├── Hardware ├── BOM_V1.5_2024-05-31.xlsx ├── InteractiveBOM_PCB1_2024-6-9.html └── ProPrj_FOC_Driver V2.0_2024-06-09.epro ├── README.md └── Software ├── .cproject ├── .idea ├── .name ├── Software.iml ├── misc.xml ├── modules.xml ├── vcs.xml └── workspace.xml ├── .mxproject ├── .project ├── CMakeLists.txt ├── CMakeLists_template.txt ├── Core ├── Inc │ ├── FreeRTOSConfig.h │ ├── main.h │ ├── stm32g4xx_hal_conf.h │ └── stm32g4xx_it.h ├── Src │ ├── app_freertos.c │ ├── main.c │ ├── stm32g4xx_hal_msp.c │ ├── stm32g4xx_it.c │ ├── syscalls.c │ ├── sysmem.c │ └── system_stm32g4xx.c └── Startup │ └── startup_stm32g431rbtx.s ├── Drivers ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32G4xx │ │ │ ├── Include │ │ │ ├── stm32g431xx.h │ │ │ ├── stm32g4xx.h │ │ │ └── system_stm32g4xx.h │ │ │ └── LICENSE.txt │ ├── Include │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armclang.h │ │ ├── cmsis_armclang_ltm.h │ │ ├── cmsis_compiler.h │ │ ├── cmsis_gcc.h │ │ ├── cmsis_iccarm.h │ │ ├── cmsis_version.h │ │ ├── core_armv81mml.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_cm35p.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_sc000.h │ │ ├── core_sc300.h │ │ ├── mpu_armv7.h │ │ ├── mpu_armv8.h │ │ └── tz_context.h │ └── LICENSE.txt └── STM32G4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32g4xx_hal.h │ ├── stm32g4xx_hal_adc.h │ ├── stm32g4xx_hal_adc_ex.h │ ├── stm32g4xx_hal_cortex.h │ ├── stm32g4xx_hal_def.h │ ├── stm32g4xx_hal_dma.h │ ├── stm32g4xx_hal_dma_ex.h │ ├── stm32g4xx_hal_exti.h │ ├── stm32g4xx_hal_fdcan.h │ ├── stm32g4xx_hal_flash.h │ ├── stm32g4xx_hal_flash_ex.h │ ├── stm32g4xx_hal_flash_ramfunc.h │ ├── stm32g4xx_hal_gpio.h │ ├── stm32g4xx_hal_gpio_ex.h │ ├── stm32g4xx_hal_i2c.h │ ├── stm32g4xx_hal_i2c_ex.h │ ├── stm32g4xx_hal_pwr.h │ ├── stm32g4xx_hal_pwr_ex.h │ ├── stm32g4xx_hal_rcc.h │ ├── stm32g4xx_hal_rcc_ex.h │ ├── stm32g4xx_hal_spi.h │ ├── stm32g4xx_hal_spi_ex.h │ ├── stm32g4xx_hal_tim.h │ ├── stm32g4xx_hal_tim_ex.h │ ├── stm32g4xx_hal_uart.h │ ├── stm32g4xx_hal_uart_ex.h │ ├── stm32g4xx_ll_adc.h │ ├── stm32g4xx_ll_bus.h │ ├── stm32g4xx_ll_cortex.h │ ├── stm32g4xx_ll_crs.h │ ├── stm32g4xx_ll_dma.h │ ├── stm32g4xx_ll_dmamux.h │ ├── stm32g4xx_ll_exti.h │ ├── stm32g4xx_ll_gpio.h │ ├── stm32g4xx_ll_i2c.h │ ├── stm32g4xx_ll_lpuart.h │ ├── stm32g4xx_ll_pwr.h │ ├── stm32g4xx_ll_rcc.h │ ├── stm32g4xx_ll_system.h │ ├── stm32g4xx_ll_tim.h │ ├── stm32g4xx_ll_usart.h │ └── stm32g4xx_ll_utils.h │ ├── LICENSE.txt │ └── Src │ ├── stm32g4xx_hal.c │ ├── stm32g4xx_hal_adc.c │ ├── stm32g4xx_hal_adc_ex.c │ ├── stm32g4xx_hal_cortex.c │ ├── stm32g4xx_hal_dma.c │ ├── stm32g4xx_hal_dma_ex.c │ ├── stm32g4xx_hal_exti.c │ ├── stm32g4xx_hal_fdcan.c │ ├── stm32g4xx_hal_flash.c │ ├── stm32g4xx_hal_flash_ex.c │ ├── stm32g4xx_hal_flash_ramfunc.c │ ├── stm32g4xx_hal_gpio.c │ ├── stm32g4xx_hal_i2c.c │ ├── stm32g4xx_hal_i2c_ex.c │ ├── stm32g4xx_hal_pwr.c │ ├── stm32g4xx_hal_pwr_ex.c │ ├── stm32g4xx_hal_rcc.c │ ├── stm32g4xx_hal_rcc_ex.c │ ├── stm32g4xx_hal_spi.c │ ├── stm32g4xx_hal_spi_ex.c │ ├── stm32g4xx_hal_tim.c │ ├── stm32g4xx_hal_tim_ex.c │ ├── stm32g4xx_hal_uart.c │ ├── stm32g4xx_hal_uart_ex.c │ └── stm32g4xx_ll_adc.c ├── Middlewares └── Third_Party │ └── FreeRTOS │ └── Source │ ├── CMSIS_RTOS │ ├── cmsis_os.c │ └── cmsis_os.h │ ├── LICENSE │ ├── croutine.c │ ├── event_groups.c │ ├── include │ ├── FreeRTOS.h │ ├── StackMacros.h │ ├── atomic.h │ ├── croutine.h │ ├── deprecated_definitions.h │ ├── event_groups.h │ ├── list.h │ ├── message_buffer.h │ ├── mpu_prototypes.h │ ├── mpu_wrappers.h │ ├── portable.h │ ├── projdefs.h │ ├── queue.h │ ├── semphr.h │ ├── stack_macros.h │ ├── stream_buffer.h │ ├── task.h │ └── timers.h │ ├── list.c │ ├── portable │ ├── GCC │ │ └── ARM_CM4F │ │ │ ├── port.c │ │ │ └── portmacro.h │ └── MemMang │ │ └── heap_4.c │ ├── queue.c │ ├── stream_buffer.c │ ├── tasks.c │ └── timers.c ├── STM32G431RBTX_FLASH.ld ├── TwisterDriver.ioc ├── UserApp ├── FOC │ ├── FOC.c │ ├── FOC.h │ ├── FOC_math.c │ ├── FOC_math.h │ ├── Filter.c │ ├── Filter.h │ ├── hardware_api.c │ ├── hardware_api.h │ ├── my_PID.c │ └── my_PID.h ├── LCD │ ├── fonts.c │ ├── fonts.h │ ├── gui.c │ ├── gui.h │ ├── image.c │ ├── image.h │ ├── st7735.c │ └── st7735.h ├── MT6701 │ ├── MT6701.c │ └── MT6701.h ├── Servo │ ├── Servo.c │ └── Servo.h ├── cJSON │ ├── cJSON.c │ ├── cJSON.h │ ├── cJSON_Utils.c │ └── cJSON_Utils.h ├── cJsonParse │ ├── cmd_Book.md │ ├── cmd_Parse.c │ └── cmd_Parse.h ├── multiBotton │ ├── README.md │ ├── multi_button.c │ └── multi_button.h └── retarget │ ├── retarget.c │ └── retarget.h ├── cmake-build-debug ├── .cmake │ └── api │ │ └── v1 │ │ ├── query │ │ ├── cache-v2 │ │ ├── cmakeFiles-v1 │ │ ├── codemodel-v2 │ │ └── toolchains-v1 │ │ └── reply │ │ ├── cache-v2-9ccb63a0956593355aef.json │ │ ├── cmakeFiles-v1-ff7ed09de4b0220c5fd4.json │ │ ├── codemodel-v2-f69d832f174de317f4b6.json │ │ ├── directory-.-Debug-d0094a50bb2071803777.json │ │ ├── index-2024-03-15T13-48-39-0819.json │ │ ├── target-TwisterDriver.elf-Debug-3be7050d20025c0789ef.json │ │ └── toolchains-v1-0b8e03a4840d6d13f0ec.json ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.25.2 │ │ ├── CMakeASMCompiler.cmake │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── CMakeCCompilerId.o │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── CMakeCXXCompilerId.o │ ├── CMakeDirectoryInformation.cmake │ ├── CMakeError.log │ ├── CMakeOutput.log │ ├── Makefile.cmake │ ├── Makefile2 │ ├── TargetDirectories.txt │ ├── TwisterDriver.elf.dir │ │ ├── ASM.includecache │ │ ├── Core │ │ │ ├── Src │ │ │ │ ├── app_freertos.c.obj │ │ │ │ ├── app_freertos.c.obj.d │ │ │ │ ├── main.c.obj │ │ │ │ ├── main.c.obj.d │ │ │ │ ├── stm32g4xx_hal_msp.c.obj │ │ │ │ ├── stm32g4xx_hal_msp.c.obj.d │ │ │ │ ├── stm32g4xx_it.c.obj │ │ │ │ ├── stm32g4xx_it.c.obj.d │ │ │ │ ├── syscalls.c.obj │ │ │ │ ├── syscalls.c.obj.d │ │ │ │ ├── sysmem.c.obj │ │ │ │ ├── sysmem.c.obj.d │ │ │ │ ├── system_stm32g4xx.c.obj │ │ │ │ └── system_stm32g4xx.c.obj.d │ │ │ └── Startup │ │ │ │ └── startup_stm32g431rbtx.s.obj │ │ ├── DependInfo.cmake │ │ ├── Drivers │ │ │ └── STM32G4xx_HAL_Driver │ │ │ │ └── Src │ │ │ │ ├── stm32g4xx_hal.c.obj │ │ │ │ ├── stm32g4xx_hal.c.obj.d │ │ │ │ ├── stm32g4xx_hal_adc.c.obj │ │ │ │ ├── stm32g4xx_hal_adc.c.obj.d │ │ │ │ ├── stm32g4xx_hal_adc_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_adc_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_cortex.c.obj │ │ │ │ ├── stm32g4xx_hal_cortex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_dma.c.obj │ │ │ │ ├── stm32g4xx_hal_dma.c.obj.d │ │ │ │ ├── stm32g4xx_hal_dma_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_dma_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_exti.c.obj │ │ │ │ ├── stm32g4xx_hal_exti.c.obj.d │ │ │ │ ├── stm32g4xx_hal_fdcan.c.obj │ │ │ │ ├── stm32g4xx_hal_fdcan.c.obj.d │ │ │ │ ├── stm32g4xx_hal_flash.c.obj │ │ │ │ ├── stm32g4xx_hal_flash.c.obj.d │ │ │ │ ├── stm32g4xx_hal_flash_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_flash_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_flash_ramfunc.c.obj │ │ │ │ ├── stm32g4xx_hal_flash_ramfunc.c.obj.d │ │ │ │ ├── stm32g4xx_hal_gpio.c.obj │ │ │ │ ├── stm32g4xx_hal_gpio.c.obj.d │ │ │ │ ├── stm32g4xx_hal_i2c.c.obj │ │ │ │ ├── stm32g4xx_hal_i2c.c.obj.d │ │ │ │ ├── stm32g4xx_hal_i2c_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_i2c_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_pwr.c.obj │ │ │ │ ├── stm32g4xx_hal_pwr.c.obj.d │ │ │ │ ├── stm32g4xx_hal_pwr_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_pwr_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_rcc.c.obj │ │ │ │ ├── stm32g4xx_hal_rcc.c.obj.d │ │ │ │ ├── stm32g4xx_hal_rcc_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_rcc_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_spi.c.obj │ │ │ │ ├── stm32g4xx_hal_spi.c.obj.d │ │ │ │ ├── stm32g4xx_hal_spi_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_spi_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_tim.c.obj │ │ │ │ ├── stm32g4xx_hal_tim.c.obj.d │ │ │ │ ├── stm32g4xx_hal_tim_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_tim_ex.c.obj.d │ │ │ │ ├── stm32g4xx_hal_uart.c.obj │ │ │ │ ├── stm32g4xx_hal_uart.c.obj.d │ │ │ │ ├── stm32g4xx_hal_uart_ex.c.obj │ │ │ │ ├── stm32g4xx_hal_uart_ex.c.obj.d │ │ │ │ ├── stm32g4xx_ll_adc.c.obj │ │ │ │ └── stm32g4xx_ll_adc.c.obj.d │ │ ├── Middlewares │ │ │ └── Third_Party │ │ │ │ └── FreeRTOS │ │ │ │ └── Source │ │ │ │ ├── CMSIS_RTOS │ │ │ │ ├── cmsis_os.c.obj │ │ │ │ └── cmsis_os.c.obj.d │ │ │ │ ├── croutine.c.obj │ │ │ │ ├── croutine.c.obj.d │ │ │ │ ├── event_groups.c.obj │ │ │ │ ├── event_groups.c.obj.d │ │ │ │ ├── list.c.obj │ │ │ │ ├── list.c.obj.d │ │ │ │ ├── portable │ │ │ │ ├── GCC │ │ │ │ │ └── ARM_CM4F │ │ │ │ │ │ ├── port.c.obj │ │ │ │ │ │ └── port.c.obj.d │ │ │ │ └── MemMang │ │ │ │ │ ├── heap_4.c.obj │ │ │ │ │ └── heap_4.c.obj.d │ │ │ │ ├── queue.c.obj │ │ │ │ ├── queue.c.obj.d │ │ │ │ ├── stream_buffer.c.obj │ │ │ │ ├── stream_buffer.c.obj.d │ │ │ │ ├── tasks.c.obj │ │ │ │ ├── tasks.c.obj.d │ │ │ │ ├── timers.c.obj │ │ │ │ └── timers.c.obj.d │ │ ├── UserApp │ │ │ ├── FOC │ │ │ │ ├── FOC.c.obj │ │ │ │ ├── FOC.c.obj.d │ │ │ │ ├── FOC_math.c.obj │ │ │ │ ├── FOC_math.c.obj.d │ │ │ │ ├── Filter.c.obj │ │ │ │ ├── Filter.c.obj.d │ │ │ │ ├── hardware_api.c.obj │ │ │ │ ├── hardware_api.c.obj.d │ │ │ │ ├── my_PID.c.obj │ │ │ │ └── my_PID.c.obj.d │ │ │ ├── LCD │ │ │ │ ├── fonts.c.obj │ │ │ │ ├── fonts.c.obj.d │ │ │ │ ├── gui.c.obj │ │ │ │ ├── gui.c.obj.d │ │ │ │ ├── image.c.obj │ │ │ │ ├── image.c.obj.d │ │ │ │ ├── st7735.c.obj │ │ │ │ └── st7735.c.obj.d │ │ │ ├── MT6701 │ │ │ │ ├── MT6701.c.obj │ │ │ │ └── MT6701.c.obj.d │ │ │ ├── Servo │ │ │ │ ├── Servo.c.obj │ │ │ │ └── Servo.c.obj.d │ │ │ ├── cJSON │ │ │ │ ├── cJSON.c.obj │ │ │ │ ├── cJSON.c.obj.d │ │ │ │ ├── cJSON_Utils.c.obj │ │ │ │ └── cJSON_Utils.c.obj.d │ │ │ ├── cJsonParse │ │ │ │ ├── cmd_Parse.c.obj │ │ │ │ └── cmd_Parse.c.obj.d │ │ │ ├── multiBotton │ │ │ │ ├── multi_button.c.obj │ │ │ │ └── multi_button.c.obj.d │ │ │ └── retarget │ │ │ │ ├── retarget.c.obj │ │ │ │ └── retarget.c.obj.d │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.internal │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ ├── objects1 │ │ └── progress.make │ ├── clion-Debug-log.txt │ ├── clion-environment.txt │ ├── cmake.check_cache │ └── progress.marks ├── Makefile ├── Testing │ └── Temporary │ │ └── LastTest.log ├── TwisterDriver.bin ├── TwisterDriver.cbp ├── TwisterDriver.elf ├── TwisterDriver.hex ├── TwisterDriver.map └── cmake_install.cmake └── stm32g4x.cfg /Hardware/BOM_V1.5_2024-05-31.xlsx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NinoC137/TwisterDriver/3c6f2d61246b8bd5eb67e7c9a482cbd64fd6b67a/Hardware/BOM_V1.5_2024-05-31.xlsx -------------------------------------------------------------------------------- /Hardware/ProPrj_FOC_Driver V2.0_2024-06-09.epro: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NinoC137/TwisterDriver/3c6f2d61246b8bd5eb67e7c9a482cbd64fd6b67a/Hardware/ProPrj_FOC_Driver V2.0_2024-06-09.epro -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Twister_Driver 2 | 3 | 一款双路FOC控制板, 额外配置了两个舵机驱动口与一系列外设. 4 | 5 | 6 | 7 | 在软件编写部分, 实现面向对象式编程架构, 建立FOC电机对象, 提高代码复用能力 8 | 9 | 尽可能实现了硬件抽象, 留出硬件API接口, 提高代码的可移植性 10 | 11 | 12 | 13 | 在代码上, 用户仅需自行填充 14 | 15 | 1. PWM的写入api, 形参为0至100%的参数(即0~1的float变量). 16 | 2. 角度的读取api, 将读取到的角度存入FOC对象中的angle_pi即可. 17 | 3. 电流的读取api, 将读取到的电流与零点偏置电流存入FOC对象中的current数组即可. 18 | 19 | 20 | 21 | ## 目前的功能实现 22 | 23 | - [x] 开环速度控制 openLoop control 24 | - [x] 角度环单环闭环控制 angular single PID feed back control 25 | - [x] 速度环单环闭环控制 speed single PID feed back control 26 | - [x] 电流环单环闭环控制 current single PID feed back control 27 | - [x] 角度-速度环串级PID控制 angular-speed serial PID feed back control 28 | - [x] 速度-电流环串级PID控制 speed-current serial PID feed back control 29 | - [x] 角度-电流环串级PID控制 angular-current serial PID feed back control 30 | - [x] **角度-速度-电流环串级PID控制** angular-speed-current serial PID feed back control 31 | 32 | ---- 33 | 34 | - [x] 分别使用SPWM与SVPWM完成上述控制 use SPWM and SVPWM complete these control 35 | - [x] 双路FOC驱动 2-channel FOC control 36 | - [x] 双路FOC完成上述控制 let 2-channel FOC complete these control 37 | - [ ] GUI绘制与显示系统状态 38 | - [x] 串口/485总线控制协议 serial/485 communication 39 | - [ ] CAN总线控制协议 CAN communication 40 | 41 | 42 | 43 | ## 硬件功能清单 44 | 45 | ### FOC控制 46 | 47 | 使用drv8313驱动IC, 可以驱动8~24V的电机, 工作电流最大为2.5A. 48 | 49 | 使用ina199芯片, 配置了两路三相的电流采样, 直接输出模拟量. 