From 51e6edb355172c7b386ccf8fa5f3fe320b7d6652 Mon Sep 17 00:00:00 2001 From: Penguin Date: Thu, 31 Mar 2022 17:11:31 -0500 Subject: [PATCH] figured out which pins were which on the motor controller board... im using a random one from a hobby shop i bought forever ago and have no documentation --- .../clangd/index/main.c.DE834D179AFA9A2E.idx | Bin 6526 -> 6828 bytes .../clangd/index/main.h.511DFA32DBC0CFC0.idx | Bin 760 -> 852 bytes .../clangd/index/putil.c.A85D73FCEC74FEBA.idx | Bin 1042 -> 1034 bytes .../clangd/index/putil.h.E7F2470CDC8D3F30.idx | Bin 482 -> 496 bytes .../stm32l4xx_hal_msp.c.E60B6A8233870269.idx | Bin 3424 -> 3570 bytes .../index/stm32l4xx_it.c.AFA306C1BBAD0D18.idx | Bin 1202 -> 1408 bytes .../index/stm32l4xx_it.h.7C6E3F94CD29953C.idx | Bin 820 -> 894 bytes Core/Inc/main.h | 4 + Core/Inc/stm32l4xx_it.h | 1 + Core/Src/main.c | 21 +- Core/Src/stm32l4xx_hal_msp.c | 5 + Core/Src/stm32l4xx_it.c | 16 +- Makefile | 2 +- compile_commands.json | 749 +++++++++++++++++- gdb.txt 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GPIO_PIN_5 +#define m2_dir_GPIO_Port GPIOA #define SWDIO_Pin GPIO_PIN_13 #define SWDIO_GPIO_Port GPIOA #define SWCLK_Pin GPIO_PIN_14 diff --git a/Core/Inc/stm32l4xx_it.h b/Core/Inc/stm32l4xx_it.h index 468f72d..061ade3 100644 --- a/Core/Inc/stm32l4xx_it.h +++ b/Core/Inc/stm32l4xx_it.h @@ -55,6 +55,7 @@ void SVC_Handler(void); void DebugMon_Handler(void); void PendSV_Handler(void); void SysTick_Handler(void); +void USART2_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Src/main.c b/Core/Src/main.c index 582982a..6e9049e 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -41,8 +41,8 @@ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ - TIM_HandleTypeDef htim2; + UART_HandleTypeDef huart2; /* USER CODE BEGIN PV */ @@ -94,18 +94,20 @@ int main(void) MX_GPIO_Init(); MX_TIM2_Init(); MX_USART2_UART_Init(); - p_uart_init(&huart2); /* USER CODE BEGIN 2 */ uint8_t buff[256] = {'\0'}; sprintf(buff, "Hello Worldblahblahfjdslkfjlasdfj\r\n"); HAL_UART_Transmit(&huart2, "...\r\n", sizeof("...\r\n"), 100); HAL_UART_Transmit(&huart2, buff, sizeof(buff), 100); - PDEBUG("hello darkness my old friend\n"); + PDEBUG("hello darkness my old friend\r\n"); // HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); // HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); - setPWM(&htim2, TIM_CHANNEL_2, 95); - setPWM(&htim2, TIM_CHANNEL_4, 15); + setPWM(&htim2, TIM_CHANNEL_2, 50); + setPWM(&htim2, TIM_CHANNEL_4, 25); + + HAL_GPIO_WritePin(m1_dir_GPIO_Port, m1_dir_Pin, 1); + HAL_GPIO_WritePin(m2_dir_GPIO_Port, m2_dir_Pin, 1); /* USER CODE END 2 */ @@ -281,13 +283,13 @@ static void MX_GPIO_Init(void) __HAL_RCC_GPIOB_CLK_ENABLE(); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8 | GPIO_PIN_9, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOA, m1_dir_Pin | m2_dir_Pin | GPIO_PIN_8 | GPIO_PIN_9, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(LD3_GPIO_Port, LD3_Pin, GPIO_PIN_RESET); - /*Configure GPIO pins : PA8 PA9 */ - GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9; + /*Configure GPIO pins : m1_dir_Pin m2_dir_Pin PA8 PA9 */ + GPIO_InitStruct.Pin = m1_dir_Pin | m2_dir_Pin | GPIO_PIN_8 | GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; @@ -306,9 +308,8 @@ void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent) { HAL_TIM_PWM_Stop(timer, channel); // add new period if we need to, but we don't need to here - - TIM_OC_InitTypeDef sConfigOC = {0}; + TIM_OC_InitTypeDef sConfigOC = {0}; sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; diff --git a/Core/Src/stm32l4xx_hal_msp.c b/Core/Src/stm32l4xx_hal_msp.c index db14924..89cb1b2 100644 --- a/Core/Src/stm32l4xx_hal_msp.c +++ b/Core/Src/stm32l4xx_hal_msp.c @@ -196,6 +196,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart) GPIO_InitStruct.Alternate = GPIO_AF3_USART2; HAL_GPIO_Init(VCP_RX_GPIO_Port, &GPIO_InitStruct); + /* USART2 interrupt Init */ + HAL_NVIC_SetPriority(USART2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(USART2_IRQn); /* USER CODE BEGIN USART2_MspInit 1 */ /* USER CODE END USART2_MspInit 1 */ @@ -225,6 +228,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart) */ HAL_GPIO_DeInit(GPIOA, VCP_TX_Pin|VCP_RX_Pin); + /* USART2 interrupt DeInit */ + HAL_NVIC_DisableIRQ(USART2_IRQn); /* USER CODE BEGIN USART2_MspDeInit 1 */ /* USER CODE END USART2_MspDeInit 1 */ diff --git a/Core/Src/stm32l4xx_it.c b/Core/Src/stm32l4xx_it.c index 160083b..90661e8 100644 --- a/Core/Src/stm32l4xx_it.c +++ b/Core/Src/stm32l4xx_it.c @@ -55,7 +55,7 @@ /* USER CODE END 0 */ /* External variables --------------------------------------------------------*/ - +extern UART_HandleTypeDef huart2; /* USER CODE BEGIN EV */ /* USER CODE END EV */ @@ -198,6 +198,20 @@ void SysTick_Handler(void) /* please refer to the startup file (startup_stm32l4xx.s). */ /******************************************************************************/ +/** + * @brief This function handles USART2 global interrupt. + */ +void USART2_IRQHandler(void) +{ + /* USER CODE BEGIN USART2_IRQn 0 */ + + /* USER CODE END USART2_IRQn 0 */ + HAL_UART_IRQHandler(&huart2); + /* USER CODE BEGIN USART2_IRQn 1 */ + + /* USER CODE END USART2_IRQn 1 */ +} + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/Makefile b/Makefile index 3fc68e1..821e252 100644 --- a/Makefile +++ b/Makefile @@ -1,5 +1,5 @@ ########################################################################################################################## -# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Wed Mar 30 14:50:34 CDT 2022] +# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Thu Mar 31 16:32:43 CDT 2022] ########################################################################################################################## # ------------------------------------------------ diff --git a/compile_commands.json b/compile_commands.json index a4fe87e..9c94482 100644 --- a/compile_commands.json +++ b/compile_commands.json @@ -21,6 +21,167 @@ "-ffunction-sections", "-g", "-gdwarf-2", + "-DDEBUG", + "-MFbuild/stm32l4xx_hal_dma_ex.d", + "-Wa,-a,-ad,-alms=build/stm32l4xx_hal_dma_ex.lst", + "-o", + "build/stm32l4xx_hal_dma_ex.o", + "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c" + ], + "directory": "/storage/Shared/Projects/stm32_projects/motor_controller", + "file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma_ex.c" + }, + { + "arguments": [ + "arm-none-eabi-gcc", + "-c", + "-mcpu=cortex-m4", + "-mthumb", + "-mfpu=fpv4-sp-d16", + "-mfloat-abi=hard", + "-DUSE_HAL_DRIVER", + "-DSTM32L432xx", + "-ICore/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc", + 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"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c" + ], + "directory": "/storage/Shared/Projects/stm32_projects/motor_controller", + "file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_uart.c" + }, + { + "arguments": [ + "arm-none-eabi-gcc", + "-c", + "-mcpu=cortex-m4", + "-mthumb", + "-mfpu=fpv4-sp-d16", + "-mfloat-abi=hard", + "-DUSE_HAL_DRIVER", + "-DSTM32L432xx", + "-ICore/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy", + "-IDrivers/CMSIS/Device/ST/STM32L4xx/Include", + "-IDrivers/CMSIS/Include", + "-Ishared", + "-Og", + "-Wall", + "-fdata-sections", + "-ffunction-sections", + "-g", + "-gdwarf-2", + "-DDEBUG", + "-MFbuild/stm32l4xx_hal_cortex.d", + "-Wa,-a,-ad,-alms=build/stm32l4xx_hal_cortex.lst", + "-o", + "build/stm32l4xx_hal_cortex.o", + "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c" + ], + "directory": "/storage/Shared/Projects/stm32_projects/motor_controller", + "file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_cortex.c" + }, + { + "arguments": [ + "arm-none-eabi-gcc", + "-c", + "-mcpu=cortex-m4", + "-mthumb", + "-mfpu=fpv4-sp-d16", + "-mfloat-abi=hard", + "-DUSE_HAL_DRIVER", + "-DSTM32L432xx", + "-ICore/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy", + "-IDrivers/CMSIS/Device/ST/STM32L4xx/Include", + "-IDrivers/CMSIS/Include", + "-Ishared", + "-Og", + "-Wall", + "-fdata-sections", + "-ffunction-sections", + "-g", + "-gdwarf-2", + "-DDEBUG", + "-MFbuild/stm32l4xx_hal_pwr_ex.d", + "-Wa,-a,-ad,-alms=build/stm32l4xx_hal_pwr_ex.lst", + "-o", + "build/stm32l4xx_hal_pwr_ex.o", + "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c" + ], + "directory": "/storage/Shared/Projects/stm32_projects/motor_controller", + "file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_pwr_ex.c" + }, + { + "arguments": [ + "arm-none-eabi-gcc", + "-c", + "-mcpu=cortex-m4", + "-mthumb", + "-mfpu=fpv4-sp-d16", + "-mfloat-abi=hard", + "-DUSE_HAL_DRIVER", + "-DSTM32L432xx", + "-ICore/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy", + "-IDrivers/CMSIS/Device/ST/STM32L4xx/Include", + "-IDrivers/CMSIS/Include", + "-Ishared", + "-Og", + "-Wall", + "-fdata-sections", + "-ffunction-sections", + "-g", + "-gdwarf-2", + "-DDEBUG", + "-MFbuild/stm32l4xx_hal.d", + "-Wa,-a,-ad,-alms=build/stm32l4xx_hal.lst", + "-o", + "build/stm32l4xx_hal.o", + "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c" + ], + "directory": "/storage/Shared/Projects/stm32_projects/motor_controller", + "file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal.c" + }, + { + "arguments": [ + "arm-none-eabi-gcc", + "-c", + "-mcpu=cortex-m4", + "-mthumb", + "-mfpu=fpv4-sp-d16", + "-mfloat-abi=hard", + "-DUSE_HAL_DRIVER", + "-DSTM32L432xx", + "-ICore/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc", + "-IDrivers/STM32L4xx_HAL_Driver/Inc/Legacy", + "-IDrivers/CMSIS/Device/ST/STM32L4xx/Include", + "-IDrivers/CMSIS/Include", + "-Ishared", + "-Og", + "-Wall", + "-fdata-sections", + "-ffunction-sections", + "-g", + "-gdwarf-2", + "-DDEBUG", + "-MFbuild/stm32l4xx_hal_exti.d", + "-Wa,-a,-ad,-alms=build/stm32l4xx_hal_exti.lst", + "-o", + "build/stm32l4xx_hal_exti.o", + "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c" + ], + "directory": "/storage/Shared/Projects/stm32_projects/motor_controller", + "file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_exti.c" } ] \ No newline at end of file diff --git a/gdb.txt b/gdb.txt index ed7a1c5..73ab254 100644 --- a/gdb.txt +++ b/gdb.txt @@ -201,3 +201,247 @@ A debugging session is active. Quit anyway? (y or n) [answered Y; input not from terminal] [Inferior 1 (Remote target) detached] +0x080008b4 in ?? () +### Assembly ######################################################################################################## + 0x080008b4 ? b.n 0x80008b4 + 0x080008b6 ? nop + 0x080008b8 ? lsls r0, r3, #3 + 0x080008ba ? movs r0, #0 + 0x080008bc ? adds r4, #72 ; 0x48 + 0x080008be ? lsrs r0, r0, #32 + 0x080008c0 ? adds r4, #108 ; 0x6c + 0x080008c2 ? lsrs r0, r0, #32 + 0x080008c4 ? adds r4, #116 ; 0x74 + 0x080008c6 ? lsrs r0, r0, #32 +### Breakpoints ##################################################################################################### +### Expressions ##################################################################################################### +### History ######################################################################################################### +### Memory ########################################################################################################## +### Registers ####################################################################################################### + r0 