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 "${COMMON_LINKER_FLAGS}")
@@ -21,7 +22,7 @@ set(CMAKE_SHARED_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
 
 project(bobbycar-controller-firmware ASM C CXX)
 
-add_definitions(-DUSE_HAL_DRIVER -DSTM32F103xE -DFEATURE_CAN)
+add_definitions(-DUSE_HAL_DRIVER -DSTM32F103xE)
 
 include_directories(
     .
@@ -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
@@ -55,42 +51,417 @@ add_executable(firmware.elf
     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
-    can.c
-    can_feedc0de.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

can.c

@@ -1,347 +0,0 @@
-#include "stm32f1xx_hal.h"
-
-#include "can_feedc0de.h"
-#include "can.h"
-
-/* Definition for CANx clock resources */
-#define CANx                           CAN1
-#define CANx_CLK_ENABLE()              __HAL_RCC_CAN1_CLK_ENABLE()
-#define CANx_GPIO_CLK_ENABLE()         __HAL_RCC_GPIOB_CLK_ENABLE()
-
-#define CANx_FORCE_RESET()             __HAL_RCC_CAN1_FORCE_RESET()
-#define CANx_RELEASE_RESET()           __HAL_RCC_CAN1_RELEASE_RESET()
-
-/* Definition for CANx Pins */
-#define CANx_TX_PIN                    GPIO_PIN_9
-#define CANx_TX_GPIO_PORT              GPIOB
-#define CANx_RX_PIN                    GPIO_PIN_8
-#define CANx_RX_GPIO_PORT              GPIOB
-
-/* Definition for CANx AFIO Remap */
-#define CANx_AFIO_REMAP_CLK_ENABLE()   __HAL_RCC_AFIO_CLK_ENABLE()
-#define CANx_AFIO_REMAP_RX_TX_PIN()    __HAL_AFIO_REMAP_CAN1_2()
-
-/* Definition for CAN's NVIC */
-#define CANx_RX_IRQn                   USB_LP_CAN1_RX0_IRQn
-#define CANx_RX_IRQHandler             USB_LP_CAN1_RX0_IRQHandler
-#define CANx_TX_IRQn                   USB_HP_CAN1_TX_IRQn
-#define CANx_TX_IRQHandler             USB_HP_CAN1_TX_IRQHandler
-
-
-/**
-  ******************************************************************************
-  * @file    CAN/CAN_Networking/Src/main.c
-  * @author  MCD Application Team
-  * @brief   This example shows how to configure the CAN peripheral
-  *          to send and receive CAN frames in normal mode. The sent frames
-  *          are used to control Leds by pressing KEY Push Button.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                        opensource.org/licenses/BSD-3-Clause
-  *
-  ******************************************************************************
-  */
-
-/* Private variables ---------------------------------------------------------*/
-uint8_t ubKeyNumber = 0x0;
-CAN_HandleTypeDef     CanHandle;
-CAN_TxHeaderTypeDef   TxHeader;
-CAN_RxHeaderTypeDef   RxHeader;
-uint8_t               TxData[8];
-uint8_t               RxData[8];
-uint32_t              TxMailbox;
-
-/* Private function prototypes -----------------------------------------------*/
-static void __NO_RETURN Error_Handler(void);
-static void CAN_MspInit(CAN_HandleTypeDef *hcan);
-static void CAN_MspDeInit(CAN_HandleTypeDef *hcan);
-static void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
-static void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan);
-
-/* Private functions ---------------------------------------------------------*/
-
-static uint32_t len_to_dlc(uint8_t len)
-{
-  uint32_t len_u32 = len;
-
-  if (len_u32 <= 8)
-    return len_u32;
-
-  // CAN-FD-only lengths currently not supported
-  Error_Handler();
-}
-
-static uint8_t dlc_to_len(uint32_t dlc)
-{
-  // Check if DLC valid
-  if (dlc & ~0xFu)
-    Error_Handler();
-
-  // CAN-FD-only lengths currently not supported
-  if (dlc > 8)
-    Error_Handler();
-
-  return dlc;
