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This commit is contained in:
crinq
2017-09-26 21:28:17 +02:00
parent bb247cc808 16de0445bd
commit 8921c3cf1c
203 changed files with 26751 additions and 19696 deletions
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27
.clang-format Normal file
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@@ -0,0 +1,27 @@
---
BasedOnStyle: LLVM
AccessModifierOffset: '2'
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: 'true'
AlignOperands: 'false'
AlignTrailingComments: 'true'
SortIncludes: 'false'
ColumnLimit: '0'
IndentCaseLabels: 'true'
IndentWidth: '2'
KeepEmptyLinesAtTheStartOfBlocks: 'false'
MaxEmptyLinesToKeep: '2'
SpaceAfterCStyleCast: 'false'
SpaceBeforeAssignmentOperators: 'true'
SpaceBeforeParens: Never
SpaceInEmptyParentheses: 'false'
SpacesBeforeTrailingComments: '2'
SpacesInAngles: 'false'
SpacesInCStyleCastParentheses: 'false'
SpacesInContainerLiterals: 'false'
SpacesInParentheses: 'false'
SpacesInSquareBrackets: 'false'
TabWidth: '2'
UseTab: Never
...

3
.gitignore vendored
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@@ -14,6 +14,9 @@
*.list
*.out
*.pyc
.vscode/*
tools/pycrc*
sim/sim

15
Makefile
View File

@@ -48,8 +48,11 @@ COMPS += shared/comps/dc.c
COMPS += shared/comps/ypid.c
COMPS += shared/comps/fault.c
COMPS += shared/comps/pid.c
COMPS += shared/comps/spid.c
COMPS += shared/comps/pe.c
COMPS += shared/comps/pmsm_limits.c
COMPS += shared/comps/pmsm_ttc.c
COMPS += shared/comps/acim_ttc.c
COMPS += shared/comps/uvw.c
COMPS += shared/comps/fanuc.c
COMPS += shared/comps/fb_switch.c
@@ -68,7 +71,6 @@ SOURCES += src/version.c
SOURCES += src/syscalls.c
SOURCES += shared/crc8.c
SOURCES += shared/crc16.c
SOURCES += shared/angle.c
SOURCES += shared/hal.c
SOURCES += shared/commands.c
@@ -253,6 +255,17 @@ boot_btflash: boot
hv:
$(MAKE) -f stm32f103/Makefile
f3:
$(MAKE) -f stm32f303/Makefile
f3_flash:
$(MAKE) -f stm32f303/Makefile flash
f3_btflash:
$(MAKE) -f stm32f303/Makefile btburn
format:
find src/ f3dfu/ bootloader/ stm32f103/ stm32f303/ shared/ inc/ -iname *.h -o -iname *.c | xargs clang-format -i
# Display compiler version information
#

96
bootloader/src/main.c
View File

@@ -22,63 +22,63 @@
#include "version.h"
#if __GNUC__ < 5
#error gcc to old (< 5.0)
#error gcc to old (< 5.0)
#endif
#define APP_START 0x08010000
#define APP_END 0x08100000
#define APP_END 0x08100000
#define APP_RANGE_VALID(a, s) (!(((a) | (s)) & 3) && (a) >= APP_START && ((a) + (s)) <= APP_END)
#define VERSION_INFO_OFFSET 0x188
static volatile const struct version_info *app_info = (void*)(APP_START + VERSION_INFO_OFFSET);
static volatile const struct version_info *app_info = (void *)(APP_START + VERSION_INFO_OFFSET);
static int app_ok(void)
{
if (!APP_RANGE_VALID(APP_START, app_info->image_size)) {
return 0;
}
CRC_ResetDR();
uint32_t crc = CRC_CalcBlockCRC((uint32_t *) APP_START, app_info->image_size / 4);
static int app_ok(void) {
if(!APP_RANGE_VALID(APP_START, app_info->image_size)) {
return 0;
}
CRC_ResetDR();
uint32_t crc = CRC_CalcBlockCRC((uint32_t *)APP_START, app_info->image_size / 4);
if (crc != 0) {
return 0;
}
if(crc != 0) {
return 0;
}
return 1;
return 1;
}
int main(void)
{
GPIO_InitTypeDef GPIO_InitDef;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_CRC, ENABLE);
GPIO_InitDef.GPIO_Pin = GPIO_Pin_13;
GPIO_InitDef.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitDef.GPIO_OType = GPIO_OType_PP;
GPIO_InitDef.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitDef.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitDef);
uint32_t pin = !GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_13);
RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOA, ENABLE); // reset gpio a
RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOA, DISABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, DISABLE);
int main(void) {
GPIO_InitTypeDef GPIO_InitDef;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_CRC, ENABLE);
GPIO_InitDef.GPIO_Pin = GPIO_Pin_13;
GPIO_InitDef.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitDef.GPIO_OType = GPIO_OType_PP;
GPIO_InitDef.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitDef.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOA, &GPIO_InitDef);
uint32_t pin = !GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_13);
RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOA, ENABLE); // reset gpio a
RCC_AHB1PeriphResetCmd(RCC_AHB1Periph_GPIOA, DISABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, DISABLE);
void (*SysMemBootJump)(void);
if ( (*((unsigned long *)0x2001C000) == 0xDEADBEEF) || pin || !app_ok()) {//Memory map, datasheet
*((unsigned long *)0x2001C000) = 0xCAFEFEED; //Reset bootloader trigger
__set_MSP(0x20001000);
//Point the PC to the System Memory reset vector (+4)
//AN2606
//Table 64. Bootloader device-dependent parameters
SysMemBootJump = (void (*)(void)) (*((uint32_t *) 0x1FFF0004));
SysMemBootJump();
while (1);
} else {
uint32_t stack = ((const uint32_t *) APP_START)[0];
uint32_t entry = ((const uint32_t *) APP_START)[1];
asm volatile(
"msr msp, %0 \n\t"
"bx %1 \n\t"
: : "r" (stack), "r" (entry)
);
while (1);
}
void (*SysMemBootJump)(void);
if((*((unsigned long *)0x2001C000) == 0xDEADBEEF) || pin || !app_ok()) { //Memory map, datasheet
*((unsigned long *)0x2001C000) = 0xCAFEFEED; //Reset bootloader trigger
__set_MSP(0x20001000);
//Point the PC to the System Memory reset vector (+4)
//AN2606
//Table 64. Bootloader device-dependent parameters
SysMemBootJump = (void (*)(void))(*((uint32_t *)0x1FFF0004));
SysMemBootJump();
while(1)
;
} else {
uint32_t stack = ((const uint32_t *)APP_START)[0];
uint32_t entry = ((const uint32_t *)APP_START)[1];
asm volatile(
"msr msp, %0 \n\t"
"bx %1 \n\t"
:
: "r"(stack), "r"(entry));
while(1)
;
}
}

