├── .gitignore ├── .gitmodules ├── include ├── errormessage_prj.h ├── digio_prj.h ├── anain_prj.h ├── hwinit.h ├── hwdefs.h ├── pwmgeneration.h └── param_prj.h ├── .gitpod.yml ├── .gitpod.Dockerfile ├── linker.ld ├── src ├── terminal_prj.cpp ├── pwmgeneration.cpp ├── main.cpp └── hwinit.cpp ├── README.md ├── Makefile ├── project.cbp └── LICENSE /.gitignore: -------------------------------------------------------------------------------- 1 | *.o 2 | obj 3 | linker.map 4 | sinus.layout 5 | sinus.cscope_file_list 6 | updater.py 7 | *.hex 8 | *.bin 9 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "libopencm3"] 2 | path = libopencm3 3 | url = https://github.com/jsphuebner/libopencm3 4 | [submodule "libopeninv"] 5 | path = libopeninv 6 | url = https://github.com/jsphuebner/libopeninv.git 7 | -------------------------------------------------------------------------------- /include/errormessage_prj.h: -------------------------------------------------------------------------------- 1 | #ifndef ERRORMESSAGE_PRJ_H_INCLUDED 2 | #define ERRORMESSAGE_PRJ_H_INCLUDED 3 | 4 | #define ERROR_BUF_SIZE 4 5 | 6 | #define ERROR_MESSAGE_LIST \ 7 | ERROR_MESSAGE_ENTRY(TESTERROR, ERROR_STOP) \ 8 | 9 | #endif // ERRORMESSAGE_PRJ_H_INCLUDED 10 | -------------------------------------------------------------------------------- /.gitpod.yml: -------------------------------------------------------------------------------- 1 | image: 2 | file: .gitpod.Dockerfile 3 | 4 | # List the ports you want to expose and what to do when they are served. See https://www.gitpod.io/docs/43_config_ports/ 5 | ports: 6 | - port: 3000 7 | 8 | # List the start up tasks. You can start them in parallel in multiple terminals. See https://www.gitpod.io/docs/44_config_start_tasks/ 9 | tasks: 10 | - init: echo 'init script' # runs during prebuild 11 | command: echo 'start script' -------------------------------------------------------------------------------- /.gitpod.Dockerfile: -------------------------------------------------------------------------------- 1 | FROM gitpod/workspace-full 2 | 3 | USER root 4 | 5 | RUN apt-get update && apt-get install -y gcc-arm-none-eabi 6 | 7 | # Install custom tools, runtime, etc. using apt-get 8 | # For example, the command below would install "bastet" - a command line tetris clone: 9 | # 10 | # RUN apt-get update \ 11 | # && apt-get install -y bastet \ 12 | # && apt-get clean && rm -rf /var/cache/apt/* && rm -rf /var/lib/apt/lists/* && rm -rf /tmp/* 13 | # 14 | # More information: https://www.gitpod.io/docs/42_config_docker/ 15 | -------------------------------------------------------------------------------- /include/digio_prj.h: -------------------------------------------------------------------------------- 1 | #ifndef PinMode_PRJ_H_INCLUDED 2 | #define PinMode_PRJ_H_INCLUDED 3 | 4 | #include "hwdefs.h" 5 | 6 | /* Here you specify generic IO pins, i.e. digital input or outputs. 7 | * Inputs can be floating (INPUT_FLT), have a 30k pull-up (INPUT_PU) 8 | * or pull-down (INPUT_PD) or be an output (OUTPUT) 9 | */ 10 | 11 | #define DIG_IO_LIST \ 12 | DIG_IO_ENTRY(test_in, GPIOB, GPIO5, PinMode::INPUT_FLT) \ 13 | DIG_IO_ENTRY(dcsw_out, GPIOC, GPIO13, PinMode::OUTPUT) \ 14 | DIG_IO_ENTRY(prec_out, GPIOB, GPIO1, PinMode::OUTPUT) \ 15 | DIG_IO_ENTRY(led_out, GPIOC, GPIO12, PinMode::OUTPUT) \ 16 | 17 | #endif // PinMode_PRJ_H_INCLUDED 18 | -------------------------------------------------------------------------------- /include/anain_prj.h: -------------------------------------------------------------------------------- 1 | #ifndef ANAIN_PRJ_H_INCLUDED 2 | #define ANAIN_PRJ_H_INCLUDED 3 | 4 | #include "hwdefs.h" 5 | 6 | /* Here we specify how many samples are combined into one filtered result. Following values are possible: 7 | * - NUM_SAMPLES = 1: Most recent raw value is returned 8 | * - NUM_SAMPLES = 3: Median of last 3 values is returned 9 | * - NUM_SAMPLES = 9: Median of last 3 medians is returned 10 | * - NUM_SAMPLES = 12: Average of last 4 medians is returned 11 | */ 12 | #define NUM_SAMPLES 12 13 | #define SAMPLE_TIME ADC_SMPR_SMP_7DOT5CYC //Sample&Hold time for each pin. Increases sample time, might increase accuracy 14 | 15 | //Here you specify a list of analog inputs, see main.cpp on how to use them 16 | #define ANA_IN_LIST \ 17 | ANA_IN_ENTRY(udc, GPIOC, 3) \ 18 | ANA_IN_ENTRY(tmpm, GPIOC, 2) \ 19 | ANA_IN_ENTRY(tmphs, GPIOC, 4) \ 20 | ANA_IN_ENTRY(uaux, GPIOA, 3) \ 21 | ANA_IN_ENTRY(il1, GPIOA, 5) \ 22 | ANA_IN_ENTRY(il2, GPIOB, 0) 23 | 24 | #endif // ANAIN_PRJ_H_INCLUDED 25 | -------------------------------------------------------------------------------- /linker.ld: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the libopenstm32 project. 