50 | 51 | 配置了编码器输入接口, 采用IIC通信的方式读取数据, 主要适配于MT6701编码器. 52 | 53 | ### 通信 54 | 55 | 预留了CAN总线接口, TypeC-CH340-USART1接口, USART3接口, 其中USART3可自由配置使用场景. 56 | 57 | ### 外设 58 | 59 | 配置了一个EC11编码器, 接入定时器3的编码器通道, 及当做按键Key6. 60 | 61 | 配置了5个物理按键, 可自由配置触发情景. 62 | 63 | 配置了一个SPI-LCD 0.96寸屏幕, 屏幕的驱动芯片为st7735. 64 | 65 | 配置了一个可编程的LED灯, 用于指示运行状态等等 66 | 67 | ### 舵机驱动 68 | 69 | 舵机连接了定时器的两个通道, 5V电压驱动. 70 | 71 | 72 | 73 | ## 物料清单 74 | 75 | 主控芯片 --- STM32G431 76 | 77 | 电机驱动 --- drv8313PWPR 78 | 79 | 电流采样 --- INA199A 80 | 81 | 通信芯片 --- CH340N(串口) TJA1050(CAN) 82 | 83 | 电源管理 --- 8~24V DC-DC压降 TPS54202DDCR 84 | 85 | 显示屏 --- ips 0.96寸TFT-LCD显示屏 ST7735驱动 86 | 87 | 88 | 89 | 连接器, 电容电阻电感及保护二极管等等此处不列举 90 | 91 | 92 | 93 | 电机型号: 2804云台电机, 极对数7, 320KV, 额定电压12V 默认连接线为SH1.0 94 | 95 | 编码器型号: MT6701 -------------------------------------------------------------------------------- /Software/.idea/.name: -------------------------------------------------------------------------------- 1 | TwisterDriver -------------------------------------------------------------------------------- /Software/.idea/Software.iml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /Software/.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /Software/.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /Software/.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /Software/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | TwisterDriver 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.MCUSingleCpuProjectNature 28 | com.st.stm32cube.ide.mcu.MCURootProjectNature 29 | org.eclipse.cdt.managedbuilder.core.managedBuildNature 30 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature 31 | 32 | 33 | -------------------------------------------------------------------------------- /Software/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | #THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE! 2 | set(CMAKE_SYSTEM_NAME Generic) 3 | set(CMAKE_SYSTEM_VERSION 1) 4 | cmake_minimum_required(VERSION 3.25) 5 | 6 | # specify cross-compilers and tools 7 | set(CMAKE_C_COMPILER arm-none-eabi-gcc) 8 | set(CMAKE_CXX_COMPILER arm-none-eabi-g++) 9 | set(CMAKE_ASM_COMPILER arm-none-eabi-gcc) 10 | set(CMAKE_AR arm-none-eabi-ar) 11 | set(CMAKE_OBJCOPY arm-none-eabi-objcopy) 12 | set(CMAKE_OBJDUMP arm-none-eabi-objdump) 13 | set(SIZE arm-none-eabi-size) 14 | set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) 15 | 16 | # project settings 17 | project(TwisterDriver C CXX ASM) 18 | set(CMAKE_CXX_STANDARD 17) 19 | set(CMAKE_C_STANDARD 11) 20 | 21 | #Uncomment for hardware floating point 22 | #add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING) 23 | add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 24 | add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 25 | 26 | #Uncomment for software floating point 27 | #add_compile_options(-mfloat-abi=soft) 28 | 29 | add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) 30 | add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0) 31 | 32 | # uncomment to mitigate c++17 absolute addresses warnings 33 | #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register") 34 | 35 | # Enable assembler files preprocessing 36 | add_compile_options($<$:-x$assembler-with-cpp>) 37 | 38 | if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release") 39 | message(STATUS "Maximum optimization for speed") 40 | add_compile_options(-Ofast) 41 | elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo") 42 | message(STATUS "Maximum optimization for speed, debug info included") 43 | add_compile_options(-Ofast -g) 44 | elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel") 45 | message(STATUS "Maximum optimization for size") 46 | add_compile_options(-Os) 47 | else () 48 | message(STATUS "Minimal optimization, debug info included") 49 | add_compile_options(-Og -g) 50 | endif () 51 | 52 | include_directories(Core/Inc Drivers/STM32G4xx_HAL_Driver/Inc Drivers/STM32G4xx_HAL_Driver/Inc/Legacy Drivers/CMSIS/Device/ST/STM32G4xx/Include Drivers/CMSIS/Include Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F 53 | UserApp/FOC 54 | UserApp/MT6701 55 | UserApp/retarget 56 | UserApp/cJSON 57 | UserApp/Servo 58 | UserApp/LCD 59 | UserApp/multiBotton 60 | UserApp/cJsonParse 61 | ) 62 | 63 | add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32G431xx) 64 | 65 | file(GLOB_RECURSE SOURCES "Core/*.*" "Middlewares/*.*" "Drivers/*.*" 66 | "UserApp/FOC/*.*" 67 | "UserApp/MT6701/*.*" 68 | "UserApp/retarget/*.*" 69 | "UserApp/cJSON/*.*" 70 | "UserApp/Servo/*.*" 71 | "UserApp/LCD/*.*" 72 | "UserApp/multiBotton/*.*" 73 | "UserApp/cJsonParse/*.*" 74 | ) 75 | 76 | set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32G431RBTX_FLASH.ld) 77 | 78 | add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map) 79 | add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) 80 | add_link_options(-T ${LINKER_SCRIPT}) 81 | 82 | add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT}) 83 | 84 | set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex) 85 | set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin) 86 | 87 | add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD 88 | COMMAND ${CMAKE_OBJCOPY} -Oihex $ ${HEX_FILE} 89 | COMMAND ${CMAKE_OBJCOPY} -Obinary $ ${BIN_FILE} 90 | COMMENT "Building ${HEX_FILE} 91 | Building ${BIN_FILE}") 92 | -------------------------------------------------------------------------------- /Software/CMakeLists_template.txt: -------------------------------------------------------------------------------- 1 | #${templateWarning} 2 | set(CMAKE_SYSTEM_NAME Generic) 3 | set(CMAKE_SYSTEM_VERSION 1) 4 | ${cmakeRequiredVersion} 5 | # specify cross-compilers and tools 6 | set(CMAKE_C_COMPILER arm-none-eabi-gcc) 7 | set(CMAKE_CXX_COMPILER arm-none-eabi-g++) 8 | set(CMAKE_ASM_COMPILER arm-none-eabi-gcc) 9 | set(CMAKE_AR arm-none-eabi-ar) 10 | set(CMAKE_OBJCOPY arm-none-eabi-objcopy) 11 | set(CMAKE_OBJDUMP arm-none-eabi-objdump) 12 | set(SIZE arm-none-eabi-size) 13 | set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) 14 | 15 | # project settings 16 | project(${projectName} C CXX ASM) 17 | set(CMAKE_CXX_STANDARD 17) 18 | set(CMAKE_C_STANDARD 11) 19 | 20 | #Uncomment for hardware floating point 21 | #add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING) 22 | add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 23 | add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 24 | 25 | #Uncomment for software floating point 26 | #add_compile_options(-mfloat-abi=soft) 27 | 28 | add_compile_options(-mcpu=${mcpu} -mthumb -mthumb-interwork) 29 | add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0) 30 | 31 | # uncomment to mitigate c++17 absolute addresses warnings 32 | #set(CMAKE_CXX_FLAGS "$${CMAKE_CXX_FLAGS} -Wno-register") 33 | 34 | # Enable assembler files preprocessing 35 | add_compile_options($<$:-x$assembler-with-cpp>) 36 | 37 | if ("$${CMAKE_BUILD_TYPE}" STREQUAL "Release") 38 | message(STATUS "Maximum optimization for speed") 39 | add_compile_options(-Ofast) 40 | elseif ("$${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo") 41 | message(STATUS "Maximum optimization for speed, debug info included") 42 | add_compile_options(-Ofast -g) 43 | elseif ("$${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel") 44 | message(STATUS "Maximum optimization for size") 45 | add_compile_options(-Os) 46 | else () 47 | message(STATUS "Minimal optimization, debug info included") 48 | add_compile_options(-Og -g) 49 | endif () 50 | 51 | include_directories(${includes} 52 | UserApp/FOC 53 | UserApp/MT6701 54 | UserApp/retarget 55 | UserApp/cJSON 56 | UserApp/Servo 57 | UserApp/LCD 58 | UserApp/multiBotton 59 | UserApp/cJsonParse 60 | ) 61 | 62 | add_definitions(${defines}) 63 | 64 | file(GLOB_RECURSE SOURCES ${sources} 65 | "UserApp/FOC/*.*" 66 | "UserApp/MT6701/*.*" 67 | "UserApp/retarget/*.*" 68 | "UserApp/cJSON/*.*" 69 | "UserApp/Servo/*.*" 70 | "UserApp/LCD/*.*" 71 | "UserApp/multiBotton/*.*" 72 | "UserApp/cJsonParse/*.*" 73 | ) 74 | 75 | set(LINKER_SCRIPT $${CMAKE_SOURCE_DIR}/${linkerScript}) 76 | 77 | add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=$${PROJECT_BINARY_DIR}/$${PROJECT_NAME}.map) 78 | add_link_options(-mcpu=${mcpu} -mthumb -mthumb-interwork) 79 | add_link_options(-T $${LINKER_SCRIPT}) 80 | 81 | add_executable($${PROJECT_NAME}.elf $${SOURCES} $${LINKER_SCRIPT}) 82 | 83 | set(HEX_FILE $${PROJECT_BINARY_DIR}/$${PROJECT_NAME}.hex) 84 | set(BIN_FILE $${PROJECT_BINARY_DIR}/$${PROJECT_NAME}.bin) 85 | 86 | add_custom_command(TARGET $${PROJECT_NAME}.elf POST_BUILD 87 | COMMAND $${CMAKE_OBJCOPY} -Oihex $ $${HEX_FILE} 88 | COMMAND $${CMAKE_OBJCOPY} -Obinary $ $${BIN_FILE} 89 | COMMENT "Building $${HEX_FILE} 90 | Building $${BIN_FILE}") 91 | -------------------------------------------------------------------------------- /Software/Core/Inc/stm32g4xx_it.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file stm32g4xx_it.h 5 | * @brief This file contains the headers of the interrupt handlers. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2023 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file 13 | * in the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | /* USER CODE END Header */ 19 | 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __STM32G4xx_IT_H 22 | #define __STM32G4xx_IT_H 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Private includes ----------------------------------------------------------*/ 29 | /* USER CODE BEGIN Includes */ 30 | 31 | /* USER CODE END Includes */ 32 | 33 | /* Exported types ------------------------------------------------------------*/ 34 | /* USER CODE BEGIN ET */ 35 | 36 | /* USER CODE END ET */ 37 | 38 | /* Exported constants --------------------------------------------------------*/ 39 | /* USER CODE BEGIN EC */ 40 | 41 | /* USER CODE END EC */ 42 | 43 | /* Exported macro ------------------------------------------------------------*/ 44 | /* USER CODE BEGIN EM */ 45 | 46 | /* USER CODE END EM */ 47 | 48 | /* Exported functions prototypes ---------------------------------------------*/ 49 | void NMI_Handler(void); 50 | void HardFault_Handler(void); 51 | void MemManage_Handler(void); 52 | void BusFault_Handler(void); 53 | void UsageFault_Handler(void); 54 | void DebugMon_Handler(void); 55 | void SysTick_Handler(void); 56 | void DMA1_Channel1_IRQHandler(void); 57 | void DMA1_Channel2_IRQHandler(void); 58 | void DMA1_Channel4_IRQHandler(void); 59 | void USART1_IRQHandler(void); 60 | void USART3_IRQHandler(void); 61 | /* USER CODE BEGIN EFP */ 62 | 63 | /* USER CODE END EFP */ 64 | 65 | #ifdef __cplusplus 66 | } 67 | #endif 68 | 69 | #endif /* __STM32G4xx_IT_H */ 70 | -------------------------------------------------------------------------------- /Software/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) 2020-2023 STMicroelectronics. 14 | * All rights reserved. 15 | * 16 | * This software is licensed under terms that can be found in the LICENSE file 17 | * in the root directory of this software component. 18 | * If no LICENSE file comes with this software, it is provided AS-IS. 19 | * 20 | ****************************************************************************** 21 | */ 22 | 23 | /* Includes */ 24 | #include 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include 30 | #include 31 | #include 32 | 33 | 34 | /* Variables */ 35 | extern int __io_putchar(int ch) __attribute__((weak)); 36 | extern int __io_getchar(void) __attribute__((weak)); 37 | 38 | 39 | char *__env[1] = { 0 }; 40 | char **environ = __env; 41 | 42 | 43 | /* Functions */ 44 | void initialise_monitor_handles() 45 | { 46 | } 47 | 48 | int _getpid(void) 49 | { 50 | return 1; 51 | } 52 | 53 | int _kill(int pid, int sig) 54 | { 55 | (void)pid; 56 | (void)sig; 57 | errno = EINVAL; 58 | return -1; 59 | } 60 | 61 | void _exit (int status) 62 | { 63 | _kill(status, -1); 64 | while (1) {} /* Make sure we hang here */ 65 | } 66 | 67 | __attribute__((weak)) int _read(int file, char *ptr, int len) 68 | { 69 | (void)file; 70 | int DataIdx; 71 | 72 | for (DataIdx = 0; DataIdx < len; DataIdx++) 73 | { 74 | *ptr++ = __io_getchar(); 75 | } 76 | 77 | return len; 78 | } 79 | 80 | __attribute__((weak)) int _write(int file, char *ptr, int len) 81 | { 82 | (void)file; 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 | (void)file; 95 | return -1; 96 | } 97 | 98 | 99 | int _fstat(int file, struct stat *st) 100 | { 101 | (void)file; 102 | st->st_mode = S_IFCHR; 103 | return 0; 104 | } 105 | 106 | int _isatty(int file) 107 | { 108 | (void)file; 109 | return 1; 110 | } 111 | 112 | int _lseek(int file, int ptr, int dir) 113 | { 114 | (void)file; 115 | (void)ptr; 116 | (void)dir; 117 | return 0; 118 | } 119 | 120 | int _open(char *path, int flags, ...) 