36
bootloader/src/stm32f4xx_it.c
View File

@@ -48,8 +48,7 @@
* @param None
* @retval None
*/
void NMI_Handler(void)
{
void NMI_Handler(void) {
}
/**
@@ -57,11 +56,9 @@ void NMI_Handler(void)
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
void HardFault_Handler(void) {
/* Go to infinite loop when Hard Fault exception occurs */
while (1)
{
while(1) {
}
}
@@ -70,11 +67,9 @@ void HardFault_Handler(void)
* @param None
* @retval None
*/
void MemManage_Handler(void)
{
void MemManage_Handler(void) {
/* Go to infinite loop when Memory Manage exception occurs */
while (1)
{
while(1) {
}
}
@@ -83,11 +78,9 @@ void MemManage_Handler(void)
* @param None
* @retval None
*/
void BusFault_Handler(void)
{
void BusFault_Handler(void) {
/* Go to infinite loop when Bus Fault exception occurs */
while (1)
{
while(1) {
}
}
@@ -96,11 +89,9 @@ void BusFault_Handler(void)
* @param None
* @retval None
*/
void UsageFault_Handler(void)
{
void UsageFault_Handler(void) {
/* Go to infinite loop when Usage Fault exception occurs */
while (1)
{
while(1) {
}
}
@@ -109,8 +100,7 @@ void UsageFault_Handler(void)
* @param None
* @retval None
*/
void SVC_Handler(void)
{
void SVC_Handler(void) {
}
/**
@@ -118,8 +108,7 @@ void SVC_Handler(void)
* @param None
* @retval None
*/
void DebugMon_Handler(void)
{
void DebugMon_Handler(void) {
}
/**
@@ -127,8 +116,7 @@ void DebugMon_Handler(void)
* @param None
* @retval None
*/
void PendSV_Handler(void)
{
void PendSV_Handler(void) {
}
/**