3 | * 4 | * Copyright (C) 2009 Uwe Hermann 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | 20 | /* Linker script for Olimex STM32-H103 (STM32F103RBT6, 128K flash, 20K RAM). */ 21 | 22 | /* Define memory regions. */ 23 | MEMORY 24 | { 25 | rom (rx) : ORIGIN = 0x08001000, LENGTH = 120K 26 | ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K 27 | } 28 | 29 | 30 | /* Include the common ld script from libopenstm32. */ 31 | INCLUDE cortex-m-generic.ld 32 | -------------------------------------------------------------------------------- /include/hwinit.h: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-template project. 3 | * 4 | * Copyright (C) 2020 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | 20 | #ifndef HWINIT_H_INCLUDED 21 | #define HWINIT_H_INCLUDED 22 | 23 | 24 | #ifdef __cplusplus 25 | extern "C" 26 | { 27 | #endif 28 | 29 | void clock_setup(void); 30 | void usart_setup(void); 31 | void nvic_setup(void); 32 | void rtc_setup(void); 33 | void tim_setup(void); 34 | void write_bootloader_pininit(); 35 | 36 | #ifdef __cplusplus 37 | } 38 | #endif 39 | 40 | #endif // HWINIT_H_INCLUDED 41 | -------------------------------------------------------------------------------- /include/hwdefs.h: -------------------------------------------------------------------------------- 1 | #ifndef HWDEFS_H_INCLUDED 2 | #define HWDEFS_H_INCLUDED 3 | 4 | 5 | //Common for any config 6 | 7 | //Maximum value for over current limit timer 8 | #define OCURMAX 4096 9 | #define USART_BAUDRATE 115200 10 | //Maximum PWM frequency is 36MHz/2^MIN_PWM_DIGITS 11 | #define MIN_PWM_DIGITS 11 12 | #define RCC_CLOCK_SETUP rcc_clock_setup_in_hse_8mhz_out_72mhz 13 | 14 | #define REV_CNT_RCC_ENR RCC_APB1ENR_TIM3EN 15 | #define rev_timer_isr tim3_isr 16 | #define REV_CNT_TIMER TIM3 17 | #define REV_CNT_TIMRST RST_TIM3 18 | #define OVER_CUR_TIMER TIM4 19 | #define OVER_CUR_NEG TIM_OC2 20 | #define OVER_CUR_POS TIM_OC3 21 | 22 | #define TERM_USART USART3 23 | #define TERM_USART_TXPIN GPIO_USART3_TX 24 | #define TERM_USART_TXPORT GPIOB 25 | #define TERM_USART_DMARX DMA_CHANNEL3 26 | #define TERM_USART_DMATX DMA_CHANNEL2 //this means we can not use it on rev1 hardware (TIM3_CH3) 27 | #define TERM_USART_DR USART3_DR 28 | #define TERM_BUFSIZE 128 29 | 30 | //Address of parameter block in flash 31 | #define FLASH_PAGE_SIZE 1024 32 | #define PARAM_ADDRESS 0x0801FC00 33 | #define PARAM_BLKSIZE FLASH_PAGE_SIZE 34 | #define CANMAP_ADDRESS 0x0801F800 35 | 36 | typedef enum 37 | { 38 | HW_REV1, HW_REV2, HW_REV3, HW_TESLA, HW_TESLAM3, HW_BLUEPILL, HW_PRIUS, HW_PRIUSMG1 39 | } HWREV; 40 | 41 | extern HWREV hwRev; 42 | 43 | #endif // HWDEFS_H_INCLUDED 44 | -------------------------------------------------------------------------------- /include/pwmgeneration.h: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-island project. 3 | * 4 | * Copyright (C) 2021 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | #ifndef PWMGENERATION_H 20 | #define PWMGENERATION_H 21 | 22 | #include "my_fp.h" 23 | #include "picontroller.h" 24 | 25 | class PwmGeneration 26 | { 27 | public: 28 | /** Default constructor */ 29 | PwmGeneration(uint32_t timer); 30 | void SetPwmDigits(int digits); 31 | void SetPolarity(bool activeLow, uint32_t* banks, uint16_t* pins, int numBanks); 32 | void SetUdc(s32fp vtg) { udcController.SetRef(vtg); } 33 | void SetCurrentDivider(s32fp d1, s32fp d2) { idiv[0] = d1, idiv[1] = d2; } 34 | void SetFrequency(s32fp frq); 35 | void Start(); 36 | void ConfigureUdcController(int kp, int ki); 37 | void Stop(); 38 | int Run(s32fp udc, s32fp* il); 39 | 40 | protected: 41 | 42 | private: 43 | uint32_t _timer; 44 | uint16_t angle; 45 | uint16_t phaseIncrement; 46 | uint16_t iofs[2]; 47 | s32fp idiv[2]; 48 | int shiftForTimer; 49 | PiController udcController; 50 | 51 | ///There are two update events per PWM period 52 | ///One when counter reaches top, one when it reaches bottom 53 | ///We set the repetition counter in a way, that the ISR 54 | ///Callback frequency is constant i.e. independent from PWM frequency 55 | ///- for 17.6 kHz: call ISR every four update events (that is every other period) 56 | ///- for 8.8kHz: call ISR every other update event (that is once per PWM period) 57 | ///- for 4.4kHz: call ISR on every update event (that is twice per period) 58 | const uint8_t repCounters[3] = { 3, 1, 0 }; 59 | }; 60 | 61 | #endif // PWMGENERATION_H 62 | -------------------------------------------------------------------------------- /src/terminal_prj.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-template project. 3 | * 4 | * Copyright (C) 2020 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | 20 | /* This file contains a standard set of commands that are used by the 21 | * esp8266 web interface. 