Penguinator
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Motor-Controller
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rs485 working. had to switch to different pins because something was running some frequency on d13. annoyed.

Browse Source
stable
Penguin 2 years ago
parent 4751793db5
commit 252037532b
8 changed files with 3013 additions and 149 deletions
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34
.gdb_history
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@ -67,3 +67,37 @@ r
q
q
q
q
q
b 392
r
s
s
c
p huart1_rxc
s
s
s
c
q
q
q
b 392
r
c
c
del
b main()
b 124
r
n
q
b 392
r
p huart1_rxc
c
p huart1_rxc
p huart1_rxc
c
p huart1_rxc
q

2
Core/Inc/main.h
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@ -67,6 +67,8 @@ void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent);
#define m1_dir_GPIO_Port GPIOA
#define m2_dir_Pin GPIO_PIN_5
#define m2_dir_GPIO_Port GPIOA
#define USART1_DE_Pin GPIO_PIN_12
#define USART1_DE_GPIO_Port GPIOA
#define SWDIO_Pin GPIO_PIN_13
#define SWDIO_GPIO_Port GPIOA
#define SWCLK_Pin GPIO_PIN_14

9
Core/Src/main.c
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@ -372,7 +372,6 @@ static void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, m1_dir_Pin | m2_dir_Pin, GPIO_PIN_RESET);
@ -390,12 +389,16 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart == &huart1)
{
HAL_UART_Transmit(&huart2, &huart1_rxc, 1, 100);
HAL_GPIO_WritePin(USART1_DE_GPIO_Port, USART1_DE_Pin, 1);
huart2_rxc = huart1_rxc;
HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 500);
HAL_UART_Receive_IT(&huart1, &huart1_rxc, 1);
HAL_GPIO_WritePin(USART1_DE_GPIO_Port, USART1_DE_Pin, 0);
}
else if (huart == &huart2)
{
HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 100);
HAL_UART_Transmit(&huart1, &huart2_rxc, 1, 100);
HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
}
}

20
Core/Src/stm32l4xx_hal_msp.c
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@ -227,18 +227,18 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
/* Peripheral clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PB3 (JTDO-TRACESWO) ------> USART1_DE
PB6 ------> USART1_TX
PB7 ------> USART1_RX
PA9 ------> USART1_TX
PA10 ------> USART1_RX
PA12 ------> USART1_DE
*/
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_10|USART1_DE_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USART1 interrupt Init */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
@ -311,11 +311,11 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PB3 (JTDO-TRACESWO) ------> USART1_DE
PB6 ------> USART1_TX
PB7 ------> USART1_RX
PA9 ------> USART1_TX
PA10 ------> USART1_RX
PA12 ------> USART1_DE
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_3|GPIO_PIN_6|GPIO_PIN_7);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10|USART1_DE_Pin);
/* USART1 interrupt DeInit */
HAL_NVIC_DisableIRQ(USART1_IRQn);

2
Makefile
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@ -1,5 +1,5 @@
##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Thu Apr 07 18:39:18 CDT 2022]
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Fri Apr 08 15:05:50 CDT 2022]
##########################################################################################################################
# ------------------------------------------------

