Merge pull request #21 from bobbycar-graz/wno-volatile

Ignore -Wvolatile warnings from STM32 HAL

.github/workflows/workflow.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash]
+        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash, pcbv2_front, pcbv2_back, pcbv2_test, commander_v2_front, commander_v2_back]
     steps:
       - uses: actions/checkout@v2
         with:
@@ -28,16 +28,6 @@ jobs:
           
       - name: Build
         id: build
-        continue-on-error: true
         run: |
           cmake -DCMAKE_BUILD_TYPE=Release .
           make -j$(nproc) ${{ matrix.config }}
-
-    # github artifacts
-      - name: Upload logs if failed
-        if: ${{ steps.build.outcome == 'failure' }}
-        uses: actions/upload-artifact@v2.2.4
-        with:
-          path: |
-            ./CMakeFiles/CMakeOutput.log
-            ./CMakeFiles/CMakeError.log

.gitignore

@@ -3,3 +3,20 @@ CMakeCache.txt
 CMakeFiles
 Makefile
 cmake_install.cmake
+
+build/
+
+# VS Code
+.vscode/
+.cache/
+
+# Jetbrains
+.idea/
+cmake-build-*/
+
+# other
+hover.map
+libemanuel_foc_model.a
+libstm32_hal.a
+/*.bin
+/*elf

CMakeLists.txt

@@ -11,21 +11,14 @@ SET(CMAKE_SYSTEM_NAME Generic)
 set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
 set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
-set(CMAKE_CXX_FLAGS "${COMMON_FLAGS}")
+set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 20)
 
-set(A_FIRMWARE_LINKER_FLAGS "-T${CMAKE_SOURCE_DIR}/ld/app_a.ld")
-set(B_FIRMWARE_LINKER_FLAGS "-T${CMAKE_SOURCE_DIR}/ld/app_b.ld")
-set(AB_BOOT_FIRMWARE_LINKER_FLAGS "-T${CMAKE_SOURCE_DIR}/ld/ab_boot.ld")
-set(COMMON_LINKER_FLAGS -specs=nosys.specs -lc -lm -lnosys -lstdc++ -Wl,--gc-sections "-Wl,-Map=${CMAKE_BINARY_DIR}/hover.map,--cref"
-                        -T${CMAKE_SOURCE_DIR}/ld/STM32F103RCTx_FLASH.ld)
-
-set(A_FIRMWARE_APP_BASE 0x08002000)
-set(B_FIRMWARE_APP_BASE 0x08020800)
-
-set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+set(COMMON_LINKER_FLAGS "-specs=nosys.specs -T${CMAKE_SOURCE_DIR}/STM32F103RCTx_FLASH.ld -lc -lm -lnosys -lstdc++ -Wl,--gc-sections -Wl,-Map=${CMAKE_BINARY_DIR}/hover.map,--cref")
+set(CMAKE_EXE_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
+set(CMAKE_SHARED_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
 
 project(bobbycar-controller-firmware ASM C CXX)
 
@@ -38,6 +31,7 @@ include_directories(
     STM32CubeF1/Drivers/CMSIS/Device/ST/STM32F1xx/Include
     STM32CubeF1/Drivers/CMSIS/Include
     bobbycar-foc-model
+    bobbycar-protocol
 )
 
 add_library(stm32_hal STATIC
@@ -58,6 +52,7 @@ add_library(stm32_hal STATIC
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c
     startup_stm32f103xe.s
+    system_stm32f1xx.c
 )
 
 add_library(emanuel_foc_model STATIC
@@ -67,23 +62,16 @@ add_library(emanuel_foc_model STATIC
     bobbycar-foc-model/rtwtypes.h
 )
 
-add_library(bobbycar-protocol INTERFACE)
-target_include_directories(bobbycar-protocol INTERFACE bobbycar-protocol)
-
-
-set(COMMON_SOURCES
-    config.h
-    defines.h
-    main.cpp
-    system_stm32f1xx.c
-    persist/persist.c
+add_library(bobbycar-protocol INTERFACE
 )
 
+
+
+
 #
 # motor test
 #
-add_executable(motortest.elf ${COMMON_SOURCES})
-target_link_options(motortest.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
+add_executable(motortest.elf config.h defines.h main.cpp)
 target_link_libraries(motortest.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(motortest.elf PRIVATE
     -DMOTOR_TEST
@@ -104,13 +92,12 @@ target_compile_options(motortest.elf PRIVATE
 add_custom_command(OUTPUT motortest.hex COMMAND arm-none-eabi-objcopy -O ihex motortest.elf motortest.hex DEPENDS motortest.elf)
 add_custom_command(OUTPUT motortest.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest.elf motortest.bin DEPENDS motortest.elf)
 add_custom_target(motortest ALL SOURCES motortest.hex motortest.bin)
-add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin ${A_FIRMWARE_APP_BASE} SOURCES motortest.bin DEPENDS motortest.bin)
+add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin)
 
 #
 # motor test peter
 #
-add_executable(motortest_peter.elf ${COMMON_SOURCES})
-target_link_options(motortest_peter.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
+add_executable(motortest_peter.elf config.h defines.h main.cpp)
 target_link_libraries(motortest_peter.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(motortest_peter.elf PRIVATE
     #-DMOTOR_TEST
@@ -132,14 +119,13 @@ target_compile_options(motortest_peter.elf PRIVATE
 add_custom_command(OUTPUT motortest_peter.hex COMMAND arm-none-eabi-objcopy -O ihex motortest_peter.elf motortest_peter.hex DEPENDS motortest_peter.elf)
 add_custom_command(OUTPUT motortest_peter.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest_peter.elf motortest_peter.bin DEPENDS motortest_peter.elf)
 add_custom_target(motortest_peter ALL SOURCES motortest_peter.hex motortest_peter.bin)
-add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin ${A_FIRMWARE_APP_BASE} SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
+add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin 0x8000000 SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
 
 
 #
 # feedc0de front
 #
-add_executable(feedcode-front.elf ${COMMON_SOURCES})
-target_link_options(feedcode-front.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
+add_executable(feedcode-front.elf config.h defines.h main.cpp)
 target_link_libraries(feedcode-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(feedcode-front.elf PRIVATE
 #    -DMOTOR_TEST
@@ -160,13 +146,12 @@ target_compile_options(feedcode-front.elf PRIVATE
 add_custom_command(OUTPUT feedcode-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode-front.elf feedcode-front.hex DEPENDS feedcode-front.elf)
 add_custom_command(OUTPUT feedcode-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode-front.elf feedcode-front.bin DEPENDS feedcode-front.elf)
 add_custom_target(feedcode-front ALL SOURCES feedcode-front.hex feedcode-front.bin)
-add_custom_target(flash-feedcode-front COMMAND st-flash --reset write feedcode-front.bin ${A_FIRMWARE_APP_BASE} SOURCES feedcode-front.bin DEPENDS feedcode-front.bin)
+add_custom_target(flash-feedcode-front COMMAND st-flash --reset write feedcode-front.bin 0x8000000 SOURCES feedcode-front.bin DEPENDS feedcode-front.bin)
 
