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Merge branch 'uart' into cppify

Browse Source 
Conflicts:
	Makefile
	MotorControl/low_level.c
	MotorControl/low_level.h
	Src/freertos.c
This commit is contained in:
Oskar Weigl
2017-10-14 21:05:09 -07:00
parent 0b53f02b7b 4381e052e2
commit bee1a9b6d3
37 changed files with 4936 additions and 1275 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.vscode/c_cpp_properties.json
Vendored
+3 -1
View File
@@ -15,7 +15,9 @@
"${workspaceRoot}/Drivers/CMSIS/Device/ST/STM32F4xx/Include",
"${workspaceRoot}/Drivers/CMSIS/Include",
"${workspaceRoot}/Inc",
"${workspaceRoot}/MotorControl"
"${workspaceRoot}/MotorControl",
"C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/arm-none-eabi/include",
"C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/lib/gcc/arm-none-eabi/6.3.1/include"
],
"defines": [
"_DEBUG",
CHANGELOG.md
+7 -1
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@@ -1,5 +1,11 @@
## [0.1] - UNRELEASED
## [0.2.0] - UNRELEASED
### Added
* UART feature
* Setting to select UART or Step/dir on GIPIO 1,2
### Changed
## [0.1.0] - 2017-08-26
### Added
* Step/Dir interface
* this Changelog
Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c
-763
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File diff suppressed because it is too large Load Diff
Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
+794
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File diff suppressed because it is too large Load Diff
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
+2539
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File diff suppressed because it is too large Load Diff
Inc/dma.h
+88
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@@ -0,0 +1,88 @@
/**
******************************************************************************
* File Name : dma.h
* Description : This file contains all the function prototypes for
* the dma.c file
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2017 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution 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 other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __dma_H
#define __dma_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* DMA memory to memory transfer handles -------------------------------------*/
extern void _Error_Handler(char*, int);
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_DMA_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __dma_H */
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Inc/freertos_vars.h
+1 -1
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@@ -8,6 +8,6 @@ osSemaphoreId sem_usb_irq;
// List of threads
osThreadId thread_motor_0;
osThreadId thread_motor_1;
osThreadId thread_usb_cmd;
osThreadId thread_cmd_parse;
#endif /* __FREERTOS_H */
Inc/gpio.h
+3
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@@ -70,6 +70,9 @@ void MX_GPIO_Init(void);
/* USER CODE BEGIN Prototypes */
void SetGPIO12toUART();
void SetGPIO12toStepDir();
/* USER CODE END Prototypes */
#ifdef __cplusplus
Inc/main.h
+20 -16
View File
@@ -55,6 +55,10 @@
#define HW_VERSION_MAJOR 3
#define HW_VERSION_MINOR 3
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
#include "prev_board_ver/main_V3_2.h"
#else
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
@@ -79,21 +83,21 @@
#define M1_IC_GPIO_Port GPIOC
#define M1_IB_Pin GPIO_PIN_3
#define M1_IB_GPIO_Port GPIOC
#define VBUS_S_Pin GPIO_PIN_0
#define VBUS_S_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_1
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_I_Pin GPIO_PIN_2
#define AUX_I_GPIO_Port GPIOA
#define GPIO_1_Pin GPIO_PIN_0
#define GPIO_1_GPIO_Port GPIOA
#define GPIO_2_Pin GPIO_PIN_1
#define GPIO_2_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_2
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_3_EXTI_IRQn EXTI2_IRQn
#define GPIO_4_Pin GPIO_PIN_3
#define GPIO_4_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_4
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_3_EXTI_IRQn EXTI4_IRQn
#define GPIO_2_Pin GPIO_PIN_5
#define GPIO_2_GPIO_Port GPIOA
#define AUX_V_Pin GPIO_PIN_6
#define AUX_V_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_4
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_I_Pin GPIO_PIN_5
#define AUX_I_GPIO_Port GPIOA
#define VBUS_S_Pin GPIO_PIN_6
#define VBUS_S_GPIO_Port GPIOA
#define M1_AL_Pin GPIO_PIN_7
#define M1_AL_GPIO_Port GPIOA
#define AUX_TEMP_Pin GPIO_PIN_4
@@ -104,9 +108,8 @@
#define M1_BL_GPIO_Port GPIOB
#define M1_CL_Pin GPIO_PIN_1
#define M1_CL_GPIO_Port GPIOB
#define GPIO_1_Pin GPIO_PIN_2
#define GPIO_1_GPIO_Port GPIOB
#define GPIO_1_EXTI_IRQn EXTI2_IRQn
#define GPIO_5_Pin GPIO_PIN_2
#define GPIO_5_GPIO_Port GPIOB
#define AUX_L_Pin GPIO_PIN_10
#define AUX_L_GPIO_Port GPIOB
#define AUX_H_Pin GPIO_PIN_11
@@ -149,6 +152,7 @@
#define M1_ENC_B_GPIO_Port GPIOB
/* USER CODE BEGIN Private defines */
#endif
#define CURRENT_MEAS_PERIOD ((float)(2*TIM_1_8_PERIOD_CLOCKS)/(float)TIM_1_8_CLOCK_HZ)
#define CURRENT_MEAS_HZ (TIM_1_8_CLOCK_HZ/(2*TIM_1_8_PERIOD_CLOCKS))
Inc/prev_board_ver/main_V3_2.h
+91
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@@ -0,0 +1,91 @@
/* Private define ------------------------------------------------------------*/
#define TIM_1_8_CLOCK_HZ 168000000
#define TIM_1_8_PERIOD_CLOCKS 10192
#define TIM_1_8_DEADTIME_CLOCKS 20
#define TIM_APB1_CLOCK_HZ 84000000
#define TIM_APB1_PERIOD_CLOCKS 4096
#define TIM_APB1_DEADTIME_CLOCKS 40
#define M0_nCS_Pin GPIO_PIN_13
#define M0_nCS_GPIO_Port GPIOC
#define M1_nCS_Pin GPIO_PIN_14
#define M1_nCS_GPIO_Port GPIOC
#define M1_DC_CAL_Pin GPIO_PIN_15
#define M1_DC_CAL_GPIO_Port GPIOC
#define M0_IB_Pin GPIO_PIN_0
#define M0_IB_GPIO_Port GPIOC
#define M0_IC_Pin GPIO_PIN_1
#define M0_IC_GPIO_Port GPIOC
#define M1_IC_Pin GPIO_PIN_2
#define M1_IC_GPIO_Port GPIOC
#define M1_IB_Pin GPIO_PIN_3
#define M1_IB_GPIO_Port GPIOC
#define VBUS_S_Pin GPIO_PIN_0
#define VBUS_S_GPIO_Port GPIOA
#define M1_TEMP_Pin GPIO_PIN_1
#define M1_TEMP_GPIO_Port GPIOA
#define AUX_I_Pin GPIO_PIN_2
#define AUX_I_GPIO_Port GPIOA
#define GPIO_4_Pin GPIO_PIN_3
#define GPIO_4_GPIO_Port GPIOA
#define GPIO_3_Pin GPIO_PIN_4
#define GPIO_3_GPIO_Port GPIOA
#define GPIO_3_EXTI_IRQn EXTI4_IRQn
#define GPIO_2_Pin GPIO_PIN_5
#define GPIO_2_GPIO_Port GPIOA
#define AUX_V_Pin GPIO_PIN_6
#define AUX_V_GPIO_Port GPIOA
#define M1_AL_Pin GPIO_PIN_7
#define M1_AL_GPIO_Port GPIOA
#define AUX_TEMP_Pin GPIO_PIN_4
#define AUX_TEMP_GPIO_Port GPIOC
#define M0_TEMP_Pin GPIO_PIN_5
#define M0_TEMP_GPIO_Port GPIOC
#define M1_BL_Pin GPIO_PIN_0
#define M1_BL_GPIO_Port GPIOB
#define M1_CL_Pin GPIO_PIN_1
#define M1_CL_GPIO_Port GPIOB
#define GPIO_1_Pin GPIO_PIN_2
#define GPIO_1_GPIO_Port GPIOB
#define GPIO_1_EXTI_IRQn EXTI2_IRQn
#define AUX_L_Pin GPIO_PIN_10
#define AUX_L_GPIO_Port GPIOB
#define AUX_H_Pin GPIO_PIN_11
#define AUX_H_GPIO_Port GPIOB
#define EN_GATE_Pin GPIO_PIN_12
#define EN_GATE_GPIO_Port GPIOB
#define M0_AL_Pin GPIO_PIN_13
#define M0_AL_GPIO_Port GPIOB
#define M0_BL_Pin GPIO_PIN_14
#define M0_BL_GPIO_Port GPIOB
#define M0_CL_Pin GPIO_PIN_15
#define M0_CL_GPIO_Port GPIOB
#define M1_AH_Pin GPIO_PIN_6
#define M1_AH_GPIO_Port GPIOC
#define M1_BH_Pin GPIO_PIN_7
#define M1_BH_GPIO_Port GPIOC
#define M1_CH_Pin GPIO_PIN_8
#define M1_CH_GPIO_Port GPIOC
#define M0_DC_CAL_Pin GPIO_PIN_9
#define M0_DC_CAL_GPIO_Port GPIOC
#define M0_AH_Pin GPIO_PIN_8
#define M0_AH_GPIO_Port GPIOA
#define M0_BH_Pin GPIO_PIN_9
#define M0_BH_GPIO_Port GPIOA
#define M0_CH_Pin GPIO_PIN_10
#define M0_CH_GPIO_Port GPIOA
#define M0_ENC_Z_Pin GPIO_PIN_15
#define M0_ENC_Z_GPIO_Port GPIOA
#define nFAULT_Pin GPIO_PIN_2
#define nFAULT_GPIO_Port GPIOD
#define M1_ENC_Z_Pin GPIO_PIN_3
#define M1_ENC_Z_GPIO_Port GPIOB
#define M0_ENC_A_Pin GPIO_PIN_4
#define M0_ENC_A_GPIO_Port GPIOB
#define M0_ENC_B_Pin GPIO_PIN_5
#define M0_ENC_B_GPIO_Port GPIOB
#define M1_ENC_A_Pin GPIO_PIN_6
#define M1_ENC_A_GPIO_Port GPIOB
#define M1_ENC_B_Pin GPIO_PIN_7
#define M1_ENC_B_GPIO_Port GPIOB
Inc/stm32f4xx_hal_conf.h
+2 -2
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@@ -76,7 +76,7 @@
/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED
/* #define HAL_UART_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */
@@ -157,7 +157,7 @@
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE ((uint32_t)3300U) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)15U) /*!< tick interrupt priority */
#define TICK_INT_PRIORITY ((uint32_t)0U) /*!< tick interrupt priority */
#define USE_RTOS 0U
#define PREFETCH_ENABLE 1U
#define INSTRUCTION_CACHE_ENABLE 1U
Inc/stm32f4xx_it.h
+6 -2
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@@ -40,6 +40,8 @@
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
@@ -52,9 +54,11 @@ void BusFault_Handler(void);
void UsageFault_Handler(void);
void DebugMon_Handler(void);
void SysTick_Handler(void);
void EXTI2_IRQHandler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream2_IRQHandler(void);
void DMA1_Stream4_IRQHandler(void);
void ADC_IRQHandler(void);
void TIM8_TRG_COM_TIM14_IRQHandler(void);
void UART4_IRQHandler(void);
void OTG_FS_IRQHandler(void);
#ifdef __cplusplus
Inc/usart.h
+91
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@@ -0,0 +1,91 @@
/**
******************************************************************************
* File Name : USART.h
* Description : This file provides code for the configuration
* of the USART instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2017 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution 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 other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS 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.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __usart_H
#define __usart_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern UART_HandleTypeDef huart4;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
extern void _Error_Handler(char *, int);
void MX_UART4_Init(void);
/* USER CODE BEGIN Prototypes */
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /*__ usart_H */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Makefile
+6 -1
View File
@@ -40,14 +40,17 @@ C_SOURCES = \
Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
Src/system_stm32f4xx.c \
Src/stm32f4xx_it.c \
Src/stm32f4xx_hal_msp.c \
Src/stm32f4xx_hal_timebase_TIM.c \
Src/tim.c \
Src/gpio.c \
Src/main.c \
Src/adc.c \
Src/freertos.c \
Src/spi.c \
Src/stm32f4xx_hal_msp.c \
Src/can.c \
Src/usart.c \
Src/dma.c \
Src/usbd_conf.c \
Src/usbd_desc.c \
Src/usb_device.c \
@@ -72,10 +75,12 @@ C_SOURCES = \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c \
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c \
Src/usbd_cdc_if.c \
Src/syscalls.c \
MotorControl/utils.c \
MotorControl/commands.c \
MotorControl/low_level.c
CPP_SOURCES = \
MotorControl/axis.cpp
MotorControl/commands.c
+345
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@@ -0,0 +1,345 @@
/* Includes ------------------------------------------------------------------*/
#include <cmsis_os.h>
#include <commands.h>
#include <usart.h>
#include <gpio.h>
#include <freertos_vars.h>
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
/* Global variables ----------------------------------------------------------*/
// This automatically updates to the interface that most
// recently recieved a command. In the future we may want to separate
// debug printf and the main serial comms.