151
bootloader/src/system_stm32f4xx.c
View File

@@ -139,19 +139,19 @@
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field. \
This value must be a multiple of 0x200. */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#define PLL_M 8
#define PLL_N 336
#define PLL_M 8
#define PLL_N 336
/* SYSCLK = PLL_VCO / PLL_P */
#define PLL_P 2
#define PLL_P 2
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */
#define PLL_Q 7
#define PLL_Q 7
/**
* @}
@@ -169,9 +169,9 @@
* @{
*/
uint32_t SystemCoreClock = 168000000;
uint32_t SystemCoreClock = 168000000;
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
@@ -183,7 +183,7 @@
static void SetSysClock(void);
#ifdef DATA_IN_ExtSRAM
static void SystemInit_ExtMemCtl(void);
static void SystemInit_ExtMemCtl(void);
#endif /* DATA_IN_ExtSRAM */
/**
@@ -201,9 +201,8 @@ static void SetSysClock(void);
* @param None
* @retval None
*/
void SystemInit(void)
{
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* Set CP10 and CP11 to full access */
void SystemInit(void) {
SCB->CPACR |= ((3UL << 10 * 2) | (3UL << 11 * 2)); /* Set CP10 and CP11 to full access */
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
@@ -232,7 +231,7 @@ void SystemInit(void)
AHB/APBx prescalers and Flash settings ----------------------------------*/
SetSysClock();
/* Configure the Vector Table location add offset address ------------------*/
/* Configure the Vector Table location add offset address ------------------*/
#ifdef VECT_TAB_SRAM
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#else
@@ -276,41 +275,36 @@ void SystemInit(void)
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
void SystemCoreClockUpdate(void) {
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
switch(tmp) {
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL P used as system clock source */
case 0x08: /* PLL P used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
if(pllsource != 0) {
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
} else {
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >> 16) + 1) * 2;
SystemCoreClock = pllvco / pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
@@ -331,34 +325,28 @@ void SystemCoreClockUpdate(void)
* @param None
* @retval None
*/
static void SetSysClock(void)
{
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
static void SetSysClock(void) {
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
/* Enable HSE */
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
/* Wait till HSE is ready and if Time out is reached exit */
do
{
do {
HSEStatus = RCC->CR & RCC_CR_HSERDY;
StartUpCounter++;
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
if((RCC->CR & RCC_CR_HSERDY) != RESET) {
HSEStatus = (uint32_t)0x01;
}
else
{
} else {
HSEStatus = (uint32_t)0x00;
}
if (HSEStatus == (uint32_t)0x01)
{
if(HSEStatus == (uint32_t)0x01) {
/* Enable high performance mode, System frequency up to 168 MHz */
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
PWR->CR |= PWR_CR_VOS;
@@ -373,34 +361,31 @@ static void SetSysClock(void)
RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
/* Configure the main PLL */
RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) - 1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
/* Enable the main PLL */
RCC->CR |= RCC_CR_PLLON;
/* Wait till the main PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0)
{
while((RCC->CR & RCC_CR_PLLRDY) == 0) {
}
/* Configure Flash prefetch, Instruction cache, Data cache and wait state */
FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
/* Select the main PLL as system clock source */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
RCC->CFGR &= (uint32_t)((uint32_t) ~(RCC_CFGR_SW));
RCC->CFGR |= RCC_CFGR_SW_PLL;
/* Wait till the main PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
while((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL)
;
{
}
}
else
{ /* If HSE fails to start-up, the application will have wrong clock
} else { /* If HSE fails to start-up, the application will have wrong clock
configuration. User can add here some code to deal with this error */
}
}
/**
@@ -418,10 +403,9 @@ static void SetSysClock(void)
* @param None
* @retval None
*/
void SystemInit_ExtMemCtl(void)
{
/*-- GPIOs Configuration -----------------------------------------------------*/
/*
void SystemInit_ExtMemCtl(void) {
/*-- GPIOs Configuration -----------------------------------------------------*/
/*
+-------------------+--------------------+------------------+------------------+
+ SRAM pins assignment +
+-------------------+--------------------+------------------+------------------+
@@ -440,66 +424,66 @@ void SystemInit_ExtMemCtl(void)
| | PE15 <-> FSMC_D12 |
+-------------------+--------------------+
*/
/* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
RCC->AHB1ENR = 0x00000078;
/* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
RCC->AHB1ENR = 0x00000078;
/* Connect PDx pins to FSMC Alternate function */
GPIOD->AFR[0] = 0x00cc00cc;
GPIOD->AFR[1] = 0xcc0ccccc;
GPIOD->AFR[0] = 0x00cc00cc;
GPIOD->AFR[1] = 0xcc0ccccc;
/* Configure PDx pins in Alternate function mode */
GPIOD->MODER = 0xaaaa0a0a;
GPIOD->MODER = 0xaaaa0a0a;
/* Configure PDx pins speed to 100 MHz */
GPIOD->OSPEEDR = 0xffff0f0f;
/* Configure PDx pins Output type to push-pull */
GPIOD->OTYPER = 0x00000000;
GPIOD->OTYPER = 0x00000000;
/* No pull-up, pull-down for PDx pins */
GPIOD->PUPDR = 0x00000000;
GPIOD->PUPDR = 0x00000000;
/* Connect PEx pins to FSMC Alternate function */
GPIOE->AFR[0] = 0xc00cc0cc;
GPIOE->AFR[1] = 0xcccccccc;
GPIOE->AFR[0] = 0xc00cc0cc;
GPIOE->AFR[1] = 0xcccccccc;
/* Configure PEx pins in Alternate function mode */
GPIOE->MODER = 0xaaaa828a;
GPIOE->MODER = 0xaaaa828a;
/* Configure PEx pins speed to 100 MHz */
GPIOE->OSPEEDR = 0xffffc3cf;
/* Configure PEx pins Output type to push-pull */
GPIOE->OTYPER = 0x00000000;
GPIOE->OTYPER = 0x00000000;
/* No pull-up, pull-down for PEx pins */
GPIOE->PUPDR = 0x00000000;
GPIOE->PUPDR = 0x00000000;
/* Connect PFx pins to FSMC Alternate function */
GPIOF->AFR[0] = 0x00cccccc;
GPIOF->AFR[1] = 0xcccc0000;
GPIOF->AFR[0] = 0x00cccccc;
GPIOF->AFR[1] = 0xcccc0000;
/* Configure PFx pins in Alternate function mode */
GPIOF->MODER = 0xaa000aaa;
GPIOF->MODER = 0xaa000aaa;
/* Configure PFx pins speed to 100 MHz */
GPIOF->OSPEEDR = 0xff000fff;
/* Configure PFx pins Output type to push-pull */
GPIOF->OTYPER = 0x00000000;
GPIOF->OTYPER = 0x00000000;
/* No pull-up, pull-down for PFx pins */
GPIOF->PUPDR = 0x00000000;
GPIOF->PUPDR = 0x00000000;
/* Connect PGx pins to FSMC Alternate function */
GPIOG->AFR[0] = 0x00cccccc;
GPIOG->AFR[1] = 0x000000c0;
GPIOG->AFR[0] = 0x00cccccc;
GPIOG->AFR[1] = 0x000000c0;
/* Configure PGx pins in Alternate function mode */
GPIOG->MODER = 0x00080aaa;
GPIOG->MODER = 0x00080aaa;
/* Configure PGx pins speed to 100 MHz */
GPIOG->OSPEEDR = 0x000c0fff;
/* Configure PGx pins Output type to push-pull */
GPIOG->OTYPER = 0x00000000;
GPIOG->OTYPER = 0x00000000;
/* No pull-up, pull-down for PGx pins */
GPIOG->PUPDR = 0x00000000;
GPIOG->PUPDR = 0x00000000;
/*-- FSMC Configuration ------------------------------------------------------*/
/*-- FSMC Configuration ------------------------------------------------------*/
/* Enable the FSMC interface clock */
RCC->AHB3ENR = 0x00000001;
RCC->AHB3ENR = 0x00000001;
/* Configure and enable Bank1_SRAM2 */
FSMC_Bank1->BTCR[2] = 0x00001015;
FSMC_Bank1->BTCR[3] = 0x00010603;//0x00010400;
FSMC_Bank1->BTCR[3] = 0x00010603; //0x00010400;
FSMC_Bank1E->BWTR[2] = 0x0fffffff;
/*
/*
Bank1_SRAM2 is configured as follow:
p.FSMC_AddressSetupTime = 3;//0;
@@ -526,7 +510,6 @@ void SystemInit_ExtMemCtl(void)
FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p;
FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p;
*/
}
#endif /* DATA_IN_ExtSRAM */

