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added 250hz timer for giving motor updates

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stable
Penguin 3 years ago
parent feb61e56a8
commit 807f7c29e8
13 changed files with 4045 additions and 908 deletions
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65
.gdb_history
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1
Core/Inc/stm32l4xx_it.h
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@ -56,6 +56,7 @@ void DebugMon_Handler(void);
void PendSV_Handler(void); void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void USART2_IRQHandler(void); void USART2_IRQHandler(void);
void TIM6_DAC_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */

79
Core/Src/main.c
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@ -25,6 +25,7 @@
#include "motor_controller.h" #include "motor_controller.h"
#include "stm32l4xx_hal_uart.h" #include "stm32l4xx_hal_uart.h"
#include <stdio.h> #include <stdio.h>
#include <stdbool.h>
/* USER CODE END Includes */ /* USER CODE END Includes */
@ -44,10 +45,14 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim2; TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim6;
UART_HandleTypeDef huart2; UART_HandleTypeDef huart2;
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
volatile uint8_t huart2_rxc;
static volatile uint32_t sys_time = 0;
static volatile bool b_timer_struck = false;
/* USER CODE END PV */ /* USER CODE END PV */
@ -56,6 +61,7 @@ void SystemClock_Config(void);
static void MX_GPIO_Init(void); static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void); static void MX_TIM2_Init(void);
static void MX_USART2_UART_Init(void); static void MX_USART2_UART_Init(void);
static void MX_TIM6_Init(void);
/* USER CODE BEGIN PFP */ /* USER CODE BEGIN PFP */
void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent); void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent);
@ -96,13 +102,9 @@ int main(void)
MX_GPIO_Init(); MX_GPIO_Init();
MX_TIM2_Init(); MX_TIM2_Init();
MX_USART2_UART_Init(); MX_USART2_UART_Init();
MX_TIM6_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
p_uart_init(&huart2); p_uart_init(&huart2);
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\r\n");
// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); // HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
// HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); // HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
@ -112,14 +114,21 @@ int main(void)
HAL_GPIO_WritePin(m1_dir_GPIO_Port, m1_dir_Pin, 1); HAL_GPIO_WritePin(m1_dir_GPIO_Port, m1_dir_Pin, 1);
HAL_GPIO_WritePin(m2_dir_GPIO_Port, m2_dir_Pin, 1); HAL_GPIO_WritePin(m2_dir_GPIO_Port, m2_dir_Pin, 1);
PDEBUG("ablahablah\n"); mc_init();
motor_controller_init(); HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
HAL_TIM_Base_Start_IT(&htim6);
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) while (1)
{ {
mc_service();
if(b_timer_struck)
{
b_timer_struck = false;
PDEBUG("%d\n", sys_time);
}
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
@ -170,7 +179,8 @@ void SystemClock_Config(void)
/** Initializes the CPU, AHB and APB buses clocks /** Initializes the CPU, AHB and APB buses clocks
*/ */
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
@ -237,6 +247,45 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 2 */ /* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2); HAL_TIM_MspPostInit(&htim2);
}
/**
* @brief TIM6 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM6_Init(void)
{
/* USER CODE BEGIN TIM6_Init 0 */
/* USER CODE END TIM6_Init 0 */
TIM_MasterConfigTypeDef sMasterConfig = {0};
/* USER CODE BEGIN TIM6_Init 1 */
/* USER CODE END TIM6_Init 1 */
htim6.Instance = TIM6;
htim6.Init.Prescaler = 127;
htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
htim6.Init.Period = 999;
htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM6_Init 2 */
/* USER CODE END TIM6_Init 2 */
} }
/** /**
@ -271,6 +320,7 @@ static void MX_USART2_UART_Init(void)
/* USER CODE BEGIN USART2_Init 2 */ /* USER CODE BEGIN USART2_Init 2 */
/* USER CODE END USART2_Init 2 */ /* USER CODE END USART2_Init 2 */
} }
/** /**
@ -306,9 +356,22 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(LD3_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(LD3_GPIO_Port, &GPIO_InitStruct);
} }
/* USER CODE BEGIN 4 */ /* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart)
{
HAL_UART_Transmit(&huart2, &huart2_rxc, 1, 100);
HAL_UART_Receive_IT(&huart2, &huart2_rxc, 1);
}
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
{
sys_time += 4;
b_timer_struck = true;
}
void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent) void setPWM(TIM_HandleTypeDef *timer, uint32_t channel, uint8_t dc_percent)
{ {
HAL_TIM_PWM_Stop(timer, channel); HAL_TIM_PWM_Stop(timer, channel);

