├── Hardware
├── Gerber_QCopterNano_v1.0.rar
├── QCopterNano.PrjPCB
├── QCopterNano_Pcb.PcbDoc
└── QCopterNano_Sch.SchDoc
├── LICENSE
├── README.md
└── Software
└── QCopterNano_FlightControl
├── Libraries
├── CMSIS
│ ├── MathARM
│ │ ├── arm_cos_f32.c
│ │ └── arm_sin_f32.c
│ ├── arm_common_tables.h
│ ├── arm_const_structs.h
│ ├── arm_math.h
│ ├── core_cm4.h
│ ├── core_cm4_simd.h
│ ├── core_cmFunc.h
│ ├── core_cmInstr.h
│ ├── startup_stm32f401xc.s
│ ├── stm32f4xx.h
│ ├── system_stm32f4xx.c
│ └── system_stm32f4xx.h
└── STM32F4xx_StdPeriph_Driver
│ ├── inc
│ ├── misc.h
│ ├── stm32f4xx_adc.h
│ ├── stm32f4xx_can.h
│ ├── stm32f4xx_crc.h
│ ├── stm32f4xx_cryp.h
│ ├── stm32f4xx_dac.h
│ ├── stm32f4xx_dbgmcu.h
│ ├── stm32f4xx_dcmi.h
│ ├── stm32f4xx_dma.h
│ ├── stm32f4xx_dma2d.h
│ ├── stm32f4xx_exti.h
│ ├── stm32f4xx_flash.h
│ ├── stm32f4xx_fmc.h
│ ├── stm32f4xx_fsmc.h
│ ├── stm32f4xx_gpio.h
│ ├── stm32f4xx_hash.h
│ ├── stm32f4xx_i2c.h
│ ├── stm32f4xx_iwdg.h
│ ├── stm32f4xx_ltdc.h
│ ├── stm32f4xx_pwr.h
│ ├── stm32f4xx_rcc.h
│ ├── stm32f4xx_rng.h
│ ├── stm32f4xx_rtc.h
│ ├── stm32f4xx_sai.h
│ ├── stm32f4xx_sdio.h
│ ├── stm32f4xx_spi.h
│ ├── stm32f4xx_syscfg.h
│ ├── stm32f4xx_tim.h
│ ├── stm32f4xx_usart.h
│ └── stm32f4xx_wwdg.h
│ └── src
│ ├── misc.c
│ ├── stm32f4xx_adc.c
│ ├── stm32f4xx_can.c
│ ├── stm32f4xx_crc.c
│ ├── stm32f4xx_cryp.c
│ ├── stm32f4xx_cryp_aes.c
│ ├── stm32f4xx_cryp_des.c
│ ├── stm32f4xx_cryp_tdes.c
│ ├── stm32f4xx_dac.c
│ ├── stm32f4xx_dbgmcu.c
│ ├── stm32f4xx_dcmi.c
│ ├── stm32f4xx_dma.c
│ ├── stm32f4xx_dma2d.c
│ ├── stm32f4xx_exti.c
│ ├── stm32f4xx_flash.c
│ ├── stm32f4xx_fmc.c
│ ├── stm32f4xx_fsmc.c
│ ├── stm32f4xx_gpio.c
│ ├── stm32f4xx_hash.c
│ ├── stm32f4xx_hash_md5.c
│ ├── stm32f4xx_hash_sha1.c
│ ├── stm32f4xx_i2c.c
│ ├── stm32f4xx_iwdg.c
│ ├── stm32f4xx_ltdc.c
│ ├── stm32f4xx_pwr.c
│ ├── stm32f4xx_rcc.c
│ ├── stm32f4xx_rng.c
│ ├── stm32f4xx_rtc.c
│ ├── stm32f4xx_sai.c
│ ├── stm32f4xx_sdio.c
│ ├── stm32f4xx_spi.c
│ ├── stm32f4xx_syscfg.c
│ ├── stm32f4xx_tim.c
│ ├── stm32f4xx_usart.c
│ └── stm32f4xx_wwdg.c
├── Program
├── Algorithms
│ ├── algorithm_ahrs.c
│ ├── algorithm_ahrs.h
│ ├── algorithm_mathUnit.h
│ ├── algorithm_moveAve.c
│ ├── algorithm_moveAve.h
│ ├── algorithm_pid.c
│ ├── algorithm_pid.h
│ ├── algorithm_quaternion.c
│ ├── algorithm_quaternion.h
│ ├── algorithm_string.c
│ └── algorithm_string.h
├── Dirvers
│ ├── stm32f4_delay.c
│ ├── stm32f4_delay.h
│ ├── stm32f4_spi.c
│ ├── stm32f4_spi.h
│ ├── stm32f4_system.h
│ ├── stm32f4_usart.c
│ └── stm32f4_usart.h
├── Modules
│ ├── module_imu.c
│ ├── module_imu.h
│ ├── module_mpu9250.c
│ ├── module_mpu9250.h
│ ├── module_nrf24l01.c
│ ├── module_nrf24l01.h
│ ├── module_rs232.c
│ └── module_rs232.h
├── QCopterNano.c
├── QCopterNano.h
├── QCopterNano_ctrl.c
├── QCopterNano_ctrl.h
├── QCopterNano_it.c
├── QCopterNano_transport.c
├── QCopterNano_transport.h
└── stm32f4xx_conf.h
├── ProjectIMU
├── ClearFile.bat
├── Program_STM32.uvgui.Hom
├── Program_STM32.uvopt
└── Program_STM32.uvproj
└── VisualScope
├── VisualScope.exe
└── config.dat
/Hardware/Gerber_QCopterNano_v1.0.rar:
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https://raw.githubusercontent.com/KitSprout/QCopterNano/926637209d0051d8d4bd4299ed4504e62b30c40f/Hardware/Gerber_QCopterNano_v1.0.rar
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/Hardware/QCopterNano.PrjPCB:
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https://raw.githubusercontent.com/KitSprout/QCopterNano/926637209d0051d8d4bd4299ed4504e62b30c40f/Hardware/QCopterNano.PrjPCB
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/Hardware/QCopterNano_Pcb.PcbDoc:
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/Hardware/QCopterNano_Sch.SchDoc:
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https://raw.githubusercontent.com/KitSprout/QCopterNano/926637209d0051d8d4bd4299ed4504e62b30c40f/Hardware/QCopterNano_Sch.SchDoc
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/LICENSE:
--------------------------------------------------------------------------------
1 | ==========================================================================================
2 |
3 | *** QCopter Nano v1.0 Hardware License ***
4 |
5 | CC BY-SA 4.0
6 | (http://creativecommons.org/licenses/by-sa/4.0/deed.zh_TW)
7 |
8 |
9 | 你可自由：
10 |
11 | 分享 — 以任何媒介或格式重製及散布本素材。
12 | 修改 — 重混、轉換本素材、及依本素材建立新素材。
13 | 且為任何目的，包含商業性質之使用。
14 | 只要你遵守授權條款規定，授權人不能撤回你使用本素材的自由。
15 |
16 | 惟需遵照下列條件：
17 |
18 | 姓名標示 —
19 | 你必須給予適當表彰、提供指向本授權條款的連結，以及指出本素材是否已被變更。你可以任何合理方式為前述表彰，但不得以任何方式暗示授權人為你或你的使用方式背書。
20 |
21 | 相同方式分享 —
22 | 若你重混、轉換本素材，或依本素材建立新素材，你必須依本素材的授權條款來散布你的貢獻物。
23 |
24 | 不得增加額外限制 —
25 | 你不能增設法律條款或科技措施，來限制別人依授權條款本已許可的作為。
26 |
27 |
28 | ------------------------------------------------------------------------------------------
29 |
30 | *** QCopter Nano Software License ***
31 |
32 | The MIT License (MIT)
33 | (http://opensource.org/licenses/MIT)
34 |
35 | Copyright (c) 2014 Hom
36 |
37 | Permission is hereby granted, free of charge, to any person obtaining a copy of
38 | this software and associated documentation files (the "Software"), to deal in
39 | the Software without restriction, including without limitation the rights to
40 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
41 | the Software, and to permit persons to whom the Software is furnished to do so,
42 | subject to the following conditions:
43 |
44 | The above copyright notice and this permission notice shall be included in all
45 | copies or substantial portions of the Software.
46 |
47 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
48 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
49 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
50 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
51 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
52 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
53 |
54 | ==========================================================================================
55 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | [QCopterNano](https://github.com/QCopter/QCopterNano)
2 | ========
3 | * Author : [Hom](about.me/Hom)
4 | * Version : v1.0 測試中 ...
5 | * Update : 2014/09/12
6 |
7 | Description
8 | ========
9 | QCopterNano 是一個基於Cortex-M4 的微型四軸飛行器，飛控採用 SmartIMU，搭載 STM32F401CU 和 MPU9250，並透過 nRF24L01P 來做無線的資料傳輸、遙控，馬達座採用 3D Printer 製作。
10 |
11 | License
12 | ========
13 | * 硬體(Hardware)採用 [CC BY-SA 4.0](http://creativecommons.org/licenses/by-sa/4.0/deed.zh_TW) 方式授權
14 |
15 | 
16 | QCopterNano v1.0 由 Hom 製作，以 創用CC 姓名標示-相同方式分享 4.0 國際 授權條款 釋出。
17 |
18 | * 軟體(Software)採用 [MIT License](http://opensource.org/licenses/MIT) 方式授權
19 |
20 | Hardware
21 | ========
22 | * 控制器 : [STM32F401C](http://www.st.com/web/en/catalog/mmc/FM141/SC1169/SS1577/LN1810/PF258491) 48Pin 84MHz DSP FPU
23 | * 感測器 : [MPU9250](http://www.invensense.com/mems/gyro/mpu9250.html)
24 | * 無線傳輸 : [nRF24L01P](http://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24L01P) + PA + LNA
25 | * 外接介面 : 1*SPI ( FFC16 )
26 | * PCB 尺寸 : Motor to Motor ~80mm
27 | * 設計軟體 [Altium Designer 14](http://www.altium.com/en/products/altium-designer) ( PcbLib use AD [PcbLib v?](https://github.com/OpenPCB/AltiumDesigner_PcbLibrary) )
28 |
29 | Related Documents
30 | ========
31 | * [Update Records - Hackpad](https://hom.hackpad.com/QCopterNano-iIRgMU2Scgx)
32 | * [Datasheet & BOM - Google Drive](http://goo.gl/Bqsjgs)
33 |
34 | Software
35 | ========
36 | * QCopterNano FlightControl
37 |
38 | View
39 | ========
40 | 
41 |
42 |
43 | 更多圖片 [Google+ albums](https://plus.google.com/u/0/photos/112822505513154783828/albums/6012450476465469281)
44 |
45 | Config
46 | ========
47 |
48 |
49 | Schematic
50 | ========
51 |
52 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/CMSIS/arm_common_tables.h:
--------------------------------------------------------------------------------
1 | /* ----------------------------------------------------------------------
2 | * Copyright (C) 2010-2013 ARM Limited. All rights reserved.
3 | *
4 | * $Date: 17. January 2013
5 | * $Revision: V1.4.1
6 | *
7 | * Project: CMSIS DSP Library
8 | * Title: arm_common_tables.h
9 | *
10 | * Description: This file has extern declaration for common tables like Bitreverse, reciprocal etc which are used across different functions
11 | *
12 | * Target Processor: Cortex-M4/Cortex-M3
13 | *
14 | * Redistribution and use in source and binary forms, with or without
15 | * modification, are permitted provided that the following conditions
16 | * are met:
17 | * - Redistributions of source code must retain the above copyright
18 | * notice, this list of conditions and the following disclaimer.
19 | * - Redistributions in binary form must reproduce the above copyright
20 | * notice, this list of conditions and the following disclaimer in
21 | * the documentation and/or other materials provided with the
22 | * distribution.
23 | * - Neither the name of ARM LIMITED nor the names of its contributors
24 | * may be used to endorse or promote products derived from this
25 | * software without specific prior written permission.
26 | *
27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
28 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
29 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
30 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
31 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
32 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
33 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
34 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
35 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
36 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
37 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
38 | * POSSIBILITY OF SUCH DAMAGE.
39 | * -------------------------------------------------------------------- */
40 |
41 | #ifndef _ARM_COMMON_TABLES_H
42 | #define _ARM_COMMON_TABLES_H
43 |
44 | #include "arm_math.h"
45 |
46 | extern const uint16_t armBitRevTable[1024];
47 | extern const q15_t armRecipTableQ15[64];
48 | extern const q31_t armRecipTableQ31[64];
49 | extern const q31_t realCoefAQ31[1024];
50 | extern const q31_t realCoefBQ31[1024];
51 | extern const float32_t twiddleCoef_16[32];
52 | extern const float32_t twiddleCoef_32[64];
53 | extern const float32_t twiddleCoef_64[128];
54 | extern const float32_t twiddleCoef_128[256];
55 | extern const float32_t twiddleCoef_256[512];
56 | extern const float32_t twiddleCoef_512[1024];
57 | extern const float32_t twiddleCoef_1024[2048];
58 | extern const float32_t twiddleCoef_2048[4096];
59 | extern const float32_t twiddleCoef_4096[8192];
60 | #define twiddleCoef twiddleCoef_4096
61 | extern const q31_t twiddleCoefQ31[6144];
62 | extern const q15_t twiddleCoefQ15[6144];
63 | extern const float32_t twiddleCoef_rfft_32[32];
64 | extern const float32_t twiddleCoef_rfft_64[64];
65 | extern const float32_t twiddleCoef_rfft_128[128];
66 | extern const float32_t twiddleCoef_rfft_256[256];
67 | extern const float32_t twiddleCoef_rfft_512[512];
68 | extern const float32_t twiddleCoef_rfft_1024[1024];
69 | extern const float32_t twiddleCoef_rfft_2048[2048];
70 | extern const float32_t twiddleCoef_rfft_4096[4096];
71 |
72 |
73 | #define ARMBITREVINDEXTABLE__16_TABLE_LENGTH ((uint16_t)20 )
74 | #define ARMBITREVINDEXTABLE__32_TABLE_LENGTH ((uint16_t)48 )
75 | #define ARMBITREVINDEXTABLE__64_TABLE_LENGTH ((uint16_t)56 )
76 | #define ARMBITREVINDEXTABLE_128_TABLE_LENGTH ((uint16_t)208 )
77 | #define ARMBITREVINDEXTABLE_256_TABLE_LENGTH ((uint16_t)440 )
78 | #define ARMBITREVINDEXTABLE_512_TABLE_LENGTH ((uint16_t)448 )
79 | #define ARMBITREVINDEXTABLE1024_TABLE_LENGTH ((uint16_t)1800)
80 | #define ARMBITREVINDEXTABLE2048_TABLE_LENGTH ((uint16_t)3808)
81 | #define ARMBITREVINDEXTABLE4096_TABLE_LENGTH ((uint16_t)4032)
82 |
83 | extern const uint16_t armBitRevIndexTable16[ARMBITREVINDEXTABLE__16_TABLE_LENGTH];
84 | extern const uint16_t armBitRevIndexTable32[ARMBITREVINDEXTABLE__32_TABLE_LENGTH];
85 | extern const uint16_t armBitRevIndexTable64[ARMBITREVINDEXTABLE__64_TABLE_LENGTH];
86 | extern const uint16_t armBitRevIndexTable128[ARMBITREVINDEXTABLE_128_TABLE_LENGTH];
87 | extern const uint16_t armBitRevIndexTable256[ARMBITREVINDEXTABLE_256_TABLE_LENGTH];
88 | extern const uint16_t armBitRevIndexTable512[ARMBITREVINDEXTABLE_512_TABLE_LENGTH];
89 | extern const uint16_t armBitRevIndexTable1024[ARMBITREVINDEXTABLE1024_TABLE_LENGTH];
90 | extern const uint16_t armBitRevIndexTable2048[ARMBITREVINDEXTABLE2048_TABLE_LENGTH];
91 | extern const uint16_t armBitRevIndexTable4096[ARMBITREVINDEXTABLE4096_TABLE_LENGTH];
92 |
93 | #endif /* ARM_COMMON_TABLES_H */
94 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/CMSIS/arm_const_structs.h:
--------------------------------------------------------------------------------
1 | /* ----------------------------------------------------------------------
2 | * Copyright (C) 2010-2013 ARM Limited. All rights reserved.
3 | *
4 | * $Date: 17. January 2013
5 | * $Revision: V1.4.1
6 | *
7 | * Project: CMSIS DSP Library
8 | * Title: arm_const_structs.h
9 | *
10 | * Description: This file has constant structs that are initialized for
11 | * user convenience. For example, some can be given as
12 | * arguments to the arm_cfft_f32() function.
13 | *
14 | * Target Processor: Cortex-M4/Cortex-M3
15 | *
16 | * Redistribution and use in source and binary forms, with or without
17 | * modification, are permitted provided that the following conditions
18 | * are met:
19 | * - Redistributions of source code must retain the above copyright
20 | * notice, this list of conditions and the following disclaimer.
21 | * - Redistributions in binary form must reproduce the above copyright
22 | * notice, this list of conditions and the following disclaimer in
23 | * the documentation and/or other materials provided with the
24 | * distribution.
25 | * - Neither the name of ARM LIMITED nor the names of its contributors
26 | * may be used to endorse or promote products derived from this
27 | * software without specific prior written permission.
28 | *
29 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
30 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
31 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
32 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
33 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
34 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
35 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
36 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
37 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
38 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
39 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
40 | * POSSIBILITY OF SUCH DAMAGE.
41 | * -------------------------------------------------------------------- */
42 |
43 | #ifndef _ARM_CONST_STRUCTS_H
44 | #define _ARM_CONST_STRUCTS_H
45 |
46 | #include "arm_math.h"
47 | #include "arm_common_tables.h"
48 |
49 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len16 = {
50 | 16, twiddleCoef_16, armBitRevIndexTable16, ARMBITREVINDEXTABLE__16_TABLE_LENGTH
51 | };
52 |
53 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len32 = {
54 | 32, twiddleCoef_32, armBitRevIndexTable32, ARMBITREVINDEXTABLE__32_TABLE_LENGTH
55 | };
56 |
57 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len64 = {
58 | 64, twiddleCoef_64, armBitRevIndexTable64, ARMBITREVINDEXTABLE__64_TABLE_LENGTH
59 | };
60 |
61 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len128 = {
62 | 128, twiddleCoef_128, armBitRevIndexTable128, ARMBITREVINDEXTABLE_128_TABLE_LENGTH
63 | };
64 |
65 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len256 = {
66 | 256, twiddleCoef_256, armBitRevIndexTable256, ARMBITREVINDEXTABLE_256_TABLE_LENGTH
67 | };
68 |
69 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len512 = {
70 | 512, twiddleCoef_512, armBitRevIndexTable512, ARMBITREVINDEXTABLE_512_TABLE_LENGTH
71 | };
72 |
73 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024 = {
74 | 1024, twiddleCoef_1024, armBitRevIndexTable1024, ARMBITREVINDEXTABLE1024_TABLE_LENGTH
75 | };
76 |
77 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048 = {
78 | 2048, twiddleCoef_2048, armBitRevIndexTable2048, ARMBITREVINDEXTABLE2048_TABLE_LENGTH
79 | };
80 |
81 | const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096 = {
82 | 4096, twiddleCoef_4096, armBitRevIndexTable4096, ARMBITREVINDEXTABLE4096_TABLE_LENGTH
83 | };
84 |
85 | #endif
86 |
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/Software/QCopterNano_FlightControl/Libraries/CMSIS/stm32f4xx.h:
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https://raw.githubusercontent.com/KitSprout/QCopterNano/926637209d0051d8d4bd4299ed4504e62b30c40f/Software/QCopterNano_FlightControl/Libraries/CMSIS/stm32f4xx.h
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/Software/QCopterNano_FlightControl/Libraries/CMSIS/system_stm32f4xx.h:
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1 | /**
2 | ******************************************************************************
3 | * @file system_stm32f4xx.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2013 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /** @addtogroup CMSIS
29 | * @{
30 | */
31 |
32 | /** @addtogroup stm32f4xx_system
33 | * @{
34 | */
35 |
36 | /**
37 | * @brief Define to prevent recursive inclusion
38 | */
39 | #ifndef __SYSTEM_STM32F4XX_H
40 | #define __SYSTEM_STM32F4XX_H
41 |
42 | #ifdef __cplusplus
43 | extern "C" {
44 | #endif
45 |
46 | /** @addtogroup STM32F4xx_System_Includes
47 | * @{
48 | */
49 |
50 | /**
51 | * @}
52 | */
53 |
54 |
55 | /** @addtogroup STM32F4xx_System_Exported_types
56 | * @{
57 | */
58 |
59 | extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
60 |
61 |
62 | /**
63 | * @}
64 | */
65 |
66 | /** @addtogroup STM32F4xx_System_Exported_Constants
67 | * @{
68 | */
69 |
70 | /**
71 | * @}
72 | */
73 |
74 | /** @addtogroup STM32F4xx_System_Exported_Macros
75 | * @{
76 | */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /** @addtogroup STM32F4xx_System_Exported_Functions
83 | * @{
84 | */
85 |
86 | extern void SystemInit(void);
87 | extern void SystemCoreClockUpdate(void);
88 | /**
89 | * @}
90 | */
91 |
92 | #ifdef __cplusplus
93 | }
94 | #endif
95 |
96 | #endif /*__SYSTEM_STM32F4XX_H */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /**
103 | * @}
104 | */
105 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
106 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/misc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file misc.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the miscellaneous
8 | * firmware library functions (add-on to CMSIS functions).
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __MISC_H
31 | #define __MISC_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup MISC
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 |
50 | /**
51 | * @brief NVIC Init Structure definition
52 | */
53 |
54 | typedef struct
55 | {
56 | uint8_t NVIC_IRQChannel; /*!< Specifies the IRQ channel to be enabled or disabled.
57 | This parameter can be an enumerator of @ref IRQn_Type
58 | enumeration (For the complete STM32 Devices IRQ Channels
59 | list, please refer to stm32f4xx.h file) */
60 |
61 | uint8_t NVIC_IRQChannelPreemptionPriority; /*!< Specifies the pre-emption priority for the IRQ channel
62 | specified in NVIC_IRQChannel. This parameter can be a value
63 | between 0 and 15 as described in the table @ref MISC_NVIC_Priority_Table
64 | A lower priority value indicates a higher priority */
65 |
66 | uint8_t NVIC_IRQChannelSubPriority; /*!< Specifies the subpriority level for the IRQ channel specified
67 | in NVIC_IRQChannel. This parameter can be a value
68 | between 0 and 15 as described in the table @ref MISC_NVIC_Priority_Table
69 | A lower priority value indicates a higher priority */
70 |
71 | FunctionalState NVIC_IRQChannelCmd; /*!< Specifies whether the IRQ channel defined in NVIC_IRQChannel
72 | will be enabled or disabled.
73 | This parameter can be set either to ENABLE or DISABLE */
74 | } NVIC_InitTypeDef;
75 |
76 | /* Exported constants --------------------------------------------------------*/
77 |
78 | /** @defgroup MISC_Exported_Constants
79 | * @{
80 | */
81 |
82 | /** @defgroup MISC_Vector_Table_Base
83 | * @{
84 | */
85 |
86 | #define NVIC_VectTab_RAM ((uint32_t)0x20000000)
87 | #define NVIC_VectTab_FLASH ((uint32_t)0x08000000)
88 | #define IS_NVIC_VECTTAB(VECTTAB) (((VECTTAB) == NVIC_VectTab_RAM) || \
89 | ((VECTTAB) == NVIC_VectTab_FLASH))
90 | /**
91 | * @}
92 | */
93 |
94 | /** @defgroup MISC_System_Low_Power
95 | * @{
96 | */
97 |
98 | #define NVIC_LP_SEVONPEND ((uint8_t)0x10)
99 | #define NVIC_LP_SLEEPDEEP ((uint8_t)0x04)
100 | #define NVIC_LP_SLEEPONEXIT ((uint8_t)0x02)
101 | #define IS_NVIC_LP(LP) (((LP) == NVIC_LP_SEVONPEND) || \
102 | ((LP) == NVIC_LP_SLEEPDEEP) || \
103 | ((LP) == NVIC_LP_SLEEPONEXIT))
104 | /**
105 | * @}
106 | */
107 |
108 | /** @defgroup MISC_Preemption_Priority_Group
109 | * @{
110 | */
111 |
112 | #define NVIC_PriorityGroup_0 ((uint32_t)0x700) /*!< 0 bits for pre-emption priority
113 | 4 bits for subpriority */
114 | #define NVIC_PriorityGroup_1 ((uint32_t)0x600) /*!< 1 bits for pre-emption priority
115 | 3 bits for subpriority */
116 | #define NVIC_PriorityGroup_2 ((uint32_t)0x500) /*!< 2 bits for pre-emption priority
117 | 2 bits for subpriority */
118 | #define NVIC_PriorityGroup_3 ((uint32_t)0x400) /*!< 3 bits for pre-emption priority
119 | 1 bits for subpriority */
120 | #define NVIC_PriorityGroup_4 ((uint32_t)0x300) /*!< 4 bits for pre-emption priority
121 | 0 bits for subpriority */
122 |
123 | #define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PriorityGroup_0) || \
124 | ((GROUP) == NVIC_PriorityGroup_1) || \
125 | ((GROUP) == NVIC_PriorityGroup_2) || \
126 | ((GROUP) == NVIC_PriorityGroup_3) || \
127 | ((GROUP) == NVIC_PriorityGroup_4))
128 |
129 | #define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY) ((PRIORITY) < 0x10)
130 |
131 | #define IS_NVIC_SUB_PRIORITY(PRIORITY) ((PRIORITY) < 0x10)
132 |
133 | #define IS_NVIC_OFFSET(OFFSET) ((OFFSET) < 0x000FFFFF)
134 |
135 | /**
136 | * @}
137 | */
138 |
139 | /** @defgroup MISC_SysTick_clock_source
140 | * @{
141 | */
142 |
143 | #define SysTick_CLKSource_HCLK_Div8 ((uint32_t)0xFFFFFFFB)
144 | #define SysTick_CLKSource_HCLK ((uint32_t)0x00000004)
145 | #define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SysTick_CLKSource_HCLK) || \
146 | ((SOURCE) == SysTick_CLKSource_HCLK_Div8))
147 | /**
148 | * @}
149 | */
150 |
151 | /**
152 | * @}
153 | */
154 |
155 | /* Exported macro ------------------------------------------------------------*/
156 | /* Exported functions --------------------------------------------------------*/
157 |
158 | void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup);
159 | void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct);
160 | void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset);
161 | void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState);
162 | void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource);
163 |
164 | #ifdef __cplusplus
165 | }
166 | #endif
167 |
168 | #endif /* __MISC_H */
169 |
170 | /**
171 | * @}
172 | */
173 |
174 | /**
175 | * @}
176 | */
177 |
178 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
179 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_crc.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the CRC firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_CRC_H
31 | #define __STM32F4xx_CRC_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup CRC
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup CRC_Exported_Constants
52 | * @{
53 | */
54 |
55 | /**
56 | * @}
57 | */
58 |
59 | /* Exported macro ------------------------------------------------------------*/
60 | /* Exported functions --------------------------------------------------------*/
61 |
62 | void CRC_ResetDR(void);
63 | uint32_t CRC_CalcCRC(uint32_t Data);
64 | uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength);
65 | uint32_t CRC_GetCRC(void);
66 | void CRC_SetIDRegister(uint8_t IDValue);
67 | uint8_t CRC_GetIDRegister(void);
68 |
69 | #ifdef __cplusplus
70 | }
71 | #endif
72 |
73 | #endif /* __STM32F4xx_CRC_H */
74 |
75 | /**
76 | * @}
77 | */
78 |
79 | /**
80 | * @}
81 | */
82 |
83 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
84 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_dbgmcu.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the DBGMCU firmware library.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2013 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __STM32F4xx_DBGMCU_H
30 | #define __STM32F4xx_DBGMCU_H
31 |
32 | #ifdef __cplusplus
33 | extern "C" {
34 | #endif
35 |
36 | /* Includes ------------------------------------------------------------------*/
37 | #include "stm32f4xx.h"
38 |
39 | /** @addtogroup STM32F4xx_StdPeriph_Driver
40 | * @{
41 | */
42 |
43 | /** @addtogroup DBGMCU
44 | * @{
45 | */
46 |
47 | /* Exported types ------------------------------------------------------------*/
48 | /* Exported constants --------------------------------------------------------*/
49 |
50 | /** @defgroup DBGMCU_Exported_Constants
51 | * @{
52 | */
53 | #define DBGMCU_SLEEP ((uint32_t)0x00000001)
54 | #define DBGMCU_STOP ((uint32_t)0x00000002)
55 | #define DBGMCU_STANDBY ((uint32_t)0x00000004)
56 | #define IS_DBGMCU_PERIPH(PERIPH) ((((PERIPH) & 0xFFFFFFF8) == 0x00) && ((PERIPH) != 0x00))
57 |
58 | #define DBGMCU_TIM2_STOP ((uint32_t)0x00000001)
59 | #define DBGMCU_TIM3_STOP ((uint32_t)0x00000002)
60 | #define DBGMCU_TIM4_STOP ((uint32_t)0x00000004)
61 | #define DBGMCU_TIM5_STOP ((uint32_t)0x00000008)
62 | #define DBGMCU_TIM6_STOP ((uint32_t)0x00000010)
63 | #define DBGMCU_TIM7_STOP ((uint32_t)0x00000020)
64 | #define DBGMCU_TIM12_STOP ((uint32_t)0x00000040)
65 | #define DBGMCU_TIM13_STOP ((uint32_t)0x00000080)
66 | #define DBGMCU_TIM14_STOP ((uint32_t)0x00000100)
67 | #define DBGMCU_RTC_STOP ((uint32_t)0x00000400)
68 | #define DBGMCU_WWDG_STOP ((uint32_t)0x00000800)
69 | #define DBGMCU_IWDG_STOP ((uint32_t)0x00001000)
70 | #define DBGMCU_I2C1_SMBUS_TIMEOUT ((uint32_t)0x00200000)
71 | #define DBGMCU_I2C2_SMBUS_TIMEOUT ((uint32_t)0x00400000)
72 | #define DBGMCU_I2C3_SMBUS_TIMEOUT ((uint32_t)0x00800000)
73 | #define DBGMCU_CAN1_STOP ((uint32_t)0x02000000)
74 | #define DBGMCU_CAN2_STOP ((uint32_t)0x04000000)
75 | #define IS_DBGMCU_APB1PERIPH(PERIPH) ((((PERIPH) & 0xF91FE200) == 0x00) && ((PERIPH) != 0x00))
76 |
77 | #define DBGMCU_TIM1_STOP ((uint32_t)0x00000001)
78 | #define DBGMCU_TIM8_STOP ((uint32_t)0x00000002)
79 | #define DBGMCU_TIM9_STOP ((uint32_t)0x00010000)
80 | #define DBGMCU_TIM10_STOP ((uint32_t)0x00020000)
81 | #define DBGMCU_TIM11_STOP ((uint32_t)0x00040000)
82 | #define IS_DBGMCU_APB2PERIPH(PERIPH) ((((PERIPH) & 0xFFF8FFFC) == 0x00) && ((PERIPH) != 0x00))
83 | /**
84 | * @}
85 | */
86 |
87 | /* Exported macro ------------------------------------------------------------*/
88 | /* Exported functions --------------------------------------------------------*/
89 | uint32_t DBGMCU_GetREVID(void);
90 | uint32_t DBGMCU_GetDEVID(void);
91 | void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState);
92 | void DBGMCU_APB1PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState);
93 | void DBGMCU_APB2PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState);
94 |
95 | #ifdef __cplusplus
96 | }
97 | #endif
98 |
99 | #endif /* __STM32F4xx_DBGMCU_H */
100 |
101 | /**
102 | * @}
103 | */
104 |
105 | /**
106 | * @}
107 | */
108 |
109 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
110 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_exti.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the EXTI firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_EXTI_H
31 | #define __STM32F4xx_EXTI_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup EXTI
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 |
50 | /**
51 | * @brief EXTI mode enumeration
52 | */
53 |
54 | typedef enum
55 | {
56 | EXTI_Mode_Interrupt = 0x00,
57 | EXTI_Mode_Event = 0x04
58 | }EXTIMode_TypeDef;
59 |
60 | #define IS_EXTI_MODE(MODE) (((MODE) == EXTI_Mode_Interrupt) || ((MODE) == EXTI_Mode_Event))
61 |
62 | /**
63 | * @brief EXTI Trigger enumeration
64 | */
65 |
66 | typedef enum
67 | {
68 | EXTI_Trigger_Rising = 0x08,
69 | EXTI_Trigger_Falling = 0x0C,
70 | EXTI_Trigger_Rising_Falling = 0x10
71 | }EXTITrigger_TypeDef;
72 |
73 | #define IS_EXTI_TRIGGER(TRIGGER) (((TRIGGER) == EXTI_Trigger_Rising) || \
74 | ((TRIGGER) == EXTI_Trigger_Falling) || \
75 | ((TRIGGER) == EXTI_Trigger_Rising_Falling))
76 | /**
77 | * @brief EXTI Init Structure definition
78 | */
79 |
80 | typedef struct
81 | {
82 | uint32_t EXTI_Line; /*!< Specifies the EXTI lines to be enabled or disabled.
83 | This parameter can be any combination value of @ref EXTI_Lines */
84 |
85 | EXTIMode_TypeDef EXTI_Mode; /*!< Specifies the mode for the EXTI lines.
86 | This parameter can be a value of @ref EXTIMode_TypeDef */
87 |
88 | EXTITrigger_TypeDef EXTI_Trigger; /*!< Specifies the trigger signal active edge for the EXTI lines.
89 | This parameter can be a value of @ref EXTITrigger_TypeDef */
90 |
91 | FunctionalState EXTI_LineCmd; /*!< Specifies the new state of the selected EXTI lines.
92 | This parameter can be set either to ENABLE or DISABLE */
93 | }EXTI_InitTypeDef;
94 |
95 | /* Exported constants --------------------------------------------------------*/
96 |
97 | /** @defgroup EXTI_Exported_Constants
98 | * @{
99 | */
100 |
101 | /** @defgroup EXTI_Lines
102 | * @{
103 | */
104 |
105 | #define EXTI_Line0 ((uint32_t)0x00001) /*!< External interrupt line 0 */
106 | #define EXTI_Line1 ((uint32_t)0x00002) /*!< External interrupt line 1 */
107 | #define EXTI_Line2 ((uint32_t)0x00004) /*!< External interrupt line 2 */
108 | #define EXTI_Line3 ((uint32_t)0x00008) /*!< External interrupt line 3 */
109 | #define EXTI_Line4 ((uint32_t)0x00010) /*!< External interrupt line 4 */
110 | #define EXTI_Line5 ((uint32_t)0x00020) /*!< External interrupt line 5 */
111 | #define EXTI_Line6 ((uint32_t)0x00040) /*!< External interrupt line 6 */
112 | #define EXTI_Line7 ((uint32_t)0x00080) /*!< External interrupt line 7 */
113 | #define EXTI_Line8 ((uint32_t)0x00100) /*!< External interrupt line 8 */
114 | #define EXTI_Line9 ((uint32_t)0x00200) /*!< External interrupt line 9 */
115 | #define EXTI_Line10 ((uint32_t)0x00400) /*!< External interrupt line 10 */
116 | #define EXTI_Line11 ((uint32_t)0x00800) /*!< External interrupt line 11 */
117 | #define EXTI_Line12 ((uint32_t)0x01000) /*!< External interrupt line 12 */
118 | #define EXTI_Line13 ((uint32_t)0x02000) /*!< External interrupt line 13 */
119 | #define EXTI_Line14 ((uint32_t)0x04000) /*!< External interrupt line 14 */
120 | #define EXTI_Line15 ((uint32_t)0x08000) /*!< External interrupt line 15 */
121 | #define EXTI_Line16 ((uint32_t)0x10000) /*!< External interrupt line 16 Connected to the PVD Output */
122 | #define EXTI_Line17 ((uint32_t)0x20000) /*!< External interrupt line 17 Connected to the RTC Alarm event */
123 | #define EXTI_Line18 ((uint32_t)0x40000) /*!< External interrupt line 18 Connected to the USB OTG FS Wakeup from suspend event */
124 | #define EXTI_Line19 ((uint32_t)0x80000) /*!< External interrupt line 19 Connected to the Ethernet Wakeup event */
125 | #define EXTI_Line20 ((uint32_t)0x00100000) /*!< External interrupt line 20 Connected to the USB OTG HS (configured in FS) Wakeup event */
126 | #define EXTI_Line21 ((uint32_t)0x00200000) /*!< External interrupt line 21 Connected to the RTC Tamper and Time Stamp events */
127 | #define EXTI_Line22 ((uint32_t)0x00400000) /*!< External interrupt line 22 Connected to the RTC Wakeup event */
128 |
129 | #define IS_EXTI_LINE(LINE) ((((LINE) & (uint32_t)0xFF800000) == 0x00) && ((LINE) != (uint16_t)0x00))
130 |
131 | #define IS_GET_EXTI_LINE(LINE) (((LINE) == EXTI_Line0) || ((LINE) == EXTI_Line1) || \
132 | ((LINE) == EXTI_Line2) || ((LINE) == EXTI_Line3) || \
133 | ((LINE) == EXTI_Line4) || ((LINE) == EXTI_Line5) || \
134 | ((LINE) == EXTI_Line6) || ((LINE) == EXTI_Line7) || \
135 | ((LINE) == EXTI_Line8) || ((LINE) == EXTI_Line9) || \
136 | ((LINE) == EXTI_Line10) || ((LINE) == EXTI_Line11) || \
137 | ((LINE) == EXTI_Line12) || ((LINE) == EXTI_Line13) || \
138 | ((LINE) == EXTI_Line14) || ((LINE) == EXTI_Line15) || \
139 | ((LINE) == EXTI_Line16) || ((LINE) == EXTI_Line17) || \
140 | ((LINE) == EXTI_Line18) || ((LINE) == EXTI_Line19) || \
141 | ((LINE) == EXTI_Line20) || ((LINE) == EXTI_Line21) ||\
142 | ((LINE) == EXTI_Line22))
143 |
144 | /**
145 | * @}
146 | */
147 |
148 | /**
149 | * @}
150 | */
151 |
152 | /* Exported macro ------------------------------------------------------------*/
153 | /* Exported functions --------------------------------------------------------*/
154 |
155 | /* Function used to set the EXTI configuration to the default reset state *****/
156 | void EXTI_DeInit(void);
157 |
158 | /* Initialization and Configuration functions *********************************/
159 | void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct);
160 | void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct);
161 | void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line);
162 |
163 | /* Interrupts and flags management functions **********************************/
164 | FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line);
165 | void EXTI_ClearFlag(uint32_t EXTI_Line);
166 | ITStatus EXTI_GetITStatus(uint32_t EXTI_Line);
167 | void EXTI_ClearITPendingBit(uint32_t EXTI_Line);
168 |
169 | #ifdef __cplusplus
170 | }
171 | #endif
172 |
173 | #endif /* __STM32F4xx_EXTI_H */
174 |
175 | /**
176 | * @}
177 | */
178 |
179 | /**
180 | * @}
181 | */
182 |
183 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
184 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_iwdg.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the IWDG
8 | * firmware library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_IWDG_H
31 | #define __STM32F4xx_IWDG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup IWDG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup IWDG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup IWDG_WriteAccess
56 | * @{
57 | */
58 | #define IWDG_WriteAccess_Enable ((uint16_t)0x5555)
59 | #define IWDG_WriteAccess_Disable ((uint16_t)0x0000)
60 | #define IS_IWDG_WRITE_ACCESS(ACCESS) (((ACCESS) == IWDG_WriteAccess_Enable) || \
61 | ((ACCESS) == IWDG_WriteAccess_Disable))
62 | /**
63 | * @}
64 | */
65 |
66 | /** @defgroup IWDG_prescaler
67 | * @{
68 | */
69 | #define IWDG_Prescaler_4 ((uint8_t)0x00)
70 | #define IWDG_Prescaler_8 ((uint8_t)0x01)
71 | #define IWDG_Prescaler_16 ((uint8_t)0x02)
72 | #define IWDG_Prescaler_32 ((uint8_t)0x03)
73 | #define IWDG_Prescaler_64 ((uint8_t)0x04)
74 | #define IWDG_Prescaler_128 ((uint8_t)0x05)
75 | #define IWDG_Prescaler_256 ((uint8_t)0x06)
76 | #define IS_IWDG_PRESCALER(PRESCALER) (((PRESCALER) == IWDG_Prescaler_4) || \
77 | ((PRESCALER) == IWDG_Prescaler_8) || \
78 | ((PRESCALER) == IWDG_Prescaler_16) || \
79 | ((PRESCALER) == IWDG_Prescaler_32) || \
80 | ((PRESCALER) == IWDG_Prescaler_64) || \
81 | ((PRESCALER) == IWDG_Prescaler_128)|| \
82 | ((PRESCALER) == IWDG_Prescaler_256))
83 | /**
84 | * @}
85 | */
86 |
87 | /** @defgroup IWDG_Flag
88 | * @{
89 | */
90 | #define IWDG_FLAG_PVU ((uint16_t)0x0001)
91 | #define IWDG_FLAG_RVU ((uint16_t)0x0002)
92 | #define IS_IWDG_FLAG(FLAG) (((FLAG) == IWDG_FLAG_PVU) || ((FLAG) == IWDG_FLAG_RVU))
93 | #define IS_IWDG_RELOAD(RELOAD) ((RELOAD) <= 0xFFF)
94 | /**
95 | * @}
96 | */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /* Exported macro ------------------------------------------------------------*/
103 | /* Exported functions --------------------------------------------------------*/
104 |
105 | /* Prescaler and Counter configuration functions ******************************/
106 | void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess);
107 | void IWDG_SetPrescaler(uint8_t IWDG_Prescaler);
108 | void IWDG_SetReload(uint16_t Reload);
109 | void IWDG_ReloadCounter(void);
110 |
111 | /* IWDG activation function ***************************************************/
112 | void IWDG_Enable(void);
113 |
114 | /* Flag management function ***************************************************/
115 | FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG);
116 |
117 | #ifdef __cplusplus
118 | }
119 | #endif
120 |
121 | #endif /* __STM32F4xx_IWDG_H */
122 |
123 | /**
124 | * @}
125 | */
126 |
127 | /**
128 | * @}
129 | */
130 |
131 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
132 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_pwr.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the PWR firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_PWR_H
31 | #define __STM32F4xx_PWR_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup PWR
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup PWR_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup PWR_PVD_detection_level
56 | * @{
57 | */
58 | #define PWR_PVDLevel_0 PWR_CR_PLS_LEV0
59 | #define PWR_PVDLevel_1 PWR_CR_PLS_LEV1
60 | #define PWR_PVDLevel_2 PWR_CR_PLS_LEV2
61 | #define PWR_PVDLevel_3 PWR_CR_PLS_LEV3
62 | #define PWR_PVDLevel_4 PWR_CR_PLS_LEV4
63 | #define PWR_PVDLevel_5 PWR_CR_PLS_LEV5
64 | #define PWR_PVDLevel_6 PWR_CR_PLS_LEV6
65 | #define PWR_PVDLevel_7 PWR_CR_PLS_LEV7
66 |
67 | #define IS_PWR_PVD_LEVEL(LEVEL) (((LEVEL) == PWR_PVDLevel_0) || ((LEVEL) == PWR_PVDLevel_1)|| \
68 | ((LEVEL) == PWR_PVDLevel_2) || ((LEVEL) == PWR_PVDLevel_3)|| \
69 | ((LEVEL) == PWR_PVDLevel_4) || ((LEVEL) == PWR_PVDLevel_5)|| \
70 | ((LEVEL) == PWR_PVDLevel_6) || ((LEVEL) == PWR_PVDLevel_7))
71 | /**
72 | * @}
73 | */
74 |
75 |
76 | /** @defgroup PWR_Regulator_state_in_STOP_mode
77 | * @{
78 | */
79 | #define PWR_MainRegulator_ON ((uint32_t)0x00000000)
80 | #define PWR_LowPowerRegulator_ON PWR_CR_LPDS
81 |
82 | /* --- PWR_Legacy ---*/
83 | #define PWR_Regulator_ON PWR_MainRegulator_ON
84 | #define PWR_Regulator_LowPower PWR_LowPowerRegulator_ON
85 |
86 | #define IS_PWR_REGULATOR(REGULATOR) (((REGULATOR) == PWR_MainRegulator_ON) || \
87 | ((REGULATOR) == PWR_LowPowerRegulator_ON))
88 |
89 | /**
90 | * @}
91 | */
92 |
93 | /** @defgroup PWR_Regulator_state_in_UnderDrive_mode
94 | * @{
95 | */
96 | #define PWR_MainRegulator_UnderDrive_ON PWR_CR_MRUDS
97 | #define PWR_LowPowerRegulator_UnderDrive_ON ((uint32_t)(PWR_CR_LPDS | PWR_CR_LPUDS))
98 |
99 | #define IS_PWR_REGULATOR_UNDERDRIVE(REGULATOR) (((REGULATOR) == PWR_MainRegulator_UnderDrive_ON) || \
100 | ((REGULATOR) == PWR_LowPowerRegulator_UnderDrive_ON))
101 |
102 | /**
103 | * @}
104 | */
105 |
106 | /** @defgroup PWR_STOP_mode_entry
107 | * @{
108 | */
109 | #define PWR_STOPEntry_WFI ((uint8_t)0x01)
110 | #define PWR_STOPEntry_WFE ((uint8_t)0x02)
111 | #define IS_PWR_STOP_ENTRY(ENTRY) (((ENTRY) == PWR_STOPEntry_WFI) || ((ENTRY) == PWR_STOPEntry_WFE))
112 | /**
113 | * @}
114 | */
115 |
116 | /** @defgroup PWR_Regulator_Voltage_Scale
117 | * @{
118 | */
119 | #define PWR_Regulator_Voltage_Scale1 ((uint32_t)0x0000C000)
120 | #define PWR_Regulator_Voltage_Scale2 ((uint32_t)0x00008000)
121 | #define PWR_Regulator_Voltage_Scale3 ((uint32_t)0x00004000)
122 | #define IS_PWR_REGULATOR_VOLTAGE(VOLTAGE) (((VOLTAGE) == PWR_Regulator_Voltage_Scale1) || \
123 | ((VOLTAGE) == PWR_Regulator_Voltage_Scale2) || \
124 | ((VOLTAGE) == PWR_Regulator_Voltage_Scale3))
125 | /**
126 | * @}
127 | */
128 |
129 | /** @defgroup PWR_Flag
130 | * @{
131 | */
132 | #define PWR_FLAG_WU PWR_CSR_WUF
133 | #define PWR_FLAG_SB PWR_CSR_SBF
134 | #define PWR_FLAG_PVDO PWR_CSR_PVDO
135 | #define PWR_FLAG_BRR PWR_CSR_BRR
136 | #define PWR_FLAG_VOSRDY PWR_CSR_VOSRDY
137 | #define PWR_FLAG_ODRDY PWR_CSR_ODRDY
138 | #define PWR_FLAG_ODSWRDY PWR_CSR_ODSWRDY
139 | #define PWR_FLAG_UDRDY PWR_CSR_UDSWRDY
140 |
141 | /* --- FLAG Legacy ---*/
142 | #define PWR_FLAG_REGRDY PWR_FLAG_VOSRDY
143 |
144 | #define IS_PWR_GET_FLAG(FLAG) (((FLAG) == PWR_FLAG_WU) || ((FLAG) == PWR_FLAG_SB) || \
145 | ((FLAG) == PWR_FLAG_PVDO) || ((FLAG) == PWR_FLAG_BRR) || \
146 | ((FLAG) == PWR_FLAG_VOSRDY) || ((FLAG) == PWR_FLAG_ODRDY) || \
147 | ((FLAG) == PWR_FLAG_ODSWRDY) || ((FLAG) == PWR_FLAG_UDRDY))
148 |
149 |
150 | #define IS_PWR_CLEAR_FLAG(FLAG) (((FLAG) == PWR_FLAG_WU) || ((FLAG) == PWR_FLAG_SB) || \
151 | ((FLAG) == PWR_FLAG_UDRDY))
152 |
153 | /**
154 | * @}
155 | */
156 |
157 | /**
158 | * @}
159 | */
160 |
161 | /* Exported macro ------------------------------------------------------------*/
162 | /* Exported functions --------------------------------------------------------*/
163 |
164 | /* Function used to set the PWR configuration to the default reset state ******/
165 | void PWR_DeInit(void);
166 |
167 | /* Backup Domain Access function **********************************************/
168 | void PWR_BackupAccessCmd(FunctionalState NewState);
169 |
170 | /* PVD configuration functions ************************************************/
171 | void PWR_PVDLevelConfig(uint32_t PWR_PVDLevel);
172 | void PWR_PVDCmd(FunctionalState NewState);
173 |
174 | /* WakeUp pins configuration functions ****************************************/
175 | void PWR_WakeUpPinCmd(FunctionalState NewState);
176 |
177 | /* Main and Backup Regulators configuration functions *************************/
178 | void PWR_BackupRegulatorCmd(FunctionalState NewState);
179 | void PWR_MainRegulatorModeConfig(uint32_t PWR_Regulator_Voltage);
180 | void PWR_OverDriveCmd(FunctionalState NewState);
181 | void PWR_OverDriveSWCmd(FunctionalState NewState);
182 | void PWR_UnderDriveCmd(FunctionalState NewState);
183 |
184 | /* FLASH Power Down configuration functions ***********************************/
185 | void PWR_FlashPowerDownCmd(FunctionalState NewState);
186 |
187 | /* Low Power modes configuration functions ************************************/
188 | void PWR_EnterSTOPMode(uint32_t PWR_Regulator, uint8_t PWR_STOPEntry);
189 | void PWR_EnterUnderDriveSTOPMode(uint32_t PWR_Regulator, uint8_t PWR_STOPEntry);
190 | void PWR_EnterSTANDBYMode(void);
191 |
192 | /* Flags management functions *************************************************/
193 | FlagStatus PWR_GetFlagStatus(uint32_t PWR_FLAG);
194 | void PWR_ClearFlag(uint32_t PWR_FLAG);
195 |
196 | #ifdef __cplusplus
197 | }
198 | #endif
199 |
200 | #endif /* __STM32F4xx_PWR_H */
201 |
202 | /**
203 | * @}
204 | */
205 |
206 | /**
207 | * @}
208 | */
209 |
210 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
211 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_rng.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the Random
8 | * Number Generator(RNG) firmware library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_RNG_H
31 | #define __STM32F4xx_RNG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup RNG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup RNG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup RNG_flags_definition
56 | * @{
57 | */
58 | #define RNG_FLAG_DRDY ((uint8_t)0x0001) /*!< Data ready */
59 | #define RNG_FLAG_CECS ((uint8_t)0x0002) /*!< Clock error current status */
60 | #define RNG_FLAG_SECS ((uint8_t)0x0004) /*!< Seed error current status */
61 |
62 | #define IS_RNG_GET_FLAG(RNG_FLAG) (((RNG_FLAG) == RNG_FLAG_DRDY) || \
63 | ((RNG_FLAG) == RNG_FLAG_CECS) || \
64 | ((RNG_FLAG) == RNG_FLAG_SECS))
65 | #define IS_RNG_CLEAR_FLAG(RNG_FLAG) (((RNG_FLAG) == RNG_FLAG_CECS) || \
66 | ((RNG_FLAG) == RNG_FLAG_SECS))
67 | /**
68 | * @}
69 | */
70 |
71 | /** @defgroup RNG_interrupts_definition
72 | * @{
73 | */
74 | #define RNG_IT_CEI ((uint8_t)0x20) /*!< Clock error interrupt */
75 | #define RNG_IT_SEI ((uint8_t)0x40) /*!< Seed error interrupt */
76 |
77 | #define IS_RNG_IT(IT) ((((IT) & (uint8_t)0x9F) == 0x00) && ((IT) != 0x00))
78 | #define IS_RNG_GET_IT(RNG_IT) (((RNG_IT) == RNG_IT_CEI) || ((RNG_IT) == RNG_IT_SEI))
79 | /**
80 | * @}
81 | */
82 |
83 | /**
84 | * @}
85 | */
86 |
87 | /* Exported macro ------------------------------------------------------------*/
88 | /* Exported functions --------------------------------------------------------*/
89 |
90 | /* Function used to set the RNG configuration to the default reset state *****/
91 | void RNG_DeInit(void);
92 |
93 | /* Configuration function *****************************************************/
94 | void RNG_Cmd(FunctionalState NewState);
95 |
96 | /* Get 32 bit Random number function ******************************************/
97 | uint32_t RNG_GetRandomNumber(void);
98 |
99 | /* Interrupts and flags management functions **********************************/
100 | void RNG_ITConfig(FunctionalState NewState);
101 | FlagStatus RNG_GetFlagStatus(uint8_t RNG_FLAG);
102 | void RNG_ClearFlag(uint8_t RNG_FLAG);
103 | ITStatus RNG_GetITStatus(uint8_t RNG_IT);
104 | void RNG_ClearITPendingBit(uint8_t RNG_IT);
105 |
106 | #ifdef __cplusplus
107 | }
108 | #endif
109 |
110 | #endif /*__STM32F4xx_RNG_H */
111 |
112 | /**
113 | * @}
114 | */
115 |
116 | /**
117 | * @}
118 | */
119 |
120 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
121 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_syscfg.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the SYSCFG firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_SYSCFG_H
31 | #define __STM32F4xx_SYSCFG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup SYSCFG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup SYSCFG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup SYSCFG_EXTI_Port_Sources
56 | * @{
57 | */
58 | #define EXTI_PortSourceGPIOA ((uint8_t)0x00)
59 | #define EXTI_PortSourceGPIOB ((uint8_t)0x01)
60 | #define EXTI_PortSourceGPIOC ((uint8_t)0x02)
61 | #define EXTI_PortSourceGPIOD ((uint8_t)0x03)
62 | #define EXTI_PortSourceGPIOE ((uint8_t)0x04)
63 | #define EXTI_PortSourceGPIOF ((uint8_t)0x05)
64 | #define EXTI_PortSourceGPIOG ((uint8_t)0x06)
65 | #define EXTI_PortSourceGPIOH ((uint8_t)0x07)
66 | #define EXTI_PortSourceGPIOI ((uint8_t)0x08)
67 | #define EXTI_PortSourceGPIOJ ((uint8_t)0x09)
68 | #define EXTI_PortSourceGPIOK ((uint8_t)0x0A)
69 |
70 | #define IS_EXTI_PORT_SOURCE(PORTSOURCE) (((PORTSOURCE) == EXTI_PortSourceGPIOA) || \
71 | ((PORTSOURCE) == EXTI_PortSourceGPIOB) || \
72 | ((PORTSOURCE) == EXTI_PortSourceGPIOC) || \
73 | ((PORTSOURCE) == EXTI_PortSourceGPIOD) || \
74 | ((PORTSOURCE) == EXTI_PortSourceGPIOE) || \
75 | ((PORTSOURCE) == EXTI_PortSourceGPIOF) || \
76 | ((PORTSOURCE) == EXTI_PortSourceGPIOG) || \
77 | ((PORTSOURCE) == EXTI_PortSourceGPIOH) || \
78 | ((PORTSOURCE) == EXTI_PortSourceGPIOI) || \
79 | ((PORTSOURCE) == EXTI_PortSourceGPIOJ) || \
80 | ((PORTSOURCE) == EXTI_PortSourceGPIOK))
81 |
82 | /**
83 | * @}
84 | */
85 |
86 |
87 | /** @defgroup SYSCFG_EXTI_Pin_Sources
88 | * @{
89 | */
90 | #define EXTI_PinSource0 ((uint8_t)0x00)
91 | #define EXTI_PinSource1 ((uint8_t)0x01)
92 | #define EXTI_PinSource2 ((uint8_t)0x02)
93 | #define EXTI_PinSource3 ((uint8_t)0x03)
94 | #define EXTI_PinSource4 ((uint8_t)0x04)
95 | #define EXTI_PinSource5 ((uint8_t)0x05)
96 | #define EXTI_PinSource6 ((uint8_t)0x06)
97 | #define EXTI_PinSource7 ((uint8_t)0x07)
98 | #define EXTI_PinSource8 ((uint8_t)0x08)
99 | #define EXTI_PinSource9 ((uint8_t)0x09)
100 | #define EXTI_PinSource10 ((uint8_t)0x0A)
101 | #define EXTI_PinSource11 ((uint8_t)0x0B)
102 | #define EXTI_PinSource12 ((uint8_t)0x0C)
103 | #define EXTI_PinSource13 ((uint8_t)0x0D)
104 | #define EXTI_PinSource14 ((uint8_t)0x0E)
105 | #define EXTI_PinSource15 ((uint8_t)0x0F)
106 | #define IS_EXTI_PIN_SOURCE(PINSOURCE) (((PINSOURCE) == EXTI_PinSource0) || \
107 | ((PINSOURCE) == EXTI_PinSource1) || \
108 | ((PINSOURCE) == EXTI_PinSource2) || \
109 | ((PINSOURCE) == EXTI_PinSource3) || \
110 | ((PINSOURCE) == EXTI_PinSource4) || \
111 | ((PINSOURCE) == EXTI_PinSource5) || \
112 | ((PINSOURCE) == EXTI_PinSource6) || \
113 | ((PINSOURCE) == EXTI_PinSource7) || \
114 | ((PINSOURCE) == EXTI_PinSource8) || \
115 | ((PINSOURCE) == EXTI_PinSource9) || \
116 | ((PINSOURCE) == EXTI_PinSource10) || \
117 | ((PINSOURCE) == EXTI_PinSource11) || \
118 | ((PINSOURCE) == EXTI_PinSource12) || \
119 | ((PINSOURCE) == EXTI_PinSource13) || \
120 | ((PINSOURCE) == EXTI_PinSource14) || \
121 | ((PINSOURCE) == EXTI_PinSource15))
122 | /**
123 | * @}
124 | */
125 |
126 |
127 | /** @defgroup SYSCFG_Memory_Remap_Config
128 | * @{
129 | */
130 | #define SYSCFG_MemoryRemap_Flash ((uint8_t)0x00)
131 | #define SYSCFG_MemoryRemap_SystemFlash ((uint8_t)0x01)
132 | #define SYSCFG_MemoryRemap_SRAM ((uint8_t)0x03)
133 | #define SYSCFG_MemoryRemap_SDRAM ((uint8_t)0x04)
134 |
135 | #if defined (STM32F40_41xxx)
136 | #define SYSCFG_MemoryRemap_FSMC ((uint8_t)0x02)
137 | #endif /* STM32F40_41xxx */
138 |
139 | #if defined (STM32F427_437xx) || defined (STM32F429_439xx)
140 | #define SYSCFG_MemoryRemap_FMC ((uint8_t)0x02)
141 | #endif /* STM32F427_437xx || STM32F429_439xx */
142 |
143 | #if defined (STM32F40_41xxx)
144 | #define IS_SYSCFG_MEMORY_REMAP_CONFING(REMAP) (((REMAP) == SYSCFG_MemoryRemap_Flash) || \
145 | ((REMAP) == SYSCFG_MemoryRemap_SystemFlash) || \
146 | ((REMAP) == SYSCFG_MemoryRemap_SRAM) || \
147 | ((REMAP) == SYSCFG_MemoryRemap_FSMC))
148 | #endif /* STM32F40_41xxx */
149 |
150 | #if defined (STM32F401xx)
151 | #define IS_SYSCFG_MEMORY_REMAP_CONFING(REMAP) (((REMAP) == SYSCFG_MemoryRemap_Flash) || \
152 | ((REMAP) == SYSCFG_MemoryRemap_SystemFlash) || \
153 | ((REMAP) == SYSCFG_MemoryRemap_SRAM))
154 | #endif /* STM32F401xx */
155 |
156 | #if defined (STM32F427_437xx) || defined (STM32F429_439xx)
157 | #define IS_SYSCFG_MEMORY_REMAP_CONFING(REMAP) (((REMAP) == SYSCFG_MemoryRemap_Flash) || \
158 | ((REMAP) == SYSCFG_MemoryRemap_SystemFlash) || \
159 | ((REMAP) == SYSCFG_MemoryRemap_SRAM) || \
160 | ((REMAP) == SYSCFG_MemoryRemap_SDRAM) || \
161 | ((REMAP) == SYSCFG_MemoryRemap_FMC))
162 | #endif /* STM32F427_437xx || STM32F429_439xx */
163 |
164 | /**
165 | * @}
166 | */
167 |
168 |
169 | /** @defgroup SYSCFG_ETHERNET_Media_Interface
170 | * @{
171 | */
172 | #define SYSCFG_ETH_MediaInterface_MII ((uint32_t)0x00000000)
173 | #define SYSCFG_ETH_MediaInterface_RMII ((uint32_t)0x00000001)
174 |
175 | #define IS_SYSCFG_ETH_MEDIA_INTERFACE(INTERFACE) (((INTERFACE) == SYSCFG_ETH_MediaInterface_MII) || \
176 | ((INTERFACE) == SYSCFG_ETH_MediaInterface_RMII))
177 | /**
178 | * @}
179 | */
180 |
181 | /**
182 | * @}
183 | */
184 |
185 | /* Exported macro ------------------------------------------------------------*/
186 | /* Exported functions --------------------------------------------------------*/
187 |
188 | void SYSCFG_DeInit(void);
189 | void SYSCFG_MemoryRemapConfig(uint8_t SYSCFG_MemoryRemap);
190 | void SYSCFG_MemorySwappingBank(FunctionalState NewState);
191 | void SYSCFG_EXTILineConfig(uint8_t EXTI_PortSourceGPIOx, uint8_t EXTI_PinSourcex);
192 | void SYSCFG_ETH_MediaInterfaceConfig(uint32_t SYSCFG_ETH_MediaInterface);
193 | void SYSCFG_CompensationCellCmd(FunctionalState NewState);
194 | FlagStatus SYSCFG_GetCompensationCellStatus(void);
195 |
196 | #ifdef __cplusplus
197 | }
198 | #endif
199 |
200 | #endif /*__STM32F4xx_SYSCFG_H */
201 |
202 | /**
203 | * @}
204 | */
205 |
206 | /**
207 | * @}
208 | */
209 |
210 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
211 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_wwdg.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file contains all the functions prototypes for the WWDG firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2013 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_WWDG_H
31 | #define __STM32F4xx_WWDG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup WWDG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup WWDG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup WWDG_Prescaler
56 | * @{
57 | */
58 |
59 | #define WWDG_Prescaler_1 ((uint32_t)0x00000000)
60 | #define WWDG_Prescaler_2 ((uint32_t)0x00000080)
61 | #define WWDG_Prescaler_4 ((uint32_t)0x00000100)
62 | #define WWDG_Prescaler_8 ((uint32_t)0x00000180)
63 | #define IS_WWDG_PRESCALER(PRESCALER) (((PRESCALER) == WWDG_Prescaler_1) || \
64 | ((PRESCALER) == WWDG_Prescaler_2) || \
65 | ((PRESCALER) == WWDG_Prescaler_4) || \
66 | ((PRESCALER) == WWDG_Prescaler_8))
67 | #define IS_WWDG_WINDOW_VALUE(VALUE) ((VALUE) <= 0x7F)
68 | #define IS_WWDG_COUNTER(COUNTER) (((COUNTER) >= 0x40) && ((COUNTER) <= 0x7F))
69 |
70 | /**
71 | * @}
72 | */
73 |
74 | /**
75 | * @}
76 | */
77 |
78 | /* Exported macro ------------------------------------------------------------*/
79 | /* Exported functions --------------------------------------------------------*/
80 |
81 | /* Function used to set the WWDG configuration to the default reset state ****/
82 | void WWDG_DeInit(void);
83 |
84 | /* Prescaler, Refresh window and Counter configuration functions **************/
85 | void WWDG_SetPrescaler(uint32_t WWDG_Prescaler);
86 | void WWDG_SetWindowValue(uint8_t WindowValue);
87 | void WWDG_EnableIT(void);
88 | void WWDG_SetCounter(uint8_t Counter);
89 |
90 | /* WWDG activation function ***************************************************/
91 | void WWDG_Enable(uint8_t Counter);
92 |
93 | /* Interrupts and flags management functions **********************************/
94 | FlagStatus WWDG_GetFlagStatus(void);
95 | void WWDG_ClearFlag(void);
96 |
97 | #ifdef __cplusplus
98 | }
99 | #endif
100 |
101 | #endif /* __STM32F4xx_WWDG_H */
102 |
103 | /**
104 | * @}
105 | */
106 |
107 | /**
108 | * @}
109 | */
110 |
111 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
112 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_crc.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_crc.c
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file provides all the CRC firmware functions.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2013 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Includes ------------------------------------------------------------------*/
29 | #include "stm32f4xx_crc.h"
30 |
31 | /** @addtogroup STM32F4xx_StdPeriph_Driver
32 | * @{
33 | */
34 |
35 | /** @defgroup CRC
36 | * @brief CRC driver modules
37 | * @{
38 | */
39 |
40 | /* Private typedef -----------------------------------------------------------*/
41 | /* Private define ------------------------------------------------------------*/
42 | /* Private macro -------------------------------------------------------------*/
43 | /* Private variables ---------------------------------------------------------*/
44 | /* Private function prototypes -----------------------------------------------*/
45 | /* Private functions ---------------------------------------------------------*/
46 |
47 | /** @defgroup CRC_Private_Functions
48 | * @{
49 | */
50 |
51 | /**
52 | * @brief Resets the CRC Data register (DR).
53 | * @param None
54 | * @retval None
55 | */
56 | void CRC_ResetDR(void)
57 | {
58 | /* Reset CRC generator */
59 | CRC->CR = CRC_CR_RESET;
60 | }
61 |
62 | /**
63 | * @brief Computes the 32-bit CRC of a given data word(32-bit).
64 | * @param Data: data word(32-bit) to compute its CRC
65 | * @retval 32-bit CRC
66 | */
67 | uint32_t CRC_CalcCRC(uint32_t Data)
68 | {
69 | CRC->DR = Data;
70 |
71 | return (CRC->DR);
72 | }
73 |
74 | /**
75 | * @brief Computes the 32-bit CRC of a given buffer of data word(32-bit).
76 | * @param pBuffer: pointer to the buffer containing the data to be computed
77 | * @param BufferLength: length of the buffer to be computed
78 | * @retval 32-bit CRC
79 | */
80 | uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength)
81 | {
82 | uint32_t index = 0;
83 |
84 | for(index = 0; index < BufferLength; index++)
85 | {
86 | CRC->DR = pBuffer[index];
87 | }
88 | return (CRC->DR);
89 | }
90 |
91 | /**
92 | * @brief Returns the current CRC value.
93 | * @param None
94 | * @retval 32-bit CRC
95 | */
96 | uint32_t CRC_GetCRC(void)
97 | {
98 | return (CRC->DR);
99 | }
100 |
101 | /**
102 | * @brief Stores a 8-bit data in the Independent Data(ID) register.
103 | * @param IDValue: 8-bit value to be stored in the ID register
104 | * @retval None
105 | */
106 | void CRC_SetIDRegister(uint8_t IDValue)
107 | {
108 | CRC->IDR = IDValue;
109 | }
110 |
111 | /**
112 | * @brief Returns the 8-bit data stored in the Independent Data(ID) register
113 | * @param None
114 | * @retval 8-bit value of the ID register
115 | */
116 | uint8_t CRC_GetIDRegister(void)
117 | {
118 | return (CRC->IDR);
119 | }
120 |
121 | /**
122 | * @}
123 | */
124 |
125 | /**
126 | * @}
127 | */
128 |
129 | /**
130 | * @}
131 | */
132 |
133 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
134 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_dbgmcu.c
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file provides all the DBGMCU firmware functions.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2013 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Includes ------------------------------------------------------------------*/
29 | #include "stm32f4xx_dbgmcu.h"
30 |
31 | /** @addtogroup STM32F4xx_StdPeriph_Driver
32 | * @{
33 | */
34 |
35 | /** @defgroup DBGMCU
36 | * @brief DBGMCU driver modules
37 | * @{
38 | */
39 |
40 | /* Private typedef -----------------------------------------------------------*/
41 | /* Private define ------------------------------------------------------------*/
42 | #define IDCODE_DEVID_MASK ((uint32_t)0x00000FFF)
43 |
44 | /* Private macro -------------------------------------------------------------*/
45 | /* Private variables ---------------------------------------------------------*/
46 | /* Private function prototypes -----------------------------------------------*/
47 | /* Private functions ---------------------------------------------------------*/
48 |
49 | /** @defgroup DBGMCU_Private_Functions
50 | * @{
51 | */
52 |
53 | /**
54 | * @brief Returns the device revision identifier.
55 | * @param None
56 | * @retval Device revision identifier
57 | */
58 | uint32_t DBGMCU_GetREVID(void)
59 | {
60 | return(DBGMCU->IDCODE >> 16);
61 | }
62 |
63 | /**
64 | * @brief Returns the device identifier.
65 | * @param None
66 | * @retval Device identifier
67 | */
68 | uint32_t DBGMCU_GetDEVID(void)
69 | {
70 | return(DBGMCU->IDCODE & IDCODE_DEVID_MASK);
71 | }
72 |
73 | /**
74 | * @brief Configures low power mode behavior when the MCU is in Debug mode.
75 | * @param DBGMCU_Periph: specifies the low power mode.
76 | * This parameter can be any combination of the following values:
77 | * @arg DBGMCU_SLEEP: Keep debugger connection during SLEEP mode
78 | * @arg DBGMCU_STOP: Keep debugger connection during STOP mode
79 | * @arg DBGMCU_STANDBY: Keep debugger connection during STANDBY mode
80 | * @param NewState: new state of the specified low power mode in Debug mode.
81 | * This parameter can be: ENABLE or DISABLE.
82 | * @retval None
83 | */
84 | void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState)
85 | {
86 | /* Check the parameters */
87 | assert_param(IS_DBGMCU_PERIPH(DBGMCU_Periph));
88 | assert_param(IS_FUNCTIONAL_STATE(NewState));
89 | if (NewState != DISABLE)
90 | {
91 | DBGMCU->CR |= DBGMCU_Periph;
92 | }
93 | else
94 | {
95 | DBGMCU->CR &= ~DBGMCU_Periph;
96 | }
97 | }
98 |
99 | /**
100 | * @brief Configures APB1 peripheral behavior when the MCU is in Debug mode.
101 | * @param DBGMCU_Periph: specifies the APB1 peripheral.
102 | * This parameter can be any combination of the following values:
103 | * @arg DBGMCU_TIM2_STOP: TIM2 counter stopped when Core is halted
104 | * @arg DBGMCU_TIM3_STOP: TIM3 counter stopped when Core is halted
105 | * @arg DBGMCU_TIM4_STOP: TIM4 counter stopped when Core is halted
106 | * @arg DBGMCU_TIM5_STOP: TIM5 counter stopped when Core is halted
107 | * @arg DBGMCU_TIM6_STOP: TIM6 counter stopped when Core is halted
108 | * @arg DBGMCU_TIM7_STOP: TIM7 counter stopped when Core is halted
109 | * @arg DBGMCU_TIM12_STOP: TIM12 counter stopped when Core is halted
110 | * @arg DBGMCU_TIM13_STOP: TIM13 counter stopped when Core is halted
111 | * @arg DBGMCU_TIM14_STOP: TIM14 counter stopped when Core is halted
112 | * @arg DBGMCU_RTC_STOP: RTC Calendar and Wakeup counter stopped when Core is halted.
113 | * @arg DBGMCU_WWDG_STOP: Debug WWDG stopped when Core is halted
114 | * @arg DBGMCU_IWDG_STOP: Debug IWDG stopped when Core is halted
115 | * @arg DBGMCU_I2C1_SMBUS_TIMEOUT: I2C1 SMBUS timeout mode stopped when Core is halted
116 | * @arg DBGMCU_I2C2_SMBUS_TIMEOUT: I2C2 SMBUS timeout mode stopped when Core is halted
117 | * @arg DBGMCU_I2C3_SMBUS_TIMEOUT: I2C3 SMBUS timeout mode stopped when Core is halted
118 | * @arg DBGMCU_CAN2_STOP: Debug CAN1 stopped when Core is halted
119 | * @arg DBGMCU_CAN1_STOP: Debug CAN2 stopped when Core is halted
120 | * This parameter can be: ENABLE or DISABLE.
121 | * @retval None
122 | */
123 | void DBGMCU_APB1PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState)
124 | {
125 | /* Check the parameters */
126 | assert_param(IS_DBGMCU_APB1PERIPH(DBGMCU_Periph));
127 | assert_param(IS_FUNCTIONAL_STATE(NewState));
128 |
129 | if (NewState != DISABLE)
130 | {
131 | DBGMCU->APB1FZ |= DBGMCU_Periph;
132 | }
133 | else
134 | {
135 | DBGMCU->APB1FZ &= ~DBGMCU_Periph;
136 | }
137 | }
138 |
139 | /**
140 | * @brief Configures APB2 peripheral behavior when the MCU is in Debug mode.
141 | * @param DBGMCU_Periph: specifies the APB2 peripheral.
142 | * This parameter can be any combination of the following values:
143 | * @arg DBGMCU_TIM1_STOP: TIM1 counter stopped when Core is halted
144 | * @arg DBGMCU_TIM8_STOP: TIM8 counter stopped when Core is halted
145 | * @arg DBGMCU_TIM9_STOP: TIM9 counter stopped when Core is halted
146 | * @arg DBGMCU_TIM10_STOP: TIM10 counter stopped when Core is halted
147 | * @arg DBGMCU_TIM11_STOP: TIM11 counter stopped when Core is halted
148 | * @param NewState: new state of the specified peripheral in Debug mode.
149 | * This parameter can be: ENABLE or DISABLE.
150 | * @retval None
151 | */
152 | void DBGMCU_APB2PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState)
153 | {
154 | /* Check the parameters */
155 | assert_param(IS_DBGMCU_APB2PERIPH(DBGMCU_Periph));
156 | assert_param(IS_FUNCTIONAL_STATE(NewState));
157 |
158 | if (NewState != DISABLE)
159 | {
160 | DBGMCU->APB2FZ |= DBGMCU_Periph;
161 | }
162 | else
163 | {
164 | DBGMCU->APB2FZ &= ~DBGMCU_Periph;
165 | }
166 | }
167 |
168 | /**
169 | * @}
170 | */
171 |
172 | /**
173 | * @}
174 | */
175 |
176 | /**
177 | * @}
178 | */
179 |
180 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
181 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_hash_md5.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_hash_md5.c
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file provides high level functions to compute the HASH MD5 and
8 | * HMAC MD5 Digest of an input message.
9 | * It uses the stm32f4xx_hash.c/.h drivers to access the STM32F4xx HASH
10 | * peripheral.
11 | *
12 | @verbatim
13 | ===================================================================
14 | ##### How to use this driver #####
15 | ===================================================================
16 | [..]
17 | (#) Enable The HASH controller clock using
18 | RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_HASH, ENABLE); function.
19 |
20 | (#) Calculate the HASH MD5 Digest using HASH_MD5() function.
21 |
22 | (#) Calculate the HMAC MD5 Digest using HMAC_MD5() function.
23 |
24 | @endverbatim
25 | *
26 | ******************************************************************************
27 | * @attention
28 | *
29 | * © COPYRIGHT 2013 STMicroelectronics
30 | *
31 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
32 | * You may not use this file except in compliance with the License.
33 | * You may obtain a copy of the License at:
34 | *
35 | * http://www.st.com/software_license_agreement_liberty_v2
36 | *
37 | * Unless required by applicable law or agreed to in writing, software
38 | * distributed under the License is distributed on an "AS IS" BASIS,
39 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
40 | * See the License for the specific language governing permissions and
41 | * limitations under the License.
42 | *
43 | ******************************************************************************
44 | */
45 |
46 | /* Includes ------------------------------------------------------------------*/
47 | #include "stm32f4xx_hash.h"
48 |
49 | /** @addtogroup STM32F4xx_StdPeriph_Driver
50 | * @{
51 | */
52 |
53 | /** @defgroup HASH
54 | * @brief HASH driver modules
55 | * @{
56 | */
57 |
58 | /* Private typedef -----------------------------------------------------------*/
59 | /* Private define ------------------------------------------------------------*/
60 | #define MD5BUSY_TIMEOUT ((uint32_t) 0x00010000)
61 |
62 | /* Private macro -------------------------------------------------------------*/
63 | /* Private variables ---------------------------------------------------------*/
64 | /* Private function prototypes -----------------------------------------------*/
65 | /* Private functions ---------------------------------------------------------*/
66 |
67 | /** @defgroup HASH_Private_Functions
68 | * @{
69 | */
70 |
71 | /** @defgroup HASH_Group7 High Level MD5 functions
72 | * @brief High Level MD5 Hash and HMAC functions
73 | *
74 | @verbatim
75 | ===============================================================================
76 | ##### High Level MD5 Hash and HMAC functions #####
77 | ===============================================================================
78 |
79 |
80 | @endverbatim
81 | * @{
82 | */
83 |
84 | /**
85 | * @brief Compute the HASH MD5 digest.
86 | * @param Input: pointer to the Input buffer to be treated.
87 | * @param Ilen: length of the Input buffer.
88 | * @param Output: the returned digest
89 | * @retval An ErrorStatus enumeration value:
90 | * - SUCCESS: digest computation done
91 | * - ERROR: digest computation failed
92 | */
93 | ErrorStatus HASH_MD5(uint8_t *Input, uint32_t Ilen, uint8_t Output[16])
94 | {
95 | HASH_InitTypeDef MD5_HASH_InitStructure;
96 | HASH_MsgDigest MD5_MessageDigest;
97 | __IO uint16_t nbvalidbitsdata = 0;
98 | uint32_t i = 0;
99 | __IO uint32_t counter = 0;
100 | uint32_t busystatus = 0;
101 | ErrorStatus status = SUCCESS;
102 | uint32_t inputaddr = (uint32_t)Input;
103 | uint32_t outputaddr = (uint32_t)Output;
104 |
105 |
106 | /* Number of valid bits in last word of the Input data */
107 | nbvalidbitsdata = 8 * (Ilen % 4);
108 |
109 | /* HASH peripheral initialization */
110 | HASH_DeInit();
111 |
112 | /* HASH Configuration */
113 | MD5_HASH_InitStructure.HASH_AlgoSelection = HASH_AlgoSelection_MD5;
114 | MD5_HASH_InitStructure.HASH_AlgoMode = HASH_AlgoMode_HASH;
115 | MD5_HASH_InitStructure.HASH_DataType = HASH_DataType_8b;
116 | HASH_Init(&MD5_HASH_InitStructure);
117 |
118 | /* Configure the number of valid bits in last word of the data */
119 | HASH_SetLastWordValidBitsNbr(nbvalidbitsdata);
120 |
121 | /* Write the Input block in the IN FIFO */
122 | for(i=0; i 64)
197 | {
198 | /* HMAC long Key */
199 | MD5_HASH_InitStructure.HASH_HMACKeyType = HASH_HMACKeyType_LongKey;
200 | }
201 | else
202 | {
203 | /* HMAC short Key */
204 | MD5_HASH_InitStructure.HASH_HMACKeyType = HASH_HMACKeyType_ShortKey;
205 | }
206 | HASH_Init(&MD5_HASH_InitStructure);
207 |
208 | /* Configure the number of valid bits in last word of the Key */
209 | HASH_SetLastWordValidBitsNbr(nbvalidbitskey);
210 |
211 | /* Write the Key */
212 | for(i=0; i© COPYRIGHT 2013 STMicroelectronics
68 | *
69 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
70 | * You may not use this file except in compliance with the License.
71 | * You may obtain a copy of the License at:
72 | *
73 | * http://www.st.com/software_license_agreement_liberty_v2
74 | *
75 | * Unless required by applicable law or agreed to in writing, software
76 | * distributed under the License is distributed on an "AS IS" BASIS,
77 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
78 | * See the License for the specific language governing permissions and
79 | * limitations under the License.
80 | *
81 | ******************************************************************************
82 | */
83 |
84 | /* Includes ------------------------------------------------------------------*/
85 | #include "stm32f4xx_iwdg.h"
86 |
87 | /** @addtogroup STM32F4xx_StdPeriph_Driver
88 | * @{
89 | */
90 |
91 | /** @defgroup IWDG
92 | * @brief IWDG driver modules
93 | * @{
94 | */
95 |
96 | /* Private typedef -----------------------------------------------------------*/
97 | /* Private define ------------------------------------------------------------*/
98 |
99 | /* KR register bit mask */
100 | #define KR_KEY_RELOAD ((uint16_t)0xAAAA)
101 | #define KR_KEY_ENABLE ((uint16_t)0xCCCC)
102 |
103 | /* Private macro -------------------------------------------------------------*/
104 | /* Private variables ---------------------------------------------------------*/
105 | /* Private function prototypes -----------------------------------------------*/
106 | /* Private functions ---------------------------------------------------------*/
107 |
108 | /** @defgroup IWDG_Private_Functions
109 | * @{
110 | */
111 |
112 | /** @defgroup IWDG_Group1 Prescaler and Counter configuration functions
113 | * @brief Prescaler and Counter configuration functions
114 | *
115 | @verbatim
116 | ===============================================================================
117 | ##### Prescaler and Counter configuration functions #####
118 | ===============================================================================
119 |
120 | @endverbatim
121 | * @{
122 | */
123 |
124 | /**
125 | * @brief Enables or disables write access to IWDG_PR and IWDG_RLR registers.
126 | * @param IWDG_WriteAccess: new state of write access to IWDG_PR and IWDG_RLR registers.
127 | * This parameter can be one of the following values:
128 | * @arg IWDG_WriteAccess_Enable: Enable write access to IWDG_PR and IWDG_RLR registers
129 | * @arg IWDG_WriteAccess_Disable: Disable write access to IWDG_PR and IWDG_RLR registers
130 | * @retval None
131 | */
132 | void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess)
133 | {
134 | /* Check the parameters */
135 | assert_param(IS_IWDG_WRITE_ACCESS(IWDG_WriteAccess));
136 | IWDG->KR = IWDG_WriteAccess;
137 | }
138 |
139 | /**
140 | * @brief Sets IWDG Prescaler value.
141 | * @param IWDG_Prescaler: specifies the IWDG Prescaler value.
142 | * This parameter can be one of the following values:
143 | * @arg IWDG_Prescaler_4: IWDG prescaler set to 4
144 | * @arg IWDG_Prescaler_8: IWDG prescaler set to 8
145 | * @arg IWDG_Prescaler_16: IWDG prescaler set to 16
146 | * @arg IWDG_Prescaler_32: IWDG prescaler set to 32
147 | * @arg IWDG_Prescaler_64: IWDG prescaler set to 64
148 | * @arg IWDG_Prescaler_128: IWDG prescaler set to 128
149 | * @arg IWDG_Prescaler_256: IWDG prescaler set to 256
150 | * @retval None
151 | */
152 | void IWDG_SetPrescaler(uint8_t IWDG_Prescaler)
153 | {
154 | /* Check the parameters */
155 | assert_param(IS_IWDG_PRESCALER(IWDG_Prescaler));
156 | IWDG->PR = IWDG_Prescaler;
157 | }
158 |
159 | /**
160 | * @brief Sets IWDG Reload value.
161 | * @param Reload: specifies the IWDG Reload value.
162 | * This parameter must be a number between 0 and 0x0FFF.
163 | * @retval None
164 | */
165 | void IWDG_SetReload(uint16_t Reload)
166 | {
167 | /* Check the parameters */
168 | assert_param(IS_IWDG_RELOAD(Reload));
169 | IWDG->RLR = Reload;
170 | }
171 |
172 | /**
173 | * @brief Reloads IWDG counter with value defined in the reload register
174 | * (write access to IWDG_PR and IWDG_RLR registers disabled).
175 | * @param None
176 | * @retval None
177 | */
178 | void IWDG_ReloadCounter(void)
179 | {
180 | IWDG->KR = KR_KEY_RELOAD;
181 | }
182 |
183 | /**
184 | * @}
185 | */
186 |
187 | /** @defgroup IWDG_Group2 IWDG activation function
188 | * @brief IWDG activation function
189 | *
190 | @verbatim
191 | ===============================================================================
192 | ##### IWDG activation function #####
193 | ===============================================================================
194 |
195 | @endverbatim
196 | * @{
197 | */
198 |
199 | /**
200 | * @brief Enables IWDG (write access to IWDG_PR and IWDG_RLR registers disabled).
201 | * @param None
202 | * @retval None
203 | */
204 | void IWDG_Enable(void)
205 | {
206 | IWDG->KR = KR_KEY_ENABLE;
207 | }
208 |
209 | /**
210 | * @}
211 | */
212 |
213 | /** @defgroup IWDG_Group3 Flag management function
214 | * @brief Flag management function
215 | *
216 | @verbatim
217 | ===============================================================================
218 | ##### Flag management function #####
219 | ===============================================================================
220 |
221 | @endverbatim
222 | * @{
223 | */
224 |
225 | /**
226 | * @brief Checks whether the specified IWDG flag is set or not.
227 | * @param IWDG_FLAG: specifies the flag to check.
228 | * This parameter can be one of the following values:
229 | * @arg IWDG_FLAG_PVU: Prescaler Value Update on going
230 | * @arg IWDG_FLAG_RVU: Reload Value Update on going
231 | * @retval The new state of IWDG_FLAG (SET or RESET).
232 | */
233 | FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG)
234 | {
235 | FlagStatus bitstatus = RESET;
236 | /* Check the parameters */
237 | assert_param(IS_IWDG_FLAG(IWDG_FLAG));
238 | if ((IWDG->SR & IWDG_FLAG) != (uint32_t)RESET)
239 | {
240 | bitstatus = SET;
241 | }
242 | else
243 | {
244 | bitstatus = RESET;
245 | }
246 | /* Return the flag status */
247 | return bitstatus;
248 | }
249 |
250 | /**
251 | * @}
252 | */
253 |
254 | /**
255 | * @}
256 | */
257 |
258 | /**
259 | * @}
260 | */
261 |
262 | /**
263 | * @}
264 | */
265 |
266 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
267 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_syscfg.c
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 08-November-2013
7 | * @brief This file provides firmware functions to manage the SYSCFG peripheral.
8 | *
9 | @verbatim
10 |
11 | ===============================================================================
12 | ##### How to use this driver #####
13 | ===============================================================================
14 | [..] This driver provides functions for:
15 |
16 | (#) Remapping the memory accessible in the code area using SYSCFG_MemoryRemapConfig()
17 |
18 | (#) Swapping the internal flash Bank1 and Bank2 this features is only visible for
19 | STM32F42xxx/43xxx devices Devices.
20 |
21 | (#) Manage the EXTI lines connection to the GPIOs using SYSCFG_EXTILineConfig()
22 |
23 | (#) Select the ETHERNET media interface (RMII/RII) using SYSCFG_ETH_MediaInterfaceConfig()
24 |
25 | -@- SYSCFG APB clock must be enabled to get write access to SYSCFG registers,
26 | using RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
27 |
28 | @endverbatim
29 | ******************************************************************************
30 | * @attention
31 | *
32 | * © COPYRIGHT 2013 STMicroelectronics
33 | *
34 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
35 | * You may not use this file except in compliance with the License.
36 | * You may obtain a copy of the License at:
37 | *
38 | * http://www.st.com/software_license_agreement_liberty_v2
39 | *
40 | * Unless required by applicable law or agreed to in writing, software
41 | * distributed under the License is distributed on an "AS IS" BASIS,
42 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
43 | * See the License for the specific language governing permissions and
44 | * limitations under the License.
45 | *
46 | ******************************************************************************
47 | */
48 |
49 | /* Includes ------------------------------------------------------------------*/
50 | #include "stm32f4xx_syscfg.h"
51 | #include "stm32f4xx_rcc.h"
52 |
53 | /** @addtogroup STM32F4xx_StdPeriph_Driver
54 | * @{
55 | */
56 |
57 | /** @defgroup SYSCFG
58 | * @brief SYSCFG driver modules
59 | * @{
60 | */
61 |
62 | /* Private typedef -----------------------------------------------------------*/
63 | /* Private define ------------------------------------------------------------*/
64 | /* ------------ RCC registers bit address in the alias region ----------- */
65 | #define SYSCFG_OFFSET (SYSCFG_BASE - PERIPH_BASE)
66 | /* --- MEMRMP Register ---*/
67 | /* Alias word address of UFB_MODE bit */
68 | #define MEMRMP_OFFSET SYSCFG_OFFSET
69 | #define UFB_MODE_BitNumber ((uint8_t)0x8)
70 | #define UFB_MODE_BB (PERIPH_BB_BASE + (MEMRMP_OFFSET * 32) + (UFB_MODE_BitNumber * 4))
71 |
72 |
73 | /* --- PMC Register ---*/
74 | /* Alias word address of MII_RMII_SEL bit */
75 | #define PMC_OFFSET (SYSCFG_OFFSET + 0x04)
76 | #define MII_RMII_SEL_BitNumber ((uint8_t)0x17)
77 | #define PMC_MII_RMII_SEL_BB (PERIPH_BB_BASE + (PMC_OFFSET * 32) + (MII_RMII_SEL_BitNumber * 4))
78 |
79 | /* --- CMPCR Register ---*/
80 | /* Alias word address of CMP_PD bit */
81 | #define CMPCR_OFFSET (SYSCFG_OFFSET + 0x20)
82 | #define CMP_PD_BitNumber ((uint8_t)0x00)
83 | #define CMPCR_CMP_PD_BB (PERIPH_BB_BASE + (CMPCR_OFFSET * 32) + (CMP_PD_BitNumber * 4))
84 |
85 | /* Private macro -------------------------------------------------------------*/
86 | /* Private variables ---------------------------------------------------------*/
87 | /* Private function prototypes -----------------------------------------------*/
88 | /* Private functions ---------------------------------------------------------*/
89 |
90 | /** @defgroup SYSCFG_Private_Functions
91 | * @{
92 | */
93 |
94 | /**
95 | * @brief Deinitializes the Alternate Functions (remap and EXTI configuration)
96 | * registers to their default reset values.
97 | * @param None
98 | * @retval None
99 | */
100 | void SYSCFG_DeInit(void)
101 | {
102 | RCC_APB2PeriphResetCmd(RCC_APB2Periph_SYSCFG, ENABLE);
103 | RCC_APB2PeriphResetCmd(RCC_APB2Periph_SYSCFG, DISABLE);
104 | }
105 |
106 | /**
107 | * @brief Changes the mapping of the specified pin.
108 | * @param SYSCFG_Memory: selects the memory remapping.
109 | * This parameter can be one of the following values:
110 | * @arg SYSCFG_MemoryRemap_Flash: Main Flash memory mapped at 0x00000000
111 | * @arg SYSCFG_MemoryRemap_SystemFlash: System Flash memory mapped at 0x00000000
112 | * @arg SYSCFG_MemoryRemap_FSMC: FSMC (Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000 for STM32F405xx/407xx and STM32F415xx/417xx devices.
113 | * @arg SYSCFG_MemoryRemap_FMC: FMC (Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000 for STM32F42xxx/43xxx devices.
114 | * @arg SYSCFG_MemoryRemap_SRAM: Embedded SRAM (112kB) mapped at 0x00000000
115 | * @arg SYSCFG_MemoryRemap_SDRAM: FMC (External SDRAM) mapped at 0x00000000 for STM32F42xxx/43xxx devices.
116 | * @retval None
117 | */
118 | void SYSCFG_MemoryRemapConfig(uint8_t SYSCFG_MemoryRemap)
119 | {
120 | /* Check the parameters */
121 | assert_param(IS_SYSCFG_MEMORY_REMAP_CONFING(SYSCFG_MemoryRemap));
122 |
123 | SYSCFG->MEMRMP = SYSCFG_MemoryRemap;
124 | }
125 |
126 | /**
127 | * @brief Enables or disables the Interal FLASH Bank Swapping.
128 | *
129 | * @note This function can be used only for STM32F42xxx/43xxx devices.
130 | *
131 | * @param NewState: new state of Interal FLASH Bank swapping.
132 | * This parameter can be one of the following values:
133 | * @arg ENABLE: Flash Bank2 mapped at 0x08000000 (and aliased @0x00000000)
134 | * and Flash Bank1 mapped at 0x08100000 (and aliased at 0x00100000)
135 | * @arg DISABLE:(the default state) Flash Bank1 mapped at 0x08000000 (and aliased @0x0000 0000)
136 | and Flash Bank2 mapped at 0x08100000 (and aliased at 0x00100000)
137 | * @retval None
138 | */
139 | void SYSCFG_MemorySwappingBank(FunctionalState NewState)
140 | {
141 | /* Check the parameters */
142 | assert_param(IS_FUNCTIONAL_STATE(NewState));
143 |
144 | *(__IO uint32_t *) UFB_MODE_BB = (uint32_t)NewState;
145 | }
146 |
147 | /**
148 | * @brief Selects the GPIO pin used as EXTI Line.
149 | * @param EXTI_PortSourceGPIOx : selects the GPIO port to be used as source for
150 | * EXTI lines where x can be (A..K) for STM32F42xxx/43xxx devices, (A..I)
151 | * for STM32F405xx/407xx and STM32F415xx/417xx devices or (A, B, C, D and H)
152 | * for STM32401xx devices.
153 | *
154 | * @param EXTI_PinSourcex: specifies the EXTI line to be configured.
155 | * This parameter can be EXTI_PinSourcex where x can be (0..15, except
156 | * for EXTI_PortSourceGPIOI x can be (0..11) for STM32F405xx/407xx
157 | * and STM32F405xx/407xx devices and for EXTI_PortSourceGPIOK x can
158 | * be (0..7) for STM32F42xxx/43xxx devices.
159 | *
160 | * @retval None
161 | */
162 | void SYSCFG_EXTILineConfig(uint8_t EXTI_PortSourceGPIOx, uint8_t EXTI_PinSourcex)
163 | {
164 | uint32_t tmp = 0x00;
165 |
166 | /* Check the parameters */
167 | assert_param(IS_EXTI_PORT_SOURCE(EXTI_PortSourceGPIOx));
168 | assert_param(IS_EXTI_PIN_SOURCE(EXTI_PinSourcex));
169 |
170 | tmp = ((uint32_t)0x0F) << (0x04 * (EXTI_PinSourcex & (uint8_t)0x03));
171 | SYSCFG->EXTICR[EXTI_PinSourcex >> 0x02] &= ~tmp;
172 | SYSCFG->EXTICR[EXTI_PinSourcex >> 0x02] |= (((uint32_t)EXTI_PortSourceGPIOx) << (0x04 * (EXTI_PinSourcex & (uint8_t)0x03)));
173 | }
174 |
175 | /**
176 | * @brief Selects the ETHERNET media interface
177 | * @param SYSCFG_ETH_MediaInterface: specifies the Media Interface mode.
178 | * This parameter can be one of the following values:
179 | * @arg SYSCFG_ETH_MediaInterface_MII: MII mode selected
180 | * @arg SYSCFG_ETH_MediaInterface_RMII: RMII mode selected
181 | * @retval None
182 | */
183 | void SYSCFG_ETH_MediaInterfaceConfig(uint32_t SYSCFG_ETH_MediaInterface)
184 | {
185 | assert_param(IS_SYSCFG_ETH_MEDIA_INTERFACE(SYSCFG_ETH_MediaInterface));
186 | /* Configure MII_RMII selection bit */
187 | *(__IO uint32_t *) PMC_MII_RMII_SEL_BB = SYSCFG_ETH_MediaInterface;
188 | }
189 |
190 | /**
191 | * @brief Enables or disables the I/O Compensation Cell.
192 | * @note The I/O compensation cell can be used only when the device supply
193 | * voltage ranges from 2.4 to 3.6 V.
194 | * @param NewState: new state of the I/O Compensation Cell.
195 | * This parameter can be one of the following values:
196 | * @arg ENABLE: I/O compensation cell enabled
197 | * @arg DISABLE: I/O compensation cell power-down mode
198 | * @retval None
199 | */
200 | void SYSCFG_CompensationCellCmd(FunctionalState NewState)
201 | {
202 | /* Check the parameters */
203 | assert_param(IS_FUNCTIONAL_STATE(NewState));
204 |
205 | *(__IO uint32_t *) CMPCR_CMP_PD_BB = (uint32_t)NewState;
206 | }
207 |
208 | /**
209 | * @brief Checks whether the I/O Compensation Cell ready flag is set or not.
210 | * @param None
211 | * @retval The new state of the I/O Compensation Cell ready flag (SET or RESET)
212 | */
213 | FlagStatus SYSCFG_GetCompensationCellStatus(void)
214 | {
215 | FlagStatus bitstatus = RESET;
216 |
217 | if ((SYSCFG->CMPCR & SYSCFG_CMPCR_READY ) != (uint32_t)RESET)
218 | {
219 | bitstatus = SET;
220 | }
221 | else
222 | {
223 | bitstatus = RESET;
224 | }
225 | return bitstatus;
226 | }
227 |
228 | /**
229 | * @}
230 | */
231 |
232 | /**
233 | * @}
234 | */
235 |
236 | /**
237 | * @}
238 | */
239 |
240 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
241 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_ahrs.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "algorithm_ahrs.h"
5 | #include "module_imu.h"
6 | #include "algorithm_mathUnit.h"
7 | #include "algorithm_quaternion.h"
8 | /*====================================================================================================*/
9 | /*====================================================================================================*/
10 | #define KpDef 2500
11 | #define KiDef 1
12 |
13 | static fpc32 Kp = (2.0f * KpDef) * SampleRate;
14 | static fpc32 Ki = (2.0f * KiDef) * SampleRate;
15 | /*====================================================================================================*/
16 | /*====================================================================================================*/
17 | void AHRS_Init( Quaternion *pNumQ, EulerAngle *pAngE )
18 | {
19 | pNumQ->q0 = 1.0f;
20 | pNumQ->q1 = 0.0f;
21 | pNumQ->q2 = 0.0f;
22 | pNumQ->q3 = 0.0f;
23 |
24 | pAngE->Pitch = 0.0f;
25 | pAngE->Roll = 0.0f;
26 | pAngE->Yaw = 0.0f;
27 | }
28 | /*====================================================================================================*/
29 | /*====================================================================================================*/
30 | void AHRS_Update( void )
31 | {
32 | // fp32 tempX = 0, tempY = 0;
33 | fp32 Normalize;
34 | fp32 gx, gy, gz;
35 | // fp32 hx, hy, hz;
36 | // fp32 wx, wy, wz;
37 | // fp32 bx, bz;
38 | fp32 ErrX, ErrY, ErrZ;
39 | fp32 AccX, AccY, AccZ;
40 | fp32 GyrX, GyrY, GyrZ;
41 | // fp32 MegX, MegY, MegZ;
42 | fp32 /*Mq11, Mq12, */Mq13,/* Mq21, Mq22, */Mq23,/* Mq31, Mq32, */Mq33;
43 |
44 | // static fp32 AngZ_Temp = 0.0f;
45 | static fp32 exInt = 0.0f, eyInt = 0.0f, ezInt = 0.0f;
46 |
47 | // Mq11 = NumQ.q0*NumQ.q0 + NumQ.q1*NumQ.q1 - NumQ.q2*NumQ.q2 - NumQ.q3*NumQ.q3;
48 | // Mq12 = 2.0f*(NumQ.q1*NumQ.q2 + NumQ.q0*NumQ.q3);
49 | Mq13 = 2.0f*(NumQ.q1*NumQ.q3 - NumQ.q0*NumQ.q2);
50 | // Mq21 = 2.0f*(NumQ.q1*NumQ.q2 - NumQ.q0*NumQ.q3);
51 | // Mq22 = NumQ.q0*NumQ.q0 - NumQ.q1*NumQ.q1 + NumQ.q2*NumQ.q2 - NumQ.q3*NumQ.q3;
52 | Mq23 = 2.0f*(NumQ.q0*NumQ.q1 + NumQ.q2*NumQ.q3);
53 | // Mq31 = 2.0f*(NumQ.q0*NumQ.q2 + NumQ.q1*NumQ.q3);
54 | // Mq32 = 2.0f*(NumQ.q2*NumQ.q3 - NumQ.q0*NumQ.q1);
55 | Mq33 = NumQ.q0*NumQ.q0 - NumQ.q1*NumQ.q1 - NumQ.q2*NumQ.q2 + NumQ.q3*NumQ.q3;
56 |
57 | Normalize = invSqrtf(squa(Acc.TrueX) + squa(Acc.TrueY) + squa(Acc.TrueZ));
58 | AccX = Acc.TrueX*Normalize;
59 | AccY = Acc.TrueY*Normalize;
60 | AccZ = Acc.TrueZ*Normalize;
61 |
62 | // Normalize = invSqrtf(squa(Meg.TrueX) + squa(Meg.TrueY) + squa(Meg.TrueZ));
63 | // MegX = Meg.TrueX*Normalize;
64 | // MegY = Meg.TrueY*Normalize;
65 | // MegZ = Meg.TrueZ*Normalize;
66 |
67 | gx = Mq13;
68 | gy = Mq23;
69 | gz = Mq33;
70 |
71 | // hx = MegX*Mq11 + MegY*Mq21 + MegZ*Mq31;
72 | // hy = MegX*Mq12 + MegY*Mq22 + MegZ*Mq32;
73 | // hz = MegX*Mq13 + MegY*Mq23 + MegZ*Mq33;
74 |
75 | // bx = sqrtf(squa(hx) + squa(hy));
76 | // bz = hz;
77 |
78 | // wx = bx*Mq11 + bz*Mq13;
79 | // wy = bx*Mq21 + bz*Mq23;
80 | // wz = bx*Mq31 + bz*Mq33;
81 |
82 | ErrX = (AccY*gz - AccZ*gy)/* + (MegY*wz - MegZ*wy)*/;
83 | ErrY = (AccZ*gx - AccX*gz)/* + (MegZ*wx - MegX*wz)*/;
84 | ErrZ = (AccX*gy - AccY*gx)/* + (MegX*wy - MegY*wx)*/;
85 |
86 | exInt = exInt + ErrX*Ki;
87 | eyInt = eyInt + ErrY*Ki;
88 | ezInt = ezInt + ErrZ*Ki;
89 |
90 | GyrX = toRad(Gyr.TrueX) + Kp*ErrX + exInt;
91 | GyrY = toRad(Gyr.TrueY) + Kp*ErrY + eyInt;
92 | GyrZ = toRad(Gyr.TrueZ) + Kp*ErrZ + ezInt;
93 |
94 | Quaternion_RungeKutta(&NumQ, GyrX, GyrY, GyrZ, SampleRateHelf);
95 | Quaternion_Normalize(&NumQ);
96 | Quaternion_ToAngE(&NumQ, &AngE);
97 |
98 | // tempX = ( Mag.X*arm_cos_f32(Mag.EllipseSita)+Mag.Y*arm_sin_f32(Mag.EllipseSita))/Mag.EllipseB;
99 | // tempY = (-Mag.X*arm_sin_f32(Mag.EllipseSita)+Mag.Y*arm_cos_f32(Mag.EllipseSita))/Mag.EllipseA;
100 | // AngE.Yaw = atan2f(tempX, tempY);
101 |
102 | AngE.Pitch = toDeg(AngE.Pitch);
103 | AngE.Roll = toDeg(AngE.Roll);
104 | // AngE.Yaw = toDeg(AngE.Yaw)+180.0f;
105 |
106 | // /* 互補濾波 Complementary Filter */
107 | // #define CF_A 0.9f
108 | // #define CF_B 0.1f
109 | // AngZ_Temp = AngZ_Temp + GyrZ*SampleRate;
110 | // AngZ_Temp = CF_A*AngZ_Temp + CF_B*AngE.Yaw;
111 | // if(AngZ_Temp>360.0f)
112 | // AngE.Yaw = AngZ_Temp - 360.0f;
113 | // else if(AngZ_Temp<0.0f)
114 | // AngE.Yaw = AngZ_Temp + 360.0f;
115 | // else
116 | // AngE.Yaw = AngZ_Temp;
117 | }
118 | /*====================================================================================================*/
119 | /*====================================================================================================*/
120 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_ahrs.h:
--------------------------------------------------------------------------------
1 | /* #include "algorithm_ahrs.h" */
2 |
3 | #ifndef __ALGORITHM_AHRS_H
4 | #define __ALGORITHM_AHRS_H
5 |
6 | #include "stm32f4xx.h"
7 | #include "algorithm_quaternion.h"
8 | /*====================================================================================================*/
9 | /*====================================================================================================*/
10 | #define _SampleRateFreg_500Hz_
11 |
12 | #ifdef _SampleRateFreg_400Hz_
13 | #define SampleRateFreg ((u16)400) // 400Hz
14 | #define SampleRate ((fp32)0.0025f) // 2.5ms
15 | #define SampleRateHelf ((fp32)0.00125f) // 1.25ms
16 | #endif
17 |
18 | #ifdef _SampleRateFreg_500Hz_
19 | #define SampleRateFreg ((u16)500) // 500Hz
20 | #define SampleRate ((fp32)0.002f) // 2.0ms
21 | #define SampleRateHelf ((fp32)0.001f) // 1.0ms
22 | #endif
23 | /*====================================================================================================*/
24 | /*====================================================================================================*/
25 | void AHRS_Init( Quaternion *pNumQ, EulerAngle *pAngE );
26 | void AHRS_Update( void );
27 | /*====================================================================================================*/
28 | /*====================================================================================================*/
29 | #endif
30 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_mathUnit.h:
--------------------------------------------------------------------------------
1 | /* #include "algorithm_mathUnit.h" */
2 |
3 | #ifndef __ALGORITHM_MATHUNIt_H
4 | #define __ALGORITHM_MATHUNIt_H
5 |
6 | #include "stm32f4xx.h"
7 | #include "arm_math.h"
8 | /*====================================================================================================*/
9 | /*====================================================================================================*/
10 | #define invSqrtf( iSq ) (1.0f/sqrtf((float)iSq))
11 | #define squa( Sq ) (((float)Sq)*((float)Sq))
12 | #define toRad( Math_D ) ((float)(Math_D)*0.0174532925f)
13 | #define toDeg( Math_R ) ((float)(Math_R)*57.2957795f)
14 | /*====================================================================================================*/
15 | /*====================================================================================================*/
16 |
17 | /*====================================================================================================*/
18 | /*====================================================================================================*/
19 | #endif
20 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_moveAve.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "algorithm_moveAve.h"
5 | /*====================================================================================================*/
6 | /*====================================================================================================*
7 | **函數 : MoveAve_SMA
8 | **功能 : Simple Moving Average
9 | **輸入 : NewData, MoveAve_FIFO, SampleLen
10 | **輸出 : AveData
11 | **使用 : MoveAve_SMA(NewData, MoveAve_FIFO, SampleLen);
12 | **====================================================================================================*/
13 | /*====================================================================================================*/
14 | s16 MoveAve_SMA( s16 NewData, s16 *MoveAve_FIFO, u8 SampleLen )
15 | {
16 | u8 i = 0;
17 | s16 AveData = 0;
18 | s32 MoveAve_Sum = 0;
19 |
20 | for(i=0; iKp = 0.0f;
23 | PID->Ki = 0.0f;
24 | PID->Kd = 0.0f;
25 |
26 | PID->Err0 = 0.0f;
27 | PID->Err1 = 0.0f;
28 | PID->Err2 = 0.0f;
29 | PID->SumErr = 0.0f;
30 | PID->ZeroErr = 0.0f;
31 | PID->Output = 0.0f;
32 | PID->KiMax = +400.0f;
33 | PID->KiMin = -400.0f;
34 | PID->OutMax = +800.0f;
35 | PID->OutMin = -800.0f;
36 | }
37 | /*====================================================================================================*/
38 | /*====================================================================================================*
39 | **函數 : PID_IncCal
40 | **功能 : Calculate Incremental PID
41 | **輸入 : PID, CurrentVal
42 | **輸出 : None
43 | **使用 : PID_IncCal(&PID, CurrentVal)
44 | **====================================================================================================*/
45 | /*====================================================================================================*/
46 | fp32 PID_IncCal( PID_ST *PID, fp32 CurrentVal )
47 | {
48 | fp32 Value_Kp; // 比例
49 | fp32 Value_Ki; // 積分
50 | fp32 Value_Kd; // 微分
51 |
52 | PID->Err0 = PID->Err1;
53 | PID->Err1 = PID->Err2;
54 | PID->Err2 = CurrentVal - PID->ZeroErr;
55 |
56 | Value_Kp = PID->Kp*(PID->Err2 - PID->Err1);
57 | Value_Ki = PID->Ki*PID->Err2;
58 | Value_Kd = PID->Kd*(PID->Err2 - 2.0f*PID->Err1 + PID->Err0);
59 | PID->Output = Value_Kp + Value_Ki + Value_Kd;
60 |
61 | if(PID->Output>PID->OutMax)
62 | PID->Output = PID->OutMax;
63 | if(PID->OutputOutMin)
64 | PID->Output = PID->OutMin;
65 |
66 | return (PID->Output);
67 | }
68 | /*====================================================================================================*/
69 | /*====================================================================================================*
70 | **函數 : PID_IncCal
71 | **功能 : Calculate Positional PID
72 | **輸入 : PID, CurrentVal
73 | **輸出 : None
74 | **使用 : PID_PosCal(&PID, CurrentVal)
75 | **====================================================================================================*/
76 | /*====================================================================================================*/
77 | fp32 PID_PosCal( PID_ST *PID, fp32 CurrentVal )
78 | {
79 | fp32 Value_Kp; // 比例
80 | fp32 Value_Ki; // 積分
81 | fp32 Value_Kd; // 微分
82 |
83 | PID->Err1 = PID->Err2;
84 | PID->Err2 = CurrentVal - PID->ZeroErr;
85 |
86 | PID->SumErr += PID->Err2;
87 |
88 | Value_Kp = PID->Kp*PID->Err2;
89 | Value_Ki = PID->Ki*PID->SumErr;
90 | Value_Kd = PID->Kd*(PID->Err2 - PID->Err1);
91 |
92 | if(Value_Ki>PID->KiMax) {
93 | PID->SumErr -= PID->Err2;
94 | Value_Ki = PID->KiMax;
95 | }
96 | if(Value_KiKiMin) {
97 | PID->SumErr -= PID->Err2;
98 | Value_Ki = PID->KiMin;
99 | }
100 |
101 | PID->Output = Value_Kp + Value_Ki + Value_Kd;
102 |
103 | if(PID->Output>PID->OutMax)
104 | PID->Output = PID->OutMax;
105 | if(PID->OutputOutMin)
106 | PID->Output = PID->OutMin;
107 |
108 | return (PID->Output);
109 | }
110 | /*====================================================================================================*/
111 | /*====================================================================================================*
112 | **函數 : PID_AHRS_Cal
113 | **功能 :
114 | **輸入 : PID, Angle, Gyroscope
115 | **輸出 : None
116 | **使用 : PID_AHRS_Cal(&PID, Angle, Gyroscope);
117 | **====================================================================================================*/
118 | /*====================================================================================================*/
119 | fp32 PID_AHRS_Cal( PID_ST *PID, fp32 Angle, fp32 Gyroscope )
120 | {
121 | fp32 Value_Kp; // 比例
122 | fp32 Value_Ki; // 積分
123 | fp32 Value_Kd; // 微分
124 |
125 | PID->Err1 = PID->ZeroErr - Angle;
126 |
127 | PID->SumErr = PID->SumErr + PID->Err1;
128 |
129 | Value_Kp = PID->Kp*PID->Err1;
130 | Value_Ki = PID->Ki*PID->SumErr;
131 | Value_Kd = PID->Kd*Gyroscope;
132 |
133 | if(Value_Ki>PID->KiMax)
134 | Value_Ki = PID->KiMax;
135 | if(Value_KiKiMin)
136 | Value_Ki = PID->KiMin;
137 |
138 | PID->Output = Value_Kp + Value_Ki - Value_Kd;
139 |
140 | if(PID->Output>PID->OutMax)
141 | PID->Output = PID->OutMax;
142 | if(PID->OutputOutMin)
143 | PID->Output = PID->OutMin;
144 |
145 | return (-PID->Output);
146 | }
147 | fp32 PID_AHRS_CalYaw( PID_ST *PID, fp32 Angle, fp32 Gyroscope )
148 | {
149 | fp32 minErr = 0.0f;
150 | fp32 Value_Kp; // 比例
151 | fp32 Value_Ki; // 積分
152 | fp32 Value_Kd; // 微分
153 |
154 | PID->Err1 = PID->ZeroErr - Angle;
155 |
156 | minErr = fabsf(PID->Err1);
157 | if((minErr>180.0f)&&(PID->Err1<0.0f))
158 | PID->Err1 = minErr - 360.0f;
159 | else if((minErr>180.0f)&&(PID->Err1>0.0f))
160 | PID->Err1 = 360.0f - minErr;
161 | else if((minErr<180.0f)&&(PID->Err1<0.0f))
162 | PID->Err1 = minErr;
163 | else
164 | PID->Err1 = 0.0f - minErr;
165 |
166 | PID->SumErr = PID->SumErr + PID->Err1;
167 |
168 | Value_Kp = PID->Kp*PID->Err1;
169 | Value_Ki = PID->Ki*PID->SumErr;
170 | Value_Kd = PID->Kd*Gyroscope;
171 |
172 | if(Value_Ki>PID->KiMax)
173 | Value_Ki = PID->KiMax;
174 | if(Value_KiKiMin)
175 | Value_Ki = PID->KiMin;
176 |
177 | PID->Output = Value_Kp + Value_Ki - Value_Kd;
178 |
179 | if(PID->Output>PID->OutMax)
180 | PID->Output = PID->OutMax;
181 | if(PID->OutputOutMin)
182 | PID->Output = PID->OutMin;
183 |
184 | return (-PID->Output);
185 | }
186 | /*====================================================================================================*/
187 | /*====================================================================================================*/
188 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_pid.h:
--------------------------------------------------------------------------------
1 | /* #include "algorithm_pid.h" */
2 |
3 | #ifndef __ALGORITHM_PID_H
4 | #define __ALGORITHM_PID_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | typedef struct {
10 | fp32 Kp;
11 | fp32 Ki;
12 | fp32 Kd;
13 | fp32 Err0;
14 | fp32 Err1;
15 | fp32 Err2;
16 | fp32 SumErr;
17 | fp32 ZeroErr;
18 | fp32 Output;
19 | fp32 KiMax;
20 | fp32 KiMin;
21 | fp32 OutMax;
22 | fp32 OutMin;
23 | } PID_ST;
24 | /*====================================================================================================*/
25 | /*====================================================================================================*/
26 | void PID_Init( PID_ST *PID );
27 | fp32 PID_IncCal( PID_ST *PID, fp32 CurrentVal );
28 | fp32 PID_PosCal( PID_ST *PID, fp32 CurrentVal );
29 | fp32 PID_AHRS_Cal( PID_ST *PID, fp32 Angle, fp32 Gyroscope );
30 | fp32 PID_AHRS_CalYaw( PID_ST *PID, fp32 Angle, fp32 Gyroscope );
31 | /*====================================================================================================*/
32 | /*====================================================================================================*/
33 | extern PID_ST PID_Yaw;
34 | extern PID_ST PID_Roll;
35 | extern PID_ST PID_Pitch;
36 | /*====================================================================================================*/
37 | /*====================================================================================================*/
38 | #endif
39 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_quaternion.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "algorithm_mathUnit.h"
5 | #include "algorithm_quaternion.h"
6 | /*====================================================================================================*/
7 | /*====================================================================================================*/
8 | #define USE_ARM_MATH_LIB
9 |
10 | Quaternion NumQ = {1, 0, 0, 0};
11 | EulerAngle AngE = {0};
12 | /*====================================================================================================*/
13 | /*====================================================================================================*
14 | **函數 : Quaternion_ToNumQ
15 | **功能 : 尤拉角轉四元數
16 | **輸入 : *pNumQ, *pAngE
17 | **輸出 : None
18 | **使用 : Quaternion_ToNumQ(&NumQ, &AngE);
19 | **====================================================================================================*/
20 | /*====================================================================================================*/
21 | void Quaternion_ToNumQ( Quaternion *pNumQ, EulerAngle *pAngE )
22 | {
23 | fp32 halfP = pAngE->Pitch/2.0f;
24 | fp32 halfR = pAngE->Roll/2.0f;
25 | fp32 halfY = pAngE->Yaw/2.0f;
26 |
27 | #ifndef USE_ARM_MATH_LIB
28 | fp32 sinP = sinf(halfP);
29 | fp32 cosP = cosf(halfP);
30 | fp32 sinR = sinf(halfR);
31 | fp32 cosR = cosf(halfR);
32 | fp32 sinY = sinf(halfY);
33 | fp32 cosY = cosf(halfY);
34 | #else
35 | fp32 sinP = arm_sin_f32(halfP);
36 | fp32 cosP = arm_cos_f32(halfP);
37 | fp32 sinR = arm_sin_f32(halfR);
38 | fp32 cosR = arm_cos_f32(halfR);
39 | fp32 sinY = arm_sin_f32(halfY);
40 | fp32 cosY = arm_cos_f32(halfY);
41 | #endif
42 |
43 | pNumQ->q0 = cosY*cosR*cosP + sinY*sinR*sinP;
44 | pNumQ->q1 = cosY*cosR*sinP - sinY*sinR*cosP;
45 | pNumQ->q2 = cosY*sinR*cosP + sinY*cosR*sinP;
46 | pNumQ->q3 = sinY*cosR*cosP - cosY*sinR*sinP;
47 | }
48 | /*====================================================================================================*/
49 | /*====================================================================================================*
50 | **函數 : Quaternion_ToAngE
51 | **功能 : 四元數轉尤拉角
52 | **輸入 : *pNumQ, *pAngE
53 | **輸出 : None
54 | **使用 : Quaternion_ToAngE(&NumQ, &AngE);
55 | **====================================================================================================*/
56 | /*====================================================================================================*/
57 | void Quaternion_ToAngE( Quaternion *pNumQ, EulerAngle *pAngE )
58 | {
59 | fp32 NumQ_T11 = pNumQ->q0*pNumQ->q0 + pNumQ->q1*pNumQ->q1 - pNumQ->q2*pNumQ->q2 - pNumQ->q3*pNumQ->q3;
60 | fp32 NumQ_T12 = 2.0f*(pNumQ->q0*pNumQ->q3 + pNumQ->q1*pNumQ->q2);
61 | fp32 NumQ_T13 = 2.0f*(pNumQ->q1*pNumQ->q3 - pNumQ->q0*pNumQ->q2);
62 | fp32 NumQ_T23 = 2.0f*(pNumQ->q0*pNumQ->q1 + pNumQ->q2*pNumQ->q3);
63 | fp32 NumQ_T33 = pNumQ->q0*pNumQ->q0 - pNumQ->q1*pNumQ->q1 - pNumQ->q2*pNumQ->q2 + pNumQ->q3*pNumQ->q3;
64 |
65 | pAngE->Pitch = -asinf(NumQ_T13);
66 | pAngE->Roll = atan2f(NumQ_T23, NumQ_T33);
67 | pAngE->Yaw = atan2f(NumQ_T12, NumQ_T11);
68 | }
69 | /*====================================================================================================*/
70 | /*====================================================================================================*
71 | **函數 : Quaternion_Multiply
72 | **功能 : 四元數乘法
73 | **輸入 : NowQ, OldQ
74 | **輸出 : NewQ
75 | **使用 : NewQ = Quaternion_Multiply(NowQ, OldQ);
76 | **====================================================================================================*/
77 | /*====================================================================================================*/
78 | Quaternion Quaternion_Multiply( Quaternion NowQ, Quaternion OldQ )
79 | {
80 | Quaternion NewQ;
81 |
82 | NewQ.q0 = NowQ.q0*OldQ.q0 - NowQ.q1*OldQ.q1 - NowQ.q2*OldQ.q2 - NowQ.q3*OldQ.q3;
83 | NewQ.q1 = NowQ.q0*OldQ.q1 + NowQ.q1*OldQ.q0 + NowQ.q2*OldQ.q3 - NowQ.q3*OldQ.q2;
84 | NewQ.q2 = NowQ.q0*OldQ.q2 - NowQ.q1*OldQ.q3 + NowQ.q2*OldQ.q0 + NowQ.q3*OldQ.q1;
85 | NewQ.q3 = NowQ.q0*OldQ.q3 + NowQ.q1*OldQ.q2 - NowQ.q2*OldQ.q1 + NowQ.q3*OldQ.q0;
86 |
87 | Quaternion_Normalize(&NewQ);
88 |
89 | return NewQ;
90 | }
91 | /*====================================================================================================*/
92 | /*====================================================================================================*
93 | **函數 : Quaternion_Normalize
94 | **功能 : 四元數歸一化
95 | **輸入 : *pNumQ
96 | **輸出 : None
97 | **使用 : Quaternion_Normalize(&NewQ);
98 | **====================================================================================================*/
99 | /*====================================================================================================*/
100 | void Quaternion_Normalize( Quaternion *pNumQ )
101 | {
102 | fp32 Normalize = 0.0f;
103 |
104 | Normalize = invSqrtf(squa(pNumQ->q0) + squa(pNumQ->q1) + squa(pNumQ->q2) + squa(pNumQ->q3));
105 |
106 | pNumQ->q0 = pNumQ->q0 * Normalize;
107 | pNumQ->q1 = pNumQ->q1 * Normalize;
108 | pNumQ->q2 = pNumQ->q2 * Normalize;
109 | pNumQ->q3 = pNumQ->q3 * Normalize;
110 | }
111 | /*====================================================================================================*/
112 | /*====================================================================================================*
113 | **函數 : Quaternion_RungeKutta
114 | **功能 : 一階龍格-庫塔法, 更新四元數
115 | **輸入 : *pNumQ, GyrX, GyrY, GyrZ, helfTimes
116 | **輸出 : None
117 | **使用 : Quaternion_RungeKutta(&NumQ, GyrX, GyrY, GyrZ, helfT);
118 | **====================================================================================================*/
119 | /*====================================================================================================*/
120 | void Quaternion_RungeKutta( Quaternion *pNumQ, fp32 GyrX, fp32 GyrY, fp32 GyrZ, fp32 helfTimes )
121 | {
122 | fpc32 tmpq0 = pNumQ->q0;
123 | fpc32 tmpq1 = pNumQ->q1;
124 | fpc32 tmpq2 = pNumQ->q2;
125 | fpc32 tmpq3 = pNumQ->q3;
126 |
127 | pNumQ->q0 = pNumQ->q0 + (-tmpq1*GyrX - tmpq2*GyrY - tmpq3*GyrZ) * helfTimes;
128 | pNumQ->q1 = pNumQ->q1 + ( tmpq0*GyrX - tmpq3*GyrY + tmpq2*GyrZ) * helfTimes;
129 | pNumQ->q2 = pNumQ->q2 + ( tmpq3*GyrX + tmpq0*GyrY - tmpq1*GyrZ) * helfTimes;
130 | pNumQ->q3 = pNumQ->q3 + (-tmpq2*GyrX + tmpq1*GyrY + tmpq0*GyrZ) * helfTimes;
131 | }
132 | /*====================================================================================================*/
133 | /*====================================================================================================*/
134 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_quaternion.h:
--------------------------------------------------------------------------------
1 | /* #include "algorithm_quaternion.h" */
2 |
3 | #ifndef __ALGORITHM_QUATERNION_H
4 | #define __ALGORITHM_QUATERNION_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | typedef __IO struct {
10 | fp32 Pitch;
11 | fp32 Roll;
12 | fp32 Yaw;
13 | } EulerAngle;
14 |
15 | typedef __IO struct {
16 | fp32 q0;
17 | fp32 q1;
18 | fp32 q2;
19 | fp32 q3;
20 | } Quaternion;
21 | /*====================================================================================================*/
22 | /*====================================================================================================*/
23 | void Quaternion_ToNumQ( Quaternion *pNumQ, EulerAngle *pAngE );
24 | void Quaternion_ToAngE( Quaternion *pNumQ, EulerAngle *pAngE );
25 | Quaternion Quaternion_Multiply( Quaternion NowQ, Quaternion OldQ );
26 | void Quaternion_Normalize( Quaternion *pNumQ );
27 | void Quaternion_RungeKutta( Quaternion *pNumQ, fp32 GyrX, fp32 GyrY, fp32 GyrZ, fp32 helfTimes );
28 | /*====================================================================================================*/
29 | /*====================================================================================================*/
30 | extern Quaternion NumQ;
31 | extern EulerAngle AngE;
32 | /*====================================================================================================*/
33 | /*====================================================================================================*/
34 | #endif
35 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Algorithms/algorithm_string.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "algorithm_string.h"
5 | /*====================================================================================================*/
6 | /*====================================================================================================*
7 | **函數 : Str_NumToChar
8 | **功能 : 數值轉字串
9 | **輸入 : Type, NumLen, *CharData, NumData
10 | **輸出 : None
11 | **使用 : Str_NumToChar(Type_O, 6, TrData, Data)
12 | **====================================================================================================*/
13 | /*====================================================================================================*/
14 | void Str_NumToChar( u8 Type, u8 NumLen, u8 *CharData, s32 NumData )
15 | {
16 | u8 i = 0;
17 | u32 Tmp[48] = {0};
18 | u32 NumTmp = 1;
19 |
20 | switch(Type) {
21 |
22 | case Type_B:
23 | case Type_O:
24 | case Type_D:
25 | case Type_H:
26 | for(i=0; i9)
33 | CharData[NumLen-i-1] += 55; // 65-10
34 | else
35 | CharData[NumLen-i-1] += 48;
36 | }
37 | CharData[NumLen] = '\0';
38 | break;
39 |
40 | case Type_I:
41 | if(NumData<0) {
42 | CharData[0] = '-';
43 | NumData = (~NumData) + 1;
44 | for(i=1; iSR & SPI_I2S_FLAG_TXE) == (u16)RESET);
17 | SPIx->DR = WriteByte;
18 | while((SPIx->SR & SPI_I2S_FLAG_RXNE) == (u16)RESET);
19 |
20 | return SPIx->DR;
21 | }
22 | /*====================================================================================================*/
23 | /*====================================================================================================*/
24 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Dirvers/stm32f4_spi.h:
--------------------------------------------------------------------------------
1 | /* #include "stm32f4_spi.h" */
2 |
3 | #ifndef __STM32F4_SPI_H
4 | #define __STM32F4_SPI_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | u8 SPI_RW( SPI_TypeDef* SPIx, u8 WriteByte );
10 | /*====================================================================================================*/
11 | /*====================================================================================================*/
12 | #endif
13 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Dirvers/stm32f4_system.h:
--------------------------------------------------------------------------------
1 | /* #include "stm32f4_system.h" */
2 |
3 | #ifndef __STM32F4_SYSTEM_H
4 | #define __STM32F4_SYSTEM_H
5 |
6 | #include "stm32f4xx.h"
7 | #include "stm32f4_delay.h"
8 | /*=====================================================================================================*/
9 | /*=====================================================================================================*/
10 | #define Bit_Band(Addr, BitNum) ((Addr & 0xF0000000)+0x2000000+((Addr &0xFFFFF)<<5)+(BitNum<<2))
11 | #define Mem_Addr(Addr) *((vu16 *)(Addr))
12 | #define Bit_Addr(Addr, BitNum) Mem_Addr(Bit_Band(Addr, BitNum))
13 |
14 | #define GPIOA_ODR_Addr (GPIOA_BASE+0x14)
15 | #define GPIOB_ODR_Addr (GPIOB_BASE+0x14)
16 | #define GPIOC_ODR_Addr (GPIOC_BASE+0x14)
17 | #define GPIOD_ODR_Addr (GPIOD_BASE+0x14)
18 | #define GPIOE_ODR_Addr (GPIOE_BASE+0x14)
19 | #define GPIOF_ODR_Addr (GPIOF_BASE+0x14)
20 | #define GPIOG_ODR_Addr (GPIOG_BASE+0x14)
21 | #define GPIOA_IDR_Addr (GPIOA_BASE+0x10)
22 | #define GPIOB_IDR_Addr (GPIOB_BASE+0x10)
23 | #define GPIOC_IDR_Addr (GPIOC_BASE+0x10)
24 | #define GPIOD_IDR_Addr (GPIOD_BASE+0x10)
25 | #define GPIOE_IDR_Addr (GPIOE_BASE+0x10)
26 | #define GPIOF_IDR_Addr (GPIOF_BASE+0x10)
27 | #define GPIOG_IDR_Addr (GPIOG_BASE+0x10)
28 |
29 | #define PAO(Pin) Bit_Addr(GPIOA_ODR_Addr, Pin)
30 | #define PAI(Pin) Bit_Addr(GPIOA_IDR_Addr, Pin)
31 | #define PBO(Pin) Bit_Addr(GPIOB_ODR_Addr, Pin)
32 | #define PBI(Pin) Bit_Addr(GPIOB_IDR_Addr, Pin)
33 | #define PCO(Pin) Bit_Addr(GPIOC_ODR_Addr, Pin)
34 | #define PCI(Pin) Bit_Addr(GPIOC_IDR_Addr, Pin)
35 | #define PDO(Pin) Bit_Addr(GPIOD_ODR_Addr, Pin)
36 | #define PDI(Pin) Bit_Addr(GPIOD_IDR_Addr, Pin)
37 | #define PEO(Pin) Bit_Addr(GPIOE_ODR_Addr, Pin)
38 | #define PEI(Pin) Bit_Addr(GPIOE_IDR_Addr, Pin)
39 | #define PFO(Pin) Bit_Addr(GPIOF_ODR_Addr, Pin)
40 | #define PFI(Pin) Bit_Addr(GPIOF_IDR_Addr, Pin)
41 | #define PGO(Pin) Bit_Addr(GPIOG_ODR_Addr, Pin)
42 | #define PGI(Pin) Bit_Addr(GPIOG_IDR_Addr, Pin)
43 | /*=====================================================================================================*/
44 | /*=====================================================================================================*/
45 | #define U8_MAX ((u8)255)
46 | #define S8_MAX ((s8)127)
47 | #define S8_MIN ((s8)-128)
48 | #define U16_MAX ((u16)65535u)
49 | #define S16_MAX ((s16)32767)
50 | #define S16_MIN ((s16)-32768)
51 | #define U32_MAX ((u32)4294967295uL)
52 | #define S32_MAX ((s32)2147483647)
53 | #define S32_MIN ((s32)-2147483648)
54 |
55 | #define Byte32(Type, Byte4, Byte3, Byte2, Byte1) ((Type)((((u8)(Byte4))<<24) | (((u8)(Byte3))<<16) | (((u8)(Byte2))<<8) | ((u8)(Byte1))))
56 | #define Byte16(Type, ByteH, ByteL) ((Type)((((u16)(ByteH))<<8) | ((u16)(ByteL))))
57 | #define Byte8H(ByteH) ((u8)(((u16)(ByteH))>>8))
58 | #define Byte8L(ByteL) ((u8)(ByteL))
59 |
60 | #define NULL 0
61 | /*=====================================================================================================*/
62 | /*=====================================================================================================*/
63 | #endif
64 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Dirvers/stm32f4_usart.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "stm32f4_usart.h"
5 | /*====================================================================================================*/
6 | /*====================================================================================================*
7 | **函數 : UART_SendByte
8 | **功能 : 發送 1Byte 資料
9 | **輸入 : USARTx, *SendData
10 | **輸出 : None
11 | **使用 : UART_SendByte(USART1, 'A');
12 | **====================================================================================================*/
13 | /*====================================================================================================*/
14 | void UART_SendByte( USART_TypeDef *USARTx, u8 SendData )
15 | {
16 | USART_SendData(USARTx, SendData);
17 | while(USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET);
18 | }
19 | /*====================================================================================================*/
20 | /*====================================================================================================*
21 | **函數 : UART_RecvByte
22 | **功能 : 接收 1Byte 資料
23 | **輸入 : USARTx
24 | **輸出 : RecvByte
25 | **使用 : RecvByte = UART_RecvByte(USART1);
26 | **====================================================================================================*/
27 | /*====================================================================================================*/
28 | u8 UART_RecvByte( USART_TypeDef *USARTx )
29 | {
30 | while(USART_GetFlagStatus(USARTx, USART_FLAG_RXNE) == RESET);
31 |
32 | return USART_ReceiveData(USARTx);
33 | }
34 | /*====================================================================================================*/
35 | /*====================================================================================================*
36 | **函數 : UART_SendData
37 | **功能 : 發送資料
38 | **輸入 : USARTx, *SendData, DataLen
39 | **輸出 : None
40 | **使用 : UART_SendByte(USART1, SendData, DataLen);
41 | **====================================================================================================*/
42 | /*====================================================================================================*/
43 | void UART_SendData( USART_TypeDef *USARTx, u8 *SendData, u16 DataLen )
44 | {
45 | do {
46 | USART_SendData(USARTx, *SendData);
47 | while(USART_GetFlagStatus(USARTx, USART_FLAG_TXE) == RESET);
48 | SendData++;
49 | DataLen--;
50 | } while(DataLen);
51 | }
52 | /*====================================================================================================*/
53 | /*====================================================================================================*
54 | **函數 : UART_RecvData
55 | **功能 : 接收資料
56 | **輸入 : USARTx, *RecvData, DataLen
57 | **輸出 : None
58 | **使用 : UART_RecvData(USART1, RecvData, DataLen);
59 | **====================================================================================================*/
60 | /*====================================================================================================*/
61 | void UART_RecvData( USART_TypeDef *USARTx, u8 *RecvData, u16 DataLen )
62 | {
63 | do {
64 | while(USART_GetFlagStatus(USARTx, USART_FLAG_RXNE) == RESET);
65 | *RecvData = USART_ReceiveData(USARTx);
66 | RecvData++;
67 | DataLen--;
68 | } while(DataLen);
69 | }
70 | /*====================================================================================================*/
71 | /*====================================================================================================*/
72 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Dirvers/stm32f4_usart.h:
--------------------------------------------------------------------------------
1 | /* #include "stm32f4_usart.h" */
2 |
3 | #ifndef __STM32F4_USART_H
4 | #define __STM32F4_USART_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | void UART_SendByte( USART_TypeDef *USARTx, u8 SendData );
10 | u8 UART_RecvByte( USART_TypeDef *USARTx );
11 | void UART_SendData( USART_TypeDef *USARTx, u8 *SendData, u16 DataLen );
12 | void UART_RecvData( USART_TypeDef *USARTx, u8 *RecvData, u16 DataLen );
13 | /*====================================================================================================*/
14 | /*====================================================================================================*/
15 | #endif
16 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Modules/module_imu.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "module_imu.h"
5 | #include "module_mpu9250.h"
6 | //#include "module_ms5611.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | SensorAcc Acc = {0};
10 | SensorGyr Gyr = {0};
11 |
12 | #ifdef USE_SENSOR_MAG
13 | SensorMag Mag = {0};
14 | #endif
15 |
16 | SensorTemp Temp = {0};
17 |
18 | #ifdef USE_SENSOR_BARO
19 | SensorBaro Baro = {0};
20 | #endif
21 | /*====================================================================================================*/
22 | /*====================================================================================================*
23 | **函數 : Sensor_Config
24 | **功能 : Sensor Config
25 | **輸入 : None
26 | **輸出 : None
27 | **使用 : Sensor_Config();
28 | **====================================================================================================*/
29 | /*====================================================================================================*/
30 | void Sensor_Config( void )
31 | {
32 | GPIO_InitTypeDef GPIO_InitStruct;
33 |
34 | RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
35 |
36 | /* INT PA1 */
37 | GPIO_InitStruct.GPIO_Pin = GPIO_Pin_1;
38 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
39 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
40 | GPIO_Init(GPIOA, &GPIO_InitStruct);
41 |
42 | MPU9250_Config();
43 |
44 | #ifdef USE_SENSOR_BARO
45 | MS5611_Config();
46 | #endif
47 | }
48 | /*====================================================================================================*/
49 | /*====================================================================================================*
50 | **函數 : Sensor_Init
51 | **功能 : 初始化 Sensor
52 | **輸入 : None
53 | **輸出 : None
54 | **使用 : Sensor_Init();
55 | **====================================================================================================*/
56 | /*====================================================================================================*/
57 | void Sensor_Init( void )
58 | {
59 | MPU_InitTypeDef MPU_InitStruct;
60 |
61 | Acc.X = 0;
62 | Acc.Y = 0;
63 | Acc.Z = 0;
64 | Acc.OffsetX = 0;
65 | Acc.OffsetY = 0;
66 | Acc.OffsetZ = 0;
67 | Acc.TrueX = 0.0f;
68 | Acc.TrueY = 0.0f;
69 | Acc.TrueZ = 0.0f;
70 |
71 | Gyr.X = 0;
72 | Gyr.Y = 0;
73 | Gyr.Z = 0;
74 | Gyr.OffsetX = 0;
75 | Gyr.OffsetY = 0;
76 | Gyr.OffsetZ = 0;
77 | Gyr.TrueX = 0.0f;
78 | Gyr.TrueY = 0.0f;
79 | Gyr.TrueZ = 0.0f;
80 |
81 | #ifdef USE_SENSOR_MAG
82 | Mag.X = 0;
83 | Mag.Y = 0;
84 | Mag.Z = 0;
85 | Mag.AdjustX = 0;
86 | Mag.AdjustY = 0;
87 | Mag.AdjustZ = 0;
88 | Mag.TrueX = 0.0f;
89 | Mag.TrueY = 0.0f;
90 | Mag.TrueZ = 0.0f;
91 | #endif
92 |
93 | Temp.T = 0;
94 | Temp.OffsetT = TEMP_OFFSET;
95 | Temp.TrueT = 0.0f;
96 |
97 | #ifdef USE_SENSOR_BARO
98 | Baro.Temp = 0.0f;
99 | Baro.Press = 0.0f;
100 | Baro.Height = 0.0f;
101 | #endif
102 |
103 | MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps;
104 | MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_250Hz;
105 | MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g;
106 | MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_184Hz;
107 | MPU9250_Init(&MPU_InitStruct);
108 |
109 | #ifdef USE_SENSOR_BARO
110 | MS5611_Init();
111 | #endif
112 | }
113 | /*====================================================================================================*/
114 | /*====================================================================================================*
115 | **函數 : Sensor_Read
116 | **功能 : Sensor Read
117 | **輸入 : ReadBuf
118 | **輸出 : None
119 | **使用 : Sensor_Read(SampleRateFreg);
120 | **====================================================================================================*/
121 | /*====================================================================================================*/
122 | void Sensor_Read( u16 ReadFreg )
123 | {
124 | u8 ReadBuf[20] = {0};
125 |
126 | #ifdef USE_SENSOR_BARO
127 | static s8 ReadCount = 0;
128 | static s32 Baro_Buf[2] = {0}; // 沒加 static 資料會有問題
129 | #endif
130 |
131 | MPU9250_Read(ReadBuf);
132 |
133 | Acc.X = Byte16(s16, ReadBuf[0], ReadBuf[1]); // Acc.X
134 | Acc.Y = Byte16(s16, ReadBuf[2], ReadBuf[3]); // Acc.Y
135 | Acc.Z = Byte16(s16, ReadBuf[4], ReadBuf[5]); // Acc.Z
136 | Gyr.X = Byte16(s16, ReadBuf[8], ReadBuf[9]); // Gyr.X
137 | Gyr.Y = Byte16(s16, ReadBuf[10], ReadBuf[11]); // Gyr.Y
138 | Gyr.Z = Byte16(s16, ReadBuf[12], ReadBuf[13]); // Gyr.Z
139 | #ifdef USE_SENSOR_MAG
140 | Mag.Z = Byte16(s16, ReadBuf[14], ReadBuf[15]); // Mag.X
141 | Mag.Z = Byte16(s16, ReadBuf[16], ReadBuf[17]); // Mag.Y
142 | Mag.Z = Byte16(s16, ReadBuf[18], ReadBuf[19]); // Mag.Z
143 | #endif
144 | Temp.T = Byte16(s16, ReadBuf[6], ReadBuf[7]); // Temp
145 |
146 | #ifdef USE_SENSOR_BARO
147 | if(ReadCount == 0) {
148 | MS5611_Read(Baro_Buf, MS5611_D1_OSR_4096);
149 | Baro.Temp = (fp32)(Baro_Buf[0]*0.01f); // 0.01 degC
150 | Baro.Press = (fp32)(Baro_Buf[1]*0.01f); // 0.01 mbar
151 | Baro.Height = (fp32)((Baro_Buf[1]-101333)*9.5238f);
152 | ReadCount = (u16)(ReadFreg/MS5611_RespFreq_4096)+1;
153 | }
154 | ReadCount--;
155 | #endif
156 | }
157 | /*====================================================================================================*/
158 | /*====================================================================================================*/
159 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Modules/module_imu.h:
--------------------------------------------------------------------------------
1 | /* #include "module_imu.h" */
2 |
3 | #ifndef __MODULE_IMU_H
4 | #define __MODULE_IMU_H
5 |
6 | #include "stm32f4xx.h"
7 | #include "module_mpu9250.h"
8 | //#include "module_ms5611.h"
9 | /*====================================================================================================*/
10 | /*====================================================================================================*/
11 | //#define USE_SENSOR_MAG
12 | //#define USE_SENSOR_BARO
13 |
14 | #define ACC_X_OFFSET ((s16)0)
15 | #define ACC_Y_OFFSET ((s16)0)
16 | #define ACC_Z_OFFSET ((s16)8192)
17 | #define GYR_X_OFFSET ((s16)0)
18 | #define GYR_Y_OFFSET ((s16)0)
19 | #define GYR_Z_OFFSET ((s16)0)
20 | #define MAG_X_OFFSET ((s16)0)
21 | #define MAG_Y_OFFSET ((s16)0)
22 | #define MAG_Z_OFFSET ((s16)0)
23 | #define TEMP_OFFSET ((s16)(-12421)) // (340*35)+521
24 | /*====================================================================================================*/
25 | /*====================================================================================================*/
26 | typedef __IO struct {
27 | s16 X;
28 | s16 Y;
29 | s16 Z;
30 | s16 OffsetX;
31 | s16 OffsetY;
32 | s16 OffsetZ;
33 | fp32 TrueX;
34 | fp32 TrueY;
35 | fp32 TrueZ;
36 | } SensorAcc;
37 |
38 | typedef __IO struct {
39 | s16 X;
40 | s16 Y;
41 | s16 Z;
42 | s16 OffsetX;
43 | s16 OffsetY;
44 | s16 OffsetZ;
45 | fp32 TrueX;
46 | fp32 TrueY;
47 | fp32 TrueZ;
48 | } SensorGyr;
49 |
50 | #ifdef USE_SENSOR_MAG
51 | typedef __IO struct {
52 | s16 X;
53 | s16 Y;
54 | s16 Z;
55 | u16 AdjustX;
56 | u16 AdjustY;
57 | u16 AdjustZ;
58 | fp32 TrueX;
59 | fp32 TrueY;
60 | fp32 TrueZ;
61 | fp32 EllipseSita;
62 | fp32 EllipseX0;
63 | fp32 EllipseY0;
64 | fp32 EllipseA;
65 | fp32 EllipseB;
66 | } SensorMag;
67 | #endif
68 |
69 | typedef __IO struct {
70 | s16 T;
71 | s16 OffsetT;
72 | fp32 TrueT;
73 | } SensorTemp;
74 |
75 | #ifdef USE_SENSOR_BARO
76 | typedef __IO struct {
77 | fp32 Temp;
78 | fp32 Press;
79 | fp32 Height;
80 | } SensorBaro;
81 | #endif
82 | /*====================================================================================================*/
83 | /*====================================================================================================*/
84 | extern SensorAcc Acc;
85 | extern SensorGyr Gyr;
86 |
87 | #ifdef USE_SENSOR_MAG
88 | extern SensorMag Mag;
89 | #endif
90 |
91 | extern SensorTemp Temp;
92 |
93 | #ifdef USE_SENSOR_BARO
94 | extern SensorBaro Baro;
95 | #endif
96 | /*====================================================================================================*/
97 | /*====================================================================================================*/
98 | void Sensor_Init( void );
99 | void Sensor_Config( void );
100 | void Sensor_Read( u16 ReadFreg );
101 | /*====================================================================================================*/
102 | /*====================================================================================================*/
103 | #endif
104 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Modules/module_nrf24l01.h:
--------------------------------------------------------------------------------
1 | /* #include "module_nrf24l01.h" */
2 |
3 | #ifndef __MODULE_NRF24L01_H
4 | #define __MODULE_NRF24L01_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | #define NRF_PIPE_WIDTH (5) // 發射/接收地址寬度
10 | #define NRF_CHANAL (40) // 頻道選擇
11 |
12 | #define NRF_TX_PL_WIDTH (32) // 發射數據通道有效數據寬度 0~32Byte
13 | #define NRF_RX_PL_WIDTH (32)
14 |
15 | #define NRF_MODE_TXOL (0x00) // Tx Only
16 | #define NRF_MODE_RXOL (0x01) // Rx Only
17 | #define NRF_MODE_FTLR (0x02) // First Tx Last Rx
18 | #define NRF_MODE_FRLT (0x03) // First Rx Last Tx
19 |
20 | #define NRF_RATE_250Kbps ((u8)0x27) // Bit0 Don't Care
21 | #define NRF_RATE_1Mbps ((u8)0x07) // Bit0 Don't Care
22 | #define NRF_RATE_2Mbps ((u8)0x0F) // Bit0 Don't Care
23 |
24 | #define NRF_STA_MAX_RT ((u8)0x10) // Maximum number of TX retransmits interrupt Write 1 to clear bit.
25 | #define NRF_STA_TX_DS ((u8)0x20) // Data Sent TX FIFO interrupt. If AUTO_ACK is activated, this bit is set high only when ACK is received.
26 | #define NRF_STA_RX_DR ((u8)0x40) // Data Ready RX FIFO interrupt. Asserted when new data arrives RX FIFO.
27 |
28 | // nRF24L01P Register
29 | #define NRF_CONFIG ((u8)0x00)
30 | #define NRF_EN_AA ((u8)0x01)
31 | #define NRF_EN_RXADDR ((u8)0x02)
32 | #define NRF_SETUP_AW ((u8)0x03)
33 | #define NRF_SETUP_RETR ((u8)0x04)
34 | #define NRF_RF_CH ((u8)0x05)
35 | #define NRF_RF_SETUP ((u8)0x06)
36 | #define NRF_STATUS ((u8)0x07)
37 | #define NRF_OBSERVE_TX ((u8)0x08)
38 | #define NRF_RPD ((u8)0x09)
39 | #define NRF_RX_ADDR_P0 ((u8)0x0A)
40 | #define NRF_RX_ADDR_P1 ((u8)0x0B)
41 | #define NRF_RX_ADDR_P2 ((u8)0x0C)
42 | #define NRF_RX_ADDR_P3 ((u8)0x0D)
43 | #define NRF_RX_ADDR_P4 ((u8)0x0E)
44 | #define NRF_RX_ADDR_P5 ((u8)0x0F)
45 | #define NRF_TX_ADDR ((u8)0x10)
46 | #define NRF_RX_PW_P0 ((u8)0x11)
47 | #define NRF_RX_PW_P1 ((u8)0x12)
48 | #define NRF_RX_PW_P2 ((u8)0x13)
49 | #define NRF_RX_PW_P3 ((u8)0x14)
50 | #define NRF_RX_PW_P4 ((u8)0x15)
51 | #define NRF_RX_PW_P5 ((u8)0x16)
52 | #define NRF_FIFO_STATUS ((u8)0x17)
53 | #define NRF_DYNPD ((u8)0x1C)
54 | #define NRF_FEATURE ((u8)0x1D)
55 | /*=====================================================================================================*/
56 | /*=====================================================================================================*/
57 | void NRF24L01_Config( void );
58 | void NRF24L01_Init( u8 NRF_INIT_MODE );
59 |
60 | void NRF_TX_Mode( void );
61 | void NRF_RX_Mode( void );
62 | u8 NRF_TxPacket( u8 *TxBuf );
63 | u8 NRF_RxPacket( u8 *RxBuf );
64 | extern u8 TxBuf[NRF_TX_PL_WIDTH];
65 | extern u8 RxBuf[NRF_RX_PL_WIDTH];
66 | /*====================================================================================================*/
67 | /*====================================================================================================*/
68 | #endif
69 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Modules/module_rs232.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "stm32f4_usart.h"
5 | #include "module_rs232.h"
6 | #include "algorithm_string.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | #define USARTx USART2
10 | #define USARTx_CLK RCC_APB1Periph_USART2
11 |
12 | #define USARTx_TX_PIN GPIO_Pin_2
13 | #define USARTx_TX_GPIO_PORT GPIOA
14 | #define USARTx_TX_GPIO_CLK RCC_AHB1Periph_GPIOA
15 | #define USARTx_TX_SOURCE GPIO_PinSource2
16 | #define USARTx_TX_AF GPIO_AF_USART2
17 |
18 | #define USARTx_RX_PIN GPIO_Pin_3
19 | #define USARTx_RX_GPIO_PORT GPIOA
20 | #define USARTx_RX_GPIO_CLK RCC_AHB1Periph_GPIOA
21 | #define USARTx_RX_SOURCE GPIO_PinSource3
22 | #define USARTx_RX_AF GPIO_AF_USART2
23 |
24 | #define USARTx_BAUDRATE 9600
25 | #define USARTx_BYTESIZE USART_WordLength_8b
26 | #define USARTx_STOPBITS USART_StopBits_1
27 | #define USARTx_PARITY USART_Parity_No
28 | #define USARTx_HARDWARECTRL USART_HardwareFlowControl_None
29 | /*====================================================================================================*/
30 | /*====================================================================================================*
31 | **函數 : RS232_Config
32 | **功能 : RS232 配置
33 | **輸入 : None
34 | **輸出 : None
35 | **使用 : RS232_Config();
36 | **====================================================================================================*/
37 | /*====================================================================================================*/
38 | void RS232_Config( void )
39 | {
40 | GPIO_InitTypeDef GPIO_InitStruct;
41 | USART_InitTypeDef USART_InitStruct;
42 |
43 | /* UART Clk Init *************************************************************/
44 | RCC_AHB1PeriphClockCmd(USARTx_TX_GPIO_CLK | USARTx_RX_GPIO_CLK, ENABLE);
45 | RCC_APB1PeriphClockCmd(USARTx_CLK, ENABLE);
46 |
47 | GPIO_PinAFConfig(USARTx_TX_GPIO_PORT, USARTx_TX_SOURCE, USARTx_TX_AF);
48 | GPIO_PinAFConfig(USARTx_TX_GPIO_PORT, USARTx_RX_SOURCE, USARTx_RX_AF);
49 |
50 | /* USARTx Tx PA2 */
51 | GPIO_InitStruct.GPIO_Pin = USARTx_TX_PIN;
52 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
53 | GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
54 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
55 | GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
56 | GPIO_Init(USARTx_TX_GPIO_PORT, &GPIO_InitStruct);
57 | /* USARTx Rx PA3 */
58 | GPIO_InitStruct.GPIO_Pin = USARTx_RX_PIN;
59 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
60 | GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
61 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
62 | GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
63 | GPIO_Init(USARTx_RX_GPIO_PORT, &GPIO_InitStruct);
64 |
65 | /* UART Init *****************************************************************/
66 | USART_InitStruct.USART_BaudRate = USARTx_BAUDRATE;
67 | USART_InitStruct.USART_WordLength = USARTx_BYTESIZE;
68 | USART_InitStruct.USART_StopBits = USARTx_STOPBITS;
69 | USART_InitStruct.USART_Parity = USARTx_PARITY;
70 | USART_InitStruct.USART_HardwareFlowControl = USARTx_HARDWARECTRL;
71 | USART_InitStruct.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
72 | USART_Init(USARTx, &USART_InitStruct);
73 | USART_Cmd(USARTx, ENABLE);
74 |
75 | USART_ClearFlag(USARTx, USART_FLAG_TC);
76 | }
77 | /*====================================================================================================*/
78 | /*====================================================================================================*
79 | **函數 : RS232_SendStr
80 | **功能 : 發送字串
81 | **輸入 : *pWord
82 | **輸出 : None
83 | **使用 : RS232_SendStr((u8*)"Hellow World!");
84 | **====================================================================================================*/
85 | /*====================================================================================================*/
86 | void RS232_SendStr( u8 *pWord )
87 | {
88 | while(*pWord != '\0') {
89 | UART_SendByte(USARTx, *pWord);
90 | pWord++;
91 | }
92 | }
93 | /*====================================================================================================*/
94 | /*====================================================================================================*
95 | **函數 : RS232_SendNum
96 | **功能 : 將數值轉字串發送
97 | **輸入 : Type, NumLen, SendData
98 | **輸出 : None
99 | **使用 : RS232_SendNum(Type_O, 6, 1024);
100 | **====================================================================================================*/
101 | /*====================================================================================================*/
102 | void RS232_SendNum( u8 Type, u8 NumLen, s32 SendData )
103 | {
104 | u8 TrData[32] = {0};
105 | u8 *pWord = TrData;
106 |
107 | Str_NumToChar(Type, NumLen, TrData, SendData);
108 |
109 | while(*pWord != '\0') {
110 | UART_SendByte(USARTx, *pWord);
111 | pWord++;
112 | }
113 | }
114 | /*====================================================================================================*/
115 | /*====================================================================================================*
116 | **函數 : RS232_SendData
117 | **功能 : 發送資料
118 | **輸入 : *SendData, DataLen
119 | **輸出 : None
120 | **使用 : RS232_SendData(SendData, DataLen);
121 | **====================================================================================================*/
122 | /*====================================================================================================*/
123 | void RS232_SendData( u8 *SendData, u16 DataLen )
124 | {
125 | UART_SendData(USARTx, SendData, DataLen);
126 | }
127 | /*====================================================================================================*/
128 | /*====================================================================================================*
129 | **函數 : RS232_RecvStr
130 | **功能 : 接收字串
131 | **輸入 : *pWord
132 | **輸出 : None
133 | **使用 : RS232_RecvStr(RecvStirng);
134 | **====================================================================================================*/
135 | /*====================================================================================================*/
136 | void RS232_RecvStr( u8 *pWord )
137 | {
138 | do {
139 | *pWord = UART_RecvByte(USARTx);
140 | pWord++;
141 | } while(*(pWord-1) != '\0');
142 | *pWord = '\0';
143 | }
144 | /*====================================================================================================*/
145 | /*====================================================================================================*
146 | **函數 : RS232_RecvData
147 | **功能 : 接收資料
148 | **輸入 : *RecvData, DataLen
149 | **輸出 : None
150 | **使用 : RS232_RecvData(RecvData, DataLen);
151 | **====================================================================================================*/
152 | /*====================================================================================================*/
153 | void RS232_RecvData( u8 *RecvData, u16 DataLen )
154 | {
155 | UART_RecvData(USARTx, RecvData, DataLen);
156 | }
157 | /*====================================================================================================*/
158 | /*====================================================================================================*
159 | **函數 : RS232_VisualScope_CRC16
160 | **功能 : VisualScope CRC
161 | **輸入 : *SendData, Len
162 | **輸出 : UART_CRC
163 | **使用 : UART_CRC = RS232_VisualScope_CRC16(SendData, DataLen);
164 | **====================================================================================================*/
165 | /*====================================================================================================*/
166 | static u16 RS232_VisualScope_CRC16( u8 *SendData, u8 DataLen )
167 | {
168 | u16 UART_IX, UART_IY, UART_CRC;
169 |
170 | UART_CRC = 0xffff;
171 | for(UART_IX=0; UART_IX>1)^0xA001;
176 | else
177 | UART_CRC = UART_CRC>>1;
178 | }
179 | }
180 | return(UART_CRC);
181 | }
182 | /*====================================================================================================*/
183 | /*====================================================================================================*
184 | **函數 : RS232_VisualScope
185 | **功能 : VisualScope
186 | **輸入 : *SendBuf
187 | **輸出 : None
188 | **使用 : RS232_VisualScope(SendBuf);
189 | **====================================================================================================*/
190 | /*====================================================================================================*/
191 | void RS232_VisualScope( u8 *SendBuf )
192 | {
193 | u8 SendCRC[2] = {0};
194 | u16 UART_CRC;
195 |
196 | UART_CRC = RS232_VisualScope_CRC16(SendBuf, 8);
197 | SendCRC[0] = UART_CRC&0x00ff;
198 | SendCRC[1] = (UART_CRC&0xff00)>>8;
199 |
200 | UART_SendData(USARTx, SendBuf, 8);
201 | UART_SendData(USARTx, SendCRC, 2);
202 | }
203 | /*====================================================================================================*/
204 | /*====================================================================================================*/
205 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/Modules/module_rs232.h:
--------------------------------------------------------------------------------
1 | /* #include "module_rs232.h" */
2 |
3 | #ifndef __MODULE_RS232_H
4 | #define __MODULE_RS232_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | void RS232_Config( void );
10 | void RS232_SendStr( u8 *pWord );
11 | void RS232_SendNum( u8 Type, u8 NumLen, s32 SendData );
12 | void RS232_SendData( u8 *SendData, u16 DataLen );
13 | void RS232_RecvStr( u8 *pWord );
14 | void RS232_RecvData( u8 *RecvData, u16 DataLen );
15 | void RS232_VisualScope( u8 *SendBuf );
16 | /*====================================================================================================*/
17 | /*====================================================================================================*/
18 | #endif
19 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/QCopterNano.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "stm32f4_usart.h"
5 | #include "QCopterNano.h"
6 | #include "QCopterNano_ctrl.h"
7 | #include "QCopterNano_transport.h"
8 | #include "module_rs232.h"
9 | #include "module_nrf24l01.h"
10 | #include "module_imu.h"
11 | #include "module_mpu9250.h"
12 | #include "algorithm_pid.h"
13 | #include "algorithm_ahrs.h"
14 | #include "algorithm_string.h"
15 | /*====================================================================================================*/
16 | /*====================================================================================================*/
17 | FSM_MODE FSM_STATE = FSM_TXRX;
18 | SEN_MODE SEN_STATE = SEN_CORR;
19 | /*====================================================================================================*/
20 | /*====================================================================================================*/
21 | void System_Init( void )
22 | {
23 | SystemInit();
24 |
25 | GPIO_Config();
26 | RS232_Config();
27 | Motor_Config();
28 | Sensor_Config();
29 | NRF24L01_Config();
30 |
31 | LED = 0;
32 |
33 | Sensor_Init();
34 | NRF24L01_Init(NRF_MODE_FTLR);
35 |
36 | PID_Init(&PID_Yaw);
37 | PID_Init(&PID_Roll);
38 | PID_Init(&PID_Pitch);
39 |
40 | PID_Pitch.Kp = +1.0f;
41 | PID_Pitch.Ki = +0.000f;
42 | PID_Pitch.Kd = +3.0f;
43 |
44 | PID_Roll.Kp = +1.0f;
45 | PID_Roll.Ki = +0.000f;
46 | PID_Roll.Kd = +3.0f;
47 |
48 | PID_Yaw.Kp = +0.0f;
49 | PID_Yaw.Ki = +0.0f;
50 | PID_Yaw.Kd = +0.0f;
51 |
52 | AHRS_Init(&NumQ, &AngE);
53 |
54 | /* Systick Setup */
55 | if(SysTick_Config((u32)(SystemCoreClock/(float)SampleRateFreg)))
56 | while(1);
57 |
58 | /* Wait Correct */
59 | while(SEN_STATE != SEN_ALG);
60 | LED = 1;
61 | }
62 | /*====================================================================================================*/
63 | /*====================================================================================================*/
64 | int main( void )
65 | {
66 | u8 Status = 0;
67 |
68 | System_Init();
69 | Delay_100ms(5);
70 |
71 | /* QCopterNano FSM */
72 | while(1) {
73 | // LED = !LED;
74 | switch(FSM_STATE) {
75 |
76 | /************************** FSM TXRX ****************************************/
77 | case FSM_TXRX:
78 | // FSM_TXRX
79 | Transport_Send(TxBuf);
80 | do {
81 | Status = NRF_TxPacket(TxBuf);
82 | } while(Status == NRF_STA_MAX_RT);
83 | NRF_RX_Mode();
84 | Status = NRF_RxPacket(RxBuf);
85 | if(Status == NRF_STA_RX_DR) {
86 | Transport_Recv(RxBuf);
87 | }
88 | // FSM_TXRX End
89 | FSM_STATE = FSM_CTRL;
90 | break;
91 |
92 | /************************** FSM CTRL ****************************************/
93 | case FSM_CTRL:
94 | // FSM_CTRL
95 | Ctrl_BasicThr();
96 | // FSM_CTRL End
97 | FSM_STATE = FSM_UART;
98 | break;
99 |
100 | /************************** FSM UART ****************************************/
101 | case FSM_UART:
102 | // FSM_UART
103 | RS232_VisualScope(TxBuf+20);
104 | // FSM_UART End
105 | FSM_STATE = FSM_DATA;
106 | break;
107 |
108 | /************************** FSM DATA ****************************************/
109 | case FSM_DATA:
110 | // FSM_DATA
111 |
112 | // FSM_DATA End
113 | FSM_STATE = FSM_TXRX;
114 | break;
115 |
116 | /************************** FSM Err *****************************************/
117 | default:
118 | LED = 1;
119 | while(1) {
120 | LED = !LED;
121 | Delay_100ms(10);
122 | }
123 | }
124 | }
125 | }
126 | /*====================================================================================================*/
127 | /*====================================================================================================*/
128 | void GPIO_Config( void )
129 | {
130 | GPIO_InitTypeDef GPIO_InitStruct;
131 |
132 | /* LED Clk Init *************************************************************/
133 | RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
134 |
135 | /* LED PC13 */
136 | GPIO_InitStruct.GPIO_Pin = GPIO_Pin_13;
137 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
138 | GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
139 | GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
140 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
141 | GPIO_Init(GPIOC, &GPIO_InitStruct);
142 |
143 | LED = 1;
144 | }
145 | /*====================================================================================================*/
146 | /*====================================================================================================*/
147 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/QCopterNano.h:
--------------------------------------------------------------------------------
1 | /* #include "experiment_stm32f4.h" */
2 |
3 | #ifndef __EXPERIMENT_STM32F4_H
4 | #define __EXPERIMENT_STM32F4_H
5 |
6 | #include "stm32f4xx.h"
7 | /*====================================================================================================*/
8 | /*====================================================================================================*/
9 | #define LED PCO(13)
10 | /*====================================================================================================*/
11 | /*====================================================================================================*/
12 | typedef __IO enum {
13 | FSM__OUT_L = 0,
14 | FSM_TXRX,
15 | FSM_CTRL,
16 | FSM_UART,
17 | FSM_DATA,
18 | FSM_OUT_R
19 | } FSM_MODE;
20 |
21 | typedef __IO enum {
22 | SEN__OUT_L = 0,
23 | SEN_CORR,
24 | SEN_GYR,
25 | SEN_ACC,
26 | SEN_MAG,
27 | SEN_NUMQ,
28 | SEN_ALG,
29 | SEN_OUT_R
30 | } SEN_MODE;
31 | /*====================================================================================================*/
32 | /*====================================================================================================*/
33 | void GPIO_Config( void );
34 | /*====================================================================================================*/
35 | /*====================================================================================================*/
36 | extern FSM_MODE FSM_STATE;
37 | extern SEN_MODE SEN_STATE;
38 | /*====================================================================================================*/
39 | /*====================================================================================================*/
40 | #endif
41 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/QCopterNano_ctrl.c:
--------------------------------------------------------------------------------
1 | /*====================================================================================================*/
2 | /*====================================================================================================*/
3 | #include "stm32f4_system.h"
4 | #include "QCopterNano_ctrl.h"
5 | #include "QCopterNano_transport.h"
6 | /*====================================================================================================*/
7 | /*====================================================================================================*/
8 | #define PWM1 TIM4->CCR4
9 | #define PWM2 TIM4->CCR1
10 | #define PWM3 TIM4->CCR2
11 | #define PWM4 TIM4->CCR3
12 | /*====================================================================================================*/
13 | /*====================================================================================================*/
14 | u16 BasicThr = 0; // 0 ~ 10000 對應到 0.00% ~ 100.00%
15 | /*=====================================================================================================*/
16 | /*=====================================================================================================*
17 | **函數 : Motor_Config
18 | **功能 : 配置馬達
19 | **輸入 : None
20 | **輸出 : None
21 | **使用 : Motor_Config();
22 | **=====================================================================================================*/
23 | /*=====================================================================================================*/
24 | void Motor_Config( void )
25 | {
26 | GPIO_InitTypeDef GPIO_InitStruct;
27 | TIM_TimeBaseInitTypeDef TIM_TimeBaseStruct;
28 | TIM_OCInitTypeDef TIM_OCInitStruct;
29 |
30 | RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
31 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
32 |
33 | GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);
34 | GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);
35 | GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);
36 | GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);
37 |
38 | /* TIM4 PWM1 PB6 */ /* TIM4 PWM2 PB7 */ /* TIM4 PWM3 PB8 */ /* TIM4 PWM4 PB9 */
39 | GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
40 | GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
41 | GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
42 | GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
43 | GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
44 | GPIO_Init(GPIOB, &GPIO_InitStruct);
45 |
46 | TIM_DeInit(TIM4);
47 |
48 | /************************** PWM Output **************************************/
49 | /* TIM4 Time Base */
50 | TIM_TimeBaseStruct.TIM_Period = (u16)(MOTOR_PWM_RANGE-1); // Period = 11.9us => Freq = 400Hz
51 | TIM_TimeBaseStruct.TIM_Prescaler = (u16)(21-1); // fCK_PSC = APB1*2 = 42*2 = 84, fCK_PSC /21 = 4M ( 0.25us )
52 | TIM_TimeBaseStruct.TIM_ClockDivision = TIM_CKD_DIV1;
53 | TIM_TimeBaseStruct.TIM_CounterMode = TIM_CounterMode_Up; // Count Up
54 | TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStruct);
55 | TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStruct);
56 |
57 | /* TIM4 OC */
58 | TIM_OCInitStruct.TIM_OCMode = TIM_OCMode_PWM1; // Set PWM1 Mode
59 | TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Enable; // Enable OC
60 | TIM_OCInitStruct.TIM_Pulse = MOTOR_PWM_MIN; // Set Pulse
61 | TIM_OCInitStruct.TIM_OCPolarity = TIM_OCPolarity_High; // when Count < PWM_MOTOR_MIN => High
62 | TIM_OC1Init(TIM4, &TIM_OCInitStruct); // Init TIM4 OC1
63 | TIM_OC2Init(TIM4, &TIM_OCInitStruct); // Init TIM4 OC2
64 | TIM_OC3Init(TIM4, &TIM_OCInitStruct); // Init TIM4 OC3
65 | TIM_OC4Init(TIM4, &TIM_OCInitStruct); // Init TIM4 OC4
66 | TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable); // Enable TIM4 OC1 Preload
67 | TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable); // Enable TIM4 OC2 Preload
68 | TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable); // Enable TIM4 OC3 Preload
69 | TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable); // Enable TIM4 OC4 Preload
70 |
71 | TIM4->CCR1 = MOTOR_PWM_MIN;
72 | TIM4->CCR2 = MOTOR_PWM_MIN;
73 | TIM4->CCR3 = MOTOR_PWM_MIN;
74 | TIM4->CCR4 = MOTOR_PWM_MIN;
75 |
76 | /* Enable */
77 | TIM_ARRPreloadConfig(TIM4, ENABLE); // Enable TIM4 ARR Preload
78 | TIM_Cmd(TIM4, ENABLE); // Start TIM4
79 | }
80 | /*=====================================================================================================*/
81 | /*=====================================================================================================*
82 | **函數 : Ctrl_MotorPWM
83 | **功能 : 馬達脈波控制
84 | **輸入 : MOTOR_1, MOTOR_2, MOTOR_3, MOTOR_4
85 | **輸出 : None
86 | **使用 : Ctrl_MotorPWM(MOTOR[0], MOTOR[1], MOTOR[2], MOTOR[3]);
87 | **=====================================================================================================*/
88 | /*=====================================================================================================*/
89 | void Ctrl_MotorPWM( s16 MOTOR_1, s16 MOTOR_2, s16 MOTOR_3, s16 MOTOR_4 )
90 | {
91 | if(MOTOR_1>MOTOR_PWM_MAX) MOTOR_1 = MOTOR_PWM_MAX;
92 | else if(MOTOR_1MOTOR_PWM_MAX) MOTOR_2 = MOTOR_PWM_MAX;
94 | else if(MOTOR_2MOTOR_PWM_MAX) MOTOR_3 = MOTOR_PWM_MAX;
96 | else if(MOTOR_3MOTOR_PWM_MAX) MOTOR_4 = MOTOR_PWM_MAX;
98 | else if(MOTOR_4MOTOR_THR_MAX) MOTOR_1 = MOTOR_THR_MAX;
117 | else if(MOTOR_1<(MOTOR_THR_MIN+500)) MOTOR_1 = MOTOR_THR_MIN;
118 | if(MOTOR_2>MOTOR_THR_MAX) MOTOR_2 = MOTOR_THR_MAX;
119 | else if(MOTOR_2<(MOTOR_THR_MIN+500)) MOTOR_2 = MOTOR_THR_MIN;
120 | if(MOTOR_3>MOTOR_THR_MAX) MOTOR_3 = MOTOR_THR_MAX;
121 | else if(MOTOR_3<(MOTOR_THR_MIN+500)) MOTOR_3 = MOTOR_THR_MIN;
122 | if(MOTOR_4>MOTOR_THR_MAX) MOTOR_4 = MOTOR_THR_MAX;
123 | else if(MOTOR_4<(MOTOR_THR_MIN+500)) MOTOR_4 = MOTOR_THR_MIN;
124 |
125 | PWM1 = (u16)(MOTOR_1>>2);
126 | PWM2 = (u16)(MOTOR_2>>2);
127 | PWM3 = (u16)(MOTOR_3>>2);
128 | PWM4 = (u16)(MOTOR_4>>2);
129 | }
130 | /*=====================================================================================================*/
131 | /*=====================================================================================================*
132 | **函數 : CTRL_SERVO
133 | **功能 : 伺服馬達控制
134 | **輸入 : SevroA, SevroB
135 | **輸出 : None
136 | **使用 : CTRL_SERVO( SevroA, SevroB );
137 | **=====================================================================================================*/
138 | /*=====================================================================================================*/
139 | //void CTRL_SERVO( void )
140 | //{
141 |
142 | //}
143 | /*=====================================================================================================*/
144 | /*=====================================================================================================*
145 | **函數 : Ctrl_BasicThr
146 | **功能 : 飛行器基本油門控制
147 | **輸入 : None
148 | **輸出 : None
149 | **使用 : Ctrl_BasicThr();
150 | **=====================================================================================================*/
151 | /*=====================================================================================================*/
152 | void Ctrl_BasicThr( void )
153 | {
154 | s16 TempThr = 0;
155 | static s16 TempThrB = 0;
156 |
157 | // 粗調油門
158 | if(KEY_LP == 1) {
159 | TempThrB = (s16)EXP_THR_B;
160 | if(TempThrB>MOTOR_THR_MAX)
161 | TempThrB = MOTOR_THR_MAX;
162 | if(TempThrBMOTOR_THR_MAX)
169 | TempThr = MOTOR_THR_MAX;
170 | if(TempThr>1);
35 | RF_RecvData.KeyR[1].KeyRead = (u8)(RecvBuf[5]&0x01);
36 | RF_RecvData.KeyR[1].PressTime = (u8)(RecvBuf[5]>>1);
37 | RF_RecvData.KeyR[2].KeyRead = (u8)(RecvBuf[6]&0x01);
38 | RF_RecvData.KeyR[2].PressTime = (u8)(RecvBuf[6]>>1);
39 |
40 | RF_RecvData.KeyL[0].KeyRead = (u8)(RecvBuf[7]&0x01);
41 | RF_RecvData.KeyL[0].PressTime = (u8)(RecvBuf[7]>>1);
42 | RF_RecvData.KeyL[1].KeyRead = (u8)(RecvBuf[8]&0x01);
43 | RF_RecvData.KeyL[1].PressTime = (u8)(RecvBuf[8]>>1);
44 | RF_RecvData.KeyL[2].KeyRead = (u8)(RecvBuf[9]&0x01);
45 | RF_RecvData.KeyL[2].PressTime = (u8)(RecvBuf[9]>>1);
46 |
47 | RF_RecvData.KeyP[0].KeyRead = (u8)(RecvBuf[10]&0x01);
48 | RF_RecvData.KeyP[0].PressTime = (u8)(RecvBuf[10]>>1);
49 | RF_RecvData.KeyP[1].KeyRead = (u8)(RecvBuf[11]&0x01);
50 | RF_RecvData.KeyP[1].PressTime = (u8)(RecvBuf[11]>>1);
51 | RF_RecvData.KeyP[2].KeyRead = (u8)(RecvBuf[12]&0x01);
52 | RF_RecvData.KeyP[2].PressTime = (u8)(RecvBuf[12]>>1);
53 |
54 | RF_RecvData.KeyS[0].KeyRead = (u8)(RecvBuf[13]&0x01);
55 | RF_RecvData.KeyS[0].PressTime = (u8)(RecvBuf[13]>>1);
56 | RF_RecvData.KeyS[1].KeyRead = (u8)(RecvBuf[14]&0x01);
57 | RF_RecvData.KeyS[1].PressTime = (u8)(RecvBuf[14]>>1);
58 | RF_RecvData.KeyS[2].KeyRead = (u8)(RecvBuf[15]&0x01);
59 | RF_RecvData.KeyS[2].PressTime = (u8)(RecvBuf[15]>>1);
60 |
61 | RF_RecvData.Ctrl.ThrB = (s16)(Byte16(u16, RecvBuf[16], RecvBuf[17]));
62 | RF_RecvData.Ctrl.ThrS = (s16)(Byte16(u16, RecvBuf[18], RecvBuf[19]));
63 | RF_RecvData.Ctrl.Pitch = (s16)(Byte16(u16, RecvBuf[20], RecvBuf[21]));
64 | RF_RecvData.Ctrl.Roll = (s16)(Byte16(u16, RecvBuf[22], RecvBuf[23]));
65 | RF_RecvData.Ctrl.Yaw = (s16)(Byte16(u16, RecvBuf[24], RecvBuf[25]));
66 | RF_RecvData.Ctrl.Corr = (s16)(Byte16(u16, RecvBuf[26], RecvBuf[27]));
67 |
68 | RF_RecvData.Cmd = (u8)(RecvBuf[28]);
69 | RF_RecvData.Data[0] = (u8)(RecvBuf[29]);
70 | RF_RecvData.Data[1] = (u8)(RecvBuf[30]);
71 | RF_RecvData.Data[2] = (u8)(RecvBuf[31]);
72 | }
73 | /*=====================================================================================================*/
74 | /*=====================================================================================================*
75 | **函數 : Transport_Send
76 | **功能 : 紀錄發送資料
77 | **輸入 : SendBuf
78 | **輸出 : None
79 | **使用 : Transport_Send(TxBuf);
80 | **=====================================================================================================*/
81 | /*=====================================================================================================*/
82 | void Transport_Send( u8* SendBuf )
83 | {
84 | s16 TMP_BUF[16] = {0};
85 |
86 | // TMP_BUF[0] = (s16)(Acc.X); // 1 mg/LSB
87 | // TMP_BUF[1] = (s16)(Acc.Y); // 1 mg/LSB
88 | // TMP_BUF[2] = (s16)(Acc.Z); // 1 mg/LSB
89 | // TMP_BUF[3] = (s16)(Gyr.X); // 10 mdps/LSB
90 | // TMP_BUF[4] = (s16)(Gyr.Y); // 10 mdps/LSB
91 | // TMP_BUF[5] = (s16)(Gyr.Z); // 10 mdps/LSB
92 | TMP_BUF[0] = (s16)(Acc.TrueX*1000); // 1 mg/LSB
93 | TMP_BUF[1] = (s16)(Acc.TrueY*1000); // 1 mg/LSB
94 | TMP_BUF[2] = (s16)(Acc.TrueZ*1000); // 1 mg/LSB
95 | TMP_BUF[3] = (s16)(Gyr.TrueX*10); // 10 mdps/LSB
96 | TMP_BUF[4] = (s16)(Gyr.TrueY*10); // 10 mdps/LSB
97 | TMP_BUF[5] = (s16)(Gyr.TrueZ*10); // 10 mdps/LSB
98 | // TMP_BUF[6] = (s16)(PID_Pitch.Kp);
99 | // TMP_BUF[7] = (s16)(PID_Pitch.Ki);
100 | // TMP_BUF[8] = (s16)(PID_Pitch.Kd);
101 | TMP_BUF[6] = (s16)(PID_Pitch.Kp*1000);
102 | TMP_BUF[7] = (s16)(PID_Pitch.Ki*1000);
103 | TMP_BUF[8] = (s16)(PID_Pitch.Kd*1000);
104 | TMP_BUF[9] = (s16)(AngE.Pitch*100);
105 | TMP_BUF[10] = (s16)(AngE.Roll*100);
106 | TMP_BUF[11] = (s16)(AngE.Yaw*10);
107 | TMP_BUF[12] = (s16)(BasicThr);
108 | TMP_BUF[13] = (s16)(Time_Sec);
109 | TMP_BUF[14] = (s16)(Time_Min);
110 |
111 | SendBuf[0] = (u8)(0x01);
112 | SendBuf[1] = (u8)(0x02);
113 | SendBuf[2] = (u8)Byte8L(TMP_BUF[0]);
114 | SendBuf[3] = (u8)Byte8H(TMP_BUF[0]);
115 | SendBuf[4] = (u8)Byte8L(TMP_BUF[1]);
116 | SendBuf[5] = (u8)Byte8H(TMP_BUF[1]);
117 | SendBuf[6] = (u8)Byte8L(TMP_BUF[2]);
118 | SendBuf[7] = (u8)Byte8H(TMP_BUF[2]);
119 | SendBuf[8] = (u8)Byte8L(TMP_BUF[3]);
120 | SendBuf[9] = (u8)Byte8H(TMP_BUF[3]);
121 | SendBuf[10] = (u8)Byte8L(TMP_BUF[4]);
122 | SendBuf[11] = (u8)Byte8H(TMP_BUF[4]);
123 | SendBuf[12] = (u8)Byte8L(TMP_BUF[5]);
124 | SendBuf[13] = (u8)Byte8H(TMP_BUF[5]);
125 | SendBuf[14] = (u8)Byte8L(TMP_BUF[6]);
126 | SendBuf[15] = (u8)Byte8H(TMP_BUF[6]);
127 | SendBuf[16] = (u8)Byte8L(TMP_BUF[7]);
128 | SendBuf[17] = (u8)Byte8H(TMP_BUF[7]);
129 | SendBuf[18] = (u8)Byte8L(TMP_BUF[8]);
130 | SendBuf[19] = (u8)Byte8H(TMP_BUF[8]);
131 | SendBuf[20] = (u8)Byte8L(TMP_BUF[9]);
132 | SendBuf[21] = (u8)Byte8H(TMP_BUF[9]);
133 | SendBuf[22] = (u8)Byte8L(TMP_BUF[10]);
134 | SendBuf[23] = (u8)Byte8H(TMP_BUF[10]);
135 | SendBuf[24] = (u8)Byte8L(TMP_BUF[11]);
136 | SendBuf[25] = (u8)Byte8H(TMP_BUF[11]);
137 | SendBuf[26] = (u8)Byte8L(TMP_BUF[12]);
138 | SendBuf[27] = (u8)Byte8H(TMP_BUF[12]);
139 | SendBuf[28] = (u8)(0);
140 | SendBuf[29] = (u8)(0);
141 | SendBuf[30] = (u8)(TMP_BUF[13]);
142 | SendBuf[31] = (u8)(TMP_BUF[14]);
143 | }
144 | /*=====================================================================================================*/
145 | /*=====================================================================================================*/
146 |
--------------------------------------------------------------------------------
/Software/QCopterNano_FlightControl/Program/QCopterNano_transport.h:
--------------------------------------------------------------------------------
1 | /* #include "QCopterNano_transport.h" */
2 |
3 | #ifndef __QCOPTERNANO_TRANSPORT_H
4 | #define __QCOPTERNANO_TRANSPORT_H
5 |
6 | #include "stm32f4xx.h"
7 | /*=====================================================================================================*/
8 | /*=====================================================================================================*/
9 | #define KEY_RP (RF_RecvData.KeyR[0].KeyRead)
10 | #define KEY_RR (RF_RecvData.KeyR[1].KeyRead)
11 | #define KEY_RL (RF_RecvData.KeyR[2].KeyRead)
12 | #define KEY_LP (RF_RecvData.KeyL[0].KeyRead)
13 | #define KEY_LR (RF_RecvData.KeyL[1].KeyRead)
14 | #define KEY_LL (RF_RecvData.KeyL[2].KeyRead)
15 | #define KEY_PP (RF_RecvData.KeyP[0].KeyRead)
16 | #define KEY_PR (RF_RecvData.KeyP[1].KeyRead)
17 | #define KEY_PL (RF_RecvData.KeyP[2].KeyRead)
18 | #define KEY_S1 (RF_RecvData.KeyS[0].KeyRead)
19 | #define KEY_S2 (RF_RecvData.KeyS[1].KeyRead)
20 | #define KEY_S3 (RF_RecvData.KeyS[2].KeyRead)
21 |
22 | #define KEY_RP_T (RF_RecvData.KeyR[0].PressTime)
23 | #define KEY_RR_T (RF_RecvData.KeyR[1].PressTime)
24 | #define KEY_RL_T (RF_RecvData.KeyR[2].PressTime)
25 | #define KEY_LP_T (RF_RecvData.KeyL[0].PressTime)
26 | #define KEY_LR_T (RF_RecvData.KeyL[1].PressTime)
27 | #define KEY_LL_T (RF_RecvData.KeyL[2].PressTime)
28 | #define KEY_PP_T (RF_RecvData.KeyP[0].PressTime)
29 | #define KEY_PR_T (RF_RecvData.KeyP[1].PressTime)
30 | #define KEY_PL_T (RF_RecvData.KeyP[2].PressTime)
31 | #define KEY_S1_T (RF_RecvData.KeyS[0].PressTime)
32 | #define KEY_S2_T (RF_RecvData.KeyS[1].PressTime)
33 | #define KEY_S3_T (RF_RecvData.KeyS[2].PressTime)
34 |
35 | #define EXP_THR_B (RF_RecvData.Ctrl.ThrB)
36 | #define EXP_THR_S (RF_RecvData.Ctrl.ThrS)
37 | #define EXP_PITCH (RF_RecvData.Ctrl.Pitch)
38 | #define EXP_ROLL (RF_RecvData.Ctrl.Roll)
39 | #define EXP_YAW (RF_RecvData.Ctrl.Yaw)
40 | /*=====================================================================================================*/
41 | /*=====================================================================================================*/
42 | typedef __IO struct {
43 | u8 Packet; // Byt[00:00] Packet *****
44 | struct { // Byt[01:03] Time *******
45 | u8 Min; // [01:01] Time_Min
46 | u8 Sec; // [02:02] Time_Sec
47 | u8 Cnt; // [03:03] Time_Cnt
48 | } Time;
49 | struct { // Byt[04:06] KeyR *******
50 | u8 KeyRead; // [04:04] KeyRP Bit[7:1] PressTime Bit[0:0] KeyRead
51 | u8 PressTime; // [05:05] KeyRR Bit[7:1] PressTime Bit[0:0] KeyRead
52 | } KeyR[3]; // [06:06] KeyRL Bit[7:1] PressTime Bit[0:0] KeyRead
53 | struct { // Byt[07:09] KeyL *******
54 | u8 KeyRead; // [07:07] KeyLP Bit[7:1] PressTime Bit[0:0] KeyRead
55 | u8 PressTime; // [08:08] KeyLR Bit[7:1] PressTime Bit[0:0] KeyRead
56 | } KeyL[3]; // [09:09] KeyLL Bit[7:1] PressTime Bit[0:0] KeyRead
57 | struct { // Byt[10:12] KeyP *******
58 | u8 KeyRead; // [10:10] KeyPP Bit[7:1] PressTime Bit[0:0] KeyRead
59 | u8 PressTime; // [11:11] KeyPR Bit[7:1] PressTime Bit[0:0] KeyRead
60 | } KeyP[3]; // [12:12] KeyPL Bit[7:1] PressTime Bit[0:0] KeyRead
61 | struct { // Byt[13:15] KeyS *******
62 | u8 KeyRead; // [13:13] KeyS1 Bit[7:1] PressTime Bit[0:0] KeyRead
63 | u8 PressTime; // [14:14] KeyS2 Bit[7:1] PressTime Bit[0:0] KeyRead
64 | } KeyS[3]; // [15:15] KeyS3 Bit[7:1] PressTime Bit[0:0] KeyRead
65 | struct { // Byt[16:27] Ctrl *******
66 | s16 ThrB; // [16:17] ThrB [16] ThrB_H [17] ThrB_L
67 | s16 ThrS; // [18:19] ThrS [18] ThrS_H [19] ThrS_L
68 | s16 Pitch; // [20:21] Pitch [20] Pitch_H [21] Pitch_L
69 | s16 Roll; // [22:23] Roll [22] Roll_H [23] Roll_L
70 | s16 Yaw; // [24:25] Yaw [24] Yaw_H [25] Yaw_L
71 | s16 Corr; // [26:27] Corr [26] Corr_H [27] Corr_L
72 | } Ctrl;
73 | u8 Cmd; // Byt[28:28] Cmd ********
74 | u8 Data[3]; // Byt[29:31] Data *******
75 | } TR_RECV_DATA;
76 | /*=====================================================================================================*/
77 | /*=====================================================================================================*/
78 | void Transport_Recv( u8* RecvBuf );
79 | void Transport_Send( u8* SendBuf );
80 | /*=====================================================================================================*/
81 | /*=====================================================================================================*/
82 | extern TR_RECV_DATA RF_RecvData;
83 | /*=====================================================================================================*/
84 | /*=====================================================================================================*/
85 | #endif
86 |
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/Software/QCopterNano_FlightControl/Program/stm32f4xx_conf.h:
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1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_conf.h
4 | * @author MCD Application Team
5 | * @version V1.3.0
6 | * @date 13-November-2013
7 | * @brief Library configuration file.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2013 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __STM32F4xx_CONF_H
30 | #define __STM32F4xx_CONF_H
31 |
32 | /* Includes ------------------------------------------------------------------*/
33 | /* Uncomment the line below to enable peripheral header file inclusion */
34 | //#include "misc.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
35 | //#include "stm32f4xx_adc.h"
36 | //#include "stm32f4xx_can.h"
37 | //#include "stm32f4xx_crc.h"
38 | //#include "stm32f4xx_cryp.h"
39 | //#include "stm32f4xx_dbgmcu.h"
40 | //#include "stm32f4xx_dac.h"
41 | //#include "stm32f4xx_dcmi.h"
42 | //#include "stm32f4xx_dma.h"
43 | //#include "stm32f4xx_dma2d.h"
44 | //#include "stm32f4xx_exti.h"
45 | //#include "stm32f4xx_flash.h"
46 | //#include "stm32f4xx_fmc.h"
47 | #include "stm32f4xx_gpio.h"
48 | //#include "stm32f4xx_hash.h"
49 | //#include "stm32f4xx_i2c.h"
50 | //#include "stm32f4xx_iwdg.h"
51 | //#include "stm32f4xx_ltdc.h"
52 | //#include "stm32f4xx_pwr.h"
53 | #include "stm32f4xx_rcc.h"
54 | //#include "stm32f4xx_rng.h"
55 | //#include "stm32f4xx_rtc.h"
56 | //#include "stm32f4xx_sai.h"
57 | //#include "stm32f4xx_sdio.h"
58 | #include "stm32f4xx_spi.h"
59 | //#include "stm32f4xx_syscfg.h"
60 | #include "stm32f4xx_tim.h"
61 | #include "stm32f4xx_usart.h"
62 | //#include "stm32f4xx_wwdg.h"
63 |
64 | /* Exported macro ------------------------------------------------------------*/
65 | #ifdef USE_FULL_ASSERT
66 |
67 | /**
68 | * @brief The assert_param macro is used for function's parameters check.
69 | * @param expr: If expr is false, it calls assert_failed function
70 | * which reports the name of the source file and the source
71 | * line number of the call that failed.
72 | * If expr is true, it returns no value.
73 | * @retval None
74 | */
75 | #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
76 | /* Exported functions ------------------------------------------------------- */
77 | void assert_failed(uint8_t* file, uint32_t line);
78 | #else
79 | #define assert_param(expr) ((void)0)
80 | #endif /* USE_FULL_ASSERT */
81 |
82 | #endif /* __STM32F4xx_CONF_H */
83 |
84 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
85 |
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/Software/QCopterNano_FlightControl/ProjectIMU/ClearFile.bat:
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1 | del *.bak /s
2 | del *.ddk /s
3 | del *.edk /s
4 | del *.lst /s
5 | del *.lnp /s
6 | del *.mpf /s
7 | del *.mpj /s
8 | del *.obj /s
9 | del *.omf /s
10 | del *.opt /s
11 | del *.plg /s
12 | del *.rpt /s
13 | del *.tmp /s
14 | del *.__i /s
15 | del *.crf /s
16 | del *.o /s
17 | del *.d /s
18 | del *.axf /s
19 | del *.tra /s
20 | del *.dep /s
21 | del JLinkLog.txt /s
22 |
23 | del *.iex /s
24 | del *.htm /s
25 | del *.sct /s
26 | del *.hex /s
27 | del *.map /s
28 | del JLinkSettings.ini /s
29 | exit
30 |
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/Software/QCopterNano_FlightControl/VisualScope/VisualScope.exe:
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https://raw.githubusercontent.com/KitSprout/QCopterNano/926637209d0051d8d4bd4299ed4504e62b30c40f/Software/QCopterNano_FlightControl/VisualScope/VisualScope.exe
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/Software/QCopterNano_FlightControl/VisualScope/config.dat:
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https://raw.githubusercontent.com/KitSprout/QCopterNano/926637209d0051d8d4bd4299ed4504e62b30c40f/Software/QCopterNano_FlightControl/VisualScope/config.dat
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