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

Ignore -Wvolatile warnings from STM32 HAL

.github/workflows/workflow.yml

@@ -0,0 +1,33 @@
+name: CI
+on:
+  push:
+  release:
+    types:
+      - created
+#  pull_request:
+#    types: [opened, synchronize, reopened]
+
+# checkout, install make and try to build
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        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:
+          submodules: 'true'
+
+      - name: Install make
+        run: |
+          sudo apt update -y
+          sudo apt install -y binutils-arm-none-eabi gcc-arm-none-eabi libnewlib-arm-none-eabi cmake make
+          
+      - name: Build
+        id: build
+        run: |
+          cmake -DCMAKE_BUILD_TYPE=Release .
+          make -j$(nproc) ${{ matrix.config }}

.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

@@ -10,10 +10,11 @@ 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} -std=gnu11")
-set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -std=c++17")
+set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
+set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 20)
 
 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}")
@@ -33,12 +34,7 @@ include_directories(
     bobbycar-protocol
 )
 
-#add_definitions(-DMOTOR_TEST)
-#add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
-add_definitions(-DFEATURE_BUTTON)
-#add_definitions(-DPETERS_PLATINE)
-
-add_executable(firmware.elf
+add_library(stm32_hal STATIC
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c
@@ -54,40 +50,418 @@ add_executable(firmware.elf
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c
     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
     bobbycar-foc-model/BLDC_controller.h
     bobbycar-foc-model/BLDC_controller.c
     bobbycar-foc-model/BLDC_controller_data.c
     bobbycar-foc-model/rtwtypes.h
-
-    bobbycar-protocol/protocol.h
-
-    startup_stm32f103xe.s
-    system_stm32f1xx.c
-
-    config.h
-    defines.h
-    main.cpp
 )
 
-add_custom_command(OUTPUT firmware.hex
-                   COMMAND arm-none-eabi-objcopy -O ihex firmware.elf firmware.hex
-                   DEPENDS firmware.elf)
+add_library(bobbycar-protocol INTERFACE
+)
 
-add_custom_command(OUTPUT firmware.bin
-                   COMMAND arm-none-eabi-objcopy -O binary -S firmware.elf firmware.bin
-                   DEPENDS firmware.elf)
 
-add_custom_target(firmware ALL
-                  SOURCES firmware.hex firmware.bin)
 
-add_custom_target(flash
-                  COMMAND st-flash --reset write firmware.bin 0x8000000
-                  SOURCES firmware.bin)
 
+#
+# motor test
+#
+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
+    -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
+)
+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 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin)
+
+#
+# motor test peter
+#
+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
+    -DFEATURE_IGNORE_OTHER_MOTOR
+    -DHALL_ABC
+    #    -DPWM_FREQ_12KHZ
+    #    -DFEATURE_BUTTON
+    -DPETERS_PLATINE
+    #     -DFEATURE_INVERT_HALL
+    #    -DHUART2
+    #    -DHUART3
+    #    -DFEATURE_SERIAL_CONTROL
+    #    -DFEATURE_SERIAL_FEEDBACK
+    #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+    #    -DCAN_LOG_UNKNOWN_ADDR
+        -DIS_BACK
+)
+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 0x8000000 SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
+
+
+#
+# feedc0de front
+#
+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
+    -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
+)
+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 0x8000000 SOURCES feedcode-front.bin DEPENDS feedcode-front.bin)
+
+#
+# feedc0de back
+#
+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
+    -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
+)
+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 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 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
+    -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
+)
+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 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin)
+
+#
+# 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
+)
+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
 add_custom_target(debug
                   COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg)
-
 add_custom_target(unlock0
                   COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0")
 add_custom_target(unlock1

README.md

@@ -8,6 +8,7 @@ sudo pacman -Sy --noconfirm \
     arm-none-eabi-gdb \
     arm-none-eabi-newlib \
     cmake \
+    make \
     openocd \
     stlink
 
