├── 1_Hardware └── 20步进电机驱动.zip ├── 2_Firmware └── STM32F303_fw │ ├── .cproject │ ├── .idea │ ├── .gitignore │ ├── STM32F303_fw.iml │ ├── inspectionProfiles │ │ └── Project_Default.xml │ ├── misc.xml │ ├── modules.xml │ └── vcs.xml │ ├── .mxproject │ ├── .project │ ├── BSD_License.ftl │ ├── CMakeLists.txt │ ├── CMakeLists_template.txt │ ├── Core │ ├── Inc │ │ ├── can.h │ │ ├── dac.h │ │ ├── gpio.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f3xx_hal_conf.h │ │ ├── stm32f3xx_it.h │ │ └── tim.h │ ├── Src │ │ ├── can.c │ │ ├── dac.c │ │ ├── gpio.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f3xx_hal_msp.c │ │ ├── stm32f3xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ ├── system_stm32f3xx.c │ │ └── tim.c │ └── Startup │ │ └── startup_stm32f303cctx.s │ ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F3xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f303xc.h │ │ │ │ ├── stm32f3xx.h │ │ │ │ └── system_stm32f3xx.h │ │ │ │ └── LICENSE.txt │ │ ├── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ │ └── LICENSE.txt │ └── STM32F3xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f3xx_hal.h │ │ ├── stm32f3xx_hal_can.h │ │ ├── stm32f3xx_hal_cortex.h │ │ ├── stm32f3xx_hal_dac.h │ │ ├── stm32f3xx_hal_dac_ex.h │ │ ├── stm32f3xx_hal_def.h │ │ ├── stm32f3xx_hal_dma.h │ │ ├── stm32f3xx_hal_dma_ex.h │ │ ├── stm32f3xx_hal_exti.h │ │ ├── stm32f3xx_hal_flash.h │ │ ├── stm32f3xx_hal_flash_ex.h │ │ ├── stm32f3xx_hal_gpio.h │ │ ├── stm32f3xx_hal_gpio_ex.h │ │ ├── stm32f3xx_hal_i2c.h │ │ ├── stm32f3xx_hal_i2c_ex.h │ │ ├── stm32f3xx_hal_pwr.h │ │ ├── stm32f3xx_hal_pwr_ex.h │ │ ├── stm32f3xx_hal_rcc.h │ │ ├── stm32f3xx_hal_rcc_ex.h │ │ ├── stm32f3xx_hal_spi.h │ │ ├── stm32f3xx_hal_spi_ex.h │ │ ├── stm32f3xx_hal_tim.h │ │ ├── stm32f3xx_hal_tim_ex.h │ │ ├── stm32f3xx_ll_bus.h │ │ ├── stm32f3xx_ll_cortex.h │ │ ├── stm32f3xx_ll_dac.h │ │ ├── stm32f3xx_ll_dma.h │ │ ├── stm32f3xx_ll_exti.h │ │ ├── stm32f3xx_ll_gpio.h │ │ ├── stm32f3xx_ll_pwr.h │ │ ├── stm32f3xx_ll_rcc.h │ │ ├── stm32f3xx_ll_system.h │ │ ├── stm32f3xx_ll_tim.h │ │ └── stm32f3xx_ll_utils.h │ │ ├── LICENSE.txt │ │ └── Src │ │ ├── stm32f3xx_hal.c │ │ ├── stm32f3xx_hal_can.c │ │ ├── stm32f3xx_hal_cortex.c │ │ ├── stm32f3xx_hal_dac.c │ │ ├── stm32f3xx_hal_dac_ex.c │ │ ├── stm32f3xx_hal_dma.c │ │ ├── stm32f3xx_hal_exti.c │ │ ├── stm32f3xx_hal_flash.c │ │ ├── stm32f3xx_hal_flash_ex.c │ │ ├── stm32f3xx_hal_gpio.c │ │ ├── stm32f3xx_hal_i2c.c │ │ ├── stm32f3xx_hal_i2c_ex.c │ │ ├── stm32f3xx_hal_pwr.c │ │ ├── stm32f3xx_hal_pwr_ex.c │ │ ├── stm32f3xx_hal_rcc.c │ │ ├── stm32f3xx_hal_rcc_ex.c │ │ ├── stm32f3xx_hal_spi.c │ │ ├── stm32f3xx_hal_spi_ex.c │ │ ├── stm32f3xx_hal_tim.c │ │ └── stm32f3xx_hal_tim_ex.c │ ├── STM32F303CCTX_FLASH.ld │ ├── STM32F303_fw.ioc │ ├── Users │ ├── Base │ │ ├── Button │ │ │ ├── button_base.cpp │ │ │ ├── button_base.h │ │ │ ├── button_stm32.cpp │ │ │ └── button_stm32.h │ │ └── CAN │ │ │ ├── can_base.cpp │ │ │ └── can_base.h │ ├── Config │ │ ├── DapLink.cfg │ │ └── Stlink.cfg │ ├── Xdrive │ │ ├── Driver │ │ │ ├── driver_base.h │ │ │ ├── sin_map.h │ │ │ ├── tb67h450_base.cpp │ │ │ ├── tb67h450_base.h │ │ │ ├── tb67h450_stm32.cpp │ │ │ └── tb67h450_stm32.h │ │ ├── Encoder │ │ │ ├── encoder_base.h │ │ │ ├── encoder_calibrator_base.cpp │ │ │ ├── encoder_calibrator_base.h │ │ │ ├── encoder_calibrator_stm32.cpp │ │ │ ├── encoder_calibrator_stm32.h │ │ │ ├── mt6816_base.cpp │ │ │ ├── mt6816_base.h │ │ │ ├── mt6816_stm32.cpp │ │ │ └── mt6816_stm32.h │ │ ├── Memory │ │ │ ├── stockpile_config.h │ │ │ ├── stockpile_f303cc.c │ │ │ └── stockpile_f303cc.h │ │ ├── Motor │ │ │ ├── motion_planner.cpp │ │ │ ├── motion_planner.h │ │ │ ├── motor.cpp │ │ │ └── motor.h │ │ └── configurations.h │ ├── selfmain.cpp │ └── selfmain.h │ └── cmake-build-debug │ ├── .cmake │ └── api │ │ └── v1 │ │ ├── query │ │ ├── cache-v2 │ │ ├── cmakeFiles-v1 │ │ ├── codemodel-v2 │ │ └── toolchains-v1 │ │ └── reply │ │ ├── cache-v2-7bd03216d096258f9652.json │ │ ├── cmakeFiles-v1-69536ca0d9c8adf14e04.json │ │ ├── codemodel-v2-289ab01e1c6b027fcc62.json │ │ ├── directory-.-Debug-d0094a50bb2071803777.json │ │ ├── index-2024-05-06T14-43-04-0766.json │ │ ├── target-STM32F303_fw.elf-Debug-b5581c2ece324fb990f2.json │ │ └── toolchains-v1-6fc1e5c691696e047270.json │ ├── CMakeCache.txt │ ├── CMakeFiles │ ├── 3.27.8 │ │ ├── CMakeASMCompiler.cmake │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── CMakeCCompilerId.o │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── CMakeCXXCompilerId.o │ ├── CMakeConfigureLog.yaml │ ├── CMakeDirectoryInformation.cmake │ ├── Makefile.cmake │ ├── Makefile2 │ ├── STM32F303_fw.elf.dir │ │ ├── ASM.includecache │ │ ├── Core │ │ │ ├── Src │ │ │ │ ├── can.c.obj │ │ │ │ ├── can.c.obj.d │ │ │ │ ├── dac.c.obj │ │ │ │ ├── dac.c.obj.d │ │ │ │ ├── gpio.c.obj │ │ │ │ ├── gpio.c.obj.d │ │ │ │ ├── main.c.obj │ │ │ │ ├── main.c.obj.d │ │ │ │ ├── spi.c.obj │ │ │ │ ├── spi.c.obj.d │ │ │ │ ├── stm32f3xx_hal_msp.c.obj │ │ │ │ ├── stm32f3xx_hal_msp.c.obj.d │ │ │ │ ├── stm32f3xx_it.c.obj │ │ │ │ ├── stm32f3xx_it.c.obj.d │ │ │ │ ├── syscalls.c.obj │ │ │ │ ├── syscalls.c.obj.d │ │ │ │ ├── sysmem.c.obj │ │ │ │ ├── sysmem.c.obj.d │ │ │ │ ├── system_stm32f3xx.c.obj │ │ │ │ ├── system_stm32f3xx.c.obj.d │ │ │ │ ├── tim.c.obj │ │ │ │ └── tim.c.obj.d │ │ │ └── Startup │ │ │ │ └── startup_stm32f303cctx.s.obj │ │ ├── DependInfo.cmake │ │ ├── Drivers │ │ │ └── STM32F3xx_HAL_Driver │ │ │ │ └── Src │ │ │ │ ├── stm32f3xx_hal.c.obj │ │ │ │ ├── stm32f3xx_hal.c.obj.d │ │ │ │ ├── stm32f3xx_hal_can.c.obj │ │ │ │ ├── stm32f3xx_hal_can.c.obj.d │ │ │ │ ├── stm32f3xx_hal_cortex.c.obj │ │ │ │ ├── stm32f3xx_hal_cortex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_dac.c.obj │ │ │ │ ├── stm32f3xx_hal_dac.c.obj.d │ │ │ │ ├── stm32f3xx_hal_dac_ex.c.obj │ │ │ │ ├── stm32f3xx_hal_dac_ex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_dma.c.obj │ │ │ │ ├── stm32f3xx_hal_dma.c.obj.d │ │ │ │ ├── stm32f3xx_hal_exti.c.obj │ │ │ │ ├── stm32f3xx_hal_exti.c.obj.d │ │ │ │ ├── stm32f3xx_hal_flash.c.obj │ │ │ │ ├── stm32f3xx_hal_flash.c.obj.d │ │ │ │ ├── stm32f3xx_hal_flash_ex.c.obj │ │ │ │ ├── stm32f3xx_hal_flash_ex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_gpio.c.obj │ │ │ │ ├── stm32f3xx_hal_gpio.c.obj.d │ │ │ │ ├── stm32f3xx_hal_i2c.c.obj │ │ │ │ ├── stm32f3xx_hal_i2c.c.obj.d │ │ │ │ ├── stm32f3xx_hal_i2c_ex.c.obj │ │ │ │ ├── stm32f3xx_hal_i2c_ex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_pwr.c.obj │ │ │ │ ├── stm32f3xx_hal_pwr.c.obj.d │ │ │ │ ├── stm32f3xx_hal_pwr_ex.c.obj │ │ │ │ ├── stm32f3xx_hal_pwr_ex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_rcc.c.obj │ │ │ │ ├── stm32f3xx_hal_rcc.c.obj.d │ │ │ │ ├── stm32f3xx_hal_rcc_ex.c.obj │ │ │ │ ├── stm32f3xx_hal_rcc_ex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_spi.c.obj │ │ │ │ ├── stm32f3xx_hal_spi.c.obj.d │ │ │ │ ├── stm32f3xx_hal_spi_ex.c.obj │ │ │ │ ├── stm32f3xx_hal_spi_ex.c.obj.d │ │ │ │ ├── stm32f3xx_hal_tim.c.obj │ │ │ │ ├── stm32f3xx_hal_tim.c.obj.d │ │ │ │ ├── stm32f3xx_hal_tim_ex.c.obj │ │ │ │ └── stm32f3xx_hal_tim_ex.c.obj.d │ │ ├── Users │ │ │ ├── Base │ │ │ │ ├── Button │ │ │ │ │ ├── button_base.cpp.obj │ │ │ │ │ ├── button_base.cpp.obj.d │ │ │ │ │ ├── button_stm32.cpp.obj │ │ │ │ │ └── button_stm32.cpp.obj.d │ │ │ │ └── CAN │ │ │ │ │ ├── can_base.cpp.obj │ │ │ │ │ └── can_base.cpp.obj.d │ │ │ ├── Xdrive │ │ │ │ ├── Driver │ │ │ │ │ ├── tb67h450_base.cpp.obj │ │ │ │ │ ├── tb67h450_base.cpp.obj.d │ │ │ │ │ ├── tb67h450_stm32.cpp.obj │ │ │ │ │ └── tb67h450_stm32.cpp.obj.d │ │ │ │ ├── Encoder │ │ │ │ │ ├── encoder_calibrator_base.cpp.obj │ │ │ │ │ ├── encoder_calibrator_base.cpp.obj.d │ │ │ │ │ ├── encoder_calibrator_stm32.cpp.obj │ │ │ │ │ ├── encoder_calibrator_stm32.cpp.obj.d │ │ │ │ │ ├── mt6816_base.cpp.obj │ │ │ │ │ ├── mt6816_base.cpp.obj.d │ │ │ │ │ ├── mt6816_stm32.cpp.obj │ │ │ │ │ └── mt6816_stm32.cpp.obj.d │ │ │ │ ├── Memory │ │ │ │ │ ├── stockpile_f303cc.c.obj │ │ │ │ │ └── stockpile_f303cc.c.obj.d │ │ │ │ └── Motor │ │ │ │ │ ├── motion_planner.cpp.obj │ │ │ │ │ ├── motion_planner.cpp.obj.d │ │ │ │ │ ├── motor.cpp.obj │ │ │ │ │ └── motor.cpp.obj.d │ │ │ ├── selfmain.cpp.obj │ │ │ └── selfmain.cpp.obj.d │ │ ├── build.make │ │ ├── cmake_clean.cmake │ │ ├── compiler_depend.internal │ │ ├── compiler_depend.make │ │ ├── compiler_depend.ts │ │ ├── depend.internal │ │ ├── depend.make │ │ ├── flags.make │ │ ├── link.txt │ │ └── progress.make │ ├── TargetDirectories.txt │ ├── clion-Debug-log.txt │ ├── clion-environment.txt │ ├── cmake.check_cache │ └── progress.marks │ ├── Makefile │ ├── STM32F303_fw.bin │ ├── STM32F303_fw.cbp │ ├── STM32F303_fw.elf │ ├── STM32F303_fw.hex │ ├── STM32F303_fw.map │ ├── Testing │ └── Temporary │ │ └── LastTest.log │ └── cmake_install.cmake ├── 3_3Dmodels ├── 20步进增高.STEP └── 20步进背板.STEP ├── 4_Docs └── Pictures │ ├── DSC_0298.JPG │ ├── image-20240508174134941.png │ ├── image-20240508174955074.png │ ├── image-20240508175447835.png │ ├── image-20240508180854508.png │ └── image-20240508181103726.png └── README.md /1_Hardware/20步进电机驱动.