121 | { 122 | (void)path; 123 | (void)flags; 124 | /* Pretend like we always fail */ 125 | return -1; 126 | } 127 | 128 | int _wait(int *status) 129 | { 130 | (void)status; 131 | errno = ECHILD; 132 | return -1; 133 | } 134 | 135 | int _unlink(char *name) 136 | { 137 | (void)name; 138 | errno = ENOENT; 139 | return -1; 140 | } 141 | 142 | int _times(struct tms *buf) 143 | { 144 | (void)buf; 145 | return -1; 146 | } 147 | 148 | int _stat(char *file, struct stat *st) 149 | { 150 | (void)file; 151 | st->st_mode = S_IFCHR; 152 | return 0; 153 | } 154 | 155 | int _link(char *old, char *new) 156 | { 157 | (void)old; 158 | (void)new; 159 | errno = EMLINK; 160 | return -1; 161 | } 162 | 163 | int _fork(void) 164 | { 165 | errno = EAGAIN; 166 | return -1; 167 | } 168 | 169 | int _execve(char *name, char **argv, char **env) 170 | { 171 | (void)name; 172 | (void)argv; 173 | (void)env; 174 | errno = ENOMEM; 175 | return -1; 176 | } 177 | -------------------------------------------------------------------------------- /Software/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) 2023 STMicroelectronics. 14 | * All rights reserved. 15 | * 16 | * This software is licensed under terms that can be found in the LICENSE file 17 | * in the root directory of this software component. 18 | * If no LICENSE file comes with this software, it is provided AS-IS. 19 | * 20 | ****************************************************************************** 21 | */ 22 | 23 | /* Includes */ 24 | #include 25 | #include 26 | 27 | /** 28 | * Pointer to the current high watermark of the heap usage 29 | */ 30 | static uint8_t *__sbrk_heap_end = NULL; 31 | 32 | /** 33 | * @brief _sbrk() allocates memory to the newlib heap and is used by malloc 34 | * and others from the C library 35 | * 36 | * @verbatim 37 | * ############################################################################ 38 | * # .data # .bss # newlib heap # MSP stack # 39 | * # # # # Reserved by _Min_Stack_Size # 40 | * ############################################################################ 41 | * ^-- RAM start ^-- _end _estack, RAM end --^ 42 | * @endverbatim 43 | * 44 | * This implementation starts allocating at the '_end' linker symbol 45 | * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack 46 | * The implementation considers '_estack' linker symbol to be RAM end 47 | * NOTE: If the MSP stack, at any point during execution, grows larger than the 48 | * reserved size, please increase the '_Min_Stack_Size'. 49 | * 50 | * @param incr Memory size 51 | * @return Pointer to allocated memory 52 | */ 53 | void *_sbrk(ptrdiff_t incr) 54 | { 55 | extern uint8_t _end; /* Symbol defined in the linker script */ 56 | extern uint8_t _estack; /* Symbol defined in the linker script */ 57 | extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */ 58 | const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size; 59 | const uint8_t *max_heap = (uint8_t *)stack_limit; 60 | uint8_t *prev_heap_end; 61 | 62 | /* Initialize heap end at first call */ 63 | if (NULL == __sbrk_heap_end) 64 | { 65 | __sbrk_heap_end = &_end; 66 | } 67 | 68 | /* Protect heap from growing into the reserved MSP stack */ 69 | if (__sbrk_heap_end + incr > max_heap) 70 | { 71 | errno = ENOMEM; 72 | return (void *)-1; 73 | } 74 | 75 | prev_heap_end = __sbrk_heap_end; 76 | __sbrk_heap_end += incr; 77 | 78 | return (void *)prev_heap_end; 79 | } 80 | -------------------------------------------------------------------------------- /Software/Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NinoC137/TwisterDriver/3c6f2d61246b8bd5eb67e7c9a482cbd64fd6b67a/Software/Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h -------------------------------------------------------------------------------- /Software/Drivers/CMSIS/Device/ST/STM32G4xx/Include/system_stm32g4xx.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file system_stm32g4xx.h 4 | * @author MCD Application Team 5 | * @brief CMSIS Cortex-M4 Device System Source File for STM32G4xx devices. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2019 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file 13 | * in the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | 19 | /** @addtogroup CMSIS 20 | * @{ 21 | */ 22 | 23 | /** @addtogroup stm32g4xx_system 24 | * @{ 25 | */ 26 | 27 | /** 28 | * @brief Define to prevent recursive inclusion 29 | */ 30 | #ifndef __SYSTEM_STM32G4XX_H 31 | #define __SYSTEM_STM32G4XX_H 32 | 33 | #ifdef __cplusplus 34 | extern "C" { 35 | #endif 36 | 37 | /** @addtogroup STM32G4xx_System_Includes 38 | * @{ 39 | */ 40 | 41 | /** 42 | * @} 43 | */ 44 | 45 | 46 | /** @addtogroup STM32G4xx_System_Exported_Variables 47 | * @{ 48 | */ 49 | /* The SystemCoreClock variable is updated in three ways: 50 | 1) by calling CMSIS function SystemCoreClockUpdate() 51 | 2) by calling HAL API function HAL_RCC_GetSysClockFreq() 52 | 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 53 | Note: If you use this function to configure the system clock; then there 54 | is no need to call the 2 first functions listed above, since SystemCoreClock 55 | variable is updated automatically. 56 | */ 57 | extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ 58 | 59 | extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */ 60 | extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */ 61 | 62 | /** 63 | * @} 64 | */ 65 | 66 | /** @addtogroup STM32G4xx_System_Exported_Constants 67 | * @{ 68 | */ 69 | 70 | /** 71 | * @} 72 | */ 73 | 74 | /** @addtogroup STM32G4xx_System_Exported_Macros 75 | * @{ 76 | */ 77 | 78 | /** 79 | * @} 80 | */ 81 | 82 | /** @addtogroup STM32G4xx_System_Exported_Functions 83 | * @{ 84 | */ 85 | 86 | extern void SystemInit(void); 87 | extern void SystemCoreClockUpdate(void); 88 | /** 89 | * @} 90 | */ 91 | 92 | #ifdef __cplusplus 93 | } 94 | #endif 95 | 96 | #endif /*__SYSTEM_STM32G4XX_H */ 97 | 98 | /** 99 | * @} 100 | */ 101 | 102 | /** 103 | * @} 104 | */ 105 | -------------------------------------------------------------------------------- /Software/Drivers/CMSIS/Device/ST/STM32G4xx/LICENSE.txt: -------------------------------------------------------------------------------- 1 | This software component is provided to you as part of a software package and 2 | applicable license terms are in the Package_license file. If you received this 3 | software component outside of a package or without applicable license terms, 4 | the terms of the Apache-2.0 license shall apply. 5 | You may obtain a copy of the Apache-2.0 at: 6 | https://opensource.org/licenses/Apache-2.0 7 | -------------------------------------------------------------------------------- /Software/Drivers/CMSIS/Include/cmsis_version.h: -------------------------------------------------------------------------------- 1 | /**************************************************************************//** 2 | * @file cmsis_version.h 3 | * @brief CMSIS Core(M) Version definitions 4 | * @version V5.0.3 5 | * @date 24. June 2019 6 | ******************************************************************************/ 7 | /* 8 | * Copyright (c) 2009-2019 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 ( 3U) /*!< [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 | -------------------------------------------------------------------------------- /Software/Drivers/CMSIS/Include/tz_context.h: -------------------------------------------------------------------------------- 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 | -------------------------------------------------------------------------------- /Software/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32g4xx_hal_flash_ex.h 4 | * @author MCD Application Team 5 | * @brief Header file of FLASH HAL Extended module. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2019 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file in 13 | * the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | ****************************************************************************** 16 | */ 17 | 18 | /* Define to prevent recursive inclusion -------------------------------------*/ 19 | #ifndef STM32G4xx_HAL_FLASH_EX_H 20 | #define STM32G4xx_HAL_FLASH_EX_H 21 | 22 | #ifdef __cplusplus 23 | extern "C" { 24 | #endif 25 | 26 | /* Includes ------------------------------------------------------------------*/ 27 | #include "stm32g4xx_hal_def.h" 28 | 29 | /** @addtogroup STM32G4xx_HAL_Driver 30 | * @{ 31 | */ 32 | 33 | /** @addtogroup FLASHEx 34 | * @{ 35 | */ 36 | 37 | /* Exported types ------------------------------------------------------------*/ 38 | 39 | /* Exported constants --------------------------------------------------------*/ 40 | 41 | /* Exported macro ------------------------------------------------------------*/ 42 | 43 | /* Exported functions --------------------------------------------------------*/ 44 | /** @addtogroup FLASHEx_Exported_Functions 45 | * @{ 46 | */ 47 | 48 | /* Extended Program operation functions *************************************/ 49 | /** @addtogroup FLASHEx_Exported_Functions_Group1 50 | * @{ 51 | */ 52 | HAL_StatusTypeDef HAL_FLASHEx_Erase(FLASH_EraseInitTypeDef *pEraseInit, uint32_t *PageError); 53 | HAL_StatusTypeDef HAL_FLASHEx_Erase_IT(FLASH_EraseInitTypeDef *pEraseInit); 54 | HAL_StatusTypeDef HAL_FLASHEx_OBProgram(FLASH_OBProgramInitTypeDef *pOBInit); 55 | void HAL_FLASHEx_OBGetConfig(FLASH_OBProgramInitTypeDef *pOBInit); 56 | HAL_StatusTypeDef HAL_FLASHEx_EnableSecMemProtection(uint32_t Bank); 57 | void HAL_FLASHEx_EnableDebugger(void); 58 | void HAL_FLASHEx_DisableDebugger(void); 59 | /** 60 | * @} 61 | */ 62 | 63 | /** 64 | * @} 65 | */ 66 | 67 | /** @addtogroup FLASHEx_Private_Functions 68 | * @{ 69 | */ 70 | void FLASH_PageErase(uint32_t Page, uint32_t Banks); 71 | void FLASH_FlushCaches(void); 72 | /** 73 | * @} 74 | */ 75 | 76 | /** 77 | * @} 78 | */ 79 | 80 | /** 81 | * @} 82 | */ 83 | 84 | #ifdef __cplusplus 85 | } 86 | #endif 87 | 88 | #endif /* STM32G4xx_HAL_FLASH_EX_H */ 89 | 90 | -------------------------------------------------------------------------------- /Software/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32g4xx_hal_flash_ramfunc.h 4 | * @author MCD Application Team 5 | * @brief Header file of FLASH RAMFUNC driver. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2019 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file in 13 | * the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | ****************************************************************************** 16 | */ 17 | 18 | /* Define to prevent recursive inclusion -------------------------------------*/ 19 | #ifndef STM32G4xx_FLASH_RAMFUNC_H 20 | #define STM32G4xx_FLASH_RAMFUNC_H 21 | 22 | #ifdef __cplusplus 23 | extern "C" { 24 | #endif 25 | 26 | /* Includes ------------------------------------------------------------------*/ 27 | #include "stm32g4xx_hal_def.h" 28 | 29 | /** @addtogroup STM32G4xx_HAL_Driver 30 | * @{ 31 | */ 32 | 33 | /** @addtogroup FLASH_RAMFUNC 34 | * @{ 35 | */ 36 | 37 | /* Exported types ------------------------------------------------------------*/ 38 | /* Exported macro ------------------------------------------------------------*/ 39 | /* Exported functions --------------------------------------------------------*/ 40 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions 41 | * @{ 42 | */ 43 | 44 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions_Group1 45 | * @{ 46 | */ 47 | /* Peripheral Control functions ************************************************/ 48 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_EnableRunPowerDown(void); 49 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_DisableRunPowerDown(void); 50 | #if defined (FLASH_OPTR_DBANK) 51 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_OB_DBankConfig(uint32_t DBankConfig); 52 | #endif 53 | /** 54 | * @} 55 | */ 56 | 57 | /** 58 | * @} 59 | */ 60 | 61 | /** 62 | * @} 63 | */ 64 | 65 | /** 66 | * @} 67 | */ 68 | 69 | #ifdef __cplusplus 70 | } 71 | #endif 72 | 73 | #endif /* STM32G4xx_FLASH_RAMFUNC_H */ 74 | 75 | -------------------------------------------------------------------------------- /Software/Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_spi_ex.