├── .gitignore
├── Firmware
├── Arduino-FOC-2.1.1.zip
├── FocController.zip
├── FocController
│ ├── .cproject
│ ├── .mxproject
│ ├── .project
│ ├── .settings
│ │ ├── com.st.stm32cube.ide.mcu.sfrview.prefs
│ │ ├── language.settings.xml
│ │ ├── org.eclipse.cdt.codan.core.prefs
│ │ ├── org.eclipse.cdt.core.prefs
│ │ └── stm32cubeide.project.prefs
│ ├── Core
│ │ ├── Inc
│ │ │ ├── FreeRTOSConfig.h
│ │ │ ├── adc.h
│ │ │ ├── can.h
│ │ │ ├── gpio.h
│ │ │ ├── main.h
│ │ │ ├── spi.h
│ │ │ ├── stm32f4xx_hal_conf.h
│ │ │ ├── stm32f4xx_it.h
│ │ │ ├── tim.h
│ │ │ └── usart.h
│ │ ├── Src
│ │ │ ├── adc.c
│ │ │ ├── can.c
│ │ │ ├── freertos.c
│ │ │ ├── gpio.c
│ │ │ ├── main.c
│ │ │ ├── spi.c
│ │ │ ├── stm32f4xx_hal_msp.c
│ │ │ ├── stm32f4xx_it.c
│ │ │ ├── syscalls.c
│ │ │ ├── sysmem.c
│ │ │ ├── system_stm32f4xx.c
│ │ │ ├── tim.c
│ │ │ └── usart.c
│ │ └── Startup
│ │ │ └── startup_stm32f405rgtx.s
│ ├── Drivers
│ │ ├── CMSIS
│ │ │ ├── Device
│ │ │ │ └── ST
│ │ │ │ │ └── STM32F4xx
│ │ │ │ │ ├── Include
│ │ │ │ │ ├── stm32f405xx.h
│ │ │ │ │ ├── stm32f4xx.h
│ │ │ │ │ └── system_stm32f4xx.h
│ │ │ │ │ └── License.md
│ │ │ ├── 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
│ │ └── STM32F4xx_HAL_Driver
│ │ │ ├── Inc
│ │ │ ├── Legacy
│ │ │ │ └── stm32_hal_legacy.h
│ │ │ ├── stm32f4xx_hal.h
│ │ │ ├── stm32f4xx_hal_adc.h
│ │ │ ├── stm32f4xx_hal_adc_ex.h
│ │ │ ├── stm32f4xx_hal_can.h
│ │ │ ├── stm32f4xx_hal_cortex.h
│ │ │ ├── stm32f4xx_hal_def.h
│ │ │ ├── stm32f4xx_hal_dma.h
│ │ │ ├── stm32f4xx_hal_dma_ex.h
│ │ │ ├── stm32f4xx_hal_exti.h
│ │ │ ├── stm32f4xx_hal_flash.h
│ │ │ ├── stm32f4xx_hal_flash_ex.h
│ │ │ ├── stm32f4xx_hal_flash_ramfunc.h
│ │ │ ├── stm32f4xx_hal_gpio.h
│ │ │ ├── stm32f4xx_hal_gpio_ex.h
│ │ │ ├── stm32f4xx_hal_pwr.h
│ │ │ ├── stm32f4xx_hal_pwr_ex.h
│ │ │ ├── stm32f4xx_hal_rcc.h
│ │ │ ├── stm32f4xx_hal_rcc_ex.h
│ │ │ ├── stm32f4xx_hal_spi.h
│ │ │ ├── stm32f4xx_hal_tim.h
│ │ │ ├── stm32f4xx_hal_tim_ex.h
│ │ │ ├── stm32f4xx_hal_uart.h
│ │ │ └── stm32f4xx_ll_adc.h
│ │ │ ├── License.md
│ │ │ └── Src
│ │ │ ├── stm32f4xx_hal.c
│ │ │ ├── stm32f4xx_hal_adc.c
│ │ │ ├── stm32f4xx_hal_adc_ex.c
│ │ │ ├── stm32f4xx_hal_can.c
│ │ │ ├── stm32f4xx_hal_cortex.c
│ │ │ ├── stm32f4xx_hal_dma.c
│ │ │ ├── stm32f4xx_hal_dma_ex.c
│ │ │ ├── stm32f4xx_hal_exti.c
│ │ │ ├── stm32f4xx_hal_flash.c
│ │ │ ├── stm32f4xx_hal_flash_ex.c
│ │ │ ├── stm32f4xx_hal_flash_ramfunc.c
│ │ │ ├── stm32f4xx_hal_gpio.c
│ │ │ ├── stm32f4xx_hal_pwr.c
│ │ │ ├── stm32f4xx_hal_pwr_ex.c
│ │ │ ├── stm32f4xx_hal_rcc.c
│ │ │ ├── stm32f4xx_hal_rcc_ex.c
│ │ │ ├── stm32f4xx_hal_spi.c
│ │ │ ├── stm32f4xx_hal_tim.c
│ │ │ ├── stm32f4xx_hal_tim_ex.c
│ │ │ ├── stm32f4xx_hal_uart.c
│ │ │ └── stm32f4xx_ll_adc.c
│ ├── FocController.ioc
│ ├── Middlewares
│ │ └── Third_Party
│ │ │ └── FreeRTOS
│ │ │ └── Source
│ │ │ ├── CMSIS_RTOS_V2
│ │ │ ├── cmsis_os.h
│ │ │ ├── cmsis_os2.c
│ │ │ ├── cmsis_os2.h
│ │ │ ├── freertos_mpool.h
│ │ │ └── freertos_os2.h
│ │ │ ├── LICENSE
│ │ │ ├── croutine.c
│ │ │ ├── event_groups.c
│ │ │ ├── include
│ │ │ ├── FreeRTOS.h
│ │ │ ├── StackMacros.h
│ │ │ ├── atomic.h
│ │ │ ├── croutine.h
│ │ │ ├── deprecated_definitions.h
│ │ │ ├── event_groups.h
│ │ │ ├── list.h
│ │ │ ├── message_buffer.h
│ │ │ ├── mpu_prototypes.h
│ │ │ ├── mpu_wrappers.h
│ │ │ ├── portable.h
│ │ │ ├── projdefs.h
│ │ │ ├── queue.h
│ │ │ ├── semphr.h
│ │ │ ├── stack_macros.h
│ │ │ ├── stream_buffer.h
│ │ │ ├── task.h
│ │ │ └── timers.h
│ │ │ ├── list.c
│ │ │ ├── portable
│ │ │ ├── GCC
│ │ │ │ └── ARM_CM4F
│ │ │ │ │ ├── port.c
│ │ │ │ │ └── portmacro.h
│ │ │ └── MemMang
│ │ │ │ └── heap_4.c
│ │ │ ├── queue.c
│ │ │ ├── stream_buffer.c
│ │ │ ├── tasks.c
│ │ │ └── timers.c
│ ├── MyCode
│ │ ├── Class
│ │ │ ├── HardwareCan.cpp
│ │ │ ├── HardwareCan.h
│ │ │ ├── HardwareSerial.cpp
│ │ │ ├── HardwareSerial.h
│ │ │ ├── PwmLed.cpp
│ │ │ ├── PwmLed.h
│ │ │ ├── Shycom.cpp
│ │ │ └── Shycom.h
│ │ ├── FOC
│ │ │ ├── AdcValue.cpp
│ │ │ ├── AdcValue.h
│ │ │ ├── Encoder.cpp
│ │ │ ├── Encoder.h
│ │ │ ├── FocController.cpp
│ │ │ ├── FocController.h
│ │ │ ├── FocConverter.cpp
│ │ │ ├── FocConverter.h
│ │ │ ├── IncrementalEncoder.cpp
│ │ │ ├── IncrementalEncoder.h
│ │ │ ├── MagneticSensorSPI.cpp
│ │ │ ├── MagneticSensorSPI.h
│ │ │ ├── Pid.cpp
│ │ │ ├── Pid.h
│ │ │ ├── SvPwm.cpp
│ │ │ └── SvPwm.h
│ │ ├── TaskLed.cpp
│ │ └── interfaceIRQ.cpp
│ ├── STM32F405RGTX_FLASH.ld
│ └── STM32F405RGTX_RAM.ld
├── SVPWM算法原理及详解.pdf
└── SimpleFoc
│ ├── .cproject
│ ├── .mxproject
│ ├── .project
│ ├── .settings
│ ├── com.st.stm32cube.ide.mcu.sfrview.prefs
│ ├── language.settings.xml
│ ├── org.eclipse.cdt.codan.core.prefs
│ ├── org.eclipse.cdt.core.prefs
│ └── stm32cubeide.project.prefs
│ ├── Core
│ ├── Inc
│ │ ├── FreeRTOSConfig.h
│ │ ├── adc.h
│ │ ├── gpio.h
│ │ ├── main.h
│ │ ├── spi.h
│ │ ├── stm32f4xx_hal_conf.h
│ │ ├── stm32f4xx_it.h
│ │ ├── tim.h
│ │ └── usart.h
│ ├── SimpleFOC
│ │ ├── BLDCMotor.cpp
│ │ ├── BLDCMotor.h
│ │ ├── SimpleFOC.cpp
│ │ ├── SimpleFOC.h
│ │ ├── common
│ │ │ ├── base_classes
│ │ │ │ ├── BLDCDriver.h
│ │ │ │ ├── CurrentSense.cpp
│ │ │ │ ├── CurrentSense.h
│ │ │ │ ├── FOCMotor.cpp
│ │ │ │ ├── FOCMotor.h
│ │ │ │ ├── Sensor.cpp
│ │ │ │ └── Sensor.h
│ │ │ ├── defaults.h
│ │ │ ├── foc_utils.cpp
│ │ │ ├── foc_utils.h
│ │ │ ├── lowpass_filter.cpp
│ │ │ ├── lowpass_filter.h
│ │ │ ├── pid.cpp
│ │ │ ├── pid.h
│ │ │ ├── time_utils.cpp
│ │ │ └── time_utils.h
│ │ ├── current_sense
│ │ │ ├── InlineCurrentSense.cpp
│ │ │ ├── InlineCurrentSense.h
│ │ │ ├── hardware_api.h
│ │ │ └── hardware_specific
│ │ │ │ └── generic_mcu.cpp
│ │ ├── drivers
│ │ │ ├── BLDCDriver3PWM.cpp
│ │ │ ├── BLDCDriver3PWM.h
│ │ │ ├── BLDCDriver6PWM.cpp
│ │ │ ├── BLDCDriver6PWM.h
│ │ │ ├── hardware_api.h
│ │ │ └── hardware_specific
│ │ │ │ ├── Arduino.h
│ │ │ │ └── stm32_mcu.cpp
│ │ └── sensors
│ │ │ ├── Encoder.cpp
│ │ │ ├── Encoder.h
│ │ │ ├── MagneticSensorSPI.cpp
│ │ │ └── MagneticSensorSPI.h
│ ├── Src
│ │ ├── adc.c
│ │ ├── freertos.c
│ │ ├── gpio.c
│ │ ├── main.c
│ │ ├── spi.c
│ │ ├── stm32f4xx_hal_msp.c
│ │ ├── stm32f4xx_it.c
│ │ ├── syscalls.c
│ │ ├── sysmem.c
│ │ ├── system_stm32f4xx.c
│ │ ├── tim.c
│ │ └── usart.c
│ └── Startup
│ │ └── startup_stm32f405rgtx.s
│ ├── Drivers
│ ├── CMSIS
│ │ ├── Device
│ │ │ └── ST
│ │ │ │ └── STM32F4xx
│ │ │ │ ├── Include
│ │ │ │ ├── stm32f405xx.h
│ │ │ │ ├── stm32f4xx.h
│ │ │ │ └── system_stm32f4xx.h
│ │ │ │ └── License.md
│ │ ├── 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
│ └── STM32F4xx_HAL_Driver
│ │ ├── Inc
│ │ ├── Legacy
│ │ │ └── stm32_hal_legacy.h
│ │ ├── stm32f4xx_hal.h
│ │ ├── stm32f4xx_hal_adc.h
│ │ ├── stm32f4xx_hal_adc_ex.h
│ │ ├── stm32f4xx_hal_cortex.h
│ │ ├── stm32f4xx_hal_def.h
│ │ ├── stm32f4xx_hal_dma.h
│ │ ├── stm32f4xx_hal_dma_ex.h
│ │ ├── stm32f4xx_hal_exti.h
│ │ ├── stm32f4xx_hal_flash.h
│ │ ├── stm32f4xx_hal_flash_ex.h
│ │ ├── stm32f4xx_hal_flash_ramfunc.h
│ │ ├── stm32f4xx_hal_gpio.h
│ │ ├── stm32f4xx_hal_gpio_ex.h
│ │ ├── stm32f4xx_hal_pwr.h
│ │ ├── stm32f4xx_hal_pwr_ex.h
│ │ ├── stm32f4xx_hal_rcc.h
│ │ ├── stm32f4xx_hal_rcc_ex.h
│ │ ├── stm32f4xx_hal_spi.h
│ │ ├── stm32f4xx_hal_tim.h
│ │ ├── stm32f4xx_hal_tim_ex.h
│ │ ├── stm32f4xx_hal_uart.h
│ │ └── stm32f4xx_ll_adc.h
│ │ ├── License.md
│ │ └── Src
│ │ ├── stm32f4xx_hal.c
│ │ ├── stm32f4xx_hal_adc.c
│ │ ├── stm32f4xx_hal_adc_ex.c
│ │ ├── stm32f4xx_hal_cortex.c
│ │ ├── stm32f4xx_hal_dma.c
│ │ ├── stm32f4xx_hal_dma_ex.c
│ │ ├── stm32f4xx_hal_exti.c
│ │ ├── stm32f4xx_hal_flash.c
│ │ ├── stm32f4xx_hal_flash_ex.c
│ │ ├── stm32f4xx_hal_flash_ramfunc.c
│ │ ├── stm32f4xx_hal_gpio.c
│ │ ├── stm32f4xx_hal_pwr.c
│ │ ├── stm32f4xx_hal_pwr_ex.c
│ │ ├── stm32f4xx_hal_rcc.c
│ │ ├── stm32f4xx_hal_rcc_ex.c
│ │ ├── stm32f4xx_hal_spi.c
│ │ ├── stm32f4xx_hal_tim.c
│ │ ├── stm32f4xx_hal_tim_ex.c
│ │ ├── stm32f4xx_hal_uart.c
│ │ └── stm32f4xx_ll_adc.c
│ ├── MC_Driver Debug.launch
│ ├── Middlewares
│ └── Third_Party
│ │ └── FreeRTOS
│ │ └── Source
│ │ ├── CMSIS_RTOS_V2
│ │ ├── cmsis_os.h
│ │ ├── cmsis_os2.c
│ │ ├── cmsis_os2.h
│ │ ├── freertos_mpool.h
│ │ └── freertos_os2.h
│ │ ├── LICENSE
│ │ ├── croutine.c
│ │ ├── event_groups.c
│ │ ├── include
│ │ ├── FreeRTOS.h
│ │ ├── StackMacros.h
│ │ ├── atomic.h
│ │ ├── croutine.h
│ │ ├── deprecated_definitions.h
│ │ ├── event_groups.h
│ │ ├── list.h
│ │ ├── message_buffer.h
│ │ ├── mpu_prototypes.h
│ │ ├── mpu_wrappers.h
│ │ ├── portable.h
│ │ ├── projdefs.h
│ │ ├── queue.h
│ │ ├── semphr.h
│ │ ├── stack_macros.h
│ │ ├── stream_buffer.h
│ │ ├── task.h
│ │ └── timers.h
│ │ ├── list.c
│ │ ├── portable
│ │ ├── GCC
│ │ │ └── ARM_CM4F
│ │ │ │ ├── port.c
│ │ │ │ └── portmacro.h
│ │ └── MemMang
│ │ │ └── heap_4.c
│ │ ├── queue.c
│ │ ├── stream_buffer.c
│ │ ├── tasks.c
│ │ └── timers.c
│ ├── STM32F405RGTX_FLASH.ld
│ ├── STM32F405RGTX_RAM.ld
│ └── SimpleFoc.ioc
├── Hardware
├── BOM_mini_Foc_Core.csv
├── BOM_mini_Foc_Power.csv
├── Gerber_mini_Foc_Core.zip
├── Gerber_mini_Foc_Power.zip
├── Schematic_mini_Foc_Core.pdf
└── Schematic_mini_Foc_Power.pdf
├── Picture
├── 1.gif
├── 20170708115503600.png
├── 20190410172920395.png
├── 20190706222310599.png
├── Natural-coordinate-system.gif
├── current_loop.png
├── dq-coordinate-system.gif
├── foc-120.jpg
├── foc-2R.jpg
├── foc-3R.jpg
├── foc-clark.jpg
├── foc-core.jpg
├── foc-park.jpg
├── formula-clark.jpg
├── formula-park.jpg
├── space-vectors.gif
├── speed-loop.png
└── αβ-coordinate-system.gif
├── README.md
└── Software
└── shycom
├── build-shycom-Desktop_Qt_5_12_12_MinGW_64_bit-Debug
├── .qmake.stash
├── Makefile
├── Makefile.Debug
├── Makefile.Release
├── debug
│ ├── SerialThread.o
│ ├── main.o
│ ├── mainwindow.o
│ ├── moc_SerialThread.cpp
│ ├── moc_SerialThread.o
│ ├── moc_mainwindow.cpp
│ ├── moc_mainwindow.o
│ ├── moc_mycurvewidget.cpp
│ ├── moc_mycurvewidget.o
│ ├── moc_mydockwidget.cpp
│ ├── moc_mydockwidget.o
│ ├── moc_mymotorwidget.cpp
│ ├── moc_mymotorwidget.o
│ ├── moc_myserialwidget.cpp
│ ├── moc_myserialwidget.o
│ ├── moc_predefs.h
│ ├── mycurvewidget.o
│ ├── mydockwidget.o
│ ├── mymotorwidget.o
│ ├── myserialwidget.o
│ └── shycom.exe
├── object_script.shycom.Debug
├── object_script.shycom.Release
└── ui_mainwindow.h
└── shycom
├── SerialThread.cpp
├── SerialThread.h
├── main.cpp
├── mainwindow.cpp
├── mainwindow.h
├── mainwindow.ui
├── mycurvewidget.cpp
├── mycurvewidget.h
├── mydockwidget.cpp
├── mydockwidget.h
├── mymotorwidget.cpp
├── mymotorwidget.h
├── myserialwidget.cpp
├── myserialwidget.h
├── shycom.pro
└── shycom.pro.user
/.gitignore:
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1 | */*/Debug/
2 | */*/Release/
3 |
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/Firmware/Arduino-FOC-2.1.1.zip:
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https://raw.githubusercontent.com/huyanghong/Foc-Controller/fb41c815289e4d521f168bfe4f22c428b1a992db/Firmware/Arduino-FOC-2.1.1.zip
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/Firmware/FocController.zip:
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https://raw.githubusercontent.com/huyanghong/Foc-Controller/fb41c815289e4d521f168bfe4f22c428b1a992db/Firmware/FocController.zip
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/Firmware/FocController/.project:
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3 | FocController
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10 | clean,full,incremental,
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16 | full,incremental,
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23 | com.st.stm32cube.ide.mcu.MCUCubeProjectNature
24 | org.eclipse.cdt.core.cnature
25 | com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature
26 | com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature
27 | com.st.stm32cube.ide.mcu.MCUEndUserDisabledTrustZoneProjectNature
28 | com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature
29 | com.st.stm32cube.ide.mcu.MCURootProjectNature
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32 | org.eclipse.cdt.core.ccnature
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/Firmware/FocController/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs:
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1 | eclipse.preferences.version=1
2 | svd_custom_file_path=
3 | svd_file_path=platform\:/plugin/com.st.stm32cube.ide.mcu.productdb.debug/resources/cmsis/STMicroelectronics_CMSIS_SVD/STM32F405.svd
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/Firmware/FocController/.settings/org.eclipse.cdt.core.prefs:
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1 | doxygen/doxygen_new_line_after_brief=true
2 | doxygen/doxygen_use_brief_tag=false
3 | doxygen/doxygen_use_javadoc_tags=true
4 | doxygen/doxygen_use_pre_tag=false
5 | doxygen/doxygen_use_structural_commands=false
6 | eclipse.preferences.version=1
7 |
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/Firmware/FocController/.settings/stm32cubeide.project.prefs:
--------------------------------------------------------------------------------
1 | 2F62501ED4689FB349E356AB974DBE57=C6DCCBD2A6FE9510BBEDE1C64E1F5FBB
2 | 635E684B79701B039C64EA45C3F84D30=EC0CF2E48BB4571606D72637CE1FFEB6
3 | 8DF89ED150041C4CBC7CB9A9CAA90856=C6DCCBD2A6FE9510BBEDE1C64E1F5FBB
4 | DC22A860405A8BF2F2C095E5B6529F12=74C325809E2A0471032BCF1571CA3A68
5 | eclipse.preferences.version=1
6 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/adc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file adc.h
4 | * @brief This file contains all the function prototypes for
5 | * the adc.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __ADC_H__
21 | #define __ADC_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern ADC_HandleTypeDef hadc1;
35 |
36 | /* USER CODE BEGIN Private defines */
37 |
38 | /* USER CODE END Private defines */
39 |
40 | void MX_ADC1_Init(void);
41 |
42 | /* USER CODE BEGIN Prototypes */
43 | uint32_t readPhaseVoltage(const int pinA);
44 | /* USER CODE END Prototypes */
45 |
46 | #ifdef __cplusplus
47 | }
48 | #endif
49 |
50 | #endif /* __ADC_H__ */
51 |
52 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
53 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/can.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file can.h
4 | * @brief This file contains all the function prototypes for
5 | * the can.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __CAN_H__
21 | #define __CAN_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern CAN_HandleTypeDef hcan1;
35 |
36 | /* USER CODE BEGIN Private defines */
37 |
38 | /* USER CODE END Private defines */
39 |
40 | void MX_CAN1_Init(void);
41 |
42 | /* USER CODE BEGIN Prototypes */
43 |
44 | /* USER CODE END Prototypes */
45 |
46 | #ifdef __cplusplus
47 | }
48 | #endif
49 |
50 | #endif /* __CAN_H__ */
51 |
52 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
53 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/gpio.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file gpio.h
4 | * @brief This file contains all the function prototypes for
5 | * the gpio.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __GPIO_H__
21 | #define __GPIO_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | /* USER CODE BEGIN Private defines */
35 |
36 | /* USER CODE END Private defines */
37 |
38 | void MX_GPIO_Init(void);
39 |
40 | /* USER CODE BEGIN Prototypes */
41 |
42 | /* USER CODE END Prototypes */
43 |
44 | #ifdef __cplusplus
45 | }
46 | #endif
47 | #endif /*__ GPIO_H__ */
48 |
49 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
50 |
--------------------------------------------------------------------------------
/Firmware/FocController/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) 2021 STMicroelectronics.
11 | * All rights reserved.