 #
 # feedc0de back
 #
-add_executable(feedcode-back.elf ${COMMON_SOURCES})
-target_link_options(feedcode-back.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
+add_executable(feedcode-back.elf config.h defines.h main.cpp)
 target_link_libraries(feedcode-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(feedcode-back.elf PRIVATE
 #    -DMOTOR_TEST
@@ -187,13 +172,67 @@ target_compile_options(feedcode-back.elf PRIVATE
 add_custom_command(OUTPUT feedcode-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode-back.elf feedcode-back.hex DEPENDS feedcode-back.elf)
 add_custom_command(OUTPUT feedcode-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode-back.elf feedcode-back.bin DEPENDS feedcode-back.elf)
 add_custom_target(feedcode-back ALL SOURCES feedcode-back.hex feedcode-back.bin)
-add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin ${A_FIRMWARE_APP_BASE} SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)
+add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin 0x8000000 SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)
+
+
+#
+# feedc0de 2 front
+#
+add_executable(feedcode2-front.elf config.h defines.h main.cpp)
+target_link_libraries(feedcode2-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(feedcode2-front.elf PRIVATE
+#    -DMOTOR_TEST
+    -DFEATURE_IGNORE_OTHER_MOTOR
+    -DLEFT_HALL_ABC
+    -DRIGHT_HALL_ABC
+#    -DPWM_FREQ_12KHZ
+#    -DFEATURE_BUTTON
+    -DPETERS_PLATINE
+#    -DHUART2
+#    -DHUART3
+#    -DFEATURE_SERIAL_CONTROL
+#    -DFEATURE_SERIAL_FEEDBACK
+#    -DLOG_TO_SERIAL
+    -DFEATURE_CAN
+#    -DCAN_LOG_UNKNOWN_ADDR
+#    -DIS_BACK
+)
+add_custom_command(OUTPUT feedcode2-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-front.elf feedcode2-front.hex DEPENDS feedcode2-front.elf)
+add_custom_command(OUTPUT feedcode2-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-front.elf feedcode2-front.bin DEPENDS feedcode2-front.elf)
+add_custom_target(feedcode2-front ALL SOURCES feedcode2-front.hex feedcode2-front.bin)
+add_custom_target(flash-feedcode2-front COMMAND st-flash --reset write feedcode2-front.bin 0x8000000 SOURCES feedcode2-front.bin DEPENDS feedcode2-front.bin)
+
+#
+# feedc0de 2 back
+#
+add_executable(feedcode2-back.elf config.h defines.h main.cpp)
+target_link_libraries(feedcode2-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(feedcode2-back.elf PRIVATE
+#    -DMOTOR_TEST
+    -DFEATURE_IGNORE_OTHER_MOTOR
+    -DLEFT_HALL_ACB
+    -DRIGHT_HALL_ACB
+#    -DPWM_FREQ_12KHZ
+#    -DFEATURE_BUTTON
+    -DPETERS_PLATINE
+#    -DHUART2
+#    -DHUART3
+#    -DFEATURE_SERIAL_CONTROL
+#    -DFEATURE_SERIAL_FEEDBACK
+#    -DLOG_TO_SERIAL
+    -DFEATURE_CAN
+#    -DCAN_LOG_UNKNOWN_ADDR
+    -DIS_BACK
+)
+add_custom_command(OUTPUT feedcode2-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-back.elf feedcode2-back.hex DEPENDS feedcode2-back.elf)
+add_custom_command(OUTPUT feedcode2-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-back.elf feedcode2-back.bin DEPENDS feedcode2-back.elf)
+add_custom_target(feedcode2-back ALL SOURCES feedcode2-back.hex feedcode2-back.bin)
+add_custom_target(flash-feedcode2-back COMMAND st-flash --reset write feedcode2-back.bin 0x8000000 SOURCES feedcode2-back.bin DEPENDS feedcode2-back.bin)
 
 #
 # greyhash
 #
-add_executable(greyhash.elf ${COMMON_SOURCES})
-target_link_options(greyhash.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
+add_executable(greyhash.elf config.h defines.h main.cpp)
 target_link_libraries(greyhash.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(greyhash.elf PRIVATE
 #    -DMOTOR_TEST
@@ -214,21 +253,210 @@ target_compile_options(greyhash.elf PRIVATE
 add_custom_command(OUTPUT greyhash.hex COMMAND arm-none-eabi-objcopy -O ihex greyhash.elf greyhash.hex DEPENDS greyhash.elf)
 add_custom_command(OUTPUT greyhash.bin COMMAND arm-none-eabi-objcopy -O binary -S greyhash.elf greyhash.bin DEPENDS greyhash.elf)
 add_custom_target(greyhash ALL SOURCES greyhash.hex greyhash.bin)
-add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin ${A_FIRMWARE_APP_BASE} SOURCES greyhash.bin DEPENDS greyhash.bin)
+add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin)
 