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32g4xx_hal_spi_ex.h 4 | * @author MCD Application Team 5 | * @brief Header file of SPI HAL Extended module. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2019 STMicroelectronics. 10 | * All rights reserved. 11 | * 12 | * This software is licensed under terms that can be found in the LICENSE file 13 | * in the root directory of this software component. 14 | * If no LICENSE file comes with this software, it is provided AS-IS. 15 | * 16 | ****************************************************************************** 17 | */ 18 | 19 | /* Define to prevent recursive inclusion -------------------------------------*/ 20 | #ifndef STM32G4xx_HAL_SPI_EX_H 21 | #define STM32G4xx_HAL_SPI_EX_H 22 | 23 | #ifdef __cplusplus 24 | extern "C" { 25 | #endif 26 | 27 | /* Includes ------------------------------------------------------------------*/ 28 | #include "stm32g4xx_hal_def.h" 29 | 30 | /** @addtogroup STM32G4xx_HAL_Driver 31 | * @{ 32 | */ 33 | 34 | /** @addtogroup SPIEx 35 | * @{ 36 | */ 37 | 38 | /* Exported types ------------------------------------------------------------*/ 39 | /* Exported constants --------------------------------------------------------*/ 40 | /* Exported macros -----------------------------------------------------------*/ 41 | /* Exported functions --------------------------------------------------------*/ 42 | /** @addtogroup SPIEx_Exported_Functions 43 | * @{ 44 | */ 45 | 46 | /* Initialization and de-initialization functions ****************************/ 47 | /* IO operation functions *****************************************************/ 48 | /** @addtogroup SPIEx_Exported_Functions_Group1 49 | * @{ 50 | */ 51 | HAL_StatusTypeDef HAL_SPIEx_FlushRxFifo(SPI_HandleTypeDef *hspi); 52 | /** 53 | * @} 54 | */ 55 | 56 | /** 57 | * @} 58 | */ 59 | 60 | /** 61 | * @} 62 | */ 63 | 64 | /** 65 | * @} 66 | */ 67 | 68 | #ifdef __cplusplus 69 | } 70 | #endif 71 | 72 | #endif /* STM32G4xx_HAL_SPI_EX_H */ 73 | 74 | -------------------------------------------------------------------------------- /Software/Drivers/STM32G4xx_HAL_Driver/LICENSE.txt: -------------------------------------------------------------------------------- 1 | This software component is provided to you as part of a software package and 2 | applicable license terms are in the Package_license file. If you received this 3 | software component outside of a package or without applicable license terms, 4 | the terms of the BSD-3-Clause license shall apply. 5 | You may obtain a copy of the BSD-3-Clause at: 6 | https://opensource.org/licenses/BSD-3-Clause 7 | -------------------------------------------------------------------------------- /Software/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_spi_ex.c: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32g4xx_hal_spi_ex.c 4 | * @author MCD Application Team 5 | * @brief Extended SPI HAL module driver. 6 | * This file provides firmware functions to manage the following 7 | * SPI peripheral extended functionalities : 8 | * + IO operation functions 9 | * 10 | ****************************************************************************** 11 | * @attention 12 | * 13 | * Copyright (c) 2019 STMicroelectronics. 14 | * All rights reserved. 15 | * 16 | * This software is licensed under terms that can be found in the LICENSE file 17 | * in the root directory of this software component. 18 | * If no LICENSE file comes with this software, it is provided AS-IS. 19 | * 20 | ****************************************************************************** 21 | */ 22 | 23 | /* Includes ------------------------------------------------------------------*/ 24 | #include "stm32g4xx_hal.h" 25 | 26 | /** @addtogroup STM32G4xx_HAL_Driver 27 | * @{ 28 | */ 29 | 30 | /** @defgroup SPIEx SPIEx 31 | * @brief SPI Extended HAL module driver 32 | * @{ 33 | */ 34 | #ifdef HAL_SPI_MODULE_ENABLED 35 | 36 | /* Private typedef -----------------------------------------------------------*/ 37 | /* Private defines -----------------------------------------------------------*/ 38 | /** @defgroup SPIEx_Private_Constants SPIEx Private Constants 39 | * @{ 40 | */ 41 | #define SPI_FIFO_SIZE 4UL 42 | /** 43 | * @} 44 | */ 45 | 46 | /* Private macros ------------------------------------------------------------*/ 47 | /* Private variables ---------------------------------------------------------*/ 48 | /* Private function prototypes -----------------------------------------------*/ 49 | /* Exported functions --------------------------------------------------------*/ 50 | 51 | /** @defgroup SPIEx_Exported_Functions SPIEx Exported Functions 52 | * @{ 53 | */ 54 | 55 | /** @defgroup SPIEx_Exported_Functions_Group1 IO operation functions 56 | * @brief Data transfers functions 57 | * 58 | @verbatim 59 | ============================================================================== 60 | ##### IO operation functions ##### 61 | =============================================================================== 62 | [..] 63 | This subsection provides a set of extended functions to manage the SPI 64 | data transfers. 65 | 66 | (#) Rx data flush function: 67 | (++) HAL_SPIEx_FlushRxFifo() 68 | 69 | @endverbatim 70 | * @{ 71 | */ 72 | 73 | /** 74 | * @brief Flush the RX fifo. 75 | * @param hspi pointer to a SPI_HandleTypeDef structure that contains 76 | * the configuration information for the specified SPI module. 77 | * @retval HAL status 78 | */ 79 | HAL_StatusTypeDef HAL_SPIEx_FlushRxFifo(SPI_HandleTypeDef *hspi) 80 | { 81 | __IO uint32_t tmpreg; 82 | uint8_t count = 0U; 83 | while ((hspi->Instance->SR & SPI_FLAG_FRLVL) != SPI_FRLVL_EMPTY) 84 | { 85 | count++; 86 | tmpreg = hspi->Instance->DR; 87 | UNUSED(tmpreg); /* To avoid GCC warning */ 88 | if (count == SPI_FIFO_SIZE) 89 | { 90 | return HAL_TIMEOUT; 91 | } 92 | } 93 | return HAL_OK; 94 | } 95 | 96 | /** 97 | * @} 98 | */ 99 | 100 | /** 101 | * @} 102 | */ 103 | 104 | #endif /* HAL_SPI_MODULE_ENABLED */ 105 | 106 | /** 107 | * @} 108 | */ 109 | 110 | /** 111 | * @} 112 | */ 113 | -------------------------------------------------------------------------------- /Software/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NinoC137/TwisterDriver/3c6f2d61246b8bd5eb67e7c9a482cbd64fd6b67a/Software/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c -------------------------------------------------------------------------------- /Software/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NinoC137/TwisterDriver/3c6f2d61246b8bd5eb67e7c9a482cbd64fd6b67a/Software/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h -------------------------------------------------------------------------------- /Software/Middlewares/Third_Party/FreeRTOS/Source/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. 2 | Permission is hereby granted, free of charge, to any person obtaining a copy of 3 | this software and associated documentation files (the "Software"), to deal in 4 | the Software without restriction, including without limitation the rights to 5 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 6 | the Software, and to permit persons to whom the Software is furnished to do so, 7 | subject to the following conditions: 8 | 9 | The above copyright notice and this permission notice shall be included in all 10 | copies or substantial portions of the Software. 11 | 12 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 13 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 14 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 15 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 16 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 17 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 18 | 19 | -------------------------------------------------------------------------------- /Software/UserApp/FOC/FOC.h: -------------------------------------------------------------------------------- 1 | #ifndef _FOC_H__ 2 | #define _FOC_H__ 3 | 4 | //FOC模式设定 5 | #define mode_SPWM 0 6 | #define mode_SVPWM 1 7 | #define FOC_MODE mode_SVPWM 8 | 9 | #define FOC_CONTROL_MODE_NUM 10 10 | 11 | #define VOLTAGE_LIMIT 6 12 | 13 | #include "MT6701.h" 14 | #include "hardware_api.h" 15 | 16 | #include "FOC_math.h" 17 | #include "my_PID.h" 18 | #include "Filter.h" 19 | 20 | typedef struct{ 21 | float angle_now; 22 | float angle_old; 23 | int full_rotations; 24 | int full_rotations_old; 25 | long timeStamp; 26 | long timeStamp_old; 27 | }FOC_calculateUint; 28 | 29 | typedef struct{ 30 | PID *position; 31 | PID *speed; 32 | PID *Uq; 33 | PID *Ud; 34 | }FOC_PIDUint; 35 | 36 | typedef struct{ 37 | LowPass_Filter *position; 38 | LowPass_Filter *speed; 39 | LowPass_Filter *current_d; 40 | LowPass_Filter *current_q; 41 | }FOC_Filter; 42 | 43 | typedef struct{ 44 | char* name; 45 | 46 | float Uq; 47 | float Ud; 48 | float current[3]; 49 | float Iq; 50 | float Id; 51 | 52 | FOC_calculateUint speedUint; 53 | FOC_PIDUint PIDUint; 54 | FOC_Filter FilterUint; 55 | 56 | int PolePair; 57 | int direct; 58 | 59 | float speed; 60 | 61 | float angle_pi; 62 | float angle_f; 63 | float electrical_angle; 64 | float zero_electrical_angle; 65 | float shaft_angle; 66 | 67 | void (*api_writeDutyCyclePWM)(float dutyCycle_a, float dutyCycle_b, float dutyCycle_c); 68 | void (*api_getMotorAngle)(float *angle_Pi, float *angle_f); 69 | void (*api_getMotorCurrent)(float *currentArray); 70 | }FOC_Motor; 71 | 72 | typedef enum{ 73 | OPEN_LOOP_POSITION_CONTROL = 0, 74 | OPEN_LOOP_SPEED_CONTROL, 75 | TORQUE_CONTROL, 76 | SPEED_CONTROL, 77 | POSITION_CONTROL, 78 | SPRING, 79 | SPRING_WITH_DAMP, 80 | DAMP, 81 | KNOB, 82 | ZERO_RESISTANCE 83 | } FOC_CONTROL_MODE; 84 | 85 | extern FOC_Motor FOCMotor_Left; 86 | extern FOC_Motor FOCMotor_Right; 87 | 88 | //传感器读取 89 | float FOC_getVelocity(FOC_Motor *Motor); 90 | //PID 91 | float FOC_VEL_PID(FOC_Motor *Motor, float error); 92 | float FOC_ANGLE_PID(FOC_Motor *Motor, float error); 93 | 94 | //电角度求解 95 | float _electricalAngle(FOC_Motor *Motor, float shaft_angle, int pole_pairs); 96 | //角度归一化 97 | float _normalizeAngle(float angle); 98 | //输出PWM 99 | void setPWM(FOC_Motor *Motor, float Ua, float Ub, float Uc); 100 | //设置相电压 101 | void setPhaseVoltage(FOC_Motor *Motor, float Uq, float Ud, float angle_elec); 102 | /** 103 | * SVPWM计算式 104 | * 求解得出PWM输出, 内部通过api设定PWM输出 105 | * @param Uq 力矩电压 106 | * @param Ud 励磁电压 在不使用电流环控制时可设定为0 107 | * @param angle 当前电角度 108 | */ 109 | void FOC_SVPWM(FOC_Motor *Motor, float Uq, float Ud, float angle); 110 | /** 111 | * 电流环克拉克-帕克变换 112 | * 用于求解Id, Iq 113 | * @param Ia 电流传感器采样得到的a相电流值 114 | * @param Ib 电流传感器采样得到的b相电流值 115 | * @param Ic 电流传感器采样得到的c相电流值 116 | * @param angle 当前电角度 117 | * @result Id 求解得出的Id值 118 | * @result Iq 求解得出的Iq值 119 | */ 120 | void FOC_Clarke_Park(float Ia, float Ib, float Ic, float angle, float *Id, float *Iq); 121 | 122 | //开环速度接口函数 123 | float velocityOpenLoop(FOC_Motor *Motor, float target_velocity); 124 | 125 | //闭环部分 126 | void setTorque(FOC_Motor *Motor, float Uq, float angle_el); 127 | void FOC_Vbus(float _Vbus); 128 | void FOC_alignSensor(FOC_Motor *Motor, int _PP, int _DIR); 129 | 130 | //闭环控制接口函数 131 | void FOC_setAngle(FOC_Motor *Motor, float Target); 132 | void FOC_setVelocity(FOC_Motor *Motor, float Target); 133 | void FOC_setVelocity_currentControl(FOC_Motor *Motor, float targetSpeed, float currentLimited); 134 | void FOC_setVelocityAngle(FOC_Motor *Motor, float targetAngle, float speedLimited); 135 | void FOC_setAngle_onlyCurrentControl(FOC_Motor *Motor, float targetAngle, float currentLimited); 136 | void FOC_setAngle_currentControl(FOC_Motor *Motor,float targetAngle, float speedLimited, float currentLimited); 137 | void FOC_current_control_loop(FOC_Motor *Motor, float target_Iq); 138 | 139 | #endif -------------------------------------------------------------------------------- /Software/UserApp/FOC/FOC_math.c: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Yoshi on 2023/11/6. 