0x00000000 r5 0x08003468 r10 0x00000000 pc 0x080008b4 primask 0x00 + r1 0x00000000 r6 0x00000000 r11 0x00000000 xPSR 0x41000000 basepri 0x00 + r2 0x00000001 r7 0x00000000 r12 0x00001000 fpscr 0x00000010 faultmask 0x00 + r3 0x40000000 r8 0x00000000 sp 0x2000fef8 msp 0x2000fef8 control 0x04 + r4 0x2000008c r9 0x00000000 lr 0x08000f65 psp 0x00000000 +### Source ########################################################################################################## +### Stack ########################################################################################################### +[0] from 0x080008b4 +[1] from 0x08000f64 +### Threads ######################################################################################################### +[1] id 0 from 0x080008b4 +### Variables ####################################################################################################### +##################################################################################################################### +Loading section .sec1, size 0x35c8 lma 0x8000000 +Start address 0x080028d8, load size 13768 +Transfer rate: 17 KB/sec, 13768 bytes/write. +Unable to match requested speed 500 kHz, using 480 kHz +Unable to match requested speed 500 kHz, using 480 kHz +A debugging session is active. + + Inferior 1 [Remote target] will be detached. + +Quit anyway? (y or n) [answered Y; input not from terminal] +[Inferior 1 (Remote target) detached] +0x080008b4 in ?? () +### Assembly ######################################################################################################## + 0x080008b4 ? b.n 0x80008b4 + 0x080008b6 ? nop + 0x080008b8 ? lsls r0, r3, #3 + 0x080008ba ? movs r0, #0 + 0x080008bc ? adds r4, #72 ; 0x48 + 0x080008be ? lsrs r0, r0, #32 + 0x080008c0 ? adds r4, #108 ; 0x6c + 0x080008c2 ? lsrs r0, r0, #32 + 0x080008c4 ? adds r4, #116 ; 0x74 + 0x080008c6 ? lsrs r0, r0, #32 +### Breakpoints ##################################################################################################### +### Expressions ##################################################################################################### +### History ######################################################################################################### +### Memory ########################################################################################################## +### Registers ####################################################################################################### + r0 0x00000000 r5 0x08003468 r10 0x00000000 pc 0x080008b4 primask 0x00 + r1 0x00000000 r6 0x00000000 r11 0x00000000 xPSR 0x41000000 basepri 0x00 + r2 0x00000001 r7 0x00000000 r12 0x00001000 fpscr 0x00000010 faultmask 0x00 + r3 0x40000000 r8 0x00000000 sp 0x2000fef8 msp 0x2000fef8 control 0x04 + r4 0x2000008c r9 0x00000000 lr 0x08000f65 psp 0x00000000 +### Source ########################################################################################################## +### Stack ########################################################################################################### +[0] from 0x080008b4 +[1] from 0x08000f64 +### Threads ######################################################################################################### +[1] id 0 from 0x080008b4 +### Variables ####################################################################################################### +##################################################################################################################### +Loading section .sec1, size 0x35c8 lma 0x8000000 +Start address 0x080028d8, load size 13768 +Transfer rate: 17 KB/sec, 13768 bytes/write. +Unable to match requested speed 500 kHz, using 480 kHz +Unable to match requested speed 500 kHz, using 480 kHz +A debugging