22 | * You can add your own commands if needed 23 | */ 24 | #include 25 | #include 26 | #include "hwdefs.h" 27 | #include "terminal.h" 28 | #include "params.h" 29 | #include "my_string.h" 30 | #include "my_fp.h" 31 | #include "printf.h" 32 | #include "param_save.h" 33 | #include "errormessage.h" 34 | #include "stm32_can.h" 35 | #include "terminalcommands.h" 36 | 37 | static void LoadDefaults(char *arg); 38 | static void Help(char *arg); 39 | static void PrintSerial(char *arg); 40 | static void PrintErrors(char *arg); 41 | 42 | extern "C" const TERM_CMD TermCmds[] = 43 | { 44 | { "set", TerminalCommands::ParamSet }, 45 | { "get", TerminalCommands::ParamGet }, 46 | { "flag", TerminalCommands::ParamFlag }, 47 | { "stream", TerminalCommands::ParamStream }, 48 | { "json", TerminalCommands::PrintParamsJson }, 49 | { "can", TerminalCommands::MapCan }, 50 | { "save", TerminalCommands::SaveParameters }, 51 | { "load", TerminalCommands::LoadParameters }, 52 | { "reset", TerminalCommands::Reset }, 53 | { "fastuart", TerminalCommands::FastUart }, 54 | { "defaults", LoadDefaults }, 55 | { "help", Help }, 56 | { "serial", PrintSerial }, 57 | { "errors", PrintErrors }, 58 | { NULL, NULL } 59 | }; 60 | 61 | static void LoadDefaults(char *arg) 62 | { 63 | arg = arg; 64 | Param::LoadDefaults(); 65 | printf("Defaults loaded\r\n"); 66 | } 67 | 68 | static void PrintErrors(char *arg) 69 | { 70 | arg = arg; 71 | ErrorMessage::PrintAllErrors(); 72 | } 73 | 74 | static void PrintSerial(char *arg) 75 | { 76 | arg = arg; 77 | printf("%X%X%X\r\n", DESIG_UNIQUE_ID2, DESIG_UNIQUE_ID1, DESIG_UNIQUE_ID0); 78 | } 79 | 80 | static void Help(char *arg) 81 | { 82 | //If you want you could print some instructions here 83 | //But since the terminal is mostly used by the web interface 84 | //it makes limited sense. 85 | arg = arg; 86 | } 87 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # stm32-template 2 | This project can be a starting point to your own STM32 project. It contains facilities that make software 3 | development easier and ensures compatibility with the esp8266 web interface. 4 | 5 | It provides 6 | - Mostly object oriented syntax 7 | - A simple, hardware based scheduler for recurring tasks 8 | - Analog input management, fully independent with DMA 9 | - Digital I/O management 10 | - CAN library supporting up to 2 CAN interfaces 11 | - hardware filter support 12 | - No limitation on number of messages 13 | - Automatic mapping from/to parameter module 14 | - CAN Open SDO support 15 | - Fully interrupt driven 16 | - Error memory 17 | - ligthweight fixed point arithmetic 18 | - string functions to be independent of stdlib 19 | - Parameter module that interfaces to esp8266 web GUI 20 | - Saving parameters to flash 21 | - Serial terminal with custom commands and DMA transfer 22 | - Mathematical functions (sin/cos, arctan, square root) 23 | - PI controller class 24 | - Functions for field oriented control 25 | 26 | # OTA (over the air upgrade) 27 | The firmware is linked to leave the 4 kb of flash unused. Those 4 kb are reserved for the bootloader 28 | that you can find here: https://github.com/jsphuebner/tumanako-inverter-fw-bootloader 29 | When flashing your device for the first time you must first flash that bootloader. After that you can 30 | use the ESP8266 module and its web interface to upload your actual application firmware. 31 | The web interface is here: https://github.com/jsphuebner/esp8266-web-interface 32 | 33 | # Compiling 34 | You will need the arm-none-eabi toolchain: https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads 35 | On Ubuntu type 36 | 37 | `sudo apt-get install git gcc-arm-none-eabi` 38 | 39 | The only external depedencies are libopencm3 and libopeninv. You can download and build these dependencies by typing 40 | 41 | `make get-deps` 42 | 43 | Now you can compile stm32- by typing 44 | 45 | `make` 46 | 47 | And upload it to your board using a JTAG/SWD adapter, the updater.py script or the esp8266 web interface. 48 | 49 | # Editing 50 | The repository provides a project file for Code::Blocks, a rather leightweight IDE for cpp code editing. 51 | For building though, it just executes the above command. Its build system is not actually used. 52 | Consequently you can use your favority IDE or editor for editing files. 53 | 54 | # Adding classes or modules 55 | As your firmware grows you probably want to add classes. To do so, put the header file in include/ and the 56 | source file in src/ . Then add your module to the object list in Makefile that starts in line 43 with .o 57 | extension. So if your files are called "mymodule.cpp" and "mymodule.h" you add "mymodule.o" to the list. 58 | 59 | When changing a header file the build system doesn't always detect this, so you have to "make clean" and 60 | then make. This is especially important when editing the "*_prj.h" files. 61 | -------------------------------------------------------------------------------- /include/param_prj.h: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-island project. 