3 | // 4 | 5 | #include "FOC_math.h" 6 | 7 | // int array instead of float array 8 | // 4x200 points per 360 deg 9 | // 2x storage save (int 2Byte float 4 Byte ) 10 | // sin*10000 11 | const int sine_array[200] = {0,79,158,237,316,395,473,552,631,710,789,867,946,1024,1103,1181,1260,1338,1416,1494,1572,1650,1728,1806,1883,1961,2038,2115,2192,2269,2346,2423,2499,2575,2652,2728,2804,2879,2955,3030,3105,3180,3255,3329,3404,3478,3552,3625,3699,3772,3845,3918,3990,4063,4135,4206,4278,4349,4420,4491,4561,4631,4701,4770,4840,4909,4977,5046,5113,5181,5249,5316,5382,5449,5515,5580,5646,5711,5775,5839,5903,5967,6030,6093,6155,6217,6279,6340,6401,6461,6521,6581,6640,6699,6758,6815,6873,6930,6987,7043,7099,7154,7209,7264,7318,7371,7424,7477,7529,7581,7632,7683,7733,7783,7832,7881,7930,7977,8025,8072,8118,8164,8209,8254,8298,8342,8385,8428,8470,8512,8553,8594,8634,8673,8712,8751,8789,8826,8863,8899,8935,8970,9005,9039,9072,9105,9138,9169,9201,9231,9261,9291,9320,9348,9376,9403,9429,9455,9481,9506,9530,9554,9577,9599,9621,9642,9663,9683,9702,9721,9739,9757,9774,9790,9806,9821,9836,9850,9863,9876,9888,9899,9910,9920,9930,9939,9947,9955,9962,9969,9975,9980,9985,9989,9992,9995,9997,9999,10000,10000}; 12 | 13 | // function approximating the sine calculation by using fixed size array 14 | // ~40us (float array) 15 | // ~50us (int array) 16 | // precision +-0.005 17 | // it has to receive an angle in between 0 and 2PI 18 | float _sin(float a){ 19 | if(a < _PI_2){ 20 | //return sine_array[(int)(199.0f*( a / (_PI/2.0)))]; 21 | return sine_array[(int)(126.6873f* a)]; // float array optimized 22 | // return 0.0001f*sine_array[_round(126.6873f* a)]; // int array optimized 23 | }else if(a < _PI){ 24 | // return sine_array[(int)(199.0f*(1.0f - (a-_PI/2.0) / (_PI/2.0)))]; 25 | return sine_array[398 - (int)(126.6873f*a)]; // float array optimized 26 | // return 0.0001f*sine_array[398 - _round(126.6873f*a)]; // int array optimized 27 | }else if(a < _3PI_2){ 28 | // return -sine_array[(int)(199.0f*((a - _PI) / (_PI/2.0)))]; 29 | return -sine_array[-398 + (int)(126.6873f*a)]; // float array optimized 30 | // return -0.0001f*sine_array[-398 + _round(126.6873f*a)]; // int array optimized 31 | } else { 32 | // return -sine_array[(int)(199.0f*(1.0f - (a - 3*_PI/2) / (_PI/2.0)))]; 33 | return -sine_array[796 - (int)(126.6873f*a)]; // float array optimized 34 | // return -0.0001f*sine_array[796 - _round(126.6873f*a)]; // int array optimized 35 | } 36 | } 37 | 38 | // function approximating cosine calculation by using fixed size array 39 | // ~55us (float array) 40 | // ~56us (int array) 41 | // precision +-0.005 42 | // it has to receive an angle in between 0 and 2PI 43 | float _cos(float a){ 44 | float a_sin = a + _PI_2; 45 | a_sin = a_sin > _2PI ? a_sin - _2PI : a_sin; 46 | return _sin(a_sin); 47 | } 48 | 49 | //著名的快速平方根算法(笑 50 | float _sqrtApprox(float number) {//low in fat 51 | long i; 52 | float y; 53 | // float x; 54 | // const float f = 1.5F; // better precision 55 | 56 | // x = number * 0.5F; 57 | y = number; 58 | i = * ( long * ) &y; 59 | i = 0x5f375a86 - ( i >> 1 ); 60 | y = * ( float * ) &i; 61 | // y = y * ( f - ( x * y * y ) ); // better precision 62 | return number * y; 63 | } 64 | -------------------------------------------------------------------------------- /Software/UserApp/FOC/FOC_math.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Yoshi on 2023/11/6. 3 | // 4 | 5 | #ifndef FOC_CONTROL_FOC_MATH_H 6 | #define FOC_CONTROL_FOC_MATH_H 7 | 8 | #include "FOC.h" 9 | 10 | // sign function 11 | #define _sign(a) ( ( (a) < 0 ) ? -1 : ( (a) > 0 ) ) 12 | #define _round(x) ((x)>=0?(long)((x)+0.5f):(long)((x)-0.5f)) 13 | #define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) 14 | #define _sqrt(a) (_sqrtApprox(a)) 15 | #define _isset(a) ( (a) != (NOT_SET) ) 16 | #define _UNUSED(v) (void) (v) 17 | 18 | // utility defines 19 | #define _2_SQRT3 1.15470053838f 20 | #define _SQRT3 1.73205080757f 21 | #define _1_SQRT3 0.57735026919f 22 | #define _SQRT3_2 0.86602540378f 23 | #define _SQRT2 1.41421356237f 24 | #define _120_D2R 2.09439510239f 25 | #define _PI 3.14159265359f 26 | #define _PI_2 1.57079632679f 27 | #define _PI_3 1.0471975512f 28 | #define _2PI 6.28318530718f 29 | #define _3PI_2 4.71238898038f 30 | #define _PI_6 0.52359877559f 31 | #define _RPM_TO_RADS 0.10471975512f 32 | #define _RADIAN_TO_DEGREE 57.295779513f 33 | 34 | #define NOT_SET -12345.0 35 | #define _HIGH_IMPEDANCE 0 36 | #define _HIGH_Z _HIGH_IMPEDANCE 37 | #define _ACTIVE 1 38 | #define _NC (NOT_SET) 39 | 40 | // dq current structure 41 | struct DQCurrent_s 42 | { 43 | float d; 44 | float q; 45 | }; 46 | // phase current structure 47 | struct PhaseCurrent_s 48 | { 49 | float a; 50 | float b; 51 | float c; 52 | }; 53 | // dq voltage structs 54 | struct DQVoltage_s 55 | { 56 | float d; 57 | float q; 58 | }; 59 | 60 | 61 | /** 62 | * Function approximating the sine calculation by using fixed size array 63 | * - execution time ~40us (Arduino UNO) 64 | * 65 | * @param a angle in between 0 and 2PI 66 | */ 67 | float _sin(float a); 68 | /** 69 | * Function approximating cosine calculation by using fixed size array 70 | * - execution time ~50us (Arduino UNO) 71 | * 72 | * @param a angle in between 0 and 2PI 73 | */ 74 | float _cos(float a); 75 | 76 | /** 77 | * normalizing radian angle to [0,2PI] 78 | * @param angle - angle to be normalized 79 | */ 80 | float _normalizeAngle(float angle); 81 | 82 | 83 | /** 84 | * Electrical angle calculation 85 | * 86 | * @param shaft_angle - shaft angle of the motor 87 | * @param pole_pairs - number of pole pairs 88 | */ 89 | //float _electricalAngle(float shaft_angle, int pole_pairs); 90 | 91 | /** 92 | * Function approximating square root function 93 | * - using fast inverse square root 94 | * 95 | * @param value - number 96 | */ 97 | float _sqrtApprox(float value); 98 | 99 | #endif //FOC_CONTROL_FOC_MATH_H 100 | -------------------------------------------------------------------------------- /Software/UserApp/FOC/Filter.c: -------------------------------------------------------------------------------- 1 | #include "Filter.h" 2 | 3 | kalman1_filter_t kalman_filter; 4 | 5 | LowPass_Filter lpf_Motor_Left_position; 6 | LowPass_Filter lpf_Motor_Left_speed; 7 | LowPass_Filter lpf_Motor_Left_Iq; 8 | LowPass_Filter lpf_Motor_Left_Id; 9 | 10 | LowPass_Filter lpf_Motor_Right_position; 11 | LowPass_Filter lpf_Motor_Right_speed; 12 | LowPass_Filter lpf_Motor_Right_Iq; 13 | LowPass_Filter lpf_Motor_Right_Id; 14 | 15 | Slide_Filter wsf_Motor_Left_speed; 16 | Slide_Filter wsf_Motor_Right_speed; 17 | 18 | Sliding_Mean_Filter moving_filter_cs1ZeroValue; 19 | Sliding_Mean_Filter moving_filter_cs2ZeroValue; 20 | 21 | float FirstOrderLagFilter(float value) { 22 | static float last_value; 23 | value = FIRST_LAG_P * value + (1.0f - FIRST_LAG_P) * last_value; 24 | last_value = value; 25 | return value; 26 | } 27 | 28 | float FirstOrderLagFilter_Slope(float value) { 29 | static float last_value; 30 | value = FIRST_LAG_P * value + (1.0f - FIRST_LAG_P) * last_value; 31 | last_value = value; 32 | return value; 33 | } 34 | 35 | float SecondOrderLagFilter(float value) { 36 | static float last_value, last_2_value; 37 | value = 0.2f * value + 0.4f * last_value + 0.4f * last_2_value; //�����ͺ��˲� 38 | last_2_value = last_value; 39 | last_value = value; 40 | return value; 41 | } 42 | 43 | float movingAverageFilter(Sliding_Mean_Filter *filter, float value) { 44 | filter->sum -= filter->Filter_Buffer[filter->index]; //��ȥ��ɵ��� 45 | filter->sum += value; //�ӽ����µ��� 46 | filter->Filter_Buffer[filter->index] = value; //�����µ���������ɵ��� 47 | filter->average = filter->sum / MVF_BUFFER; //���ֵ 48 | if (++filter->index == MVF_BUFFER) 49 | filter->index = 0; 50 | return filter->average; 51 | } 52 | 53 | void kalman1_init(kalman1_filter_t *state, float q, float r) { 54 | state->x = 0; 55 | state->p = 0.0f; 56 | state->A = 1.0f; 57 | state->H = 1.0f; 58 | state->q = q; 59 | state->r = r; 60 | } 61 | 62 | float kalman1_filter(kalman1_filter_t *state, float z_measure) { 63 | /* Predict */ 64 | // ʱ�����(Ԥ��): X(k|k-1) = A(k,k-1)*X(k-1|k-1) + B(k)*u(k) 65 | state->x = state->A * state->x; 66 | // ��������Э����: P(k|k-1) = A(k,k-1)*A(k,k-1)^T*P(k-1|k-1)+Q(k) 67 | state->p = state->A * state->A * state->p + state->q; 68 | 69 | /* Measurement */ 70 | // ���㿨��������: K(k) = P(k|k-1)*H(k)^T/(P(k|k-1)*H(k)*H(k)^T + R(k)) 71 | state->gain = state->p * state->H / (state->p * state->H * state->H + state->r); 72 | // ��������(У��): X(k|k) = X(k|k-1)+K(k)*(Z(k)-H(k)*X(k|k-1)) 73 | state->x = state->x + state->gain * (z_measure - state->H * state->x); 74 | // ���º���Э����: P(k|k) =��I-K(k)*H(k))*P(k|k-1) 75 | state->p = (1 - state->gain * state->H) * state->p; 76 | 77 | return state->x; 78 | } 79 | 80 | float Low_Pass_Filter(LowPass_Filter *filter,float data,float param) 81 | { 82 | filter->parameter=param; 83 | filter->sample_data=data; 84 | filter->output=filter->parameter*filter->sample_data+(1.0-filter->parameter)*filter->output_last; 85 | filter->output_last=filter->output; 86 | return filter->output; 87 | } 88 | 89 | float Window_Slide_Filter(Slide_Filter *filter,float data) 90 | { 91 | filter->slide_count++; 92 | filter->slide_temp1 = data; 93 | filter->slide_sum = filter->slide_temp1 + filter->slide_temp2 + filter->slide_temp3 + filter->slide_temp4 + filter->slide_temp5; 94 | if(filter->slide_count > 5)filter->slide_count--; 95 | filter->slide_temp5 = filter->slide_temp4; 96 | filter->slide_temp4 = filter->slide_temp3; 97 | filter->slide_temp3 = filter->slide_temp2; 98 | filter->slide_temp2 = filter->slide_temp1; 99 | return filter->slide_sum/filter->slide_count; 100 | } 101 | 102 | -------------------------------------------------------------------------------- /Software/UserApp/FOC/Filter.h: -------------------------------------------------------------------------------- 1 | #ifndef CODE_FILTER_H_ 2 | #define CODE_FILTER_H_ 3 | 4 | #define FIRST_LAG_P 0.8f //һ���ͺ��˲�ϵ����ԽС�ͺ�Ч��Խǿ 5 | #define MVF_BUFFER 10 6 | 7 | typedef struct 8 | { 9 | float Filter_Buffer[MVF_BUFFER]; 10 | int index; 11 | float sum; 12 | float average; 13 | }Sliding_Mean_Filter; 14 | 15 | typedef struct { 16 | float x; // state 17 | float A; // x(n)=A*x(n-1)+u(n),u(n)~N(0,q) 18 | float H; // z(n)=H*x(n)+w(n),w(n)~N(0,r) 19 | float q; // process(predict) noise convariance 20 | float r; // measure noise(error) convariance 21 | float p; // estimated error convariance 22 | float gain; // kalman gain 23 | } kalman1_filter_t; 24 | 25 | extern Sliding_Mean_Filter moving_filter; //���廬���˲��ṹ�� 26 | extern kalman1_filter_t kalman_filter; //���忨�����ṹ�� 27 | 28 | float FirstOrderLagFilter(float value); //һ���ͺ��˲��㷨 29 | float FirstOrderLagFilter_Slope(float value); //һ��slope�ͺ��˲��㷨 30 | float SecondOrderLagFilter(float value); //�����ͺ��˲��㷨 31 | float movingAverageFilter(Sliding_Mean_Filter *filter, float value); 32 | 33 | void kalman1_init(kalman1_filter_t* state, float q, float r); //��ʼ���������˲��� 34 | float kalman1_filter(kalman1_filter_t* state, float z_measure); //�������˲��㷨 35 | 36 | typedef struct 37 | { 38 | float parameter; 39 | float sample_data; 40 | float output; 41 | float output_last; 42 | float filtered_data; 43 | unsigned char first_filter_flag; 44 | }LowPass_Filter; 45 | 46 | extern LowPass_Filter lpf_Motor_Left_position; 47 | extern LowPass_Filter lpf_Motor_Left_speed; 48 | extern LowPass_Filter lpf_Motor_Left_Iq; 49 | extern LowPass_Filter lpf_Motor_Left_Id; 50 | 51 | extern LowPass_Filter lpf_Motor_Right_position; 52 | extern LowPass_Filter lpf_Motor_Right_speed; 53 | extern LowPass_Filter lpf_Motor_Right_Iq; 54 | extern LowPass_Filter lpf_Motor_Right_Id; 55 | 56 | float Low_Pass_Filter(LowPass_Filter *filter,float data,float param); 57 | 58 | typedef struct 59 | { 60 | short int slide_count; 61 | float slide_temp1; 62 | float slide_temp2; 63 | float slide_temp3; 64 | float slide_temp4; 65 | float slide_temp5; 66 | float slide_sum; 67 | }Slide_Filter; 68 | 69 | extern Slide_Filter wsf_Motor_Left_speed; 70 | extern Slide_Filter wsf_Motor_Right_speed; 71 | 72 | extern Sliding_Mean_Filter moving_filter_cs1ZeroValue; 73 | extern Sliding_Mean_Filter moving_filter_cs2ZeroValue; 74 | 75 | float Window_Slide_Filter(Slide_Filter *filter,float data); 76 | float Low_Pass_Filter(LowPass_Filter *filter,float data,float param); 77 | 78 | #endif /* CODE_FILTER_H_ */ 79 | 80 | -------------------------------------------------------------------------------- /Software/UserApp/FOC/hardware_api.c: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Yoshi on 2023/11/6. 