l-proger/MotorDriver.Research
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

*

Browse Source
This commit is contained in:
l-proger
2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/FreeRTOSConfig.h
+173
View File
@@ -0,0 +1,173 @@
/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* Section where include file can be added */
/* USER CODE END Includes */
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)65536)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* USER CODE BEGIN 1 */
#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
/* USER CODE END 1 */
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: This define MUST be commented when used with STM32Cube firmware,
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
/* #define xPortSysTickHandler SysTick_Handler */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
#define configAPPLICATION_ALLOCATED_HEAP 1 // ucHeap allocated in freertos.c
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/adc.h
+95
View File
@@ -0,0 +1,95 @@
/**
******************************************************************************
* File Name : ADC.h
* Description : This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __adc_H
#define __adc_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern ADC_HandleTypeDef hadc3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_ADC1_Init(void);
void MX_ADC2_Init(void);
void MX_ADC3_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ adc_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/board.h
+143
View File
@@ -0,0 +1,143 @@
/*
* @brief Contains board specific configuration for ODrive v3.x
*/
#ifndef __BOARD_CONFIG_H
#define __BOARD_CONFIG_H
#include <stdbool.h>
// STM specific includes
#include <stm32f4xx_hal.h>
#include <gpio.h>
#include <spi.h>
#include <tim.h>
#include <can.h>
#include <i2c.h>
#include <usb_device.h>
#include <main.h>
#include "cmsis_os.h"
#include <arm_math.h>
#include <Drivers/STM32/stm32_system.h>
#if HW_VERSION_MINOR <= 3
#define SHUNT_RESISTANCE (675e-6f)
#else
#define SHUNT_RESISTANCE (500e-6f)
#endif
#define AXIS_COUNT (2)
// Total count of GPIOs, including encoder pins, CAN pins and a dummy GPIO0.
// ODrive v3.4 and earlier don't have GPIOs 6, 7 and 8 but to keep the numbering
// consistent we just leave a gap in the counting scheme.
#define GPIO_COUNT (17)
#define CAN_FREQ (2000000UL)
#if HW_VERSION_MINOR >= 5 && HW_VERSION_VOLTAGE >= 48
#define DEFAULT_BRAKE_RESISTANCE (2.0f) // [ohm]
#else
#define DEFAULT_BRAKE_RESISTANCE (0.47f) // [ohm]
#endif
#define DEFAULT_ERROR_PIN 0
#define DEFAULT_MIN_DC_VOLTAGE 8.0f
#define DEFAULT_GPIO_MODES \
ODriveIntf::GPIO_MODE_DIGITAL, \
ODriveIntf::GPIO_MODE_UART_A, \
ODriveIntf::GPIO_MODE_UART_A, \
ODriveIntf::GPIO_MODE_ANALOG_IN, \
ODriveIntf::GPIO_MODE_ANALOG_IN, \
ODriveIntf::GPIO_MODE_ANALOG_IN, \
ODriveIntf::GPIO_MODE_DIGITAL, \
ODriveIntf::GPIO_MODE_DIGITAL, \
ODriveIntf::GPIO_MODE_DIGITAL, \
ODriveIntf::GPIO_MODE_ENC0, \
ODriveIntf::GPIO_MODE_ENC0, \
ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
ODriveIntf::GPIO_MODE_ENC1, \
ODriveIntf::GPIO_MODE_ENC1, \
ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
ODriveIntf::GPIO_MODE_CAN_A, \
ODriveIntf::GPIO_MODE_CAN_A,
#define TIM_TIME_BASE TIM14
// Run control loop at the same frequency as the current measurements.
#define CONTROL_TIMER_PERIOD_TICKS (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1))
#define TIM1_INIT_COUNT (TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128) // TODO: explain why this offset
// The delta from the control loop timestamp to the current sense timestamp is
// exactly 0 for M0 and TIM1_INIT_COUNT for M1.
#define MAX_CONTROL_LOOP_UPDATE_TO_CURRENT_UPDATE_DELTA (TIM_1_8_PERIOD_CLOCKS / 2 + 1 * 128)
#ifdef __cplusplus
#include <Drivers/DRV8301/drv8301.hpp>
#include <Drivers/STM32/stm32_gpio.hpp>
#include <Drivers/STM32/stm32_spi_arbiter.hpp>
#include <MotorControl/pwm_input.hpp>
#include <MotorControl/thermistor.hpp>
using TGateDriver = Drv8301;
using TOpAmp = Drv8301;
#include <MotorControl/motor.hpp>
#include <MotorControl/encoder.hpp>
extern std::array<Axis, AXIS_COUNT> axes;
extern Motor motors[AXIS_COUNT];
extern OnboardThermistorCurrentLimiter fet_thermistors[AXIS_COUNT];
extern Encoder encoders[AXIS_COUNT];
extern Stm32Gpio gpios[GPIO_COUNT];
struct GpioFunction { int mode = 0; uint8_t alternate_function = 0xff; };
extern std::array<GpioFunction, 3> alternate_functions[GPIO_COUNT];
extern USBD_HandleTypeDef& usb_dev_handle;
extern Stm32SpiArbiter& ext_spi_arbiter;
extern UART_HandleTypeDef* uart_a;
extern UART_HandleTypeDef* uart_b;
extern UART_HandleTypeDef* uart_c;
extern PwmInput pwm0_input;
#endif
// Period in [s]
#define CURRENT_MEAS_PERIOD ( (float)2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1) / (float)TIM_1_8_CLOCK_HZ )
static const float current_meas_period = CURRENT_MEAS_PERIOD;
// Frequency in [Hz]
#define CURRENT_MEAS_HZ ( (float)(TIM_1_8_CLOCK_HZ) / (float)(2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1)) )
static const int current_meas_hz = CURRENT_MEAS_HZ;
#if HW_VERSION_VOLTAGE >= 48
#define VBUS_S_DIVIDER_RATIO 19.0f
#elif HW_VERSION_VOLTAGE == 24
#define VBUS_S_DIVIDER_RATIO 11.0f
#else
#error "unknown board voltage"
#endif
// Linear range of the DRV8301 opamp output: 0.3V...5.7V. We set the upper limit
// to 3.0V so that it's symmetric around the center point of 1.65V.
#define CURRENT_SENSE_MIN_VOLT 0.3f
#define CURRENT_SENSE_MAX_VOLT 3.0f
// This board has no board-specific user configurations
static inline bool board_read_config() { return true; }
static inline bool board_write_config() { return true; }
static inline void board_clear_config() { }
static inline bool board_apply_config() { return true; }
void system_init();
bool board_init();
void start_timers();
#endif // __BOARD_CONFIG_H
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/can.h
+91
View File
@@ -0,0 +1,91 @@
/**
******************************************************************************
* File Name : CAN.h
* Description : This file provides code for the configuration
* of the CAN instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __can_H
#define __can_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern CAN_HandleTypeDef hcan1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_CAN1_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ can_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/dma.h
+88
View File
@@ -0,0 +1,88 @@
/**
******************************************************************************
* File Name : dma.h
* Description : This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __dma_H
#define __dma_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
extern void _Error_Handler(char*, int);
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __dma_H */
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/gpio.h
+87
View File
@@ -0,0 +1,87 @@
/**
******************************************************************************
* File Name : gpio.h
* Description : This file contains all the functions prototypes for
* the gpio
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __gpio_H
#define __gpio_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#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 */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ pinoutConfig_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/i2c.h
+91
View File
@@ -0,0 +1,91 @@
/**
******************************************************************************
* File Name : I2C.h
* Description : This file provides code for the configuration
* of the I2C instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __i2c_H
#define __i2c_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern I2C_HandleTypeDef hi2c1;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_I2C1_Init(uint8_t addr);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ i2c_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/main.h
+181
View File
@@ -0,0 +1,181 @@
/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H__
#define __MAIN_H__
/* Includes ------------------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stm32f4xx_hal.h"
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
#include "prev_board_ver/main_V3_2.h"
#elif HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 3 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 4
#include "prev_board_ver/main_V3_4.h"
#else
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
#define TIM_1_8_CLOCK_HZ 168000000
#define TIM_1_8_PERIOD_CLOCKS 3500
#define TIM_1_8_DEADTIME_CLOCKS 20
#define TIM_APB1_CLOCK_HZ 84000000
#define TIM_APB1_PERIOD_CLOCKS 4096
#define TIM_APB1_DEADTIME_CLOCKS 40
#define TIM_1_8_RCR 2
#define M0_nCS_Pin GPIO_PIN_13
#define M0_nCS_GPIO_Port GPIOC
#define M1_nCS_Pin GPIO_PIN_14
#define M1_nCS_GPIO_Port GPIOC
#define M1_ENC_Z_Pin GPIO_PIN_15
#define M1_ENC_Z_GPIO_Port GPIOC
#define M0_IB_Pin GPIO_PIN_0
#define M0_IB_GPIO_Port GPIOC
#define M0_IC_Pin GPIO_PIN_1
#define M0_IC_GPIO_Port GPIOC
#define M1_IC_Pin GPIO_PIN_2
#define M1_IC_GPIO_Port GPIOC
#define M1_IB_Pin GPIO_PIN_3
#define M1_IB_GPIO_Port GPIOC
#define GPIO_1_Pin GPIO_PIN_0
#define GPIO_1_GPIO_Port GPIOA
#define GPIO_2_Pin GPIO_PIN_1
#define GPIO_2_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_2
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_4_Pin GPIO_PIN_3
#define GPIO_4_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_4
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_TEMP_Pin GPIO_PIN_5
#define AUX_TEMP_GPIO_Port GPIOA
#define VBUS_S_Pin GPIO_PIN_6
#define VBUS_S_GPIO_Port GPIOA
#define M1_AL_Pin GPIO_PIN_7
#define M1_AL_GPIO_Port GPIOA
#define GPIO_5_Pin GPIO_PIN_4
#define GPIO_5_GPIO_Port GPIOC
#define M0_TEMP_Pin GPIO_PIN_5
#define M0_TEMP_GPIO_Port GPIOC
#define M1_BL_Pin GPIO_PIN_0
#define M1_BL_GPIO_Port GPIOB
#define M1_CL_Pin GPIO_PIN_1
#define M1_CL_GPIO_Port GPIOB
#define GPIO_6_Pin GPIO_PIN_2
#define GPIO_6_GPIO_Port GPIOB
#define AUX_L_Pin GPIO_PIN_10
#define AUX_L_GPIO_Port GPIOB
#define AUX_H_Pin GPIO_PIN_11
#define AUX_H_GPIO_Port GPIOB
#define EN_GATE_Pin GPIO_PIN_12
#define EN_GATE_GPIO_Port GPIOB
#define M0_AL_Pin GPIO_PIN_13
#define M0_AL_GPIO_Port GPIOB
#define M0_BL_Pin GPIO_PIN_14
#define M0_BL_GPIO_Port GPIOB
#define M0_CL_Pin GPIO_PIN_15
#define M0_CL_GPIO_Port GPIOB
#define M1_AH_Pin GPIO_PIN_6
#define M1_AH_GPIO_Port GPIOC
#define M1_BH_Pin GPIO_PIN_7
#define M1_BH_GPIO_Port GPIOC
#define M1_CH_Pin GPIO_PIN_8
#define M1_CH_GPIO_Port GPIOC
#define M0_ENC_Z_Pin GPIO_PIN_9
#define M0_ENC_Z_GPIO_Port GPIOC
#define M0_AH_Pin GPIO_PIN_8
#define M0_AH_GPIO_Port GPIOA
#define M0_BH_Pin GPIO_PIN_9
#define M0_BH_GPIO_Port GPIOA
#define M0_CH_Pin GPIO_PIN_10
#define M0_CH_GPIO_Port GPIOA
#define GPIO_7_Pin GPIO_PIN_15
#define GPIO_7_GPIO_Port GPIOA
#define nFAULT_Pin GPIO_PIN_2
#define nFAULT_GPIO_Port GPIOD
#define GPIO_8_Pin GPIO_PIN_3
#define GPIO_8_GPIO_Port GPIOB
#define M0_ENC_A_Pin GPIO_PIN_4
#define M0_ENC_A_GPIO_Port GPIOB
#define M0_ENC_B_Pin GPIO_PIN_5
#define M0_ENC_B_GPIO_Port GPIOB
#define M1_ENC_A_Pin GPIO_PIN_6
#define M1_ENC_A_GPIO_Port GPIOB
#define M1_ENC_B_Pin GPIO_PIN_7
#define M1_ENC_B_GPIO_Port GPIOB
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* USER CODE BEGIN Private defines */
#endif
/* USER CODE END Private defines */
#ifdef __cplusplus
extern "C" {
#endif
void _Error_Handler(char *, int);
#define Error_Handler() _Error_Handler(__FILE__, __LINE__)
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/mxconstants.h
+133
View File
@@ -0,0 +1,133 @@
/**
******************************************************************************
* File Name : mxconstants.h
* Description : This file contains the common defines of the application
******************************************************************************
*
* COPYRIGHT(c) 2016 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
#define M0_nCS_Pin GPIO_PIN_13
#define M0_nCS_GPIO_Port GPIOC
#define M1_nCS_Pin GPIO_PIN_14
#define M1_nCS_GPIO_Port GPIOC
#define M1_DC_CAL_Pin GPIO_PIN_15
#define M1_DC_CAL_GPIO_Port GPIOC
#define M0_IB_Pin GPIO_PIN_0
#define M0_IB_GPIO_Port GPIOC
#define M0_IC_Pin GPIO_PIN_1
#define M0_IC_GPIO_Port GPIOC
#define M1_IC_Pin GPIO_PIN_2
#define M1_IC_GPIO_Port GPIOC
#define M1_IB_Pin GPIO_PIN_3
#define M1_IB_GPIO_Port GPIOC
#define VBUS_S_Pin GPIO_PIN_0
#define VBUS_S_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_1
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_I_Pin GPIO_PIN_2
#define AUX_I_GPIO_Port GPIOA
#define GPIO_4_Pin GPIO_PIN_3
#define GPIO_4_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_4
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_2_Pin GPIO_PIN_5
#define GPIO_2_GPIO_Port GPIOA
#define AUX_V_Pin GPIO_PIN_6
#define AUX_V_GPIO_Port GPIOA
#define M1_AL_Pin GPIO_PIN_7
#define M1_AL_GPIO_Port GPIOA
#define AUX_TEMP_Pin GPIO_PIN_4
#define AUX_TEMP_GPIO_Port GPIOC
#define M0_TEMP_Pin GPIO_PIN_5
#define M0_TEMP_GPIO_Port GPIOC
#define M1_BL_Pin GPIO_PIN_0
#define M1_BL_GPIO_Port GPIOB
#define M1_CL_Pin GPIO_PIN_1
#define M1_CL_GPIO_Port GPIOB
#define GPIO_1_Pin GPIO_PIN_2
#define GPIO_1_GPIO_Port GPIOB
#define AUX_L_Pin GPIO_PIN_10
#define AUX_L_GPIO_Port GPIOB
#define AUX_H_Pin GPIO_PIN_11
#define AUX_H_GPIO_Port GPIOB
#define EN_GATE_Pin GPIO_PIN_12
#define EN_GATE_GPIO_Port GPIOB
#define M0_AL_Pin GPIO_PIN_13
#define M0_AL_GPIO_Port GPIOB
#define M0_BL_Pin GPIO_PIN_14
#define M0_BL_GPIO_Port GPIOB
#define M0_CL_Pin GPIO_PIN_15
#define M0_CL_GPIO_Port GPIOB
#define M1_AH_Pin GPIO_PIN_6
#define M1_AH_GPIO_Port GPIOC
#define M1_BH_Pin GPIO_PIN_7
#define M1_BH_GPIO_Port GPIOC
#define M1_CH_Pin GPIO_PIN_8
#define M1_CH_GPIO_Port GPIOC
#define M0_DC_CAL_Pin GPIO_PIN_9
#define M0_DC_CAL_GPIO_Port GPIOC
#define M0_AH_Pin GPIO_PIN_8
#define M0_AH_GPIO_Port GPIOA
#define M0_BH_Pin GPIO_PIN_9
#define M0_BH_GPIO_Port GPIOA
#define M0_CH_Pin GPIO_PIN_10
#define M0_CH_GPIO_Port GPIOA
#define M0_ENC_Z_Pin GPIO_PIN_15
#define M0_ENC_Z_GPIO_Port GPIOA
#define nFAULT_Pin GPIO_PIN_2
#define nFAULT_GPIO_Port GPIOD
#define M1_ENC_Z_Pin GPIO_PIN_3
#define M1_ENC_Z_GPIO_Port GPIOB
#define M0_ENC_A_Pin GPIO_PIN_4
#define M0_ENC_A_GPIO_Port GPIOB
#define M0_ENC_B_Pin GPIO_PIN_5
#define M0_ENC_B_GPIO_Port GPIOB
#define M1_ENC_A_Pin GPIO_PIN_6
#define M1_ENC_A_GPIO_Port GPIOB
#define M1_ENC_B_Pin GPIO_PIN_7
#define M1_ENC_B_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/prev_board_ver/main_V3_2.h
+92
View File
@@ -0,0 +1,92 @@
/* Private define ------------------------------------------------------------*/
#define TIM_1_8_CLOCK_HZ 168000000
#define TIM_1_8_PERIOD_CLOCKS 3500
#define TIM_1_8_DEADTIME_CLOCKS 20
#define TIM_APB1_CLOCK_HZ 84000000
#define TIM_APB1_PERIOD_CLOCKS 4096
#define TIM_APB1_DEADTIME_CLOCKS 40
#define TIM_1_8_RCR 2
#define M0_nCS_Pin GPIO_PIN_13
#define M0_nCS_GPIO_Port GPIOC
#define M1_nCS_Pin GPIO_PIN_14
#define M1_nCS_GPIO_Port GPIOC
#define M1_DC_CAL_Pin GPIO_PIN_15
#define M1_DC_CAL_GPIO_Port GPIOC
#define M0_IB_Pin GPIO_PIN_0
#define M0_IB_GPIO_Port GPIOC
#define M0_IC_Pin GPIO_PIN_1
#define M0_IC_GPIO_Port GPIOC
#define M1_IC_Pin GPIO_PIN_2
#define M1_IC_GPIO_Port GPIOC
#define M1_IB_Pin GPIO_PIN_3
#define M1_IB_GPIO_Port GPIOC
#define VBUS_S_Pin GPIO_PIN_0
#define VBUS_S_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_1
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_I_Pin GPIO_PIN_2
#define AUX_I_GPIO_Port GPIOA
#define GPIO_4_Pin GPIO_PIN_3
#define GPIO_4_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_4
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_3_EXTI_IRQn EXTI4_IRQn
#define GPIO_2_Pin GPIO_PIN_5
#define GPIO_2_GPIO_Port GPIOA
#define AUX_V_Pin GPIO_PIN_6
#define AUX_V_GPIO_Port GPIOA
#define M1_AL_Pin GPIO_PIN_7
#define M1_AL_GPIO_Port GPIOA
#define AUX_TEMP_Pin GPIO_PIN_4
#define AUX_TEMP_GPIO_Port GPIOC
#define M0_TEMP_Pin GPIO_PIN_5
#define M0_TEMP_GPIO_Port GPIOC
#define M1_BL_Pin GPIO_PIN_0
#define M1_BL_GPIO_Port GPIOB
#define M1_CL_Pin GPIO_PIN_1
#define M1_CL_GPIO_Port GPIOB
#define GPIO_1_Pin GPIO_PIN_2
#define GPIO_1_GPIO_Port GPIOB
#define GPIO_1_EXTI_IRQn EXTI2_IRQn
#define AUX_L_Pin GPIO_PIN_10
#define AUX_L_GPIO_Port GPIOB
#define AUX_H_Pin GPIO_PIN_11
#define AUX_H_GPIO_Port GPIOB
#define EN_GATE_Pin GPIO_PIN_12
#define EN_GATE_GPIO_Port GPIOB
#define M0_AL_Pin GPIO_PIN_13
#define M0_AL_GPIO_Port GPIOB
#define M0_BL_Pin GPIO_PIN_14
#define M0_BL_GPIO_Port GPIOB
#define M0_CL_Pin GPIO_PIN_15
#define M0_CL_GPIO_Port GPIOB
#define M1_AH_Pin GPIO_PIN_6
#define M1_AH_GPIO_Port GPIOC
#define M1_BH_Pin GPIO_PIN_7
#define M1_BH_GPIO_Port GPIOC
#define M1_CH_Pin GPIO_PIN_8
#define M1_CH_GPIO_Port GPIOC
#define M0_DC_CAL_Pin GPIO_PIN_9
#define M0_DC_CAL_GPIO_Port GPIOC
#define M0_AH_Pin GPIO_PIN_8
#define M0_AH_GPIO_Port GPIOA
#define M0_BH_Pin GPIO_PIN_9
#define M0_BH_GPIO_Port GPIOA
#define M0_CH_Pin GPIO_PIN_10
#define M0_CH_GPIO_Port GPIOA
#define M0_ENC_Z_Pin GPIO_PIN_15
#define M0_ENC_Z_GPIO_Port GPIOA
#define nFAULT_Pin GPIO_PIN_2
#define nFAULT_GPIO_Port GPIOD
#define M1_ENC_Z_Pin GPIO_PIN_3
#define M1_ENC_Z_GPIO_Port GPIOB
#define M0_ENC_A_Pin GPIO_PIN_4
#define M0_ENC_A_GPIO_Port GPIOB
#define M0_ENC_B_Pin GPIO_PIN_5
#define M0_ENC_B_GPIO_Port GPIOB
#define M1_ENC_A_Pin GPIO_PIN_6
#define M1_ENC_A_GPIO_Port GPIOB
#define M1_ENC_B_Pin GPIO_PIN_7
#define M1_ENC_B_GPIO_Port GPIOB
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/prev_board_ver/main_V3_4.h
+91
View File
@@ -0,0 +1,91 @@
/* Private define ------------------------------------------------------------*/
#define TIM_1_8_CLOCK_HZ 168000000
#define TIM_1_8_PERIOD_CLOCKS 3500
#define TIM_1_8_DEADTIME_CLOCKS 20
#define TIM_APB1_CLOCK_HZ 84000000
#define TIM_APB1_PERIOD_CLOCKS 4096
#define TIM_APB1_DEADTIME_CLOCKS 40
#define TIM_1_8_RCR 2
#define M0_nCS_Pin GPIO_PIN_13
#define M0_nCS_GPIO_Port GPIOC
#define M1_nCS_Pin GPIO_PIN_14
#define M1_nCS_GPIO_Port GPIOC
#define M1_DC_CAL_Pin GPIO_PIN_15
#define M1_DC_CAL_GPIO_Port GPIOC
#define M0_IB_Pin GPIO_PIN_0
#define M0_IB_GPIO_Port GPIOC
#define M0_IC_Pin GPIO_PIN_1
#define M0_IC_GPIO_Port GPIOC
#define M1_IC_Pin GPIO_PIN_2
#define M1_IC_GPIO_Port GPIOC
#define M1_IB_Pin GPIO_PIN_3
#define M1_IB_GPIO_Port GPIOC
#define GPIO_1_Pin GPIO_PIN_0
#define GPIO_1_GPIO_Port GPIOA
#define GPIO_2_Pin GPIO_PIN_1
#define GPIO_2_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_2
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_3_EXTI_IRQn EXTI2_IRQn
#define GPIO_4_Pin GPIO_PIN_3
#define GPIO_4_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_4
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_I_Pin GPIO_PIN_5
#define AUX_I_GPIO_Port GPIOA
#define VBUS_S_Pin GPIO_PIN_6
#define VBUS_S_GPIO_Port GPIOA
#define M1_AL_Pin GPIO_PIN_7
#define M1_AL_GPIO_Port GPIOA
#define AUX_TEMP_Pin GPIO_PIN_4
#define AUX_TEMP_GPIO_Port GPIOC
#define M0_TEMP_Pin GPIO_PIN_5
#define M0_TEMP_GPIO_Port GPIOC
#define M1_BL_Pin GPIO_PIN_0
#define M1_BL_GPIO_Port GPIOB
#define M1_CL_Pin GPIO_PIN_1
#define M1_CL_GPIO_Port GPIOB
#define GPIO_5_Pin GPIO_PIN_2
#define GPIO_5_GPIO_Port GPIOB
#define AUX_L_Pin GPIO_PIN_10
#define AUX_L_GPIO_Port GPIOB
#define AUX_H_Pin GPIO_PIN_11
#define AUX_H_GPIO_Port GPIOB
#define EN_GATE_Pin GPIO_PIN_12
#define EN_GATE_GPIO_Port GPIOB
#define M0_AL_Pin GPIO_PIN_13
#define M0_AL_GPIO_Port GPIOB
#define M0_BL_Pin GPIO_PIN_14
#define M0_BL_GPIO_Port GPIOB
#define M0_CL_Pin GPIO_PIN_15
#define M0_CL_GPIO_Port GPIOB
#define M1_AH_Pin GPIO_PIN_6
#define M1_AH_GPIO_Port GPIOC
#define M1_BH_Pin GPIO_PIN_7
#define M1_BH_GPIO_Port GPIOC
#define M1_CH_Pin GPIO_PIN_8
#define M1_CH_GPIO_Port GPIOC
#define M0_DC_CAL_Pin GPIO_PIN_9
#define M0_DC_CAL_GPIO_Port GPIOC
#define M0_AH_Pin GPIO_PIN_8
#define M0_AH_GPIO_Port GPIOA
#define M0_BH_Pin GPIO_PIN_9
#define M0_BH_GPIO_Port GPIOA
#define M0_CH_Pin GPIO_PIN_10
#define M0_CH_GPIO_Port GPIOA
#define M0_ENC_Z_Pin GPIO_PIN_15
#define M0_ENC_Z_GPIO_Port GPIOA
#define nFAULT_Pin GPIO_PIN_2
#define nFAULT_GPIO_Port GPIOD
#define M1_ENC_Z_Pin GPIO_PIN_3
#define M1_ENC_Z_GPIO_Port GPIOB
#define M0_ENC_A_Pin GPIO_PIN_4
#define M0_ENC_A_GPIO_Port GPIOB
#define M0_ENC_B_Pin GPIO_PIN_5
#define M0_ENC_B_GPIO_Port GPIOB
#define M1_ENC_A_Pin GPIO_PIN_6
#define M1_ENC_A_GPIO_Port GPIOB
#define M1_ENC_B_Pin GPIO_PIN_7
#define M1_ENC_B_GPIO_Port GPIOB
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/spi.h
+91
View File
@@ -0,0 +1,91 @@
/**
******************************************************************************
* File Name : SPI.h
* Description : This file provides code for the configuration
* of the SPI instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __spi_H
#define __spi_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern SPI_HandleTypeDef hspi3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_SPI3_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ spi_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/stm32f4xx_hal_conf.h
+452
View File
@@ -0,0 +1,452 @@
/**
******************************************************************************
* @file stm32f4xx_hal_conf.h
* @brief HAL configuration file.
