From bd7f049b751b3b18d77e48b80d9509dbd8d6fb4f Mon Sep 17 00:00:00 2001 From: vanyabeat Date: Tue, 6 Feb 2024 11:32:46 +0300 Subject: [PATCH] ADD: dummy foc SIMPLE CLEAN: cleanup code and add printf handler FIX: counters ADD: motor ENH: temporary disable can ADD: dummy foc, but creepy work --- firmware/Inc/can.h | 55 -------- firmware/Inc/main.h | 4 +- firmware/Inc/stm32f4xx_hal_conf.h | 4 +- firmware/Inc/tim.h | 3 + firmware/Inc/usart.h | 10 +- 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/Src/can.c | 215 ------------------------------ firmware/Src/gpio.c | 22 ++- firmware/Src/main.c | 123 ++--------------- firmware/Src/stm32f4xx_it.c | 1 + firmware/Src/tim.c | 63 +++++++++ firmware/Src/usart.c | 162 ++++++++++------------ firmware/cubemx_config.ioc | 131 ++++++------------ 20 files changed, 629 insertions(+), 567 deletions(-) delete mode 100644 firmware/Inc/can.h create mode 100644 firmware/Lib/foc/foc.c create mode 100644 firmware/Lib/foc/foc.h create mode 100644 firmware/Lib/helpers/helpers.c create mode 100644 firmware/Lib/helpers/helpers.h create mode 100644 firmware/Lib/motor/motor.c create mode 100644 firmware/Lib/motor/motor.h create mode 100644 firmware/Lib/pid/pid.c create mode 100644 firmware/Lib/pid/pid.h delete mode 100644 firmware/Src/can.c diff --git a/firmware/Inc/can.h b/firmware/Inc/can.h deleted file mode 100644 index 5f9c899..0000000 --- a/firmware/Inc/can.h +++ /dev/null @@ -1,55 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file can.h - * @brief This file contains all the function prototypes for - * the can.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 __CAN_H__ -#define __CAN_H__ - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "main.h" - -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -extern CAN_HandleTypeDef hcan1; - -extern CAN_HandleTypeDef hcan2; - -/* USER CODE BEGIN Private defines */ - -/* USER CODE END Private defines */ - -void MX_CAN1_Init(void); -void MX_CAN2_Init(void); - -/* USER CODE BEGIN Prototypes */ - -/* USER CODE END Prototypes */ - -#ifdef __cplusplus -} -#endif - -#endif /* __CAN_H__ */ - diff --git a/firmware/Inc/main.h b/firmware/Inc/main.h index 54202de..373189d 100644 --- a/firmware/Inc/main.h +++ b/firmware/Inc/main.h @@ -29,13 +29,12 @@ extern "C" { /* Includes ------------------------------------------------------------------*/ #include "stm32f4xx_hal.h" -#include "stm32f4xx_ll_usart.h" -#include "stm32f4xx_ll_rcc.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" @@ -100,6 +99,7 @@ void Error_Handler(void); typedef int bool; #define true 1 #define false 0 +#define nullptr ((void*)0) /* USER CODE END Private defines */ #ifdef __cplusplus diff --git a/firmware/Inc/stm32f4xx_hal_conf.h b/firmware/Inc/stm32f4xx_hal_conf.h index f7b0100..d736f6f 100644 --- a/firmware/Inc/stm32f4xx_hal_conf.h +++ b/firmware/Inc/stm32f4xx_hal_conf.h @@ -39,7 +39,7 @@ #define HAL_ADC_MODULE_ENABLED /* #define HAL_CRYP_MODULE_ENABLED */ -#define HAL_CAN_MODULE_ENABLED +/* #define HAL_CAN_MODULE_ENABLED */ /* #define HAL_CRC_MODULE_ENABLED */ /* #define HAL_CAN_LEGACY_MODULE_ENABLED */ /* #define HAL_CRYP_MODULE_ENABLED */ @@ -64,7 +64,7 @@ /* #define HAL_MMC_MODULE_ENABLED */ #define HAL_SPI_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED -/* #define HAL_UART_MODULE_ENABLED */ +#define HAL_UART_MODULE_ENABLED /* #define HAL_USART_MODULE_ENABLED */ /* #define HAL_IRDA_MODULE_ENABLED */ /* #define HAL_SMARTCARD_MODULE_ENABLED */ diff --git a/firmware/Inc/tim.h