242
compile_commands.json
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@ -25,14 +25,14 @@
"-g3",
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],
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},
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@ -60,14 +60,14 @@
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@ -95,14 +95,14 @@
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@ -130,14 +130,14 @@
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@ -165,14 +165,14 @@
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@ -200,14 +200,14 @@
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@ -235,14 +235,14 @@
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@ -270,14 +270,14 @@
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@ -305,14 +305,14 @@
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@ -340,14 +340,14 @@
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@ -375,14 +375,14 @@
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@ -410,14 +410,14 @@
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@ -445,14 +445,14 @@
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@ -480,14 +480,14 @@
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@ -515,14 +515,14 @@
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@ -550,14 +550,14 @@
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@ -585,14 +585,14 @@
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@ -620,14 +620,14 @@
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@ -655,14 +655,14 @@
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@ -725,21 +725,19 @@
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@ -762,13 +760,14 @@
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"-MFbuild/startup_stm32l432xx.d",
"-MFbuild/stm32l4xx_hal_msp.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_msp.lst",
"-o",
"build/startup_stm32l432xx.o",
"startup_stm32l432xx.s"
"build/stm32l4xx_hal_msp.o",
"Core/Src/stm32l4xx_hal_msp.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "startup_stm32l432xx.s"
"file": "Core/Src/stm32l4xx_hal_msp.c"
},
{
"arguments": [
@ -809,6 +808,8 @@
"arguments": [
"arm-none-eabi-gcc",
"-c",
"-x",
"assembler-with-cpp",
"-mcpu=cortex-m4",
"-mthumb",
"-mfpu=fpv4-sp-d16",
@ -831,14 +832,13 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_tim.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim.lst",
"-MFbuild/startup_stm32l432xx.d",
"-o",
"build/stm32l4xx_hal_tim.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c"
"build/startup_stm32l432xx.o",
"startup_stm32l432xx.s"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim.c"
"file": "startup_stm32l432xx.s"
},
{
"arguments": [
@ -866,14 +866,14 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal_gpio.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_gpio.lst",
"-MFbuild/stm32l4xx_hal_uart.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart.lst",
"-o",
"build/stm32l4xx_hal_gpio.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c"
"build/stm32l4xx_hal_uart.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c"
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c"
},
{
"arguments": [
@ -901,13 +901,13 @@
"-g3",
"-gdwarf-2",
"-D_DEBUG",
"-MFbuild/stm32l4xx_hal.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal.lst",
"-MFbuild/stm32l4xx_hal_tim_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_tim_ex.lst",
"-o",
"build/stm32l4xx_hal.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c"
"build/stm32l4xx_hal_tim_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
],
"directory": "/storage/Shared/Projects/Penguinator/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c"
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_tim_ex.c"
}
]

2822
gdb.txt
View File

File diff suppressed because it is too large Load Diff

31
motor_controller.ioc
Unescape Escape View File

@ -15,10 +15,10 @@ Mcu.Name=STM32L432K(B-C)Ux
Mcu.Package=UFQFPN32
Mcu.Pin0=PC14-OSC32_IN (PC14)
Mcu.Pin1=PC15-OSC32_OUT (PC15)
Mcu.Pin10=PA15 (JTDI)
Mcu.Pin11=PB3 (JTDO-TRACESWO)
Mcu.Pin12=PB6
Mcu.Pin13=PB7
Mcu.Pin10=PA12
Mcu.Pin11=PA13 (JTMS-SWDIO)
Mcu.Pin12=PA14 (JTCK-SWCLK)
Mcu.Pin13=PA15 (JTDI)
Mcu.Pin14=VP_SYS_VS_Systick
Mcu.Pin15=VP_TIM6_VS_ClockSourceINT
Mcu.Pin2=PA0
@ -27,8 +27,8 @@ Mcu.Pin4=PA2
Mcu.Pin5=PA3
Mcu.Pin6=PA4
Mcu.Pin7=PA5
Mcu.Pin8=PA13 (JTMS-SWDIO)
Mcu.Pin9=PA14 (JTCK-SWCLK)
Mcu.Pin8=PA9
Mcu.Pin9=PA10
Mcu.PinsNb=16
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
@ -55,6 +55,14 @@ PA0.Locked=true
PA0.Mode=HSE-External-Clock-Source-for-LittleOrca
PA0.Signal=RCC_CK_IN
PA1.Signal=S_TIM2_CH2
PA10.Locked=true
PA10.Mode=Asynchronous
PA10.Signal=USART1_RX
PA12.GPIOParameters=GPIO_Label
PA12.GPIO_Label=USART1_DE
PA12.Locked=true
PA12.Mode=Hardware Flow Control (RS485)
PA12.Signal=USART1_DE
PA13\ (JTMS-SWDIO).GPIOParameters=GPIO_Label
PA13\ (JTMS-SWDIO).GPIO_Label=SWDIO
PA13\ (JTMS-SWDIO).Locked=true
@ -84,14 +92,9 @@ PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=m2_dir
PA5.Locked=true
PA5.Signal=GPIO_Output
PB3\ (JTDO-TRACESWO).Locked=true
PB3\ (JTDO-TRACESWO).Mode=Hardware Flow Control (RS485)
PB3\ (JTDO-TRACESWO).Signal=USART1_DE
PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Locked=true
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PA9.Locked=true
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PC14-OSC32_IN\ (PC14).Locked=true
PC14-OSC32_IN\ (PC14).Mode=LSE-External-Oscillator
PC14-OSC32_IN\ (PC14).Signal=RCC_OSC32_IN

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