3 | * 4 | * Copyright (C) 2021 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | 20 | //Define a version string of your firmware here 21 | #define VER 0.02.B 22 | 23 | /* Entries must be ordered as follows: 24 | 1. Saveable parameters (id != 0) 25 | 2. Temporary parameters (id = 0) 26 | 3. Display values 27 | */ 28 | //Next param id (increase when adding new parameter!): 8 29 | //Next value Id: 2007 30 | /* category name unit min max default id */ 31 | #define PARAM_LIST \ 32 | PARAM_ENTRY(CAT_INVERTER, pwmfrq, PWMFRQS, 0, 2, 1, 13 ) \ 33 | PARAM_ENTRY(CAT_INVERTER, pwmpol, PWMPOLS, 0, 1, 0, 52 ) \ 34 | PARAM_ENTRY(CAT_INVERTER, deadtime, "dig", 0, 255, 63, 14 ) \ 35 | PARAM_ENTRY(CAT_INVERTER, ocurlim, "A", -65536, 65536, 100, 22 ) \ 36 | PARAM_ENTRY(CAT_INVERTER, il1gain, "dig/A", -100, 100, 4.7, 27 ) \ 37 | PARAM_ENTRY(CAT_INVERTER, il2gain, "dig/A", -100, 100, 4.7, 28 ) \ 38 | PARAM_ENTRY(CAT_INVERTER, udcgain, "dig/V", 0, 4095, 6.175, 29 ) \ 39 | PARAM_ENTRY(CAT_INVERTER, udcofs, "dig", 0, 4095, 0, 77 ) \ 40 | PARAM_ENTRY(CAT_INVERTER, udclim, "V", 0, 1000, 540, 48 ) \ 41 | PARAM_ENTRY(CAT_OPERATION,start, OPMODES, 0, 1, 0, 0 ) \ 42 | PARAM_ENTRY(CAT_OPERATION,udcspnt, "V", 0, 600, 0, 3 ) \ 43 | PARAM_ENTRY(CAT_OPERATION,udckp, "", 0, 10000, 10, 4 ) \ 44 | PARAM_ENTRY(CAT_OPERATION,udcki, "", 0, 10000, 10, 5 ) \ 45 | PARAM_ENTRY(CAT_OPERATION,minpwm, "%", 0, 100, 0, 6 ) \ 46 | PARAM_ENTRY(CAT_OPERATION,frq, "Hz", 45, 65, 50, 7 ) \ 47 | PARAM_ENTRY(CAT_COMM, canspeed, CANSPEEDS, 0, 3, 1, 1 ) \ 48 | PARAM_ENTRY(CAT_COMM, canperiod, CANPERIODS,0, 1, 0, 2 ) \ 49 | VALUE_ENTRY(opmode, OPMODES, 2000 ) \ 50 | VALUE_ENTRY(udc, "V", 2003 ) \ 51 | VALUE_ENTRY(il1, "A", 2005 ) \ 52 | VALUE_ENTRY(il2, "A", 2006 ) \ 53 | VALUE_ENTRY(version, VERSTR, 2001 ) \ 54 | VALUE_ENTRY(lasterr, errorListString, 2002 ) \ 55 | VALUE_ENTRY(boosteramp, "dig", 2003 ) \ 56 | VALUE_ENTRY(cpuload, "%", 2004 ) 57 | 58 | 59 | /***** Enum String definitions *****/ 60 | #define OPMODES "0=Off, 1=Run" 61 | #define PWMFRQS "0=17.6kHz, 1=8.8kHz, 2=4.4KHz" 62 | #define PWMPOLS "0=ACTHIGH, 1=ACTLOW" 63 | #define CANSPEEDS "0=250k, 1=500k, 2=800k, 3=1M" 64 | #define CANPERIODS "0=100ms, 1=10ms" 65 | #define CAT_TEST "Testing" 66 | #define CAT_COMM "Communication" 67 | #define CAT_INVERTER "Inverter" 68 | #define CAT_OPERATION "Operation" 69 | 70 | #define VERSTR STRINGIFY(4=VER) 71 | 72 | /***** enums ******/ 73 | 74 | 75 | enum _canspeeds 76 | { 77 | CAN_PERIOD_100MS = 0, 78 | CAN_PERIOD_10MS, 79 | CAN_PERIOD_LAST 80 | }; 81 | 82 | enum _modes 83 | { 84 | MOD_OFF = 0, 85 | MOD_RUN, 86 | MOD_LAST 87 | }; 88 | 89 | //Generated enum-string for possible errors 90 | extern const char* errorListString; 91 | 92 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | ## 2 | ## This file is part of the libopenstm32 project. 3 | ## 4 | ## Copyright (C) 2009 Uwe Hermann 5 | ## 6 | ## This program is free software: you can redistribute it and/or modify 7 | ## it under the terms of the GNU General Public License as published by 8 | ## the Free Software Foundation, either version 3 of the License, or 9 | ## (at your option) any later version. 10 | ## 11 | ## This program is distributed in the hope that it will be useful, 12 | ## but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | ## GNU General Public License for more details. 15 | ## 16 | ## You should have received a copy of the GNU General Public License 17 | ## along with this program. If not, see . 18 | ## 19 | 20 | OUT_DIR = obj 21 | PREFIX ?= arm-none-eabi 22 | BINARY = stm32_island 23 | SIZE = $(PREFIX)-size 24 | CC = $(PREFIX)-gcc 25 | CPP = $(PREFIX)-g++ 26 | LD = $(PREFIX)-gcc 27 | OBJCOPY = $(PREFIX)-objcopy 28 | OBJDUMP = $(PREFIX)-objdump 29 | MKDIR_P = mkdir -p 30 | TERMINAL_DEBUG ?= 0 31 | CFLAGS = -Os -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \ 32 | -fno-common -fno-builtin -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \ 33 | -mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections 34 | CPPFLAGS = -Os -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \ 35 | -fno-common -std=c++11 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \ 36 | -ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb 37 | LDSCRIPT = linker.ld 38 | LDFLAGS = -Llibopencm3/lib -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections,-Map,linker.map 39 | OBJSL = main.o hwinit.o stm32scheduler.o params.o terminal.o terminal_prj.o \ 40 | my_string.o digio.o sine_core.o my_fp.o printf.o anain.o \ 41 | param_save.o errormessage.o stm32_can.o \ 42 | picontroller.o pwmgeneration.o terminalcommands.o 43 | 44 | OBJS = $(patsubst %.o,obj/%.o, $(OBJSL)) 45 | vpath %.c src/ libopeninv/src 46 | vpath %.cpp src/ libopeninv/src 47 | 48 | OPENOCD_BASE = /usr 49 | OPENOCD = $(OPENOCD_BASE)/bin/openocd 50 | OPENOCD_SCRIPTS = $(OPENOCD_BASE)/share/openocd/scripts 51 | OPENOCD_FLASHER = $(OPENOCD_SCRIPTS)/interface/parport.cfg 52 | OPENOCD_BOARD = $(OPENOCD_SCRIPTS)/board/olimex_stm32_h103.cfg 53 | 54 | # Be silent per default, but 'make V=1' will show all compiler calls. 