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_HAL_CONF_H
#define __STM32F4xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
#include "main.h"
/* 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_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_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_SPDIFRX_MODULE_ENABLED */
/* #define HAL_DFSDM_MODULE_ENABLED */
/* #define HAL_LPTIM_MODULE_ENABLED */
/* #define HAL_EXTI_MODULE_ENABLED */
#define HAL_GPIO_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 ((uint32_t)8000000U) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)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 ((uint32_t)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 ((uint32_t)32768U) /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)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 ((uint32_t)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 ((uint32_t)3300U) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)6U) /*!< tick interrupt priority */
#define USE_RTOS 0U
#define PREFETCH_ENABLE 1U
#define INSTRUCTION_CACHE_ENABLE 1U
#define DATA_CACHE_ENABLE 1U
/* ########################## 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 ((uint32_t)4U) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */
#define ETH_TXBUFNB ((uint32_t)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 ((uint32_t)0x000000FFU)
/* PHY Configuration delay */
#define PHY_CONFIG_DELAY ((uint32_t)0x00000FFFU)
#define PHY_READ_TO ((uint32_t)0x0000FFFFU)
#define PHY_WRITE_TO ((uint32_t)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_EXTI_MODULE_ENABLED
#include "stm32f4xx_hal_exti.h"
#endif /* HAL_EXTI_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f4xx_hal_gpio.h"
#endif /* HAL_GPIO_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_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_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_MMC_MODULE_ENABLED
#include "stm32f4xx_hal_mmc.h"
#endif /* HAL_MMC_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_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 */
/* 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 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/stm32f4xx_it.h
+81
View File
@@ -0,0 +1,81 @@
/**
******************************************************************************
* @file stm32f4xx_it.h
* @brief This file contains the headers of the interrupt handlers.
******************************************************************************
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_IT_H
#define __STM32F4xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void NMI_Handler(void);
void HardFault_Handler(void);
void MemManage_Handler(void);
void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void SysTick_Handler(void);
void DMA1_Stream0_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void);
void DMA1_Stream4_IRQHandler(void);
void DMA1_Stream5_IRQHandler(void);
void DMA1_Stream6_IRQHandler(void);
void DMA1_Stream7_IRQHandler(void);
//void ADC_IRQHandler(void);
void CAN1_TX_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
void CAN1_RX1_IRQHandler(void);
void CAN1_SCE_IRQHandler(void);
void USART2_IRQHandler(void);
void TIM8_TRG_COM_TIM14_IRQHandler(void);
void TIM5_IRQHandler(void);
void SPI3_IRQHandler(void);
void UART4_IRQHandler(void);
void OTG_FS_IRQHandler(void);
#ifdef __cplusplus
}
#endif
#endif /* __STM32F4xx_IT_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/tim.h
+105
View File
@@ -0,0 +1,105 @@
/**
******************************************************************************
* File Name : TIM.h
* Description : This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __tim_H
#define __tim_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#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 htim4;
extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim8;
extern TIM_HandleTypeDef htim13;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_TIM1_Init(void);
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
void MX_TIM4_Init(void);
void MX_TIM5_Init(void);
void MX_TIM8_Init(void);
void MX_TIM13_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ tim_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/usart.h
+93
View File
@@ -0,0 +1,93 @@
/**
******************************************************************************
* File Name : USART.h
* Description : This file provides code for the configuration
* of the USART instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __usart_H
#define __usart_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart2;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_UART4_Init(void);
void MX_USART2_UART_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ usart_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/usb_device.h
+114
View File
@@ -0,0 +1,114 @@
/**
******************************************************************************
* @file : usb_device.h
* @version : v1.0_Cube
* @brief : Header for usb_device.c file.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_DEVICE__H__
#define __USB_DEVICE__H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#include "usbd_def.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup USBD_OTG_DRIVER
* @{
*/
/** @defgroup USBD_DEVICE USBD_DEVICE
* @brief Device file for Usb otg low level driver.
* @{
*/
/** @defgroup USBD_DEVICE_Exported_Variables USBD_DEVICE_Exported_Variables
* @brief Public variables.
* @{
*/
/** USB device core handle. */
extern USBD_HandleTypeDef hUsbDeviceFS;
/**
* @}
*/
/** @defgroup USBD_DEVICE_Exported_FunctionsPrototype USBD_DEVICE_Exported_FunctionsPrototype
* @brief Declaration of public functions for Usb device.
* @{
*/
/** USB Device initialization function. */
void MX_USB_DEVICE_Init(void);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USB_DEVICE__H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/usbd_cdc_if.h
+158
View File
@@ -0,0 +1,158 @@
/**
******************************************************************************
* @file : usbd_cdc_if.h
* @version : v1.0_Cube
* @brief : Header for usbd_cdc_if.c file.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_CDC_IF_H__
#define __USBD_CDC_IF_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_cdc.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @brief For Usb device.
* @{
*/
/** @defgroup USBD_CDC_IF USBD_CDC_IF
* @brief Usb VCP device module
* @{
*/
/** @defgroup USBD_CDC_IF_Exported_Defines USBD_CDC_IF_Exported_Defines
* @brief Defines.
* @{
*/
/* USER CODE BEGIN EXPORTED_DEFINES */
/* Define size for the receive and transmit buffer over CDC */
/* It's up to user to redefine and/or remove those define */
#define USB_RX_DATA_SIZE 64
#define USB_TX_DATA_SIZE 64
#define APP_RX_DATA_SIZE USB_RX_DATA_SIZE
#define APP_TX_DATA_SIZE USB_TX_DATA_SIZE
/* USER CODE END EXPORTED_DEFINES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Types USBD_CDC_IF_Exported_Types
* @brief Types.
* @{
*/
/* USER CODE BEGIN EXPORTED_TYPES */
/* USER CODE END EXPORTED_TYPES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Macros USBD_CDC_IF_Exported_Macros
* @brief Aliases.
* @{
*/
/* USER CODE BEGIN EXPORTED_MACRO */
/* USER CODE END EXPORTED_MACRO */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
* @brief Public variables.
* @{
*/
/** CDC Interface callback. */
extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
/* USER CODE BEGIN EXPORTED_VARIABLES */
/* USER CODE END EXPORTED_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype USBD_CDC_IF_Exported_FunctionsPrototype
* @brief Public functions declaration.
* @{
*/
uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len, uint8_t endpoint_pair);
/* USER CODE BEGIN EXPORTED_FUNCTIONS */
/* USER CODE END EXPORTED_FUNCTIONS */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_CDC_IF_H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/usbd_conf.h
+204
View File
@@ -0,0 +1,204 @@
/**
******************************************************************************
* @file : usbd_conf.h
* @version : v1.0_Cube
* @brief : Header for usbd_conf.c file.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_CONF__H__
#define __USBD_CONF__H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup USBD_OTG_DRIVER
* @brief Driver for Usb device.
* @{
*/
/** @defgroup USBD_CONF USBD_CONF
* @brief Configuration file for Usb otg low level driver.
* @{
*/
/** @defgroup USBD_CONF_Exported_Variables USBD_CONF_Exported_Variables
* @brief Public variables.
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_Defines USBD_CONF_Exported_Defines
* @brief Defines for configuration of the Usb device.
* @{
*/
#define MS_VendorCode 'P'
/*---------- -----------*/
#define USBD_MAX_NUM_INTERFACES 1
/*---------- -----------*/
#define USBD_MAX_NUM_CONFIGURATION 1
/*---------- -----------*/
#define USBD_MAX_STR_DESC_SIZ 512
/*---------- -----------*/
#define USBD_SUPPORT_USER_STRING_DESC 1
/*---------- -----------*/
#define USBD_DEBUG_LEVEL 0
/*---------- -----------*/
#define USBD_LPM_ENABLED 0
/*---------- -----------*/
#define USBD_SELF_POWERED 1
/****************************************/
/* #define for FS and HS identification */
#define DEVICE_FS 0
#define DEVICE_HS 1
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_Macros USBD_CONF_Exported_Macros
* @brief Aliases.
* @{
*/
/* Memory management macros */
/** Alias for memory allocation. */
#define USBD_malloc malloc
/** Alias for memory release. */
#define USBD_free free
/** Alias for memory set. */
#define USBD_memset memset
/** Alias for memory copy. */
#define USBD_memcpy memcpy
/** Alias for delay. */
#define USBD_Delay HAL_Delay
/* DEBUG macros */
#if (USBD_DEBUG_LEVEL > 0)
#define USBD_UsrLog(...) printf(__VA_ARGS__);\
printf("\n");
#else
#define USBD_UsrLog(...)
#endif
#if (USBD_DEBUG_LEVEL > 1)
#define USBD_ErrLog(...) printf("ERROR: ") ;\
printf(__VA_ARGS__);\
printf("\n");
#else
#define USBD_ErrLog(...)
#endif
#if (USBD_DEBUG_LEVEL > 2)
#define USBD_DbgLog(...) printf("DEBUG : ") ;\
printf(__VA_ARGS__);\
printf("\n");
#else
#define USBD_DbgLog(...)
#endif
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_Types USBD_CONF_Exported_Types
* @brief Types.
* @{
*/
/**
* @}
*/
/** @defgroup USBD_CONF_Exported_FunctionsPrototype USBD_CONF_Exported_FunctionsPrototype
* @brief Declaration of public functions for Usb device.
* @{
*/
/* Exported functions -------------------------------------------------------*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_CONF__H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Inc/usbd_desc.h
+158
View File
@@ -0,0 +1,158 @@
/**
******************************************************************************
* @file : usbd_desc.h
* @version : v1.0_Cube
* @brief : Header for usbd_desc.c file.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USBD_DESC__H__
#define __USBD_DESC__H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "usbd_def.h"
/* USER CODE BEGIN INCLUDE */
/* USER CODE END INCLUDE */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @{
*/
/** @defgroup USBD_DESC USBD_DESC
* @brief Usb device descriptors module.
* @{
*/
/** @defgroup USBD_DESC_Exported_Defines USBD_DESC_Exported_Defines
* @brief Defines.
* @{
*/
/* USER CODE BEGIN EXPORTED_DEFINES */
/* USER CODE END EXPORTED_DEFINES */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_TypesDefinitions USBD_DESC_Exported_TypesDefinitions
* @brief Types.
* @{
*/
/* USER CODE BEGIN EXPORTED_TYPES */
/* USER CODE END EXPORTED_TYPES */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_Macros USBD_DESC_Exported_Macros
* @brief Aliases.
* @{
*/
/* USER CODE BEGIN EXPORTED_MACRO */
/* USER CODE END EXPORTED_MACRO */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_Variables USBD_DESC_Exported_Variables
* @brief Public variables.
* @{
*/
/** Descriptor for the Usb device. */
extern USBD_DescriptorsTypeDef FS_Desc;
/* USER CODE BEGIN EXPORTED_VARIABLES */
/* USER CODE END EXPORTED_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_DESC_Exported_FunctionsPrototype USBD_DESC_Exported_FunctionsPrototype
* @brief Public functions declaration.
* @{
*/
/* USER CODE BEGIN EXPORTED_FUNCTIONS */
uint8_t * USBD_UsrStrDescriptor(struct _USBD_HandleTypeDef *pdev, uint8_t index, uint16_t *length);
/* USER CODE END EXPORTED_FUNCTIONS */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __USBD_DESC__H__ */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Makefile