-
-add_executable(ab_boot.elf
-    ab_boot/ab_boot.c
-    system_stm32f1xx.c
-    persist/persist.c
+#
+# peters platine v2 front
+#
+add_executable(pcbv2_front.elf config.h defines.h main.cpp)
+target_link_libraries(pcbv2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(pcbv2_front.elf PRIVATE
+        #    -DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        #     -DIS_BACK
+        -DAMPERE2BIT_CONV=28
 )
-target_link_options(ab_boot.elf PRIVATE ${COMMON_LINKER_FLAGS} ${AB_BOOT_FIRMWARE_LINKER_FLAGS})
-target_link_libraries(ab_boot.elf stm32_hal)
-target_compile_options(ab_boot.elf PRIVATE )
-add_custom_command(OUTPUT ab_boot.hex COMMAND arm-none-eabi-objcopy -O ihex ab_boot.elf ab_boot.hex DEPENDS ab_boot.elf)
-add_custom_command(OUTPUT ab_boot.bin COMMAND arm-none-eabi-objcopy -O binary -S ab_boot.elf ab_boot.bin DEPENDS ab_boot.elf)
-add_custom_target(ab_boot ALL SOURCES ab_boot.hex ab_boot.bin)
-add_custom_target(flash-boot COMMAND st-flash --reset write ab_boot.bin 0x08000000 SOURCES ab_boot.bin DEPENDS ab_boot.bin)
+add_custom_command(OUTPUT pcbv2_front.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_front.elf pcbv2_front.hex DEPENDS pcbv2_front.elf)
+add_custom_command(OUTPUT pcbv2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_front.elf pcbv2_front.bin DEPENDS pcbv2_front.elf)
+add_custom_target(pcbv2_front ALL SOURCES pcbv2_front.hex pcbv2_front.bin)
+add_custom_target(flash-pcbv2_front COMMAND st-flash --reset write pcbv2_front.bin 0x8000000 SOURCES pcbv2_front.bin DEPENDS pcbv2_front.bin)
+
+#
+# peters platine v2 back
+#
+add_executable(pcbv2_back.elf config.h defines.h main.cpp)
+target_link_libraries(pcbv2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(pcbv2_back.elf PRIVATE
+        #    -DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        -DIS_BACK
+        -DAMPERE2BIT_CONV=28
+)
+add_custom_command(OUTPUT pcbv2_back.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_back.elf pcbv2_back.hex DEPENDS pcbv2_back.elf)
+add_custom_command(OUTPUT pcbv2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_back.elf pcbv2_back.bin DEPENDS pcbv2_back.elf)
+add_custom_target(pcbv2_back ALL SOURCES pcbv2_back.hex pcbv2_back.bin)
+add_custom_target(flash-pcbv2_back COMMAND st-flash --reset write pcbv2_back.bin 0x8000000 SOURCES pcbv2_back.bin DEPENDS pcbv2_back.bin)
+
+#
+# peters platine v2 motortest
+#
+add_executable(pcbv2_test.elf config.h defines.h main.cpp)
+target_link_libraries(pcbv2_test.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(pcbv2_test.elf PRIVATE
+        -DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        #    -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        #    -DIS_BACK
+        -DAMPERE2BIT_CONV=28
+        -DLEFT_HALL_ABC
+        #-DLEFT_HALL_ACB
+        #-DLEFT_HALL_BAC
+        #-DLEFT_HALL_BCA
+        #-DLEFT_HALL_CAB
+        #-DLEFT_HALL_CBA
+
+        -DRIGHT_HALL_ABC
+        #-DRIGHT_HALL_ACB
+        #-DRIGHT_HALL_BAC
+        #-DRIGHT_HALL_BCA
+        #-DRIGHT_HALL_CAB
+        #-DRIGHT_HALL_CBA
+
+        #-DFEATURE_BETTER_FOC_CONFIG
+        #-DLEFT_PHASE_MEAS_AB
+        #-DLEFT_PHASE_MEAS_AC
+        #-DLEFT_PHASE_MEAS_BC
+
+        #-DRIGHT_PHASE_MEAS_AB
+        #-DRIGHT_PHASE_MEAS_AC
+        #-DRIGHT_PHASE_MEAS_BC
+)
+add_custom_command(OUTPUT pcbv2_test.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_test.elf pcbv2_test.hex DEPENDS pcbv2_test.elf)
+add_custom_command(OUTPUT pcbv2_test.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_test.elf pcbv2_test.bin DEPENDS pcbv2_test.elf)
+add_custom_target(pcbv2_test ALL SOURCES pcbv2_test.hex pcbv2_test.bin)
+add_custom_target(flash-pcbv2_test COMMAND st-flash --reset write pcbv2_test.bin 0x8000000 SOURCES pcbv2_test.bin DEPENDS pcbv2_test.bin)
+
+
+#
+# commander v2 front
+#
+add_executable(commander_v2_front.elf config.h defines.h main.cpp)
+target_link_libraries(commander_v2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(commander_v2_front.elf PRIVATE
+        #-DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        #    -DIS_BACK
+        #-DAMPERE2BIT_CONV=28
+        -DLEFT_HALL_ABC
+        #-DLEFT_HALL_ACB
+        #-DLEFT_HALL_BAC
+        #-DLEFT_HALL_BCA
+        #-DLEFT_HALL_CAB
+        #-DLEFT_HALL_CBA
+
+        -DRIGHT_HALL_ABC
+        #-DRIGHT_HALL_ACB
+        #-DRIGHT_HALL_BAC
+        #-DRIGHT_HALL_BCA
+        #-DRIGHT_HALL_CAB
+        #-DRIGHT_HALL_CBA
+
+        #-DFEATURE_BETTER_FOC_CONFIG
+        #-DLEFT_PHASE_MEAS_AB
+        #-DLEFT_PHASE_MEAS_AC
+        #-DLEFT_PHASE_MEAS_BC
+
+        #-DRIGHT_PHASE_MEAS_AB
+        #-DRIGHT_PHASE_MEAS_AC
+        #-DRIGHT_PHASE_MEAS_BC
+)
+add_custom_command(OUTPUT commander_v2_front.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_front.elf commander_v2_front.hex DEPENDS commander_v2_front.elf)
+add_custom_command(OUTPUT commander_v2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_front.elf commander_v2_front.bin DEPENDS commander_v2_front.elf)
+add_custom_target(commander_v2_front ALL SOURCES commander_v2_front.hex commander_v2_front.bin)
+add_custom_target(flash-commander_v2_front COMMAND st-flash --reset write commander_v2_front.bin 0x8000000 SOURCES commander_v2_front.bin DEPENDS commander_v2_front.bin)
+
+
+#
+# commander v2 back
+#
+add_executable(commander_v2_back.elf config.h defines.h main.cpp)
+target_link_libraries(commander_v2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(commander_v2_back.elf PRIVATE
+        #-DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        -DIS_BACK
+        #-DAMPERE2BIT_CONV=28
+        -DLEFT_HALL_ABC
+        #-DLEFT_HALL_ACB
+        #-DLEFT_HALL_BAC
+        #-DLEFT_HALL_BCA
+        #-DLEFT_HALL_CAB
+        #-DLEFT_HALL_CBA
+
+        -DRIGHT_HALL_ABC
+        #-DRIGHT_HALL_ACB
+        #-DRIGHT_HALL_BAC
+        #-DRIGHT_HALL_BCA
+        #-DRIGHT_HALL_CAB
+        #-DRIGHT_HALL_CBA
+
+        #-DFEATURE_BETTER_FOC_CONFIG
+        #-DLEFT_PHASE_MEAS_AB
+        #-DLEFT_PHASE_MEAS_AC
+        #-DLEFT_PHASE_MEAS_BC
+
+        #-DRIGHT_PHASE_MEAS_AB
+        #-DRIGHT_PHASE_MEAS_AC
+        #-DRIGHT_PHASE_MEAS_BC
+)
+add_custom_command(OUTPUT commander_v2_back.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_back.elf commander_v2_back.hex DEPENDS commander_v2_back.elf)
+add_custom_command(OUTPUT commander_v2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_back.elf commander_v2_back.bin DEPENDS commander_v2_back.elf)
+add_custom_target(commander_v2_back ALL SOURCES commander_v2_back.hex commander_v2_back.bin)
+add_custom_target(flash-commander_v2_back COMMAND st-flash --reset write commander_v2_back.bin 0x8000000 SOURCES commander_v2_back.bin DEPENDS commander_v2_back.bin)
 