SerialPrintf_t serial_printf_select = SERIAL_PRINTF_IS_NONE;
/* Private constant data -----------------------------------------------------*/
// TODO: make command to switch gpio_mode during run-time
static const GpioMode_t gpio_mode = GPIO_MODE_UART; //GPIO 1,2 is UART Tx,Rx
// static const GpioMode_t gpio_mode = GPIO_MODE_STEP_DIR; //GPIO 1,2 is M0 Step,Dir
// variables exposed to usb/serial interface via set/get/monitor
// Note: this will be depricated soon
float* const exposed_floats[] = {
&vbus_voltage, // ro
NULL, //&elec_rad_per_enc, // ro
&motors[0].pos_setpoint, // rw
&motors[0].pos_gain, // rw
&motors[0].vel_setpoint, // rw
&motors[0].vel_gain, // rw
&motors[0].vel_integrator_gain, // rw
&motors[0].vel_integrator_current, // rw
&motors[0].vel_limit, // rw
&motors[0].current_setpoint, // rw
&motors[0].calibration_current, // rw
&motors[0].phase_inductance, // ro
&motors[0].phase_resistance, // ro
&motors[0].current_meas.phB, // ro
&motors[0].current_meas.phC, // ro
&motors[0].DC_calib.phB, // rw
&motors[0].DC_calib.phC, // rw
&motors[0].shunt_conductance, // rw
&motors[0].phase_current_rev_gain, // rw
&motors[0].current_control.current_lim, // rw
&motors[0].current_control.p_gain, // rw
&motors[0].current_control.i_gain, // rw
&motors[0].current_control.v_current_control_integral_d, // rw
&motors[0].current_control.v_current_control_integral_q, // rw
&motors[0].current_control.Ibus, // ro
&motors[0].encoder.phase, // ro
&motors[0].encoder.pll_pos, // rw
&motors[0].encoder.pll_vel, // rw
&motors[0].encoder.pll_kp, // rw
&motors[0].encoder.pll_ki, // rw
&motors[1].pos_setpoint, // rw
&motors[1].pos_gain, // rw
&motors[1].vel_setpoint, // rw
&motors[1].vel_gain, // rw
&motors[1].vel_integrator_gain, // rw
&motors[1].vel_integrator_current, // rw
&motors[1].vel_limit, // rw
&motors[1].current_setpoint, // rw
&motors[1].calibration_current, // rw
&motors[1].phase_inductance, // ro
&motors[1].phase_resistance, // ro
&motors[1].current_meas.phB, // ro
&motors[1].current_meas.phC, // ro
&motors[1].DC_calib.phB, // rw
&motors[1].DC_calib.phC, // rw
&motors[1].shunt_conductance, // rw
&motors[1].phase_current_rev_gain, // rw
&motors[1].current_control.current_lim, // rw
&motors[1].current_control.p_gain, // rw
&motors[1].current_control.i_gain, // rw
&motors[1].current_control.v_current_control_integral_d, // rw
&motors[1].current_control.v_current_control_integral_q, // rw
&motors[1].current_control.Ibus, // ro
&motors[1].encoder.phase, // ro
&motors[1].encoder.pll_pos, // rw
&motors[1].encoder.pll_vel, // rw
&motors[1].encoder.pll_kp, // rw
&motors[1].encoder.pll_ki, // rw
};
int* const exposed_ints[] = {
(int*)&motors[0].control_mode, // rw
&motors[0].encoder.encoder_offset, // rw
&motors[0].encoder.encoder_state, // ro
&motors[0].error, // rw
(int*)&motors[1].control_mode, // rw
&motors[1].encoder.encoder_offset, // rw
&motors[1].encoder.encoder_state, // ro
&motors[1].error, // rw
};
bool* const exposed_bools[] = {
&motors[0].thread_ready, // ro
//For now these are written by Axis::SetupLegacyMappings
NULL, // &motors[0].enable_control, // rw
NULL, // &motors[0].do_calibration, // rw
NULL, // &motors[0].calibration_ok, // ro
&motors[1].thread_ready, // ro
NULL, // &motors[1].enable_control, // rw
NULL, // &motors[1].do_calibration, // rw
NULL, // &motors[1].calibration_ok, // ro
};
uint16_t* const exposed_uint16[] = {
&motors[0].control_deadline, // rw
&motors[0].last_cpu_time, // ro
&motors[1].control_deadline, // rw
&motors[1].last_cpu_time, // ro
};
/* Private variables ---------------------------------------------------------*/
monitoring_slot monitoring_slots[20] = {0};
/* Private function prototypes -----------------------------------------------*/
static void print_monitoring(int limit);
/* Function implementations --------------------------------------------------*/
void init_communication() {
switch (gpio_mode) {
case GPIO_MODE_UART: {
SetGPIO12toUART();
} break;
case GPIO_MODE_STEP_DIR: {
SetGPIO12toStepDir();
}
}
}
void motor_parse_cmd(uint8_t* buffer, int len, SerialPrintf_t response_interface) {
// Set response interface
serial_printf_select = response_interface;
// TODO very hacky way of terminating sscanf at end of buffer:
// We should do some proper struct packing instead of using sscanf altogether
buffer[len-1] = 0;
// check incoming packet type
if (buffer[0] == 'p') {
// position control
unsigned motor_number;
float pos_setpoint, vel_feed_forward, current_feed_forward;
int numscan = sscanf((const char*)buffer, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &current_feed_forward);
if (numscan == 4 && motor_number < num_motors) {
set_pos_setpoint(&motors[motor_number], pos_setpoint, vel_feed_forward, current_feed_forward);
}
} else if (buffer[0] == 'v') {
// velocity control
unsigned motor_number;
float vel_feed_forward, current_feed_forward;
int numscan = sscanf((const char*)buffer, "v %u %f %f", &motor_number, &vel_feed_forward, &current_feed_forward);
if (numscan == 3 && motor_number < num_motors) {
set_vel_setpoint(&motors[motor_number], vel_feed_forward, current_feed_forward);
}
} else if (buffer[0] == 'c') {
// current control
unsigned motor_number;
float current_feed_forward;
int numscan = sscanf((const char*)buffer, "c %u %f", &motor_number, &current_feed_forward);
if (numscan == 2 && motor_number < num_motors) {
set_current_setpoint(&motors[motor_number], current_feed_forward);
}
} else if (buffer[0] == 'g') { // GET
// g <0:float,1:int,2:bool,3:uint16> index
int type = 0;
int index = 0;
int numscan = sscanf((const char*)buffer, "g %u %u", &type, &index);
if (numscan == 2) {
switch(type){
case 0: {
printf("%f\n",*exposed_floats[index]);
break;
};
case 1: {
printf("%d\n",*exposed_ints[index]);
break;
};
case 2: {
printf("%d\n",*exposed_bools[index]);
break;
};
case 3: {
printf("%hu\n",*exposed_uint16[index]);
break;
};
}
}
} else if (buffer[0] == 's') { // SET
// s <0:float,1:int,2:bool,3:uint16> index value
int type = 0;
int index = 0;
int numscan = sscanf((const char*)buffer, "s %u %u", &type, &index);
if (numscan == 2) {
switch(type) {
case 0: {
sscanf((const char*)buffer, "s %u %u %f", &type, &index, exposed_floats[index]);
break;
};
case 1: {
sscanf((const char*)buffer, "s %u %u %d", &type, &index, exposed_ints[index]);
break;
};
case 2: {
int btmp = 0;
sscanf((const char*)buffer, "s %u %u %d", &type, &index, &btmp);
*exposed_bools[index] = btmp ? true : false;
break;
};
case 3: {
sscanf((const char*)buffer, "s %u %u %hu", &type, &index, exposed_uint16[index]);
break;
};
}
}
} else if (buffer[0] == 'm') { // Setup Monitor
// m <0:float,1:int,2:bool,3:uint16> index monitoring_slot
int type = 0;
int index = 0;
int slot = 0;
int numscan = sscanf((const char*)buffer, "m %u %u %u", &type, &index, &slot);
if (numscan == 3) {
monitoring_slots[slot].type = type;
monitoring_slots[slot].index = index;
}
} else if (buffer[0] == 'o') { // Output Monitor
int limit = 0;
int numscan = sscanf((const char*)buffer, "o %u", &limit);
if (numscan == 1) {
print_monitoring(limit);
}
}
}
static void print_monitoring(int limit) {
for (int i=0;i<limit;i++) {
switch (monitoring_slots[i].type) {
case 0:
printf("%f\t",*exposed_floats[monitoring_slots[i].index]);
break;
case 1:
printf("%d\t",*exposed_ints[monitoring_slots[i].index]);
break;
case 2:
printf("%d\t",*exposed_bools[monitoring_slots[i].index]);
break;
case 3:
printf("%hu\t",*exposed_uint16[monitoring_slots[i].index]);
break;
default:
i=100;
}
}
printf("\n");
}
// Thread to handle deffered processing of USB interrupt, and
// read commands out of the UART DMA circular buffer
void cmd_parse_thread(void const * argument) {
//DMA open loop continous circular buffer
//1ms delay periodic, chase DMA ptr around, on new data:
// Check for start char
// copy into parse-buffer
// check for end-char
// checksum, etc.