+87
View File
@@ -0,0 +1,87 @@
# This file is partially autogenerated. If you let CubeMX generate the code,
# it will edit this file to update the source and include list. This editing
# is not very robust, so be careful with changing the format of this file.
######################################
# source
######################################
C_SOURCES = \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c \
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c \
Src/stm32f4xx_hal_timebase_TIM.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c \
Src/tim.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c \
Src/dma.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c \
Src/freertos.c \
Src/main.c \
Src/usbd_conf.c \
Src/spi.c \
Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
Src/usart.c \
Middlewares/Third_Party/FreeRTOS/Source/croutine.c \
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
Src/usbd_cdc_if.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c \
Src/adc.c \
Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c \
Middlewares/Third_Party/FreeRTOS/Source/list.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c \
Src/stm32f4xx_hal_msp.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c \
Src/usbd_desc.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c \
Src/stm32f4xx_it.c \
Src/usb_device.c \
Src/can.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c \
Middlewares/Third_Party/FreeRTOS/Source/queue.c \
Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c \
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c \
Src/system_stm32f4xx.c \
Src/gpio.c \
Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
Middlewares/Third_Party/FreeRTOS/Source/timers.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c \
Middlewares/Third_Party/FreeRTOS/Source/event_groups.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
Src/i2c.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c
ASM_SOURCES = \
startup_stm32f405xx.s
#######################################
# Includes
#######################################
AS_INCLUDES =
C_INCLUDES = \
-IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
-IMiddlewares/Third_Party/FreeRTOS/Source/include \
-IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS \
-IMiddlewares/ST/STM32_USB_Device_Library/Core/Inc \
-IMiddlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc \
-IDrivers/STM32F4xx_HAL_Driver/Inc \
-IDrivers/STM32F4xx_HAL_Driver/Inc/Legacy \
-IDrivers/CMSIS/Device/ST/STM32F4xx/Include \
-IDrivers/CMSIS/Include \
-IInc
# CubeMX insists on this line
Inc
ODrive-fw-v0.5.6/Firmware/Board/v3/Odrive.ioc
+698
View File
@@ -0,0 +1,698 @@
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_6
ADC1.Channel-1\#ChannelInjectedConversion=ADC_CHANNEL_6
ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV4
ADC1.ContinuousConvMode=DISABLE
ADC1.DMAContinuousRequests=DISABLE
ADC1.DataAlign=ADC_DATAALIGN_RIGHT
ADC1.DiscontinuousConvMode=DISABLE
ADC1.EOCSelection=ADC_EOC_SINGLE_CONV
ADC1.EnableAnalogWatchDog=false
ADC1.ExternalTrigConv=ADC_SOFTWARE_START
ADC1.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_NONE
ADC1.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC1.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,InjectedConvMode,ExternalTrigInjecConvEdge,ExternalTrigInjecConv,ExternalTrigConv
ADC1.InjNumberOfConversion=1
ADC1.InjectedConvMode=None
ADC1.InjectedOffset-1\#ChannelInjectedConversion=0
ADC1.NbrOfConversion=1
ADC1.NbrOfConversionFlag=1
ADC1.Rank-0\#ChannelRegularConversion=1
ADC1.Rank-1\#ChannelInjectedConversion=1
ADC1.Resolution=ADC_RESOLUTION_12B
ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC1.SamplingTime-1\#ChannelInjectedConversion=ADC_SAMPLETIME_3CYCLES
ADC1.ScanConvMode=DISABLE
ADC1.master=1
ADC2.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_13
ADC2.Channel-1\#ChannelInjectedConversion=ADC_CHANNEL_10
ADC2.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV4
ADC2.ContinuousConvMode=DISABLE
ADC2.DMAContinuousRequests=DISABLE
ADC2.DataAlign=ADC_DATAALIGN_RIGHT
ADC2.DiscontinuousConvMode=DISABLE
ADC2.EOCSelection=ADC_EOC_SINGLE_CONV
ADC2.EnableAnalogWatchDog=false
ADC2.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
ADC2.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
ADC2.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC2.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
ADC2.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,ExternalTrigConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
ADC2.InjNumberOfConversion=1
ADC2.InjectedConvMode=None
ADC2.InjectedOffset-1\#ChannelInjectedConversion=0
ADC2.NbrOfConversion=1
ADC2.NbrOfConversionFlag=1
ADC2.Rank-0\#ChannelRegularConversion=1
ADC2.Rank-1\#ChannelInjectedConversion=1
ADC2.Resolution=ADC_RESOLUTION_12B
ADC2.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC2.SamplingTime-1\#ChannelInjectedConversion=ADC_SAMPLETIME_3CYCLES
ADC2.ScanConvMode=DISABLE
ADC3.Channel-7\#ChannelRegularConversion=ADC_CHANNEL_12
ADC3.Channel-8\#ChannelInjectedConversion=ADC_CHANNEL_11
ADC3.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV4
ADC3.ContinuousConvMode=DISABLE
ADC3.DMAContinuousRequests=DISABLE
ADC3.DataAlign=ADC_DATAALIGN_RIGHT
ADC3.DiscontinuousConvMode=DISABLE
ADC3.EOCSelection=ADC_EOC_SINGLE_CONV
ADC3.EnableAnalogWatchDog=false
ADC3.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
ADC3.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
ADC3.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC3.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
ADC3.IPParameters=Rank-7\#ChannelRegularConversion,Channel-7\#ChannelRegularConversion,SamplingTime-7\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-8\#ChannelInjectedConversion,Channel-8\#ChannelInjectedConversion,SamplingTime-8\#ChannelInjectedConversion,InjectedOffset-8\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
ADC3.InjNumberOfConversion=1
ADC3.InjectedConvMode=None
ADC3.InjectedOffset-8\#ChannelInjectedConversion=0
ADC3.NbrOfConversion=1
ADC3.NbrOfConversionFlag=1
ADC3.Rank-7\#ChannelRegularConversion=1
ADC3.Rank-8\#ChannelInjectedConversion=1
ADC3.Resolution=ADC_RESOLUTION_12B
ADC3.SamplingTime-7\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
ADC3.SamplingTime-8\#ChannelInjectedConversion=ADC_SAMPLETIME_3CYCLES
ADC3.ScanConvMode=DISABLE
CAN1.AutoWakeUp=ENABLE
CAN1.BS1=CAN_BS1_6TQ
CAN1.BS2=CAN_BS2_5TQ
CAN1.CalculateTimeBit=500
CAN1.CalculateTimeQuantum=166.66666666666669
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,Prescaler,TimeSeg1,TimeSeg2,AutoWakeUp,BS1,BS2
CAN1.Prescaler=7
CAN1.TimeSeg1=CAN_BS1_6TQ
CAN1.TimeSeg2=CAN_BS2_5TQ
Dma.ADC1.2.Direction=DMA_PERIPH_TO_MEMORY
Dma.ADC1.2.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.ADC1.2.Instance=DMA2_Stream0
Dma.ADC1.2.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.ADC1.2.MemInc=DMA_MINC_ENABLE
Dma.ADC1.2.Mode=DMA_CIRCULAR
Dma.ADC1.2.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.ADC1.2.PeriphInc=DMA_PINC_DISABLE
Dma.ADC1.2.Priority=DMA_PRIORITY_LOW
Dma.ADC1.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.Request0=UART4_RX
Dma.Request1=UART4_TX
Dma.Request2=ADC1
Dma.Request3=SPI3_TX
Dma.Request4=SPI3_RX
Dma.RequestsNb=5
Dma.SPI3_RX.4.Direction=DMA_PERIPH_TO_MEMORY
Dma.SPI3_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI3_RX.4.Instance=DMA1_Stream0
Dma.SPI3_RX.4.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.SPI3_RX.4.MemInc=DMA_MINC_ENABLE
Dma.SPI3_RX.4.Mode=DMA_NORMAL
Dma.SPI3_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.SPI3_RX.4.PeriphInc=DMA_PINC_DISABLE
Dma.SPI3_RX.4.Priority=DMA_PRIORITY_MEDIUM
Dma.SPI3_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.SPI3_TX.3.Direction=DMA_MEMORY_TO_PERIPH
Dma.SPI3_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.SPI3_TX.3.Instance=DMA1_Stream5
Dma.SPI3_TX.3.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
Dma.SPI3_TX.3.MemInc=DMA_MINC_ENABLE
Dma.SPI3_TX.3.Mode=DMA_NORMAL
Dma.SPI3_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
Dma.SPI3_TX.3.PeriphInc=DMA_PINC_DISABLE
Dma.SPI3_TX.3.Priority=DMA_PRIORITY_MEDIUM
Dma.SPI3_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.UART4_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.UART4_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.UART4_RX.0.Instance=DMA1_Stream2
Dma.UART4_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.UART4_RX.0.MemInc=DMA_MINC_ENABLE
Dma.UART4_RX.0.Mode=DMA_CIRCULAR
Dma.UART4_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.UART4_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.UART4_RX.0.Priority=DMA_PRIORITY_LOW
Dma.UART4_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.UART4_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.UART4_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.UART4_TX.1.Instance=DMA1_Stream4
Dma.UART4_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.UART4_TX.1.MemInc=DMA_MINC_ENABLE
Dma.UART4_TX.1.Mode=DMA_NORMAL
Dma.UART4_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.UART4_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.UART4_TX.1.Priority=DMA_PRIORITY_LOW
Dma.UART4_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.FootprintOK=true
FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark=1
FREERTOS.INCLUDE_vTaskDelayUntil=1
FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil,configTOTAL_HEAP_SIZE,FootprintOK,configCHECK_FOR_STACK_OVERFLOW,INCLUDE_uxTaskGetStackHighWaterMark,configUSE_IDLE_HOOK
FREERTOS.Tasks01=defaultTask,0,256,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
FREERTOS.configTOTAL_HEAP_SIZE=65536
FREERTOS.configUSE_IDLE_HOOK=1
File.Version=6
KeepUserPlacement=true
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=ADC2
Mcu.IP10=TIM1
Mcu.IP11=TIM2
Mcu.IP12=TIM3
Mcu.IP13=TIM4
Mcu.IP14=TIM5
Mcu.IP15=TIM8
Mcu.IP16=TIM13
Mcu.IP17=UART4
Mcu.IP18=USB_DEVICE
Mcu.IP19=USB_OTG_FS
Mcu.IP2=ADC3
Mcu.IP3=CAN1
Mcu.IP4=DMA
Mcu.IP5=FREERTOS
Mcu.IP6=NVIC
Mcu.IP7=RCC
Mcu.IP8=SPI3
Mcu.IP9=SYS
Mcu.IPNb=20
Mcu.Name=STM32F405RGTx
Mcu.Package=LQFP64
Mcu.Pin0=PC13-ANTI_TAMP
Mcu.Pin1=PC14-OSC32_IN
Mcu.Pin10=PA1
Mcu.Pin11=PA2
Mcu.Pin12=PA3
Mcu.Pin13=PA4
Mcu.Pin14=PA5
Mcu.Pin15=PA6
Mcu.Pin16=PA7
Mcu.Pin17=PC4
Mcu.Pin18=PC5
Mcu.Pin19=PB0
Mcu.Pin2=PC15-OSC32_OUT
Mcu.Pin20=PB1
Mcu.Pin21=PB2
Mcu.Pin22=PB10
Mcu.Pin23=PB11
Mcu.Pin24=PB12
Mcu.Pin25=PB13
Mcu.Pin26=PB14
Mcu.Pin27=PB15
Mcu.Pin28=PC6
Mcu.Pin29=PC7
Mcu.Pin3=PH0-OSC_IN
Mcu.Pin30=PC8
Mcu.Pin31=PC9
Mcu.Pin32=PA8
Mcu.Pin33=PA9
Mcu.Pin34=PA10
Mcu.Pin35=PA11
Mcu.Pin36=PA12
Mcu.Pin37=PA13
Mcu.Pin38=PA14
Mcu.Pin39=PA15
Mcu.Pin4=PH1-OSC_OUT
Mcu.Pin40=PC10
Mcu.Pin41=PC11
Mcu.Pin42=PC12
Mcu.Pin43=PD2
Mcu.Pin44=PB3
Mcu.Pin45=PB4
Mcu.Pin46=PB5
Mcu.Pin47=PB6
Mcu.Pin48=PB7
Mcu.Pin49=PB8
Mcu.Pin5=PC0
Mcu.Pin50=PB9
Mcu.Pin51=VP_FREERTOS_VS_ENABLE
Mcu.Pin52=VP_SYS_VS_tim14
Mcu.Pin53=VP_TIM1_VS_ClockSourceINT
Mcu.Pin54=VP_TIM1_VS_no_output4
Mcu.Pin55=VP_TIM13_VS_ClockSourceINT
Mcu.Pin56=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin6=PC1
Mcu.Pin7=PC2
Mcu.Pin8=PC3
Mcu.Pin9=PA0-WKUP
Mcu.PinsNb=57
Mcu.ThirdPartyNb=0
Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,3500;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40;TIM_1_8_RCR,2
Mcu.UserName=STM32F405RGTx
MxCube.Version=4.27.0
MxDb.Version=DB.4.0.270
NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.CAN1_RX0_IRQn=true\:6\:0\:true\:false\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:6\:0\:true\:false\:true\:true\:true
NVIC.CAN1_SCE_IRQn=true\:6\:0\:true\:false\:true\:true\:true
NVIC.CAN1_TX_IRQn=true\:6\:0\:true\:false\:true\:true\:true
NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false
NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false
NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:false\:true\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:true
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SPI3_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:true
NVIC.TIM1_UP_TIM10_IRQn=true\:0\:0\:false\:false\:false\:false\:true
NVIC.TIM5_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.TIM8_TRG_COM_TIM14_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.TIM8_UP_TIM13_IRQn=true\:0\:0\:false\:false\:false\:false\:true
NVIC.TimeBase=TIM8_TRG_COM_TIM14_IRQn
NVIC.TimeBaseIP=TIM14
NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label
PA0-WKUP.GPIO_Label=GPIO_1
PA0-WKUP.GPIO_PuPd=GPIO_PULLDOWN
PA0-WKUP.Locked=true
PA0-WKUP.Signal=SharedStack_PA0
PA0-WKUP.Stacked=true
PA1.GPIOParameters=GPIO_PuPd,GPIO_Label
PA1.GPIO_Label=GPIO_2
PA1.GPIO_PuPd=GPIO_NOPULL
PA1.Locked=true
PA1.Signal=SharedStack_PA1
PA1.Stacked=true
PA10.GPIOParameters=GPIO_Label
PA10.GPIO_Label=M0_CH
PA10.Locked=true
PA10.Signal=S_TIM1_CH3
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.Mode=Device_Only
PA12.Signal=USB_OTG_FS_DP
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA15.GPIOParameters=GPIO_Label
PA15.GPIO_Label=GPIO_7
PA15.Locked=true
PA15.Signal=GPIO_Input
PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=GPIO_3
PA2.Locked=true
PA2.Signal=S_TIM5_CH3
PA3.GPIOParameters=GPIO_Label
PA3.GPIO_Label=GPIO_4
PA3.Locked=true
PA3.Signal=S_TIM5_CH4
PA4.GPIOParameters=GPIO_Label
PA4.GPIO_Label=M1_TEMP
PA4.Locked=true
PA4.Signal=ADCx_IN4
PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=AUX_TEMP
PA5.Locked=true
PA5.Signal=ADCx_IN5
PA6.GPIOParameters=GPIO_Label
PA6.GPIO_Label=VBUS_S
PA6.Locked=true
PA6.Signal=ADCx_IN6
PA7.GPIOParameters=GPIO_Label
PA7.GPIO_Label=M1_AL
PA7.Locked=true
PA7.Mode=PWM Generation1 CH1 CH1N
PA7.Signal=TIM8_CH1N
PA8.GPIOParameters=GPIO_Label
PA8.GPIO_Label=M0_AH
PA8.Locked=true
PA8.Signal=S_TIM1_CH1
PA9.GPIOParameters=GPIO_Label
PA9.GPIO_Label=M0_BH
PA9.Locked=true
PA9.Signal=S_TIM1_CH2
PB0.GPIOParameters=GPIO_Label
PB0.GPIO_Label=M1_BL
PB0.Locked=true
PB0.Mode=PWM Generation2 CH2 CH2N
PB0.Signal=TIM8_CH2N
PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=M1_CL
PB1.Locked=true
PB1.Mode=PWM Generation3 CH3 CH3N
PB1.Signal=TIM8_CH3N
PB10.GPIOParameters=GPIO_Label
PB10.GPIO_Label=AUX_L
PB10.Locked=true
PB10.Signal=S_TIM2_CH3
PB11.GPIOParameters=GPIO_Label
PB11.GPIO_Label=AUX_H
PB11.Locked=true
PB11.Signal=S_TIM2_CH4
PB12.GPIOParameters=GPIO_Label
PB12.GPIO_Label=EN_GATE
PB12.Locked=true
PB12.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_Label
PB13.GPIO_Label=M0_AL
PB13.Locked=true
PB13.Mode=PWM Generation1 CH1 CH1N
PB13.Signal=TIM1_CH1N
PB14.GPIOParameters=GPIO_Label
PB14.GPIO_Label=M0_BL
PB14.Locked=true
PB14.Mode=PWM Generation2 CH2 CH2N
PB14.Signal=TIM1_CH2N
PB15.GPIOParameters=GPIO_Label
PB15.GPIO_Label=M0_CL
PB15.Locked=true
PB15.Mode=PWM Generation3 CH3 CH3N
PB15.Signal=TIM1_CH3N
PB2.GPIOParameters=GPIO_Label
PB2.GPIO_Label=GPIO_6
PB2.Locked=true
PB2.Signal=GPIO_Input
PB3.GPIOParameters=GPIO_Label
PB3.GPIO_Label=GPIO_8
PB3.Locked=true
PB3.Signal=GPIO_Input
PB4.GPIOParameters=GPIO_Label
PB4.GPIO_Label=M0_ENC_A
PB4.Signal=S_TIM3_CH1
PB5.GPIOParameters=GPIO_Label
PB5.GPIO_Label=M0_ENC_B
PB5.Signal=S_TIM3_CH2
PB6.GPIOParameters=GPIO_Label
PB6.GPIO_Label=M1_ENC_A
PB6.Signal=S_TIM4_CH1
PB7.GPIOParameters=GPIO_Label
PB7.GPIO_Label=M1_ENC_B
PB7.Signal=S_TIM4_CH2
PB8.Locked=true
PB8.Signal=SharedStack_PB8
PB8.Stacked=true
PB9.Locked=true
PB9.Signal=SharedStack_PB9
PB9.Stacked=true
PC0.GPIOParameters=GPIO_Label
PC0.GPIO_Label=M0_IB
PC0.Signal=ADCx_IN10
PC1.GPIOParameters=GPIO_Label
PC1.GPIO_Label=M0_IC
PC1.Signal=ADCx_IN11
PC10.Mode=Full_Duplex_Master
PC10.Signal=SPI3_SCK
PC11.Mode=Full_Duplex_Master
PC11.Signal=SPI3_MISO
PC12.Mode=Full_Duplex_Master
PC12.Signal=SPI3_MOSI
PC13-ANTI_TAMP.GPIOParameters=PinState,GPIO_Label
PC13-ANTI_TAMP.GPIO_Label=M0_nCS
PC13-ANTI_TAMP.Locked=true
PC13-ANTI_TAMP.PinState=GPIO_PIN_SET
PC13-ANTI_TAMP.Signal=GPIO_Output
PC14-OSC32_IN.GPIOParameters=PinState,GPIO_Label
PC14-OSC32_IN.GPIO_Label=M1_nCS
PC14-OSC32_IN.Locked=true
PC14-OSC32_IN.PinState=GPIO_PIN_SET
PC14-OSC32_IN.Signal=GPIO_Output
PC15-OSC32_OUT.GPIOParameters=GPIO_Label
PC15-OSC32_OUT.GPIO_Label=M1_ENC_Z
PC15-OSC32_OUT.Locked=true
PC15-OSC32_OUT.Signal=GPIO_Input
PC2.GPIOParameters=GPIO_Label
PC2.GPIO_Label=M1_IC
PC2.Signal=ADCx_IN12
PC3.GPIOParameters=GPIO_Label
PC3.GPIO_Label=M1_IB
PC3.Signal=ADCx_IN13
PC4.GPIOParameters=GPIO_Label
PC4.GPIO_Label=GPIO_5
PC4.Locked=true
PC4.Signal=GPIO_Input
PC5.GPIOParameters=GPIO_Label
PC5.GPIO_Label=M0_TEMP
PC5.Signal=ADCx_IN15
PC6.GPIOParameters=GPIO_Label
PC6.GPIO_Label=M1_AH
PC6.Locked=true
PC6.Signal=S_TIM8_CH1
PC7.GPIOParameters=GPIO_Label
PC7.GPIO_Label=M1_BH
PC7.Locked=true
PC7.Signal=S_TIM8_CH2
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=M1_CH
PC8.Locked=true
PC8.Signal=S_TIM8_CH3
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=M0_ENC_Z
PC9.Locked=true
PC9.Signal=GPIO_Input
PCC.Checker=false
PCC.Line=STM32F405/415
PCC.MCU=STM32F405RGTx
PCC.PartNumber=STM32F405RGTx
PCC.Seq0=0
PCC.Series=STM32F4
PCC.Temperature=25
PCC.Vdd=3.3
PD2.GPIOParameters=GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=nFAULT
PD2.GPIO_PuPd=GPIO_PULLUP
PD2.Locked=true
PD2.Signal=GPIO_Input
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
ProjectManager.CompilerOptimize=2
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
ProjectManager.CustomerFirmwarePackage=
ProjectManager.DefaultFWLocation=true
ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F405RGTx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.21.0
ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x3C00
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Src
ProjectManager.NoMain=false
ProjectManager.PreviousToolchain=SW4STM32
ProjectManager.ProjectBuild=false
ProjectManager.ProjectFileName=Odrive.ioc
ProjectManager.ProjectName=Odrive
ProjectManager.StackSize=0x800
ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-MX_ADC1_Init-ADC1-false-HAL-true,4-MX_ADC2_Init-ADC2-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM8_Init-TIM8-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_TIM4_Init-TIM4-false-HAL-true,10-MX_SPI3_Init-SPI3-false-HAL-true,11-MX_ADC3_Init-ADC3-false-HAL-true,12-SystemClock_Config-RCC-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-true,15-MX_UART4_Init-UART4-false-HAL-true,16-MX_TIM5_Init-TIM5-false-HAL-true,17-MX_TIM13_Init-TIM13-false-HAL-true
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimCLKDivider=1
RCC.APB2TimFreq_Value=84000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=8000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimCLKDivider,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=4
RCC.PLLN=168
RCC.PLLQ=7
RCC.PLLQCLKFreq_Value=48000000
RCC.RTCFreq_Value=32000
RCC.RTCHSEDivFreq_Value=4000000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
SH.ADCx_IN10.0=ADC1_IN10,IN10
SH.ADCx_IN10.1=ADC2_IN10,IN10
SH.ADCx_IN10.2=ADC3_IN10,IN10
SH.ADCx_IN10.ConfNb=3
SH.ADCx_IN11.0=ADC1_IN11,IN11
SH.ADCx_IN11.1=ADC2_IN11,IN11
SH.ADCx_IN11.2=ADC3_IN11,IN11
SH.ADCx_IN11.ConfNb=3
SH.ADCx_IN12.0=ADC1_IN12,IN12
SH.ADCx_IN12.1=ADC2_IN12,IN12
SH.ADCx_IN12.2=ADC3_IN12,IN12
SH.ADCx_IN12.ConfNb=3
SH.ADCx_IN13.0=ADC1_IN13,IN13
SH.ADCx_IN13.1=ADC2_IN13,IN13
SH.ADCx_IN13.2=ADC3_IN13,IN13
SH.ADCx_IN13.ConfNb=3
SH.ADCx_IN15.0=ADC1_IN15,IN15
SH.ADCx_IN15.1=ADC2_IN15,IN15
SH.ADCx_IN15.ConfNb=2
SH.ADCx_IN4.0=ADC1_IN4,IN4
SH.ADCx_IN4.1=ADC2_IN4,IN4
SH.ADCx_IN4.ConfNb=2
SH.ADCx_IN5.0=ADC1_IN5,IN5
SH.ADCx_IN5.1=ADC2_IN5,IN5
SH.ADCx_IN5.ConfNb=2
SH.ADCx_IN6.0=ADC1_IN6,IN6
SH.ADCx_IN6.1=ADC2_IN6,IN6
SH.ADCx_IN6.ConfNb=2
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 CH1N
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2 CH2N
SH.S_TIM1_CH2.ConfNb=1
SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3 CH3N
SH.S_TIM1_CH3.ConfNb=1
SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
SH.S_TIM2_CH3.ConfNb=1
SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
SH.S_TIM2_CH4.ConfNb=1
SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
SH.S_TIM3_CH2.ConfNb=1
SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
SH.S_TIM4_CH1.ConfNb=1
SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
SH.S_TIM4_CH2.ConfNb=1
SH.S_TIM5_CH3.0=TIM5_CH3,Input_Capture3_from_TI3
SH.S_TIM5_CH3.ConfNb=1
SH.S_TIM5_CH4.0=TIM5_CH4,Input_Capture4_from_TI4
SH.S_TIM5_CH4.ConfNb=1
SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1 CH1N
SH.S_TIM8_CH1.ConfNb=1
SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2 CH2N
SH.S_TIM8_CH2.ConfNb=1
SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3 CH3N
SH.S_TIM8_CH3.ConfNb=1
SH.SharedStack_PA0.0=GPIO_EXTI0+0
SH.SharedStack_PA0.1=UART4_TX,Asynchronous
SH.SharedStack_PA0.ConfNb=2
SH.SharedStack_PA1.0=GPIO_Input+0
SH.SharedStack_PA1.1=UART4_RX,Asynchronous
SH.SharedStack_PA1.ConfNb=2
SH.SharedStack_PB8.0=CAN1_RX,Master
SH.SharedStack_PB8.1=I2C1_SCL
SH.SharedStack_PB8.ConfNb=2
SH.SharedStack_PB9.0=CAN1_TX,Master