9
bootloader/src/version.c
View File

@@ -1,8 +1,7 @@
#include "version.h"
volatile const struct version_info version_info = {
.product_name = "STMBL-Bootloader",
.major = 0,
.minor = 9,
.patch = 0
};
.product_name = "STMBL-Bootloader",
.major = 0,
.minor = 9,
.patch = 0};

21
conf/amk.txt Normal file
View File

@@ -0,0 +1,21 @@
link pid
link acim
link enc_fb0
link misc
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.006
conf0.max_force = 9
conf0.max_ac_cur = 13
conf0.mot_fb_res = 4096
conf0.cmd_res = 4096
acim_ttc0.slip_n = 3
acim_ttc0.cur_n = 6
acim_ttc0.torque_n = 9
conf0.polecount = 2
conf0.vel_p = 1000
conf0.vel_i = 1
conf0.max_sat = 10
conf0.cur_p = 1
pe0.cap = 0.00136
rev1.in = enc_fb0.ipos

70
conf/e240.txt
View File

@@ -1,53 +1,17 @@
conf0.r = 5.400000
conf0.l = 0.008200
conf0.j = 0.000027
conf0.psi = 0.135000
conf0.polecount = 1.000000
conf0.mot_type = 3.000000
conf0.out_rev = 0.000000
conf0.high_motor_temp = 80.000000
conf0.max_motor_temp = 100.000000
conf0.phase_time = 1.000000
conf0.phase_cur = 6.000000
conf0.max_vel = 837.750000
conf0.max_acc = 83775.000000
conf0.max_force = 1.700000
conf0.max_dc_cur = 10.000000
conf0.max_ac_cur = 10.000000
conf0.fb_type = 1.000000
conf0.fb_polecount = 1.000000
conf0.fb_offset = 1.540000
conf0.fb_rev = 0.000000
conf0.fb_res = 2048.000000
conf0.autophase = 0.000000
conf0.cmd_type = 1.000000
conf0.cmd_unit = 0.000000
conf0.cmd_rev = 0.000000
conf0.cmd_res = 2000.000000
conf0.en_condition = 0.000000
conf0.error_out = 0.000000
conf0.pos_static = 0.000000
conf0.sin_offset = 0.000000
conf0.cos_offset = 0.000000
conf0.sin_gain = 1.000000
conf0.cos_gain = 1.000000
conf0.max_dc_volt = 370.000000
conf0.max_hv_temp = 90.000000
conf0.max_core_temp = 55.000000
conf0.max_pos_error = 1.570796
conf0.high_dc_volt = 350.000000
conf0.low_dc_volt = 12.000000
conf0.high_hv_temp = 70.000000
conf0.fan_hv_temp = 60.000000
conf0.fan_core_temp = 450.000000
conf0.fan_motor_temp = 60.000000
conf0.p = 1.000000
conf0.pos_p = 150.000000
conf0.vel_p = 1.000000
conf0.acc_p = 0.500000
conf0.acc_pi = 50.000000
conf0.cur_p = 0.500000
conf0.cur_i = 0.001000
conf0.cur_ff = 1.000000
conf0.cur_ind = 0.900000
conf0.max_sat = 0.000000
link pid
link pmsm
link enc_fb0
link misc
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.0000268
conf0.max_force = 4
conf0.max_ac_cur = 13
conf0.mot_fb_res = 2048
conf0.cmd_res = 2048
conf0.mot_fb_rev = 1
conf0.polecount = 1
hv0.mode = 2
hv0.pos = 0
conf0.psi = 0.2
conf0.cur_p = 0.7

0
conf/b&r_8msa2m.txt → conf/experimental/b&r_8msa2m.txt
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0
conf/bene-stepper.txt → conf/experimental/bene-stepper.txt
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0
conf/bergerlahr.txt → conf/experimental/bergerlahr.txt
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53
conf/experimental/e240.txt Normal file
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@@ -0,0 +1,53 @@
conf0.r = 5.400000
conf0.l = 0.008200
conf0.j = 0.000027
conf0.psi = 0.135000
conf0.polecount = 1.000000
conf0.mot_type = 3.000000
conf0.out_rev = 0.000000
conf0.high_motor_temp = 80.000000
conf0.max_motor_temp = 100.000000
conf0.phase_time = 1.000000
conf0.phase_cur = 6.000000
conf0.max_vel = 837.750000
conf0.max_acc = 83775.000000
conf0.max_force = 1.700000
conf0.max_dc_cur = 10.000000
conf0.max_ac_cur = 10.000000
conf0.fb_type = 1.000000
conf0.fb_polecount = 1.000000
conf0.fb_offset = 1.540000
conf0.fb_rev = 0.000000
conf0.fb_res = 2048.000000
conf0.autophase = 0.000000
conf0.cmd_type = 1.000000
conf0.cmd_unit = 0.000000
conf0.cmd_rev = 0.000000
conf0.cmd_res = 2000.000000
conf0.en_condition = 0.000000
conf0.error_out = 0.000000
conf0.pos_static = 0.000000
conf0.sin_offset = 0.000000
conf0.cos_offset = 0.000000
conf0.sin_gain = 1.000000
conf0.cos_gain = 1.000000
conf0.max_dc_volt = 370.000000
conf0.max_hv_temp = 90.000000
conf0.max_core_temp = 55.000000
conf0.max_pos_error = 1.570796
conf0.high_dc_volt = 350.000000
conf0.low_dc_volt = 12.000000
conf0.high_hv_temp = 70.000000
conf0.fan_hv_temp = 60.000000
conf0.fan_core_temp = 450.000000
conf0.fan_motor_temp = 60.000000
conf0.p = 1.000000
conf0.pos_p = 150.000000
conf0.vel_p = 1.000000
conf0.acc_p = 0.500000
conf0.acc_pi = 50.000000
conf0.cur_p = 0.500000
conf0.cur_i = 0.001000
conf0.cur_ff = 1.000000
conf0.cur_ind = 0.900000
conf0.max_sat = 0.000000