-}
-
-void can_tx(uint16_t id, const uint8_t* data, uint8_t len)
-{
-  TxHeader.StdId = id;
-  TxHeader.DLC = len_to_dlc(len);
-
-  while (HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) < 1)
-  {
-  }
-
-  /* Start the Transmission process */
-  if (HAL_CAN_AddTxMessage(&CanHandle, &TxHeader, (uint8_t *)data, &TxMailbox) != HAL_OK)
-  {
-    /* Transmission request Error */
-    Error_Handler();
-  }
-}
-
-/**
-  * @brief  This function is executed in case of error occurrence.
-  * @param  None
-  * @retval None
-  */
-static void __NO_RETURN Error_Handler(void)
-{
-  while (1)
-  {
-  }
-}
-
-/**
-  * @brief  Configures the CAN.
-  * @param  None
-  * @retval None
-  */
-void can_init(void)
-{
-  CAN_FilterTypeDef  sFilterConfig;
-
-  /* Configure the CAN peripheral */
-  CanHandle.Instance = CANx;
-
-  CanHandle.MspInitCallback = CAN_MspInit;
-  CanHandle.MspDeInitCallback = CAN_MspDeInit;
-
-  CanHandle.Init.TimeTriggeredMode = DISABLE;
-  CanHandle.Init.AutoBusOff = ENABLE;
-  CanHandle.Init.AutoWakeUp = DISABLE;
-  CanHandle.Init.AutoRetransmission = ENABLE;
-  CanHandle.Init.ReceiveFifoLocked = DISABLE;
-  CanHandle.Init.TransmitFifoPriority = DISABLE;
-  CanHandle.Init.Mode = CAN_MODE_NORMAL;
-  CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  CanHandle.Init.TimeSeg1 = CAN_BS1_6TQ;
-  CanHandle.Init.TimeSeg2 = CAN_BS2_1TQ;
-  CanHandle.Init.Prescaler = 4;
-
-  if (HAL_CAN_Init(&CanHandle) != HAL_OK)
-  {
-    /* Initialization Error */
-    Error_Handler();
-  }
-
-  /* Configure the CAN Filter */
-  sFilterConfig.FilterBank = 0;
-  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
-  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
-  sFilterConfig.FilterIdHigh = 0x0000;
-  sFilterConfig.FilterIdLow = CAN_ID_BOARD | (BOARD_INDEX << 4) | CAN_DIRECTION_STW_TO_BOARD;
-  sFilterConfig.FilterMaskIdHigh = 0x0000;
-  sFilterConfig.FilterMaskIdLow = 0x07F1;
-  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
-  sFilterConfig.FilterActivation = ENABLE;
-  sFilterConfig.SlaveStartFilterBank = 14;
-
-  if (HAL_CAN_ConfigFilter(&CanHandle, &sFilterConfig) != HAL_OK)
-  {
-    /* Filter configuration Error */
-    Error_Handler();
-  }
-
-  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID, CAN_RxFifo0MsgPendingCallback) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  if (HAL_CAN_RegisterCallback(&CanHandle, HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID, CAN_TxMailboxCompleteCallback) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /* Start the CAN peripheral */
-  if (HAL_CAN_Start(&CanHandle) != HAL_OK)
-  {
-    /* Start Error */
-    Error_Handler();
-  }
-
-  /* Activate CAN RX notification */
-  if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
-  {
-    /* Notification Error */
-    Error_Handler();
-  }
-
-  /* Activate CAN TX notification */
-  if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
-  {
-    /* Notification Error */
-    Error_Handler();
-  }
-
-  /* Configure Transmission process */
-  TxHeader.StdId = 0x321;
-  TxHeader.ExtId = 0x01;
-  TxHeader.RTR = CAN_RTR_DATA;
-  TxHeader.IDE = CAN_ID_STD;
-  TxHeader.DLC = 2;
-  TxHeader.TransmitGlobalTime = DISABLE;
-}
-
-/**
-  * @brief  Rx Fifo 0 message pending callback in non blocking mode
-  * @param  CanHandle: pointer to a CAN_HandleTypeDef structure that contains
-  *         the configuration information for the specified CAN.
-  * @retval None
-  */
-static void CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)
-{
-  /* Get RX message */