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/REECE-LI/20-StepControl/19f9c3e34ba1956e65c4108fd8338c5db12bb2ac/1_Hardware/20步进电机驱动.zip -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.idea/.gitignore: -------------------------------------------------------------------------------- 1 | # Default ignored files 2 | /shelf/ 3 | /workspace.xml 4 | # Editor-based HTTP Client requests 5 | /httpRequests/ 6 | # Datasource local storage ignored files 7 | /dataSources/ 8 | /dataSources.local.xml 9 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.idea/STM32F303_fw.iml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.idea/inspectionProfiles/Project_Default.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 48 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.idea/misc.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.idea/modules.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.idea/vcs.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/.project: -------------------------------------------------------------------------------- 1 | 2 | 3 | STM32F303_fw 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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/BSD_License.ftl: -------------------------------------------------------------------------------- 1 | [#ftl] 2 | * @attention 3 | * 4 | * Copyright (c) ${year} STMicroelectronics. 5 | * All rights reserved. 6 | * 7 | * This software is licensed under terms that can be found in the LICENSE file 8 | * in the root directory of this software component. 9 | * If no LICENSE file comes with this software, it is provided AS-IS. 10 | * -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | #THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE! 2 | set(CMAKE_SYSTEM_NAME Generic) 3 | set(CMAKE_SYSTEM_VERSION 1) 4 | cmake_minimum_required(VERSION 3.27) 5 | 6 | # specify cross-compilers and tools 7 | set(CMAKE_C_COMPILER arm-none-eabi-gcc) 8 | set(CMAKE_CXX_COMPILER arm-none-eabi-g++) 9 | set(CMAKE_ASM_COMPILER arm-none-eabi-gcc) 10 | set(CMAKE_AR arm-none-eabi-ar) 11 | set(CMAKE_OBJCOPY arm-none-eabi-objcopy) 12 | set(CMAKE_OBJDUMP arm-none-eabi-objdump) 13 | set(SIZE arm-none-eabi-size) 14 | set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) 15 | 16 | # project settings 17 | project(STM32F303_fw C CXX ASM) 18 | set(CMAKE_CXX_STANDARD 17) 19 | set(CMAKE_C_STANDARD 11) 20 | 21 | #Uncomment for hardware floating point 22 | #add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING) 23 | #add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 24 | #add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 25 | 26 | #Uncomment for software floating point 27 | #add_compile_options(-mfloat-abi=soft) 28 | 29 | add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) 30 | add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0) 31 | 32 | # uncomment to mitigate c++17 absolute addresses warnings 33 | #set(CMAKE_CXX_FLAGS "${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/STM32F3xx_HAL_Driver/Inc 53 | Drivers/STM32F3xx_HAL_Driver/Inc/Legacy 54 | Drivers/CMSIS/Device/ST/STM32F3xx/Include 55 | Drivers/CMSIS/Include 56 | Users 57 | Users/Base/Button 58 | Users/Base/CAN 59 | # Users/Retarget 60 | Users/Xdrive 61 | Users/Xdrive/Driver 62 | Users/Xdrive/Encoder 63 | Users/Xdrive/Memory 64 | Users/Xdrive/Motor 65 | Users/Oled 66 | ) 67 | 68 | add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xC) 69 | 70 | file(GLOB_RECURSE SOURCES "Core/*.*" "Drivers/*.*" "Users/*.*") 71 | 72 | set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F303CCTX_FLASH.ld) 73 | 74 | add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map) 75 | add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) 76 | add_link_options(-T ${LINKER_SCRIPT}) 77 | 78 | add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT}) 79 | 80 | set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex) 81 | set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin) 82 | 83 | add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD 84 | COMMAND ${CMAKE_OBJCOPY} -Oihex $ ${HEX_FILE} 85 | COMMAND ${CMAKE_OBJCOPY} -Obinary $ ${BIN_FILE} 86 | COMMENT "Building ${HEX_FILE} 87 | Building ${BIN_FILE}") 88 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/CMakeLists_template.txt: -------------------------------------------------------------------------------- 1 | #THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE! 2 | set(CMAKE_SYSTEM_NAME Generic) 3 | set(CMAKE_SYSTEM_VERSION 1) 4 | cmake_minimum_required(VERSION 3.27) 5 | 6 | # specify cross-compilers and tools 7 | set(CMAKE_C_COMPILER arm-none-eabi-gcc) 8 | set(CMAKE_CXX_COMPILER arm-none-eabi-g++) 9 | set(CMAKE_ASM_COMPILER arm-none-eabi-gcc) 10 | set(CMAKE_AR arm-none-eabi-ar) 11 | set(CMAKE_OBJCOPY arm-none-eabi-objcopy) 12 | set(CMAKE_OBJDUMP arm-none-eabi-objdump) 13 | set(SIZE arm-none-eabi-size) 14 | set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) 15 | 16 | # project settings 17 | project(STM32F303_fw C CXX ASM) 18 | set(CMAKE_CXX_STANDARD 17) 19 | set(CMAKE_C_STANDARD 11) 20 | 21 | #Uncomment for hardware floating point 22 | #add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING) 23 | #add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 24 | #add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16) 25 | 26 | #Uncomment for software floating point 27 | #add_compile_options(-mfloat-abi=soft) 28 | 29 | add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) 30 | add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0) 31 | 32 | # uncomment to mitigate c++17 absolute addresses warnings 33 | #set(CMAKE_CXX_FLAGS "${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/STM32F3xx_HAL_Driver/Inc 53 | Drivers/STM32F3xx_HAL_Driver/Inc/Legacy 54 | Drivers/CMSIS/Device/ST/STM32F3xx/Include 55 | Drivers/CMSIS/Include 56 | Users 57 | Users/Base/Button 58 | Users/Base/CAN 59 | # Users/Retarget 60 | Users/Xdrive 61 | Users/Xdrive/Driver 62 | Users/Xdrive/Encoder 63 | Users/Xdrive/Memory 64 | Users/Xdrive/Motor 65 | Users/Oled 66 | ) 67 | 68 | add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F303xC) 69 | 70 | file(GLOB_RECURSE SOURCES "Core/*.*" "Drivers/*.*" "Users/*.*") 71 | 72 | set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F303CCTX_FLASH.ld) 73 | 74 | add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map) 75 | add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork) 76 | add_link_options(-T ${LINKER_SCRIPT}) 77 | 78 | add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT}) 79 | 80 | set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex) 81 | set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin) 82 | 83 | add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD 84 | COMMAND ${CMAKE_OBJCOPY} -Oihex $ ${HEX_FILE} 85 | COMMAND ${CMAKE_OBJCOPY} -Obinary $ ${BIN_FILE} 86 | COMMENT "Building ${HEX_FILE} 87 | Building ${BIN_FILE}") 88 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/can.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file can.h 5 | * @brief This file contains all the function prototypes for 6 | * the can.c file 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __CAN_H__ 22 | #define __CAN_H__ 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "main.h" 30 | 31 | /* USER CODE BEGIN Includes */ 32 | 33 | /* USER CODE END Includes */ 34 | 35 | extern CAN_HandleTypeDef hcan; 36 | 37 | /* USER CODE BEGIN Private defines */ 38 | 39 | /* USER CODE END Private defines */ 40 | 41 | void MX_CAN_Init(void); 42 | 43 | /* USER CODE BEGIN Prototypes */ 44 | 45 | /* USER CODE END Prototypes */ 46 | 47 | #ifdef __cplusplus 48 | } 49 | #endif 50 | 51 | #endif /* __CAN_H__ */ 52 | 53 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/dac.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file dac.h 5 | * @brief This file contains all the function prototypes for 6 | * the dac.c file 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __DAC_H__ 22 | #define __DAC_H__ 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "main.h" 30 | 31 | /* USER CODE BEGIN Includes */ 32 | 33 | /* USER CODE END Includes */ 34 | 35 | extern DAC_HandleTypeDef hdac; 36 | 37 | /* USER CODE BEGIN Private defines */ 38 | 39 | /* USER CODE END Private defines */ 40 | 41 | void MX_DAC_Init(void); 42 | 43 | /* USER CODE BEGIN Prototypes */ 44 | 45 | /* USER CODE END Prototypes */ 46 | 47 | #ifdef __cplusplus 48 | } 49 | #endif 50 | 51 | #endif /* __DAC_H__ */ 52 | 53 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/gpio.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file gpio.h 5 | * @brief This file contains all the function prototypes for 6 | * the gpio.c file 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __GPIO_H__ 22 | #define __GPIO_H__ 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "main.h" 30 | 31 | /* USER CODE BEGIN Includes */ 32 | 33 | /* USER CODE END Includes */ 34 | 35 | /* USER CODE BEGIN Private defines */ 36 | 37 | /* USER CODE END Private defines */ 38 | 39 | void MX_GPIO_Init(void); 40 | 41 | /* USER CODE BEGIN Prototypes */ 42 | 43 | /* USER CODE END Prototypes */ 44 | 45 | #ifdef __cplusplus 46 | } 47 | #endif 48 | #endif /*__ GPIO_H__ */ 49 | 50 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/main.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file : main.h 5 | * @brief : Header for main.c file. 6 | * This file contains the common defines of the application. 