 
 # util targets

STM32F103RCTx_FLASH.ld

@@ -32,6 +32,8 @@
 /* Entry Point */
 ENTRY(Reset_Handler)
 
+/* Highest address of the user mode stack */
+_estack = 0x2000C000;    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
 _Min_Heap_Size = 0x200;      /* required amount of heap  */
 _Min_Stack_Size = 0x400; /* required amount of stack */
@@ -39,10 +41,8 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 47K
-PERSIST (rw)   : ORIGIN = 0x2000BC00, LENGTH =  1K
-FLASH (rx)     : ORIGIN = _App_Base,  LENGTH =  _App_Length
-CONFIG(r)      : ORIGIN = 0x0803f800, LENGTH =  2K
+RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 48K
+FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 256K
 }
 
 /* Define output sections */
@@ -114,7 +114,7 @@ SECTIONS
   _sidata = LOADADDR(.data);
 
   /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data :
+  .data : 
   {
     . = ALIGN(4);
     _sdata = .;        /* create a global symbol at data start */
@@ -125,7 +125,7 @@ SECTIONS
     _edata = .;        /* define a global symbol at data end */
   } >RAM AT> FLASH
 
-
+  
   /* Uninitialized data section */
   . = ALIGN(4);
   .bss :
@@ -153,16 +153,7 @@ SECTIONS
     . = ALIGN(8);
   } >RAM
 
-  /* Highest address of the user mode stack */
-  _estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM area */
-
-  .persist :
-  {
-    . = ALIGN(4);
-    persist = .;
-    . += LENGTH(PERSIST);
-    _epersist = .;
-  } > PERSIST
+  
 
   /* Remove information from the standard libraries */
   /DISCARD/ :
@@ -174,3 +165,5 @@ SECTIONS
 
   .ARM.attributes 0 : { *(.ARM.attributes) }
 }
+
+

ab_boot/ab_boot.c

@@ -1,51 +0,0 @@
-#include <stdint.h>
-#include <stdbool.h>
-
-#include "stm32f1xx_hal.h"
-#include "ab_boot.h"
-#include "persist/persist.h"
-
-static inline void __attribute__((noreturn)) boot_image(uint32_t sp, uint32_t entry) {
-    asm volatile(
-        "   mov sp, %0    \n"
-        "   blx  %1       \n"
-        "1: b   1b        \n"
-        :
-        : "r" (sp), "r" (entry)
-    );
-    __builtin_unreachable();
-}
-
-static bool is_valid_boot_address(uint32_t *bootp)
-{
-    return (uint32_t)bootp >= FLASH_START &&
-        (uint32_t)bootp < FLASH_END &&
-        ((uint32_t)bootp & 3) == 0;
-}
-
-int main()
-{
-    struct ab_boot_config *flash_config = (struct ab_boot_config *)CONFIG_START;
-    struct ab_boot_config *config = NULL;
-    if (is_persist_valid() &&
-        is_valid_boot_address(persist.ab_boot_config.boot_partition))
-    {
-        // Invalidate persist
-        persist.checksum = 0;
-        config = &persist.ab_boot_config;
-    }
-    else if (is_valid_boot_address(flash_config->boot_partition))
-    {
-        config = flash_config;
-    }
-
-    uint32_t *bootp;
-    if (config)
-        bootp = config->boot_partition;
-    else
-        bootp = (uint32_t *)APP_A_START;
-
-    uint32_t sp = bootp[0];
-    uint32_t entry = bootp[1];
-    boot_image(sp, entry);
-}

ab_boot/ab_boot.h

@@ -1,21 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-#define FLASH_START  0x08000000
-#define AB_BOOT_SIZE 0x00002000
-
-#define APP_A_START  0x08002000
-#define APP_B_START  0x08020800
-                     // 122 KiB
-#define APP_SIZE        0x1e800
-
-#define CONFIG_START 0x0803f800
-#define CONFIG_SIZE       0x800
-
-#define FLASH_END    0x08040000
-
-struct ab_boot_config
-{
-    uint32_t *boot_partition;
-};

config.h

@@ -6,7 +6,10 @@
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
 #define DEAD_TIME              48     // PWM deadtime
-#define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+
+#ifndef AMPERE2BIT_CONV
+#define AMPERE2BIT_CONV        50     // Ampere to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+#endif
 
 // ADC conversion time definitions
 #define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)

config_partition.h

@@ -1,5 +0,0 @@
-#include "ab_boot/ab_boot.h"
-
-struct config_partition {
-    struct ab_boot_config ab_boot_config;
-};

defines.h

@@ -24,57 +24,63 @@
 
 #ifdef PETERS_PLATINE
 
-#ifdef HALL_CAB
+#ifdef LEFT_HALL_CAB
     #define LEFT_HALL_U_PIN GPIO_PIN_11
     #define LEFT_HALL_V_PIN GPIO_PIN_12
     #define LEFT_HALL_W_PIN GPIO_PIN_10
-#elif HALL_CBA
+#elif LEFT_HALL_CBA
     #define LEFT_HALL_U_PIN GPIO_PIN_11
     #define LEFT_HALL_V_PIN GPIO_PIN_10
     #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif HALL_BAC
+#elif LEFT_HALL_BAC
     #define LEFT_HALL_U_PIN GPIO_PIN_10
     #define LEFT_HALL_V_PIN GPIO_PIN_12
     #define LEFT_HALL_W_PIN GPIO_PIN_11
-#elif HALL_BCA
+#elif LEFT_HALL_BCA
     #define LEFT_HALL_U_PIN GPIO_PIN_10
     #define LEFT_HALL_V_PIN GPIO_PIN_11
     #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif HALL_ABC
+#elif LEFT_HALL_ABC
     #define LEFT_HALL_U_PIN GPIO_PIN_12
     #define LEFT_HALL_V_PIN GPIO_PIN_10
     #define LEFT_HALL_W_PIN GPIO_PIN_11
-#else //HALL_ACB
+#else //LEFT_HALL_ACB
+#ifndef LEFT_HALL_ACB
+    #warning "No left Hall configuration defined, using default ACB"
+#endif
     #define LEFT_HALL_U_PIN GPIO_PIN_12
     #define LEFT_HALL_V_PIN GPIO_PIN_11
     #define LEFT_HALL_W_PIN GPIO_PIN_10
 #endif
 
-    #define LEFT_HALL_U_PORT GPIOC
-    #define LEFT_HALL_V_PORT GPIOC
-    #define LEFT_HALL_W_PORT GPIOC
+#define LEFT_HALL_U_PORT GPIOC
+#define LEFT_HALL_V_PORT GPIOC
+#define LEFT_HALL_W_PORT GPIOC
 