0
conf/festo-fs3mg.txt → conf/experimental/festo-fs3mg.txt
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0
conf/festo.txt → conf/experimental/festo.txt
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53
conf/experimental/harmonic.txt Normal file
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@@ -0,0 +1,53 @@
conf0.r = 0.200000
conf0.l = 0.005000
conf0.j = 0.000500
conf0.psi = 0.003427
conf0.polecount = 12.000000
conf0.mot_type = 0.000000
conf0.out_rev = 1.000000
conf0.high_motor_temp = 80.000000
conf0.max_motor_temp = 100.000000
conf0.phase_time = 0.500000
conf0.phase_cur = 2.000000
conf0.max_vel = 837.750000
conf0.max_acc = 83775.000000
conf0.max_force = 2.000000
conf0.max_dc_cur = 10.000000
conf0.max_ac_cur = 6.000000
conf0.fb_type = 1.000000
conf0.fb_polecount = 1.000000
conf0.fb_offset = 1.540000
conf0.fb_rev = 1.000000
conf0.fb_res = 2000.000000
conf0.autophase = 1.000000
conf0.cmd_type = 1.000000
conf0.cmd_unit = 0.000000
conf0.cmd_rev = 0.000000
conf0.cmd_res = 2000.000000
conf0.en_condition = 0.000000
conf0.error_out = 0.000000
conf0.pos_static = 0.000000
conf0.sin_offset = 0.000000
conf0.cos_offset = 0.000000
conf0.sin_gain = 1.030000
conf0.cos_gain = 1.000000
conf0.max_dc_volt = 370.000000
conf0.max_hv_temp = 90.000000
conf0.max_core_temp = 55.000000
conf0.max_pos_error = 1.570796
conf0.high_dc_volt = 350.000000
conf0.low_dc_volt = 12.000000
conf0.high_hv_temp = 70.000000
conf0.fan_hv_temp = 60.000000
conf0.fan_core_temp = 450.000000
conf0.fan_motor_temp = 60.000000
conf0.g = 0.990000
conf0.pos_p = 100.000000
conf0.vel_p = 1000.000000
conf0.vel_i = 5.000000
conf0.vel_g = 1.000000
conf0.cur_p = 0.040000
conf0.cur_i = 0.000100
conf0.cur_ff = 0.000000
conf0.cur_ind = 0.000000
conf0.max_sat = 0.200000

0
conf/kollmorgen.txt → conf/experimental/kollmorgen.txt
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0
conf/manutec_r15_0.txt → conf/experimental/manutec_r15_0.txt
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0
conf/manutec_r15_2.txt → conf/experimental/manutec_r15_2.txt
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0
conf/manutec_r15_3.txt → conf/experimental/manutec_r15_3.txt
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0
conf/manutec_r15_4.txt → conf/experimental/manutec_r15_4.txt
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0
conf/manutec_r15_5.txt → conf/experimental/manutec_r15_5.txt
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0
conf/manutec_r15_6.txt → conf/experimental/manutec_r15_6.txt
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0
conf/omron.txt → conf/experimental/omron.txt
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0
conf/p50b08100.txt → conf/experimental/p50b08100.txt
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9
conf/psi.txt → conf/experimental/psi.txt
View File

@@ -1,14 +1,17 @@
load psi
psi0.rt_prio = 10
psi0.dc_volt = hv0.dc_volt
psi0.u = hv0.u_fb
psi0.v = hv0.v_fb
psi0.w = hv0.w_fb
psi0.vel = net0.fb_d
psi0.vel = vel1.vel
psi0.polecount = conf0.polecount
net0.enable = 0
fault0.en = 0
fault0.brake_release = 1
vel1.en = 1
io0.brake = 1
term0.wave0 = psi0.psi
term0.wave1 = psi0.max_psi
term0.gain0 = 500
term0.gain1 = 500
stop
start

0
conf/rexroth.txt → conf/experimental/rexroth.txt
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0
conf/rv_e2_3.txt → conf/experimental/rv_e2_3.txt
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0
conf/sanyo_r2.txt → conf/experimental/sanyo_r2.txt
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0
conf/siemens_1k6.txt → conf/experimental/siemens_1k6.txt
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0
conf/sr60-axis1.txt → conf/experimental/sr60-axis1.txt
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0
conf/sr60-axis2.txt → conf/experimental/sr60-axis2.txt
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0
conf/sr60-axis3.txt → conf/experimental/sr60-axis3.txt
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0
conf/sr60-axis4.txt → conf/experimental/sr60-axis4.txt
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0
conf/sr8-1.txt → conf/experimental/sr8-1.txt
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0
conf/sr8-2.txt → conf/experimental/sr8-2.txt
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0
conf/sr8-3.txt → conf/experimental/sr8-3.txt
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0
conf/sr8-z.txt → conf/experimental/sr8-z.txt
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0
conf/stp.txt → conf/experimental/stp.txt
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0
conf/xmtr4.txt → conf/experimental/xmtr4.txt
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17
conf/haas.txt Normal file
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@@ -0,0 +1,17 @@
link pid
link pmsm
link enc_fb0
link misc
conf0.r = 1.4
conf0.l = 0.0013
conf0.j = 0.00124
conf0.max_force = 4
conf0.max_ac_cur = 13
conf0.mot_fb_res = 8000
conf0.cmd_res = 8000
conf0.mot_fb_rev = 1
conf0.polecount = 1
hv0.phase_mode = 3
hv0.pos = 0
conf0.psi = 1.2
conf0.cur_p = 0.7