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | 21 | /* Define to prevent recursive inclusion -------------------------------------*/ 22 | #ifndef __MAIN_H 23 | #define __MAIN_H 24 | 25 | #ifdef __cplusplus 26 | extern "C" { 27 | #endif 28 | 29 | /* Includes ------------------------------------------------------------------*/ 30 | #include "stm32f3xx_hal.h" 31 | 32 | /* Private includes ----------------------------------------------------------*/ 33 | /* USER CODE BEGIN Includes */ 34 | 35 | /* USER CODE END Includes */ 36 | 37 | /* Exported types ------------------------------------------------------------*/ 38 | /* USER CODE BEGIN ET */ 39 | 40 | /* USER CODE END ET */ 41 | 42 | /* Exported constants --------------------------------------------------------*/ 43 | /* USER CODE BEGIN EC */ 44 | 45 | /* USER CODE END EC */ 46 | 47 | /* Exported macro ------------------------------------------------------------*/ 48 | /* USER CODE BEGIN EM */ 49 | 50 | /* USER CODE END EM */ 51 | 52 | /* Exported functions prototypes ---------------------------------------------*/ 53 | void Error_Handler(void); 54 | 55 | /* USER CODE BEGIN EFP */ 56 | 57 | /* USER CODE END EFP */ 58 | 59 | /* Private defines -----------------------------------------------------------*/ 60 | #define BUTTON_UP_Pin GPIO_PIN_3 61 | #define BUTTON_UP_GPIO_Port GPIOA 62 | #define VREF_A_Pin GPIO_PIN_4 63 | #define VREF_A_GPIO_Port GPIOA 64 | #define VREF_B_Pin GPIO_PIN_5 65 | #define VREF_B_GPIO_Port GPIOA 66 | #define MT6818_CLK_Pin GPIO_PIN_13 67 | #define MT6818_CLK_GPIO_Port GPIOB 68 | #define MT6816_MISO_Pin GPIO_PIN_14 69 | #define MT6816_MISO_GPIO_Port GPIOB 70 | #define MT6818_MOSI_Pin GPIO_PIN_15 71 | #define MT6818_MOSI_GPIO_Port GPIOB 72 | #define MT6816_CS_Pin GPIO_PIN_5 73 | #define MT6816_CS_GPIO_Port GPIOB 74 | #define BM_Pin GPIO_PIN_6 75 | #define BM_GPIO_Port GPIOB 76 | #define BP_Pin GPIO_PIN_7 77 | #define BP_GPIO_Port GPIOB 78 | #define AP_Pin GPIO_PIN_8 79 | #define AP_GPIO_Port GPIOB 80 | #define AM_Pin GPIO_PIN_9 81 | #define AM_GPIO_Port GPIOB 82 | 83 | /* USER CODE BEGIN Private defines */ 84 | 85 | /* USER CODE END Private defines */ 86 | 87 | #ifdef __cplusplus 88 | } 89 | #endif 90 | 91 | #endif /* __MAIN_H */ 92 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/spi.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file spi.h 5 | * @brief This file contains all the function prototypes for 6 | * the spi.c file 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __SPI_H__ 22 | #define __SPI_H__ 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "main.h" 30 | 31 | /* USER CODE BEGIN Includes */ 32 | 33 | /* USER CODE END Includes */ 34 | 35 | extern SPI_HandleTypeDef hspi2; 36 | 37 | /* USER CODE BEGIN Private defines */ 38 | 39 | /* USER CODE END Private defines */ 40 | 41 | void MX_SPI2_Init(void); 42 | 43 | /* USER CODE BEGIN Prototypes */ 44 | 45 | /* USER CODE END Prototypes */ 46 | 47 | #ifdef __cplusplus 48 | } 49 | #endif 50 | 51 | #endif /* __SPI_H__ */ 52 | 53 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/stm32f3xx_it.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file stm32f3xx_it.h 5 | * @brief This file contains the headers of the interrupt handlers. 6 | ****************************************************************************** 7 | * @attention 8 | * 9 | * Copyright (c) 2024 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 __STM32F3xx_IT_H 22 | #define __STM32F3xx_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 SVC_Handler(void); 55 | void DebugMon_Handler(void); 56 | void PendSV_Handler(void); 57 | void SysTick_Handler(void); 58 | void USB_HP_CAN_TX_IRQHandler(void); 59 | void USB_LP_CAN_RX0_IRQHandler(void); 60 | void TIM3_IRQHandler(void); 61 | void TIM4_IRQHandler(void); 62 | /* USER CODE BEGIN EFP */ 63 | 64 | /* USER CODE END EFP */ 65 | 66 | #ifdef __cplusplus 67 | } 68 | #endif 69 | 70 | #endif /* __STM32F3xx_IT_H */ 71 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Inc/tim.h: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file tim.h 5 | * @brief This file contains all the function prototypes for 6 | * the tim.c file 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Define to prevent recursive inclusion -------------------------------------*/ 21 | #ifndef __TIM_H__ 22 | #define __TIM_H__ 23 | 24 | #ifdef __cplusplus 25 | extern "C" { 26 | #endif 27 | 28 | /* Includes ------------------------------------------------------------------*/ 29 | #include "main.h" 30 | 31 | /* USER CODE BEGIN Includes */ 32 | 33 | /* USER CODE END Includes */ 34 | 35 | extern TIM_HandleTypeDef htim3; 36 | 37 | extern TIM_HandleTypeDef htim4; 38 | 39 | /* USER CODE BEGIN Private defines */ 40 | 41 | /* USER CODE END Private defines */ 42 | 43 | void MX_TIM3_Init(void); 44 | void MX_TIM4_Init(void); 45 | 46 | /* USER CODE BEGIN Prototypes */ 47 | 48 | /* USER CODE END Prototypes */ 49 | 50 | #ifdef __cplusplus 51 | } 52 | #endif 53 | 54 | #endif /* __TIM_H__ */ 55 | 56 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Src/can.c: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file can.c 5 | * @brief This file provides code for the configuration 6 | * of the CAN instances. 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Includes ------------------------------------------------------------------*/ 21 | #include "can.h" 22 | 23 | /* USER CODE BEGIN 0 */ 24 | 25 | /* USER CODE END 0 */ 26 | 27 | CAN_HandleTypeDef hcan; 28 | 29 | /* CAN init function */ 30 | void MX_CAN_Init(void) 31 | { 32 | 33 | /* USER CODE BEGIN CAN_Init 0 */ 34 | 35 | /* USER CODE END CAN_Init 0 */ 36 | 37 | /* USER CODE BEGIN CAN_Init 1 */ 38 | 39 | /* USER CODE END CAN_Init 1 */ 40 | hcan.Instance = CAN; 41 | hcan.Init.Prescaler = 4; 42 | hcan.Init.Mode = CAN_MODE_NORMAL; 43 | hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; 44 | hcan.Init.TimeSeg1 = CAN_BS1_4TQ; 45 | hcan.Init.TimeSeg2 = CAN_BS2_4TQ; 46 | hcan.Init.TimeTriggeredMode = DISABLE; 47 | hcan.Init.AutoBusOff = DISABLE; 48 | hcan.Init.AutoWakeUp = ENABLE; 49 | hcan.Init.AutoRetransmission = ENABLE; 50 | hcan.Init.ReceiveFifoLocked = DISABLE; 51 | hcan.Init.TransmitFifoPriority = DISABLE; 52 | if (HAL_CAN_Init(&hcan) != HAL_OK) 53 | { 54 | Error_Handler(); 55 | } 56 | /* USER CODE BEGIN CAN_Init 2 */ 57 | 58 | /* USER CODE END CAN_Init 2 */ 59 | 60 | } 61 | 62 | void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) 63 | { 64 | 65 | GPIO_InitTypeDef GPIO_InitStruct = {0}; 66 | if(canHandle->Instance==CAN) 67 | { 68 | /* USER CODE BEGIN CAN_MspInit 0 */ 69 | 70 | /* USER CODE END CAN_MspInit 0 */ 71 | /* CAN clock enable */ 72 | __HAL_RCC_CAN1_CLK_ENABLE(); 73 | 74 | __HAL_RCC_GPIOA_CLK_ENABLE(); 75 | /**CAN GPIO Configuration 76 | PA11 ------> CAN_RX 77 | PA12 ------> CAN_TX 78 | */ 79 | GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12; 80 | GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; 81 | GPIO_InitStruct.Pull = GPIO_NOPULL; 82 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; 83 | GPIO_InitStruct.Alternate = GPIO_AF9_CAN; 84 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); 85 | 86 | /* CAN interrupt Init */ 87 | HAL_NVIC_SetPriority(USB_HP_CAN_TX_IRQn, 1, 3); 88 | HAL_NVIC_EnableIRQ(USB_HP_CAN_TX_IRQn); 89 | HAL_NVIC_SetPriority(USB_LP_CAN_RX0_IRQn, 1, 2); 90 | HAL_NVIC_EnableIRQ(USB_LP_CAN_RX0_IRQn); 91 | /* USER CODE BEGIN CAN_MspInit 1 */ 92 | 93 | /* USER CODE END CAN_MspInit 1 */ 94 | } 95 | } 96 | 97 | void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) 98 | { 99 | 100 | if(canHandle->Instance==CAN) 101 | { 102 | /* USER CODE BEGIN CAN_MspDeInit 0 */ 103 | 104 | /* USER CODE END CAN_MspDeInit 0 */ 105 | /* Peripheral clock disable */ 106 | __HAL_RCC_CAN1_CLK_DISABLE(); 107 | 108 | /**CAN GPIO Configuration 109 | PA11 ------> CAN_RX 110 | PA12 ------> CAN_TX 111 | */ 112 | HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12); 113 | 114 | /* CAN interrupt Deinit */ 115 | HAL_NVIC_DisableIRQ(USB_HP_CAN_TX_IRQn); 116 | HAL_NVIC_DisableIRQ(USB_LP_CAN_RX0_IRQn); 117 | /* USER CODE BEGIN CAN_MspDeInit 1 */ 118 | 119 | /* USER CODE END CAN_MspDeInit 1 */ 120 | } 121 | } 122 | 123 | /* USER CODE BEGIN 1 */ 124 | 125 | /* USER CODE END 1 */ 126 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Src/dac.c: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file dac.c 5 | * @brief This file provides code for the configuration 6 | * of the DAC instances. 