#define UART_RX_BUFFER_SIZE 64
static uint8_t dma_circ_buffer[UART_RX_BUFFER_SIZE];
static uint8_t parse_buffer[UART_RX_BUFFER_SIZE];
// DMA is set up to recieve in a circular buffer forever.
// We dont use interrupts to fetch the data, instead we periodically read
// data out of the circular buffer into a parse buffer, controlled by a state machine
HAL_UART_Receive_DMA(&huart4, dma_circ_buffer, sizeof(dma_circ_buffer));
uint32_t last_rcv_idx = UART_RX_BUFFER_SIZE - huart4.hdmarx->Instance->NDTR;
// Re-run state-machine forever
for (;;) {
//Inialize recieve state machine
bool reset_read_state = false;
bool read_active = false;
uint32_t parse_buffer_idx = 0;
//Run state machine until reset
do {
// Check for UART errors and restart recieve DMA transfer if required
if (huart4.ErrorCode != HAL_UART_ERROR_NONE) {
HAL_UART_AbortReceive(&huart4);
HAL_UART_Receive_DMA(&huart4, dma_circ_buffer, sizeof(dma_circ_buffer));
break; //reset state machine
}
// Fetch the circular buffer "write pointer", where it would write next
uint32_t rcv_idx = UART_RX_BUFFER_SIZE - huart4.hdmarx->Instance->NDTR;
// During sleeping, we may have fallen several characters behind, so we keep
// going until we are caught up, before we sleep again
while (rcv_idx != last_rcv_idx) {
// Fetch the next char, rotate read ptr
uint8_t c = dma_circ_buffer[last_rcv_idx];
if (++last_rcv_idx == UART_RX_BUFFER_SIZE)
last_rcv_idx = 0;
// Look for start character
if (c == '$') {
read_active = true;
continue; // do not record start char
}
// Record into parse buffer when actively reading
if (read_active) {
parse_buffer[parse_buffer_idx++] = c;
if (c == '\r' || c == '\n' || c == '!') {
// End of command string: exchange end char with terminating null
parse_buffer[parse_buffer_idx-1] = '\0';
motor_parse_cmd(parse_buffer, parse_buffer_idx, SERIAL_PRINTF_IS_UART);
// Reset receieve state machine
reset_read_state = true;
break;
} else if (parse_buffer_idx == UART_RX_BUFFER_SIZE - 1) {
// We are not at end of command, and receiving another character after this
// would go into the last slot, which is reserved for terminating null.
// We have effectively overflowed parse buffer: abort.
reset_read_state = true;
break;
}
}
}
// When we reach here, we are out of immediate characters to fetch out of UART buffer
// Now we check if there is any USB processing to do: we wait for up to 1 ms,
// before going back to checking UART again.
int USB_check_timeout = 1;
// Wait for signalling from USB interrupt (OTG_FS_IRQHandler)
osStatus semaphore_status = osSemaphoreWait(sem_usb_irq, USB_check_timeout);
if (semaphore_status == osOK) {
// We have a new incoming USB transmission: handle it
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
// Let the irq (OTG_FS_IRQHandler) fire again.
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
}
} while (!reset_read_state);
}
// If we get here, then this task is done
vTaskDelete(osThreadGetId());
}
MotorControl/commands.h
+35
View File
@@ -0,0 +1,35 @@
#ifndef COMMANDS_H
#define COMMANDS_H
/* Includes ------------------------------------------------------------------*/
#include <low_level.h>
/* Exported types ------------------------------------------------------------*/
typedef enum {
GPIO_MODE_UART,
GPIO_MODE_STEP_DIR,
} GpioMode_t;
typedef enum {
SERIAL_PRINTF_IS_NONE,
SERIAL_PRINTF_IS_USB,
SERIAL_PRINTF_IS_UART,
} SerialPrintf_t;
/* Exported constants --------------------------------------------------------*/
/* Exported variables --------------------------------------------------------*/
extern SerialPrintf_t serial_printf_select;
// Exposed comms table during refactor transition
extern float* exposed_floats[];
extern int* exposed_ints[];
extern bool* exposed_bools[];
extern uint16_t* exposed_uint16[];
/* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
void init_communication();
void cmd_parse_thread(void const * argument);
void motor_parse_cmd(uint8_t* buffer, int len, SerialPrintf_t response_interface);
#endif /* COMMANDS_H */
MotorControl/low_level.c
+35 -253
View File
@@ -2,12 +2,14 @@
// Because of broken cmsis_os.h, we need to include arm_math first,
// otherwise chip specific defines are ommited
#include <stm32f405xx.h>
#include <stm32f4xx_hal.h> // Sets up the correct chip specifc defines required by arm_math
#define ARM_MATH_CM4
#include <arm_math.h>
#include <low_level.h>
#include <stdint.h>
#include <stdlib.h>
#include <math.h>
#include <cmsis_os.h>
@@ -84,7 +86,7 @@ Motor_t motors[] = {
.shunt_conductance = 1.0f/0.0005f, //[S]
.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
.current_control = {
// .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings
// .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
.current_lim = 10.0f, //[A]
.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
@@ -167,7 +169,7 @@ Motor_t motors[] = {
.shunt_conductance = 1.0f/0.0005f, //[S]
.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
.current_control = {
// .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings
// .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
.current_lim = 10.0f, //[A]
.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
@@ -219,106 +221,6 @@ static const int current_meas_hz = CURRENT_MEAS_HZ;
/* Private variables ---------------------------------------------------------*/
static float brake_resistance = 0.47f; // [ohm]
/* Monitoring */
monitoring_slot monitoring_slots[20] = {0};
/* variables exposed to usb interface via set/get/monitor
* If you change something here, don't forget to regenerate the python interface with generate_api.py
* ro/rw : read only/read write -> ro prevents the code generator from generating setter
* */
float* exposed_floats[] = {
&vbus_voltage, // ro
&elec_rad_per_enc, // ro
&motors[0].pos_setpoint, // rw
&motors[0].pos_gain, // rw
&motors[0].vel_setpoint, // rw
&motors[0].vel_gain, // rw
&motors[0].vel_integrator_gain, // rw
&motors[0].vel_integrator_current, // rw
&motors[0].vel_limit, // rw
&motors[0].current_setpoint, // rw
&motors[0].calibration_current, // rw
&motors[0].phase_inductance, // ro
&motors[0].phase_resistance, // ro
&motors[0].current_meas.phB, // ro
&motors[0].current_meas.phC, // ro
&motors[0].DC_calib.phB, // rw
&motors[0].DC_calib.phC, // rw
&motors[0].shunt_conductance, // rw
&motors[0].phase_current_rev_gain, // rw
&motors[0].current_control.current_lim, // rw
&motors[0].current_control.p_gain, // rw
&motors[0].current_control.i_gain, // rw
&motors[0].current_control.v_current_control_integral_d, // rw
&motors[0].current_control.v_current_control_integral_q, // rw
&motors[0].current_control.Ibus, // ro
&motors[0].encoder.phase, // ro
&motors[0].encoder.pll_pos, // rw
&motors[0].encoder.pll_vel, // rw
&motors[0].encoder.pll_kp, // rw
&motors[0].encoder.pll_ki, // rw
&motors[1].pos_setpoint, // rw
&motors[1].pos_gain, // rw
&motors[1].vel_setpoint, // rw
&motors[1].vel_gain, // rw
&motors[1].vel_integrator_gain, // rw
&motors[1].vel_integrator_current, // rw
&motors[1].vel_limit, // rw
&motors[1].current_setpoint, // rw
&motors[1].calibration_current, // rw
&motors[1].phase_inductance, // ro
&motors[1].phase_resistance, // ro
&motors[1].current_meas.phB, // ro
&motors[1].current_meas.phC, // ro
&motors[1].DC_calib.phB, // rw
&motors[1].DC_calib.phC, // rw
&motors[1].shunt_conductance, // rw
&motors[1].phase_current_rev_gain, // rw
&motors[1].current_control.current_lim, // rw
&motors[1].current_control.p_gain, // rw
&motors[1].current_control.i_gain, // rw
&motors[1].current_control.v_current_control_integral_d, // rw
&motors[1].current_control.v_current_control_integral_q, // rw
&motors[1].current_control.Ibus, // ro
&motors[1].encoder.phase, // ro
&motors[1].encoder.pll_pos, // rw
&motors[1].encoder.pll_vel, // rw
&motors[1].encoder.pll_kp, // rw
&motors[1].encoder.pll_ki, // rw
};
int* exposed_ints[] = {
(int*)&motors[0].control_mode, // rw
&motors[0].encoder.encoder_offset, // rw
&motors[0].encoder.encoder_state, // ro
&motors[0].error, // rw
(int*)&motors[1].control_mode, // rw
&motors[1].encoder.encoder_offset, // rw
&motors[1].encoder.encoder_state, // ro
&motors[1].error, // rw
};
bool* exposed_bools[] = {
&motors[0].thread_ready, // ro
NULL, // rw
NULL, // rw
NULL, // ro
&motors[1].thread_ready, // ro
NULL, // rw
NULL, // rw
NULL, // ro
};
uint16_t* exposed_uint16[] = {
&motors[0].control_deadline, // rw
&motors[0].last_cpu_time, // ro
&motors[1].control_deadline, // rw
&motors[1].last_cpu_time, // ro
};
/* Private function prototypes -----------------------------------------------*/
/* Function implementations --------------------------------------------------*/
//--------------------------------
@@ -326,28 +228,6 @@ uint16_t* exposed_uint16[] = {
// TODO move to different file
//--------------------------------
void print_monitoring(int limit) {
for (int i=0;i<limit;i++) {
switch (monitoring_slots[i].type) {
case 0:
printf("%f\t",*exposed_floats[monitoring_slots[i].index]);
break;
case 1:
printf("%d\t",*exposed_ints[monitoring_slots[i].index]);
break;
case 2:
printf("%d\t",*exposed_bools[monitoring_slots[i].index]);
break;
case 3:
printf("%hu\t",*exposed_uint16[monitoring_slots[i].index]);
break;
default:
i=100;
}
}
printf("\n");
}
void set_pos_setpoint(Motor_t* motor, float pos_setpoint, float vel_feed_forward, float current_feed_forward) {
motor->pos_setpoint = pos_setpoint;
motor->vel_setpoint = vel_feed_forward;
@@ -375,109 +255,6 @@ void set_current_setpoint(Motor_t* motor, float current_setpoint) {
#endif
}
void motor_parse_cmd(uint8_t* buffer, int len) {
// TODO very hacky way of terminating sscanf at end of buffer:
// We should do some proper struct packing instead of using sscanf altogether
buffer[len] = 0;
// check incoming packet type
if (buffer[0] == 'p') {
// position control
unsigned motor_number;
float pos_setpoint, vel_feed_forward, current_feed_forward;
int numscan = sscanf((const char*)buffer, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &current_feed_forward);
if (numscan == 4 && motor_number < num_motors) {
set_pos_setpoint(&motors[motor_number], pos_setpoint, vel_feed_forward, current_feed_forward);
}
} else if (buffer[0] == 'v') {
// velocity control
unsigned motor_number;
float vel_feed_forward, current_feed_forward;
int numscan = sscanf((const char*)buffer, "v %u %f %f", &motor_number, &vel_feed_forward, &current_feed_forward);
if (numscan == 3 && motor_number < num_motors) {
set_vel_setpoint(&motors[motor_number], vel_feed_forward, current_feed_forward);
}
} else if (buffer[0] == 'c') {
// current control
unsigned motor_number;
float current_feed_forward;
int numscan = sscanf((const char*)buffer, "c %u %f", &motor_number, &current_feed_forward);
if (numscan == 2 && motor_number < num_motors) {
set_current_setpoint(&motors[motor_number], current_feed_forward);
}
} else if (buffer[0] == 'g') { // GET
// g <0:float,1:int,2:bool,3:uint16> index
int type = 0;
int index = 0;
int numscan = sscanf((const char*)buffer, "g %u %u", &type, &index);
if (numscan == 2) {
switch(type){
case 0: {
printf("%f\n",*exposed_floats[index]);
break;
};
case 1: {
printf("%d\n",*exposed_ints[index]);
break;
};
case 2: {
printf("%d\n",*exposed_bools[index]);
break;
};
case 3: {
printf("%hu\n",*exposed_uint16[index]);
break;
};
}
}
} else if (buffer[0] == 's') { // SET
// s <0:float,1:int,2:bool,3:uint16> index value
int type = 0;
int index = 0;
int numscan = sscanf((const char*)buffer, "s %u %u", &type, &index);
if (numscan == 2) {
switch(type) {
case 0: {
sscanf((const char*)buffer, "s %u %u %f", &type, &index, exposed_floats[index]);
break;
};
case 1: {
sscanf((const char*)buffer, "s %u %u %d", &type, &index, exposed_ints[index]);
break;
};
case 2: {
int btmp = 0;
sscanf((const char*)buffer, "s %u %u %d", &type, &index, &btmp);
*exposed_bools[index] = btmp ? true : false;
break;
};
case 3: {
sscanf((const char*)buffer, "s %u %u %hu", &type, &index, exposed_uint16[index]);
break;
};
}
}
} else if (buffer[0] == 'm') { // Setup Monitor
// m <0:float,1:int,2:bool,3:uint16> index monitoring_slot
int type = 0;
int index = 0;
int slot = 0;
int numscan = sscanf((const char*)buffer, "m %u %u %u", &type, &index, &slot);
if (numscan == 3) {
monitoring_slots[slot].type = type;
monitoring_slots[slot].index = index;
}
} else if (buffer[0] == 'o') { // Output Monitor
int limit = 0;
int numscan = sscanf((const char*)buffer, "o %u", &limit);
if (numscan == 1) {
print_monitoring(limit);
}
}
}
//--------------------------------
// Utility
//--------------------------------
@@ -1012,6 +789,7 @@ bool motor_calibration(Motor_t* motor){
// Test functions
//--------------------------------
__attribute__((unused))
void scan_motor_loop(Motor_t* motor, float omega, float voltage_magnitude) {
for (;;) {
for (float ph = 0.0f; ph < 2.0f * M_PI; ph += omega * current_meas_period) {
@@ -1031,6 +809,7 @@ void scan_motor_loop(Motor_t* motor, float omega, float voltage_magnitude) {
}
//TODO integrate as mode in main control loop
__attribute__((unused))
void FOC_voltage_loop(Motor_t* motor, float v_d, float v_q) {
for (;;) {
osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, osWaitForever);
@@ -1176,36 +955,39 @@ void update_rotor(Motor_t* motor) {
}
}
bool using_encoder(Motor_t* motor) {
if (motor->rotor_mode == ROTOR_MODE_ENCODER ||
motor->rotor_mode == ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS)
return true;
else
return false;
}
bool using_sensorless(Motor_t* motor) {
if (motor->rotor_mode == ROTOR_MODE_SENSORLESS)
return true;
else
return false;
}
float get_rotor_phase(Motor_t* motor) {
switch (motor->rotor_mode) {
case ROTOR_MODE_ENCODER:
case ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS:
return motor->encoder.phase;
break;
case ROTOR_MODE_SENSORLESS:
return motor->sensorless.phase;
break;
default:
//TODO error handling
return 0.0f;
break;
}
if (using_encoder(motor))
return motor->encoder.phase;
else if (using_sensorless(motor))
return motor->sensorless.phase;
else
//TODO error handling
return 0.0f;
}
float get_pll_vel(Motor_t* motor) {
switch (motor->rotor_mode) {
case ROTOR_MODE_ENCODER:
case ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS:
return motor->encoder.pll_vel;
break;
case ROTOR_MODE_SENSORLESS:
return motor->sensorless.pll_vel;
break;
default:
//TODO error handling
return 0.0f;
break;
}
if (using_encoder(motor))
return motor->encoder.pll_vel;
else if (using_sensorless(motor))
return motor->sensorless.pll_vel;
else
//TODO error handling
return 0.0f;
}
bool spin_up_timestep(Motor_t* motor, float phase, float I_mag) {
MotorControl/low_level.h
+6 -13
View File
@@ -148,17 +148,10 @@ typedef struct{
} monitoring_slot;
/* Exported constants --------------------------------------------------------*/
extern const int num_motors;
/* Exported variables --------------------------------------------------------*/
extern float vbus_voltage;
extern Motor_t motors[];
extern const int num_motors;
/* Exported variables --------------------------------------------------------*/
// Exposed comms table during refactor transition
extern float* exposed_floats[];
extern int* exposed_ints[];
extern bool* exposed_bools[];
extern uint16_t* exposed_uint16[];
/* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
@@ -181,8 +174,6 @@ void motor_parse_cmd(uint8_t* buffer, int len);
//// Old private:
// Command Handling
void print_monitoring(int limit);
// Utility
uint16_t check_timing(Motor_t* motor);
void global_fault(int error);
@@ -203,8 +194,10 @@ void scan_motor_loop(Motor_t* motor, float omega, float voltage_magnitude);
void FOC_voltage_loop(Motor_t* motor, float v_d, float v_q);
// Main motor control
void update_rotor(Motor_t* motor);
float get_rotor_phase(Motor_t* motor);
float get_pll_vel(Motor_t* motor);
bool using_encoder(Motor_t* motor)
bool using_sensorless(Motor_t* motor)
float get_rotor_phase(Motor_t* motor)
float get_pll_vel(Motor_t* motor)
bool spin_up_sensorless(Motor_t* motor);
void update_brake_current(float brake_current);
void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta);
Odrive.ioc
+113 -72
View File
@@ -1,6 +1,6 @@
#MicroXplorer Configuration settings - do not modify
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_0
ADC1.Channel-1\#ChannelInjectedConversion=ADC_CHANNEL_0
ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_6
ADC1.Channel-1\#ChannelInjectedConversion=ADC_CHANNEL_6
ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV4
ADC1.ContinuousConvMode=DISABLE
ADC1.DMAContinuousRequests=DISABLE
@@ -80,6 +80,29 @@ CAN1.BS2=CAN_BS2_1TQ
CAN1.CalculateTimeBit=1142
CAN1.CalculateTimeQuantum=380.95238095238096
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,BS1,BS2
Dma.Request0=UART4_RX
Dma.Request1=UART4_TX
Dma.RequestsNb=2
Dma.UART4_RX.0.Direction=DMA_PERIPH_TO_MEMORY
Dma.UART4_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.UART4_RX.0.Instance=DMA1_Stream2
Dma.UART4_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.UART4_RX.0.MemInc=DMA_MINC_ENABLE
Dma.UART4_RX.0.Mode=DMA_CIRCULAR
Dma.UART4_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.UART4_RX.0.PeriphInc=DMA_PINC_DISABLE
Dma.UART4_RX.0.Priority=DMA_PRIORITY_LOW
Dma.UART4_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
Dma.UART4_TX.1.Direction=DMA_MEMORY_TO_PERIPH
Dma.UART4_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
Dma.UART4_TX.1.Instance=DMA1_Stream4
Dma.UART4_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
Dma.UART4_TX.1.MemInc=DMA_MINC_ENABLE
Dma.UART4_TX.1.Mode=DMA_NORMAL
Dma.UART4_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
Dma.UART4_TX.1.PeriphInc=DMA_PINC_DISABLE
Dma.UART4_TX.1.Priority=DMA_PRIORITY_LOW
Dma.UART4_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.INCLUDE_vTaskDelayUntil=1
FREERTOS.IPParameters=Tasks01,INCLUDE_vTaskDelayUntil
FREERTOS.Tasks01=defaultTask,-3,256,StartDefaultTask,Default