50
Core/Src/stm32l4xx_hal_msp.c
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@ -100,6 +100,31 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
} }
/**
* @brief TIM_Base MSP Initialization
* This function configures the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspInit 0 */
/* USER CODE END TIM6_MspInit 0 */
/* Peripheral clock enable */
__HAL_RCC_TIM6_CLK_ENABLE();
/* TIM6 interrupt Init */
HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspInit 1 */
/* USER CODE END TIM6_MspInit 1 */
}
}
void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim) void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
{ {
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
@ -149,6 +174,31 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
} }
/**
* @brief TIM_Base MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param htim_base: TIM_Base handle pointer
* @retval None
*/
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
{
if(htim_base->Instance==TIM6)
{
/* USER CODE BEGIN TIM6_MspDeInit 0 */
/* USER CODE END TIM6_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM6_CLK_DISABLE();
/* TIM6 interrupt DeInit */
HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
/* USER CODE BEGIN TIM6_MspDeInit 1 */
/* USER CODE END TIM6_MspDeInit 1 */
}
}
/** /**
* @brief UART MSP Initialization * @brief UART MSP Initialization
* This function configures the hardware resources used in this example * This function configures the hardware resources used in this example

15
Core/Src/stm32l4xx_it.c
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@ -55,6 +55,7 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim6;
extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart2;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
@ -212,6 +213,20 @@ void USART2_IRQHandler(void)
/* USER CODE END USART2_IRQn 1 */ /* USER CODE END USART2_IRQn 1 */
} }
/**
* @brief This function handles TIM6 global interrupt, DAC channel1 and channel2 underrun error interrupts.
*/
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
/* USER CODE END TIM6_DAC_IRQn 0 */
HAL_TIM_IRQHandler(&htim6);
/* USER CODE BEGIN TIM6_DAC_IRQn 1 */
/* USER CODE END TIM6_DAC_IRQn 1 */
}
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
/* USER CODE END 1 */ /* USER CODE END 1 */

4
Makefile
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@ -1,5 +1,5 @@
########################################################################################################################## ##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Thu Mar 31 16:32:43 CDT 2022] # File automatically-generated by tool: [projectgenerator] version: [3.16.0] date: [Fri Apr 01 16:10:25 CDT 2022]
########################################################################################################################## ##########################################################################################################################
# ------------------------------------------------ # ------------------------------------------------
@ -134,7 +134,7 @@ ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffuncti
CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
ifeq ($(DEBUG), 1) ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2 -D_DEBUG CFLAGS += -g3 -gdwarf-2 -D_DEBUG
endif endif

707
compile_commands.json
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@ -22,38 +22,9 @@
"-Wall", "-Wall",
"-fdata-sections", "-fdata-sections",
"-ffunction-sections", "-ffunction-sections",
"-MFbuild/stm32l4xx_hal_dma.d", "-g3",
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"build/stm32l4xx_hal_dma.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_dma.c"
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"-o", "-o",
@ -62,677 +33,5 @@
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"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c.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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_i2c_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_i2c_ex.lst",
"-o",
"build/stm32l4xx_hal_i2c_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_i2c_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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_msp.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_msp.lst",
"-o",
"build/stm32l4xx_hal_msp.o",
"Core/Src/stm32l4xx_hal_msp.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Core/Src/stm32l4xx_hal_msp.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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_flash.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash.lst",
"-o",
"build/stm32l4xx_hal_flash.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash.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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_rcc.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc.lst",
"-o",
"build/stm32l4xx_hal_rcc.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc.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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_flash_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_flash_ex.lst",
"-o",
"build/stm32l4xx_hal_flash_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_flash_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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_rcc_ex.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_rcc_ex.lst",
"-o",
"build/stm32l4xx_hal_rcc_ex.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_ex.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_rcc_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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_gpio.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_gpio.lst",
"-o",
"build/stm32l4xx_hal_gpio.o",
"Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Drivers/STM32L4xx_HAL_Driver/Src/stm32l4xx_hal_gpio.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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_hal_uart.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_hal_uart.lst",
"-o",
"build/stm32l4xx_hal_uart.o",
"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",
"-Ishared/devices",
"-Ishared/drivers",
"-Ishared/util",
"-Og",
"-Wall",
"-fdata-sections",
"-ffunction-sections",
"-MFbuild/stm32l4xx_it.d",
"-Wa,-a,-ad,-alms=build/stm32l4xx_it.lst",
"-o",
"build/stm32l4xx_it.o",
"Core/Src/stm32l4xx_it.c"
],
"directory": "/storage/Shared/Projects/stm32_projects/motor_controller",
"file": "Core/Src/stm32l4xx_it.c"
} }
] ]