@@ -15,7 +16,10 @@ git clone --recursive git@github.com:bobbycar-graz/bobbycar-controller-firmware.
 cd bobbycar-controller-firmware/
 cmake -DCMAKE_BUILD_TYPE=Release .
 make unlock0 # needed only once per board
-make flash
+make flash-motortest
+make flash-feedc0de-front
+make flash-feedc0de-back
+make flash-greyhash
 ```
 
 ## Hardware

config.h

@@ -1,18 +1,15 @@
 #pragma once
 
-#ifdef PETERS_PLATINE
+#ifdef PWM_FREQ_12KHZ
 #define PWM_FREQ            12000     // PWM frequency in Hz
 #else
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
 #define DEAD_TIME              48     // PWM deadtime
-//#ifdef MOTOR_TEST
-//  #define DELAY_IN_MAIN_LOOP    10
-//#else
-  #define DELAY_IN_MAIN_LOOP    5
-//#endif
-#define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
-#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)
@@ -50,13 +47,7 @@
 #define BAT_CALIB_REAL_VOLTAGE  3970      // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
 #define BAT_CALIB_ADC           1492      // adc-value measured by mainboard (value nr 5 on UART debug output)
 
-#define BAT_CELLS               10        // battery number of cells. Normal Hoverboard battery: 10s
-#define BAT_LOW_LVL1_ENABLE     0         // to beep or not to beep, 1 or 0
-#define BAT_LOW_LVL2_ENABLE     1         // to beep or not to beep, 1 or 0
-#define BAT_LOW_LVL1            (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // gently beeps at this voltage level. [V*100/cell]. In this case 3.60 V/cell
-#define BAT_LOW_LVL2            (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
-#define BAT_LOW_DEAD            (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell
-
+#define BAT_CELLS               12        // battery number of cells. Normal Hoverboard battery: 10s
 
 /* Board overheat detection: the sensor is inside the STM/GD chip.
  * It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
@@ -70,13 +61,6 @@
 #define TEMP_CAL_LOW_DEG_C      358       // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
 #define TEMP_CAL_HIGH_ADC       1588      // temperature 2: ADC value
 #define TEMP_CAL_HIGH_DEG_C     489       // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
-#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
-#define TEMP_WARNING            600       // annoying fast beeps [°C * 10].  Here 60.0 °C
-#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
-#define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
-
-#define INACTIVITY_TIMEOUT      8         // minutes of not driving until poweroff. it is not very precise.
-
 
 
 // ############################### INPUT ###############################

defines.h

@@ -23,33 +23,96 @@
 #include "stm32f1xx_hal.h"
 
 #ifdef PETERS_PLATINE
+
+#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 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 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 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 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 //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 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 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 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 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 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 //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
+#endif
 
     #define RIGHT_HALL_U_PORT GPIOB
     #define RIGHT_HALL_V_PORT GPIOB
     #define RIGHT_HALL_W_PORT GPIOB
+#else // defined(PETERS_PLATINE)
+#ifdef HALL_BCA
+    #define LEFT_HALL_U_PIN GPIO_PIN_7
+    #define LEFT_HALL_V_PIN GPIO_PIN_6
+    #define LEFT_HALL_W_PIN GPIO_PIN_5
 #else
     #define LEFT_HALL_U_PIN GPIO_PIN_5
     #define LEFT_HALL_V_PIN GPIO_PIN_6
     #define LEFT_HALL_W_PIN GPIO_PIN_7
+#endif
 
     #define LEFT_HALL_U_PORT GPIOB
     #define LEFT_HALL_V_PORT GPIOB
     #define LEFT_HALL_W_PORT GPIOB
 
+#ifdef HALL_BCA
+    #define RIGHT_HALL_U_PIN GPIO_PIN_12
+    #define RIGHT_HALL_V_PIN GPIO_PIN_11
+    #define RIGHT_HALL_W_PIN GPIO_PIN_10
+#else
     #define RIGHT_HALL_U_PIN GPIO_PIN_10
     #define RIGHT_HALL_V_PIN GPIO_PIN_11
     #define RIGHT_HALL_W_PIN GPIO_PIN_12
+#endif
 
     #define RIGHT_HALL_U_PORT GPIOC
     #define RIGHT_HALL_V_PORT GPIOC

stm32f1xx_hal_conf.h

@@ -36,7 +36,7 @@ extern "C" {
   */
 #define HAL_MODULE_ENABLED
 #define HAL_ADC_MODULE_ENABLED
-/* #define HAL_CAN_MODULE_ENABLED */
+#define HAL_CAN_MODULE_ENABLED
 /* #define HAL_CAN_LEGACY_MODULE_ENABLED */
 /* #define HAL_CEC_MODULE_ENABLED */
 #define HAL_CORTEX_MODULE_ENABLED
@@ -129,7 +129,7 @@ extern "C" {
 #define  PREFETCH_ENABLE              1U
 
 #define  USE_HAL_ADC_REGISTER_CALLBACKS         0U /* ADC register callback disabled       */
-#define  USE_HAL_CAN_REGISTER_CALLBACKS         0U /* CAN register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         1  /* CAN register callback disabled       */
 #define  USE_HAL_CEC_REGISTER_CALLBACKS         0U /* CEC register callback disabled       */
 #define  USE_HAL_DAC_REGISTER_CALLBACKS         0U /* DAC register callback disabled       */
 #define  USE_HAL_ETH_REGISTER_CALLBACKS         0U /* ETH register callback disabled       */