12 | *
13 | * This software component is licensed by ST under BSD 3-Clause license,
14 | * the "License"; You may not use this file except in compliance with the
15 | * License. You may obtain a copy of the License at:
16 | * opensource.org/licenses/BSD-3-Clause
17 | *
18 | ******************************************************************************
19 | */
20 | /* USER CODE END Header */
21 |
22 | /* Define to prevent recursive inclusion -------------------------------------*/
23 | #ifndef __MAIN_H
24 | #define __MAIN_H
25 |
26 | #ifdef __cplusplus
27 | extern "C" {
28 | #endif
29 |
30 | /* Includes ------------------------------------------------------------------*/
31 | #include "stm32f4xx_hal.h"
32 |
33 | /* Private includes ----------------------------------------------------------*/
34 | /* USER CODE BEGIN Includes */
35 |
36 | /* USER CODE END Includes */
37 |
38 | /* Exported types ------------------------------------------------------------*/
39 | /* USER CODE BEGIN ET */
40 | void StartFocTask(void *argument);
41 | void protocolTask(void *argument);
42 | /* USER CODE END ET */
43 |
44 | /* Exported constants --------------------------------------------------------*/
45 | /* USER CODE BEGIN EC */
46 |
47 | /* USER CODE END EC */
48 |
49 | /* Exported macro ------------------------------------------------------------*/
50 | /* USER CODE BEGIN EM */
51 | unsigned long micros(void);
52 | unsigned int millis(void);
53 | /* USER CODE END EM */
54 |
55 | /* Exported functions prototypes ---------------------------------------------*/
56 | void Error_Handler(void);
57 |
58 | /* USER CODE BEGIN EFP */
59 | void setupSimpleFOC(void);
60 | void loopSimpleFOC(void);
61 | void disableSimpleFOC(int s);
62 | void setTarget(float t);
63 | /* USER CODE END EFP */
64 |
65 | /* Private defines -----------------------------------------------------------*/
66 | /* USER CODE BEGIN Private defines */
67 |
68 | /* USER CODE END Private defines */
69 |
70 | #ifdef __cplusplus
71 | }
72 | #endif
73 |
74 | #endif /* __MAIN_H */
75 |
76 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
77 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/spi.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file spi.h
4 | * @brief This file contains all the function prototypes for
5 | * the spi.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __SPI_H__
21 | #define __SPI_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern SPI_HandleTypeDef hspi1;
35 |
36 | /* USER CODE BEGIN Private defines */
37 |
38 | /* USER CODE END Private defines */
39 |
40 | void MX_SPI1_Init(void);
41 |
42 | /* USER CODE BEGIN Prototypes */
43 |
44 | /* USER CODE END Prototypes */
45 |
46 | #ifdef __cplusplus
47 | }
48 | #endif
49 |
50 | #endif /* __SPI_H__ */
51 |
52 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
53 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/stm32f4xx_it.h:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file stm32f4xx_it.h
5 | * @brief This file contains the headers of the interrupt handlers.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2021 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 | /* USER CODE END Header */
20 |
21 | /* Define to prevent recursive inclusion -------------------------------------*/
22 | #ifndef __STM32F4xx_IT_H
23 | #define __STM32F4xx_IT_H
24 |
25 | #ifdef __cplusplus
26 | extern "C" {
27 | #endif
28 |
29 | /* Private includes ----------------------------------------------------------*/
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | /* Exported types ------------------------------------------------------------*/
35 | /* USER CODE BEGIN ET */
36 |
37 | /* USER CODE END ET */
38 |
39 | /* Exported constants --------------------------------------------------------*/
40 | /* USER CODE BEGIN EC */
41 |
42 | /* USER CODE END EC */
43 |
44 | /* Exported macro ------------------------------------------------------------*/
45 | /* USER CODE BEGIN EM */
46 |
47 | /* USER CODE END EM */
48 |
49 | /* Exported functions prototypes ---------------------------------------------*/
50 | void NMI_Handler(void);
51 | void HardFault_Handler(void);
52 | void MemManage_Handler(void);
53 | void BusFault_Handler(void);
54 | void UsageFault_Handler(void);
55 | void DebugMon_Handler(void);
56 | void SysTick_Handler(void);
57 | void ADC_IRQHandler(void);
58 | void CAN1_RX0_IRQHandler(void);
59 | void UART4_IRQHandler(void);
60 | void TIM6_DAC_IRQHandler(void);
61 | /* USER CODE BEGIN EFP */
62 |
63 | /* USER CODE END EFP */
64 |
65 | #ifdef __cplusplus
66 | }
67 | #endif
68 |
69 | #endif /* __STM32F4xx_IT_H */
70 |
71 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
72 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/tim.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file tim.h
4 | * @brief This file contains all the function prototypes for
5 | * the tim.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __TIM_H__
21 | #define __TIM_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern TIM_HandleTypeDef htim1;
35 | extern TIM_HandleTypeDef htim3;
36 | extern TIM_HandleTypeDef htim6;
37 |
38 | /* USER CODE BEGIN Private defines */
39 |
40 | /* USER CODE END Private defines */
41 |
42 | void MX_TIM1_Init(void);
43 | void MX_TIM3_Init(void);
44 | void MX_TIM6_Init(void);
45 |
46 | void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
47 |
48 | /* USER CODE BEGIN Prototypes */
49 |
50 | /* USER CODE END Prototypes */
51 |
52 | #ifdef __cplusplus
53 | }
54 | #endif
55 |
56 | #endif /* __TIM_H__ */
57 |
58 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
59 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Inc/usart.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file usart.h
4 | * @brief This file contains all the function prototypes for
5 | * the usart.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __USART_H__
21 | #define __USART_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern UART_HandleTypeDef huart4;
35 |
36 | /* USER CODE BEGIN Private defines */
37 |
38 | /* USER CODE END Private defines */
39 |
40 | void MX_UART4_Init(void);
41 |
42 | /* USER CODE BEGIN Prototypes */
43 | void uart6SendByte(uint8_t ch);
44 | void uart4SendLen(uint8_t *p, int num);
45 | /* USER CODE END Prototypes */
46 |
47 | #ifdef __cplusplus
48 | }
49 | #endif
50 |
51 | #endif /* __USART_H__ */
52 |
53 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
54 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Src/gpio.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file gpio.c
4 | * @brief This file provides code for the configuration
5 | * of all used GPIO pins.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Includes ------------------------------------------------------------------*/
21 | #include "gpio.h"
22 |
23 | /* USER CODE BEGIN 0 */
24 |
25 | /* USER CODE END 0 */
26 |
27 | /*----------------------------------------------------------------------------*/
28 | /* Configure GPIO */
29 | /*----------------------------------------------------------------------------*/
30 | /* USER CODE BEGIN 1 */
31 |
32 | /* USER CODE END 1 */
33 |
34 | /** Configure pins as
35 | * Analog
36 | * Input
37 | * Output
38 | * EVENT_OUT
39 | * EXTI
40 | */
41 | void MX_GPIO_Init(void)
42 | {
43 |
44 | GPIO_InitTypeDef GPIO_InitStruct = {0};
45 |
46 | /* GPIO Ports Clock Enable */
47 | __HAL_RCC_GPIOH_CLK_ENABLE();
48 | __HAL_RCC_GPIOC_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(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
54 |
55 | /*Configure GPIO pin Output Level */
56 | HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_11, GPIO_PIN_RESET);
57 |
58 | /*Configure GPIO pin Output Level */
59 | HAL_GPIO_WritePin(GPIOB, GPIO_PIN_10|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_SET);
60 |
61 | /*Configure GPIO pin : PA4 */
62 | GPIO_InitStruct.Pin = GPIO_PIN_4;
63 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
64 | GPIO_InitStruct.Pull = GPIO_PULLDOWN;
65 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
66 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
67 |
68 | /*Configure GPIO pins : PB0 PB10 PB11 */
69 | GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_10|GPIO_PIN_11;
70 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
71 | GPIO_InitStruct.Pull = GPIO_NOPULL;
72 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
73 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
74 |
75 | /*Configure GPIO pins : PB13 PB14 PB15 */
76 | GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
77 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
78 | GPIO_InitStruct.Pull = GPIO_PULLUP;
79 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
80 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
81 |
82 | }
83 |
84 | /* USER CODE BEGIN 2 */
85 |
86 | /* USER CODE END 2 */
87 |
88 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
89 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Src/spi.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file spi.c
4 | * @brief This file provides code for the configuration
5 | * of the SPI instances.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Includes ------------------------------------------------------------------*/
21 | #include "spi.h"
22 |
23 | /* USER CODE BEGIN 0 */
24 |
25 | /* USER CODE END 0 */
26 |
27 | SPI_HandleTypeDef hspi1;
28 |
29 | /* SPI1 init function */
30 | void MX_SPI1_Init(void)
31 | {
32 |
33 | /* USER CODE BEGIN SPI1_Init 0 */
34 |
35 | /* USER CODE END SPI1_Init 0 */
36 |
37 | /* USER CODE BEGIN SPI1_Init 1 */
38 |
39 | /* USER CODE END SPI1_Init 1 */
40 | hspi1.Instance = SPI1;
41 | hspi1.Init.Mode = SPI_MODE_MASTER;
42 | hspi1.Init.Direction = SPI_DIRECTION_2LINES;
43 | hspi1.Init.DataSize = SPI_DATASIZE_16BIT;
44 | hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
45 | hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
46 | hspi1.Init.NSS = SPI_NSS_SOFT;
47 | hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
48 | hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
49 | hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
50 | hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
51 | hspi1.Init.CRCPolynomial = 10;
52 | if (HAL_SPI_Init(&hspi1) != HAL_OK)
53 | {
54 | Error_Handler();
55 | }
56 | /* USER CODE BEGIN SPI1_Init 2 */
57 |
58 | /* USER CODE END SPI1_Init 2 */
59 |
60 | }
61 |
62 | void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
63 | {
64 |
65 | GPIO_InitTypeDef GPIO_InitStruct = {0};
66 | if(spiHandle->Instance==SPI1)
67 | {
68 | /* USER CODE BEGIN SPI1_MspInit 0 */
69 |
70 | /* USER CODE END SPI1_MspInit 0 */
71 | /* SPI1 clock enable */
72 | __HAL_RCC_SPI1_CLK_ENABLE();
73 |
74 | __HAL_RCC_GPIOA_CLK_ENABLE();
75 | /**SPI1 GPIO Configuration
76 | PA5 ------> SPI1_SCK
77 | PA6 ------> SPI1_MISO
78 | PA7 ------> SPI1_MOSI
79 | */
80 | GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
81 | GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
82 | GPIO_InitStruct.Pull = GPIO_NOPULL;
83 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
84 | GPIO_InitStruct.Alternate = GPIO_AF5_SPI1;
85 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
86 |
87 | /* USER CODE BEGIN SPI1_MspInit 1 */
88 |
89 | /* USER CODE END SPI1_MspInit 1 */
90 | }
91 | }
92 |
93 | void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
94 | {
95 |
96 | if(spiHandle->Instance==SPI1)
97 | {
98 | /* USER CODE BEGIN SPI1_MspDeInit 0 */
99 |
100 | /* USER CODE END SPI1_MspDeInit 0 */
101 | /* Peripheral clock disable */
102 | __HAL_RCC_SPI1_CLK_DISABLE();
103 |
104 | /**SPI1 GPIO Configuration
105 | PA5 ------> SPI1_SCK
106 | PA6 ------> SPI1_MISO
107 | PA7 ------> SPI1_MOSI
108 | */
109 | HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
110 |
111 | /* USER CODE BEGIN SPI1_MspDeInit 1 */
112 |
113 | /* USER CODE END SPI1_MspDeInit 1 */
114 | }
115 | }
116 |
117 | /* USER CODE BEGIN 1 */
118 |
119 | /* USER CODE END 1 */
120 |
121 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
122 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Src/stm32f4xx_hal_msp.c:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file stm32f4xx_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) 2021 STMicroelectronics.
11 | * All rights reserved.
12 | *
13 | * This software component is licensed by ST under BSD 3-Clause license,
14 | * the "License"; You may not use this file except in compliance with the
15 | * License. You may obtain a copy of the License at:
16 | * opensource.org/licenses/BSD-3-Clause
17 | *
18 | ******************************************************************************
19 | */
20 | /* USER CODE END Header */
21 |
22 | /* Includes ------------------------------------------------------------------*/
23 | #include "main.h"
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 | /* System interrupt init*/
74 | /* PendSV_IRQn interrupt configuration */
75 | HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
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 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Src/syscalls.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file syscalls.c
4 | * @author Auto-generated by STM32CubeIDE
5 | * @brief STM32CubeIDE Minimal System calls file
6 | *
7 | * For more information about which c-functions
8 | * need which of these lowlevel functions
9 | * please consult the Newlib libc-manual
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * © Copyright (c) 2020 STMicroelectronics.
14 | * All rights reserved.
15 | *
16 | * This software component is licensed by ST under BSD 3-Clause license,
17 | * the "License"; You may not use this file except in compliance with the
18 | * License. You may obtain a copy of the License at:
19 | * opensource.org/licenses/BSD-3-Clause
20 | *
21 | ******************************************************************************
22 | */
23 |
24 | /* Includes */
25 | #include
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include
32 | #include
33 |
34 |
35 | /* Variables */
36 | //#undef errno
37 | extern int errno;
38 | extern int __io_putchar(int ch) __attribute__((weak));
39 | extern int __io_getchar(void) __attribute__((weak));
40 |
41 | register char * stack_ptr asm("sp");
42 |
43 | char *__env[1] = { 0 };
44 | char **environ = __env;
45 |
46 |
47 | /* Functions */
48 | void initialise_monitor_handles()
49 | {
50 | }
51 |
52 | int _getpid(void)
53 | {
54 | return 1;
55 | }
56 |
57 | int _kill(int pid, int sig)
58 | {
59 | errno = EINVAL;
60 | return -1;
61 | }
62 |
63 | void _exit (int status)
64 | {
65 | _kill(status, -1);
66 | while (1) {} /* Make sure we hang here */
67 | }
68 |
69 | __attribute__((weak)) int _read(int file, char *ptr, int len)
70 | {
71 | int DataIdx;
72 |
73 | for (DataIdx = 0; DataIdx < len; DataIdx++)
74 | {
75 | *ptr++ = __io_getchar();
76 | }
77 |
78 | return len;
79 | }
80 |
81 | __attribute__((weak)) int _write(int file, char *ptr, int len)
82 | {
83 | int DataIdx;
84 |
85 | for (DataIdx = 0; DataIdx < len; DataIdx++)
86 | {
87 | __io_putchar(*ptr++);
88 | }
89 | return len;
90 | }
91 |
92 | int _close(int file)
93 | {
94 | return -1;
95 | }
96 |
97 |
98 | int _fstat(int file, struct stat *st)
99 | {
100 | st->st_mode = S_IFCHR;
101 | return 0;
102 | }
103 |
104 | int _isatty(int file)
105 | {
106 | return 1;
107 | }
108 |
109 | int _lseek(int file, int ptr, int dir)
110 | {
111 | return 0;
112 | }
113 |
114 | int _open(char *path, int flags, ...)
115 | {
116 | /* Pretend like we always fail */
117 | return -1;
118 | }
119 |
120 | int _wait(int *status)
121 | {
122 | errno = ECHILD;
123 | return -1;
124 | }
125 |
126 | int _unlink(char *name)
127 | {
128 | errno = ENOENT;
129 | return -1;
130 | }
131 |
132 | int _times(struct tms *buf)
133 | {
134 | return -1;
135 | }
136 |
137 | int _stat(char *file, struct stat *st)
138 | {
139 | st->st_mode = S_IFCHR;
140 | return 0;
141 | }
142 |
143 | int _link(char *old, char *new)
144 | {
145 | errno = EMLINK;
146 | return -1;
147 | }
148 |
149 | int _fork(void)
150 | {
151 | errno = EAGAIN;
152 | return -1;
153 | }
154 |
155 | int _execve(char *name, char **argv, char **env)
156 | {
157 | errno = ENOMEM;
158 | return -1;
159 | }
160 |
--------------------------------------------------------------------------------
/Firmware/FocController/Core/Src/sysmem.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file sysmem.c
4 | * @author Generated by STM32CubeIDE
5 | * @brief STM32CubeIDE System Memory calls file
6 | *
7 | * For more information about which C functions
8 | * need which of these lowlevel functions
9 | * please consult the newlib libc manual
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * © Copyright (c) 2020 STMicroelectronics.
14 | * All rights reserved.
15 | *
16 | * This software component is licensed by ST under BSD 3-Clause license,
17 | * the "License"; You may not use this file except in compliance with the
18 | * License. You may obtain a copy of the License at:
19 | * opensource.org/licenses/BSD-3-Clause
20 | *
21 | ******************************************************************************
22 | */
23 |
24 | /* Includes */
25 | #include
26 | #include
27 |
28 | /**
29 | * Pointer to the current high watermark of the heap usage
30 | */
31 | static uint8_t *__sbrk_heap_end = NULL;
32 |
33 | /**
34 | * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
35 | * and others from the C library
36 | *
37 | * @verbatim
38 | * ############################################################################
39 | * # .data # .bss # newlib heap # MSP stack #
40 | * # # # # Reserved by _Min_Stack_Size #
41 | * ############################################################################
42 | * ^-- RAM start ^-- _end _estack, RAM end --^
43 | * @endverbatim
44 | *
45 | * This implementation starts allocating at the '_end' linker symbol
46 | * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
47 | * The implementation considers '_estack' linker symbol to be RAM end
48 | * NOTE: If the MSP stack, at any point during execution, grows larger than the
49 | * reserved size, please increase the '_Min_Stack_Size'.
50 | *
51 | * @param incr Memory size
52 | * @return Pointer to allocated memory
53 | */
54 | void *_sbrk(ptrdiff_t incr)
55 | {
56 | extern uint8_t _end; /* Symbol defined in the linker script */
57 | extern uint8_t _estack; /* Symbol defined in the linker script */
58 | extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
59 | const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
60 | const uint8_t *max_heap = (uint8_t *)stack_limit;
61 | uint8_t *prev_heap_end;
62 |
63 | /* Initialize heap end at first call */
64 | if (NULL == __sbrk_heap_end)
65 | {
66 | __sbrk_heap_end = &_end;
67 | }
68 |
69 | /* Protect heap from growing into the reserved MSP stack */
70 | if (__sbrk_heap_end + incr > max_heap)
71 | {
72 | errno = ENOMEM;
73 | return (void *)-1;
74 | }
75 |
76 | prev_heap_end = __sbrk_heap_end;
77 | __sbrk_heap_end += incr;
78 |
79 | return (void *)prev_heap_end;
80 | }
81 |
--------------------------------------------------------------------------------
/Firmware/FocController/Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/huyanghong/Foc-Controller/fb41c815289e4d521f168bfe4f22c428b1a992db/Firmware/FocController/Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
--------------------------------------------------------------------------------
/Firmware/FocController/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 |
--------------------------------------------------------------------------------
/Firmware/FocController/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 |
--------------------------------------------------------------------------------
/Firmware/FocController/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_hal_dma_ex.h
4 | * @author MCD Application Team
5 | * @brief Header file of DMA HAL extension module.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2017 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Define to prevent recursive inclusion -------------------------------------*/
21 | #ifndef __STM32F4xx_HAL_DMA_EX_H
22 | #define __STM32F4xx_HAL_DMA_EX_H
23 |
24 | #ifdef __cplusplus
25 | extern "C" {
26 | #endif
27 |
28 | /* Includes ------------------------------------------------------------------*/
29 | #include "stm32f4xx_hal_def.h"
30 |
31 | /** @addtogroup STM32F4xx_HAL_Driver
32 | * @{
33 | */
34 |
35 | /** @addtogroup DMAEx
36 | * @{
37 | */
38 |
39 | /* Exported types ------------------------------------------------------------*/
40 | /** @defgroup DMAEx_Exported_Types DMAEx Exported Types
41 | * @brief DMAEx Exported types
42 | * @{
43 | */
44 |
45 | /**
46 | * @brief HAL DMA Memory definition
47 | */
48 | typedef enum
49 | {
50 | MEMORY0 = 0x00U, /*!< Memory 0 */
51 | MEMORY1 = 0x01U /*!< Memory 1 */
52 | }HAL_DMA_MemoryTypeDef;
53 |
54 | /**
55 | * @}
56 | */
57 |
58 | /* Exported functions --------------------------------------------------------*/
59 | /** @defgroup DMAEx_Exported_Functions DMAEx Exported Functions
60 | * @brief DMAEx Exported functions
61 | * @{
62 | */
63 |
64 | /** @defgroup DMAEx_Exported_Functions_Group1 Extended features functions
65 | * @brief Extended features functions
66 | * @{
67 | */
68 |
69 | /* IO operation functions *******************************************************/
70 | HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength);
71 | HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength);
72 | HAL_StatusTypeDef HAL_DMAEx_ChangeMemory(DMA_HandleTypeDef *hdma, uint32_t Address, HAL_DMA_MemoryTypeDef memory);
73 |
74 | /**
75 | * @}
76 | */
77 | /**
78 | * @}
79 | */
80 |
81 | /* Private functions ---------------------------------------------------------*/
82 | /** @defgroup DMAEx_Private_Functions DMAEx Private Functions
83 | * @brief DMAEx Private functions
84 | * @{
85 | */
86 | /**
87 | * @}
88 | */
89 |
90 | /**
91 | * @}
92 | */
93 |
94 | /**
95 | * @}
96 | */
97 |
98 | #ifdef __cplusplus
99 | }
100 | #endif
101 |
102 | #endif /*__STM32F4xx_HAL_DMA_EX_H*/
103 |
104 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
105 |
--------------------------------------------------------------------------------
/Firmware/FocController/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_hal_flash_ramfunc.h
4 | * @author MCD Application Team
5 | * @brief Header file of FLASH RAMFUNC driver.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2017 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Define to prevent recursive inclusion -------------------------------------*/
21 | #ifndef __STM32F4xx_FLASH_RAMFUNC_H
22 | #define __STM32F4xx_FLASH_RAMFUNC_H
23 |
24 | #ifdef __cplusplus
25 | extern "C" {
26 | #endif
27 | #if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\
28 | defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx)
29 |
30 | /* Includes ------------------------------------------------------------------*/
31 | #include "stm32f4xx_hal_def.h"
32 |
33 | /** @addtogroup STM32F4xx_HAL_Driver
34 | * @{
35 | */
36 |
37 | /** @addtogroup FLASH_RAMFUNC
38 | * @{
39 | */
40 |
41 | /* Exported types ------------------------------------------------------------*/
42 | /* Exported macro ------------------------------------------------------------*/
43 | /* Exported functions --------------------------------------------------------*/
44 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions
45 | * @{
46 | */
47 |
48 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions_Group1
49 | * @{
50 | */
51 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StopFlashInterfaceClk(void);
52 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StartFlashInterfaceClk(void);
53 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_EnableFlashSleepMode(void);
54 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_DisableFlashSleepMode(void);
55 | /**
56 | * @}
57 | */
58 |
59 | /**
60 | * @}
61 | */
62 |
63 | /**
64 | * @}
65 | */
66 |
67 | /**
68 | * @}
69 | */
70 |
71 | #endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */
72 | #ifdef __cplusplus
73 | }
74 | #endif
75 |
76 |
77 | #endif /* __STM32F4xx_FLASH_RAMFUNC_H */
78 |
79 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
80 |
--------------------------------------------------------------------------------
/Firmware/FocController/Drivers/STM32F4xx_HAL_Driver/License.md:
--------------------------------------------------------------------------------
1 | # Copyright (c) 2016 STMicroelectronics
2 |
3 | This software component is licensed by STMicroelectronics under the **BSD-3-Clause** license. You may not use this file except in compliance with this license. You may obtain a copy of the license [here](https://opensource.org/licenses/BSD-3-Clause).
--------------------------------------------------------------------------------
/Firmware/FocController/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h:
--------------------------------------------------------------------------------
1 | /* --------------------------------------------------------------------------
2 | * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
3 | *
4 | * SPDX-License-Identifier: Apache-2.0
5 | *
6 | * Licensed under the Apache License, Version 2.0 (the License); you may
7 | * not use this file except in compliance with the License.
8 | * You may obtain a copy of the License at
9 | *
10 | * www.apache.org/licenses/LICENSE-2.0
11 | *
12 | * Unless required by applicable law or agreed to in writing, software
13 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT
14 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 | * See the License for the specific language governing permissions and
16 | * limitations under the License.
17 | *
18 | * Name: freertos_mpool.h
19 | * Purpose: CMSIS RTOS2 wrapper for FreeRTOS
20 | *
21 | *---------------------------------------------------------------------------*/
22 |
23 | #ifndef FREERTOS_MPOOL_H_
24 | #define FREERTOS_MPOOL_H_
25 |
26 | #include
27 | #include "FreeRTOS.h"
28 | #include "semphr.h"
29 |
30 | /* Memory Pool implementation definitions */
31 | #define MPOOL_STATUS 0x5EED0000U
32 |
33 | /* Memory Block header */
34 | typedef struct {
35 | void *next; /* Pointer to next block */
36 | } MemPoolBlock_t;
37 |
38 | /* Memory Pool control block */
39 | typedef struct MemPoolDef_t {
40 | MemPoolBlock_t *head; /* Pointer to head block */
41 | SemaphoreHandle_t sem; /* Pool semaphore handle */
42 | uint8_t *mem_arr; /* Pool memory array */
43 | uint32_t mem_sz; /* Pool memory array size */
44 | const char *name; /* Pointer to name string */
45 | uint32_t bl_sz; /* Size of a single block */
46 | uint32_t bl_cnt; /* Number of blocks */
47 | uint32_t n; /* Block allocation index */
48 | volatile uint32_t status; /* Object status flags */
49 | #if (configSUPPORT_STATIC_ALLOCATION == 1)
50 | StaticSemaphore_t mem_sem; /* Semaphore object memory */
51 | #endif
52 | } MemPool_t;
53 |
54 | /* No need to hide static object type, just align to coding style */
55 | #define StaticMemPool_t MemPool_t
56 |
57 | /* Define memory pool control block size */
58 | #define MEMPOOL_CB_SIZE (sizeof(StaticMemPool_t))
59 |
60 | /* Define size of the byte array required to create count of blocks of given size */
61 | #define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count))
62 |
63 | #endif /* FREERTOS_MPOOL_H_ */
64 |
--------------------------------------------------------------------------------
/Firmware/FocController/Middlewares/Third_Party/FreeRTOS/Source/LICENSE:
--------------------------------------------------------------------------------
1 | Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
2 | Permission is hereby granted, free of charge, to any person obtaining a copy of
3 | this software and associated documentation files (the "Software"), to deal in
4 | the Software without restriction, including without limitation the rights to
5 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
6 | the Software, and to permit persons to whom the Software is furnished to do so,
7 | subject to the following conditions:
8 |
9 | The above copyright notice and this permission notice shall be included in all
10 | copies or substantial portions of the Software.