3 | // 4 | 5 | #include "hardware_api.h" 6 | #include "main.h" 7 | 8 | extern uint32_t cs1_zero_value[3]; 9 | extern uint32_t cs2_zero_value[3]; 10 | 11 | void _init3PWM(){ 12 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); 13 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); 14 | HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3); 15 | 16 | HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); 17 | HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); 18 | HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); 19 | } 20 | 21 | void _writeDutyCycle3PWM_1(float dc_a, float dc_b, float dc_c){ 22 | __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_1, dc_a * htim1.Init.Period); 23 | __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_2, dc_b * htim1.Init.Period); 24 | __HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_3, dc_c * htim1.Init.Period); 25 | } 26 | 27 | void _writeDutyCycle3PWM_2(float dc_a, float dc_b, float dc_c){ 28 | __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1, dc_a * htim2.Init.Period); 29 | __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2, dc_b * htim2.Init.Period); 30 | __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3, dc_c * htim2.Init.Period); 31 | } 32 | 33 | void _initCurrentSample(){ 34 | HAL_ADCEx_Calibration_Start(&hadc1, ADC_SINGLE_ENDED); 35 | while(HAL_ADC_GetState(&hadc1) != HAL_ADC_STATE_READY); 36 | HAL_ADCEx_Calibration_Start(&hadc2, ADC_SINGLE_ENDED); 37 | while(HAL_ADC_GetState(&hadc2) != HAL_ADC_STATE_READY); 38 | } 39 | 40 | void _getCurrentZeroValue(uint32_t *cs1_zeroValue, uint32_t *cs2_zeroValue){ 41 | for(int i = 0; i < 999; i++){ 42 | HAL_ADC_Start(&hadc1); 43 | HAL_ADC_PollForConversion(&hadc1, 100); 44 | cs1_zeroValue[i % 3] = (uint32_t)movingAverageFilter(&moving_filter_cs1ZeroValue, HAL_ADC_GetValue(&hadc1)); 45 | HAL_ADC_Start(&hadc2); 46 | HAL_ADC_PollForConversion(&hadc2, 100); 47 | cs2_zeroValue[i % 3] = (uint32_t)movingAverageFilter(&moving_filter_cs2ZeroValue, HAL_ADC_GetValue(&hadc2)); 48 | } 49 | } 50 | 51 | void _currentGetValue(float *cs_value){ 52 | static LowPass_Filter current_1[3]; 53 | static float currentGained[3]; 54 | for (int i = 0; i < 3; i++) { 55 | // Enables ADC, starts conversion of regular group. 56 | HAL_ADC_Start(&hadc1); 57 | // Wait for regular group conversion to be completed. 58 | HAL_ADC_PollForConversion(&hadc1, 100); 59 | int data = (int)(HAL_ADC_GetValue(&hadc1) - cs1_zero_value[i]); 60 | // 该函数读取寄存器DR同时自动清除了EOC(End Of unitary Conversation)标志位 61 | // cs_zero_value需要实际测量得出 62 | currentGained[i] = Low_Pass_Filter(¤t_1[i] , (float)data, 0.1f); 63 | cs_value[i] = 0.00080586f * currentGained[i] / (CURRENT_GAIN * CURRENT_SAMPLE_RESISTER); 64 | } 65 | // Stop ADC conversion of regular group, disable ADC peripheral. 66 | HAL_ADC_Stop(&hadc1); 67 | } 68 | 69 | void _currentGetValue2(float *cs_value){ 70 | static LowPass_Filter current_2[3]; 71 | static float currentGained[3]; 72 | for (int i = 0; i < 3; i++) { 73 | // Enables ADC, starts conversion of regular group. 74 | HAL_ADC_Start(&hadc2); 75 | // Wait for regular group conversion to be completed. 76 | HAL_ADC_PollForConversion(&hadc2, 100); 77 | int data = (int)(HAL_ADC_GetValue(&hadc2) - cs2_zero_value[i]); 78 | // 该函数读取寄存器DR同时自动清除了EOC(End Of unitary Conversation)标志位 79 | // cs_zero_value需要实际测量得出 80 | currentGained[i] = Low_Pass_Filter(¤t_2[i] , (float)data, 0.1f); 81 | cs_value[i] = 0.00080586f * currentGained[i] / (CURRENT_GAIN * CURRENT_SAMPLE_RESISTER); 82 | } 83 | // Stop ADC conversion of regular group, disable ADC peripheral. 84 | HAL_ADC_Stop(&hadc2); 85 | } -------------------------------------------------------------------------------- /Software/UserApp/FOC/hardware_api.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Yoshi on 2023/11/6. 3 | // 4 | 5 | #ifndef FOC_CONTROL_HARDWARE_API_H 6 | #define FOC_CONTROL_HARDWARE_API_H 7 | 8 | #include "FOC_math.h" 9 | 10 | #define CURRENT_GAIN 50.0f 11 | #define CURRENT_SAMPLE_RESISTER 0.01f 12 | 13 | void _init3PWM(); 14 | 15 | /** 16 | * Function setting the duty cycle to the pwm pin (ex. analogWrite()) 17 | * - BLDC driver - 3PWM setting 18 | * - hardware specific 19 | * 20 | * @param dc_a duty cycle phase A [0, 1] 21 | * @param dc_b duty cycle phase B [0, 1] 22 | * @param dc_c duty cycle phase C [0, 1] 23 | */ 24 | void _writeDutyCycle3PWM_1(float dc_a, float dc_b, float dc_c); 25 | 26 | void _writeDutyCycle3PWM_2(float dc_a, float dc_b, float dc_c); 27 | 28 | void _initCurrentSample(); 29 | 30 | void _getCurrentZeroValue(uint32_t *cs1_zero_value, uint32_t *cs2_zero_value); 31 | 32 | /** 33 | * Function getting the value of current. (ex. getAnalogValue()) 34 | * Current sensor Sample api 35 | * 36 | * @param cs_value pointer of a float array, stored current value 37 | */ 38 | void _currentGetValue(float *cs_value); 39 | 40 | void _currentGetValue2(float *cs_value); 41 | 42 | #endif //FOC_CONTROL_HARDWARE_API_H 43 | -------------------------------------------------------------------------------- /Software/UserApp/FOC/my_PID.h: -------------------------------------------------------------------------------- 1 | #ifndef PID_H__ 2 | #define PID_H__ 3 | 4 | typedef struct 5 | { 6 | float Kp; //PID系数kp 7 | float Ki; //PID系数ki 8 | float Kd; //PID系数kd 9 | 10 | float Proportion; //比例项 11 | float Integral; //积分项 12 | float Differential; //微分项 13 | float Differential_Last; //上一个微分项 14 | float IntegralMax; //积分项所能累加到的极值 15 | 16 | float Error; //当前误差 17 | float Error_Last; //上次误差 18 | float Error_Prev; //上上次误差 19 | 20 | float Target; //期望值 21 | float Actual; //实际值 22 | 23 | float Kp_max; //变结构pi中最大Kp 24 | float Kp_min; //变结构pi中最小Kp 25 | float Ki_max; //变结构pi中最大Ki 26 | float Ki_min; //变结构pi中最小Ki 27 | 28 | float Output; //PID的输出 29 | float OutputLast; //PID的上一次输出 30 | float OutputMax; //PID输出的最大值 31 | float OutputMin; //PID输出的最小值 32 | 33 | }PID; 34 | 35 | extern PID Motor_Left_speed; 36 | extern PID Motor_Left_position; 37 | extern PID Motor_Left_Uq; 38 | extern PID Motor_Left_Ud; 39 | 40 | extern PID Motor_Right_speed; 41 | extern PID Motor_Right_position; 42 | extern PID Motor_Right_Uq; 43 | extern PID Motor_Right_Ud; 44 | 45 | void Pid_Value_Init(void); 46 | void Pid_Init(PID *param,float Kp_Init,float Ki_Init,float Kd_Init); 47 | float Position_Pid_Calculate(PID *param); 48 | float Incremental_Pid_Calculate(PID *param); 49 | 50 | #endif 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /Software/UserApp/LCD/fonts.h: -------------------------------------------------------------------------------- 1 | /* vim: set ai et ts=4 sw=4: */ 2 | #ifndef __FONTS_H__ 3 | #define __FONTS_H__ 4 | 5 | #include 6 | 7 | typedef struct { 8 | const uint8_t width; 9 | uint8_t height; 10 | const uint16_t *data; 11 | } FontDef; 12 | 13 | 14 | extern FontDef Font_7x10; 15 | extern FontDef Font_11x18; 16 | extern FontDef Font_16x26; 17 | 18 | #endif // __FONTS_H__ 19 | -------------------------------------------------------------------------------- /Software/UserApp/LCD/gui.h: -------------------------------------------------------------------------------- 1 | #ifndef FOC_DRIVER_GUI_H 2 | #define FOC_DRIVER_GUI_H 3 | #include "FOC.h" 4 | #include "st7735.h" 5 | 6 | //#define LIGHT_MODE 7 | #define DARK_MODE 8 | 9 | #ifdef LIGHT_MODE 10 | #define BACKGROUND_COLOR ST7735_WHITE 11 | #define TEXT_COLOR ST7735_BLACK 12 | #define TITLE_COLOR ST7735_BLUE 13 | #define SELECTED_COLOR ST7735_BLUE 14 | #define BAR_COLOR ST7735_RED 15 | #endif 16 | 17 | #ifdef DARK_MODE 18 | #define BACKGROUND_COLOR ST7735_BLACK 19 | #define TEXT_COLOR ST7735_WHITE 20 | #define TITLE_COLOR ST7735_YELLOW 21 | #define SELECTED_COLOR ST7735_BLUE 22 | #define BAR_COLOR ST7735_RED 23 | #endif 24 | 25 | extern const char foc_mode_name[FOC_CONTROL_MODE_NUM][20]; 26 | 27 | void gui_draw_line(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t color); 28 | void gui_draw_rectangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint8_t fill, uint16_t color); 29 | void gui_draw_triangle(uint16_t x1, uint16_t y1, uint16_t x2, uint16_t y2, uint16_t x3, uint16_t y3, uint16_t color); 30 | void gui_draw_init(const char *init_info, uint8_t refresh); 31 | void gui_draw_mode_selection(FOC_CONTROL_MODE mode); 32 | void gui_draw_position_mode(float angle, uint8_t refresh); 33 | void gui_draw_knob_mode(uint8_t sector_num, uint8_t k, uint8_t max_force, uint8_t select_param, uint8_t change, 34 | uint8_t refresh); 35 | void gui_draw_button(uint16_t x, uint16_t y, uint16_t w, uint16_t h, const char *string, uint16_t color, uint16_t bgcolor); 36 | void gui_draw_parameter(uint16_t x, uint16_t y, const char *item, int16_t value, uint8_t change, uint8_t selected); 37 | void gui_draw_test(); 38 | 39 | #endif //FOC_DRIVER_GUI_H 40 | -------------------------------------------------------------------------------- /Software/UserApp/LCD/image.h: -------------------------------------------------------------------------------- 1 | #ifndef __IMAGE_H__ 2 | #define __IMAGE_H__ 3 | 4 | #include "st7735.h" 5 | 6 | #ifdef ST7735_IS_128X128 7 | 8 | extern const uint16_t test_img_128x128[][128]; 9 | #endif // ST7735_IS_128X128 10 | 11 | #ifdef ST7735_IS_160X80 12 | extern const uint16_t head_portrait_80x80[][80]; 13 | 14 | #endif 15 | 16 | #endif // __IMAGE_H__ -------------------------------------------------------------------------------- /Software/UserApp/MT6701/MT6701.c: -------------------------------------------------------------------------------- 1 | #include "MT6701.h" 2 | #include "main.h" 3 | 4 | unsigned char mt6701_write_reg(unsigned char reg, unsigned char value) 5 | { 6 | return HAL_I2C_Mem_Write(&hi2c3, MT6701_SLAVE_ADDR, reg, I2C_MEMADD_SIZE_8BIT, &value, 1, MT6701_Timeout); 7 | } 8 | 9 | unsigned char mt6701_write_regs(unsigned char reg, unsigned char *value, unsigned char len) 10 | { 11 | return HAL_I2C_Mem_Write(&hi2c3, MT6701_SLAVE_ADDR, reg, I2C_MEMADD_SIZE_8BIT, value, len, MT6701_Timeout); 12 | } 13 | 14 | unsigned char mt6701_read_reg(unsigned char reg, unsigned char* buf, unsigned short len) 15 | { 16 | return HAL_I2C_Mem_Read(&hi2c3, MT6701_SLAVE_ADDR, reg, I2C_MEMADD_SIZE_8BIT, buf, len, MT6701_Timeout); 17 | } 18 | 19 | unsigned char mt6701_write_reg_2(unsigned char reg, unsigned char value) 20 | { 21 | return HAL_I2C_Mem_Write(&hi2c2, MT6701_SLAVE_ADDR, reg, I2C_MEMADD_SIZE_8BIT, &value, 1, MT6701_Timeout); 22 | } 23 | 24 | unsigned char mt6701_write_regs_2(unsigned char reg, unsigned char *value, unsigned char len) 25 | { 26 | return HAL_I2C_Mem_Write(&hi2c2, MT6701_SLAVE_ADDR, reg, I2C_MEMADD_SIZE_8BIT, value, len, MT6701_Timeout); 27 | } 28 | 29 | unsigned char mt6701_read_reg_2(unsigned char reg, unsigned char* buf, unsigned short len) 30 | { 31 | return HAL_I2C_Mem_Read(&hi2c2, MT6701_SLAVE_ADDR, reg, I2C_MEMADD_SIZE_8BIT, buf, len, MT6701_Timeout); 32 | } 33 | 34 | void mt6701_delay(unsigned int ms) 35 | { 36 | HAL_Delay(ms); 37 | } 38 | 39 | // 14Bit角度信息，存储在0x03[13:6]、0x04[5:0]两个寄存器中，高位在前，原始读数0~16383，对应0-360° 40 | void i2c_mt6701_get_angle(float *angle_pi, float *angle_f) 41 | { 42 | int16_t angle; 43 | uint8_t temp[2]; 44 | mt6701_read_reg(MT6701_REG_ANGLE_14b, temp, 2); 45 | 46 | angle = ((int16_t)temp[0] << 6) | (temp[1] >> 2); 47 | *angle_f = (float)angle * 360 / 16384; 48 | *angle_pi = *angle_f / 360.0f * 2.0f * _PI; 49 | } 50 | 51 | void i2c2_mt6701_get_angle(float *angle_pi, float *angle_f) 52 | { 53 | int16_t angle; 54 | uint8_t temp[2]; 55 | mt6701_read_reg_2(MT6701_REG_ANGLE_14b, temp, 2); 56 | 57 | angle = ((int16_t)temp[0] << 6) | (temp[1] >> 2); 58 | *angle_f = (float)angle * 360 / 16384; 59 | *angle_pi = *angle_f / 360.0f * 2.0f * _PI; 60 | 61 | *angle_pi = (float)((int)(*angle_f * 100) / 100.0); 62 | } -------------------------------------------------------------------------------- /Software/UserApp/MT6701/MT6701.h: -------------------------------------------------------------------------------- 1 | #ifndef __MT6701_H__ 2 | #define __MT6701_H__ 3 | 4 | #include 5 | 6 | #define MT6701_SLAVE_ADDR 0x06 << 1 7 | #define MT6701_Timeout 50 8 | 9 | #define MT6701_REG_ANGLE_14b 0x03 // 14Bit角度信息，存储在0x03[13:6]、0x04[5:0]两个寄存器中，高位在前，原始读数0~16383 10 | 11 | #define mt6701_log uart_printf 12 | 13 | void i2c_mt6701_get_angle(float *angle_pi, float *angle_f); 14 | 15 | void i2c2_mt6701_get_angle(float *angle_pi, float *angle_f); 16 | 17 | #endif 18 | 19 | -------------------------------------------------------------------------------- /Software/UserApp/Servo/Servo.h: -------------------------------------------------------------------------------- 1 | #ifndef __SG90_H 2 | #define __SG90_H 3 | 4 | //include 5 | #include "main.h" 6 | #include "math.h" 7 | 8 | #define Servo_log uart_printf 9 | typedef float ServoAngle; 10 | typedef float TimerPeriod; 11 | 12 | //Servo OOP_By_C 13 | typedef struct Servo_OOC { 14 | //elements 15 | char *name; 16 | ServoAngle prTarget_Angle; 17 | TimerPeriod prHighLevelTimes_Ms; 18 | ServoAngle prAngle_Offset; 19 | 20 | TIM_HandleTypeDef *TIMER; 21 | uint32_t TIM_Channel; 22 | uint32_t TIMFreq; 23 | 24 | ServoAngle prLastAngle; 25 | 26 | //functions 27 | float (*GetAngle2Pulse)(struct Servo_OOC *); 28 | 29 | void (*Move2TargetAngle)(struct Servo_OOC *); 30 | } Servo; 31 | 32 | //extern 33 | extern Servo Servo_LeftLeg; 34 | extern Servo Servo_RightLeg; 35 | 36 | //Create an Oriented 37 | Servo Servo_Create(char *name, TIM_HandleTypeDef *TIMER, uint32_t Channel, ServoAngle angle_Offset); 38 | 39 | //OOP function define 40 | TimerPeriod getAngle2Pulse(struct Servo_OOC *Servo); 41 | 42 | void move2TargetAngle(struct Servo_OOC *Servo); 43 | 44 | //Application functions 45 | void Servo_init(); 46 | 47 | void setAngle_180(struct Servo_OOC *Servo, ServoAngle target_Angle); 48 | 49 | void setAngle_270(struct Servo_OOC *Servo, ServoAngle target_Angle); 50 | 51 | void Servo_move_pitch(struct Servo_OOC *Servo, ServoAngle start_pitch, ServoAngle end_pitch, ServoAngle start_yaw, int time); 52 | 53 | void Servo_move_yaw(struct Servo_OOC *Servo, ServoAngle start_yaw, ServoAngle end_yaw, ServoAngle start_pitch, int time); 54 | 55 | #endif -------------------------------------------------------------------------------- /Software/UserApp/cJSON/cJSON_Utils.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright (c) 2009-2017 Dave Gamble and cJSON contributors 3 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy 5 | of this software and associated documentation files (the "Software"), to deal 6 | in the Software without restriction, including without limitation the rights 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 8 | copies of the Software, and to permit persons to whom the Software is 9 | furnished to do so, subject to the following conditions: 10 | 11 | The above copyright notice and this permission notice shall be included in 12 | all copies or substantial portions of the Software. 13 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 20 | THE SOFTWARE. 21 | */ 22 | 23 | #ifndef cJSON_Utils__h 24 | #define cJSON_Utils__h 25 | 26 | #ifdef __cplusplus 27 | extern "C" 28 | { 29 | #endif 30 | 31 | #include "cJSON.h" 32 | 33 | /* Implement RFC6901 (https://tools.ietf.org/html/rfc6901) JSON Pointer spec. */ 34 | CJSON_PUBLIC(cJSON *) cJSONUtils_GetPointer(cJSON * const object, const char *pointer); 35 | CJSON_PUBLIC(cJSON *) cJSONUtils_GetPointerCaseSensitive(cJSON * const object, const char *pointer); 36 | 37 | /* Implement RFC6902 (https://tools.ietf.org/html/rfc6902) JSON Patch spec. */ 38 | /* NOTE: This modifies objects in 'from' and 'to' by sorting the elements by their key */ 39 | CJSON_PUBLIC(cJSON *) cJSONUtils_GeneratePatches(cJSON * const from, cJSON * const to); 40 | CJSON_PUBLIC(cJSON *) cJSONUtils_GeneratePatchesCaseSensitive(cJSON * const from, cJSON * const to); 41 | /* Utility for generating patch array entries. */ 42 | CJSON_PUBLIC(void) cJSONUtils_AddPatchToArray(cJSON * const array, const char * const operation, const char * const path, const cJSON * const value); 43 | /* Returns 0 for success. */ 44 | CJSON_PUBLIC(int) cJSONUtils_ApplyPatches(cJSON * const object, const cJSON * const patches); 45 | CJSON_PUBLIC(int) cJSONUtils_ApplyPatchesCaseSensitive(cJSON * const object, const cJSON * const patches); 46 | 47 | /* 48 | // Note that ApplyPatches is NOT atomic on failure. To implement an atomic ApplyPatches, use: 49 | //int cJSONUtils_AtomicApplyPatches(cJSON **object, cJSON *patches) 50 | //{ 51 | // cJSON *modme = cJSON_Duplicate(*object, 1); 52 | // int error = cJSONUtils_ApplyPatches(modme, patches); 53 | // if (!error) 54 | // { 55 | // cJSON_Delete(*object); 56 | // *object = modme; 57 | // } 58 | // else 59 | // { 60 | // cJSON_Delete(modme); 61 | // } 62 | // 63 | // return error; 64 | //} 65 | // Code not added to library since this strategy is a LOT slower. 66 | */ 67 | 68 | /* Implement RFC7386 (https://tools.ietf.org/html/rfc7396) JSON Merge Patch spec. */ 69 | /* target will be modified by patch. return value is new ptr for target. */ 70 | CJSON_PUBLIC(cJSON *) cJSONUtils_MergePatch(cJSON *target, const cJSON * const patch); 71 | CJSON_PUBLIC(cJSON *) cJSONUtils_MergePatchCaseSensitive(cJSON *target, const cJSON * const patch); 72 | /* generates a patch to move from -> to */ 73 | /* NOTE: This modifies objects in 'from' and 'to' by sorting the elements by their key */ 74 | CJSON_PUBLIC(cJSON *) cJSONUtils_GenerateMergePatch(cJSON * const from, cJSON * const to); 75 | CJSON_PUBLIC(cJSON *) cJSONUtils_GenerateMergePatchCaseSensitive(cJSON * const from, cJSON * const to); 76 | 77 | /* Given a root object and a target object, construct a pointer from one to the other. */ 78 | CJSON_PUBLIC(char *) cJSONUtils_FindPointerFromObjectTo(const cJSON * const object, const cJSON * const target); 79 | 80 | /* Sorts the members of the object into alphabetical order. */ 81 | CJSON_PUBLIC(void) cJSONUtils_SortObject(cJSON * const object); 82 | CJSON_PUBLIC(void) cJSONUtils_SortObjectCaseSensitive(cJSON * const object); 83 | 84 | #ifdef __cplusplus 85 | } 86 | #endif 87 | 88 | #endif 89 | -------------------------------------------------------------------------------- /Software/UserApp/cJsonParse/cmd_Book.md: -------------------------------------------------------------------------------- 1 | # TwisterDriver JSON命令包示例 2 | 3 | ## 心跳包 4 | 5 | >{ 6 | > "name":"TwisterRobot v1.0", 7 | > "lastUpgrade":"2024.3.10", 8 | > "sysRunTime": 7 9 | >} 10 | 11 | ## Json指令 12 | ### cmd_setAngularDeviation 13 | 14 | >{ 15 | > "cmd":1, 16 | > "Deviation": 5 17 | >} 18 | 19 | **返回值:** 20 | 21 | >{ 22 | > "res":0, 23 | > "cmd":1 24 | >} 25 | 26 | ### cmd_setMotorAngle 27 | 28 | > { 29 | > "cmd":2, 30 | > "MotorAngle_Left": 5, 31 | > "MotorAngle_Right": 5 32 | > } 33 | 34 | **返回值:** 35 | 36 | > { 37 | > "res":0, 38 | > "cmd":2, 39 | > 40 | > "NewMotorAngle_Left": 5, 41 | > "NewMotorAngle_Right": 5 42 | > 43 | > } 44 | 45 | ### cmd_setServoAngle 46 | 47 | >{ 48 | > "cmd":3, 49 | > "ServoAngle_Left": 5, 50 | > "ServoAngle_Right": 5 51 | >} 52 | 53 | **返回值:** 54 | 55 | >{ 56 | >"res":0, 57 | >"cmd":3, 58 | > 59 | >"currentAngle_Left": 5, 60 | >"currentAngle_Right": 5 61 | > 62 | >} 63 | > 64 | 65 | ### cmd_getMotorSpeed 66 | 67 | >{ 68 | > "cmd":4 69 | >} 70 | 71 | **返回值:** 72 | 73 | >{ 74 | >"res":0, 75 | >"cmd":4, 76 | >"speedLeft":5, 77 | >"speedRight":5 78 | >} 79 | > 80 | ### cmd_getMotorAngle 81 | 82 | >{ 83 | > "cmd":5 84 | >} 85 | 86 | **返回值:** 87 | 88 | >{ 89 | >"res":0, 90 | >"cmd":5, 91 | >"angleLeft":10, 92 | >"angleRight":50 93 | >} 94 | > 95 | ### cmd_getMotorCurrent 96 | 97 | >{ 98 | > "cmd":6 99 | >} 100 | 101 | **返回值:** 102 | >{ 103 | > "res":0, 104 | > "currentLeft":300, 105 | > "currentRight":300 106 | >} 107 | ### cmd_getSystemMode 108 | 109 | >{ 110 | > "cmd":7 111 | >} 112 | 113 | **返回值:** 114 | 115 | >{ 116 | > "res":0, 117 | > "cmd":7, 118 | > "Mode": 1 119 | >} 120 | 121 | ### cmd_setHeartBeat 122 | 123 | >{ 124 | > "cmd":8, 125 | > "beatTime_ms":300 126 | >} 127 | 128 | **返回值:** 129 | >{ 130 | > "res":0, 131 | > "cmd":8, 132 | > "name":"TwisterRobot v1.0", 133 | > "lastUpgrade":"2024.3.10", 134 | > "sysRunTime": 7 135 | >} 136 | 137 | ### cmd_setFOCMode 138 | 139 | > { 140 | > "cmd":9, 141 | > "FOC_Mode":1 142 | > } 143 | 144 | **返回值:** 145 | 146 | > { 147 | > "res":0, 148 | > "cmd":8, 149 | > "NewFOC_Mode":1 150 | > } -------------------------------------------------------------------------------- /Software/UserApp/cJsonParse/cmd_Parse.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by Yoshi on 2024/3/10. 3 | // 4 | 5 | #ifndef TWISTERDRIVER_CMD_PARSE_H 6 | #define TWISTERDRIVER_CMD_PARSE_H 7 | 8 | #include "main.h" 9 | 10 | #define JSON_response uart3_printf 11 | 12 | void cmd_startParse(char* JsonString); 13 | 14 | void res_sendHeartBeat(); 15 | 16 | void cmd_setAngularDeviation(cJSON* root); 17 | 18 | void cmd_setMotorAngle(cJSON *root); 19 | 20 | void cmd_setServoAngle(cJSON* root); 21 | 22 | void cmd_getMotorSpeed(cJSON* root); 23 | 24 | void cmd_getMotorAngle(cJSON* root); 25 | 26 | void cmd_getMotorCurrent(cJSON* root); 27 | 28 | void cmd_getSystemMode(cJSON* root); 29 | 30 | void cmd_setHeartBeat(cJSON* root); 31 | 32 | void cmd_setFOCMode(cJSON *root); 33 | 34 | #endif //TWISTERDRIVER_CMD_PARSE_H 35 | -------------------------------------------------------------------------------- /Software/UserApp/multiBotton/README.md: -------------------------------------------------------------------------------- 1 | # MultiButton 2 | 3 | ## 简介 4 | MultiButton 是一个小巧简单易用的事件驱动型按键驱动模块，可无限量扩展按键，按键事件的回调异步处理方式可以简化你的程序结构，去除冗余的按键处理硬编码，让你的按键业务逻辑更清晰。 5 | 6 | ## 使用方法 7 | 1.先申请一个按键结构 8 | 9 | ```c 10 | struct Button button1; 11 | ``` 12 | 2.初始化按键对象，绑定按键的GPIO电平读取接口**read_button_pin()** ，后一个参数设置有效触发电平 13 | 14 | ```c 15 | button_init(&button1, read_button_pin, 0); 16 | ``` 17 | 3.注册按键事件 18 | 19 | ```c 20 | button_attach(&button1, SINGLE_CLICK, Callback_SINGLE_CLICK_Handler); 21 | button_attach(&button1, DOUBLE_CLICK, Callback_DOUBLE_Click_Handler); 22 | ... 23 | ``` 24 | 4.启动按键 25 | 26 | ```c 27 | button_start(&button1); 28 | ``` 29 | 5.设置一个5ms间隔的定时器循环调用后台处理函数 30 | 31 | ```c 32 | while(1) { 33 | ... 34 | if(timer_ticks == 5) { 35 | timer_ticks = 0; 36 | 37 | button_ticks(); 38 | } 39 | } 40 | ``` 41 | 42 | ## 特性 43 | 44 | MultiButton 使用C语言实现，基于面向对象方式设计思路，每个按键对象单独用一份数据结构管理： 45 | 46 | ```c 47 | struct Button { 48 | uint16_t ticks; 49 | uint8_t repeat: 4; 50 | uint8_t event : 4; 51 | uint8_t state : 3; 52 | uint8_t debounce_cnt : 3; 53 | uint8_t active_level : 1; 54 | uint8_t button_level : 1; 55 | uint8_t (*hal_button_Level)(void); 56 | BtnCallback cb[number_of_event]; 57 | struct Button* next; 58 | }; 59 | ``` 60 | 这样每个按键使用单向链表相连，依次进入 button_handler(struct Button* handle) 状态机处理，所以每个按键的状态彼此独立。 61 | 62 | 63 | ## 按键事件 64 | 65 | 事件 | 说明 66 | ---|--- 67 | PRESS_DOWN | 按键按下，每次按下都触发 68 | PRESS_UP | 按键弹起，每次松开都触发 69 | PRESS_REPEAT | 重复按下触发，变量repeat计数连击次数 70 | SINGLE_CLICK | 单击按键事件 71 | DOUBLE_CLICK | 双击按键事件 72 | LONG_PRESS_START | 达到长按时间阈值时触发一次 73 | LONG_PRESS_HOLD | 长按期间一直触发 74 | 75 | 76 | ## Examples 77 | 78 | ```c 79 | #include "button.h" 80 | 81 | struct Button btn1; 82 | 83 | uint8_t read_button1_GPIO() 84 | { 85 | return HAL_GPIO_ReadPin(B1_GPIO_Port, B1_Pin); 86 | } 87 | void BTN1_PRESS_DOWN_Handler(void* btn) 88 | { 89 | //do something... 90 | } 91 | 92 | void BTN1_PRESS_UP_Handler(void* btn) 93 | { 94 | //do something... 95 | } 96 | 97 | ... 