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Includes ------------------------------------------------------------------*/ 21 | #include "dac.h" 22 | 23 | /* USER CODE BEGIN 0 */ 24 | 25 | /* USER CODE END 0 */ 26 | 27 | DAC_HandleTypeDef hdac; 28 | 29 | /* DAC init function */ 30 | void MX_DAC_Init(void) 31 | { 32 | 33 | /* USER CODE BEGIN DAC_Init 0 */ 34 | 35 | /* USER CODE END DAC_Init 0 */ 36 | 37 | DAC_ChannelConfTypeDef sConfig = {0}; 38 | 39 | /* USER CODE BEGIN DAC_Init 1 */ 40 | 41 | /* USER CODE END DAC_Init 1 */ 42 | 43 | /** DAC Initialization 44 | */ 45 | hdac.Instance = DAC; 46 | if (HAL_DAC_Init(&hdac) != HAL_OK) 47 | { 48 | Error_Handler(); 49 | } 50 | 51 | /** DAC channel OUT1 config 52 | */ 53 | sConfig.DAC_Trigger = DAC_TRIGGER_NONE; 54 | sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE; 55 | if (HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_1) != HAL_OK) 56 | { 57 | Error_Handler(); 58 | } 59 | 60 | /** DAC channel OUT2 config 61 | */ 62 | if (HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_2) != HAL_OK) 63 | { 64 | Error_Handler(); 65 | } 66 | /* USER CODE BEGIN DAC_Init 2 */ 67 | 68 | /* USER CODE END DAC_Init 2 */ 69 | 70 | } 71 | 72 | void HAL_DAC_MspInit(DAC_HandleTypeDef* dacHandle) 73 | { 74 | 75 | GPIO_InitTypeDef GPIO_InitStruct = {0}; 76 | if(dacHandle->Instance==DAC) 77 | { 78 | /* USER CODE BEGIN DAC_MspInit 0 */ 79 | 80 | /* USER CODE END DAC_MspInit 0 */ 81 | /* DAC clock enable */ 82 | __HAL_RCC_DAC1_CLK_ENABLE(); 83 | 84 | __HAL_RCC_GPIOA_CLK_ENABLE(); 85 | /**DAC GPIO Configuration 86 | PA4 ------> DAC_OUT1 87 | PA5 ------> DAC_OUT2 88 | */ 89 | GPIO_InitStruct.Pin = VREF_A_Pin|VREF_B_Pin; 90 | GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; 91 | GPIO_InitStruct.Pull = GPIO_NOPULL; 92 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); 93 | 94 | /* USER CODE BEGIN DAC_MspInit 1 */ 95 | 96 | /* USER CODE END DAC_MspInit 1 */ 97 | } 98 | } 99 | 100 | void HAL_DAC_MspDeInit(DAC_HandleTypeDef* dacHandle) 101 | { 102 | 103 | if(dacHandle->Instance==DAC) 104 | { 105 | /* USER CODE BEGIN DAC_MspDeInit 0 */ 106 | 107 | /* USER CODE END DAC_MspDeInit 0 */ 108 | /* Peripheral clock disable */ 109 | __HAL_RCC_DAC1_CLK_DISABLE(); 110 | 111 | /**DAC GPIO Configuration 112 | PA4 ------> DAC_OUT1 113 | PA5 ------> DAC_OUT2 114 | */ 115 | HAL_GPIO_DeInit(GPIOA, VREF_A_Pin|VREF_B_Pin); 116 | 117 | /* USER CODE BEGIN DAC_MspDeInit 1 */ 118 | 119 | /* USER CODE END DAC_MspDeInit 1 */ 120 | } 121 | } 122 | 123 | /* USER CODE BEGIN 1 */ 124 | 125 | /* USER CODE END 1 */ 126 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Src/gpio.c: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file gpio.c 5 | * @brief This file provides code for the configuration 6 | * of all used GPIO pins. 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | 21 | /* Includes ------------------------------------------------------------------*/ 22 | #include "gpio.h" 23 | 24 | /* USER CODE BEGIN 0 */ 25 | 26 | /* USER CODE END 0 */ 27 | 28 | /*----------------------------------------------------------------------------*/ 29 | /* Configure GPIO */ 30 | /*----------------------------------------------------------------------------*/ 31 | /* USER CODE BEGIN 1 */ 32 | 33 | /* USER CODE END 1 */ 34 | 35 | /** Configure pins as 36 | * Analog 37 | * Input 38 | * Output 39 | * EVENT_OUT 40 | * EXTI 41 | */ 42 | void MX_GPIO_Init(void) 43 | { 44 | 45 | GPIO_InitTypeDef GPIO_InitStruct = {0}; 46 | 47 | /* GPIO Ports Clock Enable */ 48 | __HAL_RCC_GPIOF_CLK_ENABLE(); 49 | __HAL_RCC_GPIOA_CLK_ENABLE(); 50 | __HAL_RCC_GPIOB_CLK_ENABLE(); 51 | 52 | /*Configure GPIO pin Output Level */ 53 | HAL_GPIO_WritePin(GPIOB, MT6816_CS_Pin|BM_Pin|BP_Pin|AP_Pin 54 | |AM_Pin, GPIO_PIN_SET); 55 | 56 | /*Configure GPIO pin : PtPin */ 57 | GPIO_InitStruct.Pin = BUTTON_UP_Pin; 58 | GPIO_InitStruct.Mode = GPIO_MODE_INPUT; 59 | GPIO_InitStruct.Pull = GPIO_PULLUP; 60 | HAL_GPIO_Init(BUTTON_UP_GPIO_Port, &GPIO_InitStruct); 61 | 62 | /*Configure GPIO pin : PtPin */ 63 | GPIO_InitStruct.Pin = MT6816_CS_Pin; 64 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; 65 | GPIO_InitStruct.Pull = GPIO_PULLUP; 66 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; 67 | HAL_GPIO_Init(MT6816_CS_GPIO_Port, &GPIO_InitStruct); 68 | 69 | /*Configure GPIO pins : PBPin PBPin PBPin PBPin */ 70 | GPIO_InitStruct.Pin = BM_Pin|BP_Pin|AP_Pin|AM_Pin; 71 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; 72 | GPIO_InitStruct.Pull = GPIO_NOPULL; 73 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; 74 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); 75 | 76 | /**/ 77 | HAL_I2CEx_EnableFastModePlus(SYSCFG_CFGR1_I2C_PB6_FMP); 78 | 79 | /**/ 80 | HAL_I2CEx_EnableFastModePlus(SYSCFG_CFGR1_I2C_PB7_FMP); 81 | 82 | /**/ 83 | HAL_I2CEx_EnableFastModePlus(SYSCFG_CFGR1_I2C_PB8_FMP); 84 | 85 | /**/ 86 | HAL_I2CEx_EnableFastModePlus(SYSCFG_CFGR1_I2C_PB9_FMP); 87 | 88 | } 89 | 90 | /* USER CODE BEGIN 2 */ 91 | 92 | /* USER CODE END 2 */ 93 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Src/spi.c: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file spi.c 5 | * @brief This file provides code for the configuration 6 | * of the SPI instances. 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | /* Includes ------------------------------------------------------------------*/ 21 | #include "spi.h" 22 | 23 | /* USER CODE BEGIN 0 */ 24 | 25 | /* USER CODE END 0 */ 26 | 27 | SPI_HandleTypeDef hspi2; 28 | 29 | /* SPI2 init function */ 30 | void MX_SPI2_Init(void) 31 | { 32 | 33 | /* USER CODE BEGIN SPI2_Init 0 */ 34 | 35 | /* USER CODE END SPI2_Init 0 */ 36 | 37 | /* USER CODE BEGIN SPI2_Init 1 */ 38 | 39 | /* USER CODE END SPI2_Init 1 */ 40 | hspi2.Instance = SPI2; 41 | hspi2.Init.Mode = SPI_MODE_MASTER; 42 | hspi2.Init.Direction = SPI_DIRECTION_2LINES; 43 | hspi2.Init.DataSize = SPI_DATASIZE_16BIT; 44 | hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH; 45 | hspi2.Init.CLKPhase = SPI_PHASE_2EDGE; 46 | hspi2.Init.NSS = SPI_NSS_SOFT; 47 | hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; 48 | hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB; 49 | hspi2.Init.TIMode = SPI_TIMODE_DISABLE; 50 | hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; 51 | hspi2.Init.CRCPolynomial = 7; 52 | hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; 53 | hspi2.Init.NSSPMode = SPI_NSS_PULSE_DISABLE; 54 | if (HAL_SPI_Init(&hspi2) != HAL_OK) 55 | { 56 | Error_Handler(); 57 | } 58 | /* USER CODE BEGIN SPI2_Init 2 */ 59 | 60 | /* USER CODE END SPI2_Init 2 */ 61 | 62 | } 63 | 64 | void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) 65 | { 66 | 67 | GPIO_InitTypeDef GPIO_InitStruct = {0}; 68 | if(spiHandle->Instance==SPI2) 69 | { 70 | /* USER CODE BEGIN SPI2_MspInit 0 */ 71 | 72 | /* USER CODE END SPI2_MspInit 0 */ 73 | /* SPI2 clock enable */ 74 | __HAL_RCC_SPI2_CLK_ENABLE(); 75 | 76 | __HAL_RCC_GPIOB_CLK_ENABLE(); 77 | /**SPI2 GPIO Configuration 78 | PB13 ------> SPI2_SCK 79 | PB14 ------> SPI2_MISO 80 | PB15 ------> SPI2_MOSI 81 | */ 82 | GPIO_InitStruct.Pin = MT6818_CLK_Pin|MT6816_MISO_Pin|MT6818_MOSI_Pin; 83 | GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; 84 | GPIO_InitStruct.Pull = GPIO_NOPULL; 85 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; 86 | GPIO_InitStruct.Alternate = GPIO_AF5_SPI2; 87 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); 88 | 89 | /* USER CODE BEGIN SPI2_MspInit 1 */ 90 | 91 | /* USER CODE END SPI2_MspInit 1 */ 92 | } 93 | } 94 | 95 | void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) 96 | { 97 | 98 | if(spiHandle->Instance==SPI2) 99 | { 100 | /* USER CODE BEGIN SPI2_MspDeInit 0 */ 101 | 102 | /* USER CODE END SPI2_MspDeInit 0 */ 103 | /* Peripheral clock disable */ 104 | __HAL_RCC_SPI2_CLK_DISABLE(); 105 | 106 | /**SPI2 GPIO Configuration 107 | PB13 ------> SPI2_SCK 108 | PB14 ------> SPI2_MISO 109 | PB15 ------> SPI2_MOSI 110 | */ 111 | HAL_GPIO_DeInit(GPIOB, MT6818_CLK_Pin|MT6816_MISO_Pin|MT6818_MOSI_Pin); 112 | 113 | /* USER CODE BEGIN SPI2_MspDeInit 1 */ 114 | 115 | /* USER CODE END SPI2_MspDeInit 1 */ 116 | } 117 | } 118 | 119 | /* USER CODE BEGIN 1 */ 120 | 121 | /* USER CODE END 1 */ 122 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Core/Src/stm32f3xx_hal_msp.c: -------------------------------------------------------------------------------- 1 | /* USER CODE BEGIN Header */ 2 | /** 3 | ****************************************************************************** 4 | * @file stm32f3xx_hal_msp.c 5 | * @brief This file provides code for the MSP Initialization 6 | * and de-Initialization codes. 7 | ****************************************************************************** 8 | * @attention 9 | * 10 | * Copyright (c) 2024 STMicroelectronics. 11 | * All rights reserved. 12 | * 13 | * This software is licensed under terms that can be found in the LICENSE file 14 | * in the root directory of this software component. 15 | * If no LICENSE file comes with this software, it is provided AS-IS. 16 | * 17 | ****************************************************************************** 18 | */ 19 | /* USER CODE END Header */ 20 | 21 | /* Includes ------------------------------------------------------------------*/ 22 | #include "main.h" 23 | 24 | /* USER CODE BEGIN Includes */ 25 | 26 | /* USER CODE END Includes */ 27 | 28 | /* Private typedef -----------------------------------------------------------*/ 29 | /* USER CODE BEGIN TD */ 30 | 31 | /* USER CODE END TD */ 32 | 33 | /* Private define ------------------------------------------------------------*/ 34 | /* USER CODE BEGIN Define */ 35 | 36 | /* USER CODE END Define */ 37 | 38 | /* Private macro -------------------------------------------------------------*/ 39 | /* USER CODE BEGIN Macro */ 40 | 41 | /* USER CODE END Macro */ 42 | 43 | /* Private variables ---------------------------------------------------------*/ 44 | /* USER CODE BEGIN PV */ 45 | 46 | /* USER CODE END PV */ 47 | 48 | /* Private function prototypes -----------------------------------------------*/ 49 | /* USER CODE BEGIN PFP */ 50 | 51 | /* USER CODE END PFP */ 52 | 53 | /* External functions --------------------------------------------------------*/ 54 | /* USER CODE BEGIN ExternalFunctions */ 55 | 56 | /* USER CODE END ExternalFunctions */ 57 | 58 | /* USER CODE BEGIN 0 */ 59 | 60 | /* USER CODE END 0 */ 61 | /** 62 | * Initializes the Global MSP. 63 | */ 64 | void HAL_MspInit(void) 65 | { 66 | /* USER CODE BEGIN MspInit 0 */ 67 | 68 | /* USER CODE END MspInit 0 */ 69 | 70 | __HAL_RCC_SYSCFG_CLK_ENABLE(); 71 | __HAL_RCC_PWR_CLK_ENABLE(); 72 | 73 | HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_2); 74 | 75 | /* System interrupt init*/ 76 | 77 | /* USER CODE BEGIN MspInit 1 */ 78 | 79 | /* USER CODE END MspInit 1 */ 80 | } 81 | 82 | /* USER CODE BEGIN 1 */ 83 | 84 | /* USER CODE END 1 */ 85 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Drivers/CMSIS/Device/ST/STM32F3xx/Include/system_stm32f3xx.