3619
gdb.txt
View File

File diff suppressed because it is too large Load Diff

7
generic_debug.gdb
Unescape Escape View File

@ -0,0 +1,7 @@
set pagination off
set logging file gdb.txt
set logging on
set mem inaccessible-by-default off
target extended-remote localhost:3333
monitor reset halt
load

17
motor_controller.ioc
Unescape Escape View File

@ -7,8 +7,9 @@ Mcu.IP0=NVIC
Mcu.IP1=RCC Mcu.IP1=RCC
Mcu.IP2=SYS Mcu.IP2=SYS
Mcu.IP3=TIM2 Mcu.IP3=TIM2
Mcu.IP4=USART2 Mcu.IP4=TIM6
Mcu.IPNb=5 Mcu.IP5=USART2
Mcu.IPNb=6
Mcu.Name=STM32L432K(B-C)Ux Mcu.Name=STM32L432K(B-C)Ux
Mcu.Package=UFQFPN32 Mcu.Package=UFQFPN32
Mcu.Pin0=PC14-OSC32_IN (PC14) Mcu.Pin0=PC14-OSC32_IN (PC14)
@ -18,6 +19,7 @@ Mcu.Pin11=PA14 (JTCK-SWCLK)
Mcu.Pin12=PA15 (JTDI) Mcu.Pin12=PA15 (JTDI)
Mcu.Pin13=PB3 (JTDO-TRACESWO) Mcu.Pin13=PB3 (JTDO-TRACESWO)
Mcu.Pin14=VP_SYS_VS_Systick Mcu.Pin14=VP_SYS_VS_Systick
Mcu.Pin15=VP_TIM6_VS_ClockSourceINT
Mcu.Pin2=PA0 Mcu.Pin2=PA0
Mcu.Pin3=PA1 Mcu.Pin3=PA1
Mcu.Pin4=PA2 Mcu.Pin4=PA2
@ -26,7 +28,7 @@ Mcu.Pin6=PA4
Mcu.Pin7=PA5 Mcu.Pin7=PA5
Mcu.Pin8=PA8 Mcu.Pin8=PA8
Mcu.Pin9=PA9 Mcu.Pin9=PA9
Mcu.PinsNb=15 Mcu.PinsNb=16
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32L432KCUx Mcu.UserName=STM32L432KCUx
@ -42,6 +44,7 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true 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.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\: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 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
PA0.GPIOParameters=GPIO_Label PA0.GPIOParameters=GPIO_Label
@ -121,7 +124,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=Makefile ProjectManager.TargetToolchain=Makefile
ProjectManager.ToolChainLocation= ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=false ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true
RCC.48CLKFreq_Value=24000000 RCC.48CLKFreq_Value=24000000
RCC.AHBFreq_Value=32000000 RCC.AHBFreq_Value=32000000
RCC.APB1Freq_Value=32000000 RCC.APB1Freq_Value=32000000
@ -188,9 +191,15 @@ TIM2.Period=499
TIM2.Prescaler=127 TIM2.Prescaler=127
TIM2.Pulse-PWM\ Generation2\ CH2=250 TIM2.Pulse-PWM\ Generation2\ CH2=250
TIM2.Pulse-PWM\ Generation4\ CH4=125 TIM2.Pulse-PWM\ Generation4\ CH4=125
TIM6.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
TIM6.IPParameters=Prescaler,AutoReloadPreload,Period
TIM6.Period=999
TIM6.Prescaler=127
USART2.IPParameters=VirtualMode-Asynchronous USART2.IPParameters=VirtualMode-Asynchronous
USART2.VirtualMode-Asynchronous=VM_ASYNC USART2.VirtualMode-Asynchronous=VM_ASYNC
VP_SYS_VS_Systick.Mode=SysTick VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
board=NUCLEO-L432KC board=NUCLEO-L432KC
boardIOC=true boardIOC=true

7
shared/devices/motor_controller.c
Unescape Escape View File

@ -1,6 +1,11 @@
#include "motor_controller.h" #include "motor_controller.h"
void motor_controller_init() void mc_init()
{ {
// //
} }
void mc_service()
{
}

4
shared/devices/motor_controller.h
Unescape Escape View File

@ -3,6 +3,8 @@
#include "main.h" #include "main.h"
void motor_controller_init(void); void mc_init(void);
void mc_service(void);
#endif #endif

2
shared/util/putil.c
Unescape Escape View File

@ -28,4 +28,6 @@ int p_printf(const char* fmt, ...)
void p_uart_init(UART_HandleTypeDef* huart) void p_uart_init(UART_HandleTypeDef* huart)
{ {
huart_inst = huart; huart_inst = huart;
PDEBUG("...\n");
PDEBUG("UART2 Initialized\n");
} }

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