From 872d86f021ac100308664e793a89e9400544e8ee Mon Sep 17 00:00:00 2001 From: EmanuelFeru Date: Sun, 16 Feb 2020 21:58:15 +0100 Subject: [PATCH] Added Keil project Project can now be built and flashed with Keil uVision as well. --- .gitignore | 5 + .../BLDCmotorControl_FOC_R2017b_fixdt.slx | Bin 207722 -> 207526 bytes Inc/comms.h | 9 +- Inc/config.h | 76 +- Inc/defines.h | 10 +- MDK-ARM/mainboard-hack.uvoptx | 1636 ++++++ MDK-ARM/mainboard-hack.uvprojx | 4691 +++++++++++++++++ MDK-ARM/startup_stm32f103xe.s | 373 ++ README.md | 9 +- Src/bldc.c | 2 +- Src/main.c | 46 +- build/firmware.bin | Bin 20276 -> 0 bytes build/firmware.elf | Bin 391284 -> 0 bytes .../pictures}/motor_winding.png | Bin platformio.ini | 25 + 15 files changed, 6827 insertions(+), 55 deletions(-) create mode 100644 MDK-ARM/mainboard-hack.uvoptx create mode 100644 MDK-ARM/mainboard-hack.uvprojx create mode 100644 MDK-ARM/startup_stm32f103xe.s delete mode 100644 build/firmware.bin delete mode 100644 build/firmware.elf rename {01_Matlab/02_Figures => docs/pictures}/motor_winding.png (100%) diff --git a/.gitignore b/.gitignore index 236f30a..799096c 100644 --- a/.gitignore +++ b/.gitignore @@ -3,3 +3,8 @@ .pioenvs/ .vscode/ 01_Matlab/slprj/ +MDK-ARM/DebugConfig/ +MDK-ARM/Listing/ +MDK-ARM/Objects/ +MDK-ARM/RTE/ +MDK-ARM/*.uvguix.* \ No newline at end of file diff --git a/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx b/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx index 9e8e65b06f9f09e59a7dabf6164ed4398731bd68..f8f04ca6d17a970bb1594084dc273cdeec23787b 100644 GIT binary patch delta 95602 zcmaELjc3_a9^n9QW)=|!1_llWjp&VjMf+|)zco=?`yfVzaQ~jP||rz zA@D_KR(Ot}cHTN$U!6zxn_|7>Gvkxz=cwn+eyh|nrP=uNXLIBEZ(p9>{py6Yg?{fm zRo7|iEGFhouhOR3tQC8?z2(P&EeUfk8hC$uAY2sezjN)5!ViZfx%E6gu(WPjzhkay zF2}Y-S3Zl0e3ldvlA0|2ScLn>YpE>B`c&QvM(5X0Jfl{Bx6o_eMaDUw<{vUNp71`7 z?@HeG(`Dil5C7x-mHqRBao;SjyU|A#Eq@$lGCB4(JC&s*xJqu8oOk#g#$zl8nXWGU z82s#KQr-3_71L`wd_HQg4?DU<>y*~{_+?)X|BL&u!E9aJrVDn`-(OYdbbM=JI6rp_ 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zDam%ag95W3Q@!K#2@1?6GUe@@@4sziWVrcXkU^3G0vN$myVLXs3e2v|TfQ((Z&YFy zo^Gwktk1MlaQa3?W|8R)AkIa75XYJ6xi5$ona-uetk1-s1L63CI2K(H&J++QX$6FH z6U50q2I0slGwU-|J%MnNm6`RKH!?9pEL@??Y{YzvnR)tMWo9qtAP(l~S}M%$%*ve1 z(@RvCLzq8tGEYCP!W_)Jjf;7@qAIf&b2K;e^gLB&M`mvk=INVMneDjz#h4l5i&Arn z^`}ozV-}q*F3v2#4e}qvlV_*rsWAsKzLUYcc+S2;_kTUZ^wkOrNXCEXN!x2R2=P`dv+CW9CB; jp6ql3EoM_@b$PIy?DV;E%-qu_XfX@0t(IqIU|;|MrL7Hx diff --git a/Inc/comms.h b/Inc/comms.h index f293f09..6bdb730 100644 --- a/Inc/comms.h +++ b/Inc/comms.h @@ -19,10 +19,15 @@ * along with this program. If not, see . */ -#pragma once +// Define to prevent recursive inclusion +#ifndef COMMS_H +#define COMMS_H #include "stm32f1xx_hal.h" void setScopeChannel(uint8_t ch, int16_t val); void consoleScope(void); -void consoleLog(char *message); \ No newline at end of file +void consoleLog(char *message); + +#endif + diff --git a/Inc/config.h b/Inc/config.h index bc8daf8..5b37992 100644 --- a/Inc/config.h +++ b/Inc/config.h @@ -1,11 +1,14 @@ -#pragma once +// Define to prevent recursive inclusion +#ifndef CONFIG_H +#define CONFIG_H + #include "stm32f1xx_hal.h" -// ############################### GENERAL SETTINGS ############################### -// For variant selection, check platformio.ini -// or define the desired build variant here if you want to use make in console -// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_NUNCHUK" -// Only one at a time, choose wisely ;-) +// ############################### VARIANT SELECTION ############################### +// PlatformIO: uncomment desired variant in platformio.ini +// Keil uVision: select desired variant from the Target drop down menu (to the right of the Load button) +// Ubuntu: define the desired build variant here if you want to use make in console +// or use VARIANT environment variable for example like "make -e VARIANT=VARIANT_NUNCHUK". Select only one at a