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file system_stm32f3xx.h 4 | * @author MCD Application Team 5 | * @brief CMSIS Cortex-M4 Device System Source File for STM32F3xx devices. ****************************************************************************** 6 | * @attention 7 | * 8 | ****************************************************************************** 9 | * Copyright (c) 2016 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 stm32f3xx_system 24 | * @{ 25 | */ 26 | 27 | /** 28 | * @brief Define to prevent recursive inclusion 29 | */ 30 | #ifndef __SYSTEM_STM32F3XX_H 31 | #define __SYSTEM_STM32F3XX_H 32 | 33 | #ifdef __cplusplus 34 | extern "C" { 35 | #endif 36 | 37 | /** @addtogroup STM32F3xx_System_Includes 38 | * @{ 39 | */ 40 | 41 | /** 42 | * @} 43 | */ 44 | 45 | 46 | /** @addtogroup STM32F3xx_System_Exported_types 47 | * @{ 48 | */ 49 | /* This variable is updated in three ways: 50 | 1) by calling CMSIS function SystemCoreClockUpdate() 51 | 3) by calling HAL API function HAL_RCC_GetHCLKFreq() 52 | 3) by calling HAL API function HAL_RCC_ClockConfig() 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 | extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */ 59 | extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */ 60 | 61 | 62 | /** 63 | * @} 64 | */ 65 | 66 | /** @addtogroup STM32F3xx_System_Exported_Constants 67 | * @{ 68 | */ 69 | 70 | /** 71 | * @} 72 | */ 73 | 74 | /** @addtogroup STM32F3xx_System_Exported_Macros 75 | * @{ 76 | */ 77 | 78 | /** 79 | * @} 80 | */ 81 | 82 | /** @addtogroup STM32F3xx_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_STM32F3XX_H */ 97 | 98 | /** 99 | * @} 100 | */ 101 | 102 | /** 103 | * @} 104 | */ 105 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Drivers/CMSIS/Device/ST/STM32F3xx/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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Drivers/CMSIS/Include/cmsis_version.h: -------------------------------------------------------------------------------- 1 | /**************************************************************************//** 2 | * @file cmsis_version.h 3 | * @brief CMSIS Core(M) Version definitions 4 | * @version V5.0.2 5 | * @date 19. April 2017 6 | ******************************************************************************/ 7 | /* 8 | * Copyright (c) 2009-2017 ARM Limited. All rights reserved. 9 | * 10 | * SPDX-License-Identifier: Apache-2.0 11 | * 12 | * Licensed under the Apache License, Version 2.0 (the License); you may 13 | * not use this file except in compliance with the License. 14 | * You may obtain a copy of the License at 15 | * 16 | * www.apache.org/licenses/LICENSE-2.0 17 | * 18 | * Unless required by applicable law or agreed to in writing, software 19 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT 20 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 21 | * See the License for the specific language governing permissions and 22 | * limitations under the License. 23 | */ 24 | 25 | #if defined ( __ICCARM__ ) 26 | #pragma system_include /* treat file as system include file for MISRA check */ 27 | #elif defined (__clang__) 28 | #pragma clang system_header /* treat file as system include file */ 29 | #endif 30 | 31 | #ifndef __CMSIS_VERSION_H 32 | #define __CMSIS_VERSION_H 33 | 34 | /* CMSIS Version definitions */ 35 | #define __CM_CMSIS_VERSION_MAIN ( 5U) /*!< [31:16] CMSIS Core(M) main version */ 36 | #define __CM_CMSIS_VERSION_SUB ( 1U) /*!< [15:0] CMSIS Core(M) sub version */ 37 | #define __CM_CMSIS_VERSION ((__CM_CMSIS_VERSION_MAIN << 16U) | \ 38 | __CM_CMSIS_VERSION_SUB ) /*!< CMSIS Core(M) version number */ 39 | #endif 40 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Drivers/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_spi_ex.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32f3xx_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) 2016 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 STM32F3xx_HAL_SPI_EX_H 21 | #define STM32F3xx_HAL_SPI_EX_H 22 | 23 | #ifdef __cplusplus 24 | extern "C" { 25 | #endif 26 | 27 | /* Includes ------------------------------------------------------------------*/ 28 | #include "stm32f3xx_hal_def.h" 29 | 30 | /** @addtogroup STM32F3xx_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 /* STM32F3xx_HAL_SPI_EX_H */ 73 | 74 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Drivers/STM32F3xx_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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Drivers/STM32F3xx_HAL_Driver/Src/stm32f3xx_hal_spi_ex.c: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file stm32f3xx_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) 2016 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 "stm32f3xx_hal.h" 25 | 26 | /** @addtogroup STM32F3xx_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 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Base/Button/button_base.cpp: -------------------------------------------------------------------------------- 1 | #include "button_base.h" 2 | 3 | void ButtonBase::Tick(uint32_t _timeElapseMillis) 4 | { 5 | timer += _timeElapseMillis; 6 | bool pinIO = ReadButtonPinIO(id); 7 | 8 | if (lastPinIO != pinIO) 9 | { 10 | if (pinIO) 11 | { 12 | OnEventFunc(UP); 13 | if (timer - pressTime > longPressTime) 14 | OnEventFunc(LONG_PRESS); 15 | else 16 | OnEventFunc(CLICK); 17 | } else 18 | { 19 | OnEventFunc(DOWN); 20 | pressTime = timer; 21 | } 22 | 23 | lastPinIO = pinIO; 24 | } 25 | } 26 | 27 | void ButtonBase::SetOnEventListener(void (* _callback)(Event)) 28 | { 29 | lastPinIO = ReadButtonPinIO(id); 30 | 31 | OnEventFunc = _callback; 32 | } 33 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Base/Button/button_base.h: -------------------------------------------------------------------------------- 1 | /* 2 | * @Description: 稚晖的库 目前是基础功能测试 需要把 ButtonBase.Tick() 放入一个中断中 （源文件放在了一个100HZ的中断中） 3 | * @Author: X 4 | * @Date: 2023-03-26 10:10:01 5 | */ 6 | #ifndef BUTTON_BASE_H 7 | #define BUTTON_BASE_H 8 | 9 | #include 10 | 11 | class ButtonBase { 12 | public: 13 | enum Event { 14 | UP, 15 | DOWN, 16 | LONG_PRESS, 17 | CLICK 18 | }; 19 | 20 | explicit ButtonBase(uint8_t _id): 21 | id(_id) {} 22 | 23 | ButtonBase(uint8_t _id, uint32_t _longPressTime): 24 | id(_id), longPressTime(_longPressTime) {} 25 | 26 | void Tick(uint32_t _timeElapseMillis); 27 | void SetOnEventListener(void (*_callback)(Event)); 28 | 29 | protected: 30 | uint8_t id; 31 | bool lastPinIO = true; 32 | uint32_t timer = 0; 33 | uint32_t pressTime{}; 34 | uint32_t longPressTime = 2000; 35 | 36 | void (*OnEventFunc)(Event) {}; 37 | 38 | virtual bool ReadButtonPinIO(uint8_t _id) = 0; 39 | }; 40 | 41 | #endif 42 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Base/Button/button_stm32.cpp: -------------------------------------------------------------------------------- 1 | #include "button_stm32.h" 2 | #include "main.h" 3 | 4 | bool Button::ReadButtonPinIO(uint8_t _id) { 5 | switch (_id) { 6 | 7 | case 1: 8 | return HAL_GPIO_ReadPin(BUTTON_UP_GPIO_Port, BUTTON_UP_Pin) == GPIO_PIN_SET; 9 | default: 10 | return false; 11 | } 12 | } 13 | 14 | bool Button::IsPressed() { 15 | return !ReadButtonPinIO(id); 16 | } 17 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Base/Button/button_stm32.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_BUTTON_STM32_H 2 | #define CTRL_STEP_FW_BUTTON_STM32_H 3 | 4 | #include "button_base.h" 5 | 6 | class Button : public ButtonBase 7 | { 8 | public: 9 | explicit Button(uint8_t _id) : ButtonBase(_id) 10 | {} 11 | 12 | Button(uint8_t _id, uint32_t _longPressTime) : ButtonBase(_id, _longPressTime) 13 | {} 14 | 15 | bool IsPressed(); 16 | 17 | private: 18 | bool ReadButtonPinIO(uint8_t _id) override; 19 | }; 20 | 21 | #endif 22 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Base/CAN/can_base.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by X on 2023/5/14. 