b/firmware/Inc/tim.h index 5066305..cd8e183 100644 --- a/firmware/Inc/tim.h +++ b/firmware/Inc/tim.h @@ -38,6 +38,8 @@ extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim3; +extern TIM_HandleTypeDef htim5; + /* USER CODE BEGIN Private defines */ /* USER CODE END Private defines */ @@ -45,6 +47,7 @@ extern TIM_HandleTypeDef htim3; 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); diff --git a/firmware/Inc/usart.h b/firmware/Inc/usart.h index cc717ea..98e3327 100644 --- a/firmware/Inc/usart.h +++ b/firmware/Inc/usart.h @@ -29,19 +29,21 @@ extern "C" { #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); -void MX_USART2_UART_Init(void); /* USER CODE BEGIN Prototypes */ -void USART1_PutString(char *str); -void SendFloatsWithLL(uint8_t *buffer); +int _write(int file, char *data, int len); /* USER CODE END Prototypes */ #ifdef __cplusplus diff --git a/firmware/Lib/foc/foc.c b/firmware/Lib/foc/foc.c new file mode 100644 index 0000000..2689460 --- /dev/null +++ b/firmware/Lib/foc/foc.c @@ -0,0 +1,188 @@ +#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 new file mode 100644 index 0000000..a8800e0 --- /dev/null +++ b/firmware/Lib/foc/foc.h @@ -0,0 +1,52 @@ +#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 new file mode 100644 index 0000000..4984824 --- /dev/null +++ b/firmware/Lib/helpers/helpers.c @@ -0,0 +1,13 @@ +#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 new file mode 100644 index 0000000..a5bfe5f --- /dev/null +++ b/firmware/Lib/helpers/helpers.h @@ -0,0 +1,4 @@ +#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 new file mode 100644 index 0000000..b02665e --- /dev/null +++ b/firmware/Lib/motor/motor.c @@ -0,0 +1,22 @@ +#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 new file mode 100644 index 0000000..2df550f --- /dev/null +++ b/firmware/Lib/motor/motor.h @@ -0,0 +1,8 @@ +#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 new file mode 100644 index 0000000..ecff980 --- /dev/null +++ b/firmware/Lib/pid/pid.c @@ -0,0 +1,82 @@ +#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 new file mode 100644 index 0000000..6b9a36f --- /dev/null +++ b/firmware/Lib/pid/pid.h @@ -0,0 +1,34 @@ +#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/Src/can.c b/firmware/Src/can.c deleted file mode 100644 index d46ad1a..0000000 --- a/firmware/Src/can.c +++ /dev/null @@ -1,215 +0,0 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * @file can.c - * @brief This file provides code for the configuration - * of the CAN 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 "can.h" - -/* USER CODE BEGIN 0 */ - -/* USER CODE END 0 */ - -CAN_HandleTypeDef hcan1; -CAN_HandleTypeDef hcan2; - -/* CAN1 init function */ -void MX_CAN1_Init(void) -{ - - /* USER CODE BEGIN CAN1_Init 0 */ - - /* USER CODE END CAN1_Init 0 */ - - /* USER CODE BEGIN CAN1_Init 1 */ - - /* USER CODE END CAN1_Init 1 */ - hcan1.Instance = CAN1; - hcan1.Init.Prescaler = 5; - hcan1.Init.Mode = CAN_MODE_LOOPBACK; - hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; - hcan1.Init.TimeSeg1 = CAN_BS1_7TQ; - hcan1.Init.TimeSeg2 = CAN_BS2_1TQ; - hcan1.Init.TimeTriggeredMode = DISABLE; - hcan1.Init.AutoBusOff = ENABLE; - hcan1.Init.AutoWakeUp = DISABLE; - hcan1.Init.AutoRetransmission = ENABLE; - hcan1.Init.ReceiveFifoLocked = DISABLE; - hcan1.Init.TransmitFifoPriority = DISABLE; - if (HAL_CAN_Init(&hcan1) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN CAN1_Init 2 */ - - /* USER CODE END CAN1_Init 2 */ - -} -/* CAN2 init