session is active. + + Inferior 1 [Remote target] will be detached. + +Quit anyway? (y or n) [answered Y; input not from terminal] +[Inferior 1 (Remote target) detached] +0x080008b4 in ?? () +### Assembly ######################################################################################################## + 0x080008b4 ? b.n 0x80008b4 + 0x080008b6 ? nop + 0x080008b8 ? lsls r0, r3, #3 + 0x080008ba ? movs r0, #0 + 0x080008bc ? adds r4, #72 ; 0x48 + 0x080008be ? lsrs r0, r0, #32 + 0x080008c0 ? adds r4, #108 ; 0x6c + 0x080008c2 ? lsrs r0, r0, #32 + 0x080008c4 ? adds r4, #116 ; 0x74 + 0x080008c6 ? lsrs r0, r0, #32 +### Breakpoints ##################################################################################################### +### Expressions ##################################################################################################### +### History ######################################################################################################### +### Memory ########################################################################################################## +### Registers ####################################################################################################### + r0 0x00000000 r5 0x08003468 r10 0x00000000 pc 0x080008b4 primask 0x00 + r1 0x00000000 r6 0x00000000 r11 0x00000000 xPSR 0x41000000 basepri 0x00 + r2 0x00000001 r7 0x00000000 r12 0x00001000 fpscr 0x00000010 faultmask 0x00 + r3 0x40000000 r8 0x00000000 sp 0x2000fef8 msp 0x2000fef8 control 0x04 + r4 0x2000008c r9 0x00000000 lr 0x08000f65 psp 0x00000000 +### Source ########################################################################################################## +### Stack ########################################################################################################### +[0] from 0x080008b4 +[1] from 0x08000f64 +### Threads ######################################################################################################### +[1] id 0 from 0x080008b4 +### Variables ####################################################################################################### +##################################################################################################################### +Loading section .sec1, size 0x35c8 lma 0x8000000 +Start address 0x080028d8, load size 13768 +Transfer rate: 17 KB/sec, 13768 bytes/write. +Unable to match requested speed 500 kHz, using 480 kHz +Unable to match requested speed 500 kHz, using 480 kHz +A debugging session is active. + + Inferior 1 [Remote target] will be detached. + +Quit anyway? (y or n) [answered Y; input not from terminal] +[Inferior 1 (Remote target) detached] +0x080008b4 in ?? () +### Assembly ######################################################################################################## + 0x080008b4 ? b.n 0x80008b4 + 0x080008b6 ? nop + 0x080008b8 ? lsls r0, r3, #3 + 0x080008ba ? movs r0, #0 + 0x080008bc ? adds r4, #72 ; 0x48 + 0x080008be ? lsrs r0, r0, #32 + 0x080008c0 ? adds r4, #108 ; 0x6c + 0x080008c2 ? lsrs r0, r0, #32 + 0x080008c4 ? adds r4, #116 ; 0x74 + 0x080008c6 ? lsrs r0, r0, #32 +### Breakpoints ##################################################################################################### +### Expressions ##################################################################################################### +### History ######################################################################################################### +### Memory ########################################################################################################## +### Registers ####################################################################################################### + r0 0x00000000 r5 0x08003468 r10 0x00000000 pc 0x080008b4 primask 0x00 + r1 0x00000000 r6 0x00000000 r11 0x00000000 xPSR 0x41000000 basepri 0x00 + r2 0x00000001 r7 0x00000000 r12 0x00001000 fpscr 0x00000010 faultmask 0x00 + r3 0x40000000 r8 0x00000000 sp 0x2000fef8 msp 0x2000fef8 control 0x04 + r4 0x2000008c r9 0x00000000 lr 0x08000f65 psp 0x00000000 +### Source ########################################################################################################## +### Stack ########################################################################################################### +[0] from 0x080008b4 +[1] from 0x08000f64 +### Threads ######################################################################################################### +[1] id 0 from 0x080008b4 +### Variables ####################################################################################################### +##################################################################################################################### +Loading section .sec1, size 0x3a18 lma 0x8000000 +Start address 0x08002d24, load size 14872 +Transfer rate: 18 KB/sec, 14872 bytes/write. +Unable to match requested speed 500 kHz, using 480 kHz +Unable to match requested speed 500 kHz, using 480 kHz +A debugging session is active. + + Inferior 1 [Remote target] will be detached. + +Quit anyway? (y or n) [answered Y; input not from terminal] +[Inferior 1 (Remote target) detached] +0x080008c6 in ?? () +### Assembly ######################################################################################################## + 0x080008c6 ? b.n 0x80008c6 + 0x080008c8 ? subs r0, #152 ; 0x98 + 0x080008ca ? lsrs r0, r0, #32 + 0x080008cc ? lsls r0, r3, #3 + 0x080008ce ? movs r0, #0 + 0x080008d0 ? subs r0, #188 ; 0xbc + 0x080008d2 ? lsrs r0, r0, #32 + 0x080008d4 ? subs r0, #196 ; 0xc4 + 0x080008d6 ? lsrs r0, r0, #32 + 0x080008d8 ? lsls r4, r1, #2 +### Breakpoints ##################################################################################################### +### Expressions ##################################################################################################### +### History ######################################################################################################### +### Memory ########################################################################################################## +### Registers ####################################################################################################### + r0 0x48000000 r5 0x00000000 r10 0x00000000 pc 0x080008c6 primask 0x00 + r1 0x00000020 r6 0x00000000 r11 0x00000000 xPSR 0x01000000 basepri 0x00 + r2 0x00000001 r7 0x00000000 r12 0x00001000 fpscr 0x00000010 faultmask 0x00 + r3 0x40000000 r8 0x00000000 sp 0x2000fef8 msp 0x2000fef8 control 0x04 + r4 0x2000008c r9 0x00000000 lr 0x080008c7 psp 0x00000000 +### Source ########################################################################################################## +### Stack ########################################################################################################### +[0] from 0x080008c6 +### Threads ######################################################################################################### +[1] id 0 from 0x080008c6 +### Variables ####################################################################################################### +##################################################################################################################### +Loading section .sec1, size 0x3a18 lma 0x8000000 +Start address 0x08002d24, load size 14872 +Transfer rate: 18 KB/sec, 14872 bytes/write. +Unable to match requested speed 500 kHz, using 480 kHz +Unable to match requested speed 500 kHz, using 480 kHz +A debugging session is active. + + Inferior 1 [Remote target] will be detached. + +Quit anyway? (y