SH.SharedStack_PB9.1=I2C1_SDA
SH.SharedStack_PB9.ConfNb=2
SPI3.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI3.CLKPhase=SPI_PHASE_2EDGE
SPI3.CalculateBaudRate=2.625 MBits/s
SPI3.DataSize=SPI_DATASIZE_16BIT
SPI3.Direction=SPI_DIRECTION_2LINES
SPI3.FirstBit=SPI_FIRSTBIT_MSB
SPI3.IPParameters=Mode,CalculateBaudRate,BaudRatePrescaler,DataSize,FirstBit,CLKPhase,VirtualType,Direction
SPI3.Mode=SPI_MODE_MASTER
SPI3.VirtualType=VM_MASTER
TIM1.Channel-Output\ Compare4\ No\ Output=TIM_CHANNEL_4
TIM1.Channel-PWM\ Generation1\ CH1\ CH1N=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
TIM1.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
TIM1.DeadTime=TIM_1_8_DEADTIME_CLOCKS
TIM1.IPParameters=Channel-PWM Generation2 CH2 CH2N,Channel-PWM Generation3 CH3 CH3N,OCNPolarity_1,OCNPolarity_2,OCNPolarity_3,CounterMode,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Period,DeadTime,OffStateRunMode,OffStateIDLEMode,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N,RepetitionCounter
TIM1.OCMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCMODE_PWM2
TIM1.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
TIM1.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
TIM1.OCNPolarity_1=TIM_OCNPOLARITY_HIGH
TIM1.OCNPolarity_2=TIM_OCNPOLARITY_HIGH
TIM1.OCNPolarity_3=TIM_OCNPOLARITY_HIGH
TIM1.OffStateIDLEMode=TIM_OSSI_ENABLE
TIM1.OffStateRunMode=TIM_OSSR_ENABLE
TIM1.Period=TIM_1_8_PERIOD_CLOCKS
TIM1.RepetitionCounter=TIM_1_8_RCR
TIM1.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
TIM13.IPParameters=Period
TIM13.Period=(2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * (TIM_APB1_CLOCK_HZ / TIM_1_8_CLOCK_HZ)
TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM2.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,CounterMode,Period,OCMode_PWM-PWM Generation3 CH3,OCMode_PWM-PWM Generation4 CH4,OCPolarity_3,Pulse-PWM Generation4 CH4
TIM2.OCMode_PWM-PWM\ Generation3\ CH3=TIM_OCMODE_PWM2
TIM2.OCMode_PWM-PWM\ Generation4\ CH4=TIM_OCMODE_PWM2
TIM2.OCPolarity_3=TIM_OCPOLARITY_LOW
TIM2.Period=TIM_APB1_PERIOD_CLOCKS
TIM2.Pulse-PWM\ Generation4\ CH4=TIM_APB1_PERIOD_CLOCKS+1
TIM3.EncoderMode=TIM_ENCODERMODE_TI12
TIM3.IC1Filter=4
TIM3.IC1Polarity=TIM_ICPOLARITY_RISING
TIM3.IC2Filter=4
TIM3.IC2Polarity=TIM_ICPOLARITY_RISING
TIM3.IPParameters=EncoderMode,IC1Polarity,IC2Polarity,IC1Filter,IC2Filter,Period
TIM3.Period=0xffff
TIM4.EncoderMode=TIM_ENCODERMODE_TI12
TIM4.IC1Filter=4
TIM4.IC1Polarity=TIM_ICPOLARITY_RISING
TIM4.IC2Filter=4
TIM4.IC2Polarity=TIM_ICPOLARITY_RISING
TIM4.IPParameters=EncoderMode,IC1Polarity,IC2Polarity,IC1Filter,IC2Filter,Period
TIM4.Period=0xffff
TIM5.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
TIM5.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
TIM5.ICFilter_CH3=15
TIM5.ICFilter_CH4=15
TIM5.ICPolarity_CH3=TIM_INPUTCHANNELPOLARITY_BOTHEDGE
TIM5.ICPolarity_CH4=TIM_INPUTCHANNELPOLARITY_BOTHEDGE
TIM5.IPParameters=Channel-Input_Capture3_from_TI3,Channel-Input_Capture4_from_TI4,ICFilter_CH3,ICFilter_CH4,ICPolarity_CH3,ICPolarity_CH4,Period
TIM5.Period=0xFFFFFFFF
TIM8.Channel-Output\ Compare4\ No\ Output=TIM_CHANNEL_4
TIM8.Channel-PWM\ Generation1\ CH1\ CH1N=TIM_CHANNEL_1
TIM8.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
TIM8.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
TIM8.CounterMode=TIM_COUNTERMODE_CENTERALIGNED3
TIM8.DeadTime=TIM_1_8_DEADTIME_CLOCKS
TIM8.IPParameters=Channel-PWM Generation3 CH3 CH3N,Channel-PWM Generation2 CH2 CH2N,CounterMode,Period,OffStateRunMode,OffStateIDLEMode,DeadTime,OCMode_PWM-PWM Generation1 CH1 CH1N,OCMode_PWM-PWM Generation2 CH2 CH2N,OCMode_PWM-PWM Generation3 CH3 CH3N,Channel-Output Compare4 No Output,TIM_MasterOutputTrigger,Channel-PWM Generation1 CH1 CH1N,RepetitionCounter
TIM8.OCMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCMODE_PWM2
TIM8.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
TIM8.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
TIM8.OffStateIDLEMode=TIM_OSSI_ENABLE
TIM8.OffStateRunMode=TIM_OSSR_ENABLE
TIM8.Period=TIM_1_8_PERIOD_CLOCKS
TIM8.RepetitionCounter=TIM_1_8_RCR
TIM8.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
UART4.IPParameters=VirtualMode
UART4.VirtualMode=Asynchronous
USB_DEVICE.APP_RX_DATA_SIZE-CDC_FS=64
USB_DEVICE.APP_TX_DATA_SIZE-CDC_FS=64
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PRODUCT_STRING_CDC_FS,VID-CDC_FS,PID_CDC_FS,SERIALNUMBER_STRING_CDC_FS,APP_RX_DATA_SIZE-CDC_FS,APP_TX_DATA_SIZE-CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=ODrive Robotics
USB_DEVICE.PID_CDC_FS=0x0D32
USB_DEVICE.PRODUCT_STRING_CDC_FS=ODrive v3.3
USB_DEVICE.SERIALNUMBER_STRING_CDC_FS=000000000001
USB_DEVICE.VID-CDC_FS=0x1209
USB_DEVICE.VirtualMode-CDC_FS=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode,vbus_sensing_enable
USB_OTG_FS.VirtualMode=Device_Only
USB_OTG_FS.vbus_sensing_enable=DISABLE
VP_FREERTOS_VS_ENABLE.Mode=Enabled
VP_FREERTOS_VS_ENABLE.Signal=FREERTOS_VS_ENABLE
VP_SYS_VS_tim14.Mode=TIM14
VP_SYS_VS_tim14.Signal=SYS_VS_tim14
VP_TIM13_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM13_VS_ClockSourceINT.Signal=TIM13_VS_ClockSourceINT
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM1_VS_no_output4.Mode=Output Compare4 No Output
VP_TIM1_VS_no_output4.Signal=TIM1_VS_no_output4
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
board=Odrive
ODrive-fw-v0.5.6/Firmware/Board/v3/STM32F405RGTx_FLASH.ld
+193
View File
@@ -0,0 +1,193 @@
/*
*****************************************************************************
**
** File : LinkerScript.ld
**
** Abstract : Linker script for STM32F405RGTx Device with
** 1024KByte FLASH, 128KByte 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.
**
** (c)Copyright Ac6.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Ac6 permit registered System Workbench for MCU users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the System Workbench for MCU toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = 0x20020000; /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x3C00; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
_heap_end_max = _estack - _Min_Stack_Size;
/* Specify the memory areas */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 768K
NVM (r) : ORIGIN = 0x80C0000, LENGTH = 256K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.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 goes into FLASH */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.testdata)
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
_siccmram = LOADADDR(.ccmram);
/* CCM-RAM section
*
* IMPORTANT NOTE!
* If initialized variables will be placed in this section,
* the startup code needs to be modified to copy the init-values.
* Oskar: Added NOLOAD to remove this section from .bin outputs
*/
.ccmram (NOLOAD):
{
. = ALIGN(4);
_sccmram = .; /* create a global symbol at ccmram start */
*(.ccmram)
*(.ccmram*)
. = ALIGN(4);
_eccmram = .; /* create a global symbol at ccmram end */
} >CCMRAM /*AT> FLASH*/
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_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 left */
._user_heap_stack :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >RAM
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}
ODrive-fw-v0.5.6/Firmware/Board/v3/STM32F40x.svd
+54146
View File
File diff suppressed because it is too large Load Diff
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/adc.c
+465
View File
@@ -0,0 +1,465 @@
/**
******************************************************************************
* File Name : ADC.c
* Description : This file provides code for the configuration
* of the ADC instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "adc.h"
#include "gpio.h"
#include "dma.h"
/* USER CODE BEGIN 0 */
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
#include "prev_board_ver/adc_V3_2.c"
#elif HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 3 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 4
#include "prev_board_ver/adc_V3_4.c"
#else
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
ADC_HandleTypeDef hadc3;
DMA_HandleTypeDef hdma_adc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* ADC2 init function */
void MX_ADC2_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**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 = DISABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.NbrOfConversion = 1;
hadc2.Init.DMAContinuousRequests = DISABLE;
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_13;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* ADC3 init function */
void MX_ADC3_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc3.Instance = ADC3;
hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc3.Init.Resolution = ADC_RESOLUTION_12B;
hadc3.Init.ScanConvMode = DISABLE;
hadc3.Init.ContinuousConvMode = DISABLE;
hadc3.Init.DiscontinuousConvMode = DISABLE;
hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc3.Init.NbrOfConversion = 1;
hadc3.Init.DMAContinuousRequests = DISABLE;
hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_12;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PC5 ------> ADC1_IN15
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|M0_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_TEMP_Pin|VBUS_S_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA2_Stream0;
hdma_adc1.Init.Channel = DMA_CHANNEL_0;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
else if(adcHandle->Instance==ADC2)
{
/* USER CODE BEGIN ADC2_MspInit 0 */
/* USER CODE END ADC2_MspInit 0 */
/* ADC2 clock enable */
__HAL_RCC_ADC2_CLK_ENABLE();
/**ADC2 GPIO Configuration
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
PC5 ------> ADC2_IN15
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|M0_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_TEMP_Pin|VBUS_S_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN ADC2_MspInit 1 */
/* USER CODE END ADC2_MspInit 1 */
}
else if(adcHandle->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspInit 0 */
/* USER CODE END ADC3_MspInit 0 */
/* ADC3 clock enable */
__HAL_RCC_ADC3_CLK_ENABLE();
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
PC2 ------> ADC3_IN12
PC3 ------> ADC3_IN13
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN ADC3_MspInit 1 */
/* USER CODE END ADC3_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PC5 ------> ADC1_IN15
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_TEMP_Pin|VBUS_S_Pin);
/* ADC1 DMA DeInit */
HAL_DMA_DeInit(adcHandle->DMA_Handle);
/* ADC1 interrupt Deinit */
/* USER CODE BEGIN ADC1:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC1:ADC_IRQn disable */
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
else 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
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
PC5 ------> ADC2_IN15
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_TEMP_Pin|VBUS_S_Pin);
/* ADC2 interrupt Deinit */
/* USER CODE BEGIN ADC2:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC2:ADC_IRQn disable */
/* USER CODE BEGIN ADC2_MspDeInit 1 */
/* USER CODE END ADC2_MspDeInit 1 */
}
else if(adcHandle->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspDeInit 0 */
/* USER CODE END ADC3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC3_CLK_DISABLE();
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
PC2 ------> ADC3_IN12
PC3 ------> ADC3_IN13
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
/* ADC3 interrupt Deinit */
/* USER CODE BEGIN ADC3:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC3:ADC_IRQn disable */
/* USER CODE BEGIN ADC3_MspDeInit 1 */
/* USER CODE END ADC3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
#endif // END ADC Include
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/can.c
+177
View File
@@ -0,0 +1,177 @@
/**
******************************************************************************
* File Name : CAN.c
* Description : This file provides code for the configuration
* of the CAN instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "can.h"
#include "gpio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
CAN_HandleTypeDef hcan1 = {
.Instance = CAN1,
.Init = {
.Prescaler = 8,
.Mode = CAN_MODE_NORMAL,
.SyncJumpWidth = CAN_SJW_4TQ,
.TimeSeg1 = CAN_BS1_16TQ,
.TimeSeg2 = CAN_BS2_4TQ,
.TimeTriggeredMode = DISABLE,
.AutoBusOff = ENABLE,
.AutoWakeUp = ENABLE,
.AutoRetransmission = ENABLE,
.ReceiveFifoLocked = DISABLE,
.TransmitFifoPriority = DISABLE,
}
};
/* CAN1 init function */
//void MX_CAN1_Init(void)
//{
//
// hcan1.Instance = CAN1;
// hcan1.Init.Prescaler = 8;
// hcan1.Init.Mode = CAN_MODE_NORMAL;
// hcan1.Init.SyncJumpWidth = CAN_SJW_4TQ;
// hcan1.Init.TimeSeg1 = CAN_BS1_16TQ;
// hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
// hcan1.Init.TimeTriggeredMode = DISABLE;
// hcan1.Init.AutoBusOff = ENABLE;
// hcan1.Init.AutoWakeUp = ENABLE;
// hcan1.Init.AutoRetransmission = ENABLE;
// hcan1.Init.ReceiveFifoLocked = DISABLE;
// hcan1.Init.TransmitFifoPriority = DISABLE;
// if (HAL_CAN_Init(&hcan1) != HAL_OK)
// {
// _Error_Handler(__FILE__, __LINE__);
// }
//
//}
//
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */
__HAL_RCC_CAN1_CLK_ENABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|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);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_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_DISABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_DisableIRQ(CAN1_SCE_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/dma.c
+114
View File
@@ -0,0 +1,114 @@
/**
******************************************************************************
* File Name : dma.c
* Description : This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
__HAL_RCC_DMA2_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream0_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream0_IRQn, 4, 0); // SPI RX - must have lower priority than SPI TX
// and higher priority than the control loop handler
HAL_NVIC_EnableIRQ(DMA1_Stream0_IRQn);
/* DMA1_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
/* DMA1_Stream4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
/* DMA1_Stream5_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
/* DMA1_Stream6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
/* DMA1_Stream7_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 3, 0); // SPI TX - must have higher priority than SPI RX
// and higher priority than the control loop handler
HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
/* DMA2_Stream0_IRQn interrupt configuration */
// Dear STM, no we _don't_ want to fire an interrupt for this DMA
// (it's not possible to deselect this in CubeMX)
//HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
//HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/freertos.c
+177
View File
@@ -0,0 +1,177 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 Variables */
/* USER CODE END Variables */
osThreadId defaultTaskHandle;
const uint32_t stack_size_default_task = 2048; // Bytes
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void * argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */
void vApplicationIdleHook(void);
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
/* USER CODE BEGIN 2 */
__weak void vApplicationIdleHook( void )
{
/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
task. It is essential that code added to this hook function never attempts
to block in any way (for example, call xQueueReceive() with a block time
specified, or call vTaskDelay()). If the application makes use of the
vTaskDelete() API function (as this demo application does) then it is also
important that vApplicationIdleHook() is permitted to return to its calling
function, because it is the responsibility of the idle task to clean up
memory allocated by the kernel to any task that has since been deleted. */
}
/* USER CODE END 2 */
/* USER CODE BEGIN 4 */
__weak void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
{
/* Run time stack overflow checking is performed if
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
called if a stack overflow is detected. */
}
/* USER CODE END 4 */
/**
* @brief FreeRTOS initialization
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, stack_size_default_task / sizeof(StackType_t));
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
}
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void * argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* USER CODE END StartDefaultTask */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/gpio.c
+136
View File
@@ -0,0 +1,136 @@
/**
******************************************************************************
* File Name : gpio.c
* Description : This file provides code for the configuration
* of all used GPIO pins.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "gpio.h"
/* USER CODE BEGIN 0 */
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
#include "prev_board_ver/gpio_V3_2.c"
#elif HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 3 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 4
#include "prev_board_ver/gpio_V3_4.c"
#else
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure GPIO */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : PCPin PCPin */
GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PCPin PCPin PCPin */
GPIO_InitStruct.Pin = M1_ENC_Z_Pin|GPIO_5_Pin|M0_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = EN_GATE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = nFAULT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
}
/* USER CODE BEGIN 2 */
#endif // End GPIO Include
/* USER CODE END 2 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/i2c.c
+186
View File
@@ -0,0 +1,186 @@
/**
******************************************************************************
* File Name : I2C.c
* Description : This file provides code for the configuration
* of the I2C instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "i2c.h"
#include "gpio.h"
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
I2C_HandleTypeDef hi2c1;
DMA_HandleTypeDef hdma_i2c1_rx;
DMA_HandleTypeDef hdma_i2c1_tx;
/* I2C1 init function */
void MX_I2C1_Init(uint8_t addr)
{
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 100000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = addr << 1;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void HAL_I2C_MspInit(I2C_HandleTypeDef* i2cHandle)
{
if(i2cHandle->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspInit 0 */
/* USER CODE END I2C1_MspInit 0 */
/* I2C1 clock enable */
__HAL_RCC_I2C1_CLK_ENABLE();
/* I2C1 DMA Init */
/* I2C1_RX Init */
hdma_i2c1_rx.Instance = DMA1_Stream0;
hdma_i2c1_rx.Init.Channel = DMA_CHANNEL_1;
hdma_i2c1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_i2c1_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c1_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c1_rx.Init.Mode = DMA_CIRCULAR;
hdma_i2c1_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_i2c1_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_i2c1_rx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(i2cHandle,hdmarx,hdma_i2c1_rx);
/* I2C1_TX Init */
hdma_i2c1_tx.Instance = DMA1_Stream6;
hdma_i2c1_tx.Init.Channel = DMA_CHANNEL_1;
hdma_i2c1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_i2c1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_i2c1_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_i2c1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_i2c1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_i2c1_tx.Init.Mode = DMA_NORMAL;
hdma_i2c1_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_i2c1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_i2c1_tx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(i2cHandle,hdmatx,hdma_i2c1_tx);
/* I2C1 interrupt Init */
HAL_NVIC_SetPriority(I2C1_EV_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
HAL_NVIC_SetPriority(I2C1_ER_IRQn, 9, 0);
HAL_NVIC_EnableIRQ(I2C1_ER_IRQn);
/* USER CODE BEGIN I2C1_MspInit 1 */
/* USER CODE END I2C1_MspInit 1 */
}
}
void HAL_I2C_MspDeInit(I2C_HandleTypeDef* i2cHandle)
{
if(i2cHandle->Instance==I2C1)
{
/* USER CODE BEGIN I2C1_MspDeInit 0 */
/* USER CODE END I2C1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_I2C1_CLK_DISABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
/* I2C1 DMA DeInit */
HAL_DMA_DeInit(i2cHandle->hdmarx);
HAL_DMA_DeInit(i2cHandle->hdmatx);
/* I2C1 interrupt Deinit */
HAL_NVIC_DisableIRQ(I2C1_EV_IRQn);
HAL_NVIC_DisableIRQ(I2C1_ER_IRQn);
/* USER CODE BEGIN I2C1_MspDeInit 1 */
/* USER CODE END I2C1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/main.c
+280
View File
@@ -0,0 +1,280 @@
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_hal.h"
#include "cmsis_os.h"
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* => Nope. We provide our own.