-  if (HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
-  {
-    /* Reception Error */
-    Error_Handler();
-  }
-
-  if (RxHeader.IDE == CAN_ID_STD &&
-      (RxHeader.StdId == CAN_ID_COMMAND_STW_TO_BOARD(BOARD_INDEX) ||
-       RxHeader.StdId == CAN_ID_FEEDBACK_STW_TO_BOARD(BOARD_INDEX)))
-  {
-    can_feedc0de_handle_frame(RxHeader.StdId, RxData, dlc_to_len(RxHeader.DLC));
-  }
-
-  // slightly yucky, but we don't want to block inside the IRQ handler
-  if (HAL_CAN_GetTxMailboxesFreeLevel(CanHandle) >= 2)
-  {
-    can_feedc0de_poll();
-  }
-}
-
-static void CAN_TxMailboxCompleteCallback(CAN_HandleTypeDef *hcan)
-{
-  // slightly yucky, but we don't want to block inside the IRQ handler
-  if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) >= 2)
-  {
-    can_feedc0de_poll();
-  }
-}
-
-/**
-  * @brief CAN MSP Initialization
-  *        This function configures the hardware resources used in this example:
-  *           - Peripheral's clock enable
-  *           - Peripheral's GPIO Configuration
-  *           - NVIC configuration for DMA interrupt request enable
-  * @param hcan: CAN handle pointer
-  * @retval None
-  */
-static void CAN_MspInit(CAN_HandleTypeDef *hcan)
-{
-  GPIO_InitTypeDef   GPIO_InitStruct;
-
-  /*##-1- Enable peripherals and GPIO Clocks #################################*/
-  /* CAN1 Periph clock enable */
-  CANx_CLK_ENABLE();
-  /* Enable GPIO clock ****************************************/
-  CANx_GPIO_CLK_ENABLE();
-  /* Enable AFIO clock and Remap CAN PINs to PB8 and PB9*******/
-  CANx_AFIO_REMAP_CLK_ENABLE();
-  CANx_AFIO_REMAP_RX_TX_PIN();
-
-  /*##-2- Configure peripheral GPIO ##########################################*/
-  /* CAN1 TX GPIO pin configuration */
-  GPIO_InitStruct.Pin = CANx_TX_PIN;
-  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-
-  HAL_GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStruct);
-
-  /* CAN1 RX GPIO pin configuration */
-  GPIO_InitStruct.Pin = CANx_RX_PIN;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-
-  HAL_GPIO_Init(CANx_RX_GPIO_PORT, &GPIO_InitStruct);
-
-  /*##-3- Configure the NVIC #################################################*/
-  /* NVIC configuration for CAN1 Reception complete interrupt */
-  HAL_NVIC_SetPriority(CANx_RX_IRQn, 1, 0);
-  HAL_NVIC_EnableIRQ(CANx_RX_IRQn);
-
-  HAL_NVIC_SetPriority(CANx_TX_IRQn, 1, 0);
-  HAL_NVIC_EnableIRQ(CANx_TX_IRQn);
-}
-
-/**
-  * @brief CAN MSP De-Initialization
-  *        This function frees the hardware resources used in this example:
-  *          - Disable the Peripheral's clock
-  *          - Revert GPIO to their default state
-  * @param hcan: CAN handle pointer
-  * @retval None
-  */
-static void CAN_MspDeInit(CAN_HandleTypeDef *hcan)
-{
-  /*##-1- Reset peripherals ##################################################*/
-  CANx_FORCE_RESET();
-  CANx_RELEASE_RESET();
-
-  /*##-2- Disable peripherals and GPIO Clocks ################################*/
-  /* De-initialize the CAN1 TX GPIO pin */
-  HAL_GPIO_DeInit(CANx_TX_GPIO_PORT, CANx_TX_PIN);
-  /* De-initialize the CAN1 RX GPIO pin */
-  HAL_GPIO_DeInit(CANx_RX_GPIO_PORT, CANx_RX_PIN);
-
-  /*##-4- Disable the NVIC for CAN reception #################################*/
-  HAL_NVIC_DisableIRQ(CANx_RX_IRQn);
-}
-
-/**
-* @brief  This function handles CAN1 RX0 interrupt request.
-* @param  None
-* @retval None
-*/
-void CANx_RX_IRQHandler(void)
-{
-  HAL_CAN_IRQHandler(&CanHandle);
-}
-
-void CANx_TX_IRQHandler(void)
-{
-  HAL_CAN_IRQHandler(&CanHandle);
-}