-#ifdef HALL_CAB
+#ifdef RIGHT_HALL_CAB
     #define RIGHT_HALL_U_PIN GPIO_PIN_6
     #define RIGHT_HALL_V_PIN GPIO_PIN_5
     #define RIGHT_HALL_W_PIN GPIO_PIN_7
-#elif HALL_CBA
+#elif RIGHT_HALL_CBA
     #define RIGHT_HALL_U_PIN GPIO_PIN_6
     #define RIGHT_HALL_V_PIN GPIO_PIN_7
     #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif HALL_BAC
+#elif RIGHT_HALL_BAC
     #define RIGHT_HALL_U_PIN GPIO_PIN_7
     #define RIGHT_HALL_V_PIN GPIO_PIN_5
     #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#elif HALL_BCA
+#elif RIGHT_HALL_BCA
     #define RIGHT_HALL_U_PIN GPIO_PIN_7
     #define RIGHT_HALL_V_PIN GPIO_PIN_6
     #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif HALL_ABC
+#elif RIGHT_HALL_ABC
     #define RIGHT_HALL_U_PIN GPIO_PIN_5
     #define RIGHT_HALL_V_PIN GPIO_PIN_7
     #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#else //HALL_ACB
+#else //RIGHT_HALL_ACB
+#ifndef RIGHT_HALL_ACB
+    #warning "No right Hall configuration defined, using default ACB"
+#endif
     #define RIGHT_HALL_U_PIN GPIO_PIN_5
     #define RIGHT_HALL_V_PIN GPIO_PIN_6
     #define RIGHT_HALL_W_PIN GPIO_PIN_7
@@ -83,7 +89,7 @@
     #define RIGHT_HALL_U_PORT GPIOB
     #define RIGHT_HALL_V_PORT GPIOB
     #define RIGHT_HALL_W_PORT GPIOB
-#else
+#else // defined(PETERS_PLATINE)
 #ifdef HALL_BCA
     #define LEFT_HALL_U_PIN GPIO_PIN_7
     #define LEFT_HALL_V_PIN GPIO_PIN_6

flasher/CANFlasher.hpp

@@ -1,96 +0,0 @@
-#include <cstddef>
-#include <cstdint>
-
-#include "Flasher.hpp"
-
-namespace can_flasher {
-    namespace {
-        flasher::Result handle_start(uint8_t *data, size_t length) {
-            uintptr_t address;
-            if (length != sizeof(address))
-                return flasher::Result::InvalidParameter;
-
-            memcpy(&address, data, sizeof(address));
-            return flasher::start(address);
-        }
-
-        flasher::Result handle_write(uint8_t *data, size_t length) {
-            return flasher::write(data, length);
-        }
-    }
-
-    void handle(uint8_t *data, size_t length) {
-        using enum flasher::State;
-
-        if (length < 1) {
-            flasher::flasher_state_callback(flasher::get_state(), flasher::Result::InvalidParameter, 0);
-            return;
-        }
-
-        flasher::State target_state = (flasher::State)*data;
-        data += 1;
-        length -= 1;
-
-        flasher::Result result;
-        switch (target_state) {
-        case Idle:
-            flasher::init();
-            result = flasher::Result::Success;
-            break;
-        case Erasing:
-            result = handle_start(data, length);
-            break;
-        case Writing:
-            result = handle_write(data, length);
-            break;
-        default:
-            result = flasher::Result::InvalidParameter;
-        }
-
-        flasher::flasher_state_callback(flasher::get_state(), result, 0);
-    }
-
-    constexpr size_t FeedbackSize =
-        sizeof(flasher::State) + sizeof(flasher::Result) + sizeof(uint32_t);
-    static_assert(FeedbackSize <= 8);
-
-    struct {
-        uint32_t last_sent;
-        std::atomic<bool> updated;
-        bool valid;
-        uint8_t data[FeedbackSize];
-    } feedback;
-
-    void generate_feedback(flasher::State state, flasher::Result result, uint32_t arg) {
-        uint8_t *ptr = feedback.data;
-        std::memcpy(ptr, &state, sizeof(state));
-        ptr += sizeof(state);
-        std::memcpy(ptr, &result, sizeof(result));
-        ptr += sizeof(result);
-        std::memcpy(ptr, &arg, sizeof(arg));
-        // this works because poll_feedback can't interrupt us
-        feedback.updated.store(true);
-    }
-
-    bool poll_feedback(uint32_t now, uint8_t *out) {
-        if (feedback.updated.load() ||
-            (feedback.valid && now - feedback.last_sent >= 500)) {
-            feedback.valid = true;
-            do {
-                feedback.updated.store(false);
-                std::memcpy(out, feedback.data, sizeof(feedback.data));
-                // this works because we cannot interrupt generate_feedback
-            } while (feedback.updated.load());
-            feedback.last_sent = now;
-            return true;
-        }
-
-        return false;
-    }
-}
-
-namespace flasher {
-void flasher_state_callback(flasher::State state, flasher::Result result, uint32_t arg) {
-    can_flasher::generate_feedback(state, result, arg);
-}
-}