65
conf/mitsu.txt
View File

@@ -1,53 +1,12 @@
conf0.r = 1.200000
conf0.l = 0.005000
conf0.j = 0.000050
conf0.psi = 0.054500
conf0.polecount = 2.000000
conf0.mot_type = 0.000000
conf0.out_rev = 0.000000
conf0.high_motor_temp = 80.000000
conf0.max_motor_temp = 100.000000
conf0.phase_time = 0.500000
conf0.phase_cur = 2.000000
conf0.max_vel = 837.750000
conf0.max_acc = 83775.000000
conf0.max_force = 2.000000
conf0.max_dc_cur = 10.000000
conf0.max_ac_cur = 6.000000
conf0.fb_type = 8.000000
conf0.fb_polecount = 1.000000
conf0.fb_offset = 1.540000
conf0.fb_rev = 0.000000
conf0.fb_res = 16384.000000
conf0.autophase = 0.000000
conf0.cmd_type = 1.000000
conf0.cmd_unit = 0.000000
conf0.cmd_rev = 0.000000
conf0.cmd_res = 2000.000000
conf0.en_condition = 0.000000
conf0.error_out = 0.000000
conf0.pos_static = 0.000000
conf0.sin_offset = 0.000000
conf0.cos_offset = 0.000000
conf0.sin_gain = 1.030000
conf0.cos_gain = 1.000000
conf0.max_dc_volt = 370.000000
conf0.max_hv_temp = 90.000000
conf0.max_core_temp = 55.000000
conf0.max_pos_error = 1.570796
conf0.high_dc_volt = 350.000000
conf0.low_dc_volt = 12.000000
conf0.high_hv_temp = 70.000000
conf0.fan_hv_temp = 60.000000
conf0.fan_core_temp = 450.000000
conf0.fan_motor_temp = 60.000000
conf0.p = 1.000000
conf0.pos_p = 100.000000
conf0.vel_p = 2500.000000
conf0.acc_p = 0.500000
conf0.acc_pi = 100.000000
conf0.cur_p = 0.500000
conf0.cur_i = 0.001000
conf0.cur_ff = 1.000000
conf0.cur_ind = 0.900000
conf0.max_sat = 0.200000
link pid
link pmsm
link encm_fb0
link misc
conf0.r = 1.2
conf0.l = 0.005
conf0.j = 0.00005
conf0.polecount = 2
conf0.max_ac_cur = 10
conf0.max_force = 4
conf0.mot_fb_offset = 1.57
conf0.max_vel = 837

23
conf/sm060.txt Normal file
View File

@@ -0,0 +1,23 @@
link pid
link pmsm
link enc_fb0
link uvw_fb1
link misc
conf0.r = 1.6
conf0.l = 0.005
conf0.j = 0.000056
conf0.max_force = 5.7
conf0.max_ac_cur = 5
conf0.mot_fb_res = 10000
conf0.cmd_res = 10000
conf0.mot_fb_rev = 1
conf0.polecount = 5
conf0.com_polecount = 5
uvw0.p0 = 3
uvw0.p1 = 2
uvw0.p2 = 2
uvw0.p3 = 1
uvw0.p4 = 4
uvw0.p5 = 6
uvw0.p6 = 5
uvw0.p7 = 0

25
conf/template/acim.txt Normal file
View File

@@ -0,0 +1,25 @@
load pmsm_limits
load acim_ttc
pmsm_limits0.rt_prio = 7
acim_ttc0.rt_prio = 9
pmsm_limits0.r = conf0.r
pmsm_limits0.ld = conf0.l
pmsm_limits0.lq = conf0.l
pmsm_limits0.psi = conf0.psi
pmsm_limits0.j = conf0.j
pmsm_limits0.polecount = conf0.polecount
pmsm_limits0.ac_volt = hv0.pwm_volt
pmsm_limits0.iq = hv0.q_fb
pmsm_limits0.id = hv0.d_fb
pid0.max_torque = pmsm_limits0.max_torque
pid0.min_torque = pmsm_limits0.min_torque
pid0.max_vel = pmsm_limits0.abs_max_vel
acim_ttc0.torque = pid0.torque_cor_cmd
acim_ttc0.polecount = conf0.polecount
acim_ttc0.vel = vel1.vel
acim_ttc0.mode = 0
hv0.q_cmd = acim_ttc0.iq
hv0.d_cmd = acim_ttc0.id
hv0.cmd_mode = 1
hv0.phase_mode = 2
hv0.pos = acim_ttc0.pos

10
conf/template/encm_fb0.txt Normal file
View File

@@ -0,0 +1,10 @@
load encm
encm0.rt_prio = 2
rev1.in = encm0.pos
fb_switch0.mot_pos = rev1.out
fb_switch0.mot_abs_pos = rev1.out
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = 3
fault0.mot_fb_error = encm0.error
io0.fb0y = encm0.error
io0.fb0g = 1

15
conf/template/pid.txt
View File

@@ -15,6 +15,7 @@ load iit
load sim
load stp
load io
load pe
link conf
adc0.rt_prio = 1
reslimit0.rt_prio = 3
@@ -33,7 +34,8 @@ hv0.rt_prio = 11
iit0.rt_prio = 12
sim0.rt_prio = 13
stp0.rt_prio = 14
term0.rt_prio = 15
pe0.rt_prio = 15
term0.rt_prio = 16
rev0.rev = conf0.cmd_rev
rev1.rev = conf0.mot_fb_rev
rev2.rev = conf0.com_fb_rev
@@ -118,3 +120,14 @@ hv0.scale = fault0.scale
io0.fan = fault0.hv_fan
io0.fault = fault0.fault
io0.state = fault0.state
pe0.udc = hv0.dc_volt
pe0.idc = 0
pe0.ud = 0
pe0.uq = 0
pe0.id = hv0.d_fb
pe0.iq = hv0.q_fb
pe0.torque = pid0.torque_cor_cmd
pe0.vel = vel1.vel
pe0.r = conf0.r
pe0.j = conf0.j
pe0.cap = 0.00054