@@ -88,21 +111,23 @@ KeepUserPlacement=true
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=ADC2
Mcu.IP10=TIM2
Mcu.IP11=TIM3
Mcu.IP12=TIM4
Mcu.IP13=TIM8
Mcu.IP14=USB_DEVICE
Mcu.IP15=USB_OTG_FS
Mcu.IP10=TIM1
Mcu.IP11=TIM2
Mcu.IP12=TIM3
Mcu.IP13=TIM4
Mcu.IP14=TIM8
Mcu.IP15=UART4
Mcu.IP16=USB_DEVICE
Mcu.IP17=USB_OTG_FS
Mcu.IP2=ADC3
Mcu.IP3=CAN1
Mcu.IP4=FREERTOS
Mcu.IP5=NVIC
Mcu.IP6=RCC
Mcu.IP7=SPI3
Mcu.IP8=SYS
Mcu.IP9=TIM1
Mcu.IPNb=16
Mcu.IP4=DMA
Mcu.IP5=FREERTOS
Mcu.IP6=NVIC
Mcu.IP7=RCC
Mcu.IP8=SPI3
Mcu.IP9=SYS
Mcu.IPNb=18
Mcu.Name=STM32F405RGTx
Mcu.Package=LQFP64
Mcu.Pin0=PC13-ANTI_TAMP
@@ -153,7 +178,7 @@ Mcu.Pin49=PB8
Mcu.Pin5=PC0
Mcu.Pin50=PB9
Mcu.Pin51=VP_FREERTOS_VS_ENABLE
Mcu.Pin52=VP_SYS_VS_Systick
Mcu.Pin52=VP_SYS_VS_tim14
Mcu.Pin53=VP_TIM1_VS_ClockSourceINT
Mcu.Pin54=VP_TIM1_VS_no_output4
Mcu.Pin55=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
@@ -164,28 +189,39 @@ Mcu.Pin9=PA0-WKUP
Mcu.PinsNb=56
Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,10192;TIM_1_8_DEADTIME_CLOCKS,20;TIM_APB1_CLOCK_HZ,84000000;TIM_APB1_PERIOD_CLOCKS,4096;TIM_APB1_DEADTIME_CLOCKS,40
Mcu.UserName=STM32F405RGTx
MxCube.Version=4.22.0
MxDb.Version=DB.4.0.220
NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.EXTI2_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.EXTI4_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true
MxCube.Version=4.22.1
MxDb.Version=DB.4.0.221
NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.EXTI2_IRQn=true\:0\:0\:false\:false\:false\:false\:true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true
NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:true
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false
PA0-WKUP.GPIOParameters=GPIO_Label
PA0-WKUP.GPIO_Label=VBUS_S
PA0-WKUP.Signal=ADCx_IN0
PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=M1_TEMP
PA1.Signal=ADCx_IN1
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:true
NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:true
NVIC.TIM8_TRG_COM_TIM14_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.TimeBase=TIM8_TRG_COM_TIM14_IRQn
NVIC.TimeBaseIP=TIM14
NVIC.UART4_IRQn=true\:5\:0\:false\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:true
PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label
PA0-WKUP.GPIO_Label=GPIO_1
PA0-WKUP.GPIO_PuPd=GPIO_PULLDOWN
PA0-WKUP.Locked=true
PA0-WKUP.Signal=SharedStack_PA0
PA0-WKUP.Stacked=true
PA1.GPIOParameters=GPIO_PuPd,GPIO_Label
PA1.GPIO_Label=GPIO_2
PA1.GPIO_PuPd=GPIO_NOPULL
PA1.Locked=true
PA1.Signal=SharedStack_PA1
PA1.Stacked=true
PA10.GPIOParameters=GPIO_Label
PA10.GPIO_Label=M0_CH
PA10.Locked=true
@@ -202,26 +238,27 @@ PA15.GPIOParameters=GPIO_Label
PA15.GPIO_Label=M0_ENC_Z
PA15.Locked=true
PA15.Signal=GPIO_Input
PA2.GPIOParameters=GPIO_Label
PA2.GPIO_Label=AUX_I
PA2.Signal=ADCx_IN2
PA2.GPIOParameters=GPIO_PuPd,GPIO_Label
PA2.GPIO_Label=GPIO_3
PA2.GPIO_PuPd=GPIO_PULLDOWN
PA2.Locked=true
PA2.Signal=GPXTI2
PA3.GPIOParameters=GPIO_PuPd,GPIO_Label
PA3.GPIO_Label=GPIO_4
PA3.GPIO_PuPd=GPIO_PULLDOWN
PA3.GPIO_PuPd=GPIO_NOPULL
PA3.Locked=true
PA3.Signal=GPIO_Input
PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
PA4.GPIO_Label=GPIO_3
PA4.GPIO_PuPd=GPIO_PULLDOWN
PA4.GPIOParameters=GPIO_Label
PA4.GPIO_Label=M1_TEMP
PA4.Locked=true
PA4.Signal=GPXTI4
PA5.GPIOParameters=GPIO_PuPd,GPIO_Label
PA5.GPIO_Label=GPIO_2
PA5.GPIO_PuPd=GPIO_PULLDOWN
PA4.Signal=ADCx_IN4
PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=AUX_I
PA5.Locked=true
PA5.Signal=GPIO_Input
PA5.Signal=ADCx_IN5
PA6.GPIOParameters=GPIO_Label
PA6.GPIO_Label=AUX_V
PA6.GPIO_Label=VBUS_S
PA6.Locked=true
PA6.Signal=ADCx_IN6
PA7.GPIOParameters=GPIO_Label
PA7.GPIO_Label=M1_AL
@@ -273,11 +310,10 @@ PB15.GPIO_Label=M0_CL
PB15.Locked=true
PB15.Mode=PWM Generation3 CH3 CH3N
PB15.Signal=TIM1_CH3N
PB2.GPIOParameters=GPIO_PuPd,GPIO_Label
PB2.GPIO_Label=GPIO_1
PB2.GPIO_PuPd=GPIO_PULLDOWN
PB2.GPIOParameters=GPIO_Label
PB2.GPIO_Label=GPIO_5
PB2.Locked=true
PB2.Signal=GPXTI2
PB2.Signal=GPIO_Input
PB3.GPIOParameters=GPIO_Label
PB3.GPIO_Label=M1_ENC_Z
PB3.Locked=true
@@ -394,7 +430,7 @@ ProjectManager.StackSize=0x800
ProjectManager.TargetToolchain=SW4STM32
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL,2-MX_ADC1_Init-ADC1-false-HAL,3-MX_ADC2_Init-ADC2-false-HAL,4-MX_CAN1_Init-CAN1-false-HAL,5-MX_TIM1_Init-TIM1-false-HAL,6-MX_TIM8_Init-TIM8-false-HAL,7-MX_TIM3_Init-TIM3-false-HAL,8-MX_TIM4_Init-TIM4-false-HAL,9-MX_SPI3_Init-SPI3-false-HAL,10-MX_ADC3_Init-ADC3-false-HAL,11-SystemClock_Config-RCC-false-HAL,12-MX_TIM2_Init-TIM2-false-HAL,13-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL,2-MX_DMA_Init-DMA-false-HAL,3-MX_ADC1_Init-ADC1-false-HAL,4-MX_ADC2_Init-ADC2-false-HAL,5-MX_CAN1_Init-CAN1-false-HAL,6-MX_TIM1_Init-TIM1-false-HAL,7-MX_TIM8_Init-TIM8-false-HAL,8-MX_TIM3_Init-TIM3-false-HAL,9-MX_TIM4_Init-TIM4-false-HAL,10-MX_SPI3_Init-SPI3-false-HAL,11-MX_ADC3_Init-ADC3-false-HAL,12-SystemClock_Config-RCC-false-HAL,13-MX_TIM2_Init-TIM2-false-HAL,14-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL,15-MX_UART4_Init-UART4-false-HAL
RCC.48MHZClocksFreq_Value=48000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -429,12 +465,6 @@ RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
SH.ADCx_IN0.0=ADC1_IN0,IN0
SH.ADCx_IN0.1=ADC2_IN0,IN0
SH.ADCx_IN0.ConfNb=2
SH.ADCx_IN1.0=ADC1_IN1,IN1
SH.ADCx_IN1.1=ADC2_IN1,IN1
SH.ADCx_IN1.ConfNb=2
SH.ADCx_IN10.0=ADC1_IN10,IN10
SH.ADCx_IN10.1=ADC2_IN10,IN10
SH.ADCx_IN10.2=ADC3_IN10,IN10
@@ -457,16 +487,17 @@ SH.ADCx_IN14.ConfNb=2
SH.ADCx_IN15.0=ADC1_IN15,IN15
SH.ADCx_IN15.1=ADC2_IN15,IN15
SH.ADCx_IN15.ConfNb=2
SH.ADCx_IN2.0=ADC1_IN2,IN2
SH.ADCx_IN2.1=ADC2_IN2,IN2
SH.ADCx_IN2.ConfNb=2
SH.ADCx_IN4.0=ADC1_IN4,IN4
SH.ADCx_IN4.1=ADC2_IN4,IN4
SH.ADCx_IN4.ConfNb=2
SH.ADCx_IN5.0=ADC1_IN5,IN5
SH.ADCx_IN5.1=ADC2_IN5,IN5
SH.ADCx_IN5.ConfNb=2
SH.ADCx_IN6.0=ADC1_IN6,IN6
SH.ADCx_IN6.1=ADC2_IN6,IN6
SH.ADCx_IN6.ConfNb=2
SH.GPXTI2.0=GPIO_EXTI2
SH.GPXTI2.ConfNb=1
SH.GPXTI4.0=GPIO_EXTI4
SH.GPXTI4.ConfNb=1
SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1 CH1N
SH.S_TIM1_CH1.ConfNb=1
SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2 CH2N
@@ -491,6 +522,12 @@ SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2 CH2N
SH.S_TIM8_CH2.ConfNb=1
SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3 CH3N
SH.S_TIM8_CH3.ConfNb=1
SH.SharedStack_PA0.0=GPIO_EXTI0+0
SH.SharedStack_PA0.1=UART4_TX,Asynchronous
SH.SharedStack_PA0.ConfNb=2
SH.SharedStack_PA1.0=GPIO_Input+0
SH.SharedStack_PA1.1=UART4_RX,Asynchronous
SH.SharedStack_PA1.ConfNb=2
SPI3.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI3.CLKPhase=SPI_PHASE_2EDGE
SPI3.CalculateBaudRate=2.625 MBits/s
@@ -554,11 +591,15 @@ TIM8.OffStateIDLEMode=TIM_OSSI_ENABLE
TIM8.OffStateRunMode=TIM_OSSR_ENABLE
TIM8.Period=TIM_1_8_PERIOD_CLOCKS
TIM8.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
UART4.IPParameters=VirtualMode
UART4.VirtualMode=Asynchronous
USB_DEVICE.APP_RX_DATA_SIZE-CDC_FS=64
USB_DEVICE.APP_TX_DATA_SIZE-CDC_FS=64
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PRODUCT_STRING_CDC_FS,VID-CDC_FS,PID_CDC_FS,SERIALNUMBER_STRING_CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=ODrive
USB_DEVICE.PID_CDC_FS=0x0D31
USB_DEVICE.PRODUCT_STRING_CDC_FS=ODrive rev 3.1
USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PRODUCT_STRING_CDC_FS,VID-CDC_FS,PID_CDC_FS,SERIALNUMBER_STRING_CDC_FS,APP_RX_DATA_SIZE-CDC_FS,APP_TX_DATA_SIZE-CDC_FS
USB_DEVICE.MANUFACTURER_STRING-CDC_FS=ODrive Robotics
USB_DEVICE.PID_CDC_FS=0x0D33
USB_DEVICE.PRODUCT_STRING_CDC_FS=ODrive v3.3
USB_DEVICE.SERIALNUMBER_STRING_CDC_FS=000000000001
USB_DEVICE.VID-CDC_FS=0x1209
USB_DEVICE.VirtualMode-CDC_FS=Cdc
@@ -568,8 +609,8 @@ USB_OTG_FS.VirtualMode=Device_Only
USB_OTG_FS.vbus_sensing_enable=DISABLE
VP_FREERTOS_VS_ENABLE.Mode=Enabled
VP_FREERTOS_VS_ENABLE.Signal=FREERTOS_VS_ENABLE
VP_SYS_VS_Systick.Mode=SysTick
VP_SYS_VS_Systick.Signal=SYS_VS_Systick
VP_SYS_VS_tim14.Mode=TIM14
VP_SYS_VS_tim14.Signal=SYS_VS_tim14
VP_TIM1_VS_ClockSourceINT.Mode=Internal
VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
VP_TIM1_VS_no_output4.Mode=Output Compare4 No Output
README.md
+31 -16
View File
@@ -4,7 +4,7 @@ Like this (click for video):
[![Servo motor control demo](https://img.youtube.com/vi/WT4E5nb3KtY/0.jpg)](https://www.youtube.com/watch?v=WT4E5nb3KtY)
This repository contains the firmware that runs on the board. The other related repositories are:
* [ODriveHardware](https://github.com/madcowswe/ODriveHardware): Circuit board design. Also, the pinout from the microcontroller to the board is documented [here](https://docs.google.com/spreadsheets/d/1QXDCs1IRtUyG__M_9WruWOheywb-GhOwFtfPcHuN2Fg/edit?usp=sharing).
* [ODriveHardware](https://github.com/madcowswe/ODriveHardware): Circuit board design. Also, the pinout from the microcontroller to the board is documented [here](https://docs.google.com/spreadsheets/d/1QXDCs1IRtUyG__M_9WruWOheywb-GhOwFtfPcHuN2Fg/edit#gid=404444347).