*
* @retval None
*/
//int main(void)
//{
#if 0
/* 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_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
// MX_CAN1_Init(); // CAN or I2C called in main.cpp instead
MX_TIM1_Init();
MX_TIM8_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_SPI3_Init();
MX_ADC3_Init();
MX_TIM2_Init();
MX_UART4_Init();
MX_TIM5_Init();
MX_TIM13_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
MX_FREERTOS_Init();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
#endif
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.LSIState = RCC_LSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM14 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM14) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/
void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1) // TODO: do something more useful
{
}
/* 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 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/prev_board_ver/adc_V3_2.c
+390
View File
@@ -0,0 +1,390 @@
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
ADC_HandleTypeDef hadc3;
DMA_HandleTypeDef hdma_adc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_0;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* ADC2 init function */
void MX_ADC2_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**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 = DISABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.NbrOfConversion = 1;
hadc2.Init.DMAContinuousRequests = DISABLE;
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_13;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* ADC3 init function */
void MX_ADC3_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc3.Instance = ADC3;
hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc3.Init.Resolution = ADC_RESOLUTION_12B;
hadc3.Init.ScanConvMode = DISABLE;
hadc3.Init.ContinuousConvMode = DISABLE;
hadc3.Init.DiscontinuousConvMode = DISABLE;
hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc3.Init.NbrOfConversion = 1;
hadc3.Init.DMAContinuousRequests = DISABLE;
hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_12;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA0-WKUP ------> ADC1_IN0
PA1 ------> ADC1_IN1
PA2 ------> ADC1_IN2
PA6 ------> ADC1_IN6
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA2_Stream0;
hdma_adc1.Init.Channel = DMA_CHANNEL_0;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
else if(adcHandle->Instance==ADC2)
{
/* USER CODE BEGIN ADC2_MspInit 0 */
/* USER CODE END ADC2_MspInit 0 */
/* ADC2 clock enable */
__HAL_RCC_ADC2_CLK_ENABLE();
/**ADC2 GPIO Configuration
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA0-WKUP ------> ADC2_IN0
PA1 ------> ADC2_IN1
PA2 ------> ADC2_IN2
PA6 ------> ADC2_IN6
PC4 ------> ADC2_IN14
PC5 ------> ADC2_IN15
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN ADC2_MspInit 1 */
/* USER CODE END ADC2_MspInit 1 */
}
else if(adcHandle->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspInit 0 */
/* USER CODE END ADC3_MspInit 0 */
/* ADC3 clock enable */
__HAL_RCC_ADC3_CLK_ENABLE();
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
PC2 ------> ADC3_IN12
PC3 ------> ADC3_IN13
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN ADC3_MspInit 1 */
/* USER CODE END ADC3_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA0-WKUP ------> ADC1_IN0
PA1 ------> ADC1_IN1
PA2 ------> ADC1_IN2
PA6 ------> ADC1_IN6
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
/* ADC1 interrupt Deinit */
/* USER CODE BEGIN ADC1:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC1:ADC_IRQn disable */
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
else 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
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA0-WKUP ------> ADC2_IN0
PA1 ------> ADC2_IN1
PA2 ------> ADC2_IN2
PA6 ------> ADC2_IN6
PC4 ------> ADC2_IN14
PC5 ------> ADC2_IN15
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
/* ADC2 interrupt Deinit */
/* USER CODE BEGIN ADC2:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC2:ADC_IRQn disable */
/* USER CODE BEGIN ADC2_MspDeInit 1 */
/* USER CODE END ADC2_MspDeInit 1 */
}
else if(adcHandle->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspDeInit 0 */
/* USER CODE END ADC3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC3_CLK_DISABLE();
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
PC2 ------> ADC3_IN12
PC3 ------> ADC3_IN13
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
/* ADC3 interrupt Deinit */
/* USER CODE BEGIN ADC3:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC3:ADC_IRQn disable */
/* USER CODE BEGIN ADC3_MspDeInit 1 */
/* USER CODE END ADC3_MspDeInit 1 */
}
}
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/prev_board_ver/adc_V3_4.c
+386
View File
@@ -0,0 +1,386 @@
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
ADC_HandleTypeDef hadc3;
DMA_HandleTypeDef hdma_adc1;
/* ADC1 init function */
void MX_ADC1_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = DISABLE;
hadc1.Init.ContinuousConvMode = DISABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
hadc1.Init.DMAContinuousRequests = DISABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc1, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* ADC2 init function */
void MX_ADC2_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**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 = DISABLE;
hadc2.Init.ContinuousConvMode = DISABLE;
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc2.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc2.Init.NbrOfConversion = 1;
hadc2.Init.DMAContinuousRequests = DISABLE;
hadc2.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_13;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc2, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_10;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc2, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* ADC3 init function */
void MX_ADC3_Init(void)
{
ADC_ChannelConfTypeDef sConfig;
ADC_InjectionConfTypeDef sConfigInjected;
/**Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
*/
hadc3.Instance = ADC3;
hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc3.Init.Resolution = ADC_RESOLUTION_12B;
hadc3.Init.ScanConvMode = DISABLE;
hadc3.Init.ContinuousConvMode = DISABLE;
hadc3.Init.DiscontinuousConvMode = DISABLE;
hadc3.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING;
hadc3.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO;
hadc3.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc3.Init.NbrOfConversion = 1;
hadc3.Init.DMAContinuousRequests = DISABLE;
hadc3.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_12;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_11;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
if (HAL_ADCEx_InjectedConfigChannel(&hadc3, &sConfigInjected) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspInit 0 */
/* USER CODE END ADC1_MspInit 0 */
/* ADC1 clock enable */
__HAL_RCC_ADC1_CLK_ENABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* ADC1 DMA Init */
/* ADC1 Init */
hdma_adc1.Instance = DMA2_Stream0;
hdma_adc1.Init.Channel = DMA_CHANNEL_0;
hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_adc1.Init.Mode = DMA_CIRCULAR;
hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
/* USER CODE BEGIN ADC1_MspInit 1 */
/* USER CODE END ADC1_MspInit 1 */
}
else if(adcHandle->Instance==ADC2)
{
/* USER CODE BEGIN ADC2_MspInit 0 */
/* USER CODE END ADC2_MspInit 0 */
/* ADC2 clock enable */
__HAL_RCC_ADC2_CLK_ENABLE();
/**ADC2 GPIO Configuration
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
PC4 ------> ADC2_IN14
PC5 ------> ADC2_IN15
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN ADC2_MspInit 1 */
/* USER CODE END ADC2_MspInit 1 */
}
else if(adcHandle->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspInit 0 */
/* USER CODE END ADC3_MspInit 0 */
/* ADC3 clock enable */
__HAL_RCC_ADC3_CLK_ENABLE();
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
PC2 ------> ADC3_IN12
PC3 ------> ADC3_IN13
*/
GPIO_InitStruct.Pin = M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN ADC3_MspInit 1 */
/* USER CODE END ADC3_MspInit 1 */
}
}
void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
{
if(adcHandle->Instance==ADC1)
{
/* USER CODE BEGIN ADC1_MspDeInit 0 */
/* USER CODE END ADC1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC1_CLK_DISABLE();
/**ADC1 GPIO Configuration
PC0 ------> ADC1_IN10
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
/* ADC1 interrupt Deinit */
/* USER CODE BEGIN ADC1:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC1:ADC_IRQn disable */
/* USER CODE BEGIN ADC1_MspDeInit 1 */
/* USER CODE END ADC1_MspDeInit 1 */
}
else 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
PC0 ------> ADC2_IN10
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
PC4 ------> ADC2_IN14
PC5 ------> ADC2_IN15
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
/* ADC2 interrupt Deinit */
/* USER CODE BEGIN ADC2:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC2:ADC_IRQn disable */
/* USER CODE BEGIN ADC2_MspDeInit 1 */
/* USER CODE END ADC2_MspDeInit 1 */
}
else if(adcHandle->Instance==ADC3)
{
/* USER CODE BEGIN ADC3_MspDeInit 0 */
/* USER CODE END ADC3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_ADC3_CLK_DISABLE();
/**ADC3 GPIO Configuration
PC0 ------> ADC3_IN10
PC1 ------> ADC3_IN11
PC2 ------> ADC3_IN12
PC3 ------> ADC3_IN13
*/
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin);
/* ADC3 interrupt Deinit */
/* USER CODE BEGIN ADC3:ADC_IRQn disable */
/**
* Uncomment the line below to disable the "ADC_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(ADC_IRQn); */
/* USER CODE END ADC3:ADC_IRQn disable */
/* USER CODE BEGIN ADC3_MspDeInit 1 */
/* USER CODE END ADC3_MspDeInit 1 */
}
}
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/prev_board_ver/gpio_V3_2.c
+86
View File
@@ -0,0 +1,86 @@
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : PCPin PCPin PCPin PCPin */
GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PAPin PAPin */
GPIO_InitStruct.Pin = GPIO_4_Pin|GPIO_2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIO_3_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = EN_GATE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = M0_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(M0_ENC_Z_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = nFAULT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = M1_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(M1_ENC_Z_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
}
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/prev_board_ver/gpio_V3_4.c
+71
View File
@@ -0,0 +1,71 @@
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, M0_nCS_Pin|M1_nCS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, M1_DC_CAL_Pin|M0_DC_CAL_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(EN_GATE_GPIO_Port, EN_GATE_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : PCPin PCPin PCPin PCPin */
GPIO_InitStruct.Pin = M0_nCS_Pin|M1_nCS_Pin|M1_DC_CAL_Pin|M0_DC_CAL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_3_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIO_3_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PAPin PAPin */
GPIO_InitStruct.Pin = GPIO_4_Pin|M0_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PBPin PBPin */
GPIO_InitStruct.Pin = GPIO_5_Pin|M1_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = EN_GATE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = nFAULT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
}
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/spi.c
+216
View File
@@ -0,0 +1,216 @@
/**
******************************************************************************
* File Name : SPI.c
* Description : This file provides code for the configuration
* of the SPI instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "spi.h"
#include "gpio.h"
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
SPI_HandleTypeDef hspi3;
DMA_HandleTypeDef hdma_spi3_tx;
DMA_HandleTypeDef hdma_spi3_rx;
/* SPI3 init function */
void MX_SPI3_Init(void)
{
hspi3.Instance = SPI3;
hspi3.Init.Mode = SPI_MODE_MASTER;
hspi3.Init.Direction = SPI_DIRECTION_2LINES;
hspi3.Init.DataSize = SPI_DATASIZE_16BIT;
hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi3.Init.NSS = SPI_NSS_SOFT;
hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi3.Init.TIMode = SPI_TIMODE_DISABLE;
hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi3.Init.CRCPolynomial = 10;
if (HAL_SPI_Init(&hspi3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(spiHandle->Instance==SPI3)
{
/* USER CODE BEGIN SPI3_MspInit 0 */
/* USER CODE END SPI3_MspInit 0 */
/* SPI3 clock enable */
__HAL_RCC_SPI3_CLK_ENABLE();
/**SPI3 GPIO Configuration
PC10 ------> SPI3_SCK
PC11 ------> SPI3_MISO
PC12 ------> SPI3_MOSI
*/
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN; // Idle clock and MOSI low.
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
// MISO pull-up required for disconnect detection on SPI encoders with even parity
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* SPI3 DMA Init */
/* SPI3_TX Init */
hdma_spi3_tx.Instance = DMA1_Stream7;
hdma_spi3_tx.Init.Channel = DMA_CHANNEL_0;
hdma_spi3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_spi3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi3_tx.Init.MemInc = DMA_MINC_ENABLE;
if(spiHandle->Init.DataSize == SPI_DATASIZE_8BIT){
hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
} else {
hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
}
hdma_spi3_tx.Init.Mode = DMA_NORMAL;
hdma_spi3_tx.Init.Priority = DMA_PRIORITY_HIGH; // SPI TX must have higher priority than SPI RX
hdma_spi3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_spi3_tx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(spiHandle,hdmatx,hdma_spi3_tx);
/* SPI3_RX Init */
hdma_spi3_rx.Instance = DMA1_Stream0;
hdma_spi3_rx.Init.Channel = DMA_CHANNEL_0;
hdma_spi3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_spi3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_spi3_rx.Init.MemInc = DMA_MINC_ENABLE;
if (spiHandle->Init.DataSize == SPI_DATASIZE_8BIT) {
hdma_spi3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_spi3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
} else {
hdma_spi3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_spi3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
}
hdma_spi3_rx.Init.Mode = DMA_NORMAL;
hdma_spi3_rx.Init.Priority = DMA_PRIORITY_MEDIUM;
hdma_spi3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_spi3_rx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(spiHandle,hdmarx,hdma_spi3_rx);
/* SPI3 interrupt Init */
//HAL_NVIC_SetPriority(SPI3_IRQn, 3, 0);
//HAL_NVIC_EnableIRQ(SPI3_IRQn);
/* USER CODE BEGIN SPI3_MspInit 1 */
/* USER CODE END SPI3_MspInit 1 */
}
}
void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
{
if(spiHandle->Instance==SPI3)
{
/* USER CODE BEGIN SPI3_MspDeInit 0 */
/* USER CODE END SPI3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_SPI3_CLK_DISABLE();
/**SPI3 GPIO Configuration
PC10 ------> SPI3_SCK
PC11 ------> SPI3_MISO
PC12 ------> SPI3_MOSI
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12);
/* SPI3 DMA DeInit */
HAL_DMA_DeInit(spiHandle->hdmatx);
HAL_DMA_DeInit(spiHandle->hdmarx);
/* SPI3 interrupt Deinit */
HAL_NVIC_DisableIRQ(SPI3_IRQn);
/* USER CODE BEGIN SPI3_MspDeInit 1 */
/* USER CODE END SPI3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/stm32f4xx_hal_msp.c
+102
View File
@@ -0,0 +1,102 @@
/**
******************************************************************************
* File Name : stm32f4xx_hal_msp.c
* Description : This file provides code for the MSP Initialization
* and de-Initialization codes.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
extern void _Error_Handler(char *, int);
/* 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();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
/* System interrupt init*/
/* MemoryManagement_IRQn interrupt configuration */
HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
/* BusFault_IRQn interrupt configuration */
HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
/* UsageFault_IRQn interrupt configuration */
HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
/* SVCall_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SVCall_IRQn, 3, 0);
/* DebugMonitor_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
/* PendSV_IRQn interrupt configuration */
HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
/* USER CODE BEGIN MspInit 1 */
/* USER CODE END MspInit 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/stm32f4xx_hal_timebase_TIM.c
+158
View File
@@ -0,0 +1,158 @@
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_TIM.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/** @addtogroup STM32F7xx_HAL_Examples
* @{
*/
/** @addtogroup HAL_TimeBase
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim14;
uint32_t uwIncrementState = 0;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM14 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priorty.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0;
uint32_t uwPrescalerValue = 0;
uint32_t pFLatency;
/*Configure the TIM14 IRQ priority */
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, TickPriority ,0);
/* Enable the TIM14 global Interrupt */
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* Enable TIM14 clock */
__HAL_RCC_TIM14_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM14 clock */
uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
/* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
/* Initialize TIM14 */
htim14.Instance = TIM14;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM14CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim14.Init.Period = (1000000 / 1000) - 1;
htim14.Init.Prescaler = uwPrescalerValue;
htim14.Init.ClockDivision = 0;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim14) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim14);
}
/* Return function status */
return HAL_ERROR;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM14 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim14, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM14 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim14, TIM_IT_UPDATE);
}
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/stm32f4xx_it.c
+416
View File
@@ -0,0 +1,416 @@
/**
******************************************************************************
* @file stm32f4xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx.h"
#include "stm32f4xx_it.h"
#include "cmsis_os.h"
#include <stdbool.h>
/* USER CODE BEGIN 0 */
#include <Drivers/STM32/stm32_system.h>
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern ADC_HandleTypeDef hadc3;
extern CAN_HandleTypeDef hcan1;
extern DMA_HandleTypeDef hdma_spi3_tx;
extern DMA_HandleTypeDef hdma_spi3_rx;
extern SPI_HandleTypeDef hspi3;
extern TIM_HandleTypeDef htim5;
extern TIM_HandleTypeDef htim8;
extern DMA_HandleTypeDef hdma_uart4_rx;
extern DMA_HandleTypeDef hdma_uart4_tx;
extern DMA_HandleTypeDef hdma_usart2_rx;
extern DMA_HandleTypeDef hdma_usart2_tx;
extern UART_HandleTypeDef huart4;
extern UART_HandleTypeDef huart2;
extern TIM_HandleTypeDef htim14;
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
COUNT_IRQ(NonMaskableInt_IRQn);
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
/* USER CODE END NonMaskableInt_IRQn 1 */
}
__attribute__((used))
void get_regs(void** stack_ptr) {
TIM1->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M0 PWM
TIM8->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M1 PWM
void* volatile r0 __attribute__((unused)) = stack_ptr[0];
void* volatile r1 __attribute__((unused)) = stack_ptr[1];
void* volatile r2 __attribute__((unused)) = stack_ptr[2];
void* volatile r3 __attribute__((unused)) = stack_ptr[3];
void* volatile r12 __attribute__((unused)) = stack_ptr[4];
void* volatile lr __attribute__((unused)) = stack_ptr[5]; // Link register
void* volatile pc __attribute__((unused)) = stack_ptr[6]; // Program counter
void* volatile psr __attribute__((unused)) = stack_ptr[7]; // Program status register
void* volatile cfsr __attribute__((unused)) = (void*)SCB->CFSR; // Configurable fault status register
void* volatile cpacr __attribute__((unused)) = (void*)SCB->CPACR;
void* volatile fpccr __attribute__((unused)) = (void*)FPU->FPCCR;
volatile bool preciserr __attribute__((unused)) = (uint32_t)cfsr & 0x200;
volatile bool ibuserr __attribute__((unused)) = (uint32_t)cfsr & 0x100;
volatile int stay_looping = 1;
while(stay_looping);
}
/**
* @brief This function handles Hard fault interrupt.
*/
__attribute__((naked))
void HardFault_Handler(void)
{
__asm(
" tst lr, #4 \n\t"
" ite eq \n\t"
" mrseq r0, msp \n\t"
" mrsne r0, psp \n\t"
" b get_regs \n\t"
);
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
COUNT_IRQ(MemoryManagement_IRQn);
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
TIM1->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M0 PWM
TIM8->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M1 PWM
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
/* USER CODE BEGIN MemoryManagement_IRQn 1 */
/* USER CODE END MemoryManagement_IRQn 1 */
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
COUNT_IRQ(BusFault_IRQn);
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
TIM1->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M0 PWM
TIM8->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M1 PWM
/* USER CODE END W1_BusFault_IRQn 0 */
}
/* USER CODE BEGIN BusFault_IRQn 1 */
/* USER CODE END BusFault_IRQn 1 */
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
COUNT_IRQ(UsageFault_IRQn);
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
TIM1->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M0 PWM
TIM8->BDTR &= ~(TIM_BDTR_AOE_Msk | TIM_BDTR_MOE_Msk); // disable M1 PWM
/* USER CODE END W1_UsageFault_IRQn 0 */
}
/* USER CODE BEGIN UsageFault_IRQn 1 */
/* USER CODE END UsageFault_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
COUNT_IRQ(DebugMonitor_IRQn);
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
COUNT_IRQ(SysTick_IRQn);
/* USER CODE END SysTick_IRQn 0 */
osSystickHandler();
/* 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 DMA1 stream0 global interrupt.
*/
void DMA1_Stream0_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream0_IRQn 0 */
COUNT_IRQ(DMA1_Stream0_IRQn);
/* USER CODE END DMA1_Stream0_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi3_rx);
/* USER CODE BEGIN DMA1_Stream0_IRQn 1 */
/* USER CODE END DMA1_Stream0_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream2 global interrupt.
*/
void DMA1_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
COUNT_IRQ(DMA1_Stream2_IRQn);
/* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart4_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream4 global interrupt.
*/
void DMA1_Stream4_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
COUNT_IRQ(DMA1_Stream4_IRQn);
/* USER CODE END DMA1_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart4_tx);
/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
/* USER CODE END DMA1_Stream4_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream5 global interrupt.
*/
void DMA1_Stream5_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
COUNT_IRQ(DMA1_Stream5_IRQn);
/* USER CODE END DMA1_Stream5_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_rx);
/* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
/* USER CODE END DMA1_Stream5_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream6 global interrupt.
*/
void DMA1_Stream6_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
COUNT_IRQ(DMA1_Stream6_IRQn);
/* USER CODE END DMA1_Stream6_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart2_tx);
/* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
/* USER CODE END DMA1_Stream6_IRQn 1 */
}
/**
* @brief This function handles DMA1 stream7 global interrupt.
*/
void DMA1_Stream7_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
COUNT_IRQ(DMA1_Stream7_IRQn);
/* USER CODE END DMA1_Stream7_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_spi3_tx);
/* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
/* USER CODE END DMA1_Stream7_IRQn 1 */
}
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_TX_IRQn 0 */
COUNT_IRQ(CAN1_TX_IRQn);
/* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
COUNT_IRQ(CAN1_RX0_IRQn);
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX1 interrupt.
*/
void CAN1_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
COUNT_IRQ(CAN1_RX1_IRQn);
/* USER CODE END CAN1_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles CAN1 SCE interrupt.
*/
void CAN1_SCE_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_SCE_IRQn 0 */
COUNT_IRQ(CAN1_SCE_IRQn);
/* USER CODE END CAN1_SCE_IRQn 0 */
HAL_CAN_IRQHandler(&hcan1);
/* USER CODE BEGIN CAN1_SCE_IRQn 1 */
/* USER CODE END CAN1_SCE_IRQn 1 */
}
/**
* @brief This function handles USART2 global interrupt.
*/
void USART2_IRQHandler(void)
{
/* USER CODE BEGIN USART2_IRQn 0 */
/* USER CODE END USART2_IRQn 0 */
HAL_UART_IRQHandler(&huart2);
/* USER CODE BEGIN USART2_IRQn 1 */
/* USER CODE END USART2_IRQn 1 */
}
/**
* @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
*/
void TIM8_TRG_COM_TIM14_IRQHandler(void)
{
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */
COUNT_IRQ(TIM8_TRG_COM_TIM14_IRQn);
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
HAL_TIM_IRQHandler(&htim8);
HAL_TIM_IRQHandler(&htim14);
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
}
/**
* @brief This function handles SPI3 global interrupt.
*/
void SPI3_IRQHandler(void)
{
/* USER CODE BEGIN SPI3_IRQn 0 */
COUNT_IRQ(SPI3_IRQn);
/* USER CODE END SPI3_IRQn 0 */
HAL_SPI_IRQHandler(&hspi3);
/* USER CODE BEGIN SPI3_IRQn 1 */
/* USER CODE END SPI3_IRQn 1 */
}
/**
* @brief This function handles UART4 global interrupt.