11 |
12 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
13 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
14 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
15 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
16 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
17 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
18 |
19 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/Class/HardwareCan.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | //HardwareCan::HardwareCan() {
4 | // // TODO Auto-generated destructor stub
5 | //}
6 | void HardwareCan::DoProtocol(void){
7 |
8 | }
9 |
10 | HardwareCan::~HardwareCan() {
11 | // TODO Auto-generated destructor stub
12 | }
13 |
14 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/Class/HardwareCan.h:
--------------------------------------------------------------------------------
1 | #ifndef CLASS_HARDWARECAN_H_
2 | #define CLASS_HARDWARECAN_H_
3 | #include "main.h"
4 | #include
5 |
6 | typedef struct {
7 | CAN_RxHeaderTypeDef Header;
8 | uint8_t Data[8];
9 | } CanMessage_t;
10 |
11 | class HardwareCan {
12 | public:
13 | HardwareCan(CAN_HandleTypeDef *hcan):Hcan(hcan){};
14 | virtual ~HardwareCan();
15 |
16 | CAN_HandleTypeDef *Hcan;
17 |
18 | std::vector TransmitMsg;
19 | std::vector ReceiveMsg;
20 |
21 | virtual void DoProtocol(void);
22 | };
23 |
24 | #endif /* CLASS_HARDWARECAN_H_ */
25 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/Class/HardwareSerial.h:
--------------------------------------------------------------------------------
1 | #ifndef HARDWARESERIAL_H_
2 | #define HARDWARESERIAL_H_
3 |
4 | #include "string.h"
5 | #include "stdint.h"
6 | #include "FreeRTOS.h"
7 | #include "task.h"
8 | #include "main.h"
9 | #include
10 | #include "usart.h"
11 | #include
12 | #include
13 |
14 | #define SERIAL_RX_BUFFER_SIZE 512
15 | #define SERIAL_TX_BUFFER_SIZE 512
16 |
17 | class HardwareSerial {
18 | public:
19 | HardwareSerial(USART_TypeDef* UartInstance, int32_t baud = 115200);
20 | //HardwareSerial();
21 | virtual ~HardwareSerial();
22 |
23 | //public:
24 | protected:
25 | UART_HandleTypeDef Huart;
26 | USART_TypeDef *Instance;
27 | int Baud;
28 |
29 | uint8_t Rx_Buffer[SERIAL_RX_BUFFER_SIZE];
30 | uint8_t Tx_Buffer[SERIAL_TX_BUFFER_SIZE];
31 | uint64_t RxTimeStamp;
32 | unsigned int Buffer_Head = 0, Buffer_Tail = 0; /** head当前位置数据有效，tail位置前一位才是有效数据*/
33 | int Available = 0; /** 接收数据可用长度*/
34 | int Tx_Len; /** 发送数据长度*/
35 |
36 | bool Lock;
37 |
38 | public:
39 | void Begin(int baud);
40 | void Begin(void);
41 | int GetAvailable(void){return Available;}
42 | uint64_t GetRxTimeStamp(void){return RxTimeStamp;}
43 | uint8_t Read(void);
44 | int Read(uint8_t* dest, int num);
45 | int Add(uint8_t ch);
46 | int Add(uint8_t* src, int num);
47 | void (*pOneWrite)(uint8_t ch);
48 | void (*pWrite)(uint8_t *src, int num);
49 |
50 | void OneWrite(uint8_t ch){
51 | while((Instance->SR & 0X40) == 0);
52 | Instance->DR = (uint8_t)ch;
53 | };
54 | void Write(uint8_t *src, int num){
55 | while(num--){
56 | this->OneWrite(*src);
57 | src++;
58 | }
59 | };
60 |
61 | uint8_t StrBuf[100];
62 | void printf(char *fmt,...){
63 | va_list ap;
64 | va_start(ap, fmt);
65 | vsprintf((char*)StrBuf, fmt, ap);
66 | Write(StrBuf, strlen((char*)StrBuf));
67 | va_end(ap);
68 | }
69 |
70 | virtual void DoProtocol(void){}
71 |
72 | };
73 |
74 | #endif /* HARDWARESERIAL_H_ */
75 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/Class/PwmLed.cpp:
--------------------------------------------------------------------------------
1 | #include "PwmLed.h"
2 |
3 | PwmLed::PwmLed() {
4 | // TODO Auto-generated constructor stub
5 | this->Status = this->OFF;
6 |
7 | }
8 | PwmLed::PwmLed(TIM_HandleTypeDef* p, int chan, int t) {
9 | this->Handle_Tim = p;
10 | this->Channel = chan;
11 | this->Status = this->OFF;
12 | if(t > 100) this->Base_Time = 100;
13 | else if(t < 10) this->Base_Time = 10;
14 | else this->Base_Time = t;
15 | //__HAL_TIM_SetCompare(&htim12, TIM_CHANNEL_1, 300);
16 | }
17 |
18 | void PwmLed::SetPwm(int pwm) {
19 | __HAL_TIM_SetCompare((TIM_HandleTypeDef*)this->Handle_Tim, this->Channel, pwm);
20 | }
21 |
22 | void PwmLed::Run(void) {
23 | this->Inc_Time += this->Base_Time;
24 |
25 | switch(this->Status){
26 | case this->BREATHING:
27 | if(this->Dir) this->Pwm += this->Base_Time / 10;
28 | else this->Pwm -= this->Base_Time / 10;
29 | if(this->Pwm > 100 && this->Dir) this->Dir = 0; /** 呼吸灯的亮度从5~100，太亮看不出区别，没有呼吸效果*/
30 | else if(this->Pwm < 5 && !this->Dir) this->Dir = 1;
31 | break;
32 | case this->OFF: this->Pwm = 0; break;
33 | case this->ON : this->Pwm = this->High; break;
34 | case this->FLASHING:
35 | if((this->Inc_Time % (500/this->Freq)) < this->Base_Time){ /** 计算频率间隔时间，取模小于一个周期反转状态*/
36 | if(this->Pwm > this->High/2) this->Pwm = 0;
37 | else this->Pwm = this->High;
38 | this->Inc_Time = 0;
39 | }
40 | break;
41 | }
42 | this->SetPwm(this->Pwm);
43 | }
44 |
45 | void PwmLed::SetOn(void) {
46 | this->Status = this->ON;
47 | }
48 |
49 | void PwmLed::SetOff(void) {
50 | this->Status = this->OFF;
51 | }
52 |
53 | void PwmLed::SetBreathing(void) {
54 | this->Status = this->BREATHING;
55 | }
56 |
57 | void PwmLed::SetFlashing(int freq) {
58 | this->Status = this->FLASHING;
59 | if(freq > 10) freq = 10;
60 | if(freq > 0) this->Freq = freq;
61 | else this->Status = this->OFF;
62 | }
63 |
64 | int PwmLed::SetToggle(void) {
65 | if(this->Status == this->ON)
66 | this->Status = this->OFF;
67 | else if(this->Status == this->OFF)
68 | this->Status = this->ON;
69 |
70 | if(this->Status == this->ON || this->Status == this->OFF) return 1;
71 | else return 0;
72 | }
73 |
74 | PwmLed::~PwmLed() {
75 | // TODO Auto-generated destructor stub
76 | }
77 |
78 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/Class/PwmLed.h:
--------------------------------------------------------------------------------
1 | #ifndef CLASS_PWMLED_H_
2 | #define CLASS_PWMLED_H_
3 |
4 | #include "main.h"
5 |
6 | class PwmLed {
7 | public:
8 | PwmLed();
9 | PwmLed(TIM_HandleTypeDef* p, int chan, int t = 10 /*ms*/ );
10 | virtual ~PwmLed();
11 |
12 | public:
13 | TIM_HandleTypeDef *Handle_Tim = 0;
14 | int Channel;
15 |
16 | unsigned int Inc_Time = 0; /** run函数运行的时基*/
17 | int Pwm; /** 暂存当前pwm的值 */
18 | int Freq; /** 闪烁的频率*/
19 | int Base_Time; /** run函数运行时间间隔,取值10~100ms*/
20 | int Dir = 0; /** 呼吸灯计算时的方向*/
21 | int High = 300; /** 最大亮度*/
22 |
23 | public:
24 | enum {BREATHING = -2, OFF, ON, FLASHING} Status;
25 |
26 | void SetTime(TIM_HandleTypeDef* p){this->Handle_Tim = p;}
27 | void SetChannel(int chan){this->Channel = chan;}
28 |
29 | void SetPwm(int pwm);
30 | void Run(void);
31 |
32 | void SetOn(void);
33 | void SetOff(void);
34 | void SetBreathing(void);
35 | void SetFlashing(int freq);
36 | void SetBasetime(int t){Base_Time = t;}
37 |
38 | int SetToggle(void);
39 | int GetStatus(void){return Status;}
40 |
41 | };
42 |
43 | #endif /* CLASS_PWMLED_H_ */
44 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/Class/Shycom.h:
--------------------------------------------------------------------------------
1 | #ifndef CLASS_SHYCOM_H_
2 | #define CLASS_SHYCOM_H_
3 |
4 | #include "HardwareSerial.h"
5 |
6 | #define PROTOCOL_BUFFER_SIZE 100
7 |
8 | class Shycom: public HardwareSerial {
9 | public:
10 | Shycom(USART_TypeDef* UartInstance, int32_t baud = 115200);
11 | virtual ~Shycom();
12 |
13 | virtual void DoProtocol();
14 |
15 | uint8_t Param_Len[256];
16 | int Protocol_Buffer_Len = 0;
17 | uint8_t Protocol_Buffer[PROTOCOL_BUFFER_SIZE];
18 |
19 | void ReportCurveValue(const float *value, uint8_t len);
20 |
21 | };
22 |
23 | #endif /* CLASS_SHYCOM_H_ */
24 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/AdcValue.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | AdcValue::AdcValue() {
4 | // TODO Auto-generated constructor stub
5 | }
6 |
7 | AdcValue::~AdcValue() {
8 | // TODO Auto-generated destructor stub
9 | }
10 |
11 |
12 | void AdcValue::Offset(int cnt){
13 | unsigned int iu = 0, iv = 0, iw = 0;
14 |
15 | if(this->Adc3){
16 | HAL_ADC_Start(this->Adc1);
17 | HAL_ADC_Start(this->Adc2);
18 | HAL_ADC_Start(this->Adc3);
19 |
20 | for(int i=0; iAdc1, this->Rank1);
22 | iv += HAL_ADCEx_InjectedGetValue(this->Adc2, this->Rank2);
23 | iw += HAL_ADCEx_InjectedGetValue(this->Adc3, this->Rank3);
24 | HAL_Delay(1);
25 | }
26 | this->OffsetValue.iu = (float)iu / cnt * ADC2AMPS;
27 | this->OffsetValue.iv = (float)iv / cnt * ADC2AMPS;
28 | this->OffsetValue.iw = (float)iw / cnt * ADC2AMPS;
29 | }else{
30 | HAL_ADC_Start(this->Adc1);
31 | HAL_ADC_Start(this->Adc2);
32 |
33 | for(int i=0; iAdc1, this->Rank1);
35 | iv += HAL_ADCEx_InjectedGetValue(this->Adc2, this->Rank2);
36 | HAL_Delay(1);
37 | }
38 | this->OffsetValue.iu = (float)iu / cnt * ADC2AMPS;
39 | this->OffsetValue.iv = (float)iv / cnt * ADC2AMPS;
40 | this->OffsetValue.iw = 0;
41 | }
42 | // HAL_ADCEx_InjectedStart_IT(&hadc1);
43 | }
44 | #include "stdio.h"
45 | void AdcValue::Update(void){
46 | unsigned int iu = 0, iv = 0, iw = 0;
47 |
48 | if(this->Adc3){
49 | iu = HAL_ADCEx_InjectedGetValue(this->Adc1, this->Rank1);
50 | iv = HAL_ADCEx_InjectedGetValue(this->Adc2, this->Rank2);
51 | iw = HAL_ADCEx_InjectedGetValue(this->Adc3, this->Rank3);
52 |
53 | this->Value.iu = this->OffsetValue.iu - iu * ADC2AMPS;
54 | this->Value.iv = this->OffsetValue.iv - iv * ADC2AMPS;
55 | this->Value.iw = this->OffsetValue.iw - iw * ADC2AMPS;
56 | }else{
57 | iu = HAL_ADCEx_InjectedGetValue(this->Adc1, this->Rank1);
58 | iv = HAL_ADCEx_InjectedGetValue(this->Adc2, this->Rank2);
59 |
60 | this->Value.iu = this->OffsetValue.iu - iu * ADC2AMPS;
61 | this->Value.iv = this->OffsetValue.iv - iv * ADC2AMPS;
62 | this->Value.iw = -this->Value.iu - this->Value.iv;
63 | }
64 | }
65 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/AdcValue.h:
--------------------------------------------------------------------------------
1 | #ifndef FOC_ADCVALUE_H_
2 | #define FOC_ADCVALUE_H_
3 |
4 | #include "adc.h"
5 |
6 | #define ADC2VOLTAGE 0.00008056640625 // adcValue/4096*3.3
7 | #define ADC2AMPS 0.0008056640625 // adcValue/4096*3.3/0.1
8 |
9 | class AdcValue {
10 | public:
11 | AdcValue();
12 | virtual ~AdcValue();
13 |
14 | AdcValue(ADC_HandleTypeDef *adc1, int rank1, ADC_HandleTypeDef *adc2, int rank2, ADC_HandleTypeDef *adc3 = NULL, int rank3 = 1){
15 | this->Adc1 = adc1;
16 | this->Rank1 = rank1;
17 | this->Adc2 = adc2;
18 | this->Rank2 = rank2;
19 | this->Adc3 = adc3;
20 | this->Rank3 = rank3;
21 | };
22 |
23 | void Start(){HAL_ADCEx_InjectedStart_IT(this->Adc1);};
24 | void Stop(){HAL_ADCEx_InjectedStop_IT(this->Adc1);};
25 |
26 | ADC_HandleTypeDef *Adc1 = NULL, *Adc2 = NULL, *Adc3 = NULL;
27 | int Rank1 = 1, Rank2 = 1, Rank3 = 1;
28 |
29 | struct{
30 | float iu = 0;
31 | float iv = 0;
32 | float iw = 0;
33 | }OffsetValue;
34 |
35 | struct{
36 | float iu = 0;
37 | float iv = 0;
38 | float iw = 0;
39 | }Value;
40 |
41 | void Offset(int cnt = 1000);
42 | void Update(void);
43 |
44 | };
45 |
46 | #endif /* FOC_ADCVALUE_H_ */
47 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/Encoder.cpp:
--------------------------------------------------------------------------------
1 | /*
2 | * Encoder.cpp
3 | *
4 | * Created on: 2022年3月16日
5 | * Author: Kepler
6 | */
7 |
8 | #include
9 |
10 | Encoder::Encoder() {
11 | // TODO Auto-generated constructor stub
12 |
13 | }
14 |
15 | Encoder::~Encoder() {
16 | // TODO Auto-generated destructor stub
17 | }
18 |
19 | void Encoder::Update(){
20 |
21 | float angle_data = GetRawCount();
22 |
23 | float d_angle = angle_data - this->AngleDataPrev;
24 | // if overflow happened track it as full rotation
25 | if(abs(d_angle) > (0.8*this->Cpr) ) this->FullRotationOffset += d_angle > 0 ? -_2PI : _2PI;
26 |
27 | // (number of full rotations)*2PI + current sensor angle
28 | this->CurrentAngle = this->Dir * (this->FullRotationOffset + ( angle_data / (float)this->Cpr) * _2PI);
29 | this->AngleDataPrev = angle_data;
30 |
31 |
32 | // calculate sample time
33 | unsigned long now_us = micros();
34 | float Ts = (now_us - this->VelocityCalcTimestamp)*1e-6;
35 | // quick fix for strange cases (micros overflow)
36 | if(Ts <= 0 || Ts > 0.5) Ts = 1e-4;
37 |
38 | // velocity calculation
39 | float vel = (this->CurrentAngle - this->AnglePrev)/Ts;
40 |
41 | this->AnglePrev = this->CurrentAngle;
42 | this->VelocityCalcTimestamp = now_us;
43 | this->CurrentVelocity = vel;
44 |
45 | }
46 |
47 | // Shaft angle calculation
48 | // angle is in radians [rad]
49 | float Encoder::GetAngle(){
50 | // float angle_data = GetRawCount();
51 | //
52 | // float d_angle = angle_data - this->AngleDataPrev;
53 | // // if overflow happened track it as full rotation
54 | // if(abs(d_angle) > (0.8*this->Cpr) ) this->FullRotationOffset += d_angle > 0 ? -_2PI : _2PI;
55 | //
56 | // this->AngleDataPrev = angle_data;
57 | //
58 | // // (number of full rotations)*2PI + current sensor angle
59 | // this->CurrentAngle = this->FullRotationOffset + ( angle_data / (float)this->Cpr) * _2PI;
60 | // //return full_rotation_offset + ( angle_data / (float)cpr) * _2PI;
61 | // return this->CurrentAngle;
62 |
63 | return this->CurrentAngle;
64 | }
65 |
66 | // Shaft velocity calculation
67 | float Encoder::GetVelocity(){
68 | // // calculate sample time
69 | // unsigned long now_us = micros();
70 | // float Ts = (now_us - this->VelocityCalcTimestamp)*1e-6;
71 | // // quick fix for strange cases (micros overflow)
72 | // if(Ts <= 0 || Ts > 0.5) Ts = 1e-3;
73 | //
74 | // // current angle
75 | // float angle_c = GetAngle();
76 | // // velocity calculation
77 | // float vel = (angle_c - this->AnglePrev)/Ts;
78 | //
79 | // // save variables for future pass
80 | // this->AnglePrev = angle_c;
81 | // this->VelocityCalcTimestamp = now_us;
82 | // this->CurrentVelocity = vel;
83 | // return vel;
84 |
85 | return this->CurrentVelocity;
86 | }
87 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/Encoder.h:
--------------------------------------------------------------------------------
1 | /*
2 | * Encoder.h
3 | *
4 | * Created on: 2022年3月16日
5 | * Author: Kepler
6 | */
7 |
8 | #ifndef FOC_ENCODER_H_
9 | #define FOC_ENCODER_H_
10 |
11 | #include "main.h"
12 | #include "math.h"
13 |
14 | #ifndef _2PI
15 | #define _2PI 6.2831852
16 | #endif
17 | #ifndef _PI
18 | #define _PI 3.1415926
19 | #endif
20 |
21 | class Encoder {
22 | public:
23 | Encoder();
24 | virtual ~Encoder();
25 |
26 | /** sensor initialise pins */
27 | virtual void Init() = 0;
28 |
29 | /**
30 | * Function getting current angle register value
31 | * it uses angle_register variable
32 | */
33 | virtual int GetRawCount() = 0;
34 |
35 | // implementation of abstract functions of the Sensor class
36 | void Update();
37 | /** get current angle (rad) */
38 | float GetAngle();
39 | /** get current angular velocity (rad/s) **/
40 | float GetVelocity();
41 |
42 | /** Stop communication */
43 | void Close();
44 |
45 | void ZeroProcess(){};
46 |
47 | public:
48 | enum DIR {CW = -1, CCW = 1} Dir = this->CCW;
49 | float Cpr; //!< Maximum range of the sensor
50 |
51 | // total angle tracking variables
52 | float FullRotationOffset; //!