* [ODrive](https://github.com/madcowswe/ODrive): Configuration and analysis scripts that runs on a PC.
There is also [ODriveFPGA](https://github.com/madcowswe/ODriveFPGA), which contains the FPGA logic and software that runs on the FPGA based ODrive. This is not currently in development, but may be resumed at some later date.
@@ -15,7 +15,7 @@ There is also [ODriveFPGA](https://github.com/madcowswe/ODriveFPGA), which conta
- [Configuring parameters](#configuring-parameters)
- [Compiling and downloading firmware](#compiling-and-downloading-firmware)
- [Communicating over USB](#communicating-over-usb)
- [Communicating over USB and UART](#communicating-over-usb-and-uart)
- [Generating startup code](#generating-startup-code)
- [Setting up Eclipse development environment](#setting-up-eclipse-development-environment)
- [Notes for Contributors](#notes-for-contributors)
@@ -25,26 +25,35 @@ There is also [ODriveFPGA](https://github.com/madcowswe/ODriveFPGA), which conta
## Configuring parameters
To correctly operate the ODrive, you need to supply some parameters. Some are mandatory, and if supplied incorrectly will cause the drive to malfunction. To get good performance you must also tune the drive.
### Hardware configuration
The first thing to set is your board hardware version, located at the top of [Inc/main.h](https://github.com/madcowswe/ODriveFirmware/blob/master/Inc/main.h). If, for example, you are using the hardware: ODrive v3.2, then you should set it like this:
```C
#define HW_VERSION_MAJOR 3
#define HW_VERSION_MINOR 2
```
### Communication configuration
If you are using USB only to communicate with the ODrive, you may skip this step.
The GPIO 1,2 pins are configurable as either step/direction, or as UART.
In [MotorControl/commands.c](https://github.com/madcowswe/ODriveFirmware/blob/master/MotorControl/commands.c) please set `gpio_mode` to the corresponding value (`GPIO_MODE_UART` or `GPIO_MODE_STEP_DIR`).
### Motor control parameters
The rest of all the parameters are at the top of the [MotorControl/low_level.c](https://github.com/madcowswe/ODriveFirmware/blob/master/MotorControl/low_level.c) file. Please note that many parameters occur twice, once for each motor.
In it's current state, the motor structs contain both tuning parameters, meant to be set by the developer, and static variables, meant to be modified by the software. Unfortunatly these are mixed together right now, but cleaning this up is a high priority task.
It may be helpful to know that the entry point of each of the motor threads is `void motor_thread` at the bottom of [MotorControl/low_level.c](https://github.com/madcowswe/ODriveFirmware/blob/master/MotorControl/low_level.c). This is like `main` for each motor, and is probably where you should start reading the code.
### Mandatory parameters
#### Mandatory parameters
You must set:
* `ENCODER_CPR`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value.
* `POLE_PAIRS`: This is the number of magnet poles in the rotor, divided by two. You can simply count the number of magnets in the rotor, if you can see them.
* `brake_resistance`: This is the resistance of the brake resistor. If you are not using it, you may set it to 0.0f.
### Tuning parameters
#### Tuning parameters
The most important parameters are the limits:
* The current limit: `.current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain`. The default current limit, for safety reasons, is set to 10A. This is quite weak, and good for making sure the drive is stable. Once you have tuned the drive, you should increase this to 75A to get some performance. Note that above 75A, you must change the current amplifier gains.
* The current limit: `.current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain`. The default current limit, for safety reasons, is set to 10A. This is quite weak, and good for making sure the drive is stable. Once you have tuned the drive, you can increase this to 75A to get some performance. Note that above 75A, you must change the current amplifier gains.
* The velocity limit: `.vel_limit = 20000.0f, // [counts/s]`. Does what it says on the tin.
The motion control gains are currently manually tuned:
@@ -61,7 +70,7 @@ An upcoming feature will enable automatic tuning. Until then, here is a rough tu
* Back down `pos_gain` until you do not have overshoot anymore.
* The integrator is not easily tuned, nor is it strictly required. Tune at your own discression.
### Optional parameters
#### Optional parameters
By default both motors are enabled, and the default control mode is position control.
If you want a different mode, you can change `.control_mode`. To disable a motor, set `.enable_control` and `.do_calibration` to false.
@@ -106,13 +115,25 @@ After installing all of the above, open a Git Bash shell. Continue at section [B
Run `make gdb`. This will reset and halt at program start. Now you can set breakpoints and run the program. If you know how to use gdb, you are good to go.
If you prefer to debug from eclipse, see [Setting up Eclipse development environment](#setting-up-eclipse-development-environment).
## Communicating over USB
## Communicating over USB and UART
There is currently a very primitive method to read/write configuration, commands and errors from the ODrive over the USB.
Please use the `ODriveFirmware/tools/test_bulk.py` python script for this.
On Windows you need to set the driver for ODrive to libusb using [Zadig](http://zadig.akeo.ie/).
Please use the `ODriveFirmware/tools/test_bulk.py` python script for this. It is written for Python 3.
Setup instructions as follows:
* Install PyUSB (pip install --pre pysusb)
* Plug in the STLink or another power source to power the ODrive board
* Plug in a separate USB cable into the microUSB connector on ODrive
* On Windows, use the [Zadig](http://zadig.akeo.ie/) utility to set ODrive (not STLink!) driver to libusb
* Run test_bulk.py
### Command set
The most accurate way to understand the commands is to read [the code](https://github.com/madcowswe/ODriveFirmware/blob/f19f1b78de4bd917284ff95bc61ca616ca9bacc4/MotorControl/low_level.c#L353) that parses the commands.
The most accurate way to understand the commands is to read [the code](https://github.com/madcowswe/ODriveFirmware/blob/f19f1b78de4bd917284ff95bc61ca616ca9bacc4/MotorControl/vommands.c#L133) that parses the commands. Nevertheless, here is an overview:
#### UART framing
USB communicates with packets, so it is easy to frame a command as one command per packet. However, UART doesn't have any packeting, so we need a way to frame the commands. The start-of-packet symbol is `$` and the end-of-packet symbol is `!`, that is, something like this: `$command!`. An example of a valid UART position command:
```
$p 0 10000 0 0!
```
#### Motor Position command
```
@@ -185,12 +206,6 @@ We also use a tool to generate the Makefile. The steps to do this are as follows
* Press `Project -> Generate code`
* You may need to let it download some drivers and such.
### Generate makefile
There is an excellent project called CubeMX2Makefile, originally from baoshi. This project is included as a submodule.
* Initialise and clone the submodules: `git submodule init; git submodule update`
* Generate makefile: `python2 CubeMX2Makefile/CubeMX2Makefile.py .`
## Setting up Eclipse development environment
### Install
STM32F405RGTx_FLASH.ld
+7 -26
View File
@@ -18,32 +18,13 @@
** Distribution: The file is distributed as is, without any warranty
** of any kind.
**
*****************************************************************************
** @attention
**
** <h2><center>&copy; COPYRIGHT(c) 2014 Ac6</center></h2>
**
** 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 Ac6 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.
** (c)Copyright Ac6.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Ac6 permit registered System Workbench for MCU users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the System Workbench for MCU toolchain.
**
*****************************************************************************
*/
Src/adc.c
+15 -19
View File
@@ -49,6 +49,7 @@
/* Includes ------------------------------------------------------------------*/
#include "adc.h"
#include "gpio.h"
/* USER CODE BEGIN 0 */
@@ -59,7 +60,6 @@
#else
/* USER CODE END 0 */
ADC_HandleTypeDef hadc1;
ADC_HandleTypeDef hadc2;
ADC_HandleTypeDef hadc3;
@@ -91,7 +91,7 @@ void MX_ADC1_Init(void)
/**Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Channel = ADC_CHANNEL_6;
sConfig.Rank = 1;
sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
@@ -101,7 +101,7 @@ void MX_ADC1_Init(void)
/**Configures for the selected ADC injected channel its corresponding rank in the sequencer and its sample time
*/
sConfigInjected.InjectedChannel = ADC_CHANNEL_0;
sConfigInjected.InjectedChannel = ADC_CHANNEL_6;
sConfigInjected.InjectedRank = 1;
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
@@ -238,9 +238,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA0-WKUP ------> ADC1_IN0
PA1 ------> ADC1_IN1
PA2 ------> ADC1_IN2
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
@@ -251,7 +250,7 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -276,9 +275,8 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA0-WKUP ------> ADC2_IN0
PA1 ------> ADC2_IN1
PA2 ------> ADC2_IN2
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
PC4 ------> ADC2_IN14
PC5 ------> ADC2_IN15
@@ -289,7 +287,7 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
GPIO_InitStruct.Pin = VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin;
GPIO_InitStruct.Pin = M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
@@ -345,9 +343,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
PC1 ------> ADC1_IN11
PC2 ------> ADC1_IN12
PC3 ------> ADC1_IN13
PA0-WKUP ------> ADC1_IN0
PA1 ------> ADC1_IN1
PA2 ------> ADC1_IN2
PA4 ------> ADC1_IN4
PA5 ------> ADC1_IN5
PA6 ------> ADC1_IN6
PC4 ------> ADC1_IN14
PC5 ------> ADC1_IN15
@@ -355,7 +352,7 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
/* ADC1 interrupt Deinit */
/* USER CODE BEGIN ADC1:ADC_IRQn disable */
@@ -383,9 +380,8 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
PC1 ------> ADC2_IN11
PC2 ------> ADC2_IN12
PC3 ------> ADC2_IN13
PA0-WKUP ------> ADC2_IN0
PA1 ------> ADC2_IN1
PA2 ------> ADC2_IN2
PA4 ------> ADC2_IN4
PA5 ------> ADC2_IN5
PA6 ------> ADC2_IN6
PC4 ------> ADC2_IN14
PC5 ------> ADC2_IN15
@@ -393,7 +389,7 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
HAL_GPIO_DeInit(GPIOC, M0_IB_Pin|M0_IC_Pin|M1_IC_Pin|M1_IB_Pin
|AUX_TEMP_Pin|M0_TEMP_Pin);
HAL_GPIO_DeInit(GPIOA, VBUS_S_Pin|M1_TEMP_Pin|AUX_I_Pin|AUX_V_Pin);
HAL_GPIO_DeInit(GPIOA, M1_TEMP_Pin|AUX_I_Pin|VBUS_S_Pin);
/* ADC2 interrupt Deinit */
/* USER CODE BEGIN ADC2:ADC_IRQn disable */
Src/dma.c
+94
View File
@@ -0,0 +1,94 @@
/**
******************************************************************************
* File Name : dma.c
* Description : This file provides code for the configuration
* of all the requested memory to memory DMA transfers.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2017 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution 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 other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/*----------------------------------------------------------------------------*/
/* Configure DMA */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* Enable DMA controller clock
*/
void MX_DMA_Init(void)
{
/* DMA controller clock enable */
__HAL_RCC_DMA1_CLK_ENABLE();
/* DMA interrupt init */
/* DMA1_Stream2_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
/* DMA1_Stream4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
}
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Src/freertos.c
+7 -22
View File
@@ -55,13 +55,14 @@
#include "freertos_vars.h"
#include "low_level.h"
#include "axis_c_interface.h"
#include "commands.h"
/* USER CODE END Includes */
/* Variables -----------------------------------------------------------------*/
osThreadId defaultTaskHandle;
/* USER CODE BEGIN Variables */
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
/* USER CODE END Variables */
/* Function prototypes -------------------------------------------------------*/
@@ -71,7 +72,6 @@ extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* USER CODE BEGIN FunctionPrototypes */
void usb_cmd_thread(void const * argument);
/* USER CODE END FunctionPrototypes */
@@ -121,6 +121,9 @@ void StartDefaultTask(void const * argument)
/* USER CODE BEGIN StartDefaultTask */
// Init communications
init_communication();
// Init motor control
init_motor_control();
@@ -131,8 +134,8 @@ void StartDefaultTask(void const * argument)
thread_motor_1 = osThreadCreate(osThread(task_motor_1), &motors[1]);
// Start USB command handling thread
osThreadDef(task_usb_cmd, usb_cmd_thread, osPriorityNormal, 0, 512);
thread_usb_cmd = osThreadCreate(osThread(task_usb_cmd), NULL);
osThreadDef(task_cmd_parse, cmd_parse_thread, osPriorityNormal, 0, 512);
thread_cmd_parse = osThreadCreate(osThread(task_cmd_parse), NULL);
//If we get to here, then the default task is done.
