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jblb
Rene Hopf 8 years ago
parent cd5718e151
commit 61aff94a26
8 changed files with 401 additions and 402 deletions
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27
.clang-format
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@ -0,0 +1,27 @@
---
BasedOnStyle: LLVM
AccessModifierOffset: '2'
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: 'true'
AlignOperands: 'false'
AlignTrailingComments: 'true'
SortIncludes: 'false'
ColumnLimit: '0'
IndentCaseLabels: 'true'
IndentWidth: '2'
KeepEmptyLinesAtTheStartOfBlocks: 'false'
MaxEmptyLinesToKeep: '2'
SpaceAfterCStyleCast: 'false'
SpaceBeforeAssignmentOperators: 'true'
SpaceBeforeParens: Never
SpaceInEmptyParentheses: 'false'
SpacesBeforeTrailingComments: '2'
SpacesInAngles: 'false'
SpacesInCStyleCastParentheses: 'false'
SpacesInContainerLiterals: 'false'
SpacesInParentheses: 'false'
SpacesInSquareBrackets: 'false'
TabWidth: '2'
UseTab: Never
...

4
Inc/stm32f1xx_hal_conf.h
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@ -118,8 +118,8 @@
*/
#if !defined(LSI_VALUE)
#define LSI_VALUE 40000U /*!< 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
#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. */
/**

2
Makefile
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@ -149,6 +149,8 @@ $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
$(BUILD_DIR):
mkdir $@
format:
find Src/ Inc/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
#######################################
# clean up
#######################################

32
Src/main.c
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@ -96,7 +96,7 @@ volatile uint8_t uart_buf[10];
void DMA1_Channel1_IRQHandler() {
DMA1->IFCR = DMA_IFCR_CTCIF1;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
/*
uart_buf[0] = 0xff;
uart_buf[1] = adc_buffer.r_dc1 - 1850 + 127;
@ -119,10 +119,8 @@ void DMA1_Channel1_IRQHandler(){
if(adc_buffer.l_dc2 > 1950) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
} else {
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
if(adc_buffer.r_dc1 > 1950) {
@ -139,13 +137,13 @@ void DMA1_Channel1_IRQHandler(){
int vr = 0;
int wr = 0;
uint8_t hall_ul = HAL_GPIO_ReadPin(LEFT_HALL_U_PORT, LEFT_HALL_U_PIN);
uint8_t hall_vl = HAL_GPIO_ReadPin(LEFT_HALL_V_PORT, LEFT_HALL_V_PIN);
uint8_t hall_wl = HAL_GPIO_ReadPin(LEFT_HALL_W_PORT, LEFT_HALL_W_PIN);
uint8_t hall_ul = !(LEFT_HALL_U_PORT->IDR & LEFT_HALL_U_PIN);
uint8_t hall_vl = !(LEFT_HALL_V_PORT->IDR & LEFT_HALL_V_PIN);
uint8_t hall_wl = !(LEFT_HALL_W_PORT->IDR & LEFT_HALL_W_PIN);
uint8_t hall_ur = HAL_GPIO_ReadPin(RIGHT_HALL_U_PORT, RIGHT_HALL_U_PIN);
uint8_t hall_vr = HAL_GPIO_ReadPin(RIGHT_HALL_V_PORT, RIGHT_HALL_V_PIN);
uint8_t hall_wr = HAL_GPIO_ReadPin(RIGHT_HALL_W_PORT, RIGHT_HALL_W_PIN);
uint8_t hall_ur = !(RIGHT_HALL_U_PORT->IDR & RIGHT_HALL_U_PIN);
uint8_t hall_vr = !(RIGHT_HALL_V_PORT->IDR & RIGHT_HALL_V_PIN);
uint8_t hall_wr = !(RIGHT_HALL_W_PORT->IDR & RIGHT_HALL_W_PIN);
uint8_t halll = hall_ul * 1 + hall_vl * 2 + hall_wl * 4;
posl = hall_to_pos[halll];
@ -178,7 +176,6 @@ void DMA1_Channel1_IRQHandler(){
block(pwml, posl, &ul, &vl, &wl);
block(pwmr, posr, &ur, &vr, &wr);
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 0, pwm_res);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 0, pwm_res);
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 0, pwm_res);
@ -186,13 +183,12 @@ void DMA1_Channel1_IRQHandler(){
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 0, pwm_res);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 0, pwm_res);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 0, pwm_res);
HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
int milli_vel_error_sum = 0;
int main(void)
{
int main(void) {
HAL_Init();
__HAL_RCC_AFIO_CLK_ENABLE();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
@ -226,8 +222,7 @@ int main(void)
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
while (1)
{
while(1) {
HAL_Delay(0);
// int milli_cur = 3000;
// int milli_volt = milli_cur * MILLI_R / 1000;// + vel * MILLI_PSI * 141;
@ -252,9 +247,7 @@ int main(void)
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
void SystemClock_Config(void) {
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
@ -271,8 +264,7 @@ void SystemClock_Config(void)
/**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.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_DIV2;