5 | #include
6 | #include "FOC/MagneticSensorSPI.h"
7 | #include "FOC/IncrementalEncoder.h"
8 | #include "FOC/AdcValue.h"
9 |
10 |
11 | class FocController {
12 | public:
13 | FocController();
14 | virtual ~FocController();
15 | FocController(FocConverter *foc_Conv, SvPwm *sv_pwm, Encoder *sen, AdcValue *adc){
16 | this->Adc = adc;
17 | this->Sensor = sen;
18 | this->Svpwm = sv_pwm;
19 | this->FocConv = foc_Conv;
20 | };
21 |
22 |
23 | AdcValue *Adc;
24 | Encoder *Sensor;
25 | FocConverter *FocConv;
26 | SvPwm *Svpwm;
27 |
28 | void Init();
29 | void Run();
30 |
31 | float DeltaT;
32 | unsigned long Timestamp;
33 | float Udc; //电源电压
34 | int PolePair;
35 | int RunTime;
36 |
37 | float ElectronicAngle, MechanicalAngle, OffsetAngle;
38 | float OpenLoopTheta;
39 |
40 | Pid PidSpeed;
41 | Pid PidPosition;
42 |
43 | enum {CW = -1, CCW = 1} Dir = this->CCW;
44 | enum {Disable, InjectionVoltage, NoSensorOpenLoopSpeed, NoSensorOpenLoopPosition, CloseLoopCurrent, CloseLoopSpeed, CloseLoopPosition} Mode = this->Disable;
45 |
46 |
47 | struct{
48 | float Theta;
49 | float Voltage;
50 | }InjectionVoltageTarget;
51 | struct{
52 | float Speed;
53 | float Voltage;
54 | }NoSensorOpenLoopSpeedTarget;
55 | struct{
56 | float Position;
57 | float Speed;
58 | float Voltage;
59 | }NoSensorOpenLoopPositionTarget;
60 | struct{
61 | float Id;
62 | float Iq;
63 | }CloseLoopCurrentTarget;
64 | struct{
65 | float Speed;
66 | float Id;
67 | float Iq;
68 | }CloseLoopSpeedTarget;
69 | struct{
70 | float Position;
71 | float Id;
72 | float Iq;
73 | }CloseLoopPositionTarget;
74 | };
75 |
76 | #endif /* FOC_FOCCONTROLLER_H_ */
77 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/FocConverter.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include "math.h"
3 |
4 | #define FOC_SQRT_3 1.73205f
5 | #define FOC_ANGLE_TO_RADIN 0.01745f
6 |
7 |
8 | FocConverter::FocConverter() {
9 | // TODO Auto-generated constructor stub
10 |
11 | }
12 |
13 | FocConverter::~FocConverter() {
14 | // TODO Auto-generated destructor stub
15 | }
16 |
17 | void FocConverter::Clarke(void){
18 | this->Clarke(this->Ia, this->Ib, this->Ic);
19 | }
20 | void FocConverter::Clarke(float iA, float iB, float iC){
21 | this->Ialpha = iA;
22 | this->Ibeta = (iA + 2.0f * iB) / FOC_SQRT_3;
23 | }
24 |
25 | void FocConverter::Park(void){
26 | this->Park(this->Ialpha, this->Ibeta, this->Theta);
27 | }
28 |
29 | void FocConverter::Park(float iAlpha, float iBeta, float theta){
30 | float _Cos = cos(theta);
31 | float _Sin = sin(theta);
32 |
33 | this->Id = iAlpha * _Cos + iBeta * _Sin;
34 | this->Iq = -iAlpha * _Sin + iBeta * _Cos;
35 | }
36 | void FocConverter::RevPark(void){
37 | this->RevPark(this->Ud, this->Uq, this->Theta);
38 | }
39 | void FocConverter::RevPark(float uD, float uQ, float theta){
40 | float _Cos = cos(theta);
41 | float _Sin = sin(theta);
42 |
43 | if((uD * uD + uQ * uQ) > (this->Um * this->Um)){
44 | float temp = sqrt(uD * uD + uQ * uQ);
45 | uD = this->Um * uD/temp;
46 | uQ = this->Um * uQ/temp;
47 | }
48 |
49 | this->Ualpha = uD * _Cos - uQ * _Sin;
50 | this->Ubeta = uD * _Sin + uQ * _Cos;
51 | }
52 |
53 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/FocConverter.h:
--------------------------------------------------------------------------------
1 | #ifndef FOC_FOCCONVERTER_H_
2 | #define FOC_FOCCONVERTER_H_
3 |
4 | #include "Pid.h"
5 |
6 | class FocConverter {
7 | public:
8 | FocConverter();
9 | virtual ~FocConverter();
10 |
11 | float Ia, Ib, Ic;
12 | float Ialpha, Ibeta;
13 | float Id, Iq;
14 | float Ualpha, Ubeta;
15 | float Ud, Uq;
16 |
17 | float Theta;
18 |
19 | float Um; //最大电压 Udc * SQRT3_3
20 |
21 | Pid PidD, PidQ;
22 |
23 | void Clarke(float iA, float iB, float iC);
24 | void Clarke(void);
25 | void Park(float iAlpha, float iBeta, float theta);
26 | void Park(void);
27 | void RevPark(float uD, float uQ, float theta);
28 | void RevPark(void);
29 |
30 |
31 | };
32 |
33 | #endif /* FOC_FOCCONVERTER_H_ */
34 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/IncrementalEncoder.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | IncrementalEncoder::IncrementalEncoder() {
4 | // TODO Auto-generated constructor stub
5 |
6 | }
7 |
8 | IncrementalEncoder::~IncrementalEncoder() {
9 | // TODO Auto-generated destructor stub
10 | }
11 |
12 | IncrementalEncoder::IncrementalEncoder(TIM_HandleTypeDef* tim, int cpr, DIR dir){
13 | this->Tim = tim;
14 |
15 | this->Cpr = cpr;
16 | this->Dir = dir;
17 |
18 | // velocity calculation init
19 | this->AnglePrev = 0;
20 | this->VelocityCalcTimestamp = micros();
21 |
22 | // full rotations tracking number
23 | this->FullRotationOffset = 0;
24 | this->AngleDataPrev = 0;//this->GetRawCount();
25 | }
26 |
27 | void IncrementalEncoder::Init(TIM_HandleTypeDef* tim, int cpr, DIR dir){
28 | this->Tim = tim;
29 |
30 | this->Cpr = cpr;
31 | this->Dir = dir;
32 |
33 | // velocity calculation init
34 | this->AnglePrev = 0;
35 | this->VelocityCalcTimestamp = micros();
36 |
37 | // full rotations tracking number
38 | this->FullRotationOffset = 0;
39 | this->AngleDataPrev = this->GetRawCount();
40 | }
41 |
42 | int IncrementalEncoder::GetRawCount(){
43 | uint16_t count = this->Tim->Instance->CNT;
44 | return count;
45 | }
46 |
47 |
48 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/IncrementalEncoder.h:
--------------------------------------------------------------------------------
1 | #ifndef FOC_INCREMENTALENCODER_H_
2 | #define FOC_INCREMENTALENCODER_H_
3 |
4 | #include
5 |
6 | class IncrementalEncoder: public Encoder {
7 | public:
8 | IncrementalEncoder();
9 | virtual ~IncrementalEncoder();
10 |
11 | IncrementalEncoder(TIM_HandleTypeDef* tim, int cpr, DIR dir = DIR::CCW);
12 |
13 | virtual void Init(TIM_HandleTypeDef* tim, int cpr, DIR dir = DIR::CCW);
14 | virtual void Init(){};
15 |
16 | virtual int GetRawCount();
17 |
18 |
19 | TIM_HandleTypeDef* Tim;
20 | };
21 |
22 | #endif /* FOC_INCREMENTALENCODER_H_ */
23 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/MagneticSensorSPI.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 | #include "stdio.h"
4 | MagneticSensorSPI::MagneticSensorSPI() {
5 | // TODO Auto-generated constructor stub
6 |
7 | }
8 |
9 | MagneticSensorSPI::~MagneticSensorSPI() {
10 | // TODO Auto-generated destructor stub
11 | }
12 |
13 | MagneticSensorSPI::MagneticSensorSPI(SPI_HandleTypeDef* spi, GPIO_TypeDef* chip_select_gpiox, int chip_select_pin, int angle_register, int cpr, DIR dir){
14 | this->Spi = spi;
15 | this->ChipSelectGpiox = chip_select_gpiox;
16 | this->ChipSelectPin = chip_select_pin;
17 |
18 | this->AngleRegister = angle_register;
19 | this->Cpr = cpr;
20 | this->Dir = dir;
21 |
22 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_SET);
23 | // velocity calculation init
24 | this->AnglePrev = 0;
25 | this->VelocityCalcTimestamp = micros();
26 |
27 | // full rotations tracking number
28 | this->FullRotationOffset = 0;
29 | this->AngleDataPrev = 0;//this->GetRawCount();
30 | }
31 |
32 | void MagneticSensorSPI::Init(SPI_HandleTypeDef* spi, GPIO_TypeDef* chip_select_gpiox, int chip_select_pin, int angle_register, int cpr, DIR dir){
33 | this->Spi = spi;
34 | this->ChipSelectGpiox = chip_select_gpiox;
35 | this->ChipSelectPin = chip_select_pin;
36 |
37 | this->AngleRegister = angle_register;
38 | this->Cpr = cpr;
39 | this->Dir = dir;
40 |
41 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_SET);
42 | // velocity calculation init
43 | this->AnglePrev = 0;
44 | this->VelocityCalcTimestamp = micros();
45 |
46 | // full rotations tracking number
47 | this->FullRotationOffset = 0;
48 | this->AngleDataPrev = this->GetRawCount();
49 | }
50 |
51 | int MagneticSensorSPI::GetRawCount(){
52 |
53 | uint16_t command = this->AngleRegister | 0xc000;
54 |
55 | //Send the command
56 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_RESET);
57 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_RESET);
58 | HAL_SPI_Transmit(this->Spi ,(unsigned char *)&command, 1, 100);
59 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_SET);
60 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_SET);
61 |
62 | //Now read the response
63 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_RESET);
64 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_RESET);
65 | uint16_t register_value = 0;
66 | HAL_SPI_TransmitReceive(this->Spi ,(unsigned char *)&command, (unsigned char *)®ister_value, 1, 100);
67 | //HAL_SPI_Receive(this->Spi , (unsigned char *)®ister_value, 1, 100);
68 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_SET);
69 | HAL_GPIO_WritePin(this->ChipSelectGpiox, this->ChipSelectPin, GPIO_PIN_SET);
70 |
71 | return register_value & 0x3fff;
72 | }
73 |
74 |
75 |
76 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/MagneticSensorSPI.h:
--------------------------------------------------------------------------------
1 | #ifndef FOC_MAGNETICSENSORSPI_H_
2 | #define FOC_MAGNETICSENSORSPI_H_
3 |
4 | #include
5 | #include "spi.h"
6 |
7 | class MagneticSensorSPI: public Encoder {
8 | public:
9 | MagneticSensorSPI();
10 | virtual ~MagneticSensorSPI();
11 | MagneticSensorSPI(SPI_HandleTypeDef* spi, GPIO_TypeDef* chip_select_gpiox, int chip_select_pin, int angle_register, int cpr, DIR dir = DIR::CCW);
12 |
13 | virtual void Init(SPI_HandleTypeDef* spi, GPIO_TypeDef* chip_select_gpiox, int chip_select_pin, int angle_register, int cpr, DIR dir = DIR::CCW);
14 | virtual void Init(){};
15 | virtual int GetRawCount();
16 |
17 | public:
18 | SPI_HandleTypeDef* Spi;
19 | GPIO_TypeDef* ChipSelectGpiox;
20 | int ChipSelectPin; //!< SPI chip select pin
21 |
22 | int AngleRegister;
23 |
24 | /** Calculate parity value */
25 | uint8_t spiCalcEvenParity(uint16_t value);
26 |
27 | };
28 |
29 | #endif /* FOC_MAGNETICSENSORSPI_H_ */
30 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/Pid.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | #define LIMIT(VALUE, MIN, MAX) ((VALUE)<(MIN)? (MIN): ((VALUE)>(MAX)? (MAX): (VALUE)))
4 |
5 | Pid::Pid() {
6 | // TODO Auto-generated constructor stub
7 |
8 | }
9 |
10 | Pid::~Pid() {
11 | // TODO Auto-generated destructor stub
12 | }
13 | void Pid::PidProcess(void){
14 | this->Error = LIMIT(this->Target - this->Actual, -this->Limit_Error, this->Limit_Error);
15 |
16 | this->Integral += this->Ki * this->Error * this->DeltaT;
17 | this->Integral = LIMIT(this->Integral, -this->Limit_Integral, this->Limit_Integral);
18 |
19 | if(this->Integral * this->Error < 0) this->Integral *= this->Integral_Attenuation;
20 |
21 | if(this->Kd){
22 | this->D_Error = 0.001 * (this->Error - this->ErrorPrev) / this->DeltaT;
23 | this->ErrorPrev = this->Error;
24 | this->Result = this->Kp * this->Error + this->Integral + this->Kd * this->D_Error;
25 | }else this->Result = this->Kp * this->Error + this->Integral;
26 |
27 | this->Result = LIMIT(this->Result, -this->Limit_Result, this->Limit_Result);
28 | }
29 | void Pid::PidProcess(float t){
30 | this->Target = t;
31 | this->PidProcess();
32 | }
33 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/Pid.h:
--------------------------------------------------------------------------------
1 | #ifndef FOC_PID_H_
2 | #define FOC_PID_H_
3 |
4 | class Pid {
5 | public:
6 | Pid();
7 | virtual ~Pid();
8 |
9 | float DeltaT;
10 | float Target;
11 | float Actual;
12 |
13 | float Kp;
14 | float Ki;
15 | float Integral_Attenuation; // range[0, 1]
16 | unsigned int Kd;
17 | float Error;
18 | float ErrorPrev;
19 | float Integral;
20 | float D_Error;
21 |
22 | float Limit_Error;
23 | float Limit_Integral;//积分项下限
24 | float Limit_Result; //总输出下限
25 |
26 | float Result;
27 |
28 | void PidProcess(void);
29 | void PidProcess(float t);
30 | };
31 |
32 | #endif /* FOC_PID_H_ */
33 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/SvPwm.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | SvPwm::SvPwm() {
4 | // TODO Auto-generated constructor stub
5 | }
6 |
7 | SvPwm::~SvPwm() {
8 | // TODO Auto-generated destructor stub
9 | }
10 |
11 | SvPwm::SvPwm(TIM_HandleTypeDef* tim, int period) {
12 | // TODO Auto-generated constructor stub
13 | this->Tim = tim;
14 | this->PERIOD = period;
15 | this->PwmOutput(0, 0, 0);
16 | }
17 |
18 | void SvPwm::Svpwm(float uAlpha, float uBeta){
19 | float U1, U2, U3;
20 | float T1, T2, T3, T4, T5, T6, T7, Ts = 1.0f;
21 |
22 | U1 = uBeta;
23 | U2 = uAlpha * SVPWM_SQRT3_2 - uBeta / 2; // -temp3
24 | U3 = -uAlpha * SVPWM_SQRT3_2 - uBeta / 2;//-temp2
25 |
26 | uint8_t A = 0, B = 0, C = 0;
27 | if (U1 > 0) A = 1;
28 | if (U2 > 0) B = 1;
29 | if (U3 > 0) C = 1;
30 |
31 | uint8_t N = 4*C + 2*B + A;
32 | switch (N) {
33 | case 3: this->Sector = 1; break;
34 | case 1: this->Sector = 2; break;
35 | case 5: this->Sector = 3; break;
36 | case 4: this->Sector = 4; break;
37 | case 6: this->Sector = 5; break;
38 | case 2: this->Sector = 6; break;
39 | }
40 |
41 | switch (this->Sector) {
42 | case 1:
43 | T4 = SVPWM_SQRT3 * Ts / this->Udc * U2;
44 | T6 = SVPWM_SQRT3 * Ts / this->Udc * U1;
45 | T7 = (Ts - T4 - T6) / 2;
46 | break;
47 | case 2:
48 | T2 = -SVPWM_SQRT3 * Ts / this->Udc * U2;
49 | T6 = -SVPWM_SQRT3 * Ts / this->Udc * U3;
50 | T7 = (Ts - T2 - T6) / 2;
51 | break;
52 | case 3:
53 | T2 = SVPWM_SQRT3 * Ts / this->Udc * U1;
54 | T3 = SVPWM_SQRT3 * Ts / this->Udc * U3;
55 | T7 = (Ts - T2 - T3) / 2;
56 | break;
57 | case 4:
58 | T1 = -SVPWM_SQRT3 * Ts / this->Udc * U1;
59 | T3 = -SVPWM_SQRT3 * Ts / this->Udc * U2;
60 | T7 = (Ts - T1 - T3) / 2;
61 | break;
62 | case 5:
63 | T1 = SVPWM_SQRT3 * Ts / this->Udc * U3;
64 | T5 = SVPWM_SQRT3 * Ts / this->Udc * U2;
65 | T7 = (Ts - T1 - T5) / 2;
66 | break;
67 | case 6:
68 | T4 = -SVPWM_SQRT3 * Ts / this->Udc * U3;
69 | T5 = -SVPWM_SQRT3 * Ts / this->Udc * U1;
70 | T7 = (Ts - T4 - T5) / 2;
71 | break;
72 | }
73 |
74 |
75 | float Ta;
76 | float Tb;
77 | float Tc;
78 | switch (this->Sector) {
79 | case 1:
80 | Ta = T4 + T6 + T7;
81 | Tb = T6 + T7;
82 | Tc = T7;
83 | break;
84 | case 2:
85 | Ta = T6 + T7;
86 | Tb = T2 + T6 + T7;
87 | Tc = T7;
88 | break;
89 | case 3:
90 | Ta = T7;
91 | Tb = T2 + T3 + T7;
92 | Tc = T3 + T7;
93 | break;
94 | case 4:
95 | Ta = T7;
96 | Tb = T3 + T7;
97 | Tc = T1 + T3 + T7;
98 | break;
99 | case 5:
100 | Ta = T5 + T7;
101 | Tb = T7;
102 | Tc = T1 + T5 + T7;
103 | break;
104 | case 6:
105 | Ta = T4 + T5 + T7;
106 | Tb = T7;
107 | Tc = T5 + T7;
108 | break;
109 | }
110 |
111 | this->T1 = (Ta * this->PERIOD);
112 | if (this->T1 > this->PERIOD) this->T1 = this->PERIOD;
113 | if (this->T1 < 0) this->T1 = 0;
114 |
115 | this->T2 = (Tb * this->PERIOD);
116 | if (this->T2 > this->PERIOD) this->T2 = this->PERIOD;
117 | if (this->T2 < 0) this->T2 = 0;
118 |
119 | this->T3 = (Tc * this->PERIOD);
120 | if (this->T3 > this->PERIOD) this->T3 = this->PERIOD;
121 | if (this->T3 < 0) this->T3 = 0;
122 | }
123 |
124 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/FOC/SvPwm.h:
--------------------------------------------------------------------------------
1 | #ifndef FOC_SVPWM_H_
2 | #define FOC_SVPWM_H_
3 |
4 | #include "tim.h"
5 |
6 | #define SVPWM_SQRT3_2 0.8660254f
7 | #define SVPWM_SQRT3 1.7320508f
8 |
9 | class SvPwm {
10 | public:
11 | SvPwm();
12 | virtual ~SvPwm();
13 |
14 | SvPwm(TIM_HandleTypeDef* tim, int period);
15 |
16 | TIM_HandleTypeDef* Tim;
17 |
18 | int PERIOD = 4200;
19 | int T1, T2, T3;
20 | float Udc = 12;
21 | int Sector;
22 |
23 | void Svpwm(float uAlpha, float uBeta);
24 | void Svpwm();
25 |
26 | void PwmOutput(int t1, int t2, int t3){
27 | if(t1 > PERIOD) t1 = PERIOD;
28 | if(t2 > PERIOD) t2 = PERIOD;
29 | if(t3 > PERIOD) t3 = PERIOD;
30 | if(t1 < 0) t1 = 0;
31 | if(t2 < 0) t2 = 0;
32 | if(t3 < 0) t3 = 0;
33 | this->Tim->Instance->CCR1 = t1;
34 | this->Tim->Instance->CCR2 = t2;
35 | this->Tim->Instance->CCR3 = t3;
36 | }
37 | void PwmOutput(){
38 | PwmOutput(T1, T2, T3);
39 | }
40 | };
41 |
42 | #endif /* FOC_SVPWM_H_ */
43 |
--------------------------------------------------------------------------------
/Firmware/FocController/MyCode/TaskLed.cpp:
--------------------------------------------------------------------------------
1 | #include "PwmLed.h"
2 | #include "FreeRTOS.h"
3 | #include "task.h"
4 | #include "main.h"
5 |
6 | //extern TIM_HandleTypeDef htim12;
7 | //extern TIM_HandleTypeDef htim14;
8 | //
9 | //PwmLed Red(&htim12, TIM_CHANNEL_1, 50);
10 | //PwmLed Green(&htim12, TIM_CHANNEL_2, 50);
11 | //PwmLed Blue(&htim14, TIM_CHANNEL_1, 50);
12 | //
13 | //void ledTask(void *argument){
14 | // Red.SetBreathing();
15 | // Green.SetOff();
16 | // Blue.SetOff();
17 | // while(1){
18 | // vTaskDelay(50);
19 | // Red.Run();
20 | // Blue.Run();
21 | // Green.Run();
22 | // }
23 | //}
24 |
25 |
26 |
27 |
--------------------------------------------------------------------------------
/Firmware/SVPWM算法原理及详解.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/huyanghong/Foc-Controller/fb41c815289e4d521f168bfe4f22c428b1a992db/Firmware/SVPWM算法原理及详解.pdf
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/.project:
--------------------------------------------------------------------------------
1 |
2 |
3 | SimpleFoc
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 | com.st.stm32cube.ide.mcu.MCUCubeProjectNature
24 | org.eclipse.cdt.core.cnature
25 | com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature
26 | com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature
27 | com.st.stm32cube.ide.mcu.MCUEndUserDisabledTrustZoneProjectNature
28 | com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature
29 | com.st.stm32cube.ide.mcu.MCURootProjectNature
30 | org.eclipse.cdt.managedbuilder.core.managedBuildNature
31 | org.eclipse.cdt.managedbuilder.core.ScannerConfigNature
32 | org.eclipse.cdt.core.ccnature
33 |
34 |
35 |
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3 | svd_file_path=platform\:/plugin/com.st.stm32cube.ide.mcu.productdb.debug/resources/cmsis/STMicroelectronics_CMSIS_SVD/STM32F405.svd
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/Firmware/SimpleFoc/Core/Inc/adc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file adc.h
4 | * @brief This file contains all the function prototypes for
5 | * the adc.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __ADC_H__
21 | #define __ADC_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern ADC_HandleTypeDef hadc1;
35 |
36 | /* USER CODE BEGIN Private defines */
37 |
38 | /* USER CODE END Private defines */
39 |
40 | void MX_ADC1_Init(void);
41 |
42 | /* USER CODE BEGIN Prototypes */
43 | uint32_t readPhaseVoltage(const int pinA);
44 | /* USER CODE END Prototypes */
45 |
46 | #ifdef __cplusplus
47 | }
48 | #endif
49 |
50 | #endif /* __ADC_H__ */
51 |
52 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
53 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Inc/gpio.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file gpio.h
4 | * @brief This file contains all the function prototypes for
5 | * the gpio.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __GPIO_H__
21 | #define __GPIO_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | /* USER CODE BEGIN Private defines */
35 |
36 | /* USER CODE END Private defines */
37 |
38 | void MX_GPIO_Init(void);
39 |
40 | /* USER CODE BEGIN Prototypes */
41 |
42 | /* USER CODE END Prototypes */
43 |
44 | #ifdef __cplusplus
45 | }
46 | #endif
47 | #endif /*__ GPIO_H__ */
48 |
49 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
50 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/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) 2021 STMicroelectronics.
11 | * All rights reserved.
12 | *
13 | * This software component is licensed by ST under BSD 3-Clause license,
14 | * the "License"; You may not use this file except in compliance with the
15 | * License. You may obtain a copy of the License at:
16 | * opensource.org/licenses/BSD-3-Clause
17 | *
18 | ******************************************************************************
19 | */
20 | /* USER CODE END Header */
21 |
22 | /* Define to prevent recursive inclusion -------------------------------------*/
23 | #ifndef __MAIN_H
24 | #define __MAIN_H
25 |
26 | #ifdef __cplusplus
27 | extern "C" {
28 | #endif
29 |
30 | /* Includes ------------------------------------------------------------------*/
31 | #include "stm32f4xx_hal.h"
32 |
33 | /* Private includes ----------------------------------------------------------*/
34 | /* USER CODE BEGIN Includes */
35 |
36 | /* USER CODE END Includes */
37 |
38 | /* Exported types ------------------------------------------------------------*/
39 | /* USER CODE BEGIN ET */
40 | uint32_t getSysTime();
41 | /* USER CODE END ET */
42 |
43 | /* Exported constants --------------------------------------------------------*/
44 | /* USER CODE BEGIN EC */
45 |
46 | /* USER CODE END EC */
47 |
48 | /* Exported macro ------------------------------------------------------------*/
49 | /* USER CODE BEGIN EM */
50 |
51 | /* USER CODE END EM */
52 |
53 | /* Exported functions prototypes ---------------------------------------------*/
54 | void Error_Handler(void);
55 |
56 | /* USER CODE BEGIN EFP */
57 | void setupSimpleFOC(void);
58 | void loopSimpleFOC(void);
59 | void disableSimpleFOC(int s);
60 | void setTarget(float t);
61 | /* USER CODE END EFP */
62 |
63 | /* Private defines -----------------------------------------------------------*/
64 | /* USER CODE BEGIN Private defines */
65 |
66 | /* USER CODE END Private defines */
67 |
68 | #ifdef __cplusplus
69 | }
70 | #endif
71 |
72 | #endif /* __MAIN_H */
73 |
74 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
75 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Inc/spi.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file spi.h
4 | * @brief This file contains all the function prototypes for
5 | * the spi.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __SPI_H__
21 | #define __SPI_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern SPI_HandleTypeDef hspi1;
35 |
36 | /* USER CODE BEGIN Private defines */
37 |
38 | /* USER CODE END Private defines */
39 |
40 | void MX_SPI1_Init(void);
41 |
42 | /* USER CODE BEGIN Prototypes */
43 |
44 | /* USER CODE END Prototypes */
45 |
46 | #ifdef __cplusplus
47 | }
48 | #endif
49 |
50 | #endif /* __SPI_H__ */
51 |
52 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
53 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Inc/stm32f4xx_it.h:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file stm32f4xx_it.h
5 | * @brief This file contains the headers of the interrupt handlers.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2021 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 | /* USER CODE END Header */
20 |
21 | /* Define to prevent recursive inclusion -------------------------------------*/
22 | #ifndef __STM32F4xx_IT_H
23 | #define __STM32F4xx_IT_H
24 |
25 | #ifdef __cplusplus
26 | extern "C" {
27 | #endif
28 |
29 | /* Private includes ----------------------------------------------------------*/
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | /* Exported types ------------------------------------------------------------*/
35 | /* USER CODE BEGIN ET */
36 |
37 | /* USER CODE END ET */
38 |
39 | /* Exported constants --------------------------------------------------------*/
40 | /* USER CODE BEGIN EC */
41 |
42 | /* USER CODE END EC */
43 |
44 | /* Exported macro ------------------------------------------------------------*/
45 | /* USER CODE BEGIN EM */
46 |
47 | /* USER CODE END EM */
48 |
49 | /* Exported functions prototypes ---------------------------------------------*/
50 | void NMI_Handler(void);
51 | void HardFault_Handler(void);
52 | void MemManage_Handler(void);
53 | void BusFault_Handler(void);
54 | void UsageFault_Handler(void);
55 | void DebugMon_Handler(void);
56 | void SysTick_Handler(void);
57 | void ADC_IRQHandler(void);
58 | void UART4_IRQHandler(void);
59 | void TIM6_DAC_IRQHandler(void);
60 | void USART6_IRQHandler(void);
61 | /* USER CODE BEGIN EFP */
62 |
63 | /* USER CODE END EFP */
64 |
65 | #ifdef __cplusplus
66 | }
67 | #endif
68 |
69 | #endif /* __STM32F4xx_IT_H */
70 |
71 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
72 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Inc/tim.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file tim.h
4 | * @brief This file contains all the function prototypes for
5 | * the tim.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __TIM_H__
21 | #define __TIM_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern TIM_HandleTypeDef htim1;
35 | extern TIM_HandleTypeDef htim6;
36 |
37 | /* USER CODE BEGIN Private defines */
38 |
39 | /* USER CODE END Private defines */
40 |
41 | void MX_TIM1_Init(void);
42 | void MX_TIM6_Init(void);
43 |
44 | void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
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 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
57 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Inc/usart.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file usart.h
4 | * @brief This file contains all the function prototypes for
5 | * the usart.c file
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 | /* Define to prevent recursive inclusion -------------------------------------*/
20 | #ifndef __USART_H__
21 | #define __USART_H__
22 |
23 | #ifdef __cplusplus
24 | extern "C" {
25 | #endif
26 |
27 | /* Includes ------------------------------------------------------------------*/
28 | #include "main.h"
29 |
30 | /* USER CODE BEGIN Includes */
31 |
32 | /* USER CODE END Includes */
33 |
34 | extern UART_HandleTypeDef huart4;
35 | extern UART_HandleTypeDef huart6;
36 |
37 | /* USER CODE BEGIN Private defines */
38 |
39 | /* USER CODE END Private defines */
40 |
41 | void MX_UART4_Init(void);
42 | void MX_USART6_UART_Init(void);
43 |
44 | /* USER CODE BEGIN Prototypes */
45 | void uart6SendByte(uint8_t ch);
46 | void uart4SendLen(uint8_t *p, int num);
47 | /* USER CODE END Prototypes */
48 |
49 | #ifdef __cplusplus
50 | }
51 | #endif
52 |
53 | #endif /* __USART_H__ */
54 |
55 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
56 |
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/Firmware/SimpleFoc/Core/SimpleFOC/SimpleFOC.cpp:
--------------------------------------------------------------------------------
1 | #include "main.h"
2 | #include "cmsis_os.h"
3 | #include "FreeRTOS.h"
4 | #include "task.h"
5 | #include "SimpleFOC.h"
6 | #include "sensors/MagneticSensorSPI.h"
7 | #include "spi.h"
8 |
9 | BLDCMotor motor = BLDCMotor(7);
10 | BLDCDriver3PWM driver = BLDCDriver3PWM(Gpio_pin2Index(GPIOA, GPIO_PIN_8), Gpio_pin2Index(GPIOA, GPIO_PIN_9),Gpio_pin2Index(GPIOA, GPIO_PIN_10), Gpio_pin2Index(GPIOC, GPIO_PIN_7));
11 | MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, Gpio_pin2Index(GPIOA, GPIO_PIN_4));
12 | InlineCurrentSense current_sense = InlineCurrentSense(0.1, 10.0, Gpio_pin2Index(GPIOC, GPIO_PIN_0), Gpio_pin2Index(GPIOC, GPIO_PIN_1),Gpio_pin2Index(GPIOC, GPIO_PIN_2));
13 | Print Serial;
14 |
15 | void setupSimpleFOC() {
16 |
17 | vTaskDelay(1000);
18 |
19 | // initialise magnetic sensor hardware
20 | sensor.init(&hspi1);
21 | // link the motor to the sensor
22 | motor.linkSensor(&sensor);
23 |
24 | // driver config
25 | // power supply voltage [V]
26 | driver.voltage_power_supply = 12;
27 | driver.init();
28 | // link the motor and the driver
29 | motor.linkDriver(&driver);
30 |
31 | // choose FOC modulation (optional)
32 | motor.voltage_sensor_align = 1;
33 | // set control loop type to be used
34 |
35 | motor.torque_controller = TorqueControlType::foc_current;
36 | motor.controller = MotionControlType::angle;
37 |
38 |
39 | // maximal voltage to be set to the motor
40 | motor.voltage_limit = 6;
41 |
42 | // velocity low pass filtering time constant
43 | // the lower the less filtered
44 | motor.LPF_velocity.Tf = 0.01;
45 |
46 | // angle P controller
47 | motor.P_angle.P = 30;
48 | // maximal velocity of the position control
49 | motor.velocity_limit = 12;
50 |
51 |
52 | motor.useMonitoring(Serial);
53 | motor.monitor_downsample = 0; // disable intially
54 | motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
55 |
56 |
57 | current_sense.init();
58 | motor.linkCurrentSense(¤t_sense);
59 |
60 | // initialize motor
61 | motor.init();
62 | // align sensor and start FOC
63 | motor.initFOC();
64 | }
65 |
66 | float target = 1;
67 |
68 | void loopSimpleFOC() {
69 | motor.loopFOC();
70 | motor.move(target);
71 | motor.monitor();
72 | }
73 |
74 | void disableSimpleFOC(int s) {
75 | if(s == 1)
76 | motor.enable();
77 | else motor.disable();
78 | }
79 | void setTarget(float t){
80 | target = t;
81 | }
82 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/SimpleFOC.h:
--------------------------------------------------------------------------------
1 | /*!