3 | // 4 | 5 | #ifndef XSTEP_CAN_BASE_H 6 | #define XSTEP_CAN_BASE_H 7 | 8 | #include "main.h" 9 | #include "can.h" 10 | 11 | #define CAN_ID_SELF 0x01 12 | 13 | 14 | extern CAN_TxHeaderTypeDef txHeader; 15 | 16 | 17 | 18 | #ifdef __cplusplus 19 | extern "C" { 20 | #endif 21 | 22 | void CANInit(CAN_HandleTypeDef* hcan); 23 | void CAN_Send(CAN_TxHeaderTypeDef* pHeader, uint8_t* _data); 24 | 25 | #ifdef __cplusplus 26 | } 27 | #endif 28 | 29 | 30 | #endif //XSTEP_CAN_BASE_H 31 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Config/DapLink.cfg: -------------------------------------------------------------------------------- 1 | # choose st-link/j-link/dap-link etc. 2 | adapter driver cmsis-dap 3 | transport select swd 4 | 5 | # 0x10000 = 64K Flash Size 6 | set FLASH_SIZE 0x40000 7 | 8 | # depend on your mcontroler 9 | # source [find target/stm32f1x.cfg] 10 | # source [find target/stm32f4x.cfg] 11 | source [find target/stm32f3x.cfg] 12 | 13 | 14 | # max download speed = 10MHz, if download failed change lower download speed 15 | # this speed xkHZ 16 | adapter speed 100 -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Config/Stlink.cfg: -------------------------------------------------------------------------------- 1 | # choose st-link/j-link/dap-link etc. 2 | #transport select swd 3 | 4 | source [find interface/stlink.cfg] 5 | transport select hla_swd 6 | 7 | 8 | # depend on your mcontroler 9 | # source [find target/stm32f1x.cfg] 10 | # source [find target/stm32f4x.cfg] 11 | source [find target/stm32f3x.cfg] 12 | 13 | # stlink-v3v max download speed = 24MHz 14 | # this speed xkHZ 15 | adapter speed 10000 -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Driver/driver_base.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_DRIVER_BASE_H 2 | #define CTRL_STEP_FW_DRIVER_BASE_H 3 | 4 | #include 5 | 6 | 7 | class DriverBase 8 | { 9 | public: 10 | virtual void Init() = 0; 11 | 12 | /* 13 | * FOC current vector direction is described as counts, that means 14 | * we divide a 360° circle into N counts, and _directionInCount is 15 | * between (0 ~ N-1), and after calculation the current range is (0 ~ 3300mA) 16 | */ 17 | virtual void SetFocCurrentVector(uint32_t _directionInCount, int32_t _current_mA) = 0; 18 | 19 | virtual void Sleep() = 0; 20 | 21 | virtual void Brake() = 0; 22 | 23 | 24 | protected: 25 | // Used to composite the FOC current vector 26 | virtual void SetTwoCoilsCurrent(uint16_t _currentA_mA, uint16_t _currentB_mA) = 0; 27 | 28 | typedef struct 29 | { 30 | uint16_t sinMapPtr; 31 | int16_t sinMapData; 32 | uint16_t dacValue12Bits; 33 | } FastSinToDac_t; 34 | 35 | FastSinToDac_t phaseB{}; 36 | FastSinToDac_t phaseA{}; 37 | }; 38 | 39 | #endif 40 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Driver/tb67h450_base.cpp: -------------------------------------------------------------------------------- 1 | #include "tb67h450_base.h" 2 | #include "sin_map.h" 3 | 4 | void TB67H450Base::Init() 5 | { 6 | InitGpio(); 7 | InitPwm(); 8 | } 9 | 10 | void TB67H450Base::SetFocCurrentVector(uint32_t _directionInCount, int32_t _current_mA) 11 | { 12 | phaseB.sinMapPtr = (_directionInCount) & (0x000003FF); 13 | phaseA.sinMapPtr = (phaseB.sinMapPtr + (256)) & (0x000003FF); 14 | 15 | phaseA.sinMapData = sin_pi_m2[phaseA.sinMapPtr]; 16 | phaseB.sinMapData = sin_pi_m2[phaseB.sinMapPtr]; 17 | 18 | uint32_t dac_reg = abs(_current_mA); 19 | dac_reg = (uint32_t) (dac_reg * 5083) >> 12; 20 | dac_reg = dac_reg & (0x00000FFF); 21 | phaseA.dacValue12Bits = 22 | (uint32_t) (dac_reg * abs(phaseA.sinMapData)) >> sin_pi_m2_dpiybit; 23 | phaseB.dacValue12Bits = 24 | (uint32_t) (dac_reg * abs(phaseB.sinMapData)) >> sin_pi_m2_dpiybit; 25 | 26 | SetTwoCoilsCurrent(phaseA.dacValue12Bits, phaseB.dacValue12Bits); 27 | 28 | if (phaseA.sinMapData > 0) 29 | SetInputA(true, false); 30 | else if (phaseA.sinMapData < 0) 31 | SetInputA(false, true); 32 | else 33 | SetInputA(true, true); 34 | 35 | if (phaseB.sinMapData > 0) 36 | SetInputB(true, false); 37 | else if (phaseB.sinMapData < 0) 38 | SetInputB(false, true); 39 | else 40 | SetInputB(true, true); 41 | } 42 | 43 | 44 | void TB67H450Base::SetTwoCoilsCurrent(uint16_t _currentA_3300mAIn12Bits, uint16_t _currentB_3300mAIn12Bits) 45 | { 46 | /* 47 | * After SetFocCurrentVector calculation a 12bits value was mapped to 0~3300mA. 48 | * And due to used 0.1Ohm shank resistor, 0~3300mV V-ref means 0~3300mA CurrentSetPoint, 49 | * For more details, see TB67H450 Datasheet page.10 . 50 | */ 51 | 52 | DacOutputVoltage(_currentA_3300mAIn12Bits, _currentB_3300mAIn12Bits); 53 | } 54 | 55 | 56 | void TB67H450Base::Sleep() 57 | { 58 | phaseA.dacValue12Bits = 0; 59 | phaseB.dacValue12Bits = 0; 60 | 61 | SetTwoCoilsCurrent(phaseA.dacValue12Bits, phaseB.dacValue12Bits); 62 | 63 | SetInputA(false, false); 64 | SetInputB(false, false); 65 | } 66 | 67 | 68 | void TB67H450Base::Brake() 69 | { 70 | phaseA.dacValue12Bits = 0; 71 | phaseB.dacValue12Bits = 0; 72 | 73 | SetTwoCoilsCurrent(phaseA.dacValue12Bits, phaseB.dacValue12Bits); 74 | 75 | SetInputA(true, true); 76 | SetInputB(true, true); 77 | } 78 | 79 | void TB67H450Base::InitGpio() { 80 | 81 | } 82 | 83 | void TB67H450Base::InitPwm() { 84 | 85 | } 86 | 87 | void TB67H450Base::DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits) { 88 | 89 | } 90 | 91 | void TB67H450Base::SetInputA(bool _statusAp, bool _statusAm) { 92 | 93 | } 94 | 95 | void TB67H450Base::SetInputB(bool _statusBp, bool _statusBm) { 96 | 97 | } 98 | 99 | 100 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Driver/tb67h450_base.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_TB67H450_BASE_H 2 | #define CTRL_STEP_FW_TB67H450_BASE_H 3 | 4 | #include "driver_base.h" 5 | 6 | class TB67H450Base : public DriverBase 7 | { 8 | public: 9 | explicit TB67H450Base() 10 | = default; 11 | 12 | void Init() override; 13 | 14 | void SetFocCurrentVector(uint32_t _directionInCount, int32_t _current_mA) override; 15 | 16 | void Sleep() override; 17 | 18 | void Brake() override; 19 | 20 | 21 | protected: 22 | void SetTwoCoilsCurrent(uint16_t _currentA_3300mAIn12Bits, uint16_t _currentB_3300mAIn12Bits) override; 23 | 24 | 25 | /***** Port Specified Implements *****/ 26 | virtual void InitGpio(); 27 | 28 | virtual void InitPwm(); 29 | 30 | virtual void DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits); 31 | 32 | virtual void SetInputA(bool _statusAp, bool _statusAm); 33 | 34 | virtual void SetInputB(bool _statusBp, bool _statusBm); 35 | }; 36 | 37 | #endif 38 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Driver/tb67h450_stm32.cpp: -------------------------------------------------------------------------------- 1 | #include "tb67h450_stm32.h" 2 | #include "tim.h" 3 | #include "dac.h" 4 | 5 | void TB67H450::InitGpio() { 6 | // 程序初始化时已经初始化了GPIOA 7 | 8 | } 9 | 10 | 11 | void TB67H450::InitPwm() { 12 | // 初始化DAC 最开始已经初始化了 这里直接开启 13 | HAL_DAC_Start(&hdac, DAC_CHANNEL_1); 14 | HAL_DAC_Start(&hdac, DAC_CHANNEL_2); 15 | 16 | } 17 | 18 | 19 | void TB67H450::DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits) { 20 | 21 | HAL_DAC_SetValue(&hdac, DAC_CHANNEL_2, DAC_ALIGN_12B_R, _voltageA_3300mVIn12bits); 22 | HAL_DAC_SetValue(&hdac, DAC_CHANNEL_1, DAC_ALIGN_12B_R, _voltageB_3300mVIn12bits); 23 | } 24 | 25 | 26 | void TB67H450::SetInputA(bool _statusAp, bool _statusAm) { 27 | _statusAp ? (GPIOB->BSRR = GPIO_PIN_8) : (GPIOB->BRR = GPIO_PIN_8); 28 | _statusAm ? (GPIOB->BSRR = GPIO_PIN_9) : (GPIOB->BRR = GPIO_PIN_9); 29 | } 30 | 31 | 32 | void TB67H450::SetInputB(bool _statusBp, bool _statusBm) { 33 | _statusBp ? (GPIOB->BSRR = GPIO_PIN_6) : (GPIOB->BRR = GPIO_PIN_6); 34 | _statusBm ? (GPIOB->BSRR = GPIO_PIN_7) : (GPIOB->BRR = GPIO_PIN_7); 35 | } 36 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Driver/tb67h450_stm32.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_TB67H450_STM32_H 2 | #define CTRL_STEP_FW_TB67H450_STM32_H 3 | 4 | #include "tb67h450_base.h" 5 | 6 | class TB67H450 : public TB67H450Base 7 | { 8 | public: 9 | explicit TB67H450() : TB67H450Base() 10 | {} 11 | 12 | private: 13 | void InitGpio() override; 14 | 15 | void InitPwm() override; 16 | 17 | void DacOutputVoltage(uint16_t _voltageA_3300mVIn12bits, uint16_t _voltageB_3300mVIn12bits) override; 18 | 19 | void SetInputA(bool _statusAp, bool _statusAm) override; 20 | 21 | void SetInputB(bool _statusBp, bool _statusBm) override; 22 | }; 23 | 24 | #endif 25 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/encoder_base.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_ENCODER_H 2 | #define CTRL_STEP_FW_ENCODER_H 3 | 4 | #include 5 | 6 | 7 | class EncoderBase 8 | { 9 | public: 10 | typedef struct 11 | { 12 | uint16_t rawAngle; // raw data 13 | uint16_t rectifiedAngle; // calibrated rawAngle data 14 | bool rectifyValid; 15 | } AngleData_t; 16 | AngleData_t angleData{0}; 17 | 18 | 19 | /* 20 | * Resolution is (2^14 = 16384), each state will use an uint16 data 21 | * as map, thus total need 32K-flash for calibration. 22 | */ 23 | const int32_t RESOLUTION = ((int32_t) ((0x00000001U) << 14)); 24 | 25 | virtual bool Init() = 0; 26 | 27 | // Get current rawAngle 28 | virtual uint16_t UpdateAngle() = 0; 29 | 30 | virtual bool IsCalibrated() = 0; 31 | 32 | 33 | private: 34 | 35 | }; 36 | 37 | #endif 38 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/encoder_calibrator_base.