pragma once + +#include "SimpleFOC.h" + + +class AS5040Sensor : public Sensor { +public: + + AS5040Sensor(uint16_t cs, uint16_t mosi, uint16_t miso, uint16_t sck); + + /** sensor initialise pins */ + void init(SPIClass *_spi = &SPI); + + // implementation of abstract functions of the Sensor class + /** get current angle (rad) */ + float getSensorAngle() override; + +private: + uint16_t cs_ = 0; + uint16_t mosi_ = 0; + uint16_t miso_ = 0; + uint16_t sck_ = 0; + float cpr = 1024; + SPISettings settings; + SPIClass *spi; +}; diff --git a/firmware/Lib/README b/firmware/lib/README similarity index 100% rename from firmware/Lib/README rename to firmware/lib/README diff --git a/firmware/platformio.ini b/firmware/platformio.ini index cf83127..653b782 100644 --- a/firmware/platformio.ini +++ b/firmware/platformio.ini @@ -7,23 +7,15 @@ ; ; Please visit documentation for the other options and examples ; https://docs.platformio.org/page/projectconf.html + [platformio] -include_dir = Inc -src_dir = Src -lib_dir = Lib -[env:robotroller] + +[env:robotroller_reborn] platform = ststm32 board = genericSTM32F446RE -framework = stm32cube -board_build.stm32cube.custom_config_header = yes -;ADD BSD_VISIBLE flag -build_flags = - -D USE_FULL_LL_DRIVER - -D USE_HAL_DRIVER - -D_BSD_SOURCE - +framework = arduino upload_protocol = stlink debug_tool = stlink monitor_speed = 115200 monitor_parity = N -extra_scripts = extra_script.py \ No newline at end of file +lib_deps = askuric/Simple FOC@^2.3.2 diff --git a/firmware/src/main.cpp b/firmware/src/main.cpp new file mode 100644 index 0000000..e2e8109 --- /dev/null +++ b/firmware/src/main.cpp @@ -0,0 +1,114 @@ +#include +#include +#include +#include + +#pragma region "Motor and sensor setup" +#define LED1 PC10 +#define LED2 PC11 +#define HARDWARE_SERIAL_RX_PIN PB7 +#define HARDWARE_SERIAL_TX_PIN PB6 +#define AS5040_CS PB15 +#define AS5040_MISO PB14 +#define AS5040_MOSI PC1 +#define AS5040_SCLK PB10 + +#define EN_W_Pin LL_GPIO_PIN_6 +#define EN_W_GPIO_Port GPIOC +#define DRV_FAULT_Pin LL_GPIO_PIN_7 +#define DRV_FAULT_GPIO_Port GPIOC +#define DRV_RESET_Pin LL_GPIO_PIN_8 +#define DRV_RESET_GPIO_Port GPIOC +#define DRV_SLEEP_Pin LL_GPIO_PIN_9 +#define DRV_SLEEP_GPIO_Port GPIOC +#define EN_U_Pin LL_GPIO_PIN_11 +#define EN_U_GPIO_Port GPIOA +#define EN_V_Pin LL_GPIO_PIN_12 +#define EN_V_GPIO_Port GPIOA +#define SENSE3_Pin GPIO_PIN_5 +#define SENSE3_GPIO_Port GPIOC +#define SENSE2_Pin GPIO_PIN_0 +#define SENSE2_GPIO_Port GPIOB +#define SENSE1_Pin GPIO_PIN_1 +#define SENSE1_GPIO_Port GPIOB +#define AS5045_CS_Pin GPIO_PIN_15 +#define AS5045_CS_GPIO_Port GPIOB +#define EN_W_Pin GPIO_PIN_6 +#define EN_W_GPIO_Port GPIOC +#define DRV_FAULT_Pin GPIO_PIN_7 +#define DRV_FAULT_GPIO_Port GPIOC +#define DRV_RESET_Pin GPIO_PIN_8 +#define DRV_RESET_GPIO_Port GPIOC +#define DRV_SLEEP_Pin GPIO_PIN_9 +#define DRV_SLEEP_GPIO_Port GPIOC +#define EN_U_Pin GPIO_PIN_11 +#define EN_U_GPIO_Port GPIOA +#define EN_V_Pin GPIO_PIN_12 +#define EN_V_GPIO_Port GPIOA +#define LED1_Pin GPIO_PIN_10 +#define LED1_GPIO_Port GPIOC +#define LED2_Pin GPIO_PIN_11 +#define LED2_GPIO_Port GPIOC +#define LED3_Pin GPIO_PIN_12 +#define LED3_GPIO_Port GPIOC +#define spi1_cs_Pin GPIO_PIN_2 +#define spi1_cs_GPIO_Port GPIOD + +#pragma endregion + +AS5040Sensor sensor(AS5040_CS, AS5040_MOSI, AS5040_MISO, AS5040_SCLK); +// Init iPower 6208 +BLDCMotor motor = BLDCMotor(12); +BLDCDriver3PWM driver = BLDCDriver3PWM(PA10, PA11, PA12, PC6, PA11, PA12); + +Commander command = Commander(Serial); +void onMotor(char *cmd) { command.motor(&motor, cmd); } + +void setup() { + Serial.setRx(HARDWARE_SERIAL_RX_PIN); + Serial.setTx(HARDWARE_SERIAL_TX_PIN); + Serial.begin(115200); + + pinMode(PC8, OUTPUT); + pinMode(PC9, OUTPUT); + pinMode(PA11, OUTPUT); + pinMode(PA12, OUTPUT); + pinMode(PC6, OUTPUT); + pinMode(PA8, OUTPUT); + pinMode(PA9, OUTPUT); + pinMode(PA10, OUTPUT); + digitalWrite(PC8, HIGH); + digitalWrite(PC9, HIGH); + delay(1); + digitalWrite(PA11, HIGH); + digitalWrite(PA12, HIGH); + digitalWrite(PC6, HIGH); + Serial.begin(115200); + sensor.init(); + motor.linkSensor(&sensor); + driver.voltage_power_supply = 12; + driver.init(); + motor.linkDriver(&driver); + motor.controller = MotionControlType::torque; + motor.PID_velocity.P = 0.2; + motor.PID_velocity.I = 20; + motor.PID_velocity.D = 0; + motor.voltage_limit = 12; + motor.LPF_velocity.Tf = 0.01; + motor.P_angle.P = 20; + motor.velocity_limit = 50; + Serial.begin(115200); + motor.useMonitoring(Serial); + motor.init(); + motor.initFOC(); + motor.target = 2; + command.add('A', onMotor, "motor"); + + _delay(1000); +} + +void loop() { + motor.loopFOC(); + motor.move(); + command.run(); +} \ No newline at end of file diff --git a/firmware/startup_stm32f446retx.s b/firmware/startup_stm32f446retx.s deleted file mode 100644 index 2ec268e..0000000 --- a/firmware/startup_stm32f446retx.s +++ /dev/null @@ -1,538 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32f446xx.s - * @author MCD Application Team - * @brief STM32F446xx Devices vector table for GCC based toolchains. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M4 processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ****************************************************************************** - * @attention - * - * Copyright (c) 2017 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ - - .syntax unified - .cpu cortex-m4 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global Default_Handler - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss -/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ - -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - ldr sp, =_estack /* set stack pointer */ - -/* Call the clock system initialization function.*/ - bl SystemInit - -/* Copy the data segment initializers from flash to SRAM */ - ldr r0, =_sdata - ldr r1, =_edata - ldr r2, =_sidata - movs r3, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r4, [r2, r3] - str r4, [r0, r3] - adds r3, r3, #4 - -LoopCopyDataInit: - adds r4, r0, r3 - cmp r4, r1 - bcc CopyDataInit - -/* Zero fill the bss segment. */ - ldr r2, =_sbss - ldr r4, =_ebss - movs r3, #0 - b LoopFillZerobss - -FillZerobss: - str r3, [r2] - adds r2, r2, #4 - -LoopFillZerobss: - cmp r2, r4 - bcc FillZerobss - -/* Call static constructors */ - bl __libc_init_array -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * @param None - * @retval None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M3. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -*******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - - -g_pfnVectors: - .word _estack - .word Reset_Handler - - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word SVC_Handler - .word DebugMon_Handler - .word 0 - .word PendSV_Handler - .word SysTick_Handler - - /* External Interrupts */ - .word WWDG_IRQHandler /* Window WatchDog */ - .word PVD_IRQHandler /* PVD through EXTI Line detection */ - .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ - .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ - .word FLASH_IRQHandler /* FLASH */ - .word RCC_IRQHandler /* RCC */ - .word EXTI0_IRQHandler /* EXTI Line0 */ - .word EXTI1_IRQHandler /* EXTI Line1 */ - .word EXTI2_IRQHandler /* EXTI Line2 */ - .word EXTI3_IRQHandler /* EXTI Line3 */ - .word EXTI4_IRQHandler /* EXTI Line4 */ - .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ - .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ - .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ - .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ - .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ - .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ - .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ - .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ - .word CAN1_TX_IRQHandler /* CAN1 TX */ - .word CAN1_RX0_IRQHandler /* CAN1 RX0 */ - .word CAN1_RX1_IRQHandler /* CAN1 RX1 */ - .word CAN1_SCE_IRQHandler /* CAN1 SCE */ - .word EXTI9_5_IRQHandler /* External Line[9:5]s */ - .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */ - .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */ - .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */ - .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ - .word TIM2_IRQHandler /* TIM2 */ - .word TIM3_IRQHandler /* TIM3 */ - .word TIM4_IRQHandler /* TIM4 */ - .word I2C1_EV_IRQHandler /* I2C1 Event */ - .word I2C1_ER_IRQHandler /* I2C1 Error */ - .word I2C2_EV_IRQHandler /* I2C2 Event */ - .word I2C2_ER_IRQHandler /* I2C2 Error */ - .word SPI1_IRQHandler /* SPI1 */ - .word SPI2_IRQHandler /* SPI2 */ - .word USART1_IRQHandler /* USART1 */ - .word USART2_IRQHandler /* USART2 */ - .word USART3_IRQHandler /* USART3 */ - .word EXTI15_10_IRQHandler /* External Line[15:10]s */ - .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ - .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */ - .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ - .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ - .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ - .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ - .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ - .word FMC_IRQHandler /* FMC */ - .word SDIO_IRQHandler /* SDIO */ - .word TIM5_IRQHandler /* TIM5 */ - .word SPI3_IRQHandler /* SPI3 */ - .word UART4_IRQHandler /* UART4 */ - .word UART5_IRQHandler /* UART5 */ - .word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */ - .word TIM7_IRQHandler /* TIM7 */ - .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ - .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ - .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ - .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ - .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word CAN2_TX_IRQHandler /* CAN2 TX */ - .word CAN2_RX0_IRQHandler /* CAN2 RX0 */ - .word CAN2_RX1_IRQHandler /* CAN2 RX1 */ - .word CAN2_SCE_IRQHandler /* CAN2 SCE */ - .word OTG_FS_IRQHandler /* USB OTG FS */ - .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ - .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ - .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ - .word USART6_IRQHandler /* USART6 */ - .word I2C3_EV_IRQHandler /* I2C3 event */ - .word I2C3_ER_IRQHandler /* I2C3 error */ - .word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */ - .word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */ - .word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */ - .word OTG_HS_IRQHandler /* USB OTG HS */ - .word DCMI_IRQHandler /* DCMI */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word FPU_IRQHandler /* FPU */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word SPI4_IRQHandler /* SPI4 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word SAI1_IRQHandler /* SAI1 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word SAI2_IRQHandler /* SAI2 */ - .word QUADSPI_IRQHandler /* QuadSPI */ - .word CEC_IRQHandler /* CEC */ - .word SPDIF_RX_IRQHandler /* SPDIF RX */ - .word FMPI2C1_EV_IRQHandler /* FMPI2C 1 Event */ - .word FMPI2C1_ER_IRQHandler /* FMPI2C 1 Error */ - - - .size g_pfnVectors, .-g_pfnVectors - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_IRQHandler - .thumb_set PVD_IRQHandler,Default_Handler - - .weak TAMP_STAMP_IRQHandler - .thumb_set TAMP_STAMP_IRQHandler,Default_Handler - - .weak RTC_WKUP_IRQHandler - .thumb_set RTC_WKUP_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Stream0_IRQHandler - .thumb_set DMA1_Stream0_IRQHandler,Default_Handler - - .weak DMA1_Stream1_IRQHandler - .thumb_set DMA1_Stream1_IRQHandler,Default_Handler - - .weak DMA1_Stream2_IRQHandler - .thumb_set DMA1_Stream2_IRQHandler,Default_Handler - - .weak DMA1_Stream3_IRQHandler - .thumb_set DMA1_Stream3_IRQHandler,Default_Handler - - .weak DMA1_Stream4_IRQHandler - .thumb_set DMA1_Stream4_IRQHandler,Default_Handler - - .weak DMA1_Stream5_IRQHandler - .thumb_set DMA1_Stream5_IRQHandler,Default_Handler - - .weak DMA1_Stream6_IRQHandler - .thumb_set DMA1_Stream6_IRQHandler,Default_Handler - - .weak ADC_IRQHandler - .thumb_set ADC_IRQHandler,Default_Handler - - .weak CAN1_TX_IRQHandler - .thumb_set CAN1_TX_IRQHandler,Default_Handler - - .weak CAN1_RX0_IRQHandler - .thumb_set CAN1_RX0_IRQHandler,Default_Handler - - .weak CAN1_RX1_IRQHandler - .thumb_set CAN1_RX1_IRQHandler,Default_Handler - - .weak CAN1_SCE_IRQHandler - .thumb_set CAN1_SCE_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_TIM9_IRQHandler - .