55 | ifneq ($(V),1) 56 | Q := @ 57 | NULL := 2>/dev/null 58 | endif 59 | 60 | all: directories images 61 | Debug:images 62 | Release: images 63 | cleanDebug:clean 64 | images: $(BINARY) 65 | @printf " OBJCOPY $(BINARY).bin\n" 66 | $(Q)$(OBJCOPY) -Obinary $(BINARY) $(BINARY).bin 67 | @printf " OBJCOPY $(BINARY).hex\n" 68 | $(Q)$(OBJCOPY) -Oihex $(BINARY) $(BINARY).hex 69 | $(Q)$(SIZE) $(BINARY) 70 | 71 | directories: ${OUT_DIR} 72 | 73 | ${OUT_DIR}: 74 | $(Q)${MKDIR_P} ${OUT_DIR} 75 | 76 | $(BINARY): $(OBJS) $(LDSCRIPT) 77 | @printf " LD $(subst $(shell pwd)/,,$(@))\n" 78 | $(Q)$(LD) $(LDFLAGS) -o $(BINARY) $(OBJS) -lopencm3_stm32f1 79 | 80 | $(OUT_DIR)/%.o: %.c Makefile 81 | @printf " CC $(subst $(shell pwd)/,,$(@))\n" 82 | $(Q)$(CC) $(CFLAGS) -o $@ -c $< 83 | 84 | $(OUT_DIR)/%.o: %.cpp Makefile 85 | @printf " CPP $(subst $(shell pwd)/,,$(@))\n" 86 | $(Q)$(CPP) $(CPPFLAGS) -o $@ -c $< 87 | 88 | clean: 89 | @printf " CLEAN ${OUT_DIR}\n" 90 | $(Q)rm -rf ${OUT_DIR} 91 | @printf " CLEAN $(BINARY)\n" 92 | $(Q)rm -f $(BINARY) 93 | @printf " CLEAN $(BINARY).bin\n" 94 | $(Q)rm -f $(BINARY).bin 95 | @printf " CLEAN $(BINARY).hex\n" 96 | $(Q)rm -f $(BINARY).hex 97 | @printf " CLEAN $(BINARY).srec\n" 98 | $(Q)rm -f $(BINARY).srec 99 | @printf " CLEAN $(BINARY).list\n" 100 | $(Q)rm -f $(BINARY).list 101 | 102 | flash: images 103 | @printf " FLASH $(BINARY).bin\n" 104 | @# IMPORTANT: Don't use "resume", only "reset" will work correctly! 105 | $(Q)$(OPENOCD) -s $(OPENOCD_SCRIPTS) \ 106 | -f $(OPENOCD_FLASHER) \ 107 | -f $(OPENOCD_BOARD) \ 108 | -c "init" -c "reset halt" \ 109 | -c "flash write_image erase $(BINARY).hex" \ 110 | -c "reset" \ 111 | -c "shutdown" $(NULL) 112 | 113 | .PHONY: directories images clean 114 | 115 | get-deps: 116 | @printf " GIT SUBMODULE\n" 117 | $(Q)git submodule update --init 118 | @printf " MAKE libopencm3\n" 119 | $(Q)${MAKE} -C libopencm3 120 | 121 | Test: 122 | cd test && $(MAKE) 123 | cleanTest: 124 | cd test && $(MAKE) clean 125 | -------------------------------------------------------------------------------- /project.cbp: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 109 | 110 | -------------------------------------------------------------------------------- /src/pwmgeneration.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-island project. 3 | * 4 | * Copyright (C) 2021 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | #include 20 | #include 21 | #include 22 | #include "pwmgeneration.h" 23 | #include "hwdefs.h" 24 | #include "sine_core.h" 25 | #include "anain.h" 26 | 27 | #define FRQ_TO_ANGLE(frq) FP_TOINT(((frq << SineCore::BITS) + (1 << (SineCore::BITS - 1))) / (rcc_apb2_frequency / 8192)) 28 | 29 | PwmGeneration::PwmGeneration(uint32_t timer) 30 | { 31 | _timer = timer; 32 | 33 | /* Center aligned PWM */ 34 | timer_set_alignment(_timer, TIM_CR1_CMS_CENTER_1); 35 | timer_enable_preload(_timer); 36 | 37 | for (int channel = TIM_OC1; channel <= TIM_OC3N; channel++) 38 | { 39 | timer_enable_oc_preload(_timer, (tim_oc_id)channel); 40 | timer_set_oc_mode(_timer, (tim_oc_id)channel, TIM_OCM_PWM1); 41 | timer_set_oc_idle_state_unset(_timer, (tim_oc_id)channel); 42 | timer_set_oc_value(_timer, (tim_oc_id)channel, 0); 43 | } 44 | 45 | timer_disable_break_automatic_output(_timer); 46 | timer_set_break_polarity_low(_timer); 47 | 48 | /*if (hwRev == HW_BLUEPILL || hwRev == HW_PRIUS || hwRev == HW_TESLAM3) 49 | timer_set_break_polarity_low(_timer); 50 | else 51 | timer_set_break_polarity_high(_timer);*/ 52 | 53 | timer_enable_break(_timer); 54 | timer_set_enabled_off_state_in_run_mode(_timer); 55 | timer_set_enabled_off_state_in_idle_mode(_timer); 56 | timer_set_deadtime(_timer, 0); 57 | timer_clear_flag(_timer, TIM_SR_UIF | TIM_SR_BIF); 58 | timer_enable_irq(_timer, TIM_DIER_UIE | TIM_DIER_BIE); 59 | 60 | timer_set_prescaler(_timer, 0); 61 | /* PWM frequency */ 62 | timer_set_period(_timer, 1U << MIN_PWM_DIGITS); 63 | timer_set_repetition_counter(_timer, repCounters[0]); 64 | 65 | //timer_generate_event(_timer, TIM_EGR_UG); 66 | 67 | udcController.SetCallingFrequency(rcc_apb2_frequency / 8192); 68 | } 69 | 70 | void PwmGeneration::SetPwmDigits(int digits) 71 | { 72 | if (digits < MIN_PWM_DIGITS) return; 73 | 74 | timer_disable_counter(_timer); 75 | timer_set_period(_timer, 1U << digits); 76 | timer_set_repetition_counter(_timer, repCounters[digits - MIN_PWM_DIGITS]); 77 | timer_generate_event(_timer, TIM_EGR_UG); 78 | timer_enable_counter(_timer); 79 | shiftForTimer = SineCore::BITS - digits; 80 | udcController.SetMinMaxY(0, (1U << digits) - 100); 81 | } 82 | 83 | void PwmGeneration::SetPolarity(bool activeLow, uint32_t* banks, uint16_t* pins, int numBanks) 84 | { 85 | const uint8_t outputMode = activeLow ? GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN : GPIO_CNF_OUTPUT_ALTFN_PUSHPULL; 86 | 87 | for (int channel = TIM_OC1; channel <= TIM_OC3N; channel++) 88 | { 89 | if (activeLow) 90 | timer_set_oc_polarity_low(_timer, (tim_oc_id)channel); 91 | else 92 | timer_set_oc_polarity_high(_timer, (tim_oc_id)channel); 93 | } 94 | 95 | for (int i = 0; i < numBanks; i++) 96 | { 97 | gpio_set_mode(banks[i], GPIO_MODE_OUTPUT_50_MHZ, outputMode, pins[i]); 98 | } 99 | } 100 | 101 | void PwmGeneration::Start() 102 | { 103 | timer_set_oc_polarity_low(_timer, TIM_OC2N); 104 | timer_enable_oc_output(_timer, TIM_OC1); 105 | timer_enable_oc_output(_timer, TIM_OC1N); 106 | //Booster connected to OC2N on Prius Gen 2 board 107 | //Do not run phase 2! 