2 | * @file SimpleFOC.h
3 | *
4 | * @mainpage Simple Field Oriented Control BLDC motor control library
5 | *
6 | * @section intro_sec Introduction
7 | *
8 | * Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist.
Even harder to find is a stable and simple FOC algorithm code capable of running on Arduino devices. Therefore this is an attempt to:
9 | * - Demystify FOC algorithm and make a robust but simple Arduino library: Arduino SimpleFOC library
10 | * - Develop a modular BLDC driver board: Arduino SimpleFOC shield.
11 | *
12 | * @section features Features
13 | * - Arduino compatible: Arduino library code
14 | * - Easy to setup and configure:
15 | * - Easy hardware configuration
16 | * - Easy tuning the control loops
17 | * - Modular:
18 | * - Supports as many sensors , BLDC motors and driver boards as possible
19 | * - Supports as many application requirements as possible
20 | * - Plug & play: Arduino SimpleFOC shield
21 | *
22 | * @section dependencies Supported Hardware
23 | * - Motors
24 | * - BLDC motors
25 | * - Stepper motors
26 | * - Drivers
27 | * - BLDC drivers
28 | * - Gimbal drivers
29 | * - Stepper drivers
30 | * - Position sensors
31 | * - Encoders
32 | * - Magnetic sensors
33 | * - Hall sensors
34 | * - Open-loop control
35 | * - Microcontrollers
36 | * - Arduino
37 | * - STM32
38 | * - ESP32
39 | * - Teensy
40 | *
41 | * @section example_code Example code
42 | * @code
43 |
44 | * @endcode
45 | *
46 | * @section license License
47 | *
48 | * MIT license, all text here must be included in any redistribution.
49 | *
50 | */
51 |
52 | #ifndef SIMPLEFOC_H
53 | #define SIMPLEFOC_H
54 |
55 | #include "BLDCMotor.h"
56 | //#include "StepperMotor.h"
57 | #include "sensors/Encoder.h"
58 | //#include "sensors/MagneticSensorSPI.h"
59 | //#include "sensors/MagneticSensorI2C.h"
60 | //#include "sensors/MagneticSensorAnalog.h"
61 | //#include "sensors/MagneticSensorPWM.h"
62 | //#include "sensors/HallSensor.h"
63 | #include "drivers/BLDCDriver3PWM.h"
64 | #include "drivers/BLDCDriver6PWM.h"
65 | //#include "drivers/StepperDriver4PWM.h"
66 | //#include "drivers/StepperDriver2PWM.h"
67 | #include "current_sense/InlineCurrentSense.h"
68 | //#include "communication/Commander.h"
69 | //#include "communication/StepDirListener.h"
70 |
71 | #endif
72 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/base_classes/BLDCDriver.h:
--------------------------------------------------------------------------------
1 | #ifndef BLDCDRIVER_H
2 | #define BLDCDRIVER_H
3 |
4 | #include "Arduino.h"
5 |
6 | class BLDCDriver{
7 | public:
8 |
9 | /** Initialise hardware */
10 | virtual int init() = 0;
11 | /** Enable hardware */
12 | virtual void enable() = 0;
13 | /** Disable hardware */
14 | virtual void disable() = 0;
15 |
16 | long pwm_frequency; //!< pwm frequency value in hertz
17 | float voltage_power_supply; //!< power supply voltage
18 | float voltage_limit; //!< limiting voltage set to the motor
19 |
20 |
21 | float dc_a; //!< currently set duty cycle on phaseA
22 | float dc_b; //!< currently set duty cycle on phaseB
23 | float dc_c; //!< currently set duty cycle on phaseC
24 |
25 | /**
26 | * Set phase voltages to the harware
27 | *
28 | * @param Ua - phase A voltage
29 | * @param Ub - phase B voltage
30 | * @param Uc - phase C voltage
31 | */
32 | virtual void setPwm(float Ua, float Ub, float Uc) = 0;
33 |
34 | /**
35 | * Set phase state, enable/disable
36 | *
37 | * @param sc - phase A state : active / disabled ( high impedance )
38 | * @param sb - phase B state : active / disabled ( high impedance )
39 | * @param sa - phase C state : active / disabled ( high impedance )
40 | */
41 | virtual void setPhaseState(int sa, int sb, int sc) = 0;
42 | };
43 |
44 | #endif
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/base_classes/CurrentSense.cpp:
--------------------------------------------------------------------------------
1 | #include "CurrentSense.h"
2 |
3 |
4 | // get current magnitude
5 | // - absolute - if no electrical_angle provided
6 | // - signed - if angle provided
7 | float CurrentSense::getDCCurrent(float motor_electrical_angle){
8 | // read current phase currents
9 | PhaseCurrent_s current = getPhaseCurrents();
10 | // currnet sign - if motor angle not provided the magnitude is always positive
11 | float sign = 1;
12 |
13 | // calculate clarke transform
14 | float i_alpha, i_beta;
15 | if(!current.c){
16 | // if only two measured currents
17 | i_alpha = current.a;
18 | i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b;
19 | }else{
20 | // signal filtering using identity a + b + c = 0. Assumes measurement error is normally distributed.
21 | float mid = (1.f/3) * (current.a + current.b + current.c);
22 | float a = current.a - mid;
23 | float b = current.b - mid;
24 | i_alpha = a;
25 | i_beta = _1_SQRT3 * a + _2_SQRT3 * b;
26 | }
27 |
28 | // if motor angle provided function returns signed value of the current
29 | // determine the sign of the current
30 | // sign(atan2(current.q, current.d)) is the same as c.q > 0 ? 1 : -1
31 | if(motor_electrical_angle)
32 | sign = (i_beta * _cos(motor_electrical_angle) - i_alpha*_sin(motor_electrical_angle)) > 0 ? 1 : -1;
33 | // return current magnitude
34 | return sign*_sqrt(i_alpha*i_alpha + i_beta*i_beta);
35 | }
36 |
37 | // function used with the foc algorihtm
38 | // calculating DQ currents from phase currents
39 | // - function calculating park and clarke transform of the phase currents
40 | // - using getPhaseCurrents internally
41 | DQCurrent_s CurrentSense::getFOCCurrents(float angle_el){
42 | // read current phase currents
43 | PhaseCurrent_s current = getPhaseCurrents();
44 |
45 | // calculate clarke transform
46 | float i_alpha, i_beta;
47 | if(!current.c){
48 | // if only two measured currents
49 | i_alpha = current.a;
50 | i_beta = _1_SQRT3 * current.a + _2_SQRT3 * current.b;
51 | } else {
52 | // signal filtering using identity a + b + c = 0. Assumes measurement error is normally distributed.
53 | float mid = (1.f/3) * (current.a + current.b + current.c);
54 | float a = current.a - mid;
55 | float b = current.b - mid;
56 | i_alpha = a;
57 | i_beta = _1_SQRT3 * a + _2_SQRT3 * b;
58 | }
59 |
60 | // calculate park transform
61 | float ct = _cos(angle_el);
62 | float st = _sin(angle_el);
63 | DQCurrent_s return_current;
64 | return_current.d = i_alpha * ct + i_beta * st;
65 | return_current.q = i_beta * ct - i_alpha * st;
66 | return return_current;
67 | }
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/base_classes/CurrentSense.h:
--------------------------------------------------------------------------------
1 | #ifndef CURRENTSENSE_H
2 | #define CURRENTSENSE_H
3 |
4 | #include "BLDCDriver.h"
5 | #include "../foc_utils.h"
6 |
7 | /**
8 | * Current sensing abstract class defintion
9 | * Each current sensoring implementation needs to extend this interface
10 | */
11 | class CurrentSense{
12 | public:
13 |
14 | /**
15 | * Function intialising the CurrentSense class
16 | * All the necessary intialisations of adc and sync should be implemented here
17 | */
18 | virtual void init() = 0;
19 |
20 | /**
21 | * Function intended to implement all that is needed to sync and current sensing with the driver.
22 | * If no such thing is needed it can be left empty (return 1)
23 | * @returns - 0 - for failure & 1 - for success
24 | */
25 | virtual int driverSync(BLDCDriver *driver) = 0;
26 |
27 | // calibration variables
28 | bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
29 | /**
30 | * Function intended to verify if:
31 | * - phase current are oriented properly
32 | * - if their order is the same as driver phases
33 | *
34 | * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
35 | * @returns - 0 - for failure & positive number (with status) - for success
36 | */
37 | virtual int driverAlign(BLDCDriver *driver, float voltage) = 0;
38 |
39 | /**
40 | * Function rading the phase currents a, b and c
41 | * This function will be used with the foc control throught the function
42 | * CurrentSense::getFOCCurrents(electrical_angle)
43 | * - it returns current c equal to 0 if only two phase measurements available
44 | *
45 | * @return PhaseCurrent_s current values
46 | */
47 | virtual PhaseCurrent_s getPhaseCurrents() = 0;
48 | /**
49 | * Function reading the magnitude of the current set to the motor
50 | * It returns the abosolute or signed magnitude if possible
51 | * It can receive the motor electrical angle to help with calculation
52 | * This function is used with the current control (not foc)
53 | *
54 | * @param angle_el - electrical angle of the motor (optional)
55 | */
56 | virtual float getDCCurrent(float angle_el = 0);
57 |
58 | /**
59 | * Function used for FOC contorl, it reads the DQ currents of the motor
60 | * It uses the function getPhaseCurrents internally
61 | *
62 | * @param angle_el - motor electrical angle
63 | */
64 | DQCurrent_s getFOCCurrents(float angle_el);
65 | };
66 |
67 | #endif
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/base_classes/Sensor.cpp:
--------------------------------------------------------------------------------
1 | #include "Sensor.h"
2 | #include "../foc_utils.h"
3 | #include "../time_utils.h"
4 |
5 | /**
6 | * returns 0 if it does need search for absolute zero
7 | * 0 - magnetic sensor (& encoder with index which is found)
8 | * 1 - ecoder with index (with index not found yet)
9 | */
10 | int Sensor::needsSearch(){
11 | return 0;
12 | }
13 |
14 | /** get current angular velocity (rad/s)*/
15 | float Sensor::getVelocity(){
16 |
17 | // calculate sample time
18 | unsigned long now_us = _micros();
19 | float Ts = (now_us - velocity_calc_timestamp)*1e-6;
20 | // quick fix for strange cases (micros overflow)
21 | if(Ts <= 0 || Ts > 0.5) Ts = 1e-3;
22 |
23 | // current angle
24 | float angle_c = getAngle();
25 | // velocity calculation
26 | float vel = (angle_c - angle_prev)/Ts;
27 |
28 | // save variables for future pass
29 | angle_prev = angle_c;
30 | velocity_calc_timestamp = now_us;
31 | return vel;
32 | }
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/base_classes/Sensor.h:
--------------------------------------------------------------------------------
1 | #ifndef SENSOR_H
2 | #define SENSOR_H
3 |
4 | /**
5 | * Direction structure
6 | */
7 | enum Direction{
8 | CW = 1, //clockwise
9 | CCW = -1, // counter clockwise
10 | UNKNOWN = 0 //not yet known or invalid state
11 | };
12 |
13 |
14 | /**
15 | * Pullup configuration structure
16 | */
17 | enum Pullup{
18 | USE_INTERN, //!< Use internal pullups
19 | USE_EXTERN //!< Use external pullups
20 | };
21 |
22 | /**
23 | * Sensor abstract class defintion
24 | * Each sensor needs to have these functions implemented
25 | */
26 | class Sensor{
27 | public:
28 |
29 | /** get current angle (rad) */
30 | virtual float getAngle()=0;
31 | /** get current angular velocity (rad/s)*/
32 | virtual float getVelocity();
33 |
34 | /**
35 | * returns 0 if it does need search for absolute zero
36 | * 0 - magnetic sensor (& encoder with index which is found)
37 | * 1 - ecoder with index (with index not found yet)
38 | */
39 | virtual int needsSearch();
40 | private:
41 | // velocity calculation variables
42 | float angle_prev=0; //!< angle in previous velocity calculation step
43 | long velocity_calc_timestamp=0; //!< last velocity calculation timestamp
44 | };
45 |
46 | #endif
47 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/defaults.h:
--------------------------------------------------------------------------------
1 | // default configuration values
2 | // change this file to optimal values for your application
3 |
4 | #define DEF_POWER_SUPPLY 12.0 //!< default power supply voltage
5 | // velocity PI controller params
6 | #define DEF_PID_VEL_P 0.5 //!< default PID controller P value
7 | #define DEF_PID_VEL_I 10.0 //!< default PID controller I value
8 | #define DEF_PID_VEL_D 0.0 //!< default PID controller D value
9 | #define DEF_PID_VEL_RAMP 1000.0 //!< default PID controller voltage ramp value
10 | #define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
11 |
12 | // current sensing PID values
13 | #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
14 | // for 16Mhz controllers like Arduino uno and mega
15 | #define DEF_PID_CURR_P 2 //!< default PID controller P value
16 | #define DEF_PID_CURR_I 100 //!< default PID controller I value
17 | #define DEF_PID_CURR_D 0.0 //!< default PID controller D value
18 | #define DEF_PID_CURR_RAMP 1000.0 //!< default PID controller voltage ramp value
19 | #define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
20 | #define DEF_CURR_FILTER_Tf 0.01 //!< default velocity filter time constant
21 | #else
22 | // for stm32, due, teensy, esp32 and similar
23 | #define DEF_PID_CURR_P 3 //!< default PID controller P value
24 | #define DEF_PID_CURR_I 300.0 //!< default PID controller I value
25 | #define DEF_PID_CURR_D 0.0 //!< default PID controller D value
26 | #define DEF_PID_CURR_RAMP 0 //!< default PID controller voltage ramp value
27 | #define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
28 | #define DEF_CURR_FILTER_Tf 0.005 //!< default currnet filter time constant
29 | #endif
30 | // default current limit values
31 | #define DEF_CURRENT_LIM 0.2 //!< 2Amps current limit by default
32 |
33 | // default monitor downsample
34 | #define DEF_MON_DOWNSMAPLE 100 //!< default monitor downsample
35 | #define DEF_MOTION_DOWNSMAPLE 0 //!< default motion downsample - disable
36 |
37 | // angle P params
38 | #define DEF_P_ANGLE_P 20.0 //!< default P controller P value
39 | #define DEF_VEL_LIM 20.0 //!< angle velocity limit default
40 |
41 | // index search
42 | #define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0 //!< default index search velocity
43 | // align voltage
44 | #define DEF_VOLTAGE_SENSOR_ALIGN 3.0 //!< default voltage for sensor and motor zero alignemt
45 | // low pass filter velocity
46 | #define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/foc_utils.cpp:
--------------------------------------------------------------------------------
1 | #include "foc_utils.h"
2 |
3 | // int array instead of float array
4 | // 4x200 points per 360 deg
5 | // 2x storage save (int 2Byte float 4 Byte )
6 | // sin*10000
7 | const int sine_array[200] = {0,79,158,237,316,395,473,552,631,710,789,867,946,1024,1103,1181,1260,1338,1416,1494,1572,1650,1728,1806,1883,1961,2038,2115,2192,2269,2346,2423,2499,2575,2652,2728,2804,2879,2955,3030,3105,3180,3255,3329,3404,3478,3552,3625,3699,3772,3845,3918,3990,4063,4135,4206,4278,4349,4420,4491,4561,4631,4701,4770,4840,4909,4977,5046,5113,5181,5249,5316,5382,5449,5515,5580,5646,5711,5775,5839,5903,5967,6030,6093,6155,6217,6279,6340,6401,6461,6521,6581,6640,6699,6758,6815,6873,6930,6987,7043,7099,7154,7209,7264,7318,7371,7424,7477,7529,7581,7632,7683,7733,7783,7832,7881,7930,7977,8025,8072,8118,8164,8209,8254,8298,8342,8385,8428,8470,8512,8553,8594,8634,8673,8712,8751,8789,8826,8863,8899,8935,8970,9005,9039,9072,9105,9138,9169,9201,9231,9261,9291,9320,9348,9376,9403,9429,9455,9481,9506,9530,9554,9577,9599,9621,9642,9663,9683,9702,9721,9739,9757,9774,9790,9806,9821,9836,9850,9863,9876,9888,9899,9910,9920,9930,9939,9947,9955,9962,9969,9975,9980,9985,9989,9992,9995,9997,9999,10000,10000};
8 |
9 | // function approximating the sine calculation by using fixed size array
10 | // ~40us (float array)
11 | // ~50us (int array)
12 | // precision +-0.005
13 | // it has to receive an angle in between 0 and 2PI
14 | float _sin(float a){
15 | if(a < _PI_2){
16 | //return sine_array[(int)(199.0*( a / (_PI/2.0)))];
17 | //return sine_array[(int)(126.6873* a)]; // float array optimized
18 | return 0.0001*sine_array[_round(126.6873* a)]; // int array optimized
19 | }else if(a < _PI){
20 | // return sine_array[(int)(199.0*(1.0 - (a-_PI/2.0) / (_PI/2.0)))];
21 | //return sine_array[398 - (int)(126.6873*a)]; // float array optimized
22 | return 0.0001*sine_array[398 - _round(126.6873*a)]; // int array optimized
23 | }else if(a < _3PI_2){
24 | // return -sine_array[(int)(199.0*((a - _PI) / (_PI/2.0)))];
25 | //return -sine_array[-398 + (int)(126.6873*a)]; // float array optimized
26 | return -0.0001*sine_array[-398 + _round(126.6873*a)]; // int array optimized
27 | } else {
28 | // return -sine_array[(int)(199.0*(1.0 - (a - 3*_PI/2) / (_PI/2.0)))];
29 | //return -sine_array[796 - (int)(126.6873*a)]; // float array optimized
30 | return -0.0001*sine_array[796 - _round(126.6873*a)]; // int array optimized
31 | }
32 | }
33 |
34 | // function approximating cosine calculation by using fixed size array
35 | // ~55us (float array)
36 | // ~56us (int array)
37 | // precision +-0.005
38 | // it has to receive an angle in between 0 and 2PI
39 | float _cos(float a){
40 | float a_sin = a + _PI_2;
41 | a_sin = a_sin > _2PI ? a_sin - _2PI : a_sin;
42 | return _sin(a_sin);
43 | }
44 |
45 |
46 | // normalizing radian angle to [0,2PI]
47 | float _normalizeAngle(float angle){
48 | float a = fmod(angle, _2PI);
49 | return a >= 0 ? a : (a + _2PI);
50 | }
51 |
52 | // Electrical angle calculation
53 | float _electricalAngle(float shaft_angle, int pole_pairs) {
54 | return (shaft_angle * pole_pairs);
55 | }
56 |
57 | // square root approximation function using
58 | // https://reprap.org/forum/read.php?147,219210
59 | // https://en.wikipedia.org/wiki/Fast_inverse_square_root
60 | float _sqrtApprox(float number) {//low in fat
61 | long i;
62 | float y;
63 | // float x;
64 | // const float f = 1.5F; // better precision
65 |
66 | // x = number * 0.5F;
67 | y = number;
68 | i = * ( long * ) &y;
69 | i = 0x5f375a86 - ( i >> 1 );
70 | y = * ( float * ) &i;
71 | // y = y * ( f - ( x * y * y ) ); // better precision
72 | return number * y;
73 | }
74 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/foc_utils.h:
--------------------------------------------------------------------------------
1 | #ifndef FOCUTILS_LIB_H
2 | #define FOCUTILS_LIB_H
3 |
4 | #include
5 |
6 | // sign function
7 | #define _sign(a) ( ( (a) < 0 ) ? -1 : ( (a) > 0 ) )
8 | #define _round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
9 | #define _constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
10 | #define _sqrt(a) (_sqrtApprox(a))
11 | #define _isset(a) ( (a) != (NOT_SET) )
12 |
13 | // utility defines
14 | #define _2_SQRT3 1.15470053838
15 | #define _SQRT3 1.73205080757
16 | #define _1_SQRT3 0.57735026919
17 | #define _SQRT3_2 0.86602540378
18 | #define _SQRT2 1.41421356237
19 | #define _120_D2R 2.09439510239
20 | #define _PI 3.14159265359
21 | #define _PI_2 1.57079632679
22 | #define _PI_3 1.0471975512
23 | #define _2PI 6.28318530718
24 | #define _3PI_2 4.71238898038
25 | #define _PI_6 0.52359877559
26 |
27 | #define NOT_SET -12345.0
28 | #define _HIGH_IMPEDANCE 0
29 | #define _HIGH_Z _HIGH_IMPEDANCE
30 | #define _ACTIVE 1
31 |
32 | // dq current structure
33 | struct DQCurrent_s
34 | {
35 | float d;
36 | float q;
37 | };
38 | // phase current structure
39 | struct PhaseCurrent_s
40 | {
41 | float a;
42 | float b;
43 | float c;
44 | };
45 | // dq voltage structs
46 | struct DQVoltage_s
47 | {
48 | float d;
49 | float q;
50 | };
51 |
52 |
53 | /**
54 | * Function approximating the sine calculation by using fixed size array
55 | * - execution time ~40us (Arduino UNO)
56 | *
57 | * @param a angle in between 0 and 2PI
58 | */
59 | float _sin(float a);
60 | /**
61 | * Function approximating cosine calculation by using fixed size array
62 | * - execution time ~50us (Arduino UNO)
63 | *
64 | * @param a angle in between 0 and 2PI
65 | */
66 | float _cos(float a);
67 |
68 | /**
69 | * normalizing radian angle to [0,2PI]
70 | * @param angle - angle to be normalized
71 | */
72 | float _normalizeAngle(float angle);
73 |
74 |
75 | /**
76 | * Electrical angle calculation
77 | *
78 | * @param shaft_angle - shaft angle of the motor
79 | * @param pole_pairs - number of pole pairs
80 | */
81 | float _electricalAngle(float shaft_angle, int pole_pairs);
82 |
83 | /**
84 | * Function approximating square root function
85 | * - using fast inverse square root
86 | *
87 | * @param value - number
88 | */
89 | float _sqrtApprox(float value);
90 |
91 | #endif
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/lowpass_filter.cpp:
--------------------------------------------------------------------------------
1 | #include "lowpass_filter.h"
2 |
3 | LowPassFilter::LowPassFilter(float time_constant)
4 | : Tf(time_constant)
5 | , y_prev(0.0f)
6 | {
7 | timestamp_prev = _micros();
8 | }
9 |
10 |
11 | float LowPassFilter::operator() (float x)
12 | {
13 | unsigned long timestamp = _micros();
14 | float dt = (timestamp - timestamp_prev)*1e-6f;
15 |
16 | if (dt < 0.0f || dt > 0.5f)
17 | dt = 1e-3f;
18 |
19 | float alpha = Tf/(Tf + dt);
20 | float y = alpha*y_prev + (1.0f - alpha)*x;
21 |
22 | y_prev = y;
23 | timestamp_prev = timestamp;
24 | return y;
25 | }
26 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/lowpass_filter.h:
--------------------------------------------------------------------------------
1 | #ifndef LOWPASS_FILTER_H
2 | #define LOWPASS_FILTER_H
3 |
4 |
5 | #include "time_utils.h"
6 | #include "foc_utils.h"
7 |
8 | /**
9 | * Low pass filter class
10 | */
11 | class LowPassFilter
12 | {
13 | public:
14 | /**
15 | * @param Tf - Low pass filter time constant
16 | */