or n) [answered Y; input not from terminal] +[Inferior 1 (Remote target) detached] +0x080008c6 in ?? () +### Assembly ######################################################################################################## + 0x080008c6 ? b.n 0x80008c6 + 0x080008c8 ? subs r0, #152 ; 0x98 + 0x080008ca ? lsrs r0, r0, #32 + 0x080008cc ? lsls r0, r3, #3 + 0x080008ce ? movs r0, #0 + 0x080008d0 ? subs r0, #188 ; 0xbc + 0x080008d2 ? lsrs r0, r0, #32 + 0x080008d4 ? subs r0, #196 ; 0xc4 + 0x080008d6 ? lsrs r0, r0, #32 + 0x080008d8 ? lsls r4, r1, #2 +### Breakpoints ##################################################################################################### +### Expressions ##################################################################################################### +### History ######################################################################################################### +### Memory ########################################################################################################## +### Registers ####################################################################################################### + r0 0x48000000 r5 0x00000000 r10 0x00000000 pc 0x080008c6 primask 0x00 + r1 0x00000020 r6 0x00000000 r11 0x00000000 xPSR 0x01000000 basepri 0x00 + r2 0x00000001 r7 0x00000000 r12 0x00001000 fpscr 0x00000010 faultmask 0x00 + r3 0x40000000 r8 0x00000000 sp 0x2000fef8 msp 0x2000fef8 control 0x04 + r4 0x2000008c r9 0x00000000 lr 0x080008c7 psp 0x00000000 +### Source ########################################################################################################## +### Stack ########################################################################################################### +[0] from 0x080008c6 +### Threads ######################################################################################################### +[1] id 0 from 0x080008c6 +### Variables ####################################################################################################### +##################################################################################################################### +Loading section .sec1, size 0x3a18 lma 0x8000000 +Start address 0x08002d24, load size 14872 +Transfer rate: 18 KB/sec, 14872 bytes/write. +Unable to match requested speed 500 kHz, using 480 kHz +Unable to match requested speed 500 kHz, using 480 kHz +A debugging session is active. + + Inferior 1 [Remote target] will be detached. + +Quit anyway? (y or n) [answered Y; input not from terminal] +[Inferior 1 (Remote target) detached] diff --git a/motor_controller.ioc b/motor_controller.ioc index ded62d4..929b293 100644 --- a/motor_controller.ioc +++ b/motor_controller.ioc @@ -13,18 +13,20 @@ 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=VP_SYS_VS_Systick +Mcu.Pin10=PA13 (JTMS-SWDIO) +Mcu.Pin11=PA14 (JTCK-SWCLK) +Mcu.Pin12=PA15 (JTDI) +Mcu.Pin13=PB3 (JTDO-TRACESWO) +Mcu.Pin14=VP_SYS_VS_Systick Mcu.Pin2=PA0 Mcu.Pin3=PA1 Mcu.Pin4=PA2 Mcu.Pin5=PA3 -Mcu.Pin6=PA8 -Mcu.Pin7=PA9 -Mcu.Pin8=PA13 (JTMS-SWDIO) -Mcu.Pin9=PA14 (JTCK-SWCLK) -Mcu.PinsNb=13 +Mcu.Pin6=PA4 +Mcu.Pin7=PA5 +Mcu.Pin8=PA8 +Mcu.Pin9=PA9 +Mcu.PinsNb=15 Mcu.ThirdPartyNb=0 Mcu.UserConstants= Mcu.UserName=STM32L432KCUx @@ -40,6 +42,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true +NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true PA0.GPIOParameters=GPIO_Label PA0.GPIO_Label=MCO [High speed clock in] @@ -68,6 +71,14 @@ PA2.Locked=true PA2.Mode=Asynchronous PA2.Signal=USART2_TX PA3.Signal=S_TIM2_CH4 +PA4.GPIOParameters=GPIO_Label +PA4.GPIO_Label=m1_dir +PA4.Locked=true +PA4.Signal=GPIO_Output +PA5.GPIOParameters=GPIO_Label +PA5.GPIO_Label=m2_dir +PA5.Locked=true +PA5.Signal=GPIO_Output PA8.Locked=true PA8.Signal=GPIO_Output PA9.Locked=true