flasher/Flasher.hpp

@@ -1,203 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <cstring>
-
-#include "stm32f1xx_hal.h"
-
-#include "ab_boot/ab_boot.h"
-#include "stm32f1xx_hal_def.h"
-#include "stm32f1xx_hal_flash.h"
-#include "stm32f1xx_hal_flash_ex.h"
-
-
-namespace flasher {
-    enum class State : uint8_t {
-        Idle,
-        Erasing,
-        Waiting,
-        Writing,
-        Error
-    };
-
-    namespace {
-        enum class FlashRegion {
-            Invalid,
-            Bootloader,
-            AppA,
-            AppB,
-            Config
-        };
-
-        FlashRegion region_for_address(uintptr_t address) {
-            using enum FlashRegion;
-
-            if (address >= FLASH_START && address < APP_A_START) {
-                return Bootloader;
-            } else if (address >= APP_A_START && address < (APP_A_START + APP_SIZE)) {
-                return AppA;
-            } else if (address >= APP_B_START && address < (APP_B_START + APP_SIZE)) {
-                return AppB;
-            } else if (address >= CONFIG_START && address < (CONFIG_START + CONFIG_SIZE)) {
-                return Config;
-            }
-
-            return Invalid;
-        }
-
-        size_t region_size(FlashRegion region) {
-            using enum FlashRegion;
-
-            switch (region) {
-            case Bootloader:
-                return AB_BOOT_SIZE;
-            case AppA:
-            case AppB:
-                return APP_SIZE;
-            case Config:
-                return CONFIG_SIZE;
-            default:
-                return 0;
-            }
-        }
-
-        bool is_valid_start_address(uint32_t address) {
-            return address == FLASH_START || address == APP_A_START ||
-                   address == APP_B_START || address == CONFIG_START;
-        }
-
-        static State state_;
-        static FlashRegion region_;
-        static uintptr_t address_;
-        static uint8_t write_size_;
-    }
-
-    enum class Result : uint8_t {
-        Success,
-        RegionNotAllowed,
-        InvalidParameter,
-        InvalidState,
-        WriteError,
-        InProgress
-    };
-
-    void flasher_state_callback(State state, Result result, uint32_t arg);
-
-    void init() {
-        state_ = State::Idle;
-        region_ = FlashRegion::Invalid;
-        address_ = 0;
-        write_size_ = 0;
-        HAL_FLASH_Lock();
-    }
-
-    Result start(uintptr_t address) {
-        if (state_ != State::Idle)
-            return Result::InvalidState;
-
-        if (!is_valid_start_address(address)) {
-            return Result::InvalidParameter;
-        }
-
-        FlashRegion flashed_region = region_for_address(address);
-        FlashRegion running_region = region_for_address((uintptr_t)&start);
-
-        if (flashed_region == FlashRegion::Invalid) {
-            return Result::InvalidParameter;
-        }
-
-        if (flashed_region == running_region) {
-            // prohibit flashing the currently running app
-            return Result::RegionNotAllowed;
-        }
-
-        size_t size = region_size(flashed_region);
-        FLASH_EraseInitTypeDef ferase = {
-            .TypeErase = FLASH_TYPEERASE_PAGES,
-            .PageAddress = address,
-            .NbPages = size / FLASH_PAGE_SIZE
-        };
-
-        HAL_FLASH_Unlock();
-        if (HAL_FLASHEx_Erase_IT(&ferase) != HAL_OK) {
-            return Result::WriteError;
-        }
-
-        state_ = State::Erasing;
-        region_ = flashed_region;
-        address_ = address;
-
-        return Result::InProgress;
-    }
-
-    Result write(uint8_t *data, uint8_t length) {
-        if (state_ != State::Waiting)
-            return Result::InvalidState;
-
-        uint32_t program_type;
-        switch (length) {
-        case 2:
-            program_type = FLASH_PROC_PROGRAMHALFWORD;
-            break;
-        case 4:
-            program_type = FLASH_PROC_PROGRAMWORD;
-            break;
-        case 8:
-            program_type = FLASH_PROC_PROGRAMDOUBLEWORD;
-            break;
-        default:
-            return Result::InvalidParameter;
-        }
-
-        uint64_t data_int = 0;
-        memcpy(&data_int, data, length);
-
-        if (HAL_FLASH_Program_IT(program_type, address_, data_int) != HAL_OK)
-            return Result::WriteError;
-
-        state_ = State::Writing;
-        write_size_ = length;
-
-        return Result::InProgress;
-    }
-
-    State get_state() {
-        return state_;
-    }
-
-    void flash_callback(bool success) {
-        using enum State;
-
-        // Ignore if we are in Idle state, could be the result of
-        // a cancelled operation.
-        if (state_ == Idle)
-            return;
-
-        if (success) {
-            switch (state_) {
-            case Writing:
-            case Erasing:
-                address_ += write_size_;
-                flasher_state_callback(state_, Result::Success, address_);
-                state_ = Waiting;
-                write_size_ = 0;
-                break;
-            default:
-                // Spurious callback
-                HAL_FLASH_Lock();
-                state_ = Error;
-            }
-        } else {
-            switch (state_) {
-            case Writing:
-            case Erasing:
-                flasher_state_callback(state_, Result::WriteError, address_);
-            [[fallthrough]];
-            default:
-                // Spurious callback
-                HAL_FLASH_Lock();
-                state_ = Error;
-            }
-        }
-    }
-}

ld/ab_boot.ld

@@ -1,2 +0,0 @@
-_App_Base = 0x08000000;
-_App_Length = 8K;

ld/app_a.ld

@@ -1,2 +0,0 @@
-_App_Base = 0x08002000;
-_App_Length = 122K;

ld/app_b.ld

@@ -1,2 +0,0 @@
-_App_Base = 0x08020800;
-_App_Length = 122K;

main.cpp

@@ -24,11 +24,10 @@
 #include <algorithm>
 #include <atomic>
 #include <bit>
+#include <cstdint>
 #include <cstring>
 
 #include "stm32f1xx_hal.h"
-#include "ab_boot/ab_boot.h"
-#include "persist/persist.h"
 
 #include "defines.h"
 #include "config.h"
@@ -39,8 +38,6 @@
 #endif
 #ifdef FEATURE_CAN
 #include "bobbycar-can.h"
-#include "flasher/Flasher.hpp"
-#include "flasher/CANFlasher.hpp"
 #endif
 
 extern "C" {
@@ -114,7 +111,7 @@ CAN_HandleTypeDef     CanHandle;
 #define CANx_TX_IRQn                   USB_HP_CAN1_TX_IRQn
 #define CANx_TX_IRQHandler             USB_HP_CAN1_TX_IRQHandler
 
-constexpr bool doDelayWithCanPoll = true;
+constexpr bool doDelayWithCanPoll = false;
 #endif
 
 #ifdef LOG_TO_SERIAL
@@ -178,8 +175,6 @@ protocol::serial::Feedback feedback;
 #ifdef FEATURE_CAN
 std::atomic<int16_t> timeoutCntLeft   = 0;
 std::atomic<int16_t> timeoutCntRight  = 0;
-
-uint32_t *reboot_request_address = 0;
 #endif
 
 uint32_t main_loop_counter;
@@ -253,8 +248,6 @@ void sendFeedback();
 void parseCanCommand();
 void applyIncomingCanMessage();
 void sendCanFeedback();
-void sendFlasherFeedback();
-void handleFlasher();
 #endif
 
 #ifdef FEATURE_BUTTON
@@ -325,6 +318,7 @@ int main()
 
         enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };
 
+#ifndef FEATURE_BETTER_FOC_CONFIG
 #ifdef PETERS_PLATINE
         left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
 #else
@@ -332,6 +326,23 @@ int main()
 #endif
 
         right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
+#else
+#ifdef LEFT_PHASE_MEAS_AB
+        left.rtP.z_selPhaCurMeasABC  = CurrentMeasAB;
+#elif LEFT_PHASE_MEAS_BC
+        left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
+#else
+        left.rtP.z_selPhaCurMeasABC  = CurrentMeasAC;
+#endif
+
+#ifdef RIGHT_PHASE_MEAS_AB
+        right.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
+#elif RIGHT_PHASE_MEAS_BC
+        right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
+#else
+        right.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
+#endif
+#endif
     }
 
     applyDefaultSettings();
@@ -385,7 +396,6 @@ int main()
                 while ((HAL_GetTick() - tickstart) < wait)
                 {
                     applyIncomingCanMessage();
-                    sendFlasherFeedback();
                 }
             };
 