17 | LowPassFilter(float Tf);
18 | ~LowPassFilter() = default;
19 |
20 | float operator() (float x);
21 | float Tf; //!< Low pass filter time constant
22 |
23 | protected:
24 | unsigned long timestamp_prev; //!< Last execution timestamp
25 | float y_prev; //!< filtered value in previous execution step
26 | };
27 |
28 | #endif // LOWPASS_FILTER_H
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/pid.cpp:
--------------------------------------------------------------------------------
1 | #include "pid.h"
2 |
3 | PIDController::PIDController(float P, float I, float D, float ramp, float limit)
4 | : P(P)
5 | , I(I)
6 | , D(D)
7 | , output_ramp(ramp) // output derivative limit [volts/second]
8 | , limit(limit) // output supply limit [volts]
9 | , integral_prev(0.0)
10 | , error_prev(0.0)
11 | , output_prev(0.0)
12 | {
13 | timestamp_prev = _micros();
14 | }
15 |
16 | // PID controller function
17 | float PIDController::operator() (float error){
18 | // calculate the time from the last call
19 | unsigned long timestamp_now = _micros();
20 | float Ts = (timestamp_now - timestamp_prev) * 1e-6;
21 | // quick fix for strange cases (micros overflow)
22 | if(Ts <= 0 || Ts > 0.5) Ts = 1e-3;
23 |
24 | // u(s) = (P + I/s + Ds)e(s)
25 | // Discrete implementations
26 | // proportional part
27 | // u_p = P *e(k)
28 | float proportional = P * error;
29 | // Tustin transform of the integral part
30 | // u_ik = u_ik_1 + I*Ts/2*(ek + ek_1)
31 | float integral = integral_prev + I*Ts*0.5*(error + error_prev);
32 | // antiwindup - limit the output
33 | integral = _constrain(integral, -limit, limit);
34 | // Discrete derivation
35 | // u_dk = D(ek - ek_1)/Ts
36 | float derivative = D*(error - error_prev)/Ts;
37 |
38 | // sum all the components
39 | float output = proportional + integral + derivative;
40 | // antiwindup - limit the output variable
41 | output = _constrain(output, -limit, limit);
42 |
43 | // if output ramp defined
44 | if(output_ramp > 0){
45 | // limit the acceleration by ramping the output
46 | float output_rate = (output - output_prev)/Ts;
47 | if (output_rate > output_ramp)
48 | output = output_prev + output_ramp*Ts;
49 | else if (output_rate < -output_ramp)
50 | output = output_prev - output_ramp*Ts;
51 | }
52 | // saving for the next pass
53 | integral_prev = integral;
54 | output_prev = output;
55 | error_prev = error;
56 | timestamp_prev = timestamp_now;
57 | return output;
58 | }
59 |
60 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/pid.h:
--------------------------------------------------------------------------------
1 | #ifndef PID_H
2 | #define PID_H
3 |
4 |
5 | #include "time_utils.h"
6 | #include "foc_utils.h"
7 |
8 | /**
9 | * PID controller class
10 | */
11 | class PIDController
12 | {
13 | public:
14 | /**
15 | *
16 | * @param P - Proportional gain
17 | * @param I - Integral gain
18 | * @param D - Derivative gain
19 | * @param ramp - Maximum speed of change of the output value
20 | * @param limit - Maximum output value
21 | */
22 | PIDController(float P, float I, float D, float ramp, float limit);
23 | ~PIDController() = default;
24 |
25 | float operator() (float error);
26 |
27 | float P; //!< Proportional gain
28 | float I; //!< Integral gain
29 | float D; //!< Derivative gain
30 | float output_ramp; //!< Maximum speed of change of the output value
31 | float limit; //!< Maximum output value
32 |
33 | protected:
34 | float integral_prev; //!< last integral component value
35 | float error_prev; //!< last tracking error value
36 | unsigned long timestamp_prev; //!< Last execution timestamp
37 | float output_prev; //!< last pid output value
38 | };
39 |
40 | #endif // PID_H
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/time_utils.cpp:
--------------------------------------------------------------------------------
1 | #include "time_utils.h"
2 |
3 | // function buffering delay()
4 | // arduino uno function doesn't work well with interrupts
5 | void _delay(unsigned long ms){
6 | #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
7 | // if arduino uno and other atmega328p chips
8 | // use while instad of delay,
9 | // due to wrong measurement based on changed timer0
10 | unsigned long t = _micros() + ms*1000;
11 | while( _micros() < t ){};
12 | #else
13 | // regular micros
14 | delay(ms);
15 | #endif
16 | }
17 |
18 |
19 | // function buffering _micros()
20 | // arduino function doesn't work well with interrupts
21 | unsigned long _micros(){
22 | #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
23 | // if arduino uno and other atmega328p chips
24 | //return the value based on the prescaler
25 | if((TCCR0B & 0b00000111) == 0x01) return (micros()/32);
26 | else return (micros());
27 | #else
28 | // regular micros
29 | return micros();
30 | #endif
31 | }
32 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/common/time_utils.h:
--------------------------------------------------------------------------------
1 | #ifndef TIME_UTILS_H
2 | #define TIME_UTILS_H
3 |
4 | #include "foc_utils.h"
5 |
6 | /**
7 | * Function implementing delay() function in milliseconds
8 | * - blocking function
9 | * - hardware specific
10 |
11 | * @param ms number of milliseconds to wait
12 | */
13 | void _delay(unsigned long ms);
14 |
15 | /**
16 | * Function implementing timestamp getting function in microseconds
17 | * hardware specific
18 | */
19 | unsigned long _micros();
20 |
21 |
22 | #endif
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/current_sense/InlineCurrentSense.h:
--------------------------------------------------------------------------------
1 | #ifndef INLINE_CS_LIB_H
2 | #define INLINE_CS_LIB_H
3 |
4 | #include "Arduino.h"
5 | #include "../common/foc_utils.h"
6 | #include "../common/time_utils.h"
7 | #include "../common/base_classes/CurrentSense.h"
8 | #include "hardware_api.h"
9 |
10 |
11 | class InlineCurrentSense: public CurrentSense{
12 | public:
13 | /**
14 | InlineCurrentSense class constructor
15 | @param shunt_resistor shunt resistor value
16 | @param gain current-sense op-amp gain
17 | @param phA A phase adc pin
18 | @param phB B phase adc pin
19 | @param phC C phase adc pin (optional)
20 | */
21 | InlineCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = NOT_SET);
22 |
23 | // CurrentSense interface implementing functions
24 | void init() override;
25 | PhaseCurrent_s getPhaseCurrents() override;
26 | int driverSync(BLDCDriver *driver) override;
27 | int driverAlign(BLDCDriver *driver, float voltage) override;
28 |
29 | // ADC measuremnet gain for each phase
30 | // support for different gains for different phases of more commonly - inverted phase currents
31 | // this should be automated later
32 | float gain_a; //!< phase A gain
33 | float gain_b; //!< phase B gain
34 | float gain_c; //!< phase C gain
35 |
36 | private:
37 |
38 | // hardware variables
39 | int pinA; //!< pin A analog pin for current measurement
40 | int pinB; //!< pin B analog pin for current measurement
41 | int pinC; //!< pin C analog pin for current measurement
42 |
43 | // gain variables
44 | double shunt_resistor; //!< Shunt resistor value
45 | double amp_gain; //!< amp gain value
46 | double volts_to_amps_ratio; //!< Volts to amps ratio
47 |
48 | /**
49 | * Function finding zero offsets of the ADC
50 | */
51 | void calibrateOffsets();
52 | double offset_ia; //!< zero current A voltage value (center of the adc reading)
53 | double offset_ib; //!< zero current B voltage value (center of the adc reading)
54 | double offset_ic; //!< zero current C voltage value (center of the adc reading)
55 |
56 | };
57 |
58 | #endif
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/current_sense/hardware_api.h:
--------------------------------------------------------------------------------
1 | #ifndef HARDWARE_UTILS_H
2 | #define HARDWARE_UTILS_H
3 |
4 | #include "../common/foc_utils.h"
5 | #include "../common/time_utils.h"
6 |
7 | /**
8 | * function reading an ADC value and returning the read voltage
9 | *
10 | * @param pinA - the arduino pin to be read (it has to be ADC pin)
11 | */
12 | float _readADCVoltage(const int pinA);
13 |
14 | /**
15 | * function reading an ADC value and returning the read voltage
16 | *
17 | * @param pinA - adc pin A
18 | * @param pinB - adc pin B
19 | * @param pinC - adc pin C
20 | */
21 | void _configureADC(const int pinA,const int pinB,const int pinC = NOT_SET);
22 |
23 | #endif
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/current_sense/hardware_specific/generic_mcu.cpp:
--------------------------------------------------------------------------------
1 | #include "../hardware_api.h"
2 | #include "adc.h"
3 |
4 |
5 | #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__) // if mcu is atmega328 or atmega2560
6 | #define _ADC_VOLTAGE 5.0
7 | #define _ADC_RESOLUTION 1024.0
8 | #ifndef cbi
9 | #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
10 | #endif
11 | #ifndef sbi
12 | #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
13 | #endif
14 | #elif defined(__arm__) && defined(CORE_TEENSY) // or teensy
15 | #define _ADC_VOLTAGE 3.3
16 | #define _ADC_RESOLUTION 1024.0
17 | #elif defined(__arm__) && defined(__SAM3X8E__) // or due
18 | #define _ADC_VOLTAGE 3.3
19 | #define _ADC_RESOLUTION 1024.0
20 | #elif defined(ESP_H) // or esp32
21 | #define _ADC_VOLTAGE 3.3
22 | #define _ADC_RESOLUTION 4095.0
23 | #elif defined(_STM32_DEF_) // or stm32
24 | #define _ADC_VOLTAGE 3.3
25 | #define _ADC_RESOLUTION 1024.0
26 | #else
27 | #define _ADC_VOLTAGE 3.3
28 | #define _ADC_RESOLUTION 4095.0
29 | #endif
30 |
31 | // adc counts to voltage conversion ratio
32 | // some optimizing for faster execution
33 | #define _ADC_CONV ( (_ADC_VOLTAGE) / (_ADC_RESOLUTION) )
34 |
35 | // function reading an ADC value and returning the read voltage
36 | float _readADCVoltage(const int pinA){
37 | uint32_t raw_adc = readPhaseVoltage(pinA); //analogRead(pinA);
38 | return raw_adc * _ADC_CONV;
39 | }
40 |
41 |
42 | // function reading an ADC value and returning the read voltage
43 | void _configureADC(const int pinA,const int pinB,const int pinC){
44 | // pinMode(pinA, INPUT);
45 | // pinMode(pinB, INPUT);
46 | // if( _isset(pinC) ) pinMode(pinC, INPUT);
47 | //
48 | // #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__) // if mcu is atmega328 or atmega2560
49 | // // set hight frequency adc - ADPS2,ADPS1,ADPS0 | 001 (16mhz/2) | 010 ( 16mhz/4 ) | 011 (16mhz/8) | 100(16mhz/16) | 101 (16mhz/32) | 110 (16mhz/64) | 111 (16mhz/128 default)
50 | // // set divisor to 8 - adc frequency 16mhz/8 = 2 mhz
51 | // // arduino takes 25 conversions per sample so - 2mhz/25 = 80k samples per second - 12.5us per sample
52 | // cbi(ADCSRA, ADPS2);
53 | // sbi(ADCSRA, ADPS1);
54 | // sbi(ADCSRA, ADPS0);
55 | // #endif
56 | }
57 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/drivers/BLDCDriver3PWM.cpp:
--------------------------------------------------------------------------------
1 | #include "BLDCDriver3PWM.h"
2 |
3 | BLDCDriver3PWM::BLDCDriver3PWM(int phA, int phB, int phC, int en1, int en2, int en3){
4 | // Pin initialization
5 | pwmA = phA;
6 | pwmB = phB;
7 | pwmC = phC;
8 |
9 | // enable_pin pin
10 | enableA_pin = en1;
11 | enableB_pin = en2;
12 | enableC_pin = en3;
13 |
14 | // default power-supply value
15 | voltage_power_supply = DEF_POWER_SUPPLY;
16 | voltage_limit = NOT_SET;
17 |
18 | }
19 |
20 | // enable motor driver
21 | void BLDCDriver3PWM::enable(){
22 | // enable_pin the driver - if enable_pin pin available
23 | if ( _isset(enableA_pin) ) digitalWrite(enableA_pin, HIGH);
24 | if ( _isset(enableB_pin) ) digitalWrite(enableB_pin, HIGH);
25 | if ( _isset(enableC_pin) ) digitalWrite(enableC_pin, HIGH);
26 | // set zero to PWM
27 | setPwm(0,0,0);
28 | }
29 |
30 | // disable motor driver
31 | void BLDCDriver3PWM::disable()
32 | {
33 | // set zero to PWM
34 | setPwm(0, 0, 0);
35 | // disable the driver - if enable_pin pin available
36 | if ( _isset(enableA_pin) ) digitalWrite(enableA_pin, LOW);
37 | if ( _isset(enableB_pin) ) digitalWrite(enableB_pin, LOW);
38 | if ( _isset(enableC_pin) ) digitalWrite(enableC_pin, LOW);
39 |
40 | }
41 |
42 | // init hardware pins
43 | int BLDCDriver3PWM::init() {
44 | // PWM pins
45 | pinMode(pwmA, OUTPUT);
46 | pinMode(pwmB, OUTPUT);
47 | pinMode(pwmC, OUTPUT);
48 | if( _isset(enableA_pin)) pinMode(enableA_pin, OUTPUT);
49 | if( _isset(enableB_pin)) pinMode(enableB_pin, OUTPUT);
50 | if( _isset(enableC_pin)) pinMode(enableC_pin, OUTPUT);
51 |
52 |
53 | // sanity check for the voltage limit configuration
54 | if(!_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;
55 |
56 | // Set the pwm frequency to the pins
57 | // hardware specific function - depending on driver and mcu
58 | _configure3PWM(pwm_frequency, pwmA, pwmB, pwmC);
59 | return 0;
60 | }
61 |
62 |
63 |
64 | // Set voltage to the pwm pin
65 | void BLDCDriver3PWM::setPhaseState(int sa, int sb, int sc) {
66 | // disable if needed
67 | if( _isset(enableA_pin) && _isset(enableB_pin) && _isset(enableC_pin) ){
68 | digitalWrite(enableA_pin, sa == _HIGH_IMPEDANCE ? LOW : HIGH);
69 | digitalWrite(enableB_pin, sb == _HIGH_IMPEDANCE ? LOW : HIGH);
70 | digitalWrite(enableC_pin, sc == _HIGH_IMPEDANCE ? LOW : HIGH);
71 | }
72 | }
73 |
74 | // Set voltage to the pwm pin
75 | void BLDCDriver3PWM::setPwm(float Ua, float Ub, float Uc) {
76 |
77 | // limit the voltage in driver
78 | Ua = _constrain(Ua, 0.0, voltage_limit);
79 | Ub = _constrain(Ub, 0.0, voltage_limit);
80 | Uc = _constrain(Uc, 0.0, voltage_limit);
81 | // calculate duty cycle
82 | // limited in [0,1]
83 | dc_a = _constrain(Ua / voltage_power_supply, 0.0 , 1.0 );
84 | dc_b = _constrain(Ub / voltage_power_supply, 0.0 , 1.0 );
85 | dc_c = _constrain(Uc / voltage_power_supply, 0.0 , 1.0 );
86 |
87 | // hardware specific writing
88 | // hardware specific function - depending on driver and mcu
89 | _writeDutyCycle3PWM(dc_a, dc_b, dc_c, pwmA, pwmB, pwmC);
90 | }
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/drivers/BLDCDriver3PWM.h:
--------------------------------------------------------------------------------
1 | #ifndef BLDCDriver3PWM_h
2 | #define BLDCDriver3PWM_h
3 |
4 | #include "../common/base_classes/BLDCDriver.h"
5 | #include "../common/foc_utils.h"
6 | #include "../common/time_utils.h"
7 | #include "../common/defaults.h"
8 | #include "hardware_api.h"
9 |
10 | /**
11 | 3 pwm bldc driver class
12 | */
13 | class BLDCDriver3PWM: public BLDCDriver
14 | {
15 | public:
16 | /**
17 | BLDCDriver class constructor
18 | @param phA A phase pwm pin
19 | @param phB B phase pwm pin
20 | @param phC C phase pwm pin
21 | @param en1 enable pin (optional input)
22 | @param en2 enable pin (optional input)
23 | @param en3 enable pin (optional input)
24 | */
25 | BLDCDriver3PWM(int phA,int phB,int phC, int en1 = NOT_SET, int en2 = NOT_SET, int en3 = NOT_SET);
26 |
27 | /** Motor hardware init function */
28 | int init() override;
29 | /** Motor disable function */
30 | void disable() override;
31 | /** Motor enable function */
32 | void enable() override;
33 |
34 | // hardware variables
35 | int pwmA; //!< phase A pwm pin number
36 | int pwmB; //!< phase B pwm pin number
37 | int pwmC; //!< phase C pwm pin number
38 | int enableA_pin; //!< enable pin number
39 | int enableB_pin; //!< enable pin number
40 | int enableC_pin; //!< enable pin number
41 |
42 | /**
43 | * Set phase voltages to the harware
44 | *
45 | * @param Ua - phase A voltage
46 | * @param Ub - phase B voltage
47 | * @param Uc - phase C voltage
48 | */
49 | void setPwm(float Ua, float Ub, float Uc) override;
50 |
51 | /**
52 | * Set phase voltages to the harware
53 | *
54 | * @param sc - phase A state : active / disabled ( high impedance )
55 | * @param sb - phase B state : active / disabled ( high impedance )
56 | * @param sa - phase C state : active / disabled ( high impedance )
57 | */
58 | virtual void setPhaseState(int sa, int sb, int sc) override;
59 | private:
60 |
61 | };
62 |
63 |
64 | #endif
65 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/drivers/BLDCDriver6PWM.cpp:
--------------------------------------------------------------------------------
1 | #include "BLDCDriver6PWM.h"
2 |
3 | BLDCDriver6PWM::BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int en){
4 | // Pin initialization
5 | pwmA_h = phA_h;
6 | pwmB_h = phB_h;
7 | pwmC_h = phC_h;
8 | pwmA_l = phA_l;
9 | pwmB_l = phB_l;
10 | pwmC_l = phC_l;
11 |
12 | // enable_pin pin
13 | enable_pin = en;
14 |
15 | // default power-supply value
16 | voltage_power_supply = DEF_POWER_SUPPLY;
17 | voltage_limit = NOT_SET;
18 |
19 | // dead zone initial - 2%
20 | dead_zone = 0.02;
21 |
22 | }
23 |
24 | // enable motor driver
25 | void BLDCDriver6PWM::enable(){
26 | // enable_pin the driver - if enable_pin pin available
27 | if ( _isset(enable_pin) ) digitalWrite(enable_pin, enable_active_high);
28 | // set zero to PWM
29 | setPwm(0, 0, 0);
30 | }
31 |
32 | // disable motor driver
33 | void BLDCDriver6PWM::disable()
34 | {
35 | // set zero to PWM
36 | setPwm(0, 0, 0);
37 | // disable the driver - if enable_pin pin available
38 | if ( _isset(enable_pin) ) digitalWrite(enable_pin, !enable_active_high);
39 |
40 | }
41 |
42 | // init hardware pins
43 | int BLDCDriver6PWM::init() {
44 |
45 | // PWM pins
46 | pinMode(pwmA_h, OUTPUT);
47 | pinMode(pwmB_h, OUTPUT);
48 | pinMode(pwmC_h, OUTPUT);
49 | pinMode(pwmA_l, OUTPUT);
50 | pinMode(pwmB_l, OUTPUT);
51 | pinMode(pwmC_l, OUTPUT);
52 | if(_isset(enable_pin)) pinMode(enable_pin, OUTPUT);
53 |
54 |
55 | // sanity check for the voltage limit configuration
56 | if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit = voltage_power_supply;
57 |
58 | // configure 6pwm
59 | // hardware specific function - depending on driver and mcu
60 | return _configure6PWM(pwm_frequency, dead_zone, pwmA_h,pwmA_l, pwmB_h,pwmB_l, pwmC_h,pwmC_l);
61 | }
62 |
63 | // Set voltage to the pwm pin
64 | void BLDCDriver6PWM::setPwm(float Ua, float Ub, float Uc) {
65 | // limit the voltage in driver
66 | Ua = _constrain(Ua, 0, voltage_limit);
67 | Ub = _constrain(Ub, 0, voltage_limit);
68 | Uc = _constrain(Uc, 0, voltage_limit);
69 | // calculate duty cycle
70 | // limited in [0,1]
71 | dc_a = _constrain(Ua / voltage_power_supply, 0.0 , 1.0 );
72 | dc_b = _constrain(Ub / voltage_power_supply, 0.0 , 1.0 );
73 | dc_c = _constrain(Uc / voltage_power_supply, 0.0 , 1.0 );
74 | // hardware specific writing
75 | // hardware specific function - depending on driver and mcu
76 | _writeDutyCycle6PWM(dc_a, dc_b, dc_c, dead_zone, pwmA_h,pwmA_l, pwmB_h,pwmB_l, pwmC_h,pwmC_l);
77 | }
78 |
79 |
80 | // Set voltage to the pwm pin
81 | void BLDCDriver6PWM::setPhaseState(int sa, int sb, int sc) {
82 | // TODO implement disabling
83 | }
84 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/drivers/BLDCDriver6PWM.h:
--------------------------------------------------------------------------------
1 | #ifndef BLDCDriver6PWM_h
2 | #define BLDCDriver6PWM_h
3 |
4 | #include "../common/base_classes/BLDCDriver.h"
5 | #include "../common/foc_utils.h"
6 | #include "../common/time_utils.h"
7 | #include "../common/defaults.h"
8 | #include "hardware_api.h"
9 |
10 | /**
11 | 6 pwm bldc driver class
12 | */
13 | class BLDCDriver6PWM: public BLDCDriver
14 | {
15 | public:
16 | /**
17 | BLDCDriver class constructor
18 | @param phA_h A phase pwm pin
19 | @param phA_l A phase pwm pin
20 | @param phB_h B phase pwm pin
21 | @param phB_l A phase pwm pin
22 | @param phC_h C phase pwm pin
23 | @param phC_l A phase pwm pin
24 | @param en enable pin (optional input)
25 | */
26 | BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int en = NOT_SET);
27 |
28 | /** Motor hardware init function */
29 | int init() override;
30 | /** Motor disable function */
31 | void disable() override;
32 | /** Motor enable function */
33 | void enable() override;
34 |
35 | // hardware variables
36 | int pwmA_h,pwmA_l; //!< phase A pwm pin number
37 | int pwmB_h,pwmB_l; //!< phase B pwm pin number
38 | int pwmC_h,pwmC_l; //!< phase C pwm pin number
39 | int enable_pin; //!< enable pin number
40 | bool enable_active_high = true;
41 |
42 | float dead_zone; //!< a percentage of dead-time(zone) (both high and low side in low) for each pwm cycle [0,1]
43 |
44 | /**
45 | * Set phase voltages to the harware
46 | *
47 | * @param Ua - phase A voltage
48 | * @param Ub - phase B voltage
49 | * @param Uc - phase C voltage
50 | */
51 | void setPwm(float Ua, float Ub, float Uc) override;
52 |
53 | /**
54 | * Set phase voltages to the harware
55 | *
56 | * @param sc - phase A state : active / disabled ( high impedance )
57 | * @param sb - phase B state : active / disabled ( high impedance )
58 | * @param sa - phase C state : active / disabled ( high impedance )
59 | */
60 | virtual void setPhaseState(int sa, int sb, int sc) override;
61 |
62 | private:
63 |
64 | };
65 |
66 |
67 | #endif
68 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/drivers/hardware_specific/Arduino.h:
--------------------------------------------------------------------------------
1 | /*
2 | * Arduino.h
3 | *
4 | * Created on: 2021年9月1日
5 | * Author: tajor
6 | */
7 |
8 | #ifndef SIMPLEFOC_DRIVERS_HARDWARE_SPECIFIC_ARDUINO_H_
9 | #define SIMPLEFOC_DRIVERS_HARDWARE_SPECIFIC_ARDUINO_H_
10 |
11 | #include "main.h"
12 | #include "stm32f4xx_hal.h"