27
Src/setup.c
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@ -18,6 +18,22 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
tim1 master, enable -> trgo
tim8, gated slave mode, trgo by tim1 trgo. overflow -> trgo
adc1,adc2 triggered by tim8 trgo
adc 1,2 dual mode
ADC1 ADC2
R_Blau PC4 CH14 R_Gelb PC5 CH15
L_Grün PA0 CH01 L_Blau PC3 CH13
R_DC PC1 CH11 L_DC PC0 CH10
BAT PC2 CH12 L_TX PA2 CH02
BAT PC2 CH12 L_RX PA3 CH03
pb10 usart3 dma1 channel2/3
*/
#include "defines.h"
TIM_HandleTypeDef htim_right;
@ -58,10 +74,7 @@ void UART_Init(){
}
void MX_GPIO_Init(void)
{
void MX_GPIO_Init(void) {
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
@ -267,8 +280,7 @@ void MX_TIM_Init(void){
__HAL_TIM_ENABLE(&htim_right);
}
void MX_ADC1_Init(void)
{
void MX_ADC1_Init(void) {
ADC_MultiModeTypeDef multimode;
ADC_ChannelConfTypeDef sConfig;
@ -332,8 +344,7 @@ void MX_ADC1_Init(void)
}
/* ADC2 init function */
void MX_ADC2_Init(void)
{
void MX_ADC2_Init(void) {
ADC_ChannelConfTypeDef sConfig;
__HAL_RCC_ADC2_CLK_ENABLE();

40
Src/stm32f1xx_it.c
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@ -49,8 +49,7 @@
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
void NMI_Handler(void) {
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
@ -62,13 +61,11 @@ void NMI_Handler(void)
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
void HardFault_Handler(void) {
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
while(1) {
}
/* USER CODE BEGIN HardFault_IRQn 1 */
@ -78,13 +75,11 @@ void HardFault_Handler(void)
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
void MemManage_Handler(void) {
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
while(1) {
}
/* USER CODE BEGIN MemoryManagement_IRQn 1 */
@ -94,13 +89,11 @@ void MemManage_Handler(void)
/**
* @brief This function handles Prefetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
void BusFault_Handler(void) {
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
while(1) {
}
/* USER CODE BEGIN BusFault_IRQn 1 */
@ -110,13 +103,11 @@ void BusFault_Handler(void)
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
void UsageFault_Handler(void) {
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
while(1) {
}
/* USER CODE BEGIN UsageFault_IRQn 1 */
@ -126,8 +117,7 @@ void UsageFault_Handler(void)
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
void SVC_Handler(void) {
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
@ -139,8 +129,7 @@ void SVC_Handler(void)
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
void DebugMon_Handler(void) {
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
@ -152,8 +141,7 @@ void DebugMon_Handler(void)
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
void PendSV_Handler(void) {
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
@ -165,8 +153,7 @@ void PendSV_Handler(void)
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
void SysTick_Handler(void) {
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
@ -185,7 +172,6 @@ void SysTick_Handler(void)
/******************************************************************************/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