*/
void UART4_IRQHandler(void)
{
/* USER CODE BEGIN UART4_IRQn 0 */
COUNT_IRQ(UART4_IRQn);
/* USER CODE END UART4_IRQn 0 */
HAL_UART_IRQHandler(&huart4);
/* USER CODE BEGIN UART4_IRQn 1 */
/* USER CODE END UART4_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/system_stm32f4xx.c
+763
View File
@@ -0,0 +1,763 @@
/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @version V2.6.0
* @date 04-November-2016
* @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
*
* <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @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 */
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/******************************************************************************/
/**
* @}
*/
/** @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
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
SystemInit_ExtMemCtl();
#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
#endif
}
/**
* @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;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* Auto refresh command */
FMC_Bank5_6->SDCMR = 0x00000073;
timeout = 0xFFFF;
while((tmpreg != 0) && (timeout-- > 0))
{
tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
}
/* MRD register program */
FMC_Bank5_6->SDCMR = 0x00046014;
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;
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 */
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 */
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 */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/tim.c
+729
View File
@@ -0,0 +1,729 @@
/**
******************************************************************************
* File Name : TIM.c
* Description : This file provides code for the configuration
* of the TIM instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "tim.h"
#include "gpio.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim4;
TIM_HandleTypeDef htim5;
TIM_HandleTypeDef htim8;
TIM_HandleTypeDef htim13;
/* TIM1 init function */
void MX_TIM1_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = TIM_1_8_RCR;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_OC_Init(&htim1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigOC.OCMode = TIM_OCMODE_PWM2;
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(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigOC.OCMode = TIM_OCMODE_TIMING;
if (HAL_TIM_OC_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;
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(__FILE__, __LINE__);
}
HAL_TIM_MspPostInit(&htim1);
}
/* TIM2 init function */
void MX_TIM2_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
htim2.Init.Period = TIM_APB1_PERIOD_CLOCKS;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigOC.OCMode = TIM_OCMODE_PWM2;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigOC.Pulse = TIM_APB1_PERIOD_CLOCKS+1;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
HAL_TIM_MspPostInit(&htim2);
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim3.Instance = TIM3;
htim3.Init.Prescaler = 0;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 0xffff;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 4;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 4;
if (HAL_TIM_Encoder_Init(&htim3, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* TIM4 init function */
void MX_TIM4_Init(void)
{
TIM_Encoder_InitTypeDef sConfig;
TIM_MasterConfigTypeDef sMasterConfig;
htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 0xffff;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
sConfig.IC1Filter = 4;
sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
sConfig.IC2Filter = 4;
if (HAL_TIM_Encoder_Init(&htim4, &sConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* TIM5 init function */
void MX_TIM5_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_IC_InitTypeDef sConfigIC;
htim5.Instance = TIM5;
htim5.Init.Prescaler = 0;
htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
htim5.Init.Period = 0xFFFFFFFF;
htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 15;
if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* TIM8 init function */
void MX_TIM8_Init(void)
{
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
htim8.Instance = TIM8;
htim8.Init.Prescaler = 0;
htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
htim8.Init.Period = TIM_1_8_PERIOD_CLOCKS;
htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim8.Init.RepetitionCounter = TIM_1_8_RCR;
if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigOC.OCMode = TIM_OCMODE_PWM2;
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(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
sBreakDeadTimeConfig.DeadTime = TIM_1_8_DEADTIME_CLOCKS;
sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
HAL_TIM_MspPostInit(&htim8);
}
/* TIM13 init function */
void MX_TIM13_Init(void)
{
htim13.Instance = TIM13;
htim13.Init.Prescaler = 0;
htim13.Init.CounterMode = TIM_COUNTERMODE_UP;
htim13.Init.Period = (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR+1)) * ((float)TIM_APB1_CLOCK_HZ / (float)TIM_1_8_CLOCK_HZ) - 1;
htim13.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_Base_Init(&htim13) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
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==TIM13)
{
/* USER CODE BEGIN TIM13_MspInit 0 */
/* USER CODE END TIM13_MspInit 0 */
/* TIM13 clock enable */
__HAL_RCC_TIM13_CLK_ENABLE();
/* USER CODE BEGIN TIM13_MspInit 1 */
/* USER CODE END TIM13_MspInit 1 */
}
}
void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->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_pwmHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspInit 0 */
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
}
}
void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
{
if(tim_encoderHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* TIM3 clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
else if(tim_encoderHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspInit 0 */
/* USER CODE END TIM4_MspInit 0 */
/* TIM4 clock enable */
__HAL_RCC_TIM4_CLK_ENABLE();
/* USER CODE BEGIN TIM4_MspInit 1 */
/* USER CODE END TIM4_MspInit 1 */
}
}
void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* tim_icHandle)
{
if(tim_icHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspInit 0 */
/* USER CODE END TIM5_MspInit 0 */
/* TIM5 clock enable */
__HAL_RCC_TIM5_CLK_ENABLE();
/* TIM5 interrupt Init */
HAL_NVIC_SetPriority(TIM5_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspInit 1 */
/* USER CODE END TIM5_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(timHandle->Instance==TIM1)
{
/* USER CODE BEGIN TIM1_MspPostInit 0 */
/* USER CODE END TIM1_MspPostInit 0 */
/**TIM1 GPIO Configuration
PB13 ------> TIM1_CH1N
PB14 ------> TIM1_CH2N
PB15 ------> TIM1_CH3N
PA8 ------> TIM1_CH1
PA9 ------> TIM1_CH2
PA10 ------> TIM1_CH3
*/
GPIO_InitStruct.Pin = M0_AL_Pin|M0_BL_Pin|M0_CL_Pin;
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(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M0_AH_Pin|M0_BH_Pin|M0_CH_Pin;
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 */
}
else if(timHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspPostInit 0 */
/* USER CODE END TIM2_MspPostInit 0 */
/**TIM2 GPIO Configuration
PB10 ------> TIM2_CH3
PB11 ------> TIM2_CH4
*/
GPIO_InitStruct.Pin = AUX_L_Pin|AUX_H_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN TIM2_MspPostInit 1 */
/* USER CODE END TIM2_MspPostInit 1 */
}
else if(timHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspPostInit 0 */
/* USER CODE END TIM8_MspPostInit 0 */
/**TIM8 GPIO Configuration
PA7 ------> TIM8_CH1N
PB0 ------> TIM8_CH2N
PB1 ------> TIM8_CH3N
PC6 ------> TIM8_CH1
PC7 ------> TIM8_CH2
PC8 ------> TIM8_CH3
*/
GPIO_InitStruct.Pin = M1_AL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(M1_AL_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M1_BL_Pin|M1_CL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = M1_AH_Pin|M1_BH_Pin|M1_CH_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/* USER CODE BEGIN TIM8_MspPostInit 1 */
/* USER CODE END TIM8_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 */
/* USER CODE BEGIN TIM1_MspDeInit 1 */
/* USER CODE END TIM1_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM13)
{
/* USER CODE BEGIN TIM13_MspDeInit 0 */
/* USER CODE END TIM13_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM13_CLK_DISABLE();
/* TIM13 interrupt Deinit */
/* USER CODE BEGIN TIM13:TIM8_UP_TIM13_IRQn disable */
/**
* Uncomment the line below to disable the "TIM8_UP_TIM13_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn); */
/* USER CODE END TIM13:TIM8_UP_TIM13_IRQn disable */
/* USER CODE BEGIN TIM13_MspDeInit 1 */
/* USER CODE END TIM13_MspDeInit 1 */
}
}
void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
{
if(tim_pwmHandle->Instance==TIM2)
{
/* USER CODE BEGIN TIM2_MspDeInit 0 */
/* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(tim_pwmHandle->Instance==TIM8)
{
/* USER CODE BEGIN TIM8_MspDeInit 0 */
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* TIM8 interrupt Deinit */
/* USER CODE BEGIN TIM8:TIM8_UP_TIM13_IRQn disable */
/**
* Uncomment the line below to disable the "TIM8_UP_TIM13_IRQn" interrupt
* Be aware, disabling shared interrupt may affect other IPs
*/
/* HAL_NVIC_DisableIRQ(TIM8_UP_TIM13_IRQn); */
/* USER CODE END TIM8:TIM8_UP_TIM13_IRQn disable */
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
}
}
void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
{
if(tim_encoderHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PB4 ------> TIM3_CH1
PB5 ------> TIM3_CH2
*/
HAL_GPIO_DeInit(GPIOB, M0_ENC_A_Pin|M0_ENC_B_Pin);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
else if(tim_encoderHandle->Instance==TIM4)
{
/* USER CODE BEGIN TIM4_MspDeInit 0 */
/* USER CODE END TIM4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM4_CLK_DISABLE();
/**TIM4 GPIO Configuration
PB6 ------> TIM4_CH1
PB7 ------> TIM4_CH2
*/
HAL_GPIO_DeInit(GPIOB, M1_ENC_A_Pin|M1_ENC_B_Pin);
/* USER CODE BEGIN TIM4_MspDeInit 1 */
/* USER CODE END TIM4_MspDeInit 1 */
}
}
void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef* tim_icHandle)
{
if(tim_icHandle->Instance==TIM5)
{
/* USER CODE BEGIN TIM5_MspDeInit 0 */
/* USER CODE END TIM5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM5_CLK_DISABLE();
/**TIM5 GPIO Configuration
PA2 ------> TIM5_CH3
PA3 ------> TIM5_CH4
*/
HAL_GPIO_DeInit(GPIOA, GPIO_3_Pin|GPIO_4_Pin);
/* TIM5 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM5_IRQn);
/* USER CODE BEGIN TIM5_MspDeInit 1 */
/* USER CODE END TIM5_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/usart.c
+267
View File
@@ -0,0 +1,267 @@
/**
******************************************************************************
* File Name : USART.c
* Description : This file provides code for the configuration
* of the USART instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
#include "gpio.h"
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart4;
UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_uart4_rx;
DMA_HandleTypeDef hdma_uart4_tx;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;
/* UART4 init function */
void MX_UART4_Init(void)
{
huart4.Instance = UART4;
//huart4.Init.BaudRate = 115200; // Provisionally this can be changed to 921600 for faster transfers, the low power Arduinos will not keep up.
huart4.Init.WordLength = UART_WORDLENGTH_8B;
huart4.Init.StopBits = UART_STOPBITS_1;
huart4.Init.Parity = UART_PARITY_NONE;
huart4.Init.Mode = UART_MODE_TX_RX;
huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart4.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* USART2 init function */
void MX_USART2_UART_Init(void)
{
huart2.Instance = USART2;
//huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspInit 0 */
/* USER CODE END UART4_MspInit 0 */
/* UART4 clock enable */
__HAL_RCC_UART4_CLK_ENABLE();
/* UART4 DMA Init */
/* UART4_RX Init */
hdma_uart4_rx.Instance = DMA1_Stream2;
hdma_uart4_rx.Init.Channel = DMA_CHANNEL_4;
hdma_uart4_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_uart4_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_uart4_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_uart4_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_uart4_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_uart4_rx.Init.Mode = DMA_CIRCULAR;
hdma_uart4_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_uart4_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_uart4_rx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart4_rx);
/* UART4_TX Init */
hdma_uart4_tx.Instance = DMA1_Stream4;
hdma_uart4_tx.Init.Channel = DMA_CHANNEL_4;
hdma_uart4_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_uart4_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_uart4_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_uart4_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_uart4_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_uart4_tx.Init.Mode = DMA_NORMAL;
hdma_uart4_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_uart4_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_uart4_tx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_uart4_tx);
/* UART4 interrupt Init */
HAL_NVIC_SetPriority(UART4_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspInit 1 */
/* USER CODE END UART4_MspInit 1 */
}
else if(uartHandle->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/* USART2 clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
/* USART2 DMA Init */
/* USART2_RX Init */
hdma_usart2_rx.Instance = DMA1_Stream5;
hdma_usart2_rx.Init.Channel = DMA_CHANNEL_4;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_CIRCULAR;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
/* USART2_TX Init */
hdma_usart2_tx.Instance = DMA1_Stream6;
hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4;
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
/* USART2 interrupt Init */
HAL_NVIC_SetPriority(USART2_IRQn, 10, 0);
HAL_NVIC_EnableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspDeInit 0 */
/* USER CODE END UART4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART4_CLK_DISABLE();
/* UART4 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* UART4 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspDeInit 1 */
/* USER CODE END UART4_MspDeInit 1 */
}
else if(uartHandle->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART2_CLK_DISABLE();
/* USART2 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* USART2 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART2_IRQn);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/usb_device.c
+121
View File
@@ -0,0 +1,121 @@
/**
******************************************************************************
* @file : usb_device.c
* @version : v1.0_Cube
* @brief : This file implements the USB Device
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "usb_device.h"
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_cdc.h"
#include "usbd_cdc_if.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USB Device Core handle declaration. */
USBD_HandleTypeDef hUsbDeviceFS;
/*
* -- Insert your variables declaration here --
*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*
* -- Insert your external function declaration here --
*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Init USB device Library, add supported class and start the library
* @retval None
*/
void MX_USB_DEVICE_Init(void)
{
/* USER CODE BEGIN USB_DEVICE_Init_PreTreatment */
/* USER CODE END USB_DEVICE_Init_PreTreatment */
/* Init Device Library, add supported class and start the library. */
USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);
USBD_RegisterClass(&hUsbDeviceFS, &USBD_CDC);
USBD_CDC_RegisterInterface(&hUsbDeviceFS, &USBD_Interface_fops_FS);
USBD_Start(&hUsbDeviceFS);
/* USER CODE BEGIN USB_DEVICE_Init_PostTreatment */
/* USER CODE END USB_DEVICE_Init_PostTreatment */
}
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/usbd_cdc_if.c
+343
View File
@@ -0,0 +1,343 @@
/**
******************************************************************************
* @file : usbd_cdc_if.c
* @version : v1.0_Cube
* @brief : Usb device for Virtual Com Port.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "usbd_cdc_if.h"
/* USER CODE BEGIN INCLUDE */
#include "cmsis_os.h"
#include <communication/interface_usb.h>
#include <freertos_vars.h>
/* USER CODE END INCLUDE */
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @brief Usb device library.
* @{
*/
/** @addtogroup USBD_CDC_IF
* @{
*/
/** @defgroup USBD_CDC_IF_Private_TypesDefinitions USBD_CDC_IF_Private_TypesDefinitions
* @brief Private types.
* @{
*/
/* USER CODE BEGIN PRIVATE_TYPES */
/* USER CODE END PRIVATE_TYPES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_Defines USBD_CDC_IF_Private_Defines
* @brief Private defines.
* @{
*/
/* USER CODE BEGIN PRIVATE_DEFINES */
/* USER CODE END PRIVATE_DEFINES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_Macros USBD_CDC_IF_Private_Macros
* @brief Private macros.
* @{
*/
/* USER CODE BEGIN PRIVATE_MACRO */
/* USER CODE END PRIVATE_MACRO */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_Variables USBD_CDC_IF_Private_Variables
* @brief Private variables.
* @{
*/
/* USER CODE BEGIN PRIVATE_VARIABLES */
/* USER CODE END PRIVATE_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
* @brief Public variables.
* @{
*/
extern USBD_HandleTypeDef hUsbDeviceFS;
/* USER CODE BEGIN EXPORTED_VARIABLES */
/* USER CODE END EXPORTED_VARIABLES */
/**
* @}
*/
/** @defgroup USBD_CDC_IF_Private_FunctionPrototypes USBD_CDC_IF_Private_FunctionPrototypes
* @brief Private functions declaration.
* @{
*/
static int8_t CDC_Init_FS(void);
static int8_t CDC_DeInit_FS(void);
static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len, uint8_t endpoint_pair);
/* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
/* USER CODE END PRIVATE_FUNCTIONS_DECLARATION */
/**
* @}
*/
USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
{
CDC_Init_FS,
CDC_DeInit_FS,
CDC_Control_FS,
CDC_Receive_FS
};
/* Private functions ---------------------------------------------------------*/
/**
* @brief Initializes the CDC media low layer over the FS USB IP
* @retval USBD_OK if all operations are OK else USBD_FAIL
*/
static int8_t CDC_Init_FS(void)
{
/* USER CODE BEGIN 3 */
/* Set Application Buffers */
osMessagePut(usb_event_queue, 1, 0);
return (USBD_OK);
/* USER CODE END 3 */
}
/**
* @brief DeInitializes the CDC media low layer
* @retval USBD_OK if all operations are OK else USBD_FAIL
*/
static int8_t CDC_DeInit_FS(void)
{
/* USER CODE BEGIN 4 */
osMessagePut(usb_event_queue, 2, 0);
return (USBD_OK);
/* USER CODE END 4 */
}
/**
* @brief Manage the CDC class requests
* @param cmd: Command code
* @param pbuf: Buffer containing command data (request parameters)
* @param length: Number of data to be sent (in bytes)
* @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
*/
static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
{
/* USER CODE BEGIN 5 */
switch (cmd)
{
case CDC_SEND_ENCAPSULATED_COMMAND:
break;
case CDC_GET_ENCAPSULATED_RESPONSE:
break;
case CDC_SET_COMM_FEATURE:
break;
case CDC_GET_COMM_FEATURE:
break;
case CDC_CLEAR_COMM_FEATURE:
break;
/*******************************************************************************/
/* Line Coding Structure */
/*-----------------------------------------------------------------------------*/
/* Offset | Field | Size | Value | Description */
/* 0 | dwDTERate | 4 | Number |Data terminal rate, in bits per second*/
/* 4 | bCharFormat | 1 | Number | Stop bits */
/* 0 - 1 Stop bit */
/* 1 - 1.5 Stop bits */
/* 2 - 2 Stop bits */
/* 5 | bParityType | 1 | Number | Parity */
/* 0 - None */
/* 1 - Odd */
/* 2 - Even */
/* 3 - Mark */
/* 4 - Space */
/* 6 | bDataBits | 1 | Number Data bits (5, 6, 7, 8 or 16). */
/*******************************************************************************/
case CDC_SET_LINE_CODING:
break;
case CDC_GET_LINE_CODING:
pbuf[0] = (uint8_t)(115200);
pbuf[1] = (uint8_t)(115200 >> 8);
pbuf[2] = (uint8_t)(115200 >> 16);
pbuf[3] = (uint8_t)(115200 >> 24);
pbuf[4] = 0; // stop bits (1)
pbuf[5] = 0; // parity (none)
pbuf[6] = 8; // number of bits (8)
break;
case CDC_SET_CONTROL_LINE_STATE:
break;
case CDC_SEND_BREAK:
break;
default:
break;
}
return (USBD_OK);
/* USER CODE END 5 */
}
/**
* @brief Data received over USB OUT endpoint are sent over CDC interface
* through this function.
*
* @note
* This function will block any OUT packet reception on USB endpoint
* untill exiting this function. If you exit this function before transfer
* is complete on CDC interface (ie. using DMA controller) it will result
* in receiving more data while previous ones are still not sent.
*
* @param Buf: Buffer of data to be received
* @param Len: Number of data received (in bytes)
* @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
*/
static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len, uint8_t endpoint_pair)
{
/* USER CODE BEGIN 6 */
usb_rx_process_packet(Buf, *Len, endpoint_pair);
return (USBD_OK);
/* USER CODE END 6 */
}
/**
* @brief CDC_Transmit_FS
* Data to send over USB IN endpoint are sent over CDC interface
* through this function.
* @note
*
*
* @param Buf: Buffer of data to be sent
* @param Len: Number of data to be sent (in bytes)
* @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
*/
uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len, uint8_t endpoint_pair)
{
uint8_t result = USBD_OK;
/* USER CODE BEGIN 7 */
//Check length
if (Len > USB_TX_DATA_SIZE)
return USBD_FAIL;
USBD_CDC_HandleTypeDef* hcdc = (USBD_CDC_HandleTypeDef*) hUsbDeviceFS.pClassData;
// Select EP
USBD_CDC_EP_HandleTypeDef* hEP_Tx;
if (endpoint_pair == CDC_IN_EP) {
hEP_Tx = &hcdc->CDC_Tx;
} else if (endpoint_pair == ODRIVE_IN_EP) {
hEP_Tx = &hcdc->ODRIVE_Tx;
} else {
return USBD_FAIL;
}
// Check for ongoing transmission
if (hEP_Tx->State != 0)
return USBD_BUSY;
result = USBD_CDC_TransmitPacket(&hUsbDeviceFS, Buf, Len, endpoint_pair);
/* USER CODE END 7 */
return result;
}
/* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */
/* USER CODE END PRIVATE_FUNCTIONS_IMPLEMENTATION */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/usbd_conf.c
+801
View File
@@ -0,0 +1,801 @@
/**
******************************************************************************
* @file : usbd_conf.c
* @version : v1.0_Cube
* @brief : This file implements the board support package for the USB device library
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#include "usbd_def.h"
#include "usbd_core.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
PCD_HandleTypeDef hpcd_USB_OTG_FS;
void _Error_Handler(char * file, int line);
/* External functions --------------------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* Private functions ---------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/*******************************************************************************
LL Driver Callbacks (PCD -> USB Device Library)
*******************************************************************************/
/* MSP Init */
void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(pcdHandle->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
/* USER CODE END USB_OTG_FS_MspInit 0 */
/**USB_OTG_FS GPIO Configuration
PA11 ------> USB_OTG_FS_DM
PA12 ------> USB_OTG_FS_DP
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* Peripheral clock enable */
__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
/* Peripheral interrupt init */
HAL_NVIC_SetPriority(OTG_FS_IRQn, 6, 0);
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
/* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
/* USER CODE END USB_OTG_FS_MspInit 1 */
}
}
void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
{
if(pcdHandle->Instance==USB_OTG_FS)
{
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
/* USER CODE END USB_OTG_FS_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
/**USB_OTG_FS GPIO Configuration
PA11 ------> USB_OTG_FS_DM
PA12 ------> USB_OTG_FS_DP
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* Peripheral interrupt Deinit*/
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
/* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
/* USER CODE END USB_OTG_FS_MspDeInit 1 */
}
}
/**
* @brief Setup stage callback
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd)
{
USBD_StatusTypeDef ret = USBD_OK;
USBD_HandleTypeDef *pdev = hpcd->pData;
USBD_SetupReqTypedef *req = &pdev->request;
USBD_ParseSetupRequest(req, (uint8_t *)hpcd->Setup);
if ( ( USB_REQ_TYPE_VENDOR == (req->bmRequest & USB_REQ_TYPE_MASK) ) && ( MS_VendorCode == req->bRequest ) )
{
pdev->ep0_state = USBD_EP0_SETUP;
pdev->ep0_data_len = pdev->request.wLength;
ret = pdev->pClass->Setup(pdev, req);
if( (req->wLength == 0) && (ret == USBD_OK) )
{
USBD_CtlSendStatus(pdev);
}
return;
}
USBD_LL_SetupStage((USBD_HandleTypeDef*)hpcd->pData, (uint8_t *)hpcd->Setup);
}
/**
* @brief Data Out stage callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
{
USBD_LL_DataOutStage((USBD_HandleTypeDef*)hpcd->pData, epnum, hpcd->OUT_ep[epnum].xfer_buff);
}
/**
* @brief Data In stage callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
{
USBD_LL_DataInStage((USBD_HandleTypeDef*)hpcd->pData, epnum, hpcd->IN_ep[epnum].xfer_buff);
}
/**
* @brief SOF callback.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd)
{
USBD_LL_SOF((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief Reset callback.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd)
{
USBD_SpeedTypeDef speed = USBD_SPEED_FULL;
/* Set USB current speed. */
switch (hpcd->Init.speed)
{
case PCD_SPEED_HIGH:
speed = USBD_SPEED_HIGH;
break;
case PCD_SPEED_FULL:
speed = USBD_SPEED_FULL;
break;
default:
speed = USBD_SPEED_FULL;
break;
}
USBD_LL_SetSpeed((USBD_HandleTypeDef*)hpcd->pData, speed);
/* Reset Device. */
USBD_LL_Reset((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief Suspend callback.