time. #if !defined(PLATFORMIO) //#define VARIANT_ADC // Variant for control via ADC input //#define VARIANT_USART // Variant for Serial control via USART3 input @@ -13,12 +16,10 @@ //#define VARIANT_PPM // Variant for RC-Remote with PPM-Sum Signal //#define VARIANT_IBUS // Variant for RC-Remotes with FLYSKY IBUS //#define VARIANT_HOVERCAR // Variant for HOVERCAR build + //#define VARIANT_HOVERBOARD // Variant for HOVERBOARD build //#define VARIANT_TRANSPOTTER // Variant for TRANSPOTTER build https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter https://hackaday.io/project/161891-transpotter-ng #endif - -#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise. -#define BEEPS_BACKWARD 1 // 0 or 1 -// ########################### END OF GENERAL SETTINGS ############################ +// ########################### END OF VARIANT SELECTION ############################ // ############################### DO-NOT-TOUCH SETTINGS ############################### @@ -147,6 +148,26 @@ +// ############################## DEFAULT SETTINGS ############################ +// Default settings will be applied at the end of this config file if not set before +#define INACTIVITY_TIMEOUT 8 // Minutes of not driving until poweroff. it is not very precise. +#define BEEPS_BACKWARD 1 // 0 or 1 +// #define SUPPORT_BUTTONS // Define for buttons support on ADC, Nunchuck + +/* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16 + * Value of COEFFICIENT is in fixdt(1,16,14) + * If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14 + * If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14). +*/ +// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4 +#define DEFAULT_RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767) +#define DEFAULT_FILTER 6553 // Default for FILTER 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0]. +#define DEFAULT_SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 +#define DEFAULT_STEER_COEFFICIENT 8192 // Defualt for STEER_COEFFICIENT 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0. +// ######################### END OF DEFAULT SETTINGS ########################## + + + // ############################### DEBUG SERIAL ############################### /* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3) * Be careful not to use the red wire of the cable. 15v will destroye evrything. @@ -188,22 +209,6 @@ -// ############################## VARIANT DEFAULT SETTINGS ############################ -/* Default settings will be applied at the end of this config file if not set before - * FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16 - * Value of COEFFICIENT is in fixdt(1,16,14) - * If VAL_floatingPoint >= 0, VAL_fixedPoint = VAL_floatingPoint * 2^14 - * If VAL_floatingPoint < 0, VAL_fixedPoint = 2^16 + floor(VAL_floatingPoint * 2^14). -*/ -// Value of RATE is in fixdt(1,16,4): VAL_fixedPoint = VAL_floatingPoint * 2^4. In this case 480 = 30 * 2^4 -#define DEFAULT_RATE 480 // 30.0f [-] lower value == slower rate [0, 32767] = [0.0, 2047.9375]. Do NOT make rate negative (>32767) -#define DEFAULT_FILTER 6553 // Default for FILTER 0.1f [-] lower value == softer filter [0, 65535] = [0.0 - 1.0]. -#define DEFAULT_SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 -#define DEFAULT_STEER_COEFFICIENT 8192 // Defualt for STEER_COEFFICIENT 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0. -// ######################### END OF VARIANT DEFAULT SETTINGS ########################## - - - // ################################# VARIANT_ADC SETTINGS ############################ #ifdef VARIANT_ADC /* CONTROL VIA TWO POTENTIOMETERS @@ -317,12 +322,24 @@ +// ############################ VARIANT_HOVERBOARD SETTINGS ############################ +// ##### ! NOT IMPLEMENTED YET ! ##### +#ifdef VARIANT_HOVERBOARD + // #define CONTROL_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino + // #define FEEDBACK_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used! + #define CONTROL_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino + #define FEEDBACK_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used! +#endif +// ######################## END OF VARIANT_HOVERBOARD SETTINGS ######################### + + + // ################################# VARIANT_TRANSPOTTER SETTINGS ############################ //TODO ADD VALIDATION #ifdef VARIANT_TRANSPOTTER #define CONTROL_GAMETRAK #define SUPPORT_LCD - #define SUPPORT_NUNCHUK + // #define SUPPORT_NUNCHUK #define GAMETRAK_CONNECTION_NORMAL // for normal wiring according to the wiki instructions //#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wiring (steering is speed, and length of the wire is steering) #define ROT_P 1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction. @@ -382,7 +399,8 @@ // ############################### VALIDATE SETTINGS ############################### -#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_HOVERCAR) && !defined(VARIANT_TRANSPOTTER) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_IBUS) && !defined(DEBUG_SERIAL_USART3) && !defined(DEBUG_SERIAL_USART2) +#if !defined(VARIANT_ADC) && !defined(VARIANT_USART) && !defined(VARIANT_NUNCHUK) && !defined(VARIANT_PPM) && !defined(VARIANT_IBUS) && \ + !defined(VARIANT_HOVERCAR) && !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER) #error Variant not defined! Please check platformio.ini or Inc/config.h for available variants. #endif @@ -441,3 +459,5 @@ #endif // ############################# END OF VALIDATE SETTINGS ############################ +#endif + diff --git a/Inc/defines.h b/Inc/defines.h index bdf0387..065466f 100644 --- a/Inc/defines.h +++ b/Inc/defines.h @@ -19,7 +19,10 @@ * along with this program. If not, see . */ -#pragma once +// Define to prevent recursive inclusion +#ifndef DEFINES_H +#define DEFINES_H + #include "stm32f1xx_hal.h" #define LEFT_HALL_U_PIN GPIO_PIN_5 @@ -180,4 +183,7 @@ void Nunchuk_Init(void); void Nunchuk_Read(void); uint8_t Nunchuk_Ping(void); void PPM_Init(void); -void PPM_ISR_Callback(void); \ No newline at end of file +void PPM_ISR_Callback(void); + +#endif + diff --git a/MDK-ARM/mainboard-hack.uvoptx b/MDK-ARM/mainboard-hack.uvoptx new file mode 100644 index 0000000..c04c5d7 --- /dev/null +++ b/MDK-ARM/mainboard-hack.uvoptx @@ -0,0 +1,1636 @@ + + + + 1.0 + +

### uVision Project, (C) Keil Software
+ + + *.c + *.s*; *.src; *.a* + *.obj; *.o + *.lib + *.txt; *.h; *.inc + *.plm + *.cpp + 0 + + + + 0 + 0 + + + + VARIANT_ADC + 0x4 + ARM-ADS + + 8000000 + + 1 + 0 + 0 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 79 + 66 + 8 + .\Listing\ + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 1 + 0 + 1 + + 18 + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 1 + 5 + + + + + + + + + + + STLink\ST-LINKIII-KEIL_SWO.dll + + + + 0 + ST-LINKIII-KEIL_SWO + -U -O206 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM) + + + 0 + UL2CM3 + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)) + + + + + 0 + + + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 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startup_stm32f103xe.s + 2 + .\startup_stm32f103xe.s + + + + + Src + + + bldc.c + 1 + ..\Src\bldc.c + + + BLDC_controller.c + 1 + ..\Src\BLDC_controller.c + + + BLDC_controller_data.c + 1 + ..\Src\BLDC_controller_data.c + + + comms.c + 1 + ..\Src\comms.c + + + control.c + 1 + ..\Src\control.c + + + eeprom.c + 1 + ..\Src\eeprom.c + + + hd44780.c + 1 + ..\Src\hd44780.c + + + main.c + 1 + ..\Src\main.c + + + pcf8574.c + 1 + ..\Src\pcf8574.c + + + setup.c + 1 + ..\Src\setup.c + + + stm32f1xx_it.c + 1 + ..\Src\stm32f1xx_it.c + + + + + HAL_Driver + + + stm32f1xx_hal.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c + + + stm32f1xx_hal_adc.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc.c + + + stm32f1xx_hal_adc_ex.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc_ex.c + + + stm32f1xx_hal_cortex.