13 | #include "tim.h"
14 | #include "math.h"
15 | #include "stdlib.h"
16 | #include "stdio.h"
17 | #include "string.h"
18 | #include "freertos.h"
19 | #include "task.h"
20 |
21 |
22 | class Print{
23 | public:
24 | void print(char* value){
25 | printf("%s", value);
26 | };
27 | void print(float value){
28 | printf("%f", value);
29 | };
30 | void print(double value){
31 | printf("%f", value);
32 | };
33 | void print(int value){
34 | printf("%d", value);
35 | };
36 | void print(char value){
37 | printf("%c", value);
38 | };
39 | void println(char* value){
40 | printf("%s \n", value);
41 | };
42 | void println(float value){
43 | printf("%f \n", value);
44 | };
45 | void println(double value){
46 | printf("%lf \n", value);
47 | };
48 | void println(int value){
49 | printf("%d \n", value);
50 | };
51 | void println(char value){
52 | printf("%c \n", value);
53 | };
54 | void print(char* value, int len){
55 | printf("%s", value);
56 | };
57 | void print(float value, int len){
58 | printf("%f", value);
59 | };
60 | void print(double value, int len){
61 | printf("%lf", value);
62 | };
63 | void print(int value, int len){
64 | printf("%d", value);
65 | };
66 | void print(char value, int len){
67 | printf("%c", value);
68 | };
69 | void println(char* value, int len){
70 | printf("%s \n", value);
71 | };
72 | void println(float value, int len){
73 | printf("%f \n", value);
74 | };
75 | void println(double value, int len){
76 | printf("%f \n", value);
77 | };
78 | void println(int value, int len){
79 | printf("%d \n", value);
80 | };
81 |
82 | void println(void){
83 | printf("\n");
84 | };
85 | };
86 |
87 | #ifndef HIGH
88 | #define HIGH 1
89 | #endif
90 | #ifndef LOW
91 | #define LOW 0
92 | #endif
93 | #ifndef INPUT
94 | #define INPUT 0
95 | #endif
96 | #ifndef OUTPUT
97 | #define OUTPUT 1
98 | #endif
99 |
100 | #define max(a,b) (((a) > (b)) ? (a) : (b))
101 | #define min(a,b) (((a) < (b)) ? (a) : (b))
102 |
103 |
104 | char *F(char* str);
105 | void delay(int t);
106 | unsigned long micros(void);
107 | GPIO_TypeDef* index2Gpio_x(uint32_t index);
108 | uint16_t index2Pin_x(uint32_t index);
109 | uint32_t Gpio_pin2Index(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
110 | void digitalWrite(int ulPin, bool high_or_low);
111 | uint32_t analogRead(int ulPin);
112 | void pinMode(int ulPin, bool in_or_out);
113 |
114 |
115 | float _readADCVoltage(const int pinA);
116 | void _configureADC(const int pinA,const int pinB,const int pinC);
117 |
118 |
119 | #endif /* SIMPLEFOC_DRIVERS_HARDWARE_SPECIFIC_ARDUINO_H_ */
120 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/sensors/Encoder.h:
--------------------------------------------------------------------------------
1 | #ifndef ENCODER_LIB_H
2 | #define ENCODER_LIB_H
3 |
4 | #include "Arduino.h"
5 | #include "../common/foc_utils.h"
6 | #include "../common/time_utils.h"
7 | #include "../common/base_classes/Sensor.h"
8 |
9 |
10 | /**
11 | * Quadrature mode configuration structure
12 | */
13 | enum Quadrature{
14 | ON, //!< Enable quadrature mode CPR = 4xPPR
15 | OFF //!< Disable quadrature mode / CPR = PPR
16 | };
17 |
18 | class Encoder: public Sensor{
19 | public:
20 | /**
21 | Encoder class constructor
22 | @param encA encoder B pin
23 | @param encB encoder B pin
24 | @param ppr impulses per rotation (cpr=ppr*4)
25 | @param index index pin number (optional input)
26 | */
27 | Encoder(int encA, int encB , float ppr, int index = 0);
28 |
29 | /** encoder initialise pins */
30 | void init();
31 | /**
32 | * function enabling hardware interrupts for the encoder channels with provided callback functions
33 | * if callback is not provided then the interrupt is not enabled
34 | *
35 | * @param doA pointer to the A channel interrupt handler function
36 | * @param doB pointer to the B channel interrupt handler function
37 | * @param doIndex pointer to the Index channel interrupt handler function
38 | *
39 | */
40 | void enableInterrupts(void (*doA)() = nullptr, void(*doB)() = nullptr, void(*doIndex)() = nullptr);
41 |
42 | // Encoder interrupt callback functions
43 | /** A channel callback function */
44 | void handleA();
45 | /** B channel callback function */
46 | void handleB();
47 | /** Index channel callback function */
48 | void handleIndex();
49 |
50 |
51 | // pins A and B
52 | int pinA; //!< encoder hardware pin A
53 | int pinB; //!< encoder hardware pin B
54 | int index_pin; //!< index pin
55 |
56 | // Encoder configuration
57 | Pullup pullup; //!< Configuration parameter internal or external pullups
58 | Quadrature quadrature;//!< Configuration parameter enable or disable quadrature mode
59 | float cpr;//!< encoder cpr number
60 |
61 | // Abstract functions of the Sensor class implementation
62 | /** get current angle (rad) */
63 | float getAngle() override;
64 | /** get current angular velocity (rad/s) */
65 | float getVelocity() override;
66 | /**
67 | * returns 0 if it does need search for absolute zero
68 | * 0 - encoder without index
69 | * 1 - ecoder with index
70 | */
71 | int needsSearch() override;
72 |
73 | private:
74 | int hasIndex(); //!< function returning 1 if encoder has index pin and 0 if not.
75 |
76 | volatile long pulse_counter;//!< current pulse counter
77 | volatile long pulse_timestamp;//!< last impulse timestamp in us
78 | volatile int A_active; //!< current active states of A channel
79 | volatile int B_active; //!< current active states of B channel
80 | volatile int I_active; //!< current active states of Index channel
81 | volatile bool index_found = false; //!< flag stating that the index has been found
82 |
83 | // velocity calculation variables
84 | float prev_Th, pulse_per_second;
85 | volatile long prev_pulse_counter, prev_timestamp_us;
86 | };
87 |
88 |
89 | #endif
90 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/SimpleFOC/sensors/MagneticSensorSPI.h:
--------------------------------------------------------------------------------
1 | #ifndef MAGNETICSENSORSPI_LIB_H
2 | #define MAGNETICSENSORSPI_LIB_H
3 |
4 | #ifndef TARGET_RP2040
5 |
6 | #include "Arduino.h"
7 | #include
8 | #include "../common/base_classes/Sensor.h"
9 | #include "../common/foc_utils.h"
10 | #include "../common/time_utils.h"
11 |
12 | #define DEF_ANGLE_REGISTER 0x3FFF
13 |
14 | typedef uint16_t word;
15 | typedef uint8_t byte;
16 |
17 | struct MagneticSensorSPIConfig_s {
18 | int spi_mode;
19 | long clock_speed;
20 | int bit_resolution;
21 | int angle_register;
22 | int data_start_bit;
23 | int command_rw_bit;
24 | int command_parity_bit;
25 | };
26 | // typical configuration structures
27 | extern MagneticSensorSPIConfig_s AS5147_SPI,AS5048_SPI,AS5047_SPI, MA730_SPI;
28 |
29 | class MagneticSensorSPI: public Sensor{
30 | public:
31 | /**
32 | * MagneticSensorSPI class constructor
33 | * @param cs SPI chip select pin
34 | * @param bit_resolution sensor resolution bit number
35 | * @param angle_register (optional) angle read register - default 0x3FFF
36 | */
37 | MagneticSensorSPI(int cs, float bit_resolution, int angle_register = 0);
38 | /**
39 | * MagneticSensorSPI class constructor
40 | * @param config SPI config
41 | * @param cs SPI chip select pin
42 | */
43 | MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs);
44 |
45 | /** sensor initialise pins */
46 | void init(SPI_HandleTypeDef* _spi);
47 |
48 | // implementation of abstract functions of the Sensor class
49 | /** get current angle (rad) */
50 | float getAngle() override;
51 | /** get current angular velocity (rad/s) **/
52 | float getVelocity() override;
53 |
54 | // returns the spi mode (phase/polarity of read/writes) i.e one of SPI_MODE0 | SPI_MODE1 | SPI_MODE2 | SPI_MODE3
55 | int spi_mode;
56 |
57 | /* returns the speed of the SPI clock signal */
58 | long clock_speed;
59 |
60 |
61 | private:
62 | float cpr; //!< Maximum range of the magnetic sensor
63 | // spi variables
64 | int angle_register; //!< SPI angle register to read
65 | int chip_select_pin; //!< SPI chip select pin
66 | // SPISettings settings; //!< SPI settings variable
67 | // spi functions
68 | /** Stop SPI communication */
69 | void close();
70 | /** Read one SPI register value */
71 | word read(word angle_register);
72 | /** Calculate parity value */
73 | byte spiCalcEvenParity(word value);
74 |
75 | /**
76 | * Function getting current angle register value
77 | * it uses angle_register variable
78 | */
79 | int getRawCount();
80 |
81 | // total angle tracking variables
82 | float full_rotation_offset; //!© Copyright (c) 2022 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under Ultimate Liberty license
13 | * SLA0044, the "License"; You may not use this file except in compliance with
14 | * the License. You may obtain a copy of the License at:
15 | * www.st.com/SLA0044
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Includes ------------------------------------------------------------------*/
21 | #include "gpio.h"
22 |
23 | /* USER CODE BEGIN 0 */
24 |
25 | /* USER CODE END 0 */
26 |
27 | /*----------------------------------------------------------------------------*/
28 | /* Configure GPIO */
29 | /*----------------------------------------------------------------------------*/
30 | /* USER CODE BEGIN 1 */
31 |
32 | /* USER CODE END 1 */
33 |
34 | /** Configure pins as
35 | * Analog
36 | * Input
37 | * Output
38 | * EVENT_OUT
39 | * EXTI
40 | */
41 | void MX_GPIO_Init(void)
42 | {
43 |
44 | GPIO_InitTypeDef GPIO_InitStruct = {0};
45 |
46 | /* GPIO Ports Clock Enable */
47 | __HAL_RCC_GPIOH_CLK_ENABLE();
48 | __HAL_RCC_GPIOC_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(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
54 |
55 | /*Configure GPIO pin Output Level */
56 | HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
57 |
58 | /*Configure GPIO pin Output Level */
59 | HAL_GPIO_WritePin(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_SET);
60 |
61 | /*Configure GPIO pin : PA4 */
62 | GPIO_InitStruct.Pin = GPIO_PIN_4;
63 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
64 | GPIO_InitStruct.Pull = GPIO_PULLDOWN;
65 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
66 | HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
67 |
68 | /*Configure GPIO pin : PB0 */
69 | GPIO_InitStruct.Pin = GPIO_PIN_0;
70 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
71 | GPIO_InitStruct.Pull = GPIO_NOPULL;
72 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
73 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
74 |
75 | /*Configure GPIO pins : PB13 PB14 PB15 */
76 | GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
77 | GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
78 | GPIO_InitStruct.Pull = GPIO_PULLUP;
79 | GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
80 | HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
81 |
82 | }
83 |
84 | /* USER CODE BEGIN 2 */
85 |
86 | /* USER CODE END 2 */
87 |
88 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
89 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Src/stm32f4xx_hal_msp.c:
--------------------------------------------------------------------------------
1 | /* USER CODE BEGIN Header */
2 | /**
3 | ******************************************************************************
4 | * @file stm32f4xx_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) 2021 STMicroelectronics.
11 | * All rights reserved.
12 | *
13 | * This software component is licensed by ST under BSD 3-Clause license,
14 | * the "License"; You may not use this file except in compliance with the
15 | * License. You may obtain a copy of the License at:
16 | * opensource.org/licenses/BSD-3-Clause
17 | *
18 | ******************************************************************************
19 | */
20 | /* USER CODE END Header */
21 |
22 | /* Includes ------------------------------------------------------------------*/
23 | #include "main.h"
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 | /* System interrupt init*/
74 | /* PendSV_IRQn interrupt configuration */
75 | HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
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 |
86 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
87 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Src/syscalls.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file syscalls.c
4 | * @author Auto-generated by STM32CubeIDE
5 | * @brief STM32CubeIDE Minimal System calls file
6 | *
7 | * For more information about which c-functions
8 | * need which of these lowlevel functions
9 | * please consult the Newlib libc-manual
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * © Copyright (c) 2020 STMicroelectronics.
14 | * All rights reserved.
15 | *
16 | * This software component is licensed by ST under BSD 3-Clause license,
17 | * the "License"; You may not use this file except in compliance with the
18 | * License. You may obtain a copy of the License at:
19 | * opensource.org/licenses/BSD-3-Clause
20 | *
21 | ******************************************************************************
22 | */
23 |
24 | /* Includes */
25 | #include
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include
32 | #include
33 |
34 |
35 | /* Variables */
36 | //#undef errno
37 | extern int errno;
38 | extern int __io_putchar(int ch) __attribute__((weak));
39 | extern int __io_getchar(void) __attribute__((weak));
40 |
41 | register char * stack_ptr asm("sp");
42 |
43 | char *__env[1] = { 0 };
44 | char **environ = __env;
45 |
46 |
47 | /* Functions */
48 | void initialise_monitor_handles()
49 | {
50 | }
51 |
52 | int _getpid(void)
53 | {
54 | return 1;
55 | }
56 |
57 | int _kill(int pid, int sig)
58 | {
59 | errno = EINVAL;
60 | return -1;
61 | }
62 |
63 | void _exit (int status)
64 | {
65 | _kill(status, -1);
66 | while (1) {} /* Make sure we hang here */
67 | }
68 |
69 | __attribute__((weak)) int _read(int file, char *ptr, int len)
70 | {
71 | int DataIdx;
72 |
73 | for (DataIdx = 0; DataIdx < len; DataIdx++)
74 | {
75 | *ptr++ = __io_getchar();
76 | }
77 |
78 | return len;
79 | }
80 |
81 | __attribute__((weak)) int _write(int file, char *ptr, int len)
82 | {
83 | int DataIdx;
84 |
85 | for (DataIdx = 0; DataIdx < len; DataIdx++)
86 | {
87 | __io_putchar(*ptr++);
88 | }
89 | return len;
90 | }
91 |
92 | int _close(int file)
93 | {
94 | return -1;
95 | }
96 |
97 |
98 | int _fstat(int file, struct stat *st)
99 | {
100 | st->st_mode = S_IFCHR;
101 | return 0;
102 | }
103 |
104 | int _isatty(int file)
105 | {
106 | return 1;
107 | }
108 |
109 | int _lseek(int file, int ptr, int dir)
110 | {
111 | return 0;
112 | }
113 |
114 | int _open(char *path, int flags, ...)
115 | {
116 | /* Pretend like we always fail */
117 | return -1;
118 | }
119 |
120 | int _wait(int *status)
121 | {
122 | errno = ECHILD;
123 | return -1;
124 | }
125 |
126 | int _unlink(char *name)
127 | {
128 | errno = ENOENT;
129 | return -1;
130 | }
131 |
132 | int _times(struct tms *buf)
133 | {
134 | return -1;
135 | }
136 |
137 | int _stat(char *file, struct stat *st)
138 | {
139 | st->st_mode = S_IFCHR;
140 | return 0;
141 | }
142 |
143 | int _link(char *old, char *new)
144 | {
145 | errno = EMLINK;
146 | return -1;
147 | }
148 |
149 | int _fork(void)
150 | {
151 | errno = EAGAIN;
152 | return -1;
153 | }
154 |
155 | int _execve(char *name, char **argv, char **env)
156 | {
157 | errno = ENOMEM;
158 | return -1;
159 | }
160 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Core/Src/sysmem.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file sysmem.c
4 | * @author Generated by STM32CubeIDE
5 | * @brief STM32CubeIDE System Memory calls file
6 | *
7 | * For more information about which C functions
8 | * need which of these lowlevel functions
9 | * please consult the newlib libc manual
10 | ******************************************************************************
11 | * @attention
12 | *
13 | * © Copyright (c) 2020 STMicroelectronics.
14 | * All rights reserved.
15 | *
16 | * This software component is licensed by ST under BSD 3-Clause license,
17 | * the "License"; You may not use this file except in compliance with the
18 | * License. You may obtain a copy of the License at:
19 | * opensource.org/licenses/BSD-3-Clause
20 | *
21 | ******************************************************************************
22 | */
23 |
24 | /* Includes */
25 | #include
26 | #include
27 |
28 | /**
29 | * Pointer to the current high watermark of the heap usage
30 | */
31 | static uint8_t *__sbrk_heap_end = NULL;
32 |
33 | /**
34 | * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
35 | * and others from the C library
36 | *
37 | * @verbatim
38 | * ############################################################################
39 | * # .data # .bss # newlib heap # MSP stack #
40 | * # # # # Reserved by _Min_Stack_Size #
41 | * ############################################################################
42 | * ^-- RAM start ^-- _end _estack, RAM end --^
43 | * @endverbatim
44 | *
45 | * This implementation starts allocating at the '_end' linker symbol
46 | * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
47 | * The implementation considers '_estack' linker symbol to be RAM end
48 | * NOTE: If the MSP stack, at any point during execution, grows larger than the
49 | * reserved size, please increase the '_Min_Stack_Size'.
50 | *
51 | * @param incr Memory size
52 | * @return Pointer to allocated memory
53 | */
54 | void *_sbrk(ptrdiff_t incr)
55 | {
56 | extern uint8_t _end; /* Symbol defined in the linker script */
57 | extern uint8_t _estack; /* Symbol defined in the linker script */
58 | extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
59 | const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
60 | const uint8_t *max_heap = (uint8_t *)stack_limit;
61 | uint8_t *prev_heap_end;
62 |
63 | /* Initialize heap end at first call */
64 | if (NULL == __sbrk_heap_end)
65 | {
66 | __sbrk_heap_end = &_end;
67 | }
68 |
69 | /* Protect heap from growing into the reserved MSP stack */
70 | if (__sbrk_heap_end + incr > max_heap)
71 | {
72 | errno = ENOMEM;
73 | return (void *)-1;
74 | }
75 |
76 | prev_heap_end = __sbrk_heap_end;
77 | __sbrk_heap_end += incr;
78 |
79 | return (void *)prev_heap_end;
80 | }
81 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
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/Firmware/SimpleFoc/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 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/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 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_hal_dma_ex.h
4 | * @author MCD Application Team
5 | * @brief Header file of DMA HAL extension module.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2017 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Define to prevent recursive inclusion -------------------------------------*/
21 | #ifndef __STM32F4xx_HAL_DMA_EX_H
22 | #define __STM32F4xx_HAL_DMA_EX_H
23 |
24 | #ifdef __cplusplus
25 | extern "C" {
26 | #endif
27 |
28 | /* Includes ------------------------------------------------------------------*/
29 | #include "stm32f4xx_hal_def.h"
30 |
31 | /** @addtogroup STM32F4xx_HAL_Driver
32 | * @{
33 | */
34 |
35 | /** @addtogroup DMAEx
36 | * @{
37 | */
38 |
39 | /* Exported types ------------------------------------------------------------*/
40 | /** @defgroup DMAEx_Exported_Types DMAEx Exported Types
41 | * @brief DMAEx Exported types
42 | * @{
43 | */
44 |
45 | /**
46 | * @brief HAL DMA Memory definition
47 | */
48 | typedef enum
49 | {
50 | MEMORY0 = 0x00U, /*!< Memory 0 */
51 | MEMORY1 = 0x01U /*!< Memory 1 */
52 | }HAL_DMA_MemoryTypeDef;
53 |
54 | /**
55 | * @}
56 | */
57 |
58 | /* Exported functions --------------------------------------------------------*/
59 | /** @defgroup DMAEx_Exported_Functions DMAEx Exported Functions
60 | * @brief DMAEx Exported functions
61 | * @{
62 | */
63 |
64 | /** @defgroup DMAEx_Exported_Functions_Group1 Extended features functions
65 | * @brief Extended features functions
66 | * @{
67 | */
68 |
69 | /* IO operation functions *******************************************************/
70 | HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength);
71 | HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength);
72 | HAL_StatusTypeDef HAL_DMAEx_ChangeMemory(DMA_HandleTypeDef *hdma, uint32_t Address, HAL_DMA_MemoryTypeDef memory);
73 |
74 | /**
75 | * @}
76 | */
77 | /**
78 | * @}
79 | */
80 |
81 | /* Private functions ---------------------------------------------------------*/
82 | /** @defgroup DMAEx_Private_Functions DMAEx Private Functions
83 | * @brief DMAEx Private functions
84 | * @{
85 | */
86 | /**
87 | * @}
88 | */
89 |
90 | /**
91 | * @}
92 | */
93 |
94 | /**
95 | * @}
96 | */
97 |
98 | #ifdef __cplusplus
99 | }
100 | #endif
101 |
102 | #endif /*__STM32F4xx_HAL_DMA_EX_H*/
103 |
104 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
105 |
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/Firmware/SimpleFoc/Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_hal_flash_ramfunc.h
4 | * @author MCD Application Team
5 | * @brief Header file of FLASH RAMFUNC driver.
6 | ******************************************************************************
7 | * @attention
8 | *
9 | * © Copyright (c) 2017 STMicroelectronics.
10 | * All rights reserved.