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_ENCODER_CALIBRATOR_BASE_H 2 | #define CTRL_STEP_FW_ENCODER_CALIBRATOR_BASE_H 3 | 4 | #include "motor.h" 5 | 6 | class EncoderCalibratorBase 7 | { 8 | public: 9 | static const int32_t MOTOR_ONE_CIRCLE_HARD_STEPS = 200; // for 1.8° step-motors 10 | static const uint8_t SAMPLE_COUNTS_PER_STEP = 16; 11 | static const uint8_t AUTO_CALIB_SPEED = 2; 12 | static const uint8_t FINE_TUNE_CALIB_SPEED = 1; 13 | 14 | 15 | typedef enum 16 | { 17 | CALI_NO_ERROR = 0x00, 18 | CALI_ERROR_AVERAGE_DIR, 19 | CALI_ERROR_AVERAGE_CONTINUTY, 20 | CALI_ERROR_PHASE_STEP, 21 | CALI_ERROR_ANALYSIS_QUANTITY, 22 | } Error_t; 23 | 24 | typedef enum 25 | { 26 | CALI_DISABLE = 0x00, 27 | CALI_FORWARD_PREPARE, 28 | CALI_FORWARD_MEASURE, 29 | CALI_BACKWARD_RETURN, 30 | CALI_BACKWARD_GAP_DISMISS, 31 | CALI_BACKWARD_MEASURE, 32 | CALI_CALCULATING, 33 | } State_t; 34 | 35 | 36 | explicit EncoderCalibratorBase(Motor* _motor) 37 | { 38 | motor = _motor; 39 | 40 | isTriggered = false; 41 | errorCode = CALI_NO_ERROR; 42 | state = CALI_DISABLE; 43 | goPosition = 0; 44 | rcdX = 0; 45 | rcdY = 0; 46 | resultNum = 0; 47 | } 48 | 49 | 50 | bool isTriggered; 51 | 52 | 53 | void Tick20kHz(); 54 | void TickMainLoop(); 55 | 56 | 57 | private: 58 | Motor* motor; 59 | 60 | Error_t errorCode; 61 | State_t state; 62 | uint32_t goPosition; 63 | bool goDirection; 64 | uint16_t sampleCount = 0; 65 | uint16_t sampleDataRaw[SAMPLE_COUNTS_PER_STEP]{}; 66 | uint16_t sampleDataAverageForward[MOTOR_ONE_CIRCLE_HARD_STEPS + 1]{}; 67 | uint16_t sampleDataAverageBackward[MOTOR_ONE_CIRCLE_HARD_STEPS + 1]{}; 68 | int32_t rcdX, rcdY; 69 | uint32_t resultNum; 70 | 71 | 72 | void CalibrationDataCheck(); 73 | static uint32_t CycleMod(uint32_t _a, uint32_t _b); 74 | static int32_t CycleSubtract(int32_t _a, int32_t _b, int32_t _cyc); 75 | static int32_t CycleAverage(int32_t _a, int32_t _b, int32_t _cyc); 76 | static int32_t CycleDataAverage(const uint16_t* _data, uint16_t _length, int32_t _cyc); 77 | 78 | 79 | /***** Port Specified Implements *****/ 80 | virtual void BeginWriteFlash() = 0; 81 | virtual void EndWriteFlash() = 0; 82 | virtual void ClearFlash() = 0; 83 | virtual void WriteFlash16bitsAppend(uint16_t _data) = 0; 84 | }; 85 | 86 | #endif 87 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/encoder_calibrator_stm32.cpp: -------------------------------------------------------------------------------- 1 | #include "encoder_calibrator_stm32.h" 2 | #include "stockpile_f303cc.h" 3 | 4 | void EncoderCalibrator::BeginWriteFlash() 5 | { 6 | Stockpile_Flash_Data_Begin(&stockpile_quick_cali); 7 | } 8 | 9 | 10 | void EncoderCalibrator::EndWriteFlash() 11 | { 12 | Stockpile_Flash_Data_End(&stockpile_quick_cali); 13 | } 14 | 15 | 16 | void EncoderCalibrator::ClearFlash() 17 | { 18 | Stockpile_Flash_Data_Empty(&stockpile_quick_cali); 19 | } 20 | 21 | 22 | void EncoderCalibrator::WriteFlash16bitsAppend(uint16_t _data) 23 | { 24 | Stockpile_Flash_Data_Write_Data16(&stockpile_quick_cali, &_data, 1); 25 | } 26 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/encoder_calibrator_stm32.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_ENCODER_CALIBRATOR_H 2 | #define CTRL_STEP_FW_ENCODER_CALIBRATOR_H 3 | 4 | #include 5 | #include "encoder_calibrator_base.h" 6 | 7 | class EncoderCalibrator : public EncoderCalibratorBase 8 | { 9 | public: 10 | explicit EncoderCalibrator(Motor* _motor) : EncoderCalibratorBase(_motor) 11 | {} 12 | 13 | 14 | private: 15 | void BeginWriteFlash() override; 16 | void EndWriteFlash() override; 17 | void ClearFlash() override; 18 | void WriteFlash16bitsAppend(uint16_t _data) override; 19 | }; 20 | 21 | #endif 22 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/mt6816_base.cpp: -------------------------------------------------------------------------------- 1 | #include "mt6816_base.h" 2 | 3 | bool MT6816Base::Init() { 4 | SpiInit(); 5 | UpdateAngle(); 6 | 7 | // Check if the stored calibration data are valid 8 | angleData.rectifyValid = true; 9 | for (uint32_t i = 0; i < RESOLUTION; i++) { 10 | if (quickCaliDataPtr[i] == 0xFFFF) 11 | angleData.rectifyValid = false; 12 | } 13 | 14 | return angleData.rectifyValid; 15 | } 16 | 17 | 18 | uint16_t MT6816Base::UpdateAngle() { 19 | dataTx[0] = (0x80 | 0x03) << 8; 20 | dataTx[1] = (0x80 | 0x04) << 8; 21 | 22 | for (uint8_t i = 0; i < 3; i++) { 23 | dataRx[0] = SpiTransmitAndRead16Bits(dataTx[0]); 24 | dataRx[1] = SpiTransmitAndRead16Bits(dataTx[1]); 25 | 26 | spiRawData.rawData = ((dataRx[0] & 0x00FF) << 8) | (dataRx[1] & 0x00FF); 27 | 28 | //奇偶校验 29 | hCount = 0; 30 | for (uint8_t j = 0; j < 16; j++) { 31 | if (spiRawData.rawData & (0x0001 << j)) 32 | hCount++; 33 | } 34 | if (hCount & 0x01) { 35 | spiRawData.checksumFlag = false; 36 | } else { 37 | spiRawData.checksumFlag = true; 38 | break; 39 | } 40 | } 41 | 42 | if (spiRawData.checksumFlag) { 43 | spiRawData.rawAngle = spiRawData.rawData >> 2; 44 | spiRawData.noMagFlag = (bool) (spiRawData.rawData & (0x0001 << 1)); 45 | } 46 | 47 | angleData.rawAngle = spiRawData.rawAngle; 48 | angleData.rectifiedAngle = quickCaliDataPtr[angleData.rawAngle]; 49 | 50 | return angleData.rectifiedAngle; 51 | } 52 | 53 | 54 | bool MT6816Base::IsCalibrated() { 55 | return angleData.rectifyValid; 56 | } 57 | 58 | void MT6816Base::SpiInit() { 59 | 60 | } 61 | 62 | uint16_t MT6816Base::SpiTransmitAndRead16Bits(uint16_t _dataTx) { 63 | return 0; 64 | } 65 | 66 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/mt6816_base.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_MT6816_H 2 | #define CTRL_STEP_FW_MT6816_H 3 | 4 | #include "encoder_base.h" 5 | #include 6 | 7 | class MT6816Base : public EncoderBase { 8 | public: 9 | explicit MT6816Base(uint16_t *_quickCaliDataPtr) : 10 | quickCaliDataPtr(_quickCaliDataPtr), 11 | spiRawData(SpiRawData_t{0}) { 12 | } 13 | 14 | 15 | bool Init() override; 16 | 17 | uint16_t UpdateAngle() override; // Get current rawAngle (rad) 18 | bool IsCalibrated() override; 19 | 20 | 21 | private: 22 | typedef struct { 23 | uint16_t rawData; // SPI raw 16bits data 24 | uint16_t rawAngle; // 14bits rawAngle in rawData 25 | bool noMagFlag; 26 | bool checksumFlag; 27 | } SpiRawData_t; 28 | 29 | 30 | SpiRawData_t spiRawData; 31 | uint16_t *quickCaliDataPtr; 32 | uint16_t dataTx[2]; 33 | uint16_t dataRx[2]; 34 | uint8_t hCount; 35 | 36 | 37 | /***** Port Specified Implements *****/ 38 | virtual void SpiInit(); 39 | 40 | virtual uint16_t SpiTransmitAndRead16Bits(uint16_t _dataTx); 41 | 42 | }; 43 | 44 | #endif 45 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/mt6816_stm32.cpp: -------------------------------------------------------------------------------- 1 | #include "mt6816_stm32.h" 2 | #include "spi.h" 3 | 4 | void MT6816::SpiInit() 5 | { 6 | // MX_SPI1_Init(); 7 | } 8 | 9 | uint16_t MT6816::SpiTransmitAndRead16Bits(uint16_t _dataTx) 10 | { 11 | uint16_t dataRx; 12 | 13 | GPIOB->BRR = GPIO_PIN_5; // Chip select 14 | HAL_SPI_TransmitReceive(&hspi2, (uint8_t*) &_dataTx, (uint8_t*) &dataRx, 1, HAL_MAX_DELAY); 15 | GPIOB->BSRR = GPIO_PIN_5; 16 | 17 | return dataRx; 18 | } 19 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Encoder/mt6816_stm32.h: -------------------------------------------------------------------------------- 1 | #ifndef CTRL_STEP_FW_MT6816_STM32_H 2 | #define CTRL_STEP_FW_MT6816_STM32_H 3 | 4 | #include "mt6816_base.h" 5 | #include "stockpile_config.h" 6 | 7 | class MT6816 : public MT6816Base 8 | { 9 | public: 10 | /* 11 | * _quickCaliDataPtr is the start address where calibration data stored, 12 | * in STM32F103CBT6 flash size is 128K (0x08000000 ~ 0x08020000), we use 13 | * last 33K (32K clib + 1K user) for storage, and it starts from 0x08017C00. 14 | */ 15 | explicit MT6816() : MT6816Base((uint16_t*) (STOCKPILE_APP_CALI_ADDR)) 16 | {} 17 | 18 | 19 | private: 20 | void SpiInit() override; 21 | 22 | uint16_t SpiTransmitAndRead16Bits(uint16_t _data) override; 23 | }; 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/Memory/stockpile_f303cc.h: -------------------------------------------------------------------------------- 1 | #ifndef STOCKPILE_F103CB_H 2 | #define STOCKPILE_F103CB_H 3 | 4 | #ifdef __cplusplus 5 | extern "C" { 6 | #endif 7 | 8 | //引用端口定义 9 | #include "main.h" 10 | #include "gpio.h" 11 | 12 | //应用存储配置 13 | #include "stockpile_config.h" 14 | 15 | /*************************************************************** FLASH_Start ***************************************************************/ 16 | /*************************************************************** FLASH_Start ***************************************************************/ 17 | /*************************************************************** FLASH_Start ***************************************************************/ 18 | /******************页配置(更换芯片必须修改这个配置)***********************/ 19 | #define Stockpile_Page_Size 0x800U //扇区大小(默认1024字节) 20 | #if (Stockpile_Page_Size != FLASH_PAGE_SIZE) //和HAL库获取的Flash页大小比较,检查配置是否有效 21 | #error "Stockpile_Page_Size Error !!!" 