@@ -413,7 +423,6 @@ int main()
         parseCanCommand();
 
         sendCanFeedback();
-        handleFlasher();
 #endif
 
 #ifdef FEATURE_BUTTON
@@ -458,7 +467,6 @@ void updateMotors()
     if (offsetcount < 2000) // calibrate ADC offsets
     {
         offsetcount++;
-        // TODO this is not an average
         offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
         offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
         offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
@@ -488,11 +496,11 @@ void updateMotors()
 #endif
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
-    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * A2BIT_CONV);
+    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
     if (chopL)
         left.chops++;
 
-    const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * A2BIT_CONV);
+    const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * AMPERE2BIT_CONV);
     if (chopR)
         right.chops++;
 
@@ -1375,36 +1383,22 @@ void MX_ADC2_Init()
     __HAL_ADC_ENABLE(&hadc2);
 }
 
-void shutdown()
+#ifdef FEATURE_BUTTON
+void poweroff()
 {
+//  if (abs(speed) < 20) {  // wait for the speed to drop, then shut down -> this is commented out for SAFETY reasons
     buzzer.pattern = 0;
     left.enable = false;
-    right.enable = false;
+    right.enable = 0;
 
     for (int i = 0; i < 8; i++) {
         buzzer.freq = (uint8_t)i;
         HAL_Delay(50);
     }
-}
-
-#ifdef FEATURE_BUTTON
-void poweroff()
-{
-    shutdown();
-
     HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
     for (int i = 0; i < 5; i++)
         HAL_Delay(1000);
-}
-#endif
-
-#ifdef FEATURE_CAN
-void reboot_new_image(uint32_t *bootp)
-{
-    shutdown();
-
-    request_boot_image(bootp);
-    HAL_NVIC_SystemReset();
+//  }
 }
 #endif
 
@@ -1413,8 +1407,8 @@ void communicationTimeout()
 {
     applyDefaultSettings();
 
-    //buzzer.freq = 24;
-    //buzzer.pattern = 1;
+    buzzer.freq = 24;
+    buzzer.pattern = 1;
 
     HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_RESET);
 }
@@ -1429,21 +1423,21 @@ void doMotorTest()
     left.enable = true;
     left.rtU.r_inpTgt            = pwm;
     left.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
-    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Torque);
-    left.rtP.i_max               = (2 * A2BIT_CONV) << 4;
+    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Voltage);
+    left.rtP.i_max               = (2 * AMPERE2BIT_CONV) << 4;
     left.iDcMax                  = 8;
     left.rtP.n_max               = 1000 << 4;
-    left.rtP.id_fieldWeakMax     = (0 * A2BIT_CONV) << 4;
+    left.rtP.id_fieldWeakMax     = (0 * AMPERE2BIT_CONV) << 4;
     left.rtP.a_phaAdvMax         = 40 << 4;
 
     right.enable = true;
     right.rtU.r_inpTgt           = -pwm;
     right.rtP.z_ctrlTypSel       = uint8_t(ControlType::FieldOrientedControl);
-    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Torque);
-    right.rtP.i_max              = (2 * A2BIT_CONV) << 4;
+    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Voltage);
+    right.rtP.i_max              = (2 * AMPERE2BIT_CONV) << 4;
     right.iDcMax                 = 8;
     right.rtP.n_max              = 1000 << 4;
-    right.rtP.id_fieldWeakMax    = (0 * A2BIT_CONV) << 4;
+    right.rtP.id_fieldWeakMax    = (0 * AMPERE2BIT_CONV) << 4;
     right.rtP.a_phaAdvMax        = 40 << 4;
 
     constexpr auto pwmMax = 400;
@@ -1496,9 +1490,9 @@ void parseCommand()
         left.iDcMax = command.left.iDcMax;
 
         left.rtP.z_ctrlTypSel    = uint8_t(command.left.ctrlTyp);
-        left.rtP.i_max           = (int16_t(command.left.iMotMax) * A2BIT_CONV) << 4;
+        left.rtP.i_max           = (int16_t(command.left.iMotMax) * AMPERE2BIT_CONV) << 4;
         left.rtP.n_max           = command.left.nMotMax << 4;
-        left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * A2BIT_CONV) << 4;
+        left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * AMPERE2BIT_CONV) << 4;
         left.rtP.a_phaAdvMax     = command.left.phaseAdvMax << 4;
         left.rtU.z_ctrlModReq    = uint8_t(command.left.ctrlMod);
         left.rtU.r_inpTgt        = command.left.pwm;
@@ -1506,9 +1500,9 @@ void parseCommand()
         right.iDcMax = command.right.iDcMax;
 
         right.rtP.z_ctrlTypSel    = uint8_t(command.right.ctrlTyp);
-        right.rtP.i_max           = (int16_t(command.right.iMotMax) * A2BIT_CONV) << 4;        // fixdt(1,16,4)
+        right.rtP.i_max           = (int16_t(command.right.iMotMax) * AMPERE2BIT_CONV) << 4;        // fixdt(1,16,4)
         right.rtP.n_max           = command.right.nMotMax << 4;                       // fixdt(1,16,4)
-        right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * A2BIT_CONV) << 4;   // fixdt(1,16,4)
+        right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * AMPERE2BIT_CONV) << 4;   // fixdt(1,16,4)
         right.rtP.a_phaAdvMax     = command.right.phaseAdvMax << 4;                   // fixdt(1,16,4)
         right.rtU.z_ctrlModReq    = uint8_t(command.right.ctrlMod);
         right.rtU.r_inpTgt        = command.right.pwm;
@@ -1649,16 +1643,16 @@ void applyIncomingCanMessage()
     case MotorController<isBackBoard, true> ::Command::CtrlTyp:       right.rtP.z_ctrlTypSel    = *((uint8_t*)buf);       break;
     case MotorController<isBackBoard, false>::Command::CtrlMod:       left .rtU.z_ctrlModReq    = *((uint8_t*)buf);       break;
     case MotorController<isBackBoard, true> ::Command::CtrlMod:       right.rtU.z_ctrlModReq    = *((uint8_t*)buf);       break;
-    case MotorController<isBackBoard, false>::Command::IMotMax:       left .rtP.i_max           = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::IMotMax:       right.rtP.i_max           = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::IMotMax:       left .rtP.i_max           = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::IMotMax:       right.rtP.i_max           = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
     case MotorController<isBackBoard, false>::Command::IDcMax:        left .iDcMax              = *((uint8_t*)buf);       break;
     case MotorController<isBackBoard, true> ::Command::IDcMax:        right.iDcMax              = *((uint8_t*)buf);       break;
     case MotorController<isBackBoard, false>::Command::NMotMax:       left .rtP.n_max           = *((uint16_t*)buf) << 4; break;
     case MotorController<isBackBoard, true> ::Command::NMotMax:       right.rtP.n_max           = *((uint16_t*)buf) << 4; break;
-    case MotorController<isBackBoard, false>::Command::FieldWeakMax:  left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::FieldWeakMax:  right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, false>::Command::PhaseAdvMax:   left .rtP.a_phaAdvMax     = *((uint16_t*)buf) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::PhaseAdvMax:   right.rtP.a_phaAdvMax     = *((uint16_t*)buf) << 4; break;
+    case MotorController<isBackBoard, false>::Command::FieldWeakMax:  left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::FieldWeakMax:  right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::PhaseAdvMax:   left .rtP.a_phaAdvMax     = ((uint16_t)*((uint8_t*)buf)) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::PhaseAdvMax:   right.rtP.a_phaAdvMax     = ((uint16_t)*((uint8_t*)buf)) << 4; break;
     case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
     case MotorController<isBackBoard, true> ::Command::CruiseCtrlEna: right.rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
     case MotorController<isBackBoard, false>::Command::CruiseMotTgt:  left .rtP.n_cruiseMotTgt  = *((int16_T*)buf);       break;
@@ -1673,21 +1667,11 @@ void applyIncomingCanMessage()
         break;
     case MotorController<isBackBoard, false>::Command::Poweroff:
     case MotorController<isBackBoard, true>::Command::Poweroff:
-        {
-            if (header.DLC >= 2)
-            {
-                // Reboot selected image
-                reboot_request_address = (uint32_t *)((*(uint8_t *)buf == 0) ? APP_A_START : APP_B_START);
-            }
-            else
-            {
 #ifdef FEATURE_BUTTON
-                if (*((bool*)buf))
-                    poweroff();
+        if (*((bool*)buf))
+            poweroff();
 #endif
-            }
-            break;
-        }
+        break;
     default:
 #ifndef CAN_LOG_UNKNOWN_ADDR
         if constexpr (false)
@@ -1786,41 +1770,6 @@ void sendCanFeedback()
 