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c + + + stm32f1xx_hal_dma.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c + + + stm32f1xx_hal_flash.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c + + + stm32f1xx_hal_flash_ex.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c + + + stm32f1xx_hal_gpio.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c + + + stm32f1xx_hal_gpio_ex.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c + + + stm32f1xx_hal_i2c.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c + + + stm32f1xx_hal_pwr.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c + + + stm32f1xx_hal_rcc.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c + + + stm32f1xx_hal_rcc_ex.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c + + + stm32f1xx_hal_tim.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c + + + stm32f1xx_hal_tim_ex.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c + + + stm32f1xx_hal_uart.c + 1 + ..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c + + + + + CMSIS + + + system_stm32f1xx.c + 1 + ../Src/system_stm32f1xx.c + + + + + ::CMSIS + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/MDK-ARM/startup_stm32f103xe.s b/MDK-ARM/startup_stm32f103xe.s new file mode 100644 index 0000000..617c751 --- /dev/null +++ b/MDK-ARM/startup_stm32f103xe.s @@ -0,0 +1,373 @@ +;******************** (C) COPYRIGHT 2017 STMicroelectronics ******************** +;* File Name : startup_stm32f103xe.s +;* Author : MCD Application Team +;* Version : V4.2.0 +;* Date : 31-March-2017 +;* Description : STM32F103xE Devices vector table for MDK-ARM toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the Cortex-M3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;******************************************************************************** +;* +;*

© COPYRIGHT(c) 2017 STMicroelectronics

+;* +;* Redistribution and use in source and binary forms, with or without modification, +;* are permitted provided that the following conditions are met: +;* 1. Redistributions of source code must retain the above copyright notice, +;* this list of conditions and the following disclaimer. +;* 2. Redistributions in binary form must reproduce the above copyright notice, +;* this list of conditions and the following disclaimer in the documentation +;* and/or other materials provided with the distribution. +;* 3. Neither the name of STMicroelectronics nor the names of its contributors +;* may be used to endorse or promote products derived from this software +;* without specific prior written permission. +;* +;* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +;* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +;* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +;* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +;* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +;* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +;* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +;* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +;* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +;* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +; +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1 & ADC2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTC_Alarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend + DCD TIM8_BRK_IRQHandler ; TIM8 Break + DCD TIM8_UP_IRQHandler ; TIM8 Update + DCD TIM8_TRG_COM_IRQHandler ; TIM8 Trigger and Commutation + DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare + DCD ADC3_IRQHandler ; ADC3 + DCD FSMC_IRQHandler ; FSMC + DCD SDIO_IRQHandler ; SDIO + DCD TIM5_IRQHandler ; TIM5 + DCD SPI3_IRQHandler ; SPI3 + DCD UART4_IRQHandler ; UART4 + DCD UART5_IRQHandler ; UART5 + DCD TIM6_IRQHandler ; TIM6 + DCD TIM7_IRQHandler ; TIM7 + DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 + DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 + DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 + DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5 +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTC_Alarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + EXPORT TIM8_BRK_IRQHandler [WEAK] + EXPORT TIM8_UP_IRQHandler [WEAK] + EXPORT TIM8_TRG_COM_IRQHandler [WEAK] + EXPORT TIM8_CC_IRQHandler [WEAK] + EXPORT ADC3_IRQHandler [WEAK] + EXPORT FSMC_IRQHandler [WEAK] + EXPORT SDIO_IRQHandler [WEAK] + EXPORT TIM5_IRQHandler [WEAK] + EXPORT SPI3_IRQHandler [WEAK] + EXPORT UART4_IRQHandler [WEAK] + EXPORT UART5_IRQHandler [WEAK] + EXPORT TIM6_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] + EXPORT DMA2_Channel1_IRQHandler [WEAK] + EXPORT DMA2_Channel2_IRQHandler [WEAK] + EXPORT DMA2_Channel3_IRQHandler [WEAK] + EXPORT DMA2_Channel4_5_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTC_Alarm_IRQHandler +USBWakeUp_IRQHandler +TIM8_BRK_IRQHandler +TIM8_UP_IRQHandler +TIM8_TRG_COM_IRQHandler +TIM8_CC_IRQHandler +ADC3_IRQHandler +FSMC_IRQHandler +SDIO_IRQHandler +TIM5_IRQHandler +SPI3_IRQHandler +UART4_IRQHandler +UART5_IRQHandler +TIM6_IRQHandler +TIM7_IRQHandler +DMA2_Channel1_IRQHandler +DMA2_Channel2_IRQHandler +DMA2_Channel3_IRQHandler +DMA2_Channel4_5_IRQHandler + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE***** diff --git a/README.md b/README.md index 67bf2ae..1849f47 100644 --- a/README.md +++ b/README.md @@ -112,7 +112,14 @@ To build and flash choose one of the following methods: - open the folder in the IDE of choice (vscode or Atom) - press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode). -### Method 2: Using Ubuntu +### Method 2: Using Keil uVision + +- in [Keil uVision](https://www.keil.com/download/product/), open the [mainboard-hack.uvproj](/MDK-ARM/) +- if you are asked to install missing packages, click Yes +- click Build Target (or press F7) to build the firmware +- click Load Code (or press F8) to flash the firmware. + +### Method 3: Using Ubuntu - prerequisites: install [ST-Flash utility](https://github.com/texane/stlink). - open a terminal in the repo check-out folder and type: diff --git a/Src/bldc.c b/Src/bldc.c index 29edeab..7e72a27 100644 --- a/Src/bldc.c +++ b/Src/bldc.c @@ -136,7 +136,7 @@ void DMA1_Channel1_IRQHandler(void) { HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN); } } else { - HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0); + HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET); } // ############################### MOTOR CONTROL ############################### diff --git a/Src/main.c b/Src/main.c index 6f2b4ba..ecccba0 100644 --- a/Src/main.c +++ b/Src/main.c @@ -26,14 +26,12 @@ #include "setup.h" #include "config.h" #include "comms.h" +#include "eeprom.h" #if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD) #include "hd44780.h" #endif -#ifdef VARIANT_TRANSPOTTER - #include "eeprom.h" -#endif // Matlab includes and defines - from auto-code generation // ############################################################################### @@ -45,7 +43,7 @@ RT_MODEL rtM_Right_; /* Real-time model */ RT_MODEL *const rtM_Left = &rtM_Left_; RT_MODEL *const rtM_Right = &rtM_Right_; -P rtP_Left; /* Block parameters (auto storage) */ +extern P rtP_Left; /* Block parameters (auto storage) */ DW rtDW_Left; /* Observable states */ ExtU rtU_Left; /* External inputs */ ExtY rtY_Left; /* External outputs */ @@ -98,6 +96,7 @@ extern I2C_HandleTypeDef hi2c2; uint16_t counter = 0; #else uint8_t nunchuk_connected = 1; + uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy address to avoid warnings #endif #if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA) @@ -146,25 +145,24 @@ typedef struct{ static SerialFeedback Feedback; #endif -#if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK) || defined(CONTROL_PPM) || defined(CONTROL_ADC) +#ifdef SUPPORT_BUTTONS static uint8_t