can.h

@@ -1,38 +0,0 @@
-#pragma once
-
-#define BOARD_INDEX 0
-
-#define CAN_ID_BOARD                    0x300
-
-#define CAN_SUBID_COMMAND               0x000
-#define CAN_SUBID_FEEDBACK              0x002
-#define CAN_SUBID_RESERVED0             0x004
-#define CAN_SUBID_RESERVED1             0x006
-#define CAN_SUBID_RESERVED2             0x008
-#define CAN_SUBID_RESERVED3             0x00a
-#define CAN_SUBID_RESERVED4             0x00c
-#define CAN_SUBID_RESERVED5             0x00e
-
-#define CAN_DIRECTION_STW_TO_BOARD      0x000
-#define CAN_DIRECTION_BOARD_TO_STW      0x001
-
-#define CAN_ID_COMMAND_STW_TO_BOARD(board_index) \
-    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_COMMAND | CAN_DIRECTION_STW_TO_BOARD)
-#define CAN_ID_COMMAND_BOARD_TO_STW(board_index) \
-    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_COMMAND | CAN_DIRECTION_BOARD_TO_STW)
-#define CAN_ID_FEEDBACK_STW_TO_BOARD(board_index) \
-    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_FEEDBACK | CAN_DIRECTION_STW_TO_BOARD)
-#define CAN_ID_FEEDBACK_BOARD_TO_STW(board_index) \
-    (CAN_ID_BOARD | ((board_index) << 4) | CAN_SUBID_FEEDBACK | CAN_DIRECTION_BOARD_TO_STW)
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-void can_init(void);
-void can_tx(uint16_t address, const uint8_t* data, uint8_t len);
-
-#ifdef __cplusplus
-}
-#endif