98 | ``` 99 | ``` C 100 | int main() 101 | { 102 | button_init(&btn1, read_button1_GPIO, 0); 103 | button_attach(&btn1, PRESS_DOWN, BTN1_PRESS_DOWN_Handler); 104 | button_attach(&btn1, PRESS_UP, BTN1_PRESS_UP_Handler); 105 | button_attach(&btn1, PRESS_REPEAT, BTN1_PRESS_REPEAT_Handler); 106 | button_attach(&btn1, SINGLE_CLICK, BTN1_SINGLE_Click_Handler); 107 | button_attach(&btn1, DOUBLE_CLICK, BTN1_DOUBLE_Click_Handler); 108 | button_attach(&btn1, LONG_PRESS_START, BTN1_LONG_PRESS_START_Handler); 109 | button_attach(&btn2, LONG_PRESS_HOLD, BTN1_LONG_PRESS_HOLD_Handler); 110 | button_start(&btn1); 111 | 112 | //make the timer invoking the button_ticks() interval 5ms. 113 | //This function is implemented by yourself. 114 | __timer_start(button_ticks, 0, 5); 115 | 116 | while(1) 117 | {} 118 | 119 | } 120 | ``` 121 | 122 | 123 | 124 | -------------------------------------------------------------------------------- /Software/UserApp/multiBotton/multi_button.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2016 Zibin Zheng 3 | * All rights reserved 4 | */ 5 | 6 | #ifndef _MULTI_BUTTON_H_ 7 | #define _MULTI_BUTTON_H_ 8 | 9 | #include "stdint.h" 10 | #include "string.h" 11 | #include "main.h" 12 | 13 | //According to your need to modify the constants. 14 | #define TICKS_INTERVAL 5 //ms 15 | #define DEBOUNCE_TICKS 2 //MAX 8 16 | #define SHORT_TICKS (200 /TICKS_INTERVAL) 17 | #define LONG_TICKS (750 /TICKS_INTERVAL) 18 | 19 | 20 | typedef void (*BtnCallback)(void *); 21 | 22 | typedef enum { 23 | PRESS_DOWN = 0, 24 | PRESS_UP, 25 | PRESS_REPEAT, 26 | SINGLE_CLICK, 27 | DOUBLE_CLICK, 28 | LONG_PRESS_START, 29 | LONG_PRESS_HOLD, 30 | number_of_event, 31 | NONE_PRESS 32 | } PressEvent; 33 | 34 | typedef struct Button { 35 | uint16_t ticks; 36 | uint8_t repeat: 4; 37 | uint8_t event: 4; 38 | uint8_t state: 3; 39 | uint8_t debounce_cnt: 3; 40 | uint8_t active_level: 1; 41 | uint8_t button_level: 1; 42 | 43 | uint8_t (*hal_button_Level)(void); 44 | 45 | BtnCallback cb[number_of_event]; 46 | struct Button *next; 47 | } Button; 48 | 49 | #ifdef __cplusplus 50 | extern "C" { 51 | #endif 52 | 53 | void button_init(struct Button *handle, uint8_t(*pin_level)(), uint8_t active_level); 54 | 55 | void button_attach(struct Button *handle, PressEvent event, BtnCallback cb); 56 | 57 | PressEvent get_button_event(struct Button *handle); 58 | 59 | int button_start(struct Button *handle); 60 | 61 | void button_stop(struct Button *handle); 62 | 63 | void button_ticks(void); 64 | 65 | uint8_t read_KEY1_GPIO(); 66 | uint8_t read_KEY2_GPIO(); 67 | uint8_t read_KEY3_GPIO(); 68 | uint8_t read_KEY4_GPIO(); 69 | uint8_t read_KEY5_GPIO(); 70 | uint8_t read_KEY6_GPIO(); 71 | 72 | void KEY1_PRESS_DOWN_Handler(void *btn); 73 | void KEY2_PRESS_DOWN_Handler(void *btn); 74 | void KEY3_PRESS_DOWN_Handler(void *btn); 75 | void KEY4_PRESS_DOWN_Handler(void *btn); 76 | void KEY5_PRESS_DOWN_Handler(void *btn); 77 | void KEY6_PRESS_DOWN_Handler(void *btn); 78 | 79 | extern struct Button KEY1; 80 | extern struct Button KEY2; 81 | extern struct Button KEY3; 82 | extern struct Button KEY4; 83 | extern struct Button KEY5; 84 | extern struct Button KEY6; 85 | 86 | #ifdef __cplusplus 87 | } 88 | #endif 89 | 90 | #endif 91 | -------------------------------------------------------------------------------- /Software/UserApp/retarget/retarget.h: -------------------------------------------------------------------------------- 1 | 2 | // 3 | // Created by nino on 23-6-18. 4 | // 5 | 6 | #ifndef STM32H7_TEST_RETARGET_H 7 | #define STM32H7_TEST_RETARGET_H 8 | 9 | #include "main.h" 10 | #include "stdio.h" 11 | #include "stdlib.h" 12 | #include "stdarg.h" 13 | #include "string.h" 14 | 15 | extern char uart3Buffer[128]; 16 | 17 | void uart_printf(const char *format, ...); 18 | 19 | void uart3_printf(const char* format, ...); 20 | 21 | void ReformatBuffer(uint8_t *buffer, float *afterReformat); 22 | 23 | float Reformat_Float(const char *format); 24 | 25 | uint32_t Reformat_TOF(const char *format); 26 | 27 | #endif //STM32H7_TEST_RETARGET_H 28 | -------------------------------------------------------------------------------- /Software/cmake-build-debug/.cmake/api/v1/query/cache-v2: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NinoC137/TwisterDriver/3c6f2d61246b8bd5eb67e7c9a482cbd64fd6b67a/Software/cmake-build-debug/.cmake/api/v1/query/cache-v2 -------------------------------------------------------------------------------- /Software/cmake-build-debug/.cmake/api/v1/query/cmakeFiles-v1: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | CMakeFiles/TwisterDriver.elf.dir/Core/Src/sysmem.c.obj: \ 2 | E\:\Clion_for_STM32\TwisterDriver\Software\Core\Src\sysmem.c \ 3 | e\:\compiler\arm-none-eabi\include\errno.h \ 4 | e\:\compiler\arm-none-eabi\include\sys\errno.h \ 5 | e\:\compiler\arm-none-eabi\include\sys\reent.h \ 6 | e\:\compiler\arm-none-eabi\include\_ansi.h \ 7 | e\:\compiler\arm-none-eabi\include\newlib.h \ 8 | e\:\compiler\arm-none-eabi\include\_newlib_version.h \ 9 | e\:\compiler\arm-none-eabi\include\sys\config.h \ 10 | e\:\compiler\arm-none-eabi\include\machine\ieeefp.h \ 11 | e\:\compiler\arm-none-eabi\include\sys\features.h \ 12 | e\:\compiler\lib\gcc\arm-none-eabi\10.2.1\include\stddef.h \ 13 | e\:\compiler\arm-none-eabi\include\sys\_types.h \ 14 | e\:\compiler\arm-none-eabi\include\machine\_types.h \ 15 | e\:\compiler\arm-none-eabi\include\machine\_default_types.h \ 16 | e\:\compiler\arm-none-eabi\include\sys\lock.h \ 17 | 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E:/Compiler/bin/arm-none-eabi-gcc.exe 5 | # compile C with E:/Compiler/bin/arm-none-eabi-gcc.exe 6 | ASM_DEFINES = -DDEBUG -DSTM32G431xx -DUSE_HAL_DRIVER 7 | 8 | ASM_INCLUDES = -IE:\Clion_for_STM32\TwisterDriver\Software\Core\Inc -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\STM32G4xx_HAL_Driver\Inc -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\STM32G4xx_HAL_Driver\Inc\Legacy -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\CMSIS\Device\ST\STM32G4xx\Include -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\CMSIS\Include -IE:\Clion_for_STM32\TwisterDriver\Software\Middlewares\Third_Party\FreeRTOS\Source\include -IE:\Clion_for_STM32\TwisterDriver\Software\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS -IE:\Clion_for_STM32\TwisterDriver\Software\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\FOC -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\MT6701 -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\retarget -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\cJSON -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\Servo -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\LCD -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\multiBotton -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\cJsonParse 9 | 10 | ASM_FLAGS = -g -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4 -mthumb -mthumb-interwork -ffunction-sections -fdata-sections -fno-common -fmessage-length=0 -x assembler-with-cpp -Og -g 11 | 12 | C_DEFINES = -DDEBUG -DSTM32G431xx -DUSE_HAL_DRIVER 13 | 14 | C_INCLUDES = -IE:\Clion_for_STM32\TwisterDriver\Software\Core\Inc -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\STM32G4xx_HAL_Driver\Inc -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\STM32G4xx_HAL_Driver\Inc\Legacy -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\CMSIS\Device\ST\STM32G4xx\Include -IE:\Clion_for_STM32\TwisterDriver\Software\Drivers\CMSIS\Include -IE:\Clion_for_STM32\TwisterDriver\Software\Middlewares\Third_Party\FreeRTOS\Source\include -IE:\Clion_for_STM32\TwisterDriver\Software\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS -IE:\Clion_for_STM32\TwisterDriver\Software\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\FOC -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\MT6701 -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\retarget -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\cJSON -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\Servo -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\LCD -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\multiBotton -IE:\Clion_for_STM32\TwisterDriver\Software\UserApp\cJsonParse 15 | 16 | C_FLAGS = -g -fdiagnostics-color=always -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4 -mthumb -mthumb-interwork -ffunction-sections -fdata-sections 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-DCMAKE_C_COMPILER=E:/Compiler/bin/arm-none-eabi-gcc.exe -DCMAKE_CXX_COMPILER=E:/Compiler/bin/arm-none-eabi-g++.exe -G "CodeBlocks - MinGW Makefiles" -S E:\Clion_for_STM32\TwisterDriver\Software -B E:\Clion_for_STM32\TwisterDriver\Software\cmake-build-debug 2 | -- The C compiler identification is GNU 10.2.1 3 | -- The CXX compiler identification is GNU 10.2.1 4 | -- The ASM compiler identification is GNU 5 | -- Found assembler: E:/Compiler/bin/arm-none-eabi-gcc.exe 6 | -- Detecting C compiler ABI info 7 | -- Detecting C compiler ABI info - done 8 | -- Check for working C compiler: E:/Compiler/bin/arm-none-eabi-gcc.exe - skipped 9 | -- Detecting C compile features 10 | -- Detecting C compile features - done 11 | -- Detecting CXX compiler ABI info 12 | -- Detecting CXX compiler ABI info - done 13 | -- Check for working CXX compiler: E:/Compiler/bin/arm-none-eabi-g++.exe - skipped 14 | -- Detecting CXX compile features 15 | -- Detecting CXX compile features - done 16 | -- Minimal optimization, debug info included 17 | -- Configuring done 18 | -- Generating done 19 | -- Build files have been written to: E:/Clion_for_STM32/TwisterDriver/Software/cmake-build-debug 20 | -------------------------------------------------------------------------------- /Software/cmake-build-debug/CMakeFiles/clion-environment.txt: -------------------------------------------------------------------------------- 1 | ToolSet: w64 9.0 (local)@E:\CLion\CLion 2022.3.2\bin\mingw 2 | Options: 3 | 4 | Options:-DCMAKE_MAKE_PROGRAM=C:/MinGW/bin/make.exe-DCMAKE_C_COMPILER=E:/Compiler/bin/arm-none-eabi-gcc.exe-DCMAKE_CXX_COMPILER=E:/Compiler/bin/arm-none-eabi-g++.exe -------------------------------------------------------------------------------- /Software/cmake-build-debug/CMakeFiles/cmake.check_cache: -------------------------------------------------------------------------------- 1 | # This file is generated by cmake for dependency checking of the CMakeCache.txt file 2 | 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string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" 13 | CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") 14 | else() 15 | set(CMAKE_INSTALL_CONFIG_NAME "Debug") 16 | endif() 17 | message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") 18 | endif() 19 | 20 | # Set the component getting installed. 21 | if(NOT CMAKE_INSTALL_COMPONENT) 22 | if(COMPONENT) 23 | message(STATUS "Install component: \"${COMPONENT}\"") 24 | set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") 25 | else() 26 | set(CMAKE_INSTALL_COMPONENT) 27 | endif() 28 | endif() 29 | 30 | # Is this installation the result of a crosscompile? 31 | if(NOT DEFINED CMAKE_CROSSCOMPILING) 32 | set(CMAKE_CROSSCOMPILING "TRUE") 33 | endif() 34 | 35 | # Set default install directory permissions. 36 | if(NOT DEFINED CMAKE_OBJDUMP) 37 | set(CMAKE_OBJDUMP "arm-none-eabi-objdump") 38 | endif() 39 | 40 | if(CMAKE_INSTALL_COMPONENT) 41 | set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") 42 | else() 43 | set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") 44 | endif() 45 | 46 | string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT 47 | "${CMAKE_INSTALL_MANIFEST_FILES}") 48 | file(WRITE "E:/Clion_for_STM32/TwisterDriver/Software/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}" 49 | "${CMAKE_INSTALL_MANIFEST_CONTENT}") 50 | -------------------------------------------------------------------------------- /Software/stm32g4x.cfg: -------------------------------------------------------------------------------- 1 | source [find interface/stlink.cfg] 2 | 3 | transport select hla_swd 4 | set CPUTAPID 0 5 | 6 | source [find target/stm32g4x.cfg] 7 | 8 | #reset_config srst_only 9 | reset_config none --------------------------------------------------------------------------------