108 | timer_enable_oc_output(_timer, TIM_OC2N); 109 | timer_enable_oc_output(_timer, TIM_OC3); 110 | timer_enable_oc_output(_timer, TIM_OC3N); 111 | timer_enable_break_main_output(_timer); 112 | udcController.ResetIntegrator(); 113 | iofs[0] = AnaIn::il1.Get(); 114 | iofs[1] = AnaIn::il2.Get(); 115 | timer_enable_irq(_timer, TIM_DIER_UIE | TIM_DIER_BIE); 116 | timer_enable_counter(_timer); 117 | } 118 | 119 | void PwmGeneration::Stop() 120 | { 121 | timer_disable_oc_output(_timer, TIM_OC1); 122 | timer_disable_oc_output(_timer, TIM_OC2); 123 | timer_disable_oc_output(_timer, TIM_OC3); 124 | timer_disable_oc_output(_timer, TIM_OC1N); 125 | timer_disable_oc_output(_timer, TIM_OC2N); 126 | timer_disable_oc_output(_timer, TIM_OC3N); 127 | timer_disable_break_main_output(_timer); 128 | timer_disable_counter(_timer); 129 | } 130 | 131 | void PwmGeneration::ConfigureUdcController(int kp, int ki) 132 | { 133 | udcController.SetGains(kp, ki); 134 | } 135 | 136 | void PwmGeneration::SetFrequency(s32fp frq) 137 | { 138 | phaseIncrement = FRQ_TO_ANGLE(frq); 139 | } 140 | 141 | int PwmGeneration::Run(s32fp udc, s32fp* il) 142 | { 143 | int dutyCycle = udcController.Run(udc); 144 | int val1 = SineCore::Sine(angle) + 32768; 145 | int val2 = -SineCore::Sine(angle) + 32768; 146 | 147 | il[0] = FP_MUL(AnaIn::il1.Get() - iofs[0], idiv[0]); 148 | il[1] = FP_MUL(AnaIn::il2.Get() - iofs[1], idiv[1]); 149 | 150 | timer_set_oc_value(_timer, TIM_OC2, dutyCycle); 151 | timer_set_oc_value(_timer, TIM_OC1, val1 >> shiftForTimer); 152 | timer_set_oc_value(_timer, TIM_OC3, val2 >> shiftForTimer); 153 | 154 | angle += phaseIncrement; 155 | 156 | return dutyCycle; 157 | } 158 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-template project. 3 | * 4 | * Copyright (C) 2020 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include "stm32_can.h" 26 | #include "terminal.h" 27 | #include "params.h" 28 | #include "hwdefs.h" 29 | #include "digio.h" 30 | #include "hwinit.h" 31 | #include "anain.h" 32 | #include "param_save.h" 33 | #include "my_math.h" 34 | #include "errormessage.h" 35 | #include "printf.h" 36 | #include "stm32scheduler.h" 37 | #include "pwmgeneration.h" 38 | 39 | static Stm32Scheduler* scheduler; 40 | static Can* can; 41 | static PwmGeneration* pwm; 42 | 43 | HWREV hwRev = HW_PRIUS; 44 | 45 | //sample 100ms task 46 | static void Ms100Task(void) 47 | { 48 | //The following call toggles the LED output, so every 100ms 49 | //The LED changes from on to off and back. 50 | //Other calls: 51 | //DigIo::led_out.Set(); //turns LED on 52 | //DigIo::led_out.Clear(); //turns LED off 53 | //For every entry in digio_prj.h there is a member in DigIo 54 | DigIo::led_out.Toggle(); 55 | //The boot loader enables the watchdog, we have to reset it 56 | //at least every 2s or otherwise the controller is hard reset. 57 | iwdg_reset(); 58 | //Calculate CPU load. Don't be surprised if it is zero. 59 | s32fp cpuLoad = FP_FROMINT(scheduler->GetCpuLoad()); 60 | //This sets a fixed point value WITHOUT calling the parm_Change() function 61 | Param::SetFlt(Param::cpuload, cpuLoad / 10); 62 | 63 | //If we chose to send CAN messages every 100 ms, do this here. 64 | if (Param::GetInt(Param::canperiod) == CAN_PERIOD_100MS) 65 | can->SendAll(); 66 | } 67 | 68 | //sample 10 ms task 69 | static void Ms10Task(void) 70 | { 71 | if (Param::GetInt(Param::start) == MOD_RUN) 72 | { 73 | if (Param::GetInt(Param::opmode) != MOD_RUN) 74 | { 75 | uint32_t banks[2] = { GPIOA, GPIOB }; 76 | uint16_t pins[2] = { GPIO8 | GPIO9 | GPIO10, GPIO13 | GPIO14 | GPIO15 }; 77 | 78 | pwm->SetPolarity(false, banks, pins, 2); 79 | pwm->SetPwmDigits(MIN_PWM_DIGITS + Param::GetInt(Param::pwmfrq)); 80 | pwm->Start(); 81 | DigIo::dcsw_out.Set(); 82 | Param::SetInt(Param::opmode, MOD_RUN); 83 | } 84 | } 85 | else if (Param::GetInt(Param::start) == MOD_OFF) 86 | { 87 | Param::SetInt(Param::opmode, MOD_OFF); 88 | DigIo::dcsw_out.Clear(); 89 | pwm->Stop(); 90 | } 91 | 92 | //If we chose to send CAN messages every 10 ms, do this here. 93 | if (Param::GetInt(Param::canperiod) == CAN_PERIOD_10MS) 94 | can->SendAll(); 95 | } 96 | 97 | /** This function is called when the user changes a parameter */ 98 | extern void parm_Change(Param::PARAM_NUM paramNum) 99 | { 100 | switch (paramNum) 101 | { 102 | default: 103 | pwm->SetUdc(Param::Get(Param::udcspnt)); 104 | pwm->ConfigureUdcController(Param::GetInt(Param::udckp), Param::GetInt(Param::udcki)); 105 | pwm->SetFrequency(Param::Get(Param::frq)); 106 | pwm->SetCurrentDivider(Param::Get(Param::il1gain), Param::Get(Param::il2gain)); 107 | //Handle general parameter changes here. Add paramNum labels for handling specific parameters 108 | break; 109 | } 110 | } 111 | 112 | //Whichever timer(s) you use for the scheduler, you have to 113 | //implement their ISRs here and call into the respective scheduler 114 | extern "C" void tim2_isr(void) 115 | { 116 | scheduler->Run(); 117 | } 118 | 119 | extern "C" void tim1_brk_isr(void) 120 | { 121 | timer_disable_irq(TIM1, TIM_DIER_BIE); 122 | pwm->Stop(); 123 | Param::SetInt(Param::opmode, MOD_OFF); 124 | } 125 | 126 | extern "C" void tim1_up_isr(void) 127 | { 128 | s32fp il[2]; 129 | s32fp udcgain = Param::Get(Param::udcgain); 130 | int udcofs = Param::GetInt(Param::udcofs); 131 | s32fp udc = FP_DIV(FP_FROMINT(AnaIn::udc.Get() - udcofs), udcgain); 132 | 133 | /* Clear interrupt pending flag */ 134 | timer_clear_flag(TIM1, TIM_SR_UIF); 135 | int dc = pwm->Run(udc, il); 136 | 137 | Param::SetFlt(Param::udc, udc); 138 | Param::SetInt(Param::boosteramp, dc); 139 | Param::SetFlt(Param::il1, il[0]); 140 | Param::SetFlt(Param::il2, il[1]); 141 | } 142 | 143 | extern "C" int main(void) 144 | { 145 | clock_setup(); //Must always come first 146 | rtc_setup(); 147 | ANA_IN_CONFIGURE(ANA_IN_LIST); 148 | DIG_IO_CONFIGURE(DIG_IO_LIST); 149 | AnaIn::Start(); //Starts background ADC conversion via DMA 150 | write_bootloader_pininit(); //Instructs boot loader to initialize certain pins 151 | 152 | usart_setup(); //Initializes UART3 with DMA for use by the terminal (see below) 153 | tim_setup(); //Sample init of a timer 154 | nvic_setup(); //Set up some interrupts 155 | term_Init(); //Initialize terminal 156 | parm_load(); //Load stored parameters 157 | 158 | PwmGeneration p(TIM1); 159 | pwm = &p; 160 | 161 | parm_Change(Param::PARAM_LAST); //Call callback one for general parameter propagation 162 | 163 | Stm32Scheduler s(TIM2); //We never exit main so it's ok to put it on stack 164 | scheduler = &s; 165 | //Initialize CAN1, including interrupts. Clock must be enabled in clock_setup() 166 | Can c(CAN1, (Can::baudrates)Param::GetInt(Param::canspeed)); 167 | //store a pointer for easier access 168 | can = &c; 169 | 170 | 171 | //Up to four tasks can be added to each timer scheduler 172 | //AddTask takes a function pointer and a calling interval in milliseconds. 173 | //The longest interval is 655ms due to hardware restrictions 174 | //You have to enable the interrupt (int this case for TIM2) in nvic_setup() 175 | //There you can also configure the priority of the scheduler over other interrupts 176 | s.AddTask(Ms10Task, 10); 177 | s.AddTask(Ms100Task, 100); 178 | 179 | //backward compatibility, version 4 was the first to support the "stream" command 180 | Param::SetInt(Param::version, 4); 181 | 182 | //Now all our main() does is running the terminal 183 | //All other processing takes place in the scheduler or other interrupt service routines 184 | //The terminal has lowest priority, so even loading it down heavily will not disturb 185 | //our more important processing routines. 186 | term_Run(); 187 | 188 | return 0; 189 | } 190 | 191 | -------------------------------------------------------------------------------- /src/hwinit.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * This file is part of the stm32-template project. 3 | * 4 | * Copyright (C) 2020 Johannes Huebner 5 | * 6 | * This program is free software: you can redistribute it and/or modify 7 | * it under the terms of the GNU General Public License as published by 8 | * the Free Software Foundation, either version 3 of the License, or 9 | * (at your option) any later version. 10 | * 11 | * This program is distributed in the hope that it will be useful, 12 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | * GNU General Public License for more details. 15 | * 16 | * You should have received a copy of the GNU General Public License 17 | * along with this program. If not, see . 18 | */ 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include 30 | #include 31 | #include "hwdefs.h" 32 | #include "hwinit.h" 33 | #include "stm32_loader.h" 34 | #include "my_string.h" 35 | 36 | /** 37 | * Start clocks of all needed peripherals 38 | */ 39 | void clock_setup(void) 40 | { 41 | RCC_CLOCK_SETUP(); 42 | 43 | //The reset value for PRIGROUP (=0) is not actually a defined 44 | //value. Explicitly set 16 preemtion priorities 45 | SCB_AIRCR = SCB_AIRCR_VECTKEY | SCB_AIRCR_PRIGROUP_GROUP16_NOSUB; 46 | 47 | rcc_periph_clock_enable(RCC_GPIOA); 48 | rcc_periph_clock_enable(RCC_GPIOB); 49 | rcc_periph_clock_enable(RCC_GPIOC); 50 | rcc_periph_clock_enable(RCC_GPIOD); 51 | rcc_periph_clock_enable(RCC_USART3); 52 | rcc_periph_clock_enable(RCC_TIM1); //Main PWM 53 | rcc_periph_clock_enable(RCC_TIM2); //Scheduler 54 | rcc_periph_clock_enable(RCC_TIM4); //Overcurrent / AUX PWM 55 | rcc_periph_clock_enable(RCC_DMA1); //ADC, Encoder and UART receive 56 | rcc_periph_clock_enable(RCC_ADC1); 57 | rcc_periph_clock_enable(RCC_CRC); 58 | rcc_periph_clock_enable(RCC_AFIO); //CAN 59 | rcc_periph_clock_enable(RCC_CAN1); //CAN 60 | } 61 | 62 | /* Some pins should never be left floating at any time 63 | * Since the bootloader delays firmware startup by a few 100ms 64 | * We need to tell it which pins we want to initialize right 65 | * after startup 66 | */ 67 | void write_bootloader_pininit() 68 | { 69 | struct pincommands *flashCommands = (struct pincommands *)PINDEF_ADDRESS; 70 | struct pincommands commands; 71 | 72 | memset32((int*)&commands, 0, PINDEF_NUMWORDS); 73 | 74 | //!!! Customize this to match your project !!! 