can_fc.h

@@ -1,216 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-#include <cstdint>
-#include <cstddef>
-#include <cstring>
-#include <algorithm>
-
-#include "can.h"
-
-//#define FC_STRICT
-
-#define FC_PROTOCOL_ERROR()
-#define Error_Handler() while(1)
-
-constexpr const uint8_t FC_CHUNK_SIZE = 7;
-constexpr const uint8_t FC_TAG_INIT = 0x45;
-constexpr const uint8_t FC_TAG_END = 0x7d;
-
-static uint8_t next_tag(uint8_t tag)
-{
-  if (tag == 0)
-  {
-    return FC_TAG_INIT;
-  }
-  else
-  {
-    return tag + 0x04;
-  }
-}
-
-class FCSender
-{
-public:
-  FCSender(uint16_t id) : id(id)
-  {
-  }
-
-  bool tx_pending()
-  {
-    return pos_sent != len && pos_sent == pos_acked;
-  }
-
-  bool transfer_in_progress()
-  {
-    return data != nullptr && pos_acked != len;
-  }
-
-  bool transfer_finished()
-  {
-    return data != nullptr && pos_acked == len;
-  }
-
-  void reset(const uint8_t* data, size_t len)
-  {
-    pos_sent = 0;
-    pos_acked = 0;
-    tag_sent = 0;
-
-    this->data = data;
-    this->len = len;
-  }
-
-  void handle_frame(const uint8_t* payload, uint8_t payload_len)
-  {
-    if (pos_sent == 0)
-      return;
-
-    if (payload_len != 1)
-      return;
-
-    if (payload[0] != tag_sent)
-      return;
-
-    pos_acked = pos_sent;
-  }
-
-  void tx()
-  {
-    uint8_t payload[1 + FC_CHUNK_SIZE];
-
-    // Still waiting for ack, or done transmitting
-    if (!tx_pending())
-      return;
-
-    size_t new_pos_sent = std::min(pos_sent + FC_CHUNK_SIZE, len);
-    uint8_t sent_size = new_pos_sent - pos_sent;
-    uint8_t new_tag_sent = next_tag(tag_sent);
-    if (new_tag_sent == FC_TAG_END)
-      Error_Handler();
-
-    payload[0] = new_tag_sent;
-    memcpy(&payload[1], data + pos_sent, sent_size);
-    can_tx(id, payload, 1 + sent_size);
-
-    pos_sent = new_pos_sent;
-    tag_sent = new_tag_sent;
-  }
-
-private:
-  uint16_t id;
-  const uint8_t* data;
-  size_t len;
-  size_t pos_sent;
-  size_t pos_acked;
-  uint8_t tag_sent;
-};
-
-class FCReceiver
-{
-public:
-  FCReceiver(uint16_t id, uint8_t* data, size_t len) : id(id)
-  {
-    reset(data, len);
-  }
-
-  bool ack_pending()
-  {
-    return pos_received != pos_acked;
-  }
-
-  bool transfer_in_progress()
-  {
-    return ready && data != nullptr && pos_acked != len;
-  }
-
-  bool transfer_finished()
-  {
-    return ready && data != nullptr && pos_acked == len;
-  }
-
-  void reset(uint8_t* data, size_t len)
-  {
-    // Poor man's mutex
-    ready = false;
-
-    pos_received = 0;
-    pos_acked = 0;
-    tag_expected = next_tag(0);
-
-    this->data = data;
-    this->len = len;
-
-    ready = true;
-  }
-
-  void handle_frame(const uint8_t* payload, uint8_t payload_len)
-  {
-    if (!transfer_in_progress())
-      return;
-
-    if (tag_expected == FC_TAG_END)
-      return;
-
-    if (payload_len < 1)
-      return;
-
-    // Reset receiver if frame with FC_TAG_INIT received when expecting different one
-    if (payload[0] == FC_TAG_INIT && tag_expected != FC_TAG_INIT)
-      reset(data, len);
-
-    // Don't accept new data if we haven't acked the previous data yet
-    if (ack_pending())
-      return;
-
-    uint8_t data_len = payload_len - 1;
-    if (data_len > len - pos_received)
-      return;
-
-    // Ignore all other tags
-    if (payload[0] != tag_expected)
-      return;
-
-    memcpy(&data[pos_received], &payload[1], data_len);
-
-    pos_received += data_len;
-  }
-
-  void ack()
-  {
-    uint8_t payload[1];
-
-    if (!ack_pending())
-      return;
-
-    // Poor man's mutex
-    ready = false;
-
-    // ISR may have called reset() in the mean time
-    if (!ack_pending())
-    {
-      ready = true;
-      return;
-    }
-
-    payload[0] = tag_expected;
-    can_tx(id, payload, sizeof(payload));
-
-    pos_acked = pos_received;
-    tag_expected = next_tag(tag_expected);
-
-    ready = true;
-  }
-
-private:
-  bool ready;
-
-  uint16_t id;
-  uint8_t* data;
-  size_t len;
-  size_t pos_received;
-  size_t pos_acked;
-  uint8_t tag_expected;
-};
-
-#endif // __cplusplus