3
conf/template/pmsm.txt
View File

@@ -18,4 +18,5 @@ pid0.min_torque = pmsm_limits0.min_torque
pid0.max_vel = pmsm_limits0.abs_max_vel
pmsm_ttc0.torque = pid0.torque_cor_cmd
hv0.q_cmd = pmsm_ttc0.cur
hv0.mode = 1
hv0.cmd_mode = 1
hv0.phase_mode = 2

2
conf/template/uvw_fb1.txt
View File

@@ -8,3 +8,5 @@ fb_switch0.com_abs_pos = rev2.out
fb_switch0.com_state = 3
fb_switch0.com_polecount = conf0.com_fb_polecount
io0.fb1g = 1
io0.fb1y = uvw0.led
conf0.com_fb_polecount = conf0.polecount

146
f3dfu/Inc/stm32f3xx_hal_conf.h
View File

@@ -30,14 +30,14 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F3xx_HAL_CONF_H
#define __STM32F3xx_HAL_CONF_H
#ifdef __cplusplus
extern "C" {
extern "C" {
#endif
/* Exported types ------------------------------------------------------------*/
@@ -47,8 +47,8 @@
/**
* @brief This is the list of modules to be used in the HAL driver
*/
#define HAL_MODULE_ENABLED
#define HAL_MODULE_ENABLED
/*#define HAL_ADC_MODULE_ENABLED */
/*#define HAL_CAN_MODULE_ENABLED */
/*#define HAL_CEC_MODULE_ENABLED */
@@ -92,16 +92,16 @@
* This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL).
*/
#if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
#if !defined(HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
/**
* @brief In the following line adjust the External High Speed oscillator (HSE) Startup
* Timeout value
*/
#if !defined (HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)100) /*!< Time out for HSE start up, in ms */
#if !defined(HSE_STARTUP_TIMEOUT)
#define HSE_STARTUP_TIMEOUT ((uint32_t)100) /*!< Time out for HSE start up, in ms */
#endif /* HSE_STARTUP_TIMEOUT */
/**
@@ -109,38 +109,38 @@
* This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL).
*/
#if !defined (HSI_VALUE)
#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
#if !defined(HSI_VALUE)
#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @brief In the following line adjust the Internal High Speed oscillator (HSI) Startup
* Timeout value
*/
#if !defined (HSI_STARTUP_TIMEOUT)
#define HSI_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for HSI start up */
#endif /* HSI_STARTUP_TIMEOUT */
#if !defined(HSI_STARTUP_TIMEOUT)
#define HSI_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for HSI start up */
#endif /* HSI_STARTUP_TIMEOUT */
/**
* @brief Internal Low Speed oscillator (LSI) value.
*/
#if !defined (LSI_VALUE)
#define LSI_VALUE ((uint32_t)40000)
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz
The real value may vary depending on the variations
in voltage and temperature. */
#if !defined(LSI_VALUE)
#define LSI_VALUE ((uint32_t)40000)
#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz \
The real value may vary depending on the variations \
in voltage and temperature. */
/**
* @brief External Low Speed oscillator (LSE) value.
*/
#if !defined (LSE_VALUE)
#define LSE_VALUE ((uint32_t)32768) /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
#if !defined(LSE_VALUE)
#define LSE_VALUE ((uint32_t)32768) /*!< Value of the External Low Speed oscillator in Hz */
#endif /* LSE_VALUE */
/**
* @brief Time out for LSE start up value in ms.
*/
#if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for LSE start up, in ms */
#if !defined(LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT ((uint32_t)5000) /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */
/**
@@ -150,8 +150,8 @@
* - External clock generated through external PLL component on EVAL 303 (based on MCO or crystal)
* - External clock not generated on EVAL 373
*/
#if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz*/
#if !defined(EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz*/
#endif /* EXTERNAL_CLOCK_VALUE */
/* Tip: To avoid modifying this file each time you need to use different HSE,
@@ -160,14 +160,14 @@
/* ########################### System Configuration ######################### */
/**
* @brief This is the HAL system configuration section
*/
*/
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0) /*!< tick interrupt priority (lowest by default) */
#define USE_RTOS 0
#define PREFETCH_ENABLE 1
#define INSTRUCTION_CACHE_ENABLE 0
#define DATA_CACHE_ENABLE 0
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0) /*!< tick interrupt priority (lowest by default) */
#define USE_RTOS 0
#define PREFETCH_ENABLE 1
#define INSTRUCTION_CACHE_ENABLE 0
#define DATA_CACHE_ENABLE 0
/* ########################## Assert Selection ############################## */
/**
@@ -182,139 +182,139 @@
*/
#ifdef HAL_RCC_MODULE_ENABLED
#include "stm32f3xx_hal_rcc.h"
#include "stm32f3xx_hal_rcc.h"
#endif /* HAL_RCC_MODULE_ENABLED */
#ifdef HAL_GPIO_MODULE_ENABLED
#include "stm32f3xx_hal_gpio.h"
#include "stm32f3xx_hal_gpio.h"