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler - - .weak TIM1_UP_TIM10_IRQHandler - .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_TIM11_IRQHandler - .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTC_Alarm_IRQHandler - .thumb_set RTC_Alarm_IRQHandler,Default_Handler - - .weak OTG_FS_WKUP_IRQHandler - .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler - - .weak TIM8_BRK_TIM12_IRQHandler - .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler - - .weak TIM8_UP_TIM13_IRQHandler - .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler - - .weak TIM8_TRG_COM_TIM14_IRQHandler - .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler - - .weak TIM8_CC_IRQHandler - .thumb_set TIM8_CC_IRQHandler,Default_Handler - - .weak DMA1_Stream7_IRQHandler - .thumb_set DMA1_Stream7_IRQHandler,Default_Handler - - .weak FMC_IRQHandler - .thumb_set FMC_IRQHandler,Default_Handler - - .weak SDIO_IRQHandler - .thumb_set SDIO_IRQHandler,Default_Handler - - .weak TIM5_IRQHandler - .thumb_set TIM5_IRQHandler,Default_Handler - - .weak SPI3_IRQHandler - .thumb_set SPI3_IRQHandler,Default_Handler - - .weak UART4_IRQHandler - .thumb_set UART4_IRQHandler,Default_Handler - - .weak UART5_IRQHandler - .thumb_set UART5_IRQHandler,Default_Handler - - .weak TIM6_DAC_IRQHandler - .thumb_set TIM6_DAC_IRQHandler,Default_Handler - - .weak TIM7_IRQHandler - .thumb_set TIM7_IRQHandler,Default_Handler - - .weak DMA2_Stream0_IRQHandler - .thumb_set DMA2_Stream0_IRQHandler,Default_Handler - - .weak DMA2_Stream1_IRQHandler - .thumb_set DMA2_Stream1_IRQHandler,Default_Handler - - .weak DMA2_Stream2_IRQHandler - .thumb_set DMA2_Stream2_IRQHandler,Default_Handler - - .weak DMA2_Stream3_IRQHandler - .thumb_set DMA2_Stream3_IRQHandler,Default_Handler - - .weak DMA2_Stream4_IRQHandler - .thumb_set DMA2_Stream4_IRQHandler,Default_Handler - - .weak CAN2_TX_IRQHandler - .thumb_set CAN2_TX_IRQHandler,Default_Handler - - .weak CAN2_RX0_IRQHandler - .thumb_set CAN2_RX0_IRQHandler,Default_Handler - - .weak CAN2_RX1_IRQHandler - .thumb_set CAN2_RX1_IRQHandler,Default_Handler - - .weak CAN2_SCE_IRQHandler - .thumb_set CAN2_SCE_IRQHandler,Default_Handler - - .weak OTG_FS_IRQHandler - .thumb_set OTG_FS_IRQHandler,Default_Handler - - .weak DMA2_Stream5_IRQHandler - .thumb_set DMA2_Stream5_IRQHandler,Default_Handler - - .weak DMA2_Stream6_IRQHandler - .thumb_set DMA2_Stream6_IRQHandler,Default_Handler - - .weak DMA2_Stream7_IRQHandler - .thumb_set DMA2_Stream7_IRQHandler,Default_Handler - - .weak USART6_IRQHandler - .thumb_set USART6_IRQHandler,Default_Handler - - .weak I2C3_EV_IRQHandler - .thumb_set I2C3_EV_IRQHandler,Default_Handler - - .weak I2C3_ER_IRQHandler - .thumb_set I2C3_ER_IRQHandler,Default_Handler - - .weak OTG_HS_EP1_OUT_IRQHandler - .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler - - .weak OTG_HS_EP1_IN_IRQHandler - .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler - - .weak OTG_HS_WKUP_IRQHandler - .