     arr[whichToSend++]();
 }
-
-void sendFlasherFeedback() {
-    using bobbycar::protocol::can::MotorController;
-    static CAN_TxHeaderTypeDef header = {
-        .StdId = MotorController<isBackBoard, false>::Command::FlasherCtrl,
-        .ExtId = 0,
-        .IDE = CAN_ID_STD,
-        .RTR = CAN_RTR_DATA,
-        .DLC = can_flasher::FeedbackSize,
-        .TransmitGlobalTime = DISABLE
-    };
-
-    if (HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) == 0)
-        return;
-
-    uint8_t buf[8];
-    if (!can_flasher::poll_feedback(HAL_GetTick(), buf))
-        return;
-
-    uint32_t TxMailbox;
-    if (const auto result = HAL_CAN_AddTxMessage(&CanHandle, &header, buf, &TxMailbox); result != HAL_OK) {
-        myPrintf("HAL_CAN_AddTxMessage() failed with %i", result);
-        //while (true);
-    }
-}
-
-void handleFlasher()
-{
-    sendFlasherFeedback();
-
-    if (reboot_request_address)
-    {
-        reboot_new_image(reboot_request_address);
-    }
-}
 #endif
 
 #ifdef FEATURE_BUTTON
@@ -1885,10 +1834,10 @@ void applyDefaultSettings()
         motor.rtU.r_inpTgt            = 0;
         motor.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
         motor.rtU.z_ctrlModReq        = uint8_t(ControlMode::OpenMode);
-        motor.rtP.i_max               = (5 * A2BIT_CONV) << 4;
+        motor.rtP.i_max               = (5 * AMPERE2BIT_CONV) << 4;
         motor.iDcMax                  = 7;
         motor.rtP.n_max               = 1000 << 4;
-        motor.rtP.id_fieldWeakMax     = (1 * A2BIT_CONV) << 4;
+        motor.rtP.id_fieldWeakMax     = (1 * AMPERE2BIT_CONV) << 4;
         motor.rtP.a_phaAdvMax         = 40 << 4;
         motor.rtP.b_cruiseCtrlEna     = false;
         motor.rtP.n_cruiseMotTgt      = 0;
@@ -2115,25 +2064,4 @@ extern "C" void CANx_TX_IRQHandler(void)
     using namespace bobbycar::controller;
     HAL_CAN_IRQHandler(&CanHandle);
 }
-
-// CAN flasher stuff
-extern "C" void FLASH_IRQHandler(void)
-{
-    HAL_FLASH_IRQHandler();
-}
-
-extern "C" void HAL_FLASH_EndOfOperationCallback(uint32_t ReturnValue)
-{
-    (void)ReturnValue;
-
-    flasher::flash_callback(true);
-}
-
-extern "C" void HAL_FLASH_OperationErrorCallback(uint32_t ReturnValue)
-{
-    (void)ReturnValue;
-
-    flasher::flash_callback(false);
-}
-
 #endif

persist/persist.c

@@ -1,10 +0,0 @@
-#include <assert.h>
-
-#include "persist.h"
-#include "ab_boot/ab_boot.h"
-
-// keep this in sync with the linker script
-#define PERSIST_SIZE 1024
-
-extern struct persist_data persist;
-static_assert(sizeof(persist) < PERSIST_SIZE);

persist/persist.h

@@ -1,39 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-#include <stdbool.h>
-
-#include "ab_boot/ab_boot.h"
-
-struct persist_data {
-    struct ab_boot_config ab_boot_config;
-    uint32_t checksum;
-};
-
-extern struct persist_data persist;
-
-static inline uint32_t calculate_persist_checksum() {
-    uint32_t checksum = 0;
-    uint32_t *pd = (uint32_t *)&persist;
-    for (int i = 0; i < (sizeof(persist) - 4) / 4; i++) {
-        checksum += pd[i];
-        checksum = (checksum >> 3) | (checksum << 29);
-    }
-
-    checksum = ~checksum;
-
-    return checksum;
-}
-
-static inline void update_persist_checksum() {
-    persist.checksum = calculate_persist_checksum();
-}
-
-static inline bool is_persist_valid() {
-    return calculate_persist_checksum() == persist.checksum;
-}
-
-static inline void request_boot_image(uint32_t *bootp) {
-    persist.ab_boot_config.boot_partition = bootp;
-    update_persist_checksum();
-}

system_stm32f1xx.c

@@ -110,10 +110,10 @@
 /*!< Uncomment the following line if you need to relocate your vector Table in
      Internal SRAM. */
 /* #define VECT_TAB_SRAM */
-extern unsigned int g_pfnVectors[];
-#define VECT_TAB_OFFSET ((unsigned int)g_pfnVectors) /*!< Vector Table base offset field. \
+#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. \
                                  This value must be a multiple of 0x200. */
 
+
 /**
   * @}
   */