#endif /* HAL_GPIO_MODULE_ENABLED */
#ifdef HAL_DMA_MODULE_ENABLED
#include "stm32f3xx_hal_dma.h"
#include "stm32f3xx_hal_dma.h"
#endif /* HAL_DMA_MODULE_ENABLED */
#ifdef HAL_CORTEX_MODULE_ENABLED
#include "stm32f3xx_hal_cortex.h"
#include "stm32f3xx_hal_cortex.h"
#endif /* HAL_CORTEX_MODULE_ENABLED */
#ifdef HAL_ADC_MODULE_ENABLED
#include "stm32f3xx_hal_adc.h"
#include "stm32f3xx_hal_adc.h"
#endif /* HAL_ADC_MODULE_ENABLED */
#ifdef HAL_CAN_MODULE_ENABLED
#include "stm32f3xx_hal_can.h"
#include "stm32f3xx_hal_can.h"
#endif /* HAL_CAN_MODULE_ENABLED */
#ifdef HAL_CEC_MODULE_ENABLED
#include "stm32f3xx_hal_cec.h"
#include "stm32f3xx_hal_cec.h"
#endif /* HAL_CEC_MODULE_ENABLED */
#ifdef HAL_COMP_MODULE_ENABLED
#include "stm32f3xx_hal_comp.h"
#include "stm32f3xx_hal_comp.h"
#endif /* HAL_COMP_MODULE_ENABLED */
#ifdef HAL_CRC_MODULE_ENABLED
#include "stm32f3xx_hal_crc.h"
#include "stm32f3xx_hal_crc.h"
#endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED
#include "stm32f3xx_hal_dac.h"
#include "stm32f3xx_hal_dac.h"
#endif /* HAL_DAC_MODULE_ENABLED */
#ifdef HAL_FLASH_MODULE_ENABLED
#include "stm32f3xx_hal_flash.h"
#include "stm32f3xx_hal_flash.h"
#endif /* HAL_FLASH_MODULE_ENABLED */
#ifdef HAL_SRAM_MODULE_ENABLED
#include "stm32f3xx_hal_sram.h"
#include "stm32f3xx_hal_sram.h"
#endif /* HAL_SRAM_MODULE_ENABLED */
#ifdef HAL_NOR_MODULE_ENABLED
#include "stm32f3xx_hal_nor.h"
#include "stm32f3xx_hal_nor.h"
#endif /* HAL_NOR_MODULE_ENABLED */
#ifdef HAL_NAND_MODULE_ENABLED
#include "stm32f3xx_hal_nand.h"
#include "stm32f3xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_PCCARD_MODULE_ENABLED
#include "stm32f3xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */
#include "stm32f3xx_hal_pccard.h"
#endif /* HAL_PCCARD_MODULE_ENABLED */
#ifdef HAL_HRTIM_MODULE_ENABLED
#include "stm32f3xx_hal_hrtim.h"
#include "stm32f3xx_hal_hrtim.h"
#endif /* HAL_HRTIM_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED
#include "stm32f3xx_hal_i2c.h"
#include "stm32f3xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */
#ifdef HAL_I2S_MODULE_ENABLED
#include "stm32f3xx_hal_i2s.h"
#include "stm32f3xx_hal_i2s.h"
#endif /* HAL_I2S_MODULE_ENABLED */
#ifdef HAL_IRDA_MODULE_ENABLED
#include "stm32f3xx_hal_irda.h"
#include "stm32f3xx_hal_irda.h"
#endif /* HAL_IRDA_MODULE_ENABLED */
#ifdef HAL_IWDG_MODULE_ENABLED
#include "stm32f3xx_hal_iwdg.h"
#include "stm32f3xx_hal_iwdg.h"
#endif /* HAL_IWDG_MODULE_ENABLED */
#ifdef HAL_OPAMP_MODULE_ENABLED
#include "stm32f3xx_hal_opamp.h"
#include "stm32f3xx_hal_opamp.h"
#endif /* HAL_OPAMP_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED
#include "stm32f3xx_hal_pcd.h"
#include "stm32f3xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */
#ifdef HAL_PWR_MODULE_ENABLED
#include "stm32f3xx_hal_pwr.h"
#include "stm32f3xx_hal_pwr.h"
#endif /* HAL_PWR_MODULE_ENABLED */
#ifdef HAL_RTC_MODULE_ENABLED
#include "stm32f3xx_hal_rtc.h"
#include "stm32f3xx_hal_rtc.h"
#endif /* HAL_RTC_MODULE_ENABLED */
#ifdef HAL_SDADC_MODULE_ENABLED
#include "stm32f3xx_hal_sdadc.h"
#include "stm32f3xx_hal_sdadc.h"
#endif /* HAL_SDADC_MODULE_ENABLED */
#ifdef HAL_SMARTCARD_MODULE_ENABLED
#include "stm32f3xx_hal_smartcard.h"
#include "stm32f3xx_hal_smartcard.h"
#endif /* HAL_SMARTCARD_MODULE_ENABLED */
#ifdef HAL_SMBUS_MODULE_ENABLED
#include "stm32f3xx_hal_smbus.h"
#include "stm32f3xx_hal_smbus.h"
#endif /* HAL_SMBUS_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED
#include "stm32f3xx_hal_spi.h"
#include "stm32f3xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */
#ifdef HAL_TIM_MODULE_ENABLED
#include "stm32f3xx_hal_tim.h"
#include "stm32f3xx_hal_tim.h"
#endif /* HAL_TIM_MODULE_ENABLED */
#ifdef HAL_TSC_MODULE_ENABLED
#include "stm32f3xx_hal_tsc.h"
#include "stm32f3xx_hal_tsc.h"
#endif /* HAL_TSC_MODULE_ENABLED */
#ifdef HAL_UART_MODULE_ENABLED
#include "stm32f3xx_hal_uart.h"
#include "stm32f3xx_hal_uart.h"
#endif /* HAL_UART_MODULE_ENABLED */
#ifdef HAL_USART_MODULE_ENABLED
#include "stm32f3xx_hal_usart.h"
#include "stm32f3xx_hal_usart.h"
#endif /* HAL_USART_MODULE_ENABLED */
#ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32f3xx_hal_wwdg.h"
#include "stm32f3xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
@@ -323,13 +323,13 @@
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert_failed(uint8_t* file, uint32_t line);
void assert_failed(uint8_t *file, uint32_t line);
#else
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
#ifdef __cplusplus
}
#endif

4
f3dfu/Inc/stm32f3xx_it.h
View File

@@ -36,8 +36,8 @@
#define __STM32F3xx_IT_H
#ifdef __cplusplus
extern "C" {
#endif
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/

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