can_feedc0de.cpp

@@ -1,100 +0,0 @@
-#include <cstdint>
-#include <cstddef>
-#include <cstring>
-
-#include "config.h"
-#include "protocol.h"
-#include "can_fc.h"
-
-#include "can_feedc0de.h"
-
-
-static_assert((sizeof(Command) + FC_CHUNK_SIZE - 1) / FC_CHUNK_SIZE < 15);
-
-template <class Sent, class Received>
-void CANFeedc0de<Sent, Received>::poll()
-{
-  feedc0de_fcs.tx();
-  feedc0de_fcr.ack();
-}
-
-template <class Sent, class Received>
-void CANFeedc0de<Sent, Received>::send(const Sent& in)
-{
-  sent = in;
-  feedc0de_fcs.reset(((uint8_t*)&sent) + 2, sizeof(sent) - 4);
-}
-
-template <class Sent, class Received>
-bool CANFeedc0de<Sent, Received>::get(Received& out)
-{
-  if (!feedc0de_fcr.transfer_finished())
-    return false;
-
-  out = received;
-  feedc0de_fcr.reset(((uint8_t*)&received) + 2, sizeof(received) - 4);
-
-  return true;
-}
-
-template <class Sent, class Received>
-bool CANFeedc0de<Sent, Received>::handle_frame(uint16_t id, uint8_t* frame, uint8_t len)
-{
-  if (id == fcs_rx_can_id)
-  {
-    feedc0de_fcs.handle_frame(frame, len);
-    return true;
-  }
-  else if (id == fcr_rx_can_id)
-  {
-    feedc0de_fcr.handle_frame(frame, len);
-    return true;
-  }
-
-  return false;
-}
-
-#ifdef CAN_FEEDCODE_STW
-template class CANFeedc0de<Command, Feedback>;
-
-extern "C"
-{
-
-void can_feedc0de_handle_frame(uint16_t id, uint8_t* frame, uint8_t len)
-{
-  extern CANFeedc0de<Command, Feedback> can_instances[NUM_BOARDS_MAX];
-
-  bool handled = false;
-  for (size_t i = 0; i < NUM_BOARDS_MAX; i++)
-  {
-    if (can_instances[i].handle_frame(id, frame, len))
-      handled = true;
-  }
-
-  if (!handled)
-    Error_Handler();
-}
-
-}
-
-#else
-template class CANFeedc0de<Feedback, Command>;
-
-extern "C"
-{
-
-void can_feedc0de_handle_frame(uint16_t id, uint8_t* frame, uint8_t len)
-{
-  extern CANFeedc0de<Feedback, Command> can_feedc0de;
-  if (!can_feedc0de.handle_frame(id, frame, len))
-    Error_Handler();
-}
-
-void can_feedc0de_poll()
-{
-  extern CANFeedc0de<Feedback, Command> can_feedc0de;
-  can_feedc0de.poll();
-}
-
-}
-#endif

can_feedc0de.h

@@ -1,46 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-#include <cstdint>
-#include "protocol.h"
-#include "can_fc.h"
-
-template <class Sent, class Received>
-class CANFeedc0de
-{
-public:
-  CANFeedc0de(uint16_t fcs_tx_can_id, uint16_t fcs_rx_can_id,
-              uint16_t fcr_tx_can_id, uint16_t fcr_rx_can_id)
-    : fcs_rx_can_id(fcs_rx_can_id),
-      fcr_rx_can_id(fcr_rx_can_id),
-      feedc0de_fcs(fcs_tx_can_id),
-      feedc0de_fcr(fcr_tx_can_id, (uint8_t *)&received + 2, sizeof(received) - 4)
-  {
-  };
-
-  void poll();
-  bool handle_frame(uint16_t id, uint8_t* frame, uint8_t len);
-  void send(const Sent& in);
-  bool get(Received& out);
-
-private:
-  Sent sent;
-  Received received;
-
-  uint16_t fcs_rx_can_id;
-  uint16_t fcr_rx_can_id;
-
-  FCSender feedc0de_fcs;
-  FCReceiver feedc0de_fcr;
-};
-
-extern "C"
-{
-#endif
-
-void can_feedc0de_handle_frame(uint16_t id, uint8_t* frame, uint8_t len);
-void can_feedc0de_poll();
-
-#ifdef __cplusplus
-}
-#endif

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

@@ -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         1U /* 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       */