Daniel Brunner
0b661709da
* First tries with can * More implementations * More registers * More implementations * Moved canbus registers into protocol submodule * CAN finishing work * Implemented debug utilities * back/front board compile time defines * More compile defines * Fixed disable mosfets stuck * More improvements * More refactorings * Cleanups * Cleanups * Updated merged protocol
112 lines
4.8 KiB
CMake
112 lines
4.8 KiB
CMake
cmake_minimum_required (VERSION 3.5)
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set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
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set(CMAKE_C_COMPILER arm-none-eabi-gcc)
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set(CMAKE_CXX_COMPILER arm-none-eabi-gcc)
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SET(CMAKE_SYSTEM_PROCESSOR arm)
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SET(CMAKE_CROSSCOMPILING 1)
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SET(CMAKE_SYSTEM_NAME Generic)
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set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
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set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
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set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
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set(CMAKE_CXX_FLAGS "${COMMON_FLAGS}")
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 20)
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set(COMMON_LINKER_FLAGS "-specs=nosys.specs -T${CMAKE_SOURCE_DIR}/STM32F103RCTx_FLASH.ld -lc -lm -lnosys -lstdc++ -Wl,--gc-sections -Wl,-Map=${CMAKE_BINARY_DIR}/hover.map,--cref")
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set(CMAKE_EXE_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
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set(CMAKE_SHARED_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
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project(bobbycar-controller-firmware ASM C CXX)
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add_definitions(-DUSE_HAL_DRIVER -DSTM32F103xE)
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include_directories(
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.
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Inc
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy
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STM32CubeF1/Drivers/CMSIS/Device/ST/STM32F1xx/Include
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STM32CubeF1/Drivers/CMSIS/Include
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bobbycar-foc-model
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bobbycar-protocol
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)
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#add_definitions(-DMOTOR_TEST)
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add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
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add_definitions(-DGSCHISSENES_HALL)
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#add_definitions(-DGSCHISSENE_PWM_FREQ)
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#add_definitions(-DFEATURE_BUTTON)
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add_definitions(-DPETERS_PLATINE)
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#add_definitions(-DHUARN2)
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#add_definitions(-DHUARN3)
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#add_definitions(-DFEATURE_SERIAL_CONTROL)
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#add_definitions(-DFEATURE_SERIAL_FEEDBACK)
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#add_definitions(-DLOG_TO_SERIAL)
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add_definitions(-DFEATURE_CAN)
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#add_definitions(-DCAN_LOG_UNKNOWN_ADDR)
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add_definitions(-DIS_BACK)
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add_executable(firmware.elf
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c
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STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c
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bobbycar-foc-model/BLDC_controller.h
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bobbycar-foc-model/BLDC_controller.c
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bobbycar-foc-model/BLDC_controller_data.c
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bobbycar-foc-model/rtwtypes.h
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bobbycar-protocol/bobbycar-can.h
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bobbycar-protocol/bobbycar-common.h
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bobbycar-protocol/bobbycar-serial.h
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startup_stm32f103xe.s
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system_stm32f1xx.c
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config.h
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defines.h
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main.cpp
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)
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add_custom_command(OUTPUT firmware.hex
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COMMAND arm-none-eabi-objcopy -O ihex firmware.elf firmware.hex
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DEPENDS firmware.elf)
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add_custom_command(OUTPUT firmware.bin
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COMMAND arm-none-eabi-objcopy -O binary -S firmware.elf firmware.bin
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DEPENDS firmware.elf)
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add_custom_target(firmware ALL
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SOURCES firmware.hex firmware.bin)
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add_custom_target(flash
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COMMAND st-flash --reset write firmware.bin 0x8000000
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SOURCES firmware.bin
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DEPENDS firmware.bin)
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add_custom_target(debug
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COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg)
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add_custom_target(unlock0
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COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0")
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add_custom_target(unlock1
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COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "mww 0x40022004 0x45670123" -c "mww 0x40022004 0xCDEF89AB" -c "mww 0x40022008 0x45670123" -c "mww 0x40022008 0xCDEF89AB" -c "mww 0x40022010 0x220" -c "mww 0x40022010 0x260" -c "sleep 100" -c "mww 0x40022010 0x230" -c "mwh 0x1ffff800 0x5AA5" -c "sleep 1000" -c "mww 0x40022010 0x2220" -c "sleep 100" -c "mdw 0x40022010" -c "mdw 0x4002201c" -c "mdw 0x1ffff800" -c targets -c "halt" -c "stm32f1x unlock 0")
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add_custom_target(unlock2
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COMMAND openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "mww 0x40022004 0x45670123" -c "mww 0x40022004 0xCDEF89AB" -c "mww 0x40022008 0x45670123" -c "mww 0x40022008 0xCDEF89AB" -c targets -c "halt" -c "stm32f1x unlock 0")
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