button1, button2; #endif uint8_t ctrlModReqRaw = CTRL_MOD_REQ; uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request -static int cmd1; // normalized input value. -1000 to 1000 -static int cmd2; // normalized input value. -1000 to 1000 static int16_t speed; // local variable for speed. -1000 to 1000 #ifndef VARIANT_TRANSPOTTER + static int cmd1; // normalized input value. -1000 to 1000 + static int cmd2; // normalized input value. -1000 to 1000 static int16_t steer; // local variable for steering. -1000 to 1000 static int16_t steerRateFixdt; // local fixed-point variable for steering rate limiter static int16_t speedRateFixdt; // local fixed-point variable for speed rate limiter static int32_t steerFixdt; // local fixed-point variable for steering low-pass filter static int32_t speedFixdt; // local fixed-point variable for speed low-pass filter #endif -#ifdef VARIANT_HOVERCAR - static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal -#endif +static MultipleTap MultipleTapBreak; // define multiple tap functionality for the Break pedal + static int16_t speedAvg; // average measured speed static int16_t speedAvgAbs; // average measured speed in absolute @@ -197,7 +195,7 @@ void poweroff(void) { buzzerFreq = (uint8_t)i; HAL_Delay(100); } - HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); + HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET); while(1) {} // } } @@ -232,7 +230,7 @@ int main(void) { MX_ADC1_Init(); MX_ADC2_Init(); - HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 1); + HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_SET); HAL_ADC_Start(&hadc1); HAL_ADC_Start(&hadc2); @@ -279,7 +277,7 @@ int main(void) { } buzzerFreq = 0; - HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1); + HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET); #ifdef VARIANT_TRANSPOTTER int lastDistance = 0; @@ -458,17 +456,21 @@ int main(void) { Nunchuk_Read(); cmd1 = CLAMP((nunchuk_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuk joystick readings range 30 - 230 cmd2 = CLAMP((nunchuk_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis - - button1 = (uint8_t)nunchuk_data[5] & 1; - button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1; + + #ifdef SUPPORT_BUTTONS + button1 = (uint8_t)nunchuk_data[5] & 1; + button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1; + #endif } #endif #ifdef CONTROL_PPM cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX); - button1 = ppm_captured_value[5] > INPUT_MID; - button2 = 0; + #ifdef SUPPORT_BUTTONS + button1 = ppm_captured_value[5] > INPUT_MID; + button2 = 0; + #endif // float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed #endif @@ -514,8 +516,10 @@ int main(void) { #endif // use ADCs as button inputs: - button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1 - button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2 + #ifdef SUPPORT_BUTTONS + button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1 + button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2 + #endif timeout = 0; #endif @@ -833,7 +837,7 @@ int main(void) { } else if (timeoutFlagADC || timeoutFlagSerial) { // beep in case of ADC or Serial timeout - fast beep buzzerFreq = 24; buzzerPattern = 1; - } else if (BEEPS_BACKWARD && speed < -50 && speedAvg < 0) { // backward beep + } else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBreak.b_multipleTap)) { // backward beep buzzerFreq = 5; buzzerPattern = 1; } else { // do not beep diff --git a/build/firmware.bin b/build/firmware.bin deleted file mode 100644 index ce6025997a90e901d5d0869dfd19ff87aae2ca19..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 20276 zcmZQLz@Q-O$iR`R%)pVZ%)pVU%)pVY%)pVW%)r5b2J)2|I0~WS#mWpErOFH(sUW>X z;+cY^sVBv3V$`B}2ZbB|gX5#XR#qS73gewD-ohJMJl20^Xkb)UE)duo!pfikQk>z) zz`?PV*;{%evnMlHo?|aaJc5-$0VK!lCj5g@n?dXMMF}ZJivst8t-OA`zGc$e1lTSx 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