vTaskDelete(defaultTaskHandle);
@@ -142,24 +145,6 @@ void StartDefaultTask(void const * argument)
/* USER CODE BEGIN Application */
// Thread to handle deffered processing of USB interrupt
void usb_cmd_thread(void const * argument) {
for (;;) {
// Wait for signalling from USB interrupt (OTG_FS_IRQHandler)
osSemaphoreWait(sem_usb_irq, osWaitForever);
// Irq processing loop
//while(HAL_NVIC_GetActive(OTG_FS_IRQn)) {
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
//}
// Let the irq (OTG_FS_IRQHandler) fire again.
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
}
// If we get here, then this task is done
vTaskDelete(osThreadGetId());
}
/* USER CODE END Application */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Src/gpio.c
+64 -24
View File
@@ -71,6 +71,8 @@
* Output
* EVENT_OUT
* EXTI
PA0-WKUP ------> SharedStack_PA0
PA1 ------> SharedStack_PA1
*/
void MX_GPIO_Init(void)
{
@@ -100,11 +102,21 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pins : PAPin PAPin */
GPIO_InitStruct.Pin = GPIO_4_Pin|GPIO_2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_2_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_AF8_UART4;
HAL_GPIO_Init(GPIO_2_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_3_Pin;
@@ -112,11 +124,17 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIO_3_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GPIO_1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PAPin PAPin */
GPIO_InitStruct.Pin = GPIO_4_Pin|M0_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PBPin PBPin */
GPIO_InitStruct.Pin = GPIO_5_Pin|M1_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = EN_GATE_Pin;
@@ -125,36 +143,58 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(EN_GATE_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = M0_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(M0_ENC_Z_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = nFAULT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = M1_ENC_Z_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(M1_ENC_Z_GPIO_Port, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
}
/* USER CODE BEGIN 2 */
#endif // End GPIO Include
void SetGPIO12toUART() {
GPIO_InitTypeDef GPIO_InitStruct;
HAL_NVIC_DisableIRQ(EXTI0_IRQn);
GPIO_InitStruct.Pin = GPIO_1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_2_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_AF8_UART4;
HAL_GPIO_Init(GPIO_2_GPIO_Port, &GPIO_InitStruct);
}
void SetGPIO12toStepDir() {
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = GPIO_1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_2_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIO_2_GPIO_Port, &GPIO_InitStruct);
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
}
//Dispatch processing of external interrupts based on source
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
//Step signals for M0 and M1
Src/main.c
+25
View File
@@ -51,8 +51,10 @@
#include "cmsis_os.h"
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"
@@ -105,6 +107,7 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_CAN1_Init();
@@ -115,6 +118,7 @@ int main(void)
MX_SPI3_Init();
MX_ADC3_Init();
MX_TIM2_Init();
MX_UART4_Init();
/* USER CODE BEGIN 2 */
@@ -204,6 +208,27 @@ void SystemClock_Config(void)
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM14 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM14) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
Src/stm32f4xx_hal_timebase_TIM.c
+158
View File
@@ -0,0 +1,158 @@
/**
******************************************************************************
* @file stm32f4xx_hal_timebase_TIM.c
* @brief HAL time base based on the hardware TIM.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2017 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution 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 other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_tim.h"
/** @addtogroup STM32F7xx_HAL_Examples
* @{
*/
/** @addtogroup HAL_TimeBase
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim14;
uint32_t uwIncrementState = 0;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/**
* @brief This function configures the TIM14 as a time base source.
* The time source is configured to have 1ms time base with a dedicated
* Tick interrupt priority.
* @note This function is called automatically at the beginning of program after
* reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
* @param TickPriority: Tick interrupt priorty.
* @retval HAL status
*/
HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
{
RCC_ClkInitTypeDef clkconfig;
uint32_t uwTimclock = 0;
uint32_t uwPrescalerValue = 0;
uint32_t pFLatency;
/*Configure the TIM14 IRQ priority */
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, TickPriority ,0);
/* Enable the TIM14 global Interrupt */
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* Enable TIM14 clock */
__HAL_RCC_TIM14_CLK_ENABLE();
/* Get clock configuration */
HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
/* Compute TIM14 clock */
uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
/* Compute the prescaler value to have TIM14 counter clock equal to 1MHz */
uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
/* Initialize TIM14 */
htim14.Instance = TIM14;
/* Initialize TIMx peripheral as follow:
+ Period = [(TIM14CLK/1000) - 1]. to have a (1/1000) s time base.
+ Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
+ ClockDivision = 0
+ Counter direction = Up
*/
htim14.Init.Period = (1000000 / 1000) - 1;
htim14.Init.Prescaler = uwPrescalerValue;
htim14.Init.ClockDivision = 0;
htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
if(HAL_TIM_Base_Init(&htim14) == HAL_OK)
{
/* Start the TIM time Base generation in interrupt mode */
return HAL_TIM_Base_Start_IT(&htim14);
}
/* Return function status */
return HAL_ERROR;
}
/**
* @brief Suspend Tick increment.
* @note Disable the tick increment by disabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_SuspendTick(void)
{
/* Disable TIM14 update Interrupt */
__HAL_TIM_DISABLE_IT(&htim14, TIM_IT_UPDATE);
}
/**
* @brief Resume Tick increment.
* @note Enable the tick increment by Enabling TIM14 update interrupt.
* @param None
* @retval None
*/
void HAL_ResumeTick(void)
{
/* Enable TIM14 Update interrupt */
__HAL_TIM_ENABLE_IT(&htim14, TIM_IT_UPDATE);
}
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Src/stm32f4xx_it.c
+66 -15
View File
@@ -54,6 +54,12 @@ extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
extern ADC_HandleTypeDef hadc1;
extern ADC_HandleTypeDef hadc2;
extern ADC_HandleTypeDef hadc3;
extern TIM_HandleTypeDef htim8;
extern DMA_HandleTypeDef hdma_uart4_rx;
extern DMA_HandleTypeDef hdma_uart4_tx;
extern UART_HandleTypeDef huart4;
extern TIM_HandleTypeDef htim14;
/******************************************************************************/
/* Cortex-M4 Processor Interruption and Exception Handlers */
@@ -157,7 +163,6 @@ void SysTick_Handler(void)
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
osSystickHandler();
/* USER CODE BEGIN SysTick_IRQn 1 */
@@ -172,31 +177,31 @@ void SysTick_Handler(void)
/******************************************************************************/
/**
* @brief This function handles EXTI line2 interrupt.
* @brief This function handles DMA1 stream2 global interrupt.
*/
void EXTI2_IRQHandler(void)
void DMA1_Stream2_IRQHandler(void)
{
/* USER CODE BEGIN EXTI2_IRQn 0 */
/* USER CODE BEGIN DMA1_Stream2_IRQn 0 */
/* USER CODE END EXTI2_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
/* USER CODE BEGIN EXTI2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart4_rx);
/* USER CODE BEGIN DMA1_Stream2_IRQn 1 */
/* USER CODE END EXTI2_IRQn 1 */
/* USER CODE END DMA1_Stream2_IRQn 1 */
}
/**
* @brief This function handles EXTI line4 interrupt.
* @brief This function handles DMA1 stream4 global interrupt.
*/
void EXTI4_IRQHandler(void)
void DMA1_Stream4_IRQHandler(void)
{
/* USER CODE BEGIN EXTI4_IRQn 0 */
/* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
/* USER CODE END EXTI4_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_4);
/* USER CODE BEGIN EXTI4_IRQn 1 */
/* USER CODE END DMA1_Stream4_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_uart4_tx);
/* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
/* USER CODE END EXTI4_IRQn 1 */
/* USER CODE END DMA1_Stream4_IRQn 1 */
}
/**
@@ -225,6 +230,35 @@ void ADC_IRQHandler(void)
/* USER CODE END ADC_IRQn 1 */
}
/**
* @brief This function handles TIM8 trigger and commutation interrupts and TIM14 global interrupt.
*/
void TIM8_TRG_COM_TIM14_IRQHandler(void)
{
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 0 */
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 0 */
HAL_TIM_IRQHandler(&htim8);
HAL_TIM_IRQHandler(&htim14);
/* USER CODE BEGIN TIM8_TRG_COM_TIM14_IRQn 1 */
/* USER CODE END TIM8_TRG_COM_TIM14_IRQn 1 */
}
/**
* @brief This function handles UART4 global interrupt.
*/
void UART4_IRQHandler(void)
{
/* USER CODE BEGIN UART4_IRQn 0 */
/* USER CODE END UART4_IRQn 0 */
HAL_UART_IRQHandler(&huart4);
/* USER CODE BEGIN UART4_IRQn 1 */
/* USER CODE END UART4_IRQn 1 */
}
/**
* @brief This function handles USB On The Go FS global interrupt.
*/
@@ -267,5 +301,22 @@ void ADC_IRQ_Dispatch(ADC_HandleTypeDef* hadc, ADC_handler_t callback) {
}
}
/**
* @brief This function handles EXTI line0 interrupt.
*/
void EXTI0_IRQHandler(void)
{
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
}
/**
* @brief This function handles EXTI line2 interrupt.