75 | //Here we specify that PC13 be initialized to ON 76 | //AND PB1 AND PB2 be initialized to OFF 77 | commands.pindef[0].port = GPIOC; 78 | commands.pindef[0].pin = GPIO13; 79 | commands.pindef[0].inout = PIN_OUT; 80 | commands.pindef[0].level = 0; 81 | 82 | crc_reset(); 83 | uint32_t crc = crc_calculate_block(((uint32_t*)&commands), PINDEF_NUMWORDS); 84 | commands.crc = crc; 85 | 86 | if (commands.crc != flashCommands->crc) 87 | { 88 | flash_unlock(); 89 | flash_erase_page(PINDEF_ADDRESS); 90 | 91 | //Write flash including crc, therefor <= 92 | for (uint32_t idx = 0; idx <= PINDEF_NUMWORDS; idx++) 93 | { 94 | uint32_t* pData = ((uint32_t*)&commands) + idx; 95 | flash_program_word(PINDEF_ADDRESS + idx * sizeof(uint32_t), *pData); 96 | } 97 | flash_lock(); 98 | } 99 | } 100 | 101 | /** 102 | * Setup UART3 115200 8N1 103 | */ 104 | void usart_setup(void) 105 | { 106 | gpio_set_mode(TERM_USART_TXPORT, GPIO_MODE_OUTPUT_50_MHZ, 107 | GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, TERM_USART_TXPIN); 108 | 109 | usart_set_baudrate(TERM_USART, USART_BAUDRATE); 110 | usart_set_databits(TERM_USART, 8); 111 | usart_set_stopbits(TERM_USART, USART_STOPBITS_2); 112 | usart_set_mode(TERM_USART, USART_MODE_TX_RX); 113 | usart_set_parity(TERM_USART, USART_PARITY_NONE); 114 | usart_set_flow_control(TERM_USART, USART_FLOWCONTROL_NONE); 115 | usart_enable_rx_dma(TERM_USART); 116 | 117 | usart_enable_tx_dma(TERM_USART); 118 | dma_channel_reset(DMA1, TERM_USART_DMATX); 119 | dma_set_read_from_memory(DMA1, TERM_USART_DMATX); 120 | dma_set_peripheral_address(DMA1, TERM_USART_DMATX, (uint32_t)&TERM_USART_DR); 121 | dma_set_peripheral_size(DMA1, TERM_USART_DMATX, DMA_CCR_PSIZE_8BIT); 122 | dma_set_memory_size(DMA1, TERM_USART_DMATX, DMA_CCR_MSIZE_8BIT); 123 | dma_enable_memory_increment_mode(DMA1, TERM_USART_DMATX); 124 | 125 | dma_channel_reset(DMA1, TERM_USART_DMARX); 126 | dma_set_peripheral_address(DMA1, TERM_USART_DMARX, (uint32_t)&TERM_USART_DR); 127 | dma_set_peripheral_size(DMA1, TERM_USART_DMARX, DMA_CCR_PSIZE_8BIT); 128 | dma_set_memory_size(DMA1, TERM_USART_DMARX, DMA_CCR_MSIZE_8BIT); 129 | dma_enable_memory_increment_mode(DMA1, TERM_USART_DMARX); 130 | dma_enable_channel(DMA1, TERM_USART_DMARX); 131 | 132 | usart_enable(TERM_USART); 133 | } 134 | 135 | /** 136 | * Enable Timer refresh and break interrupts 137 | */ 138 | void nvic_setup(void) 139 | { 140 | nvic_enable_irq(NVIC_TIM1_UP_IRQ); //Main PWM 141 | nvic_set_priority(NVIC_TIM1_UP_IRQ, 1 << 4); //Set second-highest priority 142 | 143 | nvic_enable_irq(NVIC_TIM1_BRK_IRQ); //Emergency shut down 144 | nvic_set_priority(NVIC_TIM1_BRK_IRQ, 0); //Highest priority 145 | 146 | nvic_enable_irq(NVIC_TIM2_IRQ); //Scheduler 147 | nvic_set_priority(NVIC_TIM2_IRQ, 0xe << 4); //second lowest priority 148 | } 149 | 150 | void rtc_setup() 151 | { 152 | //Base clock is HSE/128 = 8MHz/128 = 62.5kHz 153 | //62.5kHz / (624 + 1) = 100Hz 154 | rtc_auto_awake(RCC_HSE, 624); //10ms tick 155 | rtc_set_counter_val(0); 156 | } 157 | 158 | /** 159 | * Setup main PWM timer and timer for generating over current 160 | * reference values and external PWM 161 | */ 162 | void tim_setup() 163 | { 164 | /*** Setup over/undercurrent and PWM output timer */ 165 | timer_disable_counter(OVER_CUR_TIMER); 166 | //edge aligned PWM 167 | timer_set_alignment(OVER_CUR_TIMER, TIM_CR1_CMS_EDGE); 168 | timer_enable_preload(OVER_CUR_TIMER); 169 | /* PWM mode 1 and preload enable */ 170 | timer_set_oc_mode(OVER_CUR_TIMER, TIM_OC1, TIM_OCM_PWM1); 171 | timer_set_oc_mode(OVER_CUR_TIMER, TIM_OC2, TIM_OCM_PWM1); 172 | timer_set_oc_mode(OVER_CUR_TIMER, TIM_OC3, TIM_OCM_PWM1); 173 | timer_set_oc_mode(OVER_CUR_TIMER, TIM_OC4, TIM_OCM_PWM1); 174 | timer_enable_oc_preload(OVER_CUR_TIMER, TIM_OC1); 175 | timer_enable_oc_preload(OVER_CUR_TIMER, TIM_OC2); 176 | timer_enable_oc_preload(OVER_CUR_TIMER, TIM_OC3); 177 | timer_enable_oc_preload(OVER_CUR_TIMER, TIM_OC4); 178 | 179 | timer_set_oc_polarity_high(OVER_CUR_TIMER, TIM_OC1); 180 | timer_set_oc_polarity_high(OVER_CUR_TIMER, TIM_OC2); 181 | timer_set_oc_polarity_high(OVER_CUR_TIMER, TIM_OC3); 182 | timer_set_oc_polarity_high(OVER_CUR_TIMER, TIM_OC4); 183 | timer_enable_oc_output(OVER_CUR_TIMER, TIM_OC1); 184 | timer_enable_oc_output(OVER_CUR_TIMER, TIM_OC2); 185 | timer_enable_oc_output(OVER_CUR_TIMER, TIM_OC3); 186 | timer_enable_oc_output(OVER_CUR_TIMER, TIM_OC4); 187 | timer_generate_event(OVER_CUR_TIMER, TIM_EGR_UG); 188 | timer_set_prescaler(OVER_CUR_TIMER, 0); 189 | /* PWM frequency */ 190 | timer_set_period(OVER_CUR_TIMER, OCURMAX); 191 | timer_enable_counter(OVER_CUR_TIMER); 192 | 193 | /** setup gpio */ 194 | gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO7 | GPIO8 | GPIO9); 195 | } 196 | 197 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------