53
Src/system_stm32f1xx.c
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@ -93,12 +93,12 @@
*/
#if !defined(HSE_VALUE)
#define HSE_VALUE 8000000U /*!< Default value of the External oscillator in Hz.
#define HSE_VALUE 8000000U /*!< Default value of the External oscillator in Hz. \
This value can be provided and adapted by the user application. */
#endif /* HSE_VALUE */
#if !defined(HSI_VALUE)
#define HSI_VALUE 8000000U /*!< Default value of the Internal oscillator in Hz.
#define HSI_VALUE 8000000U /*!< Default value of the Internal oscillator in Hz. \
This value can be provided and adapted by the user application. */
#endif /* HSI_VALUE */
@ -110,7 +110,7 @@
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. \
This value must be a multiple of 0x200. */
@ -172,8 +172,7 @@ const uint8_t APBPrescTable[8U] = {0, 0, 0, 0, 1, 2, 3, 4};
* @param None
* @retval None
*/
void SystemInit (void)
{
void SystemInit(void) {
/* Reset the RCC clock configuration to the default reset state(for debug purpose) */
/* Set HSION bit */
RCC->CR |= 0x00000001U;
@ -262,8 +261,7 @@ void SystemInit (void)
* @param None
* @retval None
*/
void SystemCoreClockUpdate (void)
{
void SystemCoreClockUpdate(void) {
uint32_t tmp = 0U, pllmull = 0U, pllsource = 0U;
#if defined(STM32F105xC) || defined(STM32F107xC)
@ -277,8 +275,7 @@ void SystemCoreClockUpdate (void)
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
switch(tmp) {
case 0x00U: /* HSI used as system clock */
SystemCoreClock = HSI_VALUE;
break;
@ -294,25 +291,19 @@ void SystemCoreClockUpdate (void)
#if !defined(STM32F105xC) && !defined(STM32F107xC)
pllmull = (pllmull >> 18U) + 2U;
if (pllsource == 0x00U)
{
if(pllsource == 0x00U) {
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
}
else
{
} else {
#if defined(STM32F100xB) || defined(STM32F100xE)
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
#else
/* HSE selected as PLL clock entry */
if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET)
{/* HSE oscillator clock divided by 2 */
if((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET) { /* HSE oscillator clock divided by 2 */
SystemCoreClock = (HSE_VALUE >> 1U) * pllmull;
}
else
{
} else {
SystemCoreClock = HSE_VALUE * pllmull;
}
#endif
@ -320,34 +311,25 @@ void SystemCoreClockUpdate (void)
#else
pllmull = pllmull >> 18U;
if (pllmull != 0x0DU)
{
if(pllmull != 0x0DU) {
pllmull += 2U;
}
else
{ /* PLL multiplication factor = PLL input clock * 6.5 */
} else { /* PLL multiplication factor = PLL input clock * 6.5 */
pllmull = 13U / 2U;
}
if (pllsource == 0x00U)
{
if(pllsource == 0x00U) {
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
}
else
{/* PREDIV1 selected as PLL clock entry */
} else { /* PREDIV1 selected as PLL clock entry */
/* Get PREDIV1 clock source and division factor */
prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC;
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
if (prediv1source == 0U)
{
if(prediv1source == 0U) {
/* HSE oscillator clock selected as PREDIV1 clock entry */
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
}
else
{/* PLL2 clock selected as PREDIV1 clock entry */
} else { /* PLL2 clock selected as PREDIV1 clock entry */
/* Get PREDIV2 division factor and PLL2 multiplication factor */
prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4U) + 1U;
@ -387,8 +369,7 @@ void SystemCoreClockUpdate (void)
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
void SystemInit_ExtMemCtl(void) {
__IO uint32_t tmpreg;
/*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is
required, then adjust the Register Addresses */

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