* When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd)
{
/* Inform USB library that core enters in suspend Mode. */
USBD_LL_Suspend((USBD_HandleTypeDef*)hpcd->pData);
__HAL_PCD_GATE_PHYCLOCK(hpcd);
/* Enter in STOP mode. */
/* USER CODE BEGIN 2 */
// TODO: do we really want this?
if (hpcd->Init.low_power_enable)
{
/* Set SLEEPDEEP bit and SleepOnExit of Cortex System Control Register */
SCB->SCR |= (uint32_t)((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
}
/* USER CODE END 2 */
}
/**
* @brief Resume callback.
* When Low power mode is enabled the debug cannot be used (IAR, Keil doesn't support it)
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd)
{
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
USBD_LL_Resume((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief ISOOUTIncomplete callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
{
USBD_LL_IsoOUTIncomplete((USBD_HandleTypeDef*)hpcd->pData, epnum);
}
/**
* @brief ISOINIncomplete callback.
* @param hpcd: PCD handle
* @param epnum: Endpoint number
* @retval None
*/
void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum)
{
USBD_LL_IsoINIncomplete((USBD_HandleTypeDef*)hpcd->pData, epnum);
}
/**
* @brief Connect callback.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd)
{
USBD_LL_DevConnected((USBD_HandleTypeDef*)hpcd->pData);
}
/**
* @brief Disconnect callback.
* @param hpcd: PCD handle
* @retval None
*/
void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd)
{
USBD_LL_DevDisconnected((USBD_HandleTypeDef*)hpcd->pData);
}
/*******************************************************************************
LL Driver Interface (USB Device Library --> PCD)
*******************************************************************************/
/**
* @brief Initializes the low level portion of the device driver.
* @param pdev: Device handle
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
{
/* Init USB Ip. */
if (pdev->id == DEVICE_FS) {
/* Link the driver to the stack. */
hpcd_USB_OTG_FS.pData = pdev;
pdev->pData = &hpcd_USB_OTG_FS;
hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
hpcd_USB_OTG_FS.Init.dev_endpoints = 6;
hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
hpcd_USB_OTG_FS.Init.ep0_mps = DEP0CTL_MPS_64;
hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
HAL_PCDEx_SetRxFiFo(&hpcd_USB_OTG_FS, 0x80);
HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 0, 0x40);
HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 1, 0x40); // CDC IN endpoint
HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 3, 0x40); // ODrive IN endpoint
}
return USBD_OK;
}
/**
* @brief De-Initializes the low level portion of the device driver.
* @param pdev: Device handle
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_DeInit(USBD_HandleTypeDef *pdev)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_DeInit(pdev->pData);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Starts the low level portion of the device driver.
* @param pdev: Device handle
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_Start(USBD_HandleTypeDef *pdev)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_Start(pdev->pData);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Stops the low level portion of the device driver.
* @param pdev: Device handle
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_Stop(USBD_HandleTypeDef *pdev)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_Stop(pdev->pData);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Opens an endpoint of the low level driver.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @param ep_type: Endpoint type
* @param ep_mps: Endpoint max packet size
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_OpenEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t ep_type, uint16_t ep_mps)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Open(pdev->pData, ep_addr, ep_mps, ep_type);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Closes an endpoint of the low level driver.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_CloseEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Close(pdev->pData, ep_addr);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Flushes an endpoint of the Low Level Driver.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_FlushEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Flush(pdev->pData, ep_addr);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Sets a Stall condition on an endpoint of the Low Level Driver.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_StallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_SetStall(pdev->pData, ep_addr);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Clears a Stall condition on an endpoint of the Low Level Driver.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_ClearStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_ClrStall(pdev->pData, ep_addr);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Returns Stall condition.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @retval Stall (1: Yes, 0: No)
*/
uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
PCD_HandleTypeDef *hpcd = (PCD_HandleTypeDef*) pdev->pData;
if((ep_addr & 0x80) == 0x80)
{
return hpcd->IN_ep[ep_addr & 0x7F].is_stall;
}
else
{
return hpcd->OUT_ep[ep_addr & 0x7F].is_stall;
}
}
/**
* @brief Assigns a USB address to the device.
* @param pdev: Device handle
* @param dev_addr: Device address
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_SetAddress(pdev->pData, dev_addr);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Transmits data over an endpoint.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @param pbuf: Pointer to data to be sent
* @param size: Data size
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_Transmit(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Transmit(pdev->pData, ep_addr, pbuf, size);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Prepares an endpoint for reception.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @param pbuf: Pointer to data to be received
* @param size: Data size
* @retval USBD status
*/
USBD_StatusTypeDef USBD_LL_PrepareReceive(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size)
{
HAL_StatusTypeDef hal_status = HAL_OK;
USBD_StatusTypeDef usb_status = USBD_OK;
hal_status = HAL_PCD_EP_Receive(pdev->pData, ep_addr, pbuf, size);
switch (hal_status) {
case HAL_OK :
usb_status = USBD_OK;
break;
case HAL_ERROR :
usb_status = USBD_FAIL;
break;
case HAL_BUSY :
usb_status = USBD_BUSY;
break;
case HAL_TIMEOUT :
usb_status = USBD_FAIL;
break;
default :
usb_status = USBD_FAIL;
break;
}
return usb_status;
}
/**
* @brief Returns the last transfered packet size.
* @param pdev: Device handle
* @param ep_addr: Endpoint number
* @retval Recived Data Size
*/
uint32_t USBD_LL_GetRxDataSize(USBD_HandleTypeDef *pdev, uint8_t ep_addr)
{
return HAL_PCD_EP_GetRxCount((PCD_HandleTypeDef*) pdev->pData, ep_addr);
}
#if (USBD_LPM_ENABLED == 1)
/**
* @brief Send LPM message to user layer
* @param hpcd: PCD handle
* @param msg: LPM message
* @retval None
*/
void HAL_PCDEx_LPM_Callback(PCD_HandleTypeDef *hpcd, PCD_LPM_MsgTypeDef msg)
{
switch (msg)
{
case PCD_LPM_L0_ACTIVE:
if (hpcd->Init.low_power_enable)
{
SystemClock_Config();
/* Reset SLEEPDEEP bit of Cortex System Control Register. */
SCB->SCR &= (uint32_t)~((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
}
__HAL_PCD_UNGATE_PHYCLOCK(hpcd);
USBD_LL_Resume(hpcd->pData);
break;
case PCD_LPM_L1_ACTIVE:
__HAL_PCD_GATE_PHYCLOCK(hpcd);
USBD_LL_Suspend(hpcd->pData);
/* Enter in STOP mode. */
if (hpcd->Init.low_power_enable)
{
/* Set SLEEPDEEP bit and SleepOnExit of Cortex System Control Register. */
SCB->SCR |= (uint32_t)((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
}
break;
}
}
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @brief Delays routine for the USB Device Library.
* @param Delay: Delay in ms
* @retval None
*/
void USBD_LL_Delay(uint32_t Delay)
{
HAL_Delay(Delay);
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/Src/usbd_desc.c
+445
View File
@@ -0,0 +1,445 @@
/**
******************************************************************************
* @file : usbd_desc.c
* @version : v1.0_Cube
* @brief : This file implements the USB device descriptors.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2018 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "usbd_core.h"
#include "usbd_desc.h"
#include "usbd_conf.h"
/* USER CODE BEGIN INCLUDE */
#include <MotorControl/odrive_main.h>
/* USER CODE END INCLUDE */
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
* @{
*/
/** @addtogroup USBD_DESC
* @{
*/
/** @defgroup USBD_DESC_Private_TypesDefinitions USBD_DESC_Private_TypesDefinitions
* @brief Private types.
* @{
*/
/* USER CODE BEGIN PRIVATE_TYPES */
/* USER CODE END PRIVATE_TYPES */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Defines USBD_DESC_Private_Defines
* @brief Private defines.
* @{
*/
#define USBD_VID 0x1209
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "ODrive Robotics"
#define USBD_PID_FS 0x0D32
#define USBD_PRODUCT_XSTR(s) USBD_PRODUCT_STR(s)
#define USBD_PRODUCT_STR(s) #s
#define USBD_PRODUCT_STRING_FS ODrive HW_VERSION_MAJOR.HW_VERSION_MINOR CDC Interface
#define NATIVE_STRING ODrive HW_VERSION_MAJOR.HW_VERSION_MINOR Native Interface
#define USBD_CONFIGURATION_STRING_FS "CDC Config"
#define USBD_INTERFACE_STRING_FS "CDC Interface"
#define USB_SIZ_BOS_DESC 0x0C
/* USER CODE BEGIN PRIVATE_DEFINES */
/* USER CODE END PRIVATE_DEFINES */
/**
* @}
*/
/* USER CODE BEGIN 0 */
// MS OS String descriptor to tell Windows that it may query for other descriptors
// It's a standard string descriptor.
// Windows will only query for OS descriptors once!
// Delete the information about already queried devices in registry by deleting:
// HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\usbflags\VVVVPPPPRRRR
__ALIGN_BEGIN uint8_t USBD_MS_OS_StringDescriptor[] __ALIGN_END =
{
0x12, // bLength 1 0x12 Length of the descriptor
0x03, // bDescriptorType 1 0x03 Descriptor type
// qwSignature 14 ‘MSFT100’ Signature field
0x4D, 0x00, // 'M'
0x53, 0x00, // 'S'
0x46, 0x00, // 'F'
0x54, 0x00, // 'T'
0x31, 0x00, // '1'
0x30, 0x00, // '0'
0x30, 0x00, // '0'
MS_VendorCode, // bMS_VendorCode 1 Vendor-specific Vendor code
0x00 // bPad 1 0x00 Pad field
};
// redefined further down
__ALIGN_BEGIN uint8_t USBD_StrDesc[USBD_MAX_STR_DESC_SIZ] __ALIGN_END;
/**
* @brief UsrStrDescriptor
* return non standard string descriptor
* @param pdev: device instance
* @param index : descriptor index (0xEE for MS OS String Descriptor)
* @param length : pointer data length
* @retval pointer to descriptor buffer
*/
uint8_t * USBD_UsrStrDescriptor(struct _USBD_HandleTypeDef *pdev, uint8_t index, uint16_t *length)
{
*length = 0;
if (USBD_IDX_MICROSOFT_DESC_STR == index) {
*length = sizeof (USBD_MS_OS_StringDescriptor);
return USBD_MS_OS_StringDescriptor;
} else if (USBD_IDX_ODRIVE_INTF_STR == index) {
USBD_GetString((uint8_t *)USBD_PRODUCT_XSTR(NATIVE_STRING), USBD_StrDesc, length);
return USBD_StrDesc;
}
return NULL;
}
/* USER CODE END 0 */
/** @defgroup USBD_DESC_Private_Macros USBD_DESC_Private_Macros
* @brief Private macros.
* @{
*/
/* USER CODE BEGIN PRIVATE_MACRO */
/* USER CODE END PRIVATE_MACRO */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_FunctionPrototypes USBD_DESC_Private_FunctionPrototypes
* @brief Private functions declaration.
* @{
*/
uint8_t * USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
uint8_t * USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
#ifdef USB_SUPPORT_USER_STRING_DESC
uint8_t * USBD_FS_USRStringDesc(USBD_SpeedTypeDef speed, uint8_t idx, uint16_t *length);
#endif /* USB_SUPPORT_USER_STRING_DESC */
#if (USBD_LPM_ENABLED == 1)
uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length);
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Variables USBD_DESC_Private_Variables
* @brief Private variables.
* @{
*/
USBD_DescriptorsTypeDef FS_Desc =
{
USBD_FS_DeviceDescriptor
, USBD_FS_LangIDStrDescriptor
, USBD_FS_ManufacturerStrDescriptor
, USBD_FS_ProductStrDescriptor
, USBD_FS_SerialStrDescriptor
, USBD_FS_ConfigStrDescriptor
, USBD_FS_InterfaceStrDescriptor
#if (USBD_LPM_ENABLED == 1)
, USBD_FS_USR_BOSDescriptor
#endif /* (USBD_LPM_ENABLED == 1) */
};
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
/** USB standard device descriptor. */
__ALIGN_BEGIN uint8_t USBD_FS_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END =
{
0x12, /*bLength */
USB_DESC_TYPE_DEVICE, /*bDescriptorType*/
#if (USBD_LPM_ENABLED == 1)
0x01, /*bcdUSB */ /* changed to USB version 2.01
in order to support LPM L1 suspend
resume test of USBCV3.0*/
#else
0x00, /*bcdUSB */
#endif /* (USBD_LPM_ENABLED == 1) */
0x02,
// Notify OS that this is a composite device
0xEF, /*bDeviceClass*/
0x02, /*bDeviceSubClass*/
0x01, /*bDeviceProtocol*/
USB_MAX_EP0_SIZE, /*bMaxPacketSize*/
LOBYTE(USBD_VID), /*idVendor*/
HIBYTE(USBD_VID), /*idVendor*/
LOBYTE(USBD_PID_FS), /*idProduct*/
HIBYTE(USBD_PID_FS), /*idProduct*/
0x00, /*bcdDevice rel. 2.00*/
0x03, /* bNumInterfaces */
USBD_IDX_MFC_STR, /*Index of manufacturer string*/
USBD_IDX_PRODUCT_STR, /*Index of product string*/
USBD_IDX_SERIAL_STR, /*Index of serial number string*/
USBD_MAX_NUM_CONFIGURATION /*bNumConfigurations*/
};
/* USB_DeviceDescriptor */
/** BOS descriptor. */
#if (USBD_LPM_ENABLED == 1)
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
__ALIGN_BEGIN uint8_t USBD_FS_BOSDesc[USB_SIZ_BOS_DESC] __ALIGN_END =
{
0x5,
USB_DESC_TYPE_BOS,
0xC,
0x0,
0x1, /* 1 device capability*/
/* device capability*/
0x7,
USB_DEVICE_CAPABITY_TYPE,
0x2,
0x2, /* LPM capability bit set*/
0x0,
0x0,
0x0
};
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Variables USBD_DESC_Private_Variables
* @brief Private variables.
* @{
*/
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
/** USB lang indentifier descriptor. */
__ALIGN_BEGIN uint8_t USBD_LangIDDesc[USB_LEN_LANGID_STR_DESC] __ALIGN_END =
{
USB_LEN_LANGID_STR_DESC,
USB_DESC_TYPE_STRING,
LOBYTE(USBD_LANGID_STRING),
HIBYTE(USBD_LANGID_STRING)
};
#if defined ( __ICCARM__ ) /* IAR Compiler */
#pragma data_alignment=4
#endif /* defined ( __ICCARM__ ) */
/* Internal string descriptor. */
__ALIGN_BEGIN uint8_t USBD_StrDesc[USBD_MAX_STR_DESC_SIZ] __ALIGN_END;
/**
* @}
*/
/** @defgroup USBD_DESC_Private_Functions USBD_DESC_Private_Functions
* @brief Private functions.
* @{
*/
/**
* @brief Return the device descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_DeviceDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
*length = sizeof(USBD_FS_DeviceDesc);
return USBD_FS_DeviceDesc;
}
/**
* @brief Return the LangID string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_LangIDStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
*length = sizeof(USBD_LangIDDesc);
return USBD_LangIDDesc;
}
/**
* @brief Return the product string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_ProductStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == 0)
{
USBD_GetString((uint8_t *)USBD_PRODUCT_XSTR(USBD_PRODUCT_STRING_FS), USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_PRODUCT_XSTR(USBD_PRODUCT_STRING_FS), USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Return the manufacturer string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_ManufacturerStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
USBD_GetString((uint8_t *)USBD_MANUFACTURER_STRING, USBD_StrDesc, length);
return USBD_StrDesc;
}
/**
* @brief Return the serial number string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_SerialStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
USBD_GetString ((uint8_t *)serial_number_str, USBD_StrDesc, length);
return USBD_StrDesc;
}
/**
* @brief Return the configuration string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_ConfigStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == USBD_SPEED_HIGH)
{
USBD_GetString((uint8_t *)USBD_CONFIGURATION_STRING_FS, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_CONFIGURATION_STRING_FS, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
/**
* @brief Return the interface string descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
if(speed == 0)
{
USBD_GetString((uint8_t *)USBD_INTERFACE_STRING_FS, USBD_StrDesc, length);
}
else
{
USBD_GetString((uint8_t *)USBD_INTERFACE_STRING_FS, USBD_StrDesc, length);
}
return USBD_StrDesc;
}
#if (USBD_LPM_ENABLED == 1)
/**
* @brief Return the BOS descriptor
* @param speed : Current device speed
* @param length : Pointer to data length variable
* @retval Pointer to descriptor buffer
*/
uint8_t * USBD_FS_USR_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length)
{
*length = sizeof(USBD_FS_BOSDesc);
return (uint8_t*)USBD_FS_BOSDesc;
}
#endif /* (USBD_LPM_ENABLED == 1) */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
ODrive-fw-v0.5.6/Firmware/Board/v3/board.cpp
+593
View File
@@ -0,0 +1,593 @@
/*
* @brief Contains board specific variables and initialization functions
*/
#include <board.h>
#include <odrive_main.h>
#include <low_level.h>
#include <Drivers/STM32/stm32_timer.hpp>
#include <adc.h>
#include <dma.h>
#include <tim.h>
#include <usart.h>
#include <freertos_vars.h>
// this should technically be in task_timer.cpp but let's not make a one-line file
bool TaskTimer::enabled = false;
extern "C" void SystemClock_Config(void); // defined in main.c generated by CubeMX
#define ControlLoop_IRQHandler OTG_HS_IRQHandler
#define ControlLoop_IRQn OTG_HS_IRQn
// This array is placed at the very start of the ram (0x20000000) and will be
// used during manufacturing to test the struct that will go to the OTP before
// _actually_ putting anything into OTP. This avoids bulk-destroying STM32's if
// we introduce unintended breakage in our manufacturing scripts.