22 | #endif 23 | 24 | /** 25 | * Flash分区表结构体 26 | **/ 27 | typedef struct { 28 | //配置 29 | uint32_t begin_add; //起始地址 30 | uint32_t area_size; //区域大小 31 | uint32_t page_num; //芯片实体页数量 这一段内存需要占据的内存页数大小 32 | //过程量 33 | uint32_t asce_write_add; //写地址 34 | } Stockpile_FLASH_Typedef; 35 | 36 | /********** Flash分区表实例 **********/ 37 | extern Stockpile_FLASH_Typedef stockpile_app_firmware; 38 | extern Stockpile_FLASH_Typedef stockpile_quick_cali; 39 | extern Stockpile_FLASH_Typedef stockpile_data; 40 | 41 | void Stockpile_Flash_Data_Empty(Stockpile_FLASH_Typedef *stockpile); //Flash数据清空 42 | void Stockpile_Flash_Data_Begin(Stockpile_FLASH_Typedef *stockpile); //Flash数据开始写入 43 | void Stockpile_Flash_Data_End(Stockpile_FLASH_Typedef *stockpile); //Flash数据结束写入 44 | void Stockpile_Flash_Data_Set_Write_Add(Stockpile_FLASH_Typedef *stockpile, uint32_t write_add); //Flash设置写地址 45 | void 46 | Stockpile_Flash_Data_Write_Data16(Stockpile_FLASH_Typedef *stockpile, uint16_t *data, uint32_t num); //Flash_16位数据写入 47 | void 48 | Stockpile_Flash_Data_Write_Data32(Stockpile_FLASH_Typedef *stockpile, uint32_t *data, uint32_t num); //Flash_32位数据写入 49 | void 50 | Stockpile_Flash_Data_Write_Data64(Stockpile_FLASH_Typedef *stockpile, uint64_t *data, uint32_t num); //Flash_64位数据写入 51 | 52 | void Stockpile_Flash_Data_QWrite_Data16(Stockpile_FLASH_Typedef *stockpile, uint16_t *data, 53 | uint32_t num); //Flash_16位数据快速写入 54 | 55 | 56 | uint16_t FLASH_ReadHalfWord(uint32_t address); 57 | 58 | void Stockpile_Flash_Data_Read_Data(Stockpile_FLASH_Typedef *stockpile, void *data, uint32_t num); //Flash位数据读取 59 | 60 | 61 | /*************************************************************** FLASH_End ***************************************************************/ 62 | /*************************************************************** FLASH_End ***************************************************************/ 63 | /*************************************************************** FLASH_End ***************************************************************/ 64 | 65 | #ifdef __cplusplus 66 | } 67 | #endif 68 | 69 | #endif 70 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/Xdrive/configurations.h: -------------------------------------------------------------------------------- 1 | #ifndef CONFIGURATIONS_H 2 | #define CONFIGURATIONS_H 3 | 4 | #ifdef __cplusplus 5 | extern "C" { 6 | #endif 7 | /*---------------------------- C Scope ---------------------------*/ 8 | #include 9 | #include "stdint-gcc.h" 10 | 11 | typedef enum configStatus_t 12 | { 13 | CONFIG_RESTORE = 0, 14 | CONFIG_OK, 15 | CONFIG_COMMIT 16 | } configStatus_t; 17 | 18 | 19 | typedef struct Config_t 20 | { 21 | configStatus_t configStatus; 22 | uint32_t canNodeId; 23 | int32_t encoderHomeOffset; 24 | uint32_t defaultMode; 25 | int32_t currentLimit; 26 | int32_t velocityLimit; 27 | int32_t velocityAcc; 28 | int32_t calibrationCurrent; 29 | int32_t dce_kp; 30 | int32_t dce_kv; 31 | int32_t dce_ki; 32 | int32_t dce_kd; 33 | bool enableMotorOnBoot; 34 | bool enableStallProtect; 35 | } BoardConfig_t; 36 | 37 | extern BoardConfig_t boardConfig; 38 | 39 | 40 | #ifdef __cplusplus 41 | } 42 | /*---------------------------- C++ Scope ---------------------------*/ 43 | 44 | //#include 45 | #include "Motor/motor.h" 46 | 47 | 48 | #endif 49 | #endif 50 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/selfmain.cpp: -------------------------------------------------------------------------------- 1 | #include "selfmain.h" 2 | 3 | 4 | #include 5 | 6 | #include "mt6816_stm32.h" 7 | #include "tb67h450_stm32.h" 8 | 9 | #include "button_stm32.h" 10 | #include "configurations.h" 11 | #include "can_base.h" 12 | 13 | 14 | #include "encoder_calibrator_stm32.h" 15 | #include "stockpile_f303cc.h" 16 | #include "stockpile_config.h" 17 | 18 | 19 | /* 20 | TIM2通道 3 4进行DAC 21 | TIM3 进行20kHZ中断 22 | PB12 BTN_DOWN Key_1 23 | */ 24 | 25 | BoardConfig_t boardConfig; 26 | 27 | Motor motor; 28 | TB67H450 tb67H450; 29 | MT6816 mt6816; 30 | EncoderCalibrator encoderCalibrator(&motor); 31 | Button button1(1, 1000); 32 | 33 | void OnButton1Event(Button::Event _event); 34 | 35 | void OnButton2Event(Button::Event _event); 36 | 37 | void SelfMain() { 38 | 39 | // 读取配置 当前没有写 40 | // Stockpile_Flash_Data_Read_Data(&stockpile_data, &boardConfig, sizeof(BoardConfig_t)); 41 | // use flash 42 | if (boardConfig.configStatus != CONFIG_OK) // use default settings 43 | { 44 | boardConfig = BoardConfig_t{ 45 | .configStatus = CONFIG_OK, 46 | .canNodeId = 1, 47 | .encoderHomeOffset = 0, 48 | .defaultMode = Motor::MODE_COMMAND_VELOCITY, 49 | .currentLimit = 1 * 1000, // A 50 | .velocityLimit = 1600 * motor.MOTOR_ONE_CIRCLE_SUBDIVIDE_STEPS, // r/s 51 | .velocityAcc = 100 * motor.MOTOR_ONE_CIRCLE_SUBDIVIDE_STEPS, // r/s^2 52 | .calibrationCurrent=800, 53 | .dce_kp = 200, 54 | .dce_kv = 80, 55 | .dce_ki = 300, 56 | .dce_kd = 250, 57 | .enableMotorOnBoot=false, 58 | .enableStallProtect=false 59 | }; 60 | 61 | Stockpile_Flash_Data_Write_Data16(&stockpile_data, (uint16_t *) &boardConfig, sizeof(BoardConfig_t)); 62 | } 63 | // 加载板载数据 64 | motor.config.motionParams.encoderHomeOffset = boardConfig.encoderHomeOffset; 65 | motor.config.motionParams.ratedCurrent = boardConfig.currentLimit; 66 | motor.config.motionParams.ratedVelocity = boardConfig.velocityLimit; 67 | motor.config.motionParams.ratedVelocityAcc = boardConfig.velocityAcc; 68 | motor.motionPlanner.velocityTracker.SetVelocityAcc(boardConfig.velocityAcc); 69 | motor.motionPlanner.positionTracker.SetVelocityAcc(boardConfig.velocityAcc); 70 | motor.config.motionParams.caliCurrent = boardConfig.calibrationCurrent; 71 | motor.config.ctrlParams.dce.kp = boardConfig.dce_kp; 72 | motor.config.ctrlParams.dce.kv = boardConfig.dce_kv; 73 | motor.config.ctrlParams.dce.ki = boardConfig.dce_ki; 74 | motor.config.ctrlParams.dce.kd = boardConfig.dce_kd; 75 | motor.config.ctrlParams.stallProtectSwitch = boardConfig.enableStallProtect; 76 | 77 | /*---------------- Init Motor ----------------*/ 78 | motor.AttachDriver(&tb67H450); 79 | motor.AttachEncoder(&mt6816); 80 | motor.controller->Init(); 81 | motor.driver->Init(); 82 | motor.encoder->Init(); 83 | 84 | /*------------- Init peripherals -------------*/ 85 | button1.SetOnEventListener(OnButton1Event); 86 | 87 | 88 | /*------- Start Close-Loop Control Tick ------*/ 89 | CANInit(&hcan); 90 | // HAL_Delay(1); 91 | HAL_TIM_Base_Start_IT(&htim4); // 100Hz 92 | HAL_TIM_Base_Start_IT(&htim3); // 20kHz 93 | // HAL_Delay(1); 94 | // 95 | if (button1.IsPressed() ) 96 | encoderCalibrator.isTriggered = true; 97 | // 测试使用 98 | 99 | 100 | for (;;) { 101 | encoderCalibrator.TickMainLoop(); 102 | if (boardConfig.configStatus == CONFIG_COMMIT) { 103 | boardConfig.configStatus = CONFIG_OK; 104 | // eeprom.put(0, boardConfig); 105 | } else if (boardConfig.configStatus == CONFIG_RESTORE) { 106 | // eeprom.put(0, boardConfig); 107 | HAL_NVIC_SystemReset(); 108 | } 109 | 110 | } 111 | } 112 | 113 | void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { 114 | if (htim->Instance == TIM3) { 115 | 116 | if (encoderCalibrator.isTriggered) 117 | encoderCalibrator.Tick20kHz(); 118 | else 119 | motor.Tick20kHz(); 120 | } else if (htim->Instance == TIM4) { 121 | button1.Tick(10); 122 | 123 | 124 | } 125 | } 126 | 127 | 128 | // button event 129 | void OnButton1Event(Button::Event _event) { 130 | switch (_event) { 131 | case ButtonBase::UP: 132 | break; 133 | case ButtonBase::DOWN: 134 | break; 135 | case ButtonBase::LONG_PRESS: 136 | // HAL_NVIC_SystemReset(); 137 | break; 138 | case ButtonBase::CLICK: 139 | motor.controller->SetCtrlMode(Motor::MODE_COMMAND_POSITION); 140 | break; 141 | } 142 | } 143 | -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/Users/selfmain.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef _SELFMAIN_H 3 | #define _SELFMAIN_H 4 | 5 | #include "main.h" 6 | 7 | #include "stdint-gcc.h" 8 | 9 | #include "tim.h" 10 | 11 | 12 | #ifdef __cplusplus 13 | extern "C" { 14 | #endif 15 | /*---------------------------- C Scope ---------------------------*/ 16 | 17 | 18 | 19 | void SelfMain(); 20 | void OnCanCmd(uint8_t _cmd, uint8_t *_data, uint32_t _len); 21 | 22 | 23 | #ifdef __cplusplus 24 | } 25 | /*---------------------------- C++ Scope ---------------------------*/ 26 | #include "motor.h" 27 | extern Motor motor; 28 | 29 | #endif 30 | 31 | 32 | #endif //C8SCREEN_SELFMAIN_H -------------------------------------------------------------------------------- /2_Firmware/STM32F303_fw/cmake-build-debug/.cmake/api/v1/query/cache-v2: -------------------------------------------------------------------------------- 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MCU部分由STM32F103CBT6更换为STM32F303CCT6。 16 | 17 | ![image-20240508174134941](./4_Docs/Pictures/image-20240508174134941.png) 18 | 19 | - 内部flash翻倍（现在是256KB），原版的128KB在使用新版的`gcc`编译的时候会内存溢出（由于磁编码器需要校准，占用了32KB）。 20 | - 驱动器的电压控制直接使用DAC生成，不使用二阶低通滤波，硬件减少。 21 | - 由于flash翻倍了，可以在42步进电机上面增加一块Oled屏幕（XDrive上面有一块Oled屏幕，稚晖君版本上面预留了Oled的接口，但是flash已经完全用完了）。 22 | 23 | 2. DCDC部分直接降压到3.3V，取消LDO 24 | 25 | ![image-20240508174955074](./4_Docs/Pictures/image-20240508174955074.png) 26 | 27 | - 没啥好说的。。。我就是懒得再焊LDO 28 | - Boost的自举电容需要0.2uF以上，原版使用了两个0402-0.1uF并联，这里直接使用0603-0.22uF，所占用面积差不多。 29 | - 分压电阻那可以再精细一点，当前输出的电压大约是3.4V。 30 | 31 | 3. CAN芯片由TJA1050更换为SIT3051 32 | 33 | ![image-20240508175447835](./4_Docs/Pictures/image-20240508175447835.png) 34 | 35 | - 小且便宜 36 | 37 | ## 使用 38 | 39 | 固件是在稚晖君的固件上面进行修改，使用Clion进行的烧写。（[Clion的教程在这里](https://zhuanlan.zhihu.com/p/145801160)）下载接口、电源接口、CAN接口都是焊盘连接。 40 | 41 | - 按键按下通电程序会自动进行校准，校准完成后按下按键进入位置闭环，自动归零。 42 | - 拨动开关是CAN信号120Ω的开关。 43 | - 校准完后，我使用的是稚晖君的UltraLink里面的步进电机调试器，进行位置和速度的查看。（42步进电机版本加上了Oled屏幕可以直接查看） 44 | 45 | - CAN信号控制指令可以在`can_base.cpp`中查看（如果有需要之后可以更新一下） 46 | 47 | ![image-20240508180854508](./4_Docs/Pictures/image-20240508180854508.png) 48 | 49 | - 附一张42步进电机的驱动板，市面上的42步进闭环驱动其实很丰富了，张大头和创客都做的很好，后续再开（肯定不是因为懒） 50 | 51 | ​ ![image-20240508181103726](./4_Docs/Pictures/image-20240508181103726.png) 52 | --------------------------------------------------------------------------------