*/
void EXTI2_IRQHandler(void)
{
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
}
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Src/syscalls.c
+34 -5
View File
@@ -6,7 +6,10 @@
*/
#include <sys/unistd.h>
#include "usbd_cdc_if.h"
#include <usbd_cdc_if.h>
#include <usart.h>
#include <commands.h>
//int _read(int file, char *data, int len) {}
//int _close(int file) {}
@@ -14,11 +17,37 @@
//int _fstat(int file, struct stat *st) {}
//int _isatty(int file) {}
#define UART_TX_BUFFER_SIZE 64
static uint8_t uart_tx_buf[UART_TX_BUFFER_SIZE];
int _write(int file, char *data, int len) {
//number of bytes written
int written = 0;
switch (serial_printf_select) {
// transmit over CDC
uint8_t status = CDC_Transmit_FS((uint8_t*)data, len);
case SERIAL_PRINTF_IS_USB: {
// transmit over CDC
uint8_t status = CDC_Transmit_FS((uint8_t*)data, len);
written = (status == USBD_OK) ? len : 0;
} break;
// return number of bytes written
return (status == USBD_OK ? len : 0);
case SERIAL_PRINTF_IS_UART: {
//Check length
if (len > UART_TX_BUFFER_SIZE)
return 0;
// Check if transfer is already ongoing
if(huart4.gState != HAL_UART_STATE_READY)
return 0;
// memcpy data into uart_tx_buf
memcpy(uart_tx_buf, data, len);
// Start DMA background trasnfer
HAL_UART_Transmit_DMA(&huart4, uart_tx_buf, len);
} break;
default: {
written = 0;
} break;
}
return written;
}
Src/tim.c
+7
View File
@@ -373,6 +373,10 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
/* USER CODE END TIM8_MspInit 0 */
/* TIM8 clock enable */
__HAL_RCC_TIM8_CLK_ENABLE();
/* TIM8 interrupt Init */
HAL_NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* USER CODE BEGIN TIM8_MspInit 1 */
/* USER CODE END TIM8_MspInit 1 */
@@ -565,6 +569,9 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
/* USER CODE END TIM8_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM8_CLK_DISABLE();
/* TIM8 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn);
/* USER CODE BEGIN TIM8_MspDeInit 1 */
/* USER CODE END TIM8_MspDeInit 1 */
Src/usart.c
+200
View File
@@ -0,0 +1,200 @@
/**
******************************************************************************
* File Name : USART.c
* Description : This file provides code for the configuration
* of the USART instances.
******************************************************************************
* This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* Copyright (c) 2017 STMicroelectronics International N.V.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted, provided that the following conditions are met:
*
* 1. Redistribution 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 other
* contributors to this software may be used to endorse or promote products
* derived from this software without specific written permission.
* 4. This software, including modifications and/or derivative works of this
* software, must execute solely and exclusively on microcontroller or
* microprocessor devices manufactured by or for STMicroelectronics.
* 5. Redistribution and use of this software other than as permitted under
* this license is void and will automatically terminate your rights under
* this license.
*
* THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY
* RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT
* SHALL STMICROELECTRONICS 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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
#include "gpio.h"
#include "dma.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
UART_HandleTypeDef huart4;
DMA_HandleTypeDef hdma_uart4_rx;
DMA_HandleTypeDef hdma_uart4_tx;
/* UART4 init function */
void MX_UART4_Init(void)
{
huart4.Instance = UART4;
huart4.Init.BaudRate = 115200;
huart4.Init.WordLength = UART_WORDLENGTH_8B;
huart4.Init.StopBits = UART_STOPBITS_1;
huart4.Init.Parity = UART_PARITY_NONE;
huart4.Init.Mode = UART_MODE_TX_RX;
huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart4.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct;
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspInit 0 */
/* USER CODE END UART4_MspInit 0 */
/* UART4 clock enable */
__HAL_RCC_UART4_CLK_ENABLE();
/**UART4 GPIO Configuration
PA0-WKUP ------> UART4_TX
PA1 ------> UART4_RX
*/
GPIO_InitStruct.Pin = GPIO_1_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
HAL_GPIO_Init(GPIO_1_GPIO_Port, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_2_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_AF8_UART4;
HAL_GPIO_Init(GPIO_2_GPIO_Port, &GPIO_InitStruct);
/* UART4 DMA Init */
/* UART4_RX Init */
hdma_uart4_rx.Instance = DMA1_Stream2;
hdma_uart4_rx.Init.Channel = DMA_CHANNEL_4;
hdma_uart4_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_uart4_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_uart4_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_uart4_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_uart4_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_uart4_rx.Init.Mode = DMA_CIRCULAR;
hdma_uart4_rx.Init.Priority = DMA_PRIORITY_LOW;
hdma_uart4_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_uart4_rx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(uartHandle,hdmarx,hdma_uart4_rx);
/* UART4_TX Init */
hdma_uart4_tx.Instance = DMA1_Stream4;
hdma_uart4_tx.Init.Channel = DMA_CHANNEL_4;
hdma_uart4_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_uart4_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_uart4_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_uart4_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_uart4_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_uart4_tx.Init.Mode = DMA_NORMAL;
hdma_uart4_tx.Init.Priority = DMA_PRIORITY_LOW;
hdma_uart4_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
if (HAL_DMA_Init(&hdma_uart4_tx) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
__HAL_LINKDMA(uartHandle,hdmatx,hdma_uart4_tx);
/* UART4 interrupt Init */
HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspInit 1 */
/* USER CODE END UART4_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==UART4)
{
/* USER CODE BEGIN UART4_MspDeInit 0 */
/* USER CODE END UART4_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART4_CLK_DISABLE();
/**UART4 GPIO Configuration
PA0-WKUP ------> UART4_TX
PA1 ------> UART4_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_1_Pin|GPIO_2_Pin);
/* UART4 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
HAL_DMA_DeInit(uartHandle->hdmatx);
/* UART4 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART4_IRQn);
/* USER CODE BEGIN UART4_MspDeInit 1 */
/* USER CODE END UART4_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
Src/usb_device.c
+8 -1
View File
@@ -58,9 +58,13 @@
/* USB Device Core handle declaration */
USBD_HandleTypeDef hUsbDeviceFS;
/* init function */
/* init function */
void MX_USB_DEVICE_Init(void)
{
/* USER CODE BEGIN USB_DEVICE_Init_PreTreatment */
/* USER CODE END USB_DEVICE_Init_PreTreatment */
/* Init Device Library,Add Supported Class and Start the library*/
USBD_Init(&hUsbDeviceFS, &FS_Desc, DEVICE_FS);
@@ -70,6 +74,9 @@ void MX_USB_DEVICE_Init(void)
USBD_Start(&hUsbDeviceFS);
/* USER CODE BEGIN USB_DEVICE_Init_PostTreatment */
/* USER CODE END USB_DEVICE_Init_PostTreatment */
}
/**
* @}
Src/usbd_cdc_if.c
+18 -11
View File
@@ -50,7 +50,7 @@
#include "usbd_cdc_if.h"
/* USER CODE BEGIN INCLUDE */
#include "utils.h"
#include "low_level.h"
#include "commands.h"
/* USER CODE END INCLUDE */
/** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
@@ -268,14 +268,14 @@ static int8_t CDC_Control_FS (uint8_t cmd, uint8_t* pbuf, uint16_t length)
static int8_t CDC_Receive_FS (uint8_t* Buf, uint32_t *Len)
{
/* USER CODE BEGIN 6 */
USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
USBD_CDC_ReceivePacket(&hUsbDeviceFS);
//Append null termination at end of string
int null_idx = MACRO_MIN(*Len, APP_RX_DATA_SIZE-1);
Buf[null_idx] = 0;
int modified_len = MACRO_MIN(*Len+1, APP_RX_DATA_SIZE);
Buf[modified_len-1] = 0;
motor_parse_cmd(Buf, *Len);
motor_parse_cmd(Buf, modified_len, SERIAL_PRINTF_IS_USB);
// Allow next packet
USBD_CDC_ReceivePacket(&hUsbDeviceFS);
return (USBD_OK);
/* USER CODE END 6 */
@@ -296,11 +296,18 @@ uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
{
uint8_t result = USBD_OK;
/* USER CODE BEGIN 7 */
USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
if (hcdc->TxState != 0){
//Check length
if (Len > APP_TX_DATA_SIZE)
return USBD_FAIL;
// Check for ongoing transmission
USBD_CDC_HandleTypeDef* hcdc = (USBD_CDC_HandleTypeDef*) hUsbDeviceFS.pClassData;
if (hcdc->TxState != 0)
return USBD_BUSY;
}
USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
// memcpy Buf into UserTxBufferFS
memcpy(UserTxBufferFS, Buf, Len);
// Update Len
USBD_CDC_SetTxBuffer(&hUsbDeviceFS, UserTxBufferFS, Len);
result = USBD_CDC_TransmitPacket(&hUsbDeviceFS);
/* USER CODE END 7 */
return result;
Src/usbd_desc.c
+1 -1
View File
@@ -75,7 +75,7 @@
#define USBD_LANGID_STRING 1033
#define USBD_MANUFACTURER_STRING "ODrive"
#define USBD_PID_FS 0x0D31
#define USBD_PRODUCT_STRING_FS "ODrive rev 3.1"
#define USBD_PRODUCT_STRING_FS "ODrive v3.1"
#define USBD_SERIALNUMBER_STRING_FS "000000000001"
#define USBD_CONFIGURATION_STRING_FS "CDC Config"
#define USBD_INTERFACE_STRING_FS "CDC Interface"
startup/startup_stm32f405xx.s
+3 -3
View File
@@ -2,8 +2,8 @@
******************************************************************************
* @file startup_stm32f405xx.s
* @author MCD Application Team
* @version V2.6.0
* @date 04-November-2016
* @version V2.6.1
* @date 14-February-2017
* @brief STM32F405xx Devices vector table for GCC based toolchains.
* This module performs:
* - Set the initial SP
@@ -16,7 +16,7 @@
******************************************************************************
* @attention
*
* <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
* <h2><center>&copy; COPYRIGHT 2017 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
tools/odrive/usbbulk.py
+3 -3
View File
@@ -108,9 +108,9 @@ class ODriveBulkDevice():
#return -1
raise
def recieve(self, bufferLen):
def receive(self, bufferLen):
try:
ret = self.epr.read(bufferLen, 0)
ret = self.epr.read(bufferLen, 100)
return ret
except usb.core.USBError:
#return -1
@@ -119,5 +119,5 @@ class ODriveBulkDevice():
def send_max(self):
return 64
def recieve_max(self):
def receive_max(self):
return 64
tools/test_bulk.py
+10 -4
View File
@@ -26,28 +26,34 @@ def main(args):
print("\tPOSITION_CONTROL:\n\t\tp MOTOR_NUMBER POSITION VELOCITY CURRENT")
print("\tVELOCITY_CONTROL:\n\t\tv MOTOR_NUMBER VELOCITY CURRENT")
print("\tCURRENT_CONTROL:\n\t\tc MOTOR_NUMBER CURRENT")
print("\tQuit Python Script:\n\t\tq")
print("---------------------------------------------------------------------")
# query device
dev = usbbulk.poll_odrive_bulk_device(printer=print)
print (dev.info())
print (dev.init())
# thread
thread = threading.Thread(target=recieve_thread, args=[dev])
thread = threading.Thread(target=receive_thread, args=[dev])
thread.start()
while running:
time.sleep(0.1)
try:
command = input("Enter ODrive command:\n")
dev.send(command)
if 'q' in command:
running = False
sys.exit()
else:
dev.send(command)
except:
running = False
def recieve_thread(dev):
def receive_thread(dev):
global ready
while running:
time.sleep(0.1)
try:
message = dev.recieve(dev.recieve_max())
message = dev.receive(dev.receive_max())
message_ascii = bytes(message).decode('ascii')
print(message_ascii, end='')
if "ODrive Firmware" in message_ascii: