├── .cproject
├── .gitattributes
├── .gitignore
├── .mxproject
├── .project
├── .settings
├── language.settings.xml
├── org.eclipse.cdt.codan.core.prefs
├── org.eclipse.cdt.core.prefs
└── stm32cubeide.project.prefs
├── .travis.yml
├── Arduino
└── hoverserial
│ └── hoverserial.ino
├── Core
├── Inc
│ ├── BLDC_controller.h
│ ├── bldc.h
│ ├── config.h
│ ├── debug.h
│ ├── defines.h
│ ├── eeprom.h
│ ├── main.h
│ ├── ntc.h
│ ├── rtwtypes.h
│ ├── stm32f1xx_hal_conf.h
│ ├── stm32f1xx_it.h
│ └── util.h
├── Src
│ ├── BLDC_controller.c
│ ├── BLDC_controller_data.c
│ ├── bldc.c
│ ├── eeprom.c
│ ├── main.c
│ ├── ntc.c
│ ├── stm32f1xx_hal_msp.c
│ ├── stm32f1xx_hal_timebase_tim.c
│ ├── stm32f1xx_it.c
│ ├── syscalls.c
│ ├── sysmem.c
│ ├── system_stm32f1xx.c
│ └── util.c
└── Startup
│ └── startup_stm32f103c8tx.s
├── Drivers
├── CMSIS
│ ├── Device
│ │ └── ST
│ │ │ └── STM32F1xx
│ │ │ └── Include
│ │ │ ├── stm32f103xb.h
│ │ │ ├── stm32f1xx.h
│ │ │ └── system_stm32f1xx.h
│ ├── Include
│ │ ├── cmsis_armcc.h
│ │ ├── cmsis_armclang.h
│ │ ├── cmsis_compiler.h
│ │ ├── cmsis_gcc.h
│ │ ├── cmsis_iccarm.h
│ │ ├── cmsis_version.h
│ │ ├── core_armv8mbl.h
│ │ ├── core_armv8mml.h
│ │ ├── core_cm0.h
│ │ ├── core_cm0plus.h
│ │ ├── core_cm1.h
│ │ ├── core_cm23.h
│ │ ├── core_cm3.h
│ │ ├── core_cm33.h
│ │ ├── core_cm4.h
│ │ ├── core_cm7.h
│ │ ├── core_sc000.h
│ │ ├── core_sc300.h
│ │ ├── mpu_armv7.h
│ │ ├── mpu_armv8.h
│ │ └── tz_context.h
│ ├── Lib
│ │ ├── ARM
│ │ │ ├── arm_cortexM3b_math.lib
│ │ │ └── arm_cortexM3l_math.lib
│ │ └── GCC
│ │ │ └── libarm_cortexM3l_math.a
│ └── RTOS
│ │ └── Template
│ │ └── cmsis_os.h
└── STM32F1xx_HAL_Driver
│ ├── Inc
│ ├── Legacy
│ │ └── stm32_hal_legacy.h
│ ├── stm32f1xx_hal.h
│ ├── stm32f1xx_hal_adc.h
│ ├── stm32f1xx_hal_adc_ex.h
│ ├── stm32f1xx_hal_cortex.h
│ ├── stm32f1xx_hal_def.h
│ ├── stm32f1xx_hal_dma.h
│ ├── stm32f1xx_hal_dma_ex.h
│ ├── stm32f1xx_hal_exti.h
│ ├── stm32f1xx_hal_flash.h
│ ├── stm32f1xx_hal_flash_ex.h
│ ├── stm32f1xx_hal_gpio.h
│ ├── stm32f1xx_hal_gpio_ex.h
│ ├── stm32f1xx_hal_pwr.h
│ ├── stm32f1xx_hal_rcc.h
│ ├── stm32f1xx_hal_rcc_ex.h
│ ├── stm32f1xx_hal_tim.h
│ ├── stm32f1xx_hal_tim_ex.h
│ └── stm32f1xx_hal_uart.h
│ └── Src
│ ├── stm32f1xx_hal.c
│ ├── stm32f1xx_hal_adc.c
│ ├── stm32f1xx_hal_adc_ex.c
│ ├── stm32f1xx_hal_cortex.c
│ ├── stm32f1xx_hal_dma.c
│ ├── stm32f1xx_hal_exti.c
│ ├── stm32f1xx_hal_flash.c
│ ├── stm32f1xx_hal_flash_ex.c
│ ├── stm32f1xx_hal_gpio.c
│ ├── stm32f1xx_hal_gpio_ex.c
│ ├── stm32f1xx_hal_pwr.c
│ ├── stm32f1xx_hal_rcc.c
│ ├── stm32f1xx_hal_rcc_ex.c
│ ├── stm32f1xx_hal_tim.c
│ ├── stm32f1xx_hal_tim_ex.c
│ └── stm32f1xx_hal_uart.c
├── Foujiwara
├── Datasheet
│ ├── Silergy-Corp-SY8502FCC_C87752.pdf
│ └── lm5164.pdf
├── ESC V3 pictures
│ ├── H03f81c59896f4c538a60c208050a0157H.jpg
│ ├── H4ce9be8255174d0fbb1776aa0f9b5b5bW.webp
│ ├── H4ef9c2869f484337b0ae91561f3d3a2do.webp
│ ├── Ha767bf578e21435ea8896681a6eee1000.jpg
│ ├── Ha90d8cd6dd8147dba77ddc758d904ef7Y.jpg
│ ├── Hb8c628378a08494b8b18f651dd228c44D.webp
│ ├── Hd068c246ba09438db8fbafd3a2e4eceeT.webp
│ ├── He4e23b3b935b4bae960f752fd56caf9dq.webp
│ ├── photo_2020-06-10_22-32-04 (2).jpg
│ ├── photo_2020-06-10_22-32-04 (3).jpg
│ ├── photo_2020-06-10_22-32-04 (4).jpg
│ └── photo_2020-06-10_22-32-04.jpg
├── Electric simulation files
│ ├── 001.txt
│ ├── 002.txt
│ └── 003.txt
├── Logo
│ ├── Francewheel_logo.png
│ ├── Francewheel_logo.svg
│ └── Francewheel_logo_0,5x.png
├── README.md
└── electrical schemaric
│ ├── Driver_v1.4_3 couleur.jpg
│ ├── Driver_v2.1 couleur Update 11 2020.jpg
│ └── Schematicsm365.jpg
├── LICENSE
├── MDK-ARM
├── mainboard-hack.uvoptx
├── mainboard-hack.uvprojx
└── startup_stm32f103xe.s
├── Makefile
├── README.md
├── STM32F103C8TX_FLASH.ld
├── SmartESC.ioc
├── SmartElec Debug.cfg
├── SmartElec Debug.launch
├── SmartElec Release.cfg
├── SmartElec Release.launch
├── docs
├── 2000_500.PNG
├── 2000_900.PNG
├── 20150722_hoverboard_sch.pdf
├── 20190620_at32_hover_sch.pdf
├── 600rpm_pha_phb.xlsx
├── Driver_V2.1_M365.pdf
├── STEVAL-IHM034V2-User-Manual.pdf
├── Unofficial ST MCSDK pres.pdf
├── cd00171190-stm32f101xx-stm32f102xx-stm32f103xx-stm32f105xx-and-stm32f107xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf
├── current_measures_phA.xlsx
├── current_measures_phA_pwmmargin_200.xlsx
├── literature
│ ├── ODrive motor guide.xlsx
│ ├── Unofficial ST MCSDK pres.pdf
│ ├── [10]_STM32F103xC_datasheet.pdf
│ ├── [11]_GD32F103xx-Datasheet-Rev-2.7.pdf
│ ├── [8] STM32 motor control SDK.pdf
│ └── [9]_STM32_REFERENCE_Manual.pdf
├── mainboard_pics.pptx
├── motor_winding.pptx
├── phase_currents_ADC.pptx
├── pictures
│ ├── FieldWeakening.png
│ ├── hoverboard_wheel.JPG
│ ├── mainboard_pinout.png
│ ├── motor_VESC_params.png
│ ├── motor_ferite1.JPG
│ ├── motor_ferite2.png
│ ├── motor_inside.jpg
│ ├── motor_winding.png
│ ├── unlock_mcu_1.png
│ ├── unlock_mcu_2.png
│ ├── unlock_mcu_3.png
│ ├── unlock_mcu_4.png
│ └── videos_preview
│ │ ├── com_foc_const.png
│ │ ├── com_foc_var.png
│ │ ├── cruise_control.png
│ │ ├── hovercar_intro.png
│ │ ├── hovercar_pedals.png
│ │ └── serial_com.png
├── tim2_ccr2_1.PNG
├── tim2_ccr2_1000.PNG
├── tim2_ccr2_1N.PNG
├── tim2_ccr2_500.PNG
├── voltage_measures_phC.xlsx
└── voltage_measures_phC_pwmmargin_300.xlsx
├── img
└── smart_esc.png
├── platformio.ini
├── stm32_monitor.flows.json
├── tests
├── pwmm110_30v_adc15_rpm500_medium_run1
│ ├── file_440.png
│ ├── file_450.png
│ ├── file_460.png
│ ├── file_470.png
│ ├── file_480.png
│ ├── file_490.png
│ ├── file_500.png
│ ├── file_510.png
│ ├── file_520.png
│ ├── file_530.png
│ ├── file_540.png
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ ├── file_680.png
│ ├── file_690.png
│ ├── file_700.png
│ ├── file_710.png
│ └── file_720.png
├── pwmm110_30v_adc15_rpm600_medium_run1
│ ├── file_440.png
│ ├── file_450.png
│ ├── file_460.png
│ ├── file_470.png
│ ├── file_480.png
│ ├── file_490.png
│ ├── file_500.png
│ ├── file_510.png
│ ├── file_520.png
│ ├── file_530.png
│ ├── file_540.png
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ └── file_600.png
├── pwmm110_30v_adc15_rpm600_none_run1
│ ├── file_440.png
│ ├── file_450.png
│ ├── file_460.png
│ ├── file_470.png
│ ├── file_480.png
│ ├── file_490.png
│ ├── file_500.png
│ ├── file_510.png
│ ├── file_520.png
│ ├── file_530.png
│ ├── file_540.png
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ └── file_600.png
├── pwmm110_60v_adc15_rpm1200_medium_run1
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ ├── file_680.png
│ ├── file_690.png
│ └── file_700.png
├── pwmm110_60v_adc15_rpm1200_none_run1
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ └── file_680.png
├── pwmm130_30v_adc15_rpm500_medium_run1
│ ├── file_450.png
│ ├── file_460.png
│ ├── file_470.png
│ ├── file_480.png
│ ├── file_490.png
│ ├── file_500.png
│ ├── file_510.png
│ ├── file_520.png
│ ├── file_530.png
│ ├── file_540.png
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ ├── file_680.png
│ ├── file_690.png
│ └── file_700.png
├── pwmm130_30v_adc15_rpm600_medium_run1
│ ├── file_500.png
│ ├── file_510.png
│ ├── file_520.png
│ ├── file_530.png
│ ├── file_540.png
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ ├── file_680.png
│ ├── file_690.png
│ └── file_700.png
├── pwmm130_60v_adc15_rpm1200_medium_run1
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ ├── file_680.png
│ ├── file_690.png
│ └── file_700.png
├── pwmm150_30v_adc15_rpm600_medium_run1
│ ├── file_0.png
│ ├── file_10.png
│ ├── file_100.png
│ ├── file_1900.png
│ ├── file_1910.png
│ ├── file_1920.png
│ ├── file_1930.png
│ ├── file_1940.png
│ ├── file_1950.png
│ ├── file_1960.png
│ ├── file_1970.png
│ ├── file_1980.png
│ ├── file_1990.png
│ ├── file_20.png
│ ├── file_220.png
│ ├── file_230.png
│ ├── file_240.png
│ ├── file_250.png
│ ├── file_260.png
│ ├── file_270.png
│ ├── file_280.png
│ ├── file_290.png
│ ├── file_30.png
│ ├── file_300.png
│ ├── file_40.png
│ ├── file_50.png
│ ├── file_500.png
│ ├── file_510.png
│ ├── file_520.png
│ ├── file_530.png
│ ├── file_540.png
│ ├── file_550.png
│ ├── file_560.png
│ ├── file_570.png
│ ├── file_580.png
│ ├── file_590.png
│ ├── file_60.png
│ ├── file_600.png
│ ├── file_610.png
│ ├── file_620.png
│ ├── file_630.png
│ ├── file_640.png
│ ├── file_650.png
│ ├── file_660.png
│ ├── file_670.png
│ ├── file_680.png
│ ├── file_690.png
│ ├── file_70.png
│ ├── file_700.png
│ ├── file_80.png
│ └── file_90.png
└── pwmm250_30v_adc75_rpm600_run1
│ ├── file_0.png
│ ├── file_10.png
│ ├── file_100.png
│ ├── file_105.png
│ ├── file_110.png
│ ├── file_115.png
│ ├── file_120.png
│ ├── file_125.png
│ ├── file_130.png
│ ├── file_135.png
│ ├── file_140.png
│ ├── file_145.png
│ ├── file_15.png
│ ├── file_150.png
│ ├── file_155.png
│ ├── file_160.png
│ ├── file_165.png
│ ├── file_170.png
│ ├── file_175.png
│ ├── file_180.png
│ ├── file_1800.png
│ ├── file_1805.png
│ ├── file_1810.png
│ ├── file_1815.png
│ ├── file_1820.png
│ ├── file_1825.png
│ ├── file_1830.png
│ ├── file_1835.png
│ ├── file_1840.png
│ ├── file_1845.png
│ ├── file_185.png
│ ├── file_1850.png
│ ├── file_1855.png
│ ├── file_1860.png
│ ├── file_1865.png
│ ├── file_1870.png
│ ├── file_1875.png
│ ├── file_1880.png
│ ├── file_1885.png
│ ├── file_1890.png
│ ├── file_1895.png
│ ├── file_190.png
│ ├── file_1900.png
│ ├── file_1905.png
│ ├── file_1910.png
│ ├── file_1915.png
│ ├── file_1920.png
│ ├── file_1925.png
│ ├── file_1930.png
│ ├── file_1935.png
│ ├── file_1940.png
│ ├── file_1945.png
│ ├── file_195.png
│ ├── file_1950.png
│ ├── file_1955.png
│ ├── file_1960.png
│ ├── file_1965.png
│ ├── file_1970.png
│ ├── file_1975.png
│ ├── file_1980.png
│ ├── file_1985.png
│ ├── file_1990.png
│ ├── file_1995.png
│ ├── file_20.png
│ ├── file_200.png
│ ├── file_25.png
│ ├── file_30.png
│ ├── file_35.png
│ ├── file_40.png
│ ├── file_400.png
│ ├── file_405.png
│ ├── file_410.png
│ ├── file_415.png
│ ├── file_420.png
│ ├── file_425.png
│ ├── file_430.png
│ ├── file_435.png
│ ├── file_440.png
│ ├── file_445.png
│ ├── file_45.png
│ ├── file_450.png
│ ├── file_455.png
│ ├── file_460.png
│ ├── file_465.png
│ ├── file_470.png
│ ├── file_475.png
│ ├── file_480.png
│ ├── file_485.png
│ ├── file_490.png
│ ├── file_495.png
│ ├── file_5.png
│ ├── file_50.png
│ ├── file_500.png
│ ├── file_505.png
│ ├── file_510.png
│ ├── file_515.png
│ ├── file_520.png
│ ├── file_525.png
│ ├── file_530.png
│ ├── file_535.png
│ ├── file_540.png
│ ├── file_545.png
│ ├── file_55.png
│ ├── file_550.png
│ ├── file_555.png
│ ├── file_560.png
│ ├── file_565.png
│ ├── file_570.png
│ ├── file_575.png
│ ├── file_580.png
│ ├── file_585.png
│ ├── file_590.png
│ ├── file_595.png
│ ├── file_60.png
│ ├── file_600.png
│ ├── file_65.png
│ ├── file_70.png
│ ├── file_75.png
│ ├── file_80.png
│ ├── file_85.png
│ ├── file_90.png
│ └── file_95.png
└── tests_scripts
├── gdb_cmd.bat
├── gdb_dump.bat
├── gdb_set_spin.bat
├── gdb_set_tim2.bat
├── openocd.bat
├── plot.bat
├── plot_no_display.bat
└── super_batch.bat
/.gitattributes:
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1 | # Auto detect text files and perform LF normalization
2 | * text=auto
3 |
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/.gitignore:
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1 | !build/hover.hex
2 | .pio/
3 | .pioenvs/
4 | .vscode/
5 | MDK-ARM/DebugConfig/
6 | MDK-ARM/Listing/
7 | MDK-ARM/Objects/
8 | MDK-ARM/RTE/
9 | MDK-ARM/*.uvguix.*
10 | build/
11 | /Debug/
12 | /Release/
13 |
14 | docs/~$600rpm_pha_phb.xlsx
15 |
--------------------------------------------------------------------------------
/.mxproject:
--------------------------------------------------------------------------------
1 | [PreviousLibFiles]
2 | LibFiles=Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_adc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h;Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
3 |
4 | [PreviousUsedCubeIDEFiles]
5 | SourceFiles=Core\Src\main.c;Core\Src\stm32f1xx_it.c;Core\Src\stm32f1xx_hal_msp.c;Core\Src\stm32f1xx_hal_timebase_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Core\Src/system_stm32f1xx.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c;Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c;Core\Src/system_stm32f1xx.c;Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c;;
6 | HeaderPath=Drivers\STM32F1xx_HAL_Driver\Inc;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32F1xx\Include;Drivers\CMSIS\Include;Core\Inc;
7 | CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER;
8 |
9 | [PreviousGenFiles]
10 | AdvancedFolderStructure=true
11 | HeaderFileListSize=3
12 | HeaderFiles#0=C:/VSARM/Workspace/SmartESC/Core/Inc/stm32f1xx_it.h
13 | HeaderFiles#1=C:/VSARM/Workspace/SmartESC/Core/Inc/stm32f1xx_hal_conf.h
14 | HeaderFiles#2=C:/VSARM/Workspace/SmartESC/Core/Inc/main.h
15 | HeaderFolderListSize=1
16 | HeaderPath#0=C:/VSARM/Workspace/SmartESC/Core/Inc
17 | HeaderFiles=;
18 | SourceFileListSize=4
19 | SourceFiles#0=C:/VSARM/Workspace/SmartESC/Core/Src/stm32f1xx_it.c
20 | SourceFiles#1=C:/VSARM/Workspace/SmartESC/Core/Src/stm32f1xx_hal_msp.c
21 | SourceFiles#2=C:/VSARM/Workspace/SmartESC/Core/Src/stm32f1xx_hal_timebase_tim.c
22 | SourceFiles#3=C:/VSARM/Workspace/SmartESC/Core/Src/main.c
23 | SourceFolderListSize=1
24 | SourcePath#0=C:/VSARM/Workspace/SmartESC/Core/Src
25 | SourceFiles=;
26 |
27 |
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/.project:
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1 |
2 |
3 | SmartESC
4 |
5 |
6 |
7 |
8 |
9 | org.eclipse.cdt.managedbuilder.core.genmakebuilder
10 | clean,full,incremental,
11 |
12 |
13 |
14 |
15 | org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder
16 | full,incremental,
17 |
18 |
19 |
20 |
21 |
22 | com.st.stm32cube.ide.mcu.MCUProjectNature
23 | org.eclipse.cdt.core.cnature
24 | com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature
25 | com.st.stm32cube.ide.mcu.MCUCubeProjectNature
26 | com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature
27 | com.st.stm32cube.ide.mcu.MCUEndUserDisabledTrustZoneProjectNature
28 | com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature
29 | com.st.stm32cube.ide.mcu.MCURootProjectNature
30 | org.eclipse.cdt.managedbuilder.core.managedBuildNature
31 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature
32 |
33 |
34 |
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/.settings/language.settings.xml:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
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/.settings/org.eclipse.cdt.core.prefs:
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1 | doxygen/doxygen_new_line_after_brief=true
2 | doxygen/doxygen_use_brief_tag=false
3 | doxygen/doxygen_use_javadoc_tags=true
4 | doxygen/doxygen_use_pre_tag=false
5 | doxygen/doxygen_use_structural_commands=false
6 | eclipse.preferences.version=1
7 |
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/.settings/stm32cubeide.project.prefs:
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1 | 8DF89ED150041C4CBC7CB9A9CAA90856=F0A094BF2AFC873FBB4E2047793140B1
2 | DC22A860405A8BF2F2C095E5B6529F12=F0A094BF2AFC873FBB4E2047793140B1
3 | eclipse.preferences.version=1
4 |
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/.travis.yml:
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1 | notifications:
2 | email: true
3 |
4 | os: linux
5 |
6 | jobs:
7 | fast_finish: true
8 | include:
9 |
10 | - name: make (gcc-arm-none-eabi-7)
11 | script: make
12 | env: VARIANT=VARIANT_ADC
13 | language: c
14 | addons:
15 | apt:
16 | packages:
17 | - libc6-i386
18 | install:
19 | - pushd .
20 | - cd ~
21 | - mkdir arm-gcc-toolchain
22 | - wget -O $HOME/arm-gcc-toolchain/gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2?revision=bc2c96c0-14b5-4bb4-9f18-bceb4050fee7?product=GNU%20Arm%20Embedded%20Toolchain,64-bit,,Linux,7-2018-q2-update
23 | - cd arm-gcc-toolchain
24 | - tar -jxf gcc.tar.bz2 --strip=1
25 | - popd
26 | - export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
27 | before_script: arm-none-eabi-gcc --version
28 |
29 | - name: make (gcc-arm-none-eabi-5)
30 | script: make
31 | env: VARIANT=VARIANT_ADC
32 | language: c
33 | addons:
34 | apt:
35 | packages:
36 | - libc6-i386
37 | install:
38 | - pushd .
39 | - cd ~
40 | - mkdir arm-gcc-toolchain
41 | - wget -O $HOME/arm-gcc-toolchain/gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/5_4-2016q3/gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2?revision=111dee36-f88b-4672-8ac6-48cf41b4d375?product=GNU%20Arm%20Embedded%20Toolchain,32-bit,,Linux,5-2016-q3-update
42 | - cd arm-gcc-toolchain
43 | - tar -jxf gcc.tar.bz2 --strip=1
44 | - popd
45 | - export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
46 | before_script: arm-none-eabi-gcc --version
47 |
48 | - name: platformio
49 | script: platformio run
50 | language: python
51 | python:
52 | - "2.7"
53 | install:
54 | - pip install -U platformio
55 | - platformio update
56 | cache:
57 | - directories: "~/.platformio"
58 |
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/Arduino/hoverserial/hoverserial.ino:
--------------------------------------------------------------------------------
1 | // *******************************************************************
2 | // Arduino Nano 5V example code
3 | // for https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC
4 | //
5 | // Copyright (C) 2019-2020 Emanuel FERU
6 | //
7 | // *******************************************************************
8 | // INFO:
9 | // • This sketch uses the the Serial Software interface to communicate and send commands to the hoverboard
10 | // • The built-in (HW) Serial interface is used for debugging and visualization. In case the debugging is not needed,
11 | // it is recommended to use the built-in Serial interface for full speed perfomace.
12 | // • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication
13 | //
14 | // CONFIGURATION on the hoverboard side in config.h:
15 | // • Option 1: Serial on Right Sensor cable (short wired cable) - recommended, since the USART3 pins are 5V tolerant.
16 | // #define CONTROL_SERIAL_USART3
17 | // #define FEEDBACK_SERIAL_USART3
18 | // // #define DEBUG_SERIAL_USART3
19 | // • Option 2: Serial on Left Sensor cable (long wired cable) - use only with 3.3V devices! The USART2 pins are not 5V tolerant!
20 | // #define CONTROL_SERIAL_USART2
21 | // #define FEEDBACK_SERIAL_USART2
22 | // // #define DEBUG_SERIAL_USART2
23 | // *******************************************************************
24 |
25 | // ########################## DEFINES ##########################
26 | #define HOVER_SERIAL_BAUD 38400 // [-] Baud rate for HoverSerial (used to communicate with the hoverboard)
27 | #define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
28 | #define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
29 | #define TIME_SEND 100 // [ms] Sending time interval
30 | #define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
31 | //#define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
32 |
33 | #include
34 | SoftwareSerial HoverSerial(2,3); // RX, TX
35 |
36 | // Global variables
37 | uint8_t idx = 0; // Index for new data pointer
38 | uint16_t bufStartFrame; // Buffer Start Frame
39 | byte *p; // Pointer declaration for the new received data
40 | byte incomingByte;
41 | byte incomingBytePrev;
42 |
43 | typedef struct{
44 | uint16_t start;
45 | int16_t steer;
46 | int16_t speed;
47 | uint16_t checksum;
48 | } SerialCommand;
49 | SerialCommand Command;
50 |
51 | typedef struct{
52 | uint16_t start;
53 | int16_t cmd1;
54 | int16_t cmd2;
55 | int16_t speedR_meas;
56 | int16_t speedL_meas;
57 | int16_t batVoltage;
58 | int16_t boardTemp;
59 | uint16_t cmdLed;
60 | uint16_t checksum;
61 | } SerialFeedback;
62 | SerialFeedback Feedback;
63 | SerialFeedback NewFeedback;
64 |
65 | // ########################## SETUP ##########################
66 | void setup()
67 | {
68 | Serial.begin(SERIAL_BAUD);
69 | Serial.println("Hoverboard Serial v1.0");
70 |
71 | HoverSerial.begin(HOVER_SERIAL_BAUD);
72 | pinMode(LED_BUILTIN, OUTPUT);
73 | }
74 |
75 | // ########################## SEND ##########################
76 | void Send(int16_t uSteer, int16_t uSpeed)
77 | {
78 | // Create command
79 | Command.start = (uint16_t)START_FRAME;
80 | Command.steer = (int16_t)uSteer;
81 | Command.speed = (int16_t)uSpeed;
82 | Command.checksum = (uint16_t)(Command.start ^ Command.steer ^ Command.speed);
83 |
84 | // Write to Serial
85 | HoverSerial.write((uint8_t *) &Command, sizeof(Command));
86 | }
87 |
88 | // ########################## RECEIVE ##########################
89 | void Receive()
90 | {
91 | // Check for new data availability in the Serial buffer
92 | if (HoverSerial.available()) {
93 | incomingByte = HoverSerial.read(); // Read the incoming byte
94 | bufStartFrame = ((uint16_t)(incomingByte) << 8) | incomingBytePrev; // Construct the start frame
95 | }
96 | else {
97 | return;
98 | }
99 |
100 | // If DEBUG_RX is defined print all incoming bytes
101 | #ifdef DEBUG_RX
102 | Serial.print(incomingByte);
103 | return;
104 | #endif
105 |
106 | // Copy received data
107 | if (bufStartFrame == START_FRAME) { // Initialize if new data is detected
108 | p = (byte *)&NewFeedback;
109 | *p++ = incomingBytePrev;
110 | *p++ = incomingByte;
111 | idx = 2;
112 | } else if (idx >= 2 && idx < sizeof(SerialFeedback)) { // Save the new received data
113 | *p++ = incomingByte;
114 | idx++;
115 | }
116 |
117 | // Check if we reached the end of the package
118 | if (idx == sizeof(SerialFeedback)) {
119 | uint16_t checksum;
120 | checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas
121 | ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.cmdLed);
122 |
123 | // Check validity of the new data
124 | if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
125 | // Copy the new data
126 | memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
127 |
128 | // Print data to built-in Serial
129 | Serial.print("1: "); Serial.print(Feedback.cmd1);
130 | Serial.print(" 2: "); Serial.print(Feedback.cmd2);
131 | Serial.print(" 3: "); Serial.print(Feedback.speedR_meas);
132 | Serial.print(" 4: "); Serial.print(Feedback.speedL_meas);
133 | Serial.print(" 5: "); Serial.print(Feedback.batVoltage);
134 | Serial.print(" 6: "); Serial.print(Feedback.boardTemp);
135 | Serial.print(" 7: "); Serial.println(Feedback.cmdLed);
136 | } else {
137 | Serial.println("Non-valid data skipped");
138 | }
139 | idx = 0; // Reset the index (it prevents to enter in this if condition in the next cycle)
140 | }
141 |
142 | // Update previous states
143 | incomingBytePrev = incomingByte;
144 | }
145 |
146 | // ########################## LOOP ##########################
147 |
148 | unsigned long iTimeSend = 0;
149 | int iTestMax = SPEED_MAX_TEST;
150 | int iTest = 0;
151 |
152 | void loop(void)
153 | {
154 | unsigned long timeNow = millis();
155 |
156 | // Check for new received data
157 | Receive();
158 |
159 | // Send commands
160 | if (iTimeSend > timeNow) return;
161 | iTimeSend = timeNow + TIME_SEND;
162 | Send(0, SPEED_MAX_TEST - 2*abs(iTest));
163 |
164 | // Calculate test command signal
165 | iTest += 10;
166 | if (iTest > iTestMax) iTest = -iTestMax;
167 |
168 | // Blink the LED
169 | digitalWrite(LED_BUILTIN, (timeNow%2000)<1000);
170 | }
171 |
172 | // ########################## END ##########################
173 |
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/Core/Inc/bldc.h:
--------------------------------------------------------------------------------
1 |
2 | void BLDC_Init(void);
3 |
--------------------------------------------------------------------------------
/Core/Inc/debug.h:
--------------------------------------------------------------------------------
1 |
2 | // LED usage
3 | #define BLDC_DMA 1
4 | #define MAIN_LOOP 2
5 | #define DEBUG_LED MAIN_LOOP
6 |
7 | // BLDC loop
8 | #define BLDC_ENABLE_LOOP 1
9 | #define BLDC_CURRENT_LIMIT 1
10 | #define BLDC_STORE_CURRENT_PH_A 1
11 |
12 | // main loop auto commands
13 | #define LOOP_INC 1000
14 | #define TEST_AUTOSTART 0
15 | #define TEST_LOOP 0
16 | #define TEST_READ_UART_COMMANDS 1
17 | #define TEST_SHORT_SPIN 1
18 |
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/Core/Inc/defines.h:
--------------------------------------------------------------------------------
1 | /*
2 | * This file is part of the hoverboard-firmware-hack project.
3 | *
4 | * Copyright (C) 2017-2018 Rene Hopf
5 | * Copyright (C) 2017-2018 Nico Stute
6 | * Copyright (C) 2017-2018 Niklas Fauth
7 | *
8 | * This program is free software: you can redistribute it and/or modify
9 | * it under the terms of the GNU General Public License as published by
10 | * the Free Software Foundation, either version 3 of the License, or
11 | * (at your option) any later version.
12 | *
13 | * This program is distributed in the hope that it will be useful,
14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 | * GNU General Public License for more details.
17 | *
18 | * You should have received a copy of the GNU General Public License
19 | * along with this program. If not, see .
20 | */
21 |
22 | // Define to prevent recursive inclusion
23 | #ifndef DEFINES_H
24 | #define DEFINES_H
25 |
26 | #include "stm32f1xx_hal.h"
27 | #include "config.h"
28 |
29 | //#define PHASE_CURR_mA_CNT 50 //mA per bit
30 | #define DC_VOLT_uV_CNT 14431 //uV per bit
31 |
32 | #define DELAY_TIM_FREQUENCY_US 1000000
33 |
34 | #define MILLI_R (R * 1000)
35 | #define MILLI_PSI (PSI * 1000)
36 | #define MILLI_V (V * 1000)
37 |
38 | #define NO 0
39 | #define YES 1
40 | #define ABS(a) (((a) < 0) ? -(a) : (a))
41 | #define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
42 | #define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
43 | #define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
44 | #define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
45 | #define DEG(a) ((a)*M_PI / 180.0f)
46 | #define RAD(a) ((a)*180.0f / M_PI)
47 | #define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
48 | #define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
49 | #define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high)))
50 | #define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
51 | #define MIN(a, b) (((a) < (b)) ? (a) : (b))
52 | #define MAX(a, b) (((a) > (b)) ? (a) : (b))
53 | #define MIN3(a, b, c) MIN(a, MIN(b, c))
54 | #define MAX3(a, b, c) MAX(a, MAX(b, c))
55 | #define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
56 | #define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
57 |
58 | typedef struct {
59 | // XIAOMI firmware
60 | uint16_t curr_a;
61 | uint16_t curr_b;
62 | uint16_t curr_c;
63 | uint16_t volt_a;
64 | uint16_t volt_b;
65 | uint16_t volt_c;
66 | uint16_t temp;
67 | uint16_t vbat;
68 | } adc_buf_t;
69 |
70 |
71 | typedef struct {
72 | int32_t curr_a;
73 | int32_t curr_b;
74 | int32_t curr_c;
75 |
76 | int16_t curr_a_cnt;
77 | int16_t curr_b_cnt;
78 | int16_t curr_c_cnt;
79 |
80 | int32_t curr_dc;
81 | int16_t curr_dc_raw;
82 | } analog_t;
83 |
84 | extern analog_t analog;
85 |
86 |
87 | //#define PHASE_CURR_mA_CNT 50 //mA per bit
88 | #define DC_VOLT_uV_CNT 14431 //uV per bit
89 |
90 |
91 | #endif // DEFINES_H
92 |
93 |
--------------------------------------------------------------------------------
/Core/Inc/main.h:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file : main.h
5 | * @brief : Header for main.c file.
6 | * This file contains the common defines of the application.
7 | ******************************************************************************
8 | * @attention
9 | *
10 | * © Copyright (c) 2020 STMicroelectronics.
11 | * All rights reserved.
12 | *
13 | * This software component is licensed by ST under Ultimate Liberty license
14 | * SLA0044, the "License"; You may not use this file except in compliance with
15 | * the License. You may obtain a copy of the License at:
16 | * www.st.com/SLA0044
17 | *
18 | ******************************************************************************
19 | */
20 | /* USER CODE END Header */
21 |
22 | /* Define to prevent recursive inclusion -------------------------------------*/
23 | #ifndef __MAIN_H
24 | #define __MAIN_H
25 |
26 | #ifdef __cplusplus
27 | extern "C" {
28 | #endif
29 |
30 | /* Includes ------------------------------------------------------------------*/
31 | #include "stm32f1xx_hal.h"
32 |
33 | /* Private includes ----------------------------------------------------------*/
34 | /* USER CODE BEGIN Includes */
35 |
36 | /* USER CODE END Includes */
37 |
38 | /* Exported types ------------------------------------------------------------*/
39 | /* USER CODE BEGIN ET */
40 |
41 | /* USER CODE END ET */
42 |
43 | /* Exported constants --------------------------------------------------------*/
44 | /* USER CODE BEGIN EC */
45 |
46 | /* USER CODE END EC */
47 |
48 | /* Exported macro ------------------------------------------------------------*/
49 | /* USER CODE BEGIN EM */
50 |
51 | /* USER CODE END EM */
52 |
53 | void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
54 |
55 | /* Exported functions prototypes ---------------------------------------------*/
56 | void Error_Handler(void);
57 |
58 | /* USER CODE BEGIN EFP */
59 | /* USER CODE END EFP */
60 |
61 | /* Private defines -----------------------------------------------------------*/
62 | #define PWR_BTN_Pin GPIO_PIN_14
63 | #define PWR_BTN_GPIO_Port GPIOC
64 | #define TPS_ENA_Pin GPIO_PIN_15
65 | #define TPS_ENA_GPIO_Port GPIOC
66 | #define LED_Pin GPIO_PIN_1
67 | #define LED_GPIO_Port GPIOD
68 | #define NTC_Pin GPIO_PIN_0
69 | #define NTC_GPIO_Port GPIOA
70 | #define VBAT_Pin GPIO_PIN_2
71 | #define VBAT_GPIO_Port GPIOA
72 | #define CURR_A_Pin GPIO_PIN_3
73 | #define CURR_A_GPIO_Port GPIOA
74 | #define CURR_B_Pin GPIO_PIN_4
75 | #define CURR_B_GPIO_Port GPIOA
76 | #define CURR_C_Pin GPIO_PIN_5
77 | #define CURR_C_GPIO_Port GPIOA
78 | #define VOLT_A_Pin GPIO_PIN_6
79 | #define VOLT_A_GPIO_Port GPIOA
80 | #define VOLT_B_Pin GPIO_PIN_7
81 | #define VOLT_B_GPIO_Port GPIOA
82 | #define HALL_C_Pin GPIO_PIN_0
83 | #define HALL_C_GPIO_Port GPIOB
84 | #define VOLT_C_Pin GPIO_PIN_1
85 | #define VOLT_C_GPIO_Port GPIOB
86 | #define PHA_A_L_Pin GPIO_PIN_13
87 | #define PHA_A_L_GPIO_Port GPIOB
88 | #define PHA_B_L_Pin GPIO_PIN_14
89 | #define PHA_B_L_GPIO_Port GPIOB
90 | #define PHA_C_L_Pin GPIO_PIN_15
91 | #define PHA_C_L_GPIO_Port GPIOB
92 | #define PHA_A_H_Pin GPIO_PIN_8
93 | #define PHA_A_H_GPIO_Port GPIOA
94 | #define PHA_B_H_Pin GPIO_PIN_9
95 | #define PHA_B_H_GPIO_Port GPIOA
96 | #define PHA_C_H_Pin GPIO_PIN_10
97 | #define PHA_C_H_GPIO_Port GPIOA
98 | #define LIGHT_Pin GPIO_PIN_15
99 | #define LIGHT_GPIO_Port GPIOA
100 | #define HALL_A_Pin GPIO_PIN_4
101 | #define HALL_A_GPIO_Port GPIOB
102 | #define HALL_B_Pin GPIO_PIN_5
103 | #define HALL_B_GPIO_Port GPIOB
104 | /* USER CODE BEGIN Private defines */
105 |
106 | /* USER CODE END Private defines */
107 |
108 | #ifdef __cplusplus
109 | }
110 | #endif
111 |
112 | #endif /* __MAIN_H */
113 |
114 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
115 |
--------------------------------------------------------------------------------
/Core/Inc/ntc.h:
--------------------------------------------------------------------------------
1 | int NTC_ADC2Temperature(unsigned int adc_value);
2 |
--------------------------------------------------------------------------------
/Core/Inc/rtwtypes.h:
--------------------------------------------------------------------------------
1 | /*
2 | * File: rtwtypes.h
3 | *
4 | * Code generated for Simulink model 'BLDC_controller'.
5 | *
6 | * Model version : 1.1296
7 | * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
8 | * C/C++ source code generated on : Tue Oct 20 17:29:57 2020
9 | *
10 | * Target selection: ert.tlc
11 | * Embedded hardware selection: ARM Compatible->ARM Cortex
12 | * Emulation hardware selection:
13 | * Differs from embedded hardware (MATLAB Host)
14 | * Code generation objectives:
15 | * 1. Execution efficiency
16 | * 2. RAM efficiency
17 | * Validation result: Not run
18 | */
19 |
20 | #ifndef RTWTYPES_H
21 | #define RTWTYPES_H
22 |
23 | /* Logical type definitions */
24 | #if (!defined(__cplusplus))
25 | # ifndef false
26 | # define false (0U)
27 | # endif
28 |
29 | # ifndef true
30 | # define true (1U)
31 | # endif
32 | #endif
33 |
34 | /*=======================================================================*
35 | * Target hardware information
36 | * Device type: MATLAB Host
37 | * Number of bits: char: 8 short: 16 int: 32
38 | * long: 32 long long: 64
39 | * native word size: 64
40 | * Byte ordering: LittleEndian
41 | * Signed integer division rounds to: Zero
42 | * Shift right on a signed integer as arithmetic shift: on
43 | *=======================================================================*/
44 |
45 | /*=======================================================================*
46 | * Fixed width word size data types: *
47 | * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
48 | * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
49 | * real32_T, real64_T - 32 and 64 bit floating point numbers *
50 | *=======================================================================*/
51 | typedef signed char int8_T;
52 | typedef unsigned char uint8_T;
53 | typedef short int16_T;
54 | typedef unsigned short uint16_T;
55 | typedef int int32_T;
56 | typedef unsigned int uint32_T;
57 | typedef long long int64_T;
58 | typedef unsigned long long uint64_T;
59 | typedef float real32_T;
60 | typedef double real64_T;
61 |
62 | /*===========================================================================*
63 | * Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T, *
64 | * real_T, time_T, ulong_T, ulonglong_T. *
65 | *===========================================================================*/
66 | typedef double real_T;
67 | typedef double time_T;
68 | typedef unsigned char boolean_T;
69 | typedef int int_T;
70 | typedef unsigned int uint_T;
71 | typedef unsigned long ulong_T;
72 | typedef unsigned long long ulonglong_T;
73 | typedef char char_T;
74 | typedef unsigned char uchar_T;
75 | typedef char_T byte_T;
76 |
77 | /*=======================================================================*
78 | * Min and Max: *
79 | * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
80 | * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
81 | *=======================================================================*/
82 | #define MAX_int8_T ((int8_T)(127))
83 | #define MIN_int8_T ((int8_T)(-128))
84 | #define MAX_uint8_T ((uint8_T)(255U))
85 | #define MAX_int16_T ((int16_T)(32767))
86 | #define MIN_int16_T ((int16_T)(-32768))
87 | #define MAX_uint16_T ((uint16_T)(65535U))
88 | #define MAX_int32_T ((int32_T)(2147483647))
89 | #define MIN_int32_T ((int32_T)(-2147483647-1))
90 | #define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
91 | #define MAX_int64_T ((int64_T)(9223372036854775807LL))
92 | #define MIN_int64_T ((int64_T)(-9223372036854775807LL-1LL))
93 | #define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
94 |
95 | /* Block D-Work pointer type */
96 | typedef void * pointer_T;
97 |
98 | #endif /* RTWTYPES_H */
99 |
100 | /*
101 | * File trailer for generated code.
102 | *
103 | * [EOF]
104 | */
105 |
--------------------------------------------------------------------------------
/Core/Inc/stm32f1xx_it.h:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file stm32f1xx_it.h
5 | * @brief This file contains the headers of the interrupt handlers.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2020 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* USER CODE END Header */
20 |
21 | /* Define to prevent recursive inclusion -------------------------------------*/
22 | #ifndef __STM32F1xx_IT_H
23 | #define __STM32F1xx_IT_H
24 |
25 | #ifdef __cplusplus
26 | extern "C" {
27 | #endif
28 |
29 | /* Private includes ----------------------------------------------------------*/
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | /* Exported types ------------------------------------------------------------*/
35 | /* USER CODE BEGIN ET */
36 |
37 | /* USER CODE END ET */
38 |
39 | /* Exported constants --------------------------------------------------------*/
40 | /* USER CODE BEGIN EC */
41 |
42 | /* USER CODE END EC */
43 |
44 | /* Exported macro ------------------------------------------------------------*/
45 | /* USER CODE BEGIN EM */
46 |
47 | /* USER CODE END EM */
48 |
49 | /* Exported functions prototypes ---------------------------------------------*/
50 | void NMI_Handler(void);
51 | void HardFault_Handler(void);
52 | void MemManage_Handler(void);
53 | void BusFault_Handler(void);
54 | void UsageFault_Handler(void);
55 | void SVC_Handler(void);
56 | void DebugMon_Handler(void);
57 | void PendSV_Handler(void);
58 | void SysTick_Handler(void);
59 | void DMA1_Channel2_IRQHandler(void);
60 | void DMA1_Channel3_IRQHandler(void);
61 | void DMA1_Channel4_IRQHandler(void);
62 | void DMA1_Channel5_IRQHandler(void);
63 | void ADC1_2_IRQHandler(void);
64 | void TIM4_IRQHandler(void);
65 | void USART3_IRQHandler(void);
66 | /* USER CODE BEGIN EFP */
67 |
68 | /* USER CODE END EFP */
69 |
70 | #ifdef __cplusplus
71 | }
72 | #endif
73 |
74 | #endif /* __STM32F1xx_IT_H */
75 |
76 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
77 |
--------------------------------------------------------------------------------
/Core/Src/ntc.c:
--------------------------------------------------------------------------------
1 | /*
2 | * Die NTC Tabelle, bestehend aus 33 Temperaturstützpunkten.
3 | * Einheit:0.1 °C
4 | */
5 |
6 | int NTC_table[33] = {
7 | 1835, 1493, 1151, 969, 847, 754, 678, 615,
8 | 560, 511, 466, 425, 386, 350, 316, 282, 250,
9 | 218, 187, 156, 125, 93, 61, 28, -6, -43,
10 | -83, -126, -176, -235, -311, -428, -545
11 | };
12 |
13 |
14 | /*
15 | * \brief Konvertiert das ADC Ergebnis in einen Temperaturwert.
16 | *
17 | * Mit p1 und p2 wird der Stützpunkt direkt vor und nach dem
18 | * ADC Wert ermittelt. Zwischen beiden Stützpunkten wird linear
19 | * interpoliert. Der Code ist sehr klein und schnell.
20 | * Es wird lediglich eine Ganzzahl-Multiplikation verwendet.
21 | * Die Division kann vom Compiler durch eine Schiebeoperation
22 | * ersetzt werden.
23 | *
24 | * Im Temperaturbereich von -10°C bis 200°C beträgt der Fehler
25 | * durch die Verwendung einer Tabelle 30.803°C
26 | *
27 | * \param adc_value Das gewandelte ADC Ergebnis
28 | * \return Die Temperatur in 0.1 °C
29 | *
30 | */
31 |
32 | int NTC_ADC2Temperature(unsigned int adc_value){
33 |
34 | int p1,p2;
35 | /* Stützpunkt vor und nach dem ADC Wert ermitteln. */
36 | p1 = NTC_table[ (adc_value >> 7) ];
37 | p2 = NTC_table[ (adc_value >> 7)+1];
38 |
39 | /* Zwischen beiden Punkten linear interpolieren. */
40 | return p1 - ( (p1-p2) * (adc_value & 0x007F) ) / 128;
41 | };
42 |
43 |
44 | /*
45 | Copyright (C) Preis Ingenieurbüro GmbH
46 | Licensed under the Apache License, Version 2.0 (the "License").
47 | you may not use this file except in compliance with the License.
48 | You may obtain a copy of the License at
49 | http://www.apache.org/licenses/LICENSE-2.0
50 | Unless required by applicable law or agreed to in writing, software
51 | distributed under the License is distributed on an "AS IS" BASIS,
52 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
53 | See the License for the specific language governing permissions and
54 | limitations under the License.
55 | */
56 |
--------------------------------------------------------------------------------
/Core/Src/stm32f1xx_hal_timebase_tim.c:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file stm32f1xx_hal_timebase_TIM.c
5 | * @brief HAL time base based on the hardware TIM.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2020 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* USER CODE END Header */
20 |
21 | /* Includes ------------------------------------------------------------------*/
22 | #include "stm32f1xx_hal.h"
23 | #include "stm32f1xx_hal_tim.h"
24 |
25 | /* Private typedef -----------------------------------------------------------*/
26 | /* Private define ------------------------------------------------------------*/
27 | /* Private macro -------------------------------------------------------------*/
28 | /* Private variables ---------------------------------------------------------*/
29 | TIM_HandleTypeDef htim4;
30 | /* Private function prototypes -----------------------------------------------*/
31 | /* Private functions ---------------------------------------------------------*/
32 |
33 | /**
34 | * @brief This function configures the TIM4 as a time base source.
35 | * The time source is configured to have 1ms time base with a dedicated
36 | * Tick interrupt priority.
37 | * @note This function is called automatically at the beginning of program after
38 | * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig().
39 | * @param TickPriority: Tick interrupt priority.
40 | * @retval HAL status
41 | */
42 | HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
43 | {
44 | RCC_ClkInitTypeDef clkconfig;
45 | uint32_t uwTimclock = 0;
46 | uint32_t uwPrescalerValue = 0;
47 | uint32_t pFLatency;
48 | /*Configure the TIM4 IRQ priority */
49 | HAL_NVIC_SetPriority(TIM4_IRQn, TickPriority ,0);
50 |
51 | /* Enable the TIM4 global Interrupt */
52 | HAL_NVIC_EnableIRQ(TIM4_IRQn);
53 | /* Enable TIM4 clock */
54 | __HAL_RCC_TIM4_CLK_ENABLE();
55 |
56 | /* Get clock configuration */
57 | HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
58 |
59 | /* Compute TIM4 clock */
60 | uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
61 | /* Compute the prescaler value to have TIM4 counter clock equal to 1MHz */
62 | uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
63 |
64 | /* Initialize TIM4 */
65 | htim4.Instance = TIM4;
66 |
67 | /* Initialize TIMx peripheral as follow:
68 | + Period = [(TIM4CLK/1000) - 1]. to have a (1/1000) s time base.
69 | + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
70 | + ClockDivision = 0
71 | + Counter direction = Up
72 | */
73 | htim4.Init.Period = (1000000U / 1000U) - 1U;
74 | htim4.Init.Prescaler = uwPrescalerValue;
75 | htim4.Init.ClockDivision = 0;
76 | htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
77 | if(HAL_TIM_Base_Init(&htim4) == HAL_OK)
78 | {
79 | /* Start the TIM time Base generation in interrupt mode */
80 | return HAL_TIM_Base_Start_IT(&htim4);
81 | }
82 |
83 | /* Return function status */
84 | return HAL_ERROR;
85 | }
86 |
87 | /**
88 | * @brief Suspend Tick increment.
89 | * @note Disable the tick increment by disabling TIM4 update interrupt.
90 | * @param None
91 | * @retval None
92 | */
93 | void HAL_SuspendTick(void)
94 | {
95 | /* Disable TIM4 update Interrupt */
96 | __HAL_TIM_DISABLE_IT(&htim4, TIM_IT_UPDATE);
97 | }
98 |
99 | /**
100 | * @brief Resume Tick increment.
101 | * @note Enable the tick increment by Enabling TIM4 update interrupt.
102 | * @param None
103 | * @retval None
104 | */
105 | void HAL_ResumeTick(void)
106 | {
107 | /* Enable TIM4 Update interrupt */
108 | __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);
109 | }
110 |
111 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
112 |
--------------------------------------------------------------------------------
/Core/Src/syscalls.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file syscalls.c
4 | * @author Auto-generated by STM32CubeIDE
5 | * @brief STM32CubeIDE Minimal System calls file
6 | *
7 | * For more information about which c-functions
8 | * need which of these lowlevel functions
9 | * please consult the Newlib libc-manual
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * © Copyright (c) 2020 STMicroelectronics.
14 | * All rights reserved.
15 | *
16 | * This software component is licensed by ST under BSD 3-Clause license,
17 | * the "License"; You may not use this file except in compliance with the
18 | * License. You may obtain a copy of the License at:
19 | * opensource.org/licenses/BSD-3-Clause
20 | *
21 | ******************************************************************************
22 | */
23 |
24 | /* Includes */
25 | #include
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include
32 | #include
33 |
34 |
35 | /* Variables */
36 | //#undef errno
37 | extern int errno;
38 | extern int __io_putchar(int ch) __attribute__((weak));
39 | extern int __io_getchar(void) __attribute__((weak));
40 |
41 | register char * stack_ptr asm("sp");
42 |
43 | char *__env[1] = { 0 };
44 | char **environ = __env;
45 |
46 |
47 | /* Functions */
48 | void initialise_monitor_handles()
49 | {
50 | }
51 |
52 | int _getpid(void)
53 | {
54 | return 1;
55 | }
56 |
57 | int _kill(int pid, int sig)
58 | {
59 | errno = EINVAL;
60 | return -1;
61 | }
62 |
63 | void _exit (int status)
64 | {
65 | _kill(status, -1);
66 | while (1) {} /* Make sure we hang here */
67 | }
68 |
69 | __attribute__((weak)) int _read(int file, char *ptr, int len)
70 | {
71 | int DataIdx;
72 |
73 | for (DataIdx = 0; DataIdx < len; DataIdx++)
74 | {
75 | *ptr++ = __io_getchar();
76 | }
77 |
78 | return len;
79 | }
80 |
81 | __attribute__((weak)) int _write(int file, char *ptr, int len)
82 | {
83 | int DataIdx;
84 |
85 | for (DataIdx = 0; DataIdx < len; DataIdx++)
86 | {
87 | __io_putchar(*ptr++);
88 | }
89 | return len;
90 | }
91 |
92 | int _close(int file)
93 | {
94 | return -1;
95 | }
96 |
97 |
98 | int _fstat(int file, struct stat *st)
99 | {
100 | st->st_mode = S_IFCHR;
101 | return 0;
102 | }
103 |
104 | int _isatty(int file)
105 | {
106 | return 1;
107 | }
108 |
109 | int _lseek(int file, int ptr, int dir)
110 | {
111 | return 0;
112 | }
113 |
114 | int _open(char *path, int flags, ...)
115 | {
116 | /* Pretend like we always fail */
117 | return -1;
118 | }
119 |
120 | int _wait(int *status)
121 | {
122 | errno = ECHILD;
123 | return -1;
124 | }
125 |
126 | int _unlink(char *name)
127 | {
128 | errno = ENOENT;
129 | return -1;
130 | }
131 |
132 | int _times(struct tms *buf)
133 | {
134 | return -1;
135 | }
136 |
137 | int _stat(char *file, struct stat *st)
138 | {
139 | st->st_mode = S_IFCHR;
140 | return 0;
141 | }
142 |
143 | int _link(char *old, char *new)
144 | {
145 | errno = EMLINK;
146 | return -1;
147 | }
148 |
149 | int _fork(void)
150 | {
151 | errno = EAGAIN;
152 | return -1;
153 | }
154 |
155 | int _execve(char *name, char **argv, char **env)
156 | {
157 | errno = ENOMEM;
158 | return -1;
159 | }
160 |
--------------------------------------------------------------------------------
/Core/Src/sysmem.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file sysmem.c
4 | * @author Generated by STM32CubeIDE
5 | * @brief STM32CubeIDE System Memory calls file
6 | *
7 | * For more information about which C functions
8 | * need which of these lowlevel functions
9 | * please consult the newlib libc manual
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * © Copyright (c) 2020 STMicroelectronics.
14 | * All rights reserved.
15 | *
16 | * This software component is licensed by ST under BSD 3-Clause license,
17 | * the "License"; You may not use this file except in compliance with the
18 | * License. You may obtain a copy of the License at:
19 | * opensource.org/licenses/BSD-3-Clause
20 | *
21 | ******************************************************************************
22 | */
23 |
24 | /* Includes */
25 | #include
26 | #include
27 |
28 | /**
29 | * Pointer to the current high watermark of the heap usage
30 | */
31 | static uint8_t *__sbrk_heap_end = NULL;
32 |
33 | /**
34 | * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
35 | * and others from the C library
36 | *
37 | * @verbatim
38 | * ############################################################################
39 | * # .data # .bss # newlib heap # MSP stack #
40 | * # # # # Reserved by _Min_Stack_Size #
41 | * ############################################################################
42 | * ^-- RAM start ^-- _end _estack, RAM end --^
43 | * @endverbatim
44 | *
45 | * This implementation starts allocating at the '_end' linker symbol
46 | * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
47 | * The implementation considers '_estack' linker symbol to be RAM end
48 | * NOTE: If the MSP stack, at any point during execution, grows larger than the
49 | * reserved size, please increase the '_Min_Stack_Size'.
50 | *
51 | * @param incr Memory size
52 | * @return Pointer to allocated memory
53 | */
54 | void *_sbrk(ptrdiff_t incr)
55 | {
56 | extern uint8_t _end; /* Symbol defined in the linker script */
57 | extern uint8_t _estack; /* Symbol defined in the linker script */
58 | extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
59 | const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
60 | const uint8_t *max_heap = (uint8_t *)stack_limit;
61 | uint8_t *prev_heap_end;
62 |
63 | /* Initialize heap end at first call */
64 | if (NULL == __sbrk_heap_end)
65 | {
66 | __sbrk_heap_end = &_end;
67 | }
68 |
69 | /* Protect heap from growing into the reserved MSP stack */
70 | if (__sbrk_heap_end + incr > max_heap)
71 | {
72 | errno = ENOMEM;
73 | return (void *)-1;
74 | }
75 |
76 | prev_heap_end = __sbrk_heap_end;
77 | __sbrk_heap_end += incr;
78 |
79 | return (void *)prev_heap_end;
80 | }
81 |
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/Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h:
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1 | /**
2 | ******************************************************************************
3 | * @file system_stm32f10x.h
4 | * @author MCD Application Team
5 | * @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Header File.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2017 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /** @addtogroup CMSIS
21 | * @{
22 | */
23 |
24 | /** @addtogroup stm32f10x_system
25 | * @{
26 | */
27 |
28 | /**
29 | * @brief Define to prevent recursive inclusion
30 | */
31 | #ifndef __SYSTEM_STM32F10X_H
32 | #define __SYSTEM_STM32F10X_H
33 |
34 | #ifdef __cplusplus
35 | extern "C" {
36 | #endif
37 |
38 | /** @addtogroup STM32F10x_System_Includes
39 | * @{
40 | */
41 |
42 | /**
43 | * @}
44 | */
45 |
46 |
47 | /** @addtogroup STM32F10x_System_Exported_types
48 | * @{
49 | */
50 |
51 | extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
52 | extern const uint8_t AHBPrescTable[16U]; /*!< AHB prescalers table values */
53 | extern const uint8_t APBPrescTable[8U]; /*!< APB prescalers table values */
54 |
55 | /**
56 | * @}
57 | */
58 |
59 | /** @addtogroup STM32F10x_System_Exported_Constants
60 | * @{
61 | */
62 |
63 | /**
64 | * @}
65 | */
66 |
67 | /** @addtogroup STM32F10x_System_Exported_Macros
68 | * @{
69 | */
70 |
71 | /**
72 | * @}
73 | */
74 |
75 | /** @addtogroup STM32F10x_System_Exported_Functions
76 | * @{
77 | */
78 |
79 | extern void SystemInit(void);
80 | extern void SystemCoreClockUpdate(void);
81 | /**
82 | * @}
83 | */
84 |
85 | #ifdef __cplusplus
86 | }
87 | #endif
88 |
89 | #endif /*__SYSTEM_STM32F10X_H */
90 |
91 | /**
92 | * @}
93 | */
94 |
95 | /**
96 | * @}
97 | */
98 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
99 |
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/Drivers/CMSIS/Include/cmsis_version.h:
--------------------------------------------------------------------------------
1 | /**************************************************************************//**
2 | * @file cmsis_version.h
3 | * @brief CMSIS Core(M) Version definitions
4 | * @version V5.0.2
5 | * @date 19. April 2017
6 | ******************************************************************************/
7 | /*
8 | * Copyright (c) 2009-2017 ARM Limited. All rights reserved.
9 | *
10 | * SPDX-License-Identifier: Apache-2.0
11 | *
12 | * Licensed under the Apache License, Version 2.0 (the License); you may
13 | * not use this file except in compliance with the License.
14 | * You may obtain a copy of the License at
15 | *
16 | * www.apache.org/licenses/LICENSE-2.0
17 | *
18 | * Unless required by applicable law or agreed to in writing, software
19 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT
20 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
21 | * See the License for the specific language governing permissions and
22 | * limitations under the License.
23 | */
24 |
25 | #if defined ( __ICCARM__ )
26 | #pragma system_include /* treat file as system include file for MISRA check */
27 | #elif defined (__clang__)
28 | #pragma clang system_header /* treat file as system include file */
29 | #endif
30 |
31 | #ifndef __CMSIS_VERSION_H
32 | #define __CMSIS_VERSION_H
33 |
34 | /* CMSIS Version definitions */
35 | #define __CM_CMSIS_VERSION_MAIN ( 5U) /*!< [31:16] CMSIS Core(M) main version */
36 | #define __CM_CMSIS_VERSION_SUB ( 1U) /*!< [15:0] CMSIS Core(M) sub version */
37 | #define __CM_CMSIS_VERSION ((__CM_CMSIS_VERSION_MAIN << 16U) | \
38 | __CM_CMSIS_VERSION_SUB ) /*!< CMSIS Core(M) version number */
39 | #endif
40 |
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/Drivers/CMSIS/Include/tz_context.h:
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1 | /******************************************************************************
2 | * @file tz_context.h
3 | * @brief Context Management for Armv8-M TrustZone
4 | * @version V1.0.1
5 | * @date 10. January 2018
6 | ******************************************************************************/
7 | /*
8 | * Copyright (c) 2017-2018 Arm Limited. All rights reserved.
9 | *
10 | * SPDX-License-Identifier: Apache-2.0
11 | *
12 | * Licensed under the Apache License, Version 2.0 (the License); you may
13 | * not use this file except in compliance with the License.
14 | * You may obtain a copy of the License at
15 | *
16 | * www.apache.org/licenses/LICENSE-2.0
17 | *
18 | * Unless required by applicable law or agreed to in writing, software
19 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT
20 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
21 | * See the License for the specific language governing permissions and
22 | * limitations under the License.
23 | */
24 |
25 | #if defined ( __ICCARM__ )
26 | #pragma system_include /* treat file as system include file for MISRA check */
27 | #elif defined (__clang__)
28 | #pragma clang system_header /* treat file as system include file */
29 | #endif
30 |
31 | #ifndef TZ_CONTEXT_H
32 | #define TZ_CONTEXT_H
33 |
34 | #include
35 |
36 | #ifndef TZ_MODULEID_T
37 | #define TZ_MODULEID_T
38 | /// \details Data type that identifies secure software modules called by a process.
39 | typedef uint32_t TZ_ModuleId_t;
40 | #endif
41 |
42 | /// \details TZ Memory ID identifies an allocated memory slot.
43 | typedef uint32_t TZ_MemoryId_t;
44 |
45 | /// Initialize secure context memory system
46 | /// \return execution status (1: success, 0: error)
47 | uint32_t TZ_InitContextSystem_S (void);
48 |
49 | /// Allocate context memory for calling secure software modules in TrustZone
50 | /// \param[in] module identifies software modules called from non-secure mode
51 | /// \return value != 0 id TrustZone memory slot identifier
52 | /// \return value 0 no memory available or internal error
53 | TZ_MemoryId_t TZ_AllocModuleContext_S (TZ_ModuleId_t module);
54 |
55 | /// Free context memory that was previously allocated with \ref TZ_AllocModuleContext_S
56 | /// \param[in] id TrustZone memory slot identifier
57 | /// \return execution status (1: success, 0: error)
58 | uint32_t TZ_FreeModuleContext_S (TZ_MemoryId_t id);
59 |
60 | /// Load secure context (called on RTOS thread context switch)
61 | /// \param[in] id TrustZone memory slot identifier
62 | /// \return execution status (1: success, 0: error)
63 | uint32_t TZ_LoadContext_S (TZ_MemoryId_t id);
64 |
65 | /// Store secure context (called on RTOS thread context switch)
66 | /// \param[in] id TrustZone memory slot identifier
67 | /// \return execution status (1: success, 0: error)
68 | uint32_t TZ_StoreContext_S (TZ_MemoryId_t id);
69 |
70 | #endif // TZ_CONTEXT_H
71 |
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1 | /**
2 | ******************************************************************************
3 | * @file stm32f1xx_hal_gpio_ex.c
4 | * @author MCD Application Team
5 | * @brief GPIO Extension HAL module driver.
6 | * This file provides firmware functions to manage the following
7 | * functionalities of the General Purpose Input/Output (GPIO) extension peripheral.
8 | * + Extended features functions
9 | *
10 | @verbatim
11 | ==============================================================================
12 | ##### GPIO Peripheral extension features #####
13 | ==============================================================================
14 | [..] GPIO module on STM32F1 family, manage also the AFIO register:
15 | (+) Possibility to use the EVENTOUT Cortex feature
16 |
17 | ##### How to use this driver #####
18 | ==============================================================================
19 | [..] This driver provides functions to use EVENTOUT Cortex feature
20 | (#) Configure EVENTOUT Cortex feature using the function HAL_GPIOEx_ConfigEventout()
21 | (#) Activate EVENTOUT Cortex feature using the HAL_GPIOEx_EnableEventout()
22 | (#) Deactivate EVENTOUT Cortex feature using the HAL_GPIOEx_DisableEventout()
23 |
24 | @endverbatim
25 | ******************************************************************************
26 | * @attention
27 | *
28 | * © Copyright (c) 2016 STMicroelectronics.
29 | * All rights reserved.
30 | *
31 | * This software component is licensed by ST under BSD 3-Clause license,
32 | * the "License"; You may not use this file except in compliance with the
33 | * License. You may obtain a copy of the License at:
34 | * opensource.org/licenses/BSD-3-Clause
35 | *
36 | ******************************************************************************
37 | */
38 |
39 | /* Includes ------------------------------------------------------------------*/
40 | #include "stm32f1xx_hal.h"
41 |
42 | /** @addtogroup STM32F1xx_HAL_Driver
43 | * @{
44 | */
45 |
46 | /** @defgroup GPIOEx GPIOEx
47 | * @brief GPIO HAL module driver
48 | * @{
49 | */
50 |
51 | #ifdef HAL_GPIO_MODULE_ENABLED
52 |
53 | /** @defgroup GPIOEx_Exported_Functions GPIOEx Exported Functions
54 | * @{
55 | */
56 |
57 | /** @defgroup GPIOEx_Exported_Functions_Group1 Extended features functions
58 | * @brief Extended features functions
59 | *
60 | @verbatim
61 | ==============================================================================
62 | ##### Extended features functions #####
63 | ==============================================================================
64 | [..] This section provides functions allowing to:
65 | (+) Configure EVENTOUT Cortex feature using the function HAL_GPIOEx_ConfigEventout()
66 | (+) Activate EVENTOUT Cortex feature using the HAL_GPIOEx_EnableEventout()
67 | (+) Deactivate EVENTOUT Cortex feature using the HAL_GPIOEx_DisableEventout()
68 |
69 | @endverbatim
70 | * @{
71 | */
72 |
73 | /**
74 | * @brief Configures the port and pin on which the EVENTOUT Cortex signal will be connected.
75 | * @param GPIO_PortSource Select the port used to output the Cortex EVENTOUT signal.
76 | * This parameter can be a value of @ref GPIOEx_EVENTOUT_PORT.
77 | * @param GPIO_PinSource Select the pin used to output the Cortex EVENTOUT signal.
78 | * This parameter can be a value of @ref GPIOEx_EVENTOUT_PIN.
79 | * @retval None
80 | */
81 | void HAL_GPIOEx_ConfigEventout(uint32_t GPIO_PortSource, uint32_t GPIO_PinSource)
82 | {
83 | /* Verify the parameters */
84 | assert_param(IS_AFIO_EVENTOUT_PORT(GPIO_PortSource));
85 | assert_param(IS_AFIO_EVENTOUT_PIN(GPIO_PinSource));
86 |
87 | /* Apply the new configuration */
88 | MODIFY_REG(AFIO->EVCR, (AFIO_EVCR_PORT) | (AFIO_EVCR_PIN), (GPIO_PortSource) | (GPIO_PinSource));
89 | }
90 |
91 | /**
92 | * @brief Enables the Event Output.
93 | * @retval None
94 | */
95 | void HAL_GPIOEx_EnableEventout(void)
96 | {
97 | SET_BIT(AFIO->EVCR, AFIO_EVCR_EVOE);
98 | }
99 |
100 | /**
101 | * @brief Disables the Event Output.
102 | * @retval None
103 | */
104 | void HAL_GPIOEx_DisableEventout(void)
105 | {
106 | CLEAR_BIT(AFIO->EVCR, AFIO_EVCR_EVOE);
107 | }
108 |
109 | /**
110 | * @}
111 | */
112 |
113 | /**
114 | * @}
115 | */
116 |
117 | #endif /* HAL_GPIO_MODULE_ENABLED */
118 |
119 | /**
120 | * @}
121 | */
122 |
123 | /**
124 | * @}
125 | */
126 |
127 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
128 |
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1 | $ 1 0.000005 10.20027730826997 66 5 43
2 | r 256 176 320 176 0 22000
3 | s 192 176 256 176 0 0 false
4 | r 400 176 464 176 0 4700
5 | r 464 176 528 176 0 1000
6 | r 464 176 464 240 0 43000
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13 | R 464 304 464 336 0 0 40 5 0 0 0.5
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17 | p 464 96 416 96 1 0 0
18 | p 528 96 528 48 1 0 0
19 | p 320 112 320 64 1 0 0
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21 | d 320 112 256 112 2 default
22 | R 256 112 208 112 0 0 40 3.3 0 0 0.5
23 | s 464 32 464 96 0 1 false
24 | g 464 32 464 0 0
25 | r 784 96 848 96 0 22000
26 | r 848 128 784 128 0 6000
27 | R 784 96 736 96 0 0 40 15.4 0 0 0.5
28 | g 784 128 752 128 0
29 | w 848 128 848 96 0
30 | p 848 96 912 96 1 0 0
31 | d 848 160 784 160 2 default
32 | R 784 160 736 160 0 0 40 3.3 0 0 0.5
33 | w 848 160 848 128 0
34 | w 832 288 832 256 0
35 | R 768 288 720 288 0 0 40 3.3 0 0 0.5
36 | d 832 288 768 288 2 default
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40 | R 768 224 720 224 0 0 40 20 0 0 0.5
41 | r 832 256 768 256 0 6000
42 | r 768 224 832 224 0 22000
43 | o 0 64 0 4099 160 0.0125 0 2 0 3
44 | 38 0 0 1 101 Resistance
45 | 38 10 0 12 100 Voltage
46 | 38 25 0 0 20 Voltage
47 |
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40 | w 640 208 672 208 0
41 | w 672 240 704 240 0
42 | w 640 240 672 240 0
43 | r 704 240 704 304 0 24000
44 | r 640 240 544 256 0 1500
45 | r 640 208 544 192 0 1000
46 | r 784 144 704 144 0 7500
47 | a 704 224 832 224 8 15 -15 1000000 0.19410139203909704 0.19411789065742036 100000
48 | g 1040 288 1040 368 0
49 | g 1232 288 1232 368 0
50 | g 1040 144 1040 128 0
51 | g 944 160 944 128 0
52 | w 944 192 944 160 0
53 | p 1040 208 1040 144 1 0 0
54 | p 1040 240 1040 288 1 0 0
55 | p 1232 224 1232 288 1 0 0
56 | g 944 336 944 368 0
57 | i 944 336 944 256 0 100
58 | w 1232 144 1232 224 0
59 | w 1184 144 1232 144 0
60 | w 1104 208 1104 144 0
61 | r 944 256 944 192 0 0.002
62 | w 1072 208 1104 208 0
63 | w 1040 208 1072 208 0
64 | w 1072 240 1104 240 0
65 | w 1040 240 1072 240 0
66 | r 1104 240 1104 304 0 24000
67 | r 1040 240 944 256 0 1500
68 | r 1040 208 944 192 0 1000
69 | r 1184 144 1104 144 0 7500
70 | a 1104 224 1232 224 8 15 -15 1000000 0.38232067275433207 0.3823531700115162 100000
71 | R 304 288 304 320 0 0 40 3.3 0 0 0.5
72 | R 704 304 704 336 0 0 40 3.3 0 0 0.5
73 | R 1104 304 1104 336 0 0 40 3.3 0 0 0.5
74 | 38 13 0 -100 100 Current
75 | 38 32 0 -100 100 Current
76 | 38 55 0 -100 100 Current
77 |
--------------------------------------------------------------------------------
/Foujiwara/Electric simulation files/003.txt:
--------------------------------------------------------------------------------
1 | $ 1 0.000005 18.278915558614752 72 5 43
2 | g 240 272 240 352 0
3 | g 432 272 432 352 0
4 | g 240 128 240 112 0
5 | g 144 144 144 112 0
6 | w 144 176 144 144 0
7 | p 240 192 240 128 1 0 0
8 | p 240 224 240 272 1 0 0
9 | p 432 208 432 272 1 0 0
10 | g 144 320 144 352 0
11 | i 144 320 144 240 0 -100
12 | w 432 128 432 208 0
13 | w 384 128 432 128 0
14 | w 304 192 304 128 0
15 | r 144 240 144 176 0 0.002
16 | w 272 192 304 192 0
17 | w 240 192 272 192 0
18 | w 272 224 304 224 0
19 | w 240 224 272 224 0
20 | r 304 224 304 288 0 24000
21 | r 240 224 144 240 0 3000
22 | r 240 192 144 176 0 3000
23 | r 384 128 304 128 0 24000
24 | a 304 208 432 208 8 15 -15 1000000 0.0055533442491771026 0.005553844050159529 100000
25 | a 704 208 832 208 8 15 -15 1000000 0.18331511029928713 0.18333160865921405 100000
26 | r 784 128 704 128 0 24000
27 | r 640 192 544 176 0 3000
28 | r 640 224 544 240 0 3000
29 | r 704 224 704 288 0 24000
30 | w 640 224 672 224 0
31 | w 672 224 704 224 0
32 | w 640 192 672 192 0
33 | w 672 192 704 192 0
34 | r 544 240 544 176 0 0.002
35 | w 704 192 704 128 0
36 | w 784 128 832 128 0
37 | w 832 128 832 208 0
38 | i 544 320 544 240 0 0
39 | g 544 320 544 352 0
40 | p 832 208 832 272 1 0 0
41 | p 640 224 640 272 1 0 0
42 | p 640 192 640 128 1 0 0
43 | w 544 176 544 144 0
44 | g 544 144 544 112 0
45 | g 640 128 640 112 0
46 | g 832 272 832 352 0
47 | g 640 272 640 352 0
48 | a 1104 208 1232 208 8 15 -15 1000000 0.36107687634939706 0.36110937326826853 100000
49 | r 1184 128 1104 128 0 24000
50 | r 1040 192 944 176 0 3000
51 | r 1040 224 944 240 0 3000
52 | r 1104 224 1104 288 0 24000
53 | w 1040 224 1072 224 0
54 | w 1072 224 1104 224 0
55 | w 1040 192 1072 192 0
56 | w 1072 192 1104 192 0
57 | r 944 240 944 176 0 0.002
58 | w 1104 192 1104 128 0
59 | w 1184 128 1232 128 0
60 | w 1232 128 1232 208 0
61 | i 944 320 944 240 0 100
62 | g 944 320 944 352 0
63 | p 1232 208 1232 272 1 0 0
64 | p 1040 224 1040 272 1 0 0
65 | p 1040 192 1040 128 1 0 0
66 | w 944 176 944 144 0
67 | g 944 144 944 112 0
68 | g 1040 128 1040 112 0
69 | g 1232 272 1232 352 0
70 | g 1040 272 1040 352 0
71 | w 304 288 304 400 0
72 | w 1104 400 1104 288 0
73 | w 704 288 704 400 0
74 | w 704 400 304 400 0
75 | w 704 400 1104 400 0
76 | a 1328 208 1456 208 8 15 -15 1000000 1.6499835001649983 1.65 100000
77 | w 1456 208 1456 400 0
78 | w 144 240 128 240 0
79 | w 544 240 528 240 0
80 | w 944 240 928 240 0
81 | w 1328 192 1296 192 0
82 | w 1296 192 1296 400 0
83 | w 1104 400 1296 400 0
84 | w 1296 400 1456 400 0
85 | r 1328 272 1328 336 0 51000
86 | r 1376 272 1376 336 0 51000
87 | w 1328 224 1328 272 0
88 | w 1328 272 1376 272 0
89 | g 1328 336 1328 352 0
90 | R 1376 336 1376 368 0 0 40 3.3 0 0 0.5
91 | p 1456 208 1456 160 1 0 0
92 | 38 9 0 -100 100 Current
93 | 38 36 0 -100 100 Current
94 | 38 59 0 -100 100 Current
95 |
--------------------------------------------------------------------------------
/Foujiwara/Logo/Francewheel_logo.png:
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https://raw.githubusercontent.com/Koxx3/SmartESC_STM32_v1/226bc5d59926fb404ac8c02d3d224ce0458a4e6a/Foujiwara/Logo/Francewheel_logo.png
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/Foujiwara/Logo/Francewheel_logo_0,5x.png:
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https://raw.githubusercontent.com/Koxx3/SmartESC_STM32_v1/226bc5d59926fb404ac8c02d3d224ce0458a4e6a/Foujiwara/Logo/Francewheel_logo_0,5x.png
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/Foujiwara/README.md:
--------------------------------------------------------------------------------
1 | Dossier crée dans le but de retrouver les informations Hardware lié au projet
2 |
3 | Liens :
4 |
5 | Simulateur de circuits
6 |
7 | http://lushprojects.com/circuitjs/circuitjs.html
8 |
9 | Sheet M365 ESC 100v Modification + ADC Reading
10 |
11 | https://docs.google.com/spreadsheets/d/1jOdUUpbCZVHQc2-eIezrbkNFHuf14I3zOeL0la91yoo/edit?usp=sharing
12 |
13 | LM5164 (Régulateur 100v)
14 | Sheet Calculateur automatique (Simplifie les calcules que l'on peu trouvé dans la Datasheet)
15 |
16 | https://docs.google.com/spreadsheets/d/1CgsxaOrR13pdFVpuRWV4LSp5BDi16N-HhI4YBOpb4rM/edit?usp=sharing
17 | Datasheet
18 |
19 | https://www.ti.com/lit/ds/symlink/lm5164.pdf?ts=1608486081860&ref_url=https%253A%252F%252Fwww.google.com%252F
20 |
21 | Sheet Motors BLDC Specs
22 |
23 | https://docs.google.com/spreadsheets/d/1lmWaADTVRKPxEqRkWC1kKJLRQYBc_w8druSc7JFMx7Y/edit?usp=sharing
24 |
25 | Sheet Tableau 18650 Voltage battery pack
26 |
27 | https://docs.google.com/spreadsheets/d/1IxXacOAdDRERyQBk92cMh_GthbUukNUl8V6yGHQTr3o/edit?usp=sharing
28 |
29 | Sheet Analyses ESC
30 |
31 | https://docs.google.com/spreadsheets/d/1lz-Ikm9ajtbFwuA75-WFOcxkhLofpcu3JeeBtXigTQ8/edit?usp=sharing
32 |
33 |
34 |
35 |
36 |
37 |
38 |
39 | Projets sur SIMULATEUR _______________________________________________________________________________________
40 |
41 | Chaque paragraphe possède 3 bits d'identification lié a un fichier .txt dans le dossier, ce fichier permet de pouvoir réouvrir la simulation sur Lushproject si le lien décède
42 |
43 | 001 circuit commande alimentation OEM + pont diviseur de tension de mesure de tension de phases
44 |
45 | https://tinyurl.com/y7bfvebv
46 |
47 | 002 Phase curent sending amplification OEM 1.4 board
48 |
49 | https://tinyurl.com/ydgk27vv
50 |
51 | 003 Phase current sending and amplification OEM 2.1 board
52 |
53 | https://tinyurl.com/y5oe8a3o
54 |
55 |
56 |
57 | [][1]
58 |
59 | [1]:https://paypal.me/pools/c/8vmEN0SFB0
60 |
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/Foujiwara/electrical schemaric/Driver_v1.4_3 couleur.jpg:
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https://raw.githubusercontent.com/Koxx3/SmartESC_STM32_v1/226bc5d59926fb404ac8c02d3d224ce0458a4e6a/Foujiwara/electrical schemaric/Driver_v1.4_3 couleur.jpg
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/Foujiwara/electrical schemaric/Driver_v2.1 couleur Update 11 2020.jpg:
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https://raw.githubusercontent.com/Koxx3/SmartESC_STM32_v1/226bc5d59926fb404ac8c02d3d224ce0458a4e6a/Foujiwara/electrical schemaric/Driver_v2.1 couleur Update 11 2020.jpg
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/Foujiwara/electrical schemaric/Schematicsm365.jpg:
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https://raw.githubusercontent.com/Koxx3/SmartESC_STM32_v1/226bc5d59926fb404ac8c02d3d224ce0458a4e6a/Foujiwara/electrical schemaric/Schematicsm365.jpg
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/Makefile:
--------------------------------------------------------------------------------
1 | ######################################
2 | # target
3 | ######################################
4 | TARGET = hover
5 |
6 | ######################################
7 | # building variables
8 | ######################################
9 | # debug build?
10 | DEBUG = 1
11 | # optimization
12 | OPT = -Og
13 |
14 | # Build path
15 | BUILD_DIR = build
16 |
17 | ######################################
18 | # source
19 | ######################################
20 | # C sources
21 | C_SOURCES = \
22 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c \
23 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c \
24 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c \
25 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c \
26 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
27 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c \
28 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c \
29 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c \
30 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c \
31 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c \
32 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
33 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
34 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \
35 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
36 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \
37 | Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
38 | Src/system_stm32f1xx.c \
39 | Src/setup.c \
40 | Src/control.c \
41 | Src/util.c \
42 | Src/main.c \
43 | Src/bldc.c \
44 | Src/eeprom.c \
45 | Src/hd44780.c \
46 | Src/pcf8574.c \
47 | Src/comms.c \
48 | Src/stm32f1xx_it.c \
49 | Src/BLDC_controller_data.c \
50 | Src/BLDC_controller.c
51 |
52 | # ASM sources
53 | ASM_SOURCES = \
54 | startup_stm32f103xe.s
55 |
56 | #######################################
57 | # binaries
58 | #######################################
59 | PREFIX = arm-none-eabi-
60 | #PREFIX = gcc-arm-none-eabi-7/bin/arm-none-eabi-
61 | CC = $(PREFIX)gcc
62 | AS = $(PREFIX)gcc -x assembler-with-cpp
63 | CP = $(PREFIX)objcopy
64 | AR = $(PREFIX)ar
65 | SZ = $(PREFIX)size
66 | HEX = $(CP) -O ihex
67 | BIN = $(CP) -O binary -S
68 |
69 | #######################################
70 | # CFLAGS
71 | #######################################
72 | # cpu
73 | CPU = -mcpu=cortex-m3
74 |
75 | # fpu
76 | # NONE for Cortex-M0/M0+/M3
77 |
78 | # float-abi
79 |
80 |
81 | # mcu
82 | MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
83 |
84 | # macros for gcc
85 | # AS defines
86 | AS_DEFS =
87 |
88 | # C defines
89 | C_DEFS = \
90 | -DUSE_HAL_DRIVER \
91 | -DSTM32F103xE
92 |
93 |
94 | # AS includes
95 | AS_INCLUDES =
96 |
97 | # C includes
98 | C_INCLUDES = \
99 | -IInc \
100 | -IDrivers/STM32F1xx_HAL_Driver/Inc \
101 | -IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
102 | -IDrivers/CMSIS/Device/ST/STM32F1xx/Include \
103 | -IDrivers/CMSIS/Include
104 |
105 |
106 | # compile gcc flags
107 | ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
108 |
109 | CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -std=gnu11
110 |
111 | ifeq ($(DEBUG), 1)
112 | CFLAGS += -g -gdwarf-2
113 | endif
114 |
115 | # Generate dependency information
116 | CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)"
117 |
118 | # Choose variant from env var
119 | # make -e VARIANT=VARIANT_ADC
120 |
121 | ifneq ($(VARIANT), )
122 | CFLAGS += -D $(VARIANT)
123 | endif
124 |
125 |
126 | #######################################
127 | # LDFLAGS
128 | #######################################
129 | # link script
130 | LDSCRIPT = STM32F103RCTx_FLASH.ld
131 |
132 | # libraries
133 | LIBS = -lc -lm -lnosys
134 | LIBDIR =
135 | LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
136 |
137 | # default action: build all
138 | all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
139 |
140 |
141 | #######################################
142 | # build the application
143 | #######################################
144 | # list of objects
145 | OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
146 | vpath %.c $(sort $(dir $(C_SOURCES)))
147 | # list of ASM program objects
148 | OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
149 | vpath %.s $(sort $(dir $(ASM_SOURCES)))
150 |
151 | $(BUILD_DIR)/%.o: %.c Inc/config.h Makefile | $(BUILD_DIR)
152 | $(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
153 |
154 | $(BUILD_DIR)/%.o: %.s Inc/config.h Makefile | $(BUILD_DIR)
155 | $(AS) -c $(CFLAGS) $< -o $@
156 |
157 | $(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
158 | $(CC) $(OBJECTS) $(LDFLAGS) -o $@
159 | $(SZ) $@
160 |
161 | $(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
162 | $(HEX) $< $@
163 |
164 | $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
165 | $(BIN) $< $@
166 |
167 | $(BUILD_DIR):
168 | mkdir -p $@
169 |
170 | format:
171 | find Src/ Inc/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
172 | #######################################
173 | # clean up
174 | #######################################
175 | clean:
176 | -rm -fR .dep $(BUILD_DIR)
177 |
178 | flash:
179 | st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
180 |
181 | unlock:
182 | openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0"
183 |
184 | #######################################
185 | # dependencies
186 | #######################################
187 | -include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
188 |
189 | # *** EOF ***
190 |
--------------------------------------------------------------------------------
/STM32F103C8TX_FLASH.ld:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file LinkerScript.ld
4 | * @author Auto-generated by STM32CubeIDE
5 | * @brief Linker script for STM32F103C8Tx Device from STM32F1 series
6 | * 64Kbytes FLASH
7 | * 20Kbytes RAM
8 | *
9 | * Set heap size, stack size and stack location according
10 | * to application requirements.
11 | *
12 | * Set memory bank area and size if external memory is used
13 | ******************************************************************************
14 | * @attention
15 | *
16 | * © Copyright (c) 2020 STMicroelectronics.
17 | * All rights reserved.
18 | *
19 | * This software component is licensed by ST under BSD 3-Clause license,
20 | * the "License"; You may not use this file except in compliance with the
21 | * License. You may obtain a copy of the License at:
22 | * opensource.org/licenses/BSD-3-Clause
23 | *
24 | ******************************************************************************
25 | */
26 |
27 | /* Entry Point */
28 | ENTRY(Reset_Handler)
29 |
30 | /* Highest address of the user mode stack */
31 | _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
32 |
33 | _Min_Heap_Size = 0x200 ; /* required amount of heap */
34 | _Min_Stack_Size = 0x400 ; /* required amount of stack */
35 |
36 | /* Memories definition */
37 | MEMORY
38 | {
39 | RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
40 | FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 64K
41 | }
42 |
43 | /* Sections */
44 | SECTIONS
45 | {
46 | /* The startup code into "FLASH" Rom type memory */
47 | .isr_vector :
48 | {
49 | . = ALIGN(4);
50 | KEEP(*(.isr_vector)) /* Startup code */
51 | . = ALIGN(4);
52 | } >FLASH
53 |
54 | /* The program code and other data into "FLASH" Rom type memory */
55 | .text :
56 | {
57 | . = ALIGN(4);
58 | *(.text) /* .text sections (code) */
59 | *(.text*) /* .text* sections (code) */
60 | *(.glue_7) /* glue arm to thumb code */
61 | *(.glue_7t) /* glue thumb to arm code */
62 | *(.eh_frame)
63 |
64 | KEEP (*(.init))
65 | KEEP (*(.fini))
66 |
67 | . = ALIGN(4);
68 | _etext = .; /* define a global symbols at end of code */
69 | } >FLASH
70 |
71 | /* Constant data into "FLASH" Rom type memory */
72 | .rodata :
73 | {
74 | . = ALIGN(4);
75 | *(.rodata) /* .rodata sections (constants, strings, etc.) */
76 | *(.rodata*) /* .rodata* sections (constants, strings, etc.) */
77 | . = ALIGN(4);
78 | } >FLASH
79 |
80 | .ARM.extab : {
81 | . = ALIGN(4);
82 | *(.ARM.extab* .gnu.linkonce.armextab.*)
83 | . = ALIGN(4);
84 | } >FLASH
85 |
86 | .ARM : {
87 | . = ALIGN(4);
88 | __exidx_start = .;
89 | *(.ARM.exidx*)
90 | __exidx_end = .;
91 | . = ALIGN(4);
92 | } >FLASH
93 |
94 | .preinit_array :
95 | {
96 | . = ALIGN(4);
97 | PROVIDE_HIDDEN (__preinit_array_start = .);
98 | KEEP (*(.preinit_array*))
99 | PROVIDE_HIDDEN (__preinit_array_end = .);
100 | . = ALIGN(4);
101 | } >FLASH
102 |
103 | .init_array :
104 | {
105 | . = ALIGN(4);
106 | PROVIDE_HIDDEN (__init_array_start = .);
107 | KEEP (*(SORT(.init_array.*)))
108 | KEEP (*(.init_array*))
109 | PROVIDE_HIDDEN (__init_array_end = .);
110 | . = ALIGN(4);
111 | } >FLASH
112 |
113 | .fini_array :
114 | {
115 | . = ALIGN(4);
116 | PROVIDE_HIDDEN (__fini_array_start = .);
117 | KEEP (*(SORT(.fini_array.*)))
118 | KEEP (*(.fini_array*))
119 | PROVIDE_HIDDEN (__fini_array_end = .);
120 | . = ALIGN(4);
121 | } >FLASH
122 |
123 | /* Used by the startup to initialize data */
124 | _sidata = LOADADDR(.data);
125 |
126 | /* Initialized data sections into "RAM" Ram type memory */
127 | .data :
128 | {
129 | . = ALIGN(4);
130 | _sdata = .; /* create a global symbol at data start */
131 | *(.data) /* .data sections */
132 | *(.data*) /* .data* sections */
133 | *(.RamFunc) /* .RamFunc sections */
134 | *(.RamFunc*) /* .RamFunc* sections */
135 |
136 | . = ALIGN(4);
137 | _edata = .; /* define a global symbol at data end */
138 |
139 | } >RAM AT> FLASH
140 |
141 | /* Uninitialized data section into "RAM" Ram type memory */
142 | . = ALIGN(4);
143 | .bss :
144 | {
145 | /* This is used by the startup in order to initialize the .bss section */
146 | _sbss = .; /* define a global symbol at bss start */
147 | __bss_start__ = _sbss;
148 | *(.bss)
149 | *(.bss*)
150 | *(COMMON)
151 |
152 | . = ALIGN(4);
153 | _ebss = .; /* define a global symbol at bss end */
154 | __bss_end__ = _ebss;
155 | } >RAM
156 |
157 | /* User_heap_stack section, used to check that there is enough "RAM" Ram type memory left */
158 | ._user_heap_stack :
159 | {
160 | . = ALIGN(8);
161 | PROVIDE ( end = . );
162 | PROVIDE ( _end = . );
163 | . = . + _Min_Heap_Size;
164 | . = . + _Min_Stack_Size;
165 | . = ALIGN(8);
166 | } >RAM
167 |
168 | /* Remove information from the compiler libraries */
169 | /DISCARD/ :
170 | {
171 | libc.a ( * )
172 | libm.a ( * )
173 | libgcc.a ( * )
174 | }
175 |
176 | .ARM.attributes 0 : { *(.ARM.attributes) }
177 | }
178 |
--------------------------------------------------------------------------------
/SmartElec Debug.cfg:
--------------------------------------------------------------------------------
1 | # This is an genericBoard board with a single STM32F103C8Tx chip
2 | #
3 | # Generated by STM32CubeIDE
4 | # Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
5 |
6 | source [find interface/stlink-dap.cfg]
7 |
8 | st-link interface server
9 |
10 | set WORKAREASIZE 0x5000
11 |
12 | transport select "dapdirect_swd"
13 |
14 | set CHIPNAME STM32F103C8Tx
15 | set BOARDNAME genericBoard
16 |
17 | # Enable debug when in low power modes
18 | set ENABLE_LOW_POWER 1
19 |
20 | # Stop Watchdog counters when halt
21 | set STOP_WATCHDOG 1
22 |
23 | # STlink Debug clock frequency
24 | set CLOCK_FREQ 8000
25 |
26 | # Reset configuration
27 | # use hardware reset, connect under reset
28 | # connect_assert_srst needed if low power mode application running (WFI...)
29 | reset_config srst_only srst_nogate connect_assert_srst
30 | set CONNECT_UNDER_RESET 1
31 | set CORE_RESET 0
32 |
33 | # ACCESS PORT NUMBER
34 | set AP_NUM 0
35 | # GDB PORT
36 | set GDB_PORT 3333
37 |
38 |
39 |
40 | # BCTM CPU variables
41 |
42 | source [find target/stm32f1x.cfg]
43 |
44 | #SWV trace
45 | tpiu config disable
46 |
--------------------------------------------------------------------------------
/SmartElec Release.cfg:
--------------------------------------------------------------------------------
1 | # This is an genericBoard board with a single STM32F103C8Tx chip
2 | #
3 | # Generated by STM32CubeIDE
4 | # Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
5 |
6 | source [find interface/stlink-dap.cfg]
7 |
8 | st-link interface server
9 |
10 | set WORKAREASIZE 0x5000
11 |
12 | transport select "dapdirect_swd"
13 |
14 | set CHIPNAME STM32F103C8Tx
15 | set BOARDNAME genericBoard
16 |
17 | # Enable debug when in low power modes
18 | set ENABLE_LOW_POWER 1
19 |
20 | # Stop Watchdog counters when halt
21 | set STOP_WATCHDOG 1
22 |
23 | # STlink Debug clock frequency
24 | set CLOCK_FREQ 8000
25 |
26 | # Reset configuration
27 | # use hardware reset, connect under reset
28 | # connect_assert_srst needed if low power mode application running (WFI...)
29 | reset_config srst_only srst_nogate connect_assert_srst
30 | set CONNECT_UNDER_RESET 1
31 | set CORE_RESET 0
32 |
33 | # ACCESS PORT NUMBER
34 | set AP_NUM 0
35 | # GDB PORT
36 | set GDB_PORT 3333
37 |
38 |
39 |
40 | # BCTM CPU variables
41 |
42 | source [find target/stm32f1x.cfg]
43 |
44 | #SWV trace
45 | tpiu config disable
46 |
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/tests_scripts/gdb_cmd.bat:
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1 | gdb -ex "target remote localhost:3333" C:\VSARM\Workspace\SmartESC\Debug\SmartESC.elf
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/tests_scripts/gdb_dump.bat:
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1 | @echo off
2 |
3 | arm-none-eabi-gdb.exe -ex "target remote localhost:3333" -ex "set confirm off" -ex "dump binary value adb_buffer_storage_phA.hex adb_buffer_storage_phA" -ex "dump binary value adb_buffer_storage_phB.hex adb_buffer_storage_phB" -ex "dump binary value adb_buffer_storage_phC.hex adb_buffer_storage_phC" -ex "print *adb_buffer_storage_phA@200" -ex "print *adb_buffer_storage_phB@200" -ex "print *adb_buffer_storage_phC@200" -ex "monitor resume" --batch C:\VSARM\Workspace\SmartESC\Debug\SmartESC.elf
4 |
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/tests_scripts/gdb_set_spin.bat:
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1 | @echo off
2 | arm-none-eabi-gdb.exe -ex "target remote localhost:3333" -ex "set confirm off" --ex "set spinValue=%1" --ex "set captureSpeed=%2" -ex "monitor resume" --batch C:\VSARM\Workspace\SmartESC\Debug\SmartESC.elf
3 |
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/tests_scripts/gdb_set_tim2.bat:
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1 | @echo off
2 | arm-none-eabi-gdb.exe -ex "target remote localhost:3333" -ex "set confirm off" --ex "set cpt=0" --ex "set cpt=0" --ex "set tim2_ccr2=%1" -ex "monitor resume" --batch C:\VSARM\Workspace\SmartESC\Debug\SmartESC.elf
3 |
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/tests_scripts/openocd.bat:
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1 | bin\openocd.exe -f stm32.cfg
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/tests_scripts/plot.bat:
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1 | @echo off
2 |
3 | C:\VSARM\gnuplot\bin\gnuplot.exe -p -e "set terminal png font arial 14 size 1600,800; set output 'file_%1.png'; set yrange [-4000:4000]; plot 'C:\VSARM\openocd\adb_buffer_storage_phA.hex' binary format='%%int16' u 0:1 every ::0::1000 with lines, 'C:\VSARM\openocd\adb_buffer_storage_phB.hex' binary format='%%int16' u 0:1 every ::0::1000 with lines; set terminal pop; set output; replot"
4 |
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/tests_scripts/plot_no_display.bat:
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1 | @echo off
2 |
3 | C:\VSARM\gnuplot\bin\gnuplot.exe -p -e "set terminal png font arial 14 size 1600,800; set output 'file_%1.png'; set yrange [-4000:4000]; plot 'C:\VSARM\openocd\adb_buffer_storage_phA.hex' binary format='%%int16' u 0:1 every ::0::1000 with lines, 'C:\VSARM\openocd\adb_buffer_storage_phB.hex' binary format='%%int16' u 0:1 every ::0::1000 with lines"
4 |
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/tests_scripts/super_batch.bat:
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1 | @echo off
2 |
3 | set /a MIN = %1
4 | set /a MAX = %3
5 | set /a INC = %2
6 | set /a SPEED = %4
7 |
8 | echo MIN = %MIN%
9 | echo MAX = %MAX%
10 | echo INC = %INC%
11 |
12 | for /l %%v in (%MIN%, %INC%, %MAX%) do (
13 |
14 | echo ##########################################################################
15 | echo ##########################################################################
16 | echo Testing %%v - min %MIN% / max %MAX% / increment %INC% / speed %SPEED%
17 | echo ##########################################################################
18 | echo ##########################################################################
19 |
20 | call gdb_set_tim2.bat %%v
21 |
22 | call gdb_set_spin.bat 3000 %SPEED%
23 |
24 | timeout /t 10
25 |
26 | call gdb_dump.bat %%v
27 |
28 | call plot_no_display.bat %%v
29 |
30 | )
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