11 | *
12 | * This software component is licensed by ST under BSD 3-Clause license,
13 | * the "License"; You may not use this file except in compliance with the
14 | * License. You may obtain a copy of the License at:
15 | * opensource.org/licenses/BSD-3-Clause
16 | *
17 | ******************************************************************************
18 | */
19 |
20 | /* Define to prevent recursive inclusion -------------------------------------*/
21 | #ifndef __STM32F4xx_FLASH_RAMFUNC_H
22 | #define __STM32F4xx_FLASH_RAMFUNC_H
23 |
24 | #ifdef __cplusplus
25 | extern "C" {
26 | #endif
27 | #if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\
28 | defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx)
29 |
30 | /* Includes ------------------------------------------------------------------*/
31 | #include "stm32f4xx_hal_def.h"
32 |
33 | /** @addtogroup STM32F4xx_HAL_Driver
34 | * @{
35 | */
36 |
37 | /** @addtogroup FLASH_RAMFUNC
38 | * @{
39 | */
40 |
41 | /* Exported types ------------------------------------------------------------*/
42 | /* Exported macro ------------------------------------------------------------*/
43 | /* Exported functions --------------------------------------------------------*/
44 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions
45 | * @{
46 | */
47 |
48 | /** @addtogroup FLASH_RAMFUNC_Exported_Functions_Group1
49 | * @{
50 | */
51 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StopFlashInterfaceClk(void);
52 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StartFlashInterfaceClk(void);
53 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_EnableFlashSleepMode(void);
54 | __RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_DisableFlashSleepMode(void);
55 | /**
56 | * @}
57 | */
58 |
59 | /**
60 | * @}
61 | */
62 |
63 | /**
64 | * @}
65 | */
66 |
67 | /**
68 | * @}
69 | */
70 |
71 | #endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */
72 | #ifdef __cplusplus
73 | }
74 | #endif
75 |
76 |
77 | #endif /* __STM32F4xx_FLASH_RAMFUNC_H */
78 |
79 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
80 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Drivers/STM32F4xx_HAL_Driver/License.md:
--------------------------------------------------------------------------------
1 | # Copyright (c) 2016 STMicroelectronics
2 |
3 | This software component is licensed by STMicroelectronics under the **BSD-3-Clause** license. You may not use this file except in compliance with this license. You may obtain a copy of the license [here](https://opensource.org/licenses/BSD-3-Clause).
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h:
--------------------------------------------------------------------------------
1 | /* --------------------------------------------------------------------------
2 | * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
3 | *
4 | * SPDX-License-Identifier: Apache-2.0
5 | *
6 | * Licensed under the Apache License, Version 2.0 (the License); you may
7 | * not use this file except in compliance with the License.
8 | * You may obtain a copy of the License at
9 | *
10 | * www.apache.org/licenses/LICENSE-2.0
11 | *
12 | * Unless required by applicable law or agreed to in writing, software
13 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT
14 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 | * See the License for the specific language governing permissions and
16 | * limitations under the License.
17 | *
18 | * Name: freertos_mpool.h
19 | * Purpose: CMSIS RTOS2 wrapper for FreeRTOS
20 | *
21 | *---------------------------------------------------------------------------*/
22 |
23 | #ifndef FREERTOS_MPOOL_H_
24 | #define FREERTOS_MPOOL_H_
25 |
26 | #include
27 | #include "FreeRTOS.h"
28 | #include "semphr.h"
29 |
30 | /* Memory Pool implementation definitions */
31 | #define MPOOL_STATUS 0x5EED0000U
32 |
33 | /* Memory Block header */
34 | typedef struct {
35 | void *next; /* Pointer to next block */
36 | } MemPoolBlock_t;
37 |
38 | /* Memory Pool control block */
39 | typedef struct MemPoolDef_t {
40 | MemPoolBlock_t *head; /* Pointer to head block */
41 | SemaphoreHandle_t sem; /* Pool semaphore handle */
42 | uint8_t *mem_arr; /* Pool memory array */
43 | uint32_t mem_sz; /* Pool memory array size */
44 | const char *name; /* Pointer to name string */
45 | uint32_t bl_sz; /* Size of a single block */
46 | uint32_t bl_cnt; /* Number of blocks */
47 | uint32_t n; /* Block allocation index */
48 | volatile uint32_t status; /* Object status flags */
49 | #if (configSUPPORT_STATIC_ALLOCATION == 1)
50 | StaticSemaphore_t mem_sem; /* Semaphore object memory */
51 | #endif
52 | } MemPool_t;
53 |
54 | /* No need to hide static object type, just align to coding style */
55 | #define StaticMemPool_t MemPool_t
56 |
57 | /* Define memory pool control block size */
58 | #define MEMPOOL_CB_SIZE (sizeof(StaticMemPool_t))
59 |
60 | /* Define size of the byte array required to create count of blocks of given size */
61 | #define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count))
62 |
63 | #endif /* FREERTOS_MPOOL_H_ */
64 |
--------------------------------------------------------------------------------
/Firmware/SimpleFoc/Middlewares/Third_Party/FreeRTOS/Source/LICENSE:
--------------------------------------------------------------------------------
1 | Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
2 | Permission is hereby granted, free of charge, to any person obtaining a copy of
3 | this software and associated documentation files (the "Software"), to deal in
4 | the Software without restriction, including without limitation the rights to
5 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
6 | the Software, and to permit persons to whom the Software is furnished to do so,
7 | subject to the following conditions:
8 |
9 | The above copyright notice and this permission notice shall be included in all
10 | copies or substantial portions of the Software.
11 |
12 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
13 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
14 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
15 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
16 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
17 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
18 |
19 |
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2 | QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 7
3 | QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 3
4 | QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 0
5 | QMAKE_CXX.COMPILER_MACROS = \
6 | QT_COMPILER_STDCXX \
7 | QMAKE_GCC_MAJOR_VERSION \
8 | QMAKE_GCC_MINOR_VERSION \
9 | QMAKE_GCC_PATCH_VERSION
10 | QMAKE_CXX.INCDIRS = \
11 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc/x86_64-w64-mingw32/7.3.0/include/c++ \
12 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc/x86_64-w64-mingw32/7.3.0/include/c++/x86_64-w64-mingw32 \
13 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc/x86_64-w64-mingw32/7.3.0/include/c++/backward \
14 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc/x86_64-w64-mingw32/7.3.0/include \
15 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc/x86_64-w64-mingw32/7.3.0/include-fixed \
16 | C:/Qt/Qt5.12.12/Tools/mingw730_64/x86_64-w64-mingw32/include
17 | QMAKE_CXX.LIBDIRS = \
18 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc/x86_64-w64-mingw32/7.3.0 \
19 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib/gcc \
20 | C:/Qt/Qt5.12.12/Tools/mingw730_64/x86_64-w64-mingw32/lib \
21 | C:/Qt/Qt5.12.12/Tools/mingw730_64/lib
22 |
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/Software/shycom/build-shycom-Desktop_Qt_5_12_12_MinGW_64_bit-Debug/object_script.shycom.Debug:
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1 | debug/SerialThread.o
2 | debug/main.o
3 | debug/mainwindow.o
4 | debug/mycurvewidget.o
5 | debug/myserialwidget.o
6 | debug/mydockwidget.o
7 | debug/mymotorwidget.o
8 | debug/moc_SerialThread.o
9 | debug/moc_mainwindow.o
10 | debug/moc_mycurvewidget.o
11 | debug/moc_myserialwidget.o
12 | debug/moc_mydockwidget.o
13 | debug/moc_mymotorwidget.o
14 |
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/Software/shycom/build-shycom-Desktop_Qt_5_12_12_MinGW_64_bit-Debug/object_script.shycom.Release:
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1 | release/SerialThread.o
2 | release/main.o
3 | release/mainwindow.o
4 | release/mycurvewidget.o
5 | release/myserialwidget.o
6 | release/mydockwidget.o
7 | release/mymotorwidget.o
8 | release/moc_SerialThread.o
9 | release/moc_mainwindow.o
10 | release/moc_mycurvewidget.o
11 | release/moc_myserialwidget.o
12 | release/moc_mydockwidget.o
13 | release/moc_mymotorwidget.o
14 |
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/Software/shycom/build-shycom-Desktop_Qt_5_12_12_MinGW_64_bit-Debug/ui_mainwindow.h:
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1 | /********************************************************************************
2 | ** Form generated from reading UI file 'mainwindow.ui'
3 | **
4 | ** Created by: Qt User Interface Compiler version 5.12.12
5 | **
6 | ** WARNING! All changes made in this file will be lost when recompiling UI file!
7 | ********************************************************************************/
8 |
9 | #ifndef UI_MAINWINDOW_H
10 | #define UI_MAINWINDOW_H
11 |
12 | #include
13 | #include
14 | #include
15 | #include
16 | #include
17 | #include
18 |
19 | QT_BEGIN_NAMESPACE
20 |
21 | class Ui_MainWindow
22 | {
23 | public:
24 | QWidget *centralwidget;
25 | QMenuBar *menubar;
26 | QStatusBar *statusbar;
27 |
28 | void setupUi(QMainWindow *MainWindow)
29 | {
30 | if (MainWindow->objectName().isEmpty())
31 | MainWindow->setObjectName(QString::fromUtf8("MainWindow"));
32 | MainWindow->resize(977, 635);
33 | centralwidget = new QWidget(MainWindow);
34 | centralwidget->setObjectName(QString::fromUtf8("centralwidget"));
35 | MainWindow->setCentralWidget(centralwidget);
36 | menubar = new QMenuBar(MainWindow);
37 | menubar->setObjectName(QString::fromUtf8("menubar"));
38 | menubar->setGeometry(QRect(0, 0, 977, 22));
39 | MainWindow->setMenuBar(menubar);
40 | statusbar = new QStatusBar(MainWindow);
41 | statusbar->setObjectName(QString::fromUtf8("statusbar"));
42 | MainWindow->setStatusBar(statusbar);
43 |
44 | retranslateUi(MainWindow);
45 |
46 | QMetaObject::connectSlotsByName(MainWindow);
47 | } // setupUi
48 |
49 | void retranslateUi(QMainWindow *MainWindow)
50 | {
51 | MainWindow->setWindowTitle(QApplication::translate("MainWindow", "MainWindow", nullptr));
52 | } // retranslateUi
53 |
54 | };
55 |
56 | namespace Ui {
57 | class MainWindow: public Ui_MainWindow {};
58 | } // namespace Ui
59 |
60 | QT_END_NAMESPACE
61 |
62 | #endif // UI_MAINWINDOW_H
63 |
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/Software/shycom/shycom/SerialThread.cpp:
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1 | #include "SerialThread.h"
2 | #include "mainwindow.h"
3 |
4 | SerialThread::SerialThread(QObject *parent) : QObject(parent)
5 | {
6 | thread = new QThread(this);
7 | this->moveToThread(thread);
8 | connect(thread, &QThread::finished, this, &SerialThread::deleteLater);
9 | thread->start();
10 |
11 | for(int i=0; iquit();
16 | thread->wait();
17 | }
18 | void SerialThread::slotReceiveSerialBuf(const QByteArray &qba){
19 | serial_buf += qba;
20 | if(serial_buf.length() >= 8){
21 | for(int i=0; i 512)
56 | serial_buf.remove(0, serial_buf.length() - 512);
57 | }
58 |
--------------------------------------------------------------------------------
/Software/shycom/shycom/SerialThread.h:
--------------------------------------------------------------------------------
1 | #ifndef SERIAL_THREAD_H
2 | #define SERIAL_THREAD_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 |
11 | class SerialThread : public QObject
12 | {
13 | Q_OBJECT
14 | public:
15 | explicit SerialThread(QObject *parent = nullptr);
16 | ~SerialThread();
17 |
18 | signals:
19 | void signalSendModelPose(const float *q);
20 | void signalSendCurvePoint(const QByteArray &qba);
21 | void signalSendSquareWaveFreq(const uint16_t *f);
22 |
23 | public slots:
24 | void slotReceiveSerialBuf(const QByteArray &qba);
25 |
26 | public:
27 | QThread *thread;
28 | QByteArray serial_buf;
29 | uint8_t param_len[256];
30 |
31 | float curve_value[16];
32 | uint8_t curve_receive_status = 0;
33 |
34 | };
35 |
36 | #endif // SERIAL_THREAD_H
37 |
--------------------------------------------------------------------------------
/Software/shycom/shycom/main.cpp:
--------------------------------------------------------------------------------
1 | #include "mainwindow.h"
2 |
3 | #include
4 | int main(int argc, char *argv[])
5 | {
6 | QApplication a(argc, argv);
7 | MainWindow w;
8 | w.resize(700, 400);
9 | w.show();
10 | return a.exec();
11 | }
12 |
--------------------------------------------------------------------------------
/Software/shycom/shycom/mainwindow.h:
--------------------------------------------------------------------------------
1 | #ifndef MAINWINDOW_H
2 | #define MAINWINDOW_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 | #include
11 | #include
12 | #include
13 | #include
14 | #include
15 | #include
16 | #include
17 | #include
18 | #include
19 | #include
20 | #include
21 | #include
22 | #include
23 | #include
24 | #include
25 | #include //中文支持
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include "SerialThread.h"
32 | #include "QByteArray"
33 | #include "QPen"
34 |
35 | #include "qwt_point_data.h"
36 | #include "qwt_plot_curve.h"
37 | #include "qwt_plot.h"
38 |
39 | #include "mycurvewidget.h"
40 | #include "myserialwidget.h"
41 | #include "mydockwidget.h"
42 | #include "mymotorwidget.h"
43 |
44 | QT_BEGIN_NAMESPACE
45 | namespace Ui { class MainWindow; }
46 | QT_END_NAMESPACE
47 |
48 | class MainWindow : public QMainWindow
49 | {
50 | Q_OBJECT
51 |
52 | public:
53 | MainWindow(QWidget *parent = nullptr);
54 | ~MainWindow();
55 |
56 | void initToolBar();
57 | void initGuiSerialBase();
58 | void initGuiCurveBase();
59 | void initGuiMotorBase(uint8_t id);
60 |
61 | void addMotorItem(QString name, uint8_t modu_id);
62 | signals:
63 |
64 | public slots:
65 | void slotSerialActionDockwidgetClose();
66 | void slotCurveActionDockwidgetClose();
67 | void slotMotorActionDockwidgetClose(uint8_t id);
68 | void slotAddMotorItem0(){addMotorItem("other", 0);};
69 | void slotAddMotorItem1(){addMotorItem("other", 1);};
70 | void slotAddMotorItem2(){addMotorItem("other", 2);};
71 | void slotAddMotorItem3(){addMotorItem("other", 3);};
72 | void initGuiMotorBase0(){initGuiMotorBase(0);};
73 | void initGuiMotorBase1(){initGuiMotorBase(1);};
74 | void initGuiMotorBase2(){initGuiMotorBase(2);};
75 | void initGuiMotorBase3(){initGuiMotorBase(3);};
76 | void slotMotorActionDockwidgetClose0(){slotMotorActionDockwidgetClose(0);};
77 | void slotMotorActionDockwidgetClose1(){slotMotorActionDockwidgetClose(1);};
78 | void slotMotorActionDockwidgetClose2(){slotMotorActionDockwidgetClose(2);};
79 | void slotMotorActionDockwidgetClose3(){slotMotorActionDockwidgetClose(3);};
80 | private:
81 | Ui::MainWindow *ui;
82 | QTimer *uTimer;
83 |
84 | //*******串口THREAD***********//
85 | SerialThread *serial_thread;
86 |
87 | //*******串口GUI组件***********//
88 | MyDockWidget *dock_serial_base_gui;
89 | QAction *serialAction;
90 | MySerialWidget *myserialwidget;
91 |
92 | //*******CURVE-GUI组件***********//
93 | QAction *curveAction;
94 | MyDockWidget *dock_curve_base_gui;
95 | MyCurveWidget *mycurvewidget;
96 |
97 | //*******MOTOR-GUI组件***********/
98 | MyDockWidget *dock_motor_base_gui[4];
99 | QAction *motorAction[4];
100 | MyMotorWidget *myMotorWidget[4];
101 | QWidget *motorWidget[4];
102 | QVBoxLayout *motorLayout[4];
103 | QPushButton *btn_add_motor[4];
104 | uint8_t modular_id[4] = {0, 1, 2, 3};
105 | QString modular_name[4] = {"电流环", "速度环", "位置环", "其他"};
106 |
107 | };
108 | #endif // MAINWINDOW_H
109 |
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/Software/shycom/shycom/mainwindow.ui:
--------------------------------------------------------------------------------
1 |
2 |
3 | MainWindow
4 |
5 |
6 |
7 | 0
8 | 0
9 | 977
10 | 635
11 |
12 |
13 |
14 | MainWindow
15 |
16 |
17 |
27 |
28 |
29 |
30 |
31 |
32 |
--------------------------------------------------------------------------------
/Software/shycom/shycom/mycurvewidget.h:
--------------------------------------------------------------------------------
1 | #ifndef MYCURVEWIDGET_H
2 | #define MYCURVEWIDGET_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 | #include
11 | #include
12 | #include
13 | #include
14 | #include
15 | #include
16 | #include
17 | #include
18 | #include
19 | #include
20 | #include
21 | #include
22 | #include
23 | #include
24 | #include
25 | #include //中文支持
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include "SerialThread.h"
32 | #include "QByteArray"
33 | #include "QPen"
34 |
35 | #include "qwt_point_data.h"
36 | #include "qwt_plot_curve.h"
37 | #include "qwt_plot.h"
38 | #include
39 | #include
40 | #include
41 | #include
42 | #include
43 | #include
44 | #include
45 | #include
46 |
47 | #define plot_num 10
48 |
49 | class MyCurveWidget : public QWidget
50 | {
51 | Q_OBJECT
52 | public:
53 | explicit MyCurveWidget(QWidget *parent = nullptr);
54 |
55 | signals:
56 |
57 | public slots:
58 | void slotBtnCurveShow(void);
59 | void slotCurvePlotShow(void);
60 | void slotCurveClear(void);
61 | void slotReceiveCurvePoint(const QByteArray &qba);
62 |
63 | public:
64 | QwtPlot *curvePlot;
65 | QCheckBox *cb_curve[plot_num];
66 | QCheckBox *cb_auto_adaption;
67 | QPushButton *btn_curve_show;
68 | QPushButton *btn_curve_clear;
69 | QLineEdit *te_curve_size_X;
70 | QVector curve_vector[plot_num];
71 | int frame_cnt = 0;
72 | QwtPlotCurve curve[plot_num];
73 | QPen curve_color[plot_num];
74 | float window_min_Y, window_max_Y;
75 | };
76 |
77 | #endif // MYCURVEWIDGET_H
78 |
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/Software/shycom/shycom/mydockwidget.cpp:
--------------------------------------------------------------------------------
1 | #include "mydockwidget.h"
2 | #include
3 |
4 | MyDockWidget::MyDockWidget(QWidget *parent): QDockWidget(parent)
5 | {
6 | isOpen = true;
7 | }
8 |
9 | void MyDockWidget::closeEvent(QCloseEvent *event){
10 | isOpen = false;
11 | emit signalDockwidgetClose();
12 | }
13 |
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/Software/shycom/shycom/mydockwidget.h:
--------------------------------------------------------------------------------
1 | #ifndef MYDOCKWIDGET_H
2 | #define MYDOCKWIDGET_H
3 |
4 | #include
5 |
6 | class MyDockWidget : public QDockWidget
7 | {
8 | Q_OBJECT
9 | public:
10 | explicit MyDockWidget(QWidget *parent = nullptr);
11 |
12 | protected:
13 | void closeEvent(QCloseEvent *event);
14 |
15 | signals:
16 | void signalDockwidgetClose();
17 |
18 |
19 | public:
20 | bool isOpen;
21 | };
22 | #endif // MYDOCKWIDGET_H
23 |
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/Software/shycom/shycom/mymotorwidget.h:
--------------------------------------------------------------------------------
1 | #ifndef MYMOTORWIDGET_H
2 | #define MYMOTORWIDGET_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 | #include
11 | #include
12 | #include
13 | #include
14 |
15 | class MyMotorWidget : public QWidget
16 | {
17 | Q_OBJECT
18 | public:
19 | explicit MyMotorWidget(QWidget *parent = nullptr);
20 |
21 | signals:
22 | void signalWriteParameter(const QByteArray &qba);
23 |
24 | public slots:
25 | void slotUpdateSliderFormSpin();
26 | void slotUpdateSpinFormSlider();
27 | void slotLineEditValueChanged();
28 |
29 | public:
30 | uint8_t modular_id, object_id;
31 | QLabel *lab_min, *lab_max, *lab_step, *lab_set;
32 | QLineEdit *le_min, *le_max, *le_step;
33 | QDoubleSpinBox *sb_set;
34 | QSlider *hs_set;
35 | QLabel *lab_object_id;
36 |
37 | void initUi(QString name, uint8_t obj_id, uint8_t modu_id);
38 | };
39 | #endif // MYMOTORWIDGET_H
40 |
41 |
42 |
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/Software/shycom/shycom/myserialwidget.h:
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1 | #ifndef MYSERIALWIDGET_H
2 | #define MYSERIALWIDGET_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 | #include
11 | #include
12 | #include
13 | #include
14 | #include
15 | #include
16 | #include
17 | #include
18 | #include
19 | #include
20 | #include
21 | #include
22 | #include
23 | #include
24 | #include
25 | #include //中文支持
26 | #include
27 | #include
28 | #include
29 | #include
30 | #include
31 | #include "SerialThread.h"
32 | #include
33 |
34 | class MySerialWidget : public QWidget
35 | {
36 | Q_OBJECT
37 | public:
38 | explicit MySerialWidget(QWidget *parent = nullptr);
39 |
40 | signals:
41 | void signalSerialReceiveBuf(const QByteArray &qba);
42 |
43 |
44 | public slots:
45 | void slotSerialSend(const QByteArray &qba);
46 | void slotBtnClearClicked(void);
47 | void slotBtnSendClicked(void);
48 | void slotUpdateSerialList(void);
49 | void slotReadySerialRead(void);
50 | void slotOpenOrCloseSerial(void);
51 | void slot_cbb_baud_currentIndexChanged(void);
52 | void slot_cbb_com_activated(void);
53 |
54 | public:
55 | QTimer *uTimer;
56 | QSerialPort *serial;
57 | QTextBrowser *tb_rx_buf;
58 | QTextEdit *te_tx_buf;
59 | QCheckBox *cb_hex_receive;
60 | QCheckBox *cb_hex_send;
61 | QCheckBox *cb_send_enter;
62 | QCheckBox *cb_auto_enter;
63 | QLabel *lab_txbyte;
64 | QLabel *lab_rxbyte;
65 | QPushButton *btn_send;
66 | QPushButton *btn_clear;
67 | QComboBox *cbb_com;
68 | QComboBox *cbb_baud;
69 | QPushButton *btn_serial_sw;
70 | };
71 |
72 | #endif // MYSERIALWIDGET_H
73 |
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/Software/shycom/shycom/shycom.pro:
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1 | QT += core gui serialport opengl
2 |
3 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
4 |
5 | LIBS += -lopengl32 \
6 | -lglu32 \
7 |
8 |
9 |
10 | CONFIG += c++11
11 |
12 | # The following define makes your compiler emit warnings if you use
13 | # any Qt feature that has been marked deprecated (the exact warnings
14 | # depend on your compiler). Please consult the documentation of the
15 | # deprecated API in order to know how to port your code away from it.
16 | DEFINES += QT_DEPRECATED_WARNINGS
17 |
18 | # You can also make your code fail to compile if it uses deprecated APIs.
19 | # In order to do so, uncomment the following line.
20 | # You can also select to disable deprecated APIs only up to a certain version of Qt.
21 | #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
22 |
23 | SOURCES += \
24 | SerialThread.cpp \
25 | main.cpp \
26 | mainwindow.cpp \
27 | mycurvewidget.cpp \
28 | myserialwidget.cpp \
29 | mydockwidget.cpp \
30 | mymotorwidget.cpp
31 |
32 | HEADERS += \
33 | SerialThread.h \
34 | mainwindow.h \
35 | mycurvewidget.h \
36 | myserialwidget.h \
37 | mydockwidget.h \
38 | mymotorwidget.h
39 |
40 | FORMS += \
41 | mainwindow.ui
42 |
43 |
44 | #INCLUDEPATH += /usr/local/qwt-6.1.3/include
45 | #LIBS += -L "/usr/local/qwt-6.1.3/lib/" -lqwt
46 |
47 | # Default rules for deployment.
48 | #qnx: target.path = /tmp/$${TARGET}/bin
49 | #else: unix:!android: target.path = /opt/$${TARGET}/bin
50 | #!isEmpty(target.path): INSTALLS += target
51 |
52 | #DEFINES += QT_DLL QWT_DLL
53 |
54 | LIBS += -L "C:\Qt\Qt5.12.12\5.12.12\mingw73_64\lib" -lqwtd
55 |
56 | #LIBS += -L "C:\Qt\Qt5.12.12\5.12.12\mingw73_64\lib" -lqwt
57 |
58 | INCLUDEPATH += "C:\Qt\Qt5.12.12\5.12.12\mingw73_64\include\qwt"
59 |
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