uint8_t __attribute__((section(".testdata"))) fake_otp[FLASH_OTP_END + 1 - FLASH_OTP_BASE] = {0, 0, 0, HW_VERSION_MAJOR, HW_VERSION_MINOR, HW_VERSION_VOLTAGE};
Stm32SpiArbiter spi3_arbiter{&hspi3};
Stm32SpiArbiter& ext_spi_arbiter = spi3_arbiter;
UART_HandleTypeDef* uart_a = &huart4;
UART_HandleTypeDef* uart_b = &huart2; // TODO: this could be supported in ODrive v3.6 (or similar) using STM32's USART2
UART_HandleTypeDef* uart_c = nullptr;
Drv8301 m0_gate_driver{
&spi3_arbiter,
{M0_nCS_GPIO_Port, M0_nCS_Pin}, // nCS
{}, // EN pin (shared between both motors, therefore we actuate it outside of the drv8301 driver)
{nFAULT_GPIO_Port, nFAULT_Pin} // nFAULT pin (shared between both motors)
};
Drv8301 m1_gate_driver{
&spi3_arbiter,
{M1_nCS_GPIO_Port, M1_nCS_Pin}, // nCS
{}, // EN pin (shared between both motors, therefore we actuate it outside of the drv8301 driver)
{nFAULT_GPIO_Port, nFAULT_Pin} // nFAULT pin (shared between both motors)
};
const float fet_thermistor_poly_coeffs[] =
{363.93910201f, -462.15369634f, 307.55129571f, -27.72569531f};
const size_t fet_thermistor_num_coeffs = sizeof(fet_thermistor_poly_coeffs)/sizeof(fet_thermistor_poly_coeffs[1]);
OnboardThermistorCurrentLimiter fet_thermistors[AXIS_COUNT] = {
{
15, // adc_channel
&fet_thermistor_poly_coeffs[0], // coefficients
fet_thermistor_num_coeffs // num_coeffs
}, {
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
4, // adc_channel
#else
1, // adc_channel
#endif
&fet_thermistor_poly_coeffs[0], // coefficients
fet_thermistor_num_coeffs // num_coeffs
}
};
OffboardThermistorCurrentLimiter motor_thermistors[AXIS_COUNT];
Motor motors[AXIS_COUNT] = {
{
&htim1, // timer
0b110, // current_sensor_mask
1.0f / SHUNT_RESISTANCE, // shunt_conductance [S]
m0_gate_driver, // gate_driver
m0_gate_driver, // opamp
fet_thermistors[0],
motor_thermistors[0]
},
{
&htim8, // timer
0b110, // current_sensor_mask
1.0f / SHUNT_RESISTANCE, // shunt_conductance [S]
m1_gate_driver, // gate_driver
m1_gate_driver, // opamp
fet_thermistors[1],
motor_thermistors[1]
}
};
Encoder encoders[AXIS_COUNT] = {
{
&htim3, // timer
{M0_ENC_Z_GPIO_Port, M0_ENC_Z_Pin}, // index_gpio
{M0_ENC_A_GPIO_Port, M0_ENC_A_Pin}, // hallA_gpio
{M0_ENC_B_GPIO_Port, M0_ENC_B_Pin}, // hallB_gpio
{M0_ENC_Z_GPIO_Port, M0_ENC_Z_Pin}, // hallC_gpio
&spi3_arbiter // spi_arbiter
},
{
&htim4, // timer
{M1_ENC_Z_GPIO_Port, M1_ENC_Z_Pin}, // index_gpio
{M1_ENC_A_GPIO_Port, M1_ENC_A_Pin}, // hallA_gpio
{M1_ENC_B_GPIO_Port, M1_ENC_B_Pin}, // hallB_gpio
{M1_ENC_Z_GPIO_Port, M1_ENC_Z_Pin}, // hallC_gpio
&spi3_arbiter // spi_arbiter
}
};
// TODO: this has no hardware dependency and should be allocated depending on config
Endstop endstops[2 * AXIS_COUNT];
MechanicalBrake mechanical_brakes[AXIS_COUNT];
SensorlessEstimator sensorless_estimators[AXIS_COUNT];
Controller controllers[AXIS_COUNT];
TrapezoidalTrajectory trap[AXIS_COUNT];
std::array<Axis, AXIS_COUNT> axes{{
{
0, // axis_num
1, // step_gpio_pin
2, // dir_gpio_pin
(osPriority)(osPriorityHigh + (osPriority)1), // thread_priority
encoders[0], // encoder
sensorless_estimators[0], // sensorless_estimator
controllers[0], // controller
motors[0], // motor
trap[0], // trap
endstops[0], endstops[1], // min_endstop, max_endstop
mechanical_brakes[0], // mechanical brake
},
{
1, // axis_num
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 5
7, // step_gpio_pin
8, // dir_gpio_pin
#else
3, // step_gpio_pin
4, // dir_gpio_pin
#endif
osPriorityHigh, // thread_priority
encoders[1], // encoder
sensorless_estimators[1], // sensorless_estimator
controllers[1], // controller
motors[1], // motor
trap[1], // trap
endstops[2], endstops[3], // min_endstop, max_endstop
mechanical_brakes[1], // mechanical brake
},
}};
#if (HW_VERSION_MINOR == 1) || (HW_VERSION_MINOR == 2)
Stm32Gpio gpios[] = {
{nullptr, 0}, // dummy GPIO0 so that PCB labels and software numbers match
{GPIOB, GPIO_PIN_2}, // GPIO1
{GPIOA, GPIO_PIN_5}, // GPIO2
{GPIOA, GPIO_PIN_4}, // GPIO3
{GPIOA, GPIO_PIN_3}, // GPIO4
{nullptr, 0}, // GPIO5 (doesn't exist on this board)
{nullptr, 0}, // GPIO6 (doesn't exist on this board)
{nullptr, 0}, // GPIO7 (doesn't exist on this board)
{nullptr, 0}, // GPIO8 (doesn't exist on this board)
{GPIOB, GPIO_PIN_4}, // ENC0_A
{GPIOB, GPIO_PIN_5}, // ENC0_B
{GPIOA, GPIO_PIN_15}, // ENC0_Z
{GPIOB, GPIO_PIN_6}, // ENC1_A
{GPIOB, GPIO_PIN_7}, // ENC1_B
{GPIOB, GPIO_PIN_3}, // ENC1_Z
{GPIOB, GPIO_PIN_8}, // CAN_R
{GPIOB, GPIO_PIN_9}, // CAN_D
};
#elif (HW_VERSION_MINOR == 3) || (HW_VERSION_MINOR == 4)
Stm32Gpio gpios[] = {
{nullptr, 0}, // dummy GPIO0 so that PCB labels and software numbers match
{GPIOA, GPIO_PIN_0}, // GPIO1
{GPIOA, GPIO_PIN_1}, // GPIO2
{GPIOA, GPIO_PIN_2}, // GPIO3
{GPIOA, GPIO_PIN_3}, // GPIO4
{GPIOB, GPIO_PIN_2}, // GPIO5
{nullptr, 0}, // GPIO6 (doesn't exist on this board)
{nullptr, 0}, // GPIO7 (doesn't exist on this board)
{nullptr, 0}, // GPIO8 (doesn't exist on this board)
{GPIOB, GPIO_PIN_4}, // ENC0_A
{GPIOB, GPIO_PIN_5}, // ENC0_B
{GPIOA, GPIO_PIN_15}, // ENC0_Z
{GPIOB, GPIO_PIN_6}, // ENC1_A
{GPIOB, GPIO_PIN_7}, // ENC1_B
{GPIOB, GPIO_PIN_3}, // ENC1_Z
{GPIOB, GPIO_PIN_8}, // CAN_R
{GPIOB, GPIO_PIN_9}, // CAN_D
};
#elif (HW_VERSION_MINOR == 5) || (HW_VERSION_MINOR == 6)
Stm32Gpio gpios[GPIO_COUNT] = {
{nullptr, 0}, // dummy GPIO0 so that PCB labels and software numbers match
{GPIOA, GPIO_PIN_0}, // GPIO1
{GPIOA, GPIO_PIN_1}, // GPIO2
{GPIOA, GPIO_PIN_2}, // GPIO3
{GPIOA, GPIO_PIN_3}, // GPIO4
{GPIOC, GPIO_PIN_4}, // GPIO5
{GPIOB, GPIO_PIN_2}, // GPIO6
{GPIOA, GPIO_PIN_15}, // GPIO7
{GPIOB, GPIO_PIN_3}, // GPIO8
{GPIOB, GPIO_PIN_4}, // ENC0_A
{GPIOB, GPIO_PIN_5}, // ENC0_B
{GPIOC, GPIO_PIN_9}, // ENC0_Z
{GPIOB, GPIO_PIN_6}, // ENC1_A
{GPIOB, GPIO_PIN_7}, // ENC1_B
{GPIOC, GPIO_PIN_15}, // ENC1_Z
{GPIOB, GPIO_PIN_8}, // CAN_R
{GPIOB, GPIO_PIN_9}, // CAN_D
};
#else
#error "unknown GPIOs"
#endif
std::array<GpioFunction, 3> alternate_functions[GPIO_COUNT] = {
/* GPIO0 (inexistent): */ {{}},
#if HW_VERSION_MINOR >= 3
/* GPIO1: */ {{{ODrive::GPIO_MODE_UART_A, GPIO_AF8_UART4}, {ODrive::GPIO_MODE_PWM, GPIO_AF2_TIM5}}},
/* GPIO2: */ {{{ODrive::GPIO_MODE_UART_A, GPIO_AF8_UART4}, {ODrive::GPIO_MODE_PWM, GPIO_AF2_TIM5}}},
/* GPIO3: */ {{{ODrive::GPIO_MODE_UART_B, GPIO_AF7_USART2}, {ODrive::GPIO_MODE_PWM, GPIO_AF2_TIM5}}},
#else
/* GPIO1: */ {{}},
/* GPIO2: */ {{}},
/* GPIO3: */ {{}},
#endif
/* GPIO4: */ {{{ODrive::GPIO_MODE_UART_B, GPIO_AF7_USART2}, {ODrive::GPIO_MODE_PWM, GPIO_AF2_TIM5}}},
/* GPIO5: */ {{}},
/* GPIO6: */ {{}},
/* GPIO7: */ {{}},
/* GPIO8: */ {{}},
/* ENC0_A: */ {{{ODrive::GPIO_MODE_ENC0, GPIO_AF2_TIM3}}},
/* ENC0_B: */ {{{ODrive::GPIO_MODE_ENC0, GPIO_AF2_TIM3}}},
/* ENC0_Z: */ {{}},
/* ENC1_A: */ {{{ODrive::GPIO_MODE_I2C_A, GPIO_AF4_I2C1}, {ODrive::GPIO_MODE_ENC1, GPIO_AF2_TIM4}}},
/* ENC1_B: */ {{{ODrive::GPIO_MODE_I2C_A, GPIO_AF4_I2C1}, {ODrive::GPIO_MODE_ENC1, GPIO_AF2_TIM4}}},
/* ENC1_Z: */ {{}},
/* CAN_R: */ {{{ODrive::GPIO_MODE_CAN_A, GPIO_AF9_CAN1}, {ODrive::GPIO_MODE_I2C_A, GPIO_AF4_I2C1}}},
/* CAN_D: */ {{{ODrive::GPIO_MODE_CAN_A, GPIO_AF9_CAN1}, {ODrive::GPIO_MODE_I2C_A, GPIO_AF4_I2C1}}},
};
#if HW_VERSION_MINOR <= 2
PwmInput pwm0_input{&htim5, {0, 0, 0, 4}}; // 0 means not in use
#else
PwmInput pwm0_input{&htim5, {1, 2, 3, 4}};
#endif
extern USBD_HandleTypeDef hUsbDeviceFS;
USBD_HandleTypeDef& usb_dev_handle = hUsbDeviceFS;
bool check_board_version(const uint8_t* otp_ptr) {
return (otp_ptr[3] == HW_VERSION_MAJOR) &&
(otp_ptr[4] == HW_VERSION_MINOR) &&
(otp_ptr[5] == HW_VERSION_VOLTAGE);
}
void system_init() {
// Reset of all peripherals, Initializes the Flash interface and the Systick.
HAL_Init();
// Configure the system clock
SystemClock_Config();
// If the OTP is pristine, use the fake-otp in RAM instead
const uint8_t* otp_ptr = (const uint8_t*)FLASH_OTP_BASE;
if (*otp_ptr == 0xff) {
otp_ptr = fake_otp;
}
// Ensure that the board version for which this firmware is compiled matches
// the board we're running on.
if (!check_board_version(otp_ptr)) {
for (;;);
}
}
bool board_init() {
// Initialize all configured peripherals
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_TIM1_Init();
MX_TIM8_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_SPI3_Init();
MX_ADC3_Init();
MX_TIM2_Init();
MX_TIM5_Init();
MX_TIM13_Init();
// External interrupt lines are individually enabled in stm32_gpio.cpp
HAL_NVIC_SetPriority(EXTI0_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
HAL_NVIC_SetPriority(EXTI2_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_NVIC_SetPriority(EXTI3_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
HAL_NVIC_SetPriority(EXTI4_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
HAL_NVIC_SetPriority(ControlLoop_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(ControlLoop_IRQn);
HAL_NVIC_SetPriority(TIM8_UP_TIM13_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_UP_TIM13_IRQn);
if (odrv.config_.enable_uart_a) {
uart_a->Init.BaudRate = odrv.config_.uart_a_baudrate;
MX_UART4_Init();
}
if (odrv.config_.enable_uart_b) {
uart_b->Init.BaudRate = odrv.config_.uart_b_baudrate;
MX_USART2_UART_Init();
}
if (odrv.config_.enable_i2c_a) {
// Set up the direction GPIO as input
get_gpio(3).config(GPIO_MODE_INPUT, GPIO_PULLUP);
get_gpio(4).config(GPIO_MODE_INPUT, GPIO_PULLUP);
get_gpio(5).config(GPIO_MODE_INPUT, GPIO_PULLUP);
osDelay(1); // This has no effect but was here before.
i2c_stats_.addr = (0xD << 3);
i2c_stats_.addr |= get_gpio(3).read() ? 0x1 : 0;
i2c_stats_.addr |= get_gpio(4).read() ? 0x2 : 0;
i2c_stats_.addr |= get_gpio(5).read() ? 0x4 : 0;
MX_I2C1_Init(i2c_stats_.addr);
}
if (odrv.config_.enable_can_a) {
// The CAN initialization will (and must) init its own GPIOs before the
// GPIO modes are initialized. Therefore we ensure that the later GPIO
// mode initialization won't override the CAN mode.
if (odrv.config_.gpio_modes[15] != ODriveIntf::GPIO_MODE_CAN_A || odrv.config_.gpio_modes[16] != ODriveIntf::GPIO_MODE_CAN_A) {
odrv.misconfigured_ = true;
}
}
// Ensure that debug halting of the core doesn't leave the motor PWM running
__HAL_DBGMCU_FREEZE_TIM1();
__HAL_DBGMCU_FREEZE_TIM8();
__HAL_DBGMCU_FREEZE_TIM13();
Stm32Gpio drv_enable_gpio = {EN_GATE_GPIO_Port, EN_GATE_Pin};
// Reset both DRV chips. The enable pin also controls the SPI interface, not
// only the driver stages.
drv_enable_gpio.write(false);
delay_us(40); // mimumum pull-down time for full reset: 20us
drv_enable_gpio.write(true);
delay_us(20000); // mimumum pull-down time for full reset: 20us
return true;
}
void start_timers() {
CRITICAL_SECTION() {
// Temporarily disable ADC triggers so they don't trigger as a side
// effect of starting the timers.
hadc1.Instance->CR2 &= ~(ADC_CR2_JEXTEN);
hadc2.Instance->CR2 &= ~(ADC_CR2_EXTEN | ADC_CR2_JEXTEN);
hadc3.Instance->CR2 &= ~(ADC_CR2_EXTEN | ADC_CR2_JEXTEN);
/*
* Synchronize TIM1, TIM8 and TIM13 such that:
* 1. The triangle waveform of TIM1 leads the triangle waveform of TIM8 by a
* 90° phase shift.
* 2. Each TIM13 reload coincides with a TIM1 lower update event.
*/
Stm32Timer::start_synchronously<3>(
{&htim1, &htim8, &htim13},
{TIM1_INIT_COUNT, 0, TIM1_INIT_COUNT / 2 /* TIM13 is on a clock that's only have as fast as TIM1 */}
);
hadc1.Instance->CR2 |= (ADC_EXTERNALTRIGINJECCONVEDGE_RISING);
hadc2.Instance->CR2 |= (ADC_EXTERNALTRIGCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONVEDGE_RISING);
hadc3.Instance->CR2 |= (ADC_EXTERNALTRIGCONVEDGE_RISING | ADC_EXTERNALTRIGINJECCONVEDGE_RISING);
__HAL_ADC_CLEAR_FLAG(&hadc1, ADC_FLAG_JEOC);
__HAL_ADC_CLEAR_FLAG(&hadc2, ADC_FLAG_JEOC);
__HAL_ADC_CLEAR_FLAG(&hadc3, ADC_FLAG_JEOC);
__HAL_ADC_CLEAR_FLAG(&hadc1, ADC_FLAG_EOC);
__HAL_ADC_CLEAR_FLAG(&hadc2, ADC_FLAG_EOC);
__HAL_ADC_CLEAR_FLAG(&hadc3, ADC_FLAG_EOC);
__HAL_ADC_CLEAR_FLAG(&hadc1, ADC_FLAG_OVR);
__HAL_ADC_CLEAR_FLAG(&hadc2, ADC_FLAG_OVR);
__HAL_ADC_CLEAR_FLAG(&hadc3, ADC_FLAG_OVR);
__HAL_TIM_CLEAR_IT(&htim8, TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&htim8, TIM_IT_UPDATE);
}
}
static bool fetch_and_reset_adcs(
std::optional<Iph_ABC_t>* current0,
std::optional<Iph_ABC_t>* current1) {
bool all_adcs_done = (ADC1->SR & ADC_SR_JEOC) == ADC_SR_JEOC
&& (ADC2->SR & (ADC_SR_EOC | ADC_SR_JEOC)) == (ADC_SR_EOC | ADC_SR_JEOC)
&& (ADC3->SR & (ADC_SR_EOC | ADC_SR_JEOC)) == (ADC_SR_EOC | ADC_SR_JEOC);
if (!all_adcs_done) {
return false;
}
vbus_sense_adc_cb(ADC1->JDR1);
if (m0_gate_driver.is_ready()) {
std::optional<float> phB = motors[0].phase_current_from_adcval(ADC2->JDR1);
std::optional<float> phC = motors[0].phase_current_from_adcval(ADC3->JDR1);
if (phB.has_value() && phC.has_value()) {
*current0 = {-*phB - *phC, *phB, *phC};
}
}
if (m1_gate_driver.is_ready()) {
std::optional<float> phB = motors[1].phase_current_from_adcval(ADC2->DR);
std::optional<float> phC = motors[1].phase_current_from_adcval(ADC3->DR);
if (phB.has_value() && phC.has_value()) {
*current1 = {-*phB - *phC, *phB, *phC};
}
}
ADC1->SR = ~(ADC_SR_JEOC);
ADC2->SR = ~(ADC_SR_EOC | ADC_SR_JEOC | ADC_SR_OVR);
ADC3->SR = ~(ADC_SR_EOC | ADC_SR_JEOC | ADC_SR_OVR);
return true;
}
extern "C" {
void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
HAL_SPI_TxRxCpltCallback(hspi);
}
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
HAL_SPI_TxRxCpltCallback(hspi);
}
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
if (hspi == &hspi3) {
spi3_arbiter.on_complete();
}
}
void TIM5_IRQHandler(void) {
COUNT_IRQ(TIM5_IRQn);
pwm0_input.on_capture();
}
volatile uint32_t timestamp_ = 0;
volatile bool counting_down_ = false;
void TIM8_UP_TIM13_IRQHandler(void) {
COUNT_IRQ(TIM8_UP_TIM13_IRQn);
// Entry into this function happens at 21-23 clock cycles after the timer
// update event.
__HAL_TIM_CLEAR_IT(&htim8, TIM_IT_UPDATE);
// If the corresponding timer is counting up, we just sampled in SVM vector 0, i.e. real current
// If we are counting down, we just sampled in SVM vector 7, with zero current
bool counting_down = TIM8->CR1 & TIM_CR1_DIR;
bool timer_update_missed = (counting_down_ == counting_down);
if (timer_update_missed) {
motors[0].disarm_with_error(Motor::ERROR_TIMER_UPDATE_MISSED);
motors[1].disarm_with_error(Motor::ERROR_TIMER_UPDATE_MISSED);
return;
}
counting_down_ = counting_down;
timestamp_ += TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1);
if (!counting_down) {
TaskTimer::enabled = odrv.task_timers_armed_;
// Run sampling handlers and kick off control tasks when TIM8 is
// counting up.
odrv.sampling_cb();
NVIC->STIR = ControlLoop_IRQn;
} else {
// Tentatively reset all PWM outputs to 50% duty cycles. If the control
// loop handler finishes in time then these values will be overridden
// before they go into effect.
TIM1->CCR1 =
TIM1->CCR2 =
TIM1->CCR3 =
TIM8->CCR1 =
TIM8->CCR2 =
TIM8->CCR3 =
TIM_1_8_PERIOD_CLOCKS / 2;
}
}
void ControlLoop_IRQHandler(void) {
COUNT_IRQ(ControlLoop_IRQn);
uint32_t timestamp = timestamp_;
// Ensure that all the ADCs are done
std::optional<Iph_ABC_t> current0;
std::optional<Iph_ABC_t> current1;
if (!fetch_and_reset_adcs(&current0, &current1)) {
motors[0].disarm_with_error(Motor::ERROR_BAD_TIMING);
motors[1].disarm_with_error(Motor::ERROR_BAD_TIMING);
}
// If the motor FETs are not switching then we can't measure the current
// because for this we need the low side FET to conduct.
// So for now we guess the current to be 0 (this is not correct shortly after
// disarming and when the motor spins fast in idle). Passing an invalid
// current reading would create problems with starting FOC.
if (!(TIM1->BDTR & TIM_BDTR_MOE_Msk)) {
current0 = {0.0f, 0.0f};
}
if (!(TIM8->BDTR & TIM_BDTR_MOE_Msk)) {
current1 = {0.0f, 0.0f};
}
motors[0].current_meas_cb(timestamp - TIM1_INIT_COUNT, current0);
motors[1].current_meas_cb(timestamp, current1);
odrv.control_loop_cb(timestamp);
// By this time the ADCs for both M0 and M1 should have fired again. But
// let's wait for them just to be sure.
MEASURE_TIME(odrv.task_times_.dc_calib_wait) {
while (!(ADC2->SR & ADC_SR_EOC));
}
if (!fetch_and_reset_adcs(&current0, &current1)) {
motors[0].disarm_with_error(Motor::ERROR_BAD_TIMING);
motors[1].disarm_with_error(Motor::ERROR_BAD_TIMING);
}
motors[0].dc_calib_cb(timestamp + TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1) - TIM1_INIT_COUNT, current0);
motors[1].dc_calib_cb(timestamp + TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1), current1);
motors[0].pwm_update_cb(timestamp + 3 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1) - TIM1_INIT_COUNT);
motors[1].pwm_update_cb(timestamp + 3 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1));
// If we did everything right, the TIM8 update handler should have been
// called exactly once between the start of this function and now.
if (timestamp_ != timestamp + TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1)) {
motors[0].disarm_with_error(Motor::ERROR_CONTROL_DEADLINE_MISSED);
motors[1].disarm_with_error(Motor::ERROR_CONTROL_DEADLINE_MISSED);
}
odrv.task_timers_armed_ = odrv.task_timers_armed_ && !TaskTimer::enabled;
TaskTimer::enabled = false;
}
void I2C1_EV_IRQHandler(void) {
COUNT_IRQ(I2C1_EV_IRQn);
HAL_I2C_EV_IRQHandler(&hi2c1);
}
void I2C1_ER_IRQHandler(void) {
COUNT_IRQ(I2C1_ER_IRQn);
HAL_I2C_ER_IRQHandler(&hi2c1);
}
extern PCD_HandleTypeDef hpcd_USB_OTG_FS; // defined in usbd_conf.c
void OTG_FS_IRQHandler(void) {
COUNT_IRQ(OTG_FS_IRQn);
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
}
}
ODrive-fw-v0.5.6/Firmware/Board/v3/startup_stm32f405xx.s
+518
View File
@@ -0,0 +1,518 @@
/**
******************************************************************************
* @file startup_stm32f405xx.s
* @author MCD Application Team
* @brief STM32F405xx 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
*
* <h2><center>&copy; COPYRIGHT 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
.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 */
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
bl SystemInit
bl early_start_checks
/* 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
.size g_pfnVectors, .-g_pfnVectors
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 FSMC_IRQHandler /* FSMC */
.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 0 /* Reserved */
.word 0 /* Reserved */
.word HASH_RNG_IRQHandler /* Hash and Rng */
.word FPU_IRQHandler /* FPU */
/*******************************************************************************
*
* 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 FSMC_IRQHandler
.thumb_set FSMC_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 HASH_RNG_IRQHandler
.thumb_set HASH_RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/