function */ -void MX_CAN2_Init(void) -{ - - /* USER CODE BEGIN CAN2_Init 0 */ - - /* USER CODE END CAN2_Init 0 */ - - /* USER CODE BEGIN CAN2_Init 1 */ - - /* USER CODE END CAN2_Init 1 */ - hcan2.Instance = CAN2; - hcan2.Init.Prescaler = 5; - hcan2.Init.Mode = CAN_MODE_NORMAL; - hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; - hcan2.Init.TimeSeg1 = CAN_BS1_7TQ; - hcan2.Init.TimeSeg2 = CAN_BS2_1TQ; - hcan2.Init.TimeTriggeredMode = DISABLE; - hcan2.Init.AutoBusOff = ENABLE; - hcan2.Init.AutoWakeUp = DISABLE; - hcan2.Init.AutoRetransmission = ENABLE; - hcan2.Init.ReceiveFifoLocked = DISABLE; - hcan2.Init.TransmitFifoPriority = DISABLE; - if (HAL_CAN_Init(&hcan2) != HAL_OK) - { - Error_Handler(); - } - /* USER CODE BEGIN CAN2_Init 2 */ - - /* USER CODE END CAN2_Init 2 */ - -} - -static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0; - -void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) -{ - - GPIO_InitTypeDef GPIO_InitStruct = {0}; - if(canHandle->Instance==CAN1) - { - /* USER CODE BEGIN CAN1_MspInit 0 */ - - /* USER CODE END CAN1_MspInit 0 */ - /* CAN1 clock enable */ - HAL_RCC_CAN1_CLK_ENABLED++; - if(HAL_RCC_CAN1_CLK_ENABLED==1){ - __HAL_RCC_CAN1_CLK_ENABLE(); - } - - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**CAN1 GPIO Configuration - PB8 ------> CAN1_RX - PB9 ------> CAN1_TX - */ - GPIO_InitStruct.Pin = GPIO_PIN_8; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = GPIO_PIN_9; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN CAN1_MspInit 1 */ - - /* USER CODE END CAN1_MspInit 1 */ - } - else if(canHandle->Instance==CAN2) - { - /* USER CODE BEGIN CAN2_MspInit 0 */ - - /* USER CODE END CAN2_MspInit 0 */ - /* CAN2 clock enable */ - __HAL_RCC_CAN2_CLK_ENABLE(); - HAL_RCC_CAN1_CLK_ENABLED++; - if(HAL_RCC_CAN1_CLK_ENABLED==1){ - __HAL_RCC_CAN1_CLK_ENABLE(); - } - - __HAL_RCC_GPIOB_CLK_ENABLE(); - /**CAN2 GPIO Configuration - PB12 ------> CAN2_RX - PB13 ------> CAN2_TX - */ - GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF9_CAN2; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - /* USER CODE BEGIN CAN2_MspInit 1 */ - - /* USER CODE END CAN2_MspInit 1 */ - } -} - -void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) -{ - - if(canHandle->Instance==CAN1) - { - /* USER CODE BEGIN CAN1_MspDeInit 0 */ - - /* USER CODE END CAN1_MspDeInit 0 */ - /* Peripheral clock disable */ - HAL_RCC_CAN1_CLK_ENABLED--; - if(HAL_RCC_CAN1_CLK_ENABLED==0){ - __HAL_RCC_CAN1_CLK_DISABLE(); - } - - /**CAN1 GPIO Configuration - PB8 ------> CAN1_RX - PB9 ------> CAN1_TX - */ - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9); - - /* USER CODE BEGIN CAN1_MspDeInit 1 */ - - /* USER CODE END CAN1_MspDeInit 1 */ - } - else if(canHandle->Instance==CAN2) - { - /* USER CODE BEGIN CAN2_MspDeInit 0 */ - - /* USER CODE END CAN2_MspDeInit 0 */ - /* Peripheral clock disable */ - __HAL_RCC_CAN2_CLK_DISABLE(); - HAL_RCC_CAN1_CLK_ENABLED--; - if(HAL_RCC_CAN1_CLK_ENABLED==0){ - __HAL_RCC_CAN1_CLK_DISABLE(); - } - - /**CAN2 GPIO Configuration - PB12 ------> CAN2_RX - PB13 ------> CAN2_TX - */ - HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13); - - /* USER CODE BEGIN CAN2_MspDeInit 1 */ - - /* USER CODE END CAN2_MspDeInit 1 */ - } -} - -/* USER CODE BEGIN 1 */ - -/* USER CODE END 1 */ diff --git a/firmware/Src/gpio.c b/firmware/Src/gpio.c index d67dfa2..1d1369b 100644 --- a/firmware/Src/gpio.c +++ b/firmware/Src/gpio.c @@ -38,6 +38,8 @@ * Output * EVENT_OUT * EXTI + PB8 ------> CAN1_RX + PB9 ------> CAN1_TX */ void MX_GPIO_Init(void) { @@ -47,8 +49,8 @@ void MX_GPIO_Init(void) /* 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_GPIOA); 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); /**/ @@ -111,6 +113,24 @@ void MX_GPIO_Init(void) 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 */ diff --git a/firmware/Src/main.c b/firmware/Src/main.c index 79d60fd..29305f4 100644 --- a/firmware/Src/main.c +++ b/firmware/Src/main.c @@ -19,7 +19,6 @@ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "adc.h" -#include "can.h" #include "spi.h" #include "tim.h" #include "usart.h" @@ -27,7 +26,14 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ +#include +#include #include +#include +#include +#include +#include +#include /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -37,6 +43,7 @@ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ + /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ @@ -59,50 +66,7 @@ static void MX_NVIC_Init(void); /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ -#define PI 3.14159265359f -#define TWO_PI (2 * PI) -#define MAX_CURRENT 3.0f // Max phase current -#define POLE_PAIRS 3 // Motor's number of pole pairs -#define TARGET_ANGLE 120.0f // Target angle in degrees -#define TARGET_ANGLE_RAD (TARGET_ANGLE * PI / 180.0f) // -void StartMotorControl(void) { - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); -} - -void StopMotorControl(void) { - HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1); - HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2); - HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3); -} - -void UpdateMotor(float a, float b, float c) { - - uint32_t pwm_value_a = (uint32_t)((a / MAX_CURRENT) * ((float)htim1.Init.Period)); - uint32_t pwm_value_b = (uint32_t)((b / MAX_CURRENT) * ((float)htim1.Init.Period)); - uint32_t pwm_value_c = (uint32_t)((c / MAX_CURRENT) * ((float)htim1.Init.Period)); - __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm_value_a); - __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, pwm_value_b); - __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, pwm_value_c); -} - -void RunMotorToAngle(float rotorAngle) { - float phaseA, phaseB, phaseC; - float rotorRadians = fmod(rotorAngle, 360.0f) * (PI / 180.0f); - if (rotorAngle >= TARGET_ANGLE) { - // StopMotor(); // Stop the motor - } - phaseA = MAX_CURRENT * sinf(rotorRadians); - phaseB = MAX_CURRENT * sinf(rotorRadians - TWO_PI / 3.0f); - phaseC = MAX_CURRENT * sinf(rotorRadians + TWO_PI / 3.0f); - // char buf[100]; - // /// print all phases currents - // sprintf(buf, "Phase A B C: %f %f %f\n", phaseA, phaseB, phaseC); - // USART1_PutString(buf); - UpdateMotor(phaseA, phaseB, phaseC); -} /* USER CODE END 0 */ /** @@ -135,96 +99,35 @@ int main(void) MX_GPIO_Init(); MX_TIM1_Init(); MX_USART1_UART_Init(); - MX_USART2_UART_Init(); MX_TIM2_Init(); MX_SPI2_Init(); - MX_CAN1_Init(); - MX_CAN2_Init(); MX_TIM3_Init(); MX_ADC2_Init(); + MX_TIM5_Init(); /* Initialize interrupts */ MX_NVIC_Init(); /* USER CODE BEGIN 2 */ - AS5045_CS_Init(); - - - /// INIT DRV8313 + /// 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 */ - float angle_values[200]; - uint8_t angle_index = 0; - float ADC123_ANGLE[4] = {0, 0, 0, 0}; - StartMotorControl(); - while (1) { - // Ready to MERGE - RunMotorToAngle(ADC123_ANGLE[3] + 10.0f); if (flag_10kHz == SET) { + foc_run(&Motor_6208, &htim1, &hspi2); flag_10kHz = RESET; - // Do something every 10 kHz - // BLINK LED1 - HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin); - uint8_t