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler - - .weak OTG_HS_IRQHandler - .thumb_set OTG_HS_IRQHandler,Default_Handler - - .weak DCMI_IRQHandler - .thumb_set DCMI_IRQHandler,Default_Handler - - .weak FPU_IRQHandler - .thumb_set FPU_IRQHandler,Default_Handler - - .weak SPI4_IRQHandler - .thumb_set SPI4_IRQHandler,Default_Handler - - .weak SAI1_IRQHandler - .thumb_set SAI1_IRQHandler,Default_Handler - - .weak SAI2_IRQHandler - .thumb_set SAI2_IRQHandler,Default_Handler - - .weak QUADSPI_IRQHandler - .thumb_set QUADSPI_IRQHandler,Default_Handler - - .weak CEC_IRQHandler - .thumb_set CEC_IRQHandler,Default_Handler - - .weak SPDIF_RX_IRQHandler - .thumb_set SPDIF_RX_IRQHandler,Default_Handler - - .weak FMPI2C1_EV_IRQHandler - .thumb_set FMPI2C1_EV_IRQHandler,Default_Handler - - .weak FMPI2C1_ER_IRQHandler - .thumb_set FMPI2C1_ER_IRQHandler,Default_Handler \ No newline at end of file diff --git a/firmware/stm32pio.ini b/firmware/stm32pio.ini deleted file mode 100644 index 833e610..0000000 --- a/firmware/stm32pio.ini +++ /dev/null @@ -1,18 +0,0 @@ -[app] -platformio_cmd = platformio -cubemx_cmd = /home/vanyabeat/STM32CubeMX/STM32CubeMX -java_cmd = None - -[project] -cubemx_script_content = config load ${ioc_file_absolute_path} - generate code ${project_dir_absolute_path} - exit -platformio_ini_patch_content = [platformio] - include_dir = Inc - src_dir = Src -board = genericSTM32F446RE -ioc_file = robotroller_platformio.ioc -cleanup_ignore = robotroller_platformio.ioc -cleanup_use_git = False -inspect_ioc = True - diff --git a/firmware/vizualize.py b/firmware/vizualize.py deleted file mode 100644 index 816d0f1..0000000 --- a/firmware/vizualize.py +++ /dev/null @@ -1,88 +0,0 @@ -import serial -import struct -import threading -import matplotlib.pyplot as plt -from matplotlib.animation import FuncAnimation -# Configure your serial port settings. -SERIAL_PORT = '/dev/ttyUSB0' # Update to match your serial port. -BAUD_RATE = 115200 # Update to match your settings. -FLOAT_SIZE = 4 # Size of a float in bytes (usually 4 bytes) - -# Shared state, updated by the reading thread, read by the plotting function. -# Initialize values with None. -adc_values = [None, None, None] -angle = None - -# Define the thread that will read the serial data. -def read_serial_data(ser): - global adc_values, angle - try: - while True: - byte = ser.read(1) - if byte == b'\xDE': - next_byte = ser.read(1) - if next_byte == b'\xAD': - data = ser.read(FLOAT_SIZE * 4) - if len(data) == FLOAT_SIZE * 4: - floats = struct.unpack('<4f', data) - packet_end = ser.read(2) - if packet_end == bytes([0xBE, 0xAF]): - # Update our shared state. - adc_values = list(floats[0:3]) - angle = floats[3] - except serial.SerialException as e: - print("Serial exception:", e) - except struct.error as e: - print("Unpacking error:", e) - except: - print("Other error or thread exiting.") - -# Start the serial reader in a separate thread. -thread = threading.Thread(target=read_serial_data, args=(serial.Serial(SERIAL_PORT, BAUD_RATE, timeout=1),)) -thread.daemon = True # Thread will be killed when the main thread exits. -thread.start() - -# Set up the Matplotlib figures and axes. -fig = plt.figure(figsize=(10, 5)) - -# Create a normal subplot for the bar graph. -ax_bar = fig.add_subplot(1, 2, 1) - -# Create another subplot for the polar plot by specifying polar=True. -ax_polar = fig.add_subplot(1, 2, 2, polar=True) - -# Set the properties for polar plot. -ax_polar.set_theta_zero_location('N') -ax_polar.set_theta_direction(-1) - -# Bar plot axis. -bars = ax_bar.bar(['ADC0', 'ADC1', 'ADC2'], [0, 0, 0]) -ax_bar.set_ylim(0, 0.4) # Set the limit for your ADC values. - -# Polar plot axis. -ax_polar.set_theta_zero_location('N') -ax_polar.set_theta_direction(-1) -angle_plot, = ax_polar.plot([], [], 'go') # Initial empty plot. - -# Update function for the animation. -def update(i): - # Global variables holding the shared state. - global adc_values, angle - - # Check if we have received new data. - if all(v is not None for v in adc_values) and angle is not None: - # Update the bar plot. - for bar, value in zip(bars, adc_values): - bar.set_height(value) - - # Update the polar plot. - angle_rad = angle / 180.0 * 3.14159 # Convert degrees to radians. - angle_plot.set_data([angle_rad], [1]) # Set angle for the plot, using radial distance of 1. - - return bars.patches + [angle_plot] - -# Create the animation itself, which will call update function repeatedly. -ani = FuncAnimation(fig, update, blit=True, interval=1) # Update interval is in milliseconds. - -# Show the plot. -plt.show()