status = 0; - uint16_t angle = AS5045_ReadAngle(&hspi2, &status); - if (angle_index == 200) - { - angle_index = 0; - float average = 0; - for (int i = 0; i < 200; i++) - { - average += angle_values[i]; - } - average /= 200.0; - ADC123_ANGLE[0] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_15)); // Read ADC - ADC123_ANGLE[1] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_8)); // Read ADC - ADC123_ANGLE[2] = GetCurrentFromADC(ReadADCValue(&hadc2, ADC_CHANNEL_9)); // Read ADC - ADC123_ANGLE[3] = average; - USART1_PutString("\xDE\xAD"); - SendFloatsWithLL((uint8_t *)ADC123_ANGLE); - USART1_PutString("\xBE\xAF"); - // break; - } - if (status == 0) - { - float degrees = NormalizeToDegrees(angle); - angle_values[angle_index] = degrees; - angle_index++; - } - else - { - // Handle the error - if (status & AS5040_DIAG_OC_FAULT) - { - // Offset Compensation not finished - } - if (status & AS5040_DIAG_CO_FAULT) - { - // Cordic Overflow error - } - if (status & AS5040_DIAG_LIN_FAULT) - { - // Linearity Alarm error - } - // StopMotorControl(); - } - - // sprintf(buf, "Average: %f\r\n", degrees); - // USART1_PutString(buf); - // HAL_Delay(100); } - /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ diff --git a/firmware/Src/stm32f4xx_it.c b/firmware/Src/stm32f4xx_it.c index c4c7c4c..d14a44f 100644 --- a/firmware/Src/stm32f4xx_it.c +++ b/firmware/Src/stm32f4xx_it.c @@ -22,6 +22,7 @@ #include "stm32f4xx_it.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ +#include /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ diff --git a/firmware/Src/tim.c b/firmware/Src/tim.c index ff31813..8b6c7db 100644 --- a/firmware/Src/tim.c +++ b/firmware/Src/tim.c @@ -27,6 +27,7 @@ TIM_HandleTypeDef htim1; TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim3; +TIM_HandleTypeDef htim5; /* TIM1 init function */ void MX_TIM1_Init(void) @@ -197,6 +198,46 @@ void MX_TIM3_Init(void) } /* 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) @@ -239,6 +280,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) /* 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) { @@ -316,6 +368,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) /* 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 */ diff --git a/firmware/Src/usart.c b/firmware/Src/usart.c index f8333ba..d211386 100644 --- a/firmware/Src/usart.c +++ b/firmware/Src/usart.c @@ -21,32 +21,11 @@ #include "usart.h" /* USER CODE BEGIN 0 */ -void USART1_PutChar(char ch) -{ - while (!LL_USART_IsActiveFlag_TXE(USART1)); - LL_USART_TransmitData8(USART1, (uint8_t)ch); -} -void USART1_PutString(char *str) -{ - while (*str) - { - USART1_PutChar(*str++); - } -} - -void SendFloatsWithLL(uint8_t *buffer) -{ - // Send each byte using LL drivers - for (size_t i = 0; i < (sizeof(float) * 4); i++) - { - while (!LL_USART_IsActiveFlag_TXE(USART1)); // Wait for TXE flag to be set - LL_USART_TransmitData8(USART1, buffer[i]); // Transmit byte - } - while (!LL_USART_IsActiveFlag_TC(USART1)); // Wait for TC flag to be set -} /* USER CODE END 0 */ +UART_HandleTypeDef huart1; + /* USART1 init function */ void MX_USART1_UART_Init(void) @@ -56,94 +35,99 @@ void MX_USART1_UART_Init(void) /* USER CODE END USART1_Init 0 */ - LL_USART_InitTypeDef USART_InitStruct = {0}; - - LL_GPIO_InitTypeDef GPIO_InitStruct = {0}; - - /* Peripheral clock enable */ - LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1); - - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOB); - /**USART1 GPIO Configuration - PB6 ------> USART1_TX - PB7 ------> USART1_RX - */ - GPIO_InitStruct.Pin = LL_GPIO_PIN_6|LL_GPIO_PIN_7; - 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_7; - LL_GPIO_Init(GPIOB, &GPIO_InitStruct); - /* USER CODE BEGIN USART1_Init 1 */ /* USER CODE END USART1_Init 1 */ - USART_InitStruct.BaudRate = 115200; - USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B; - USART_InitStruct.StopBits = LL_USART_STOPBITS_1; - USART_InitStruct.Parity = LL_USART_PARITY_NONE; - USART_InitStruct.TransferDirection = LL_USART_DIRECTION_TX_RX; - USART_InitStruct.HardwareFlowControl = LL_USART_HWCONTROL_NONE; - USART_InitStruct.OverSampling = LL_USART_OVERSAMPLING_16; - LL_USART_Init(USART1, &USART_InitStruct); - LL_USART_ConfigAsyncMode(USART1); - LL_USART_Enable(USART1); + 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 */ } -/* USART2 init function */ -void MX_USART2_UART_Init(void) +void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) { - /* USER CODE BEGIN USART2_Init 0 */ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(uartHandle->Instance==USART1) + { + /* USER CODE BEGIN USART1_MspInit 0 */ - /* USER CODE END USART2_Init 0 */ + /* USER CODE END USART1_MspInit 0 */ + /* USART1 clock enable */ + __HAL_RCC_USART1_CLK_ENABLE(); - LL_USART_InitTypeDef USART_InitStruct = {0}; + __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); - LL_GPIO_InitTypeDef GPIO_InitStruct = {0}; + /* USER CODE BEGIN USART1_MspInit 1 */ - /* Peripheral clock enable */ - LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2); + /* USER CODE END USART1_MspInit 1 */ + } +} - LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_GPIOA); - /**USART2 GPIO Configuration - PA0-WKUP ------> USART2_CTS - PA1 ------> USART2_RTS - PA2 ------> USART2_TX - PA3 ------> USART2_RX - */ - GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_3; - 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_7; - LL_GPIO_Init(GPIOA, &GPIO_InitStruct); +void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) +{ - /* USER CODE BEGIN USART2_Init 1 */ + if(uartHandle->Instance==USART1) + { + /* USER CODE BEGIN USART1_MspDeInit 0 */ - /* USER CODE END USART2_Init 1 */ - USART_InitStruct.BaudRate = 115200; - USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B; - USART_InitStruct.StopBits = LL_USART_STOPBITS_1; - USART_InitStruct.Parity = LL_USART_PARITY_NONE; - USART_InitStruct.TransferDirection = LL_USART_DIRECTION_TX_RX; - USART_InitStruct.HardwareFlowControl = LL_USART_HWCONTROL_RTS_CTS; - USART_InitStruct.OverSampling = LL_USART_OVERSAMPLING_16; - LL_USART_Init(USART2, &USART_InitStruct); - LL_USART_ConfigAsyncMode(USART2); - LL_USART_Enable(USART2); - /* USER CODE BEGIN USART2_Init 2 */ + /* USER CODE END USART1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART1_CLK_DISABLE(); - /* USER CODE END USART2_Init 2 */ + /**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/cubemx_config.ioc b/firmware/cubemx_config.ioc index bd862cd..65c4e43 100644 --- a/firmware/cubemx_config.ioc +++ b/firmware/cubemx_config.ioc @@ -13,83 +13,56 @@ 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 -CAN1.ABOM=ENABLE -CAN1.BS1=CAN_BS1_7TQ -CAN1.CalculateBaudRate=1000000 -CAN1.CalculateTimeBit=1000 -CAN1.CalculateTimeQuantum=111.11111111111111 -CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,Mode,SJW,ABOM,NART,BS1 -CAN1.Mode=CAN_MODE_LOOPBACK -CAN1.NART=ENABLE -CAN1.Prescaler=5 -CAN1.SJW=CAN_SJW_1TQ -CAN2.ABOM=ENABLE -CAN2.BS1=CAN_BS1_7TQ -CAN2.CalculateBaudRate=1000000 -CAN2.CalculateTimeBit=1000 -CAN2.CalculateTimeQuantum=111.11111111111111 -CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,ABOM,NART -CAN2.NART=ENABLE -CAN2.Prescaler=5 File.Version=6 GPIO.groupedBy=Group By Peripherals KeepUserPlacement=false Mcu.CPN=STM32F446RET6 Mcu.Family=STM32F4 Mcu.IP0=ADC2 -Mcu.IP1=CAN1 -Mcu.IP10=USART1 -Mcu.IP11=USART2 -Mcu.IP2=CAN2 -Mcu.IP3=NVIC -Mcu.IP4=RCC -Mcu.IP5=SPI2 -Mcu.IP6=SYS -Mcu.IP7=TIM1 -Mcu.IP8=TIM2 -Mcu.IP9=TIM3 -Mcu.IPNb=12 +Mcu.IP1=NVIC +Mcu.IP2=RCC +Mcu.IP3=SPI2 +Mcu.IP4=SYS +Mcu.IP5=TIM1 +Mcu.IP6=TIM2 +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=PB10 -Mcu.Pin11=PB12 -Mcu.Pin12=PB13 -Mcu.Pin13=PB14 -Mcu.Pin14=PB15 -Mcu.Pin15=PC6 -Mcu.Pin16=PC7 -Mcu.Pin17=PC8 -Mcu.Pin18=PC9 -Mcu.Pin19=PA8 +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=PA9 -Mcu.Pin21=PA10 -Mcu.Pin22=PA11 -Mcu.Pin23=PA12 -Mcu.Pin24=PA13 -Mcu.Pin25=PA14 -Mcu.Pin26=PC10 -Mcu.Pin27=PC11 -Mcu.Pin28=PC12 -Mcu.Pin29=PD2 -Mcu.Pin3=PA0-WKUP -Mcu.Pin30=PB6 -Mcu.Pin31=PB7 -Mcu.Pin32=PB8 -Mcu.Pin33=PB9 -Mcu.Pin34=VP_SYS_VS_Systick -Mcu.Pin35=VP_TIM1_VS_ClockSourceINT -Mcu.Pin36=VP_TIM2_VS_ClockSourceINT -Mcu.Pin37=VP_TIM3_VS_ClockSourceINT -Mcu.Pin4=PA1 -Mcu.Pin5=PA2 -Mcu.Pin6=PA3 -Mcu.Pin7=PC5 -Mcu.Pin8=PB0 -Mcu.Pin9=PB1 -Mcu.PinsNb=38 +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.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32F446RETx @@ -112,10 +85,6 @@ 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 -PA0-WKUP.Mode=CTS_RTS -PA0-WKUP.Signal=USART2_CTS -PA1.Mode=CTS_RTS -PA1.Signal=USART2_RTS PA10.Signal=S_TIM1_CH3 PA11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label PA11.GPIO_Label=EN_U @@ -133,10 +102,6 @@ PA13.Mode=Serial_Wire PA13.Signal=SYS_JTMS-SWDIO PA14.Mode=Serial_Wire PA14.Signal=SYS_JTCK-SWCLK -PA2.Mode=Asynchronous -PA2.Signal=USART2_TX -PA3.Mode=Asynchronous -PA3.Signal=USART2_RX PA8.Signal=S_TIM1_CH1 PA9.Signal=S_TIM1_CH2 PB0.GPIOParameters=GPIO_Label @@ -150,10 +115,6 @@ PB1.Signal=ADCx_IN9 PB10.Locked=true PB10.Mode=Full_Duplex_Master PB10.Signal=SPI2_SCK -PB12.Mode=CAN_Activate -PB12.Signal=CAN2_RX -PB13.Mode=CAN_Activate -PB13.Signal=CAN2_TX PB14.Locked=true PB14.Mode=Full_Duplex_Master PB14.Signal=SPI2_MISO @@ -168,14 +129,6 @@ PB6.Mode=Asynchronous PB6.Signal=USART1_TX PB7.Mode=Asynchronous PB7.Signal=USART1_RX -PB8.GPIOParameters=GPIO_PuPd -PB8.GPIO_PuPd=GPIO_PULLUP -PB8.Locked=true -PB8.Mode=CAN_Activate -PB8.Signal=CAN1_RX -PB9.Locked=true -PB9.Mode=CAN_Activate -PB9.Signal=CAN1_TX PC1.Mode=Full_Duplex_Master PC1.Signal=SPI2_MOSI PC10.GPIOParameters=GPIO_Label @@ -250,7 +203,7 @@ 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-LL-true,5-MX_USART2_UART_Init-USART2-false-LL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_CAN1_Init-CAN1-false-HAL-true,9-MX_CAN2_Init-CAN2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_ADC2_Init-ADC2-false-HAL-true +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 RCC.AHBFreq_Value=180000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4 RCC.APB1Freq_Value=45000000 @@ -337,8 +290,6 @@ TIM3.Period=99 TIM3.Prescaler=89 USART1.IPParameters=VirtualMode USART1.VirtualMode=VM_ASYNC -USART2.IPParameters=VirtualMode -USART2.VirtualMode=VM_ASYNC VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_TIM1_VS_ClockSourceINT.Mode=Internal @@ -347,4 +298,6 @@ 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 +VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT board=custom